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Operating Instructions E94P__PositionServo FW 6x

1. i 15 38 457 Dimensions in mm 1 923 Type A mm B mm C mm D mm Weight kg E94 020S1N 68 190 190 182 14 E94 040S1N 69 190 190 182 12 E94 020S2F 68 190 235 182 1 3 E94 040S2F 69 190 235 182 15 E94 080S2F 87 190 235 182 1 8 E94 100S2F 102 190 235 182 22 E94 020Y2N 68 190 190 182 1 3 E94 040Y2N 69 190 190 182 1 5 E94 080Y2N 95 190 190 182 1 9 E94 100Y2N 114 190 190 182 2 2 E94 120Y2N 68 190 235 182 T E94 180T2N 68 242 235 233 2 0 E94 020TAN 68 190 190 182 1 5 E94 040TAN 95 190 190 182 1 9 E94 060T4N 68 190 235 182 14 E94 090TAN 68 242 235 233 2 0 1 The first _ equals for the Model 940 encoder based drive or for the Model 941 resolver based drive The second equals E for incremental encoder must have drive or R for the standard resolver must have E94R drive The last digit equals M for MV OnBoard and no ISO 13849 1 circuit or S for MV OnBoard plus the ISO 13849 1 circuit 14 lenze S94H201E 13426446 EN Technical Data 2 9 Clearance for Cooling Air Circulation 5924 S94H2
2. The drive identifier E94P 240V 04Amp 192 168 124 120 STOPPED in the node tree consists of three segments the drive s name the drive s IP address and the status of the Indexer Program Drive name E94P 240V 04Amp Drive IP address 192 168 124 120 Indexer program status STOPPED indexer program is stopped RUNNING indexer program is running The drive identifier also indicates the status of the drive When the drive identifier in the node tree is highlighted in green the drive is enabled When the drive identifier is gray the drive is disabled 5 1 1 Drive Name To assign a name to the drive click in the box adjacent to Drive Name A alpha numeric name may be entered to identify the drive 5 1 2 Group ID The Group ID feature allows the user to group PositionServo drives together via an Ethernet network When used with the SEND and SENDTO command drives in the same group can share and update variables Group ID Numbers can be set between 0 and 32767 See statements SEND and SENDTO for further explanations 94H201E_13426446_EN Lenze 39 LUI Parameters 5 2 Motor The motor folder displays the data for the currently selected motor A motor may be selected from the database or a custom motor may be configured Lenze AC Tech Les zs CTI NN Sa Connection tsad Convection fine Yh Setz PTT EI zx SER 240v 04 Ame 19 1 Qurrertty
3. S94H201E 13426446 EN M 89 M Quick Start Reference Mandatory Parameter Settings These parameters are required to be set prior to running the drive Folder Sub Folder Parameter Name Description Parameters Drive Mode Set to Velocity Reference Set to External Enable Velocity Accel Decel Limits Enable Ramp rates for Velocity Mode Velocity Accel Limit Set required Acceleration Limit for Velocity command Velocity Decel Limit Set required Deceleration Limit for Velocity command 10 Analog IO Analog Input Velocity Scale Set to required velocity per 1 volt input from controller Analog Input Dead band Set zero velocity Dead band in mV Analog Input Offset Set Analog Offset for velocity Reference 10 Digital 10 Enable Switch Function Set to Run Compensation Velocity P Gain Set P Gain for Velocity loop see tuning section Velocity Gain Set I Gain for Velocity loop Gain Scaling Set Gain Scaling Parameter Optional Parameter Settings These parameters may require setting depending on the control system implemented Folder Sub Folder Parameter Name Description Parameters Resolver Track PPR for simulated encoder on 941 Resolver drive 10 Digital 10 Output 1 Function Set to any pre defined function required Output 2 Function Set to any pre defined function required Output 3 Function Set to any pre defined function requ
4. NOTE Each Hall Voltage is in phase with one and only one Output Voltage S94H201E 13426446 EN Lenze 45 LU Parameters B leads A for CW This is the encoder phase relationship for CW CCW shaft rotation When you obtain the diagram for your motor phasing similar to shown above it s assumed by the software that the motor shaft rotates CW when looking at the rear of the motor For that rotation Encoder phase A must lead phase B If it does leave the check box unchecked Otherwise if B leads A check B leads A in the CW box i NOTE The reference for direction of rotation is from the rear of the motor i NOTE This parameter does not reverse the direction of motor rotation It is used to setup the motor commutation See Rotation Direction in the Parameters menu to reverse the direction of forward rotation 5 2 5 3 For Resolver Equipped Motors Only If parameter Resolver is checked following parameters appear on the form Offset in degree electrical This parameter represents offset between resolver s 0 degree and motor s windings 0 degree CW for positive This parameter sets the direction for positive angle increment Offset in degree and CW for positive will be set during Auto Phasing of the motor 46 lenze S94H201E 13426446 EN Parameters 5 3 Parameters Yu d Lenze Tech DE Motor Parameters Cemmenscaban
5. Screen clamps LAJ Control cable Low capacitance motor cable core core 75 pF m core screen 150 pF m EC Earth grounded conductive mounting plate Encoder Resolver Feedback Cable n Footprint or Sidemount Filter optional 3 2 2 EMI Protection Electromagnetic interference EMI is an important concern for users of digital servo control systems EMI will cause control systems to behave in unexpected and sometimes dangerous ways Therefore reducing EMI is of primary concern not only for servo control manufacturers such as Lenze but the user as well Proper shielding grounding and installation practices are critical to EMI reduction 3 2 3 Enclosure The panel in which the PositionServo is mounted must be made of metal and must be grounded using the SPG method outlined in section 3 2 1 Proper wire routing inside the panel is critical power and logic leads must be routed in different avenues inside the panel You must ensure that the panel contains sufficient clearance around the drive Refer to section 2 9 suggested cooling air clearance 3 3 Line Filtering In addition to EMI RFI safeguards inherent in the PositionServo design external filtering may be required High frequency energy can be coupled between the circuits via radiation or conduction The AC power wiring is one of the most important paths for both types of coupl
6. e AR 49 5 34 CURT ere LACTIS x lag ite Win fate Min tin Nita lone se etae fie 49 5 3 5 Change Current Limite 49 5 3 6 Peak Current Limit 8 kHz and 16 2 49 5 3 7 Accel Decel Limits velocity mode 49 5 3 8 JFaulbResels issus e 49 5 3 9 Motor Temperature Genen 50 5 3 10 Motor PTC Cutoff 50 5311 Regen Duty ele crie entera er eroe tte ao ce epe e RR 50 5 3 12 Master Encoder Input Type position mode 51 5 3 13 Master Encoder System to Master Ratio 51 5 9 14 AUtODOOL sls be e basi e oar it aye int iran eg 51 5 9 15r J User CN 51 5 93 16 Rotation Directo ae e e ente c nia ex et e e ean 51 5 39 17 Resolver ssn en vto bs bebes 51 54 Communication 0 IH HH nn 52 G WE GU EEN 52 GE CO c D cc 52 HIC ICAN e 52 5 4 4 PROFIBUS Luces sus orae ds RR wine 52 5 5 Analog T hae cw Sn GEAR GR DN RU RR e TERR RUE 53 5 5 Analog OUIpUt merat e ret ave t ape Gee e eec 53 5 5 2 Analog Output Current Scale 5
7. Onlloord 4 10 240Y 04 Romp 192 160 124 120 STOPPID 1 rabie eh should be enabled 2 Doug menor wnat can citate De nat teweh elect mout parameters lor auto M Burt Bajo tuning buton when ready 5 Very retuen parameters in Dox eier eccephng a 6 Aconst or decine nem parameters vi Poton 76 lenze S94H201E 13426446 EN 6 7 2 Manually Tuning the Drive in Velocity Mode The PositionServo drive may also be tuned manually Follow the procedure in this paragraph to tune the drive in Velocity mode 1 Parameter Setup Set up the motor as per the instructions given in the relevant section of this manual The motor must be configured correctly prior to tuning taking place The parameters Drive Mode Reference and Enable Switch Function are configured automatically by the velocity tuning program They are not required to be set at this stage 2 Importing the Velocity Tuning Program Before importing the Velocity Tuning Program the example programs must be installed from the Documentation CD that shipped with the drive If this has not been done then please do so now To load the TuneV program file to the drive select Indexer Program in the MotionView Parameter Tree Select Import on main toolbar Navigate to CALenze ACTechMVOB Programming Examples If during the installation of the Documentation CD files a d
8. E you answer NO have not A will termanate MotionView program Siten NO not WARNING Statement on Initial MotionView Display Once MotionView has launched verify motor is safe to operate click YES have then select Connect from the Main toolbar top left Ti uotiuniew Onion 2 08 Lenze AC Tech J L Ges E E T ss LL Gs CODO Initial MotionView Display S94H201E_13426446_EN Lenze 71 on Operation The Connection dialog box will appear Connection Connected Connect to drive Discover IPAddress Connect Name Find by name Connection Dialog Box Select Discover to find the drive s on the network available for connection NOTE 1 Discover may fail to find the drive s IP address on a computer with both a wireless network card and a wired network card If this happens try one of these remedies Disable the wireless network card and then use Discover Type in the drive s IP address manually at the box IP Address Then click Connect Highlight the drive or drives to be connected and click Connect in the dialog box Connection Connected Connect to drive 192 168 124 120 Discover IPAddress Connect Name Find by name Connection Box with Discovered Drive In the lower left of the MotionView display the Message WIndow will contain the
9. Channel 2 Rising Edge Level 10 RPM Observe the waveforms to insure there are no significant oscillations Reduce the gains values if necessary The current waveform should be showing spikes of current during acceleration deceleration and steady state current during any steady state velocity The maximum value peak value of the current waveform is shown at the top of the oscilloscope screen This maximum value can be compared to the drive nominal current and peak current settings to check how much of the motors potential performance is being used and if optimum performance is being achieved S94H201E 13426446 EN Lenze 81 e Operation Good Current Trace Uniform current pulses during accel deceleration and stable current during steady State velocity Time Base 109 emi Ow Tnoser 70 BB scope 192 160 124 124 29 3 Instability in Drive Output Current Note Channel 2 trace has been removed for clarity 8 End Velocity Tuning Remove the Enable Input from input A3 disable the drive In MotionView click on the Indexer folder for the drive Click Reset on the program toolbar If the drive is to be run in just velocity mode then tuning is now complete If the drive is to be used in Positioning mode continue with Tuning the Drive in Position Mode section 6 8 3 6 7 3 Manually Tuning the Drive in Position Mode The Position Loop can also be manually tuned Manual Velocit
10. Check this parameter is set to a value of 1 If the DHCP parameter is set to 0 then use the mode and up arrow to set to 1 and then cycle power to the drive in order for this change to take effect When the PositionServo drive is waiting for an IP address to be assigned to it by the server it will display in each of the four octet parameters IP 1 IP 2 IP 3 and IP 4 on its display Once the address is assigned by the server it will appear in these parameters If this parameters continue to display then it is likely that a connection between the drive and server has not been established or the server is not DHCP enabled DHCP can be enabled through the MotionView software for convenience should the operator wish to configure the drive using a manual static IP address and switch over to an automatic dynamic address once configuration is complete See section 6 2 1 1 for information on enabling DHCP from within the MotionView software 1 A useful feature of the MotionView software and communications interface to the PositionServo drive is the ability to assign the drive a name text string This name can then be used to discover the drive s IP address and is useful when the drive has its IP address assigned automatically by the server for easy connection Refer to section on MotionView connection window below 6 2 2 Configuring the PC IP Address Windows XP NOT
11. Pin Function Pin Name Function 1 ICOM Isolated Common 1 NC No connection 2 CANL CAN Bus Low 2 CANL CAN Bus Low 3 CAN H CAN Bus High 3 Shield 4 CAN H CAN Bus High 5 NC No connection 4 4 5 DeviceNet Interface An optional DeviceNet communication module E94ZADVN1 is available for the PositionServo drive Installed in Option Bay 1 as P23 the DeviceNet module is optically isolated from the rest of the drive s circuitry The DeviceNet module is a 5 pin quick connect terminal block Refer to the PS DeviceNet Communications Reference Guide P94DVNO1 for detailed information DeviceNet Interface Pin Assignments Pin Name Function 1 V DN 2 CANL CAN Bus Low Negative data line 3 Shield 4 CANH CAN Bus High Positive data line 5 V 11 25VDC power supply 36 lenze S94H201E 13426446 EN Interface E 4 4 6 PROFIBUS DP Interface An optional PROFIBUS DP communication module E94ZAPFB1 is available for the PositionServo drive Installed in Option Bay 1 as P24 the PROFIBUS DP module is optically isolated from the rest of the drive s circuitry The PROFIBUS module is a female DB 9 connector Refer to the PS PROFIBUS Communications Reference Guide P94PFB01 for detailed information Pin Name Function 1 Shield Cable Shield Connection 2 N C No Connection 3 RxD TxD P Data Line B Red 4 N C No Conn
12. Brake Output is active for the time programmed by the Brake Release Delay parameter after the drive is enabled and deactivates after the drive is disabled for control of a motor mechanical brake In position Position mode only Refer to the PS Programming Manual 5 6 2 Digital Input De bounce Time Sets de bounce time for the digital inputs to compensate for bouncing of the switch or relay contacts This is the time following an input transition when any further transitions will be ignored not recognized by the drive 5 6 3 Hard Limit Switch Action Digital inputs IN A1 and IN A2 can be used as limit switches if their function is set to Fault or Stop and Fault Activation of these inputs while the drive is enabled will cause the drive to Disable and go to a Fault state The Stop and Fault action is available only in Position mode when the Reference parameter is set to Internal i e when the source for the motion is the Trajectory generator Refer to the PositionServo Programming Manual for details on Stop and Fault behavior 5 6 4 Enable Switch Function The Enable input IN A3 on PositionServo can be set to function as either a Run Input or an Inhibit Input The run function allows input A3 control of switching the drive between enable and disable states Enabling or disabling output to the motor The Run function is typically used in centralized systems where a PLC or Motion Control output is required to
13. T a e If calculation of D is greater than 100 set it to 100 value If calculation of D is less than 10 then resistor power rating is too low For more information refer to the PositionServo Dynamic Braking Manual G94BR01 Minimum Required Dynamic Braking Resistance Drive Model DB Minimum Resistance E94 180T2N 15 E94 _080S2F E94_080Y2N 20 E94 100S2F E94 100 2 E94 120Y2N 30 E94 _020S1N E94 020S2F 40 E94 020Y2N E94_040S1N E94 040S2F E94_040Y2N E94 090TAN 45 E94 040T4N E94_050T4N E94_060T4N 75 94_020T4N 150 50 Lenze S94H201E 13426446 EN Parameters LL 5 3 12 Master Encoder Input Type position mode only This parameter sets the type of input for position reference the drive expects to see Signal type can be step and direction Step amp Direction type or quadrature pulse train Master Encoder Refer to section 4 2 1 for details on these inputs 5 3 13 Master Encoder System to Master Ratio This parameter is used to set the scale between the reference pulse train when operating in position mode and the system feedback device The system feedback device is the motor encoder or resolver 5 3 14 Autoboot When set to Enabled the drive will start to execute the user s program immediately after cold boot reset Otherwise the user program has to be started from MotionView or from the Host interface 5 3 15 Use
14. communication options are detailed in separate tables 1 4 1 Drive Part Number Electrical Products in the 94x Series P PositionServo Model 940 with Encoder Feedback PositionServo Model 941 with Resolver Feedback Drive Rating in Amps 020 2 Amps 090 9 Amps 040 4 Amps 100 10 Amps 060 6 Amps 120 12 Amps 080 8 Amps 180 18 Amps Input Phase S Single Phase Input only Y Single or Three Phase Input T Three Phase Input only Input Voltage 1 120 VAC Doubler 120V 1 in 240V 3 out 2 200 240 VAC 4 400 480 VAC Line Filter N Line Filter F Integrated Line Filter Secondary Feedback E Incremental Encoder R Standard Resolver Safety Option M MotionView OnBoard no ISO 13849 1 safety compliance S MotionView OnBoard with ISO 13849 1 safety compliance For 3 phase EMC installation model 940 EMC footprint side mount filters are required 1 4 2 Filter Part Number E94Z F 4 Electrical Option in the 94x Series F EMC Filter Filter Current Rating in Amps 04 4 4 Amps 12 12 Amps 07 6 9 Amps 15 15 Amps 10 10 Amps 24 24 Amps Input Phase S Single Phase T Three Phase Max Voltage 2 240 VAC 4 400 480 VAC Al Degree of Filtering Variation 1 Industrial 1st Variation A2 Industrial 2nd Variation S94H201E 13426446 EN I
15. Both Safety Inputs Failed to activate 3 Deactivate Safety FER Activated No Trip on display F_EF Safety Input 1 failed to deactivate Input 1 Set Input Status Output Deactivated Safety Input 2 Failed to activate to Enable 4 Activate Safety Input 1 Dis Activated Status Output Deactivated Both Safety Inputs Failed to Set Input A3 to disable activate S94H201E 13426446 EN Lenze 29 S Interface Test Action Drive Display Safety Status Output Failed Test Step Indication Indication Indication 5 Deactivate Safety F EF Activated No Trip on display F_EF Safety Input 2 failed to deactivate Input 2 Set Input Status Output Deactivated Safety Input 1 Failed to activate to Enable 6 Set Input to disable Dis Activated Status Output Deactivated Both Safety Inputs Failed to activate 7 Deactivate Safety F EF Deactivated No Trip on display F_EF Safety Inputs 1 amp 2 failed to Input 1 Set Input deactivate to Enable Status Output Activated Safety Input 1 or Safety Input 2 Failed to deactivate This procedure will evaluate the following conditions om 5p 0 Safety Input 1 failing to activate Safety Input 1 failing to deactivate Safety Input 2 failing to activate Safety Input 2 failing to deactivate Both Safety input 1 and 2 failing to activate Electrical Characteristics Both Safety input 1 and 2 failing
16. If using a motor equipped with an encoder and PTC thermal sensor the encoder feedback cable will have flying leads exiting the P4 connector to be wired to the P7 1 T1 and P7 2 T2 terminals If using a motor equipped with a Resolver and a PTC sensor the thermal feedback is passed directly to the drive via the resolver 9 pin D shell connector Use parameter Motor PTC cut off resistance section 5 3 10 to set the resistance that corresponds to maximum motor allowed temperature The parameter Motor temperature sensor must also be set to ENABLE If the motor doesn t have a PTC sensor set this parameter to DISABLE This input will also work with thermal switches which have only two states Open or Closed In this case Motor cut off resistance parameter can be set to the default value S94H201E 13426446 EN Lenze 37 LU Parameters 5 Parameters The PositionServo drive has many programmable features accessible via the universal software MotionView This chapter covers the drive s programmable features and parameters in the order they appear in the Parameter Tree of MotionView Programmable parameters are divided into folders Each folder contains one or more user adjustable parameters Parameter Node Tree All drives can execute a User Program in parallel with motion Motion can be specified by variety of sources and in three different modes Torque Velocity Position In Torque and Velocity mode the reference can
17. Mains Fusing External line fuses must be installed on all PositionServo drives Connect the external line fuse in series with the AC line voltage input Use fast acting fuses rated for 250 VAC or 600 VAC depending on model and approximately 200 of the maximum RMS phase current Refer to section 2 3 for fuse recommendations S94H201E 13426446 EN Lenze 19 ENS Interface 4 Interface The standard PositionServo drive is equipped with seven connectors including four quick connect terminal blocks one SCSI connector one subminiature type D connector and one ethernet RJ45 connector These connectors provide communications from a PLC or host controller power to the drive and feedback from the motor Prefabricated cable assemblies may be purchased from Lenze to facilitate wiring the drive motor and host computer Contact your Lenze Sales Representative for assistance As this manual makes reference to specific pins on specific connectors the convention PX Y is used where X is the connector number and Y is the pin number 4 1 External Connectors 4 1 1 P1 amp P7 Input Power and Output Power Connections Located on the top of the drive P1 is a 3 or 4 pin quick connect terminal block used for input mains power Located on the bottom of the drive P7 is a 6 pin quick connect terminal block used for output power to the motor P7 also has a thermistor PTC input for motor over temperature protection refer to paragraph
18. Setup drive so motor can follow a master encoder wheel where 1 revolution of the master encoder results in 3 revolutions of the motor Given Motor encoder 4000 pulses revolution post quadrature Master encoder 1000 pulses revolution post quadrature Desired gear ratio is 3 1 Solution Ratio motor encoder PPR master encoder PPR x the gear ratio Motor Master PPR 3 1 gt 4000 1000 3 1 gt 12 1 Set parameter System to master ratio to 12 1 6 6 Enabling the PositionServo Regardless of the selected operating mode the PositionServo must be enabled before it can operate A voltage in the range of 5 24 VDC connected between pins 26 and 29 input IN is used to enable the drive section 4 1 7 note 3 There is a difference in the behavior of input IN A3 depending on how the Enable switch function is set TIP If using the onboard 5VDC power supply for this purpose wire your switch between pins P3 6 and P3 29 Jumper P3 5 to P3 26 If doing this all inputs in group must be powered by P3 6 When the Enable switch function is set to RUN IN A3 acts as positive logic ENABLE or negative logic INHIBIT input depending on If user program is not running Activating IN A3 enables the drive If user program is running Activating IN A3 acts as negative logic Inhibit and operates exactly as if parameter Enable switch function set to Inhibit When the Enable switch function set to
19. TOP NEEN Acci mit Devel Lena Faut Racer Mater Temperature Sensor Osetie Mater PTC Rezutance 2500 Regen Owy 70 Master Encoder nowt OoOO EE Succershdly connected te dne 04205214100000_192 168 124120 Bucceschuly connected te dme 054012015100500_192168124120 Parameters List Bottom 5S94H201E 13426446 EN Lenze LUI Parameters 5 3 1 Drive Mode The PositionServo has 3 operating mode selections Torque Velocity and Position For Torque and Velocity modes the drive will accept an analog input voltage on the AIN1 and AIN1 pins of P3 refer to section 4 3 1 This voltage is used to provide a torque or speed reference For Position mode the drive will accept step and direction logic signals or a quadrature pulse train on pins P3 1 P3 4 5 3 1 1 Torque Mode In torque mode the servo control provides a current output proportional to the analog input signal at input AIN1 if parameter Reference is set to External Otherwise the reference is taken from the drive s internal variable Refer to the PositionServo Programming Manual for details For analog reference Set Current current the drive will try to provide is calculated using the following formula Set Current A Vinput Volt X Iscale A Volt where Vinput is the voltage at analog input Iscale is the current scale factor input sensitivity set by the Ana
20. hazardous Consequences if disregarded electrical voltage Death or severe injuries Warning of a WARNING Warns of potential very hazardous situations general danger Consequences if disregarded Death or severe injuries Warning of STOP Warns of potential damage to material and ror damage to equipment equipment Consequences if disregarded Damage to the controller drive or its environment e Information NOTE Designates a general useful note 1 If you observe it handling the controller drive system is made easier 1 2 Legal Regulations Table 2 lists the identification application liability warranty and disposal information for the PositionServo drive Table 3 Legal Disclaimers Claim Description Identification Nameplate CE Identification Manufacturer Lenze controllers are unambiguously In compliance with the EC Lenze AC Tech Corporation designated by the contents of the Low Voltage Directive 630 Douglas Street nameplate Uxbridge MA 01569 USA Application E94P or E94R servo controller as directed must only be operated under the conditions prescribed in these Instructions are components for Closed loop control of Velocity Torque or Positioning applications with AC synchronous motors installation in a machine assembly with other components to form a machine are electric units for installation in control cabinets or similarly enclosed housing comply with
21. three phase input An external input mains line filter is available Actual voltage range 320 528 VAC 1 3 2 Operating Modes The PositionServo drive can operate in one of three mode settings torque current velocity or positioning The drive s command or reference signal can come from one of three sources The first is an external reference An external reference can be an analog input signal a step and direction input or an input from a master encoder The second reference is an internal reference An internal reference is when the commanded reference is derived from the drive s user program The third reference is when the commanded reference is given by a host device over a communications network This Host device can be an external motion controller PLC HMI or PC The communication network can be over RS485 Point to Point or Modbus RTU Modbus over TCP IP CANopen DS301 EtherNet IP DeviceNet or PROFIBUS DP 6 Lenze S94H201E 13426446 EN Introduction 1 3 3 Feedback Depending on the primary feedback there are two types of drives the Model 940 PositionServo encoder based drive which accepts an incremental encoder with Hall channel inputs and the Model 941 PositionServo resolver based drive which accepts resolver inputs The feedback signal is brought back to the P4 connector on the drive This connector will be a 15 pin D sub for the encoder version and a 9 pin D sub for the resolver version 1 3 4 So
22. Inhibit IN A3 acts as negative logic INHIBIT input regardless of mode or program status Activating input IN A3 doesn t enables the drive The drive can be enabled from the user s program or interface only when IN A3 is active Attempt to enable drive by executing the program statement ENABLE or from interface will cause the drive to generate a fault F 36 Regardless of the mode of operation if the input is deactivated while the drive is enabled the drive will be disabled and will generate a fault E 36 WARNING A Enabling the drive allows the motor to operate depending on the reference command Before enabling the drive make sure that the motor and machine are safe to operate and that moving elements are appropriately guarded Failure to comply could result in damage to equipment and or injury to personnel S94H201E 13426446 EN Lenze 75 on Operation 6 7 Drive Tuning The PositionServo Drive will likely require some tuning of its gains parameters in order to achieve best performance in the application in which it is being applied Only when the drive is placed in Torque Mode the gain values not required to be tuned The table herein lists the gains parameters that should be adjusted for each of the drive operating modes These parameters are found within the Compensation folder MotionView Parameter Torque Mode Velocity Mode Positioning Mode Velocity P Gain No Yes
23. Parameter View Window Select motor Vendor and Motor Model from the pull down menus Click Update Drive to complete the motor selection dismiss the dialog box and return to MotionView OnBoard s main program e f using a motor not listed in the current motor database select Create Custom and refer to section 5 2 2 Using a Custom Motor 40 lenze S 94H201E 13426446 EN Parameters LL NOTE To help prevent the motor from drawing to much current and possibly overheating it is recommended that the drive s Current Limit be checked against the motors Nominal Phase Current and set accordingly 5 2 2 Using a Custom Motor Follow these instructions to load a custom motor from a file or create a new custom motor From the Parameter tree select the Motor folder From the Parameter view window select Change Motor E Motors Meter Model Synchronous Motor Database Feedback Cuetom Motor Kt Torque Constant NmiA Rezolwer Ke Voltage Constant E Encoder phaze ghaze Sine Peak Um inductance phate phase Rm Resistance phaze phase PPR before quad order mH Inverted B lead A tor OW RMS Nominal phas interment Current Nominal Drive Qu Voltage Number ot poles Mechanical m utor Moment of Inertia Maximum Velocity e With the Motor Database dialog box open Click Custom Motor under the Motor Type from the left hand windo
24. Parameters NOTE If the phase current rating is not given use this equation to obtain the nominal continuous phase to phase winding current In Continuous Stall Torque Motor Torque Constant Kt mie The same force x distance units must be used in the numerator and denominator in the equation above If torque T is expressed in units of pound inches Ib in then Kt must be expressed in pound inches per Amp Ib in A Likewise if T is expressed in units of Newton meters N m then units for Kt must be expressed in Newton meters per Amp N m A Example Suppose that the nominal continuous phase to phase winding current In is not given Instead we look up and obtain the following Continuous stall torque T 3 0 Ib in Motor torque constant Kt 0 69 Ib in A Dividing we obtain In 3 0 Ib in 0 69 Ib in A 4 35 A Our entry for In would be 4 35 Note that the torque Ib in units are cancelled in the equation above leaving just Amps A We would have to use another conversion factor if the numerator and denominator had different force x distance units Nominal Bus Voltage Vbus The Nominal Bus Voltage can be calculated by multiplying the Nominal AC mains voltage supplied by 1 41 When using a model with the suffix S1N where the mains are wired to the Doubler connection the Nominal Bus Voltage will be doubled Example If the mains voltage is 230VAC Vbus 230 x 1 41 325V Thi
25. Save File button and enter filename without extension The default extension cmt will be given when you click OK on file dialog box S94H201E 13426446 EN Lenze 41 LUI Parameters NOTE Save the file even if the autophasing feature will be used and some of the final parameters are not known After autophasing is completed the corrected motor file can be updated before loading it to memory mie 4 Click Close to exit from the Motor Parameters dialog 5 MotionView will prompt to autophase not autophase the custom motor Answer No to cancel without applying the changes made in the Motor database window Answer Yes and the motor dialog will be dismissed and the drive will start the autophasing sequence Refer to section 5 2 4 Autophasing 6 If Yes is selected the same motor selection dialog box will be displayed after autophasing is complete For motors with incremental encoders the fields B leads A for CW Halls order and inverted will be assigned correct values For motors with resolvers the fields Offset in degree and CW for positive will be assigned correct values 7 Click Save File to save the custom motor file and then click Update Drive to exit the dialog box and load the data to the drive 5 2 4 X Autophasing The Autophasing feature determines important motor parameters when using a motor that is not in MotionView s database For motors equipped with incremental encoders Autopha
26. Scaling Velocity P gain Velocity l gain Velocity P gain Velocity I gain Gain Scaling Gain Scaling Mechanical Jm Vel Jm Vel mui Velma When creating a custom motor input the value of all parameters listed for the specific motor type All entries are mandatory except motor inertia Jm Enter a value of 0 for the motor inertia if the actual value is unknown 5 2 5 1 Electrical amp Mechanical Constants Motor Torque Constant Kt Enter the value and select proper units from the drop down list D NOTE 1 Round the calculated result to 3 significant places Motor Voltage Constant Ke The program expects Ke to be entered as a phase to phase Peak voltage If you have Ke as an RMS value multiply this value by 1 414 for the correct Ke Peak value Phase to phase winding Inductance Lm This must be set in millihenries mH The phase to phase winding Inductance L will typically be between 0 1 and 200 0 mH NOTE 1 If the units for the phase to phase winding Inductance L are given in micro henries uH then divide by 1000 to get mH Phase to phase winding Resistance Rm in Ohms This is also listed as the terminal resistance Rt The phase to phase winding Resistance R will typically be between 0 05 and 200 Ohms Nominal phase current RMS Amps Nominal continuous phase current rating In in Amps RMS Do not use the peak current rating S94H201E 13426446 EN Lenze 43 LUI
27. The digital outputs have a typical 1 volt leakage Apply the appropriate relays based on the application The outputs on the drive can be wired as either sinking NPN or sourcing PNP as illustrated herein NPN Sinking 24V PNP Sourcing aV lt ourre Tome Y isch Rs t cl gt OUT 1 E OUT 1 E OUT 2 OUT 2 C 4 45 45 46 46 Lo OUT 2 E OUT 2 E Gnd mb101 mb102 32 lenze S94H201E 13426446 EN Interface E 4 2 4 Digital Inputs IN Ax IN Bx IN Cx P3 26 30 P3 31 35 P3 36 40 The PositionServo drive has 12 optically isolated inputs These inputs are compatible with a 5 24V voltage source No additional series resistors are needed for circuit operation The 12 inputs are segmented into three groups of 4 Inputs A1 M Inputs B1 B4 and Inputs C1 C4 Each group A B and C have their own corresponding shared COM terminal ACOM BCOM and CCOM Each group or bank can be wired as sinking or sourcing Refer to the PNP Sourcing and NPN Sinking wiring examples herein All inputs have a separate software adjustable de bounce time Some of the inputs can be set up as Special Purpose Inputs For example inputs A1 and A2 can be configured as hardware limit switch inputs input A3 is always set up as an Enable input and input C3 can be used as a registration input Refer to the PositionServo Programming Manual for more detail For the registration input C3 the registration time
28. connection status message The message Successfully connected to drive B04402200450 192 168 124 120 indicates that the drive B04402200450 with IP address 192 168 124 120 is connected Sequentially connecting 2 Ethernet based Drives If when trying to sequentially commission several Ethernet based drives with the same PC MotionView discovers the IP address but then reports that the drive cannot be connected open the Command window on your PC and run the command arp d just before connecting MotionView to another drive ARP is the Address Resolution Protocol Each PositionServo drive has two addresses one MAC address and one IP address ARP links these two addresses together Each PositionServo drive has the same factory default IP address but a different MAC address After connecting the first drive the Ethernet hub will cache its IP and MAC address for about 2 minutes When another drive with the same IP address and different MAC address is connected to the network ARP will observe the mismatching between the IP address and MAC address 72 lenze S94H201E 13426446 EN 6 3 Parameter Storage and EPM Operation 6 3 1 Parameter Storage All settable parameters are stored in the drive s internal non volatile memory Parameters are saved automatically when they are changed In addition parameters are copied to the EPM memory module located on the drive s front panel In the unlikely event of drive failure the
29. control the enable disable of the drive When input A3 becomes active the drive will go immediately to an enable state and when it becomes inactive the drive will go immediately to a disabled state 54 Lenze S94H201E 13426446 EN Parameters LL The inhibit function allows input A3 to inhibit prevent power being applied to the motor but does not provide the enable or disable command for the drive This function is typically used in a centralized system where the drive s internal programming determines when the drive should enable or disable these statements are executed within the drive programming In the inhibit mode Input A3 acts as a hardware level inhibit only allowing the drive to go to an enable state when instructed from the internal programming providing the input A3 is active Attempting to enable from the internal user program while input A3 is inactive will cause the drive to trip Fault E 36 as will removal of input while the drive is an enabled state Input A3 cannot be bypassed it must be present to obtain any power to the motor or motion 5 6 5 Brake Release Delay The Brake Release Delay controls the amount of time an output configured as brake waits after the drive enables to activate the brake output The range for Brake Release Delay is 0 2000 milliseconds and the default value is Oms 5 7 Velocity Limits In the Velocity Limits folder are 3 programmable parameters Zero Speed Speed Window and At Spee
30. drive a crossover cable is recommended If using a hub or switch use a regular patch cable S94H201E 13426446 EN Lenze 21 D DS 4 1 3 Interface Controller UO P3 is a 50 pin SCSI connector to interface with the front end of the controller It is strongly recommended that OEM cables be used to aid in satisfying CE requirements Contact your Lenze representative for assistance P3 Pin Assignments Controller Interface Pin Name Function 1 MA Master Encoder A Step input 2 2 MA Master Encoder A Step input 3 MB Master Encoder B Direction input 4 MB Master Encoder B Direction input 5 GND Drive Logic Common 6 5 5V output max 100mA 7 Buffered Encoder Output Channel 8 BA Buffered Encoder Output Channel A P 3 9 Buffered Encoder Output Channel B A 10 BB Buffered Encoder Output Channel B d 11 BZ Buffered Encoder Output Channel Z l 12 BZ Buffered Encoder Output Channel Z C 13 19 Empty 4 N 26 20 AIN2 Positive of Analog signal input 21 AIN2 Negative of Analog signal input O 22 ACOM Analog common 23 Analog output 10 mA 24 AIN1 Positive of Analog signal input gt 25 Negative of Analog signal input 26 N A Digital input group ACOM
31. drive source code D I Velocity too low Motion statement parameters calculate a velocity below the system capability Drive programming error error in drive source code mM Positive limit switch is activated SE Hee Only available while drive is in position mode Negative limit switch is activated Fi Negative Limit Switch Only available while drive is in position mode Positive motion w Pos F 34 Lim Sw ON Attempt at positive motion with engaged positive limit switch F 35 Negative motion w Neg Attempt at negative motion with engaged negative limit switch Lim Sw ON F 36 Drive Disabled by User The drive is disabled while operating or an attempt is made to enable the drive without 7 at Enable Input deactivating Inhibit input Inhibit input has reverse polarity Applies to drive s with hardware version 2 and higher Occurs when the bus voltage F 31 Under voltage level drops below 5096 of nominal bus voltage while drive is operating An attempt to enable the drive with low bus voltage will also result in this fault F_38 EPM Loss EPM Failure F_39 Positive Sort fmit Programmed Soft absolute limits reached during motion reached Negative soft limit ens A F 4U Programmed Soft absolute limits reached during motion reached E 4I Unknown Variable ID Attempt to use variable with unknown Ib from user program Drive programming error error in drive source code F ug Missing Hardware Ethernet port failure Fa
32. input P4 or P11 5 3 10 Motor PTC Cutoff Resistance This parameter sets the cut off resistance of the PTC that defines when the motor reaches the maximum allowable temperature Refer to section 4 5 2 for details on how to connect the motor s PTC 5 3 11 Regen Duty Cycle This parameter sets the maximum duty cycle for the brake regeneration resistor This parameter can be used to prevent brake resistor overload Use the following formula to calculate the maximum value for this parameter If this parameter is set equal to the calculated value the regeneration resistor is most effective without overload One may set this parameter with a value smaller than the calculated one if the drive will not experience over voltage fault during regeneration D P R Umax UO 100 Where D 96 regeneration duty cycle Umax VDC bus voltage at regeneration conditions U rax 390 VDC for 120 240 VAC drives and 770 VDC for 400 480 VAC drives R Ohm regeneration resistor value P W regeneration resistor rated power Dateie application duty cycle For the continuous regeneration applications use Dapplication 1 For the intermittent regeneration applications use Dapplication t T where t is the duration when regeneration is needed and T is the time interval between two regenerations Both t and T must use the same time unit e g seconds t regeneration T t regeneration is not needed I
33. interface option module E94ZARS41 set the following parameters 5485 Configuration RS485 Baud Rate RS485 Parity RS485 Stop Bits and RS485 Address The RS485 interface can be configured for UPPP operation or as a Modbus RTU slave The RS 485 folder contains one sub folder Modbus RTU The Modbus RTU folder contains the Modbus Reply Delay parameter which sets the time delay between the drive s reply to the Modbus RTU master This delay is needed for some types of Modbus masters to function correctly 543 CAN The CAN baud rate and CAN address are set in the main CAN folder The main CAN folder contains two sub folders CANOpen and DeviceNet In the CANOpen sub folder the CAN Bootup Mode CAN Bootup Delay and CAN Heart Beat Time parameters are set Mapping of the CAN process data objects PDO is also carried out from this folder In the DeviceNet folder the DeviceNet Poll 1 0 Scaling parameter is set 5 44 PROFIBUS These parameters are set in the PROFIBUS folder PROFIBUS Address Acyclic Mode Data Exchange Timeout plus the IN OUT Data Size Parameter ID Number and Mapping Type 52 lenze S94H201E 13426446 EN Parameters LL 5 5 Analog 1 0 5 5 1 X Analog Output The PositionServo has one analog output with 10 bit resolution on P3 pin 23 The signal is scaled to 10V The analog output can be assigned to the following functions Not Assigned Phase current RMS Phase current Peak Motor Velocity Phase R current P
34. is 3us for an encoder and Zus for a resolver PNP Sourcing 26 1 24V 24V 27 2 4kQ IN_A1 K 2 4 KQ 28 gt IN A2 K 26 1 lt IN_A_COM Gnd Digital inputs circuit mb103 NPN Sinking Gnd 27 2 4kQ IN_A1 AV E 28 2 4 KQ A2 K gt Digital inputs circuit mb104 S94H201E 13426446 EN Lenze 33 S Interface 4 3 Analog 1 0 Details 4 3 1 Analog Reference Input AIN1 AIN1 P3 24 and P3 25 The analog reference input can accept up to a 10V analog signal across AIN1 and AIN1 The maximum limit with respect to analog common ACOM on each input is 18VDC The analog signal will be converted to a digital value with 12 bit resolution 11 bit plus sign This input is used to control speed or torque of the motor in velocity or torque mode The total reference voltage as seen by the drive is the voltage difference between AIN1 and AIN1 If used in single ended mode one of the inputs must be connected to a voltage source while the other one must be connected to Analog Common ACOM If used in differential mode the voltage source is connected across AIN1 and AIN1 and the driving circuit common if any needs to be connected to the drive Analog Common ACOM terminal Refer to the External Reference and Single Ended Configuration wiring examples below Reference as seen by drive Vref AIN1 AIN1 and 10V lt Vref
35. lt 10V External Reference Differential Configuration 940 Servo Drive Analog Command Output gt P3 24 T Motion Analog Command Return P325 Controller ACOM P3 22 Analog input PostionServo Drive Analog input Analog Input mb105 Single ended Configuration AQut P320 gt P3 21 AIN ACOM P3 22 V As the dancer arm goes up and down ACOM a 0 10 volt signal is transmitted to the PositionServo Drive PositionServo Drive mb106 AIN2 AIN2 P3 20 and P3 21 The analog reference input can accept up to a 10V analog signal across AIN2 and AIN2 The maximum limit with respect to analog common ACOM on each input is 18VDC The analog signal will be converted to a digital value with 12 bit resolution 11 bit plus sign This input is available to the User s program This input does not have a predefined function 34 Lenze S94H201E_13426446_EN Interface E 4 3 2 Analog Output AO P3 23 The analog output is a single ended signal with reference to Analog Common ACOM which can represent the following motor data Not Assigned e Phase R Current e lq Current RMS Phase Current Phase S Current e id Current Peak Phase Current Phase T Current e Motor Velocity Motor phase U V and W correspond to R S and T respectively MotionView Setup program can be
36. m EE ea 18 3 2 3 ENEE roD UNE SEDE QNSE MEN NM 18 3 9 Lineilterirg ertet ET 18 34 gt Heat SINKING 19 3 5 Line MaiN FUSING ERE 19 4 ue ele 20 41 External Connectors 2 etie tet e edes te t ette k 20 411 P1 amp P7 Input Power and Output Power Connections 20 4 1 2 P2 Ethernet Communications Port 21 44 9 P3 Controller se EE EE AE EE AE 22 41 4 4 23 41 5 5 24 VDC Back up Power Input 24 4 1 6 P6 Braking Resistor and DC 24 4 1 7 Connector and Wiring Notes 25 43 8 8 ISO 13849 1 Safety Circuit 26 42 Digital VO Dette AER AER it eb tmm tmm 31 4 21 Step amp Direction Master Encoder Inputs pins 1 4 31 4 2 2 Buffered Encoder Output pins 7 12 32 4 2 3 TEE EE 32 424 1 e 33 43 Analog UO Details 0 0 ccc etc 34 4 3 1 Analog Reference Input 0 ccc cece eee e 34 OUUIDUT secs cto n e ree tecta etate tox rin fene eee duca Deo lea ees 35 44 Communication 35 44 1
37. on the position error waveform Step 3 Setting the Position l Gain and Position l Gain Limit The objective here is to minimize the position error during steady state operation and improve positioning accuracy Start to increase the Position l gain Increasing the l gain will increase the drive s reaction time while the l Limit will set the maximum influence that the l Gain can have on the Integral loop When adjusting the l gain start with a very small value for the l gain e g 1 then increase the l gain parameter value until stand still error is compensated and positioning accuracy is satisfactory Remember that large values of Position l limit can cause a large instability in the control loop and unsettled oscillation of the system mechanics 1 5 192 168 124 124 Br Position Error trace following the tuning of Position P l and D Gains Seton Tee S94H201E 13426446 EN Lenze 85 e Operation Step 4 Check Motor Currents Set the oscilloscope channel 2 to Phase Current RMS Channel 2 Signal Phase Current RMS Scale as appropriate to peak current limit set in drive parameters MotionView Timebase as appropriate to the Period of the moves being generated Trigger Ch1 Rising Edge Level 10 Pulses Observe the Current waveform to make sure that there are no significant oscillations during the steady state sections of the position profile times when target position is not
38. selected Motor Syncheen ou Moto RTU CAN Venger AC TECH SIMPLESERVO Mote Meder 52629328 Aspen Electrical Feedback NETS Vt Torque engen 02090 Wm A je Encoder em Ke Vokage Constant 200000 VIKRom PPR detare qued 2008 Duo Hate cote 3 sb Sne Peak Analeg iO us Velooty Posten Umits W heads Alec Cw Lin inductance phase share 820002 mH ze 12000 Oh 50000 Aere hamber ef sates Mechanical GOIS Kam Maumi Velocity 65000800 5 21 Motor Setup Select the Motor folder in the right hand Parameter View Window To select a new motor click the Change Motor button When Change Motor is selected the Motor Database dialog box will open Select the Motor Type from the node tree in the left hand window i NOTE The drive must be is DISABLED display d 5 to setup a new motor olor 4 31 192 T6 TA TIO Vender ectrical Ki CTaraue Constant 034 Ka Vonage Constant 956 phase phere Sne Um inductance phavephase 194 Fim Resistance phase phaie 61 POLS Nominal shave coment 21 Covent a Nominal Orie Bos Voltage 325 Number eh pales 4 67 B leads A tor Ow Mechanical Jen Rotor Moment of 0 000017 Veisoty 4500 SEE eee To make a new motor selection Click Change Motor in the
39. the requirements of the Low Voltage Directive are not machines for the purpose of the Machinery Directive are not to be used as domestic appliances but only for industrial purposes Application Drive systems with E94P or E94R servo inverters as directed comply with the EMC Directive if they are installed according to the guidelines of CE typical drive systems can be used for for operation on public and non public mains for operation in industrial premises and residential areas The user is responsible for the compliance of his application with the EC directives Any other use shall be deemed as inappropriate Note Table 3 continued on next page S94H201E 13426446 EN Lenze 5 Introduction Claim Description Liability The information data and notes in these instructions met the latest design and implementation of the drive at the time of publication Claims on modifications referring to controllers that have already been supplied cannot be derived from the information illustrations and descriptions The specifications processes and circuitry described in these instructions are for guidance only and must be adapted to your own specific application Lenze does not take responsibility for the suitability of the process and circuit proposals The specifications in these Instructions describe the product features without guaranteeing them Lenze does not accept any liabili
40. used to select the signal source for the analog output as well as its scaling If the output function is set to Not Assigned then the output can be controlled directly from user s program Refer to the PositionServo Programming Manual for details STOP Upon application of power to the PositionServo the Analog Output supplies 10VDC until bootup is complete Once bootup is complete the Analog Output will supply the commanded voltage 4 4 Communication Interfaces 4 4 1 Ethernet Interface standard Programming and diagnostics of the drive are performed over the standard Ethernet communication port The drive s IP address is addressable from the drive s front panel display The interface supports both 100 BASE TX as well as 10 BASE T This configuration allows the user to monitor and program multiple drives from MotionView Refer to section 5 4 1 for PC configuration information 4 4 5 RS485 Interface option PositionServo drives can be equipped with an RS485 communication interface option module E94ZARS41 that is optically isolated from the rest of the drive s circuitry The option module can be used for communications to the drive as a Modbus RTU slave or over UPPP protocol The PositionServo drive supports 7 different baud rates from 2400 to 115200 As a Modbus RTU slave drives are addressable at up to 247 addresses repeaters are required above 31 devices on the network The factory setting for the baud rate is 38 400 with
41. 00 11 2048 4 500 12 2500 5 512 13 2880 6 720 14 250 7 800 15 4096 S94H201E_13426446_EN Lenze 51 LUI Parameters 5 4 Communication The Communication folder contains four sub folders Ethernet RS 485 CAN and PROFIBUS plus sub sub folders to program the parameters specific to the communication type Select the Fieldbus used from the pull down menu None CANOpen Simple 301 DeviceNet or PROFIBUS 1 Ethernet is always enabled regardless of the fieldbus selected Gatewaying is not supported between fieldbus and Ethernet 5 4 1 Ethernet Refer to section 6 2 on setting an IP address The Ethernet folder displays the IP Address Subnet Mask and Default Gateway for the drive selected in the Node Tree The TCP Reply Delay can be set in 1 millisecond increments from 0 to 15ms To obtain the IP address via DHCP check the box adjacent to Obtain IP address using DHCP The Ethernet folder contains the sub folders Modbus TCP and EtherNet IP Defined by the Ethernet hardware settings no further settings are necessary to communicate via ModBus TCP Also defined by the Ethernet hardware settings the EtherNet IP folder contains the configuration parameters for the EtherNet IP Industrial Protocol In general there is no need to change parameters for multicast operations Consult your IT administrator for these settings as their configuration is very network specific 542 5 485 To configure the 5485
42. 01E 13426446 EN Lenze IM DS Installation 3 Installation Perform the minimum system connection Refer to section 6 1 for minimum connection requirements Observe the rules and warnings below carefully A DANGER Hazard of electrical shock Circuit potentials are up to 480 VAC above earth ground Avoid direct contact with the printed circuit board or with circuit elements to prevent the risk of serious injury or fatality Disconnect incoming power and wait 60 seconds before servicing drive Capacitors retain charge after power is removed STOP The PositionServo must be mounted vertically for safe operation and to ensure enough cooling air circulation Printed circuit board components are sensitive to electrostatic fields Avoid contact with the printed circuit board directly Hold the PositionServo by its case only Protect the drive from dirt filings airborne particles moisture and accidental contact Provide sufficient room for access to the terminal block Mount the drive away from any and all heat sources Operate within the specified ambient operating temperature range Additional cooling with an external fan may be required in certain applications Avoid excessive vibration to prevent intermittent connections DO NOT connect incoming mains power to the output motor terminals U V W Severe damage to the drive will result Do not disconnect any of the motor leads from the PositionSer
43. 192 460 124 124 Position P Gain set too LOW Large Position Error occuring and large error in final positioning achieved BBscope 192 168 124 124 Increased Position P Gain Shows improvement to the maximum error and the final positioning accuracy At some point while increasing the P Gain additional oscillations Average Error will start to appear on the position error waveform 84 lenze S94H201E 13426446 EN Mscope 192 160 124 124 Further Increased Position P Gain Shows very good reduction to the maximum error but with additional oscillations starting to occur Step 2 Setting the Position D Gain Slowly increase the D Gain while watching the position error waveform on oscilloscope Channel 1 As the D Gain is increased the position error oscillation caused by the P Gain should start to decrease Continue to increase the D Gain until oscillation is gone or until D Gain is no longer having any apparent effect scope 192 168 124 124 Adjustment of Position D Gain in conjunction with the P Gain dampens out additional oscillations while improving position error Time Bae 109 Tngeer GE Wang ter vigger y Setan Tes For optimum tuning it is sometimes required to repeat the process of increasing the P Gain until a slight oscillation occurs and then increase the D Gain to suppress that oscillation This procedure can be repeated until the increasing of D Gain has negligible effect
44. 4 2 7 2 0 6 E94_040T4N_ 400 480V 5 5 4 0 12 3 E94 060T4N 820 V 0 528 V 4 096 7 9 6 0 18 E94_090T4N_ 12 0 9 0 27 1 2 3 4 5 6 7 The first equals P for the 940 encoder based dri The second equal The last digit equals M for MV OnBoard and no Mains voltage for operation on 50 60 Hz AC supplies 48 Hz 0 or for the 941 resolver based drive ls E for incremental encoder must have E94P drive or for the standard resolver must have E94R drive SO 13849 1 circuit or S for MV OnBoard plus the ISO 13849 1 circuit 62Hz 0 Connection of 120VAC 70 V 132 V to input power terminals L1 and N on these models doubles the voltage on motor output terminals U V W for use with 230VAC motors Connection of 240VAC or 120VAC to input power terminals L1 and L2 on these models delivers an equal voltage as maximum to motor output terminals U V W allowing operation with either 120VAC or 230VAC motors Drive rated at 8kHz Carrier Frequency Derate Continuous current by 17 at 16kHz Peak RMS current allowed for up to 2 seconds Peak current rated at 8kHz Derate by 17 at 16kHz Derate rated output current and peak output current by 2 5 for every above 40 up to 55 maximum lenze S94H201E 13426446 EN Technical Data Electrical Specifications applicable to all models Acceleration Time Range Zero to Max Spee
45. 4 5 2 The P1 and P7 connector pin assignments are listed in the tables herein P1 Pin Assignments Input Power Standard Models Pin Name Function PE Protective Earth Ground 11 AC Power L2 AC Power in L3 AC Power in 3 models only gt Doubler Models Pin Name Function PE Protective Earth Ground N AC Power Neutral 120V Doubler only L1 AC Power in L2 N AC Power in non doubler operation P7 Pin Assignments Output Power Pin Terminal Function 1 Ti Thermistor PTC Input T2 Thermistor PTC Input U Motor Power Out V Motor Power Out W Motor Power Out PE Protective Earth Chassis Ground Oli oi A N DANGER Hazard of electrical shock Circuit potentials are up to 480 VAC above earth ground Avoid direct contact with the printed circuit board or with circuit elements to prevent the risk of serious injury or fatality Disconnect incoming power and wait 60 seconds before servicing drive Capacitors retain charge after power is removed STOP DO NOT connect incoming power to the output motor terminals U V W Severe damage to the PositionServo will result Check phase wiring U V W and thermal input T1 T2 before powering up drive If miswired severe damage to the PositionServo will result 20 Lenze S94H201E 13426446 EN
46. 5 1 3 General Drive 6 1 32 Mains Configuration erect rr oa pem ee rer e ones 6 Operating MOd65 Eae tenerae vi ie n ee dec dea tutu te e e a nen 6 71 39 39 Ee ee ecco Icio ob oe bios D bre E bt dettes 7 134 Red 7 14 8 1 44 Drive Part Number 8 1 4 2 filter Part Number iine hibet ipea ni sr ni ER 8 1 43 Option Part N mber tco tete febre valere ae 9 2 Technical Data iiio bep ERR EP E43 3f RPG 10 2 Electrical Characteristics nr rh BR ERR ERA 10 2 2 Powertalilgs EE 11 23 Fuse 12 2 4 Digital and Analog UO 5 12 25 Environment eoe stehe e ee ec EE ER 12 2 6 Ee HO EELER 12 24 0 13 28 Positionservo Dimensions 0 00 eee cece ene eee ene eee mnn 14 2 9 Clearance for Cooling Air Circulation 15 3 UEC ee ere nh et eese cent 16 nn 17 3 2 Shielding and Grounding e kit i y 17 Get General Guidelines sesh clk este EE bee 17 3 2 2 EMIProtection iiio nh
47. 5 9 5 Position D gain differentia sss m II 57 5 95 3POSIHODE I eebe eebe Gereke dud 57 5 9 7 Gain Scaling Window 0 ccc cece 57 5 9 8 Disable High Performance 57 5 9 9 Auto TUNING RE 57 5 9 10 S t DetaultiGains 2 desto dee derat dom ode aso 58 5 9 11 Feedback and Loop Filters 0 0 0 ccc ccc cece eee eee eee een eee 58 MOONS PC 59 ESAME nunc 59 5310 2 Parameter amp VO TEE 60 VE 61 5512 Monitor tee 62 6 E Ee 63 61 Minimum 5 63 6 2 63 6 2 1 PositionServo Ethernet Port 64 6 2 2 Configuring the PC IP Address Windows 66 6 2 3 Initial Connection to the 69 6 2 4 Launching MotionView amp Communicating to the PS Drive 70 6 3 Parameter Storage and EPM 73 6 3 1 Parameter Storage isses eee e nale m ein ini d m 73 6 3 2 2 ERM Operation eter 73 ES CR iw mw RR RR RR D RR 73 6 4 Configuration of the PositionServo 0 cece eee II 74 6 5 Position Mode Operatio
48. 53 5 5 3 Analog Output Velocity Scale 53 5 5 4 Analog Input Current Scale 53 5 5 5 Analog Input Velocity Scale 53 5 5 6 Analog Input Dead Bandi 2 sce a ae n aer eine fen e 54 5 57 Analog Input Offset imbres Crib iT ebrei cb ues 54 5 62 Digital Seb EE 54 5 61 le Ca ne EE entere e roe ee fe Eee eese oe E E e mug 54 5 6 2 Digital Input De bounce 54 5 6 3 Hard Limit Switch Loma bote attt dtes 54 5 64 Enable Switch Function RI 54 5 6 5 Brake Release Delay EEE EAE II 55 KC Velocity AE A ace prae asta pn 55 bush Zero Speed sae see n ince ecc fetu us lr in t e Na Rn 55 5 7 2 Speed WINDOW iniecit E E engen je te 55 Ge OTT WER 55 58o Coen re e Ppt 56 GREG EE 56 5 8 2 SEO Eeer Geheit Geh ek ebe de r 56 58 3 Soft LImillS ua ee padres Kee ioa Roos Rs Ros ica c Ros Ros bane Ra 56 Lenze S94H201E 13426446 EN Contents 5 9 Compensalion eee miner sense ee eee eae 56 5 9 1 Velocity P gain proportional 56 5 9 2 1 56 5 9 3 Position P gain proportional 57 5 9 4 Position I gain integral 57
49. C32 C20 30 20 40 E94 120Y2N M50 M32 C50 C32 50 30 55 E94 180T2N M40 C40 40 80 E94 020T4N M10 C10 10 10 E94 040T4N M10 C10 10 20 E94 060T4N M20 C20 20 30 E94 090T4N M25 C25 25 40 1 The first equals P for the Model 940 encoder based drive or R for the Model 941 resolver based drive The second equals E for incremental encoder must have E94P drive for the standard resolver must have E94R drive The last digit equals M for MV OnBoard and no ISO 13849 1 circuit or 5 for MV OnBoard plus the ISO 13849 1 circuit 4 Installations with high fault current due to large supply mains may require a type D circuit breaker 5 UL Class CC or T fast acting current limiting type fuses 200 000 AIC preferred Bussman KTK R JJN JJS or equivalent 6 Thermal magnetic type breakers preferred 7 DC rated fuses rated for the applied voltage Examples Bussman KTM or JJN as appropriate 24 Digital and Analog 1 0 Ratings Vo Scan Linearity Temperature Drift Offset Current Input Voltage Times Impedance Range Units us mA Ohm VDC Digital Inputs 512 Depend on load 24k0 5 24 Digital Outputs 512 100 max N A 30 max Analog Inputs 512 0 013 0 1 per Crise 0 adjustable Depend on load 47k 10 Analog Outputs 512 0 1 per rise 0 adjustable 10 max N A 10 1 Inputs do not have scan time Their values are read directly by indexer program statement De bounce time is programmable and can be s
50. D Interface E All conductors must be enclosed in one shield with a jacket around them The shield on the drive end of the motor power cable should be terminated to the conductive machine panel using screen clamps as shown in section 3 2 The other end should be properly terminated at the motor shield Feedback cable shields should be terminated in a like manner Lenze recommends Lenze cables for both the motor power and feedback These are available with appropriate connectors and in various lengths Contact your Lenze representative for assistance Wire Size Current Terminal Wire Size A rms Torque Ib in 1 lt 8 4 5 16 AWG 1 5mm or 14 AWG 2 5mm 8 lt 1 lt 12 4 5 14 AWG 2 5mm or 12 AWG 4 0mm 12 lt 1 lt 15 4 5 12 AWG 4 0mm 15 1 20 5 0 7 0 10 AWG 6 0mm 20 lt 1 lt 24 11 0 15 0 10 AWG 6 0mm 4 1 2 P2 Ethernet Communications Port P2 is a RJ45 Standard Ethernet connector that is used to communicate with a host computer via Ethernet TCP IP P2 Pin Assignments Communications Pin Name Function 1 Transmit Data Terminal P2 2 TX Transmit Port Data Terminal 1 3 RX Receive Port Data Terminal 2 4 N C 5 N C 18 6 RX Receive Port Data Terminal 7 N C po 8 N C NOTE mie To communicate from the PC directly to the
51. E This section of the manual gives some guidance on how to configure the Ethernet communications setting on a PC to communicate with a PositionServo drive Additional material for other operating systems platforms may be available from the website or as an appendix to existing drive documentation If the drive and PC are both assigned automatic IP addresses from a DHCP enabled server then configuration of the PC port should not be necessary mie The following is a step by step guide to configure the PC IP address in Windows XP using either the classic or category viewing mode To access the network settings on a Windows XP based PC Category Default View Classic View Start Start Control Panel Settings Network amp Internet Connections Control Panel Network Connections Network Connections 66 lenze S94H201E 13426446 EN Operation Start Menus Windows XP Category Default View Classic View ibm D 5 toe Mr recem Docente D 23 uecht S my meres A Adobe Photoshop mme niobe Dep computer 3 Sg rty rework haces LI Adobe TE RO adete oie a amp Adobe Trot S qu ane int lt Bi ien oem D S NJ veter ond Fones Be E D dd z g por Orem AllPrograms gt One of the following screens will be displayed depending on the u
52. EPM can be removed and inserted into the replacement drive thus making an exact copy of the drive being replaced This shortens down time by eliminating the configuration procedure The EPM can also be used for replication of the drive s settings 6 3 2 Operation When the drive is powered up a comparison is made between the drive s internal memory and the EPM If a correctly formatted EPM is inserted the EPM will over ride the internal memory with the settings of the new EPM This allows the user to replace clone existing drives If the drive being cloned is of a lower power rating than the original drive and the current settings exceed the max settings of the new drive then the current settings will default to the max settings STOP Never install or remove the EPM module while the drive is powered Most Lenze AC Tech products use the EPM for memory storage on the drive The memory size of the EPM is denoted by its color and drive format structure The PositionServo drive uses a white EPM module When the drive is powered up it checks the format style of the EPM in the EPM port If the EPM Port is empty or a different color EPM is inserted the drive will display EF and no further operation is possible until a white EPM is inserted If a white EPM with an older format or a new blank EPM is inserted the drive will display FEP format EPM The drive is asking the user if he wants to reformat the EPM To reformat the EPM pr
53. Ethernet Interface 5 35 4 4 2 RS485 Interface option 35 ZS IModbus RTU SUDDOTL etae tc Pre e e eate terat Det e ein N 36 4 4 4 CANopen Interface IRI 36 44 5 36 4 4 6 PROFIBUS DP fnterfabe esee ehe t ot o mt oe 37 45 Motor rete ee xe ee tet eere ee RUE Re RE YR Fee qa Rug 37 AKT Motor Connection ra mt oec Pede Ne e di 37 4 5 2 Motor Over Temperature Protection 37 S94H201E_13426446_EN Lenze Contents Stee 38 Se e CH tele EE 39 GEES ET 39 531 2 GROUP Le 39 52 MOON sere cete citt Renee aen 40 5 2 IVT ee Eeer an fc 40 5 2 2 Using a Custom Mototsek ttu Ege doe Ask iR te 41 5 2 3 Creating Custom Motor 5 41 5 24 SALMO DMASIING zeae EE 42 6 2 5 Custom Motor Data EMY i c secat e sateen ose ted naan 43 53 47 SCT Moleon nno LARD Lom ee 48 5 3 2 NEE edhe ch sll hay le aca 48 5 3 3 Drive PWM Frequency oe
54. I Parameters 5 5 6 X Analog Input Dead Band Allows the setting of a voltage window in mV at the reference input AIN1 and AIN1 P3 pins 24 and 25 such that any voltage within that window will be treated as zero volts This is useful if the analog input voltage drifts resulting in motor rotation when commanded to zero 5 5 7 Analog Input Offset This function allows the drive to automatically adjust the analog input voltage offset To use it command the external reference source input at AIN1 and AIN1 P3 pins 24 and 25 to zero volts and then click the button adjacent to the Analog Input Offset box Any offset voltage at the analog input will be adjusted out and the adjustment value will be stored in the Analog input offset parameter 5 6 Digital 1 0 5 6 1 Digital Output The PositionServo has four programmable digital outputs These outputs can be assigned to one of the following functions or used by the drive s internal User Program Not Assigned function assigned Output can be used by the User program Zero Speed Output activated when drive is at zero speed refer to Velocity Limits Group section 5 7 for settings In Speed Window Output activated when drive is in set speed window refer to Velocity Limits Group section 5 7 for settings Current Limit Output activated when drive detects current limit Run Time Fault A fault has occurred Refer to section 7 3 for details on faults Ready Drive is enabled
55. Inputs Ct C4 omui OOOO Short Name Parameter 1 0 View with Variables NOTE By clicking the variables can be automatically sorted in descending or ascending order They can also be sorted alphabetically by clicking Variable Name and or Short Name NOTE Write only variables may not contain valid data in the Parameter and 1 0 view screen as all write only variables in the drive use a common display buffer Faults on faults Clear Fault Reset clears the active fault and resets the drive S94H201E 13426446 EN Lenze 5 12 be Parameters NOTE The Clear Faults operation will disrupt motion and the program being executed It is recommended not to clear faults while running an application OnBoard 4 09 DAP 240 04 Amp 192 160 124 120 STOPPED Lenze AC Tech ENTE DOTT CEN Save Connection oadCannecion CC Save 4 240 04 Amp 192 16 124 1 Motor Parameters Gear Fauit Reset Communication Ethoret No faut Modbus Lacu T CC EthecNeUIP CIP 34 5 Modbus RTU p CAN CANopen DeviceNet CIP PROFIBUS DP o Digital lO Analog IQ Limite Velocity Lentz Poston Limits Compensation Indexer Program Tools Monitor fly connected to drive B04009014100000 Monitor The Monitor window displays common diagnostic information for the drive s status Click the Set on Top box to keep the
56. Lenze PositionServo with MVOB Users Manual Valid for Hardware Version 2 Copyright 2013 2010 by Lenze AC Tech Corporation All rights reserved No part of this manual may be reproduced or transmitted in any form without written permission from Lenze AC Tech Corporation The information and technical data in this manual are subject to change without notice Lenze AC Tech makes no warranty of any kind with respect to this material including but not limited to the implied warranties of its merchantability and fitness for a given purpose Lenze AC Tech assumes no responsibility for any errors that may appear in this manual and makes no commitment to update or to keep current the information in this manual MotionView PositionServo and all related indicia are either registered trademarks or trademarks of Lenze AG in the United States and other countries Windows and all related indicia are registered trademarks of Microsoft Corporation Java and all related indicia are registered trademarks of Sun Microsystems Incorporated CANopen is a registered trademark of CAN in Automation CiA DeviceNet EtherNet IP and all related indicia are trademarks of ODVA Open Device Vendors Association PROFIBUS DP is a registered trademark of PROFIBUS International Contents 1 ses sa 5 11 Safety Information iere ttu better beet dad e bett tec ubt estet 5 Te kana BET
57. Monitor displayed while manipulating other screens in MotionView 62 Desenphon Vale Vents General Motion Enabled Actual Velocity C Unite See A Fauh Actual Ponnan 0 0002499995753189 User Units Undervoltage Actual Posion EC EI Current Tugel Postion 00 User Units Duer Folded Target Positon C 00 EC Regening Regiztiaton Position 00 Uzer Units Motion Regicteson Position EC 00 Homing Position 00 User Unit Homed Position Ener CCS Jn Postion counter 00 Moton Stack Full Drive Monitor Moton Stack Empty Phase Curent 0000 Motion Completed Bus Voltage 163 v Registration Thggered Heatsink Ternperature Less than 40 deg C Motion Limits Analog 10 Positive Limit Switch Analog Input Y 0 008 v Negative Lim Switch Analog Input 2 20004 v EtherNeviP CIP Exclusive Owner ee Oui I Exclusive Owner Timeout ATA ta User Watchdog Timeout 81 84 Set on Top BEZ Lenze S94H201E 13426446 EN 6 Operation This section offers guidance on configuring the PositionServo drive for operations in torque velocity or position modes without requiring a user program To use advanced programming features of PositionServo please perform all steps below and then refer to the PositionServo Programming Manual for details on how to write motion programs 6 1 Minimum Connections For the most basic operation connect the PositionServo to mains line power at termina
58. Signals Jil ICT 904 lt CW CCW 905 Timing Diagram for Master Encoder Signals Input type output compatibility Insulated compatible with single ended or differential outputs 5 24 VDC Max frequency per input 2 MHz Min pulse width negative or positive 500nS Input impedance 700 Q approx 600Q 100Q MA STEP MB DIR V 17 K AA 9 6V MA STEP MB DIR O S906 Master Encoder Step amp Direction Input Circuit Differential signal inputs are preferred when using Step and Direction Single ended inputs can be used but are not recommended Sinking or sourcing outputs may also be connected to these inputs The function of these inputs Master Encoder or Step and Direction is software selectable Use the MotionView set up program to choose the desirable function S94H201E 13426446 EN Lenze 31 D S Interface 4 2 2 Buffered Encoder Output pins 7 12 There are many applications where it is desired to close the feedback loop to an external device This feature is built into the PositionServo drive and is referred to as the Buffer Encoder Output If a motor with encoder feedback is being used the A A B B 2 and Z signals are directly passed through the drive through pins 7 12 with no delays up to a speed of 2MHz If a motor with resolver feedback is being used a minimal encoder feedback is transmitted The default resolution of
59. Slowly alter the Velocity P Gain increase and decrease and observe the motor velocity waveform on the oscilloscope As the P Gain increases the gradient of the velocity during acceleration and deceleration will also increase as will the final steady state velocity that is achieved The application of too much P Gain will eventually result in an overshoot in the motor velocity and further increases will result in larger overshooting to the point that instability continuous oscillation occurs Increase the velocity P gain until some overshoot occurs Some overshoot is generally ok and the objective is typically to achieve the shortest possible settle time steady state velocity When the system appears to have reached the shortest possible settle time with acceptable overshoot cease from increasing the P Gain Scope traces will be similar to those shown in Step 1 however the P gain will now be given a more precise adjustment in order to obtain the best possible tuning Scope 192 168 124 124 Good Fine Tuning of the P Gain Small overshoot with excellent settle time and steady state velocity regulation Step 3 Setting the Velocity I Gain The purpose of the velocity I gain is to correct any error that is present between the commanded velocity and the steady state velocity that could not be rectified by adjustment of the velocity P gain Adjustment of the velocity I gain can also reduce the steady state ripple that may occur in the veloc
60. Tools folder contains two action buttons Oscilloscope and Parameter 1 0 View These tools allow the user to perform real time diagnostics 5 10 1 Oscilloscope The Oscilloscope tool provides a real time display of the different electrical signals inside the PositionServo drive The signals in the following table can be observed on the two channels of the Oscilloscope tool Click on the Oscilloscope tool to open the Oscilloscope in a separate window Oscilloscope Parameters Signal Description Phase Current RMS Motor phase RMS current Phase Current Peak Motor phase peak current Ig Current Motor Iq torque producing current Motor Velocity Actual motor speed in RPM Command Velocity Desired motor speed in RPM Velocity mode only Velocity Error Difference in RPM between actual and commanded motor speed Position Error Difference between actual and commanded position Step amp Direction mode only Bus Voltage DC bus voltage Analog Input Voltage at the drive s analog input AIN1 Target Position Requested position Target Position Pulses Requested position expressed in pulses of the primary feedback device Absolute Position Absolute position actual position Absolute Position Pulses Absolute position expressed in pulses of the primary feedback device Position Increment Commanded position increment E Scope 10 135 110 244 S94H201E
61. Yes Velocity Gain No Yes Yes Position P Gain No No Yes Position Gain No No Yes Position D Gain No No Yes Position I Limit No No Yes Gain Scaling No Yes Yes Before using the tuning procedures detailed in the next sections ensure that the system is in a safe condition for tuning to be carried out It is often beneficial to first tune the motor off load to obtain approximate gains setting before fine tuning in the application Check that the drive output to the motor is disabled via Input A3 and that the drive is powered up Save any user program code previously entered into the Indexer Program folder in MotionView prior to tuning so it can be recalled after tuning is complete WARNING A During both the Velocity and Position tuning procedures the PositionServo drive will perform rotation motion of the motor shaft in the forward and reverse directions at velocities based on the user settings Ensure that the motor and associated mechanics of the system are safe to operate in the way specified during these procedures 6 7 1 Auto Tuning the Drive PositionServo drives with hardware revision 2 and higher feature Auto Tuning To Auto Tune the drive disable the drive Ensure that the Indexer program is not running Select the Compensation folder in the navigation tree De select Disable High Performance Mode and select Auto Tuning The velocity and position loops can be tuned either individually or together
62. _13426446_EN Channel 1 Signal Phase Current RMS Scale 100 AmpiDiv Offset 0 00 Amp Channel 2 Motor Velocity Scale 1000 0 Offset 0 00 Signal RPM Div e RPM Time Base 200 ms Div Trigger Auto Trigger Level 0 00 Single Waiting for trigger _ Seton Top Oscilloscope Display 59 LUI Parameters Signal Name The user can customize the information presented on the Scope tool by choosing the drop down box in each channel The set of available signals depends on the drive mode Refer to the Oscilloscope Parameters table for the list of the signals Scale Scale sets the sensitivity of the display Each division is considered one unit of the selected scale A scale of 100 RPM div for example means that the signal will rise or descend by one vertical division for every change of 100 RPM in the signal level Thus a 500 RPM signal would deflect the signal by five vertical divisions from the central reference line Offset Offset sets the vertical distance from the central base line to the signal trace This is useful if you want to compare two signals For example if you wish to compare the actual vs commanded motor velocity you would enter an offset that would move the two signals to alternate sides of the central reference line Time Base Time base sets the number of milliseconds displayed per horizontal division Higher frequencies have a shorter time base than lower f
63. a node address of 1 The drive s address and baud rate can be set from the front panel of the drive or in MotionView RS485 Interface Pin Assignments Pin Name Function 1 ICOM Isolated Common 2 TXB Transmit B 3 TXA Transmit A S94H201E 13426446 EN Lenze 35 D S Interface 4 4 3 Modbus RTU Support The RS485 interface is configured through the MotionView program When configured for Modbus operation the baud rate for RS485 is set using the parameter RS485 baud rate Modbus RTU requires 8 data bits The Modbus RTU slave interface protocol definitions can be found on the MotionView CD in Product Manuals 94 0001 D NOTE 1 Only one communication option module RS485 CANopen DeviceNet or PROFIBUS DP can be installed in the Option Bay 1 ata time The COMM modules can be exchanged out and replaced with another of a different type The Ethernet interface supports Modbus TCP IP and EtherNet IP 4 4 4 CANopen Interface An optional CANopen communication module E94ZACAN1 is available for the PositionServo drive Installed in Option Bay 1 as P21 the CANopen module is optically isolated from the rest of the drive s circuitry The 3 pin CANopen module is for HW SW 1A10 and the 5 pin CANopen module is for HW SW 1B10 or higher Refer to the PS CANopen Reference Guide P94CANO01 for more information CANopen Interface Pin Assignments
64. activation of a At Speed Output Speed Window Set bandwidth for activation of a At Speed Output lenze S94H201E 13426446 EN Diagnostics 8 Diagnostics 8 1 Diagnostic Display Apply power to the drive and wait until d 15 shows on the display For anything other than d 15 refer to the chart below before proceeding Drive Display Fault Remedy EP EPM missing Insert EPM FEPP Format EPM Reformatting EPM valid firmware Update firmware PositionServo drives are equipped with a diagnostic LED display and three push buttons to select displayed information and to edit a limited set of parameter values Parameters can be scrolled by using the UP and DOWN Q CH buttons To view a value press Enter To return back to scroll mode press Enter again After pressing the Enter button on editable parameters the yellow LED will blink indicating that parameter value can be changed Use UP and DOWN buttons to change the value Press Enter to store new setting and return back to scroll mode Display Description current drive status to view r n drive running SERE 4 5 drive disabled F_XX drive fault Where XX is the fault code section 8 4 1 HX XX Hardware revision e g H2 00 FX XX Firmware revision e g F2 06 RS232 RS485 normal mode baud rate 8 to set OO sele
65. be taken from Analog Input AIN1 or from the User Program by setting a particular variable digital reference In Position mode the reference can be taken from MA MB master encoder step and directions inputs available in terminal P3 or from trajectory generator Access to the trajectory generator is provided through the User Program s motion statements MOVEx and MDV Refer to the PositionServo Programming Manual for details on programming Whether the reference comes from an external device AINT or MA MB or from the drives internal variables digital reference and trajectory generator will depend on the parameter settings 38 lenze S94H201E 13426446 EN Parameters LL 5 1 Drive Identification At the top of the Node Tree click the Drive name E94P 240V 04Amp The drive ID string device family firmware revision vector processor revision hardware revision MotionView OnBoard revision motor database revision indexer compiler revision serial number drive name and group ID are displayed as illustrated herein With the exception of the Drive Name and Group ID the drive identification parameters are fixed and provided for information only Lenze AC Tech Eege eL HEMP MOV 04 Amp 102 168 1241 Value Us 804009014100000 Modbus TOP CIE amp RS488 Modbus RTU g CAN CANopen 009 014 100 000 DeviceNet PROFIBUS DP 404 41 202 Digital 10 Analog IO
66. ble and incoming power for shorts Check that you follow recommendation for shielding and grounding listed in section shielding and grounding early in this manual S94H201E 13426446 EN Lenze 97 Diagnostics Problem Ready LED is on but motor does not run Suggested Solution If in Torque or Velocity mode Reference voltage input signal is not applied Reference signal is not connected to the PositionServo input properly connections are open n MotionView program check Parameters Reference set to External For Velocity mode only n MotionView check Parameters Compensation Velocity loop filter P gain must be set to value more then 0 in order to run Without load motor will run with P gain set as low as 20 but under load might not If P gain is set to 0 motor will not run at all In Position mode with master encoder motion source no program Reference voltage input signal source is not properly selected n MotionView program check Parameters Reference set to External In Position mode using indexing program Variables ACCEL DECEL MAXV UNITS are not set or set to 0 Before attempting the move set values of motion parameters ACCEL DECEL MAXV UNITS Problem In velocity mode the motor runs away Possible Cause Hall sensors or encoder mis wired PositionServo not programmed for motor connected Suggested Solution e Check Hall sensor and encoder connecti
67. cated 5 24V 100mA Analog Input 2 differential 10 VDC 12 bits each Analog Output 1 single ended 10 VDC 10 bit Position Reference Input Step amp Direction or Master Encoder TTL Encoder Feedback E94P drive Feedback connector 15 pin D shell Resolver Feedback E94R drive Feedback connector 9 pin D shell 24VDC Power Keep Alive 2 pin removable terminal block Regen and Bus Power 5 pin removable terminal block Motor Power 6 pin pin removable terminal block ISO 13849 1 Safety Circuit option 6 pin quick connect terminal block RS485 Option Module 3 pin terminal block installed in Option Bay 1 CAN Option Module 3 pin terminal block installed in Option Bay 1 DeviceNet Option Module 5 pin terminal block installed in Option Bay 1 PROFIBUS Option Module 9 pin D shell connector installed in Option Bay 1 MotionView OnBoard Embedded Software Java based Maximum Servo Cable Length 20 meters 10m if EN55011 compliance required see 3 2 1 Ground Lug S94H201E 13426446 EN Lenze Technical Data 2 8 PositionServo Dimensions a ES 1231 e Gi H Ai ooo D B PS p P3 d D i 58 m E P amp H P4 G Lx
68. cess E overflow Drive programming error error in drive source code FE ai Motion Queue overflow 32 levels depth exceeded Drive programming error in drive source code Foy Motion Queue underflow Relates to the MDV statements in the Indexer Program Drive programming error error in drive source code Unknown Byte code interpreter error May occur when program is missing the closing END E Op opcode statement when subroutine has no RETURN statement or if data in EPM is corrupted at run time S94H201E 13426446 EN Lenze 95 Diagnostics Fault Code Display Fault Description Unknown Byte code interpreter error May occur when program is missing the closing END E Op byte code statement when subroutine has no RETURN statement or if data in EPM is corrupted at run time ED Drive disabled Attempt to execute motion while drive is disabled Drive programming error error in drive Source code F 28 Accel too high Motion statement parameters calculate an Accel value above the system capability Drive programming error error in drive source code zg Accel too low Motion statement parameters calculate an Accel value below the system capability Drive programming error error in drive source code F 30 Velocity too high Motion statement parameters calculate a velocity above the system capability Drive programming error error in
69. changing If so then decrease the gains values until the oscillations are either removed or reduced to an acceptable level PB scope 192 168 124 124 Minimal oscillation when motor positioned to target position 8 Setting the Position Error Limits Look at the position error waveform on the oscilloscope Note the maximum time that position errors exist from the time axis of the scope and the maximum peak errors being seen from the value at the top of the screen Use this values to set the position error limits to provide suitable position error protection for the application Open the Limits folder and Position Limits sub folder within the MotionView node tree and set suitable values for the Position Error and Max Error Time parameters BBscope 192 168 124 124 Maximum error and time period for error existing Time Base 100 ms Div Is 86 lenze S94H201E 13426446 EN In this particular example maximum error in pulses is 95 0 The time this peak error occurs can be read from the oscilloscope at approximately 7 of a division with each division equal to 100ms hence the error pulse lasts approximately 50mS Suitable settings for position error within this application might be as follows although looser or tighter limits could be applied depending on the requirements of the application Description Value Position Error 100 Max Error Time 50 9 End Tu
70. ck Start External Torque Mode Mandatory Signals These signals are required in order to achieve motion from the motor Connector Pin Input Name Description P3 22 ACOM Analog Common Reference from Controller P3 24 AIN1 Analog Torque Reference from Controller Positive P3 25 AIN1 Analog Torque Reference from Controller Negative P3 26 IN A COM Common Input for Enable Input P3 29 IN A3 Enable Input to Controller or switch Optional Signals These signals may be required dependant on the control system being implemented Connector Pin Input Name Description P3 6 45V 5V Output for Enable Input If required P3 7 Buffered Encoder Output P3 8 A Buffered Encoder Output P3 9 B Buffered Encoder Output P3 10 B Buffered Encoder Output P3 11 Z Buffered Encoder Output P3 12 Buffered Encoder Output P3 23 Analog Output P3 41 RDY Ready output Collector P3 42 RDY Ready output Emitter P3 43 OUT1 C Programmable output 1 Collector P3 44 OUTI E Programmable output 1 Emitter P3 45 OUT2 C Programmable output 2 Collector P3 46 OUT2 E Programmable output 1 Emitter P3 47 OUT3 C Programmable output 3 Collector P3 48 OUT3 E Programmable output 1 Emitter P3 49 OUT4 C Programmable output 4 Collector P3 50 OUT4 E Programmable output 1 Emitter Mandatory Parameter Settings These Parameters are required to be set prior to runn
71. cts from 2400 to 115200 baudrates Drive s address f to set fdr OO sets 0 31 drive s address FLES Stored fault s history to view OO scroll through stored faults FOXX F7XX XX is the fault code section 8 4 1 Heatsink temperature to view Shows heatsink temperature in C if greater than 40 C Otherwise shows LO low E Encoder activity to view ia Shows primary encoder counts for encoder diagnostics activity HALE Displays motor s hall sensor states to view Se Shows motor hall states in form XXX where X is 1 or 0 sensor logic states boot 0 Autoboot disabled 1 Autoboot enabled Feature available in FW 3 50 or higher BUS Displays drive DC bus voltage to view Shows DC bus voltage value Displays motor s phase current RMS dii Shows current value if drive is enabled otherwise shows d 15 CAnb CAN Baudrate CAnA CAN Address CAno CAN Operational Mode CAnd CAN Delay CARE CAN Enable disable S94H201E 13426446 EN Lenze 93 Diagnostics Display Description HEP Ehternet DHCP Configuration 0 dHCP is disabled 1 dHCP is enabled IP Adress Octet 4 SE IP Adress Octet 3 Ip IP Adress Octet 2 IPLI IP Adress Octet 1 PEc Displays the motor ptc resistance in ohms Aint Displays the voltage on Drive Analog Input 1 Ain1 ing Displays the voltage on Drive Analog Input 2 Ain2 8 2 Diagnostic LEDs The PositionSe
72. d Deceleration Time Range Max Speed to Zero IM 0 1 5 108 RPM sec 0 1 5x109 RPM sec Speed Regulation typical x 1 RPM Input Impedance AIN to COM and AIN to AIN 47 Power Device Carrier Frequency sinusoidal commutation 8 16 kHz Power Supply max 5 VDC 300 mA Maximum Encoder Feedback Frequency 2 1 MHz per channel Maximum Output Frequency to motor 400 Hz Resolver Carrier Frequency 4 5 5 5kHz 5 7 nom Resolver Turns Ratio Reference to SIN COS signal 2 1 Resolver Voltage 10V peak to peak Maximum Resolver Feedback Speed 6500 rpm 2 2 Power Ratings Output Power Rated Ouput Rated Output al e Leakage Current Current Current BkHz 16 kHz Units kVA mA Watts Watts E94 020S1N 0 8 19 21 E94 040S1N 17 29 30 E94 020S2F 0 8 19 21 E94 040S2F 17 29 30 E94 080S2F 3 3 61 63 E94 100S2F 4 2 80 85 E94 020Y2N 0 8 Typically 23 5 mA 19 21 Consult factory for E94 040Y2N 17 applications requiring 29 30 E94 080Y2N 3 3 lt 3 5 mA 61 63 E94 120Y2N 5 0 114 129 E94 180T2N 7 5 171 195 E94 020T4N 17 81 41 E94 040T4N 3 3 50 73 E94 060T4N 5 0 93 122 E94 090T4N 7 5 138 182 1 The first _ equals P for the Model 940 encoder based drive for the Model 941 resolver based drive The second _ equals E
73. d These parameters are active in Velocity Mode Only 5 7 1 Zero Speed Specifies the upper threshold for motor zero speed in RPM When the motor shaft speed is at or below the specified value the zero speed condition is set to true in the internal controller logic The zero speed condition can also trigger a programmable digital output if selected The Zero Speed range is 0 to 100 RPM and the default value is 10 RPM 5 7 2 Speed Window Speed Window specifies the width used with the In speed window output The Speed Window range is 10 to 10 000 RPM and the default value is 100 RPM 5 7 3 At Speed At Speed specifies the speed window center used with the In speed window output The At Speed range is 10000 to 10000 RPM and the default value is 1000 RPM Speed Window and At Speed specify speed limits If motor shaft speed is within these limits then the condition AT SPEED is set to TRUE in the internal controller logic The AT SPEED condition can also trigger a programmable digital output if selected For example if AT SPEED is set for 1000 RPM and the SPEED WINDOW is set for 100 then AT SPEED will be true when the motor velocity is between 950 1050 RPM S94H201E 13426446 EN Lenze 55 LUI Parameters 5 8 Position Limits 5 8 1 Position Error Specifies the maximum allowable position error in the primary motor mounted feedback device before enabling the Max error time clock When using an encoder the posit
74. d IP 4 all contain rather than a numerical values it means that the drive has DHCP enabled and the DHCP server is yet to assign the drive its dynamic IP address As soon as an IP address is assigned by the server the address assigned will be display by the drive in the above parameters See section on obtaining IP addresses through DHCP 6 2 1 2 Configuring the IP Address Manually Static Address When connecting directly from PositionServo drive to the PC without a server or when connecting to a private network where all devices have static IP addresses the IP address of the PositionServo drive will need to be assigned manually To assign the address manually the drive must have its DHCP mode disabled This can be done using the drive keypad and display Press the recessed mode button lt on the display and use the UP and DOWN buttons W to access parameter DHCP Check this parameter is set to a value of 0 If the DHCP parameter is set to 1 then use the mode and down Y arrows to set to 0 and then cycle power to the drive in order for this change to take effect When DHCP is disabled and power cycled to the drive it will revert back to its previous static IP address 64 lenze S94H201E 13426446 EN It is most common for the PositionServo drive IP address to be left at its default value 192 168 124 120 and to configure the PC Ethernet port to commu
75. d Output Speed Window Set bandwidth for activation of a At Speed Output 7 2 Quick Start External Velocity Mode Mandatory Signals These signals are required in order to achieve motion from the motor Connector Pin Input Name Description P3 22 ACOM Analog Common Reference from Controller P3 24 AIN1 Analog Velocity Reference from Controller Positive P3 25 AIN1 Analog Velocity Reference from Controller Negative P3 26 A COM Common Input for Enable Input P3 29 IN A3 Enable Input to Controller or switch Optional Signals These signals may be required dependant on the control system being implemented Connector Pin Input Name Description P3 6 45V 5V Output for Enable Input If required P3 7 Buffered Encoder Output P3 8 A Buffered Encoder Output P3 9 B Buffered Encoder Output P3 10 B Buffered Encoder Output P3 11 Z Buffered Encoder Output P3 12 Buffered Encoder Output P3 23 A0 Analog Output P3 41 RDY Ready output Collector P3 42 RDY Ready output Emitter P3 43 OUT1 C Programmable output 1 Collector P3 44 OUT1 E Programmable output 1 Emitter P3 45 OUT2 C Programmable output 2 Collector P3 46 OUT2 E Programmable output 1 Emitter P3 47 OUT3 C Programmable output 3 Collector P3 48 OUT3 E Programmable output 1 Emitter P3 49 OUT4 C Programmable output 4 Collector P3 50 OUT4 E Programmable output 1 Emitter
76. desired then remove the enable input prior to re application of input power 4 1 6 P6 Braking Resistor and DC Bus P6 is a 5 pin quick connect terminal block that can be used with an external braking resistor the PositionServo has the regen circuitry built in The Brake Resistor connects between the Positive DC Bus either P6 1 or 2 and P6 3 P6 Terminal Assignments Brake Resistor and DC Bus Pin Terminal Function B 1 B Positive DC Bus Brake Resistor 2 B BR 3 BR Brake Resistor B 4 B B Negative DC Bus 5 DANGER Hazard of electrical shock Voltage up to 480 VAC above earth ground is possible Avoid direct contact with live terminals and circuit elements Disconnect incoming power and wait 60 seconds before opening or servicing the drive Capacitors retain charge after power is removed 24 Lenze S94H201E 13426446 EN Interface E 4 1 7 Connector and Wiring Notes Note 1 Buffered Encoder Outputs Each of the encoder output pins on P3 is a buffered pass through of the corresponding input signal on P4 Refer to section 4 2 2 Buffered Encoder Outputs This can be either from a motor mounted encoder or an encoder emulation of the resolver The parameter Resolver Tracks configures the resolution of the encoder emulation refer to 5 3 17 Note 2 Master Encoder Inputs or Step Direction Inputs An external pul
77. dify overwrite the Current Limit place a checkmark in the box If this box is checked the parameters Current limit 8 kHz peak current limit and 16 kHz peak current limit can be overwritten To prevent the motor from overloading the current Limit 8 kHz peak current limit and 16 kHz peak current limit shall be set to values no higher than the corresponding current limits of the motor in use 5 3 6 Peak Current Limit 8 kHz and 16 kHz Peak Current Limit sets the motor RMS phase current that is allowed for up to 2 seconds After this two second limit the drive output current to motor will be reduced to the value set by the Current Limit parameter When the motor current drops below nominal current for two seconds the drive will automatically re enable the peak current level This technique allows for high peak torque on demanding fast moves and fast start Stop operations with high regulation bandwidth If 8 kHz is used for Drive PWM frequency use the parameter 8 kHz Peak Current Limit otherwise use 16 kHz Peak Current Limit The Peak Current Limit is set equal to 2 5 times the nominal motor phase current by default when a motor model is selected The maximum of 3 times nominal motor phase current can be obtained at 8kHz To prevent motor from overloading the Peak Current Limit shall be set no higher than the maximum motor current Otherwise the motor may be damaged due to overheating To modify this limit refer to
78. e Loop filter can be configured as a Notch or Resonant type filter Both configurations implement band stop filtering for solving certain mechanical compliance problems A common problem is torsional resonance due to mechanical compliance between load inertia and motor inertia Consider a motor coupled with a long load shaft with an inert load at the opposite end Such a system will have a resonant frequency of Im MU 2n Jp Hz where JL load inertia kgm 2 motor inertia kgm 2 total stiffness of coupling and shaft Nm rad Jp JL JM JL JM w 3 1416 Applying the loop filter at this frequency in the configuration Resonant Filter will cancel the resonant pole effectively allowing higher overall loop gain without losing stability The Resonant filter setting allows the user to set the resonant frequency the bandwidth of the filter as well as maximum attenuation gain in dB The Notch filter serves a similar purpose as the resonant filter It has programmable bandwidth and center frequency The Gain in the center frequency point is not programmable and depends on the bandwidth of the filter which is programmable The resonant filter is a second order bi quad filter with 20dB dec roll off This resonant filter is good for applications where resonances have a wide bandwidth rather than in those that have a big amplitude and narrow bandwith 58 lenze S94H201E 13426446 EN 5 10 Tools Parameters M The
79. e following items 8 File and Printer Sharing for Microsoft Networks 8 QoS Packet Scheduler a ee a Install Uninstall Properties Description Transmission Control Protocol Internet Protocol The default wide area network protocol that provides communication across diverse interconnected networks Show icon in notification area when connected Notify me when this connection has limited or no connectivity Cancel Use the vertical scroll bar on the right hand side of the screen to scroll down to the Internet Protocol TCP IP option in the selection window Select this option and click the Properties button The Internet Protocol TCP IP Properties screen will appear 68 lenze S 94H201E 13426446 EN Select Use the following IP address The IP address Subnet mask text boxes can now be edited Local Area Connection Properties General Authentication Advanced Internet Protocol TCP IP Properties General You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings Obtain an IP address automatically Use the following IP address IP address 182 168 124 1 Subnet mask 255 255 255 0 Default gateway Obtain DNS server address auto
80. ection 5 DGND Data Ground 6 45V 5V Output Supply 7 N C No Connection 8 RxD TxD N Data Line A Green 9 N C No Connection 4 5 Motor Selection The PositionServo drive is compatible with many 3 phase AC synchronous servo motors MotionView OnBoard is equipped with a motor database that contains hundreds of motors for use with the PositionServo drive If the desired motor is in the database no data is needed to set it up Just select the motor and click OK However if the motor is not in the database it can still be used but some electrical and mechanical data must be provided to create a custom motor profile The auto phasing feature of the PositionServo drive allows the user to correctly determine the relationship between phase voltage and hall sensor signals or resolver offset eliminating the need to determine feedback orientation by other means 4 5 1 Motor Connection Motor phase U V W or R S T are connected to terminal P7 It is very important that motor cable shield is connected to Earth ground terminal PE or the drive s case The motor s encoder resolver feedback cable must be connected to terminal P4 4 5 2 Motor Over Temperature Protection D NOTE 1 The PositionServo does not provide motor over temperature protection The user may connect a KTY motor thermal sensor to the drive as detailed in section 4 1 1 and this paragraph 4 5 2 if necessary to satisfy NEC requirements
81. ector and Wiring Notes 2 For asynchronous servo motor an incremental encoder without Hall effect sensors commutation tracks can be used S94H201E 13426446 EN Lenze 23 S Interface P4B Pin Assignments Resolver Feedback E94R Drives Pin Name Function 1 Ref P4 Resolver reference connection 2 Ref 3 N C No Connection Ge 1 gt 6 4 Cos 3 Resolver Cosine connections Cos 73 6 Sin ha 5 9 Resolver Sine connections 7 Sin 8 PTC 1 Motor PTC T ture S P4 7 emperature Sensor PA STOP Use only 10 V peak to peak or less resolvers Use of higher voltage resolvers may result in feedback failure and damage to the drive 4 1 5 P5 24VDC Back up Power Input 5 is a 2 pin quick connect terminal block that can be used with an external 24 VDC 500mA power supply to provide Keep Alive capability during a power loss the logic and communications will remain active Applied voltage must be greater than 20VDC P5 Pin Assignments Back up Power Pin Name Function TT n 1 424VDC Positive 24 VDC Input 2 Return 24V power supply return D 5 WARNING A Hazard of unintended operation When the enable input remains asserted the Keep Alive circuit will restart the motor upon restoration of mains power If this action is not
82. elocity starts to resemble the commanded velocity scope 192 160 124 124 Gain Scaling set too LOW Motor Velocity significantly different than Commanded Velocity 78 lenze S94H201E 13426446 EN scope 192 160 124 124 Gain Scaling set OK Motor Velocity resembles Commanded Velocity Motor Velocity is reasonably close with a slight overshoot Wanting ter tiger v Saten Tee scope 192 160 124 124 Gain Scaling set too HIGH Motor Velocity shows significant overshoot following the acceleration periods scope 192 160 124 124 Channel Gain Scaling set significantly too HIGH Motor Velocity exhibits instability throughout the steady state Commanded Velocity Depending on the system begin tuned the motor may go from stable operation little to no overshoot with stable steady state velocity to instability continuous and pronounced oscillations during steady state command very quickly as gains scaling is increased The bandwidth for allowing some overshoot with a quick settle time may be very small and may only be achieved through adjustment of the Velocity P Gain as described in Step 2 Set the gain scaling parameter to the value preceding that where significant overshoot or continuous instability occurs With the Gain scaling parameter set move onto tuning the velocity P and gains S94H201E 13426446 EN Lenze 79 Operation Step 2 Fine Tuning the Velocity P Gain
83. ep the scope on top In the Scope Tool Window make the following settings Channel 1 Signal Commanded Velocity Scale appropriate to SpeedReference value set in Indexer Program Channel 2 Signal Motor Velocity Scale appropriate to SpeedReference value set in Indexer Program Timebase as appropriate to Period value of Indexer Program Trigger Channel 1 Rising Edge Level 10 For better resolution adjust these scaling factors during the tuning procedure 6 Compensation Folder In MotionView open the Compensation folder for the drive Set Gain Scaling to a relatively low value e g 6 for Encoder motor and 8 for a Resolver Motor Set the Velocity P gain to a mid value 16000 and set the Velocity I Gain to 0 7 Gain Tuning The system should now be ready to start tuning the velocity gains Start the Oscilloscope by clicking Run Apply the Enable input to Input A3 to enable the drive At this point of the procedure it is desirable to have little to no motion until we start to increase the gain settings If the motor vibrates uncontrollably disable the drive lower the Gain Scaling parameter value and repeat the input enable Step 1 Setting the Gain Scaling Parameter The gain scaling parameter is a course adjustment of the other gain s parameter values Steadily increase the value of the gain scaling parameter until a reasonable response is obtained from the motor motor v
84. ess the recessed carriage return button on the front of the drive If you do not wish to reformat power down the drive and remove the EPM from the drive STOP If the EPM contains any data from an existing drive that data will be overwritten during this procedure During the reformatting process some of the data from the internal memory will be written to the EPM and some of the settings will be set to default Check all parameters 6 3 3 EPM Fault If the EPM fails during operation or the EPM is removed from the EPM Port the drive will generate a fault and display EF The fault is logged to the drive s fault history The fault log will list fault code 38 EPM Failure Further operation is not possible until the EPM is replaced inserted and the drive s power is cycled S94H201E 13426446 EN Lenze 73 3 ON Operation 6 4 Configuration of the PositionServo Regardless of the mode in which the user wishes to operate he must first configure the PositionServo for his particular motor mode of operation and additional features if used Drive configuration consists of following steps Motor Selection Mode of operation selection Reference source selection Very Important Drive parameters i e current limit acceleration deceleration setup Operational limits velocity or position limits setup Input Output 1 0 setup Velocity position compensator gains setup Auto Tuning O
85. et as low as 0 Propagation delay is typical 20 us 2 Input Impedance is 1 2kQ for drive with Hardware Revision 2A 2 5 Environment Vibration 2 g 10 2000 Hz Ambient Operating Temperature Range 0 to 40 C Derate rated output current and peak output current by 2 5 for every C above 40 C up to 55 C Ambient Storage Temperature Range 10 to 70 C Temperature Drift 0 1 per C rise Humidity 5 90 non condensing Altitude 1500m 5000ft derate by 1 per 300m 1000 ft above 1500m 5000 ft 2 6 Operating Modes Torque Reference x 10 VDC 12 bit scalable Torque Range 100 1 Current Loop Bandwidth Up to 1 5 kHz 12 lenze S94H201E 13426446 EN Technical Data Velocity Reference 10 VDC or 0 10 VDC 12 bit scalable Regulation x 1 RPM Velocity Loop Bandwidth Up to 200 Hz Speed Range 5000 1 with 5000 ppr encoder Position Reference 0 2 MHz Step amp Direction or 2 channels quadrature input scalable Minimum Pulse Width 500 nanoseconds Loop Bandwidth Up to 150 Hz Accuracy 1 encoder count for encoder feedabck 1 32 arc minutes for resolver feedback 14 bit resolution 2 motor and application dependent 2 7 Connections and 1 0 Mains Power 3 pin or 4 pin removable terminal block Ethernet Port Standard RJ45 Connector 1 0 Connector Standard 50 pin SCSI Buffered Encoder Output A B amp Z channels with compliments 5V 20mA Digital Inputs 11 programmable plus 1 dedicated 5 24V Digital Outputs 4 programmable plus 1 dedi
86. fecting the operation of other PC functions mie 6 2 1 PositionServo Ethernet Port Configuration The IP address of the PositionServo drive is composed of four sub octets that are separated by three dots to conform to the Class C Subnet structure Each sub octet can be configured with number between 1 and 254 As shipped from the factory the default IP address of a drive is 192 168 124 120 There are two methods of changing the current IP address An address can be assigned to the drive automatically dynamic IP address when the drive is connected to a DHCP Dynamic Host Configuration Protocol enabled server or the drive can have an IP address assigned to it manually be the user static IP address Both methods of configuring the drive s IP address are detailed herein 6 2 1 1 Obtaining the PositionServo s Current Ethernet Settings The current Ethernet setting and IP address of the PositionServo drive can be obtained from the drive display and keypad Press the recessed mode button lt on the display and use the UP and DOWN buttons to access parameters IP 1 IP 2 IP_3 and IP 4 Each of these parameters contain one sub octet of the full IP address for example in the case of the drive default factory set address parameters IP 12192 IP 2 168 IP 3 124 IP 4 120 By accessing these four parameters the full IP address on the drive can be obtained If parameters IP 1 IP 2 3 an
87. for incremental encoder must have E94P drive or for the standard resolver must have E94R drive The last digit equals M for MV OnBoard and no ISO 13849 1 circuit or S for MV OnBoard plus the ISO 13849 1 circuit 2 At 240 VAC line input for drives with suffixes S1N S2F Y2N At 480 VAC line input for drives with suffixes TAN a The output power is calculated from the formula output KVA 3 x1 gl 1000 b The actual output power kW depends on the motor in use due to variations in motor rated voltage rated speed and power factor as well as actual max operating speed and desired overload capacity Typical max continuous power kW for PM servo motors run 50 70 of the ratings listed 3 At 16 kHz de rate continuous current by 17 S94H201E_13426446_EN 11 Technical Data Iv 2 3 Fuse Recommendations AC Line Miniature AC Line Input Fuse DC Bus Input Type Input Fuse Circuit Breaker or Breaker 6 Fuse 19 39 19 39 N America Amp Ratings E94 0208S1N M20 M10 C20 C10 20 10 10 E94 0408S1N M32 M20 C32 C20 30 20 20 E94 020S2F M20 C20 20 15 E94 040S2F M20 C20 20 20 E94 080S2F M32 C32 32 40 E94 100S2F M40 C40 40 45 E94 020Y2N M20 M16 C20 C16 20 15 15 E94 040Y2N M20 M16 C20 C16 20 15 20 E94 080Y2N M32 M20
88. ftware MotionView software is the setup and management tool for the PositionServo drive All parameters can be set and monitored via this software tool It has a real time oscilloscope tool for analysis and optimum tuning The users program written with SimpleMotion Programming Language SML can be utilized to command motion and handle the drive s analog and digital 1 0 inputs and outputs The programming language is a Basic like language designed to be very intuitive and easy to implement For programming details refer to the PositionServo Programming Manual All PositionServo related manuals can be downloaded from the Technical Documentation section on the Lenze website http www lenze com On each PositionServo drive there is an Electronic Programming Module EPM which stores all drive setup and tuning gain settings This module can be removed from the drive and reinstalled into another drive making the field replacement of the drive extremely easy This also makes it easy to duplicate the settings for several drives The PositionServo drive supports a variety of communication protocols including Point to Point PPP Modbus RTU over RS485 Ethernet TCP IP Modbus over TCP IP CANopen DS301 EtherNet IP DeviceNet and PROFIBUS DP S94H201E 13426446 EN Lenze 7 Introduction 1 4 Part Number Designation The table herein describes the part number designation for the PositionServo drive The available filter and
89. g the drive from being enabled until both are active and causing the drive to disable once either one or both of the inputs are removed The activation of both inputs will not automatically cause the drive to enable but will allow enable through the standard methods provided for enable of the drive If an attempt is made to enable the drive by executing the program statement ENABLE or from activating the input IN A3 with the ISO 13849 1 safety inputs not being present then the drive will generate an ISO 13849 1 Safety Fault EF When the drive is disabled through the ISO 13849 1 safety inputs by removing the 24VDC assertion level to either Safety Input 1 or Safety Input 2 or both while the drive is enabled the drive output is turned off and further torque cannot be produced by the drive in the motor The drive will go to the E EF fault condition to indicate disable of the drive was by means of the safety circuits With the drive output disabled the motor will perform an uncontrolled stop or free wheel deceleration to stand still unless driven by the load Rotation of the motor will not stop immediately and the time to reach standstill will depend on the inertia contained within the system WARNING Ensure motion has stopped and the machine is in a safe condition before approaching the application If the system is required to be brought to zero speed on loss of the safety circuit function then a motor with a fail safe mechanical bra
90. hardware revision 1 installations without re tuning This setting should be de selected for best results with Auto Tuning 5 9 9 Auto Tuning Click the Autotuning button to access the Auto Tuning parameter this parameter auto tunes the compensation gains for the motor load applied e NOTE 1 For best results de select Disable High Performance Mode prior to auto tuning S94H201E_13426446_EN Lenze 57 LUI Parameters 5 9 10 Set Default Gains Click the Set Default Gains button to access the Default Gains parameter Selecting Set Default Gains will reset the gains to the default values in the motor file 5 9 11 Feedback and Loop Filters Hardware Version 2 provides for the use of 1 feedback filter and 2 cascaded loop filters Loop filters are identical in structure and operation The feedback filter is a low pass first order filter used primarily to filter noise from the feedback device The time constant of the filter is settable and from 2mS and up Values of 2 8mS are generally adequate for most applications The Loop filter can be configured as a Low Pass Notch or Resonant type filter The Low pass filter is used to lower noise in the system produced by control and feedback signal disturbances and quantization noise The Low pass cut off frequency is usually set at 5 10 times the desired velocity loop bandwidth If enabled the loop filter is installed between the velocity and current loop Th
91. hase S current Phase T current Iq current Torque component Id current Direct component 5 5 2 Analog Output Current Scale Volt Amps Applies scaling to all functions representing CURRENT values 5 5 3 X Analog Output Velocity Scale mV RPM Applies scaling to all functions representing VELOCITY values Note that mV RPM scaling units are numerically equivalent to volts KRPM 5 5 4 Analog Input Current Scale Amps Volt This parameter sets the analog input sensitivity for current reference used when the drive operates in torque mode Units for this parameter are A Volt To calculate this value use the following formula Iscale Imax Vin max Imax maximum desired output current motor phase current RMS Vin max voltage fed to analog input at Imax Example Imax 5A phase RMS Vin 10V Iscale Imax Vin max 5 10V 0 5 Volt value to enter 5 5 5 Analog Input Velocity Scale RPM Volt This parameter sets the analog input sensitivity for the velocity reference used when the drive operates in velocity mode Units for this parameter are RPM Volt To calculate this value use the following formula Vscale VELOCITYmax Vin max VELOCITYmax maximum desired velocity in RPM Vin max max voltage fed to analog input at Velocity ax Example VELOCITYmax 2000 RPM Vin max 10V Vscale VELOCITYmax Vin max 2000 10V 200 RPM Volt value to enter S94H201E 13426446 EN Lenze 53 LU
92. he bus voltage level drops F M Under voltage below 50 of nominal bus voltage while drive is operating An attempt to enable the drive with low bus voltage will also result in this fault E 15 Hardware overload Occurs when the phase current becomes higher than 400 of total drive s current protection capability for more then bus _ IE Internal Error Associated with noise Troubleshoot grounding If error persists contact factory for technical support En Internal Error Associated with noise Troubleshoot grounding If error persists contact factory for technical support Arithmetic Error Statement executed within the Indexer Program results in a division by 0 being Division by zero performed Drive programming error error in drive source code Statement executed within the Indexer Program results in a value being generated that Arithmetic Error A R p E is too big to be stored in the requested register Drive programming error error in drive Register overflow Source code F 20 Subroutine stack Exceeded 32 levels subroutines stack depth Caused by executing excessive subroutine overflow calls without a RETURN statement Drive programming error error in drive source code D Subroutine stack Executing RETURN statement without preceding call to subroutine Drive programming error 7 underflow error in drive source code F 22 Arithmetic stack Variable evaluation stack overflow Expression too complicated for compiler to pro
93. ifferent default directory was selected then navigate to that directory Click on the TuneV txt file and select Open 3 Editing the Velocity Tuning Program The Tune Velocity Program creates a step velocity demand in the forward and reverse directions that the drive will attempt to follow based on its velocity gain settings The drive will run for a set time in the forward direction and then reverse the reference and run for the same set time in the reverse direction showing the acceleration deceleration and steady state performance The speed and period time for one complete cycle forward and reverse is set in the Indexer program with the following statements Motion Parameters Define SpeedReference 5 speed reference in Rps Define Period 500 time in millisec Adjust these parameters to values suitable to the application in which the drive is used before going to the next step 4 Compile and Download Indexer Program to Drive In the Indexer program folder in MotionView select the Load W Source button on the program toolbar The TuneV program will be compiled and sent to the drive Click Run on the program toolbar to run the TuneV program Do NOT enable the drive via input A3 at this stage S94H201E 13426446 EN Lenze 7T on Operation 5 Oscilloscope Settings Open the Tools folder in MotionView and select the Oscilloscope tool Click the Set on Top box to place a checkmark in it and ke
94. ing mechanisms In order to comply with IEC 61800 3 2004 an appropriate filter must be installed within 20cm of the drive power inputs Line filters should be placed inside the shielded panel Connect the filter to the incoming power lines immediately after the safety mains and before any critical control components Wire the AC line filter as close as possible to the PositionServo drive 18 Lenze S94H201E_13426446_EN pa Installation e NOTE 1 The ground connection from the filter must be wired to solid earth ground not machine ground If the end user is using a CE approved motor the AC filter combined with the recommended motor and encoder feedback cables maximum cable length of 10m is all that is necessary to meet the EMC directives listed herein The end user must use the compatible filter to comply with CE specifications The OEM may choose to provide alternative filtering that encompasses the PositionServo drive and other electronics within the same panel The OEM has this liberty because CE requirements are for the total system 3 4 Heat Sinking The PositionServo drive contains sufficient heat sinking within the specified ambient operating temperature in its basic configuration There is no need for additional heat sinking However the user must ensure that there is sufficient clearance for proper air circulation As a minimum an air gap of 25 mm above and below the drive is necessary 3 5 Line
95. ing the drive Folder Sub Folder Parameter Name Description Parameters Drive Mode Set to Torque Reference Set to External 10 Analog IO Analog Input Current Scale Set to required current per 1V input from controller Analog Input Dead band Set zero torque Dead band in mV Analog Input Offset Set Analog Offset for Torque Reference 10 Digital 10 Enable Switch Function Set to Run 88 lenze S94H201E 13426446 EN Quick Start Reference Optional Parameter Settings These parameters may require setting depending on the control system implemented Folder Sub Folder Parameter Name Description Parameters Resolver Track PPR for simulated encoder on 941 Resolver drive 10 Digital 10 Output 1 Function Set to any pre defined function required Output 2 Function Set to any pre defined function required Output 3 Function Set to any pre defined function required Output 4 Function Set to any pre defined function required 10 Analog 10 Adjust Analog Input Tool that can be used to learn analog input level Analog Output Set to any pre defined function required Analog Output Current Scale Set to scale analog output if current value is selected Analog Output Velocity Scale Set to scale analog output if velocity value is selected Limits Velocity Limits Zero Speed Set bandwidth for activation of a Zero Speed Output At Speed Set Target Speed for activation of a At Spee
96. inted circuit board or with circuit elements to prevent the risk of serious injury or fatality Disconnect incoming power and wait 60 seconds before servicing the drive Capacitors retain charge after power is removed WARNING Leakage current may exceed 3 5mA AC Minimum size of the protective earth conductor shall comply with local safety regulations for high leakage current equipment STOP Under no circumstances should power and control wiring be bundled together Induced voltage can cause unpredictable behavior in any electronic device including motor controls WARNING The PositionServo drive runs on phase to phase voltage For the standard drive either a delta or wye transformer may be used for 3 phase input However for reinforced insulation of user accessible 1 0 circuits each phase voltage to ground must be less than or equal to 300VAC rms This means that the power system must use center grounded wye secondary configuration for 400 480VAC mains Refer to section 4 1 1 for Power wiring specifications 3 2 Shielding and Grounding 3 2 1 General Guidelines Lenze recommends the use of single point grounding SPG for panel mounted controls Serial grounding a daisy chain is not recommended The SPG for all enclosures must be tied to earth ground at the same point The system ground and equipment grounds for all panel mounted enclosures must be individually connected to the SPG for that panel using 14 AWG 2 5 m
97. ion P3 6 5V 5V Output for Enable Input If required P3 7 Buffered Encoder Output P3 8 A Buffered Encoder Output P3 9 Buffered Encoder Output P3 10 B Buffered Encoder Output P3 11 7 Buffered Encoder Output P3 12 Z Buffered Encoder Output P3 22 ACOM Analog Common Reference from Controller P3 23 A0 Analog Output P3 27 IN A1 Positive Limit Switch Required if Limit Switch Function is used P3 28 IN A2 Negative Limit Switch Required if Limit Switch Function is used P3 41 RDY Ready output Collector P3 42 RDY Ready output Emitter P3 43 OUT1 C Programmable output 1 Collector P3 44 OUT1 E Programmable output 1 Emitter P3 45 OUT2 C Programmable output 2 Collector P3 46 OUT2 E Programmable output 1 Emitter P3 47 OUT3 C Programmable output 3 Collector P3 48 OUT3 E Programmable output 1 Emitter P3 49 OUT4 C Programmable output 4 Collector P3 50 OUT4 E Programmable output 1 Emitter S94H201E 13426446 EN M Mandatory Parameter Settings These parameters are required to be set prior to running the drive Quick Start Reference Folder Sub Folder Parameter Name Description Parameters Drive Mode Set to Position Reference Set to External Step Input Type Set to S D or Master Encoder S D Step Direction eelere 10 Digital 10 Enable Switch Function Set to Run Limits Position Limits Position Error Set Position Error Limit specific to application Max Error Time Se
98. ion error is in post quadrature encoder counts When using a resolver position error is measured at a fixed resolution of 65 536 counts per motor revolution STOP D If Position Error is set to 0 position error checking is disabled Carefully evaluate the application for safety aspects before disabling position error checking 5 8 2 Max Error Time Specifies maximum allowable time in mS during which a position error can exceed the value set for the Position error parameter before a Position Error Excess fault is generated If the Position Error is set to the max setting then the drive will trip and not use the Error time when the error exceeds the above setting 5 8 3 Soft Limits Enables disables the usage of a software defined limit Do not enable this feature until after the drive is homed for the specific application Like all parameters this setting can be set reset logically within the Indexer program Positive Limit Soft limit switch location in User Units Negative Limit Soft limit switch location in User Units 5 9 Compensation 5 9 1 Velocity P gain proportional Proportional gain adjusts the system s overall response to a velocity error The velocity error is the difference between the commanded velocity of a motor shaft and the actual shaft velocity as measured by the primary feedback device By adjusting the proportional gain the bandwidth of the drive is more closely matched to the bandwidth of the control sig
99. ired Output 4 Function Set to any pre defined function required 10 Analog 10 Adjust Analog Input Tool that can be used to learn analog input level Analog Output Set to any pre defined function required Analog Output Current Scale Set to scale analog output if current value is selected Analog Output Velocity Scale Set to scale analog output if velocity value is selected Limits Velocity Limits Zero Speed Set bandwidth for activation of Zero Speed Output At Speed Set Target Speed for activation of At Speed Output Speed Window Set bandwidth for activation of At Speed Output 90 lenze S94H201E 13426446 EN Quick Start Reference LL 7 3 Quick Start External Positioning Mode Mandatory Signals These signals are required in order to achieve motion from the motor Connector Pin Input Name Description P3 1 Position Reference Input for Master Encoder Step Direction Input P3 2 MA Position Reference Input for Master Encoder Step Direction Input P3 3 MB Position Reference Input for Master Encoder Step Direction Input P3 4 MB Position Reference Input for Master Encoder Step Direction Input P3 26 IN_A_COM Common Input for Enable Input P3 29 IN_A3 Enable Input to Controller or switch Optional Signals These signals may be required dependant on the control system being implemented Connector Pin Input Name Descript
100. ist click on Add then browse to Variable Name in the pop up window then click on the left arrow button To remove a variable from this View List click on the variable name in the View list and then click on the right arrow button To save the variable list click Save To load the variable list click Load 60 lenze S94H201E 13426446 EN To edit a parameter s value double click the Decimal field of the parameter When the text is double clicked the background color will change The parameter value will stop updating allowing you to change the value However if the interface device or user s program manipulates the value of the parameter then Parameters LL your change will be overwritten in a concurrent manner mie mie 5 11 The Faults folder contains three action buttons upon opening and displays the most recent fault Load Faults permits the user to load the entire stored fault history of the drive onto the computer The sixteen most recent faults are displayed with the newer faults replacing the older faults in a first in first out manner In all cases the fault on top of the list is the most recent fault Clear Faults clears the fault history of the drive from within the MotionView program The device time of the fault is the time from last power up Power up time 00 00 Each fault has its code and explanation of the fault Refer to section 8 4 for details Inputs Ataa Inputs 01 04
101. ity waveform Lastly velocity I gain has a positive effect on the holding torque produced by the motor Slowly increase the Velocity I Gain and check for correction of the steady state error in the velocity waveform Continuing to increase the velocity gain will eventually result in increased overshoot and instability in the motor velocity waveform Stop increasing the I Gain when additional overshoot or instability starts to occur M scope 192 168 124 124 l Gain set too LOW Error exists between Commanded steady state velocity and Actual steady state velocity 80 Lenze S94H201E_13426446_EN 0 5 192 160 124 124 Eig Gain set OK fet No error between Commanded steady state velocity and Actual steady state velocity with cog excellent stability Channel gt Wang fer vigger Setan Tee Bi scope 192 160 124 124 3 l Gain set too HIGH Eeer Additional overshoot and oscillations are GE starting to occur Steady state velocity g regulation Channel Time 109 Tagan Waen ter vigger Setan Tee Step 4 Check Motor Currents Finally check the motor currents on the Oscilloscope Make the following settings to the oscilloscope Channel 1 Signal Phase Current RMS Scale as appropriate to peak current limit set in drive parameters MotionView Timebase as appropriate to Period value of Indexer Program Trigger
102. ke should be used and the necessary mechanism implemented Due to ISO 13849 1 regulations a separate 24VDC external dedicated safety power supply must be provided to the drive Safety circuits The bypass 24V supply is intended for bypass purposes only and must not be used as the control voltage to these circuits Installation and Connection Connection of Two Safety Circuits with External 24V Supply Pin Name Function 1 Bypass Voltage ISO 13849 1 Bypass Voltage 24VDC Pl KH External 2 Bypass COM SO 13849 1 Bypass Common 2 3 Safety Status ISO 13849 1 Safety Status 100mA max O Safty 4 Safety Input1 SO 13849 1 Safety Input 1 24VDC to Enable 5 ISO 13849 1 Safety Common and pel 6 Safety Input2 50 13849 1 Safety Input 2 24VDC to Enable S94H201E 13426446 EN Lenze 27 D S Interface Evaluation and Testing of the ISO 13849 1 Safety Circuit As part of the regulations for ISO 13849 1 safety circuit provision must be made for the user to periodically test the safety circuits and that testing should be capable of identifying a single fault The PositionServo drive uses the safety status output Pin 3 in conjunction with the display of the drive to allow the testing of the safety circuits The safety status output becomes active to indicate partial or full enable of the safe
103. l P1 the servomotor power at P7 and the motor feedback as appropriate DANGER A Hazard of electrical shock Circuit potentials are up to 480 VAC above earth ground Avoid direct contact with the printed circuit board or with circuit elements to prevent the risk of serious injury or fatality Disconnect incoming power and wait at least 60 seconds before servicing drive Capacitors retain charge after power is removed As a minimum these connections must be made Connect an Ethernet crossover cable between PositionServo s P2 and your PC s Ethernet port A straight patch cable can be used if using a hub or switch Connect mains power to terminal P1 Mains power must be as defined on the drive s data label Refer to label in About These Instructions section When connecting to an encoder based drive take the encoder feedback cable and connect it to the15 pin D sub connector located at P4 When connecting to a resolver based drive take the resolver feedback cable and connect it to the 9 pin D sub connector located at P4 Connect motor windings U V W a k a S T to terminal P7 as shown in section 4 1 1 Make sure the motor cable shield is connected as in section 3 2 Provide an Enable switch according to Section 6 6 Perform drive configuration as described in the next section D NOTE 1 To run MotionView OnBoard Mac OS run the PC emulation tool first e NOTE 1 The recommended screen se
104. log input Current Scale parameter section 5 5 4 5 3 1 2 Velocity Mode In velocity mode the servo controller regulates motor shaft speed velocity proportional to the analog input voltage at input AIN1 if parameter Reference is set to External Otherwise the reference is taken from the drive s internal variable Refer to the PositionServo Programming Manual for details For analog reference Target speed set speed is calculated using the following formula Set Velocity RPM Vinput Volt x Vscale RPM Volt where Vinput is the voltage at analog input AIN1 and AIN1 Vscale is the velocity scale factor input sensitivity set by the Analog input Velocity scale parameter section 5 5 5 5 3 1 3 Position Mode In this mode the drive reference is a pulse train applied to P3 1 4 terminals if the parameter Reference is set to External Otherwise the reference is taken from the drive s internal motion commands Refer to the PositionServo Programming Manual for details P3 1 4 inputs can be configured for two types of signals step and direction and Master encoder quadrature signal Refer to section 4 2 1 for details on these inputs connections Refer to section 6 4 for details about positioning and gearing When the Reference is set to Internal the drives reference position theoretical or Target position is generated by trajectory generator Access to the trajectory generator is provided by motion statemen
105. lt Code Display Fault Description E OU Over voltage Drive bus voltage reached the maximum level typically due to motor regeneration F Fb Feedback error Invalid Hall sensors code DFAULT 2 or Resolver signal lost DFAULT 11 Drive exceeded peak current limit Software incapable of regulating current within 1596 F_OC Over current for more than 20mS Usually results in wrong motor data or poor tuning Drive heatsink temperature has reached maximum rating F_Ok Over temperature Trip Point 100 C for all drives except 480V 6A amp 9A drives Trip Point 108 C for 480V 6A amp 9A drives F EF 15013849 1 fault The drive is disabled by the IS013849 1 Safety Function F_OS Over speed Motor has reached velocity above its specified limit FRE Position Error Excess Position error has exceeded maximum value FE bd Bad motor data Motor profile data is invalid or no motor is selected F EP EPM failure EPM failure on power up EP EPM missing EPM not recognized connected on power up F 03 Motor over temperature Motor over temperature switch activated Optional motor temperature sensor PTC H indicates that the motor windings have reached maximum temperature F Error in data exchange between processors Usually occurs when EMI level is high due to FE 0 Subprocessor failure Ie poor shielding and grounding FE 13 Current feedback error Current sensor offset is too big usually noise related Applies to drive s with hardware version 1 Occurs when t
106. m or larger wire In order to minimize EMI the chassis must be grounded to the mounting Use 14 AWG 2 5 mm or larger wire to join the enclosure to earth ground A lock washer must be installed between the enclosure and ground terminal To ensure maximum contact between the terminal and enclosure remove paint in a minimum radius of 0 25 in 6 mm around the screw hole of the enclosure Lenze recommends the use of the special PositionServo drive cables provided by Lenze If you specify cables other than those provided by Lenze please make certain all cables are shielded and properly grounded It may be necessary to earth ground the shielded cable Ground the shield at both the drive end and at the motor end If the PositionServo drive continues to pick up noise after grounding the shield it may be necessary to add an AC line filtering device and or an output filter between the drive and servo motor S94H201E 13426446 EN Lenze 17 E Installation EMC Compliance with EN 61800 3 2004 In a domestic environment this product may cause radio interference The user may be required to take adequate measures Noise emission Installation according to EMC Drive Models ending in the suffix 2F are in compliance Requirements with class A limits according to EN 55011 if installed in a control cabinet and the motor cable length does not exceed 10m Models ending in N will require an appropriate line filter
107. matically Use the following DNS server addresses Preferred DNS server Alternate DNS server Advanced Cancel Enter an IP address for the PC This IP address will need to be unique to the PC different to any other device on the network but still allow communication on the same subnet that the drive is set to To set up the PC IP address in this way enter the first three values of the IP address box to be identical to those set in IP_1 IP_2 and IP_3 parameters on the PositionServo drive For the last value IP_4 pick a unique value different to any other device on that network If the drive IP address has been left at its factory default value then a logical IP address to assign to the PC might be 192 168 124 1 When exiting the IP address box the value in the subnet mask text box should default to 255 255 255 0 This value tells the PC that all other devices on the network share the same values for the first 3 Octets of their IP addresses with the last octet beginning unique to those devices Typically the default value can be left unchanged unless a larger network needs to be specified e NOTE 1 If the PC and drive need to obtain an IP address from a DHCP enabled server then the Obtain an IP address automatically option should remain ticked and no values should be present for either the IP address or subnet mask 6 2 3 Initial Connection to the Drive Before connecting to the Po
108. n 75 6 6 Enabling the PositiOnSenvO ee via cance wei satis wha eae wad eis BE ca etn RA eel 75 c t Den Bre et e eet esae leta a leue EE 76 6 71 Auto Tuning the Drive 76 6 7 2 Manually Tuning the Drive in Velocity 77 6 7 3 Manually Tuning the Drive in Position Mode 82 6 9 Upgrading FIETWIO ie fat an fsa ee te wed tele a 87 7 Quick Start see See EE EE 88 7 1 Quick Start External Torque 88 7 2 Quick Start External Velocity 89 7 3 Quick Start External Positioning 91 8 Nier 93 821 Diagnostic DISDIay Aide EEN 93 8 2 Diagnostic LEDS ante teet EE ee 94 0 95 3SI0p HesBL eneen ee ee 94 MEN cpm 95 eene eU Ete US 95 SEENEN 97 AIP ALINE ROS GDS ads arate EE 97 8 4 Troublesliooling uus sea e reu severe e Y xax Y GIG E uva vee 97 S94H201E 13426446 EN Lenze About These Instructions This documentation pertains to the PositionServo drive with Hardware Version 2 This documentation contains important technical data regarding the installati
109. nable is selected the fault is cleared when the drive is re enabled 8 4 Troubleshooting DANGER Hazard of electrical shock Circuit potentials are up to 480 VAC above earth ground Avoid direct contact with the printed circuit board or with circuit elements to prevent the risk of serious injury or fatality Disconnect incoming power and wait at least 60 seconds before servicing drive Capacitors retain charge after power is removed Before troubleshooting Perform the following steps before starting any procedure in this section Disconnect AC or DC voltage input from the PositionServo Wait at least 60 seconds for the power to discharge Check the PositionServo closely for damaged components Check that no foreign material has fallen or become lodged in the PositionServo Verify that every connection is correct and in good condition Verify that there are no short circuits or grounded connections Check that the drive s rated phase current and RMS voltage are consistent with the motor ratings For additional assistance contact your local PositionServo authorized distributor Problem External line fuse blows Possible Cause Line fuses are the wrong size Suggested Solution e Check that line fuses are properly sized for the motor being used Motor leads or incoming power leads are shorted to ground Nuisance tripping caused by EMI noise spikes caused by poor grounding and or shielding e Check motor ca
110. nal ensuring more precise response of the servo loop to the input signal 5 9 2 Velocity I gain integral The output of the velocity integral gain compensator is proportional to the accumulative error over cycle time with I gain controlling how fast the error accumulates Integral gain also increases the overall loop gain at the lower frequencies minimizing total error Thus its greatest effect is on a system running at low speed or in a steady state without rapid or frequent changes in velocity D NOTE 1 The following 4 position gain settings are only active if the drive is operating in Position mode They have no effect in Velocity or Torque modes 56 Lenze S94H201E 13426446 EN Parameters LL 5 9 3 Position P gain proportional Position P gain adjusts the system s overall response to position error Position error is the difference between the commanded position of the motor shaft and the actual shaft position By adjusting the proportional gain the bandwidth of the drive is more closely matched to the bandwidth of the control signal ensuring more precise response of the servo loop to the input signal 5 9 4 Position 1 integral The output of the Position I gain compensator is proportional to accumulative error over cycle time with Login controlling how fast the error accumulates Integral gain also increases overall loop gain at the lower frequencies minimizing total error Thus its greatest effec
111. nicate on this subnet If more than one drive needs to be connected to the PC at any one time then the IP 4 parameter can be accessed via the keypad and changed to provide a unique IP address on the network for each drive Note that IP 4 is the only octet that can be changed IP 1 IP2 and IP 3 are read only and that power must be cycled to the drive for any changes to take effect If the PositionServo drive s needs to be configured for a specific subnet with different values to default for IP 1 IP 2 and IP 3 and IP 4 then this needs to be performed with the MotionView configuration tool First establish communications using the default drive address or with an address that was established by changing IP 4 parameters via the drive keypad Follow the rest of these instructions in order to establish communications and launch MotionView using this address Once within the MotionView software a full IP address can be assigned From the Node tree within MotionView select the Communications folder and then the Ethernet sub folder as shown herein The settings reflect those that will appear in the software parameter view window Vil hiorionView OnBoard 2 08 ES4P 240 08 Amp 192 168 124 420 STOPPED Lenze AC Tech Kg RER tm ta lan onan ED Corhgure IP Address Obtain IP Address wring DHCP 1P Addons 999495 Mack Madbus RTU CAN Cadoen DevituHet PROFIBUS DP D
112. ning Remove the Enable Input from input A3 disable the drive Click on the Indexer Program folder in MotionView Click the Reset button at the top of the indexer programming screen Tuning is now complete 6 8 Upgrading Firmware Starting with hardware revision 2 and higher MotionView OnBoard MVOB features an Upgrade action button located in the top right hand corner The Upgrade selection launches a firmware loading utility to easily upgrade the drive s firmware revision Browse to the firmware lar file on your local PC and follow the prompts After upgrading the firmware re download MVOB from the drive as the firmware may contain a newer version If the drive displays FEP the new firmware contains additional parameter data from the previously installed firmware Press and hold the drive s gt button until the drive display reads bUSY Release the button and the drive will format the EPM to the new firmware revision Enter drive s IP address Select lor file Upgrade Pop up Window S94H201E 13426446 EN Lenze 87 LL Quick Start Reference 7 Quick Start Reference This section provides instructions for External Control Minimum Connections and Parameter Settings to quickly setup a PositionServo drive for External Torque Velocity or Positioning Modes The sections are NOT a substitute for reading the entire PositionServo User Manual Observe all safety notices in this manual 7 1 Qui
113. nto a maintenance mode so that the ISO 13849 1 safety circuit can be safely tested Responsibility lies with the programmer on the safe implementation of a maintenance mode within the indexer program WARNING A If no maintenance mode has been incorporated into the Indexer program then the Indexer program must be erased prior to testing the ISO 13849 1 circuit Save any code that is required but has not previously been saved and then delete all code from the indexer folder Press the Load W Source button on the program toolbar to remove any residual code from the drive memory The following truth table shows logical conditions for ISO 13849 1 circuits Safety Input 1 Safety Input2 Safety Status Output Drive Display 1 1 1 Run 1 0 1 F EF 0 1 1 F_EF 0 0 0 F_EF 1 Drive display will change to condition shown on enable of the drive Input A3 Enable Place Input A3 hardware enable in the deactivated state Test Procedure for ISO 13849 1 Safety Circuit Test Action Drive Display Safety Status Output Failed Test Step Indication Indication Indication 1 Activate both safety Run Activated Trip on display F_EF one of the safety inputs failed to circuit inputs 1 amp 2 Set activate Input A3 to Enable Status Output Deactivated Both Safety Inputs Failed to activate 2 Set Input to Disable Dis Activated Status Output Deactivated
114. ntroduction 1 4 8 Option Part Number E94Z A CAN Electrical Option in the 94x Series Communication or Breakout Module Module Type Communication Breakout CAN CANopen COMM Module HBK Motor Brake Terminal Module RS4 RS485 COMM Module TBO Terminal Block 1 0 Module DVN DeviceNet COMM Module SCA Panel Saver 1 0 Module PFB PROFIBUS COMM Module ariations 1 1st Variation 2 2nd Variation 3 3rd Variation S94H201E 13426446 EN Lenze Technical Data 2 Technical Data Electrical Characteristics 21 Single Phase Models 1 Mains 1 Mains Rated Peak Type Mains Voltage Current Current Output Output doubler Std Current 9 Current 9 E94 020S1N 9 7 5 0 2 0 6 120V 9 or 240V E94_040S1N_ 15 8 6 4 0 12 E94_020S2F_ 5 0 2 0 6 E94_040S2F_ 120 240V 8 6 4 0 12 E94 080S2F 80 V 0 264 V 4 096 m 15 0 8 0 24 E94 100S2F 18 8 10 0 30 Single Three Phase Models 1 3 Rated Peak Type Mains Voltage Mains Mains Output Output Current Current Current 9 Current 9 E94 020Y2N 5 0 3 0 2 0 6 E94 040Y2N 8 6 5 0 4 0 12 e 120 240V E94 080Y2N 1 or3 15 0 8 7 8 0 24 80 V 0 264 V 0 E94 100Y2N 18 8 10 9 10 0 30 E94 120Y2N 24 0 13 9 12 0 36 240V 3 E94 180T2N 180 V 0 264 V 0 19 6 18 0 54 E94 0207
115. of this safety circuit functionality with the PositionServo drive 26 lenze S94H201E 13426446 EN Interface E Operation of the ISO 13849 1 Safety Circuit ISO 13849 1 Cat 3 PL d designates that the enable function of the drive be designed in such a way that a single fault in any of the parts of this enable circuit cannot lead to a loss of this safety function The ISO 13849 1 safe torque off function has been designed and certified as meeting the requirements of this standard PositionServo drives equipped with the ISO 13849 1 safety circuit option can be used in application requiring conformance to this standard and also in safety related applications or in other applications where the integrity of the enable disable function is paramount to the safety of personnel and machinery The ISO 13849 1 safety circuit can interrupt the power supply to the motor without the AC line input to the drive being removed However for the purposes of maintenance and mechanical work on the drive system it is recommended that the AC work swap Line input be removed and the drives internal bus voltages allowed to discharge before any such work is attempted The ISO 13849 1 category 3 standard does not provide for electrical safety of all components within the drive system For normal operation enable of the PositionServo drive both the Safety Input 1 and Safety Input 2 are required to be active These inputs act as a Inhibit function preventin
116. on operation and commissioning of the drive Observe all safety instructions Read this document in its entirety before operating or servicing a PositionServo drive Drive Hardware Version For hardware version 2 the drive dataplate identification label displays 2 in the fourth to last digit of the drive indentification number Refer to E designation in the drive identification label Upon power up the drive LED display will read 9402 to indicate 940 PositionServo hardware version 2 If upon power up the drive LED reads 940 the drive has hardware version 1 Refer to User Manual S94PMO1 for hardware version 1 drives Drive Identification Label A B C D E F Type INPUT 1 3 PE OUTPUT 3 PE For detailed information Lenze E94P120Y2NES 120 240 V 0 230V ode to instruction ID No 13014745 24 0 13 9 A 12 0A Fu LISTED C Sea IRE SN 13014745012348 5D81 E94P120Y2NESOXX2IH HE EE e DINN A C D E F Certifications Model Input Output Hardware Software Number Ratings Ratings Version Version Package Contents Scope of Supply Important 1 Model PositionServo Type E94P or E94R 1 Mounting Instructions English 1 MotionView CD ROM including configuration software documentation After reception of the delivery immediately check whether the scope of supply matches the accompanying papers Len
117. ons e Check that the proper motor is selected Problem Cannot connect second drive when sequentially connecting 2 Ethernet based Drives Possible Cause If when trying to sequentially commission several Ethernet based drives with the same PC MotionView discovers the IP address but then reports that the drive cannot be connected Due to the fact that the PS drives are shipped with the same factory default IP address Suggested Solution After the first drive is connected open the Command window on your PC and run the command arp d just before connecting MotionView to another drive C WINDOWS system32 cmd exe ow pyright 1985 20 jocuments and Settings wch C Documents and Settings wchen gt ARP is the Address Resolution Protocol Each PositionServo drive has two addresses one MAC address and one IP address ARP links these two addresses together Each PositionServo drive has the same factory default IP address but a different MAC address After connecting the first drive the Ethernet hub will cache its IP and MAC address for about 2 minutes When another drive with the same IP address and different MAC address is connected to the network ARP will observe the mismatching between the IP address and MAC address 98 lenze S94H201E 13426446 EN Lenze Americas Corporation e Lenze AC Tech Corporation 630 Douglas Street e Uxbridge MA 01569 e USA Sales 800 217 9100 e Service 508 278 9100 www len
118. or to be used section 4 5 Click on Parameters and set the following Drive Mode Torque Velocity or Position Refer to section 6 3 1 Current limit enter current limit in A RMS per phase i a w the motor Peak current limit peak current limit in A RMS per phase i a w the motor Drive PWM frequency 8kHz or 16kHz Set up additional parameters suitable for the drive mode selected above After drive is configured tune the drive if operating in Velocity or Position mode Torque mode doesn t require additional tuning or calibration Refer to section 6 8 for details on tuning Lenze S94H201E 13426446 EN 6 5 Position Mode Operation gearing In position mode the drive will follow the master reference signals at the 1 4 inputs of P3 The distance the motor shaft rotates per each master pulse is established by the ratio of the master signal pulses to motor encoder pulses in single loop configuration The ratio is set by System to Master ratio parameter see section 5 3 16 Example 1 Problem Setup the drive to follow a master encoder output where 1 revolution of the master encoder results in 1 revolution of the motor Given Master encoder 4000 pulses revolution post quadrature Motor encoder 8000 pulses revolution post quadrature Solution Ratio of System motor encoder to Master Encoder is 8000 4000 2 1 Set parameter System to master ratio to 2 1 Example 2 Problem
119. or that results once the TuneP program is run Channel 2 Signal Target Position Scale as appropriate to the position move generated by the Tunep program Timebase as appropriate to the Period of the moves being generated Trigger Channel 1 Rising Edge Level 10 Pulses S94H201E 13426446 EN Lenze 83 on Operation 6 Compensation Folder Open the Compensation folder in MotionView Leave the Velocity P Gain and Velocity Gain unchanged as they should already have been setup during velocity tuning Do not adjust the Gain Scaling Parameter during this procedure Set the Position P gain to a low value e g 100 and set the Position I Gain and Position D Gain to 0 7 Gain Tuning The system should now be ready to start tuning the position loop Start the Oscilloscope by clicking Run Apply the Enable input A3 to enable the drive The general goal in tuning the position loop is to achieve the minimum position error while maintaining system stability Some experimentation with gain values will be required to achieve the best performance for the application Step 1 Setting the Position P Gain Slowly increase the Position P Gain while watching the position error waveform on oscilloscope Channel 1 It is important to watch both the Max Error as well as the Average Error While increasing Position P gain it should be apparent that both the Max Error as well as the Average Error decrease PRscope
120. otat Gateway TCP Pech Delay The IP address subnet mask and default gateway address can all be edited in this screen If the text in any of these boxes turns red once it has been entered then this means that the values or format used is invalid and the values will not be applied To enable DHCP click the box adjacent to Obtain IP Address using DHCP to place a check mark in this box To disable DHCP click the box again Power must be cycled for any changes to Configure IP Address to take effect On changing any ethernet parameter value the following dialog box will appear Click Ok and cycle power for changes to take effect Important Message Nou must REBOOT the drive for changes to take effect and reconnect Proper operation of MotionView is not guaranteed if you don t reboot the drive S94H201E 13426446 EN Lenze 65 m Operation 6 2 1 3 Configuring the IP Address Automatically Dynamic Address When connecting a PositionServo drive onto a network domain with a DHCP enabled server where all devices have dynamic IP addresses assigned by the server the IP address of the PositionServo drive can also be assigned automatically by the server To have the address assigned automatically the drive must have its DHCP mode enabled This can be done by using the drive keypad and display Press the mode button on the display and use the UP and DOWN buttons to access parameter DHCP
121. ptionally store drive settings in a PC file and exit the MotionView program To configure drive 10 11 12 13 74 Ensure that the control is properly installed and mounted Refer to section 3 for installation instructions Perform wiring to the motor and external equipment suitable for desired operating mode and your system requirements Connect the Ethernet port P2 on the drive to your PC Ethernet port If connecting directly to the drive from the PC a crossover cable is required Make sure that the drive is disabled Apply power to the drive and wait until d 5 shows on the display For anything other than this refer to the chart below before proceeding Drive Display Fault Remedy EPM missing Insert EPM FEPP Format EPM Reformatting EPM No valid firmware Update firmware Confirm that the PC and the drive have the correct IP setting Section 6 2 2 Launch MotionView software on your computer From the main toolbar select Connect In the Connect dialog box click Discover to ping the network for any drives If a drive is located the address will appear in the dialog box If no address appears then you can type the IP address in The default address for the drive is 192 168 124 120 Click Connect to connect to the drive Once connected the drive name and identifier are displayed in the upper left hand corner of the Parameter Tree Window Select the Mot
122. put ISO 13849 1 Safety Input 1 24VDC to Enable Safety Circuit 5 Safety COM 150 13849 1 Safety Common P5 Safety Circuit 6 Safety Input ISO 13849 1 Safety Input 2 24VDC to Enable P6 Setting up the Drive in a Maintenance Mode WARNING A During test of the ISO 13849 1 circuit as laid out in this documentation the drive will go to run enabled condition and motion from the motor may be generated It is the responsibility of the system designer to ensure the system remains in a safe condition during the enclosed maintenance procedure 28 Lenze S94H201E_13426446_EN Interface E Guidance of setting up the drive to allow testing on the ISO 13849 1 circuit External Reference If the drive is getting its command signal from an external reference then Parameters should be set accordingly From the Parameter Folder Drive Operating Mode Drive Velocity e Reference External Drive PWM Frequency 16 KHZ Fault Reset On Disable I From the Digital IO Folder Enable Switch Function Run e D In this mode your external analog input will command movement For safety purposes measures should be made to sure that velocity is at a minimum From here you can proceed to the ISO 13849 1 Test Procedure Internal Reference If an Indexer program is used to operate the drive then it must contain a means of placing the drive i
123. r Units This parameter sets up the relationship between User Units and motor revolutions From here you can determine how many User Units there is in one motor revolution This parameter allows the user to scale motion moves to represent a desired unit of measure inches meters in sec meters sec etc User Units Example A linear actuator allows a displacement of 2 5 with every revolution of the motor s shaft Units Units Revolutions Units 2 5 Inches Revolution Units 2 5 5 3 16 Rotation Direction This parameter sets up the direction of foward positive rotation To reverse the direction of positive rotation for a specific installation change Rotation Direction from Normal to Reversed 5 3 17 Resolver Tracks The Resolver Tracks parameter is used in conjunction with the resolver motors and Buffered Encoder Outputs Section 4 2 2 If a motor with resolver feedback is being used a simulated encoder feedback is transmitted out the Buffered Encoder Outputs P3 7 to P3 12 The default resolution of this feedback is 1024 pulses per revolution pre quad If a different resolution is required then the Resolver Tracks parameter is utilized The number entered into this field 0 15 correlates to a specific encoder resolution Resolver Tracks Configuration Resolver Resolution Resolver Track Resolution Before Track Before Quad Quad 0 1024 8 1000 1 256 9 1024 2 360 10 2000 3 4
124. r time delay The Accel Decel and MaxV variables within the TuneP program define the ramps and steady state velocity that will be used to execute the motion commands ACCEL 500 500 rps s Accel Acceleration speed DECEL 500 500 rps s Decel Deceleration speed MAXV 20 20 Rps MaxV Maximum The size of each move and the pause between the moves is defined in the following lines of code There are two moves and pauses for the forward and reverse moves to be performed MOVED 0 25 smove 1 rev MoveD Move distance wait time 200 time to analyze standstill stability wait time Delay period MOVED 0 25 move opposite direction 1 rev wait time 200 wait time to analyze standstill stability Adjust these parameters if required to best suit the application before going to the next step 4 Compile and Download Indexer Program to Drive In the Indexer Program folder in MotionView select the Load W Source button at the program toolbar The TuneP program will be compiled and sent to the drive Click Run on the program toolbar to run the TuneP program Do NOT enable the drive via input A3 at this stage 5 Oscilloscope Settings Open the Tools folder in MotionView and select the Oscilloscope tool Click the Set on Top box to place a checkmark in it and keep the scope on top In the Scope Tool Window make the following settings Channel 1 Signal Position Error Scale as appropriate to the Err
125. requencies If you wanted to display one cycle of a particular signal your time base setting would therefore be lower for high frequency signals than for low frequency signals Trigger Trigger Level Trigger level specifies the signal level after which the scope starts acquiring data You can also specify which channel will be a source for the trigger The oscilloscope display will continue to run while the signal level crosses the specified level above if the trigger is set for rising or leading edge or below if the trigger is set for falling or trailing edge Single Also called one shot trigger If Single Sweep is selected data acquisition will be stopped after the scope buffer is filled and data displayed on the screen frozen data To repeat data acquisition you will need to click the Single button again Run Stop Select Run for a continuous trigger Select Stop to disable the trigger Set on Top Select this button to display the oscilloscope window on top of all other windows 5 10 2 Parameter amp 1 0 View The Parameter amp IO View tool permits the user to access the list of variables Click on the Parameter amp IO View button to open the diagnostic tool in a separate window Click on the box adjacent to Set on Top to keep this window on top Also known as the Debug Tool the Parameter and 1 0 View permits the user to view the values of the drive s variables plus the 1 0 status To add a variable to the View L
126. rvo has five diagnostic LEDs located around the periphery of the front panel display as shown in the drawing below These LEDs are designed to help monitor system status and activity as well as troubleshoot any faults x Bx 5913 LED Function Description Enable Orange LED indicates that the drive is ENABLED running Regen Yellow LED indicates the drive is in regeneration mode Data Entry Yellow LED will flash when changing Comm Fault Red LED illuminates upon a communication fault in CANbus only mellt Comm Activity Green LED flashes to indicate communication activity 8 3 Stop Reset With hardware version 2 and higher MotionView OnBoard MVOB features a Stop Reset action dutton in the top right hand corner Pressing the red Stop Reset button causes all motion to stop and resets the drive Engish e Upgrade Load Contguration Restore Defaults Stop Reset Stop Reset Button 94 lenze S94H201E 13426446 EN 8 4 8 41 Faults Fault Codes Diagnostics Faults in the drive are immediately shown on the drive display The fault condition is also recorded to the drive trip log and the DFaults register inside the drive The various trip conditions as they appear on the display of the drive are listed in the table below Fault Codes as Displayed on the Drive Fau
127. s value is the initial voltage for the drive and the correct voltage will be calculated dynamically depending on the drive s incoming voltage value Number of Poles This is a positive integer number that represents the number of motor poles normally 2 4 6 or 8 Rotor Moment of Inertia Jm From motor manufacturer or nameplate 1 Round the calculated result to 3 significant places 5 2 5 2 For Incremental Encoder Equipped Motors Only Encoder Line Count The encoders for servomotors normally have line counts of 1000 1024 2000 2048 4000 or 4096 The Encoder Line Count is pre quadrature and a positive integer Halls Order Each hall signal is in phase with one of the three phase phase voltages from the motor windings Hall order number defines which hall sensor matches which phase phase voltage Motor phases are usually called R S T or U V W or A B C Phase Phase voltages are called Vrs Vst Vtr Halls are usually called HALL A HALL B HALL C or just Halls 1 2 3 A motor s phase diagram is supplied by motor vendor and usually can be found in the motor data sheet or by making a request to the motor manufacturer A sample phase diagram is illustrated in Figure S912 44 Lenze S94H201E 13426446 EN Parameters LL Vet ee Vir AN 1 HALL A 2 3 HALL C 5912 The Halls Order is obtained as follows 1 Look at the Vrs Output Voltage and determine the Hall Voltage
128. se train signal step supplied by an external device such as a PLC or stepper indexer can control the speed and position of the servomotor The speed of the motor is controlled by the frequency of the step signal while the number of pulses that are supplied to the PositionServo determines the position of the servomotor Direction input controls direction of the motion Note 3 Digital Input A3 For the drive to function an ENABLE input must be wired to the drive and should be connected to IN A3 P3 29 which is by the default the ENABLE input on the drive This triggering mechanism can either be a switch or an input from an external PLC or motion controller The input can be wired either sinking or sourcing section 4 2 3 The Enable circuit will accept 5 24V control voltage Wiring the ENABLE Switch P To 2g Pn26 INA COM CO GOOG Pin 29 IN AS CONTROLLER I O DOC 25 50 ill JU n r 4 Power Supply P3 A zh ag Pin 26 IN_A_COM o o Pin 29 IN A3 CONTROLLER UO 25 50 S94H201E 13426446 EN Lenze 25 D S Interface 4 1 8 8 ISO 13849 1 Safety Circuit option If installed the ISO 13849 1 Safety Circuit connector P8 is located on the bottom of the PositionServo P8 a 6 pin q
129. section 5 3 5 5 3 7 Accel Decel Limits velocity mode only The Accel setting determines the time the motor takes to ramp to a higher speed The Decel setting determines the time the motor takes to ramp to a lower speed If the Enable Accel Decel Limits is set to Disable the drive will automatically accelerate and decelerate at maximum acceleration limited only by the current limit established by the Peak Current Limit and Current Limit settings This parameter is only utilized when the drive is set to Velocity mode refer to 5 3 1 5 3 8 Fault Reset Fault Reset selects the type of action required to reset the drive after a FAULT condition has been generated by the drive On Disable clears the fault when the drive is disabled This is useful if you have a single drive and motor connected in a single drive system The On Enable option clears the fault when the drive is re enabled Choose On Enable if you have a complex servo system with multiple drives connected to an external controller This makes troubleshooting easier since the fault will not be reset until the drive is re enabled Thus a technician can more easily determine which component of a complex servo system has caused the fault S94H201E 13426446 EN Lenze 49 LUI Parameters 5 3 9 Motor Temperature Sensor This parameter enables disables motor over temperature detection It must be disabled if the motor PTC sensor is not wired to either P7 1 2 or to the resolver feedback
130. ser s configuration of Windows XP software Control Panel Displays Windows XP Category Default View Classic View Pick task Sj set up w Te or pick a Control Panel icon S94H201E 13426446 EN Lenze 67 Operation Regardless of the Windows XP viewing mode the following Network Connections screen will appear Hereafter all configuration screens are the same regardless of selected Windows XP viewing mode s Network Connections File Edit View Favorites Tools Advanced Help Search 5 Folders E O O GD DoR Address Network Connections Network Tasks Create a new connection Change Windows Firewall settings See Also a UW Network Troubleshooter Details Network Connections System Folder LAN or High Speed Internet Local Area Connection inplugged VE Network Select the connection you wish configure Local Area Connection is typically the standard or local Ethernet port on the PC the port supplied with the PC with any additional hardwire ports displayed as Local Area Connection x with x being a numerical value Double click the icon for the port you wish to configure The Local Area Connection Properties screen will appear Local Area Connection Properties General Authentication Advanced Connect using E9 Intel R 82566DM Gigabit Network C This connection uses th
131. sing will determine the Hall order sequence Hall sensor polarity and encoder channel relationship B leads A or A leads B for CW rotation For motors equipped with resolvers Autophasing will determine resolver angle offset and angle increment direction CW for positive To perform autophasing 1 Complete the steps in Creating custom motor parameters If the motor file to be autophased already exists simply load it as described under Using a custom motor 2 Make sure that the motor s shaft is not connected to any mechanical load and can freely rotate STOP Autophasing will energize the motor and will rotate the shaft Make sure that the motor s shaft is not connected to any mechanical load and can freely and safely rotate 3 Make sure that the drive is not enabled 4 For Encoder it is not necessary to edit the field Hall order and check boxes inverted and B leads A for CW as these values are ignored for autophasing For Resolver it is not necessary to set Offset in degree and CW for positive 5 Click Update Drive to dismiss motor selection dialog MotionView responds with the question Do you want to perform autophasing 6 Click OK A safety reminder dialog appears Verify that it is safe to run the motor then click Yes and wait until autophasing is completed NOTE 1 If a problem occurs with the motor hall sensor or resolver connections MotionView will send an error message The so
132. sitionServo NOTE The PositionServo encoder inputs are designed to accept differentially driven hall signals Single ended or open collector type hall signals are also acceptable by connecting HA HB and leaving HA HB HC inputs unconnected The user does not need to supply pull up resistors for open collector hall sensors The necessary pull up circuits are already provided Encoder connections A B Z must be full differential The PositionServo does not support single ended or open collector type outputs from the encoder Anencoder resolution of 2000 PPR pre quadrature or higher is recommended Pin Assignments Encoder Feedback E94P Drives Pin Name Function 1 Encoder Channel A Input 2 EA Encoder Channel A Input PA 3 Encoder Channel B Input 4 EB Encoder Channel B Input 1 2 oe 9 5 7 Encoder Channel Z Input E 6 7 Encoder Channel Z Input LU 7 GND Drive Logic Common Encoder Ground a a 8 SHLD Shield O 9 PWR Encoder supply 5VDC 2 10 Hall Sensor A Input 2 LLI Q 15 11 HAY Hall Sensor A Input E 12 HB Hall Sensor B Input 13 HC Hall Sensor C Input 2 14 HB Hall Sensor B Input P4 15 HC Hall Sensor C Input 1 Refer to Note 1 Section 4 1 7 Conn
133. sitionServo drive and attempting to run the MotionView software check the PC has the following features installed Java Run Time Environment 1 4 or higher download latest version at http www java com Web Browser Internet Explorer Mozilla Firefox Netscape etc S94H201E 13426446 EN Lenze 69 SEH Operation Physically connect the Drive to the PC To connect directly between a PC and a PositionServo drive it is recommended that a CAT 5e crossover cable be connected between the P2 port on the PositionServo drive and the Ethernet port on the PC PC Laptop Drive Ethernet Port CAT 5e cable To Connect from a PC to a PositionServo drive via an Ethernet switch or hub it is recommended that a CAT 5e straight through cable be connected from both the drive and PC directly to the Hub or switch Switch to Switch Non crossover or crossover cable depends on switch Switch 1 eye 2 Non crossover cable Drives to Switch Non crossover cable PC to Switch Si WD RI WE e We e e PC Laptop p CEET i PositionServo Drives 6 2 4 Launching MotionView amp Communicating to the PS Drive Open your PC s web browser Enter the drive s default IP address 192 168 124 120 in the browser s Address window Products Support amp Library News amp Events Contact About Lenze AC Tech The a
134. t Position Error Time specific to application Compensation Velocity P Gain Set P Gain for Velocity loop see tuning section Velocity Gain Set I Gain for Velocity loop Position P Gain Set P Gain for Position Loop Position I Gain Set I Gain for Position Loop Position D Gain Set D Gain for Position Loop Position I Limit Set I Limit for Position Loop Gain Scaling Set Gain Scaling Parameter Optional Parameter Settings These parameters may require setting depending on the control system implemented 92 Folder Sub Folder Parameter Name Description Parameters Resolver Track PPR for simulated encoder on 941 Resolver drive 10 Digital 10 Output 1 Function Set to any pre defined function required Output 2 Function Set to any pre defined function required Output 3 Function Set to any pre defined function required Output 4 Function Set to any pre defined function required Hard Limit Switch Actions Set if Hard Limit Switches used in Application 10 Analog IO Adjust Analog Input Tool that can be used to learn analog input level Analog Output Set to any pre defined function required Analog Output Current Scale Set to scale analog output if current value is selected Analog Output Velocity Scale Set to scale analog output if velocity value is selected Limits Velocity Limits Zero Speed Set bandwidth for activation of a Zero Speed Output At Speed Set Target Speed for
135. t is on a system running at low speed or in a steady state without rapid or frequent changes in position 5 9 5 Position D gain differential The output of the Position D gain compensator is proportional to the difference between the current position error and the position error measured in the previous servo cycle D gain decreases the bandwidth and increases the overall system stability It is responsible for removing oscillations caused by load inertia 5 9 6 Position I limit The Position I limit will clamp the Position I gain compensator to prevent excessive torque overshooting caused by an over accumulation of the l gain It is defined in terms of RPM This is especially helpful when position error is integrated over a long period of time 5 9 7 Scaling Window Sets the total velocity loop gain multiplier 2n where n is the velocity regulation window If during motor tuning the velocity gains become too small or too large this parameter is used to adjust loop sensitivity If the velocity gains are too small decrease the total loop gain value by deceasing this parameter If gains are at their maximum setting and you need to increase them even more use a larger value for this parameter 5 9 8 Disable High Performance Mode Ifthe box is checked the drive uses the gain modeling algorithm from hardware revision 1 of the PositionServo This setting is enabled by default to facilitate the replacement of legacy platform 940 941
136. terminal 9 LLI 27 N M Digital input A1 28 N A2 Digital input A2 2 29 N A3 Digital input A3 9 30 INA Digital input A4 D 31 N_B_COM Digital input group BCOM terminal E 32 B1 Digital input B1 z 33 N B2 Digital input B2 34 N B3 Digital input B3 35 N B4 Digital input B4 36 NC COM Digital input group CCOM terminal 37 N C1 Digital input C1 25 J 50 38 N_C2 Digital input C2 VT 39 N_C3 Digital input C3 jl 40 N C4 Digital input C4 41 RDY Ready output Collector n 42 RDY Ready output Emitter 2 3 Iu 43 OUTI C Programmable output 1 Collector 44 OUTI E Programmable output 1 Emitter 45 OUT2 C Programmable output 2 Collector 46 OUT2 E Programmable output 2 Emitter 47 OUT3 C Programmable output 3 Collector 48 OUT3 E Programmable output 3 Emitter 49 OUT4 C Programmable output 4 Collector 50 OUT4 E Programmable output 4 Emitter 1 Refer to Note 1 Section 4 1 7 Connector and Wiring Notes 2 Refer to Note 2 Section 4 1 7 Connector and Wiring Notes 3 Refer to Note 3 Section 4 1 7 Connector and Wiring Notes 22 lenze S94H201E 13426446 EN Interface E 4 1 4 P4 Motor Feedback For encoder based 940 drives P4 is a 15 pin DB connector that contains connections for an incremental encoder with Hall em
137. that is lined up with or in phase with this voltage To determine which Hall Voltage is in phase with the Vrs Output Voltage draw vertical lines at those points where it crosses the horizontal line zero The dashed lines at the zero crossings above indicate that Hall B output is lined up with and in phase with the Vrs Output Voltage 2 Look at the Vst Output Voltage Determine which Hall Voltage is in phase with this Voltage Per Figure 912 the Hall C output is in phase with the Vst Output Voltage 3 Look at the Vtr Output Voltage Determine which Hall Voltage is in phase with this Voltage Per Figure 912 the Hall A output is in phase with the Vtr Output Voltage NOTE 1 If hall sensors are in phase with the corresponding phase voltage but are inverted 180 degrees hall sensor waveform edge aligns with the phase phase voltage waveform but the positive hall sensor cycle matches the negative phase phase waveform or visa versa you must check the Inverted check box 4 The phases that correspond to the Vrs Vst and Vtr voltages are Hall B then Hall C then Hall A or Halls number 2 then 3 then 1 Referring to the following table we find that 2 3 1 sequence is Halls Order number 3 We would then enter 3 for the Halls Order field in the motor dialog box Hall Order Numbers for Different Hall Sequences Halls Order Hall Sequence 1 2 3 1 3 2 2 1 3 2 3 1 3 1 2 3 2 1
138. the simulated encoder is 1024 pulses per revolution pre quad If a different resolution is desired refer to section 5 3 19 Resolver Tracks There is a small additional delay when using a resolver With Encoder pass through the delay is approximately 100nS with Resolver pass through the delay is approximately 62uS Refer to Note 1 in section 4 1 7 4 2 3 Digital Outputs There are a total of five digital outputs OUT1 OUT4 and RDY available on the PositionServo drive These outputs are accessible from the P3 connector Outputs are open collector emitter and are fully isolated from the rest of the drive circuits as shown in the figures below These outputs can be used by the drive s internal User Program or they can be configured as Special Purpose outputs When used as Special Purpose each output OUT1 OUT4 can be assigned to one of the following functions Not assigned Zero speed In speed window Current limit Run time fault Ready Brake motor brake release Vote that if an output is assigned as a Special Purpose Output then that output can not be utilized by the User Program The RDY Output has a fixed function ENABLE that will become active when the drive is enabled and the output power transistors become energized Digital outputs electrical characteristics Circuit type Isolated open collector emitter Digital outputs load capability 100mA Digital outputs Collector Emitter max voltage 30V
139. to deactivate All Circuits safety inputs 1 amp 2 working Correctly Safety Input Safety Input2 and Safety Status are fully isolated from the rest of the drive circuits as shown in the following diagram Safety Inputs Input Impedance Insulated compatible with single ended output 24VDC Enable voltage range 18 to 30VDC Disable voltage range 0 to 1 0 VDC 6 8 Safety Status Isolated Open Collector Grounded Emitter Output Load Capability 100mA Output Max Voltage 30VDC Collector Emitter 30 Safety Input 1 6 8kQ NAN Th Safety COM C T d 2 SAFETY COM Safety Input 2 VF 6 8kQ d 2 E K SAFETY COM Safety Status Q 4 3 lenze S94H201E 13426446 EN Interface E 4 2 Digital 1 0 Details 4 2 1 Step amp Direction Master Encoder Inputs P3 pins 1 4 A master encoder with quadrature outputs or a step and direction pair of signals can be connected to the PositionServo to control position in the external positioning operating mode These inputs are optically isolated from the rest of the drive circuits and from each other Both inputs can operate from any voltage source in the range of 5 to 24 VDC and do not require additional series resistors for normal operation STEP DIRECTION CW CCW Timing Diagram for Step amp Direction
140. ts MOVEx and MDV from the User Program Refer to the PositionServo Programming Manual for details 5 3 2 Reference The REFERENCE setting selects the reference signal being used by the drive This reference signal can be either External or Internal An External Reference can be one of three types an Analog Input signal a Step and Direction Input or an Input from a external Master Encoder The Analog Input reference is used when the drive is either in torque or velocity mode The Master Encoder and Step and Direction reference is used when the drive is in position mode An Internal Reference is used when the motion being generated is derived from drive s internal variable s i e User Program Refer to the PositionServo Programming Manual 48 Lenze S94H201E 13426446 EN Parameters LL 5 3 3 Drive PWM Frequency This parameter sets the PWM carrier frequency Frequency can be changed only when the drive is disabled Maximum overload current is 300 of the drive rated current when the carrier is set to 8kHz It is limited to 250 at 16kHz 5 3 4 Current Limit The Current Limit setting determines the nominal currents in amps RMS per phase that output to the motor phases To prevent the motor from overloading this parameter is usually set equal to the motor nominal or rated phase current The Current Limit is set equal to the nominal motor phase current by default when a motor model is selected 5 3 5 Change Current Limits To mo
141. tting size for the PC is 1680 x 1050 6 2 Ethernet Connection Configuration Programming and diagnostics of the PositionServo drive are typically performed over the standard 10 100 Mbps Ethernet communication port using the MotionView OnBoard software contained within the drive itself To access the MotionView OnBoard software and configure the drive the PositionServo drive and PC must be configured to operate on the same Ethernet network The IP addresses of the PositionServo drive the PC or both drive and PC may be required to be configured to enable Ethernet communications between the two devices e NOTE 1 Any changes made to the Ethernet communication settings on the PositionServo do not take effect until the drive is powered off and powered on again Until this time the drive will continue to use its previous settings S94H201E 13426446 EN Lenze 63 on Operation NOTE For any PC that will need regular configuration to communicate with a PositionServo Drive and if the default PC Ethernet port on your computer is already being used for another purpose such as email web browsing etc then it may be more convenient for the operator to add an additional Ethernet port to the PC The most common and cost effective way to do this is by using a USB Ethernet dongle or a PCMCIA Ethernet card The additional port can be configured for communication to the PositionServo drive without ef
142. ty for damage and operating interference caused by Disregarding the operating instructions Unauthorized modifications to the controller Operating errors Improper working on and with the controller Warranty e Warranty conditions refer to Lenze AC Tech Terms and Conditions of Sale document TD03 Disposal Material Recycle Dispose Metal Plastic Assembled PCB s 1 3 General Drive Information 1 3 1 Mains Configuration The PositionServo is available in four mains input power configurations 1 120 240V Single Phase Voltage Doubler Units When wired for Doubler mode L1 N the input is for 120V nominal only and can range from 70 VAC to 132 VAC and the maximum output voltage is double the input voltage When wired to terminals L1 L2 N the input can range from 80 VAC to 264 VAC and the maximum output voltage is equal to the input voltage 2 120 240V Single Phase Filtered Units 120 240V nominal single phase input with integrated input mains line filter Actual input voltage range 80VAC to 264VAC The maximum output voltage is approximately equal to the input voltage 3 120 240V Single or Three Phase Units 120V or 240V nominal single or three phase input Actual input voltage range 80VAC to 264VAC The maximum output voltage is approximately equal to the input voltage An external input mains line filter is available 4 400 480V Three phase Units 400 480V nominal
143. ty input circuits 1 and 2 If safety input 1 or safety input 2 or both inputs are on then the safety status output will become active The safety status output must be connected to some visible indication for the operator to reference during test of the circuit As well as being used to test the correct operation of the safety circuits the safety status output can be used as an indicator that the drive has been placed in the fully shut down condition all safety circuits off For example if both Safety Inputs have been Deactivated the Safety Status is also Deactivated If one of the Safety Inputs signals failed to call for a shutdown or if one of the Safety Circuits failed to shut down the Safety Status signal remains Asserted to alert the operator to the problem The procedure for testing the ISO 13849 1 safety circuit and the identification of a single fault on the system is given below The safety status output should be connected to a visible indicator such as a lamp or LED so the operator can interpret its condition e NOTE JL Customer must size load so as not to pull more than 100mA Safety Status Output Indication Pin Name Function 1 Bypass Voltage ISO 13849 1 Bypass Voltage 24VDC P1 di External 24VDC 2 Bypass COM ISO 13849 1 Bypass Common p P2 Safety Output Status Indication 3 Safety Status ISO 13849 1 Safety Status 100 max p c P3 4 Safety In
144. uick connect terminal block P8 Pin Assignments ISO 13849 1 Safety Function Pin Name Function 1 Bypass Voltage ISO 13849 1Bypass Voltage 24VDC 2 Bypass COM ISO 13849 1 Bypass Common 3 Safety Status ISO 13849 1 Safety Status 4 Safety Input ISO 13849 1 Safety Input 1 24VDC to Enable 5 Safety COM ISO 13849 1 Safety Common 6 Safety Input2 ISO 13849 1 Safety Input 2 24VDC to Enable WARNING The drive is supplied from the factory with the ISO 13849 1 safety circuit enabled The drive is not operational until 24V is present at terminals 4 and 6 For the proper safety connections refer to the Connection of Two Safety Circuits with External 24V Supply diagram Under certain applications when safety connections are not required the drive may be operated with the safety circuit disabled The diagram below illustrates how to bypass the safety circuit Wiring Diagram to Bypass ISO 13849 1 Safety Circuit Pin Name Function 1 Bypass Voltage ISO 13849 1 Bypass Voltage 24VDC P1 e di 2 Bypass COM ISO 13849 1 Bypass P2 UU SafetyStatus ISO 13849 1 Safety Status 4 4 Safety Input SO 13849 1 Safety Input 1 24VDC to Enable 23 i p P5 5 Safety COM 50 13849 1 Safety Common 23 ps P6 6 Safety Input2 SO 13849 1 Safety Input 2 24VDC to Enable 2 1 This voltage must under no circ
145. ulation tracks or Hall sensors For synchronous servo motors Hall sensors or Hall emulation tracks are necessary for commutation For pin assignments refer to the Table P4A Encoder inputs on P4 have 261532 or compatible differential receivers for increased noise immunity Inputs have all necessary filtering and line balancing components so no external noise suppression networks are needed For resolver based 941 drives P4 is a 9 pin DB connector for connecting resolver feedback and thermal sensor For pin assignments refer to the Table P4B The resolver feedback is translated to 65 536 counts per revolution All conductors must be enclosed in one shield with a jacket around them Lenze recommends that each and every pair for example and EA be twisted In order to satisfy CE requirements use of an OEM cable is recommended Contact your Lenze representative for assistance The PositionServo buffers encoder resolver feedback from P4 to P3 For example when encoder feedback is used channel A on P4 is Buffered Encoder Output channel A on P3 For more information on this refer to section 4 2 2 Buffered Encoder Outputs STOP Use only 5 VDC encoders Do not connect any other type of encoder to the PositionServo reference voltage terminals When using a front end controller it is critical that the 5 VDC supply on the front end controller NOT be connected to the PositionServo s 5 VDC supply as this will result in damage to the Po
146. umstances be used to supply the ISO 13849 1 Safety circuits terminals 3 to 6 This voltage is intended only for use in bypassing disabling the ISO 13849 1 circuits should they not be required 2 A Separate 24VDC supply providing reinforced isolation SELV or PELV must be supplied to operate these inputs This supply should not be floating but should be referenced within 20V peak of PE at the drive 3 Unsnubbed inductive loads must NOT be used on the 24VDC safety circuit wiring PositionServo drives with the following S designation in the model number have been fitted with the optional ISO 13849 1 Safe Torque Off function The last S denotes ISO 13849 1 Drive Model Number E94 020 S 1 N option fitted to drive at manufacturer This option can only be fitted at the factory at the time of unit manufacturer This option provides additional methods Inputs to disable the drive output so that the drive cannot cause torque to be generated in the motor This safety function is often referred to as the Safe Torque Off function and meets the requirements of the following standard ISO 13849 1 Safety of Machinery Safety related Parts of Control Systems Category Cat 3 Performance Level PL d and Safety Integrity Level SIL 2 per EN 61800 5 2 2007 WARNING A It is required that all information contained within this ISO 13849 1 standard be observed when implementing any part
147. urce of the error is commonly the power shield and ground terminations or the use of an improper cable Correct the wiring problem s and repeat steps 1 6 If the error message repeats exchange motor phases U and V R and S and repeat If problems persist contact the factory 7 If autophasing is completed with no error then MotionView will return to the motor dialog box For motors with incremental encoders the parameter field Hall order and the check boxes inverted B leads A for CW will be filled in with correct values For resolver equipped motors fields Offset and CW for positive will be correctly set 42 Lenze S94H201E 13426446 EN Parameters LL 8 Click Save File to save the completed motor file use same filename as the initial data in step 1 Click Update Drive to load the motor data to the drive 5 2 5 Custom Motor Data Entry A Custom Motor file is created by entering motor data into the Motor Parameters dialog box This box is divided up into four sections Electrical constants Mechanical constants Feedback and Gain Scaling Parameter Type Synchronous Motor Asynchronous Induction Motor Identification Vendor Motor Model ID Vendor Motor Model ID Electrical Kt Ke Lm Rm Le Nominal ae Cos fraser LM RM Lee Nominal Was of poles 3t of poles Feedback Primary feedback Resolver Offset Resolver FB Encoder PPR before quad B leads A CW Motor Gain
148. uthentication screen may be displayed if the PC does not have Java RTE version 1 4 or higher To remedy this situation download the latest Java RTE from http www java com j Java starting Java Splash Screen Java Authentication When MotionView has finished installing a Java icon entitled MotionView OnBoard will appear on your desktop and the MVOB splash screen is displayed Click Run to enter the MotionView program 70 lenze S94H201E 13426446 EN Operation The application s digital signature cannot be verified Do you want to run the application C Best seis em rr ww GN Ta dd Verger ba vens by EC Oa run f yox truant the origin cf Man MotionView OnBoard Splash Screen Hazard of unexpected motor starting When using the Motionview Software a motor run command may be initiated from the computer when 8 ts linked to the controller Additionally the PositionServo can execute programs that start and stop the motor without input from the operator Such unexpected starting of the motor can result in damage to equipment injury to personal I is the responsibility of the individual oper ating the SimpleServo and connected MotionView software to insure That the motor and moving elements aro free to operate in sate manner and that all guards and Covers are in place fo protect persone Ihave confirmed that the motor and machine are safe to operate
149. vo drive unless mains power is removed Opening any one motor lead may cause failure Control Terminals provide basic isolation insulation per EN 61800 5 1 Protection against contact can only be ensured by additional measures e g supplemental insulation Do not cycle mains power more than once every 2 minutes Otherwise damage to the drive may result WARNING For compliance with EN 61800 5 1 the following warning applies This product can cause a d c current in the protective earthing conductor Where a residual current operated protective RCD or monitoring RCM device is used for protection in case of direct or indirect contact only an RCD or RCM of Type B is allowed on the supply side of this product UL INSTALLATION INFORMATION Suitable for use on a circuit capable of delivering not more than 200 000 rms symmetrical amperes at the maximum voltage rating marked on the drive Use Class 1 wiring with minimum of 75 copper wire only Shall be installed in a pollution degree 2 macro environment The PositionServo does not provide motor over temperature protection The user may connect a KTY motor thermal sensor to the drive as detailed in section 4 1 1 and 4 5 2 if necessary to satisfy NEC requirements lenze S94H201E 13426446 EN Installation E 3 1 Wiring DANGER Hazard of electrical shock Circuit potentials are up to 480 VAC above earth ground Avoid direct contact with the pr
150. w Synchronous or Induction Asynchronous e Input the Motor data manually or from a previously saved motor file To load motor data from a file click Open file select file path and click OK to open To add this new custom file to your computer s hard drive click Save File select file path and click OK to save e To load this file to the drive click Update Drive When selecting OK for a custom motor a dialog box will appear prompting for a decision to perform not perform Autophasing refer to section 5 2 4 5 2 3 Creating Custom Motor Parameters STOP Use extreme caution when entering custom parameters Incorrect settings may damage the drive or motor If unsure of the settings refer to the materials distributed with the motor or contact the motor manufacturer for assistance 1 Enter custom motor data in the Motor Parameters dialog fields Complete all sections of dialog Electrical Mechanical Feedback and Motor Gain Scaling e NOTE 1 If unsure of the motor halls order and encoder channels A and B relationship leave B leads A for CW Halls order and inverted fields as they are Use Autophasing section 5 2 4 to set them correctly 2 Enter motor model and vendor in the top edit boxes Motor ID cannot be entered this is set to 0 for custom motors Likewise if unsure of resolver offset and direction of rotation leave at default and correct using the Autophasing 3 Click
151. y Tuning should be carried out prior to the manual tuning of the position loop Refer to the Velocity Tuning section 6 7 2 1 Parameter Set up In MotionView open the Limits folder and then the Position Limits sub folder Set the Position Error and Max Error Time parameters to their maximum values to effectively disable the position error trip while tuning takes place Ensure the system is safe to operate in this manner Position Error 32767 Max Error Time 8000 The Drive Mode Reference and Enable Switch Function parameters are automatically configured by the velocity tuning program They do not require setting at this stage 2 Importing the Position Tuning Program Before importing the Position Tuning Program the example programs must be installed from the Documentation CD that shipped with the drive If this has not been done then please do so now To load the TuneP program file to the drive select Indexer Program in MotionView Select Import on main toolbar Navigate to C enze ACTechWVOB Programming Examples If during the installation of the Documentation CD files a different default directory was selected then navigate to that directory Click on the TuneP txt file and select Open 82 Lenze S94H201E 13426446 EN 3 Editing the Position Tuning Program The Tune Position Program performs trapezoidal moves in the forward and reverse direction separated by a defined pause o
152. ya DeviceNet Module Error DeviceNet module configured but not detected E du Bad Memory Index Memory index out of limits when writing user variables to RAM Fays 2nd Encoder Position Secondary encoder position error limit has exceeded maximum value applies to Error hardware version 1 F_4B PFB module error PROFIBUS module configured but not detected EMT monitor timeout PROFIBUS network monitor timeout error E up exchange timeout PROFIBUS data exchange timeout error E ug RE tation The APOS variable cannot be manipulated while a MOVE is being executed F 51 Unspecified DSP fault General internal fault F 5g Drive disabled motion Drive disabled while in motion 96 lenze S94H201E 13426446 EN 8 4 2 Diagnostics Fault Event When the drive encounters any fault the following events occur 8 4 3 Drive is disabled Internal status is set to Fault Fault number is logged in the drive s internal memory for later interrogation Digital output s if configured for Run Time Fault are asserted Digital output s if configured for READY are de asserted If the display is in the default status mode the LEDs display FOXX where XX is current fault code Enable LED turns OFF Fault Reset Fault reset is accomplished by disabling or re enabling the drive depending on the setting of the Fault Reset parameter section 5 3 8 If On Disable is selected the fault is cleared when the drive is disabled If On E
153. ze AC Tech does not accept any liability for deficiencies claimed subsequently Claim visible transport damage immediately to the forwarder visible deficiencies incompleteness immediately to your Lenze representative Related Documents The documentation listed herein contains information relevant to the operation of the PositionServo and MotionView OnBoard To obtain the latest documentation visit the Technical Documentation section of http www lenze com Table 1 Reference Documentation Document Description P94MIO1 PositionServo with MVOB Mounting Instructions PM94H201 PositionServo with MVOB Programming Manual P94MODO1 Position Servo ModBus RTU over RS485 Modbus TCP IP P94CANO1 PositionServo CANopen Communications Reference Guide P94DVNO1 PositionServo DeviceNet Communications Reference Guide PO94ETHO1 PositionServo EtherNet IP Communications Reference Guide P94PFBO1 PositionServo PROFIBUS Communications Reference Guide lenze S94H201E 13426446 EN Introduction 1 Introduction 1 1 Safety Information The safety information provided in this documentation has the layout shown herein Signal Word Characteristics the severity of the danger Note describes the danger and informs on how to proceed gt Table 2 Pictographs used in these Instructions Icon Signal Words Warning of DANGER Warns of impending danger
154. ze com S94H201E e1

Operating Instructions E94P__PositionServo FW 6x

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