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Operating Instructions ECSxA Axis module Application (V8.x)

1. CAN1_IO CAN1_wDctrlStat CAN1_wDctrlCtrl li weer WORD State C0136 2 data output Bit 3 CAN1_bCtrlQuickstop_b gt CAN1_bCtrlDisable_b i CAN1_bCtrlCInhibit_b 10 CAN1_bCtrlTripSet_b 71 CAN1_bCtrlTripReset_b a CAN1_bCtrlB0_b i CAN1_bCtrlB1_b CAN1_bCtrlB2_b 16x 2 Byte Bye BOOL 4 CAN1_bCtrlB4_b CAN1_bCtrlB5_b 5 LI _ 1 1 CAN1_bCtrlB6_b gt j i CAN1_bCtrlB7_b 2 2 Fl CAN1_bCtrlB12_b lal CAN1_bCtrlB13_b A CAN1_bCtrlB14_b 3 3 14 A CAN1_bCtrlB15_b i 15 CAN1 4 4 CAN1_nInW1 _nOutW1_a A WORD WORD _ninW1_a C0868 1 C0866 1 CAN1_nOutW2 CAN1_nInw2 _nOutW2_a 4 WORD 5 5 WORD _ninW2_a C0868 2 C0866 2 CAN1_nOutW3_a WORD 9 0 2 WORD CAN1_nInW3_a gt C0868 3 6 6 C0866 3 CAN1_bFDOO 15_b CAN1_bInBO 15_b A Le S 16xBOOL a 7 7 C0863 1 CAN1_bFDO16 31_b 16 x BOOL CAN1_bInB16 31_b gt 16 x BOOL M C0863 2 CAN1_dnOutD1_p DINT L 8 8 Lolo DINT CAN1_dnInD1_p gt C0869 1 H H C0867 1 Output user data A Input user data 8 bytes 8 bytes y X4 X4 Fig 13 13 System block CAN1_10 Process data telegram The process data telegram consists of an identifier and eight bytes of use
2. CANaux3_lO Byte Byte 1 1 CANaux3_nOutW1_a WORD WORD CANaux3_ninW1_a gt o a Diu o gt C2493 8 9 2 C2492 8 CANaux3_nOutW2_a A WORD sl WORD CANaux3_nlnW2_a C2493 9 C2492 9 CANaux3_bFDOO 15_b 3 3 CANaux3_bInBO 15_b 1 46x BOOL 16 x BOOL I I e s C2492 5 CANaux3_bFDO16 31_b 4 4 CANaux3_bInB16 31_b a LP dex BOOL l _ 16xBOOL a _ C2491 6 CANaux3_dnOutD1 L L CANaux3_dninD1 Pt DINT 5 5 E DINT H H CANaux3_nOutW3_a 4 WORD 6 6 WORD CANaux3_nlnW3_a C2493 10 C2492 10 CAN jaux3_nOutW4_a N WORD WORD CANaux3_nInW4_a C2493 11 7 7 C2492 11 M M 8 8 Output user data A Input user data 8 bytes 8 bytes y X14 X14 Fig 13 19 System block CANaux3_10 Process data telegram The process data telegram consists of an identifier and eight bytes of user data Identifier 8 bytes of user data 11 bits Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 EDBCSXA064 EN 2 0 Lenze 293 13 System modules CANaux3_ IO node number 36 Codes Code No Designation C2456 1 CANa times 2 CANa times 3 CANa times 4 CANa times C2457 1 CE monit time 2 CE monit time 3 CE monit time C2491 aA uu BP WN 294 CANa IN bits CANa IN bits CANa IN bits CANa
3. CANaux1_10 Byte Byte CANaux1_nOutW0_a CANaux1_ninW0_a WORD 1 1 m WORD ry i T CANaux1_binB0 15_b CANaux1_bFDOO 15_b laux1_bInB0 15_ m b 16x BOOL 2 2 16 x BOOL C2491 1 CANaux1_nOutW1_a A WORD WORD CANaux1_ninW1_a C2493 1 3 3 C2492 1 CANaux1_bFDO16 31_b ie Bra CANaux1_bInB16 31_b 46 x BOOL T f 16 x BOOL S PI 4 4 C2491 2 CANaux1_nOutW2_a WORD WORD CANaux1_ninW2_a gt gt C2493 2 C2492 2 CANaux1_bFDO32 47_b 5 5 CANaux1_blnB32 47_b 16 x BOOL _ i a di gt 16 x BOOL 6 6 CANaux1_nOutW3_a A WORD sl WORD CANaux1_ninW3_a 2493 3 C2492 3 CANaux1_bFD0O48 63_b 7 7 CANaux1_bInB48 63_b 16 x BOOL t gt 16 x BOOL sl Pei CANaux1_dnOutD1 L 8 8 E CANaux1_dninD1_p eee PINT _ DINT H H Output user data A Input user data 8 bytes 8 bytes AA X14 X14 Fig 13 17 System block CANaux1_1O Process data telegram The process data telegram consists of an identifier and eight bytes of user data Identifier 8 bytes of user data 11 bits Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 282 Lenze EDBCSXA064 EN 2 0 Codes Code No Designation C2456 1 CANa times 2 CANa times 3 CANa times 4 CANa times C2457 1 CE monit time 2 CE monit time 3 CE monit time C2491 aA uu BP WN CANa IN bits CANa IN bits CANa IN bits CANa IN bits CANa IN b
4. L1 Ld L2 L3 N E hd hd ad bg F1 F3 FA Ab 4 Hil aif off f E Li L2 Ls Pe BR0 ER1 vG ud ucl PE kudkug ug fue Pe Pe kudkug FuG uGl Pe Pe fon 7 x21 x22 X23 X23 la ECSCE ECSxS P M A ECSxS P M A e X6 l X25 X24 xT X25 X24 x K1 A all 9 Rb ECSXA012 Fig 5 4 Interconnected power system with external brake resistor A HF shield termination by large surface connection to functional earth see Mounting Instructions for ECSZS000X0B shield mounting kit f Twisted cables K1 Mains contactor F1 F4 Fuse Z1 Mains choke mains filter optional Rb Brake resistor A System cable feedback EDBCSXA064 EN 2 0 Lenze 59 60 Electrical installation Power terminals Motor connection Motor connection ECSXA010 Fig 5 5 Motor and motor holding brake connection Motor cables gt Use low capacitance motor cables Capacitance per unit length Core core max 75 pF m Core shield max 150 pF m Length max 50 m shielded gt The cross section of the motor cables are selected according to the motor standstill current l when using synchronous motors or according to the rated motor current In for asynchronous motors Length of the unshielded ends 40 100 mm depen
5. standstill Outputs_DIGITAL DIGOUT_bOut1_b Ta 4 x6 COMA tp a xe safe torque off gt SO DIGOUT_bRelais_b q COMATZ 7 ape y X6 A nS X25 B gt BI B gt B2 MONIT Rel1 C0602 ECSXA242 Fig 13 28 System block Outputs_DIGITAL System variables Variable Data Signal Address Display Display Notes type type code format DIGOUT_bOut1_b OX1 0 0 C0444 1 Feedback safe torque BOOL B b q DIGOUT_bRelais_b ee QX1 0 1 C0444 2 ci off former safe standstill Codes Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0118 Polarity of the digital outputs D 323 1 DIGOUT pol 0 HIGH level active X6 DO1 DIGOUT_bOut1_b ama 2 DIGOUT pol 0 HIGH level active X25 DIGOUT_bRelais_b brake connection 0 HIGH level active LOW level active C0444 Status of the digital outputs D 323 Only display 1 DIS DIGOUT 0 1 Status of the digital output X6 DO1 2 DIS DIGOUT Relay control status C0602 MONIT REL1 3 Configuration of the open circuit monitoring of relay output X25 0 TRIP Off EDBCSXA064 EN 2 0 Lenze 323 324 System modules DIGITAL IO node number 1 Outputs_DIGITAL digital outputs Terminal assignment Digital inputs X6 X6 DO1 X6 X6 SO X25 X25 B1 X25 B2 X6 X6 B X6 B Function Digital output Digital output 1 Output safe torque off former safe standstill Outp
6. C0254 bio so MCTRL_nPAdapt_a 4 RE A VECT_CTRL PWM nea Lf E C09067 oft 1 aS Ay MCTRL_dnPosSet_p LHA o La C0071 Sere y i HE T Toa T0006 TOOTE FF MONIT LU METRI bUnderVoltage_b MCTRL_nPosLim_a Sa Y C030675 E C0076 C0173 C0077 MGTRL bPosOn b C0078 UG VOLTAGE MONIT OU _MCTRL_bOverVoltage_b 090771 C0084 C005 MCTRL_nNStartmLim_a ei condi Y C0906578 C0087 aoe MCTRL_bShortCircuit_b MOTRLnMAdd_a 0088 Imotor MONIT OC1 tI La C0022 C09067 2 ol const MCTRL_nFidWeak _nFidWeak_a CONT MONIT 0C2 MCTRL_bEarthFault_b C0906 7 COSTE gt C0579 MONIT OC5 MCTRL_bixtOverload_b I gt gt 1 50lx gt MONIT nErr const MCTRL_nPos_a MCTRL_nNAct_v 90 20 Resolver II O 23 x7 gt a 5 4 J L MCTRL_nNAct_a C005 MCTRL_dnPos_p C0420 T C0607 core ee oon Ci MONIT NMAX MCTRL_bNmaxFault_b C0495 T C0098 MCTRL_nNmaxC11 e o dU o So Encoder i MCTRL_bActTPReceived_b go esa 2 T
7. ECSXA294 System bus CAN Interface Integrated system bus interfaces e X4 CAN e X14 CAN AUX Automation interface AIF e X1 with corresponding fieldbus module e g 2175 350 Automation interface AIF for EMZ9371BB operating unit or the following AIF modules e 2102 LECOM A B LI 2103 FP interface RS 232C 2111 INTERBUS 2112 INTERBUS loop 2133 PROFIBUS DP 2174 CAN addressing module 2175 DeviceNet CANopen Others in preparation x1 X4 System bus interface CAN X14 System bus interface CAN AUX Terminal extension IO system IP20 CAN objects available PDOs CAN1_IN CAN1_OUT CAN2_IN CAN2_OUT CAN3_IN CAN3_OUT CANaux1_IN CANaux1_OUT CANaux2_IN CANaux2_OUT CANaux3_IN CANaux3_OUT SDO1 parameter data channel 1 SDO2 parameter data channel 2 L_ParRead L_ParWrite functionality only available for CAN x4 Sync telegram CanDSx driver for mapping indices to codes and for bus monitoring functions Heartbeat and Node Guarding see Manual for function library LenzeCanDSxDrv lib Note No bus monitoring functions Heartbeat and Node Guarding for CAN AUX PDOs XCAN1_IN XCAN1_OUT XCAN2_IN XCAN2_OUT XCAN3_IN XCAN3_OUT XCANaux1_IN XCANaux1_OUT XCANaux2_IN XCANaux2_OUT XCANaux3_IN XCANaux3_OUT XSDO1 parameter data channel 1 XSDO2 parameter data channel 2 Sync telegram AifParMap driver for mapping code acc
8. ECSXA030 Fig 4 6 Mounting for cold plate design Proceed as follows to mount the axis module 1 Prepare the fixing holes on the mounting plate Use a drilling jig for this purpose 2 Clean and degrease the contact area of collective cooler and heatsink of the axis module e g with methylated spirit Screw the support onto the collective cooler 4 Insert the axis module from above into the support and fasten the two stud bolts with 3 5 4 5 Nm Note Penetration depth of the screws into the collective cooler approx 15 mm she Tip The heat transfer resistance is reduced if following step 2 gt a thin layer of heat conducting paste is applied to the contact surface or gt heat conducting foil is used EDBCSXA064 EN 2 0 Lenze 49 Electrical installation Electrical isolation Electrical installation Electrical isolation The integrated electrical isolation between the power section and the control section is a protective separation reinforced insulation acc to EN 61800 5 1 To maintain this protective separation it must be ensured that the external 24 V supply and all components connected to this supply also have a protective separation SELV PELV acc to EN 61800 5 1 24 V supply X6 24 GND Safe torque off X6 524 SO SI1 SI2 Functional Dig input output insulation 50 V X6 DI1 DI2 DI3 DI4 DO1 Double insula
9. 5 Imes Tor process data Input objects 19 Monitorings CAN bus synchronisation 260 possible reactions 18 MotionBus CAN CAN data telegram 4 K AN UY O A O CAN O CAN O cyclic process data objects 418 synchronisation 419 Defining e master In the drive system 16 D lt oO i a o S e oO Q O ie N oO vu n data objects 420 1 Q O O E N O etwork managemen Q D a D parameter data 4 parameter data channels 4 jparameter data objects addressing O process data 4 process data obje ada n i D N D O D O yA Al O v g o 5 3 a 4 o 5 process data telegrams 4 ser data 412 422 Motor connection 54 60 pi A iS 2 Lenze Motor cable length Motor cables specification 60 Motor data adjusting 34 Motor feedback system ecking the direction oT rotation Motor holding brake Konnection 54 terminals 4 Viotor phases monitoring 20 Motor protection 29 Motor temperature monitoring 19 Motor temperature sensor monitoring 20 Motor connection 60 Motors from other manufacturers Mounting axis module i q Q v D q Q D cold plate design 4 IXINg rallis 4 thermally separated push through technique 4 Q 5 Network management NMT 41 Network management data 4 2 3 DI o a M gw a a
10. P_ ELE poops O 8 a EMF2132IB 5 X1 X2 X3 X4 ECSXP001 Fig 5 23 ECS axis modules in the CAN network with EMF2132IB digital frequency distributor p Drive PLC or customer PLC for controlling the drive system optional Master value of the master ECSxS P A axis module M S1 3 Slave 1 slave 2 slave 3 ECSxS P A axis module A EYD0017AxxxxW01W01 digital frequency cable of master B EYD0017AxxxxW01S01 digital frequency cable of slave E Tip xxxx in the type designation of the digital frequency cables serves as a wildcard for the specification of the cable length in decimetres Example EYD0017A0015W01W01 cable length 15 dm EDBCSXA064 EN 2 0 Lenze 91 6 1 92 Commissioning Before you start Commissioning Before you start Note gt The use of a Lenze motor is assumed in this description of the commissioning steps For details on the operation with other motors see a2 gt The description is based on operation with the Lenze programs Drive PLC Developer Studio DDS and Global Drive Control GDC The parameters are displayed in online mode i e GDC can directly access the codes of the axis module Prior to initi
11. 14 7 3 14 7 3 1 414 Appendix General information about the system bus CAN Process data transfer Identifier User data Value 0 Only contains command 11 bits 2 bytes Fig 14 6 Telegram for switching over the communcation phases The communication phases are changed over by a node the network master for the entire network The change over can also be done by a controller With a certain delay after mains connection a telegram is sent once which changes the status of the entire drive system to Operational The delay time can be set via the following codes Interface Code X1 Automation interface AIF C2356 4 X4 ECSxS P M MotionBus CAN C0356 4 ECSXA E System bus CAN X14 System bus CAN C2456 4 e Interface is not available for ECSxE Note Communication via process data only is possible with a state change to operational Example For changing the state of all nodes on the bus from pre operational to operational via the CAN master the following identifier and user data must be set in the telegram gt Identifier 00 broadcast telegram gt User data 0100 hex Process data transfer Definitions gt Process data telegrams between host and drive are distinguished as follows Process data telegrams to the drive Process data telegrams from the drive gt The CANopen process data objects are designated as seen from the node
12. 179 9 IMPORTANT Rotor displacement angle for synchronous motors C0095 127 Activation of rotor position adjustment of a synchronous motor C0058 shows the rotor displacement angle 127 129 Commissioning Optimising the drive behaviour after start Speed controller adjustment 6 13 Optimising the drive behaviour after start For applications with high current controller dynamics the pilot control for the current controller can be adjusted under C0074 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0074 Dynamics 0 Pilot control of the current 125 controller for higher dynamics 0 Normal 1 Enhanced 6 13 1 Speed controller adjustment gt The speed controller can only be set correctly when the system constellation has been completed gt Please note that the input and output variables of the speed controller are scaled Input scaling to Nmax C0011 Output scaling to Imax C0022 gt Hence C0011 and C0022 have a direct impact on the proportional gain of the speed controller C0070 gt The speed controller can only be optimally adjusted if the current controller is set correctly the time constant for the actual speed value filter is not set too high C0497 the axis module is appropriately connected to PE so that no noisy speed and current signals occur there are as few as possible elastic or loose connections between drive and load gt The spee
13. 4 222 you can find information on fault elimination Fault analysis Fault analysis via the LED display LED Operating state Check Red Green Off On Controller enabled no fault Off Blinking Controller inhibit CINH active switch on inhibit C0183 Blinking Off Trouble fault TRIP is active C0168 1 Blinking On Warning FAIL OSP is active C0168 1 Fault analysis with keypad XT EMZ9371BC The status messages in the display indicate the controller status Display Controller status Check RDY Controller ready for operation controller can be inhibited C0183 C0168 1 IMP Pulses at the power stage inhibited C0183 C0168 1 Imax Maximum current reached Mmax Maximum torque reached FAIL Fault through TRIP message fail OSP or warning C0183 C0168 1 Fault analysis with the history buffer The history buffer C0168 enables you to trace faults The corresponding fault messages are stored in eight memory locations in the sequence of their occurrence EDBCSXA064 EN 2 0 Lenze 213 214 Troubleshooting and fault elimination Fault analysis Fault analysis with the history buffer Structure of the history buffer gt gt The fields under fault history show the memory locations 2 7 The fields under current faults indicate memory location 1 It gives information on the active fault If the fault is no longer active or has been reset all information in the fault memory will be automatically shifted upward
14. AIF3_nOutW3_a 6 E 0W432 AIF3_nOutW4_a OW43 3 AIF3_bFDOO_b OX43 0 0 AIF3_bFDO15_b QX43 0 15 BOOL binary AIF3_bFDO16_b OX43 1 0 AIF3_bFDO31_b OX43 1 15 AIF3_dnOutD1_p Double position 0D43 0 E integer EDBCSXA064 EN 2 0 Lenze 249 250 System modules AIF3_IO_AutomationInterface node number 43 Outputs_AIF3 User data The first 4 bytes of the 8 bytes user data to be sent can be written via several variables of different data types According to requirements data can therefore be transferred from the PLC program as gt binary information 1 bit gt status word quasi analog value 16 bit gt angle information 32 bit Note Avoid simultaneous overwriting via different variable types to ensure data consistency Thus bytes 1 and 2 should only be overwritten by gt variable A F3_dnOutD1_p gt variable AIF3_nOutW1_a or gt variables AIF3_bFDOO_b AIF3_bFDO15_b Byte Variable 1 bit Variable 16 bit Variable 32 bit 1 2 AIF3_bFDOO_b sa AIF3_nOutW1_a AIF3_bFDO15 b AIF3_dnOutD1_p 3 4 AIF3_bFDO16_b sa AIF3_nOutW2_a AIF3_bFDO31_b 5 6 AIF3_nOutW3_a 7 8 AIF3_nOutW4_a Lenze alia 13 5 13 5 1 ANALOG1_IO node number 11 Inputs_ANALOG1 analog input System modules ANALOG1 10 node number 11 Inputs ANALOG analog input This SB represents the interface for analog differential signals via terminal X6 Al Al as a setpoint input or an actual value input
15. Bus load by the ECSxA axis module 4180 Codes for heartbeat Code No Name C2369 C2370 EDBCSXA064 EN 2 0 Possible settings Lenze Selection appl 0 1 ms 1 ms Lenze IMPORTANT Consumer heartbeat COB ID 255 65535 Consumer heartbeat time 65535 Producer heartbeat time 155 8 AIF interface X1 configuration Monitoring Codes for emergency Code Possible settings IMPORTANT No Name Lenze Selection appl C2371 128 Emergency objectCOB ID 0 1 2047 C2372 0 Emergency objectCOB ID 0 1 65535 Inhibit time emergency Code extension for setting a monitoring response Code Possible settings IMPORTANT No Name Lenze Selection appl C2382 Configuration of XCAN monitoring no telegrams received 5 XCAN Conf CE 0 Off Life guarding event 6 XCAN Conf CE 0 Off Response to sync reception 0 Off Controller inhibit CINH 2 Quick stop QSP 156 Lenze EDBCSXA064 EN 2 0 AIF interface X1 configuration Diagnostics Operating status of CAN interface 8 9 Diagnostics The following codes can be used for diagnostic purposes code Information displayed Description C2121 Operating status of system bus AIF interface X1 Chapter 8 9 1 157 Settings via these codes are not possible 8 9 1 Operating status of CAN interface The operating status of the automation interface can be displayed via C2121 Code Possible settings IMPORTANT No Name Lenze Selection appl C2121 AlF State AIF CAN Statu
16. CANaux2_dnInD 1p double position integer CANaux2_nInW3_a CANaux2_nIinW4_a User data integer analog Address IW35 0 IW35 1 X35 0 0 1IX35 0 15 IX35 1 0 X35 1 15 ID35 0 IW35 2 IW35 3 System modules CANaux2_1O node number 35 Display code C2492 4 C2492 5 C2491 3 C2491 4 C2492 6 C2492 7 Inputs_CANaux2 Display Comments format dec hex dec The first 4 bytes from the 8 bytes of received user data are assigned to several variables of different data types According to requirements they thus can be evaluated by the PLC program as gt binary information 1 bit gt quasi ana log value 16 bit gt angle information 32 bit Byte 1 2 3 4 5 6 7 8 EDBCSXA064 EN 2 0 Variable 1 bit CANaux2_bInBO_b CANaux2_bInB15_b CANaux2_bInB16_b CANaux2_bInB31_b Variable 16 bit CANaux2_ninW1_a CANaux2_nlnW2_a CANaux2_nlnW3_a CANaux2_ninW4_a Lenze Variable 32 bit CANaux2_dnInD1_p 291 System modules CANaux2_1O node number 35 Outputs_CANaux2 Display code C2493 4 C2493 5 C2493 6 C2493 7 Display Comments format dec dec The first 4 bytes of the 8 bytes user data to be sent can be written via several variables of different data types According to requirements data can therefore be transferred from Variable 16 bit CANaux2_nOutW1_a CANaux2_nOutW2_a CANaux2_nOutW3_a CANaux2_
17. CHANNEL Q oc o A B Cc ECSXA245 Fig 1 3 Example Control configuration including the SBs Inputs_DIGITAL and Outputs_DIGITAL gt Identifier of the system variable Absolute address Data type of the system variable O ale lt Tip The control configuration can be accessed using the right mouse key A context menu helps you to add and delete SBs EDBCSXA064 EN 2 0 Lenze 23 1 5 7 24 Preface and general information System block introduction Signal types and scaling Signal types and scaling A signal type can be assigned to most inputs and outputs of the Lenze function blocks system blocks The following signal types are distinguished gt digital and analog signals gt position and speed signals The identifier of the corresponding input output variable has an ending starting with an underscore It indicates the signal type Signal i Ending Memory Scaling 5 Type Symbol external size internal size Analog AL _a analog 16 Bitl 100 16384 Digital De _b binary 1 bit 0 FALSE 1 TRUE Angular A _V velocity 16 Bitl 15000 rpm 16384 difference or speed rot e Angular difference speed ref to 1 ms e Normalisation example 15000 Speed t de 15000 peed on motor side rpm 60 s 1 motor revolution 65536 inc 15000 inc VI bl lue 337 65536 16384 z lt ariable value
18. D D D Dj 3 D D Nn A 5 17 n oO 5 fe tu A DT bus connection 56 Reset TRIP TRIP RESET DCTRI_D Jevica motor holding brake connection 61 control 305 Btructure 415 Process data objects R 36 136 Addressing 160 Adjustment 136 a Q Q Q O as position and speed encoder 10 e 414 R cyclic 418 wv e lt m A S D monitoring 206 ol lt 2 Dv 5 O S 00 D lt D 5 1 m e S o D Q 420 1 gt ZI 60 transfer 417 5 5 3 D 3 Q Process data transter 414 r position adjustment monitoring Program organisation unit POU 21 Protection of persons 28 Protective insulation Safe torque off 69 Protective isolation 1 D Protective measure I oO Instructions 10 Il Structure O p 303 337 DETRE D device control 303 e lt IICTRI_MotorControl motor control 337 O 5 OSP 303 337 Selection help for cable eng number oT repeaters DETRE D device control 303 W 5 VotorContro motor control 337 Servo motors from other manutac urers ing maximum speed U VU A ing of mains data 96 lt FR oO ing of the feedback system 10 RAM memory access 356 Ing the baud rate 159 oO M auto increment access 357 ing the boot up time 108 4 Lenze EDBCSXA064 EN 2 0 A iS Index Setting the cycle
19. System block introduction System blocks principle The system blocks feature the following node numbers Node number 1 11 21 22 31 32 33 34 35 36 41 42 43 60 101 102 111 121 131 141 151 161 171 System block DIGITAL_IO ANALOG1_10 DFIN_IO_DigitalFrequency DFOUT_IO_DigitalFrequency CAN1_IO CAN2_IO CAN3_IO CANaux1_lO CANaux2_1O CANaux3_1O AIF1_IO_AutomationInterface AIF2_IO_AutomationInterface AIF3_IO_AutomationInterface OSC_Oscilloscope CAN_Management CAN_Synchronization CANaux_Management DCTRL_DriveControl MCTRL_MotorControl FCODE_FreeCodes SYSTEM_FLAGS AIF_IO Management VAR_PERSISTENT Notes Digital inputs outputs Analog input 1 Digital frequency input Digital frequency output System bus CAN System bus CAN AUX Automation interface AIF Oscilloscope function System bus CAN management System bus CAN synchronisation System bus CAN AUX management Device control Motor control Free codes System flags Automation interface management Persistent variables The node number is part of the absolute SB address C4 27 EDBCSXA064 EN 2 0 Lenze 19 1 5 3 20 Preface and general information System block introduction Access via system variables Access via system variables If you have integrated a system block into the system configuration ofthe DDS you can use its system variables within your project You can call up the input assistance in the e
20. bud kud ug uG PE PE X23 ECSxS P M A 24 VDC GND ECSXA013 Fig 5 9 Interconnection Control signals with internal brake resistor A HF shield termination by large surface connection to functional earth see Mounting Instructions for ECSZS000X0B shield mounting kit B1 Contactor relay Voltage supply for motor holding brake 23 30 V DC max 1 5 A Safe torque off formerly safe standstill Controller enable inhibit m o jo gt Switch on sequence of the auxiliary relay The auxiliary relay A see Fig 5 9 must only switch digital input X6 DI2 of the power supply module The switch on sequence is as follows 1 The higher level control system or the operator switches digital input X6 DI1 of the power supply module to HIGH The DC bus is charged 2 Digital output X6 DO1 of the axis module switches digital input X6 DI2 of the power supply module via relay Al In the ECS axis modules X6 DO1 is set to Ready in the Lenze setting Ready is only set when the minimum DC bus voltage is reached 3 If X6 DI1 HIGH and X6 DI2 HIGH at the power supply module X6 DO1 is switched X6 DO1 of the power supply module switches the controller enable of the axis module
21. 1 Synchronisation sync identirier sync response Sync x transmission cycle x gt ZI Q System Dus Management 4 Configuring touch probe TP 339 Connection Capacitor module i external brake resistor gt 9 Internal brake resistor 58 A 3 e Q 2 motor holding Drake 54 Connection Safe torque oft terminals Connection sate torque off 69 functional description important notes Minimum wiring connection safe torque off ontiguration of AIF interface node address node ID 147 Important notes Configuration of CAN bus interfaces 9 Configuration of CAN interface node address node ID D w 6 Pua Ith multiple contact switcnes Lenze eT Connection of safe torque off function check 6 implementation technical data Control connections Analog inputs configuration 68 snment o 1 O n un e plug connectors 66 cable cross sections 55 6 onnection sare torque off onnection safe torque off Control drive controller 299 Control factor 36 Control terminals 64 Control word transfer 30 Control signal cables shield connection 64 application as directed faentitication Controller enable 0 i device control 304 Correction value of phase controller 9 n J c oO 5 r A gt gy 2 o A er oO x un A un a O A Dv f
22. 290 10 11 System modules CANaux2_1O node number 35 Possible settings Designation Lenze Selection Appl CANa IN 199 99 0 01 words CANa IN words CANa IN words CANa IN words CANa IN words CANa IN words CANa IN words CANa IN words CANa IN words CANa IN words CANa IN words CANa OUT 199 99 0 01 words CANa OUT words CANa OUT words CANa OUT words CANa OUT words CANa OUT words CANa OUT words CANa OUT words CANa OUT words CANa OUT words CANa OUT words Lenze 199 99 199 99 IMPORTANT Process data input words decimal for CAN bus interface X14 100 00 16384 Read only CANaux1_IN word 1 CANaux1_IN word 2 CANaux1_IN word 3 CANaux2_IN word 1 CANaux2_IN word 2 CANaux2_IN word 3 CANaux2_IN word 4 CANaux3_IN word 1 CANaux3_IN word 2 CANaux3_IN word 3 CANaux3_IN word 4 Process data output words decimal for CAN bus interface X14 100 00 16384 Read only CANaux1_OUT word 1 CANaux1_OUT word 2 CANaux1_OUT word 3 CANaux2_OUT word 1 CANaux2_OUT word 2 CANaux2_OUT word 3 CANaux2_OUT word 4 CANaux3_OUT word 1 CANaux3_OUT word 2 CANaux3_OUT word 3 CANaux3_OUT word 4 EDBCSXA064 EN 2 0 13 13 1 Inputs_CANaux2 System variables Variable Data Signal type type CANaux2_nInW1_a CANaux2_nInW2_a integer analog CANaux2_bInBO_b CANaux2_bInB15_b CANaux2_bInB16_b BOOL binary CANaux2_b InB31_b
23. 9 5 Determining the boot up master for the drive system Unless the bus initialisation and the corresponding status change from Pre operational to Operational is carried out by a higher level host system the controller can be defined as master to carry out this task The master functionality is only required for the initialisation phase of the drive system Under C0356 C2456 you can set a boot up time for the master for the initialisation phase amg The NMT telegram start_remote_node broadcast telegram serves to set all nodes to the Operational NMT status by the master A data exchange via the process data objects is only possible in this status Use C0352 C2452 for configuration Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0352 CAN mst 0 Master slave configuration for Q 167 CAN bus interface X4 0 Slave CAN boot up is not active 1 Master CAN boot up is active 2 Master with node guarding 3 Slave and heartbeat producer 4 Slave with node guarding C2452 CANa mst 0 Configuration of master slave 4 167 for CAN bus interface X14 CAN AUX 0 Slave 1 Master Save changes with C0003 1 The settings are only accepted after carrying out one of the following actions gt Switching on the low voltage supply gt Reset node via the bus system by the network management NMT gt Reset node with C0358 2458 1 via the XT keypad 4 Note If reset node is executed via GDC communica
24. C0868 4 2 2 C0866 4 CAN2_nOutW2_a WORD WORD CAN2_nInW2_a gt C0868 5 C0866 5 CAN2_bFDOO 15_b 3 3 CAN2_bInBO 15_b l dl gt 16 x BOOL 16 x BOOL l di o va C0863 3 CAN2_bFDO16 31_b 4 4 16 x BOOL CAN2_bInB16 31_b gt eo 162 B00 C0863 4 CAN2_dnOutD1_p DINT L 5 5 LIL DINT CAN2_dnInD1_p C0869 2 H gt H C0867 2 CAN2_nOutW3_a WORD 6 6 WORD CAN2_nInW3_a C0868 6 C0866 6 CAN2 nOutW4_a A WORD WORD CAN2_nInW4_a C0868 7 7 7 C0866 7 8 8 Output user data A Input user data 8 bytes 8 bytes y X4 X4 Fig 13 14 System block CAN2_1O Process data telegram The process data telegram consists of an identifier and eight bytes of user data Identifier 8 bytes of user data 11 bits Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 EDBCSXA064 EN 2 0 Lenze 269 13 System modules CAN2_IO node number 32 Codes Code No Designation C0356 1 CAN times 2 CAN times 3 CAN times 4 CAN times C0357 1 CE monit time 2 CE monit time 3 CE monit time 1 CAN IN bits 2 CAN IN bits 3 CAN IN bits 4 CANIN bits 5 CAN IN bits 6 CAN IN bits 270 Possible settings Lenze Selection Appl 3000 0 1 ms 20 3000 1 1 ms 3000 3000 0000 hex Bit 0 Bit 16 Bit 0 Bit 16 Bit 0 Bit 16 Lenze 65000 65000 FFFF Bit15 Bit 31 Bit15 Bit 31 Bit15 Bit 31 IMPORTANT CAN time settings for CAN bu
25. Configuration of monitoring functions Configuration of operation with communication modules Serial interface Process data Display of status words Lenze 143 144 Parameter setting Parameter setting with the XT EMZ9371BC keypad Menu structure Main menu Display System bus 1 FCODE Identify Submenu Display Management CAN IN1 CAN OUT1 CAN IN2 CAN OUT2 CAN IN3 CAN OUT3 Status word Sync manag Diagnostics Drive Op Keypad Description System bus MotionBus CAN configuration CAN communication parameters CAN object 1 CAN object 2 CAN object 3 Display of status words CAN diagnostics Configuration of free codes Identification Software version of basic device Software version of XT keypad 1 For ECSxS P M modules the MotionBus CAN configuration is made on the System bus menu level Lenze EDBCSXA064 EN 2 0 AIF interface X1 configuration 8 CAN baud rate 8 AIF interface X1 configuration With a corresponding fieldbus module e g 2175 the AIF interface X1 ofthe ECSxA axis module can be used as an additional system bus interface Note If the fieldbus module plugged on the AIF interface X1 and the integrated system bus interface are connected to the same system bus network ensure that different CAN addresses and different identifiers are set for the interfaces Tip Changes of the CAN baud rate the CAN addresses and the identifiers for PDOS are only accepte
26. Last fault but one Last fault but two Last fault but three Last fault but four Last fault but five Last fault but six Time at which the faults entered CO 273 into the history buffer C0168 occurred Only display Currently active Last Last but one Last but two Last but three Last but four Last but five Last but six 369 14 Code No C0170 ON DU BP WYN BP C0173 370 Appendix Code list Possible settings Lenze Selection Appl Designation Counter Counter Counter Counter Counter Counter Counter Counter UG limit 11 10 11 12 13 14 1 Mains 230V B Mains 400 V B Mains 460 V B Mains 480V B Mains 480V B Mains 230V B Mains 400 V B Mains 460 V B Mains 480V B Mains 480V B Lenze 65535 IMPORTANT Frequency of successive D occurrence of the faults entered in the history buffer C0168 Read only Currently active Last Last but one Last but two Last but three Last but four Last but five Last but six Adaptation of the DC bus voltage thresholds e Check during commissioning and adapt if necessary e All drive components in DC bus connections must have the same thresholds LU Undervoltage threshold OU Overvoltage threshold Operation on 230 V mains with or without brake unit LU 130 V OU 400 V Operation on 400 V mains with or without brake unit LU 285 V OU 800 V Ope
27. OK is displayed the settings are permanently saved Display of operating level Display C0003 PAR SAVE EDBCSXA064 EN 2 0 7 3 5 Menu structure Parameter setting Parameter setting with the XT EMZ9371BC keypad Menu structure For easy operation the codes are clearly arranged in function related menus Main menu Submenu Display Display User menu Code list User code list Load Store Multitasking Diagnostic Actual info History SystemBlocks MCTRL DCTRL Terminal I O AIN1 DIGIN DIGOUT DFIN DFOUT Controller Speed Current Phase Field Field weak Motor Feedb Motor adj Feedback Monitoring LECOM AIF LECOM A B AIF interface Status word EDBCSXA064 EN 2 0 Description Codes defined under C0517 All available codes List of application specific codes Parameter set management Parameter set transfer restore delivery state Diagnostics Display codes for drive monitoring Fault analysis with history buffer Configuration of the main function blocks Motor control Internal control Assigning inputs and outputs to internal signals Analog input 1 Digital inputs Digital outputs Digital frequency input Digital frequency output Configuration of internal control parameters Speed controller Current controller or torque controller Phase controller Field controller Field weakening controller Motor data input configuration of speed feedback Motor data Configuration of feedback systems
28. Offset for relative analog signals AOUT FCODE_nC109 1 a FCODE_nC109 2 a Fine adjustment mutual inductance apo F 303 325 SIELE Fine adjustment rotor resistance Fine adjustment rotor time constant Fine adjustment magnetising current lsa Polarity of the digital inputs D X6 DI1 DIGIN_bIn1_b X6 DI2 DIGIN_bIn2_b X6 DI3 DIGIN_bIn3_b X6 DI4 DIGIN_bIn4_b Polarity of the digital outputs 323 X6 DO1 DIGOUT_bOut1_b ama X25 DIGOUT_bRelais_b brake connection Threshold for 12 xt monitoring A motor E 0 2 x t monitoring is switched off 12 x t gt C0120 OC6 TRIP Threshold for motor temperature CA monitoring Motor temperature gt C0121 gt fault message OH7 C0584 365 Appendix Code list Code Possible settings No Designation Lenze Selection Appl C0122 OH4 limit 80 45 1 C C0123 OC7 limit 90 0 1 C0124 OHS limit 75 10 1 C0125 Baud rate 0 0 9600 bit s 1 4800 bit s 2 2400 bit s 3 1200 bit s 4 19200 bit s C0126 MONIT CEO 3 0 TRIP 2 Warning 3 Off C0127 OC8 limit 100 0 1 C0128 Tau motor 5 0 0 5 0 1 min 366 Lenze 90 100 90 120 25 0 IMPORTANT Threshold for heatsink temperature monitoring Heatsink temperature gt C0122 gt fault message OH4 C0582 Threshold for x t warning axis 193 module C0064 gt C0123 gt fault message OC7 C0604 Threshold for temperature 197 moni
29. PEA Ino 3XI Ima 2X1 Inot 1 5 X I Imot lr 1 tis 0 100 200 300 400 500 600 700 800 900 1000 ECSXA040 Fig 11 3 12 x t monitoring Release times with different motor currents Imot Motor current Ir Rated motor current It 12t load T Time DC bus voltage OU LU Error message Monitoring function System variable Possible response TRIP Message Warning Off 020 OU Overvoltage MCTRL_bOverVoltage_b 030 LU Undervoltage MCTRL_bUnderVoltage_b e Default setting v Setting possible This monitoring functions monitor the DC bus and protect the drive controller gt Ifthe DC bus voltage at terminals Ug and Ug exceeds the upper switch off threshold set in C0173 an OU message is actuated gt Ifthe DC bus voltage at terminals Ug and Ug falls below the lower switch off threshold set in C0174 an LU message is actuated The monitoring remains active until the corresponding threshold is fallen below exceeded again Note All drive components in DC bus connections must have the same thresholds Lenze CZ Switch off and switch on thresholds Monitoring functions Configuring monitoring functions DC bus voltage OU LU gt The switch off threshold defines the voltage level of the DC bus voltage at which the pulse inhibit is activated gt The switch off and switch on thresholds dependent on C0173 can be gathered from the following table Selection Mains voltage Brake unit
30. 00 325 199 99 0 01 199 99 C0142 Start options 1 Starting condition for start after mains connection e message t gt 0 5 s e TRIP 0 Protection against unexpected start up 1 Automatic start EDBCSXA064 EN 2 0 Lenze 367 14 Appendix Code list Code No Designation C0150 Status word C0155 Status word 2 368 Possible settings Lenze Appl 0 0 Selection Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Bit 8 Bit 9 Bit 10 Bit 11 Bit 12 Bit 13 Bit 14 Bit 15 Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Bit 8 Bit 9 Bit 10 Bit 11 Bit 12 Bit 13 Bit 14 Bit 15 1 Not assigned Pulse inhibit IMP Not assigned Not assigned Not assigned Not assigned n 0 Controller inhibit CINH Status code Status code Status code Status code Warning Message Not assigned Not assigned 1 Active fault Mmax reached Imax reached Pulse inhibit IMP Ready for operation RDY Controller inhibit CINH TRIP active Initialisation 65535 65535 Motor direction of rotation Cw CCw Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned Lenze IMPORTANT DCTRL status word 1 Only display C305 Controller evaluates information as 16 bits binary coded DCTRL_bStateBO_b DCTRL_bImp_b DCTRL_bStateB2_b DCTRL_bStateB3_b DCTRL_bStateB4_b DCTRL_bStateB5_b DCTRL_bNActEqo_b DCTRL_bCInh_b DCTRL_bStat1_b DCTRL_bStat
31. 0825 Selection of feedback system for 10 positioning control Standard setting e Sets C0495 to the same value if C0495 gt 0 e Sets C0419 0 Common if a different encoder type as under C0419 is set here Function of X8 381 Code No C0495 C0497 C0504 C0505 C0506 C0507 C0508 C0509 C0510 C0517 382 Appendix Code list Designation Feedback n Nact filter CmpChecksRa m ProtAppFlash Possible settings Lenze Appl 0 2 0 Selection w N e oO 0 0 p_ Oo Lr Oo Resolver at X7 TTL encoder at X8 SinCos encoder at X8 Absolute value encoder single turn at X8 Absolute encoder multi turn at X8 0 1 ms 50 0 Write protection RAM block 1 inactive Write protection RAM block 1 active Write protection RAM block 2 inactive Write protection RAM block 2 active 1 65532 RAM block 1 RAM block 2 1 65532 1 65532 Inactive Active No write protection Write protection is active Lenze IMPORTANT Selection of feedback system for CA T07 speed control Standard setting e Sets C0490 to the same value if C0490 gt 0 e Sets C0419 0 Common if a different encoder type as under C0419 is set here Time constant of actual speed value 0 0 ms switched off Activate deactivate write protection for RAM memory e Incase of activated write protection writing on the RAM memory via codes or functions from the function li
32. 308 AS128 8V 309 AS256 8V 310 AS512 8V 311 AS1024 8V 407 AM64 8V 408 AM128 8V 409 AM256 8V 410 AM512 8V 411 AM1024 8V 512 1 1 inc rev 0 0 5 0V 1 5 6V 2 6 3 V 3 6 9 V 4 7 5V 5 8 1V 0 0 2 phase A speed B direction 2 A or B speed or direction 0 0 X8 is input X8 is output Lenze 8192 IMPORTANT Encoder selection 309 e Selection of encoder type an indicated on the nameplate of M 119 the Lenze motor e The encoder data C0420 C0421 C0427 is set automatically in accordance with the selection Incremental encoder with TTL level SinCos encoder SinCos absolute value encoder with Hiperface interface single turn Selections 307 308 309 are only possible with operating system 7 0 or higher SinCos absolute value encoder with Hiperface interface multi turn Selections 407 408 409 are only possible with operating system 7 0 or higher Number of increments of the Ca 309 encoder CO 104 amq Sets C0419 0 common if the value is altered Encoder voltage 309 Sets C0419 0 common if the amo value is altered amg Function of the master frequency input signals on X8 DFIN 104 119 Function of X8 117 Commissioning Setting the polarity of digital inputs and outputs 6 8 Setting the polarity of digital inputs and outputs The polarity can be set for each digital input and output This determines whether the input or output is HIGH active or LOW act
33. 7 oO Ing boot up time 168 setting delay time 168 Setting setting Setting e baud rate 159 e cycle time 168 e node address 159 ser data 41 7 O w 1 M 411 ai 3 A gt 2 5 D na e Q Communication phases 41 etwork managemen state transitions 41 states 41 gt Zi N gt d n Ss n M uv e Val M Hl NI Hi 0 2 2 zZ ci lv v oj 3 n o io x I 5 S S a i 3 oj a 5 ju o 5 n a Lu Hi NI J AN bixCan2Syncronized b x 1A Homepage 41 ui VI AN Management 25 nputs utputs gt gt N O AN Management 254 AN Management 254 N nchronization 257 EDBCSXA064 EN 2 0 Index gt Zi O O O adjusting tne current controller calculating tne electrica Outputs_CANZ 273 a Adjustment of field controller field weakening ontroller before you start 9 1 gt Va 1 gt ZI gt Va 00 O D carrying out basic settings WI D CANaux bixCan ncronized_b 30 commissioning steps overview 9 Inputs CANaux Management 9 controller enable 0 Putputs CANaux Management 230 current controller adjustment metrologica A 578 determination of electrical motor values 126 entry of Machine parameters 9 Entry ot motor data 98 holding brake configuration 100 loading the Lenze settings Operation with servo motors
34. BY BT BY BB BY BY BY BY BY BY BY BY BY BB BP BY BP ey BY BY BY BR BY BY BY BY BY BY BY DB Appendix Table of attributes Decimal position 2 o o KH wo o ono OC ONO oo o o oo ooo ooo rr o oo co o ono ooo ooo o oo ooo a Lao Access LCM R W Ra Ra Wa Ra Wa Ra W Ra W Ra W Ra W Ra Ra W Ra Wa Ra Wa Ra Wa Ra Ra Ra W Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra W Ra W Ra W Ra Wa Ra Wa Ra Wa Ra Wa Ra Ra Wa Ra Wa Ra Wa Ra Wa Ra Ra W Ra Wa Ra Wa Ra Ra W Ra Wa Ra Ra Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Condition CINH CINH CINH CINH CINH CINH CINH CINH CINH CINH CINH 407 Code C0581 C0582 C0583 C0584 C0586 C0588 C0591 C0592 C0593 C0594 C0595 C0596 C0597 C0598 C0599 C0602 C0603 C0604 C0605 C0606 C0607 C0608 C0609 C0745 C0746 C0747 C0855 C0856 C0857 C0858 C0859 C0863 C0866 C0867 C0868 C0869 C0878 C0879 C0906 C0907 C0908 C0909 C0910 co911 C0912 C1120 C1121 C1122 408 Appendix Table of attributes Index dec 23994 23993 23992 23991 23989 23987 23984 23983 23982 23981 23980 23979 23978 23977 23976 23973 23972 23971 23970 23969 23968 23967 23966 23830 23829 23828 23720 23719 23718 23717 23716 23712 23709 23708 23707 23706 23697 23696 23669 23668 23667 23666 23665 23664 23663 23455 23454 23453 hex 5DBAh 5DB9h 5DB8h 5DB7h 5DB5h 5DB3h 5DBOh 5DAFh 5DAEh 5DADh 5DACh
35. Byte9 10 VAR Persistent by QB171 10 Byte10 11 VAR Persistent by QB171 11 Bytell 12 VAR Persistent by QB171 12 Byte12 13 VAR Persistent by QB171 13 Byte13 14 VAR Persistent by QB171 14 Byte14 15 VAR Persistent by QB171 15 Byte15 16 VAR Persistent by QB171 16 Byte16 17 VAR Persistent by QB171 17 Byte17 18 VAR Persistent by QB171 18 Byte18 19 VAR Persistent by QB171 19 Byte19 VAR_Persistent_by 20 Byte20 QB171 20 VAR_Persistent_by 21 Byte21 QB171 21 VAR_Persistent_by 22 Byte22 QB171 22 VAR_Persistent_by 23 Byte23 QB171 23 Variable 16 bit Identifier Address VAR_Persistent_w QW171 0 MARY EE NN QW171 1 VAR_Persistent_w QW171 2 VAR_Persistent_w QW171 3 E OW171 4 VAR_Persistent_w QW171 5 MARIE QW171 6 VO nia QW171 7 a E QW171 8 VAR_Persistent_w OW171 9 Word9 VAR_Persistent_w Word10 VAR_Persistent_w Word11 Lenze QW171 10 QW171 11 Variable 32 bit Identifier VAR_Persistent_dw DWordo VAR_Persistent_dw DWord1 VAR_Persistent_dw DWord2 VAR_Persistent_dw DWord3 VAR_Persistent_dw DWord4 VAR_Persistent_dw DWord5 EDBCSXA064 EN 2 0 Address 0D171 0 OD171 1 0D171 2 0D171 3 0D171 4 0D171 5 Byte 24 25 26 27 28 29 30 31 Variable 8 bit Identifier VAR_Persistent_by Byte24 VAR_Persistent_by Byte25 VAR_Persistent_by Byte26 VAR_Persistent_by Byte27 VAR_Persistent_by Byte28 VAR_Persistent_by Byte29 VA
36. C0173 Power supply module V AC 0 230 yes no 1 400 yes no 2 400 460 yes no 3 480 no 4 480 yes 10 230 yes no 11 400 Lenze setting yes no 12 400 460 yes no 13 480 no 14 480 yes lt Tip LU message Undervoltage Setting Resetting v Dc v Dc 130 275 285 430 328 473 342 487 342 487 C0174 C0174 5V C0174 C0174 5V C0174 C0174 5V C0174 C0174 5V C0174 C0174 5V OU message Overvoltage Setting Resetting v Dc v Dc 400 390 800 790 800 790 800 785 800 785 400 390 800 790 800 790 800 785 800 785 If undervoltage is existent for more that 3 s or if mains connection is carried out an entry into the fault memory is effected gt This operational mode can occur if the control module is fed via the terminals X6 24 and X6 GND by means of an external supply and the mains are disconnected gt If there is no undervoltage anymore mains are reconnected again the entry in the fault memory is not continued but deleted This case does not describe an error but a state of the drive controller Undervoltages of less than 3 s are interpreted as a fault e g mains fault and are entered into the fault memory In this case the fault memory is updated EDBCSXA064 EN 2 0 Lenze 203 Code No C0173 Monitoring functions Configuring monitoring functions Voltage supply of the control electronics U15 Possible settings IMPORTANT Designation Lenze Selection Appl UG limit 11 Adaptatio
37. CANa IN words CANa IN words CANa IN words CANa IN words CANa OUT 199 99 0 01 words CANa OUT words CANa OUT words CANa OUT words CANa OUT words CANa OUT words CANa OUT words CANa OUT words CANa OUT words CANa OUT words CANa OUT words Lenze 199 99 199 99 IMPORTANT Process data input words decimal for CAN bus interface X14 100 00 16384 Read only CANaux1_IN word 1 CANaux1_IN word 2 CANaux1_IN word 3 CANaux2_IN word 1 CANaux2_IN word 2 CANaux2_IN word 3 CANaux2_IN word 4 CANaux3_IN word 1 CANaux3_IN word 2 CANaux3_IN word 3 CANaux3_IN word 4 Process data output words decimal for CAN bus interface X14 100 00 16384 Read only CANaux1_OUT word 1 CANaux1_OUT word 2 CANaux1_OUT word 3 CANaux2_OUT word 1 CANaux2_OUT word 2 CANaux2_OUT word 3 CANaux2_OUT word 4 CANaux3_OUT word 1 CANaux3_OUT word 2 CANaux3_OUT word 3 CANaux3_OUT word 4 EDBCSXA064 EN 2 0 System modules CANaux1_1O node number 34 Inputs_CANaux1 13 12 1 Inputs_CANaux1 System variables Variable Data Signal Address Display Display Comments type type code format CANaux1_nInW0_a integer analog IW34 0 CANaux1_b InBO_b X34 0 0 ee BOOL binary ie C2491 1 hex CANaux1_blnB15_b IX34 0 15 CANaux1_nInW1_a integer analog IW34 1 C2492 1 dec CANaux1_blnB16_b IX34 1 0 pa BOOL binary sa C2491 2 hex CANaux1_blnB31_b IX34 1 15 CANaux1_nInW2_a integer analog IW34
38. Designation Lenze Selection Appl 0 Configuration of external fault LA 304 monitoring ExternalFault FWM EEr 0 TRIP 1 Message 2 Warning 3 Off 4 FAIL OSP Lenze EDBCSXA064 EN 2 0 System modules 13 DCTRL_DriveControl node number 121 Resetting TRIP TRIP RESET 13 15 7 Resetting TRIP TRIP RESET This function resets an upcoming TRIP ifthe cause of malfunction is eliminated Ifthe cause of malfunction is still active no response will be effected gt The function can be controlled via the following inputs OR d Control word DCTRL_wAIF1Ctrl Control word DCTRL_wCANICtrl a Control word C0135 bit 11 Variable DCTRL_bTripReset_b Code C0043 gt C0136 1 indicates the control word C0135 Note The function is only carried out by a FALSE TRUE edge of the signal resulting from the OR operation If one input is assigned to TRUE a FALSE TRUE edge cannot occur 13 15 8 Display of digital status signals Via DCTRL_wStat a status word is output consisting of signals generated by the SB DCTRL_DriveControl as well as of signals of freely configurable SB inputs The status word can be displayed via C0150 CTRL_DriveContrel GG IT STAT DCTRL_bStateB0_b A A yvy Yy Y 0 YO A WN O __ DCTRL_bimp_b DCTRL_bStateB2_b DCTRL_bStateB3_b DCTRL_bStateB4_b DCTRL_bStateB5_b DCTRL_bNActEq0_b DCTRL_bCinh_b DCTRL_bStat1_b DCTRL_bStat2_b DCTRL_bS
39. Diagnostics with Global Drive Oscilloscope GDO The Global Drive Oscilloscope GDO is included in the scope of supply of the Lenze parameter setting and operating program Global Drive Control GDC and the Drive PLC Developer Studio DDS and can be used as an additional diagnostic program The GDO serves to record e g input and output data and device internal states during controller operation Note Detailed information about the functionality and handling of GDO can be found in the Manual Global Drive Oscilloscope GDO Getting started Lenze Global Drive Oscilloscope of x tile Edit Help a sa rif cs MO onnect device oad offline set Save set Print set Copy data nze Set1 Online Trigger cursor Source Trigger Force Trigger Level Force Trigger fc E Horizontal Timebase 1 div 200msec hail Position sec po o sel Record Device sample rate ms 2 Device memory usage enna o START Device Curvedata available Measurement f Vertical 7 inv Variable Unit 1 Div Offset PLC_PRG nPoti intern 10k 0 PLC_PRG n ar1 intern 20k 0 0 Position D sm Curve datapoints 1001 ECSXA480 Fig 10 2 Global Drive Oscilloscope GDO Menu bar Symbol bar at the top Data sets Symbol bar on the left Graph display field Vertical operating ele
40. Display code C2492 8 C2492 9 C2491 5 C2491 6 C2492 10 C2492 11 Comments The first 4 bytes from the 8 bytes of received user data are assigned to several variables of different data types According to requirements they thus can be evaluated by the PLC program as gt binary information 1 bit gt quasi analog value 16 bit gt angle information 32 bit Byte 1 2 3 4 5 6 7 8 Variable 1 bit CANaux3_bInBO_b CANaux3_bInB15_b CANaux3_bInB16_b CANaux3_blnB31_b Variable 16 bit CANaux3_ninW1_a CANaux3_ninW2_a CANaux3_ninW3_a CANaux3_ninW4_a Lenze Variable 32 bit CANaux3_dnInD1_p EDBCSXA064 EN 2 0 13 14 2 Outputs_CANaux3 System variables Variable CANaux3_nOutW1_a CANaux3_nOutW2_a CANaux3_bFDOO_b CANaux3_bFDO15_b CANaux3_bFDO16_b CANaux3_bFDO31_b CANaux3_dnOutD1_p CANaux3_nOutW3_a CANaux3_nOutW4_a User data Data type integer BOOL double integer integer Signal Address type i OW36 0 analog OWw36 1 OX36 0 0 OX36 0 15 binary OX36 1 0 OX36 1 15 position 0D36 0 OW36 2 analog YOW36 3 System modules CANaux3_10 node number 36 Outputs _CANaux3 Display code C2493 8 C2493 9 C2493 10 C2493 11 Display Comments format dec dec The first 4 bytes of the 8 bytes user data to be sent can be written via several variables of different data types According to requirements data can therefore be t
41. IW11 0 C0400 dec Analog input 1 i Only when C0034 1 AIN1_bError_b BOOL binary IX11 1 0 TRUE if I lt 2mA Codes Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0026 Used for relative analog signals 25J 1 FCODE offset 0 0 199 99 0 01 199 99 B23 2 FCODE offset 0 0 C0027 Used for relative analog signals 257 1 FCODE gain 100 0 199 99 0 01 199 99 B23 2 FCODE gain 100 0 C0034 Mst current 0 Selection master mps voltage master current on analog input AIN1_nIn_a 0 10 10V Master voltage 4 20 MA Master current 2 20 20 mA C0400 DIS Analogin Signal at the analog input Read only 199 99 0 01 199 99 C0598 MONIT SD5 3 Configuration of master current 2517 monitoring at X6 lt 2 mA MastlSourceDef 0 TRIP Warning 3 Off 252 Lenze EDBCSXA064 EN 2 0 System modules 13 CAN_Management node number 101 13 6 CAN_Management node number 101 This SB serves to gt activate a reset node to e g accept changes in the baud rate and addressing gt process Communication Error Bus Off State and other states in the PLC program gt influence the instant of transmission of CAN2_Out and CAN3_Out In addition the system bus communication can be monitored Note gt The process image for this SB is created in the course of a fixed system task interval 1 ms gt Even if this SB has not been assigned to the control configuration a reset node can be
42. Identifier calculation Identifier from SDO1 to controller Calculation 1536 node address 1536 1 1537 gt Command Write Request transmit parameter to drive Command Value Write request 23hex gt Index calculation Index Calculation 24575 code number 24575 12 24563 5FF3hex gt Subindex 0 gt Calculation of the acceleration time Data 1 4 Calculation Value for acceleration time 20s 10 000 200 000gec 00 03 OD 40hex gt Telegram to controller User data Command Index Index Subindex Data 1 Data 2 Data 3 Data 4 Identifier Low byte High byte 1537 23hex F3hex 5Fhex 00 40hex ODhex 03hex 00 gt Telegram from controller if executed faultlessly User data Command Index Index Subindex Data 1 Data 2 Data 3 Data 4 Identifier Low byte High byte 1409 60hex F3hex 5Fhex 00 00 00 00 00 Command 4 Write Response response of the controller acknowledgement 60 Identifier SDO1 from controller 1408 node address 1 1409 Addressing of the parameter and process data objects The CAN bus system is based on a message oriented data exchange between a transmitter and many receivers Thus all nodes can transmit and receive messages at the same time The identifier in the CAN telegram also called COB ID Communication Object Identifier controls which node is to receive a transmitted message With the exception of the network management NMT and the sync telegram Sync the
43. Inputs_DFOUT Outputs_DFOUT 256 inc rev 512 inc rev 1024 inc rev 2048 inc rev 4096 inc rev 8192 inc rev 16384 inc rev X8 is input X8 is output DFOUT in DFOUT in rpm Encoder simulation zero pulse gt DFOUT 1 inc 65535 0 00 199 99 1 rpm 32767 Lenze IMPORTANT Constant for digital frequency M IZg output DFOUT_nOut_vonX8in O 104 increments per revolution agg Function of X8 309 amoa amg Function of the digital frequency 10 output signals on X8 DFOUT Phase offset QBI 1 revolution 65535 increments Analog signal on the input of the BIJ DFOUT block Read only Speed on the input of the DFOUT 318 block Only display 317 System modules DFOUT_IO DigitalFrequency node number 22 Inputs_DFOUT Outputs_DFOUT 13 17 1 1 Configure encoder constant Via C0030 you configure the encoder constant Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0030 DFOUT const 3 Constant for digital frequency 318 output DFOUT_nOut_vonX8in MM4 increments per revolution mpg 0 256 inc rev 1 512 inc rev 2 1024 inc rev 3 2048 inc rev 4 4096 inc rev 5 8192 inc rev 6 16384 inc rev 318 Lenze EDBCSXA064 EN 2 0 13 17 1 2 System modules DFOUT_IO DigitalFrequency node number 22 Inputs_DFOUT Outputs_DFOUT Configuration master frequency output signal You configure the type of the master frequency output signal via C0540 C0540 0 Function Scaling Transmission
44. Max braking power Pgmax kW Pemax Thermal capacity Cs 430 Lenze On time EDBCSXA064 EN 2 0 Appendix Overview of accessories 14 8 7 Mains fuses Fuses are not offered by Lenze Please use standard fuses Observe the national and regional regulations VDE UL EVU Only circuit breakers or UL approved fuses can be used for cable protection In UL approved systems only UL approved cables fuses and fuse holders are to be used 14 8 8 Mains chokes It is not mandatory to use a mains choke for operating the ECS modules The respective application determines whether a mains choke is required or not Advantages when using a mains choke gt Lower system perturbations The waveform of the mains current is approximated to the sinusoidal shape Reduction of the effective mains current by up to 25 Reduction of the mains cable and fuse load gt The effective DC bus current also decreases by up to 25 Increased service life of the connected axis modules A mains choke reduces the AC current load of the DC bus capacitors and thus increases their service life gt Low frequency radio interference voltages are reduced Please note gt With mains choke operation the maximally possible output voltage does not fully reach the value of the mains voltage gt For operation of drives for accelerating duty with high peak currents it is recommended to use mains chokes with linear L I charac
45. Only display Time when the mains was switched on 371 14 Appendix Code list Code No Designation C0183 Diagnostics C0199 BuildNumber C0200 S W ld C0201 S W date C0202 4 C0203 Komm No C0204 Serial No 372 Possible settings Lenze Appl Selection 0 OK 101 Initialisation phase 102 TRIP trouble 103 Emergency stop activated 104 IMP message 105 Power off 111 Operation inhibit C0135 112 Operation inhibit AIF 113 Operation inhibit CAN 121 Controller inhibit via X6 SI1 122 Internal controller inhibit 1 123 Internal controller inhibit 2 124 Controller inhibit via STOP key of the keypad 125 Controller inhibit via AIF 126 Controller inhibit via CAN 131 Fail OSP 141 Restart protection 142 Pulse inhibit 151 Quick stop OSP via terminal 152 Quick stop OSP via STOP key of the keypad 153 Quick stop OSP via AIF 154 Quick stop OSP via CAN 160 PLC Stop 250 Warning X XXXX XXXXX Lenze IMPORTANT Drive diagnostics Read only e Indicates fault or status information e If several fault or status information are to be shown at the same time the information with the smallest number is displayed No fault High resistance power outputs PLC must be started Software identification Only display Software identification Only display Software release date Only display Service code Only display Product code 1 Product code 4 Commission number Only dis
46. Push the axis module into the mounting cutout Engage axis module in the wire clamp at the top and the bottom Connect the functional earth conductor to the axis module Fig 4 4 Note Fixing the functional earth conductor to the ECSDA axis module is required for a better electromagnetic compatibility EMC ECSXA081 Fig 4 4 Functional earth conductor at the axis module ECSDA 46 A Functional earth conductor Lenze CA Mechanical installation 4 Mounting in cold plate design 4 4 Mounting in cold plate design The axis modules ECSC are intended for mounting in cold plate design e g on collective coolers Requirements for collective coolers The following requirements must be met to ensure a safe operation of the axis modules gt Good thermal contact with the cooler The contact surface between collective cooler and axis module must be at least as large as the cooling plate of the axis module Smooth contact surface max deviation 0 05 mm Connect the collective cooler with all specified screwed connections to the axis module gt Maintain the thermal resistance Ry according to the table The values apply for operating the axis modules under rated conditions Axis module Power to be dissipated Heatsink environment Type Ploss W Rin k W ECSCA004 14 0 ECSCA008
47. The encoder data C0420 C0421 C0427 is set automatically in accordance with the selection AN Danger When absolute value encoders are used uncontrolled movements of the drive are possible With operating systems up to and including version 6 7 the drive may start up in an uncontrolled manner with a high speed and a high torque after mains connection and controller enable Possible consequences gt Death or severe injuries gt The machine drive may be destroyed or damaged Protective measures gt Do not parameterise codes C0420 C0421 and C0427 3 Save settings with C0003 1 Note When configuring the absolute value encoder an SD7 system error is activated The error can only be reset by means of mains switching EDBCSXA064 EN 2 0 Lenze 111 Code No Commissioning Setting of the feedback system for position and speed control Absolute value encoder as position and speed encoder Codes for feedback system selection Possible settings Lenze Selection Appl Designation C0490 Feedback pos 0 w Nie O C0495 Feedback n 0 Code No C0419 Enc Setup 112 w N e Oo Codes for optimising th Possible settings Lenze Selection Appl 110 Designation 110 111 112 113 210 211 212 213 307 308 309 310 311 407 408 409 410 411 Resolver at X7 TTL encoder at X8 SinCos encoder at X8 Absolute value encoder single turn at X8 Absolute encoder mu
48. WORD CAN3_nInW2_a C0868 9 C0866 9 CAN3_bFDOO 15 b 3 3 CAN3_bInBO 15_b a Bi gt 16 x BOOL 16 x BOOL I I e s C0863 3 CAN3_bFDO16 31_b 4 4 CAN3_bInB16 31_b 46x BOOL l _ 16xBOOL a Ri C0863 4 CAN3_dnOutD1_p DNT 5 5 LIL DINT CAN3_dnInD1_p C086973 H H C0867 3 CAN3_nOutW3_a WORD 6 6 WORD CAN3_nInW3_a C0868 10 C0866 10 CAN3_nOutW4 j nOutW4_a M WORD WORD CAN3_nInW4_a C0868 11 7 7 C0866 11 M M 8 8 Output user data A Input user data 8 bytes 8 bytes y X4 X4 Fig 13 15 Systemblock CAN3_ IO Process data telegram The process data telegram consists of an identifier and eight bytes of user data Identifier 8 bytes of user data 11 bits Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 274 Lenze EDBCSXA064 EN 2 0 Codes Code No Designation C0356 1 CAN times 2 CAN times 3 CAN times 4 CAN times C0357 1 CE monit time 2 CE monit time 3 CE monit time C0863 1 CAN IN bits 2 CAN IN bits 3 CAN IN bits 4 CANIN bits 5 CAN IN bits 6 CAN IN bits EDBCSXA064 EN 2 0 Possible settings Lenze Selection Appl 3000 0 1 ms 20 3000 1 1 ms 3000 3000 0000 hex Bit 0 Bit 16 Bit 0 Bit 16 Bit 0 Bit 16 Lenze System modules 13 CAN3_IO node number 33 65000 65000 FFFF Bit15 Bit 31 Bit15 Bit 31 Bit15 Bit 31 IMPORTANT CAN time settings for CAN bus I68 interface X4 CAN boot up time Delay time after mains
49. cables and their lengths Shielding gt Connect the motor cable shield to the axis module with the ECSZSOOOXOB shield mounting kit to the mounting plate below the axis module with a large surface Recommendation For the shield connection use ground clamps on bare metal mounting surfaces gt If contactors motor protecting switches or terminals are located in the motor cable Connect the shields of the connected cables and connect the shields to the mounting plate too with a surface as large as possible gt Connect the shield in the motor terminal box or on the motor housing to PE Metal glands at the motor terminal box ensure a large surface connection of the shield and the motor housing gt Shield the control cables Connect both shield ends of the digital control cables Connect one shield end of the analog control cables Always connect the shields to the shield connection at the axis module over the shortest possible distance gt Using the axis modules in residential areas Additionally dampen the shield in order to limit the interfering radiation gt 10 dB This can be implemented by using standard closed metallic and earthed control cabinets or boxes Earthing gt Earth all metallically conductive components e g power supply module capacitor module axis module RFI filter motor filter mains choke using suitable cables connected to a central point PE bar gt M
50. can be used at public and non public mains in industrial premises The user is responsible for the compliance of his application with the EC directives Any other use shall be deemed inappropriate EDBCSXA064 EN 2 0 The information data and notes in these instructions met the state of the art at the time of printing Claims on modifications referring to axis modules and components which have already been supplied cannot be derived from the information illustrations and descriptions given in these instructions 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 Lenze does not accept any liability for damages and failures caused by Disregarding the Operating Instructions Unauthorised modifications to the axis module Operating errors Improper working on and with the axis module Terms of warranty See terms of sales and delivery of Lenze Drive Systems GmbH Warranty claims must be made to Lenze immediately after detecting the deficiency or fault The warranty is void in all cases where liability claims cannot be made Lenze 17 1 5 1 5 1 18 Preface and general information System block introduction System blocks principle System block introduction Lenze follows the principle of describing controller
51. connection for initialisation by the master CAN2_OUT CAN3_OUT cycle times Factor for the task time to send process data telegram 0 Event controlled transmission CAN2_OUT CAN3_ OUT delay time When the NMT state Operational has been reached after Pre operational the delay time CANdelay is started After the delay time has expired the PDOs CAN2_OUT and CAN3_OUT are sent for the first time Monitoring time for CAN1 3_IN CAN bus interface X4 CE1 monitoring time CE2 monitoring time CE3 monitoring time Digital process data input words for CAN bus interface X4 Hexadecimal value is bit coded Read only CAN1_IN Process data input word 1 CAN1_IN Process data input word 2 CAN2_IN Process data input word 1 CAN2_IN Process data input word 2 CAN3_IN Process data input word 1 CAN3_IN Process data input word 2 275 13 Code No C0866 Oo AN DU PWN E 10 11 C0867 C0868 10 11 276 System modules CAN3_IO node number 33 Designation CAN IN words CAN IN words CAN IN words CAN IN words CAN IN words CAN IN words CAN IN words CAN IN words CAN IN words CAN IN words CAN IN words CAN IN phi CAN IN phi CAN IN phi DIS OUTx Wx CAN OUT words CAN OUT words CAN OUT words CAN OUT words CAN OUT words CAN OUT words CAN OUT words CAN OUT words CAN OUT words CAN OUT words CAN OUT words Possible settin
52. e Sets C0419 0 Common if a different encoder type as under C0419 is set here Selection of feedback system for speed control Standard setting e Sets C0490 to the same value if C0490 gt 0 e Sets C0419 0 Common if a different encoder type as under C0419 is set here IMPORTANT Rotor displacement angle for synchronous motors C0095 Current rotor position value is derived from position encoder Therefore it is only valid as rotor position if the position encoder settings under C0490 are identical with the settings of the speed encoder on the motor shaft under C0495 Only display 1 rev 2048 inc Number of pole pairs of resolver Resolver modulation Quality of the resolver excitation amplitude set under C0416 recommendation 0 5 1 2 ideal 1 0 amo amo c 127 ama amog EDBCSXA064 EN 2 0 Code No Designation C0416 Resolver adj C0417 Resolver cor EDBCSXA064 EN 2 0 Possible settings Lenze Appl 5 Commissioning Setting of the feedback system for position and speed control Selection N OA wu BP WN Po jo Resolver as position and speed encoder IMPORTANT Resolver excitation amplitude 100 80 68 58 50 45 40 37 Resolver adjustment Ready Start adjustment Loading default values Lenze omo ama 103 6 7 2 104 Commissioning Setting of the feedback system for position and speed control TTL sin cos enco
53. function Example C0540 1 Function Scaling Transmission function Example C0540 2 Function Note Output of an analog signal The input signal DFOUT_nOut_vis interpreted as an analog signal and is output as a frequency signal on the master frequency output X8 100 INT 16384 C0011 Nmax C0030 _ C0011 Nmax f Hz DFOUT_nOut_v 100 60 DFOUT_nIn_v f Hz aan e DFOUT_nOut_v 50 e C0030 3 this corresponds to a number of increments of 2048 increments revolution e C0011 3000 rpm _ eng 2048 3000 _ f Hz 50 00 eq Output of a speed signal 51200 Hz The input signal DFOUT_nOut_vis interpreted as a speed signal rpm and is output as a frequency signal on the master frequency output X8 15000 rpm INT 16384 C0030 60 f Hz DFOUT_nOut_v rpm e DFOUT_nOut_v 3000 rpm e C0030 3 this corresponds to a number of increments of 2048 increments revolution f Hz 3000 rpm 2048 102400 Hz Encoder simulation of the resolver with zero track in resolver position e The function is used if a resolver is connected to X7 e The encoder constant for output X8 is set in C0030 e The output of the zero pulse with reference to the rotor depends on how the resolver is mounted to the motor The zero pulse can be shifted by 360 via C0545 65536 inc 360 The zero pulse can only be output with C0540 2 encoder simulation of resolver EDB
54. if necessary Observe cable length e Switch off monitoring C0595 3 e Check wiring at X4 Check CAN bus configuration e Switch off monitoring C0603 3 Check voltage supply Screen control cables e Check wiring e Check PE connection After troubleshooting Deenergise the device completely disconnect 24 V supply discharge DC bus e Set the required parameters and store them under C0003 I e As to PLC devices check the use of pointers Store the parameter set under C0003 1 first to allow for a faults reset EDBCSXA064 EN 2 0 Fault message No 0074 0075 0076 0079 0080 x082 x085 x086 Display PEr PRO PR5 PI PR6 Sd2 Sd5 Sd6 Troubleshooting and fault elimination Description Program error Error in parameter set Memory error Fault during parameter initialisation With ECSxS P M internal error With ECSxA too many user codes Resolver error at X7 Master current value encoder error at analog input X6 Al Al C0034 1 Motor temperature sensor error X7 or X8 x 0 TRIP 1 Message 2 Warning 3 FAIL OSP EDBCSXA064 EN 2 0 System error messages Causes and remedies Cause Error in the program flow The operating system software has been updated Error saving parameters in the fail safe memory area e An error has been detected during parameter set transfer between two controllers e Parameter set does not
55. module gt Logical SB outputs are always hardware side inputs of the ECSxA axis module EDBCSXA064 EN 2 0 Lenze 21 22 Preface and general information System block introduction Definition of the inputs outputs Example Use of the system blocks Inputs_Digital and Outputs_Digital va Inputs_DIGITAL Outputs_DIGITAL D1 gt DIGIN_bin1_b DIGOUT_bOut1_b a xe O DIGIN_bIn2_b _ 4 Ph gt D01 22M 1 t DIGIN_bin3_b CA IP pis i 1pti 4 i DIGIN_bin4_b C0118 1 DIA i x6 CONAN A ERE POE safe torque off so n 0 gt pP DIGOUT_bRelais_b 5 n xe C044472 pri 4 DIGIN_bCinh_b su x ES SE safe standstill DIGIN_b_safe_standstill b x6 C0118 2 X25 k A B gt BI C0443 uP Imp B sles MONIT Rel1 C0602 gt ECSXA207 Fig 1 2 Plan connecting the system blocks Inputs_Digital and Outputs_Digital If you want to use digital input 1 and digital output 1 carry out the following steps 1 Explicitly integrate the SBs Inputs_Digital and Outputs_Digital into the DDS control configuration C4 23 For access to digital input 1 Assign the system variable DIGIN_bIn1_b to a POU variable For access to digital output 1
56. sine and cosine cosine Assign RefSIN with sine Assign RefCOS with cosine mmaa lt 50 m _____ gt A RefSIN A i smi T RefCOS 2 i cos Li x Ved i GND SIN x zi RefSIN 4 25V z 0 5V a I R1 em amp COS E R2 KTY 1 4 iI cki RefCOS fem ECSXA023 Fig 5 21 Sin cos encoder connection Signals in case of clockwise rotation Cores twisted in pairs Assignment of plug connector X8 Sub D 9 pole Pin 1 2 Signal SIN RefCOS cos 0 14 mm2 AWG 26 EDBCSXA064 EN 2 0 3 4 5 6 7 8 9 cos Vcc GND Zor Zor R1 RefSIN R2 KTY RS458 RS485 KTY sin 1 mm2 0 14 mm AWG 18 AWG 26 Lenze 89 5 7 3 90 Electrical installation Wiring of the feedback system Digital frequency input output encoder simulation Digital frequency input output encoder simulation The digital frequency coupling of ECSxS P A axis modules basically is effected as a master slave connection via the interface X8 This interface can either be used as a digital frequency input or as a digital frequency output e g for encoder simulation configuration via C0491 Features X8 as digital frequency input e Input frequency 0 200 kHz e Current consumption max 6 mA per channel e Two track with inverse 5 V signals and zero track e Possible input signals incremental encoder with two 5 V complementary signals TTL encoders offset by 90 e The function of the inputs signals can be set via
57. the encoder can be destroyed EDBCSXA064 EN 2 0 Lenze 87 88 Electrical installation Wiring of the feedback system Encoder connection Incremental encoder TTL encoder Features Input output frequency Current consumption Current on output Vcc X8 pin 4 0 200 kHz 6 mA per channel Max 200 mA IR La lt 50m 1 te i s L Bi 1 Ad 7 al x La i va GND A x ita RA zi B L ui RISO i j T TT ff R2 KTY 1 3 ECSXA026 Fig 5 20 Connection of incremental encoder with TTL level Signals in case of clockwise rotation Cores twisted in pairs Assignment of plug connector X8 Sub D 9 pole Pin 1 2 3 4 5 6 7 8 9 Signal B A A Vec GND Z Z R2 B R1 KTY KTY 0 14 mm 1 mm 0 14 mm AWG 26 AWG 18 AWG 26 Lenze EDBCSXA064 EN 2 0 SinCos encoder Features Input output frequency Internal resistance Rj Offset voltage for signals SIN COS Z Electrical installation Wiring of the feedback system Encoder connection 0 200 kHz 2210 2 5V gt The differential voltage between signal track and reference track must not exceed 1V 10 gt The connection is open circuit monitored fault message Sd8 For encoders with tracks sine
58. 0 Mechanical installation g Mounting with thermal separation push through technique Dimensions of mounting cutout Note Installation with shield mounting ECSZSOOOXOB gt Clearance below the mounting cutout gt 220 mm Fig 4 3 Axis module Type ECSDA004 ECSDA008 ECSDA016 ECSDA032 ECSDA048 ECSDA064 EDBCSXA064 EN 2 0 al O Dimensions al b1 gt 90 mm Dimensions of mounting cutout A o Mounting surface Mounting cutout for size Mounting cutout for size gt Size al A 78 5 B 121 5 ECSXA063 Dimensions mm b1 c1 d g h 197 75 250 M5 10 5 Lenze Pe 4 Mechanical installation Mounting with thermal separation push through technique Mounting steps 4 3 2 Mounting steps How to mount the axis module 1 Prepare the fixing holes for the wire clamps on the mounting area For this purpose apply a drilling jig Prepare mounting cutout The edges of the mounting cutout and the fixing holes for the wire clamps have to be slightly arched inwardly to the axis module Brush the threads of the screws for the wire clamps with liquid thread seal Fix the wire clamps together with the functional earth conductor supplied Fig 4 4 The functional earth conductor is part of the scope of supply of the ECSDA axis modules
59. 0 14 1 5 mm AWG 28 16 0 25 1 5 mm AWG 22 16 0 14 1 5 mm AWG 28 16 Lenze Tightening torque Electrical data 18 30 V DC 0 7 A 24 VDC 0 7 A max 1 4 A Short circuit proof LOW level 3 45V 3 41 5 mA HIGH level 15 30 V 2 15 mA Input current at 24 V DC 8 MA per input Stripping length 0 22 0 25 Nm 1 95 2 2 Ib in 5 mm 9 mm EDBCSXA064 EN 2 0 5 4 3 5 Electrical installation 5 Control terminals Safe torque off Minimum wiring In order to reach control category 3 the signal at X6 SO must be verified additionally This requires external wiring The external wiring must be adapted to the existing safety concepts and checked for correct operation ale Tip Please see page LA 77 for a wiring example with an electronic safety control unit for category 3 Safe torque off with multiple contact switches The example circuit shows the minimum external wiring of the axis module with multiple contact switches for a motor with brake 24VDC onl 13 23 12 14 onl 13 eit 12 14 GND ECSXA101 Fig 5 13 Minimum external wiring with multiple contact switches Stop Observe the reaction of the drive when you activate controller enable and or pulse enable X6 SI1 or SI2 HIGH level gt The motor brake is applied immediately This
60. 0 C0867 2 dec inc integer CAN2_nInW3_a IW32 2 C0866 6 integer analog dec CAN2_nInW4_a IW32 3 C0866 7 User data The first 4 bytes from the 8 bytes of received user data are assigned to several variables of different data types According to requirements they thus can be evaluated by the PLC program as gt binary information 1 bit gt quasi analog value 16 bit gt angle information 32 bit as Venite bh Variable 16 bit Variable 32 bit 1 2 CAN2_bInBO_b sla CAN2_nInW1_a CAN2_bInB15_b 3 4 CAN2_bInB16_b CAN2_dnInD1_p Pe CAN2_nInW2_a CAN2_bInB31_b 5 6 CAN2_nInW3_a 7 8 CAN2_nInW4_a 272 Lenze EDBCSXA064 EN 2 0 System modules CAN2_IO node number 32 Outputs_CAN2 13 9 2 Outputs_CAN2 System variables Variable Data Signal Address Display Display Comments type type code format CAN2_nOutW1_a i OW32 0 C0868 4 i int CAN2_nOutW2_a integer analog xyowsz1 coseg s 1 CAN2_bFDOO_b OX32 0 0 CAN2_bFDO15_b QX32 0 15 i i BOOL binary _ C0151 2 hex Display code in hex CAN2_bFDO16_b OX32 1 0 as double word CAN2_bFDO31_b OX32 1 15 CAN2_dnOutD1_p double position QD32 0 C0869 2 dec inc integer CAN2_nOutW3_a OW32 2 C0868 6 integer analog dec CAN2_nOutW4_a QW32 3 C0868 7 User data The first 4 bytes of the 8 bytes user data to be sent can be written via several variables of different data types According to requirements data can therefore be transferred from the PLC progra
61. 1 2 15 _ Resolver cable Sd2 11 2 16 Motor temperature sensor 5d6 1 2 17 Absolute value encoder monitoring Sd7 11 2 18 Sin cos encoder 5d8 11 2 19 Speed not within tolerance margin 11 2 20 Maximum speed exceeded NMAX 11 2 21 Rotor position adjustment PL 12 1 4 ault analysis via OM status words C0150 C0155 12 3 1 Overview of system error messages error sources and reactions 218 EDBCSXA064 EN 2 0 Lenze 9 10 Contents 2 IO Automationinterface node number 42 ANaux Management node number 111 13 11 4 Define instant of transmission for CANaux2 OU ANaux3 OUT 280 Lenze tiri Contents i 13 15 DCTRI_DriveContro O DigitalFrequency node number 21 13 17 DFOUT IO DigitalFrequenc 13 20 12 Touch probe IP EDBCSXA064 EN 2 0 Lenze 11 I Contents Memories eneral Information about the system bus CAN ommunication phases 0 e CAN networ 12 Lenze EDBCSXA064 EN 2 0 Preface and general information 1 About use these Operating Instructions Conventions used in this Manual 1 Preface and general information 1 1 About use these Operating Instructions These Operating Instructions will assist you in connecting and commissioning the ECSXA axis modules They contain safety instructions which must be observed All persons working on and with the ECSxA axis modules must have the Operating Instructions available and must observe the information and notes relevant for t
62. 1X151 3 0 First loop task ID2 SYSTEM_b1LoopTask3 RRO 1X151 3 8 First loop task ID3 SYSTEM_b1LoopTask4 IX151 4 0 First loop task ID4 SYSTEM_b1LoopTask5 1X151 4 8 First loop task ID5 SYSTEM_b1LoopTask6 1X151 5 0 First loop task ID6 SYSTEM_b1LoopTask7 1X151 5 8 First loop task ID7 SYSTEM_b1LoopTask8 IX151 6 0 First loop task ID8 SYSTEM_b1LoopTask9 1X151 6 8 First loop task ID9 SYSTEM_nTaskinterval integer IW151 7 Interval of current task SYSTEM_nTaskID IW151 8 Identification of current task she lt Tip The system flags are not generated in simulation mode SYSTEM_bClockxHz These system flags output a fixed clock pulse with an equal pulse pause ratio gt State alterations of the flag are effected in real time gt When you use this system flag observe the sampling frequency used for polling the flag aliasing effect It should at least be twice the change frequency Example You want to use the system flag SYSTEM_bClock100Hz as a clock for a counter gt The pulse pause ratio is 5 ms 5 ms gt Toavoid an aliasing effect the counter must always be polled with an INTERVAL TASK lt 5 ms Note The SYSTEM_bClockxHz system variables must not be used to trigger event controlled tasks Use time controlled tasks for this EDBCSXA064 EN 2 0 Lenze 347 13 22 2 348 System modules SYSTEM_FLAGS system flags node number 151 Outputs SYSTEM_FLAGS SYSTEM_bTogCycleTask This system flag alters the
63. 2 Selection 0 00 C0051 C0054 C0056 C0183 C0183 C0022 C0011 C0105 C0070 C0071 C2100 C2102 C2104 C2106 C2108 C2111 C2113 C2115 C0094 C0003 0 01 MCTRL NACT Imot MCTRL MSET2 Not assigned Not assigned Diagnostics Fail number Not assigned Imax current Not assigned Nmax Not assigned Not assigned OSP Tif Not assigned Vp speed CTRL Tn speed CTRL Not assigned Time slice Task switch PLC autorun Download protect PLC run stop GDC ID PLC prog name T fct Credit Not assigned Not assigned Not assigned Not assigned Password Par save Lenze 7999 00 Appendix Code list IMPORTANT Enter the numbers of the required codes into the subcodes Format xxxx yy Xxxx code number yy subcode of the code e lt is not checked whether the entered code exists Display of actual speed Display of motor current Display of torque setpoint Display for diagnostics Display of current fault message Input of maximum output current Input of the maximum speed Input of quick stop deceleration time Input of speed controller gain Vp Input of speed controller reset time Tn Input of time dial for cycl task Selection of the switching function for cycl task Autom start of the PLC program after mains power up Write protection of the PLC program Control of the PLC program Creation date of the PLC program Name of the PLC program Number
64. 2 C2492 2 dec CANaux1_blnB32_b IX34 2 0 a BOOL binary Gi CANaux1_blnB47_b IX34 2 15 CANaux1_nInW3_a integer analog IW34 3 C2492 3 dec CANaux1_blnB48_b 1IX34 3 0 E BOOL binary 7 CANaux1_blnB63_b 1X34 3 15 CANaux1_dnInD1_p double position ID34 1 integer User data The 8 bytes of received user data are assigned to several variables of different data types According to requirements they can thus be evaluated by the PLC program as gt binary information 1 bit gt control word quasi analog value 16 bit gt angle information 32 bit Byte Variable 1 bit Variable 16 bit Variable 32 bit 1 2 CANaux1_bInBO_b ca CANaux1_nlnWo0_a CANaux1_bInB15_b 3 4 CANaux1_bInB16_b sia CANaux1_ninW1_a CANaux1_bInB31_b 5 6 CANaux1_blnB32_b vs CANaux1_ninW2_a CANaux1_bInB47_b 7 8 CANaux1_blnB48_b ii on ADI Op si CANaux1_ninW3_a CANaux1_bInB63_b EDBCSXA064 EN 2 0 Lenze 285 13 12 2 286 System modules CANaux1_1O node number 34 Outputs_CANaux1 Outputs_CANaux1 System variables Variable CANaux1_nOutW0_a CANaux1_bFDOO_b CANaux1_bFDO15_b CANaux1_nOutW1_a CANaux1_bFDO16_b CANaux1_bFDO31_b CANaux1_nOutW2_a CANaux1_bFDO32_b CANaux1_bFDO47_b CANaux1_nOutW3_a CANaux1_bFDO48_b CANaux1_bFDO63_b CANaux1_dnOutD1_p Data type integer BOOL integer BOOL integer BOOL integer BOOL double integer Signal Address type analog QW 34 0 OX34 0 0 b
65. 2 has no influence on the edge evaluation The value MCTRL_nNAct_vis scaled to increments per millisecond inc ms INT 16384 corresponds to 15000 rpm See chapter Signal types and scaling apg For every task in which MCTRL_nNAct_v is used the operating system creates an individual integrator that is reset after every start of the task task internal process image For reliable TP generation MCTRL_nNAct_v must not be used in the PLC_PRG Example MCTRL_nNAct_vin a 10 ms task gt When the 10 ms task starts the value of the integrator is stored in a local area of the task and the integrator is reset The value in the local area gives an average value in increments per 1 ms If a position value is to be calculated from the average value the average value has to be multiplied by SYSTEM_nTaskiInterval 4 in order to obtain increments per 10 ms At a 10 ms task the value of SYSTEM_nTaskInterval is 40 40 x 0 25 ms 10 ms See also chapter SYSTEM_FLAGS system flags 4 348 The Lenze function blocks already implement this procedure Lenze CZ 13 20 13 Code No 0006 C0022 C0077 C0078 C0079 c0080 c0081 C0082 C0083 sh Adjusting the motor data Tip The GDC input assistant for motor data makes motor parameterisation easy For more information please see the Global Drive Control GDC Getting started Manual System modules M
66. 24376 EDBCSXA064 EN 2 0 hex 5FA6h 5FA5h 5FA4h 5FA3h 5FA2h 5FA1h 5FAOh 5F9Fh 5F9Eh 5F9Dh 5F9Ch 5F96h 5F93h 5F92h 5F91h 5F90h 5F8Fh 5F8Eh 5F8Dh 5F89h 5F87h 5F86h 5F85h 5F84h 5F83h 5F82h 5F81h 5F80h 5F7Fh 5F78h 5F77h 5F72h 5F71h 5F69h 5F64h 5F62h 5F5Eh 5F58h 5F57h 5F56h 5F55h 5F52h 5F51h 5F50h 5F4Dh 5F4Ch 5F48h 5F38h g vu m m m m m m m DEB m m m m m m m m m m m m m m m m gt P m m m m P m m m m m m m m m m m o gt ele ele PRP e 0 OOP PNP RP e e wl elele lel elel PRP PPX RRP BP e elinni ie e ele NR RPP he ae Pe Data DT Format FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD 132 VH FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD B16 VH B16 VH FIX32 VD FIX32 VD B16 VH B16 VH FIX32 VD FIX32 VD FIX32 VD FIX32 VD U32 VH FIX32 VD FIX32 VD FIX32 VD FIX32 VD U32 VH U32 VH FIX32 VD FIX32 VD Lenze DL BB BP BHP PP RHP PP AS AN NASA NN A HPP AI AA HPP pa aa HRP PHP a Aa HP HP PHP HP HP PHP Ai HPP HHA Appendix Table of attributes Decimal position 0 oo o o oo oo co oo oo o oo nio oO rr oo ooo oo oo oo oo oo o O N N u ro ooo OO NN OO Access LCM R W Ra W Ra W Ra W Ra Ra Ra Wa Ra W Ra Wa Ra Ra W Ra Ra Wa Ra
67. 288 Lenze EDBCSXA064 EN 2 0 Codes Code No Designation C2456 1 CANa times 2 CANa times 3 CANa times 4 CANa times C2457 1 CE monit time 2 CE monit time 3 CE monit time C2491 aA uu BP WN CANa IN bits CANa IN bits CANa IN bits CANa IN bits CANa IN bits CANa IN bits EDBCSXA064 EN 2 0 Lenze Appl Possible settings Selection 3000 0 1 ms 20 3000 1 3000 3000 1 ms 0 1 hex Lenze CANaux2 65000 65000 FFFF System modules 13 _IO node number 35 IMPORTANT CAN time settings for CAN bus DA 168 interface X14 CAN AUX CAN AUX boot up time CANaux2_OUT CANaux3_OUT cycle times Factor for the task time to send process data telegram 0 Event controlled transmission CAN AUX delay time When the NMT state Operational has been reached after Pre operational the delay time CANdelay is started After the delay time has expired the PDOs CANaux2_OUT and CANaux3_OUT are sent for the first time Monitoring time for CANaux1 3_IN CAN bus interface X14 CE11 monitoring time CE12 monitoring time CE13 monitoring time Process data input words hexadecimal for CAN bus interface X14 Hexadecimal value is bit coded Read only CANaux1_IN bit 0 15 CANaux1_IN bit 16 31 CANaux2_IN bit 0 ETA CANaux2_IN bit 16 31 CANaux3_IN bit 0 ET CANaux3_IN bit 16 31 289 13 Code No C2492 10 11 C2493
68. 4 8 kHz sinus Noise optimised operation automatic change over to 8 kHz at higher load Automatic switching frequency changeover You can use the automatic switching frequency changeover if you intend to operate the drive in the noise optimised range and if the available torque for acceleration processes is not sufficient for this purpose Condition M f I Function M lt My In Drive controller operates at 8 kHz noise optimised My In g lt M lt My In a Drive controller switches to 4 kHz power optimised M gt Mmax Imax Drive controller operates at 4 kHz in current limitation 338 Lenze EDBCSXA064 EN 2 0 System modules 13 MCTRL_MotorControl node number 131 Touch probe TP 13 20 12 Touch probe TP Procedure In case of an edge change on the input activating a TP e g X6 DI2 the current angle value master frequency input value is saved in the operating system by a very quick interrupt MCTRL_dnActIncLastScan_p Fig 13 32 Function diagram of a touch probe TP ECSXA291 Time equidistant start of an interval task 9 Phase angle signal Configuring touch probe TP The digital inputs X6 DI1 DI4 can be assigned with the following TP signals Dig input System variable Signal assignment X6 DI1 Digin_bin1_b Dfln_bActTpReceived_b C0431 CA 309 X6 DI2 Digin_bin2_b MCTRL_bActTpReceived_b C0912 X6 DI3 Digin_bin3_b e x6 DI4 Digin_bin4_b Freely configurable
69. 5DABh 5DAAh 5DA9h 5DA8h 5DA5h 5DA4h 5DA3h 5DA2h 5DA1h 5DAOh 5D9Fh 5D9Eh 5D16h 5D15h 5D14h 5CA8h 5CA7h 5CA6h 5CA5h 5CA4h 5CAOh 5C9Dh 5C9Ch 5C9Bh 5C9Ah 5C91h 5C90h 5C75h 5C74h 5C73h 5C72h 5C71h 5C70h 5C6Fh 5B9Fh 5B9Eh 5B9Dh g vu momonommnmmmumiecpc rpFpFPFEFPe FPFPoF MpbPMPFPPDPOMOIIMMMM_MMMMMMMMMNnMMMMMMmMMmMmmMmmom o gt Pl RP RP Bl BP RB BP e e e heele e ele heele RB BR RR PRPrPrP RP RP RPP BP OW PW Data DT Format FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD U32 VH U32 VH 116 VH B16 VH FIX32 VD 132 VH FIX32 VD 132 VH B16 VH FIX32 VD 132 VH FIX32 VD 132 VH FIX32 VD FIX32 VD FIX32 VD FIX32 VD 132 VH FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD Lenze DL BBP BHR HP HP HR HP HPP 4 A SJ A N AI AI SAN N A Sf PPP HPP PHP PHP Eq a a HP PHP HP EA A A SA A AO AI AA DU A Decimal position 0 Yu o Oo o oo o oo o o N O 9 O N O NO O N O NO co o ooo oo o o o ooo rr o ooo o oo o o 9 o 9 9 09 09 09 LCM R W Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Ra Ra Ra Ra Ra Ra Ra Ra Ra Ra Ra Ra Ra Wa Ra Ra Ra Ra Wa Ra Wa Ra Wa Ra Wa
70. 6 Setting of the feedback system for position and speed control Absolute value encoder as position and speed encoder O Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0420 Encoder const 512 Number of increments of the 309 encoder CO 104 omg 1 1 inc rev 8192 Sets C0419 0 common ifthe value is altered C0421 Encoder volt 0 Encoder voltage Ca 309 0 5 0V Sets C0419 0 common if the amog 1 56V value is altered amg 2 6 3 V 3 6 9 V 4 7 5 V 5 8 1 V C0427 Enc signal 0 Function of the master frequency L 309 input signals on X8 DFIN 104 0 2 phase amg A speed B direction 2 A or B speed or direction C0491 X8 in out 0 Function of X8 309 0 X8 is input amoa X8 is output opg EDBCSXA064 EN 2 0 Lenze 113 6 7 5 114 Commissioning Setting of the feedback system for position and speed control Absolute value encoder as position encoder and resolver as speed encoder Absolute value encoder as position encoder and resolver as speed encoder AN Danger For operating systems up to and including version 7 0 Uncontrolled movements of the drive possible when absolute value encoders are used If an absolute value encoder is disconnected from the axis module during operation a OH3 TRIP fault no 0053 occurs If the absolute value encoder now is connected to X8 again and a TRIP RESET is carried out the drive may start up in an uncontrolled manner with a high speed
71. A A e 3 9 ers U Q a a Lenze B digital frequency distributor wire 9 B digital frequency distributor wire 9 EDBCSXA064 EN 2 0 Absolute value encoder Hipertace single turn multi turn as position and speed encoder O O un e mD lt Dv c oO oO a o Q D LI O single turn multi turn ncremental encoder sin cos encoder absolute value encoder Hipertace single turn multi turn 101 U e un D a e Q D 2 U O O Q 00 ncoder constant master frequency output 318 ncoder simulation 90 ntering motor data 1 ntry of machine parameters 119 ntry of master angie and synchronisation synchronisatio ntry of motor data 98 i nvironmental conditions pressure o FS Io 3 e a O S 2 A temperature vibration resistance rror analysis 21 1 O H OM rror messages Causes and remedies Causes and remedies D o S SI vu o gt 5 a configuration 18 1 00 rror response 4 rror sources Overview 218 vent controlled process data objects 420 Examples reading parameters 424 election help for cable length number of repeaters 8 Writing parameters 426 VI VI xecuting a reset node xplanations codes EDBCSXA064 EN 2 0 Index xternal brake resistor 429 O 429 O connection 59 BD j Q lt a lt q 1 O Q lt
72. AIF2_bInBO_b etc e gt 16 binary signals Byte AIF2_bInB15_b AIF2_nInW2_a Byte 16 Bit 3 SE AIF2_bInB16_b 16 binary A signals i Byte AIF2_bInB31_b x1 4 0 0 So O 16 Bit Byte LowWord 5 AIF2_dninD1_p id 16 Bit HighWord Byte 6 AIF2_nInW3_a gt 16Bit Byte 7 AIF2_nInW4_a di gt 16Bit Byte 8 ECSXA203 Fig 13 5 System block Inputs_AIF2 EDBCSXA064 EN 2 0 Lenze 243 244 System modules AIF2_IO_AutomationInterface node number 42 Inputs_AIF2 System variables Variable Data Signal Address Display Display Notes type type code format AIF2_nInW1_a IW42 0 AIF2_nInW2_a i IW42 1 AIF2_nInW3_a Integer analog sciwa2 2 7 7 AIF2_nInW4_a IW42 3 AIF2_bInBO_b IX42 0 0 AIF2_bInB15_b sa IX42 0 15 AIF2_bInB16_b a nary IX42 1 0 E R AIF2_bInB31_b IX42 1 15 AIF2_dninD1_p Double position ID42 0 3 Integer User data The first 4 bytes from the 8 bytes of received user data are assigned to several variables of different data types According to requirements they thus can be evaluated by the PLC program as gt binary information 1 bit gt quasi analog value 16 bit gt angle information 32 bit Byte Variable 1 bit Variable 16 bit Variable 32 bit 1 2 AIF2_bInBO_b an AIF2_nInW1_a AIF2_bInB15_b PE 3 4 AIF2_bInB16_b enines P si AIF2_nInW2_a AIF2_bInB31_b 5 6 AIF2_nInW3_a 7 8 AIF2_nInW4_a Lenze EDBCSXAOGA EN 2 0 13 3 2 Outputs_AIF2 S
73. C0124 x057 OH7 Motor temperature gt C0121 x058 OH8 Motor temperature via inputs T1 and T2 is too high x086 Sd6 Thermal sensor error on the motor X7 or X8 x095 FAN1 Fan monitoring only for built in units X110 H10 Thermal sensor error on heatsink x111 H11 Thermal sensor error in the interior of the device Motor feedback system 0011 OC1 Short circuit of motor cable 0012 OC2 Motor cable earth fault 0015 OC5 I x t overload 0016 OC6 12 x t overload TRIP motor C0120 x017 OC7 I x t overload warning axis module C0123 x018 OC8 12 x t overload warning motor C0127 x032 LP1 Motor phase failure Note Can only be used for asynchronous motors Activation of the motor phase failure detection minimises the computing time available to the user x081 Rell Open circuit monitoring of the brake relay output X25 x082 Sd2 Resolver error at X7 Note If monitoring is switched off or in the case of Warning the machine can reach very high speeds in the case of fault which may result in the damage of the motor and the machine that is driven x085 Sd5 Master current value encoder error on analog input X6 Al Al C0034 1 x087 Sd7 Absolute value encoder error at X8 x088 Sd8 SinCos encoder error on X8 x089 PL Error with regard to rotor position adjustment Speed x190 nErr Speed control error monitoring window C0576 x200 Nmax Maximum speed C0596 has been exceeded Description x 0 TRIP 1 message 2 warning 3
74. CANaux_IN CANaux_OUT CAN bus interface X14 Address CANaux1_IN OUT Address CANaux2_IN OUT Address CANaux3_IN OUT Automatically determined by C2450 Determined by C2454 Alternative node addresses for CANaux_IN CANaux_OUT CAN bus interface X14 CANaux1_IN address 2 CANaux1_OUT address 2 CANaux2_IN address 2 CANaux2_OUT address 2 CANaux3_IN address 2 CANaux3_OUT address 2 397 14 Code No C2455 ao uu BP WN C2456 Appendix Code list Designation CANa ld CANa ld CANa ld CANa ld CANa ld CANa ld 1 CANa times C2457 C2458 C2459 398 CANa times CANa times CANa times CE monit time CE monit time CE monit time Reset node CANa state Possible settings Lenze Selection Appl 1 1 3000 0 1 ms 0 0 20 3000 1 1 ms 3000 3000 0 0 No function CAN AUX reset Operational Pre operational Warning Bus off w N e O Lenze 2047 65000 65000 IMPORTANT Identifier for aaj CANaux_IN CANaux_OUT CAN bus interface X14 Read only Identifier CANaux1_IN Identifier CANaux1_OUT Identifier CANaux2_IN Identifier CANaux2_OUT Identifier CANaux3_IN Identifier CANaux3_OUT CAN time settings for CAN bus interface X14 CAN AUX CAN AUX boot up time CANaux2_OUT CANaux3_OUT cycle times Factor for the task time to send process data telegram 0 Event controlled transmission CAN AUX delay time When the NMT state Operational has been reached af
75. CE15 CANau Communication error of C2485 v v v x gateway function C0370 C0371 via CAN AUX x190 nErr MCTRL Speed beyond tolerance c0579 v v v v v v margin C0576 x200 Nmax MCTRL Maximum speed exceeded v v C0596 Time out see task configuration x201 overrun Task1 interna Task with ID 2 2 v v v v v x202 overrun Task2 Task with ID 3 x203 overrun Task3 Task with ID 4 x204 overrun Task4 Task with ID 5 x205 overrun Task5 Task with ID 6 x206 overrun Task6 Task with ID 7 x207 overrun Task7 Task with ID 8 x208 overrun Task8 Task with ID 9 x219 overrun Cycl T interna Time out in cyclic task 2 v v v v v PLC_PRG ID 1 x 0 TRIP 1 Message 2 Warning 3 FAIL OSP 2 Can be set in DDS under Project gt Exception handling 220 Lenze EDBCSXA064 EN 2 0 System error message No x209 x210 x211 x212 x213 x214 x215 x216 x217 x218 x220 x230 x231 x232 x240 x241 x250 x251 x252 x260 Display float Sys T float Cycl T float T Id2 float T Id3 float T Id4 float T Id5 float T Id6 float T 1d7 float T Id8 float T Id9 NoT FktCredit No Program Unallowed Lib NoCamData Source interna I interna interna I interna interna ovrTransQueue free ovr Receive 2 Flash Err AddData CsErr AddData DIErr Err NodeGuard CAN obj interna I interna I interna Node guardin 8 Troubleshooting and fault elimination 12 System error
76. Configuring monitoring functions Motor phases LP1 11 2 14 Motor phases LP1 Error message Monitoring function System variable Possible response TRIP Message Warning Off 032 LP1 Motor phase failure MCTRL_bMotorphaseFail_b v v e Default setting v Setting possible This monitoring function checks whether a motor phase has failed Note gt This monitoring function can only be used for asynchronous motors gt When this monitoring function is activated the calculating time which is available for the user is reduced gt The response is set via C0597 gt The monitoring limit is set via C0599 Error acknowledgement 1 Check motor cables 2 Execute TRIP RESET Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0597 MONIT LP1 3 Configuration of motor phase J 205 monitoring LP1 When this monitoring function is activated the calculating time which is provided to the user is reduced 0 TRIP 2 Warning 3 Off C0599 Limit LP1 5 0 Monitoring limit for motor phase LI 205 monitoring LP1 referred to the current limit 0 01 0 01 10 00 EDBCSXA064 EN 2 0 Lenze 205 Monitoring functions Configuring monitoring functions Resolver cable Sd2 11 2 15 Resolver cable Sd2 Error message Monitoring function System variable Possible response 082 TRIP Message Warning Off Sd2 Resolver error MCTRL_bResolverFault_b v v e Default setting v Setting possible This monitori
77. Configuring monitoring functions Short circuit monitoring OC1 Short circuit monitoring OC1 Error message Monitoring function System variable Possible response TRIP Message Warning Off 011 OC1 Short circuit MCTRL_bShortCircuit_b e Default setting v Setting possible The monitoring process is activated if a short circuit occurs in the motor phases This can also be caused by an interturn fault in the machine gt Monitoring can also be actuated at mains connection if an earth fault occurs gt If monitoring is actuated the drive controller has to be disconnected from the mains and the short circuit has to be eliminated Earth fault monitoring OC2 Error message Monitoring function System variable Possible response TRIP Message Warning Off 012 OC2 Earth fault MCTRL_bEarthFault_b e Default setting v Setting possible The ECSxA axis module is equipped with a standard earth fault detection gt If monitoring is actuated the drive controller has to be disconnected from the mains and the earth fault has to be eliminated Possible causes for an earth fault are gt Short circuit to frame of the machine gt Short circuit of a phase to the shield gt Short circuit of a phase to PE Motor temperature OH3 OH7 The motor temperature is monitored by means of a continuous thermal sensor KTY EDBCSXA064 EN 2 0 Lenze 193 Monitoring functions Configuring monitoring functions Motor temperature OH3
78. Detailed information ons GDC online help ca 145 159 apg aopa omza Select Motor feedback system Motor setting in the GDC parameter menu and set the codes e Not required if a holding brake is not available otherwise amog e set C0472 10 speed threshold gt 0 e g 1 for closing the holding brake e Lenze motors with resolvers do not require any further settings e Select Motor feedback systems Feedback system to set third party resolvers and encoders in the GDC parameter menu In GDC the codes for machine parameters such as maximum speed and ramp times can be found in the parameter menu under Short setup Motor setting Lenze amog amg EDBCSXA064 EN 2 0 Commissioning 6 Carrying out basic settings with GDC Setting Short description Detailed information 10 Set the polarity of the digital Select Terminal I O Digital inputs outputs in the GDC O i13 inputs and outputs parameter menu to set the polarity e C0114 x polarity of dig inputs X6 DI1 D14 e C0118 1 polarity of dig output X6 DO1 11 Switch on the mains e Green LED is blinking and red LED is off Controller is ready for operation Green LED is off and red LED is blinking An error has occurred Eliminate the error before you continue commissioning The basic settings are now completed Continue with gt Enable controller M 130 gt Save parameters in the controller with C0003 1 gt Sa
79. ECSXA200 Fig 13 1 System block Inputs_AIF_Management EDBCSXA064 EN 2 0 Lenze 231 System modules AIF_IO_ Management node number 161 Inputs_AIF_ Management System variables Variable Data Signal Address type type AIF_bCeOCommErr_b IX161 0 0 dalai e IX161 1 0 Aa re IX161 1 1 a IX161 1 2 A IX161 1 3 ii alieni IX161 1 4 A rer ara te IX161 1 5 A a IX161 1 6 dii Bool binary IX161 1 7 A IX161 1 8 a cic IX161 1 9 oe spice arias IX161 1 10 AIF_bFieldBusstateBit11 IX161 1 11 AIF_bFieldBusstateBit12 IX161 1 12 AIF_bFieldBusstateBit13 IX161 1 13 AIF_bFieldBusstateBit14 IX161 1 14 AIF_bFieldBusstateBit19 IX161 1 15 Codes Code Possible settings No Designation Lenze Selection C0126 MONIT CEO 232 Appl 3 0 TRIP 2 Warning 3 Off Lenze Display Display Comments code format Communication error CEO Error number bit 0 Error number bit 1 Error number bit 2 Error number bit 3 Error number bit 4 Error number bit 5 Error number bit 6 Error number bit 7 Error number bit 8 Error number bit 9 Error number bit 10 ni Error number bit 11 Error number bit 12 ni Error number bit 13 ni Error number bit 14 Error number bit 15 IMPORTANT Monitoring of the 231 communication via AIF interface X1 e Under C2382 you can select whether controller inhibit CINH or
80. FAIL OSP 1 Adjustable in the DDS under Project gt Exceptional handling 2 For ECSXA only Source MCTRL MCTRL MCTRL MCTRL MCTRL MCTRL MCTRL MCTRL FWM FWM MCTRL MCTRL MCTRL MCTRL MCTRL MCTRL MCTRL FWM MCTRL MCTRL MCTRL MCTRL MCTRL MCTRL MCTRL Possible reactions Lenze setting v Can be set Code C0583 C0582 C0605 C0584 C0585 C0594 C0588 C0588 C0604 C0606 C0597 C0602 C0586 C0598 C0580 C0579 C0607 TRIP eer XN a lt S lt lt lt lt 0 6 e e lt Message Warning lt 0 JE JE Fail OSP Off ex NNN KN I s TT suol UNy SULOJIUOW oz NA v90VXSDEdd 9ZUS L8T Monitoring Fault message Float error 0209 float Sys T 0210 float Cycl T 0211 float Task1 0218 float Task8 Time out overflow 0105 H05 x108 H08 0201 overrun Task1 0208 overrun Tasks 0219 overrun Cycl T 0220 noT Fkt Credit 0230 No program 0231 Unallowed Lib x232 NoCamData x240 ovrTrans Queue x241 ovr Receive Parameter setting 0072 0074 0075 0079 0080 PR1 PEr PRO PI PR6 Description Float error in system task ID 0 Float error in cyclic task PLC_PRG ID 1 Float error in task 1 ID 2 Float error in task 8 ID 9 Internal fault memory Extension board not connected properly or not supported by program Time out in task 1 ID 2 Time out in task 8 ID 9 Time out in cyclic task PLC_PRG ID 1 Not en
81. Fig 13 9 X6 Inputs_ANALOG1 C0034 y C0026 1 AIN1_nIn_a Al hb Hz AG Analog input configuration C0400 C0027 1 AIN1_bError_b System block Inputs_ANALOG1 ECSXA221 gt Set via C0034 whether the input is to be used for a master voltage or a master current gt Set jumper bar X3 according to setting in C0034 Stop Use as master current input gt EDBCSXA064 EN 2 0 Do not plug the jumper on 3 4 The axis module cannot be initialised like this Jumper bar X3 5 0 6 Setting 5 6 open Jumper on 1 2 Parking position Master current lt 2 mA Variable AIN1_bError_b TRUE An error handling can be set via C0598 Master current gt 2 mA 5 6 closed Variable AIN1_bError_b FALSE Lenze Measuring range C0034 0 Level 10 10 V Resolution 5 mV 11 Bit sign e Scaling 10 V 16384 100 C0034 1 Level 4 20 mA e Resolution 20 pA 10 bits without sign e Scaling 4mA 0 0 20 mA 16384 100 C0034 2 e Level 20 20 mA Resolution 20 pA 10 bits sign e Scaling 20 mA 16384 100 251 System modules ANALOG1_IO node number 11 Inputs ANALOG analog input System variables Variable Data Signal Address Display Display Comments type type code format AIN1_nIn_a integer analog
82. Freely configurable code for absolute analog signals Freely configurable code for phase signals Freely configurable code for phase difference signals appz 325 apy FIELE EDBCSXA064 EN 2 0 System modules 13 MCTRL_MotorControl node number 131 13 20 MCTRL_MotorControl node number 131 This SB contains the control of the driving machine It consists of the phase controller speed controller and the motor control MCTRL_MotorControl MCTRL_bQspOut_b MCTRL_bQspin_b Y bd sz C030773 T0042 MCTRL_nHiMLim_a Y C030674 MCTRL_nLoMLim_a a MCTRL_nNSetin_a C030673 al MCTRL_bNMSwt_b Cossa C03072 MCTRL_nNAdapt_a C0070 T0056 MCTRL_biLoad_b 4 MCTRL_bMMax_b coso7A ji MCTRL_nMSetin_a MOTRI niset a n MCTRL_blMax_b C0906 8 MCTRL_nlAct_a C0105 t MCTRL_nDCVolt_a 0608 MCTRL_nMAct_a 00 D ni A x MCTRL_nNSet_a eA slo MAT gt lt 7 MCTRL_wMmaxC57 x y da o y C0390677
83. HZ ECSXA024 Fig 3 2 Current derating characteristics Operation with switching frequency 8 kHz C0018 1 e Ifthe current exceeds the characteristic the switching frequency is automatically changed to 4 kHz e g for higher torque in acceleration processes Operation with switching frequency 4 kHz C0018 0 The current limitation follows the characteristic e With output frequencies lt 5 Hz and heatsink temperatures between 70 and 90 C the current limit is steplessly adjusted in the range Type Imax A Switching frequency 8 kHz Switching frequency 4 kHz fout gt 5 Hz fout gt 0 Hz fout gt 5 Hz fout gt 0 Hz fout gt 0 Hz lt 70 C 90 C ECSxA004 2 7 1 5 4 0 3 0 2 3 ECSxA008 5 3 3 0 8 0 6 0 4 6 ECSxA016 10 7 6 0 16 0 12 0 9 1 ECSxA032 21 3 12 1 32 0 24 0 18 1 ECSxA048 32 0 18 1 48 0 36 3 27 2 ECSxA064 42 7 24 2 64 0 48 0 36 3 EDBCSXA064 EN 2 0 Lenze 39 4 1 40 Mechanical installation Important notes Mechanical installation Important notes gt Axis modules of the ECS series provide IP20 enclosure and can therefore only be used for installation in control cabinets If the cooling air contains air pollutants dust fluff grease aggressive gases Take suitable preventive measures e g separate air duct installation of filters regular cleaning Possible mounting positions Vertical at the mounting plate DC bus connections X23 at the top Mo
84. He 000 Resolver excitation amplitude 45 Fig 6 5 GDC view Commissioning of the feedback system Note If the Lenze setting has been loaded via C0002 the feedback system must be reset 6 7 1 Resolver as position and speed encoder If a resolver is connected to X7 and used as a position and speed encoder no settings are necessary Lenze setting gt Resolver as position encoder C0490 0 gt Resolver as speed encoder C0495 0 EDBCSXA064 EN 2 0 Lenze 101 Commissioning Setting of the feedback system for position and speed control Resolver as position and speed encoder Codes for feedback system selection Code Possible settings No Designation Lenze Selection Appl C0490 Feedback pos 0 0 Resolver at X7 1 TTL encoder at X8 2 SinCos encoder at X8 3 Absolute value encoder single turn at X8 4 Absolute encoder multi turn at X8 C0495 Feedback n 0 0 Resolver at X7 1 TTL encoder at X8 2 SinCos encoder at X8 3 Absolute value encoder single turn at X8 4 Absolute encoder multi turn at X8 Codes for optimising the operation and display Code Possible settings No Designation Lenze Selection Appl C0058 Rotor diff 90 0 180 0 0 1 179 9 C0060 Rotor pos 0 1 inc 2047 C0080 Res pole no 1 1 1 10 C0414 DIS ResQual 0 00 0 01 1 60 102 Lenze IMPORTANT Selection of feedback system for positioning control Standard setting Sets C0495 to the same value if C0495 gt 0
85. IN bits CANa IN bits CANa IN bits Possible settings Lenze Selection Appl 3000 0 1 ms 20 3000 1 1 ms 3000 3000 0 1 hex Lenze 65000 65000 FFFF IMPORTANT CAN time settings for CAN bus DA 168 interface X14 CAN AUX CAN AUX boot up time CANaux2_OUT CANaux3_OUT cycle times Factor for the task time to send process data telegram 0 Event controlled transmission CAN AUX delay time When the NMT state Operational has been reached after Pre operational the delay time CANdelay is started After the delay time has expired the PDOs CANaux2_OUT and CANaux3_OUT are sent for the first time Monitoring time for CANaux1 3_IN CAN bus interface X14 CE11 monitoring time CE12 monitoring time CE13 monitoring time Process data input words hexadecimal for CAN bus interface X14 Hexadecimal value is bit coded Read only CANaux1_IN bit 0 15 CANaux1_IN bit 16 31 CANaux2_IN bit 0 ETA CANaux2_IN bit 16 31 CANaux3_IN bit 0 ET CANaux3_IN bit 16 31 EDBCSXA064 EN 2 0 Code No Designation C2492 1 CANa IN words 2 CANaIN words 3 CANa IN words 4 CANa IN words 5 CANa IN words 6 CANa IN words 7 CANa IN words 8 CANaIN words 9 CANa IN words 10 CANa IN words 11 CANaIN words C2493 1 CANa OUT words 2 CANa OUT words 3 CANa OUT words 4 CANa OUT words 5 CANa OUT words 6 CANa
86. Lenze Appl 3 0 24 0 0 0 Selection 200 200 0 0 0 00 1 0 0 0 1inc 2047 1 C 200 1 C 200 1 C 200 1 150 0 1V 100 0 1 250 0 01 127 99 0 5 ms 6000 0 0 1 ms 32 0 Normal Enhanced Lenze IMPORTANT Current rotor position value is derived from position encoder Therefore it is only valid as rotor position if the position encoder settings under C0490 are identical with the settings of the speed encoder on the motor shaft under C0495 Only display 1 rev 2048 inc Heatsink temperature Only display ama amg Temperature inside the device Only display 197 Motor temperature Only display O 193 Device utilisation I x t over the last 180 s Only display e C0064 gt 100 activates OC5 TRIP TRIP RESET only is possible if C0064 lt 95 External supply voltage Read only Thermal motor load 12 t Only display po Current fault TRIP in case of FAIL OSP warning and message 0 is displayed Only display 28 Proportional gain of speed controller Vpn omg Reset time speed controller Tnn ama Derivative gain of speed controller Tan ama Pilot control of the current controller for higher dynamics amy EDBCSXA064 EN 2 0 Code No C0075 C0076 C0077 C0078 C0079 C0080 co081 C0082 C0083 C0084 C0085 C0087 C0088 Designation Vp currCTRL T
87. Lenze code Lenze subcode CAN index CAN subindex Lenze code Lenze subcode 4101 1 3200 4 4101 1 3200 4 4101 2 3200 5 20000 0 3000 0 20000 0 3000 0 Code access C3200 5 Lenze code 24575 Index 24575 21475 3100 Code access C3100 1 Fig 9 3 Redirection process of indices to codes Lenze EDBCSXA064 EN 2 0 System bus CAN CAN AUX configuration 9 Remote parameterisation gateway function 9 12 Remote parameterisation gateway function From operating system V6 x the ECSxA axis module supports the remote parameterisation of other system bus nodes All write read accesses to parameters will not be listed in the ECSXA axis module anymore but redirected to the node selected for remote maintenance gt The redirection takes place via the parameter data channel SDO1 of the selected node gt The node to which the write read accesses are to be redirected is determined via C0370 by setting here the node address of the corresponding node gt Atime out during remote parameterisation activates the system error message CE5 The corresponding response can be configured under C0603 M 192 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0370 SDO Gateway 0 Gateway address Activating remote parameter setting e When selecting a setting 0 all code read write accesses will be redirected to the system bus device with the corresponding CAN node address The respective code is acce
88. OUT words 7 CANa OUT words 8 CANa OUT words 9 CANa OUT words 10 CANa OUT words 11 CANa OUT words EDBCSXA064 EN 2 0 Possible settings Lenze Selection Appl 199 99 0 01 199 99 0 01 Lenze 199 99 199 99 System modules CANaux3_10 node number 36 IMPORTANT Process data input words decimal for CAN bus interface X14 100 00 16384 Read only CANaux1_IN word 1 CANaux1_IN word 2 CANaux1_IN word 3 CANaux2_IN word 1 CANaux2_IN word 2 CANaux2_IN word 3 CANaux2_IN word 4 CANaux3_IN word 1 CANaux3_IN word 2 CANaux3_IN word 3 CANaux3_IN word 4 Process data output words decimal for CAN bus interface X14 100 00 16384 Read only CANaux1_OUT word 1 CANaux1_OUT word 2 CANaux1_OUT word 3 CANaux2_OUT word 1 CANaux2_OUT word 2 CANaux2_OUT word 3 CANaux2_OUT word 4 CANaux3_OUT word 1 CANaux3_OUT word 2 CANaux3_OUT word 3 CANaux3_OUT word 4 13 295 13 14 1 296 System modules CANaux3_IO node number 36 Inputs_CANaux3 Inputs_CANaux3 System variables Variable Data type CANaux3_nlnWl_a CANaux3_nlnW2_a integer CANaux3_bInB0_b CANaux3_bInB15_b CANaux3_bInB16_b BOOL CANaux3_blnB31_b CANaux3_dnInD 1p Double integer CANaux3_nlnW3_a CANaux3_nlnW4_a User data integer Signal Address type IW36 0 analog IW36 1 X36 0 0 1X36 0 15 Binar Y IX36 1 0 1IX36 1 15 Position 1D36 0 IW36 2 analo 8 1W363
89. Pa v un Ss pg ie M o gt ZI O Node address setting 16 Node g ding 69 Node ID 160 226 Noise emission Notes definition Operating conditions Operating modules 429 EDBCSXA064 EN 2 0 DCIRL DriveControl device control 30 Operation with servo motors trom other manufacturers Checking the direction of rotation o e motor feedback U D current controller adjustment metrologica determination of electrical motor values 6 Operation with servo motors of other manufacturers adjusting current controller i a O c un 5 o e current controller calculating tne electrica 2 eTrecting rotor position adjustment 3 3 lt w E D un entering motor data Optimising the drive behaviour 130 Outp Y M FLA AS Outputs A Management A O D A 40 Outp A AG Outputs CAN Management 4 O p AN 63 O D AN O p AN 3 puts CANaux Management 28 O c O p AN 56 O D AN 9 e p AN 9 O p D R O p DFOU 6 configuring encoder constant 318 configuring master frequency output signal 319 S S Overcurrent characteristic 199 Overcurrent diagram 200 Overvoltage threshold DC bus voltage 20 y Parameter data 41 EDBCSXA064 EN 2 0 Index Parameter data objects Add g A Parameter data telegram 4 le D ADL parameter data transfer 4 Parameter setting With Global Drive Control GDC 138 with keypad XT EMZ9
90. Posi and Shaft application e ECSxM Motion application e ECSXA Application Drive systems with e ECSxS ECSxP ECSxM ECSxA axis modules e ECSXE power supply modules e ECSxK capacitor modules e Other Lenze drive components Voltage supply e of the control card voltage range 20 30 V DC 0 V e of the safe torque off formerly safe standstill voltage range 18 30 V DC 0 V e of the motor holding brake voltage range 23 30 V DC 0 V Automation InterFace Subcode y of code Cxxxx e g C0470 3 subcode 3 of code C0470 Terminal y on plug connector Xk e g X6 B terminal B on plug connector X6 Drive PLC Developer Studio Function block Global Drive Control parameter setting program from Lenze System block Lenze standard bus system based on CANopen for e communication with a higher level master system or further controllers parameter setting and diagnostics Lenze EDBCSXA064 EN 2 0 Preface and general information 1 1 3 Structure of the system block descriptions Features of the ECSxA Terminology used All system block descriptions contained in this Manual have the same structure 1 2 Features of the ECSxA axis module Safety function safe torque off formerly Double CAN ON BOARD Headline with SB identifier SB function and node number Brief description of
91. Ra Wa Ra Wa Ra Wa Access Condition EDBCSXA064 EN 2 0 Code C1123 C1190 C1191 C1192 C1771 C1772 C1773 C1792 C1793 C1794 C1798 C1810 C1811 C1921 C1922 C1923 C2100 C2102 C2103 C2104 C2106 C2108 C2110 C2111 C2112 C2113 C2114 C2115 C2116 C2117 C2118 C2120 C2121 C2130 C2131 C2132 C2133 C2140 C2141 C2142 C2143 C2144 C2145 C2146 C2147 C2148 C2149 C2150 Index dec 23452 23385 23384 23383 22804 22803 22802 22783 22782 22781 22777 22765 22764 22654 22653 22652 22475 22473 22472 22471 22469 22467 22465 22464 22463 22462 22461 22460 22459 22458 22457 22455 22454 22445 22444 22443 22442 22435 22434 22433 22432 22431 22430 22429 22428 22427 22426 22425 EDBCSXA064 EN 2 0 hex 5B9Ch 5B59h 5B58h 5B57h 5914 h 5913h 5912h 58FFh 58FEh 58FDh 58F9h 58EDh 58ECh 587Eh 587Dh 587Ch 57CBh 57C9h 57C8h 57C7h 57C5h 57C3h 57C1h 57Coh 57BFh 57BEh 57BDh 57BCh 57BBh 57BAh 57B9h 57B7h 57B6h 57ADh 57ACh 57ABh 57AAh 57A3h 57A2h 57A1h 57A0h 579Fh 579Eh 579Dh 579Ch 579Bh 579Ah 5799h g vu m gt P m m m m m m m m m m m m m m m m m m m gt m m m m gt m m m m m m m m m m m m m m SP EM m o gt PRP WP PP OP PP PP e ele e ele elele mn mwne e OpHpHPpPEHEHPFHEHEFHEHEFEFEFEFEFEFEFEFFEFFEEP w Pu Data DT Format FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX
92. Sync Response 1 CAN sync response for CAN bus LA 260 interface X4 0 No response 1 Response 260 Lenze EDBCSXA064 EN 2 0 13 7 1 System modules CAN_Synchronization node number 102 Axis synchronisation via CAN bus interface Axis synchronisation via CAN bus interface The CAN bus transmits the sync signal and the process signals Application examples Selection of cyclic synchronised position setpoint information for multi axis applications via the CAN bus Observe the following sequence in the commissioning phase Device All devices 1 2 Slaves 3 4 5 Master 6 Slaves 9 10 Slaves 11 EDBCSXA064 EN 2 0 Step Commission the controller and the CAN bus Inhibit the controller Press key lt F9 gt in the GDC Connect CANSync InsideWindow with digital output C1120 1 C0366 1 Lenze setting Define the telegram identifier sequence A Send new setpoint to all slaves B Send sync telegram C Receive response of all slaves Start communication send sync telegrams Read C0362 of the master Set C1121 according to C0362 of the master Set C1123 Enable the controller via the signal CANSync InsideWindow applied to the digital output Lenze Description ca 129 Active synchronisation by sync telegram via CAN bus CAN sync reaction e Slaves respond to sync telegram Retrieve cycle time of the sync telegram from the master Adjust the time distance of the
93. System program organisation units System program organisation units System POUs are program organisation units of the program type which by means of a specific designation adopt the feature of being started subject to an event occurring in the ECSxA axis module gt The program includes max 1000 instructions for system POUs gt Unlike tasks or PLC_PRG system POUs are not run time monitored by a watchdog gt See the following table for special POU names and the related events for starting the POU POU name PLC_TaskOverrun PLC_RealError PLC_FailTripping PLC_WarningTripping PLC_MessageTripping PLC_FailOspTripping PLC_CANError PLC_AIFError PLC_Restart PLC_ColdStart PLC_Stop PLC_Undervoltage sk lt Tip Event for starting POU Task overflow Floating point error TRIP Warning Message FAIL OSP CAN bus error AIF bus error Start Cold start PLC stop LU threshold The POU starts if the task monitoring time is exceeded a floating point error occurs a trip is set a Warning is activated a message is indicated a FAIL OSP is activated 1 a CAN bus error occurs e g BUS OFF 3 an AIF bus error occurs 3 the START command is activated after a STOP a RESET RESET cold RESET original or a program download has been activated 2 Note System variables must not be used in PLC_ColdStart since this can lead to an unexpected maloper
94. Wa Ra Wa Ra W Ra W Ra W Ra W Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Ra Wa Ra Wa Ra Ra Ra Ra Ra Wa Ra Ra Ra Ra W Ra W Ra Wa Ra Ra Ra Ra Condition CINH CINH CINH CINH CINH CINH CINH CINH CINH CINH CINH 405 Code C0200 C0201 C0202 C0203 C0204 C0205 C0206 C0207 C0208 C0209 C0250 C0254 C0300 C0301 C0302 C0304 C0305 C0306 C0307 C0308 C0309 C0310 C0349 C0350 C0351 C0352 C0353 C0354 C0355 C0356 C0357 C0358 C0359 C0360 C0361 C0362 C0363 C0365 C0366 C0367 C0368 C0369 C0370 C0371 C0381 C0382 C0383 C0384 406 Appendix Table of attributes Index dec 24375 24374 24373 24372 24371 24370 24369 24368 24367 24366 24325 24321 24275 24274 24273 24271 24270 24269 24268 24267 24266 24265 24226 24225 24224 24223 24222 24221 24220 24219 24218 24217 24216 24215 24214 24213 24212 24210 24209 24208 24207 24206 24205 24204 24194 24193 24192 24191 hex 5F37h 5F36h 5F35h 5F34h 5F33h 5F32h 5F31h 5F30h 5F2Fh 5F2Eh 5FO5h 5FO1h 5ED3h 5ED2h 5EDIh 5ECFh 5ECEh 5ECDh 5ECCh 5ECBh 5ECAh 5EC9h 5EA2h 5EA1h 5EAOh 5E9Fh 5E9Eh 5E9Dh 5E9Ch 5E9Bh 5E9Ah 5E99h 5E98h 5E97h 5E96h 5E95h 5E94h 5E92h 5E91h 5E90h 5E8Fh 5E8Eh 5E8Dh 5E8Ch 5E82h 5E81h 5E80h 5E7Fh g vu Mummia on nmiumumMMuM amMmmmMmumMmppFPOMEPFFFEOMMMNMEBFMMMMMMMMMOMMMNMMMMMMmMmbomnm PFRFWAOAOWE
95. X6 after consideration of the polarity set under C0114 Only display 0 1 255 Bit 0 DIGIN1 X6 DI1 Bit 1 DIGIN2 X6 DI2 Bit 2 DIGIN3 X6 DI3 Bit 3 DIGIN4 X6 DI4 Bit 4 DIGIN_safe_standstill X6 SI2 mpg O Pulse inhibit is active 1 Pulse inhibit is inactive Bit 5 Free Bit 6 DIGIN_Cinh X6 SI1 mpg 0 Controller is inhibited CINH 1 Controller is enabled Bit 7 Free Terminal assignment Terminal Function X6 Digital inputs xema Pini vena gto freely assignable X6 DI3 Digital input 3 Digin_bIn3_b xema peta mpata X6 Connection of Safe torque off Q 69 X6 SI1 Input 1 LOW DIGIN_bCInh_b TRUE HIGH DIGIN_bCInh_b FALSE X6 512 Input 2 LOW DIGIN_b_safe_standstill_b FALSE HIGH DIGIN_b_safe_standstill_b TRUE X6 524 Low voltage supply Lenze EDBCSXA064 EN 2 0 System modules 13 DIGITAL_IO node number 1 Outputs_DIGITAL digital outputs 13 18 2 Outputs_DIGITAL digital outputs This SB conditions the digital signal DIGOUT_bOut1_b and outputs it via X6 DO1 gt Amotor holding brake supplied with low voltage via X6 B and X6 B can be connected to X25 B1 and X25 B2 The motor holding brake can be switched by the signal DIGOUT_bRelais_b The terminal polarity for the outputs X6 DO1 X25 B1 and X25 B2 can be configured via C0118 gt X6 SO serves to the feedback of the safety function safe torque off former safe
96. You therefore have to log in again manually or find the devices connected to the bus once again 13 6 4 Define instant of transmission for CAN2_OUT CAN3_OUT Via CAN bTxCan2Synchonized_b and CAN bTxCan3Synchonized_b the instant of transmission for the CAN objects CAN2_OUT and CAN3_OUT is determined gt FALSE data from CAN2_OUT CAN3_OUT is sent at the end of the process image gt TRUE data from CAN2_OUT CAN3_OUT is sent after the CAN bus synchronisation The identifiers for sync transmission and reception telegrams can be set via C0367 C0368 The sync Tx time can be set via C0369 Note Detailed information concerning the CAN bus synchronisation LA 257 EDBCSXA064 EN 2 0 Lenze 255 13 6 5 256 System modules CAN_Management node number 101 Status messages Status messages The SB CAN_Management provides different status messages which can be processed in the PLC program Identifiers CAN_bCe1CommErrCanIn1_b CAN_bCe2CommErrCanIn1_b CAN_bCe3CommErrCanIn1_b CAN_bCe4BusOffState_b CAN_bFreePdoTxBufferOverflow b CAN_bFreePdoRxOverflow_b CAN_bOverrunLifeTime_b CAN_byNodeAddress CAN_byState Information TRUE CAN1_IN communication error TRUE CAN2_IN communication error TRUE CAN3_IN communication error TRUE CAN bus Off State detected CAN bus interface X4 Free CAN objects TRUE Overflow of the transmit request memory Free CAN objects TRUE Overflow of the receipt memory CAN monit
97. _v 60000 ms inc ine Angle or position A _p position 32 Bit 1 motor revolution 65536 Saan ann naa A a a 31 High Word Low Word 0 Direction 0 clockwise rotation 1 counter clockwise rotation No of motor revolutions 0 32767 Angle or position 0 65535 Due to their scaling analog signals have an asymmetrical resolution range 200 199 99 External 200 100 0 100 199 99 Internal 32768 16384 0 16384 32767 Lenze CA 2 1 Safety instructions 2 General safety and application notes for Lenze controllers Safety instructions General safety and application notes for Lenze controllers in accordance with Low Voltage Directive 2006 95 EC For your personal safety Depending on their degree of protection some parts of the Lenze controllers frequency inverters servo inverters DC speed controllers and their accessory components can be live moving and rotating during operation Surfaces can be hot Non authorised removal of the required cover inappropriate use incorrect installation or operation creates the risk of severe injury to persons or damage to material assets For more information please see the documentation High amounts of energy are produced in the controller Therefore it is required to wear personal protective equipment body protection headgear eye protection ear protection hand guard All operations concerning transport installatio
98. activated with C0074 C0074 1 For this it is vital to enter the correct values for the stator resistance C0084 and leakage inductance C0085 These can be obtained from the data sheet of the motor used EDBCSXA064 EN 2 0 Lenze 125 126 Commissioning Operation with servo motors from other manufacturers Adjusting current controller Leakage inductance and stator resistance of the motor are not known The current controller can be optimised metrologically with a current probe and an oscilloscope For this a test mode is available in which the current C0022 x V2 flows in phase U after controller enable Stop Avoid damage to the motor and machine gt During the current controller adjustment the motor must be freely rotatable gt The test current must not exceed the maximum permissible motor current gt Always adjust the current controller at a switching frequency of 8 kHz Observe the current step in phase U to adjust the current controller Setting sequence 1 2 Select 8 kHz as switching frequency C0018 2 Select the test current under C0022 Start with a low current value e g half the rated motor current Activate the test mode with C0418 1 Enable the controller CQ Adjust the synchronous motor The asynchronous motor remains at standstill Enable and inhibit the controller several times in a row changing the current controller gain C0075 and the current controller adjustment ti
99. and a high torque An SD8 TRIP fault no 0088 will not occur as would be expected Possible consequences gt Death or severest injuries gt Destruction or damage of the machine drive Protective measures gt If a TRIP occurs during commissioning when an absolute value encoder is used check the history buffer C0168 If an SD8 TRIP fault no 0088 is at the second or third place it is absolutely necessary to switch off and on again the supply of the control electronics 24 V supply An absolute value encoder Hiperface interface connected to X8 can be configured as a position encoder with a resolver connected to X7 being used as a speed encoder Observe the following setting sequence 1 Select absolute value encoder as position encoder Single turn encoder C0490 3 Multi turn encoder C0490 4 Select resolver as speed encoder C0495 0 Select an absolute value encoder Single turn encoder C0419 307 311 Multi turn encoder C0419 407 411 The encoder data C0420 C0421 C0427 is set automatically in accordance with the selection Lenze CZ Commissioning 6 Setting of the feedback system for position and speed control Absolute value encoder as position encoder and resolver as speed encoder AN Danger When absolute value encoders are used uncontrolled movements of the drive are possible With operating systems up to and including version 6 7 the drive may st
100. and software described Nevertheless discrepancies cannot be ruled out We do not take any responsibility or liability for any damage that may occur Ne cessary corrections will be included in subsequent editions 2 Lenze EDBCSXA064 EN 2 0 X3 X6 ECSZA000X0B 8S X24 X8 X25 X7 Lenze EDBCSXA064 EN 2 0 Scope of supply Position Description Quantity A ECSLIA axis module 1 Accessory kit with fixing material corresponding to the design D 1 e E standard panel mounted unit e D push through technique e C cold plate technique Mounting Instructions Drilling jig Functional earth conductor only ECSDA Note The ECSZAOOOXOB connector set must be ordered separately Connections and interfaces Position Description Detailed information X23 Connections upg e DC bus voltage e PE B LEDs Status and error display x1 Automation interface AIF for D 73 e operating module keypad XT e Communication module X2 PE connection of AIF X3 Configuration of analog input M 68 X4 CAN connection amg System bus CAN X14 CAN AUX connection System bus CAN X6 Connections CI 64 e Low voltage supply e Digital inputs and outputs 67 e Analog input apg e Safe torque off formerly safe
101. axis modules can be permanently operated with increased output current cp continuous current lo ef UBA ITA A lo A 30 0 5 i I 27 0 ECSxS P M A064__1 t I 25 0 5 In A 23 0 ECSxS P M A048__ N 20 0 20 0 5 17 0 16 0 ECSxS P M A032__1 15 0 4 12 7 I 10 0 5 i 8 0 ECSxS P M A016__ 8 0 I I 5 0 4 0 ECSxS P M A008 4 0 2 0 ECSxS P M A004 2 0 I 0 0 r 0 50 100 U Mot_n IU Mot_max ECSXA002 Fig 3 1 Continuous device current depending on the output voltage for Umains lt 400 V at 4 kHz Ir Rated output current of the axis module Umot n Actual controller output voltage Umot max 0 9 x current mains voltage The permissible continuous current depends on the control factor of the power output stages approximately on the ratio of the motor voltage output in the operating point Umot n to the maximum possible output voltage Umot max Due to voltage drops across the components involved at rated load and a control margin Umot max can be estimated with 90 of the mains voltage 7 36 Lenze EDBCSXA064 EN 2 0 Technical data BI Current characteristics Increased continuous current depending on the control factor The following table shows the connections between mains voltage DC bus voltage and motor voltage Mains voltage DC bus voltage Output voltage motor voltage Umains Upc Umains X 1 35 nominally achievable for 100 modulation Umot 0 66 x Upc 3 x 230 V AC 310 V D
102. be set via the code C0369 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0369 SyNc Tx time 0 CAN sync transmission cycle for DA 258 CAN bus interface X4 A sync telegram with the identifier of C0368 is sent with the cycle time set ECSxP The setting is effected automatically depending on C4062 0 1 ms 65000 0 switched off Synchronisation cycle For the purpose of synchronisation the master sends a periodic sync signal The controllers receive the sync signal and compare the time between two LOW HIGH edges of the signal with the preselected cycle time C1121 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C1121 Sync cycle 2 Synchronisation cycle D 258 1 1 ms 13 258 Lenze EDBCSXA064 EN 2 0 System modules CAN_Synchronization node number 102 CAN sync identifier Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0367 Sync Rx ID 128 CAN sync receipt ID for CAN bus DA 259 interface X4 1 1 256 Phase shift The synchronisation phase C1122 defines the period of time of the offset by which the start of the controller internal cycle lags behind the sync signal received Note Always set the synchronisation phase greater than the maximum possible temporal jitter of the sync signals received Jitters are phase shiftings and hence periodic changes of signal frequencies They are shiftings of fixed instants of a digital signal e g the transition
103. cable at X8 with regard to tight fit and open circuit Check absolute value encoder with regard to correct function e Set voltage supply to 8 1 V via C0421 e No Stegmann encoder connected e Replace defective encoder Repeat rotor position adjustment Note After an Sd7 fault it is absolutely required to carry outa further rotor position adjustment Otherwise the drive may carry out uncontrolled movements after controller enable The drive may not be commissioned without having carried out a rotor position adjustment successfully After fault correction completely deenergise the device switch off 24 V supply discharge DC bus Replace SinCos encoder e Check correct shield connection of encoder cable e Where required decelerate the actuation of the fault message via the filter time constant Setting for ECSxS P M A in C0559 for 9300 servo cam in C0575 Check cable with regard to open circuit Connect SinCos encoder of the company Stegmann Replace SinCos encoder Set voltage supply in C0421 After fault correction completely deenergise the device switch off 24 V supply discharge DC bus 1 Activate rotor position adjustment with C0095 1 2 Carry out TRIP reset 3 Repeat rotor position adjustment e Check external encoder e Switch off the monitoring C0581 3 Clean or exchange heatsink fan Contact Lenze Contact Lenze EDBCSXA064 EN 2 0 Fault message
104. carried out via C0358 CAN_Management CAN_bCe1CommErrCanin1_b CAN_bCe2CommErrCanIn2_b CAN_bCe3CommErrCanIn3_b CAN_bCe4BusOffState_b CAN_bFreePdoTxBufferOverflow_b CAN_bFreePdoRxOverflow_b CAN_bOverrunLifeTime_b CAN_byNodeAddress CAN_byState CAN1_IN communication error CAN2_IN communication error CAN3_IN communication error CAN bus off state Free Pdo Tx buffer overflow Free Pdo Rx overflow Overrun life time CAN node address C0350 CAN state C0359 C0358 A 1 CAN_bResetNode_b gt CAN_ResetNode FANCbReselNode lb CAN_bTxCan2Synchronized_b CAN2_OUT CAN_SYNC CAN_bTxCan3Synchronized_b CAN3_OUT CAN_SYNC Fig 13 10 System block CAN_Management EDBCSXA064 EN 2 0 Lenze 253 13 6 1 13 6 2 254 System modules CAN_Management node number 101 Inputs CAN Management Inputs_CAN_Management System variables Variable Data Signal type type CAN_bCe1CommeErrCanl ni_b CAN_bCe2CommeErrCanl ni_b CAN_bCe3CommeErrCanl ni_b CAN_bCe4BusOffState_ b BOOL binary CAN_bFreePdoTxBuffer Overflow_b CAN_bFreePdoRxOverflo w_b CAN_bOverrunLifeTime_ b CAN_byNodeAddress B CAN_byState yte Outputs_CAN_Management System variables Variable Data Signal type type CAN_bResetNode_b CAN_bTxCan2Synchroni zed b BOOL binary CAN_bTxCan3Synchroni zed_b Address IX1
105. corresponding process data object Code Possible settings No Name Lenze Selection appl C2353 1 XCAN addr sel 0 CAN node address C2350 2 XCAN addr sel 0 CAN node address C2350 3 XCAN addr sel 0 CAN node address C2350 0 C2350 auto 1 C2354 man 148 Lenze IMPORTANT Source for system bus node addresses of XCAN_IN XCAN_OUT XCAN1_IN XCAN1_OUT address XCAN2_IN XCAN2_OUT address XCAN3_IN XCAN3_OUT address Automatically determined by C2350 Determined by C2354 EDBCSXA064 EN 2 0 AIF interface X1 configuration Identifiers of the process data objects Display of the identifier set 00 2 Set in C2354 x the value which results in the desired identifier when added to 384 x Subcode of the corresponding process data object Code Possible settings IMPORTANT No Name Lenze Selection appl C2354 XCAN altern node addresses for XCAN_IN XCAN_OUT 1 XCAN addr 129 1 1 512 XCAN1_IN address 2 2 XCAN addr 1 XCAN1_OUT address 2 3 XCAN addr 257 XCAN2_IN address 2 4 XCAN addr 258 XCAN2_OUT address 2 5 XCAN addr 385 XCAN3_IN address 2 6 XCAN addr 386 XCAN3_OUT address 2 gt Ensure that the identifier of the telegram to be sent must correspond to the identifier of the process data object to be addressed gt Incase the addresses are assigned individually the identifier for the process data objects is made up as follows Identifier 384 value of C0354 x gt Thus identifiers can be assigned for
106. defined by Lenze Settings that have been adjusted before get lost during this process GDC you can find the parameters and codes to be set in the parameter menu under Load Save PLC Multitasking Parameter menu Text Diagnostic 000 PLC program start stop reset No function Short setup 000 Autostart PLC programm of ECS No PLC start with power on A Configuration user menu 000 Parameter load Load Lenze default 000 Time slice cyclic task PLC_PRG 13 ms 000 Task switch system task cyclic task PLC_PRG Time slice B Control operation mode Main functions if implemented Controller settings Motor feedback systems Monitoring Fig 6 9 GDC view Load Save PLC Multitasking Setting sequence 1 2 3 oc NO UU EDBCSXA064 EN 2 0 Stop the PLC program C2108 2 Load the Lenze setting C0002 0 Continue with 3 1 or 3 2 3 1 The 24 V supply voltage can be switched A Switch off and on again the 24 V supply voltage B Plug the XT keypad onto the AIF interface X1 3 2 The 24 V supply voltage cannot be switched A Plug the XT keypad onto the AIF interface X1 B Reset the PLC C2108 3 Select the communication parameters for the interfaces Automation interface X1 see CAN bus interface X4 X14 see M Continue with the basic settings starting from point 5 of the table on LO 94 Automatic start of the PLC program after mains connection C2104 1 Start PLC program
107. effected in the application program gt If for instance a TRIP is activated by the motor control the application program thereby is not stopped gt If in contrast a TRIP is activated as a result of a task overflow the application program of the PLC is stopped as well vY vV Vv Vy Y 298 Lenze EDBCSXA064 EN 2 0 Fig 13 20 EDBCSXA064 EN 2 0 System modules DCTRL_DriveControl node number 121 C0135 DCTRL_DriveControl DCTRL_wCAN1Ctrl 16 1eBit BIS QSP DCTRL_wAIF1Ctrl eni 4 013583 1 si DCTRL_bFail_b Bits DCTRL_bImp_b Bit8 gt 1 gt gt DISABLE C1358 DCTRL_bTrip_b Bito DCTRL_bQspin_b DCTRL_bRdy b DCTRL_bCInh1_b X6 SI1 l i gl sl ain DCTRL_bCwCCw_b dai DCTRL_bNActEq0_b DCTRL_bClInh2_b DCTRL_bCInh_b a ESD Sears DCTRL_bStat1_b DCTRL_bTripSet_b 135 810 gt 21 N DCTRL_bStat2_p DCTRL_bStat4_b C0878 3 DCTRL_bStat8_b Bit11 i BUT TRIP DCTRL_bWarn_b DCTRL_bTripReset_b C135 B11 gt RESET DCTRL_bMess_b v C0878 4 C0136 1 DOTRI Pinte DCTRL_bExternalFault_b DCTRL_wFaultNumber STAT DCTRL_bStateBO_b DCTRL_bStateB2_b DCTRL_bImp_b k d DCTRL_bStateB3_b DCTRL_bStateB4_b DCTRL_bStateB5_b DCTRL_bStateB14_b DCTRL_bNActEq0_b DCTRL
108. fieldbus module Lenze 235 13 236 System modules AIF1_IO_AutomationInterface node number 41 Inputs_AIF1 Fig 13 3 Inputs_AIF1 ieai AIF1_wDetriCtel AIF1_bCtrlBO_b AIF1_bCtrlB1_b AIF1_bCtrlB2_b AIF1_bCtrlQuickstop_b AIF1_bCtrlB4_b AIF1_bCtrlB5_b AIF1_bCtrlB6_b C0136 3 AIF1_bCtriB7_b AIF1_bCtrlDisable_b 16 binary signals AIF1_bCtrlCInhibit_b AIF1_bCtrlTripSet_b AIF1_bCtrlTripReset b AIF1_bCtrlB12_b AIF1_bCtrlB13_b AIF1_bCtrlB14_b AIF1_bCtrlB15_b 2 eve sj 16 Bit 2 D E AIF1_ninW1_a O Byte 2 C0856 1 Byte 3 Byte x1 4 ooj O O NI 99 AIF1_nInW2_a 16 Bit Byte 5 C0856 2 AIF1_bInBO_b gt C0855 1 Byte 16 binary AIF1_blnB15_b 6 signals AIF1_nInW3_a 16 Bit Byte 7 C0856 3 AIF1_bIn16_b cri gt C0855 2 Byte 16 binary AIF1_bIn31_b 8 signals 16 Bit LowWord AIF1_dninD1_p 16 Bit HighWord C0857 System block Inputs AIF1 Lenze ECSXA201 EDBCSXA064 EN 2 0 System variables Variable Data Signal Address type type AIF1_wDctrlCtrl Word IW41 0 AIF1_bCtrlBo_b IX41 0 0 AIF1_bCtrlB1_b IX41 0 1 AIF1_bCtrlB2_b IX41 0 2 AIF1_bCtrlQuickstop_b IX41 0 3 AIF1_bCtrlB4_b IX41 0 4 AIF1_bCtrlB5_b IX41
109. format see also the Operating Instructions for the 2102 fieldbus module DL Data length in bytes Decimal Number of decimal positions position LCM R W Access authorisation for LECOM Condition Writing condition Index dec hex DS DA 24573 5FFDh E 1 24572 5FFCh E 1 24571 5FFBh E 1 24570 5FFAh E 1 24569 5FF9h E 1 24566 5FF6h E 1 24564 5FF4h E 1 24558 5FEEh E 1 EDBCSXA064 EN 2 0 Entry CXXXX 24575 Lenze codes 5FFFh Lenze code m B8 B16 B32 FIX32 132 U16 U32 VS VD VH VS VO Ra Wa W CINH PLC run Data DT Format FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD Lenze Only needed for control via INTERBUS S PROFIBUS DP or system bus CAN Single variable one parameter element only Array variable several parameter elements 1 byte bit coded 2 bytes bit coded 4 bytes bit coded 32 bit value with sign decimal with four decimal positions 4 byte with sign 2 byte without sign 4 byte without sign ASCII string ASCII decimal format ASCII hexadecimal format String format Octett string format for data blocks Reading is always permitted Writing is always permitted Writing is bound to a condition Writing is only permitted when the controller is inhibited CINH Writing is only permitted when the program is running Access DL Decimal LCM R W Condition position 0 Ra W Ra Wa Ra Wa Ra Wa Ra W Ra Wa Ra Wa Ra Wa CINH CINH BB DS BH
110. from other manufacturers Viotor feedback system checking the direction of otation 124 operation witn servo motors trom other manutacturers operation with servo motors of other manufacturers adjusting current controller effecting rotor position adjustment Capacitance per unit length 81 entering motor data Optimising the drive behaviour O Resolver adjustment 136 Capacitor module ECSxK Connection 6 Belecting the function of the charging current limitation Carrying out basic settings wi DC 94 1 gt ZI 00 O gt ZI o O Zz O 00 00 7 1 Z gt O o zZ ZI O o o 1 a gt Db a ZI O ol O Capacitor module 14 setting oT Mains data 96 typical drive system Betting of the feedback system 10 setting the feedback system single turn multi turn 110 absolute value encoder 114 resolver as position and speed encoder 10 sin cos encoder without serial communication 104 Charging current limitation function selection 96 TTL sin cos encoder posi ion encoder resolver speed a filters Installation 51 1 U Q petting tne polarity of digital INnputs outputs 3 Betting the voltage threshold 9 Codes temporary Speed controller adjustment EDBCSXA064 EN 2 0 Lenze 435 a 5 a M x Communication cyclic node monitoring Node Guarding Configuring the AIF interface Communicat
111. g division by 0 Task processing takes longer than the monitoring time set A program with technology functions has been tried to be loaded to a controller not providing the corresponding units No PLC program loaded In the PLC program a library function has been called which is not supported by the controller e g because the corresponding hardware is missing When calling functions of the function library LenzeCamControl lib it was detected that there are no motion profiles CAM data loaded in the memory of the controller Overflow of the transmit request memory Too many receive telegrams The controller configured as CAN slave does not receive a Node Guarding telegram within the Node Life Time from the CAN master Lenze Remedy e Adjust the length of the task runtime e Adjust monitoring time e Determine the cause of time out by checking the task runtime at the task monitor e Swap out time critical program parts in a slower task Check calculations program code e Adjust the length of the task runtime e Adjust monitoring time e Determine the cause of time out by checking the task runtime at the task monitor e Swap out time critical program parts in a slower task e Use technology variant of the controller e Contact Lenze if necessary Load PLC program e Remove library function or ensure that the corresponding hardware is available e Contact Lenze if
112. gt Zi gt O 3 wv AN Management 254 D AN 6 n AN n AN nputs CANaux Management 279 A iS 0 configuring master frequency input signal 31 transfer function 31 configuring touch probe 31 function sequence 314 i oO typical drive system 51 5 H JA jiu Va oO O Hl ers 5 ables 5 1 U Q ej un Y 9 o 5 Jul o typical drive system earthing 5 nstallation electrical 50 Konnection Sate torque off terminals 7 Connection sate torque off 6 functional description 7 mportant notes 0 minimum wiring 7 multiple contact switches connection of safe torque off function check 6 mplementation echnical data Connection of capacitor module control connections 64 enment o e plug connectors 66 control terminals n D oO n N fe a e Dv 00 O UU ui feedback system D Q 00 00 O esolver installation of a CE typical drive system 51 structure 51 rilters 5 i Installation o typical drive system ear 5 ng power connections 54 onnection of external brake resistor 59 DC bus connection 54 nternal brake resistor connection 58 60 motor holding brake connection 54 plug connector assignment 54 power terminals 3 O 9 a e 5 5 D n e 5 vi PS 2 motor holding Drake connection 6 specification o e cables moto
113. have an effect on the current parameters in the main memory You must store your settings as a parameter set to prevent that they will get 7 3 4 Changing and saving parameters parameter setting e g C0517 user menu Stop lost when switching the mains Step Keys Select menu 0009 2 Change to code level gt 3 Select code or subcode o0 4 Change to parameter level PRG 5 If SHPRG is displayed inhibit controller 6 Change parameter A _ 00 00 o a 7 Accept changed parameter Display SHPRG or SHPRG Display gt If necessary enable controller RUN Change to code level PRG PRG 10 Change further parameters 11 Save changed parameters 0000 PRG Select parameter set in which the parameters are to be saved permanently D 12 Change to code level PRG PRG 142 Lenze Action Select the desired menu with arrow keys Display of first code in the menu Display of the current parameter value The drive is coasting Move cursor under the digit to be changed Change digit Change digit quickly Confirm change to accept parameter Display OK The parameter was accepted immediately The drive should be running again Display of operating level Display of the code with changed parameters Restart the loop at step 1 or step 3 Select Code C0003 PAR SAVE in the menu Load Store Change to parameter level Display 0 and Ready Save as parameter set 1 gt set 1 Save PS1 When
114. hd hd hd Gi F1 F3 F4 z Mi im SFP s 3 LE n Ki FA Li Le Ls PE BRo BR1 ug bud uc PE ug Ug ug ua PE PE ug UG uc uc Pe PE 3 x21 x22 X23 X23 Rb ECSEE 7 T ECSxS P M A ECSxS P M A di ECSDE ai ha di a B Il X25 X24 x7 U ECSXA011 Fig 5 3 Interconnected power system with internal brake resistor A HF shield termination by large surface connection to functional earth see Mounting Instructions for ECSZS000X0B shield mounting kit f Twisted cables K1 Mains contactor F1 F4 Fuse Z1 Mains choke mains filter optional Rb Brake resistor A 58 System cable feedback Lenze CZ Electrical installation 5 Power terminals Connection plans Minimum wiring with external brake resistor Due to its design the ECSCE power supply module is not equipped with an integrated brake resistor Therefore install an ERBM ERBS or ERBD brake resistor gt Connect the brake resistor to X22 BR1 and X22 UG gt Connect a temperature sensor NC contact to X6 T1 and X6 T2 K1
115. identifier contains the node address of the drive besides the basic identifier Identifier COB ID basic identifier adjustable node address node ID The basic identifier is preset with the following values Lenze alii Object NMT Sync PDO1 Process data channel 1 PDO2 Process data channel 2 PDO3 Process data channel 3 SDO1 Parameter data channel 1 SDO2 Parameter data channel 2 Node guarding Note The 9 2 1 Setting of CAN node address and baud rate chapter contains RPDO1 TPDO1 RPDO2 TPDO2 RPDO3 TPDO3 information on gt Setting of the node address M I61 gt Individual addressing CA 164 EDBCSXA064 EN 2 0 XCAN1_IN CAN1_IN CANaux1_IN XCAN1_OUT CAN1_OUT CANaux1_OUT XCAN2_IN CAN2_IN CANaux2_IN XCAN2_OUT CAN2_OUT CANaux2_OUT XCAN3_IN CAN3_IN CANaux3_IN XCAN3_OUT CAN3_OUT CANaux3_OUT Lenze Appendix General information about the system bus CAN Addressing of the parameter and process data objects Direction to the from the ECS module ECS module Basic identifier dec 128 512 384 640 641 768 769 1536 1408 1600 1472 1792 hex 80 200 180 280 281 300 301 600 580 640 5C0 700 427 14 8 14 8 1 14 8 2 14 8 3 14 8 4 428 Appendix Overview of accessories Overview of accessories The accessories are not included in the scope of supply Lenze s basic devices
116. instant from one signal amplitude to another Jitters especially occur at high frequencies and may cause data losses Code Possible settings IMPORTANT No Designation Lenze Selection Appl C1122 Sync phase 0 460 Synchronisation phase D 259 0 000 0 001 ms 6 500 Correction value of phase controller The CAN sync correction increment C0363 indicates the increment used to extend or shorten the control cycle e g to shift the start time Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0363 Sync correct 1 CAN sync correction increment 259 1 0 2 us ms 2 0 4 us ms 3 0 6 us ms 4 0 8 us ms 5 1 0 us ms EDBCSXA064 EN 2 0 Lenze 259 System modules CAN_Synchronization node number 102 Monitoring of the synchronisation time slot The variable CAN_bSyncInsideWindow_b can be used to monitor the synchronisation Sync window gt Sync signal Sync cycle Sync cycle l Fig 13 12 Time slot for the LOW HIGH edges of the sync signal Note A jitter Q 259 up to 200 us on the LOW HIGH edges of the sync signal i permissible The amount of the jitter has an impact on the parameterisation of ECSXA474 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C1123 Sync window 0 010 Synchronisation window DM 260 0 000 0 001 ms 6 500 CAN sync response Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0366
117. is avoided Furthermore for instance additional fans can be activated generating an unacceptable noise load when switched to continuous operation Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0121 OH7 limit 120 Threshold for motor temperature CO T93 monitoring 45 1 C 150 Motor temperature gt C0121 gt fault message OH7 C0584 C0583 MONIT OH3 0 Configuration of motor LO 193 temperature monitoring via resolver input X7 or encoder input X8 0 TRIP 2 Warning 3 Off 194 Lenze EDBCSXA064 EN 2 0 Monitoring functions 11 Configuring monitoring functions Motor temperature OH3 OH7 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0584 MONIT OH7 2 Configuration of motor CO 193 temperature monitoring via resolver input X7 or encoder input X8 Set threshold in C0121 0 TRIP 2 Warning 3 Off EDBCSXA064 EN 2 0 Lenze 195 Monitoring functions Configuring monitoring functions Heatsink temperature OH OH4 11 2 7 Heatsink temperature OH OH4 Error message Monitoring function System variable Possible response TRIP Message Warning Off 050 OH Heatsink temperature MCTRL_bKuehlGreaterSetValue e fixed 90 C _b 054 OH4 Heatsink temperature MCTRL_bKuehlGreaterC0122_b Vv v adjustable C0122 e Default setting v Setting possible The heatsink temperature of the controller can be monitored with two temperature thresholds Adjustable temperature threshold O
118. length from Tab 5 1 that is to be realised the use of repeaters is required Repeaters divide the total cable length into segments Example Selection help Specifications e Cable cross section 0 5 mm according to cable specifications BI e Number of nodes 63 Repeater Lenze repeater type 2176 cable reduction 30 m For the max number of nodes 63 the following cable lengths number of repeaters from the specifications must be observed Baud rate kbit s 50 120 250 500 1000 Max cable length m 1500 630 290 120 25 Segment cable length m 310 310 290 120 25 Number of repeaters 5 2 EDBCSXA064 EN 2 0 Lenze 83 84 Electrical installation Wiring of the system bus CAN Check repeater application Specifications e Baud rate 125 kbit s e Cable cross section 0 5 mm2 e Number of nodes 28 e Cable length 450m Test steps Cable length See 1 Total cable length at 125 kbit s 630m Tab 5 71 2 segment cable length for 28 nodes and a cable cross section of 360 m 0 5 mm4 3 Comparison The value in point 2 is smaller than the cable length of 450 m to be implemented Conclusion e Without the use of repeaters the cable length of 450 m that is to be implemented is not possible e After 360 m point 2 a repeater has to be used Result e The Lenze repeater type 2176 cable reduction 30 m is used e Calculation of the max cable length First segment 360 Second segment 360 m according t
119. m install an axis module or a capacitor module directly at the power supply module gt Design the Uc cables twisted and as short as possible Ensure short circuit proof routing gt Cable length module module gt 30 cm install shielded U cables Cable cross sections Cable length 1 Wire end ferrule Without wire end ferrule se Om With wire end ferrule Without wire end ferrule gt 20m With wire end ferrule Use pin end connectors for wiring 1 Respective cable length from module to module Fuses Cable cross Tightening torque Stripping section length 6 mm AWG 10 1 2 1 5 Nm r 10 mm2 10 6 13 3 Ib in AWG 8 gt When using ECSxE power supply modules which are fused on the supply side the DC bus supply need not be fused gt When ECS axis modules are supplied by devices of the 82xx or 93xx series which can supply a continuous current gt 40 A use the following fuses between the supplying device and the ECS devices Fuse Support Value A Lenze type Lenze type 50 EFSGROSOOANIN EFH20007 Warnings gt Use UL approved cables fuses and fuse holders only gt UL fuse Voltage 500 600 V Tripping characteristic H K5 or CC Lenze EDBCSXA064 EN 2 0 Electrical installation Power terminals Connection to the DC bus Uc Uc Replacing defective fuses AN Danger EDBCSXA064 EN 2 0 Hazardous electrical voltage Components can carr
120. messages Possible settings response Available in e Lenze setting v Setting possible Meaning Code TRIP Messa Warni FAIL Q Off Drive Servo ECSxA ge ng SP PLC PLC Floating point error REAL in System task 2 v v v v v Cyclic task PLC_PRG ID 1 Task with ID 2 Task with ID 3 Task with ID 4 Task with ID 5 Task with ID 6 Task with ID 7 Task with ID 8 Task with ID 9 Not enough technology units v v v available in the PLC No PLC program loaded e v v v In the PLC program a library v v v function was called which is not supported Motion profiles cam data are v v v not available Free CAN objects Overflow of transmit request C0608 e v vy v3 v v v v memory Too many receive telegrams C0609 e v v v Application memory FLASH Access not possible 1 e v FLASH memory damaged or not available Checksum error when loading data into the FLASH memory Error when downloading data into the FLASH memory e g time out Life guarding event The PLC C0384 e v vy v3 Vv v v v as a CAN slave has not received any node guarding telegram within the node lifetime of the CAN master x 0 TRIP 1 Message 2 Warning 3 FAIL OSP 1 Completely deenergise device after error correction 2 Can be set in DDS under Project Exception handling 3 Only for 9300 Servo PLC EDBCSXA064 EN 2 0 Lenze 221 12 3 2 Troubleshooting and fault elimination System error messages Causes and remedies Causes and re
121. necessary e Ensure that the valid cam data has been attached to the project via the DDS CAM support e Reload the PLC program into the controller Possibly the command Online Reset origin has been executed in DDS e Reduce the number of transmit requests e Prolong the cycle time Reduce the number of telegrams on the system bus CAN e Check wiring at X4 e Check CAN configuration e Make sure that Node Guarding has been activated in the CAN master e Adapt Node Life Time C0382 to the setting in the CAN master EDBCSXA064 EN 2 0 Troubleshooting and fault elimination Resetting system error messages 12 3 3 Resetting system error messages Reaction Measures to reset the fault message TRIP FAIL OSP Note If a TRIP FAIL OSP source is still active the pending TRIP FAIL OSP cannot be reset The TRIP FAIL OSP can be reset by pressing gt on keypad XT EMZ9371 BC Then press to re enable the controller Set code C0043 0 Control word C0135 bit 11 Control word AIF Control word system bus CAN MotionBus CAN at ECSxS P M After the reset of the TRIP FAIL OSP the drive remains at standstill Message Danger The fault message is reset automatically after the fault has been eliminated and the drive restarts automatically Warning After the fault has been eliminated the fault message is reset automatically EDBCSXA064 EN 2 0 Lenze 229 13 System modules 13 System blocks The foll
122. number subcode number and current value Active fault message or additional status message Current value in of the status display defined under C0004 must be pressed to leave the operation level EDBCSXA064 EN 2 0 Lenze 139 Parameter setting Parameter setting with the XT EMZ9371BC keypad Description of the display elements 7 3 2 Description of the display elements A NF BI ee We Cc DI I Fig 7 2 Keypad front view A Status displays Display Meaning ROY Ready for operation IMP Pulse inhibit active Adjusted current limitation is exceeded in motor mode or generator mode Speed controller 1 within its limitation Active fault B Parameter acceptance Display Meaning gt Parameter is accepted immediately SHPRG The parameter must be confirmed with PRG SHPRG When the controller is inhibited the parameter must be confirmed with None Display parameters cl Active level Display Meaning Menu Active menu level Code Active code level Para Active parameter level None Active operating level D Short text Display Meaning Alphanumerical Contents of the menus meaning of the codes and parameters Display of C0004 in and the active fault in the operating level 140 Lenze 9371BC002 Explanation Power outputs inhibited e Drive is torque controlled e Only active for operat
123. one year 70 Lenze EDBCSXA064 EN 2 0 Electrical installation 5 Control terminals Safe torque off 5 4 3 2 Implementation In the axis module the safe torque off connection is implemented with optocouplers The optocouplers isolate the following areas electrically from each other gt The digital inputs and outputs input X6 SI1 controller enable inhibit input X6 SI2 pulse enable inhibit brake output X6 B B output X6 SO safe torque off active inactive gt The circuit for the internal control gt The final power stage O I i U LAS v 36 w gt l x Az z Y I Z I I i ECSXA100 Fig 5 12 Implementation of the safe torque off function Area 1 Inputs and outputs Area 2 Circuit for the internal control Area 3 Power output stage Stop Use insulated wire end ferrules when wiring the safe torque off circuits to X6 EDBCSXA064 EN 2 0 Lenze 71 5 4 3 3 5 4 3 4 72 Electrical installation Control terminals Safe torque off Functional description The safe torque off state can be initiated any time via the input terminals X6 SI1 controller enable inhibit and X6 SI2 pulse enable inhibit For this purpose a LOW level has to be applied at both terminals gt X6 SI1 LOW controller inhibited The inverter is inhibited via
124. one revolution C0095 is reset to 0 The rotor zero phase is stored under C0058 For absolute value encoders Hiperface single turn multi turn at X8 C0058 is always 0 AN Danger Uncontrolled drive movements after an Sd7 fault with absolute value encoders If absolute value encoders are used and the rotor position adjustment is completed with the fault message Sd7 222 the rotor position could not be assigned to the feedback system In this case the drive may carry out uncontrolled movements after controller enable Possible consequences gt Death or severe injuries gt The machine drive may be destroyed or damaged Protective measures gt Repeat rotor position adjustment starting with step 1 gt Check wiring and interference immunity of the encoder at X8 Inhibit controller 120 Press lt F9 gt key in GDC Green LED is blinking red LED is off Save the data determined by the controller with C0003 1 Lv lt Tip The values for C0058 and C0095 are only displayed in GDC if you place the bar cursor on them and read back the code using function key lt F6 gt Lenze CA Commissioning 6 Operation with servo motors from other manufacturers Effecting rotor position adjustment Code Possible settings No Designation Lenze Selection Appl C0058 Rotor diff 90 0 180 0 C0095 Rotor pos adj 0 0 Inactive 1 Active EDBCSXA064 EN 2 0 0 1 Lenze
125. or H Fuses 400 480 V devices gt Alternate Circuit breakers either inverse time instantaneous trip types or combination motor controller type E may be used in lieu of above fuses when it is shown that the let through energy i2t and peak let through current Ip of the inverse time current limiting circuit breaker will be less than that of the non semiconductor type K5 fuses with which the drive has been tested gt Alternate An inverse time circuit breaker may be used sized upon the input rating of the drive multiplied by 300 Markings provided for the inverter units gt The inverter units shall be used with supply units which are provided with overvoltage devices or systems in accordance with UL840 2nd ed Table 5 1 gt The devices are provided with integral overload and integral thermal protection for the motor gt The devices are not provided with overspeed protection Terminal tightening torque of Ib in Nm Terminal Ib in Nm X 21 X 22 X 23 X 24 10 6 13 3 1 2 1 5 X4 X6 X14 1 95 2 2 0 22 0 25 X 25 4 4 7 1 0 5 0 8 Wiring diagram AWG Terminal AWG X 21 X 22 X 23 X 24 12 8 X4 X6 X14 28 16 X25 24 12 30 Lenze EDBCSXA064 EN 2 0 2 4 Definition of notes used Safety instructions 2 Definition of notes used The following pictographs and signal words are used in this documentation to indicate dangers and important information Safety instructions Struct
126. possible with operating system 7 0 or higher SinCos absolute value encoder with Hiperface interface multi turn Selections 407 408 409 are only possible with operating system 7 0 or higher Number of increments of the LO 309 encoder Ca 104 amg Sets C0419 0 common if the value is altered 109 Commissioning Setting of the feedback system for position and speed control Absolute value encoder as position and speed encoder Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0421 Encoder volt 0 Encoder voltage 309 0 5 0V Sets C0419 0 common if the amog 1 56V value is altered 4 110 2 6 3 V 3 6 9 V 4 7 5 V 5 8 1 V C0427 Enc signal 0 Function of the master frequency LI 309 input signals on X8 DFIN 104 0 2 phase CA 110 1 A speed B direction 2 A or B speed or direction C0491 X8 in out 0 Function of X8 309 0 X8 is input amoa 1 X8 is output Aa 6 7 4 Absolute value encoder as position and speed encoder AN Danger For operating systems up to and including version 7 0 Uncontrolled movements of the drive possible when absolute value encoders are used If an absolute value encoder is disconnected from the axis module during operation a OH3 TRIP fault no 0053 occurs If the absolute value encoder now is connected to X8 again and a TRIP RESET is carried out the drive may start up in an uncontrolled manner with a high speed and a high torque An SD
127. quick stop OSP is activated when a CEO fault occurs A communication error activates the set CEO response Monitoring is switched off EDBCSXA064 EN 2 0 Code No Designation C2121 AIF State EDBCSXA064 EN 2 0 Possible settings Lenze Appl Selection Bit 0 Bit 1 Bit2 Bit 3 Bit4 Bit5 Bit 6 Bit 7 System modules AIF_IO_Management node number 161 Inputs_AIF_Management IMPORTANT AIF CAN Status e For detailed information see description of the corresponding fieldbus module Read only 1 255 Binary interpretation reflects bit states XCAN1_IN monitoring time XCAN2_IN monitoring time XCAN3_IN monitoring time XCAN bus off XCAN operational XCAN pre operational XCAN warning Assigned internally Lenze 13 233 System modules AIF_IO_ Management node number 161 Outputs_AIF_Management This SB serves to transfer commands and messages to a fieldbus module connected to the For this purpose a control word is available via C2120 The commands are preselected as numbers Some of the command numbers present a universally valid character for all fieldbus modules others can be specifically applied to the different components Outputs_AIF_Management C2120 Display Display code format C2120 IMPORTANT AIF CAN control word Binary interpretation reflects bit 255 states ECSXA243 Notes 234 Note The MS
128. s view RPDOx process data object received by a node TPDOx process data object sent by a node Available process data objects The following process data objects PDOs are available for the ECS modules via the interfaces X1 X4 and X14 Lenze CZ Interface PDOs RPDO to ECS module TPDO from ECS module XCAN1_IN XCAN2_IN XCAN3_IN XCAN1_OUT XCAN2_OUT XCAN3_OUT CAN1_IN CAN2_IN CAN3_IN CAN1_OUT CAN2_OUT CAN3_OUT CANaux1_IN CANaux2_IN CANaux3_IN CANaux1_OUT CANaux2_OUT CANaux3_OUT RPDO X1 Automation interface AIF TPDO RPDO X4 ECSxS P M MotionBus CAN ECSxA E System bus CAN TPDO RPDO X14 System bus CAN Interface is not available for ECSxE TPDO Note Appendix General information about the system bus CAN Process data transfer in ECS module ECSxE ECSxS ECSxP ECSxM ECSxA v ALSS SSS SSES S S DS s a S S S aS KI S S In case of the ECSxE power supply module the PDOs CAN1_IN OUT and CAN3_IN OUT cannot be used simultaneously The PDOs to be used are selected via C0360 v Re STS NNT SSNS SEA a a a S gt The process data objects are integrated into the ECSxA axis modules in the form of system blocks 4 230 gt Inthe system blocks the user data is converted to corresponding signal types for further use 14 7 3 2 Structure of the process data The process data telegrams have a maximum user data length of eight bytes each Process data input telegram RP
129. serve to transmit simple binary signals e g states of digital input terminals or complete values in 16 and 32 bits e g analog signals 420 Lenze EDBCSXA064 EN 2 0 Appendix 14 General information about the system bus CAN Parameter data transfer 14 7 4 Parameter data transfer TY SDO1 Systembus CAN DOO0DO fofefefefese X4 ofofo ECSXA220 Fig 14 12 Parameter data channels for parameterising ECS Parameters gt are values which are stored under codes in the Lenze controllers gt are set e g during initial commissioning or while changing materials in a machine gt are transmitted with low priority Parameter data are transmitted as SDOs Service Data Objects via the system bus CAN and acknowledged by the receiver The SDOs enable the writing and reading access to the object directory The CAN bus interfaces X4 and X14 have two separated parameter data channels each which enable the simultaneous connection of different devices for param
130. setpoint At MCTRL_bNMSwt_b TRUE the speed control is active gt MCTRL nMAdd_a acts as a torque setpoint gt The speed controllers carry out a monitoring function gt The torque setpoint is defined in of the maximum possible torque Negative values cause a torque in CCW rotation of the motor Positive values cause a torque in CW rotation of the motor gt Set the maximum possible torque via C0057 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0057 MAX TORQUE Maximum possible torque of the LI 333 drive configuration Dependent on C0022 C0081 C0087 C0088 Read only 0 0 0 1 Nm 500 0 Additional torque setpoint At MCTRL_bNMSwt_b FALSE the speed control is active gt MCTRL_nMAdd_a additionally acts on the output of the n controller gt The limits specified by the torque limitation MCTRL_nLoMLim_a and MCTRL_nHiMLim_a thereby cannot be exceeded gt The additional torque setpoint can for instance be used for friction compensation or acceleration feed forward dv dt EDBCSXA064 EN 2 0 Lenze 333 System modules MCTRL_MotorControl node number 131 Torque limitation 13 20 4 Torque limitation You can set an external torque limitation via MCTRL_nLoMLim_a and MCTRL_nHiMLim_a Thereby you can define different torques for the quadrants drive and brake gt MCTRL nHiMLim_a is the upper torque limit in of the maximum torque possible gt MCTRL_ nLoMLim
131. standstill LO 69 1 DIP switch 161 e CAN CANaux node address e CAN baud rate X7 Resolver connection mg X8 Encoder connection 87 e Incremental encoder TTL encoder e Sin cos encoder X25 Connection of brake control 61 X24 Motor connection La 6 Status displays LED Operating state Check test Red Green Off On Controller enabled no fault Off Blinking Controller inhibited CINH switch on inhibit Code C0183 Blinking Off Trouble fault TRIP is active Code C0168 1 Blinking On Warning FAIL OSP is active Code C0168 1 4 Lenze EDBCSXA064 EN 2 0 Contents i ace and general Information EDBCSXA064 EN 2 0 Lenze 5 Contents ectrical INStallatIiON 0000 0000000000000 0000000000 5 3 Digital frequency input output encoder simulation 90 6 7 3 sin cos encoder as position encoder and resolver as speed encoder 107 6 Lenze EDBCSXA064 EN 2 0 Contents i EDBCSXA064 EN 2 0 Lenze 7 I Contents 8 Lenze EDBCSXA064 EN 2 0 Contents i 11 2 5 Earth fault monitoring OC2 11 2 6 Motor temperature 0193 017 11 2 7 Heatsink temperature OH OH4 11 2 8 emperature Inside the controller OH1 OH5 21 2 9 Thermal sensor function monitoring H10 H11 11 2 10 Current load of controller I x t monitoring OC5 OC7 11 2 11 Current load of motor 12 x t monitoring OC6 OC8 11 2 12 DC bus voltage OU LU 11 2 13 Voltage supply of the control electronics U15 1 2 14 Motor phases LP1
132. sync telegrams to be received to the cycle time of the master Set optimum size for the time slot e Ifthe sync signal jitters heavily 259 increase time slo Monitoring of the synchronisation e If CANSync InsideWindow TRUE enable the controller 261 System modules CAN_Synchronization node number 102 Axis synchronisation via terminal X6 DI1 13 7 2 Axis synchronisation via terminal X6 DI1 The transmission paths for the sync signal and the process signals are separated gt The process signals are connected via a freely selectable input channel e g AIF interface digital frequency input gt The sync signal is injected via the digital input X6 DI1 Application examples gt Entry of cyclic synchronised position setpoint information for multi axis applications via other bus systems e g INTERBUS gt Synchronisation of the internal processing cycles to superimposed process controls Note When synchronising via terminal ensure that in addition to the SB CAN_ Synchronization the SB DIGITAL_IO must also be integrated in the control configuration of the Drive PLC Developer Studio DDS Please observe the following sequence for commissioning Site All devices Slaves Slaves Slaves Master Slaves 262 Step 1 Commission the controller and the CAN bus 2 Inhibit the controller Press the lt F9 gt key in GDC 3 Connect CANSync InsideWindow w
133. system 7 0 or higher Number of increments of the encoder BBE EEE Sets C0419 0 common if the value is altered EDBCSXA064 EN 2 0 Code No Designation C0421 Encoder volt C0426 DIS In C0427 Enc signal C0428 DFIN TP sel C0429 TP1 delay C0431 DFIN TP Edge C0491 X8 in out EDBCSXA064 EN 2 0 Possible settings Lenze Appl 0 Selection U Asa U NBEO 32767 32767 w N e O jo System modules DFIN_IO_DigitalFrequency node number 21 5 0V 5 6V 6 3 V 6 9 V 7 5V 8 1V 1 rpm 32767 2 phase A speed B direction A or B speed or direction Zero pulse of position encoder C0490 Touch probe input TP1 Zero pulse of digital frequency input 1 inc 32767 Rising edge TP1 Falling edge TP1 Rising and falling edge TP1 Switched off X8 is input X8 is output Lenze Inputs_DFIN IMPORTANT Encoder voltage 309 Sets C0419 0 common if the amog value is altered agg Signal at DFIN input 309 Only display Function of the master frequency LI 309 input signals on X8 DFIN 104 ama DFIN touch probe signal source 313 apog X7 X8 X6 DI1 X8 DFIN dead time compensation B13 TP1 D11 DO 309 DFIN touch probe TP1 edge D 313 for touch probe via digital input X6 DI1 C0428 1 Function of X8 apog 104 ama 311 13 16 1 1 312 System modules DFIN_IO_DigitalFrequency node number 21 Inputs_DFIN Config
134. task time for process data object transmission 0 event controlled transmission XCAN delay time When the Operational NMT status is reached after Pre operational the CANdelay delay time is started After the delay time the PDOs XCAN2_OUT and XCAN3_OUT are sent for the first time Changes of the CAN baud rate the node addresses and the identifiers are only accepted after a node has been reset A reset node can be executed by gt New mains connection gt Reset node command via the bus system by the network management NMT EDBCSXA064 EN 2 0 Lenze 153 8 8 8 8 1 Code No C2357 Code No U B WN E C2382 154 Oo uP WN E AIF interface X1 configuration Monitoring Time monitoring for XCAN1_IN XCAN3_IN Monitoring Time monitoring for XCAN1_IN XCAN3_IN For the inputs of the process data objects XCAN1_IN be configured via C2357 Possible settings 65000 XCAN3_IN a time monitoring can IMPORTANT Monitoring time for XCAN process data input objects XCAN1_IN monitoring time XCAN2_IN monitoring time XCAN3_IN monitoring time Bus off AIF monitoring time can only be set if C2357 6 0 Sync monitoring time can only be set if C2357 5 0 The response if no telegram has been received within the defined monitoring time can be Name Lenze Selection appl CEmonittime 3000 1 1 ms CE monit time 3000 CE monit time 3000 CE monit time 3000 CE monit
135. the SB and its most important features Graph including all corresponding system variables e Input variables Output variables Table giving information about input and output variables Identifier Data type Signal type Address Display code Display format Information Detailed functional description of the SB Code description safe standstill CAN bus interface X4 CAN PDO1 sync based CAN bus interface X14 CAN AUX gt Supported feedback systems Resolver with and without position storage Encoder incremental encoder TTL encoder sin cos encoder gt Commissioning and parameter setting with the Lenze parameter setting and operating program Global Drive Control GDC EDBCSXA064 EN 2 0 Lenze 15 Preface and general information Scope of supply Terminology used 1 3 Scope of supply The scope of supply of the ECSxA axis module includes gt Standard device gt Accessory kit with fixings according to the design E panel mounted device D push through technique C cold plate technique gt Mounting Instructions Drilling jig Functional earth conductor only ECSDA Accessories The appendix includes information on the following accessories C4 428 gt Connector sets for power supply modules ECSZE000X0B capacitor modules ECSZKOOOXOB axis modules ECSZA000X0B ECSZS000X0B001 shield mounting kit EMC
136. the following type designations gt MCA series asynchronous motor high speeds by means of wide field weakening range gt MCS series synchronous motor for high dynamic applications gt MDxMA series asynchronous motor cost effective Lenze alii pa 5 a M x 5 der Hipertace single turn multi turn Ble e c M lt S ce M oO A q wn position and speed encoder 110 Access absolute addresses Mla system variables DI 4 2 capacitor modules 428 O o M o n n o n VI 00 le communication modules 429 connector set 428 requency cables 429 requency distributor 429 SIA eis eis wj v 3 v v n e M v 2 4 3 5 n E un un 2 motors 4 z ules 429 modules 428 J TO O OI fF s o DID 2 PIE clk 5 sl el S 5 1 U Q D 00 system bus components 429 U Actual speed value 340 Additional torque setpoint Ada O Addresses absolute Addressing isplay O e resulting Identitiers LOO 4 data objects 160 ects 426 Process data objects 16 5 5 9 x Dv Ila la NR v 3 3 n om o DID la e i Dv O I data objects 426 Adjusting current controller Adjusting the current controlier calculating motor values e electrica Adjustment of field controller field weakening controller AIF Interface configuration 14 DI O
137. the microcontroller system gt X6 SI2 LOW pulses inhibited The supply voltage for the optocouplers of the power section driver is switched off i e the inverter can no longer be enabled and controlled via the microcontroller system The input signal at X6 SI2 to the hardware is additionally directed to the microcontroller system and is evaluated for the state control there For the external further processing a HIGH level is output for the state safe torque off active at the digital output X6 SO The control of the inverter thus is prevented by two different methods that are independent of each other Therefore an unexpected start up by the motor is avoided Technical data Terminal assignment Plug connector X6 Terminal Function X6 S24 X6 SO X6 SI1 X6 512 Low voltage supply Safe torque off feedback output Input 1 controller enable inhibit Input 2 pulse enable inhibit Level LOW HIGH LOW HIGH LOW HIGH During operation Safe torque off active Controller inhibited Controller enabled Pulses for power section are inhibited Pulses for power section are enabled Cable cross sections and screw tightening torques Cable type Wire end ferrule with insulated wire end flexible ferrule screw connection without wire end ferrule with insulated wire end flexible ferrule spring connection without wire end ferrule Cable cross section 0 25 1 5 mm AWG 22 16
138. therefore be transferred from the PLC program as gt binary information 1 bit gt status word quasi analog value 16 bit gt angle information 32 bit Byte Variable 1 bit 1 2 3 4 5 6 CAN1_bFDOO_b CAN1_bFDO15_b 7 8 CAN1_bFDO16_b CAN1_bFDO31_b Note Variable 16 bit CAN1_wDctrlStat CAN1_ nOutW1_a CAN1_nOutW2_a CAN1_nOutW3_a Variable 32 bit CAN1 dnOutD1_p Avoid simultaneous overwriting via different variable types to ensure data consistency E g for overwriting bytes 5 and 6 either only use the variable CAN1_dnOutD1_p only the variable CAN1_nOutW2_a or only the variables CAN1_bFDOO_b CAN1_bFDO15_b Lenze EDBCSXA064 EN 2 0 System modules 13 CAN2_IO node number 32 13 9 CAN2_IO node number 32 This SB serves to transmit event or time controlled process data via the CAN bus interface X14 Async telegram is not required gt The transmission mode event or time controlled is set via C0356 gt The monitoring time is set via C0357 Lenze setting 3000 ms CAN2_IO Byte Byte 1 1 CAN2_nOutW1_a WORD n A WORD CAN2_ninW1_a gt E Den gt
139. value for the absolute and relative setpoint selection for the acceleration and deceleration times For parameter setting via interface greater changes in one step should only be made when the controller is inhibited CINH 13 20 6 Speed setpoint limitation A speed setpoint limitation can be set via C0909 gt You define the speed setpoint via MCTRL_nNSet_a in of nmax gt Nmax is selected via C0011 LQ 335 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0909 speed limit 1 Limitation of direction of D 335 rotation for speed setpoint 1 175 175 2 0 175 3 175 0 EDBCSXA064 EN 2 0 Lenze 335 System modules MCTRL_MotorControl node number 131 Torque control with speed limitation 13 20 7 Torque control with speed limitation Set MCTRL_bNMSwt_b TRUE in order to activate this function gt For the speed limitation a second speed controller auxiliary speed controller is connected gt MCTRL_nMAdd_aactsasa bipolar torque setpoint gt The speed controller 1 is used to make up the upper speed limit The upper speed limit is specified by MCTRL_nNSet_a in of nmax positive sign for clockwise sense of rotation gt The speed controller 2 auxiliary speed controller is used to make up the lower speed limit The lower speed limit is specified by MCTRL_nNStartLim_a in of Nmax negative sign for anticlockwise sense of rotation gt Nmax is selected via C0011
140. voltage or a master current gt Set jumper bar X3 according to setting in C0034 Stop Do not plug the jumper on 3 4 The axis module cannot be initialised like this Jumper bar X3 Setting Measuring range 5 o o 6 C0034 0 3 4 5 6 open e Level 10 10 V sd Jumper on 1 2 Parking position e Resolution 5 mV 11 Bit sign 1 m 2 e Scaling 10 V 16384 100 C0034 1 Level 4 20 mA e Resolution 20 pA 10 bits without sign 5 mn 6 e Scaling 3le ald 4mA 0 0 i 5 6 closed 20 mA 16384 100 O O C0034 2 Level 20 20mA Resolution 20 pA 10 bits sign e Scaling 20 mA 16384 100 68 Lenze EDBCSXA064 EN 2 0 Electrical installation 5 Control terminals Safe torque off 5 4 3 Safe torque off The axis modules support the safety function safe torque off formerly safe standstill protection against unexpected start up according to the requirements of control category 3 of EN ISO 13849 For this purpose the axis modules are equipped with two independent safety routes Control category 3 is reached when the output signal at X6 SO is checked as well EDBCSXA064 EN 2 0 Lenze 69 5 Electrical installation Control terminals Safe torque off 5 4 3 1 Important notes Installation commissioning gt The safe torque off function must only be installed and commissioned by qualified personnel gt All control components switches relays PLC and the cont
141. 0 0 QSP not active QSP active Reset fault message TRIP RESET Active fault message 0 01 1 rpm 1 V 1 V 0 1 A 0 1 A 1 0 1 Nm 0 1 1 Lenze 100 00 30000 800 900 500 0 500 0 100 500 0 179 9 200 Appendix Code list IMPORTANT Quick stop status QSP C1 303 Only display 303 Reset active fault message TRIP RESET Speed setpoint on speed controller input MCTRL_nNSetIn_a Only display Actual speed MCTRL_nNAct_a Only display Actual motor voltage Only display DC bus voltage Only display Actual motor current Read only Instantaneous phase current Read only Instantaneous current in U phase Instantaneous current in V phase Instantaneous current in W phase Instantaneous theoretical star point current Torque setpoint on speed controller output MCTRL_nMSetIn_a Only display Maximum possible torque of the 00 333 drive configuration Dependent on C0022 C0081 C0087 C0088 Read only Rotor displacement angle for 127 synchronous motors C0095 Pole pair number of the motor Only display 361 Code No C0060 C0061 C0062 C0063 C0064 C0065 C0066 C0067 C0070 C0071 C0072 C0074 362 Appendix Code list Designation Rotor pos Heatsink temp Interior temp Mot temp Utilization U24 ext Motor load Act trip Vp speedCTRL Tn speedCTRL Td speedCTRL Dynamics Possible settings
142. 0 0 1 Q 30000 0 Char OHM 2225 SW ID LECOM SW date LECOM Time slice 13 6 1 ms 26 Task switch 0 0 Time slice Time slice end of PLC_PRG 2 Time slice end of PLC_PRG end of system task PLC Autorun 0 0 Off On Downl protect 0 0 Inactive Active 2 Reserved PLC run stop 0 0 No function 1 Run 2 Stop 3 Reset GDC Id 27012006132510 e Date day month year 27 01 2006 e Time h min sec 13 25 10 PLC Prog Name T Fkt Credit CreditPinCode 0 Full Credit ParWriteChan 0 1 4294967295 Process data channel CAN1 3_IN CAN1 3_ OUT Parameter data channel 2 Lenze IMPORTANT Selection of resistance characteristic for PTC PTC characteristic resistance R1 at T1 PTC characteristic resistance R2 at T2 Software identification LECOM Only display Software creation date LECOM Only display Time slice for cyclic task Change over System task gt cycl task PLC No change over Automatic start of the PLC program after mains connection Write protection of PLC program Control PLC program Creation date of PLC program Read only Name of PLC program Read only Number of technology units Code for technology units if service is required please consult Lenze Service code CAN object for L_ParRead and L_ParWrite EDBCSXA064 EN 2 0 Code No Designation C2120 AIF Control C2121 AIF State FileNameAdd Da Type AddData VersionAddDa ta TimeStamp XCAN address C21
143. 0 5 AIF1_bCtrlB6_b IX41 0 6 AIF1_bCtrlB7_b IX41 0 7 AIF1_bCtrlDisable_b BOOL binary raioa AIF1_bCtriCInhibit_b 1X41 0 9 AIF1_bCtrlTripSet_b X41 0 10 AIF1_bCtrlTripReset_b IX41 0 11 AIF1_bCtrlB12_b IX41 0 12 AIF1_bCtrlB13_b 1X41 0 13 AIF1_bCtrlB14_b IX41 0 14 AIF1_bCtrlB15_b IX41 0 15 AIF1_nInW1_a IW41 1 AIF1_ninW2_a integer analog IW41 2 AIF1_ninW3_a IW41 3 AIF1_bInBO_b IX41 2 0 AIF1_binB15_b IX41 2 15 AIF1_binB16_b BOOL binary Tyxa13 0 AIF1_binB31_b IX41 3 15 AIF1_dninD1_p doube position ID41 1 integer EDBCSXA064 EN 2 0 Lenze System modules 13 AIF1_IO_AutomationInterface node number 41 Display code C0136 3 C0136 3 C0856 1 C0856 2 C0856 3 C0855 1 C0855 2 C0857 Inputs_AIF1 Display Comments format hex bin dec hex dec inc 237 238 System modules AIF1_IO_AutomationInterface node number 41 Inputs_AIF1 User data The 8 bytes of received user data are assigned to several variables of different data types According to requirements they can thus be evaluated by the PLC program as gt binary information 1 bit control word quasi analog value 16 bit gt angle information 32 bit Byte Variable 1 bit Variable 16 bit Variable 32 bit 1 2 AIF1_bCtrlBo_b AIF1_bCtrlB1_b AIF1_bCtrlB2_b AIF1_bCtrlQuickstop_b AIF1_bCtrlB4_b AIF1_bCtrlB7_b AIF1_bCtrlDisable_b AIF1_bCtrICInhibit_b AIF1_bCtrlTripSet_b AIF1_bCtrlTripReset_b AIF1_bCtrlB
144. 0019 TRUE controller inhibit B04 Status signals CQ 305 TRUE active warning TRUE active message TRUE initialisation phase TRUE external error B09 Status word C21 305 Current error number aB44 Hexadecimal value is bit coded Read only FFFF Control word C0135 CAN control word AIF control word EDBCSXA064 EN 2 0 Code Possible settings Lenze Appl C0150 Status word 0 No Designation Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Bit 8 Bit 9 Bit 10 Bit 11 Bit 12 Bit 13 Bit 14 Bit 15 1 DiglnOfDCTRL 0 2 DiglnOfDCTRL 3 DigInOfDCTRL 4 DiglInOfDCTRL EDBCSXA064 EN 2 0 Selection System modules 13 DCTRL_DriveControl node number 121 1 Not assigned Pulse inhibit IMP Not assigned Not assigned Not assigned Not assigned n 0 Controller inhibit CINH Status code Status code Status code Status code Warning Message Not assigned Not assigned Lenze 65535 Inputs_DCTRL IMPORTANT DCTRL status word 1 Only display C305 Controller evaluates information as 16 bits binary coded DCTRL_bStateBO_b DCTRL_bImp_b DCTRL_bStateB2_b DCTRL_bStateB3_b DCTRL_bStateB4_b DCTRL_bStateB5_b DCTRL_bNActEqo_b DCTRL_bCInh_b DCTRL_bStat1_b DCTRL_bStat2_b DCTRL_bStat4_b DCTRL_bStat8_b DCTRL_bWarn_b DCTRL_bMess_b DCTRL_bStateB14_b DCTRL_bStateB15_b Digital input signals to DCTRL Only display Controller inhibit CINH 1 Controller inhibi
145. 01 0 0 IX101 0 1 IX101 0 2 IX101 0 3 IX101 0 4 IX101 0 5 IX101 0 6 IB101 2 IB101 3 Address OX101 0 0 OX101 0 1 OX101 0 2 Lenze Display code C0350 C0359 Display code Display format Display format Comments CAN1_IN communication error CAN2_IN communication error CAN3_IN communication error CAN bus Off State detected CAN bus interface X4 Overflow of transmit request memory Overflow of receipt memory Node Life Time exceeded Node address CAN bus interface X4 CAN bus status CAN bus interface X4 Comments Carry out reset node CAN bus interface X4 Transmit CAN2_OUT with Sync telegram Transmit CAN3_OUT with sync telegram EDBCSXA064 EN 2 0 System modules CAN_Management node number 101 Executing a reset node 13 6 3 Executing a reset node The following changes will only be valid after a reset node gt Changes of the CAN node addresses and baud rates a 161 gt Changes of the addresses of process data objects COB IDs General addressing 1 426 Individual addressing w 164 gt Change of the master slave boot up configuration a 167 Reset node can be activated by gt switching on the low voltage supply gt the bus system via the network management NMT gt C0358 1using the XTkeypad gt CAN bResetNode b TRUE Note If reset node is executed via GDC communication will be interrupted
146. 0421 C0427 is set automatically in accordance with the selection 0 Common 110 IT512 5V Incremental encoder with TTL 111 IT1024 5V level 112 IT2048 5V 113 IT4096 5V 210 1S512 5V SinCos encoder 211 1S1024 5V 212 1S2048 5V 213 1S4096 5V 307 AS64 8V SinCos absolute value encoder 308 AS128 8V with Hiperface interface single turn 309 AS256 8V Selections 307 308 309 are only 310 AS512 8V possible with operating system 7 0 or higher 311 AS1024 8V 407 AM64 8V SinCos absolute value encoder 408 AM128 8V with Hiperface interface multi turn 409 AM256 8V Selections 407 408 409 are only 410 AM512 8V possible with operating system 7 0 or higher 411 AM1024 8V C0420 Encoder const 512 Number of increments of the 309 encoder CO 104 oma 1 1 inc rev 8192 Sets C0419 0 common ifthe value is altered C0421 Encoder volt 0 Encoder voltage 309 0 5 0V Sets C0419 0 common if the amog 1 56V value is altered amg 2 6 3 V 3 6 9 V 4 7 5 V 5 8 1 V nc signa unction of the master frequenc C0427 E ignal 0 Function of th ter freq y QD input signals on X8 DFIN 104 0 2 phase amg A speed B direction 2 A or B speed or direction in ou unction o C0491 X8 in out 0 Functi f X8 jan 0 X8 is input aed X8 is output 219 106 Lenze EDBCSXA064 EN 2 0 Commissioning 6 Setting of the feedback system for position and speed control TTL sin cos encoder as position encoder and resolver as speed encoder 6 7 3 TTL sin c
147. 1 a data type integer and can be further processed in the PLC program EDBCSXA064 EN 2 0 Lenze 325 Code No Designation System modules FCODE_FreeCode node number 141 System variables Variable FCODE_nC17_a FCODE_nC26_1_a FCODE_nC26_2_a FCODE_nC27_1_a FCODE_nC27_2_a FCODE_nC32_a FCODE_nC37_a FCODE_nC108_1_a FCODE_nC108_2_a FCODE_nC109_1_a FCODE_nC109 2 a FCODE_nC141 a FCODE_bC250_b FCODE_bC471Bit0_b FCODE_bC471Bit15_b FCODE_bC471Bit16_b FCODE_bC471Bit31_b FCODE_nC472_1 a FCODE_nC472_20 a FCODE_nC473_1 a FCODE_nC473_10 a FCODE_dnC474_1 p FCODE_dnC474_5 p FCODE_nC475_1 v FCODE_nC475_2_v FCODE_bC135Bit0_b FCODE_bC135Bit15_b Codes Possible settings Lenze Appl C0017 FCODE QMIN 50 C0026 1 FCODE offset 2 FCODE offset C0027 Data type Integer BOOL BOOL Integer Integer Double integer Integer BOOL Selection 16000 0 0 0 0 199 99 1 FCODE gain 2 FCODE gain 326 100 0 100 0 199 99 Signal Address Display Display Notes type code format IW141 0 default 50 rpm IW141 2 default 0 00 IW141 3 default 0 00 IW141 4 default 100 00 IW141 5 default 100 00 IW141 6 default 1 analog IW141 7 default 0 rpm IW141 8 default 100 00 IW141 9 default 100 00 IW141 10 default 0 00 IW141 11 default 0 00 IW141 12 default 0 00 binary IX141 13 0 default 0 X141 14 0 IX141 14
148. 1 and or LOW level at X6 SI2 gt The voltage supply for the output X6 SO must be switched off safely in the event of HIGH level at X6 SI1 and or HIGH level at X6 SI2 Safe processing of the output signal at X6 SO for higher level safety concepts gt The PLC must be programmed such that the input and output states of the output X6 SO are checked for plausibility according to the following truth table the entire system will immediately change to a safe state when the plausibility check results in an impermissible state States of the safe torque off function at the axis module Resulting level at Impermissible level at Level at input terminal a output terminal output terminal X6 SI1 x6 512 x6 50 x6 SO LOW LOW HIGH LOW LOW HIGH LOW HIGH LOW LOW HIGH HIGH HIGH LOW gt All control components switches relays PLC and the control cabinet must meet the requirements of EN ISO 13849 These include for instance Switches relays in enclosure IP54 Control cabinet in enclosure IP54 All other requirements can be found in EN ISO 13849 Wiring with wire end ferrules is essential All safety relevant cables e g control cable for the safety relay feedback contact outside the control cabinet must be protected e g in the cable duct It must be ensured that short circuits between the individual cables cannot occur For further measures see EN ISO 13849 EDBCSXA064 EN 2 0 Lenze 75 5 El
149. 10 230 yes no 11 400 Lenze setting yes no 12 400 460 yes no 13 480 no 14 480 yes Code Possible settings No Designation Lenze Selection Appl C0174 UG min 60 15 1 V Lenze EDBCSXA064 EN 2 0 LU message OU message Undervoltage Overvoltage Setting Resetting Setting Resetting v DC v Dc v DC V DC 130 275 400 390 285 430 800 790 328 473 800 790 342 487 800 785 342 487 800 785 C0174 C0174 5V 400 390 C0174 C0174 5V 800 790 C0174 C0174 5V 800 790 C0174 C0174 5V 800 785 C0174 C0174 5V 800 785 IMPORTANT Undervoltage threshold of DC bus LU apa 342 97 Commissioning Entry of motor data for Lenze motors 6 5 Entry of motor data for Lenze motors Note gt The following only describes the parameter setting for Lenze motors If you use a motor from another manufacturer see L4 122 gt If the Lenze setting has been loaded via C0002 the motor data must be entered once again gt In GDC Easy the Input assistant for motor data is not available In this case please contact your Lenze representative for the stator resistance and leakage inductance data Parameter setting with the Input assistant for motor data of the GDC 1 Goto the GDC menu bar and select the Tool Motor data menu item or click the button with the voltage divider symbol in the tool bar rightmost in Fig 6 2 E Global Drive Control H z DI x Drive Drive parameters Tool Options Window Help ij M
150. 107 22106 22094 22093 22092 22091 22090 22084 22083 22082 22075 22074 hex 56D1h 56D0h 56CFh 56CEh 56CDh 56CCh 56CBh 56CAh 56C8h 56Coh 56BFh 56BAh 56B9h 56B8h 56B7h 56B6h 56B5h 56Blh 566Dh 566Ch 566Bh 566Ah 5669h 5668h 5667h 5666h 5665h 5664h 5663h 5662h 565Dh 565Ch 565Bh 565Ah 564Eh 564Dh 564Ch 564Bh 564Ah 5644h 5643h 5642h 563Bh 563Ah g vu PD DrLrpPEPOMMMMMMMMMNEFPPFPMMEPPFPPFPEMMMEPPFFPoRFPMMMEFEFEMMM o gt PrP WPA DWP rr UM BP BP PwWWwWwoerPrr PUD A WP PrP PR bo N N Ole ele e el PHB PB Data DT Format FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD B16 VH FIX32 VD FIX32 VD FIX32 VD FIX32 VD Lenze DL A A A BLM SB BL BY BB BR BY BY BY BY DB BY BY BB BY BY BB BY BY BB BBY BB BY BY BB BY BY BR BY BY BY BY BY BY BY BY Decimal position 0 o oO NNO o o oo o ooo o o o o co oo oo co o oo oo oo ooo co oo o oo ooo 09 09 9 LCM R W Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Ra Wa Ra Wa
151. 12_b AIF1_wDctrlCtrl AIF1_bCtrlB15_b The quick stop OSP DISABLE CINH TRIP SET and TRIP RESET functions can be controlled via the following variables control signals e AIF1 bCtrlQuickstop_b AIF1_bCtrlDisable_b AIF1_bCtrICInhibit_b AIF1_bCtrlTripSet_b AIF1_bCtrITripReset_b he remaining 11 bits AIF1_bCtrIB _b can be used to control other functions function blocks d e 0 00 3 4 AIF1_nInW1_a 5 6 AIF1_bInBO_b e AIF1_nInW2_a AIF1_bInB15_b AIF1_dninD1_p 7 8 AIF1_bInB16_b z AIF1_nInW3_a AIF1_bInB31_b Lenze CZ System modules 13 AIF1_IO_AutomationInterface node number 41 Inputs_AIF1 Codes Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0136 Control words Hexadecimal value is bit coded Read only 1 CTRLWORD 0 hex FFFF Control word C0135 2 CTRLWORD CAN control word 3 CTRLWORD AIF control word C0855 Digital process data input words 235 are indicated on the AIF interface AIF1_IN Hexadecimal value is bit coded Read only 1 AIF1 IN bits 0000 hex FFFF Input word 2 bit 0 15 2 AIF1IN bits Input word 3 bit 0 15 C0856 Analog process data input words 4 235 are indicated decimally on the AIF interface AIF1_IN 100 00 16384 Read only 1 AIF1 IN words 199 99 0 01 199 99 Input word 1 2 AIFLIN words Input word 2 3 AIF1IN words Input word 3 C0857 AIF1 IN phi 32 bits of phase informationon 235 the AIF interface AIF1_IN Read only 2147483648 1 214
152. 15 binary default 0 X141 15 0 IX141 15 15 analog AIN TALIG n _ default 0 00 IW141 35 C0472 3 100 00 sales IW141 36 z _ default 0 IW141 45 C0473 1 2 1 ID141 23 Position _ default 0 ID141 27 IW141 56 velocity default 0 IW141 57 X141 58 0 binary fs default 0 IX141 58 15 IMPORTANT Used for speed signals CO 325 1 rpm 16000 Offset for relative analog signals 257 AIN 325 0 01 199 99 FCODE nC26_1_ a FCODE_nC26 2 a Gain for relative analog signals 257 AIN cops25 0 01 199 99 FCODE_nC27 1a FCODE_nC27_2 a Lenze EDBCSXAD6A EN 20 System modules 13 FCODE_FreeCode node number 141 Code Possible settings No Designation Lenze Selection Appl C0032 FCODE 1 gearbox 32767 1 C0037 Set value rpm 0 16000 1 rpm C0108 1 FCODE gain 100 0 199 99 0 01 2 FCODE gain 100 0 C0109 1 FCODE offset 0 0 199 99 0 01 2 FCODE offset 0 0 C0135 Control word 0 0 1 Bit 0 Not assigned Bit 1 Not assigned Bit 2 Not assigned Bit 3 Quick stop OSP Bit 4 Not assigned Bit 5 Not assigned Bit 6 Not assigned Bit 7 Not assigned Bit 8 Operation inhibit DISABLE Bit 9 Controller inhibit CINH Bit10 TRIP SET Bit11 TRIP RESET Bit12 Not assigned Bit13 Not assigned Bit14 Not assigned Bit15 Not assigned C0141 FCODE setval 0 0 199 99 0 01 C0250 FCODE 1 Bit 0 0 C0470 1 FCODE 8bit 0 00 hex 2 FCODE 8bit 0 3 FCODE 8bit 0 4 FCODE 8bit 0 EDBCSXA064 E
153. 16000 500 0 1000 500 1 00 200 199 99 200 200 25 0 IMPORTANT Stator resistance of the motor The upper limit is device dependent ECSxS P M A004 ECSxS P M A008 ECSxS P M A016 ECSxS P M A032 ECSxS P M A048 ECSxS P M A064 Leakage inductance of the motor Rated motor speed Rated motor current Rated motor frequency Rated motor voltage cos of the asynchronous motor Activation of rotor position adjustment of a synchronous motor C0058 shows the rotor displacement angle 127 Fine adjustment mutual inductance Fine adjustment rotor resistance Fine adjustment rotor time constant Fine adjustment magnetising current lsa Thermal time constant of the motor apo For calculating the 12 x t disconnection Controller adjustment Deactivate test mode Activate test mode 123 Commissioning Operation with servo motors from other manufacturers Checking the direction of rotation of the motor feedback system 6 12 2 Checking the direction of rotation of the motor feedback system In GDC you can find the parameters and codes to be set in the parameter menu under Motor Feedback gt Feedback Parameter menu Text Value O00 Parameter save a Done E Control operation mode 000 Feedback system position control Resolver at X7 LE Main functions if implemented 000 Feedback system speed control Resolver at X7 LE Controller settings 000 Configuration signal direction x8
154. 2 Power loss operation with rated Interior current at 4 kHz 8 kHz Heatsink Max output frequency Weight Type S kVA Umains v Upc V Ipc A Ir A I A Imax A lo eff 4 kHz A lo eff 4 kHz A lo eff 4 kHz A lo eff 8 kHz A Ploss w fout Hz m kg ECSx1004 1 3 400 480 2 5 2 0 2 0 1 6 1 4 1 1 4 0 2 0 1 6 2 3 3 0 1 5 13 3 14 0 Axis module ECSx1008 2 6 400 480 15 770 4 9 3 9 4 0 3 2 2 7 2 2 8 0 4 0 3 2 4 6 6 0 3 0 17 3 29 0 600 approx 2 4 ECSx_1016 5 3 400 480 9 8 7 8 8 0 6 4 5 3 4 2 16 0 8 0 6 4 9 1 12 0 6 0 20 7 64 0 1 If the heatsink temperature reaches 70 C the switching frequency automatically changes to 4 kHz 2 The indicated temperature is the measured heatsink temperature C0061 P Posi amp Shaft A Application DO Application software 34 S Speed amp Torque M Motion Lenze EDBCSXA064 EN 2 0 Technical data Rated data BI Rated data Type Axis module ECSxL1032 EcsxL1048 EcsxL1064 Output power 400 V mains S kVA 8 3 11 2 13 2 Data for operation with upstream supply module on Umains V 400 480 400 480 400 480 mains voltage DC bus voltage Upc V 15 770 DC bus current Ipc A 15 6 12 5 20 9 16 8 24 5 19 6 Rated output current at 4 kHz Ir A 12 7 10 2 17 0 13 6 20 0 16 0 leads to a heatsink temperature of 70 C at an ambient temperature of 20 C R
155. 2 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD Lenze DL AA HS A A BS BR BR BR BY BY BR BY BY BY BY BT BY BD BP BY BY BY BY BY BY BY BY AAA Decimal position 0 FONNNWRNHORRNNNONRNOD ORF OOO OOO FR ONRFRFOOONODO OOO OO ONN ON O LCM R W Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Ra Wa Ra Ra Ra Ra Ra Ra Ra Ra Ra Wa Ra Ra Ra Ra Ra Ra Ra Ra Ra Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Ra W Ra W Ra Ra Ra W Ra W Ra W Ra W Access Condition CINH CINH CINH CINH CINH CINH EDBCSXA064 EN 2 0 Code C0089 C0090 C0091 C0092 C0093 C0094 C0095 C0096 C0097 C0098 C0099 C0105 C0108 C0109 C0110 C0111 C0112 C0113 C0114 C0118 C0120 C0121 C0122 C0123 C0124 C0125 C0126 C0127 C0128 C0135 C0136 C0141 C0142 C0150 C0155 C0157 C0161 C0167 C0168 C0169 C0170 C0173 C0174 C0175 C0178 C0179 C0183 C0199 Index dec 24486 24485 24484 24483 24482 24481 24480 24479 24478 24477 24476 24470 24467 24466 24465 24464 24463 24462 24461 24457 24455 24454 24453 24452 24451 24450 24449 24448 24447 24440 24439 24434 24433 24425 24420 24418 24414 24408 24407 24406 24405 24402 24401 24400 24397 24396 24392
156. 24159 24158 24157 24156 24155 24154 24149 24148 24147 24146 24144 24132 24131 24106 24105 24104 24103 24102 24101 24100 24085 24084 24080 24078 24071 24070 24069 24068 24067 24066 24065 24061 24060 24059 24058 24057 24056 24035 24030 24028 24026 24016 23999 23998 23997 23996 23995 EDBCSXA064 EN 2 0 hex 5E6Fh 5E5Fh 5ESEh 5E5Dh 5E5Ch 5E5Bh 5E5Ah 5E55h 5E54h 5E53h 5E52h 5E50h 5E44h 5E43h 5E2Ah 5E29h 5E28h 5E27h 5E26h 5E25h 5E24h 5E15h 5E14h 5E10h 5EOEh 5E07h 5E06h 5E05h 5E04h 5E03h 5E02h 5E01h 5DFDh 5DFCh 5DFBh 5DFAh 5DF9h 5DF8h 5DE3h 5DDEh 5DDCh 5DDAh 5DD0h 5DBFh 5DBEh 5DBDh 5DBCh 5DBBh g vu mmmmmmomomomrempopepremprmmommeomeomememeoaomemepeprepreprem em pimi mi m m m m m m m m m m m PRBRPNP RPP ele e ele BPP BPP BP a e N oj o elel elel e e n e el e e nlu D A o O 32 250 250 ele ele RP RB e RB BR Data DT Format FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD B8 VH FIX32 VD FIX32 VD B8 VH B32 VH FIX32 VD FIX32 VD 132 VH FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD U32 VH U32 VH FIX32 VD FIX32 VD B32 VH B32 VH FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD Lenze DL AA SB A A BP BR BR BR BP BP BS BY BY BY
157. 29 0 0 31 ECSCA016 64 0 ECSCA032 117 0 ECSCA048 132 0 ve ECSCA064 158 0 0 11 gt Ambient conditions Furthermore the rated data regarding the ambient temperature and the derating factors at increased temperature apply to the axis modules C4 BJ et seqq Temperature of the cooling plate Cold Plate max 85 C EDBCSXA064 EN 2 0 Lenze 47 4 4 1 48 Mechanical installation Mounting in cold plate design Dimensions Dimensions Note Mounting with ECSZSOOOXOB shield mounting kit gt Mounting clearance below the module gt 195 mm A a 1 al E E 8 ra NI J 1 ua I oO elelelelele aaao th coso i Q ace a ae a He al Oooo B a CONA i inke E Pa 8 AI cl Fig 4 5 Dimensions for cold plate design Axis module Dimensions mm Type Size al b cl ECSCA004 ECSCA008 A 60 ECSCA016 282 50 ECSCA032 ECSCA048 B 90 ECSCA064 1 max 157 mm depending on the plugged on communication module Lenze cl ECSXA009 e 8 121 1571 Ma EDBCSXA064 EN 2 0 Mechanical installation 4 Mounting in cold plate design Mounting steps 4 4 2 Mounting steps
158. 2_b DCTRL_bStat4_b DCTRL_bStat8_b DCTRL_bWarn_b DCTRL_bMess_b DCTRL_bStateB14_b DCTRL_bStateB15_b Status word 2 advanced status word Display only Controller interprets information as 16 bit binary coded EDBCSXA064 EN 2 0 Code No Designation C0157 QU BP WN Stat Stat Stat Stat Stat Stat 7 Stat FreeBit FreeBit FreeBit FreeBit FreeBit FreeBit FreeBit C0161 Acttrip C0167 Reset failmem C0168 ON DU BP WN C0169 ON DU BP WN E Fail number Fail number Fail number Fail number Fail number Fail number Fail number Fail number Failtime Failtime Failtime Failtime Failtime Failtime Failtime Failtime EDBCSXA064 EN 2 0 Possible settings Lenze Appl 0 Selection 0 1 bit 0 No reaction 1 Delete history buffer AII fault indications TRIP FAIL OSP warning message Respective power on time C0179 0 1h Lenze 65535 Appendix Code list IMPORTANT Status of free bits of DCTRL status word 1 C0150 Only display Bit O DCTRL_bStat_BO_b Bit 2 DCTRL_bStat_B2_b Bit 3 DCTRL_bStat_B3_b Bit 4 DCTRL_bStat_B4_b Bit 5 DCTRL_bStat_B5_b Bit 14 DCTRL_bStat_B14_b Bit 15 DCTRL_bStat_B15_b Current TRIP 218 e asinC0168 1 e Incase of FAIL OSP warning and message 0 is displayed Only display Delete history buffer C0168 D 213 Fault history buffer list of faults 213 occurred Read only Currently active fault Last fault
159. 3 5 Electrical installation Control terminals 5 4 Control terminals B B S2 M SO 4 GND 24 a a a a NEI NEI NEI ni NEI NEI a a a a a a a a a ECSXA070 Fig 5 8 Plug connectors for control terminals X6 For the supply of the control electronics an external 24 V DC voltage at terminals X6 24 and X6 GND is required Stop gt The control cables must always be shielded to prevent interference injections gt The voltage difference between X6 AG X6 GND and PE of the axis module may maximally amount to 50 V gt The voltage difference can be limited by overvoltage limiting components or direct connection of X6 AG and X6 GND to PE gt The wiring has to ensure that for X6 DO1 0 LOW level the connected axis modules do not draw energy from the DC bus Otherwise the power supply module may be damaged Shield connection of control cables and signal cables The plate on the front of the device serves as the mounting place two threaded holes M4 for the shield connection of the signal cables The screws used may extend into the inside of the device by up to 10 mm For optimum contact of the shield connection use the wire clamps from the ECSZS000X0B shield mounting kit 64 Lenze EDBCSXA064 EN 2 0 Electrical installation 5 Control terminals Li L2 L3 PE BRO BR1 UG UG UG PE
160. 30 C2131 C2132 C2133 C2350 XCAN baud rate C2351 C2352 XCAN mst EDBCSXA064 EN 2 0 Possible settings Lenze Appl 0 Selection 0 1 0 No command Read XCAN codes reinitialisation 2 Read XCAN code 10 Read XCAN C2356 1 4 11 Read XCAN C2357 12 Read XCAN C2375 13 Read XCAN C2376 C2378 14 Read XCAN C2382 255 Not assigned 1 1 Bit 0 XCAN1_IN monitoring time Bit 1 XCAN2_IN monitoring time Bit2 XCAN3_IN monitoring time Bit 3 XCAN bus off Bit4 XCAN operational Bit5 XCAN pre operational Bit 6 XCAN warning Bit 7 Assigned internally Symbolic data name Specification identification of the data Data version Time stamp of the data 1 1 0 500 kbit s 1 250 kbit s 2 125 kbit s 3 50 kbit s 4 1000 kbit s 0 Slave Master Lenze 255 255 63 Appendix Code list IMPORTANT AIF CAN control word Binary interpretation reflects bit states Note The MSB bit 7 of the control word automatically changes its state with every access to the code Observe this when interpreting the data ops AIF CAN Status e For detailed information see description of the corresponding fieldbus module Read only Binary interpretation reflects bit states Information on the additional data that have been transmitted together with the application program Only display Node address XCAN XCAN system bus CAN on AIF Baud rate XCAN e Modifications are only valid after re
161. 309 Sets C0419 0 common if the amoa value is altered amg Signal at DFIN input 309 Only display Function of the master frequency M B09 input signals on X8 DFIN 104 amg 379 Appendix Code list Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0428 DFIN TP sel 0 DFIN touch probe signal source 313 apog 0 Zero pulse of position encoder C0490 X7 X8 1 Touch probe input TP1 X6 DI1 2 Zero pulse of digital frequency input X8 C0429 TP1 delay 0 DFIN dead time compensation 313 TP1 DI1 309 32767 1 inc 32767 C0431 DFIN TP Edge 0 DFIN touch probe TP1 edge C313 for touch probe via digital input X6 DI1 C0428 1 0 Rising edge TP1 1 Falling edge TP1 2 Rising and falling edge TP1 3 Switched off C0443 DIS DIGIN Signal status of the digital inputs C4 32 on X6 after consideration of the polarity set under C0114 Only display 0 1 255 Bit 0 DIGIN1 X6 DI1 Bit 1 DIGIN2 X6 DI2 Bit 2 DIGIN3 X6 DI3 Bit 3 DIGIN4 X6 DI4 Bit 4 DIGIN_safe_standstill X6 SI2 mpg O Pulse inhibit is active 1 Pulse inhibit is inactive Bit 5 Free Bit6 DIGIN Cinh X6 SI1 mpg 0 Controller is inhibited CINH 1 Controller is enabled Bit 7 Free C0444 Status of the digital outputs 00323 Only display 1 DIS DIGOUT 0 1 Status of the digital output X6 DO1 2 DIS DIGOUT Relay control status C0469 Fct STP key 2 Function of the STOP key of the keypad Must not be changed if the STOP key is pressed 0
162. 32 VD FIX32 VD FIX32 VD FIX32 VD VS VS VS VS VS VS FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD 116 VH FIX32 VD FIX32 VD FIX32 VD FIX32 VD VS VS U32 VH VS VS U32 VH U16 VH U32 VH FIX32 VD FIX32 VD FIX32 VD B8 VH VS VS FIX32 VD U32 VH U32 VH B16 VH B16 VH B16 VH B16 VH VS VS VS VS VS VS VS VS B8 VH B8 VH B16 VH Lenze DL A A A A BR BS BY BR BY NBPNNNN HP A A H E Ww N Appendix Table of attributes Decimal position 3 o o o o oo oo co o o o oo co o o co oo oo ooo o co o o ooo ooo o o oo ooo ooo o ro oo po Access LCM R W Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra W Ra Ra Ra Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Ra Wa Ra Wa Ra Wa Ra Ra Ra Ra Ra Ra Wa Ra Wa Ra Ra Wa Ra Wa Ra Ra Ra Ra Ra Ra Ra Ra Ra Wa Ra Ra Ra Ra Ra Ra Ra Wa Condition CINH 409 Code C2350 C2351 C2352 C2353 C2354 C2355 C2356 C2357 C2359 C2367 C2368 C2373 C2374 C2375 C2376 C2377 C2378 C2382 C2450 C2451 C2452 C2453 C2454 C2455 C2456 C2457 C2458 C2459 C2460 C2461 C2466 C2467 C2468 C2469 C2481 C2482 C2483 C2484 C2485 C2491 C2492 C2493 C2500 C2501 410 Appendix Table of attributes Index dec 22225 22224 22223 22222 22221 22220 22219 22218 22216 22208 22207 22202 22201 22200 22199 22198 22197 22193 22125 22124 22123 22122 22121 22120 22119 22118 22117 22116 22115 22114 22109 22108 22
163. 35 1 EDBCSXA064 EN 2 0 Lenze 199 Monitoring functions Configuring monitoring functions Current load of controller I x t monitoring OC5 OC7 Overcurrent diagram for OC5 fault message Intotor A 2001 150 100 75 44 Fig 11 2 Maximum overcurrent as a function of time gt t s 180 ECSXA293 The maximum admissible overcurrent is dependent on the Imaylimit set in C0022 Imax limit set in C0022 lt 150 gt For 180s the arithmetic mean value of the motor current must not exceed 100 of the rated device current gt Example Arithmetic mean for characteristic 60s 150 120s 75 180s Imax limit set in C0022 gt 150 I 100 gt For 60s the arithmetic mean value of the motor current must not exceed 70 of the rated device current gt Example Arithmetic mean for characteristic 10s 200 50s 44 60s The current device utilisation is displayed in C0064 Code Possible settings No Designation Lenze Selection Appl C0064 Utilization 0 1 150 Lenze 200 70 IMPORTANT Device utilisation I x t over the last 180 s Only display e C0064 gt 100 activates OC5 TRIP TRIP RESET only is possible if C0064 lt 95 ama EDBCSXA064 EN 2 0 Monitoring functions 11 Configuring monitoring functions Current load of motor I x t monitoring OC6 OC8 11 2 11 Current load of motor 12 x t monitor
164. 371BC anging and saving parameters 14 onnecting the keypad 139 eypad display elements 14 eypad function keys 14 V zZ lt o v O Q ith XT EMZ9 B eypad menu structure 14 Parameterising phase controllers 336 Parameterising speed controller setting integral action component Imachine parameters 9 PC system bus adapter 429 Persistent memory Phase controller correction value J Plug connector assignment power connections 54 Plug connectors ontrol connections 66 power connections 54 Polarity of digital Inputs outputs Position control feedback system 10 absolute value encoder Hipertace Sr re D Absolute value encoder position encoder resolve speed encoder 114 resolver 10 sin cos encoder without serial communication 104 Incremental encoder 104 sin cos encoder position encoder resolver speed Lenze int a 5 a M x a D D r B Power connections 54 ding brake connection 54 oO Y A o v Connection of external brake resistor 59 external brake resistor RBD 430 DC bus connection 54 LYP z Internal brake resistor connection 58 Evne ERB 730 motor connection 54 60 2 posi Rated output current 36 motor ho plug connector assignment 54 Q lt oO lt M plug connector assignment 54 2 R gateway function CAN Power reduction CAN Power supply module 14 5 Power terminals 5 D 3
165. 3_IN e Always 0 channel is not used Subcode 11 Telegrams received of parameter data channel 1 Subcode 12 Telegrams received of parameter data channel 2 EDBCSXA064 EN 2 0 Lenze 179 9 13 3 180 System bus CAN CAN AUX configuration Diagnostics codes Bus load C0361 2461 Bus load C0361 2461 Use C0361 C2461 to determine the bus load through the controller and the individual data channels in percent Faulty telegrams are not considered Bus load of the individual subcodes C0361 C2461 Meaning Subcode 1 All sent telegrams Subcode 2 All received telegrams Subcode 3 Telegrams sent of CAN1_OUT CANaux1_OUT Subcode 4 Telegrams sent of CAN2_OUT CANaux2_OUT e Always 0 channel is not used Subcode 5 Telegrams sent of CAN3_OUT CANaux3_OUT e Always 0 channel is not used Subcode 6 Telegrams sent of parameter data channel 1 Subcode 7 Telegrams sent of parameter data channel 2 Subcode 8 Telegrams received of CAN1_IN CANaux1_OUT Subcode 9 Telegrams received of CAN2_IN CANaux2_OUT e Always 0 channel is not used Subcode 10 Telegrams received of CAN3_IN CANaux3_OUT e Always 0 channel is not used Subcode 11 Telegrams received from parameter data channel 1 Subcode 12 Telegrams received from parameter data channel 2 The data transfer is limited The limits are determined by the number of telegrams transmitted per time unit and the baud rate The limits can be determined during data exchange in a d
166. 4 EN 2 0 Monitoring functions Configuring monitoring functions Temperature inside the controller OH1 OHS 11 2 8 Temperature inside the controller OH1 OH5 The temperature inside the controller can be monitored with two temperature thresholds gt with an adjustable threshold OHS via C0124 The warning threshold can be set under C0124 The reaction to exceeding the threshold can be set under C0605 gt witha fixed threshold OH1 Threshold 90 C Reaction to exceeding the threshold TRIP The hysteresis is 5 K i e the reset value for the fixed warning threshold is 85 C The monitoring with the adjustable threshold OH4 is designed as an early warning stage before final disconnection of the controller by means of TRIP OH Therefore the process can be influenced accordingly so that the final disconnection of the controller at unfavourable moments is avoided Furthermore for instance additional fans can be activated generating a noise load when switched to continuous operation Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0124 OHS limit 75 Threshold for temperature D 197 monitoring inside the device 10 1 90 C0062 gt C0124 gt fault message OHS5 C0605 C0605 MONIT OH5 2 Configuration of early warning A 197 of temperature inside the device threshold in C0124 0 TRIP 2 Warning 3 Off EDBCSXA064 EN 2 0 Lenze 197 Monitoring functions Configuring monitorin
167. 45754ec code 24575yec 3200 21375dec Due to the communication profile used however this function should be parameterised via the index 4101dec subindex 2 Solution By means of the functions of the function library LenzeCanDSxDrv lib the index 4101dec subindex 2 in the ECSxA axis module is simply redirected to code C3200 5 so that the communication profile can be used as usual EDBCSXA064 EN 2 0 Lenze 175 176 System bus CAN CAN AUX configuration Mapping of indices to codes Functional principle The operating system from V6 0 of the ECSxA axis module contains a mapping table According to this table up to 256 indices within the ECSxA can be mapped to other codes than the ones that are automatically assigned If a CAN telegram arrives and the index is within the valid range it is checked if this index is listed in the mapping table gt If the index is listed in the mapping table the codes which are reassigned to this index in the mapping table are accessed gt If the index is not listed in the mapping table the automatically assigned code which results from the formula mentioned above is accessed Index access 4101 2 SDO telegram Index number valid ndex access 21475 1 SDO telegram Index number valid Mapping table Mapping table CAN index CAN subindex
168. 458 Fig 13 16 CANaux1_IN CANaux_Management CANaux_bCe11CommErrCanin1_b Communication Error CANaux2_IN CANaux_bCe12CommErrCanin2_b Communication Error CANaux3_IN CANaux_bCe13CommErrCaniIn3_b Communication Error CANaux CANaux_bCe14BusOffState_b Bus Off State CANaux_bTxCan2Synchronized_b C2458 4 __ CANaux_bResetNode_b CANaux_ResetNode CANaux_bTxCan3Synchronized_b CANaux2_OUT gt CAN_SYNC CANaux3_OUT gt CAN_SYNC System block CANaux_Management Inputs_CANaux_Management System variables Variable CANaux_bCe11Comm E rrCanini_b CANaux_bCe12Comm E rrCanin2_b CANaux_bCe13Comm E rrCanin3_b CANaux_bCe14BusOffst ate_b CANaux_byNode Addres s CANaux_byState EDBCSXA064 EN 2 0 Data Signal Address Display type type code format IX111 0 0 IX111 0 1 BOOL binary IX111 0 2 IX111 0 3 IB111 2 C2450 Byte z 1B111 3 C2459 Display Comments CANaux1_IN communication error CANaux2_IN communication error CANaux3_IN communication error CAN bus Off State detected CAN bus interface X14 Node address CAN bus interface X14 CAN bus status CAN bus interface X14 279 13 11 2 13 11 3 13 11 4 280 System modules CANaux_Management node number 111 Outputs_CANaux_Management Outputs_CANaux_Management System variables Variable Data Signa
169. 58 1 via the XT keypad 255 Note EDBCSXA064 EN 2 0 If reset node is executed via GDC communication will be interrupted You therefore have to log in again manually or find the devices connected to the bus once again Lenze 165 9 4 Code No C0355 QU BF WN HDH C2455 QU fF WN FB 166 System bus CAN CAN AUX configuration Display of the resulting identifiers Display of the resulting identifiers C0355 C2455 is the display code for the resulting identifiers gt General addressing w 426 Identifier COB ID basic identifier adjustable node address Node ID gt Individual addressing a 164 Identifier COB ID 384 ID offset C0354 or C2454 Possible settings Lenze Selection Appl Designation CAN Id 1 CAN Id CAN Id CAN Id CAN Id CAN Id CANa ld 1 CANa ld CANa ld CANa ld CANa ld CANa ld 1 1 Lenze 2047 2047 IMPORTANT Identifier for CAN_IN CAN_OUT 426 CAN bus interface X4 Read only Identifier CAN1_IN Identifier CAN1_OUT Identifier CAN2_IN Identifier CAN2_OUT Identifier CAN3_IN Identifier CAN3_OUT Identifier for amag CANaux_IN CANaux_OUT CAN bus interface X14 Read only Identifier CANaux1_IN Identifier CANaux1_OUT Identifier CANaux2_IN Identifier CANaux2_OUT Identifier CANaux3_IN Identifier CANaux3_OUT EDBCSXA064 EN 2 0 System bus CAN CAN AUX configuration 9 Determining the boot up master for the drive system
170. 7 Extended password protection for bus systems with activated password C0094 AII codes in the user menu can be accessed AIF access protection CAN access protection Full access Reading not possible Writing not possible Reading and writing not possible Power stage identification Home position of encoder EDBCSXA064 EN 2 0 Code Possible settings No Designation Lenze Selection Appl C0099 S W version 0 0 C0105 OSP Tif 0 0 0 000 C0108 1 FCODE gain 100 0 199 99 2 FCODE gain 100 0 C0109 1 FCODE offset 0 0 199 99 2 FCODE offset 0 0 C0110 Service Code 50 C0111 Service Code 50 00 C0112 Service Code 50 C0113 Service Code 50 C0114 1 DIGIN pol 0 2 DIGIN pol 0 3 DIGIN pol 0 4 DIGIN pol 0 0 C0118 1 DIGOUT pol 2 DIGOUT pol 0 C0120 OC6 limit 105 0 C0121 OH7 limit 120 45 EDBCSXA064 EN 2 0 0 1 0 001 s 0 01 0 01 1 1 1 1 HIGH level active HIGH level active HIGH level active HIGH level active HIGH level active LOW level active HIGH level active HIGH level active HIGH level active LOW level active 1 1 C Lenze 25 5 999 999 199 99 199 99 200 199 99 200 200 120 150 Appendix Code list IMPORTANT Firmware version Only display Deceleration time for quick stop QSP Relating to speed variation Nmax C0011 0 rev min Gain for relative analog signals AOUT FCODE_nC108_1_a FCODE_nC108 2 a
171. 7483647 EDBCSXA064 EN 2 0 Lenze 239 13 System modules AIF1_IO_AutomationInterface node number 41 Outputs_AIF1 13 2 2 Outputs_AIF1 This SB is used as an interface for output signals e g setpoints actual values to attached fieldbus modules e g INTERBUS PROFIBUS DP The process image is gt created in the cyclic task by means of a fixed set time interval of 10 ms gt created in an interval task within the time set for this task gt read at the beginning of the task and written at its end O Please read the documentation for the connected fieldbus module Outputs_AIF1 Byte 1 AIF1_wDctrlStat gt 16Bt TTT Byte 2 Byte 3 AIF1_nOutW1_a gt 16Bt TTT C0858 1 Byte 4 x1 3 o OoQ AIF1_nOutW2_a 3 R i 16 Bit Byte AIF1_bFDOO_b C0858 2 2 gt A AIF1_bFDO15_b 16 binary Byte signals 6 AIF1_nOutW3_a gt 16 Bit Byte AIF1_bFDO16_b C0858 3 7 gt i di AIF1_bFDO31_b 16 binary Bye signals 8 16 Bit LowWord AIF1_dnOutD1_p phere 16 Bit C0859 HighWord ECSXA202 Fig 13 4 System block Outputs AIF1 240 Lenze EDBCSXA064 EN 2 0 System modules AIF1_IO_AutomationInterface node number 41 System variables AIF1_wDctrlStat AIF1_nOutW1_a AIF1_nOutW2_a AIF1_nOutW3_a AIF1_bFDOO_b AIF1_bFDO15_b AIF1_bFDO16_b AIF1_bFD
172. 8 TRIP fault no 0088 will not occur as would be expected Possible consequences gt Death or severest injuries gt Destruction or damage of the machine drive Protective measures gt If a TRIP occurs during commissioning when an absolute value encoder is used check the history buffer C0168 If an SD8 TRIP fault no 0088 is at the second or third place it is absolutely necessary to switch off and on again the supply of the control electronics 24 V supply If an absolute value encoder with Hiperface interface is connected to X8 and used as position and speed encoder the following setting sequence must be observed 1 Select absolute value encoder as position and speed encoder Single turn encoder C0490 and C0495 3 Multi turn encoder C0490 and C0495 4 If X8 has been selected as output by changing C0491 X8 will be automatically reset to input through the encoder selection 110 Lenze CRC Commissioning 6 Setting of the feedback system for position and speed control Absolute value encoder as position and speed encoder Note When encoders are used for position and speed control the same feedback system will automatically be set for both control modes Separate feedback systems can only be selected in connection with a resolver see code table C0490 and C0495 2 Select an absolute value encoder Single turn encoder C0419 307 311 Multi turn encoder C0419 407 411
173. 8 is input encoder or digital frequency Le Motor feedback systems 000 Encoder selection TTL Encoder 512inc 5V IT 512 E Motor settings 000 Encoder number of increments lt 8 1024 incr re 000 Encoder power supply 50V V Feedbacksystem 000 Resolver excitation amplitude 45 Motor rotor position adjustment 14 IS Signal le 3 IE KTY temperature sensor 000 Resolver number of pole pairs 1 LE Monitoring 000 Start resolver adjustment Stop stopped 000 Rotor displacement angle offset 90 0 E Motionbus CAN x4 nt t B Systembus CANaux 014 Fig 6 11 GDC view Feedback system C0060 indicates the rotor position within one revolution as a numerical value between 0 and 2047 The indicated rotor position is derived from the selected position encoder C0490 Evaluation If the motor controller resolver is set as position encoder C0490 and the rotor rotates in CW direction view on the front of the motor shaft the numerical value must rise If the values are falling reverse the Sin and Sin connections Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0060 Rotor pos Current rotor position valueis A 124 124 derived from position encoder Therefore it is only valid as rotor position if the position encoder settings under C0490 are identical with the settings of the speed encoder on the motor shaft under C0495 Only display 0 1 inc 2047 1 rev 2048 inc Lenze CZ 6 12 3 Commissioning 6 Operat
174. AIF1_nOutW1_a AIF1_bFDOO_b AIF1_nOutW2_a AIF1_bFDO15_b AIF1_bFDO16_b AIF1_dnOutD1_p sis AIF1_nOutW3_a AIF1_bFDO31_b 241 Lenze 113 System modules AIF1_IO_AutomationInterface node number 41 Outputs_AIF1 Codes Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0858 Analog process data output mpz words are indicated decimally on the AIF interface AIF1_OUT 100 00 16384 Read only 1 AIF1 OUT 199 99 0 01 199 99 Output word 1 words 2 AIF1 OUT Output word 2 words 3 AIF1 OUT Output word 3 words C0859 AIF1 OUT phi 32 bit phase information atthe 240 AIF interface AIF1_OUT Only display 2147483648 1 2147483647 242 Lenze EDBCSXA064 EN 2 0 System modules 13 AIF2_IO_AutomationInterface node number 42 Inputs_AIF2 13 3 AIF2_IO_AutomationInterface node number 42 13 3 1 Inputs_AIF2 This SB is used as an interface for input signals e g setpoints actual values to the attached fieldbus module e g INTERBUS PROFIBUS DP The process image is gt created in the cyclic task by means of a fixed set time interval of 10 ms gt created in an interval task within the time set for this task gt read at the beginning of the task and written at its end O Please read the documentation for the connected fieldbus module Inputs_AIF2 P AIF2_ninW1_a Byte 16 Bit 1
175. Assign the system variable DIGOUT_bOut1_b to a POU variable Note According to the IEC 61131 3 standard the system variables DIGIN_bIn1_b and DIGOUT_bOut1_b may generally only be used once The use of one system variable in several POUs must be carried out via a copy as global variable Lenze alii Preface and general information 1 System block introduction Integrating system blocks into the DDS 1 5 6 Integrating system blocks into the DDS The system blocks required have to be integrated explicitly into the project in the DDS via the control configuration gt The control configuration is placed as an object in the Resources tab in the Object organiser gt The control configuration lists all inputs and outputs including the identifiers of the corresponding system variable the absolute address and the data type of the system variable for every linked SB E Servo Axis Module ECSx4 VBX EDIGITAL_IO VAR nputs_DIGITALISLOT DIGIN_bCInh_b AT 1X1 0 0 BOOL Controller Inhibit CHANNEL DI DIGIN_bInd_b AT X1 0 1 BOOL i Digital Input 1 CHANNEL ty DIGIN_bln2_b AT X1 0 2 BOOL Digital Input 2 CHANNEL hi Inputs_DIGIN3 SLOT DIGI _bIn3_b AT IX1 0 3 BOOL amp Digital Input 3 5 CHANNEL tI Inputs_DIGIN4 SLOT Outputs_DIGITALISLOTI DIGOUT_bOut _b AT 0X1 0 0 BOOL Digital Output 1 CHANNEL Q t DIGOUT_bRelais_b AT QX1 0 1 BOOL Relais Output 2
176. B bit 7 of the control word automatically changes its state with every access to the code Observe this when interpreting the data EDBCSXA064 EN 2 0 13 1 2 Outputs_AIF_Management automation interface AIF Altogether up to 16 commands can be available O Please read the documentation for the connected fieldbus module AIF control word Bit 8 15 AIF_wControl Bit7 Togole Bit MSE Bit 0 6 Fig 13 2 System block Outputs_AIF_Management System variables Variable Data Signal Address type type AIF_wControl Word QX161 0 Codes Code Possible settings No Designation Lenze Selection Appl C2120 AIF Control 0 0 1 0 No command Read XCAN codes reinitialisation 2 Read XCAN code 10 Read XCAN C2356 1 4 11 Read XCAN C2357 12 Read XCAN C2375 13 Read XCAN C2376 C2378 14 Read XCAN C2382 255 Not assigned 234 Lenze 13 2 13 2 1 EDBCSXA064 EN 2 0 System modules AIF1_IO_AutomationInterface node number 41 Inputs_AIF1 AIF1_IO_AutomationiInterface node number 41 Inputs_AIF1 This SB is used as an interface for input signals e g setpoints actual values to the attached fieldbus module e g INTERBUS PROFIBUS DP The process image is gt created in the cyclic task by means of a fixed set time interval of 10 ms gt created in an interval task within the time set for this task gt read at the beginning of the task and written at its end O Please read the documentation for the connected
177. C 3 x 205 V AC 3 x 380 V AC 510 V DC 3 x 340 V AC 3 x 400 V AC 540 V DC 3 x 360 V AC 3 x 415 VAC 560 V DC 3 x 370 VAC 3 x 460 V AC 620 V DC 3 x 415 VAC 3 x 480 V AC 650 V DC 3 x 435 VAC 3 x 528 V AC 712 V DC 3x 475 VAC For steady state operation in generator mode with increased DC bus voltage or supply from a closed loop DC voltage source interpolate accordingly between the values given in the table The increased rated currents are valid for the entire voltage range specified at switching frequencies of 4 kHz and 8 kHz Note If in this connection a heatsink temperature of gt 70 C is reached the drive switches to a switching frequency of 4 kHz independently of the selected switching frequency Tip The operating threshold of the x t monitoring is automatically derived from the variable continuous currents EDBCSXA064 EN 2 0 Lenze 37 Technical data Current characteristics Increased continuous current depending on the control factor Example The ECS axis module suitable for operation in conjunction with a Lenze motor of type MCS 14L32 is to be determined gt Rated motor data Rated motor torque Mmot 17 2 Nm Rated motor speed Nmot 3225 rpm Motor voltage at 3250 rpm Umot n3250 275 V Rated motor current Imot 15 A Max motor current Imot_max 92 A gt Application data Max torque Mmax 35 Nm Max operating speed nmax 2500 rpm An effective process pow
178. C0037 I rpm TO INT nesr FCODE_nC108_1_a co108 1 gt FCODE_nC108_2_a T01087 2 FCODE_nC109_1_a Corot TO INT FCODE_nC109 2 a C0109 2 gt FCODE_nC141_a FCODE_bC250_b co250 BOOL FCODE_bC471Bit0_b C0470 gt DWORD TO map os BITROOL FCODE_bC471Bit31_b FCODE_nC472_1_a COATAT gt TO INT FCODE_nC472_20_a C0472120 gt n FCODE_nC473_1_a COa7SIT 4 INT FCODE_nC473_10_a C047310 _ FCODE_dnC474_1_p C047471 gt i DINT FCODE_dnC474_5_p C0474115 FCODE_nC475_1_v cori INT FCODE_nC475_2_v C0475 2 gt FCODE_bC135Bit0_b COS gt 16B t FCODE_bC135Bit15_b ECSXA261 Fig 13 29 System block FCODE_FreeCode Note gt The code C0032 only is available as of software version 7 0 gt The free code C0470 is placed on the same memory address as the code C0471 C0470 can be read out via the variables assigned to the C0471 FCODE_bC0471Bit0_b FCODE_bC0471Bit31_b In contrast to code C0471 which can accept a 32 bit value code C0470 is divided into four subcodes with 8 bits each gt The values in the codes gt of the SB are assigned to the respective variables gt The code value is converted into a variable value via a fixed scaling routine Example It is possible to enter a percentage e g by means of the keypad to code C0472 1 of the ECSxA axis module The value is directly assigned to the variable FCODE_nC0472_
179. C0427 Wiring gt 1slave onthe master X8 as digital frequency output Output frequency 0 200 kHz Permissible current loading max 20 mA per channel Two track with inverse 5 V signals RS422 The function of the output signals can be set via C0540 Wire master and slave to each other directly via interface X8 lt 50m B B K A GND A Z x A FE 2z l B L Tu B Fr z Z ECSXA029 Fig 5 22 Connection of the master frequency input output X8 master lt slave Signals for clockwise rotation Cores twisted in pairs Assignment of plug connector X8 Sub D 9 pole Pin 1 2 3 4 5 6 7 8 9 Input signal B A A GND Z Z B Output signal B A A GND Z Z B fe 0 14 mm 1mm 0 14 mm AWG 26 AWG 18 AWG 26 Lenze EDBCSXA064 EN 2 0 Electrical installation 5 Wiring of the feedback system Digital frequency input output encoder simulation gt 2to3 slaves connected to the master Use the EMF2132IB digital frequency distributor to wire the ECS axis modules with master digital frequency cable EYD0017AxxxxW01W01 and slave digital frequency cable EYD0017AxxxxW01S01 M 1 2 3 Ugg ISTE eJele e eto e
180. C2108 1 Save parameter set C0003 1 Lenze 121 6 12 6 12 1 Code No 0006 C0018 C0022 C0058 c0080 c0081 122 Commissioning Operation with servo motors from other manufacturers Entering motor data manually Operation with servo motors from other manufacturers Entering motor data manually If you operate servo motors of other manufacturers on the controller you have to enter the motor data manually The GDC includes the corresponding codes in the parameter menu under Motor Feedb gt Motor adjustment Parameter menu Code list Program Information D Technology Credits BB Load Store Diagnostic Short setup Main FB Terminal 1 0 Controller B Motor Feedb E Motor adjustment B Feedback D Monitoring Fig 6 10 Possible settings Designation Lenze Selection Appl Op mode 1 1 2 fchop 2 1 2 Imax current gt 0 Rotor diff 90 0 180 0 Res pole no 1 1 Mot power 3 20 0 01 000 motor control mode 000 Imax current 000 motor power 000 motor speed 000 motor current O00 motor frequency O00 motor voltage O00 motor cos phi 000 Rs motor stator resistance 000 Ls motor leakage inductance O00 switching frequency fchop 000 tuning rotor resistance O00 tuning main inductance 000 tuning rotor time constant GDC view Manual setting of the motor data Servo PM SM Servo ASM 4 kHz sin 8 4 kHz sin 0 01 A 0 1 1 0 01
181. CA 335 5 Use gt the upper speed limit for the clockwise sense of rotation positive values only gt the lower speed limit for the anticlockwise sense of rotation negative values only Otherwise the drive can run out of control 13 20 8 Parameterising phase controllers Among other things the phase controller is required for the implementation of a phase synchronous operation or of a drift free standstill Parameter setting 1 Assign MCTRL_nPosSet_a toa signal source which provides the phase difference between setpoint phase and actual phase 2 Define a value gt 0 for MCTRL_nPosLim_a 3 Set MCTRL_bPosOn_b TRUE 4 Seta preferably high proportional gain Vpn of the speed controller via C0070 5 Set the gain of the phase controller gt 0 via C0254 Increase C0254 during operation until the drive has the required control mode Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0070 Vp speedCTRL 3 0 Proportional gain of speed amg controller Vpn 0 00 0 01 127 99 C0254 Vpangle CTRL 0 4000 Phase controller gain Vp D 336 0 0000 0 0001 3 9999 336 Lenze lia 13 20 9 System modules 13 MCTRL_MotorControl node number 131 Quick stop OSP Influence of the phase controller The output of the phase controller additionally acts upon the speed setpoint gt Ifthe actual phase is lagging the drive is accelerated gt Ifthe actual phase advances the drive is decelerated until the desir
182. CE1 CAN2 IN CE2 CAN3_IN CE3 Bus off CE4 CAN bus interface Code C0591 C0592 X4 ECSxS P M MotionBus CAN C0593 ECSxA System bus CAN C0595 C0603 C2481 C2482 X14 C2483 System bus CAN C2484 C2485 Gateway function CE5 CANaux1_IN CE11 CANaux2_IN CE12 CANaux3_IN CE13 Bus off CE14 Gateway function CE15 The input signals CAN1 3_IN CANaux1 3_IN can also be used as binary output signals e g for the assignment of the output terminal Bus off If the controller disconnects from the MotionBus system bus CAN due to faulty telegrams the BusOffState signal CE4 CE14 is set BusOffState can activate an error TRIP or warning The signal can also be switched off The response is set under C0595 C2484 You can also assign the terminal output for this 11 2 3 Time out with activated remote parameterisation If a time out occurs during remote parameterisation gateway function activated via C0370 the system error message CES is output The response to this can be configured via C0603 Code Possible settings No Designation Lenze Selection Appl C0603 MONIT CE5 3 192 IMPORTANT Configuration of gateway am ERKI function monitoring CE5 Time out when remote parameter setting is activated 0 TRIP 2 Warning 3 Off C0370 Lenze EDBCSXA064 EN 2 0 11 2 4 11 2 5 11 2 6 Monitoring functions
183. CSXA064 EN 2 0 Lenze 319 System modules DFOUT_IO DigitalFrequency node number 22 Inputs_DFOUT Outputs_DFOUT Phase displaced signal sequence Track CW rotation CCW rotation A Ifthe input values are If the input values are A positive track A leads by 902 negative track A lags by 902 A B B z B z CW rotation gt The output signal corresponds to the message of an incremental encoder Track A B and if selected zero track as well as the corresponding inverted tracks are output with tracks shifted by 90 degrees The levels are TTL compatible gt The zero track is output in accordance with the function set in C0540 Note The digital frequency output X8 has a system dependent delay time gt Tq task cycle time process image cycle 1 ms Example If DFOUT_nOut_vis described in a 10 ms task the signal on X8 has a delay time Ty of 9 ms 10 ms 1 ms 320 Lenze EDBCSXA064 EN 2 0 13 18 DIGITAL_IO node number 1 13 18 1 Inputs_DIGITAL digital inputs System modules 13 DIGITAL_IO node number 1 Inputs_DIGITAL digital inputs This SB reads and conditions the signals on X6 DI1 D14 gt The configuration of the terminal polarity for the inputs X6 DI1 D14 is effecte
184. CTRL_MotorControl node number 131 Adjusting the motor data In GDC Easy the Input assistant for motor data is not available In this case please contact your Lenze representative for the stator resistance and leakage inductance data For the manual adjustment of the motor data the following codes are provided to you Designation Op mode Imax current Vp fieldCTRL Tn fieldCTRL DIS Lh Res pole no Mot power DIS Rr DIS Tr EDBCSXA064 EN 2 0 Possible settings Lenze Selection Appl 1 1 2 gt 0 5 0 0 00 20 0 1 0 0 0 1 1 3 20 0 01 0 000 0 00 Servo PM SM Servo ASM 0 01 A 0 01 0 5 ms 0 1 mH 1 0 01 kw 0 001 Q 0 01 ms Lenze 63 99 6000 0 3276 7 10 500 00 32 767 327 67 IMPORTANT Operating mode of the motor control Servo control of synchronous motors Servo control of asynchronous motors Imax limit gt Device dependent list Max current can be gathered from the technical data Field controller gain Vpr LO 133 Field controller reset time The 133 Mutual inductance of the asynchronous motor Read only Number of pole pairs of resolver Rated motor power according to nameplate Rotor resistance of the asynchronous motor Read only Rotor time constant of the asynchronous motor Read only 341 13 System modules MCTRL_MotorControl node number 131 Adjusting the motor data Code Po
185. Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0428 DFIN TP sel 0 DFIN touch probe signal source 0 Zero pulse of position encoder C0490 X7 X8 1 Touch probe input TP1 X6 DI1 2 Zero pulse of digital frequency input X8 C0429 TP1 delay 0 DFIN dead time compensation TP1 DI1 32767 1 inc 32767 C0431 DFIN TP Edge 0 DFIN touch probe TP1 edge for touch probe via digital input X6 DI1 C0428 1 Rising edge TP1 Falling edge TP1 Rising and falling edge TP1 Switched off w N e O Function sequence apy apog ap 1 The TP is activated in an edge controlled manner via the digital input X6 DI1 or via a zero pulse only if encoder is connected 2 Ifa TP has occurred DFIN_bTPReceived_b is set TRUE 3 After the start of the task DFIN_dnIncLastScan_p indicates the number of increments inc counted since the TP 4 Following DFIN_bTPReceived_b FALSE is set Note gt It is necessary that all three outputs DFIN_nIn_v DFIN_bTPReceived_b and DFIN_dnIncLastScan_p are processed in the task even if just one signal is required gt The polarity of the digital input X6 DI1 configured via C0114 1 does not have an influence on the edge evaluation 314 Lenze EDBCSXA064 EN 2 0 System modules DFIN_IO_DigitalFrequency node number 21 Inputs_DFIN DFIN_nIn_v gt gt The value DFIN_nIn_v is scaled to increments per millisecond inc ms INT 16384 corresponds to 15000 rp
186. DO gt The process data input telegram transmits control information to the controller gt The eight bytes of user data can be freely assigned Identifier User data 8 bytes O0hex 11 bits O0hex OOhex OOhex OOhex OOhex OOhex OOhex Fig 14 7 Structure of process data input telegram RPDO EDBCSXA064 EN 2 0 Lenze 415 416 Appendix General information about the system bus CAN Process data transfer Process data output telegram TPDO gt The process data output telegram reports status information from the controller Status information can be as follows Current status of the controller Status of the digital inputs States about internal analog values Fault error messages This information enables the higher level control to respond accordingly gt The eight bytes of user data can be freely assigned Identifier 11 bits User data 8 bytes OOhex 0Ohex O0hex OOhex OOhex OOhex O0hex OOhex Fig 14 8 Structure of process data output telegram TPDO Lenze EDBCSXA064 EN 2 0 Appendix General information about the system bus CAN Process data transfer Transfer of the process data objects Process data objects RPDOs to ECS module TPDOs from ECS module XCAN1_IN CAN1_IN CANaux1_IN XCAN2_IN CAN2_IN CANaux2_IN XCAN3_IN CAN3
187. EDBCSXA064 EN 2 0 Appendix 14 PLC functionality Quanti Description ty 1 4 512 Input for controller enable Free inputs 2 interrupt capable Free input 11 bits sign X6 SI1 for controller inhibit X6 SI2 for pulse inhibit Input Free output Output 56 SO for feedback 24V DC 8 MA per input 1 response time 0 25 ms 10 10 V 20 20 MA 4 20 mA 24 V DC 8 mA per input 0 500 kHz 24VDC 0 7A max 1 4A short circuit proof 0 500 kHz 24VDC 0 7A max 1 4A short circuit proof Resolver incremental or sin cos encoder According to IEC61131 3 According to IEC61131 3 depending on the data memory available 0 500 kHz Flag words See chapter 4 3 4 357 0 7 us Time or event controlled tasks 1 ms 16 s Cyclic task e PID control functions e Electrical shaft e Positioning function e Mains failure control e Brake control e Yield point arithmetic Drive PLC Developer Studio e Programming languages according to IEC61131 3 IL LD FBD ST SFC as well as CFC editor e Monitoring visualisation simulation and debugging Software packages cam positioner winder Lenze 349 Appendix Extendability networking 14 14 2 Extendability networking ii nol E ERRREREr RISE o SDO PEE bonm G
188. EN 2 0 Lenze 85 5 7 1 86 Electrical installation Wiring of the feedback system Resolver connection Resolver connection Note Before using a resolver from another manufacturer please consult Lenze Connect a resolver via the 9 pole Sub D socket X7 Features gt Resolver U 10 V f 4 kHz gt Resolver and resolver supply cable are monitored for open circuit fault message Sd2 X7 oo io N m ja O ses aN pe ii REF i 3 gt 0 5 20 x7 i i 3 fe Cos 4 D a i i 5 COS Jsl o P i SIN i 6 2 Voy sn ie 0 14 26 7 R1 KTY I 8 A ii RK 9 3 KTY La ECSXA022 Fig 5 19 Resolver connection Assignment of socket connector X7 Sub D 9 pole Pin 1 2 3 4 5 6 7 8 9 Signal Ref Ref GND COS COS SIN SIN R1 R2 KTY KTY 0 5 mm 0 14 mm T AWG 20 AWG 26 Lenze EDBCSXA064 EN 2 0 Electrical installation 5 Wiring of the feedback system Encoder connection 5 7 2 Encoder connection AN Danger For operating systems up to and including version 7 0 Uncontrolled movements of the drive possible when absolute value encoders are used If an absolute value encoder is disconnected from the axis module during operation a OH3 TRIP fault no 0053 occurs If the absolute value encoder now is connected to X8 again and a TRIP RESET is carried out the
189. EN 60204 1 The cables used must comply with the approvals required at the site of use e g VDE UL etc Note ECSDA axis modules For a better electromagnetic compatibility EMC connect the functional earth conductor to the ECSDA axis module E4 46 This is not required for the ECSEA standard installation and ECSCA cold plate axis modules Assignment of the plug connectors Plug connector terminal X23 X23 UG X23 UG X23 UG X23 UG X23 PE X23 PE X24 X24 U X24 V X24 W X24 PE X25 X25 BD1 X25 BD2 54 Function DC bus voltage connection Positive DC bus voltage Negative DC bus voltage Earth connection Motor connection Motor phase U Motor phase V Motor phase W Earth connection Motor holding brake connection Brake connection Brake connection Lenze Electrical data Dependent on application and type 0 770V 2 24 5 A MBA Dependent on application and type 0 480V 1 6 20 A QBA 23 30 V DC max 1 5 A EDBCSXA064 EN 2 0 Electrical installation 5 Power terminals Cable cross sections and screw tightening torques Cable type Wire end ferrule Possible cable Tightening torque Stripping length cross sections Plug connectors X23 and X24 rigid _ 0 2 10 mm 8 AWG 24 8 7 0 2 10 mm2 without wire end ferrule AWG 24 8 1 2 1 5Nm eee 0 25 6 mm2 10 6 13 3 Ib in amm flexible with wire end ferrule AWG 22 10 2 wi
190. General information about the system bus CAN Process data transfer Cyclic process data objects Cyclic process data objects are determined for a higher level host system PDO1 cyclic process data setpoints and actual values RPDO1 CAN1_IN n ECS module TPDO1 CAN1_ OUT lt Host system Fig 14 9 Example Process data transfer via CAN1_IN and CAN1_OUT For a quick exchange of process data from or to the master one process data object is available for input signals RPDO1 and one process data object for output signals TPDO1 with eight bytes of user data each Lenze alii Appendix General information about the system bus CAN Process data transfer Synchronisation of PDOs with sync controlled transmission In order that the cyclic process data can be read by the controller or the controller accepts the process data a special telegram the sync telegram is used in addition The sync telegram is the trigger point for sending process data of the controller to the master and transferring process data from the master to the controller A sync controlled process data processing requires a corresponding generation of the sync telegram Sync telegram Sync telegram Cycle time Fig 14 10 Sync telegram 1 Afterthe sync telegram has been received the synchronous process data from the contr
191. H4 Threshold can be set under C0122 The reaction to exceeding the threshold can be set under C0582 gt Fixed temperature threshold OH Threshold 90 C Reaction to exceeding the threshold TRIP The hysteresis is 5 K i e the reset value for the fixed threshold is 85 C The monitoring with the adjustable threshold OH4 is designed as an early warning stage before final disconnection of the controller by means of TRIP OH Therefore the process can be influenced accordingly so that the final disconnection of the controller at unfavourable moments is avoided Furthermore for instance additional fans can be activated generating a noise load when switched to continuous operation Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0122 OH4 limit 80 Threshold for heatsink CI 196 temperature monitoring 45 1 C 90 Heatsink temperature gt C0122 gt fault message OH4 C0582 C0582 MONIT OH4 2 Configuration of heatsink DI 196 temperature monitoring Set threshold in C0122 0 TRIP 2 Warning 3 Off The following causes can bring about an actuation of the monitoring process Cause Remedy The ambient temperature is too high Mount a fan in the control cabinet The drive controller is overloaded in the arithmetic e Mount a fan in the control cabinet mean i e overload and recovery phase are above e Reduce overload phase 100 e Use more powerful drive controller 196 Lenze EDBCSXA06
192. If only one DIP switch for the node address 52 S7 is in ON position the settings of DIP switches S2 S10 apply gt The baud rate must be set identically for all CAN nodes 162 Lenze EDBCSXA064 EN 2 0 System bus CAN CAN AUX configuration 9 Addressing of parameter and process data objects Settings via codes Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0350 CAN address 32 Node address for CAN bus interface X4 This code is not active if one of the switches 2 7 of the DIP switch is set to ON open e After the setting a reset node is required BB EE 1 1 63 C0351 CAN baud rate 0 Baud rate for CAN bus interface 16 kbi X4 500 kbit s e The baud rate must be set 250 kbit s identically for all CAN nodes This code is not active if one 125 kbit s of the switches 2 7 of the 50 kbit s DIP switch is set to ON e After the setting a reset node 1000 kbit s is required C2450 CANa address 1 Node address for CAN bus zs interface X14 CAN AUX 426 1 1 63 This code is inactive if one of DIP switches 2 7 and switch 1 are set to ON C2451 CANa baud 0 Baud rate for CAN bus interface 16 rate X14 CAN AUX 500 kBit s 250 kBit s 125 kBit s 50 kBit s 1000 kBit s RF WN FP O B WN EF O Save changes with C0003 1 The settings are only accepted after carrying out one of the following actions gt Switching on the lo
193. In2 b CANaux_bCe3CommeErrCanln3 b CANaux_bCe4BusOffState_b Possible response TRIP Message Warning Off v v e v v e v v e v v e v v e v v e v v e v v e e Default setting v Setting possible Each process data input object can monitor whether a telegram has been received within a specified time As soon as a telegram arrives the corresponding monitoring time C0357 C02457 is restarted retriggerable monoflop function The following assignments are valid Code No Designation C0357 1 CE monit time 2 CE monit time 3 CE monit time C2457 1 CE monit time 2 CE monit time 3 CE monit time Possible settings Lenze Appl 3000 3000 3000 3000 3000 3000 Selection 1 1 ms 1 1 ms IMPORTANT Monitoring time for CAN1 3_IN D 191 CAN bus interface X4 65000 CE1 monitoring time CE2 monitoring time CE3 monitoring time Monitoring time for D 191 CANaux1 3_IN CAN bus interface X14 65000 CE11 monitoring time CE12 monitoring time CE13 monitoring time The following responses can be set for communication errors gt O Error TRIP controller sets controller inhibit CINH gt 2 Warning gt 3 Monitoring is switched off Codes for setting the response to the monitoring functions EDBCSXA064 EN 2 0 Lenze 191 Monitoring functions Configuring monitoring functions Time out with activated remote parameterisation Monitoring CANI IN
194. Inactive Without function Controller inhibit CINH 2 Quick stop QSP 380 Lenze EDBCSXA064 EN 2 0 Code No C0470 A WN HP C0471 C0472 A WN HP 20 C0473 Designation FCODE 8bit FCODE 8bit FCODE 8bit FCODE 8bit FCODE 32bit FCODE analog 1 FCODE abs C0490 C0491 FCODE abs FCODE abs FCODE abs FCODE PH FCODE PH FCODE DF FCODE DF Feedback pos X8 in out EDBCSXA064 EN 2 0 Possible settings Lenze Selection Appl 0 00 hex FF 0 0 0 0 0 1 4294967295 0 0 199 99 0 01 199 99 0 0 100 0 0 0 0 0 1 32767 1 32767 0 0 2147483647 1 2147483647 0 16000 1 rpm 16000 0 0 Resolver at X7 1 TTL encoder at X8 2 SinCos encoder at X8 3 Absolute value encoder single turn at X8 4 Absolute encoder multi turn at X8 0 0 X8 is input X8 is output Lenze Appendix Code list IMPORTANT Freely configurable code for digital signals Hexadecimal value is bit coded C0470 1 C0471 bit 0 7 C0470 2 C0471 bit 8 15 C0470 3 C0471 bit 16 23 C0470 4 C0471 bit 24 31 Hexadecimal 32 bit interpretation of C0470 apy apy Freely configurable code for relative analog signals FCODE_bC472_1 a FCODE_bC472_2 a FCODE_bC472_3 a FCODE_bC472_4 a 325 FCODE_bC472_20 a Freely configurable code for absolute analog signals SIELE Freely configurable code for phase signals 325 Freely configurable code for phase difference signals
195. Initialisation error of absolute value encoder at X8 Communication error of absolute value encoder at X8 during rotor position adjustment x088 SD8 SinCos encoder at X8 sends inconsistent data SinCos encoder at X8 does not send any data x089 PL Error during rotor position adjustment x091 EEr External monitoring has been triggered via DCTRL x095 FANI Fan monitoring for built in units 0105 Internal fault memory 0107 H05 H07 Internal fault power stage x 0 TRIP 1 Message 2 Warning 3 FAIL OSP 226 Troubleshooting and fault elimination Cause e Defect of the encoder electronics e Absolute value encoder at X8 does not send any data Tip The encoder may not rotate during mains switching A rotor position adjustment via C0095 1 could not be completed successfully The tracks in the SinCos encoder are damaged Interference level on the encoder cable is too high Open circuit Incorrect encoder connected SinCos encoder defective Supply voltage set incorrectly e Sd7 fault during rotor position adjustment with absolute value encoder after mains switching e Cancellation of rotor position adjustment e g by C0095 0 or switching off A digital signal assigned to the TRIP SET function has been activated Heatsink fan is locked dirty or defect During initialisation of the controller an incorrect power stage was detected Lenze Remedy e Check
196. KEKEKENEKFEEEFEEFEFEFEFEFEFEFEFEFEEFEEFEEFEEFEFEFEFFEFSAKFEFH g H H N N ele ele ele e Pe eB he eje he Data DT Format VS VS VS VS U32 VH VS VS FIX32 VD FIX32 VD VS VS VS VS VS VS VS VS FIX32 VD FIX32 VD FIX32 VD FIX32 VD B32 VH FIX32 VD FIX32 VD B32 VH B16 VH FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD Lenze DL BB BP PRP HP HRP HP AA PHP A SAI PHP HPP HP HPP PP HP HPP AAA ASA IA AEN HP A A 5 A A DA A Decimal position 0 o o oo oo o o ooo oo o ooo o ooo o co o o oo oo o oo ooo oo oo sio oo ooo ooo LCM R W Ra Ra Ra Ra Ra Ra Ra Ra Ra Ra Ra Wa Ra Wa Ra Ra Ra Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Ra Wa Ra Wa Ra Wa Ra Ra Ra Ra Ra Wa Ra Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Access Condition EDBCSXA064 EN 2 0 Code C0400 C0416 C0417 C0418 C0419 C0420 C0421 C0426 C0427 C0428 C0429 C0431 C0443 C0444 C0469 C0470 C0471 C0472 C0473 C0474 C0475 C0490 C0491 C0495 C0497 C0504 C0505 C0506 C0507 C0508 C0509 C0510 C0514 C0515 C0516 C0517 C0518 C0519 C0540 C0545 C0547 C0549 C0559 C0576 C0577 C0578 C0579 C0580 Index dec 24175
197. Lenze 27 IN 2 2 28 Safety instructions Residual hazards Residual hazards Protection of persons gt Before working on the axis module check that no voltage is applied to the power terminals because the power terminals UG UG U V and W remain live for at least 3 minutes after mains switch off the power terminals UG UG U V and W remain live when the motor is stopped gt The heatsink has an operating temperature of gt 70 C Direct skin contact with the heatsink results in burns gt The discharge current to PE is gt 3 5 mA AC or gt 10 mA DC EN 61800 5 1 requires a fixed installation The PE connection must comply with EN 61800 5 1 Comply with the further requirements of EN 61800 5 1 for high discharge currents Device protection gt All pluggable connection terminals must only be connected or disconnected when no voltage is applied gt The power terminals UG UG U V W and PE are not protected against polarity reversal When wiring observe the polarity of the power terminals gt Power must not be converted until all devices of the power system are ready for operation Otherwise the input current limitation may be destroyed Frequent mains switching e g inching mode via mains contactor can overload and destroy the input current limitation of the axis module if gt the axis module is supplied via the ECSxE supply module and the input current lim
198. Management Inpu ts A Management utputs A Vianagement 4 EDBCSXA064 EN 2 0 Index 15 DI O Automationintertace 1 gt 1 gt p 40 DI O Automationintertace 24 1 gt D O gt D 1 gt D O D gt O Automationintertace 24 gt D 5 DI o 00 Analog inputs Configuration 68 ANALO O D ANALO DI O Application as directed Application as directed App Assignment external brake resistor 429 gt wv n ca Ss 3 1 35 rr o h gt o ack da ca a e M A gt e n control connections 66 gt ZI 00 Atmospneric pressure A e 5 A 2 3 5 A A un n gt c e 3 iY cd e 5 5 oO T n oO DI O Management nputs A Vianagement utputs A Vianagement 4 DI O Automationintertace JA O Automationintertace 24 D A Z O D A 4 JA O Automationintertace 24 D A 7 Q gt D O communication error control word 4 transfer o e status control word A s 3 DI o 5 5 D g A Lenze 433 Index a A ECSCx dimensions 48 mounting 4 1 m N un O x Ad 2 mounting 4 CLI 3 D 5 Lal 5 n m N un m x i 74 2 mounting 4 CLI 3 D 5 Lal 5 n ta Hi NI Hi Axis synchronisation a CAN Bus 261 Ma termi
199. N 2 0 Lenze 32767 16000 199 99 199 99 65535 199 99 FF IMPORTANT Freely configurable code for 325 absolute analog signals e FCODE_nC32_a gearbox factor numerator FCODE_nC37_a setpoint CO 325 selection in rpm Gain for relative analog signals 323 AOUT FCODE_nC108_1_a FCODE_nC108 2 a Offset for relative analog signals 4 325 AOUT FCODE_nC109 1 a FCODE_nC109 2 a System control word DCTRL Controller evaluates information as 16 bits binary coded Main setpoint FCODE_C141_a 325 Freely selectable digital signal 325 1 bit Freely configurable code for 325 digital signals Hexadecimal value is bit coded C0470 1 C0471 bit 0 7 C0470 2 C0471 bit 8 15 C0470 3 C0471 bit 16 23 C0470 4 C0471 bit 24 31 327 System modules FCODE_FreeCode node number 141 Code Possible settings No Designation Lenze Selection Appl C0471 FCODE 32bit 0 0 1 C0472 FCODE analog 1 0 0 199 99 0 01 2 0 0 3 100 0 4 0 0 20 0 0 C0473 1 FCODE abs 1 32767 1 2 FCODE abs 3 FCODE abs 10 FCODE abs 0 C0474 1 FCODE PH 0 2147483647 1 5 FCODE PH 0 C0475 1 FCODE DF 0 16000 1 rpm 2 FCODE DF 328 Lenze 4294967295 199 99 32767 2147483647 16000 IMPORTANT Hexadecimal 32 bit interpretation of C0470 Freely configurable code for relative analog signals FCODE_bC472_1 a FCODE_bC472_2 a FCODE_bC472_3_a FCODE_bC472_4 a FCODE_bC472_20 a
200. N word 4 401 Code No C2493 10 11 C2500 C2501 402 Appendix Code list Possible settings Designation Lenze Selection Appl CANa OUT 199 99 0 01 words CANa OUT words CANa OUT words CANa OUT words CANa OUT words CANa OUT words CANa OUT words CANa OUT words CANa OUT words CANa OUT words CANa OUT words 0 1 0 1 Lenze 199 99 65535 65535 IMPORTANT Process data output words decimal for CAN bus interface X14 100 00 16384 Read only CANaux1_OUT word 1 CANaux1_OUT word 2 CANaux1_OUT word 3 CANaux2_OUT word 1 CANaux2_OUT word 2 CANaux2_OUT word 3 CANaux2_OUT word 4 CANaux3_OUT word 1 CANaux3_OUT word 2 CANaux3_OUT word 3 CANaux3_OUT word 4 PLC flag 1 255 PLC flag 256 512 aps aps EDBCSXA064 EN 2 0 14 6 Column CoDe Index Data Access Code C0002 C0003 C0004 C0005 C0006 C0009 C0011 C0017 Table of attributes Appendix Table of attributes If you want to establish separate programs you need the information from the table of attributes It contains all information for the communication to the ECSxA axis module via parameters How to read the table of attributes Meaning Name of the Lenze code dec Index used to address a parameter A subindex of an array variable is hex the same as a Lenze subcode number DS Data structure DA Number of the array elements subcodes DT Data type Format LECOM
201. No x108 x110 x111 x122 x123 x124 x125 x126 1131 x190 x191 x200 Display H08 H10 H11 CE11 CE12 cel3 CE14 CE15 PRM nErr HSF Nmax Troubleshooting and fault elimination Description Extension board error Heatsink temperature sensor error Temperature sensor error Temperature inside the controller Communication error at the process data input object CANaux1_IN Communication error at the process data input object CANaux2_IN Communication error at the process data input object CANaux3_IN BUS OFF state of system bus CAN interface X14 System bus CAN time out communication error of gateway function interface X14 Parameter error motor data Speed control error Speed out of tolerance margin C0576 Internal error Maximum speed C0596 has been exceeded x 0 TRIP 1 Message 2 Warning 3 FAIL OSP EDBCSXA064 EN 2 0 System error messages Causes and remedies Cause Extension board not connected correctly Extension board is not supported by PLC program Sensor for detecting the heatsink temperature indicates undefined values Sensor for detecting the internal temperature indicates undefined values CANaux1_IN object receives faulty data or communication is interrupted CANaux2_IN object receives faulty data or communication is interrupted CANaux3_IN object receives faulty data or communication is
202. O DO 9 5 Y n n Istory buffer oy yg c c a 3 oO 3 a 3 9 gt ga o m e lo causes and remedies J T D ODE FreeCode edback system wiring 8 00 00 fincremental encoder resolver 86 UT e un D gt im O A io i 2 D A e e o M leld weakening controller ree codes ree space a unction sequence touch probe 4 conductor 46 c 5 A uy 5 DI v A Gateway function CAN interface 177 Global Drive Control GDC Q O 8 5 Parameter setting 138 Global Drive Oscilloscope GDO 182 Lenze 439 Index a NI S O Zi O Global variables flags 34 Guiding angle default and synchronisation CAN sync identifier 259 CAN p 60 ID H Q Guiding angle selection and synchronisation O Hi axis synchronisation via CAN bus Synchronisation time 258 S O I n 9 n 5 5 N S a 5 v emperature monitoring 196 O D codes 214 delete entries 21 for fault elimination 21 5 ts a e 5 uration 100 M 5 n o o 5 a e 5 e M O 7 17 E Hl Hl DI 00 interface 14 ICAN ncrement access RAM memory 357 ncremental encoder as position and speed encoder 104 dividual addressing 164 x a i O La 3 a x x o lt S DI A Management di S
203. O31_b Outputs_AIF1 AIF1_dnOutD1_p Variable Data Signal Address Display Display Notes type type code format Word QW41 0 QW41 1 C0858 1 Integer analog QW41 2 C0858 2 dec OWA41 3 C0858 3 QX41 2 0 sl QX41 2 15 i may OX41 3 0 E i OX41 3 15 Double position QD41 1 C0859 dec inc integer User data The 8 bytes of user data to be sent can be written via several variables of different data types According to requirements data can therefore be transferred from the PLC program as gt binary information 1 bit gt status word quasi analog value 16 bit gt angle information 32 bit EDBCSXA064 EN 2 0 Byte 1 2 3 4 5 6 7 8 Note Avoid simultaneous overwriting via different variable types to ensure data consistency Thus bytes 5 and 6 should only be overwritten by gt variable A F1_dnOutD1_p gt variable AIF1_ nOutW2_a or gt variables AIF1_bFDOO b AIF1_bFDO15 b Variable 1 bit Variable 16 bit Variable 32 bit AIF1_wDctrlStat Byte 1 2 can be used for transferring the status word from the SB DCTRL_DriveControl to the field bus module e For this purpose connect variable DCTRL_wStat of the SB DCTRL_DriveControl to variable AIF1_wDctrlStat e In addition to signals such as IMP and CINH the SB status word DCTRL_DriveControl contains some freely assignable signals which can be overwritten via the variables DCTRL_bStateB _b of the SB DCTRL_DriveControl
204. OH7 Error message Monitoring function System variable Possible response TRIP Message Warning Off 053 OH3 Motor temperature MCTRL_bMotorTempGreaterSe v v fixed 150 C tValue_b 057 OH7 Motor temperature MCTRL_bMotorTempGreatercO v v adjustable C0121 121 b e Default setting v Setting possible Note This monitoring only applies to temperature sensors specified by Lenze like the temperature sensors included in the standard servo motors With regard to default setting this monitoring is switched actively and is actuated when no Lenze servo motor is used gt Adjustable warning threshold OH7 The warning threshold can be set under C0121 The reaction to exceeding the threshold can be set under C0584 gt Fixed warning threshold OH3 Threshold 150 C The reaction to exceeding the threshold can be set under C0583 The hysteresis is 15 K i e the reset value for the fixed warning threshold is 135 C The connections X7 00 86 or X8 CQ 87 are available as inputs for the temperature sensor Stop The temperature sensor must only be connected to X7 or X8 the other input for the temperature sensor must not be assigned The monitoring with the adjustable threshold OH7 is designed as an early warning stage before final disconnection of the controller by means of TRIP OH3 Therefore the process can be influenced accordingly so that the final disconnection of the controller at unfavourable moments
205. Operating Instructions ECS ECSEAxxx ECSDAxxx ECSCAxxx Axis module Application Lenze O Please read these instructions before you start working Follow the enclosed safety instructions These Instructions are valid for ECSXA axis modules as of version ECS x AT BOO x 4 X XXX XX XX XX Hans Lenze StraRet Device type Lenze D 31855 Aerzen Made in Germany input ZPE DC Output 3 PEAC Design Overload E standard panel mounted unit IP20 e ik D push through technique thermally separated C cold plate technique TEATS ATT IMAA EKZ A SW B SW Parameter Application A Application Peak current 004 4A 032 32A 008 8A 048 48A 016 16A 064 64A Fieldbus interface C CAN system bus Voltage class 4 400 V 500 V Technical version B Standard For IT systems Variant Hardware version 1A or higher Version of operating software B SW 8 0 or higher ale Tip Current documentation and software updates concerning Lenze products can be found on the Internet in the Services amp Downloads area under http www Lenze com 2008 Lenze Drive Systems GmbH Hans Lenze Strafe 1 D 31855 Aerzen No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze Drive Systems GmbH All information given in this documentation has been selected carefully and complies with the hardware
206. P 13 15 3 Quick stop OSP The OSP function serves to stop the drive irrespective of the setpoint selection within the time adjusted in C0105 gt The function can be controlled via the following inputs OR d Control word DCTRL_wAIF1Ctrl a Control word DCTRL_wCANICtrl a Control word C0135 bit 3 gt C0136 1 indicates the control word C0135 Note Quick stop OSP only is set if DCTRL_bQspin_b is connected to MCTRL_bOspOut_b of the SB MCTRL_MotorControl 0329 DCTRL bOspn b og eTR pasou TTT Any Variable y 7 C0907 3 MCTRL_nHiMLim_a i H Y i 090674 MCTRL_nLoMLim_a Yy iC0906 3 MCTRL_bNMSwt_b Y C0907 2 ECSXA267 Fig 13 21 Programming actuation of a quick stop OSP via SB Inputs_DCTRL Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0105 OSP Tif 0 0 Deceleration time for quick stop 303 OSP 337 0 000 0 001 s 999 999 Relating to speed variation Nmax LO 303 C0011 0 rev min 13 15 4 Operation inhibit DISABLE This function actuates an operation inhibit DISABLE in the drive The power output stages are inhibited and all speed controllers current controllers position controllers are reset In the operation inhibit state the drive cannot be started by the command controller enable gt The function can be controlled via th
207. P HH A o o o o o o o 403 Code C0018 C0019 C0022 C0023 C0026 C0027 C0030 C0032 C0034 C0037 C0040 C0042 C0043 C0050 C0051 C0052 C0053 C0054 C0055 C0056 C0057 C0058 C0059 C0060 C0061 C0062 C0063 C0064 C0065 C0066 C0067 C0070 C0071 C0072 C0074 C0075 C0076 C0077 C0078 C0079 C0080 C0081 C0082 C0083 C0084 C0085 C0087 C0088 404 Appendix Table of attributes Index dec 24557 24556 24553 24552 24549 24548 24545 24543 24541 24538 24535 24533 24532 24525 24524 24523 24522 24521 24520 24519 24518 24517 24516 24515 24514 24513 24512 24511 24510 24509 24508 24505 24504 24503 24501 24500 24499 24498 24497 24496 24495 24494 24493 24492 24491 24490 24488 24487 hex 5FEDh 5FECh 5FE9h 5FE8h 5FESh 5FE4h 5FE1h 5FDFh 5FDDh 5FDAh 5FD7h 5FD5h 5FD4h 5FCDh 5FCCh 5FCBh 5FCAh 5FC9h 5FC8h 5FC7h 5FC6h 5FC5h 5FC4h 5FC3h 5FC2h 5FCIh 5FCOh 5FBFh 5FBEh 5FBDh 5FBCh 5FB9h 5FB8h 5FB7h 5FB5h 5FB4h 5FB3h 5FB2h 5FB1h 5FBOh 5FAFh 5FAEh 5FADh 5FACh 5FABh 5FAAh 5FA8h 5FA7h g vu o gt PPP RPP RP BP RP BRP BBP BP BP BPP BPP BPP PP PPP elele PRB BPP PPP PPP RPP PENN PP Pe Data DT Format FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX32 VD FIX3
208. P MP e i 0 3 gt Ctrl MCTRL_dnActincLastScan_p DI2 aa x6 La consi T0490 cost2 Costi COSTO MONIT Sd2 MCTRL_bResolverFault_b consi gt or sl MONIT Sd6 MCTRL_bSensorFault_b s consi MONIT Sd7 SD8 MCTRL_bEncoderFault_b TOC Mot temp X7 or X8 MONIT OH3 MCTRL_bMotorTempGreaterSetValue_b C0063 cori MONIT OH7 MCTRL_bMotorTempGreaterC0121_b gt eC Heatsink temp Ea MONIT OH MCTRL_bKuehlGreaterSetValue_b C0061 0122 sl Monton MCTRL_bKuehlGreaterC0122_b MONIT PL MCTRL_bRotorPositionFault_b MONIT LP1 MCTRL_bMotorphaseFail b ECSXA290 Fig 13 30 System block MCTRL_MotorControl Note The process image is established in the course of a fixed system task interval 1 ms Exception MCTRL_bActTPReceived_b MCTRL_dnActIncLastScan_p and MCTRL_nNAct_v respectively are read in the process input image of the task in which they are used EDBCSXA064 EN 2 0 Lenze 329 13 20 1 330 System modules MCTRL_MotorControl node number 131 Inputs_MCTRL Inputs_MCTRL System variables Variable MCTRL_bQspIn_b MCTRL_nNSetin_a MCTRL_bMMax_b MCTRL_nMSetIn_a MCTRL_bIMax_b MCTRL_nlAct_a MCTRL_nDCVolt_a MCTRL_nMAct_a MCTRL_wMmaxC57 MCTRL_bUnderVoltage_ b MCTRL_bOverVoltage_b MCTRL_bShortCircuit_b MCTRL_bEarthFault_b MCTRL_bIxtOverload_b MCTRL_nPos_a MCTRL_nNAct_v MCTRL_nNAct_a MCTRL_dnPos_p MCTRL_bNmaxFault_b MCTRL_nNmaxC11 MCTRL_bActTPReceived_ b MCTRL_dnActIncLastScan _P Data Si
209. PDOs XCAN2_OUT and XCAN3_OUT are sent for the first time Event controlled transmission C2356 x 0 gt The output data is always transferred when one value in the eight bytes of user data has changed Lenze default setting Time controlled transmission C2356 x 1 65000 gt The output data is transferred with the cycle time set in C2356 x referred to the task cycle time Example gt The CAN object is used in a 10 ms task gt Factor set via CO356 2 5 The CAN object is sent in every fifth task cycle hence every 50 ms 10 ms x 5 Code for activating the transmission of event controlled PDOs Possible settings IMPORTANT Name Lenze Selection appl 0 Event controlled PDO transmission 0 Send PDOs when changing to Operational mode 1 Do not send PDOs Lenze lidia AIF interface X1 configuration Cycle time XCAN1_OUT XCAN3_ OUT Code for enabling the second parameter channel and the PDO channels Code Possible settings No Name Lenze Selection appl C2365 1 0 0 1 2 J 3 J 4 1 0 Deactivated 1 Activated 2 Reception activated 3 Transmission activated EDBCSXA064 EN 2 0 Lenze IMPORTANT Enabling the second parameter channel and the PDO channels Enabling the second parameter channel Enabling the first parameter channel Enabling the second process data channel Enabling the third process data channel 00 151 8 AIF interface X1 configuration Synchronisation XCAN sync response 8 6 Synch
210. RIP 1 Message 2 Warning 3 FAIL OSP 218 Lenze EDBCSXA064 EN 2 0 System error message No x070 x071 x072 x074 x075 x076 x079 x080 x082 x083 x085 x086 x087 x088 x089 x091 x105 x107 x108 x110 x111 Display U15 CCr PR1 PEr PRO PR5 PI PR6 Sd2 Sd3 Sd5 Sd6 Sd7 sd8 PL EEr H05 H07 H08 H10 H11 Source interna interna interna interna interna interna interna I interna MCTRL MCTRL MCTRL MCTRL MCTRL MCTRL MCTRL FWM interna interna interna I FWM FWM Troubleshooting and fault elimination Possible settings response e Lenze setting Meaning Code Undervoltage of internal 15 V voltage supply Internal fault 1 Checksum error in parameter setl Program error 1 General parameter set fault 1 Error saving parameters Fault during parameter initialisation 1 Too many user codes C0586 C0587 C0598 Resolver error Encoder error at X9 pin 8 Encoder error at analog input X6 C0034 1 Motor temperature sensor error X7 or X8 Absolute value encoder error at X8 1 Absolute value encoder error at X8 1 Error with regard to rotor position adjustment C0594 C0025 C0580 External monitoring actuated C0581 via DCTRL Internal fault memory Internal fault power stage Extension board not connected correctly or not su
211. RL Short circuit in motor cable v v x012 OC2 MCTRL Earth fault in motor cable v v x015 OCS MCTRL x t overload v v x016 OC6 MCTRL 12 xt overload C0120 e v x017 0C7 MCTRL 1x t warning C0123 C0604 Vv e v v x018 OC8 MCTRL 12 xt warning C0127 co605 v v v x020 OU MCTRL Overvoltage in the DC bus v v x030 LU MCTRL Undervoltage in DC bus v v x032 LP1 MCTRL Motor phase failure C0597 v v v v x050 OH MCTRL Heatsink temperature higher v v than fixed limit temperature x051 OH1 MCTRL Interior temperature gt 90 C x053 OH3 MCTRL Motor temperature higher C0583 v v v than fixed limit temperature x054 OH4 MCTRL Heatsink temperature higher C0582 v v v than variable limit temperature C0122 x055 OH5 MCTRL Interior temperature gt C0124 C0605 Vv v v x057 OH7 MCTRL Motor temperature higher C0584 v v v than variable limit temperature C0121 x058 OH8 MCTRL Motor temperature via inputs C0585 v v v v T1 T2 is too high x061 CEO AIF Communication error AIF C0126 v v v v v module PLC FIF CAN CAN AUX communication error x062 CE1 CAN1 CAN1_IN monitoring time can C0591 Vv v v v v be set with C0357 1 x063 CE2 CAN2 CAN2_IN monitoring time can C0592 be set with C0357 2 x064 CE3 CAN3 CAN3_IN monitoring time can C0593 be set with C0357 3 x065 CE4 CAN CAN BUS OFF status C0595 v v v v v too many faulty telegrams received x066 CE5 CAN CAN time out gateway co603 v v v v v function C0370 x 0 T
212. R_Persistent_by Byte30 VAR_Persistent_by Byte31 Note Address QB171 24 OB171 25 OB171 26 OB171 27 OB171 28 OB171 29 OB171 30 OB171 31 Appendix Memories Persistent memory Variable 16 bit Variable 32 bit Identifier VAR_Persistent_w Word12 VAR_Persistent_w Word13 VAR_Persistent_w Word14 VAR_Persistent_w Word15 Address Identifier Address OW171 12 VAR_Persistent_dw DARE QD171 6 OW171 13 OW171 14 VAR_Persistent_dw DNGri7 QD171 7 QW171 15 Some projects program examples as well as Lenze templates use areas of the persistent memory They also are labelled by LenzelnternalUse and must not be altered by the user Example Saving current position fail safe By means of an AT declaration for instance the variable can be directly connected to the address of a persistent variable in its current position and like this can save the position fail safe g_dnActualPosition p AT SQD171 6 DINT EDBCSXA064 EN 2 0 Lenze 353 14 3 3 354 Appendix Memories Download of various data items Download of various data items In DDS as of version 2 0 it is possible to attach a file to your project whose data are automatically transferred in the drive controller when the program is downloaded gt This mechanism is for instance used in the software package Cam to download motion profiles Note With regard to the ECSxA axis module the addi
213. Ra Wa Ra Ra Ra Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Wa Ra Ra Ra Ra Wa Ra Wa Access Condition EDBCSXA064 EN 2 0 Appendix General information about the system bus CAN Structure of the CAN data telegram 14 7 General information about the system bus CAN Note The information on this chapter will be part of the CAN Communication Manual at a later date All Lenze drive and automation systems are equipped with an integrated system bus interface for the networking of control components on field level Via the system bus interface for instance process data and parameter values can be exchanged between the nodes In addition the interface enables the connection of further modules such as distributed terminals operator and input devices or external controls and host systems The system bus interface transmits CAN objects following the CANopen communication profile CIA DS301 version 4 01 developed by the umbrella organisation of CiA CAN in Automation in conformity with the CAL CAN Application Layer ale lt Tip For further information visit the homepage of the CAN user organisation CiA CAN in Automation www can cia org 14 7 1 Structure of the CAN data telegram Control field CRC delimit ACK delimit Start RTR bit CRC sequence ACK slot End T TITT T Identifier User data 0 8 bytes e Network management e Process data 1 bit 11 bits 1bit 6bits e Parameter da
214. Received from CAN1_IN Received from CAN2_IN Received from CAN3_IN Received from parameter data channel 1 Received from parameter data channel 2 Time interval between two Sync 257 telegrams via CAN bus interface X4 Read only CAN sync correction increment M259 Input signal CAN active Only display CAN sync response for CAN bus interface X4 CAN sync receipt ID for CAN bus 259 interface X4 Sync transmission ID for CAN bus M 41 interface X4 171 EDBCSXA064 EN 2 0 Code No Designation C0369 SyNc Tx time C0370 SDO Gateway C0371 Gateway Ch C0381 HeartProdTim e C0382 GuardTime C0383 LifeTimeFact C0384 Err NodeGuard EDBCSXA064 EN 2 0 Possible settings Lenze Selection Appl 0 0 0 0 1 0 I 0 0 0 0 0 0 3 0 1 2 3 4 1 ms 1 CAN CAN AUX 1 ms 1 ms 1 TRIP Message Warning Off FAIL OSP Lenze 65000 63 65535 65535 255 Appendix Code list IMPORTANT CAN sync transmission cycle for LA 258 CAN bus interface X4 Async telegram with the identifier of C0368 is sent with the cycle time set ECSxP The setting is effected automatically depending on C4062 0 switched off Gateway address Activating remote parameter setting e When selecting a setting 0 all code read write accesses will be redirected to the system bus device with the corresponding CAN node address e The respective code is accessed via parameter
215. SXA064 EN 2 0 Variable MCTRL_bResolverFault_b MCTRL_bEncoderFault_b MCTRL_bSensorFault_b MCTRL_bMotorTempGre aterSetValue_b MCTRL_bMotorTempGre aterC0121_ b MCTRL_bKuehlGreaterSe tValue_b MCTRL_bKuehlGreaterCo 122 b MCTRL_bRotorPositionFa ult_b MCTRL_bMotorphaseFail b EDBCSXA064 EN 2 0 System modules 13 MCTRL_MotorControl node number 131 Inputs_MCTRL Data Signal Address Display Display Comments type type code format IX131 0 8 Monit resolver error IX131 9 1 Monit Encoder error X131 9 0 Monit Thermal sensor error Monit Motor RIO temperature gt 150 C o Monit Motor plete temperature gt C0121 BOOL binary IX131 0 14 Monit Heatsink temperature gt 85 C A Monit Heatsink RIDI temperature gt C0122 Monit Error during rotor SRL position adjustment Monit Failure of a motor X131 9 4 phase Lenze 331 13 System modules MCTRL_MotorControl node number 131 Outputs _MCTRL 13 20 2 Outputs_MCTRL System variables Variable Data Signal Address Display Display Comments type type code format F A TRUE drive carries out MCTRL_bOspOut_b BOOL binary QX131 0 0 C0907 3 bin quick stop OSP PESCO Upper torque limitation MCTRL_nHiMLim_a n l QW131 4 C0906 4 es e in of C0057 integer analog ec RETE 5 Lower torque limitation MCTRL_nLoMLim_a OW131 3 C0906 3 e in ofC0057 MCTRL_bNMSwt_b BOOL binary 0X131 0 1 C0907 2 bin FALSE speed control
216. Set value rpm 0 16000 1 rpm Ctrl enable 1 0 Controller inhibited 1 Controller enabled Lenze 16000 100 199 99 199 99 32767 16000 IMPORTANT Threshold when nat 0 rpm is detected DCTRL_bNActEgO_b Imax limit gt Device dependent list Max current can be gathered from the technical data Maximum field weakening current for synchronous machines Offset for relative analog signals 251 AIN 323 FCODE_nC26 1 a FCODE_nC26 2 a Gain for relative analog signals 257 AIN a Eyas FCODE_nC27_1 a FCODE_nC27_2 a Constant for digital frequency 373 output DFOUT_nOut_vonX8in O 104 increments per revolution apg Freely configurable code for 325 absolute analog signals e FCODE_nC32_a gearbox factor numerator Selection master CO 251 voltage master current on analog input AIN1_nIn_a Master voltage Master current FCODE_nC37_a setpoint selection in rpm Controller inhibit CINH e Writing Controls the controller inhibit e Reading Reads the status of the controller inhibit EDBCSXA064 EN 2 0 Code Possible settings No Designation Lenze Selection Appl C0042 DIS OSP C0043 Trip reset C0050 MCTRL NSET2 C0051 MCTRL NACT C0052 MCTRL Umot C0053 UG VOLTAGE C0054 Imot C0055 Phase current C0056 MCTRL MSET2 C0057 MAX TORQUE C0058 Rotor diff 90 0 C0059 Mot pole no EDBCSXA064 EN 2 0 100 00 30000 0 0 0 0 100 0 0 18
217. Synchronous motor accelerates with a speed setpoint 0 to rated speed e Torque of synchronous motor is too low e Motor blocks in certain positions EDBCSXA064 EN 2 0 Cause correct phase relation Motor is not connected in correct phase relation Motor is not connected in correct phase relation Rotor angle offset of electrical and mechanical rotor angle is not correct The number of pole pairs of the resolver or motor is not set correctly Lenze Remedy Connect feedback system in correct phase relation The rotor position indicated under C0060 is derived from the position encoder MCTRL_dnPos_p Therefore observe the mounting position when using separate feedback systems for position C0490 and speed C0495 Connect motor in correct phase relation at the terminals U V W Connect motor in correct phase relation at the terminals U V W Carry out rotor position adjustment C0095 1 or set rotor displacement angle manually Operate motor without load for this purpose Number of pole pairs C0080 must be set correctly 217 12 Troubleshooting and fault elimination System error messages 12 3 System error messages 12 3 1 Overview of system error messages error sources and reactions System error message Possible settings response Available in e Lenze setting v Setting possible No Display Source Meaning Code TRIP Messa Warni FAIL Q Off Drive Servo ECSxA ge ng sp PLC PLC x011 OC1 MCT
218. T When the Operational NMT status is reached after Pre operational the delay time is started After the delay time the PDOs CAN2_OUT CANaux2_OUT and CAN3_OUT CANaux3_OUT are sent for the first time Lenze ala System bus CAN CAN AUX configuration 9 Node guarding 9 7 Node guarding With cyclic node monitoring Node Guarding the CAN master regularly queries the states of the slaves being monitored gt The master starts the node guarding by sending the node guarding telegram gt Ifthe slave does not receive a node guarding telegram within the monitoring time Node Life Time the Life Guarding Event is activated fault message Err NodeGuard Settings In order that the power supply module takes over the function of the Node Guarding Slave make the following settings 1 SetC0352 2 The power supply module is configured as Node Guarding Slave 2 Setthe time interval of the status enquiry by the master Node Guard Time via C0382 3 Set the factor for the monitoring time Node Life Time Factor via C0383 Node Life Time Node Guard Time C0382 Node Life Time Factor C0383 4 Set the response to a Life Guarding Event via C0384 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0352 CAN mst 0 Master slave configuration for 167 CAN bus interface X4 0 Slave CAN boot up is not active 1 Master CAN boot up is active 2 Master with node guardi
219. T Analog process data input words 235 are indicated decimally on the AIF interface AIF1_IN 100 00 16384 Read only Input word 1 Input word 2 Input word 3 32 bits of phase information on the AIF interface AIF1_IN Read only ch 235 Analog process data output words are indicated decimally on the AIF interface AIF1_OUT 100 00 16384 Read only Output word 1 249 Output word 2 Output word 3 32 bit phase information at the AIF interface AIF1_OUT Only display apy Digital process data input words 415 for CAN bus interface X4 Hexadecimal value is bit coded Read only CAN1_IN Process data input word 1 CAN1_IN Process data input word 2 CAN2_IN Process data input word 1 CAN2_IN Process data input word 2 CAN3_IN Process data input word 1 CAN3_IN Process data input word 2 EDBCSXA064 EN 2 0 Appendix Code list Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0866 Analog process data input words 413 decimal for CAN bus interface X4 100 00 16384 Read only 1 CAN IN words 199 99 0 01 199 99 CAN1_IN word 1 2 CAN IN words CAN1_IN word 2 3 CAN IN words CAN1_IN word 3 4 CAN IN words CAN2_IN word 1 5 CAN IN words CAN2_IN word 2 6 CAN IN words CAN2_IN word 3 7 CAN IN words CAN2_IN word 4 8 CAN IN words CAN3_IN word 1 9 CAN IN words CAN3_IN word 2 10 CAN IN words CAN3_IN word 3 11 CANIN words CAN3_IN word 4 C0867 32 bit phase infor
220. T Bit 1 1 TRIP RESET Bit12 Not assigned Bit 1 3 Not assigned Bit14 Not assigned Bit 1 5 Not assigned Lenze IMPORTANT System control word DCTRL 65535 Controller evaluates information as 16 bits binary coded 307 Code No System modules DCTRL_DriveControl node number 121 Transfer of the status control word via AIF Possible settings Lenze Appl Designation C0150 Status word 0 308 Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Bit 8 Bit 9 Bit 10 Bit 11 Bit 12 Bit 13 Bit 14 Bit 15 Selection 1 Not assigned Pulse inhibit IMP Not assigned Not assigned Not assigned Not assigned n 0 Controller inhibit CINH Status code Status code Status code Status code Warning Message Not assigned Not assigned Lenze 65535 IMPORTANT DCTRL status word 1 Only display apo Controller evaluates information as 16 bits binary coded DCTRL_bStateBO_b DCTRL_bImp_b DCTRL_bStateB2_b DCTRL_bStateB3_b DCTRL_bStateB4_b DCTRL_bStateB5_b DCTRL_bNActEqo_b DCTRL_bCInh_b DCTRL_bStat1_b DCTRL_bStat2_b DCTRL_bStat4_b DCTRL_bStat8_b DCTRL_bWarn_b DCTRL_bMess_b DCTRL_bStateB14_b DCTRL_bStateB15_b EDBCSXA064 EN 2 0 System modules DFIN_IO_DigitalFrequency node number 21 Inputs_DFIN 13 16 DFIN_IO_DigitalFrequency node number 21 13 16 1 Inputs_DFIN This SB can convert a power pulse current at the master frequency input X8 into a speed value an
221. T EMZ9371BC Diagnosis terminal keypad XT with hand held E82ZBBXC LECOM A RS232 EMF21021IB V004 LECOM B RS485 EMF21021B V002 LECOM A B RS232 485 EMF21021IB V001 LECOM LI optical fibre EMF2102IB V003 LON EMF21411B INTERBUS EMF21131B PROFIBUS DP EMF21331B CANopen DeviceNet EMF21751B O Further information v ASISI SNIA Can be used together with ECSxE ECSxS P M A v AI ATA AP S14 414 4 on wiring and application of communication modules can be found in the corresponding Mounting Instructions and Communication Manuals Lenze EDBCSXA064 EN 2 0 Electrical installation Wiring of the system bus CAN 5 6 Wiring of the system bus CAN EDBCSXA064 EN 2 0 Note System bus CAN In case of the ECSxA axis module the communication can take place with a master system or further controllers via both CAN bus interfaces X4 or X14 MotionBus CAN The term MotionBus CAN expresses the functionality of the CAN bus interface X4 for the ECSxS P M axis modules In these devices the communication with a master system or further controllers is exclusively carried out via X4 The parameter setting and the diagnostics is exclusively executed via the interface X14 Lenze 79 5 Electrical installation Wiring of the system bus CAN Basic wiring of the CAN buses The two following schematic diagrams show drive systems with different master value concepts gt In Fig 5 15 a higher level cont
222. TP LenzeTpDrvXXX lib function library The following codes are available for touch probe configuration Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0910 MCTRLTP2 0 MCTRL dead time compensation LA 339 delay TP2 X6 DI2 32767 1 inc 32767 1inc approx 60 us C0911 MCTRL TP2 0 MCTRL touch probe signal source LA 339 sel 0 Zero pulse of position encoder C0490 X7 X8 Touch probe input TP2 X6 DI2 C0912 MCTRLTP2 0 MCTRL touch probe TP2 edge 339 Edge for touch probe via digital input X6 DI2 C0911 1 Rising edge TP2 Falling edge TP2 Rising and falling edge TP2 Switched off w N eO EDBCSXA064 EN 2 0 Lenze 339 340 System modules MCTRL_MotorControl node number 131 Touch probe TP Function sequence 1 4 The TP is activated in an edge controlled manner via the digital input X6 DI2 or via a zero pulse from the master frequency input X8 or the resolver input X7 If a TP has been effected MCTRL_bActTPReceived_b is set TRUE After the start of the task MCTRL_dnActIncLastScan_p indicates the number of increments inc ms counted since the TP Following MCTRL_bActTPReceived_b is set FALSE Note It is necessary that all three outputs MCTRL_nNAct_v MCTRL_bActTPReceived_b and MCTRL_dnActincLastScan_p are processed in the task even if just one signal is required MCTRL_nNAct_v actual speed value The polarity of the digital input X6 DI2 configured under C0114
223. TRUE torque control Adaptive proportional MCTRL_nNAdapt_a integer analog OW131 12 gain of the speed controller TRUE integral action MCTRL biload b BOOL binary QX131 0 3 C0907 4 bin COMponent of the speed controller is accepted by MCTRL_nlSet_a Integral action MCTRL_nISet_a QW131 7 C0906 8 component of the speed controller MCTRL_nNSet_a QW131 1 C0906 1 Speed setpoint Impact of C0254 on the proportional gain in e The sum without sign is processed integer analog dec MCTRL_nPAdapt_a QW131 8 C0906 9 Setpoint phase differs position QD131 5 co908_ dec inc from actual phase for phase controller double MCTRL_dnPosSet_p integer Influence of the phase MCTRL_nPosLim_a integer analog QW131 9 C0906 5 dec controller In of Nmax C0011 TRUE activate phase MCTRL_bPosOn_b BOOL binary QX131 0 2 C0907 1 controller Lower speed limit at MCTRL_nNStartMLim_a QW131 5 C0906 6 CT _ speed limitation dec la Additional torque MCTRL_nMAdd_a integer analog QW131 2 co906 2 4 le setpoint or torque setpoint MCTRL_nFldWeak_a QW131 6 C0906 7 Motor control 332 Lenze EDBCSXA064 EN 2 0 System modules MCTRL_MotorControl node number 131 Torque setpoint additional torque setpoint 13 20 3 Torque setpoint additional torque setpoint According to setting of MCTRL_bNMSwt_b MCTRL_nMAdd_a serves as a torque setpoint or as an additional torque setpoint Torque
224. The ECSXA axis module is not connected to the system bus The ECSxA axis module has been decoupled from the system bus due to too many faulty telegrams received The response to this status can be configured via C2382 4 153 Lenze ala System bus CAN CAN AUX configuration 9 Setting the CAN node address and baud rate 9 System bus CAN CAN AUX configuration The codes for the system bus CAN CAN AUX configuration can be found in the GDC parameter menu under System bus They are divided into separate code ranges Interface Code range X4 System bus CAN C03xx X14 System bus CAN AUX C24xx 9 1 Setting the CAN node address and baud rate System bus CAN interface X4 The CAN node address and baud rate for the system bus CAN can be set via DIP switch S1 or under C0350 C0351 gt If one of the address switches 2 7 of the DIP switch is switched on ON and the low voltage supply is connected the setting of the DIP switch is evaluated and entered into C0350 CAN node address and C0351 baud rate gt If address switches 2 7 are switched off OFF the switch position is not evaluated In this case the CAN node address and the baud rate are taken from C0350 and C0351 System bus CAN AUX interface X14 The CAN node address and baud rate for the system bus CAN AUX can only be set under C2450 C2451 If DIP switch 1 is switched on the setting of DIP switches 2 7 will be evaluated when the lo
225. These notes must also be observed for CE marked controllers The manufacturer of the system is responsible for compliance with the limit values demanded by EMC legislation The controllers must be installed in housings e g control cabinets to meet the limit values for radio interferences valid at the site of installation The housings must enable an EMC compliant installation Observe in particular that e g the control cabinet doors have a circumferential metal connection to the housing Reduce housing openings and cutouts to a minimum Lenze controllers can cause a direct current in the protective conductor If a residual current device RCD is used as a protective means in case of direct or indirect contact only a residual current device RCD of type B may be used on the current supply side of the controller Otherwise another protective measure such as separation from the environment through double or reinforced insulation or disconnection from the mains by means of a transformer must be applied Operation If necessary systems including controllers must be equipped with additional monitoring and protection devices according to the valid safety regulations e g law on technical equipment regulations for the prevention of accidents The controllers can be adapted to your application Please observe the corresponding information given in the documentation After the controller has been disconnected from the supply voltage all live compo
226. UTION The Lenze setting is loaded automatically x 0 TRIP 1 Message 2 Warning 3 FAIL OSP 224 Cause CAN1_IN object receives faulty data or communication is interrupted CAN2_IN object receives faulty data or communication is interrupted CAN3_IN object receives faulty data or communication is interrupted The module has received too many incorrect telegrams via the system bus CAN and has disconnected from the bus For remote parameterisation C0370 C0371 via system bus CAN Slave does not respond e Communication monitoring time has been exceeded Strong interference injection on the control cables Ground or earth loops in the wiring e Fault when loading a parameter set e Interruption while transmitting the parameter set via keypad The stored parameters are incompatible with the loaded software version Lenze Remedy e Check wiring at X4 Check sender e Increase monitoring time under C0357 1 if necessary e Switch off monitoring C0591 3 e Check wiring at X4 e Check sender e Increase monitoring time under C0357 2 if necessary e Switch off monitoring C0592 3 e Check wiring at X4 e Check sender e Increase monitoring time under C0357 3 if necessary e Switch off monitoring C0593 3 e Check wiring at X4 bus termination available e Check screen contact of the cables e Check PE connection e Check bus load reduce baud rate
227. Vp field weakening controller Le Control operation mode LE Main functions if implemented 000 Tn field weakening controller 000 Max field current SM only B Controller settings F Speed position Current torque HE Motor feedback systems LE Monitoring Fig EDBCSXA064 EN 2 0 Lenze 133 6 13 2 1 134 Commissioning Optimising the drive behaviour after start Adjustment of field controller and field weakening controller Adjusting the field controller The field controller settings depend on the motor data Setting sequence 1 Stop the PLC program C2108 2 As of operating system version 7 0 see nameplate this is no longer necessary because C0006 see 2 can also be written when the PLC program is running 2 Set motor control for asynchronous motors C0006 2 The motor nameplate data must be entered correctly Read rotor time constant T C0083 4 Read magnetising current g C0092 5 Calculate field controller gain Vpr and enter in C0077 _ T C0083 1 C0092 pF 7 875 us 2 I max Imax Maximum current of axis module 6 Enter rotor time constant T as field controller integral action time Thr in C0078 Lenze alii Commissioning 6 Optimising the drive behaviour after start Adjustment of field controller and field weakening controller 6 13 2 2 Field weakening controller adjustment gt The field weakening controller determines the speed performance of the asy
228. _IN CANaux3_IN XCAN1_OUT CAN1_OUT CANaux1_OUT XCAN2_OUT CAN2_OUT CANaux2_OUT XCAN3_OUT CAN3_OUT CANaux3_OUT Data transmission ECSxE cyclic sync controlled event controlled cyclic without sync cyclic sync controlled event controlled cyclic without sync gt Cyclic data transmission with sync telegram M 419 via XCAN1 CAN1 CANaux1 The sync telegram enables the controller to accept the process data from the master RPDOs or send it to the master TPDOs gt Event controlled data transmission C4 420 via XCAN2 3 CAN2 3 CANaux2 3 The data will be transmitted if a value changes in the corresponding output object gt Cyclic data transmission without sync telegram via XCAN2 3 CAN2 3 CANaux2 3 The data is transmitted in fixed times The cycle time can be set via the following codes Interface X1 X4 Automation interface AIF ECSxS P M MotionBus CAN ECSXA E System bus CAN X14 System bus CAN Interface is not available for ECSxE ECSxS P M A cyclic sync controlled event controlled cyclic without sync event controlled cyclic without sync cyclic sync controlled event controlled cyclic without sync event controlled cyclic without sync Code C2356 C0356 C2456 Setting of cycle time gt 0 data transmission with fixed cycle time Setting of cycle time 0 event controlled data transmission EDBCSXA064 EN 2 0 Lenze 417 14 7 3 4 418 Appendix
229. _a is the lower torque limit in of the maximum torque possible gt Set the maximum possible torque via C0057 Stop Set positive values in MCTRL_nHiMLim_a only and negative values in MCTRL_nLoMLim_a only because otherwise the speed controller can lose control The drive may then run out of control Note gt If MCTRL_nHiMLim_a is not connected free the upper torque limit automatically is 100 of the maximum torque possible gt If MCTRL_nLoMLim_a is not connected free the lower torque limit automatically is 100 of the maximum torque possible gt With quick stop QSP the torque limitation is switched to an inactive state i e the operation works with 100 334 Lenze EDBCSXA064 EN 2 0 System modules MCTRL_MotorControl node number 131 Setting maximum speed 13 20 5 Setting maximum speed The maximum speed nmax which is used as a reference variable for the absolute and relative setpoint selection with regard to the acceleration and deceleration times as well as to the upper and lower speed limit is set via C0011 gt Nmax 100 INT 16384 Note MCTRL_nNmaxC11 displays the maximum speed set via C0011 gt By means of this system variable you are able to program your own speed scalings gt Example C0011 3000 rpm gt MCTRL_nNmaxC11 3000 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0011 Nmax 3000 Maximum speed DI 335 500 1 rpm 16000 Reference
230. _bCinh_b Il n DCTRL_wStat DCTRL_bStat1_b DCTRL_bStat2_b DCTRL_bStat4_b DCTRL_bStat8_b DCTRL_bWarn_b DCTRL_bMess_b y YO dA WN 2 O 10 11 12 13 DCTRL_bStateB15_b 14 p15 C0150 System block DCTRL_DriveControl Lenze ECSXA260 299 13 System modules DCTRL_DriveControl node number 121 Inputs_DCTRL 13 15 1 Inputs_DCTRL System variables Variable Data Signal Address type type DCTRL_bFail_b IX121 0 0 DCTRL_bImp_b IX121 0 1 DCTRL_bTrip_b IX121 0 2 DCTRL_bQspIn_b IX121 0 3 DCTRL_bRdy_b Bool Binary IX121 0 4 DCTRL_bCwCcw_b IX121 0 5 DCTRL_bNActEq0_b IX121 0 6 DCTRL_bCInh_b IX121 0 7 DCTRL_bStat1_b IX121 0 8 DCTRL_bStat2_b f IX121 0 9 DCTRL_bStat4_b Bool Binary 1x121 0 10 DCTRL_bStat8_b IX121 0 11 DCTRL_bWarn_b IX121 0 12 DCTRL_bMess_b IX121 0 13 DCTRL_bInit_b Bool Binary IX121 0 14 DCTRL_bExternalFault_b IX121 0 15 DCTRL_wStat IW121 1 DCTRL_wFaultNumber SO T IW121 2 Codes Code Possible settings No Designation Lenze Selection Appl C0136 1 CTRLWORD 0 hex 2 CTRLWORD 3 CTRLWORD 300 Lenze Display Display code format C0150 hex C0168 IMPORTANT Control words Notes TRUE active error TRUE high resistance power output stages TRUE active error TRUE quick stop OSP B03 TRUE ready for operation FALSE CW rotation TRUE CCW rotation TRUE motor speed lt C
231. a are transmitted between the higher level host system and the controllers to ensure a permanent exchange of current input and output data e Process data are not stored in the controller e Process data are for instance setpoints and actual values e Parameter data are transferred via the parameter data channel and acknowledged by the receiver i e the receiver gets a feedback whether the transmission was successful e Parameter data of Lenze devices are called codes The parameter data channel enables access to all Lenze codes and all CANopen indexes e Parameters are set for instance for the initial commissioning of a plant or when material of a production machine is exchanged e Usually the transfer of parameters is not time critical Parameter changes are stored in the controller e Parameter data are for instance operating parameters diagnostic information and motor data The other signals refer to the transfer features of the CAN telegram that are not described in these instructions For further information visit the homepage of the CAN user organisation CiA CAN in Automation www can cia org Communication phases of the CAN network NMT With regard to communication the controller knows the following states Status Initialisation Initialisation Pre operational before ready for operation Operational Ready for operation Stopped Explanation After the controller is s
232. accessories Communication modules for the automation interface AIF ECSXE power supply module ECSxK capacitor module Brake resistors Mains fuses Mains chokes RFI filters Motors Y vV V V V V V Vy Yy 16 Lenze EDBCSXA064 EN 2 0 1 4 Identification Application as directed Liability Warranty Preface and general information 1 Legal regulations Terminology used Legal regulations Nameplate CE identification Manufacturer Lenze controllers are Conforms to the EC Low Voltage Lenze Drive Systems GmbH unambiguously designated bythe Directive PO box 101352 contents of the nameplate D 31763 Hameln ECSXA axis modules must only be operated under the conditions prescribed in these instructions are components for open and closed loop control of variable speed drives with PM synchronous motors and asynchronous motors for installation in a machine for assembly with other components to form a machine are electrical equipment for the installation in control cabinets or similar closed operating areas comply with the protective requirements of the EC Low Voltage Directive are not machines for the purpose of the EC Machinery Directive are not to be used as domestic appliances but for industrial purposes only Drive systems with ECSxA axis modules comply with the EC Directive Electromagnetic compatibility if they are installed according to the guidelines of CE typical drive systems
233. achine parameters In GDC the codes for machine parameters such as maximum speed and ramp times can be found in the parameter menu under gt Short setup Parameter menu Text Value Unit Diagnostic 000 PLC program start stop reset No function E Short setup 000 Max output current Imax limit 8 00 A 00 DI alculated max torque 000 Motor control mode SM synchronous motor 000 Max velocity Nmax 3000 rpm 000 Motor rated power 1 00 kw B Digital in output 000 Motor rated speed 3700 rpm T Controller settings 000 Motor rated current 704 B Configuration user menu 000 Motor rated frequency 185 Hz B Load save PLC Multitasking 000 Motor rated voltage 325 V 000 Motor cos phi 1 00 B Control operation mode 000 Rs motor stator resistance 1 10 Ohm 000 Ls motor leakage inductance 5 30 mH 00 Nt motor pole pai 1 D Feedback system Main functions if implemented Fig 6 7 GDC view Machine parameters EDBCSXA064 EN 2 0 Lenze 119 6 10 120 Commissioning Controller enable Controller enable gt The controller is only enabled if enable is given by all relevant signal sources AND operation gt Ifthe controller is not enabled inhibited the responsible signal source is indicated under C0183 drive diagnostics in the parameter menu under Diagnostics Current status Parameter menu Code list Program Information C0042 000 DIS quicksto Technology Credits C0043 000 trip reset no trip tr
234. address C2450 0 C2450 auto 1 C2454 man Lenze 512 IMPORTANT Source for node address of CAN_IN CAN_OUT CAN bus interface X4 Address CAN1_IN OUT Address CAN2_IN OUT Address CAN3_IN OUT Automatically determined by C0350 Determined by C0354 Alternative node addresses for CAN_IN CAN_OUT CAN bus interface X4 Address 2 CAN1_IN Address 2 CAN1_OUT Address 2 CAN2_IN Address 2 CAN2_OUT Address 2 CAN3_IN Address 2 CAN3_OUT Source for system bus node addresses of CANaux_IN CANaux_OUT CAN bus interface X14 Address CANaux1_IN OUT Address CANaux2_IN OUT Address CANaux3_IN OUT Automatically determined by C2450 Determined by C2454 EDBCSXA064 EN 2 0 Code No Designation C2454 CANa addr CANa addr CANa addr CANa addr CANa addr CANa addr aA uu BP WN Lenze Appl 129 1 257 258 385 386 System bus CAN CAN AUX configuration 9 Individual addressing Possible settings Selection 1 Save changes with C0003 1 512 IMPORTANT Alternative node addresses for CANaux_IN CANaux_OUT CAN bus interface X14 CANaux1_IN address 2 CANaux1_OUT address 2 CANaux2_IN address 2 CANaux2_OUT address 2 CANaux3_IN address 2 CANaux3_OUT address 2 The settings are only accepted after carrying out one of the following actions gt Switching on the low voltage supply gt Reset node via the bus system by the network management NMT gt Reset node with C0358 24
235. adjustment mutual inductance EDBCSXA064 EN 2 0 System modules MCTRL_MotorControl node number 131 Adjusting the motor data Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0111 Service Code Fine adjustment rotor resistance 50 00 1 199 99 C0112 Service Code Fine adjustment rotor time constant 50 1 200 C0113 Service Code Fine adjustment magnetising current lsa 50 1 200 EDBCSXA064 EN 2 0 Lenze 343 13 13 20 14 344 System modules MCTRL_MotorControl node number 131 Monitoring Monitoring Interfaces System bus CAN Fieldbuses Digital frequency Analog digital I O 3 Memory FLASH EEPROM RAM PLC program gt Rectifier acc to IEC 61131 3 alterable Technology functions t l uController Operating system Drive control gt Inverter Communication a 3 Motor control DSP Digital Signal Processor D Standard motor Synchronous motor Asynchronous motor with resolver encoder ECSXA292 Fig 13 33 Signal flow motor control PLC The motor control is provided with different monitoring functions protecting the drive against impermissible operating conditions If a monitoring function is activated gt the corresponding response for device protection is initiated gt the fault indication is entered on the first position in the history buffer 2T3 gt a
236. aintain the minimum cross sections prescribed in the safety regulations 52 For the EMC not the cable cross section is important but the cable surface and the contact surface which should be as large as possible Lenze CZ Electrical installation 5 Power terminals 5 3 Power terminals ECSXA080 Fig 5 2 Plug connectors for power terminals AN Danger Dangerous voltage The leakage current to earth PE is gt 3 5 mA AC or gt 10 mA DC Possible consequences gt Death or severe injuries when the device is touched in the event of a fault Protective measures gt Implement the actions required in the EN 61800 5 1 Especially Fixed installation PE connection must conform to standards PE conductor diameter gt 10 mm or PE conductor must be connected twice Stop No device protection in the event of too high mains voltages The mains input is not fused internally Possible consequences gt Destruction of the device if the mains voltage is too high Protective measures gt Observe the max permissible mains voltage gt Fuse the device correctly on the supply side against mains fluctuations and voltage peaks EDBCSXA064 EN 2 0 Lenze 53 Power terminals Electrical installation gt All power connections are plug connections and coded The ECSZAOOOXOB plug connector set must be ordered separately gt Installation of the cables to
237. al switch on of the drive system check the wiring for completeness short circuit and earth fault gt Power connection Polarity of the DC bus voltage supply via terminals UG UG Motor connection In phase connection to the motor direction of rotation Wiring of safe torque off formerly safe standstill Feedback system Control terminals Wiring adjusted to the signal assignment of the control terminals Lenze alii Commissioning Commissioning steps overview 6 2 Commissioning steps overview EDBCSXA064 EN 2 0 Start Create a new project with the Drive PLC Developer Studio DDS and load it into the ECSxA axis module DDS Manuals Introduction in the IEC 61131 3 programming Getting started Reference Manual Make the basic settings using the parameter setting program Global Drive Control GDC 1 24 e Switch on the mains e Enable controller 1 130 e Save parameters in the controller with C0003 1 e Save parameter set with GDC in the parameter set file Optimise drive behaviour co B9 e Save parameters in the controller with C0003 1 e Save parameter set with GDC in the parameter set file End Lenze 93 Commissioning Carrying out basic settings with GDC 6 3 Note Carrying out basic settings with GDC Follow the commissioning steps in the given order Setting R
238. an set a delay time After this time has expired the NMT commands can only be sent after mains power up gt This delay time is configured via code C2356 1 Code Possible settings IMPORTANT No Name Lenze Selection appl C2356 Time settings for XCAN 1 XCAN times 0 0 1 ms 65000 XCAN boot up time Delay time after mains connection for initialisation through the master 2 XCAN times 0 XCAN1 3_OUT cycle times Factor to task time for process 3 XCAN times 0 data object transmission 0 event controlled transmission 5 XCAN times 0 XCAN delay time When the Operational NMT status is reached after Pre operational the CANdelay delay time is started After the delay time the PDOs XCAN2_OUT and XCAN3_OUT are sent for the first time 4 XCAN times 0 146 Lenze EDBCSXA064 EN 2 0 AIF interface X1 configuration Node address Node ID 00 8 3 Node address Node ID Assign each node within the system bus network to a node address also called node ID for a clear identification in the range 1 to 63 gt Anode address may not be assigned more than once within a network gt The node address for the AIF interface X1 of the ECSxA axis module is configured via code C2350 Code Possible settings IMPORTANT No Name Lenze Selection appl C2350 XCAN address 1 XCAN node address XCAN system bus CAN at AIF 1 1 63 Assignment of the node address for the data exchange between Lenze devices If Le
239. ance lt 80 Q km lt 800 km Capacitance per unit lt 130 nF km lt 60 nF km length EDBCSXA064 EN 2 0 Lenze 81 BI 82 Electrical installation Wiring of the system bus CAN System bus CAN wiring ECS_COB004 Fig 5 18 Example System bus CAN wiring via interface X4 ECS ECS axis module M Master control e g ETC Note Connect one bus terminating resistor 120 Q each to the first and last node of the system bus CAN Lenze CZ Electrical installation 5 Wiring of the system bus CAN Bus cable length Note Be absolutely sure to observe the permissible cable lengths 1 Check the compliance with the total cable length in Tab 5 1 The total cable length is defined by the baud rate Baud rate kBit s Max bus length m 50 1500 125 630 250 290 500 120 1000 25 Tab 5 1 Total cable length 2 Check the compliance with the segment cable length in Tab 5 2 The segment cable length is defined by the cable cross section used and by the number of nodes Without using a repeater the segment cable length equals the total cable length Nodes Cable cross section 0 25 mm2 0 5 mm2 0 75 mm2 1 0 mm2 2 240 m 430 m 650 m 940 m 5 230m 420m 640 m 920m 10 230m 410m 620m 900 m 20 210m 390m 580m 850m 32 200 m 360 m 550m 800 m 63 170 m 310 m 470 m 690 m Tab 5 2 Segment cable length 3 Compare the two values to each other If the value determined from Tab 5 2 is smaller than the total cable
240. and accessories are carefully matched to each other With the basic device and the accessories all components for a complete drive system are available The component selection must be matched to the respective application Connector sets To make purchasing easy the connector sets are available as separate delivery units for the ECS power supply capacitor and axis modules gt ECSZEOOOXOB connector set for ECS power supply modules gt ECSZKOOOXOB connector set for ECS capacitor modules gt ECSZAOOOXOB connector set for ECS axis modules Shield mounting kit The shield mounting kit ECSZS000X0B001 contains components for reliable and quick fixing of the cable shields The scope of supply includes Shield sheet for motor cable v Wire clamp for shield connection of motor cable gt Wire clamp for shield connection of control cables gt Wire clamp for shield connection of motor monitoring cable Power supply modules For generating the DC bus voltage for the axis modules gt ECSxE012 gt ECSxE020 gt ECSxE040 x Design mounting technique E standard installation C cold plate technique D push through technique Capacitor modules For backing up the DC bus voltage for the drive system gt ECSXKOO1 gt ECSxK002 x Design mounting technology E standard installation C cold plate technique D push through technique Lenze ever er Appendix Overview of accessories 14 8 5 Components for operat
241. arameter data channel 1 X 1408 580 SDO2 X 1600 640 Parameter data channel 2 X 1472 5C0 Node guarding X 1792 700 160 Lenze EDBCSXA064 EN 2 0 9 2 1 System bus CAN CAN AUX configuration 9 Addressing of parameter and process data objects Settings via DIP switch Assignment of the node address for the data exchange between Lenze devices If Lenze devices are assigned with node addresses in a complete ascending order the identifiers of the event controlled data objects CAN2_10 CAN3_IO are factory set so that the devices are able to communicate with each other CAN2_OUT CAN2_IN CAN2_OUT CAN2_IN ___ lt CAN3_OUT CAN3_IN CAN3_OUT CAN3_IN gt Node ID 1 Node ID 2 Node ID 3 Fig 9 1 Data exchange between Lenze devices Assign each node within the system bus network to a node address also called node ID for a clear identification in the range 1 to 63 gt Anode address may not be assigned more than once within a network Settings via DIP switch ECS_COB005 Fig 9 2 DIP switch for node address and baud rate all switches OFF Note gt If all DIP switches for the node address S2 57 are in OFF position the settings under code C0350 node address and C0351 baud rate apply gt If only one DIP switch for the node address S2 S7 is in ON position the settings of DIP switches S2 S10 apply gt The baud rate must be set i
242. art up in an uncontrolled manner with a high speed and a high torque after mains connection and controller enable Possible consequences gt Death or severe injuries gt The machine drive may be destroyed or damaged Protective measures gt Do not parameterise codes C0420 C0421 and C0427 4 Save settings with C0003 1 Codes for feedback system selection Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0490 Feedback pos 0 Selection of feedback system for CO T0T positioning control 0 Resolver at X7 Standard setting 1 TTL encoder at X8 e Sets C0495 to the same value 2 SinCos encoder at X8 if C0495 gt 0 7 ta e Sets C0419 0 Common if 3 Absolute value encoder single turn at a different encoder type as X8 under C0419 is set here 4 Absolute encoder multi turn at X8 C0495 Feedback n 0 Selection of feedback system for I0 speed control 0 Resolver at X7 Standard setting 1 TTL encoder at X8 e Sets C0490 to the same value 2 SinCos encoder at X8 if C0490 gt 0 A a e Sets C0419 0 Common if 3 Absolute value encoder single turn at a different encoder type as X8 under C0419 is set here 4 Absolute encoder multi turn at X8 EDBCSXA064 EN 2 0 Lenze 115 Commissioning Setting of the feedback system for position and speed control Absolute value encoder as position encoder and resolver as speed encoder Codes for optimising the operation and display Code Possible setti
243. ated output current at 8 kHz leads to a heatsink 1 A 8 5 6 8 11 3 9 0 13 3 10 6 temperature of 70 C at an ambient temperature of 20 C 1 Max output current Imax A 32 0 48 0 64 0 acceleration current Continuous current at standstill 2 holding current at 90 C 4 kHz loeffakHz A 160 128 230 184 270 216 Short time standstill current lo eff 4 kHz A 18 1 27 2 36 3 holding current at 90 C 4 kHz 2 Short time standstill current lo eff 4 kHz A 24 0 36 0 48 0 holding current at 70 C 4 kHz 2 Short time standstill current lo eff 8 kHz A 12 1 18 1 24 2 holding current at 70 C 8 kHz 2 Power loss operation with rated Interior 27 5 34 5 41 0 P W current at 4 kHz 8 kHz Heatsink loss W 117 0 132 0 158 0 Max output frequency fout HZ 600 Weight m kg approx 2 4 approx 3 3 1 If the heatsink temperature reaches 70 C the switching frequency automatically changes to 4 kHz 2 The indicated temperature is the measured heatsink temperature C0061 O Application software P Posi amp Shaft A Application S Speed amp Torque M Motion Lenze 35 EDBCSXA064 EN 2 0 BI Technical data Current characteristics Increased continuous current depending on the control factor 3 3 Current characteristics 3 3 1 Increased continuous current depending on the control factor In the lower speed range the motor does not need the full motor voltage particularly the more powerful ECS
244. ation of the control system e g restart of the motor the STOP command is activated 4 the set LU threshold is fallen below 1 Is only called if pulse inhibit is not active 2 The CAN AIF bus is ready after this POU has been executed 3 Only called if all monitoring functions of the corresponding communication are deactivated 4 This POU is not activated by Reset cold original If you need a system POU for an event controlled start create a program POU and use the name of this POU as POU name related to the corresponding event listed in the table Lenze EDBCSXA064 EN 2 0 14 5 Code list Code Possible settings No Designation Lenze Selection Appl C0002 Par load 0 0 Load Lenze setting 1 Load parameter set 1 C0003 Par save 0 0 Saving executed Save parameter set C0004 Op display 56 1 Code no C0006 Op mode 1 1 Servo PM SM 2 Servo ASM C0009 LECOM 1 address 1 1 C0011 Nmax 3000 500 1 rpm C0017 FCODE QMIN 50 16000 1 rpm C0018 fchop 2 1 4 kHz sin 2 8 4 kHz sin EDBCSXA064 EN 2 0 Lenze 9999 99 16000 16000 Appendix Code list IMPORTANT Load parameter set Load Lenze setting into the RAM and activate it Only possible with C2108 2 Load parameter set 1 into the RAM and activate it Parameter set 1 is loaded automatically after every mains connection Non volatile saving of parameter set Keypad status display The keypad displays the selected c
245. ave been received The controller is passive does not send any data Possible causes e Missing bus termination e Insufficient shielding e Potential differences in the grounding of the control electronics e Bus load is too high e Controller is not connected to the MotionBus system bus CAN 3 Bus off Too many faulty telegrams Controller has disconnected from the MotionBus system bus CAN Reconnection is possible through e TRIP reset e Reset node 4 255 e Mains connection Lenze CZ System bus CAN CAN AUX configuration 9 Diagnostics codes Telegram counter C0360 2460 9 13 2 Telegram counter C0360 2460 C0360 2460 counts for all parameter data channel the telegrams which are valid for the controller The counters have a width of 16 bits If the value 65535 is exceeded counting restarts with 0 Counted messages C0360 C2460 Meaning Subcode 1 All sent telegrams Subcode 2 All received telegrams Subcode 3 Telegrams sent of CAN1_OUT CANaux1_OUT Subcode 4 Telegrams sent of CAN2_OUT CANaux2_OUT e Always 0 channel is not used Subcode 5 Telegrams sent of CAN3_OUT CANaux3_OUT e Always 0 channel is not used Subcode 6 Telegrams sent of parameter data channel 1 Subcode 7 Telegrams sent of parameter data channel 2 Subcode 8 Telegrams received of CAN1_IN CANaux1_IN Subcode 9 Telegrams received of CAN2_IN CANaux2_IN e Always 0 channel is not used Subcode 10 Telegrams received of CAN3_IN CANaux
246. back system for position and speed control TTL sin cos encoder without serial communication Codes for feedback system selection Code No Designation C0490 Feedback pos C0495 Feedback n EDBCSXA064 EN 2 0 Possible settings Lenze Appl 0 Selection WN FF Oo w N e O Resolver at X7 TTL encoder at X8 SinCos encoder at X8 Absolute value encoder single turn at X8 Absolute encoder multi turn at X8 Resolver at X7 TTL encoder at X8 SinCos encoder at X8 Absolute value encoder single turn at X8 Absolute encoder multi turn at X8 Lenze IMPORTANT Selection of feedback system for I0 positioning control Standard setting Sets C0495 to the same value if C0495 gt 0 e Sets C0419 0 Common if a different encoder type as under C0419 is set here Selection of feedback system for I0 speed control Standard setting Sets C0490 to the same value if C0490 gt 0 e Sets C0419 0 Common if a different encoder type as under C0419 is set here 105 Commissioning Setting of the feedback system for position and speed control TTL sin cos encoder without serial communication Codes for optimising the operation and display Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0419 Enc Setup 110 Encoder selection 309 e Selection of encoder type D indicated on the nameplate of CO 110 the Lenze motor The encoder data C0420 C
247. brary LenzeMemDrv lib not possible apa Offset address within the RAM block selected via C0506 354 Selection of the RAM block for access via C0509 356 Value read from the RAM block e After reading the pointer to the memory address is automatically incremented by 4 bytes apsg Value to be written into the RAM block e After writing the pointer to the memory address is automatically incremented by 4 bytes 356 Check sum verification Stop the PLC during the check sum verification to avoid a time out when reading back the code f Write protection application FLASH User menu with up to 32 entries EDBCSXA064 EN 2 0 Code No Designation User menu User menu User menu User menu User menu User menu User menu User menu O AN DUM PWN LE User menu 10 User menu 11 User menu 12 User menu 13 User menu 14 User menu 15 User menu 16 User menu 17 User menu 18 User menu 19 User menu 20 User menu 21 User menu 22 User menu 23 User menu 24 User menu 25 User menu 26 User menu 27 User menu 28 User menu 29 User menu 30 User menu 31 User menu 32 User menu C0540 X8 Signal out EDBCSXA064 EN 2 0 Possible settings Lenze Appl 51 00 54 00 56 00 0 00 0 00 183 00 168 01 0 00 22 00 0 00 11 00 0 00 0 00 105 00 0 00 70 00 71 00 0 00 2100 00 2102 00 2104 00 2106 00 2108 00 2111 00 2113 00 2115 00 0 00 0 00 0 00 0 00 94 00 3 00
248. can lead to high wear on the motor holding brake see data sheet for the brake gt If the brake monitoring is active C0602 0 TRIP Rel1 is set Before recommissioning the TRIP must be reset EDBCSXA064 EN 2 0 Lenze 73 5 Electrical installation Control terminals Safe torque off Preconditions for external wiring with multiple contact switches gt Switches S1 and S2 must have at least three contacts At least one NC contact and two NO contacts All contacts must be electrically independent and positively driven The contacts must not be bridged gt Switches S1 and S2 must be separated mechanically to avoid simultaneous switching after activation gt The NO contacts of 1 and S2 must only close when the NC contacts are open NO and NC contacts must not be activated at the same time gt Sil and S2 must be designed for 24 V DC voltage If a higher voltage occurs in the electrical environment the switches must have an insulation voltage The insulation voltage must at least be as high as the highest voltage that can occur in case of an error gt Ensure that two channels are available for control category 3 Every time the controller is switched off even in case of a single channel switch off via the contacts 13 14 of switches S1 and S2 the brake supply is interrupted and the brake is applied In addition the internal brake relay must be switched off by the application The voltage supply for
249. controlled process data via the CAN bus interface X14 Async telegram is not required gt The transmission mode event or time controlled is set via C2456 gt The monitoring time is set via C2457 Lenze setting 3000 ms CANaux2_lO Byte Byte 1 1 CANaux2_nOutW1_a WORD A P WORD CANaux2_ninW1_a cao C2493 4 2 2 2492 4 CANaux2_nOutW2_a SL WORD WORD CANaux2_nlnW2_a gt 2493 5 2492 5 CANaux2_bFDOO 15_b 3 3 CANaux2_bInBO 15_b l P 46x BOOL 16 x BOOL l I e e C2491 3 CANaux2_bFDO16 31_b 4 4 CANaux2_bInB16 31_b 46x BOOL l _ 16xBOOL A C2491 4 CANaux2_dnOutD1 L L CANaux2_dninD1 Pt DINT 5 5 DINT H H CANaux2_nOutW3_a 4 WORD 6 6 WORD CANaux2_nlnW3_a C2493 6 C2492 6 CAN laux2_nOutW4_a A WORD WORD CANaux2_nlnW4_a C2493 7 7 7 2492 7 8 8 Output user data A Input user data 8 bytes 8 bytes y X14 X14 Fig 13 18 System block CANaux2_1O Process data telegram The process data telegram consists of an identifier and eight bytes of user data Identifier 8 bytes of user data 11 bits Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
250. corresponding variable is set to TRUE as long as the trigger condition is fulfilled The variables of the monitoring function can be processed in the application program of the PLC The current error number is also displayed in the variable DCTRL_wFaultNumber after the PLC has been started The fault history buffer C0168 x saves fault messages with an offset that indicates the type of response Lenze CZ System modules MCTRL_MotorControl node number 131 Monitoring No of the fault message Type of response Oxxx TRIP 1xxx Message 2XXX Warning ZXXX FAIL OSP only for ECSxS P M A axis modules Example C0168 1 2061 gt x061 The current fault subcode 1 of C0168 is a communication error fault message CEO no x061 between the AIF module and the ECS axis module gt 2XXX The response is a warning EDBCSXA064 EN 2 0 Note For an overview of the monitoring functions please see the chapter Monitoring M 184 The monitoring responses are described in the same chapter M 189 Tip Occurring faults generally do not affect the operating ability of the PLC Lenze 345 13 21 346 System modules OSC_Oscilloscope node number 60 OSC_Oscilloscope node number 60 Note When the oscilloscope is integrated into the IEC 61131 program DDS it requires a permanent calculating time of 100 us Check in the task monitor if enough calculating capacity is available The following ste
251. d after a reset node A reset node can be executed by gt New mains connection gt Reset node command by NMT command gt Reset node command via the SB AIF_IO_Management 00 231 8 1 CAN baud rate In order that communication can be established via the system bus all nodes must use the same baud rate for the data transmission gt The baud rate is configured via code C2351 Code No Name C2351 XCAN baud rate EDBCSXA064 EN 2 0 Possible settings IMPORTANT Lenze Selection appl 0 Baud rate XCAN e Modifications are only valid after reset node 0 500 kbit s 1 250 kbit sec 2 125 kbit s 3 50 kbit s 4 1000 kbit s Lenze 145 8 AIF interface X1 configuration CAN boot up AIF 8 2 CAN boot up AIF If the system bus initialisation and the related state change from Pre Operational to Operationalis not executed by a higher level master system a controller can be intended for a quasi master to execute this task gt The configuration is done via code C2352 Code Possible settings IMPORTANT No Name Lenze Selection appl C2352 XCAN mst 0 Establish XCAN master operation 0 Slave 1 Master Delay time for system bus initialisation boot up Some nodes e g HMIs need a certain starting time after mains power up until they can be put into the Operational state by the master via NMT commands In order to ensure that the node with the largest starting time is ready to receive NMT commands you c
252. d controller is designed as an ideal PID controller In GDC you can find the codes for adjusting the speed controller in the parameter menu under Controller settings Speed position Parameter menu Text Value LAB Load save PLC Multtasking l 000 Parametersave a 000 Vp speed controller 3 00 Le Control operation mode 000 Tn speed controller 24 0 ms 000 Td speed controller 0 00 ms 000 Vp position controller 0 4000 LE Main functions if implemented HB Controller settings 000 Selection speed range 175 175 Current torque 000 Max velocity Nmax 3000 rpm Field controller field weakenini 000 PT1 actual speed filter time constant 2 0 ms Le Motor feedback systems LE Monitoring E Motionbus CAN lt 4 LIE Systembus CANaux X14 130 Lenze EDBCSXA064 EN 2 0 Commissioning 6 Optimising the drive behaviour after start Speed controller adjustment Parameter setting gt Via C0070 you set the proportional gain Vpn Enter approx 50 of the speed setpoint 100 16384 Nmax Increase C0070 until the drive becomes instable pay attention to engine noises Reduce C0070 until the drive runs stable again Reduce C0070 to approx half the value Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0070 Vp speedCTRL 3 0 Proportional gain of speed amg controller Vpn 0 00 0 01 127 99 gt The reset time Thn is set via C0071 Reduce C0071 until the
253. d scale it A master frequency can be transferred with high precision without any offset and gain errors gt gt gt The master frequency input X8 is designed for signals with TTL level The input of a zero track is optional A configuration of the master frequency input X8 as output 1 316 is possible via C0491 An encoder can be selected and configured via the codes C0419 encoder selection C0420 encoder increments C0421 encoder bias C0427 type of master frequency input signal Stop The connection X8 cannot be used as a master frequency input if incremental encoders SinCos encoders are used and X8 is configured as a master frequency output an DFIN_IO_DigitalFrequency x8 n fS j ay DFIN_nl 09 py rr UL SAS o lLee UE oye ey aL 90 C0426 O ii ii 4 C0421 C0427 C0420 t C0419 ti WN E E 4 F DFIN_bTPReceived_b i x6 N TP MP i YA DFIN_dnIncLastScan_p lsscssisonaia DI1 1 Ctrl 1 Y4 x e0428 C0429 C0431 ECSXA231 Fig 13 23 System block DFIN_IO_DigitalFrequency Note EDBCSXA064 EN 2 0 The process image is newly created for every task the SB is used in gt If therefore DFIN_nIn_v is used in several tasks an individual process image of the SB is created for each of these tasks g
254. d to cable breakage if the threshold value of the voltage supply X6 B and X6 B exceeds 4 V Requirements on the brake cables gt Use Lenze system cable with integrated brake cable The shielding of the brake cable must be separated Length max 50 m If a separately installed brake cable is required lay it in a shielded manner Note By the current monitoring an ohmic voltage loss of 1 5 V along the motor cable is produced The voltage loss can be compensated by a higher voltage at the cable entry EDBCSXA064 EN 2 0 Lenze 61 62 Electrical installation Power terminals Motor holding brake connection The following applies to Lenze system cables V m A Uk V Us V 0 08 mal L m ts A 15 M Uk Ug LL Ig Fig 5 6 Voltage for compensating the voltage loss at 6X B and X6 B V Rated operating voltage of the brake V Cable length m Brake current A Vv DI SL 3 9 X6 B B x25 B02 ppt F16A AG penen fx pop 23 30 V DC max 1 5A Pru Connection of the motor holding brake to X25 ECSXA017 A HF shield termination by large surface connection to functional earth see Mounting Instructions of the ECSZSOOOXOB shield mounting kit Lenze EDBCSXA064 EN 2 0 Electrical installation Power terminals Connection of an ECSxK capacitor module optiona
255. d via C0114 gt The safety function safe torque off former safe standstill is activated via X6 SI1 and X6 S12 Inputs_DIGITAL X6 DIGIN_bin1_b DI1 gt E gt 0 DIGIN_bIn2_b sal p Lo DIGIN_bIn3_b i if DIGIN_bin4_b DI i C0114 1 4 VII C0443 UP X6 Si l DIGIN_bCInh_b SD safe torque off DIGIN_b_safe_standstill_b T0443 uP Imp ECSXA241 Fig 13 27 Systemblock Inputs_DIGITAL System variables Variable Data Signal Address Display Display Notes type type code format Controller inhibit takes DIGIN_bCInh_b IX1 0 0 direct effect on the device control DCTRL DIGIN_bin1_b IX1 0 1 DIGIN_bin2_b BOOL binary IX1 0 2 DIGIN_bln3_b IX1 0 3 ane a C0443 bin DIGIN_bIn4_b IX1 0 4 DIGIN_b_safe_standstill F Safe torque off _b ee former safe standstill Codes Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0114 Polarity of the digital inputs OM iI3 1 DIGIN pol 0 HIGH level active X6 DI1 DIGIN_bIn1_b 2 DIGIN pol 0 HIGH level active X6 DI2 DIGIN_bIn2_b 3 DIGIN pol 0 HIGH level active X6 DI3 DIGIN_bIn3_b 4 DIGIN pol 0 HIGH level active X6 DI4 DIGIN_bIn4_b EDBCSXA064 EN 2 0 0 HIGH level active LOW level active Lenze 321 Code No System modules DIGITAL IO node number 1 Inputs_DIGITAL digital inputs Possible settings Designation Lenze Selection Appl C0443 DIS DIGIN 322 IMPORTANT Signal status of the digital inputs C4 32 on
256. data channel 1 of the target device 0 remote parameterisation deactivated Selection of the gateway channel Use CAN bus interface X4 Use CAN bus interface X14 Heartbeat slave HeartbeatProducerTime e Time interval for sending the heartbeat message e Only relevant for setting C0352 3 Node Guarding slave NodeGuardTime e Time interval of the status inquiry of the master e Only relevant if C0352 4 Node Guarding slave NodeLifeTime factor e Factor for the monitoring time of NodeLifeTime e NodeLifeTime C0383 x C0382 NodeGuardTime e Only relevant if C0352 4 Node Guarding slave e Response for the occurrence of a NodeGuard Event e Only relevant for setting C0352 4 377 Appendix Code list Code No Designation C0400 DIS Analogin C0414 DIS ResQual C0416 Resolver adj C0417 Resolver cor C0418 Test Cur Ctrl 378 Possible settings Lenze Selection Appl 199 99 0 01 0 00 0 01 5 0 100 1 80 2 68 3 58 4 50 5 45 6 40 7 37 0 0 Ready Start adjustment 2 Loading default values 0 0 Deactivated Activated Lenze 199 99 1 60 IMPORTANT Signal at the analog input Read only Resolver modulation Quality of the resolver excitation amplitude set under C0416 recommendation 0 5 1 2 ideal 1 0 amog amo Resolver excitation amplitude ama Resolver adjustment Controller adjustment a 123 Deactivate te
257. dentically for all CAN nodes EDBCSXA064 EN 2 0 Lenze 161 System bus CAN CAN AUX configuration Addressing of parameter and process data objects Settings via codes Node address setting The node address is set with the switches 2 7 of the DIP switch The switches are assigned to certain valencies The sum of the valencies make the node address to be set see example Switch NO ok 6 8 Z 9 S L OFF ON Baud rate setting Note The baud rate must be set identically for all CAN nodes Switch O Z A 8 9 10 OFF ON 9 2 2 Settings via codes Note S1 S2 s3 S4 S5 S6 S7 Valency Switching status OFF Node address setting is only valid for CAN Example C0350 is overwritten if one of switches S2 S7 is in ON position ON Node address setting is valid for CAN and CANaux C0350 and C2450 are overwritten if one of switches 2 S7 is in ON position 1000 ON OFF OFF 500 OFF OFF OFF Baud rate kbit s 250 OFF OFF ON ON ON ON OFF OFF OFF 125 OFF ON OFF Node address 32 16 8 56 50 OFF ON ON gt If all DIP switches for the node address S2 57 are in OFF position the settings under code C0350 node address and C0351 baud rate apply gt
258. der without serial communication TTL sin cos encoder without serial communication If a TTL incremental encoder or a sin cos encoder without serial communication is connected to X8 and used for position and speed control the following setting sequence must be observed 1 Select encoder for position and speed control Incremental encoder TTL encoder C0490 and C0495 1 Sin cos encoder without serial communication C0490 and C0495 2 If X8 has been selected as output by changing C0491 X8 will be automatically reset to input through the encoder selection Note When encoders are used for position and speed control the same feedback system will automatically be set for both control modes under C0490 and C0495 Separate feedback systems can only be selected in connection with a resolver Select encoder used Incremental encoder TTL encoder C0419 110 113 Sin cos encoder without serial communication C0419 210 213 Encoder used is not in the list C0419 1 Common When setting C0419 1 Common configure encoder data Note When setting C0419 11x or 21x do not configure encoder data The encoder data C0420 C0421 C0427 is set automatically in accordance with the selection C0420 number of increments of the encoder C0421 encoder voltage C0427 signal type of the encoder Save settings with C0003 1 Lenze CA Commissioning 6 Setting of the feed
259. ding on the cable cross section Lenze system cables meet these requirements Use the ECSZS000X0B shield mounting kit for EMC compliant wiring O Further information with regard to the EMC compliant wiring can be found in the Mounting Instructions of the ECSZSOOOXOB shield mounting kit Lenze CZ 5 3 4 1 5 3 4 2 5 3 4 3 Electrical installation 5 Power terminals Motor holding brake connection Motor holding brake connection The motor holding brake gt is connected to X25 BD1 and X25 BD2 gt and is supplied with low voltage via the terminals X6 B and X6 B 23 30 V DC max 1 5 A Stop gt Protect X6 B with an F 1 6 A fuse gt If no appropriate voltage incorrect height incorrect polarity is applied to the brake it engages and can be overheated and damaged by the motor that keeps rotating Spark suppressor A spark suppressor is integrated into the axis module for the motor holding brake Brake monitoring The connection of the motor holding brake can be monitored for voltage failure and cable breakage if monitoring is activated under C0602 Motor holding brake open inactive The connection of the motor holding brake is monitored with regard to voltage failure and cable breakage gt Threshold value for cable breakage 140 MA 10 gt Threshold value for voltage failure 4 V 10 Motor holding brake closed active The connection of the motor holding brake is monitored with regar
260. ditors of the DDS via lt F2 gt among other things listing all the system variables that are provided Help Manager ST Operators ST Keywords Standard Functions User defined Functions Standard Function Blocks User defined Function Bloc Local Variables Global Variables Standard Programs User defined Programs System Variables Conversion Operators Enumerations DIGIN_b_safe_standstill_b DIGIN_bCInh_b DIGIN_bIni_b DIGIN_bln2_b DIGIN_bln3_b DIGIN_bln4_b DIGOUT_bOutl_b DIGOUT_bRelais_b q_bScaleFunctionB ool g bScaleFunctionE rror g byScaleFunctionByte g_dnScaleFunctionDint qg_dwScaleFunctionDword g_fScaleFunctionReal a_nScaleFunctionint q_siScaleFunctionSint g_wScaleFunction w ord MCTRL_bActTPReceived_b MCTRL_bEarthFault_b MCTRL_bEncoderFault_b MCTRL_blLoad_b MCTRL_bIMax_b P Structured ___ _ In this Manual the system variables can be retrieved in the system variable table of the corresponding system block Example Table with the inputs of the SB Inputs_Digital of the ECSxA axis module Variable Data type DIGIN_bCInh_b DIGIN_bIn1_b DIGIN_bIn2_b BOOL DIGIN_bIn3_b DIGIN_bIn4_b DIGIN_b_safe_standstill_b Signal Address type IX1 0 0 IX1 0 1 binary IX1 0 2 IX1 0 3 IX1 0 4 IX1 0 5 Lenze Display code C0443 Display format bin Notes Controller inhibit takes direct effect on the device control DCTRL Safe torque off former safe stands
261. drive becomes instable pay attention to engine noises Increase C0071 until the drive runs stable again Increase C0071 to approx the double value Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0071 Tn speedCTRL 24 0 Reset time speed controller aag Tnn 1 0 0 5 ms 6000 0 gt The derivative gain Tan is set via C0072 Increase C0072 during operation until an optimal control mode is reached Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0072 Td speedCTRL 0 0 Derivative gain of speed 139 controller Tan 0 0 0 1 ms 32 0 gt The proportional gain Vpn can be altered by the PLC program via MCTRL_nNAdapt_a Vpn MCTRL_nNAdapt_a x C0070 Default MCTRL_nNAdapt_a 100 gt Vpn 100 x C0070 C0070 Signal edge If the drive operates with the maximum torque the speed controller operates within the limitation gt The drive cannot follow the speed setpoint gt MCTRL_bMMax_bis set to TRUE EDBCSXA064 EN 2 0 Lenze 131 132 Commissioning Optimising the drive behaviour after start Speed controller adjustment Setting integral action component For selecting defined starting values for the torque the integral component of the speed controller can be set externally e g when using the brake control gt MCTRL_blload_b TRUE The speed controller accepts the value defined at MCTRL_n Set_a to its integral action compone
262. drive may start up in an uncontrolled manner with a high speed and a high torque An SD8 TRIP fault no 0088 will not occur as would be expected Possible consequences gt Death or severest injuries gt Destruction or damage of the machine drive Protective measures gt If a TRIP occurs during commissioning when an absolute value encoder is used check the history buffer C0168 If an SD8 TRIP fault no 0088 is at the second or third place it is absolutely necessary to switch off and on again the supply of the control electronics 24 V supply Via the 9 pole Sub D plug X8 you can connect the following encoders gt Incremental encoder with two 5 V complementary signals TTL encoders that are electrically shifted by 90 Optionally the zero track can be connected gt Sin cos encoder with rated voltage 5 8 V with serial communication single turn or multi turn the initialisation time of the axis module is extended to approx 2 s The controller supplies the encoder with voltage Use C0421 to set the supply voltage Vcc 5 8 V to compensate if required the voltage loss AU on the encoder cable AU 2 L m R m Q m IG A AU Voltage loss on the encoder cable V LL Cable length m R m Resistance per meter of cable length Q m lg Encoder current A Stop Observe the permissible connection voltage of the encoder used If the values in C0421 are set too high
263. e ERBSO39RO1K6 39 1 64 o e e ERBS020R03K2 20 3 20 e e e Pg Continuous power EDBCSXA064 EN 2 0 Lenze 429 Appendix Overview of accessories Brake resistors of type ERBM Brake resistors with specifically adapted pulse capability in IP50 design Rated data Type Brake resistor ERBM082R100W ERBM039R120W ERBMO20R150W Resistance Rp Q 82 39 20 Continuous power Pa W 100 120 150 Thermal capacity Cp kWs 3 6 13 Max on time te s 5 Required recovery time ta s 90 Operating voltage Umax Vpcl 1000 Max braking power Pgmax kW Pamax Thermal capacity Cg On time Brake resistors of type ERBD Brake resistors with increased power loss in IP20 design protection against accidental contact acc to NEMA 250 type 1 Rated data Type Brake resistor ERBDO82R600W ERBD047R01K2 ERBD022R03K0 Resistance Rp Q 82 47 22 Continuous power Pa W 600 1200 3000 Thermal capacity Cp kWs 87 174 375 Max on time te s 15 Required recovery time ta s 135 Operating voltage Umax Vpc 800 Max braking power Pgmax kW Pimax Thermal capacity Cg On time Brake resistors of type ERBS Brake resistors with increased power loss in IP65 design NEMA 250 type 4x Rated data Type Brake resistor ERBSO82R780W ERBSO39RO1K6 ERBS020R03K2 Resistance Rp Q 82 39 20 Continuous power Pa W 780 1640 3200 Thermal capacity Cp kWs 117 246 480 Max on time te s 15 Required recovery time ta s 135 Operating voltage Umax Voc 800
264. e 1000 m amsl Over 2000 m amsl use is only permitted in environments with overvoltage category II Accelerational stability up to 0 7 g Germanischer Lloyd general conditions Lenze EDBCSXA064 EN 2 0 General electrical data EMC Noise emission Noise immunity Insulation resistance Discharge current to PE to EN 61800 5 1 Enclosure Protective measure against Protective insulation of control circuits Technical data BI General data and operating conditions Compliance with EN 61800 3 Compliance with limit value class Ato EN 55011 achieved with application typical collective filter Requirements to EN 61800 3 Requirements Standard Severity ESD 1 EN 61000 4 2 3 i e e 8kVwith air discharge e 6kVwith contact discharge High frequency in cables EN 61000 4 6 10 V 0 15 80 MHz RF interference enclosure EN 61000 4 3 3 i e 10 V m 80 1000 MHz Burst EN 61000 4 4 3 4 i e 2 KV 5 kHz Surge on mains cable EN 61000 4 5 3 i e 1 2 50 us e 1kV phase phase e 2kV phase PE Overvoltage category Ill to VDE 0110 gt 3 5 mA AC during operation IP20 for standard mounting built in unit Mounting in cold plate technique mounting with thermal separation push through technique IP54 on the heatsink side Short circuit in power terminals Motor terminal has a limited protection against short circuit after short circuit detection the error message must be reset Short circuit in auxi
265. e ali Appendix General information about the system bus CAN Parameter data transfer The command must contain the following information 4 byte data 2 byte data 1 byte data Block 5 8 byte 5 and 6 byte 5 byte Command hex dec hex dec hex dec hex dec Write request 23 35 2B 43 2F 47 21 33 Transmit parameter to the controller Write response 60 96 60 96 60 96 60 96 Acknowledgement controller response to write request Read request 40 64 40 64 40 64 40 64 Request to read a controller parameter Read response 43 67 4B 75 4F 79 41 65 Response to read request with current value Error response 80 128 80 128 80 128 80 128 The controller reports a communication error Error response command In case of a communication error an Error response is generated by the addressed node This telegram always contains the value 6 in Data 4 and an error code in Data 3 The error codes are standardised acc to DS301 V4 02 Addressing by index and subindex The parameter or Lenze code is addressed with these bytes according to the following formula Index 24575 Lenze code number Data 1 Data 4 Parameter value length depending on the data format Parameter value Length 1 byte Parameter value length 2 bytes 00 00 00 Low byte High byte e9 p9 Parameter value length 4 bytes Low word High word Low byte High byte Low byte High byte Note Lenze parameters are mainly represented as data
266. e following inputs OR d Control word DCTRL_wAIF1Ctrl C2 235 Control word DCTRL_WCANICtrl 263 Control word C0135 bit 8 gt C0136 1 indicates the control word C0135 EDBCSXA064 EN 2 0 Lenze 303 13 15 5 13 15 6 Code No C0581 MONIT EEr 304 System modules DCTRL_DriveControl node number 121 Controller inhibit CINH Controller inhibit CINH This function activates controller inhibit CINH in the drive The power output stages are inhibited and all speed controllers current controllers position controllers are reset gt gt The function can be controlled via the following inputs OR d Terminal X6 SI1 FALSE controller inhibit Control word DCTRL_wAIF1Ctrl a Control word DCTRL_WCANICtrl 263 Control word C0135 bit 9 Variable DCTRL_bCInh1_b TRUE inhibit controller Variable DCTRL_bCInh2_b TRUE inhibit controller C0136 1 indicates the control word C0135 Setting TRIP TRIP SET This function sets TRIP in the drive and reports external error error message EEr gt The function can be controlled via the following inputs OR d Control word DCTRL_wAIF1Ctrl a Control word DCTRL_WCANICtrl 263 Control word C0135 bit 10 Variable DCTRL_bTripSet_b TRUE set TRIP C0136 1 indicates the control word C0135 gt The reaction to TRIP can be set via C0581 Possible settings IMPORTANT
267. ead only Identifier CAN1_IN Identifier CAN1_OUT Identifier CAN2_IN Identifier CAN2_OUT Identifier CAN3_IN Identifier CAN3_OUT CAN time settings for CAN bus interface X4 CAN boot up time Delay time after mains connection for initialisation by the master CAN2_OUT CAN3_OUT cycle times Factor for the task time to send process data telegram 0 Event controlled transmission CAN2_OUT CAN3_ OUT delay time When the NMT state Operational has been reached after Pre operational the delay time CANdelay is started After the delay time has expired the PDOs CAN2_OUT and CAN3_OUT are sent for the first time Monitoring time for CAN1 3_IN CO T97 CAN bus interface X4 CE1 monitoring time amza 168 CE2 monitoring time CE3 monitoring time EDBCSXA064 EN 2 0 Code No Designation C0358 Reset node C0359 CAN state C0360 1 CAN Messages 2 CAN Messages 3 CAN Messages 4 CAN Messages 5 CAN Messages 6 CAN Messages 7 CAN Messages 8 CAN Messages 9 CAN Messages 10 CAN Messages 11 CAN Messages 12 CAN Messages EDBCSXA064 EN 2 0 Possible settings Lenze Selection Appl 0 0 No function CAN reset 0 Operational 1 Pre operational 2 Warning 3 Bus off 4 Stopped 0 1 65535 With a count value gt 65535 the counter restarts with 0 Lenze Appendix Code list IMPORTANT Execute reset node CAN bus interface X4 CAN bu
268. ect wiring e Allow module to cool and ensure better ventilation e Check ambient temperature in the control cabinet e Switch off monitoring C0582 3 Clean heatsink Change mounting position Enter a higher value under C0122 e Allow module to cool and ensure better ventilation e Check ambient temperature in the control cabinet e Switch off monitoring C0605 3 Enter a higher value under C0124 e Check drive dimensioning e Switch off monitoring C0584 3 Correct wiring Enter a higher value in C0121 e Check drive dimensioning e Switch off monitoring C0585 3 Connect PTC temperature contact e Plug in the communication module keypad XT firmly screw down if necessary e Switch off monitoring C0126 3 223 12 Troubleshooting and fault elimination System error messages Causes and remedies Fault message No x062 x063 x064 x065 x066 0070 0071 0072 Display CEl CE2 CE3 CE4 CE5 U15 CCr PR1 Description Communication error on the process data input object CAN1_IN Communication error on the process data input object CAN2_IN Communication error on the process data input object CAN3_IN BUS OFF state of system bus CAN interface X4 System bus CAN time out communication error of gateway function interface X4 Undervoltage of internal 15 V voltage supply System failure Checksum error in parameter set 1 CA
269. ectrical installation Control terminals Safe torque off 5 4 3 6 Function check gt After installation the operator must check the safe torque off function gt The function check must be repeated at regular intervals after one year at the latest Stop If the function check leads to impermissible states at the terminals commissioning cannot take place Test specifications gt Check the circuitry with regard to correct function gt Check directly at the terminals whether the safe torque off function operates faultlessly in the axis module States of the safe torque off function on the axis module A Resulting level at Impermissible level at Level at input terminal A output terminal output terminal X6 SI1 x6 512 x6 50 x6 SO LOW LOW HIGH LOW LOW HIGH LOW HIGH LOW LOW HIGH HIGH HIGH LOW 76 Lenze EDBCSXA064 EN 2 0 Electrical installation 5 Control terminals Safe torque off 5 4 3 7 Example Wiring with electronic safety control unit for category 3 ECSXA102 Fig 5 14 Example Wiring with Siemens 3TK2842 safety control unit T1 Testkey1 T2 Testkey2 gt The motor is shutdown in accordance with stop category 1 of EN 60204 when the safety function is requested gt The delay time of the safety control unit and the quick stop deceleration time have to be coordinated with the brake closing time gt The diode capacitor combination prevents the test pulses of the safety cont
270. ed design Axis module Dimensions mm Type Size a b d dl e h g ECSEA004 ECSEA008 ECSEA016 A ao 176 6 5 240 276 260 10 ECSEA032 212 1 M6 ECSEA048 B 131 ECSEA064 1 max 212 mm depending on the plugged on communication module EDBCSXA064 EN 2 0 Lenze i 4 2 2 42 Mechanical installation Mounting with fixing rails standard installation Mounting steps Mounting steps How to install the axis module 1 Preparethe fixing holes on the mounting surface Use the drilling jig for this purpose 2 Take the fixing rails from the accessory kit in the cardboard box 3 Push the rails into the slots of the heatsink From above Push in the long side From below Push in the short side 4 Attach the axis module to the mounting surface Lenze EDBCSXA064 EN 2 0 Mechanical installation 4 Mounting with thermal separation push through technique 4 3 Mounting with thermal separation push through technique For the push through technique the rear panel of the control cabinet must be a steel plate with a thickness of at least 2 mm The edges of the mounting cutout and the fixing holes for the clamps must be slightly curved inwards towards the axis module Cooling With the separated heatsink the heat generation in the control cabinet can be reduced EDBCSXA064 EN 2 0 Distribution of the power loss approx 65 via separated cooler approx 35 in the inside of the axi
271. ed phase synchronism is achieved The influence of the phase controller consists of gt phase difference multiplied by the gain Vp C0254 gt an additional influence via an analog signal at MCTRL_nPAdapt_a Vp C0254 x MCTRL_nPAdapt_a 16384 gt limitation of the phase controller output to MCTRL_nPosLim_a Limitation of the phase controller output This serves to limit the maximum speed up of the drive when it comes to great phase differences Quick stop QSP The OSP function serves to stop the drive irrespective of the setpoint selection within the time set in C0105 gt The OSP function is active if MCTRL_bQsp_b is set TRUE gt Ifthe SB DCTRL_DriveControl is to actuate OSP see also M 337 program the OSP function as follows DCTRL_bQspin_b MCTRL_bQspOutb SSCS OR y Any Variable C0907 3 i MCTRL_nHiMLim_a dl H v x i C0906 4 MCTRL_nLoMLim_a 7 Y H C0930673 i MCTRL_bNMSwt_b T y i C0907 2 ECSXA267 Fig 13 31 Programming actuation of a quick stop OSP via SB Inputs_DCTRL Function gt The torque limitation MCTRL_nLoMLim_a and MCTRL_nHiMLim_a is switched inactively i e the process is run at 100 capacity LO 334 The drive is operated by the speed controller gt The phase controller is switched actively If the rotor position is moved actively the drive creates a torque to counter t
272. ej o x sv 3 5 Ka 60 device protection by current derating 39 ated output current 36 Current controller adjustment metrological determinatio oT electrical motor values O Current load ot controller x t monitoring 198 Current load of motor 12 x t monitoring 20 Cycle time AIF interface Cyclic process data objects 418 l Hi ata telegram 41 Data download 4 Data general electrical DC bus Konnection 54 uses 56 EDBCSXA064 EN 2 0 Index DC bus voltage fovervoltage ndervoltage KL device control transter ot status control word i device control 298 TRIP 06 Define instant of transmission tor CAN AN3 OUT 255 Define Instant of transmission To CAN AN OU 50 Definition Inputs 21 Device control 299 Device protection 28 D N O Dig aq 09 inp DEIN 09 inputs_DFIN onfiguring master frequenccy input signal onfiguring touch probe outputs_DFOUT ontiguring encoder constant 318 onfiguring master frequency output signal 319 i AIF interface operating status CAN obal Drive Contro DC obal Drive Oscilloscope GDO 182 M79 00 lt o Dad Lenze 437 lagnostics codes 178 o elegram counter 9 O Q Sy requency cables 429 requency distributor 429 Digital frequency input 90 onfiguring O O 5 un n O x N O e INput signal signal se requency output 90 B
273. eld weakening 1 Q DN D monitoring functions 5d absolute value encode Duto VICTR jparameterising phase controller O 7 ing maximum speed Speed setpoint limitation switching Trequency changeover 3 torque control with speed limitation 6 torque limitation 4 torque setpoint touch probe TP function 9 q 40 lt R NI Mechanical installation 40 cold plate technique mportant notes 40 5 a n i Ly x s rougn tecnnique pen Fang rails ECSEX J 42 Memory persistent memory retain memory I 5 2 Menu structure X O M o a Q 1 H O DN D time monitoring CAN interface time out during activated remote parameterisation 19 i Vionitoring times for process data Input objects 19 Voltage supply o e control electronics 204 O 50 Lenze 441 Index Gi Monitoring functions 184 pus ott 192 ommunication cyclic node monitoring Nod d current load of controller xt monitoring 19 current load of motor I x t monitoring eatsink temperature 196 maximum speed Imotor phases 20 motor temperature 19 motor temperature sensor 20 84 Resolver cable 206 otor position adjustment bd absolute value encoder monitoring 20 U O o O SIn cos encoder U O Q O thermal sensors 198 y SI Q w 3 e 5 n w w
274. emperature gt C0124 Motor temperature gt C0121 temperature detection via resolver or incremental value encoder Motor temperature via inputs T1 and T2 is too high Automation interface AIF communication error x 0 TRIP 1 Message 2 Warning 3 FAIL OSP EDBCSXA064 EN 2 0 System error messages Causes and remedies Cause Ambient temperature Ty gt 40 C or gt 50 C Wrong mounting position Motor is thermally overloaded due to e impermissible continuous current e Frequent or too long acceleration processes No PTC temperature contact connected Ambient temperature Ty gt 40 C or gt 50 C Heatsink is very dirty Wrong mounting position The value specified under C0122 is set too low The value under C0124 is set too low Motor is thermally overloaded due to e impermissible continuous current e Frequent or too long acceleration processes No PTC temperature contact connected The value specified under C0121 is set too low Motor is thermally overloaded due to e impermissible continuous current e Frequent or too long acceleration processes Terminals T1 and T2 are not connected Faulty transfer of control commands via AIF Lenze Remedy e Allow module to cool and ensure better ventilation e Check ambient temperature in the control cabinet Change mounting position e Check drive dimensioning e Switch off monitoring C0583 3 Corr
275. ems of category C2 according to EN 61800 3 These products can cause radio interferences in residential areas In this case special measures can be necessary Transport storage Please observe the notes on transport storage and appropriate handling Observe the climatic conditions according to the technical data EDBCSXA064 EN 2 0 Lenze 25 INI 26 Safety instructions General safety and application notes for Lenze controllers Installation The controllers must be installed and cooled according to the instructions given in the corresponding documentation Ensure proper handling and avoid excessive mechanical stress Do not bend any components and do not change any insulation distances during transport or handling Do not touch any electronic components and contacts Controllers contain electrostatic sensitive devices which can easily be damaged by inappropriate handling Do not damage or destroy any electrical components since this might endanger your health Electrical connection When working on live controllers observe the applicable national regulations for the prevention of accidents e g VBG 4 The electrical installation must be carried out according to the appropriate regulations e g cable cross sections fuses PE connection Additional information can be obtained from the documentation This documentation contains information on installation in compliance with EMC shielding earthing filters and cables
276. entitier e d 04 SinCos encoder 89 Specification o e cables motor cables 60 j Specification 0 e transmission cable Speed monitoring EDBCSXA064 EN 2 0 Lenze 445 15 Index Synchronisation CAN O 29 axis synchronisation p AN JO Via CAN bus 267 Dutputs CAN 2 ia terminal 26 Connecting CAN interface 171 DCTRL DriveControl device control 298 CAN D 60 D DCTR 00 correction value of phase controller 9 Outp DCTR 0 cyclic process data objects 419 g p 30 monitoring 260 DFIN TO Dig a a FH o D D N 09 pync identifier DFOUT 10 Dig Bync response p DFOU 6 Bync Tx transmission cycle p DFOU 6 synchronisation cycle a AN x gt AN D x OD reeCode x AN nc TX transmission cycle Synchronisation time 5 ntegration in the DD a O v o E MD Dv Q e 00 resses RL MotorControl Inputs MCTR nputs A Management RL MotorControl motor control 9 utputs A Vanagement 4 additional torque setpoint O Automationintertace adjusting the speed controller leld weakening 3 DI lt Dv w 3 oO Ss 1 1 l O O Q O O gt gt N SD c Dv ee D R 1 DI gt D lt J O Automationintertace 24 parameterising phase controller O Outp A 4 q p SEAE A O AutomationInterface 24 speed setpoint limitation 0 A Ya Switching frequency changeover 3 ANALO O D ANALO torq
277. eption of a sync telegram can be configured under C0366 C02466 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0366 Sync Response 1 CAN sync response for CAN bus 260 interface X4 0 No response 1 Response C2466 Sync Response 1 CAN AUX sync response for CAN bus interface X14 0 No response 1 Response 9 8 2 CAN sync identifiers The transmit and receive identifiers of the sync telegram can be configured under C0367 C2467 and C0368 C2468 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0367 Sync Rx ID 128 CAN sync receipt ID for CAN bus 259 interface X4 1 1 256 C0368 Sync Tx ID 128 Sync transmission ID for CAN bus 417 interface X4 D 171 1 1 256 C2467 Sync Rx ID 128 CAN AUX sync receipt ID for CAN O 259 bus interface X14 C2468 Sync Tx ID 128 CAN AUX Sync transmission ID for CAN bus interface X14 cu 417 269 EDBCSXA064 EN 2 0 Lenze 171 System bus CAN CAN AUX configuration CANSync CAN bus synchronisation CAN sync Tx transmission cycle 9 8 3 CAN sync Tx transmission cycle The cycle time for sending a sync telegram with the identifier set under C0368 C2468 can be configured under C0369 C2469 Code Possible settings No Designation Lenze Selection Appl C0369 SyNc Tx time 0 0 1 ms C2469 Sync Tx time 0 0 1 ms 172 Lenze 65000 65000 IMPORTANT CAN sync transmission cycle for 259 CAN bus interface X4 A sync telegram with
278. equirements Switch on low voltage supply Connect PC laptop with installed GDC parameter setting program to controller 3 Start GDC and select the device to be set 4 Set communication parameters according the interface used 5 Set mains data 6 Enter motor data 7 Configure holding brake 8 Set feedback system 9 Enter machine parameter 94 Short description Mains is switched off Green LED is dark red LED is blinking e Controller inhibit is active Press the lt F9 gt key in GDC X6 SI1 orX6 SI2 must be open LOW e DDS project has been created and loaded into the ECSxA axis module See DDS Manuals Introduction in the IEC 61131 3 programming Getting started Reference Manual Connection to X14 system bus CAN using EMF21771B PC system bus adapter Selecting a device Change to the online mode via the GDC tool bar with the lt F4 gt key and select Searching for drives using the lt F2 gt key gt Drive is identified and the parameter menu is opened Comm parameters AIF interface X1 Comm parameters CAN bus interface X4 Comm parameters CAN bus interface X14 Select the Code list in the GDC parameter menu and set the following codes e C0173 voltage thresholds e C0175 function of the charge relay For operation with power supply module ECSxE set C0175 3 Lenze motors Use the GDC motor assistant Motors from other manufacturers
279. er Perf of 4 5 kW arises on the basis of the Mn diagram The drive rating results in an effective motor current Imot_eff Of 14 8 A A first estimation based on the rated current of the ECS axis module would probably lead to selecting the ECSxA048 module with a rated current of 17 0 A However if we take into account the increased continuous current for smaller control factors the more cost effective ECSxA032 axis module with a rated current of 12 7 A can be used here gt When the MCS 14L32 is operated with 2500 rpm the real motor voltage is Umot_n2500 Li 2500 rpm U mot_n2500 U mot_n3250 Timor gt 275V gt 3250 rpm 212 V gt This leads to the following max control factor max of the axis module 212V _ 9 gt 360V 7 0 29 59 U Mot_n2500 Omax u max Using the current characteristic of Fig 3 7 86 a continuous current of 15 5 A can be determined for the ECSxA032 axis module when the control factor Omax is 59 gt Result Under the conditions mentioned above the MCS 14L32 Lenze motor can be operated continuously on the ECSxA032 axis module Lenze CZ 3 3 2 Technical data Current characteristics Device protection by current derating Device protection by current derating The maximum output current is limited With output frequencies lt 5 Hz the limitation depends on the heatsink temperature A 1 00 400 max 0 00 r T T 7 i p gt 10 fout
280. er enabled o 1 1 M 1 0 0 0 TRIP was set as a monitoring response 0 FALSE 1 TRUE 13 15 9 TRIP status DCTRL_bExternalFault_b If TRIP is activated in the drive e g via the variable DCTRL_bTripSet_b C0135 bit 10 or keypad the variable DCTRL_bExternalFault_b is set to TRUE DCTRL_bExternalFault_b is reset to FALSE as soon as the error source is reset 306 Lenze EDBCSXA064 EN 2 0 System modules DCTRL_DriveControl node number 121 Transfer of the status control word via AIF 13 15 10 Transfer of the status control word via AIF If the control and or status word of the SB DCTRL_DriveControl is to be assigned to the SB Inputs_AIF1 Outputs_AIF1 this can be realised in the IEC 1131 3 programming language AWL e g as follows ST ST Code No Designation C0135 Control word EDBCSXA064 EN 2 0 LD DCTRL wStat AIF1 wDctrlStat Writing the status word LD AIF1 wDctrlCtr DCTRL wAIF1Ctrl Writing the control word Note The assignment of the control status word bits marked as not assigned depend on the AIF module used and the transfer profile set e g DRIVECOM Possible settings Lenze Selection Appl 0 Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Bit 8 Bit 9 1 Not assigned Not assigned Not assigned Quick stop QSP Not assigned Not assigned Not assigned Not assigned Operation inhibit DISABLE Controller inhibit CINH Bit10 TRIP SE
281. er of pole pairs of resolver Resolver modulation Quality of the resolver excitation amplitude set under C0416 recommendation 0 5 1 2 ideal 1 0 amo amo c 127 ama amog EDBCSXA064 EN 2 0 Commissioning 6 Setting of the feedback system for position and speed control TTL sin cos encoder as position encoder and resolver as speed encoder Code Possible settings Lenze Appl C0416 Resolver adj 5 No Designation N OA wu BP WN Po C0417 Resolver cor 0 jo C0419 Enc Setup 110 110 111 112 113 210 211 212 213 307 308 309 310 311 407 408 409 410 411 C0420 Encoder const 512 EDBCSXA064 EN 2 0 Selection 100 80 68 58 50 45 40 37 Ready Start adjustment Loading default values Common IT512 5V IT1024 5V IT2048 5V IT4096 5V 1 512 5V 1S1024 5V 1S2048 5V 1S4096 5V AS64 8V AS128 8V AS256 8V AS512 8V AS1024 8V AM64 8V AM128 8V AM256 8V AM512 8V AM1024 8V 1 inc rev Lenze 8192 IMPORTANT Resolver excitation amplitude LO T0T Resolver adjustment D 13g Encoder selection DI 309 e Selection of encoder type 104 indicated on the nameplate of Ca T19 the Lenze motor The encoder data C0420 C0421 C0427 is set automatically in accordance with the selection Incremental encoder with TTL level SinCos encoder SinCos absolute value encoder with Hiperface interface single turn Selections 307 308 309 are only
282. esses via AIF to other codes see Manual for function library LenzeAifParMapDrv lib SDOs SDOs EDBCSXA064 EN 2 0 Lenze 14 3 14 3 1 14 3 2 Appendix Memories Retain memory Memories The table below gives you an overview of the memories available Memory Size Information ROM Program memory 512 kbytes Re written whenever the program is downloaded RAM PLC data memory 10 kbytes Can be symbolically used for FB instances and PLC variables Application memory 2 blocks Data get lost after mains disconnection a 64 kbytes E2PROM buffered memory Retain memory 160 bytes See chapter 14 3 1 Persistent memory 32 bytes See chapter 14 3 2 she lt Tip Function library LenzeMemDrv lib includes functions for read write access to the additional backup memory application data memory of the ECSxA axis module O Further information can be found in the Manual for the function library LenzeMemDrv lib Retain memory The values of the retain variables are stored fail safe in the retain memory and therefore are still available to the program after mains switching Saving with C0003 1 is not necessary gt Retain variables are declared by using the variable class VAR RETAIN gt Retain variables are created as a symbolically addressable memory gt At every program download the retain variables are reset to their initialisation value if no initialisation value is specified the respective retain variable is
283. eter setting and diagnostics The codes for parameter setting and diagnostics of the automation interface AIF X1 as well as the CAN bus interfaces X4 and X14 are divided into separate ranges Interface Code range X1 Automation interface AIF C23xx X4 ECSxS P M MotionBus CAN C03xx ECSxA E System bus CAN X14 System bus CAN C24xx e Interface is not available for ECSxE EDBCSXA064 EN 2 0 Lenze 421 14 7 4 1 422 Appendix General information about the system bus CAN Parameter data transfer User data Structure of the parameter data telegram User data up to 8 bytes 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 byte 8 byte Data 1 Data 2 Data 3 Data 4 Index Index Low word High word Command Low byte High byte adbindex Low byte High byte Low byte High byte Display Note The user data is shown in motorola format Examples for parameter data transfer can be found from 424 Command The command contains the services for writing and reading the parameters and information on the length of the user data Bit 7 Bit6 Bit5 Bit4 Bit3 Bit 2 Bit 1 Bit 0 MSB LSB Command Command specifier cs toggle t Length e E Write request 0 0 1 0 1 1 4b Write response 0 1 1 0 dine 0 0 Read request 0 1 0 0 10 2 bytes 0 0 11 1byte Read response 0 1 0 0 1 1 Error response 1 0 0 0 0 0 0 0 sh lt Tip Further commands are defined in the CANopen specification DS301 V4 02 e g segmented transfer Lenz
284. etting the polarity 118 Betting the polarity 118 Ino D A utp D A Dimensions 41 44 48 a d 48 la d D 44 axis module X 4 D w J S S z si di Jal w oj 9 2 F fo A c D 5 6 oT various data Items 4 PROM butffered memory 35 Tault monitoring 19 Ffecting rotor position adjustment 1 8 1 ik ing D A n e 5 Nn o gy 5 ul 5 Electrical installation 50 onnection Sate torque off terminals 7 D D o O n w a e sv o 5 connection safe torque off functional description mportant notes 3 3 3 Cc 3 z 6 multiple contact switcnes connection of safe torque off function check 6 mplementation technical data Connection of capacitor module onnection safe torque off 6 ontrol connections 64 gnment of the plug connectors 66 ontrol terminals 6 feedback system 8 e d a resolver 86 assembly 51 5 ding installation of CE typical drive system ea power connections 54 onnection of external brake resistor 59 A D nternal brake resistor connection 58 D4 60 motor holding brake connection plug connector assignment 54 power terminals DC bus connection 56 motor holding brake connection 6 315 e n e 5 D n o gt ing Specitication 0 e cables motor cables 60 D A A e a gy z D A e 3 DI 5
285. everal variables of different data types According to requirements data can therefore be transferred from the PLC program as gt binary information 1 bit gt status word quasi analog value 16 bit gt angle information 32 bit Byte Variable 1 bit Variable 16 bit Variable 32 bit 1 2 CAN3_bFDO0_b sii CAN3_nOutW1_a CAN3_bFDO15_b 3 4 CAN3_bFDO16_b CANG anata s CAN3_nOutW2_a CAN3_bFDO31_b 5 6 CAN3_nOutW3_a 7 8 CAN3_nOutW4_a Note Avoid simultaneous overwriting via different varianle types to ensure data consistency If you want to describe e g the bytes 1 and 2 either use only the variable CAN3_dnOutD1_p only the variable CAN3_nOutW1_a or only the variables CAN3_bFDOO_b CAN3_bFDO15_b 278 Lenze EDBCSXA064 EN 2 0 13 11 13 11 1 CANaux_Management node number 111 This SB serves to System modules 13 CANaux_ Management node number 111 Inputs_CANaux_Management gt activate a reset node to e g accept changes in the baud rate and addressing gt process Communication Error Bus Off State and other states in the PLC program gt influence the instant of transmission of CAN2aux_OUT and CAN3aux_OUT In addition the system bus communication can be monitored Note gt The process image for this SB is created in the course of a fixed system task interval 1 ms gt Even if this SB has not been assigned to the control configuration a reset node can be carried out via C2
286. fN o InvalidFeed b InvalidOS Description Source Homing measuring system offset C3012 is invalid Positive software limit position C3040 has been reached Negative software limit position C3041 has been reached Following error warning limit C3030 has been reached Impermissible positioning profile parameters Position setpoint overflow Impermissible software limit positions Positive hardware limit switch has been approached Negative hardware limit switch has been approached Positive software limit position C3040 has been reached in positioning profile mode Negative software limit position C3041 has been reached in positioning profile mode Following error limit C3031 has been reached Home position has not been reached Max speed has been reached Impermissible setting of the software limit positions External error has been actuated Invalid positioning profile number Impermissible feedback system selection Version of operating system is not compatible x 0 TRIP 1 message 2 warning 3 FAIL OSP 1 Adjustable in the DDS under Project gt Exceptional handling 2 For ECSXA only Possible reactions Lenze setting v Can be set Code TRIP e Message Warning Fail OSP Off TT suoipuny SULOJIUOW Monitoring functions 11 Configuring monitoring functions Responses 11 2 Configuring monitoring functions 11 2 1 Responses Various monitoring functions 4 184 protec
287. figuration of monitoring CO 197 CANaux3_IN error CommeErrCANauxIN3 CE13 0 TRIP Warning 3 Off C2484 MONIT CE14 3 Configuration of system bus 19 CAN AUX off monitoring at CAN bus interface X14 BusOffState CE14 0 TRIP Warning 3 Off C2485 MONIT CE15 3 Configuration of the gateway 19 function 0 TRIP Warning 3 Off 400 Lenze EDBCSXA064 EN 2 0 Code No Designation C2491 CANa IN bits CANa IN bits CANa IN bits CANa IN bits CANa IN bits CANa IN bits aA uu BP WN C2492 1 CANa IN words 2 CANa IN words 3 CANa IN words 4 CANa IN words 5 CANa IN words 6 CANa IN words 7 CANaIN words 8 CANaIN words 9 CANaIN words 10 CANa IN words 11 CANaIN words EDBCSXA064 EN 2 0 Possible settings Lenze Appl Selection 199 99 1 hex 0 01 Lenze FFFF 199 99 Appendix Code list IMPORTANT Process data input words hexadecimal for CAN bus interface X14 Hexadecimal value is bit coded Read only CANaux1_IN bit 0 15 CANaux1_IN bit 16 31 CANaux2_IN bit 0 Co CANaux2_IN bit 16 31 CANaux3_IN bit 0 Co CANaux3_IN bit 16 31 Process data input words decimal for CAN bus interface X14 100 00 16384 Read only CANaux1_IN word 1 CANaux1_IN word 2 CANaux1_IN word 3 CANaux2_IN word 1 CANaux2_IN word 2 CANaux2_IN word 3 CANaux2_IN word 4 CANaux3_IN word 1 CANaux3_IN word 2 CANaux3_IN word 3 CANaux3_I
288. functions with the aid of function blocks FBs This principle can also be found in the IEC 61131 3 standard gt Functions which can be used as software functions in projects are stored in function libraries as function blocks or functions gt In addition quasi hardware functions are available as system blocks SBs System blocks principle System blocks partially activate real hardware SBs are assigned identified by node numbers 19 gt Access to the inputs outputs of the SBs is effected via System variables M Absolute memory addresses LO Inputs outputs are always classified from the program s point of view C2 21 Required SBs must be explicitly linked to the project via the control configuration of the DDS M 23 The system block principle can be explained by means of a PLC system in a rack gt The rack contains the CPU digital I Os analog I Os counter card positioning card etc as additional cards x Additional cards gt The CPU can directly access the additional cards and process the resulting information gt Additional cards have fixed addresses for access sh Tip In case of the ECSxA axis modules the system blocks correspond to these attachment cards System blocks therefore are specific hardware function blocks which are firmly integrated into the runtime system of the ECSxA axis module Lenze CA 1 5 2 Node numbers Preface and general information
289. g Off TRIP Message Warning Off Fail OSP TRIP Fail QSP hex Lenze FFFF Appendix Code list IMPORTANT Configuration of gateway 19 function monitoring CE5 Time out when remote parameter setting is activated C0370 Configuration of early warning 193 x t threshold C0123 Configuration of early warning 197 of temperature inside the device threshold in C0124 Configuration of 12 x t early LO 207 warning threshold in C0120 Configuration of maximum speed monitoring Fault configuration Transmission memory overflow of free CAN objects Fault configuration Receipt memory overflow of free CAN objects Digital process data input words 235 are indicated on the AIF interface AIF1_IN Hexadecimal value is bit coded Read only Input word 2 bit 0 15 Input word 3 bit 0 15 387 Appendix Code list Code Possible settings No Designation Lenze Selection Appl C0856 1 AIF1IN words 199 99 2 AIF1IN words 3 AIF1 IN words C0857 AIF1 IN phi 2147483648 C0858 1 AIF1 OUT 199 99 words 2 AIF1 OUT words 3 AIF1 OUT words C0859 AIF1 OUT phi 2147483648 C0863 0000 1 CANIN bits Bit 0 2 CAN IN bits Bit 16 3 CAN IN bits Bit 0 4 CAN IN bits Bit 16 5 CANIN bits Bit 0 6 CAN IN bits Bit 16 388 0 01 1 0 01 1 hex Lenze 199 99 2147483647 199 99 2147483647 FFFF Bit15 Bit 31 Bit15 Bit 31 Bit15 Bit 31 IMPORTAN
290. g functions Thermal sensor function monitoring H10 H11 11 2 9 Thermal sensor function monitoring H10 H11 The function of the thermal sensors of the heatsink and the interior of the device is monitored If the thermal sensors report values outside the measuring range fault H10 heatsink or H11 interior is reported The response to these faults can be defined under C0588 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0588 MONIT 0 Configuration of monitoring Cy 198 H10 H11 Thermal sensors H10 H11 in the controller SensFaultTht SensFaultTid FWM H10 H11 0 TRIP 2 Warning 3 Off 11 2 10 Current load of controller I x t monitoring OC5 OC7 Error message Monitoring function System variable Possible response TRIP Messag Warnin Off amp 015 OCS I x t overload MCTRL_blxtOverload_b e Default setting v Setting possible The x t monitoring monitors the current load of the axis module The monitoring is set such that operation gt is permanently possible with a device output current I gt is possible for lt 30 s with a device output current lt 1 5 x I The overload protection of the axis module can be set with thresholds gt adjustable threshold OC7 via C0123 gt fixed threshold OC5 100 After an overcurrent phase you can calculate with a recovery phase of 120 s For a more precise consideration see the overcurrent characteristic and the value 3 x Taxis
291. gnal type type BOOL binary integer analog BOOL binary integer analog BOOL binary integer analog Word _ BOOL binary integer analog integer Velocity integer analog double osition integer P BOOL binary integer BOOL binary double osition integer P Address IX131 0 0 0 IW131 1 IX131 0 2 IW131 3 IX131 0 1 IW131 5 IW131 6 IW131 4 IW131 16 IX131 0 3 X131 0 4 IX131 0 5 IX131 0 6 IX131 9 2 IW131 7 IW131 8 IW131 2 ID131 5 IX131 0 7 IW131 15 IX131 0 10 ID131 6 Lenze Display code C0042 C0050 C0056 Display format bin dec dec Comments TRUE drive carries out quick stop OSP Speed setpoint 16384 100 Nmax C0011 TRUE speed controller operates in limitation Torque setpoint e 16384 100 Mmax C0057 TRUE drive operates at limit C0022 Actual motor current 16384 100 Imax C0022 DC voltage 16384 1000V Current torque 16384 100 Mmax C0057 Display of maximum torque C0057 x 10 Monit undervoltage Monit overvoltage Monit short circuit Monit earth fault Monit x t overload Actual phase value as analog signal e 90 100 Actual speed value inc ms Actual speed value 16384 100 Nmax C0011 Rotor position of the motor Monit max system speed exceeded Display of max speed C0011 Receive touch probe TP Ainc during TP and task start EDBC
292. gs Lenze Selection Appl 199 99 2147483648 32768 0 01 1 1 Lenze 199 99 2147483647 32768 IMPORTANT Analog process data input words CO 415 decimal for CAN bus interface X4 100 00 16384 Read only CAN1_IN word 1 CAN1_IN word 2 CAN1_IN word 3 CAN2_IN word 1 CAN2_IN word 2 CAN2_IN word 3 CAN2_IN word 4 CAN3_IN word 1 CAN3_IN word 2 CAN3_IN word 3 CAN3_IN word 4 32 bit phase information for CAN bus interface X4 Read only CAN1_IN CAN2_IN CAN3_IN Analog process data output words decimal for CAN bus interface X4 100 00 16384 Read only CAN1_OUT word 1 CAN1_OUT word 2 CAN1_OUT word 3 CAN2_OUT word 1 CAN2_OUT word 2 CAN2_OUT word 3 CAN2_OUT word 4 CAN3_OUT word 1 CAN3_OUT word 2 CAN3_OUT word 3 CAN3_OUT word 4 EDBCSXA064 EN 2 0 Designation C0869 1 CAN OUT phi 2 CAN OUT phi 3 CAN OUT phi 13 10 1 Inputs_CAN3 Possible settings Selection 2147483648 System variables Variable CAN3_nInW1_a CAN3_nInW2_a CAN3_bInBO_b CAN3_bInB15_b CAN3_bInB16_b CAN3_bInB31_b CAN3_dnInD1_p CAN3_nInW3_a CAN3_nInW4_a User data Data type integer BOOL double integer integer 1 Signal type analog binary position analog System modules CAN3_IO node number 33 Inputs_CAN3 IMPORTANT 32 bit phase information for CAN bus interface X4 Read only 2147483647 CAN1 OUT CAN2_OUT CAN3_OUT Address Display Di
293. gt The drive is decelerated to standstill within the quick stop deceleration time C0105 Warning STOP The drive can be destroyed due to deactivated monitoring functions gt The failure merely is displayed the drive runs on in a controlled manner Off STOP Gro The drive can be destroyed due to deactivated monitoring functions gt There is no response to the failure Lenze Display Keypad XT RDY IMP Fail O n n O n n n E O a EDBCSXA064 EN 2 0 11 2 2 Error message x062 x063 x064 x065 x122 x123 x124 x125 CE1 CE2 CE3 CE4 CE11 CE12 CE13 CE14 Monitoring function Communication error at the process data input object CAN1_IN Communication error at the process data input object CAN2_IN Communication error at the process data input object CAN3_IN BUS OFF status of MotionBus CAN Communication error at the process data input object CANaux1_IN Communication error at the process data input object CANaux2_IN Communication error at the process data input object CANaux3_IN BUS OFF status of system bus CANaux Monitoring functions Configuring monitoring functions Monitoring times for process data input objects Monitoring times for process data input objects System variable CAN_bCe1CommeErrCanin1_b CAN_bCe2CommeErrCanIn2_b CAN_bCe3CommeErrCanIn3_b CAN_bCe4BusOffState_b CANaux_bCe1CommeErrCanIn1 b CANaux_bCe2CommeErrCan
294. gt binary information 1 bit gt control word quasi analog value 16 bit gt angle information 32 bit Byte Variable 1 bit 1 2 CAN1_bCtrlBo_b CAN1_bCtrlB1_b CAN1_bCtrlB2_b CAN1_bCtrlQuickstop_b CAN1_bCtrlB4_b CAN1_bCtrlB5_b CAN1_bCtrlB6_b CAN1_bCtrlB7_b CAN1_bCtrlDisable_b CAN1_bCtrICInhibit_b CAN1_bCtrITripSet_b CAN1_bCtrITripReset_b CAN1_bCtrlB12_b CAN1_bCtrlB13_b CAN1_bCtrlB14_b CAN1_bCtrlB15_b Variable 16 bit Variable 32 bit CAN1_wDctrlCtrl 3 4 5 6 7 8 EDBCSXA064 EN 2 0 CAN1_bInBo_b CAN1 bInB15_b CAN1_bInB16_b CAN1_bInB31_b CAN1_ninW1_a CAN1_ninW2_a CAN1_ninW3_a Lenze CAN1_dninD1_p 267 13 8 2 268 System modules CAN1_IO node number 31 Outputs_CAN1 Outputs_CAN1 System variables Variable CAN1_wDctrlStat CAN1_bFDOO_b CAN1_bFDO15_b CAN1_nOutW1_a CAN1_bFDO16_b CAN1_bFDO31_b CAN1_nOutW2_a CAN1_nOutW3_a CAN1 dnOutD1_p User data Data type Integer Bool Integer Bool Integer Integer Double integer Signal type analog binary analog binary analog analog position Address Display code OW31 0 OX31 2 0 OX31 2 15 OW31 1 C0868 1 OX31 3 0 OX31 3 15 OW31 2 C0868 2 OW31 3 C0868 3 QD31 1 C0869 1 Display format hex dec hex dec dec dec inc Comments The 8 bytes of user data to be sent can be written via several variables of different data types According to requirements data can
295. he axis modules Assembly gt Connect the power supply modules capacitor modules optional axis modules RFI filters and mains chokes to the earthed mounting plate with a surface as large as possible Mounting plates with conductive surfaces zinc coated or stainless steel allow permanent contact Painted plates are not suitable for an EMC compliant installation gt If you use the ECSxK capacitor module Install the capacitor module between the power supply module and the axis module s If the total cable length in the DC bus connection is gt 5 m install the capacitor module as close as possible to the axis module with the greatest power gt Use of several mounting plates Connect as much surface of the mounting plates as possible e g with copper bands Ensure the separation of motor cable and signal or mains cables gt Avoid a common terminal power strip for the mains input and motor output EDBCSXA064 EN 2 0 Lay the cables as close as possible to the reference potential Freely suspended cables act like aerials Lenze 51 Electrical installation Installation according to EMC installation of a CE typical drive system Filters Only use RFI filters and mains chokes which are assigned to the power supply modules gt RFI filters reduce impermissible high frequency interferences to a permissible value gt Mains chokes reduce low frequency interferences which depend on the motor
296. he fault message message AN OOF WPM seventh to last fault Reset fault message The current fault message can be reset via a TRIP RESET e g via C0043 Lenze CA Troubleshooting and fault elimination Fault analysis Fault analysis via LECOM status words C0150 C0155 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0043 Trip reset Reset active fault message TRIP RESET 0 Reset fault message TRIP RESET 1 Active fault message Delete entries in the history buffer The entries in the history buffer can be deleted via C0167 gt This function only works when no trouble is active Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0167 Reset failmem 0 Delete history buffer C0168 D 213 0 No reaction 1 Delete history buffer 12 1 4 Fault analysis via LECOM status words C0150 C0155 The LECOM status words C0150 C0155 are coded as follows Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0150 Status word 0 Status word for networking via automation interface AIF Read only 0 1 65535 Controller evaluates information as 16 bits binary coded Bit 0 Not assigned Bit 1 Pulse inhibit IMP is active Bit 2 Not assigned Bit 3 Not assigned Bit 4 Not assigned Bit 5 Not assigned Bit 6 n 0 Bit 7 Controller inhibit CINH is active Bit 8 Controller status Bit 9 Controller status Bit10 Controller status Bit11 Controller status Bit12 Wa
297. he swing if C0254 is set unequal to 0 MCTRL_nPosLim_ais controlled by means of a value gt 0 gt The speed is reduced to 0 within the deceleration time set via C0105 EDBCSXA064 EN 2 0 Lenze 337 System modules MCTRL_MotorControl node number 131 Manual field weakening Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0105 OSP Tif 0 0 Deceleration time for quick stop 837 QSP apy 0 000 0 001 s 999 999 Relating to speed variation Nmax a837 C0011 0 rev min 13 20 10 Manual field weakening A manual field weakening can be achieved via MCTRL_nFldWeak_a gt Fora maximum excitation MCTRL_nFldWeak_a has to be activated by 100 16384 gt IfMCTRL_nFldWeak_a is not connected free the field weakening automatically is 100 Stop If the field is weakened manually MCTRL_nFldWeak_a lt 100 the drive cannot produce the maximum torque 13 20 11 Switching frequency changeover For the inverter the following switching frequencies can be set via C0018 gt 4kHz for power optimised operation gt maximum power output of the drive controller however with audible pulse operation gt Automatic switch over between power optimised and noise optimised operation 8 kHz Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0018 fchop 2 Switching frequency D 338 1 4 kHz sinus Power optimised operation permanent 4 kHz frequency 2
298. heir work The Operating Instructions must always be in a complete and perfectly readable state 1 1 1 Conventions used in this Manual This Manual uses the following conventions to distinguish between different types of information Information type Print Example in the descriptive text System block name bold The SB DIGITAL_IO System block variable identifier italics The input DIGIN_bin1_b O Further information about the conventions used for the Lenze variable identifiers system blocks function blocks and functions can be found in the appendix of the DDS online documentation Introduction to IEC 61131 3 programming The compliance with these conventions ensures uniform and universal labelling and makes reading PLC programs easier EDBCSXA064 EN 2 0 Lenze 13 1 1 2 14 Preface and general information About use these Operating Instructions Terminology used Terminology used Term Power supply module ECSXE Capacitor module ECSxK Axis module Controller ECSXS ECSxP ECSxM ECSXxA Drive system 24 V supply Low voltage supply AIF Cxxxx y Xk y DDS FB GDC SB System bus CAN In the following text used for ECSxE power supply module Any power supply module of the ECS series ECSxK capacitor module Any capacitor module of the ECS series ECSXA axis module Any axis module of the ECS series e ECSXS Speed and Torque application e ECSxP
299. hron servo star star star star delta delta delta star star star fi m Motor data Rated motor power 024 kw Rated motor speed 2790 rpm Rated motor current fo A Rated motor frequency 100 Hz Rated motor voltage 9 lt Vv Motor cos phi fo Imax limit current 3 40 A le lt Back Continue gt ICA Complete x Cancel Help Fig 6 4 GDC view Motor selection ECSXA302 3 Select the connected motor from the list see motor nameplate The corresponding motor data is displayed on the right in the Motor data fields 4 Click the Complete button The data is transferred to the controller This process can take a few seconds and is confirmed by a message after being completed Lenze 99 6 6 100 Commissioning Holding brake configuration Holding brake configuration al lt Tip If you use a motor without a holding brake you can skip this chapter In GDC you can find the parameters and codes to be set in the parameter menu under Complete code list Code Name Description C0472 10 FCODE analog Speed threshold from which the drive is allowed to output the signal Close brake This code refers to the maximum speed set in C0011 Note Enter a value gt 0 so that the brake can be opened C0472 11 FCODE analog Value direction of the torque against the holding brake Lenze alii Commissioning 6 Setting of the feedback system for po
300. ible settings No Designation Lenze Selection Appl C0490 Feedback pos 0 0 Resolver at X7 1 TTL encoder at X8 2 SinCos encoder at X8 3 Absolute value encoder single turn at X8 4 Absolute encoder multi turn at X8 C0495 Feedback n 0 0 Resolver at X7 1 TTL encoder at X8 2 SinCos encoder at X8 3 Absolute value encoder single turn at X8 4 Absolute encoder multi turn at X8 Codes for optimising the operation and display Code Possible settings No Designation Lenze Selection Appl C0058 Rotor diff 90 0 180 0 0 1 179 9 C0060 Rotor pos 0 1 inc 2047 C0080 Res pole no 1 1 1 10 C0414 DIS ResQual 0 00 0 01 1 60 108 Lenze IMPORTANT Selection of feedback system for positioning control Standard setting Sets C0495 to the same value if C0495 gt 0 e Sets C0419 0 Common if a different encoder type as under C0419 is set here Selection of feedback system for speed control Standard setting e Sets C0490 to the same value if C0490 gt 0 e Sets C0419 0 Common if a different encoder type as under C0419 is set here IMPORTANT Rotor displacement angle for synchronous motors C0095 Current rotor position value is derived from position encoder Therefore it is only valid as rotor position if the position encoder settings under C0490 are identical with the settings of the speed encoder on the motor shaft under C0495 Only display 1 rev 2048 inc Numb
301. in compliance with UL if the corresponding measures are not taken Lenze 31 3 Technical data General data and operating conditions 3 Technical data 3 1 General data and operating conditions Standards and operating conditions Conformity Approvals Max permissible shielded motor cable length Packaging DIN 4180 Installation Mounting position CE Low Voltage Directive 73 23 EEC UL 508C Power conversion equipment Underwriter Laboratories File No E132659 for USA and Canada 50m For rated mains voltage and switching frequency of 8 kHz Delivery packing Installation in IP20 control cabinet e Forthe safe torque off function formerly safe standstill mounting in IP54 control cabinet Vertically suspended Free space above 265mm below 265 mm With ECSZS000X0B shield mounting kit gt 195 mm to the sides Side by side mounting without any clearance Environmental conditions Climate Storage Transport Operation Site altitude Pollution Vibration resistance 32 3k3 in accordance with IEC EN 60721 3 3 Condensation splash water and ice formation not permissible IEC EN 60721 3 1 IEC EN 60721 3 2 IEC EN 60721 3 3 VDE 0110 part 2 pollution degree 2 1K3 25 55 C 2K3 25 70 C 3K3 0 55 C Atmospheric pressure 86 106 kPa Above 40 C reduce the rated output current by 2 C 4000 m amsl Reduce rated output current by 5 1000 m abov
302. inary OX34 0 15 analog OW34 1 OX34 1 0 binary os OX34 1 15 analog OW34 2 QX34 2 0 binary a OX34 2 15 analog OW34 3 OX34 3 0 binary os OX34 3 15 position 0D34 1 Lenze Display code C2493 1 C2493 2 C2493 3 Display format dec dec dec Comments EDBCSXA064 EN 2 0 System modules CANaux1_1O node number 34 Outputs_CANaux1 User data The 8 bytes of user data to be sent can be written via several variables of different data types According to requirements data can therefore be transferred from the PLC program as gt binary information 1 bit gt status word quasi analog value 16 bit gt angle information 32 bit Byte Variable 1 bit Variable 16 bit Variable 32 bit 1 2 CANaux1_bFDOO_b os CANaux1_nOutW0_a CANaux1_bFDO15_b 3 4 CANaux1_bFDO16_b os CANaux1_nOutW1_a CANaux1_bFDO31_b 5 6 CANaux1_bFDO32_b a CANaux1_nOutW2_a CANaux1_bFDO47_b 7 8 CANaux1_bFDO48 b CANaUxI dnOutDI p P CANaux1_nOutW3_a CANaux1_bFDO63_b Note Avoid simultaneous overwriting via different variable types to ensure data consistency If you want to describe e g the bytes 5 and 6 either use only the variable CANaux1_dnOutD1_p only the variable CANaux1_nOutW2_a or only the variables CANaux1_bFDO32_b CANaux1_bFDO47_b EDBCSXA064 EN 2 0 Lenze 287 13 System modules CANaux2_1O node number 35 13 13 CANaux2_IO node number 35 This SB serves to transmit event or time
303. ing OC6 OC8 The 12 x t load of the motor is continually calculated by the axis module and displayed in C0066 Via C0120 and C0127 you can set two actuation thresholds If threshold 1 is exceeded the response OC8 set in C0606 is activated If threshold 2 is exceeded OC6 TRIP is activated The I x t monitoring has been designed such that it will be activated after 179 s in the event of a motor current of 1 5 x I and a set threshold of 100 thermal motor time constant C0128 5 min Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0120 OC6 limit 105 Threshold for 12 xt monitoring MQ 201 motor 0 1 120 0 12xt monitoring is switched off 12 x t gt C0120 gt OC6 TRIP C0127 OC8 limit 100 Threshold for 12 x t warning D 201 motor 0 1 120 12xt gt C0127 gt fault message OC8 C0606 C0128 Tau motor 5 0 Thermal time constant of the 201 motor 0 5 0 1 min 25 0 For calculating the 12 xt disconnection C0606 MONIT OC8 2 Configuration of 12 x t early D 201 warning threshold in C0120 0 TRIP 2 Warning 3 Off EDBCSXA064 EN 2 0 Lenze 201 11 2 12 202 Monitoring functions Configuring monitoring functions DC bus voltage OU LU Calculation of the release time Im Current motor current y 1 2 lm 1 100 y C0120 or C0127 t C0128 In 1 l Rated motor current The release time for different motor currents and thresholds can be taken from the diagram C0128 5 0 min
304. ing length 0 22 0 25 Nm Cable type Wire end ferrule Cable cross section i 0 08 1 5 mm Without wire end ferrule AWG 28 16 flexible With insulated wire end 0 25 0 5 mm 1 95 2 2 Ib in DANA ferrule AWG 22 20 We recommend to use control cables with a cable cross section of 0 25 mm2 Lenze EDBCSXA064 EN 2 0 5 4 1 Electrical installation 5 Control terminals Digital inputs and outputs Digital inputs and outputs Stop If an inductive load is connected to X6 DO1 a spark suppressor with a limiting function to max 50 V 0 must be provided GNDext ECSXA014 Fig 5 10 Digital inputs and outputs at X6 gt The digital inputs X6 DI1 DI4 are freely assignable gt The polarity of the digital inputs X6 DI1 DI4 is set under C0114 x gt The polarity of the digital output X6 DO1 is set under C0118 1 EDBCSXA064 EN 2 0 Lenze 67 5 Electrical installation Control terminals Analog input 5 4 2 Analog input 82k5 82k5 e N a fo D ECSXA015 Fig 5 11 Analog input at X6 A HF shield termination by large surface connection to functional earth see Mounting Instructions for ECSZS000X0B shield mounting kit Analog input configuration gt Set via C0034 whether the input is to be used for a master
305. initialised with the value 0 gt The retain variables in the ECSxA axis module can be reset to their initialisation value in the online mode of the DDS by using the commands Online Reset cold or Online gt Reset original Persistent memory 32 bytes of data can be stored fail safe in the persistent memory so that they are also still available to the program after mains switching In contrast to the retain memory the data even remains in the persistent memory after a new program download Saving with C0003 1 is not necessary gt The persistent memory can only be deleted in the online mode of the DDS by using the command Online gt Reset original EDBCSXA064 EN 2 0 Lenze 351 352 Appendix Memories Persistent memory Access to the persistent memory Access to the persistent memory is effected via the system variables of the control configuration assigning the available 32 bytes to several variables of different data types at the same time which enables them to be used in the PLC program according to specific applications Byte Variable 8 bit Identifier Address O VAR Persistent by OB171 0 Byte0 1 VAR Persistent by QB171 1 Bytel 2 VAR Persistent by QB171 2 Byte2 3 VAR Persistent by QB171 3 Byte3 4 VAR Persistent by QB171 4 Byte4 5 VAR Persistent by QB171 5 Byte5 6 VAR Persistent by QB171 6 Byte6 7 VAR Persistent by QB171 7 Byte7 8 VAR Persistent by QB171 8 Byte8 9 VAR Persistent by QB171 9
306. interrupted The module has received too many incorrect telegrams via the system bus CAN and has disconnected from the bus For remote parameterisation C0370 C0371 via system bus CAN Slave does not respond e Communication monitoring time has been exceeded The motor parameters set are not plausible e Active load e g for hoists is too high e Mechanical blockades on the load side e Active load e g for hoists is too high e Drive is not speed controlled torque is excessively limited Lenze Remedy e Connect extension board correctly e Check connector e Adapt PLC program to extension board e Use extension board which is supported by PLC program e Contact Lenze e Switch off the monitoring C0588 3 e Contact Lenze e Switch off the monitoring C0588 3 e Check wiring at X14 e Check transmitter e Increase monitoring time under C2457 1 if necessary e Switch off monitoring C2481 3 e Check wiring at X14 e Check transmitter e Increase monitoring time under C2457 2 if necessary e Switch off monitoring C2482 3 e Check wiring on X14 Check transmitter e Increase monitoring time under C2457 3 if necessary e Switch off monitoring C2483 3 e Check wiring at X14 bus termination available e Check screen contact of the cables e Check PE connection e Check bus load reduce baud rate if necessary Observe cable leng
307. ion From here the states are changed over by the master for the entire network A target address included in the command specifies the receiver s 01 xx 80 xx 02 xx 81 xx 82 xx XX 00hex xx node ID Operational Pre operational Stopped Initialisation Network management telegrams sync emergency process data PDO and parameter data SDO are active corresponds to Start Remote Node Optional In case of change event controlled and time controlled process data PDO are sent once Network management telegrams sync emergency and parameter data SDO are active corresponds to Enter Pre Operational State Only network management telegrams can be received Initialisation of all parameters in the communication module with the values stored corresponds to Reset Node Initialisation of communication relevant parameters CiA DS 301 in the communication module with the values stored corresponds to Reset Communication With this assignment all devices connected are addressed by the telegram The state can be changed for all devices at the same time If a node address is specified only the state of the addressed device will be changed Network management NMT The telegram structure used for the network management contains the identifier and the command included in the user data which consists of the command byte and the node address EDBCSXA064 EN 2 0 Lenze 413
308. ion and communication Operating and communication modules Operating communication module Type order number Can be used together with ECSxE ECSxS P M A Keypad XT EMZ9371BC v v Diagnosis terminal keypad XT with hand held E82ZBBXC v v LECOM A RS232 EMF21021IB V004 v v LECOM B RS485 EMF21021B V002 v v LECOM A B RS232 485 EMF21021IB V001 v v LECOM LI optical fibre EMF21021IB V003 v v LON EMF21411B v INTERBUS EMF21131B n v PROFIBUS DP EMF21331B v CANopen DeviceNet EMF21751B v System bus components PC system bus adapter Type order number Voltage supply via DIN connection EMF21731B Voltage supply via PS2 connection EMF2173IB V002 Voltage supply via PS2 connection EMF2173IB V003 electrical isolation to CAN bus USB system bus adapter EMF21771B Components for digital frequency coupling Digital frequency distributor cables Type order number Digital frequency distributor EMF2132IB Master digital frequency cable EYD0017AxxxxW01W01 1 Slave digital frequency cable EYD0017AxxxxW01W01 1 1 xxxx Cable length in decimetre example xxxx 0015 length 15 dm 14 8 6 Brake resistor Assignment of external brake resistors Power supply module Brake resistor Q cata ECSEE ECSDE ECSCE 012 020 040 012 020 040 012 020 040 ERBM082R100W 82 0 10 e ERBM039R120W 39 0 12 e ERBM020R150W 20 0 15 o ERBD082R600W 82 0 60 e o e ERBD047R01K2 47 1 20 o e e ERBD022R03K0 22 3 00 e e ERBSO82R780W 82 0 78 e o
309. ion and reception telegrams can be set via C2467 C2468 The sync Tx time can be set via C2469 Lenze CA System modules 13 CANaux_Management node number 111 Status messages 13 11 5 Status messages The SB CANaux_Management provides different status messages which can be processed in the PLC program Identifiers Information CANaux_bCe11CommErrCanln1 TRUE CANaux1_IN communication error b CANaux_bCe12CommErrCanln1 TRUE CANaux2_IN communication error b CANaux_bCe13CommErrCanln1 TRUE CANaux3_IN communication error b CANaux_bCe14BusOffState_b TRUE CAN bus Off State detected CAN bus interface X14 CANaux_byNodeAddress 1 63 Node address CAN bus interface X14 CANaux_byState CAN bus operating status CAN bus interface X14 1 Operational 2 Pre Operational 3 Warning 4 Bus off EDBCSXA064 EN 2 0 Lenze 281 13 System modules CANaux1_IO node number 34 13 12 CANaux1_IO node number 34 This SB serves to transmit cyclic process data via the CAN bus interface X14 A sync telegram which must be generated from another node is required for transmission gt The transmission mode event or time controlled is set via C2456 gt The monitoring time is set via C2457 Lenze setting 3000 ms
310. ion error CEO Communication modules 429 Communication phases 41 A e gt va 9 e 5 HI oltage supply of the control electronics 204 monitoring functions H Q urrent load of controller I x t monitorin urrent load oT motor x t monitoring eatsink temperature 196 maximum speed monitoring times Tor process data Input objects 19 motor phases 20 motor temperature 19 motor temperature sensor 20 24 Resolver cable 206 otor position adjustment i O sin cos encoder 208 Sp temperature inside the controller 19 thermal sensors 198 MotionBus system bus CAN axis synchronisation 261 262 B d a diagnostics codes 3 5 2 elegram counter 9 System bus CAN isplay of the resulting identitiers 166 ndividual addressing 164 system bus CAN Making a reset node 255 280 Nod ding 69 setting boot up time 168 setting delay time 168 setting the baud rate 159 Setting the cycle time 168 setting the node address 159 Table of attributes 40 baud Z 1 O D O diagnostics operating status dentiriers 0 e process data objects 148 monitoring D time monitoring 4 reset node synchronisation D nc TX transmission cycle i Sarsa DID EI LA Configuring the CAN interface Al Q mapping of Indices to codes monitoring time out during activated remote parameterisation 19 emote parameterisation gateway function
311. ion with Lenze devices of the 9300 series Explanation The device immediately operates with the new parameter value The device operates with the new parameter value after being confirmed The device operates with the new parameter value after the controller has been released again Cannot be changed Explanation e Selection of main menu and submenus e No menu for ECSxE power supply module Selection of codes and subcodes Change of parameters in the codes or subcodes Display of operating parameters Explanation EDBCSXA064 EN 2 0 Parameter setting Parameter setting with the XT EMZ9371BC keypad Description of the function keys El Number Active level Meaning Menu level Menu number Code level Four digit code number F Number Active level Meaning Menu level Submenu number Code level Two digit subcode number G Parameter value Parameter value with unit H Cursor I Function keys For description see the following table 7 3 3 Key PRG 0 D Cc z BE 688 Q si E w w 5 Description of the function keys Note Key combinations with Gi Explanation e Display is only active when operating Lenze devices of the 8200 vector or 8200 motec series e No menu for ECSxE power supply module Explanation e Display is only active when operating Lenze devices of the 8200 vector or 8200 motec series e No menu for ECSxE power
312. ion with servo motors from other manufacturers Adjusting current controller Adjusting current controller For an optimum machine operation the current controller settings must be adapted to the electrical motor data The parameters of the current controller depend on the electrical motor data They do not depend on mechanical data as with the speed and position control circuit This is why the default current controller settings of the GDC motor data input assistant can usually be used A current controller adjustment is only required for third party motors and for Lenze motors only in special cases Note If possible adjust the current controller with the maximum current C0022 provided for operation Leakage inductance and stator resistance of the motor are known The gain of the current controller Vp and the integral action time of the current controller Tn can be calculated by approximation Current controller gain Vp Integral action time of the current controller Tn V L1 I L1 P 250 us RI Lis Motor leakage inductance R1s Motor stator resistance Note Depending on the leakage inductance of the motor the calculated values can be outside the adjustable range In this case gt set a lower gain and a higher integral action time gt adjust the current controller metrologically C4 126 For applications with high current controller dynamics the pilot control of the current controller outputs can be
313. ions are stored in numbered codes The codes are marked in the text with a C The code list in the appendix 2 359 provides a quick overview of all codes The codes are sorted in numerical ascending order thus serving as a reference book Parameter setting with keypad XT or PC laptop Detailed information on parameter setting with the keypad XT can be found in the following chapters O Detailed information on parameter setting with a PC laptop can be found in the documentation on the parameter setting and operating program Global Drive Control GDC In addition to parameter setting the keypad XT or the PC laptop can be used to Control the controller e g inhibiting or enabling v Select the setpoints gt Display operating data gt Transfer of parameter sets to other controllers only with PC laptop Parameter setting with a bus system O Detailed information on parameter setting with a bus system can be found in the documentation on the communication module to be used M 429 EDBCSXA064 EN 2 0 Lenze 137 7 Parameter setting Parameter setting with Global Drive Control GDC 7 2 Parameter setting with Global Drive Control GDC With the Global Drive Control GDC parameterisation and operating program Lenze provides a plain concise and compatible tool for the configuration of your application specific drive task with the PC or laptop gt The GDC inpu
314. ip reset BB Load Store 001 fail number a of 001 1 001 DIS Fail counter act il 5 Hb D Diagnostic C01 70 J B History 105 r n vola Wy Short setup cons nD actual DC voltage ny E Main FB C0054 0 DIS actual motor c D j 5 utilization Ix Fig 6 8 GDC view Diagnostic of the current operation The following table shows the signal sources for controller enable Source for controller Controller Controller Note inhibit inhibit enable Terminal X6 SI1 0 4V 13 30 V For controller enable X6 SI1 has to be LOW level HIGH level HIGH and X6 SI2 HIGH Terminal X6 SI2 0 4V 13 30 V LOW level HIGH level C0040 C0040 0 C0040 1 Operating GD key GD key Inhibiting with key is only possible if module keypad the amp key is assigned with CINH via C0469 Fault e Incase of TRIP e NoTRIP message For check see LA 213 e Incase of active message e TRIP reset Control word C0135 bit 9 1 C0135 bit 9 0 GDC function keys system bus CAN e lt F8 gt key controller enable start C0135 lt F9 gt key controller inhibit stop Fieldbus module See Operating Instructions of the corresponding fieldbus module Note All signal sources act like a series connection of switches which are independent of each other Lenze CZ Commissioning 6 Loading the Lenze setting 6 11 Loading the Lenze setting Note In After loading the Lenze setting all parameters are set to basic setting
315. ired Baud rate for CAN bus interface X4 e The baud rate must be set identically for all CAN nodes This code is not active if one of the switches 2 7 of the DIP switch is set to ON e After the setting a reset node is required aze Master slave configuration for CAN bus interface X4 CAN boot up is not active 167 CAN boot up is active 373 Appendix Code list Code Possible settings No Designation Lenze Selection Appl C0353 1 CAN addr sel CAN node address C0350 2 CAN addr sel CAN node address C0350 3 CAN addr sel CAN node address C0350 0 C0350 auto 1 C0354 man C0354 1 CAN addr 129 1 1 2 CAN addr 1 3 CAN addr 257 4 CAN addr 258 5 CAN addr 385 6 CAN addr 386 C0355 1 CAN ld 1 1 2 CAN Id 3 CAN Id 4 CAN Id 5 CAN Id 6 CAN Id C0356 1 CAN times 3000 0 1 ms 2 CAN times 0 3 CAN times 0 4 CAN times 20 C0357 1 CEmonittime 3000 1 1 ms 2 CE monit time 3000 3 CE monit time 3000 374 Lenze 512 2047 65000 65000 IMPORTANT Source for node address of CAN_IN CAN_OUT CAN bus interface X4 Address CAN1_IN OUT Address CAN2_IN OUT Address CAN3_IN OUT Automatically determined by C0350 Determined by C0354 Alternative node addresses for CAN_IN CAN_OUT CAN bus interface X4 Address 2 CAN1_IN Address 2 CAN1_OUT Address 2 CAN2_IN Address 2 CAN2_OUT Address 2 CAN3_IN Address 2 CAN3_OUT Identifier for CAN_IN CAN_OUT CAN bus interface X4 R
316. it LP1 C0602 MONIT REL1 386 Possible settings Lenze Appl 3 5500 5 0 Selection 0 TRIP Warning 3 Off 0 TRIP Warning 3 Off 0 TRIP Warning 3 Off 0 1 rpm 0 TRIP Warning 3 Off 0 TRIP Warning 3 Off 0 01 0 01 0 TRIP 3 Off Lenze 16000 10 00 IMPORTANT Configuration of monitoring 19 CAN3_IN error CommErrCANIN3 CE3 Configuration of monitoring 207 Motor temperature sensor SensorFault MCTRL Sd6 Configuration of system bus D CAN off monitoring at the CAN bus interface X4 BusOffState CE4 Monitoring Maximum speed of 217 the machine Configuration of motor phase monitoring LP1 When this monitoring function is activated the calculating time which is provided to the user is reduced apoy Configuration of master current monitoring at X6 lt 2 mA MastlSourceDef ags Monitoring limit for motor phase 205 monitoring LP1 referred to the current limit Configuration of the open circuit monitoring of relay output X25 EDBCSXA064 EN 2 0 Code No Designation C0603 MONIT CE5 C0604 MONIT OC7 C0605 MONIT OH5 C0606 MONIT OC8 C0607 MONIT NMAX C0608 ovr Tx Queue C0609 ovr Rx Isr C0855 1 AIF1 IN bits 2 AIF1IN bits EDBCSXA064 EN 2 0 Possible settings Lenze Appl 3 Selection B WN EF Oo 0000 TRIP Warning Off TRIP Warning Off TRIP Warning Off TRIP Warning Off TRIP Warnin
317. itation is activated depending on the DC bus voltage C0175 1 or 2 gt the axis module is not supplied via a supply module delivered by Lenze gt the low voltage supply 24 V is switched off For this reason allow a break of at least three minutes between two starting operations Use the safety function Safe torque off STO for frequent disconnections for safety reasons Lenze CZ EDBCSXA064 EN 2 0 Safety instructions 2 Residual hazards Motor protection gt Only use motors with a minimum insulation resistance of 1 5 kV min du dt 5 kV us Lenze motors meet these requirements gt When using motors with an unknown insulation resistance please contact your motor supplier gt Some settings of the axis module lead to an overheating of the connected motor e g longer operation of self ventilated motors with low speeds gt Use PTC thermistors or thermostats with PTC characteristic for motor temperature monitoring Lenze 29 Safety instructions Safety instructions for the installation according to U or Up 2 3 Safety instructions for the installation according to U or Up Warnings General markings gt Use 60 75 C or 75 C copper wire only gt Maximum ambient temperature 55 C with reduced output current Markings provided for the supply units gt Suitable for use on a circuit capable of delivering not more than 5000 rms symmetrical amperes 480 V max when protected by K5
318. ith digital output 4 Connect the sync signal of the master to terminal X6 DI1 5 C1120 2 6 C0366 1 Lenze setting 7 Start communication send sync signals Read C0362 of the master 9 Set C1121 according to C0362 of the master 10 Set C1123 11 Enable the controller via the signal CANSync InsideWindow applied to the digital output Lenze Description amg Synchronisation through sync signal via terminal X6 DI1 DigIn_bln1_b is active CAN sync reaction e Slaves respond to sync telegram Retrieve cycle time of the sync signal from the master Adjust the time distance of the sync signal to be received to the cycle time of the master Set optimum size for the time slot e Ifthe sync signal jitters heavily 4 259 increase time slo Synchronisation monitoring e If CANSync InsideWindow TRUE enable the controller EDBCSXA064 EN 2 0 13 8 System modules 13 CAN1_IO node number 31 CAN1_IO node number 31 This SB serves to transmit cyclic process data via the CAN bus interface X4 A sync telegram which must be generated from another node is required for transmission gt The transmission mode event or time controlled is set via C0356 gt The monitoring time is set via C0357 Lenze setting 3000 ms
319. its CANa IN bits EDBCSXA064 EN 2 0 Lenze Appl Possible settings Selection 3000 0 1 ms 20 3000 1 3000 3000 1 ms 0 1 hex Lenze CANaux1 65000 65000 FFFF System modules 13 _IO node number 34 IMPORTANT CAN time settings for CAN bus DA 168 interface X14 CAN AUX CAN AUX boot up time CANaux2_OUT CANaux3_OUT cycle times Factor for the task time to send process data telegram 0 Event controlled transmission CAN AUX delay time When the NMT state Operational has been reached after Pre operational the delay time CANdelay is started After the delay time has expired the PDOs CANaux2_OUT and CANaux3_OUT are sent for the first time Monitoring time for CANaux1 3_IN CAN bus interface X14 CE11 monitoring time CE12 monitoring time CE13 monitoring time Process data input words hexadecimal for CAN bus interface X14 Hexadecimal value is bit coded Read only CANaux1_IN bit 0 15 CANaux1_IN bit 16 31 CANaux2_IN bit 0 ETA CANaux2_IN bit 16 31 CANaux3_IN bit 0 ET CANaux3_IN bit 16 31 283 13 Code No C2492 10 11 C2493 284 10 11 System modules CANaux1_1O node number 34 Possible settings Designation Lenze Selection Appl CANa IN 199 99 0 01 words CANa IN words CANa IN words CANa IN words CANa IN words CANa IN words CANa IN words
320. ive The following are available gt Adigital inputs X6 DI1 D14 gt 1digital output X6 DO1 gt 1relay output X25 BD1 BD2 The GDC contains codes for setting the polarity of digital inputs and outputs in the parameter menu under Terminal I O Parameter menu LIB Load Store HIB Diagnostic 00 LA Short setup 001 polarity terminal DIGIN_bln1_b High active 002 polarity terminal DIGIN_bln2_b High active 003 polarity terminal DIGIN_bln3_b High active 004 polarity terminal DIGIN_bln4_b High active Main FB B Terminal 1 0 D Analog inputs lt 6 BB digital outputs 6 D DFIN frequency input T KE DFOUT frequency output T EB Statebus mE Controller Fig 6 6 GDC view Setting of the polarity of digital inputs and outputs Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0114 Polarity of the digital inputs D 118 1 DIGIN pol 0 HIGH level active X6 DI1 DIGIN_bIn1_b 2 DIGIN pol 0 HIGH level active X6 DI2 DIGIN_bIn2_b 3 DIGIN pol 0 HIGH level active X6 DI3 DIGIN_bIn3_b 4 DIGIN pol 0 HIGH level active X6 DI4 DIGIN_bIn4_b 0 HIGH level active LOW level active C0118 Polarity of the digital outputs 323 1 DIGOUT pol 0 HIGH level active X6 DO1 DIGOUT_bOut1_b CO 118 2 DIGOUT pol 0 HIGH level active X25 DIGOUT_bRelais_b brake connection 0 HIGH level active LOW level active 118 Lenze EDBCSXA064 EN 2 0 Commissioning 6 Entry of machine parameters 6 9 Entry of m
321. kw Lenze 179 9 10 500 00 Servo PM SM 8 00 A 1 00 kw 3700 rpm 704 185 Hz 325 V 1 00 1 10 Ohm 5 30 mH 8 4 kHz automatic shift 100 00 100 100 IMPORTANT Operating mode of the motor control Servo control of synchronous motors Servo control of asynchronous motors Switching frequency 4 kHz permanent PWM frequency 8 kHz PWM frequency with automatic derating to 4 kHz at high load Imax limit gt Device dependent list Max current can be gathered from the technical data Rotor displacement angle for synchronous motors C0095 127 Number of pole pairs of resolver Rated motor power according to nameplate EDBCSXA064 EN 2 0 Commissioning 6 Operation with servo motors from other manufacturers Entering motor data manually Code Possible settings No Designation Lenze Selection Appl C0084 Mot Rs 1 10 0 00 C0085 Mot Ls 5 30 0 00 C0087 Mot speed 3700 300 C0088 Mot current 7 0 0 5 C0089 Mot 185 frequency 10 C0090 Mot voltage 325 50 C0091 Mot cos phi 1 0 0 50 C0095 Rotor pos adj 0 0 C0110 Service Code 50 C0111 Service Code 50 00 C0112 Service Code 50 C0113 Service Code 50 C0128 Tau motor 5 0 0 5 C0418 Test Cur Ctrl 0 0 EDBCSXA064 EN 2 0 0 01 Q 0 01 mH 1 rpm 0 1 A 1 Hz 1 V 0 01 Inactive Active 1 1 1 1 0 1 min Deactivated Activated Lenze 95 44 47 72 23 86 11 93 7 95 5 96 200 00
322. l 5 3 5 Connection of an ECSxK capacitor module optional O Observe the notes in the detailed documentation of the capacitor module 14 14 92 id F1 F3 Fa off ARI Pill ESES gt RKI SAE p Ki H Li L2 L3 PE BRO BR1 UG UG UGI PE UG UG UG UG PE PE kud kud UGI UG PE PE 4 X21 X22 X23 X23 ECSXE ECSxK ECSxS P M A di ERRE x26 x25 ziela 5 8 8 s 6 BD1 B02 L Pewee R Enemas at Bi KEELED A 2A GND e 24V DC ot e ee ECSXX004 Fig 5 7 Wiring of capacitor module ECSxK A HF shield termination by large surface connection to functional earth see Mounting Instructions for ECSZS000X0B shield mounting kit T Twisted cables K1 Mains contactor F1 F4 Fuse Z1 Mains choke mains filter optional A Contactor relay B System cable feedback o Terminal X6 SI1 of the connected axis modules controller enable inhibit EDBCSXA064 EN 2 0 Lenze 6
323. l Address Display Display Comments type type code format CANaux_bResetNode_b QX111 0 0 Carry out reset node CAN bus interface X14 CANaux_bTxCan2Synchr BOOL bi QX111 0 1 Transmit CANaux2_OUT onized_b may with sync telegram CANaux_bTxCan3Synchr QX111 0 2 Transmit CANaux3_OUT onized_b with sync telegram Executing a reset node The following changes will only be valid after a reset node Changes of the CAN node addresses and baud rates a 161 gt Changes of the addresses of process data objects COB IDs General addressing 426 Individual addressing w 164 gt Change of the master slave boot up configuration a 167 Reset node can be activated by gt switching on the low voltage supply gt the bus system via the network management NMT gt C2458 1 using the XTkeypad gt CANaux_bResetNode_b TRUE Note If reset node is executed via GDC communication will be interrupted You therefore have to log in again manually or find the devices connected to the bus once again Define instant of transmission for CANaux2_OUT CANaux3_OUT Via CANaux_bTxCan2Synchonized_b and CANaux_bTxCan3Synchonized_b the instant of transmission for the CAN objects CANaux2_OUT and CANaux3_OUT is determined gt FALSE Data from CANaux2_OUT CANaux3_OUT is sent at the end of the process image gt TRUE Data from CANaux2_OUT CANaux3_OUT is sent after the CAN bus synchronisation The identifiers for sync transmiss
324. l operation mode C0095 000 Motor rotor position adjustment Inactive completed LA Main functions if implemented C0058 000 Rotor displacement angle offset 90 0 IE Controller settings E Motor feedback systems D Motor settings Feedbacksystem D KTY temperature sensor LE Monitoring E Motionbus CAN lt 4 HE Systembus CANaux 14 Fig 6 12 GDC view Commissioning of the feedback system Setting sequence 1 Inhibit controller M 120 Press lt F9 gt key in GDC Green LED is blinking red LED is off 2 Unload motor mechanically Disconnect motor from gearbox or machine Where required remove toothed lock washers gear wheels etc from the motor EDBCSXA064 EN 2 0 Lenze 127 128 Commissioning Operation with servo motors from other manufacturers Effecting rotor position adjustment shaft Where required support holding torques held by a mounted motor brake by means of retainers Deactivate Safe torque off 0 69 so that the motor can be energised during rotor position adjustment X6 SI1 HIGH X6 S12 HIGH Open holding brake if available Activate rotor position adjustment with C0095 1 Enable controller M 120 Press lt F8 gt key in GDC The rotor position adjustment program of the controller is started The rotor rotates half a revolution in 16 steps for resolver with 1 pole pair 180 electrically 4 180 mechanically After
325. liary circuits Digital outputs protected against short circuit Bus and encoder systems limited protection against short circuit if necessary monitoring functions can be switched off in this case error messages must be reset Short to earth protected against short to earth during operation limited protection against short to earth on mains power up Overvoltage Motor stalling Motor overtemperature input for KTY I2 x t monitoring Protective isolation of mains Double reinforced insulation to EN 61800 5 1 1 Noise immunity in the above mentioned severities must be guaranteed through the control cabinet The user must check the compliance with the severities EDBCSXA064 EN 2 0 Lenze 33 BI Technical data Rated data 3 2 Rated data Rated data Output power 400 V mains Data for operation with upstream supply module on mains voltage DC bus voltage DC bus current Rated output current at 4 kHz leads to a heatsink temperature of 70 C at an ambient temperature of 20 C Rated output current at 8 kHz leads to a heatsink temperature of 70 C at an ambient temperature of 20 C 1 Max output current acceleration current Continuous current at standstill holding current at 90 C 4 kHz Short time standstill current holding current at 90 C 4 kHz 2 Short time standstill current holding current at 70 C 4 kHz 2 Short time standstill current holding current at 70 C 8 kHz
326. lowing errors can be activated e g with regard to position systems In doing this also set the corresponding responses to TRIP 208 Lenze EDBCSXA064 EN 2 0 Monitoring functions 11 Configuring monitoring functions Sin cos encoder Sd8 Visible faults Non visible faults e Unplugged plug all encoder signals open e Short circuits in particular between sine and cosine e Singe wire breakage one of the following signals is signals missing e Cable encoder faults with intermediate values COSA e Semi short circuits gt 0 Ohm RefCOS A e Semi interruptions lt infinite SINB RefSIN B GND VCC e Double wire breakage with the following signal pairs EDBCSXA064 EN 2 0 COS A and RefCOS A SIN B and RefSIN B COS A and SIN B RefCOS A and RefSIN B and all four signals COS A RefCOS A SIN B RefSIN B open Lenze 209 11 2 19 Code No Monitoring functions Configuring monitoring functions Speed not within tolerance margin nErr Speed not within tolerance margin nErr Error message Monitoring function System variable Possible response TRIP Message Warning FAIL Off OSP 190 nErr Speed beyond tolerance MCTRL_bSpeedLoopFault_b v v v v margin C0576 e Default setting v Setting possible This monitoring function compares the actual speed value supplied by the tacho generator to the speed setpoint on the speed controller If the difference of the two s
327. lti turn at X8 Resolver at X7 TTL encoder at X8 SinCos encoder at X8 Absolute value encoder single turn at X8 Absolute encoder multi turn at X8 e operation and display Common IT512 5V IT1024 5V IT2048 5V IT4096 5V 1S512 5V 1S1024 5V 1S2048 5V 1S4096 5V AS64 8V AS128 8V AS256 8V AS512 8V AS1024 8V AM64 8V AM128 8V AM256 8V AM512 8V AM1024 8V Lenze IMPORTANT Selection of feedback system for M I0 positioning control Standard setting e Sets C0495 to the same value if C0495 gt 0 e Sets C0419 0 Common if a different encoder type as under C0419 is set here Selection of feedback system for M I0 speed control Standard setting e Sets C0490 to the same value if C0490 gt 0 e Sets C0419 0 Common if a different encoder type as under C0419 is set here IMPORTANT Encoder selection 309 e Selection of encoder type 104 indicated on the nameplate of M T10 the Lenze motor The encoder data C0420 C0421 C0427 is set automatically in accordance with the selection Incremental encoder with TTL level SinCos encoder SinCos absolute value encoder with Hiperface interface single turn Selections 307 308 309 are only possible with operating system 7 0 or higher SinCos absolute value encoder with Hiperface interface multi turn Selections 407 408 409 are only possible with operating system 7 0 or higher EDBCSXA064 EN 2 0 Commissioning
328. m See chapter Signal types and scaling azg For every task in which DFIN_nIn_v is used the operating system creates an individual integrator that is reset after every start of the task task internal process image For reliable TP generation DFIN_nIn_v must not be used in the PLC_PRG Example DFIN_nIn_vin a 10 ms task gt gt EDBCSXA064 EN 2 0 When the 10 ms task starts the value of the integrator is stored in a local area of the task and the integrator is reset The value in the local area gives an average value in increments per 1 ms If a position value is to be calculated from the average value the average value has to be multiplied by SYSTEM_nTaskiInterval 4 in order to obtain increments per 10 ms At a task of 10 ms the value of SYSTEM_nTaskInterval is 40 40 x 0 25 ms 10 ms See also chapter SYSTEM_FLAGS system flags 348 The Lenze function blocks already implement this procedure Lenze 315 13 17 13 17 1 316 System modules DFOUT_IO DigitalFrequency node number 22 Inputs_DFOUT Outputs_DFOUT DFOUT_IO_DigitalFrequency node number 22 Inputs_DFOUT Outputs_DFOUT This SB converts internal speed signals into frequency signals and outputs them to X8 configuration via C0491 gt Transmission is effected with high precision without offset and amplification faults including remaind er considered The type of output signals can be se
329. m as gt binary information 1 bit gt status word quasi analog value 16 bit gt angle information 32 bit Byte Variable 1 bit Variable 16 bit Variable 32 bit 1 2 CAN2_bFDO0_b si CAN2_nOutW1_a CAN2_bFDO15_b 3 4 CAN2_bFDO16_b pane enue si CAN2_nOutW2_a CAN2_bFDO31_b 5 6 CAN2_nOutW3_a 7 8 CAN2_nOutW4_a Note Avoid simultaneous overwriting via different variable types to ensure data consistency If you want to describe e g the bytes 1 and 2 either use only the variable CAN2_dnOutD1_p only the variable CAN2_nOutW1_a or only the variables CAN2_bFDOO_b CAN2_bFDO15_b EDBCSXA064 EN 2 0 Lenze 273 13 System modules CAN3_IO node number 33 13 10 CAN3_IO node number 33 This SB serves to transmit event or time controlled process data via the CAN bus interface X14 Async telegram is not required gt The transmission mode event or time controlled is set via C0356 gt The monitoring time is set via C0357 Lenze setting 3000 ms CAN3_IO Byte Byte 1 1 CAN3_nOutW1_a WORD WORD CAN3_ninW1_a gt o a Diu o gt C0868 8 9 2 C0866 8 CAN3_nOutW2_a WORD
330. match the controller e g when data were transmitted from a controller with more performance to a controller with less performance Resolver cable is interrupted Excitation amplitude is too low Master current value at X6 Al Al lt 2mA Encoder for detecting the motor temperature at X7 or X8 indicates undefined values Lenze Remedy e Check use of pointers e Send module with PLC program and parameter set to Lenze on floppy disk CD ROM Storage of the Lenze setting C0003 1 After troubleshooting Deenergise the device completely disconnect 24 V supply discharge DC bus Contact Lenze e Correct parameter set e Check code initialisation values After fault correction completely deenergise the device switch off 24 V supply discharge DC bus Contact Lenze Reduce number of user codes e Check cable for wire breakage e Check resolver e Switch off monitoring C0586 3 Increase excitation amplitude of resolver C0416 Check control factor of resolver under C0414 as of operating system V8 0 e Check cable for wire breakage e Check master current value encoder e Switch off monitoring C0598 3 e Check control factor of resolver under C0414 as of operating system V8 0 e Check cable for firm connection e Switch off the monitoring C0594 3 225 12 System error messages Causes and remedies Fault message Description No Display x087 sd7
331. mation for CAN bus interface X4 Read only 1 CANIN phi 2147483648 1 2147483647 CAN1_IN 2 CANIN phi CAN2_IN 3 CANIN phi CAN3_IN C0868 DIS OUTx Wx Analog process data output words decimal for CAN bus interface X4 100 00 16384 Read only 1 CAN OUT 32768 1 32768 CAN1_OUT word 1 words 2 CANOUT CAN1_OUT word 2 words 3 CANOUT CAN1_OUT word 3 words 4 CANOUT CAN2_OUT word 1 words 5 CANOUT CAN2_OUT word 2 words 6 CAN OUT CAN2_OUT word 3 words 7 CAN OUT CAN2_OUT word 4 words 8 CAN OUT CAN3_OUT word 1 words 9 CAN OUT CAN3_OUT word 2 words 10 CAN OUT CAN3_OUT word 3 words 11 CAN OUT CAN3_OUT word 4 words EDBCSXA064 EN 2 0 Lenze 389 14 Appendix Code list Designation CAN OUT phi CAN OUT phi CAN OUT phi DigInOfDCTRL DigInOfDCTRL DigInOfDCTRL DigInOfDCTRL Reset C0135 Controlword Reset AIF Controlword Reset CAN Controlword MCTRL analog MCTRL analog MCTRL analog MCTRL analog MCTRL analog MCTRL analog MCTRL analog 8 MCTRL analog 9 MCTRL analog Code No C0869 1 2 3 C0878 1 2 3 4 C0879 1 2 3 C0906 1 2 3 4 5 6 7 C0907 1 2 3 4 C0908 390 MCTRI digital MCTRI digital MCTRL digital MCTRI digital MCTRL PosSet Possible settings Lenze Selection Appl 2147483648 1 0 0 No reset 0 No reset 0 No reset 0 No reset Reset 199 99 0 01 0 2147483648 1 inc Lenze 2147483647 199 99 2147483647 IMPORTANT 32 bit phase information for CAN bu
332. me C0076 such that the current characteristic is free of harmonics After the adjustment has been completed deactivate the test mode with C0418 0 If required change the switching frequency under C0018 Lenze ali Commissioning 6 Operation with servo motors from other manufacturers Effecting rotor position adjustment 6 12 4 Effecting rotor position adjustment Note Resolver absolute value encoder with Hiperface interface gt If the rotor zero phase is not known the rotor position only has to be adjusted once during commissioning gt For multi turn absolute value encoders the traversing range must be within the display range of the encoder 0 4095 revolutions if the traversing range is limited TTL incremental encoder sin cos encoder with zero track gt If these encoder types are used for the operation of synchronous motors the rotor position must be adjusted every time the low voltage supply is switched on The rotor position must be adjusted if gt A servo motor from another manufacturer is operated on the controller gt Another encoder has been mounted subsequently gt Adefective encoder has been replaced The rotor position can only be adjusted if gt The resolver is polarised correctly gt The current controller has been adjusted The GDC contains the parameters or codes to be set on the parameter menu under Motor Feedb Rotor position adjustment Parameter menu Le Contro
333. medies Fault message No 0011 0012 0015 0016 x017 x018 1020 1030 x032 x041 0050 Display OC1 OC2 OC5 OC6 OC7 OC8 OU LU LP1 AP1 OH Tip When the fault messages are retrieved via the system bus CAN they are displayed as a number see column fault number number in the following table Description No fault Short circuit of motor cable Motor cable earth fault x t overload 12 x t overload TRIP motor C0120 I x t overload warning axis module C0123 12 x t overload warning motor C0127 Overvoltage in DC bus Undervoltage in DC bus Motor phase failure Internal fault Heatsink temperature gt 90 C x 0 TRIP 1 Message 2 Warning 3 FAIL OSP 222 Cause Short circuit Excessive capacitive charging current in the motor cable One of the motor phases has earth contact e Frequent and too long acceleration with overcurrent e Continuous overload with Imotor gt 1 05 x lrx Current overload of the motor e g due to e frequent or too long acceleration processes e impermissible continuous current Current overload of the axis module gt C0123 e g due to frequent or too long acceleration phases Current overload of the motor gt C0127 e g due to frequent or too long acceleration phases Braking energy is too high DC bus voltage is higher than set in C0173 DC bus voltage is lower
334. ments Status display Trigger cursor operating elements Horizontal operating elements Operating elements for recording 00000098008 Lenze CZ Diagnostics Diagnostics with the XT EMZ9371BC keypad 10 3 Diagnostics with the XT EMZ9371BC keypad In the Diagnostic menu the two submenus Actual info and History contain all codes for gt monitoring the drive gt fault error diagnosis In the operating level more status messages are displayed If several status messages are active the message with the highest priority is displayed Priority Display Meaning 1 GLOBAL DRIVE INIT Initialisation or communication error between keypad and controller XXX TRIP Active TRIP contents of C0168 1 XXX MESSAGE Active message contents of C0168 1 Special device states Switch on inhibit 5 Source for controller inhibit the value of C0004 is displayed simultaneously STP1 9300 servo Terminal X5 28 ECSxS P M A Terminal X6 SI1 STP3 Operating module or LECOM A B LI STP4 INTERBUS or PROFIBUS DP STP5 9300 servo ECSxA E System bus CAN ECSxS P M MotionBus CAN STP6 C0040 6 Source for quick stop QSP OSP term Ext The MCTRL OSP input of the MCTRL function block is on HIGH signal OSP C0135 Operating module or LECOM A B LI OSP AIF INTERBUS or PROFIBUS DP OSP CAN 9300 servo ECSxA System bus CAN ECSxS P M MotionBus CAN XXX WARNING Active warning contents of C0168 1 8 XXXX Value below C0004 EDBCSXA064 EN 2 0 Le
335. module omg The response to exceeding the adjustable threshold can be defined under C0604 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0123 OC7 limit 90 Threshold for I x t warning axis 193 module 0 1 100 C0064 gt C0123 gt fault message OC7 C0604 198 Lenze EDBCSXA064 EN 2 0 Monitoring functions 11 Configuring monitoring functions Current load of controller I x t monitoring OC5 OC7 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0604 MONIT OC7 2 Configuration of early warning 193 x t threshold C0123 0 TRIP Warning 3 Off Overcurrent characteristic trae s 200 _ 180 160 A ECSxS P M A064 40 ECSxS P M A048 120 _ ECSxS P M A004 008 016 032 100 Ai so 60 40 H 20 rm 0 I T_ gt 1 15 2 0 2 5 3 0 3 5 40 1 1 ECSXA025 Fig 11 1 Overcurrent characteristic ECSXA see also Rated data M 34 The overcurrent characteristic shows the maximum time trgip till the axis module generates an I xt error In order to reach this time trpjp again the time 3 x Taxis module With the load l l 0 A must be observed Device Taxis module S Overcurrent characteristic ECSxA004 54 6 ECSxA008 27 3 ECSxA016 27 3 I _ Esubprofile_x subprofile_x subprofile_x Tone made ECSxA032 27 3 l t rer ated 1 tsubprofile x 1 Ee axis module ECSxA048 29 5 ECSxA064
336. monitoring functions Motor temperature sensor Sd6 11 2 16 Motor temperature sensor Sd6 Error message Monitoring function System variable Possible response TRIP Message Warning Off 086 Sd6 Thermal sensor erroronthe MCTRL_bSensorFault_b v v motor e Default setting v Setting possible This monitoring function checks whether the motor temperature sensor supplies values within the measuring range of 50 250 C If the values are outside this measuring range monitoring is activated The response is set via C0594 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0594 MONIT SD6 3 Configuration of monitoring 207 Motor temperature sensor SensorFault MCTRL Sd6 0 TRIP Warning 3 Off 11 2 17 Absolute value encoder monitoring Sd7 Error message Monitoring function System variable Possible response TRIP Message Warning Off 087 Sd7 Absolute value encoder error MCTRL_bEncoderFault_b e Default setting v Setting possible When the ECSxA axis module is switched on this monitoring function repeatedly downloads the absolute value of the encoder to identify whether the same value is transferred to the drive If a deviation gt 5 on the motor shaft is detected the monitoring TRIP is actuated The error can only be reset by mains switching EDBCSXA064 EN 2 0 Lenze 207 Monitoring functions Configuring monitoring functions Sin cos encoder Sd8 Possible response TRIP Me
337. n and commissioning as well as maintenance must be carried out by qualified skilled personnel IEC 364 or CENELEC HD 384 or DIN VDE 0100 and IEC report 664 or DIN VDE 0110 and national regulations for the prevention of accidents must be observed According to this basic safety information qualified skilled personnel are persons who are familiar with the assembly installation commissioning and operation of the product and who have the qualifications necessary for their occupation Application as directed Controllers are components which are designed for installation in electrical systems or machines They are not to be used as domestic appliances but only for industrial purposes according to EN 61000 3 2 When controllers are installed into machines commissioning i e starting of the operation as directed is prohibited until it is proven that the machine complies with the regulations of the EC Directive 98 37 EC Machinery Directive EN 60204 must be observed Commissioning i e starting of the operation as directed is only allowed when there is compliance with the EMC Directive 2004 108 EC The controllers meet the requirements of the Low Voltage Directive 2006 95 EC The harmonised standard EN 61800 5 1 applies to the controllers The technical data and supply conditions can be obtained from the nameplate and the documentation They must be strictly observed Warning Controllers are products which can be installed in drive syst
338. n currCTRL Vp fieldCTRL Tn fieldCTRL DIS Lh Res pole no Mot power DIS Rr DIS Tr Mot Rs Mot Ls Mot speed Mot current EDBCSXA064 EN 2 0 Possible settings Lenze Selection Appl 20 0 0 00 5 0 0 01 5 0 0 00 20 0 1 0 0 0 1 1 3 20 0 01 0 000 0 00 1 10 0 00 5 30 0 00 3700 300 7 0 0 5 0 01 Q 0 01 ms 0 01 0 5 ms 0 1 mH 1 0 01 kw 0 001 Q 0 01 ms 0 01 Q 0 01 mH 1 rpm 0 1 A Lenze 381 80 190 90 95 46 47 72 31 82 23 86 200 00 63 99 6000 0 3276 7 10 500 00 32 767 327 67 95 44 47 72 23 86 11 93 7 95 5 96 200 00 16000 500 0 Appendix Code list IMPORTANT Proportional gain of current controller Vpi The upper limit is device dependent ECSxS P M A004 ECSxS P M A008 ECSxS P M A016 ECSxS P M A032 ECSxS P M A048 ECSxS P M A064 Reset time of current controller Tni Field controller gain Vpr Field controller reset time Tyr Mutual inductance of the asynchronous motor Read only Number of pole pairs of resolver Rated motor power according to nameplate Rotor resistance of the asynchronous motor Read only Rotor time constant of the asynchronous motor Read only Stator resistance of the motor The upper limit is device dependent ECSxS P M A004 ECSxS P M A008 ECSxS P M A016 ECSxS P M A032 ECSxS P M A048 ECSxS P M A064 Leakage inductance of the motor Ra
339. n of the DC bus voltage thresholds e Check during commissioning and adapt if necessary e All drive components in DC bus connections must have the same thresholds LU Undervoltage threshold OU Overvoltage threshold 0 Mains 230V B Operation on 230 V mains with or without brake unit LU 130 V OU 400 V 1 Mains 400 V B Operation on 400 V mains with or without brake unit LU 285 V OU 800 V 2 Mains 460 V B Operation on 460 V mains with or without brake unit LU 328 V OU 800 V 3 Mains 480V B Operation on 480 V mains without brake unit LU 342 V OU 800 V 4 Mains 480V B Operation on 480 V mains with brake unit LU 342 V OU 800 V 10 Mains 230V B Operation on 230 V mains with or without brake unit LU C0174 OU 400 V 11 Mains 400 V B Operation on 400 V mains with or without brake unit LU C0174 OU 800 V 12 Mains 460 V B Operation on 460 V mains with or without brake unit LU C0174 OU 800 V 13 Mains 480V B Operation on 480 V mains without brake unit LU C0174 OU 800 V 14 Mains 480V B Operation on 480 V mains with brake unit LU C0174 OU 800 V B C0174 UG min 60 Undervoltage threshold of DC apg 11 2 13 204 bus LU 15 1v 342 Voltage supply of the control electronics U15 If the voltage at X6 DI1 or X6 DI3 falls below 17 V TRIP U15 is actuated The fault can only be reset if U gt 19 V Lenze CA Monitoring functions
340. nOutW4_a Variable 32 bit CANaux2_dnOutD1_p Avoid simultaneous overwriting via different variable types to ensure data If you want to describe e g the bytes 1 and 2 either use only the variable CANaux2_dnOutD1_p or the variable CANaux2_nOutW1_a or only the 13 13 2 Outputs_CANaux2 System variables Variable Data Signal Address type type CANaux2_nOutW1_a OW35 0 CANaux2 nOutw2 a teger analog ow35 4 CANaux2_bFDOO_b QX35 0 0 CANaux2_bFDO15_b QX35 0 15 BOOL Binary CANaux2_bFDO16_b OX35 1 0 CANaux2_bFDO31_b QX35 1 15 CANaux2_dnOutD1_p Double Position QD35 0 integer CANaux2_nOutW3_a i OW35 2 CANaux2 nOutwg a Mteger analog ow35 3 User data the PLC program as gt binary information 1 bit gt status word quasi analog value 16 bit gt angle information 32 bit Byte Variable 1 bit 1 2 CANaux2_bFDOO_b CANaux2_bFDO15_b 3 4 CANaux2_bFDO16_b CANaux2_bFDO31_b 5 6 7 8 g Note consistency variables CANaux2_bFDOO b CANaux2_bFDO15_b 292 Lenze EDBCSXA064 EN 2 0 System modules 13 CANaux3_lO node number 36 13 14 CANaux3_IO node number 36 This SB serves to transmit event or time controlled process data via the CAN bus interface X14 Async telegram is not required gt The transmission mode event or time controlled is set via C2456 gt The monitoring time is set via C2457 Lenze setting 3000 ms
341. nal 26 Do DD c a o a M interface 145 L D System bus CAN Siehe baud rate system bus CAN Siehe baud rate 1 U Boot up AlF interface 146 Brake connection 61 2 Connection 59 assignment 429 Konnection 59 4 RBD a D H Brake resistor Internal Connection 58 i O Cable cross section 8 i Cable cross sections control connections 55 56 Connection safe torque off 7 Cable resistance Cable specitication 81 5 00 Cables shielded 55 Cables specification motor cables 60 D 34 A gt 2 o E v a un un 00 enment o e plug connectors 1 clic process data objects 418 synchronisation 419 oJ O w D oO Defining isplay o D lt D 1 a o e x D Q O e N M n v w 3 D H 411 e master In the drive system 167 e resulting identifiers 166 data objects 420 Function blocks CAN E I E I OS o fo fo fo Sad end o a S S gt AIRIS wl a 3 3 3 jno o0 j 10 o a 3 D Hl HI 6 OI ol Ig a Jv th vi a n 3 vu n o gt D H NI NI H 60 411 426 Hi I ndividUal addressing LO 3 D 5 Dv x oO n oO 5 e A e 1 uy uy 00 O etwork management data 4 data 41 data channels 4 data objects addressing 160 426 data 41 data objects 414 add 2 data telegrams 415
342. nchronous motor in the field weakening range The field weakening controller can only be set correctly when the system constellation has been completed and is under load Note An excessive value of Imax C0022 can cause a malfunction of the drive in the field weakening range of the asynchronous motor For this reason the current is limited in terms of speed in the field weakening range The limitation has a 1 n characteristic and is derived from the motor parameters The limitation can be adjusted with the stator leakage inductance C0085 gt Low values cause a limitation at higher speeds gt Higher values cause a limitation at lower speeds Setting sequence 1 EDBCSXA064 EN 2 0 Set gain Vp C0577 0 01 0 99 Vp must not be 0 Set integral action time Tn C0578 1 40 ms Select a speed setpoint so that the motor is operated in the field weakening range Observe the speed curve If the speed takes an irregular course the field weakening controller must be readjusted The field weakening controller must be provided with a distinct integral action Lenze 135 Commissioning Optimising the drive behaviour after start Resolver adjustment 6 13 3 Resolver adjustment For resolver adjustment mainly component tolerances of the resolver evaluation are compensated in the device A resolver error characteristic is not included The resolver adjustment gt is required if the speed characteristic is
343. nents and power connections must not be touched immediately because capacitors can still be charged Please observe the corresponding stickers on the controller All protection covers and doors must be shut during operation Notes for UL approved systems with integrated controllers UL warnings are notes that only apply to UL systems The documentation contains special UL notes Safety functions Special controller variants support safety functions e g safe torque off formerly safe standstill according to the requirements of Appendix No 1 2 7 of the EC Directive Machinery 98 37 EC EN 954 1 Category 3 and EN 1037 Strictly observe the notes on the safety functions given in the documentation for the respective variants Lenze CZ Safety instructions 2 General safety and application notes for Lenze controllers Maintenance and servicing The controllers do not require any maintenance if the prescribed operating conditions are observed If the ambient air is polluted the cooling surfaces of the controller may become dirty or the air vents may be obstructed Therefore clean the cooling surfaces and air vents periodically under these operating conditions Do not use sharp or pointed tools for this purpose Disposal Recycle metal and plastic materials Ensure professional disposal of assembled PCBs The product specific safety and application notes given in these instructions must be observed EDBCSXA064 EN 2 0
344. ng 3 Slave and heartbeat producer 4 Slave with node guarding C0382 GuardTime 0 Node Guarding slave NodeGuardTime Time interval of the status inquiry of the master e Only relevant if C0352 4 0 1 ms 65535 C0383 LifeTimeFact 0 Node Guarding slave NodeLifeTime factor e Factor for the monitoring time of NodeLifeTime e NodeLifeTime C0383 x C0382 NodeGuardTime e Only relevant if C0352 4 EDBCSXA064 EN 2 0 Lenze 169 System bus CAN CAN AUX configuration Node guarding Code Possible settings No Designation Lenze Selection Appl C0384 Err 3 NodeGuard 0 TRIP 1 Message 2 Warning 3 Off 4 FAIL OSP 170 Lenze IMPORTANT Node Guarding slave e Response for the occurrence of a NodeGuard Event e Only relevant for setting C0352 4 EDBCSXA064 EN 2 0 System bus CAN CAN AUX configuration 9 CANSync CAN bus synchronisation CAN sync response 9 8 CANSync CAN bus synchronisation sh lt Tip The SB CAN_ Synchronization is used to synchronise the internal time base of the ECS axis module with the arrival of the sync telegram In this way the internal computing processes e g control processes of the ECS axis module can be synchronised with the computing processes of other bus nodes which can also process the sync telegram For detailed information about the SB CAN_Synchronization please see page LQ 257 in this documentation 9 8 1 CAN sync response The response to the rec
345. ng and falling edge TP2 Switched off Off CAN sync Terminal sync 1 ms 13 0 001 ms 6 500 0 001 ms 6 500 Characteristic for PTC 83 110 Lenze standard Can be specifically set by the user under C1191 and C1192 Characteristic for PTC 83 110 and 2 x PTC150 e g in MCS motors 1 C 255 Lenze Appendix Code list IMPORTANT Limitation of direction of rotation for speed setpoint apy MCTRL dead time compensation TP2 X6 DI2 apg 1 inc approx 60 us MCTRL touch probe signal source X7 X8 X6 DI2 MCTRL touch probe TP2 edge for touch probe via digital input X6 DI2 C0911 1 339 339 Sync signal source Off Sync connection via CAN bus Sync connection via terminal X6 DI1 Synchronisation cycle Synchronisation phase Synchronisation window Selection of PTC motor temperature sensor characteristic This selection is only available as of operating system V 8 0 For the corresponding motors the parameter is not automatically transferred into GDC by the motor data assistant The parameter has to be set later Selection of temperature characteristic for PTC PTC characteristic lower temperature T1 PTC characteristic upper temperature T2 391 Code No C1192 C1810 C1811 C2100 C2102 C2104 C2106 C2108 C2111 C2113 C2115 C2116 C2117 C2118 392 Appendix Code list Possible settings Designation Lenze Selection Appl Char OHM 100
346. ng for sin cos encoders Configuration of external fault monitoring ExternalFault FWM EEr apn apy 313 apg omy apg ogo prg EDBCSXA064 EN 2 0 Code No Designation C0582 MONIT OH4 C0583 MONIT OH3 C0584 MONIT OH7 C0586 MONIT SD2 C0588 MONIT H10 H11 C0591 MONIT CE1 C0592 MONIT CE2 EDBCSXA064 EN 2 0 Possible settings Lenze Appl 2 Selection TRIP Warning Off TRIP Warning Off TRIP Warning Off TRIP Warning Off TRIP Warning Off TRIP Warning Off TRIP Warning Off Appendix Code list IMPORTANT Configuration of heatsink temperature monitoring Set threshold in C0122 Configuration of motor temperature monitoring via resolver input X7 or encoder input X8 Configuration of motor temperature monitoring via resolver input X7 or encoder input X8 Set threshold in C0121 Configuration of monitoring Resolver ResolverFault MCTRL Sd2 Configuration of monitoring Thermal sensors H10 H11 in the controller SensFaultTht SensFaultTid FWM H10 H11 Configuration of monitoring CAN1_IN error CommErrCANIN1 CE1 Configuration of monitoring CAN2_IN error CommErrCANIN2 CE2 Lenze cu 193 ca 193 apog ama amg E 385 Appendix Code list Code No Designation C0593 MONIT CE3 C0594 MONIT SD6 C0595 MONIT CE4 C0596 NMAX limit C0597 MONIT LP1 C0598 MONIT SD5 C0599 Lim
347. ng function monitors the resolver cable and the resolver with regard to open circuit and protects the motor Stop If monitoring is disconnected the machine can achieve very high speeds in case of faults e g system cable is disconnected or not correctly screwed which can result in the damage of the motor and of the driven machine The same applies if warning is set as a response gt For commissioning C0586 always use the Lenze setting TRIP gt Only use the possibility of disconnection via C0586 if the monitoring is activated without apparent reason e g by very long cables or intense interference injection of other drives gt Configure C0586 2 warning only on the above mentioned condition because the pulses are enabled despite faulty feedback If a fault with regard to the survey of the actual speed value is available it is not definitely ensured that monitoring is activated with regard to overspeed NMAX 2 211 This monitoring gt is automatically activated if a resolver is selected as an actual speed value encoder via C0419 gt is automatically activated if another actual speed value encoder is selected The response is set via C0586 Code No Designation C0586 MONIT SD2 206 Possible settings IMPORTANT Lenze Selection Appl 0 Configuration of monitoring DI 206 Resolver ResolverFault MCTRL Sd2 0 TRIP 2 Warning 3 Off Lenze CZ Monitoring functions Configuring
348. ngs IMPORTANT No Designation Lenze Selection Appl C0058 Rotor diff 90 0 Rotor displacement angle for 127 synchronous motors C0095 180 0 0 1 179 9 C0060 Rotor pos Current rotor position valueis 00 124 derived from position encoder Therefore it is only valid as rotor position if the position encoder settings under C0490 are identical with the settings of the speed encoder on the motor shaft under C0495 Only display 0 1 inc 2047 1 rev 2048 inc C0080 Res pole no 1 Number of pole pairs of resolver 1 1 10 C0414 DIS ResQual Resolver modulation CO 107 Quality of the resolver excitation amplitude set under C0416 recommendation 0 5 1 2 ideal 1 0 0 00 0 01 1 60 C0416 Resolver adj 5 Resolver excitation amplitude mmo 0 100 1 80 2 68 3 58 4 50 5 45 6 40 7 37 C0417 Resolver cor 0 Resolver adjustment 139 0 Ready Start adjustment 2 Loading default values 116 Lenze EDBCSXA064 EN 2 0 Code No Designation C0419 Enc Setup C0420 Encoder const C0421 Encoder volt C0427 Enc signal C0491 X8 in out EDBCSXA064 EN 2 0 Lenze Appl Commissioning 6 Setting of the feedback system for position and speed control Absolute value encoder as position encoder and resolver as speed encoder Possible settings Selection 110 0 Common 110 IT512 5V 111 IT1024 5V 112 IT2048 5V 113 IT4096 5V 210 1S512 5V 211 1S1024 5V 212 1S2048 5V 213 1S4096 5V 307 AS64 8V
349. nt The value at MCTRL_nISet_a acts as a torque setpoint for the motor control gt MCTRL biload b FALSE The function is switched off Lenze alii Commissioning 6 Optimising the drive behaviour after start Adjustment of field controller and field weakening controller 6 13 2 Adjustment of field controller and field weakening controller Stop gt Field weakening operation is only possible with asynchronous motors gt The field weakening reduces the available torque To optimise the machine operation during field weakening you can set the field controller and the field weakening controller accordingly gt Field weakening occurs if the maximum output voltage of the controller is reached with rising speed and cannot be increased further gt The maximum possible output voltage depends on the DC bus voltage mains voltage the voltage reduction through the controller the voltage drop at the mains choke gt Practical values for the voltage drop under the influence of mains choke and inverter are between 6 10 Max output voltage V mains voltage V voltage drop In GDC you can find the codes for adjusting the field controller field weakening controller in the parameter menu under Controller settings Field controller field weakening controller Parameter menu Text HAG Load save PLC Multitasking a 000 Vp field controller ASM only 000 Tn field controller ASM only 000
350. nze 183 11 Monitoring functions Overview of monitoring functions 11 Monitoring functions 11 1 Overview of monitoring functions Responses 1 189 of monitoring functions can be parameterised partly via codes in the GDC parameter menu under Monitoring 184 Lenze EDBCSXA064 EN 2 0 oz NA v90VXSDEdd 9ZUS S8T Monitoring Fault message x071 CCR x091 EEr x191 HSF Voltage supply 1020 OU 1030 LU 0070 U15 0107 H07 Communication x041 AP1 x061 CEO x062 CE1 x063 CE2 x064 CE3 x065 CE4 x066 CE5 x122 CE11 x123 CE12 x124 CE13 x125 CE14 x126 CE15 x260 Err Node Guard Description System fault External monitoring activated via DCTRL Internal error Overvoltage in the DC bus C0173 Undervoltage in the DC bus C0174 Undervoltage of internal 15 V voltage supply Internal fault power section Internal fault signal processor Communication error on the automation interface AIF Communication error on the CAN1_IN process data input object monitoring time adjustable via C0357 1 Communication error on the CAN2_IN process data input object monitoring time adjustable via C0357 2 Communication error on the CAN3_IN process data input object monitoring time adjustable via C0357 3 BUS OFF status of MotionBus CAN too many faulty telegrams Communication error of the Gateway function C0370 C0371 via MotionBus CAN Communication error on the CANaux1_IN process data input object time m
351. nze devices are assigned with node addresses in a complete ascending order the identifiers of the event controlled data objects XKCAN2_10 XCAN3_1O are factory set so that the devices are able to communicate with each other XCAN2_OUT XCAN2_IN XCAN2_OUT XCAN2_IN XCAN3_OUT XCAN3_IN XCAN3_OUT XCAN3_IN W o w o Node ID 1 Node ID 2 Node ID 3 Fig 8 1 Data exchange between Lenze devices EDBCSXA064 EN 2 0 Lenze 147 8 AIF interface X1 configuration Identifiers of the process data objects Individual identifier assignment 8 4 Identifiers of the process data objects The identifiers for the process data objects XCAN1_IO XCAN3_IO consist of the basic identifiers and the node address set in C2350 Identifier basic identifier node address Basic identifier Object dec PDO1 XCAN1_1O cyclic process data Process data channel 1 XCAN1 IN 512 XCAN1_OUT 384 PDO2 XCAN2_IO event time controlled process data Process data channel 2 XCAN2 IN 640 XCAN2_OUT 641 PDO3 XCAN3_IO event time controlled process data Process data channel 3 XCAN3 IN 768 XCAN3_OUT 769 8 4 1 Individual identifier assignment hex 200 180 280 281 300 301 In case of larger system bus networks with many nodes it may be sensible to set individual identifiers for the process data objects XCAN1_IO XCAN3_IO via C2353 C2354 which are independent of the node address set in C2350 1 SetC2353 xto 1 x Subcode of the
352. o Tab 5 1 minus 30 m cable reduction if a repeater is used gt Max cable length to be implemented with a repeater 690 m gt Therefore the specified cable length can be implemented Note The use of further repeaters is recommended as gt a service interface Advantage Trouble free connection during bus operation is possible gt Calibration interface Advantage The calibration programming unit remains electrically isolated Lenze ali Electrical installation 5 Wiring of the feedback system 5 7 Wiring of the feedback system Different feedback systems can be connected to the axis module gt Resolver to X7 2 gt Encoder to X8 M 87 Incremental encoder with TTL level Sin cos encoder with rated voltage 5 8 V Sin cos absolute value encoder single turn multi turn with serial communication Hiperface interface Note If a safe isolation acc to EN 61140 between the encoder cable and motor cable e g by using separating webs or separated draglines is not ensured on the entire cable length cable due to an installation on the system side the encoder cable must be provided with an insulation resistance of 300 V Lenze encoder cables meet this requirement gt We recommend to use Lenze encoder cables for wiring gt In case of self prepared cables only use cables with shielded cores twisted in pairs observe the notes on wiring preparation on the following pages EDBCSXA064
353. o BOOL binary IX102 0 0 TRUE w_b Sync telegram signal within the time slot C1123 FALSE e Quit synchronicity e nosync telegram signal e Time slot C1123 too small CAN_bSyncForlnterpolat BOOL binary IX102 0 1 TRUE or_b Sync telegram signal detected CAN_nSyncDeviation integer IX102 1 current sync deviation CAN_bResetSyncForiInter BOOL binary QX102 0 0 TRUE polator_b Reset CAN_bSyncForInterpolat or_b Operating mode The operating mode sync signal source is set via C1120 Note When synchronising via terminal ensure that in addition to the SB CAN_Synchronization the SB DIGITAL_IO must also be integrated in the control configuration of the Drive PLC Developer Studio DDS EDBCSXA064 EN 2 0 Lenze 257 System modules CAN_Synchronization node number 102 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C1120 Sync mode 0 Sync signal source 257 0 Off Off CAN sync Sync connection via CAN bus mps 2 Terminal sync Sync connection via terminal M267 X6 DI1 Synchronisation time The synchronisation process requires an additional period of time after the mains connection and the initialisation phase The synchronisation time depends on the baud rate of the CAN bus gt the starting time arrival of the first sync signal gt the time interval between the sync signals gt the sync correction factor C0363 gt the operating mode C1120 The synchronisation time can
354. ock 1 amp 2 0 Data is not copied into the application RAM 1 Data is copied into the application RAM 2 65535 Reserved Reserved for future extensions Interpretation of the header information least significant byte first Lenze EDBCSXA064 EN 2 0 Appendix Memories Temporary codes wSizeHeader 00 E4 hex 228 Byte wDataType 00 OA hex 10 Cam data dwVersion 00 00 00 01 hex E4 00 0A 00 01 00 00 00 1c FF 00 00 f dwRealSize 00 00 FF 1C nex 65308 Byte ECSXA295 Fig 14 1 Header interpretation 14 3 4 Temporary codes The codes C2500 and C2501 are temporary codes i e the data of these codes gt does not assign storage space in the EPROM of the drive gt cannot be stored with C0003 1 in the parameter set of the drive gt is lost after switch off of the drive or after mains failure gt is fixedly interlinked with the flag area of the PLC sh lt Tip gt Temporary codes are suited for the reception of parameters which are to be accessed during a switch on cycle of the ECSxA axis module only gt Furthermore the codes present the possibility to directly e g via HMI access the flag area of the ECSxA axis module without having to apply a variable Code Possible settings IMPORTANT No Designation Lenze Selection Appl C2500 PLC flag 1 255 355 0 1 65535 C2501 PLC flag 256 512 D 355 0 1 65535 EDBCSXA064 EN 2 0 Len
355. ode in the operating level if no status messages from C0183 are active e g 56 torque setpoint C0056 Operating mode of the motor control Servo control of synchronous motors Servo control of asynchronous motors Device address for operation via AIF interfaceX1 Communication modules on AIF interface X1 e LECOM A B LI 2102 10 20 90 are reserved for broadcast to groups of nodes PROFIBUS DP 213x Maximum speed E Reference value for the absolute and relative setpoint selection for the acceleration and deceleration times For parameter setting via interface greater changes in one step should only be made when the controller is inhibited CINH Used for speed signals 325 Switching frequency 4 kHz permanent PWM frequency 8 kHz PWM frequency with automatic derating to 4 kHz at high load 359 Code No C0019 C0022 C0023 C0026 C0030 C0032 C0034 C0037 C0040 360 Appendix Code list Possible settings Designation Lenze Selection Appl Thresh nact 0 0 0 1 rpm Imax current gt 0 0 01 A Imax fld weak 0 0 1 FCODE Offset 0 0 199 99 0 01 FCODE offset 0 0 FCODE gain 100 0 199 99 0 01 FCODE gain 100 0 DFOUT const 3 0 256 inc rev 1 512 inc rev 2 1024 inc rev 3 2048 inc rev 4 4096 inc rev 5 8192 inc rev 6 16384 inc rev FCODE 1 gearbox 32767 1 Mst current 0 0 10 10 V 1 4 20 MA 2 20 20 MA
356. of technology units Parameter access protection for the keypad Save parameter set Function of the digital frequency CA T07 output signals on X8 DFOUT 383 Appendix Code list Code No Designation C0545 PH offset C0547 DIS AN IN C0549 DIS DF IN C0559 SD8 filtert C0576 nErr Window C0577 Vp fld weak C0578 Tn fld weak C0579 Monit nErr C0580 Monit SD8 C0581 MONIT EEr 384 Possible settings Lenze Selection Appl 0 2 0 0 199 99 32767 1 1 100 0 0 100 0 000 3 0 0 1 3 0 1 2 3 4 3 0 3 0 0 1 2 3 4 DFOUT in DFOUT in rpm Encoder simulation zero pulse gt DFOUT 1inc 0 00 1 rpm 1 ms 1 0 001 0 1 ms TRIP Message Warning Off FAIL OSP TRIP Off TRIP Message Warning Off FAIL OSP Lenze 65535 199 99 32767 200 100 63 999 6000 0 IMPORTANT Phase offset 1 revolution 65535 increments Analog signal on the input of the DFOUT block Read only Speed on the input of the DFOUT block Only display Filter time constant SD8 Example If the setting is 10 ms a SD8 TRIP is actuated after 10 ms Monitoring window of the speed control error referring to Nmax 100 lowest monitoring sensitivity Gain of the field weakening controller Vp Integral action time of the field weakening controller Vn Configuration of speed control error monitoring Configuration of open circuit monitori
357. ollers are sent to the master TPDOs They are read as process input data in the master 2 When the transmission process is completed the process output data of the master are received by the controllers RPDOs All other telegrams e g parameters or event controlled process data are accepted acyclically by the controllers after transmission is completed The acyclic data are not displayed in the above graphics They must be considered when the cycle time is dimensioned 3 The data in the controller is accepted with the next sync telegram she Tip The response to a sync telegram is determined by the transmission type selected Note Information on how to set the synchronisation can be found from 257 EDBCSXA064 EN 2 0 Lenze 419 14 Appendix General information about the system bus CAN Process data transfer 14 7 3 5 Event controlled process data objects The event controlled process data objects are particularly suitable for the data exchange between controllers and for distributed terminal extensions They can however also be used by a host system EA ea z TPDO2 TPDO2 Egeggggj OQ AAAA ECSXA219 Fig 14 11 Example event controlled process data objects PDO2 The process data objects
358. onal NMT status is reached after Pre operational the CANdelay delay time is started After the delay time the PDOs XCAN2_OUT and XCAN3_OUT are sent for the first time EDBCSXA064 EN 2 0 Code No Designation C2357 CE monit time CE monit time CE monit time CE monit time U A WN HE CE monit time 6 CE monit time C2359 AIF HW Set C2364 C2365 C2367 Sync Rx ID C2368 Sync Tx ID C2369 C2370 C2371 C2372 EDBCSXA064 EN 2 0 Possible settings Lenze Appl 3000 3000 3000 3000 3000 128 128 128 Selection 1 1 ms 0 1 0 Send PDOs when changing to Operational mode 1 Do not send PDOs 0 1 0 Deactivated 1 Activated 2 Reception activated 3 Transmission activated 1 1 1 1 0 1 0 1 ms 0 1 ms 0 1 0 1 Lenze 65000 65535 2047 2047 255 65535 65535 2047 65535 Appendix Code list IMPORTANT Monitoring time for XCAN process data input objects XCAN1_IN monitoring time XCAN2_IN monitoring time XCAN3_IN monitoring time Bus off AIF monitoring time can only be set if C2357 6 0 Sync monitoring time can only be set if C2357 5 0 Event controlled PDO transmission Enabling the second parameter channel and the PDO channels Enabling the second parameter channel Enabling the first process data channel Enabling the second process data channel Enabling the third process data channel XCAN receipt iden
359. onitoring adjustable via C2457 1 Communication error on the CANaux2_IN process data input object time monitoring adjustable via C2457 2 Communication error on the CANaux3_IN process data input object time monitoring adjustable via C2457 3 BUS OFF status of system bus CANaux too many faulty telegrams Communication error of the Gateway function C0370 C0371 via system bus CAN Life Guarding Event The controller configured as CAN slave does not receive a Node Guarding telegram with the Node Life Time from the CAN master Temperatures sensors x 0 TRIP 1 message 2 warning 3 FAIL OSP 1 Adjustable in the DDS under Project Exceptional handling 2 For ECSXA only Source Internal FWM Internal MCTRL MCTRL Internal Internal Internal AIF CAN1_IN CAN2_IN CAN3_IN CAN CAN CANaux1_IN CANaux2_IN CANaux3_IN CANaux CANaux Node Guarding Possible reactions Lenze setting v Can be set Code C0581 C0126 C0591 C0592 C0593 C0595 C0603 C2481 C2482 C2483 C2484 C2485 C0384 TRIP e Message v Warning v Fail OSP v v2 Off suoipuny SULOJIUOW TT 98T 9ZUS o z NA v90VXSDEdI Monitoring Fault message 0050 OH Heatsink temperature gt 90 C 0051 OH1 Interior temperature gt 90 C x053 OH3 Motor temperature gt 150 C x054 OH4 Heatsink temperature gt C0122 x055 OH5 Interior temperature gt
360. onitoring time omea CE2 monitoring time CE3 monitoring time Digital process data input words for CAN bus interface X4 Hexadecimal value is bit coded Read only CAN1_IN Process data input word 1 CAN1_IN Process data input word 2 CAN2_IN Process data input word 1 CAN2_IN Process data input word 2 CAN3_IN Process data input word 1 CAN3_IN Process data input word 2 EDBCSXA064 EN 2 0 System modules 13 CAN1_IO node number 31 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0866 Analog process data input words 413 decimal for CAN bus interface X4 100 00 16384 Read only 1 CAN IN words 199 99 0 01 199 99 CAN1_IN word 1 2 CAN IN words CAN1_IN word 2 3 CAN IN words CAN1_IN word 3 4 CAN IN words CAN2_IN word 1 5 CAN IN words CAN2_IN word 2 6 CAN IN words CAN2_IN word 3 7 CAN IN words CAN2_IN word 4 8 CAN IN words CAN3_IN word 1 9 CAN IN words CAN3_IN word 2 10 CAN IN words CAN3_IN word 3 11 CANIN words CAN3_IN word 4 C0867 32 bit phase information for CAN bus interface X4 Read only 1 CANIN phi 2147483648 1 2147483647 CAN1_IN 2 CANIN phi CAN2_IN 3 CANIN phi CAN3_IN C0868 DIS OUTx Wx Analog process data output words decimal for CAN bus interface X4 100 00 16384 Read only 1 CAN OUT 32768 1 32768 CAN1_OUT word 1 words 2 CANOUT CAN1_OUT word 2 words 3 CANOUT CAN1_OUT word 3 words 4 CANOUT CAN2_OUT word 1 words 5 CANOUT CAN2_OUT word 2 w
361. ons elegram counter 179 emperature emperature inside the controller monitoring 19 emporary codes 74IB VI oO 3 gt yg oO x M gt pal o H 5 A A erminology used ermal sensors monitoring 198 ermal separation 4 shtening torques control connections 55 56 66 Connection safe torque off 7 3 D 3 3 gt g AIF interface 154 ime out during activated remote parameterisation CAN e M n v M e O ue off 69 2 e 0 A e 5 3 e E R speed limitation 336 orque limitation orque setpoint Lenze ia Index a i function 9 U O S O ranster Tunction master frequency input ranster of status control word D RL device control ransmission cable specification device control 306 e z M n s o e n 35 ca fault analysis WI Istory butter 21 3 w z ia lo 5 o drive 217 roubleshooting and fault elimination 21 monitoring voltage supply 0 e control electronics monitoring functions HH Q urrent load of controller T x t monitoring urrent load of motor 12 xt monitoring 20 eatsink temperature 196 maximum speed 211 monitoring times for process data input objects 19 motor phases 20 motor temperature 19 motor temperature sensor 20 Resolver cable 206 otor position adjustment sin cos encoder 208 Sp ad temperatu
362. ords 6 CAN OUT CAN2_OUT word 3 words 7 CAN OUT CAN2_OUT word 4 words 8 CAN OUT CAN3_OUT word 1 words 9 CAN OUT CAN3_OUT word 2 words 10 CAN OUT CAN3_OUT word 3 words 11 CAN OUT CAN3_OUT word 4 words EDBCSXA064 EN 2 0 Lenze 265 System modules CAN1_IO node number 31 Code Possible settings No Designation Lenze Selection Appl C0869 1 CAN OUT phi 2147483648 1 2 CAN OUT phi 3 CAN OUT phi 266 Lenze 2147483647 IMPORTANT 32 bit phase information for CAN bus interface X4 Read only CAN1_OUT CAN2_OUT CAN3_OUT EDBCSXA064 EN 2 0 System modules CAN1_IO node number 31 13 Inputs_CAN1 13 8 1 Inputs _CAN1 System variables Variable Data Signal Address Display Display Comments type type code format CAN1_wDctrlCtrl Integer analog IW31 0 C0136 2 dec CAN1_bInBO_b IX31 2 0 Display code for binary signals of i Bool binary a C0863 1 hex CANI_nInWi_a CAN1_bInB15_b IX31 2 15 CAN1_ninW1_a Integer analog IW31 1 C0866 1 dec CAN1_bInB16_b IX31 3 0 Display code for binary signals of pa Bool binary La C0863 2 hex CAN1_ninW2_a CAN1_bInB31_b IX31 3 15 CAN1_nInW2_a Integer analog IW31 2 C0866 2 dec CAN1_nInW3_a Integer analog IW31 3 C0866 3 dec CAN1_dnInD1_p Double position ID31 1 C0867 1 dec inc integer User data The 8 bytes of received user data are assigned to several variables of different data types According to requirements they can thus be evaluated by the PLC program as
363. oring mechanism Node Guarding TRUE Life Guarding Event The controller configured as CAN slave does not receive a Node Guarding telegram with the Node Life Time from the CAN master 1 63 Node address CAN bus interface X4 CAN bus operating status CAN bus interface X4 1 Operational 2 Pre Operational 3 Warning 4 Bus off Lenze alii System modules CAN_Synchronization node number 102 13 7 CAN_Synchronization node number 102 This SB serves to synchronise the internal time base of the controller with the instant of reception of the sync telegram or a terminal signal Thereby the start of cyclic and time controlled internal processes of all controllers involved in the synchronisation e g data transfer from tasks to the DCTRL function block is effected synchronously RESSE abel nine an aan RE D ini i a de CAN_Synchronization C0367 C0368 J l CAN_bResetSyncForlnterpolartor_b CAN_bSyncInsideWindow_b gt off fo Sync CAN_bSyncForlnterpolator_b a Control CAN_nSyncDeviation Sync telegram gt DS si _noy XETDTI Sync signal gt 2 gt A C1120 C1122 C0366 C1123 C0369 if i il if C1121 C0363 if i i i Fig 13 11 System block CAN_ Synchronization System variables Variable Data Signal Address Display Display Comments type type code format CAN_bSyncInsideWind
364. os encoder as position encoder and resolver as speed encoder A TTL incremental encoder connected to X8 or a sin cos encoder without serial communication can be configured as a position encoder with a resolver connected to X7 being used as a speed encoder Observe the following setting sequence 1 Select TTL sin cos encoder as position encoder Incremental encoder TTL encoder C0490 1 Sin cos encoder without serial communication C0490 2 If X8 has been selected as output by changing C0491 X8 will be automatically reset to input through the encoder selection 2 Select resolver as speed encoder C0495 0 3 Select encoder used Incremental encoder TTL encoder C0419 110 113 Sin cos encoder without serial communication C0419 210 213 Encoder used is not in the list C0419 1 Common 4 When setting C0419 1 Common configure encoder data Note When setting C0419 11x or 21x do not configure encoder data The encoder data C0420 C0421 C0427 is set automatically in accordance with the selection C0420 number of increments of the encoder C0421 encoder voltage C0427 signal type of the encoder 5 Save settings with C0003 1 EDBCSXA064 EN 2 0 Lenze 107 Commissioning Setting of the feedback system for position and speed control TTL sin cos encoder as position encoder and resolver as speed encoder Codes for feedback system selection Code Poss
365. otordaten BEN IAH ECSXA300 Fig 6 2 GDC view menu bar and tool bar The Input assistant for motor data opens EM Selection llers Xx PTC data X Documentation gt End motor data m Selection Information Lenze motor list Motor type currently set C0006 000 1 000000 C0022 000 8 000000 Motor list New motor type edit user motor list User motor list Lenze motor list User motor list c A a Version date last change Etra zena Ee lt Back Continue gt Complete X Cancel Help ECSXA311 Fig 6 3 GDC view Selection of motor list 98 Lenze EDBCSXA064 EN 2 0 EDBCSXA064 EN 2 0 2 Select the Lenze motor list and click the Continue button il Elaf Selection X Lenze motor list gt End motor data C86 Code fiios r Information Motor type currently set C0006 000 1 000000 C0022 000 8 000000 zi Motor list a 1106 Lenze motor list User motor list Version date last change Update SDSGADS6 22 100 SDSGA063 22 100 SDSGA063 32 100 SDSGA047 22 100 SDS 00 SDSGA063 22 100 SDSGA063 32 100 SDSGA047 22 100 MDSKA 56 22 140 MDFKA 71 22 120 MDSKA 71 22 140 Commissioning 6 Entry of motor data for Lenze motors asynchron servo asynchron servo asynchron servo asynchron servo asynchron servo asynchron servo asynchron servo asynchron servo asynchron servo asynchron servo async
366. ough technology units available in the PLC No PLC program loaded in the PLC You have called the library function in the PLC program This function is not supported Motion profiles cam data are not available Overflow of transmit request memory Too many receive telegrams Check sum error in parameter set 1 Program error Error in the parameter sets Error during parameter initialisation e For ECSxS P M Internal fault For ECSxA Too many user codes Application specific fault messages x 0 TRIP 1 message 2 warning 3 FAIL OSP 1 Adjustable in the DDS under Project Exceptional handling 2 For ECSXA only Possible reactions Lenze setting v Can be set Source Code Internal Internal Internal Internal Internal Internal Internal Internal Internal Internal Internal Free CAN C0608 objects Free CAN C0609 objects Internal Internal Internal Internal Internal TRIP Message Warning Fail OSP Off suoipuny SULIOJIUOW TT 88T 9ZUS o z NA v90VXSDEdI Monitoring Fault message 0425 2402 2403 2404 2422 2423 2424 3400 3401 3402 3403 3405 3406 3409 3417 3500 3501 3503 3504 InvHoming Offs PosPosLimit NegPosLimi t FollowErrW arn InvProfData OverflIntPos SWLimOut OfRan PosLimitSw NegLimitSw PosPosLimit NegPosLimi t FollowErrFai I HomePosErr MaxVelErr InSftw Limits ExtTripSet InvTpPro
367. ow 100 Monitoring window of the speed LA 210 210 control error referring to Nmax 100 lowest monitoring sensitivity 0 1 100 Lenze CZ Code Possible settings No Designation Lenze Selection Appl C0579 Monit nErr 3 0 TRIP 1 Message 2 Warning 3 Off 4 FAIL OSP Monitoring functions Configuring monitoring functions Maximum speed exceeded NMAX IMPORTANT Configuration of speed control ZIO error monitoring 11 2 20 Maximum speed exceeded NMAX Error message Monitoring function System variable Possible response TRIP Message Warning Off 200 Nmax Maximum speed exceeded MCTRL_bNmaxFault_b e Default setting v Setting possible The monitoring process is activated when the current speed exceeds the upper speed limit of the system or the double value of C0011 Nmax Stop gt With regard to active loads e g hoists pay attention to the fact that the drive in this case operates without torque Specific on site measures are required gt If the actual speed value encoder fails it is not provided that this monitoring will be activated The upper speed limit of the system maximum speed is set via C0596 Code Possible settings No Designation Lenze Selection Appl C0596 NMAX limit 5500 0 EDBCSXA064 EN 2 0 IMPORTANT Monitoring Maximum speed of LA 211 the machine 1 rpm 16000 Lenze 211 11 2 21 212 Monitoring functions Configuring monitoring functions Roto
368. owing sections inform about the system blocks of the basic unit 230 Lenze EDBCSXA064 EN 2 0 System modules 13 AIF_IO_Management node number 161 Inputs_AlF_Management 13 1 AIF_IO_Management node number 161 13 1 1 Inputs_AIF_Management This SB serves to monitor the communication of a fieldbus module connected to the automation interface AIF gt Inthe event of an error AIF_bCeOCommErr_b is set to TRUE and the communication error CEO LECOM no 61 is set The response to this can be configured via C0126 default setting off gt New AIF fielbus modules e g 2133 and 2175 also use AIF_bFieldBusStateBitO_b AIF_bFieldBusStateBit15_b to transfer an error number from the fieldbus module gt C2121 serves to display the status O Please read the documentation for the connected fieldbus module Inputs_AIF_Management AIF_bCeOCommErr_b AIF Communication AIF_bFieldBusStateBit0_b AIF_bFieldBusStateBit1_b AIF_bFieldBusStateBit2_b AIF_bFieldBusStateBit3_b AIF_bFieldBusStateBit4_b AIF_bFieldBusStateBit5_b AIF_bFieldBusStateBit6_b AIF_bFieldBusStateBit7_b AIF_bFieldBusStateBit8_b AIF_bFieldBusStateBit9_b x a AIF Fieldbus State 6000 0000 v AIF_bFieldBusStateBit10_b AIF_bFieldBusStateBit11_b AIF_bFieldBusStateBit12_b AIF_bFieldBusStateBit13_b AIF_bFieldBusStateBit14_b AIF_bFieldBusStateBit15_b
369. peed values exceeds the tolerance window set in C0576 the monitoring function is actuated The subsequent speed behaviour of the drive controller can be evaluated by means of this monitoring gt Ifthe system deviation exceeds a certain value this may indicate a drive problem In this case the drive somehow is inhibited from following the set speed setpoint With regard to a generally functional drive controller this may be caused by mechanical blockades on the load side or by a motor torque that is not sufficient Furthermore a tacho generator in speed controlled operation can be protected further on by this monitoring Thus the monitoring presents a supplementation to the individual encoder monitoring systems gt Faults on the encoder system bring about an incorrect actual speed value This normally results in a system deviation on the speed controller that is greater than that in the normal operating status The tolerance margin is set via C0576 The response is set via C0579 Note gt Where required adjust the setpoint ramps and or the quick stop deceleration time by longer times to the application so that no fault messages are output Set the tolerance window C0576 to at least twice the value of the system deviation occurring during operation The value can be identified by respective tests when commissioning is effected Possible settings IMPORTANT Designation Lenze Selection Appl C0576 nErr Wind
370. play Serial number Only display EDBCSXA064 EN 2 0 Code No Designation C0205 PLC Target ID C0206 Product date C0207 DLinfo1 C0208 DL info 2 C0209 DL info 3 C0250 FCODE 1 Bit C0254 Vp angle CTRL C0300 Service Codes C0302 C0304 Service Codes C0310 C0349 1 CAN DIP SW 2 CAN DIP SW C0350 CAN address C0351 CAN baud rate C0352 CAN mst EDBCSXA064 EN 2 0 Possible settings 0 0000 Lenze Appl 0 0 0 4000 0 0 32 1 0 0 1 2 3 4 0 0 1 2 3 4 Selection 0 0001 1 1 500 kbit s 250 kbit s 125 kbit s 50 kbit s 1000 kbit s Slave Master Master with node guarding Slave and heartbeat producer Slave with node guarding Lenze 3 9999 63 63 Appendix Code list IMPORTANT Identification key Only display Production date Only display Download info 1 Only display Download info 2 Only display Download info 3 Only display Freely selectable digital signal 1 bit FIELE Phase controller gain Vp apa Only the Lenze service is allowed to make changes Only the Lenze service is allowed to make changes Status of the DIP switch for CAN bus interface X4 Read only Node address set on the DIP switch For setting the DIP switches gt 4 the display is set to 0 Node address for CAN bus as interface X4 na This code is not active if one of the switches 2 7 ofthe DIP switch is set to ON 467 e After the setting a reset node is requ
371. ply module the DC bus is charged in a controlled way Therefore set C0175 3 for the axis module charging current limitation inactive charging resistor short circuited If the Lenze setting has been loaded via C0002 C0175 3 must be set again gt Cyclic switching of the mains voltage at the power supply module can overload and destroy the charging current limitation of the axis module if activated C0175 1 or C0175 2 For this reason allow a break of at least three minutes between two starting operations in case of cyclic mains switching over a longer period of time Lenze CZ Commissioning 6 Setting of mains data Setting the voltage thresholds IMPORTANT Charge relay behaviour with undervoltage LU in the DC bus Relay switches as a function of LU Relay switches when LU is exceeded for the first time and remains on apa Charging current limitation is inactive e Relay is always switched on and the charging resistors of the axis module are thus permanently jumpered e Setting for operation with ECSxE power supply module All drive components in DC bus connections must have the same thresholds Code Possible settings No Designation Lenze Selection Appl C0175 UG Relais Fkt 1 1 Standard 2 One Time 3 Fixed On 6 4 2 Setting the voltage thresholds e Note Selection Mains voltage Brake unit C0173 Power supply module V AC 0 230 yes no 1 400 yes no 2 400 460 yes no 3 480 no 4 480 yes
372. pported by program Heatsink temperature sensor C0588 error Thermal sensor error in the interior of the device x 0 TRIP 1 Message 2 Warning 3 FAIL OSP 1 Completely deenergise device after error correction EDBCSXA064 EN 2 0 Lenze TRIP System error messages v Setting possible Messa Warni FAIL Q Off Drive ge ng sp PLC v v v v v v v v v v v e v e v v e v v v v v v Available in Servo PLC v v ECSxA v v 219 12 Troubleshooting and fault elimination System error messages System error message Possible settings response Available in e Lenze setting v Setting possible No Display Source Meaning Code TRIP Messa Warni FAIL Q Off Drive Servo ECSxA ge ng SP PLC PLC FIF CAN CAN AUX communication error x122 CE11 FIF CA FIF CAN1_IN monitoring time C0591 Vv v v N1 can be set with C2457 1 CANau CANaux1_IN monitoring time C2481 Vv v v x1 can be set with C2457 1 x123 CE12 FIF CA FIF CAN2_IN monitoring time C0592 v v v N2 can be set with C2457 2 CANau CANaux2_IN monitoring time C2482 v v v x2 can be set with C2457 2 x124 CE13 FIF CA FIF CAN3_IN monitoring time C0593 v v v N3 can be set with C2457 3 CANau CANaux3_IN monitoring time C2483 Vv v v x3 can be set with C2457 3 x125 CE14 FIF CA BUS OFF status of FIF CAN C0595 v v v N too many faulty telegrams received CANau BUS OFF state CAN AUX C2484 v v v x too many faulty telegrams received x126
373. ps must be carried out to activate the oscilloscope in the DDS 1 Enterthe system block OSC_Oscilloscope into the control configuration 2 Readthe system block input OSC_bUsed into the program organisation unit of the program type Thus the oscilloscope is called in the input process of the tasks which also contains the program wit the entry mentioned The minimum sampling rate is determined by the task which includes the oscilloscope Examples gt AWL LD OSC_bUsed STA gt ST A OSC_bUsed O Further information concerning the handling and functional range of GDO can be obtained from the Manual Global Drive Oscilloscope GDO Getting started Lenze ali 13 22 13 22 1 System modules SYSTEM_FLAGS system flags node number 151 Inputs SYSTEM_FLAGS SYSTEM_FLAGS system flags node number 151 System flags are global variables that are integrated in the run time system as an inherent part They feature functionalities for making programming easier Inputs SYSTEM_FLAGS The following system flags are part of the ECSxA axis module Variable Data type Address Comments SYSTEM_bClock01Hz IX151 0 0 0 1 Hz system clock SYSTEM_bClock1Hz IX151 0 8 1 0 Hz system clock SYSTEM_bClock10Hz IX151 1 0 10 Hz system clock SYSTEM_bClock0100Hz 1X151 1 8 100 Hz system clock SYSTEM_bTogCycleTask IX151 2 0 Toggle marker cyclic task SYSTEM_b1LoopCyclicTask 1X151 2 8 First loop cyclic task SYSTEM_b1LoopTask2
374. r EDBCSXA064 EN 2 0 Lenze 245 246 System modules AIF2_IO_AutomationInterface node number 42 Outputs_AIF2 User data The first 4 bytes of the 8 bytes user data to be sent can be written via several variables of different data types According to requirements data can therefore be transferred from the PLC program as gt binary information 1 bit gt status word quasi analog value 16 bit gt angle information 32 bit Note Avoid simultaneous overwriting via different variable types to ensure data consistency Thus bytes 1 and 2 should only be overwritten by gt variable A F2_dnOutD1_p gt variable AIF2_nOutW1_a or gt variables AIF2_bFDOO_b AIF2_bFDO15_b Byte Variable 1 bit Variable 16 bit Variable 32 bit 1 2 AIF2_bFDOO_b sa AIF2_nOutW1_a AIF2_bFDO15 b AIF2_dnOutD1_p 3 4 AIF2_bFDO16_b sa AIF2_nOutW2_a AIF2_bFDO31_b 5 6 AIF2_nOutW3_a 7 8 AIF2_nOutW4_a Lenze alia System modules 13 AIF3_IO_AutomationInterface node number 43 Inputs_AIF3 13 4 AIF3_IO_AutomationInterface node number 43 13 4 1 Inputs_AIF3 This SB is used as an interface for input signals e g setpoints actual values to the attached fieldbus module e g INTERBUS PROFIBUS DP The process image is gt created in the cyclic task by means of a fixed set time interval of 10 ms gt created in an interval task within the time set for this task gt read at the beginning of the task and written at it
375. r cables 60 Lenze EDBCSXA064 EN 2 0 nstallation mechanical 40 push through technique ECSDx 43 g 3 D A gt D A 2 5 a SE D e Ss Cold plate technique i Important notes 40 E nsulation resistance ntegrating system blocks nternal Drake resistor A Keypad XT EMZ9371BC onnection 58 changing and saving parameters 14 connecting the keypad 1 el a O w D D 3 om n H D O 2 fault analysis function Keys 14 V egal regulations 1 TI Oading the Lenze setting 121 ow voltage supply 14 Manufacturer 17 Malfunction of drive 217 Manual field weakening 338 Mapping of Indices to codes CAN interface 175 o n r M ow 35 va M wv 2 M A e 5 w Ss a vu lt 35 A e 5 a v a o s axis syncnronisation via terminal 26 correction value of phase controller 259 Master frequency input 309 configuring touch probe 31 function sequence 314 transfer function 31 Master frequency output Hi 0 configuring encoder constant 318 configuring output signal 31 EDBCSXA064 EN 2 0 Index 5 x 3 a 3 n D monitoring 211 RL_MotorControl motor control 329 additional torque setpoint a c vu 5 3 o e data 34 a Q c un 5 Q e speed controller R 0 1 lt 3 D 5 D 00 l
376. r data Identifier 8 bytes of user data 11 bits Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 EDBCSXA064 EN 2 0 Lenze 263 13 System modules CAN1_IO node number 31 Codes Code No Designation C0136 1 CTRLWORD 2 CTRLWORD 3 CTRLWORD 1 CAN times 2 CAN times 3 CAN times 4 CAN times C0357 1 CE monit time 2 CE monit time 3 CE monit time 1 CAN IN bits 2 CAN IN bits 3 CAN IN bits 4 CANIN bits 5 CAN IN bits 6 CAN IN bits 264 Possible settings Lenze Selection Appl 0 hex 3000 0 1 ms 0 0 20 3000 1 1 ms 3000 3000 0000 hex Bit 0 Bit 16 Bit 0 Bit 16 Bit 0 Bit 16 Lenze FFFF 65000 65000 FFFF Bit15 Bit 31 Bit15 Bit 31 Bit15 Bit 31 IMPORTANT Control words Hexadecimal value is bit coded Read only Control word C0135 CAN control word AIF control word CAN time settings for CAN bus interface X4 CAN boot up time Delay time after mains connection for initialisation by the master CAN2_OUT CAN3_OUT cycle times Factor for the task time to send process data telegram 0 Event controlled transmission CAN2_OUT CAN3_OUT delay time When the NMT state Operational has been reached after Pre operational the delay time CANdelay is started After the delay time has expired the PDOs CAN2_OUT and CAN3_OUT are sent for the first time Monitoring time for CAN1 3_IN CAN bus interface X4 CE1 m
377. r position adjustment PL Rotor position adjustment PL Error message Monitoring function System variable Possible response TRIP Message Warning Off 089 PL Error with regard to rotor MCTRL_bRotorPositionFault_b position adjustment e Default setting v Setting possible This monitoring function observes the correct execution of the rotor position adjustment This monitoring function can occur during rotor position adjustment in connection with feedback systems gt gt gt gt Resolver TTL encoder Sin cos encoder Absolute value encoder single multi turn Cause for this is a cancellation of the adjustment routine as a result of gt gt gt a supply voltage loss an encoder cable interruption a routine stop through the deactivation of C0095 Error acknowledgement 1 WT Bi SN Remove the cause for the cancellation Inhibit controller Deactivate rotor position adjustment with C0095 0 Execute TRIP RESET Activate rotor position adjustment with C0095 1 Lenze alii 12 12 1 12 1 1 12 1 2 12 1 3 Troubleshooting and fault elimination 12 Fault analysis Fault analysis via the LED display Troubleshooting and fault elimination Failures can be quickly detected by means of display elements or status messages via the system bus CAN CAN AUX Display elements and status messages provide a rough classification of the trouble In the chapter f12 3 2 Causes and remedies
378. ransferred from the PLC program as gt binary information 1 bit gt status word quasi analog value 16 bit gt angle information 32 bit Byte 1 2 3 4 Variable 1 bit CANaux3_bFDOO_b CANaux3_bFDO15_b CANaux3_bFDO16_b CANaux3_bFDO31_b 5 6 7 8 Note Variable 16 bit CANaux3_nOutW1_a CANaux3_nOutW2_a CANaux3_nOutW3_a CANaux3_nOutW4_a Variable 32 bit CANaux3_dnOutD1_p Avoid simultaneous overwriting via different variable types to ensure data consistency If you want to describe e g the bytes 1 and 2 either use only the variable CANaux3_dnOutD1_ p or only the variable CANaux3_nOutW1_a or only the variables CANaux3_bFDOO b CANaux3_bFDO15_b EDBCSXA064 EN 2 0 Lenze 297 System modules DCTRL_DriveControl node number 121 13 15 DCTRL_DriveControl node number 121 Node number 121 This SB controls the axis module to different states Quick stop OSP 4 303 Operation inhibit DISABLE 303 Controller inhibit CINH Setting a TRIP TRIP SET upo Resetting a TRIP TRIP RESET amp 305 Via C0150 the status of the axis module is displayed 215 The process image is established in the course of a fixed system task interval 2 ms Note The SB DCTRL_DriveControl only affects the motor control or the drive control Motor control drive control and application program of the PLC are decoupled from one another provided that no query of the signals is
379. ration on 460 V mains with or without brake unit LU 328 V OU 800 V Operation on 480 V mains without brake unit LU 342 V OU 800 V Operation on 480 V mains with brake unit LU 342 V OU 800 V Operation on 230 V mains with or without brake unit LU C0174 OU 400 V Operation on 400 V mains with or without brake unit LU C0174 OU 800 V Operation on 460 V mains with or without brake unit LU C0174 OU 800 V Operation on 480 V mains without brake unit LU C0174 OU 800 V Operation on 480 V mains with brake unit LU C0174 OU 800 V apa EDBCSXA064 EN 2 0 Code No Designation C0174 UG min C0175 UG Relais Fkt C0178 Op timer C0179 Mains timer EDBCSXA064 EN 2 0 Possible settings Lenze Selection Appl 60 15 1 V 1 1 Standard 2 One Time 3 Fixed On 0 1 sec 0 1 sec Lenze 342 4294967295 4294967295 Appendix Code list IMPORTANT Undervoltage threshold of DC bus LU apa Charge relay behaviour with undervoltage LU in the DC bus Relay switches as a function of LU Relay switches when LU is exceeded for the first time and remains on apa Charging current limitation is inactive e Relay is always switched on and the charging resistors of the axis module are thus permanently jumpered e Setting for operation with ECSxE power supply module Running time meter Read only Time when the controller was enabled Power on time meter
380. rd 2 3 XCAN3 Mask FFFF Mask for process data output word 3 4 XCAN3 Mask FFFF Mask for process data output word 4 396 Lenze EDBCSXA064 EN 2 0 Code No Designation C2382 XCAN Conf CE XCAN Conf CE XCAN Conf CE XCAN Conf CE XCAN Conf CE XCAN Conf CE QU BP WN C2450 CANa address C2451 CANa baud rate C2452 CANa mst C2453 1 CANa addr sel 2 CANa addr sel 3 CANa addr sel C2454 CANa addr CANa addr CANa addr CANa addr CANa addr CANa addr Ou BP WN Be EDBCSXA064 EN 2 0 Possible settings Lenze Appl o o o o o o 0 0 129 257 258 385 386 Selection B WN EF O Off Off Off Off Off Off Off Controller inhibit CINH Quick stop QSP 1 500 kBit s 250 kBit s 125 kBit s 50 kBit s 1000 kBit s Slave Master CAN node address C2450 CAN node address C2450 CAN node address C2450 C2450 auto C2454 man 1 Lenze 63 512 Appendix Code list IMPORTANT Configuration of monitoring XCAN no telegrams received XCAN1_IN XCAN2_IN XCAN3_IN Bus off Life guarding event Response to sync reception Node address for CAN bus interface X14 CAN AUX This code is inactive if one of DIP switches 2 7 and switch 1 are set to ON Baud rate for CAN bus interface X14 CAN AUX ameg aza ame Configuration of master slave for CAN bus interface X14 CAN AUX we Source for system bus node addresses of
381. rds CAN3_IN word 1 9 CAN IN words CAN3_IN word 2 10 CAN IN words CAN3_IN word 3 11 CANIN words CAN3_IN word 4 C0867 32 bit phase information for CAN bus interface X4 Read only 1 CANIN phi 2147483648 1 2147483647 CAN1_IN 2 CANIN phi CAN2_IN 3 CANIN phi CAN3_IN C0868 DIS OUTx Wx Analog process data output words decimal for CAN bus interface X4 100 00 16384 Read only 1 CAN OUT 32768 1 32768 CAN1_OUT word 1 words 2 CANOUT CAN1_OUT word 2 words 3 CANOUT CAN1_OUT word 3 words 4 CANOUT CAN2_OUT word 1 words 5 CANOUT CAN2_OUT word 2 words 6 CAN OUT CAN2_OUT word 3 words 7 CAN OUT CAN2_OUT word 4 words 8 CAN OUT CAN3_OUT word 1 words 9 CAN OUT CAN3_OUT word 2 words 10 CAN OUT CAN3_OUT word 3 words 11 CAN OUT CAN3_OUT word 4 words EDBCSXA064 EN 2 0 Lenze 271 System modules CAN2_IO node number 32 Inputs_CAN2 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0869 32 bit phase information for CAN bus interface X4 Read only 1 CAN OUT phi 2147483648 1 2147483647 CAN1 OUT 2 CANOUT phi CAN2_OUT 3 CANOUT phi CAN3_OUT 13 9 1 Inputs_CAN2 System variables Variable Data Signal Address Display Display Comments type type code format CAN2_nInW1_a IW32 0 C0866 4 integer analog dec CAN2_nInW2_a IW32 1 C0866 5 CAN2_bInBO_b IX32 0 0 n m C0863 3 CAN2_bInB15_b IX32 0 0 BOOL binary hex CAN2_bInB16_b 1X32 1 0 me n C0863 4 CAN2_bInB31_b IX32 1 15 CAN2_dnInD1_p double position D32
382. re inside the controller 19 thermal sensors 198 Za ead l o A iS 8 Incremental encoder as position and speed encoder c E Undervoltage threshold DC bus voltage 20 data 412 422 427 KJ IDration resistance oltage supply of the control electronics monitoring 204 W o Wiring system bus CAN 82 04 Xi 2 O 7 gt 2i XCAN Sync Tx transmission cycle 15 Da 00 Imenu structure 14 Parameter setting 139 Lenze RI Lenze Drive Systems GmbH Hans Lenze Strae 1 D 31855 Aerzen Germany a T Service E Service E Mail Internet 49 0 51 54 82 0 00 80 00 24 4 68 77 24 h helpline 49 0 51 54 82 1112 Lenze Lenze de www Lenze com EDBCSXA064 EN 2 0 04 2008 TD17 10 9 8 7 6 5 is CE LISTED
383. requency node number 21 Inputs_DFIN Signal setting Finer resolutions can be realised by a downstream function block e g L_CONV from the LenzeDrive lib function library as DFIN_IO_DigitalFrequency L_CONV x8 96 i 0 inn DFIN_nIn_v nin_v nNumerator nOut_v 26 LAT CTRL gt ogee aL JUL nDenominator og i L C0426 Q i i x xx ii C0421 C0427 C0420 T0419 bna lan ilassiss 4 r DFIN_bTPReceived_b i X6 N TP MP i Val Sal DFIN_dnIncLastScan_p Taraia gt DI1 1 Ctrl 1 44 x C0428 C0429 C0431 ECSXA231 Fig 13 24 SB DFIN_IO DigitalFrequency with downstream FB L_CONV for the scaling 60 nNumerator 217 nout vS FIH Number_of_incr from C0420 nDenominator 15000 13 16 1 2 Configurating touch probe Process If an edge change on the input actuating a TP e g X6 DI1 occurs the instantaneous phase value master frequency input value is stored in the operating system by means of a very fast interrupt A Lenn gt DFIN_dnIncLastScan_p 0o Fig 13 25 Function diagram of a Touch Probe TP Time equidistant start of an interval task 9 Phase angle signal EDBCSXA064 EN 2 0 Lenze 313 System modules DFIN_IO_DigitalFrequency node number 21 Inputs_DFIN Codes
384. riable 1 bit Variable 16 bit Variable 32 bit 1 2 AIF3_bInBO_b AIF3_nInW1_a AIF3_bInB15_b ina 3 4 AIF3_bInB16_b LANTAP sa AIF3_nInW2_a AIF3_bInB31_b 5 6 AIF3_nInW3_a 7 8 AIF3_nInW4_a Lenze EDBCSXAOGA EN 2 0 System modules 13 AIF3_IO_AutomationInterface node number 43 Outputs_AIF3 13 4 2 Outputs_AIF3 This SB is used as an interface for output signals e g setpoints actual values to attached fieldbus modules e g INTERBUS PROFIBUS DP The process image is gt created in the cyclic task by means of a fixed set time interval of 10 ms gt created in an interval task within the time set for this task gt read at the beginning of the task and written at its end O Please read the documentation for the connected fieldbus module Outputs_AIF3 AIF3_nOutW1_a 16 Bit Byte yl AIF3_bFDO0_b 16 binary Toi AIF3_bFDO15_b signals Byte 2 AIF3_nOutW2_a 16 Bit Byte 3 AIF3_bFDO16_b A 16 binary mu AIF3_bFDO31_b signals Byte 4 x1 Li 16 Bit ca LowWord Byte AIFS dnOutDt_p aa 5 16 Bit ies aa HighWord Byte 6 AIF3_nOutW3_a 16 Bit Byte 7 AIF3_nOutW4_a 16 Bit di Byte 8 ECSXA206 Fig 13 8 System block Outputs_A1F3 System variables Variable Data Signal Address Display Display Notes type type code format AIF3_nOutW1_a QW43 0 AIF3_nOutW2_a QW43 1 Integer analo
385. rive network by adding all drives involved under C0361 1 and C2461 1 Example Drive host Bus load C0361 1 controller 1 23 5 C0361 1 controller 2 12 6 Host 16 0 52 1 total Two drives and the host are interconnected via the MotionBus CAN Note gt Max bus load of all devices involved 80 gt If other devices are connected as for instance decentralised inputs and outputs their telegrams must be taken into consideration gt If the time between the individual sync telegrams is too short the bus can be overloaded Remedy Change the synchronisation cycle of the higher level control system and the controller C1121 Lenze CZ Diagnostics 10 Diagnostics with Global Drive Control GDC 10 Diagnostics 10 1 Diagnostics with Global Drive Control GDC In GDC the codes for drive system diagnostics can be found in the parameter menu under Diagnostics and the corresponding submenus Fault history values can be found in the Faults menu Parameter menu ma E Diagnostic EE Device curent status Faults Motionbus CAN process data 1B Systembus CANaux process d D AIF process data AE Motor current status B Display MCTAL LIE Short setup LO Configuration user menu LO Load save PLC Multitasking Fig 10 1 GDC view Diagnostics Device current status EDBCSXA064 EN 2 0 Lenze 181 10 2 182 Diagnostics Diagnostics with Global Drive Oscilloscope GDO
386. rning is active Bit13 Message is active Bit14 Not assigned Bit15 Not assigned EDBCSXA064 EN 2 0 Lenze 215 Troubleshooting and fault elimination Fault analysis Fault analysis via LECOM status words C0150 C0155 Code No Designation C0155 Status word 2 216 Lenze Appl 0 Possible settings Selection Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Bit 8 Bit 9 Bit 10 Bit 11 Bit 12 Bit 13 Bit 14 Bit 15 IMPORTANT Status word 2 advanced status word Display only 1 65535 Controller interprets information as 16 bit binary coded Active fault Mmax reached Imax reached Pulse inhibit IMP Ready for operation RDY Controller inhibit CINH TRIP active Initialisation Motor direction of rotation Cw CCw Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned Not assigned Lenze alii 12 2 Troubleshooting and fault elimination Malfunction of the drive Malfunction of the drive Maloperation fault Feedback system e Motor rotates CCW when viewed Feedback system is not connected in to the motor shaft e C0060 counts down after controller enable Asynchronous motor e Motor rotates with Imax and half slip frequency e Motor does not react to setpoint change Synchronous motor e Motor does not follow the setpoint change Imax follows the setpoint selection in idle state e Motor rotates CCW when viewed to the motor shaft e
387. rol cabinet must meet the requirements of EN ISO 13849 These include for instance Switches relays in enclosure IP54 Control cabinet in enclosure IP54 All other requirements can be found in EN ISO 13849 Wiring with insulated wire end ferrules is essential gt Allsafety relevant cables e g control cable for the safety relay feedback contact outside the control cabinet must be protected e g in the cable duct It must be ensured that short circuits between the individual cables cannot occur For further measures see EN ISO 13849 gt If force effects from outside e g sagging of hanging loads are to be expected when the safe torque off function is active additional measures have to be taken e g mechanical brakes AN Danger When using the safe torque off function additional measures are required for emergency stops There is neither an electrical isolation between motor and axis module not a service or repair switch Possible consequences gt Death or severe injuries gt The machine drive may be destroyed or damaged Protective measures gt An emergency stop requires the electrical isolation of the motor cable e g by means of a central mains contactor with emergency stop wiring During operation gt After installation the operator must check the safe torque off function gt The function check must be repeated at regular intervals but no later than after
388. rol takes over the function of the master e g ETC gt In Fig 5 16 the function of the master is enabled by a controller that is assigned to the master In both representations the master value transmission is effected via the MotionBus CAN The system bus CAN serves to diagnose and or parameterise the drives ECS_COB006 Fig 5 15 MotionBus CAN with higher level control MB MotionBus CAN connection to plug connector X4 SB System bus CAN connection to plug connector X14 M Master E Slave PC PC HMI HMI operating unit ECS_COB007 Fig 5 16 MotionBus CAN with controller as master MB MotionBus CAN connection to plug connector X4 SB System bus CAN connection to plug connector X14 M Master E Slave PC PC HMI HMI operating unit 80 Lenze EDBCSXA064 EN 2 0 Electrical installation Wiring of the system bus CAN ECS_COB003 Fig 5 17 Bus connections on the controller Assignment of the plug connectors X4 CAN X14 CAN AUX Description CH CAH CAN HIGH CL CAL CAN LOW CG CAG Reference potential Specification of the transmission cable For the use of the transmission cable follow our recommendations Specification of the transmission cable Total length lt 300m lt 1000m Cable type LIYCY 2 x 2 x 0 5 mm2 CYPIMF 2 x 2 x 0 5 mm paired with shielding paired with shielding Cable resist
389. rol unit from disturbing the smooth running of the motor as otherwise a short time inhibit of the controller cannot be ruled out It can be procured from the company Pilz Pilz order number 774195 as a complete terminal Manual test of the disconnecting paths gt The disconnecting paths have to be checked individually in succession gt Ifthe test keys T1 T2 are pressed the motor has to be torqueless immediately and the brake has to engage gt When the safety control unit is switched off or if both test keys are pressed at the same time the feedback STO has to signalise This feedback is not reliable and only serves as an information for the operator that a switch on is possible now gt Ifthe actual state deviates from the facts described here switch off the drive immediately Eliminate the fault before the restart is carried out EDBCSXA064 EN 2 0 Lenze 77 5 5 78 Electrical installation Automation interface AIF Automation interface AIF The keypad XT or a communication module can be attached to or removed from the automation interface X1 This is also possible during operation gt The keypad XT serves to enter and visualise parameters and codes gt The communication modules serve to network the power supply modules and axis modules of the ECS servo system with the host system PLC or PC The following combinations are possible Operating communication module Type order number Keypad X
390. rom parameter data channel 1 Received from parameter data channel 2 Detected load CANaux_IN CANaux_OUT CAN bus interface X14 Read only A faultless operation is only guaranteed if the total bus load of all connected nodes amounts to a value lt 80 All sent telegrams All received telegrams Sent to CANaux1_OUT Sent to CANaux2_OUT Sent to CANaux3_OUT Sent to parameter data channel 1 Sent to parameter data channel 2 Received from CANaux1_IN Received from CANaux2_IN Received from CANaux3_IN Received from parameter data channel 1 Received from parameter data channel 2 399 Appendix Code list Code Possible settings IMPORTANT No Designation Lenze Selection Appl C2466 Sync Response 1 CAN AUX sync response for CAN bus interface X14 0 No response 1 Response C2467 Sync Rx ID 128 CAN AUX sync receipt ID for CAN 259 bus interface X14 1 1 256 C2468 Sync Tx ID 128 CAN AUX Sync transmission ID 41 for CAN bus interface X14 M 260 1 1 256 C2469 Sync Tx time 0 CAN AUX sync transmission cycle 257 for CAN bus interface X14 A sync telegram with the identifier of C2468 is sent with the set cycle time 0 1 ms 65000 0 switched off C2481 MONIT CE11 3 Configuration of monitoring aa CANaux1_IN error CommeErrCANauxIN1 CE11 0 TRIP Warning 3 Off C2482 MONIT CE12 3 Configuration of monitoring CO 197 CANaux2_IN error CommeErrCANauxIN2 CE12 0 TRIP Warning 3 Off C2483 MONIT CE13 3 Con
391. ronisation 8 6 1 XCAN sync response The response to the receipt of a sync telegram can be configured via C2375 IMPORTANT TX mode for XCANx_OUT XCAN1_OUT XCAN2_OUT XCAN3_OUT The transmission or receipt identifiers of the the sync telegram can be configured via Code Possible settings No Name Lenze Selection appl C2375 1 XCAN Tx 0 Response to sync mode 2 XCAN Tx 0 Response to sync mode 3 XCAN Tx 0 Response to sync mode 0 Response to sync 1 No response to sync 2 Event 3 Event cycle C2356 superimposed 8 6 2 XCAN sync identifier C2367 C2368 Code Possible settings No Name Lenze Selection C2367 Sync Rx Id C2368 Sync Tx ld 152 appl 128 1 1 128 1 1 Lenze IMPORTANT XCAN receive identifier of the sync telegram 2047 XCAN send identifier of the sync telegram 2047 EDBCSXA064 EN 2 0 AIF interface X1 configuration 8 6 3 XCAN Sync Tx transmission cycle 00 Reset node XCAN Sync Tx transmission cycle The cycle time required for transmitting a sync telegram with the identifier set in C2368 can be configured via C2356 5 Possible settings Code No Name Lenze appl C2356 1 XCAN times 0 2 XCAN times 0 3 XCAN times 0 4 XCAN times 0 5 XCAN times 0 8 7 Reset node Selection 1 ms 65000 IMPORTANT Time settings for XCAN XCAN boot up time Delay time after mains connection for initialisation through the master XCAN1 3_ OUT cycle times Factor to
392. s The above switch on sequence must be observed to ensure that the axes will only be enabled after the DC bus has been charged Otherwise the switch on circuit in the power supply module can be overloaded EDBCSXA064 EN 2 0 Lenze 65 66 Electrical installation Control terminals Assignment of the plug connectors Plug connector X6 Terminal Function X6 24 Low voltage supply of the control electronics X6 GND Reference potential of low voltage supply X6 DO1 Digital output 1 X6 DI1 Digital input 1 X6 DI2 Digital input 2 X6 DI3 Digital input 3 X6 DI4 Digital input 4 X6 Al Analog input X6 AI Analog input X6 AG Reference potential of analog input internal ground X6 B Brake supply X6 B Brake supply X6 524 Connection of safe torque off formerly safe X6 SO standstill X6 SI1 X6 SI2 Electrical data 20 30 V DC 0 A max 1 A for starting current of 24 V max 2 A for 50 ms 24 V DC 0 7 A max 1 4 A short circuit proof LOW 3 5 V 3 1 5 MA HIGH 15 30 V 2 15 mA Input current at 24 V DC 8 mA per input Adjustable with jumper strip X3 10 10 V max 2 mA 20 20 MA Resolution 11 bits sign 23 30V DC max 1 5 A Set brake voltage so that the permissible voltage at the brake is not under run or exceeded otherwise malfunction or destruction apg Cable cross sections and screw tightening torques Tightening torque Stripp
393. s e For detailed information see description of the corresponding fieldbus module Read only 1 1 255 Binary interpretation reflects bit states Bit 0 XCAN1_IN monitoring time Bit1 XCAN2_IN monitoring time Bit2 XCAN3_IN monitoring time Bit3 XCAN bus off Bit4 XCAN operational Bit5 XCAN pre operational Bit6 XCAN warning Bit 7 Internally assigned EDBCSXA064 EN 2 0 Lenze 00 157 158 AIF interface X1 configuration Diagnostics Operating status of CAN interface C2121 Operating state Bit4 1 Operational Bit5 1 Pre operational Bit6 1 Warning Bit3 1 Bus off Description The system bus is fully operational The ECSxA axis module can transmit and receive parameter and process data The ECSxA axis module can transmit and receive parameter data Process data however are ignored The Pre Operational status can be changed to Operational status by e CAN master e Reset node Via C0358 if the ECSxA axis module has been configured as quasi master 0 167 via the binary input signal Reset node at the SB CAN_Management aps e the Pre operational to Operational NMT The ECSxA axis module has received faulty telegrams and participates only passively in the system bus i e the axis module no longer transmits any data Possible causes Missing bus termination Insufficient shielding Potential differences in the grounding of the control electronics Excessive bus load e
394. s O 168 interface X4 CAN boot up time Delay time after mains connection for initialisation by the master CAN2_OUT CAN3_OUT cycle times Factor for the task time to send process data telegram 0 Event controlled transmission CAN2_OUT CAN3_ OUT delay time When the NMT state Operational has been reached after Pre operational the delay time CANdelay is started After the delay time has expired the PDOs CAN2_OUT and CAN3_OUT are sent for the first time Monitoring time for CAN1 3_IN CAN bus interface X4 CE1 monitoring time CE2 monitoring time CE3 monitoring time Digital process data input words for CAN bus interface X4 Hexadecimal value is bit coded Read only CAN1_IN Process data input word 1 CAN1_IN Process data input word 2 CAN2_IN Process data input word 1 CAN2_IN Process data input word 2 CAN3_IN Process data input word 1 CAN3_IN Process data input word 2 EDBCSXA064 EN 2 0 System modules 13 CAN2_IO node number 32 Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0866 Analog process data input words 413 decimal for CAN bus interface X4 100 00 16384 Read only 1 CAN IN words 199 99 0 01 199 99 CAN1_IN word 1 2 CAN IN words CAN1_IN word 2 3 CAN IN words CAN1_IN word 3 4 CAN IN words CAN2_IN word 1 5 CAN IN words CAN2_IN word 2 6 CAN IN words CAN2_IN word 3 7 CAN IN words CAN2_IN word 4 8 CAN IN wo
395. s by one subcode memory location 1 will be deleted no active fault The information on the formerly active fault is now in subcode 2 the contents of subcode 8 will be eliminated from the history buffer and cannot be read any longer The history buffer contains three information units for every fault occurred Fault number and response Time of the last occurrence Frequency of successive occurrence Note gt If several faults with different responses occur at the same time only the fault the response of which has the highest priority is entered in the history buffer Power supply module ECSxE TRIP KSB TRIP highest gt message warning lowest Axis module ECSxS P M A TRIP highest gt message gt FAIL OSP warning lowest gt If several faults with the same response occur at the same time e g two messages only the fault that occurred first is entered in the history buffer gt If a fault occurs several times in quick succession only the time of the last occurrence is entered in the history buffer Assignment of information to the codes Code and retrievable information contains information C0168 C0169 C0170 Subcode Number and response of the fault message on active fault last fault second to last fault third to last fault fourth to last fault fifth to last fault six to last fault Time of the last Frequency of the occurrence of the fault occurrence of t
396. s end O Please read the documentation for the connected fieldbus module Inputs_AIF3 n AIF3_ninW1_a Byte 16 Bit 1 AIF3_bInBO_b Sesto e gt i 16 binary x signals i Fue AIF3_bInB15_b 16 Bi AIF3_nInW2_a Byte it 3 cine gt AIF3_bInB16_b 16 binary x signals i Byte AIF3_bInB31_b x1 4 oo Saito O 16 Bit Byte L LowWord 5 AIF3_dninD1_p ai 16 Bit HighWord Byte 6 AIF3_nInW3_a gt 16Bit Byte it AIF3_nInW4_a sila gt 16Bit Byte 8 ECSXA205 Fig 13 7 System block Inputs_AlF3 EDBCSXA064 EN 2 0 Lenze 247 248 System modules AIF3_IO_AutomationInterface node number 43 Inputs_AIF3 System variables Variable Data Signal Address Display Display Notes type type code format AIF3_nInW1_a IW43 0 AIF3_nInW2_a i IW43 1 AIF3_ninW3_a Integer analog y iWw43 2 7 7 AIF3_nInW4_a IW43 3 AIF3_bInBO_b IX43 0 0 AIF3_bInB15_b sa IX43 0 15 AIF3_binB16_b a may 1X43 1 0 E R AIF3_blInB31_b IX43 1 15 AIF3_dninD1_p Double position ID43 0 Integer User data The first 4 bytes from the 8 bytes of received user data are assigned to several variables of different data types According to requirements they thus can be evaluated by the PLC program as gt binary information 1 bit gt quasi analog value 16 bit gt angle information 32 bit Byte Va
397. s interface X4 Read only CAN1_OUT CAN2_OUT CAN3_OUT Digital input signals to DCTRL Only display Controller inhibit CINH 1 Controller inhibit CINH 2 TRIP set TRIP RESET apog Reset DCTRL control word of C0135 Reset DCTRL control word of AIF Reset DCTRL control word of CAN Performs one reset Analog input signals to MCTRL Read only Speed controller input Torque setpoint Lower torque limit Upper torque limit Limit of the position controller Speed for activating the torque limitation Field weakening Integrator of the speed controller P adaptation of the position controller Digital input signals to MCTRL Only display Activating position controller Speed control or torque control Set quick stop OSP Loading integral action component of the speed controller Set phase signal 1 revolution 65536 increments Only display EDBCSXA064 EN 2 0 Code Possible settings No Designation Lenze Selection Appl C0909 speed limit 1 1 2 3 C0910 MCTRLTP2 0 delay 32767 C0911 MCTRLTP2 0 sel 0 C0912 MCTRLTP2 0 Edge 0 1 2 3 C1120 Sync mode 0 0 2 C1121 Sync cycle 2 1 C1122 Sync phase 0 460 0 000 C1123 Sync window 0 010 0 000 C1190 MPTC mode 0 0 1 2 C1191 1 Char temp 25 0 2 Char temp 150 EDBCSXA064 EN 2 0 175 175 0 175 175 0 1 inc 32767 Zero pulse of position encoder C0490 Touch probe input TP2 Rising edge TP2 Falling edge TP2 Risi
398. s module Protection class of the separated cooler IP54 The sealing surface at the heatsink of the axis module must rest completely against the mounting plate Use a liquid thread sealant to bond the screws of the clamps For sufficient cooling of the drive system Air flow behind the rear panel of the control cabinet must be gt 3 m s e g by means of a collective fan With sufficient cooling the rated data of the axis modules remain valid Lenze ag 4 3 1 44 Mechanical installation Mounting with thermal separation push through technique Dimensions Dimensions Note Mounting with ECSZSOOOXOB shield mounting kit gt Mounting clearance below the module gt 195 mm gt 65mm ANAANT Fig 4 2 Dimensions for push through design Z Mounting cutout a1 x b1 25 Axis module Dimensions mm Type Size a al b b1 c1 d e el ECSDA004 ECSDA008 SIT A 88 5 78 5 sas ECSDA032 240 197 75 250 145 1 ECSDA048 ECSDA064 67 B 131 121 5 1 max 145 mm depending on the plugged on communication module Lenze ECSXA007 M5 10 5 EDBCSXA064 EN 2
399. s status interface X4 Only display Telegram counter CAN_IN CAN_OUT CAN bus interface X4 number of telegrams Read only All sent telegrams All received telegrams Sent to CAN1_OUT Sent to CAN2_OUT Sent to CAN3_OUT Sent on parameter data channel 1 Sent on parameter data channel 2 Received from CAN1_IN Received from CAN2_IN Received from CAN3_IN Received from parameter data channel 1 Received from parameter data channel 2 375 14 Appendix Code list Code Possible settings No Designation _Lenze Appl C0361 Load IN OUT Load IN OUT Load IN OUT Load IN OUT Load IN OUT Load IN OUT aA uu BP WN 7 Load IN OUT 8 Load IN OUT 9 Load IN OUT 10 Load IN OUT 11 Load IN OUT 12 Load IN OUT C0362 Sync cycle C0363 Sync correct 1 C0365 DIS CAN active C0366 Sync Response 1 C0367 Sync Rx ID 128 C0368 Sync Tx ID 128 376 Selection U e U NPBP 1 1 ms 0 2 us ms 0 4 us ms 0 6 us ms 0 8 us ms 1 0 us ms CAN not active CAN active No response Response 1 1 Lenze 100 30 256 256 IMPORTANT Detected load CAN_IN CAN_OUT CAN bus interface X4 Read only A faultless operation is only guaranteed if the total bus load of all connected nodes amounts to a value lt 80 All sent telegrams All received telegrams Sent to CAN1_OUT Sent to CAN2_OUT Sent to CAN3_ OUT Sent on parameter data channel 1 Sent on parameter data channel 2
400. set node Establish XCAN master operation 393 14 Appendix Code list Code Possible settings No Designation Lenze Selection Appl C2353 1 XCAN addr sel 0 CAN node address C2350 2 XCAN addr sel 0 CAN node address C2350 3 XCAN addr sel 0 CAN node address C2350 0 C2350 auto 1 C2354 man C2354 1 XCAN addr 129 1 1 2 XCAN addr 1 3 XCAN addr 257 4 XCAN addr 258 5 XCAN addr 385 6 XCAN addr 386 C2355 1 XCAN Id 1 1 2 XCAN Id 3 XCAN Id 4 XCAN Id 5 XCAN Id 6 XCAN Id C2356 1 XCAN times 0 0 1 ms 2 XCAN times 0 3 XCAN times 0 4 XCAN times 0 5 XCAN times 0 394 Lenze 512 2047 65000 IMPORTANT Source for system bus node addresses of XCAN_IN XCAN_OUT XCAN1_IN OUT address XCAN2_IN OUT address XCAN3_IN OUT address Automatically determined by C2350 Determined by C2354 Alternative node addresses for XCAN_IN XCAN_OUT XCAN1_IN address 2 XCAN1_OUT address 2 XCAN2_IN address 2 XCAN2_OUT address 2 XCAN3_IN address 2 XCAN3_OUT address 2 Identifier for XCAN_IN XCAN_OUT Only display Identifier XCAN1_IN Identifier XCAN1_ OUT Identifier XCAN2_IN Identifier XCAN2_OUT Identifier XCAN3_IN Identifier XCAN3_OUT Time settings for XCAN XCAN boot up time Delay time for initialisation through the master after mains connection XCANI1 3_OUT cycle times Factor to task time for process data object transmission 0 event controlled transmission XCAN delay time When the Operati
401. sition and speed control Resolver as position and speed encoder 6 7 Setting of the feedback system for position and speed control The following feedback systems can be selected for position and speed control gt Resolver 101 gt TTLincremental encoder sin cos encoder without serial communication Q 104 as position and speed encoder M 104 as position encoder and resolver as speed encoder LL 107 gt Absolute value encoder Hiperface single turn multi turn as position and speed encoder Q 110 as position encoder and resolver as speed encoder M 114 The GDC contains the parameters or codes to be set in the parameter menu under Motor Feedb Feedback Parameter menu Text Value LE Contre stings 000 Pamese O Pere B Motor feedback systems 000 Feedback system position control Resolver at X7 D Motor settings 000 Feedback system speed control Resolver at X7 Feedbacksystem 000 Configuration signal direction X8 X8 is input encoder or digital frequency D Motor rotor position adjustment 000 Encoder selection TTL Encoder 512inc 5V IT 512 000 Encoder number of increments lt 8 1024 incr re 000 Encoder power supply 50V V KTY temperature sensor HE Monitoring LO NE Motionbus CAN lt 4 000 Resolver number of pole pairs 1 LE Systembus CANaux 14 000 Start resolver adjustment Stop stopped Le AIF communication modules 000 Rotor displacement angle offset 90 0 B Terminal 1 0
402. splay Comments code format IW33 0 C0866 8 IW33 1 C0866 9 dec IX33 0 0 La C0863 5 IX33 0 15 IX33 1 0 nee ae C0863 6 IX33 1 15 ID33 0 C0867 3 dec inc IW33 2 C0866 10 IW33 3 C0866 11 dec The first 4 bytes from the 8 bytes of received user data are assigned to several variables of different data types According to requirements they thus can be evaluated by the PLC program as gt binary information 1 bit gt quasi analog value 16 bit gt angle information 32 bit Byte 1 2 3 4 5 6 7 8 EDBCSXA064 EN 2 0 Variable 1 bit CAN3_bInBO_b CAN3_bInB15_b CAN3_bInB16_b CAN3_bInB31_b Variable 16 bit CAN3_nInW1_a CAN3_nInW2_a CAN3_nInW3_a CAN3_nInW4_a Lenze Variable 32 bit CAN3_dnInD1_p 277 System modules CAN3_IO node number 33 Outputs_CAN3 13 10 2 Outputs_CAN3 System variables Variable Data Signal Address Display Display Comments type type code format CAN3_nOutW1_a i OW33 0 C0868 8 a int CAN3_nOutW2_a integer analog xows31 cosegjo 1 Pl CAN3_bFDOO_b OX33 0 0 CAN3_bFDO15_b QX33 0 15 i i BOOL binary _ C0151 3 hex Display code in hex CAN3_bFDO16_b OX33 1 0 as double word CAN3_bFDO31_b OX33 1 15 CAN3_dnOutD1_p double position QD33 0 C0869 3 dec inc integer CAN3_nOutW3_a QW33 2 C0868 10 integer analog dec CAN3_nOutW4_a QW33 3 C0868 11 User data The first 4 bytes of the 8 bytes user data to be sent can be written via s
403. ssage Warning Off MCTRL_bEncoderFault_b v e Default setting v Setting possible If required the encoder has to move by several angular degrees for actuating a fault IMPORTANT Configuration of open circuit D 208 monitoring for sin cos encoders Filter time constant SD8 Example If the setting is 10 ms a SD8 TRIP is actuated after 10 ms For the desired encoder monitoring and in particular when using synchronous 11 2 18 Sin cos encoder Sd8 Error message Monitoring function System variable 088 sd8 Sin cos encoder error This monitoring function identifies via a plausibility check whether the encoder is available and the sin cos tracks supply plausible values with regard to each other gt The following sin cos encoder types are supported Stegmann SCS 60 70 ST 512 single turn absolute value encoder 512 inc rev Stegmann SCM 60 70 ST 512 multi turn absolute value encoder 512 inc rev gt The fault Sd8 can only be reset by mains switching gt gt The response is set via C0580 gt The filter time constant C0559 serves to filter short time trouble on the sin cos track of the encoder without an SD8 trip being released immediately Code Possible settings No Designation Lenze Selection Appl C0580 Monit SD8 3 0 TRIP 3 Off C0559 SD8 filter t 1 1 1 ms 200 e Note machines set error handling to TRIP In order to achieve further encoder reliability an additional monitoring of fol
404. ssed via parameter data channel 1 of the target device 0 1 63 0 remote parameterisation deactivated EDBCSXA064 EN 2 0 Lenze 177 9 13 9 13 1 178 System bus CAN CAN AUX configuration Diagnostics codes Bus status C0359 C2459 Diagnostics codes By means of the following diagnostic codes you can trace the process via the MotionBus CAN and the system bus CAN gt C0359 C2459 Bus state gt C0360 C2460 Telegram counter gt C0361 C2461 Bus load Bus status C0359 C2459 C0359 C2459 indicates the current operating status of the MotionBus system bus CAN Value of Operating status Description C0359 C2459 0 Operational The bus system is fully operative 1 Pre operational Only parameters codes can be transferred via the bus system Data exchange from controller to controller is not possible A status change to Operational is possible via a special signal on the MotionBus system bus CAN A status change from Pre operational to Operational is possible through e The master functionality of a higher level host e If a master has been selected under C0352 C2452 the operating status will be changed automatically for the entire drive system after the set boot up time C0356 C2456 when power is switched on e Reset node via C0358 C2458 255 e The binary input signal Reset node which can be set accordingly e Reset node via the connected host 2 Warning Faulty telegrams h
405. ssible settings No Designation _Lenze Appl C0084 Mot Rs 1 10 0 00 C0085 Mot Ls 5 30 0 00 C0087 Mot speed 3700 300 C0088 Mot current 7 0 0 5 C0089 Mot 185 frequency 10 C0090 Mot voltage 325 50 C0091 Mot cos phi 1 0 0 50 C0092 DIS Isdeff 0 00 C0093 Drive ident 0 1 4 8 16 32 48 64 65 C0095 Rotor pos adj 0 0 C0097 DIS Lt Ident 0 0 C0110 Service Code 50 342 Selection 0 01 Q 0 01 mH 1 rpm 0 1 A 1 Hz 1 V 0 01 0 01 A Defective power section No power section recognised ECSxS P M A004C4 ECSxS P M A008C4 ECSxS P M A016C4 ECSxS P M A032C4 ECSxS P M A048C4 ECSxS P M A064C4 ECSxS P M A064C2 Inactive Active 1 1 Lenze 95 44 47 72 23 86 11 93 7 95 5 96 200 00 16000 500 0 1000 500 1 00 327 67 255 200 IMPORTANT Stator resistance of the motor The upper limit is device dependent ECSxS P M A004 ECSxS P M A008 ECSxS P M A016 ECSxS P M A032 ECSxS P M A048 ECSxS P M A064 Leakage inductance of the motor Rated motor speed Rated motor current Rated motor frequency Rated motor voltage cos of the asynchronous motor Magnetising current of the asynchronous motor Only display Device identification of the ECS axis module Read only Activation of rotor position adjustment of a synchronous motor C0058 shows the rotor displacement angle 127 Power stage identification Fine
406. st mode Activate test mode EDBCSXA064 EN 2 0 Code Possible settings Lenze Appl C0419 Enc Setup 110 No Designation 110 111 112 113 210 211 212 213 307 308 309 310 311 407 408 409 410 411 C0420 Encoder const 512 C0421 Encoder volt 0 U BP U NBEO C0426 DIS In 32767 C0427 Enc signal 0 EDBCSXA064 EN 2 0 Selection Common IT512 5V IT1024 5V IT2048 5V IT4096 5V 1 512 5V 1S1024 5V 1S2048 5V 1S4096 5V AS64 8V AS128 8V AS256 8V AS512 8V AS1024 8V AM64 8V AM128 8V AM256 8V AM512 8V AM1024 8V 1 inc rev 5 0V 5 6 V 6 3 V 6 9 V 7 5V 8 1V 1 rpm 2 phase A speed B direction A or B speed or direction Lenze 8192 32767 Appendix Code list IMPORTANT Encoder selection 309 e Selection of encoder type an indicated on the nameplate of M 119 the Lenze motor e The encoder data C0420 C0421 C0427 is set automatically in accordance with the selection Incremental encoder with TTL level SinCos encoder SinCos absolute value encoder with Hiperface interface single turn Selections 307 308 309 are only possible with operating system 7 0 or higher SinCos absolute value encoder with Hiperface interface multi turn Selections 407 408 409 are only possible with operating system 7 0 or higher Number of increments of the aog encoder upo amq Sets C0419 0 common if the value is altered Encoder voltage
407. state with the cyclic task 1 cycle FALSE 2 cycle TRUE 3 cycle FALSE 4 cycle TRUE etc SYSTEM_nTaskInterval This system flag indicates the interval of the running task with a resolution of 0 25 ms gt If for instance a tasks of 10 ms is processed the system flag indicates 40 40 x 0 25 ms 10 ms gt Ifatask different from an interval task is processed the system flag indicates 0 SYSTEM_nTaskID This system flag indicates the task ID of the running task SYSTEM_b1LoopCyclicTask SYSTEM_b1Loop Task X These system flags are TRUE only once during the first cycle of a task gt After the first cycle the flags will be set to FALSE gt The only way to reset the status to TRUE is to reset the program in the drive controller Outputs SYSTEM_FLAGS Variable Data type Address Comments SYSTEM_bPLCResetAndRun BOOL OX151 0 0 This system flag executes a reset with an immediate restart of the axis module ECSxA e After the reset the flag is deleted and the restart is executed Lenze CZ 14 Appendix 14 1 PLC functionality Field Inputs Digital Analog Safe torque off former safe standstill Digital frequency Outputs Digital Digital frequency Safe torque off former safe standstill Feedback system Operation set Counter times Fast counter Flags Memory Processing time 1 bit operation Task types Functions Programming software Technology functions
408. supply module The figure over the cursor can be changed directly in the parameter level Press and keep it pressed then press second key in addition Function Menu level 1 Code level Change to parameter level Load predefined configurations in the menu Short setup 2 Change between menu Change code number items Quick change between menu items Quick change of code number Change between main menu submenus and code level Parameter level Operating level Change to operating Change to code level level Accept parameters when SHPRG or SHPRG is displayed Change figure over cursor Quick change of figure over cursor Cursor to the right Cursor to the left Cancel function of Gi key the LED in the key goes out Inhibit the controller LED in the key lights up Reset fault TRIP reset 2 Press SID 3 Press GD No menu for ECSxE power supply module 1 Remove cause of malfunction 2 Only active when operating Lenze devices of the 8200 vector or 8200 motec series EDBCSXA064 EN 2 0 Lenze 141 7 Parameter setting Parameter setting with the XT EMZ9371BC keypad Changing and saving parameters All parameters for the axis module power supply module parameterisation or monitoring are stored in codes The codes are numbered and marked with a C in the documentation Some codes store the parameters in numbered subcodes to provide a clear structure for Your settings
409. t CINH 2 TRIP set TRIP RESET apog 301 System modules DCTRL_DriveControl node number 121 Outputs_DCTRL 13 15 2 Outputs_DCTRL System variables Variable Data Signal Address type type DCTRL_WCAN1Ctrl OW121 3 DCTRL_wAIF1Ctrl wee T QW121 2 DCTRL_bCInh1_b OX121 0 1 DCTRL_bCInh2_b OX121 0 2 DCTRL_bTripSet_b BOOL binary 0x1210 3 DCTRL_bTripReset_b QX121 0 4 DCTRL_bStatBO_b OX121 1 0 DCTRL_bStatB2_b OX121 1 2 DCTRL_bStatB3_b OX121 1 3 DCTRL_bStatB4_b BOOL binary QX121 1 4 DCTRL_bStatB5_b OX121 1 5 DCTRL_bStatB14_b OX121 1 14 DCTRL_bStatB15_b OX121 1 15 Codes Code Possible settings No Designation Lenze Selection Appl C0135 Control word 0 0 1 Bit 0 Not assigned Bit 1 Not assigned Bit 2 Not assigned Bit 3 Quick stop OSP Bit 4 Not assigned Bit 5 Not assigned Bit 6 Not assigned Bit 7 Not assigned Bit 8 Operation inhibit DISABLE Bit 9 Controller inhibit CINH Bit10 TRIP SET Bit11 TRIP RESET Bit12 Not assigned Bit13 Not assigned Bit14 Not assigned Bit15 Not assigned 302 Lenze Display code C0878 1 C0878 2 C0878 3 C0878 4 Display format bin IMPORTANT Notes CAN control word Control word AIF Controller inhibit 204 TRIP SET 304 TRIP RESET CQ 305 Status signals CQ 305 System control word DCTRL 65535 Controller evaluates information as 16 bits binary coded EDBCSXA064 EN 2 0 System modules DCTRL_DriveControl node number 121 Quick stop OS
410. t This process is different from the previous process image principle Lenze 309 System modules DFIN_IO_DigitalFrequency node number 21 Inputs_DFIN System variables Variable Data Signal Address type type DFIN_nIn_v Integer Velocity IW21 0 DFIN_bTPReceived_b BOOL Binary IX21 1 2 DFIN_dnincLastScan_p ee Position ID21 1 Codes Code Possible settings No Designation Lenze Selection Appl C0419 Enc Setup 110 0 Common 110 IT512 5V 111 IT1024 5V 112 IT2048 5V 113 IT4096 5V 210 1S512 5V 211 1S1024 5V 212 1S2048 5V 213 1S4096 5V 307 AS64 8V 308 AS128 8V 309 AS256 8V 310 AS512 8V 311 AS1024 8V 407 AM64 8V 408 AM128 8V 409 AM256 8V 410 AM512 8V 411 AM1024 8V C0420 Encoder const 512 1 1 inc rev 310 Lenze Display Display Notes code format C0426 dec Value in inc ms rpm z Di Touch probe TP received a Ainc during TP and task start IMPORTANT 8192 Encoder selection 309 e Selection of encoder type an indicated on the nameplate of M I9 the Lenze motor The encoder data C0420 C0421 C0427 is set automatically in accordance with the selection Incremental encoder with TTL level SinCos encoder SinCos absolute value encoder with Hiperface interface single turn Selections 307 308 309 are only possible with operating system 7 0 or higher SinCos absolute value encoder with Hiperface interface multi turn Selections 407 408 409 are only possible with operating
411. t assistant offers a comfortable motor selection gt The menu structure supports the commissioning process by its clear structuring ECSXA453 Fig 7 1 Using the GDC Lenze parameter program Global Drive Control GDC PC or laptop PC system bus adapter EMF2173IB EMF2177IB with connecting cable Sub D plug with 3 pole cable 3 pole plug CAG CAL CAH from ECSZA000X0B connector set ECSxS P M A axis module More detailed information is given in the documentation on the parameter setting and operating program Global Drive Control GDC im Im o o w gt 138 Lenze EDBCSXA064 EN 2 0 Parameter setting Parameter setting with the XT EMZ9371BC keypad Connecting the keypad 7 3 Parameter setting with the XT EMZ9371BC keypad O The keypad is available as accessories A complete description is given in the documentation on the keypad 7 3 1 Connecting the keypad O0 2 os K RS EB2ZBBXC 9371BC018 Connect the keypad to the AIF interface X1 of the axis module power supply module It is possible to connect disconnect the keypad during operation As soon as the keypad is supplied with voltage it carries out a short self test The operation level indicates when the keypad is ready for operation A Current status of the axis module power supply module B Di DI Code
412. t the drive system against impermissible operating conditions If a monitoring function is activated gt the set response is triggered to protect the drive gt the fault message is entered at position 1 in the history buffer 00 213 The fault history buffer C0168 x saves fault messages with an offset that indicates the type of response No of the fault message Type of response Oxxx TRIP 1xxx Message 2XXX Warning ZXXX FAIL OSP only for ECSxS P M A axis modules Example C0168 1 2061 gt x061 The current fault subcode 1 of C0168 is a communication error fault message CEO no x061 between the AIF module and the ECS axis module gt 2XXX The response is a warning EDBCSXA064 EN 2 0 Lenze 189 190 Monitoring functions Configuring monitoring functions Responses Response gt Consequence TRIP TRIP active The power outputs U V W are switched to high resistance gt The drive is coasting no control TRIP reset The drive decelerates to its setpoint within the set deceleration times Message Danger The drive restarts automatically if the message is removed Message active The power outputs U V W are switched to high resistance lt 0 55 gt The drive is coasting no control gt 0 5s The drive is coasting due to internal controller inhibit If necessary restart program Message reset The drive runs to its setpoint with the maximum torque FAIL OSP
413. t via C0540 A configuration of the master frequency output X8 as input 4 309 is possible via DFOUT_IO_DigitalFrequency C0545 C0491 Nmax C0540 C0540 C0030 0 0 o i DFOUT_nIn_v DFOUT_nOut i _n Me vA id a x DI 1 1 x C0547 C0549 n l t x7 T So 15000 rpm TU og 1 20 CTRL 0 0000 x 00000 Fig 13 26 System block DFOUT_I Note O_DigitalFrequency The process image is recreated for every task the SB is used in gt If therefore DFOUT_nIn_v and DFOUT_nOut_v are used in several tasks an individual process image of the SB is created for each of these tasks gt This process is different from the previous process image principle System variables Variable Data type DFOUT_nOut_v Integer DFOUT_nIn_v Integer Signal Address type Velocity QW22 0 Velocity IW22 0 Lenze Display code C0547 C0549 Display format dec dec rpm ECSXA232 Notes EDBCSXA064 EN 2 0 Codes Code No Designation C0030 DFOUT const C0491 X8 in out C0540 X8 Signal out C0545 PH offset C0547 DIS AN IN C0549 DIS DF IN EDBCSXA064 EN 2 0 Possible settings Lenze Appl 3 Selection aA uu BF UNEO jo 199 99 32767 System modules DFOUT_IO DigitalFrequency node number 22
414. ta 15 bits 1 bit 1 bit 1bit 7 bits Fig 14 4 Basic structure of the CAN telegram Identifier The identifier determines the priority of the message Moreover the following is coded gt The CAN node address device address in the CAN network of the node which is to receive the CAN telegram See also chapter Addressing of the parameter and process data objects 00 426 gt The type of user data to be transferred EDBCSXA064 EN 2 0 Lenze 411 14 7 2 412 Appendix General information about the system bus CAN Communication phases of the CAN network NMT User data The user data area of the CAN telegram either contains network management data process data or parameter data User data Network management data NMT data Process data PDO Process Data Objects Parameter data SDO Service Data Objects she Tip Description The information serves to establish communication via the CAN network e Process data are transmitted via the process data channel The process data serve to control the controller e Process data can be accessed directly by the higher level host system The data are for instance stored directly in the I O area of the PLC It is necessary that the data can be exchanged between the host system and the controller within the shortest time possible In this connection small amounts of data can be transferred cyclically e Process dat
415. tat4_b DCTRL_bStat5_b DCTRL_bWarn_b DCTRL_bMess_b DCTRL_wStat C0150 DCTRL_bStateB14_b DCTRL_bStateB15_b 14 15 ECSXA266 Fig 13 22 Output of the status word DCTRL_wStat EDBCSXA064 EN 2 0 Lenze 305 System modules DCTRL_DriveControl node number 121 TRIP status DCTRL_bExternalFault_b Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0150 Status word 0 DCTRL status word 1 305 Only display 0 1 65535 Controller evaluates information as 16 bits binary coded Bit 0 Not assigned DCTRL_bStateBO_b Bit 1 Pulse inhibit IMP DCTRL_bImp_b Bit 2 Not assigned DCTRL_bStateB2_b Bit 3 Not assigned DCTRL_bStateB3_b Bit 4 Not assigned DCTRL_bStateB4_b Bit 5 Not assigned DCTRL_bStateB5_b Bit6 n 0 DCTRL_bNActEqo_b Bit 7 Controller inhibit CINH DCTRL_bCInh_b Bit 8 Status code DCTRL_bStat1_b Bit 9 Status code DCTRL_bStat2_b Bit10 Status code DCTRL_bStat4_b Bit11 Status code DCTRL_bStat8_b Bit12 Warning DCTRL_bWarn_b Bit13 Message DCTRL_bMess_b Bit 14 Not assigned DCTRL_bStateB14_b Bit15 Not assigned DCTRL_bStateB15_b System variables The variables DCTRL_bStat1_b DCTRL_bStat5_b display the status of the drive in a binary coded manner DCTRL_bStat5_b DCTRL_bStat4_b DCTRL_bStat2_b DCTRL_bStat1_b Status 0 0 0 0 ae connection of the 0 0 0 1 Protection against unexpected start up active C0142 0 0 0 1 1 Controller is inhibited 0 1 1 0 Controll
416. tatus AIF In parameter parameter data 41 data objects 414 process process a Q Q i E sn Hi I Hl H uy 00 O oO rtace 157 data 41 data cnanne data transmission 417 process data telegrams 415 emote parameterisation nterface 1 7 eset node AIF interface 15 ateway function CANI Ing boot up time 168 ing delay time 168 Be Be setting Betting Betting Status messages 256 e baud rate 159 e cycle time 168 e node address 159 synchronisation CAN interface 1 1 system bus management CAN Interface 174 ser data 41 a Pa Q EDBCSXA064 EN 2 0 eA system bus CAN CAN data telegram 411 parameter data objects addressing 160 6 System bus components 429 System bus management CAN interface 174 System error messages 218 Causes and remedies Q System program organisation units 358 System variables 20 1 4 79 5 lt lt lt lt DI z DI DI 00 able of attributes 40 ecnnical data I n c 3 oO 35 gt n gt i S n 3 oO F un ci n un application example 38 device protection by current derating 39 ated Output current 36 1 far SE x a D 2 u o 2 w m m vi un 4 e 2 RBD 4 74 J w D JQ 0 3 D n o o D n la v Q D v rated data 34 35 Etandards and operating conditi
417. ted motor speed Rated motor current amy 125 am am 363 14 Appendix Code list Code No Designation C0089 Mot frequency C0090 Mot voltage C0091 Mot cos phi C0092 DIS Isdeff C0093 Drive ident C0094 Password C0095 Rotor pos adj C0096 1 AIF CAN prot 2 AIF CAN prot C0097 DIS Lt Ident C0098 Set position 364 Possible settings Lenze Appl 185 325 1 0 Selection 10 1 Hz 1000 50 1 V 500 0 50 0 01 1 00 0 00 0 01 A 327 67 0 Defective power section 1 No power section recognised 4 ECSxS P M A004C4 8 ECSxS P M A008C4 16 ECSxS P M A016C4 32 ECSxS P M A032C4 48 ECSxS P M A048C4 64 ECSxS P M A064C4 65 ECSxS P M A064C2 0 1 9999 0 no password 0 Inactive Active No access protection No access protection 0 No access protection 1 Write protection 2 Write protection 3 Read write protection 0 1 255 2147483647 1 inc 2147483647 Lenze IMPORTANT Rated motor frequency Rated motor voltage cos of the asynchronous motor Magnetising current of the asynchronous motor Only display Device identification of the ECS axis module Read only Keypad password Parameter access protection for the keypad When the password is activated only the codes of the user menu C0517 can be accessed Further possible selections see C0096 Activation of rotor position adjustment of a synchronous motor C0058 shows the rotor displacement angle 12
418. ter Pre operational the delay time CANdelay is started After the delay time has expired the PDOs CANaux2_OUT and CANaux3_OUT are sent for the first time amg Monitoring time for CANaux1 3_IN CAN bus interface X14 CE11 monitoring time amog CE12 monitoring time CE13 monitoring time Resetting a node CAN bus interface X14 oes CAN bus status CAN bus interface X14 Read only EDBCSXA064 EN 2 0 Code No Designation C2460 1 CANa Messages 2 CANa Messages 3 CANa Messages 4 CANa Messages 5 CANa Messages 6 CANa Messages 7 CANa Messages 8 CANa Messages 9 CANa Messages 10 CANa Messages 11 CANa Messages 12 CANa Messages C2461 Load IN OUT Load IN OUT Load IN OUT Load IN OUT Load IN OUT Load IN OUT ao uu BP WN 7 Load IN OUT 8 Load IN OUT 9 Load IN OUT 10 Load IN OUT 11 Load IN OUT 12 Load IN OUT EDBCSXA064 EN 2 0 Possible settings Lenze Selection Appl 1 65535 With a count value gt 65535 the counter restarts with 0 1 Lenze 100 Appendix Code list IMPORTANT Telegram counter CANaux_IN CANaux_OUT CAN bus interface X14 number of telegrams Read only All sent telegrams All received telegrams Sent to CANaux1_OUT Sent to CANaux2_OUT Sent to CANaux3_OUT Sent to parameter data channel 1 Sent to parameter data channel 2 Received from CANaux1_IN Received from CANaux2_IN Received from CANaux3_IN Received f
419. teristic Lenze types ELN3 gt The choke rating is to be checked and adapted to the respective conditions Mains chokes for the power supply modules Power supply module Short circuit Mains choke type I A L mH type voltage Ux ECSxE012 ELN3 0150H024 3x24 3x1 5 ECSxE020 ELN3 0088H035 3x35 3 x 0 88 4 ECSxE040 ELN3 0055H055 3x55 3x 0 55 EDBCSXA064 EN 2 0 Lenze 431 14 8 9 14 8 10 432 Appendix Overview of accessories RFI filters According to the application different measures for reducing the mains current and for radio interference suppression are required on the supply side for servo systems As a rule these measures are not mandatory but protect the universal application of a servo system Lenze offers a built on filter for each power supply module for the interference level A The RFI filters are designed for the ECS power supply module assigned and up to 10 axes with a motor cable length of 25 m each Lenze system cable The interference level A is observed as long as the motor cable length per axis module is 25 m at a maximum Lenze sytem cables and the number of the ECS axis modules is maximally 10 RFI filter type ECS power supply module type ECSxE012 ECSZZ020X4B ECSxE020 ECSZZ040X4B ECSxE040 Type of RFI filter U V I A Pioss W Weight kg ECSZZ040X4B at 50 60 Hz 32 9 3 i U Rated mains voltage I Rated mains current Pioss Power loss Motors Matched motors can be obtained under
420. th e Switch off monitoring C2484 3 e Check wiring at X14 Check CAN bus configuration e Switch off monitoring C2485 3 Check the motor parameters set especially C0084 C0085 C0088 C0090 Check drive dimensioning Contact Lenze e Check drive dimensioning e Possibly increase torque limit e Switch off monitoring C0607 3 227 12 Troubleshooting and fault elimination System error messages Causes and remedies Fault message No 0201 0208 0209 0210 0211 0218 0219 0220 0230 0231 0232 x240 x241 x260 Display overrun Task1 overrun Task8 float Sys T float Cycl T float Task1 float Tasks overrun Cyc T noT Fkt Credit No Program Unallowed Lib NoCam Data ovrTrans Queue ovr Receive Err Node Guard Description Time out in task 1 ID 2 Time out in task 8 ID 9 Float error in system task ID 0 Float error in cyclic task PLC_PRG ID 1 Float error in task 1 ID 2 Float error in task 8 ID 9 Time out in cyclic task PLC_PRG ID 1 Not enough technology units available Missing PLC program PLC program calls invalid library function Motion profiles cam data are not available Free CAN objects error Life guarding event x 0 TRIP 1 Message 2 Warning 3 FAIL OSP 228 Cause Task processing takes longer than the monitoring time set Error in real calculation e
421. th TWIN wire end ferrule pe a Plug connector X25 with insulated wire end 0 25 2 5 mm flexible ferrule AWG 22 12 0 5 0 8Nm screw gs 5 mm 0 2 2 5 mm2 4 4 7 1 lb in connection without wire end ferrule AWG 24 12 with insulated wire end 0 25 2 5 mm flexible ferrule AWG 22 12 spring 2 aa 10 mm x n F 0 2 2 5 mm connection thout df I without wire end ferrule AWG 24 12 Shielded cables The following factors decisively determine the effect of the shielded cables gt Good shield connection Ensure a contact surface as large as possible gt Low shield resistance Only use shields with tin plated or nickel plated copper braids shields with steel braids cannot be used gt High overlap rate of the braid At least 70 80 with 90 overlap angle The ECSZSOOOXOB shield mounting kit includes a wire clamp and shield sheet EDBCSXA064 EN 2 0 Lenze 55 56 Electrical installation Power terminals Connection to the DC bus Uc Uc Connection to the DC bus Ug Ug Stop No device protection for DC bus voltage surges In passive axis modules without 24 V supply the charging circuit can be overloaded through DC bus voltage surges Possible consequences gt Destruction of the device Protective measures gt All axis modules in the DC bus connection should be basically supplied with a control voltage of 24 V gt Ifthe total cable length is gt 20
422. than specified under C0174 A current carrying motor phase has failed The current limit value is set too low Ambient temperature Ty gt 40 C or gt 50 C Heatsink is very dirty Wrong mounting position Lenze Remedy Search for cause of short circuit e Check motor cable Use motor cable which is shorter or of lower capacitance Search for cause of short circuit e Check motor cable Check drive dimensioning e Check drive dimensioning e Check setting of C0120 e Check drive dimensioning e Check setting of C0123 e Check drive dimensioning e Check setting of C0127 Use braking unit or regenerative module e Check dimensioning of the brake resistance Check mains voltage Check power supply module Check motor Check motor cable Switch off monitoring C0597 3 e Set higher current limit value via C0599 Contact Lenze e Allow module to cool and ensure better ventilation e Check ambient temperature in the control cabinet Clean heatsink Change mounting position EDBCSXA064 EN 2 0 Fault message No 0051 x053 x054 x055 x057 x058 x061 Display OH1 OH3 OH4 OH5 OH7 OH8 CEO Troubleshooting and fault elimination Description Interior temperature gt 90 C Motor temperature gt 150 C threshold temperature detection via resolver or incremental value encoder Heatsink temperature gt C0122 Interior t
423. the identifier of C0368 is sent with the cycle time set ECSxP The setting is effected automatically depending on C4062 0 switched off CAN AUX sync transmission cycle 257 for CAN bus interface X14 Async telegram with the identifier of C2468 is sent with the set cycle time 0 switched off EDBCSXA064 EN 2 0 System bus CAN CAN AUX configuration 9 Reset node 9 9 Reset node The following changes will only be valid after a reset node Changes of the CAN node addresses and baud rates 2 161 gt Changes of the addresses of process data objects COB IDs General addressing 426 Individual addressing a 164 gt Change of the master slave boot up configuration a 167 Reset node can be activated by switching on the low voltage supply gt the bus system via the network management NMT gt C0358 C2458 1 using the XTkeypad gt CAN bResetNode_ bor CANaux_bResetNode_b TRUE Note If reset node is executed via GDC communication will be interrupted You therefore have to log in again manually or find the devices connected to the bus once again Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0358 Reset node 0 Execute reset node 255 CAN bus interface X4 0 No function 1 CAN reset C2458 Reset node 0 Resetting a node CO 255 CAN bus interface X14 0 No function 1 CAN AUX reset EDBCSXA064 EN 2 0 Lenze 173 System bus CAN CAN AUX config
424. the output X6 S24 via the NC contacts 11 12 of switches 1 and S2 is only switched through in case of a two channel controller switch off This ensures that the output X6 SO will not be at HIGH level if a short circuit occurs in the internal transistor while the drive is not switched off via both channels gt The switching contacts must resist the maximum current of the 24 V DC voltage supply gt All control components switches relays PLC and the control cabinet must meet the requirements of EN ISO 13849 These include for instance Switches relays in enclosure IP54 Control cabinet in enclosure IP54 All other requirements can be found in EN ISO 13849 gt Wiring with wire end ferrules is essential gt Allsafety relevant cables e g control cable for the safety relay feedback contact outside the control cabinet must be protected e g in the cable duct It must be ensured that short circuits between the individual cables cannot occur For further measures see EN ISO 13849 74 Lenze EDBCSXA064 EN 2 0 Electrical installation 5 Control terminals Safe torque off Safe torque off with safety PLC The version safe torque off with safety PLC must ensure the function of the multiple contact switches The following conditions must be met gt The NO contacts only close when the NC contacts are open gt The voltage supply for the brake must be switched off safely in the event of LOW level at X6 SI
425. the parameter data channel 1 gt Identifier calculation Identifier from SDO1 to controller Calculation 1536 node address 1536 5 1541 gt Command Read Request request to read a parameter from the controller Command Value Read request 40hex gt Index calculation Index Calculation 24575 code number 24575 61 24514 5FC2heyx gt Subindex 0 gt Telegram to controller Lenze CA Appendix General information about the system bus CAN Parameter data transfer User data Command Index Index Subindex Data 1 Data 2 Data 3 Identifier Low byte High byte 1541 40hex C2hex 5Fhex 00 00 00 00 gt Telegram from controller User data Command Index Index Subindex Data 1 Data 2 Data 3 Identifier Low byte High byte 1413 43hex C2hex 5 Fhex 00 BOhex 8Fhex 06hex Command Read Response response to the read request 43 Identifier SDO1 from controller 1408 node address 5 1413 Index of the read request 5FC2hex Subindex 0 Data 1 to data 4 00 06 8F BO 430 000 430 000 10 000 43 C EDBCSXA064 EN 2 0 Lenze Data 4 00 Data 4 00 425 14 7 5 426 Appendix General information about the system bus CAN Addressing of the parameter and process data objects Writing parameters The acceleration time C0012 parameter set 1 of the controller with the node address 1 is to be changed to 20 seconds via the SDO 1 parameter data channel 1 gt
426. the process data objects within the range 385 896 8 4 2 Display of the identifier set The identifier which is set for the process data objects can be displayed via C2355 gt C2355 is a display code Settings via C2355 are not possible Code Possible settings IMPORTANT No Name Lenze Selection appl C2355 Identifier for XCAN_IN XCAN_OUT Read only 1 XCAN Id 1 1 2047 Identifier XCAN1_IN 2 XCAN Id Identifier XCAN1_OUT 3 XCAN Id Identifier XCAN2_IN 4 XCAN Id Identifier XCAN2_OUT 5 XCAN Id Identifier XCAN3_IN 6 XCAN Id Identifier XCAN3_OUT EDBCSXA064 EN 2 0 Lenze 149 8 5 Code No C2356 N w A u Code No C2364 150 AIF interface X1 configuration Cycle time XCAN1_OUT XCAN3_ OUT Cycle time XCAN1_OUT XCAN3_OUT The transfer of the output data of XCAN1 OUT XCAN3 OUT can be event or time controlled gt The transmission mode can be configured via code C2356 x Possible settings IMPORTANT Name Lenze Selection appl Time settings for XCAN XCAN times 0 0 1 ms 65000 XCAN boot up time Delay time after mains connection for initialisation through the master XCAN times 0 XCAN1 3_OUT cycle times Factor to task time for process XCAN times 0 data object transmission XCAN times 0 0 event controlled transmission XCAN times 0 XCAN delay time When the Operational NMT status is reached after Pre operational the CANdelay delay time is started After the delay time the
427. tifier of the sync telegram XCAN transmission identifier of the sync telegram Consumer heartbeat COB ID Consumer heartbeat time Producer heartbeat time Emergency object COB ID Emergency object COB ID Inhibit time emergency 395 Appendix Code list Code Possible settings IMPORTANT No Designation Lenze Selection Appl C2373 Sync counter 1 Sync Rate IN 1 1 1 240 XCAN1_IN 2 Sync Rate IN 1 XCAN2_IN 3 Sync Rate IN 1 XCAN3_IN C2374 Sync counter 1 Sync Rate OUT 1 1 1 240 XCAN1_OUT 2 Sync Rate OUT 1 XCAN2_OUT 3 Sync Rate OUT 1 XCAN3_OUT C2375 TX mode for XCANx_OUT 1 XCAN 0 Response to sync XCAN1_OUT Tx Mode 2 XCAN 0 Response to sync XCAN2_OUT Tx Mode 3 XCAN 0 Response to sync XCAN3_OUT Tx Mode 0 Response to sync 1 No response to sync 2 Event 3 Event cycle C2356 superimposed C2376 XCAN1_OUT mask 1 XCAN1 Mask FFFF 0000 hex FFFF Mask for process data output word 1 2 XCAN1 Mask FFFF Mask for process data output word 2 3 XCAN1 Mask FFFF Mask for process data output word 3 4 XCAN1 Mask FFFF Mask for process data output word 4 C2377 XCAN2_OUT mask 1 XCAN2 Mask FFFF 0000 hex FFFF Mask for process data output word 1 2 XCAN2 Mask FFFF Mask for process data output word 2 3 XCAN2 Mask FFFF Mask for process data output word 3 4 XCAN2 Mask FFFF Mask for process data output word 4 C2378 XCAN3_OUT mask 1 XCAN3 Mask FFFF 0000 hex FFFF Mask for process data output word 1 2 XCAN3 Mask FFFF Mask for process data output wo
428. till EDBCSXA064 EN 2 0 1 5 4 1 5 5 Preface and general information 1 System block introduction Access via absolute addresses Access via absolute addresses You can also access the inputs and outputs of the system blocks via absolute addresses according to standard IEC 61131 3 For inputs For outputs a node number lXa b c OXa b c b word address c bit address In this Manual the absolute addresses can be retrieved in the system variable table of the corresponding system block Example Table with the inputs of the SB Inputs_Digital of the ECSxA axis module Variable Data Signal Address Display Display Notes type type code format Controller inhibit takes DIGIN_bCInh_b IX1 0 0 direct effect on the device control DCTRL DIGIN_bin1_b IX1 0 1 DIGIN_bin2_b BOOL binary IX1 0 2 DIGIN_bin3_b IX1 0 3 0443 na DIGIN_bin4_b IX1 0 4 DIGIN_b_safe_standstill_b IX1 0 5 pare ter QUESH former safe standstill Definition of the inputs outputs For connecting the application program with the hardware system blocks are connected with program organisation units POUs POE Input POE Output SB Output SB Input SB POE SB Fig 1 1 Plan Connecting system blocks to a program organisation unit POU Note Inputs and outputs are always classified from the program s point of view gt Logical SB inputs are always hardware side outputs of the ECSXA axis
429. time 168 Speed control feedback system 10 absolute value encoder Hipertace single turn multi turn 110 Absolute value encoder Hipertace single turn multi turn as position and speed encoder Absolute value encoder position encoder resolve 10 speed encoder 114 Absolute value encoder position encoder resolver speed esolver 10 Setting the feedback system sin cos encoder without serial communication 104 D f Resolver as position and speed encoder 10 incremental encoder 104 Bin cos encoder without serial communication 104 I TL sin cos encoder position encoder resolver speed TTL sin cos encoder position encoder resolver speed petting the node address 159 Speed setpoint limitation A States CAN network 4 Setting the voltage thresholds 9 i Status messages 256 281 Status signals display 30 DCTRI_DriveControl drive control 304 Status word Shield connection control signal cables 64 ge riveControl device control Shielded cables Shielding e process data 4 il Va Va UA c A A c c o MD oj jo e system DIOCK descriptions ort circuit monitoring 19 voltage encoder 8 Signal setting digital frequency input S i d 0 Sig p 7 S d Sin cos encoder i Switching frequency changeover 338 o 208 XK without serial Communication as position and speed pychronisation sync id
430. time 3000 CE monit time 0 configured via the code C2382 x Possible settings Name Lenze Selection appl XCAN Conf CE 0 off XCAN Conf CE 0 off XCAN Conf CE 0 off XCAN Conf CE 0 off XCAN Conf CE 0 off XCAN Conf CE 0 off 0 Off Controller inhibit CINH 2 Quick stop QSP Lenze IMPORTANT Configuration of monitoring XCAN no telegrams received XCAN1_IN XCAN2_IN XCAN3_IN Bus off Life guarding event Response to sync reception EDBCSXA064 EN 2 0 8 8 2 Bus off AIF interface X1 configuration 00 Monitoring Bus off If the ECSXA axis module has been decoupled from the system bus due to too many faulty received telegrams the signal BusOffState CE14 is set The response to this can be configured via C2382 4 Code No Name C2382 XCAN Conf CE XCAN Conf CE XCAN Conf CE XCAN Conf CE XCAN Conf CE XCAN Conf CE QU BP WN G Possible settings Lenze Selection appl Off Off Off Off Off Off 0 off Controller inhibit CINH 2 Quick stop OSP o o o o o o Tip IMPORTANT Configuration of monitoring XCAN no telegrams received XCAN1_IN XCAN2_IN XCAN3_IN Bus off Life guarding event Response to sync reception Possible causes of faulty received telegrams may be gt Missing bus termination gt Insufficient shielding gt Potential differences in the grounding of the control electronics gt Bus load is too high See chapter 9 13 3
431. tion Analog input X6 Al Al AG CAN X4 X14 Analog input configuration X3 Resolver X7 Encoder X8 Brake connection X25 Brake supply X6 B B Fig 5 1 Electrical isolation Lenze E Electrical installation 5 Installation according to EMC installation of a CE typical drive system 5 2 Installation according to EMC installation of a CE typical drive system General information gt The electromagnetic compatibility of a machine depends on the type of installation and care taken Especially consider the following Assembly Filters Shielding Earthing gt For diverging installations the evaluation of the conformity to the EMC Directive requires a check of the machine or system regarding the EMC limit values This for instance applies to Use of unshielded cables Use of collective interference filters instead of the assigned RFI filters Operation without RFI filters gt The compliance of the machine application with the EMC Directive is in the responsibility of the user If you observe the following measures you can assume that the machine will operate without any EMC problems caused by the drive system and that compliance with the EMC Directive and the EMC law is achieved If devices which do not comply with the CE requirements concerning noise immunity EN 61000 6 2 are operated close to the axis modules these devices may be electromagnetically affected by t
432. tion will be interrupted You therefore have to log in again manually or find the devices connected to the bus once again EDBCSXA064 EN 2 0 Lenze 167 9 6 168 System bus CAN CAN AUX configuration Setting the boot up time cycle time Setting the boot up time cycle time Boot up time Code Meaning C0356 1 Delay time in ms after mains connection for the initialisation by the master C2456 1 Only valid if C0352 C2452 1 master Normally the Lenze setting 3000 ms is sufficient In a CAN network without a higher level host one node master must initialise the CAN network The master activates the entire network once at a specific instant and thus starts the process data transfer Status changes from pre operational to operational Cycle time for process output data Code Meaning C0356 2 Cycle time in ms for CAN2_OUT CANaux2_OUT in cyclic operation without sync C2456 2 e Setting 0 event controlled data transmission The output data will only be sent if a value changes in the output object C0356 3 Cycle time in ms for CAN3_OUT CANaux3_OUT in cyclic operation without sync C2456 3 e Setting 0 event controlled data transmission The output data will only be sent if a value changes in the output object Activation delay for process output data Code Meaning C0356 4 Delay time in ms for process data transmission via CAN2_OUT CANaux2_OUT or C2456 4 CAN3_OUT CANaux3_OU
433. tional data is immediately attached to the PLC program because the module is not provided with an application memory FLASH Data will be downloaded if the following conditions are met 1 The PLC program in the ECSxA axis module has to be stopped 2 The header of the file attached to the project must have the following structure Name wSizeHeader wDataType dwVersion dwRealSize dwTimeStamp wLicenselnfo wSizeSymbolicName achSymbolicName wCopyToRam dwReserved awSizeAddInfo Data type WORD WORD DWORD DWORD DWORD WORD WORD ACH WORD DWORD DWORD Data length in bytes 2 2 2 2 wSizeSymbolicName 4 190 Content Header length in bytes Data specification identifier e This information can be found under C2131 after data has been downloaded 0 10000 Lenze specific data gt 10000 User data Data version This information can be found under C2132 after data has been downloaded User data length in bytes without header Time stamp of the last data change This information can be found under C2133 after data has been downloaded Reserved for future extensions Length of the symbolic file name Character array including the symbolic file name e This information can be found under C2130 after data has been downloaded Specifying whether the data is automatically copied into the application RAM of the ECSxA axis module after download e Maximum data length 128 kbytes RAM bl
434. tor connection X24 at the bottom Maintain the specified clearances above and below to other installations If the ECSZSOOOXOB shield mounting kit is used an additional clearance is required Ensure unimpeded ventilation of cooling air and outlet of exhaust air Several modules of the ECS series can be installed in the control cabinet next to each other without any clearance The mounting plate of the control cabinet must be electrically conductive must not be varnished In case of continuous vibrations or shocks use shock absorbers Lenze aman as Mechanical installation 4 Mounting with fixing rails standard installation Dimensions 4 2 Mounting with fixing rails standard installation 4 2 1 Dimensions D Note Mounting with ECSZSOOOXOB shield mounting kit gt Mounting clearance below the module gt 195 mm SY SS B E 8 E sa _ 4 AI Ty T I TEREE i U i Ud Li a B 9 H 3S 2 dF 2 ILE sa 2 A al e JU o w o oO H e 1 caan aaa to g 8 Kej Al LL a a _ ECSxA005 Fig 4 1 Dimensions for panel mount
435. toring inside the device C0062 gt C0124 gt fault message OHS5 C0605 Baud rate for operation via AIF interface X1 Communication modules on AIF interface X1 e LECOM A B LI 2102 e PROFIBUS DP 213x Monitoring of the mp3 communication via AIF interface X1 e Under C2382 you can select whether controller inhibit CINH or quick stop QSP is activated when a CEO fault occurs A communication error activates the set CEO response Monitoring is switched off Threshold for 12 x t warning 201 motor 12 x t gt C0127 gt fault message OC8 C0606 Thermal time constant of the 201 motor For calculating the I x t disconnection EDBCSXA064 EN 2 0 Appendix Code list Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0135 Control word 0 System control word DCTRL 0 1 65535 Controller evaluates information as 16 bits binary coded Bit 0 Not assigned Bit 1 Not assigned Bit 2 Not assigned Bit 3 Quick stop OSP Bit 4 Not assigned Bit 5 Not assigned Bit 6 Not assigned Bit 7 Not assigned Bit 8 Operation inhibit DISABLE Bit 9 Controller inhibit CINH Bit10 TRIP SET Bit11 TRIP RESET Bit12 Not assigned Bit13 Not assigned Bit14 Not assigned Bit15 Not assigned C0136 Control words Hexadecimal value is bit coded Read only 1 CTRLWORD 0 hex FFFF Control word C0135 2 CTRLWORD CAN control word 3 CTRLWORD AIF control word C0141 FCODE setval 0 0 Main setpoint FCODE_C141 a
436. type FIX32 32 bit value with sign decimally with four decimal positions To obtain integer values the desired parameter value must be multiplied by 10 000gec The parameters C0135 and C0150 must be transmitted bit coded and without a factor EDBCSXA064 EN 2 0 Lenze 423 14 7 4 2 424 Appendix General information about the system bus CAN Parameter data transfer Error messages User data up to 8 bytes 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Index Index z Command Low byte High byte Subindex Display gt Byte 1 In the command byte the code 128dec Or 80hex indicates that a fault has occurred gt Byte 2 3 and 4 In these bytes the index byte 2 and 3 and subindex byte 4 of the code in which an error occurred are entered gt Byte 5 to 8 In the data bytes 5 to 8 the error code is entered The structure of the error code is reversed to the read direction Example The representation of the error code 06 04 00 41hex in the bytes 5 to 8 lt a Read direction of the error code 41 00 04 06 5 byte 6 byte 7 byte 8 byte Low word High word Low byte High byte Low byte High byte Possible error codes Command 7th byte 8th byte Meaning 80hex 6 6 Wrong index 80hex 5 6 Wrong subindex 80hex 3 6 Access denied Examples of the parameter data telegram Reading parameters The heatsink temperature C0061 value of 43 C is to be read from the controller with node address 5 via
437. ue control with speed limitation 6 SE Ana og CAN Management 253 Meee Outputs CAN Management 7 pode numbers 19 O p 4 ion DID Z Z Q O 1 1 OTO O AN VIO gt ZI Q gt O Aipa O 00 ya 1 U Q D gt ZI structure o e descriptions 1 VO gt ra Q gt me 1 system block variable 20 AN j Q gt Z 00 CANaux Management Outp Y Vi FLA 48 DIRSI ET EVES BYSTEM_FLAGS system tags 347 utputs CANaux Management 280 p AN 3 6 Lenze EDBCSXA064 EN 2 0 A iS Hi Siehe auch manual System bus CAN for Lenze PLC devices assig TAN CAN CAN CAN nmento e plug connectors 81 00 Management 25 nchronization 25 CANaux Management CAN cie ime AIF interface 150 clic process data objects 418 synchronisation 419 determining the instant of transmission fo CAN AN diagnostics CAN interface 157 Isplay O e resulting identitiers 166 event controlled process data objects 420 DI Q O c oj 00 00 A 00 Hi E N N O interface 148 ndividUal addressing LO nterraces Tor system bus connection Contig uration of Li NI CAN bus interfaces 159 mapping o ntertaces for system bus connection configuring nterface 145 making a reset node 17 Indices to codes CAN interface 17 monitoring AIF interface 154 etwork management data 41 operating s
438. unstable gt is carried out by C0417 1 while the motor is idling gt is started after controller enable has been effected It stops automatically after 16 shaft revolutions by selecting a setpoint or by manual rotation in the inhibited state X6 SI1 or X6 SI2 LOW If it is not possible to adjust the resolver due to a fault or a defective cable the original adjustment values can be restored with C0417 2 The GDC contains the parameters or codes to be set in the parameter menu under Motor Feedb Feedback Parameter menu Value 000 encoder setup IT512 5 Ene TTL 512 inc 5V Controller 000 signal direction x8 X8 is input B Motor Feedb 000 feedback possition resolver at X7 000 feedback speed resolver at x7 000 encoder constant input lt 8 1024 incr rev 000 encoder power supply SOV Y ra Motor adjustment O00 resolver adjustment resolver excitation 45 LECOM AIF Interface 000 resolver correction stopped System bus 000 resolver pole pair no 1 O00 setup feedback reference position 0 Inc Fig 6 14 GDC view Commissioning of the feedback system 136 Lenze EDBCSXA064 EN 2 0 Parameter setting 7 General information 7 Parameter setting 7 1 General information gt Controllers and power supply modules can be adapted to your application by setting the parameters A detailed description of the functions can be found in the chapter Commissioning C4 92 gt The parameters for the funct
439. uration System bus management 9 10 System bus management The SB CAN_Management CANaux_Managementis used to gt activate a node reset gt process Communication Error and Bus Off State in the PLC program gt influence the transmission time of CAN2 _OUT CANaux2_OUT and CAN3_OUT CANaux3_OUT ale lt Tip Detailed information on the SB CAN Management can be found in chapter 1253 Detailed information on the SB CANaux_Management can be found in chapter 3 11 0279 174 Lenze EDBCSXA064 EN 2 0 9 11 System bus CAN CAN AUX configuration 9 Mapping of indices to codes Mapping of indices to codes The operating system from V6 0 ofthe ECSxA axis module contains a special CanDSx driver which can be activated by means of the functions of the function library LenzeCanDSxDrv lib By means of this driver indices of the ECSxA axis modules and other Lenze PLCs can be assigned to another code than the one that is assigned automatically Note gt Each Lenze code is firmly assigned to an index via the following formula Index 5FFFhex code Index 2457 5dec code gt The function of the CanDSx driver is restricted to the system bus CAN Functional principle using the following example Problem Users have equipped the ECSxA axis module with a function which can be parameterised via the user code C3200 5 The code C3200 is automatically assigned to the index 21375 dec Index 2
440. uration master frequency input signal You configure the type of the master frequency input signal via C0427 C0427 0 2 phases N N o o DI gt Signal sequence with phase shift CW rotation C0427 1 A speed B direction N N DFW dI gt Control of the direction of rotation via track B C0427 2 A or B speed or direction gt z t N N OD DI Control of speed and direction of rotation via track A or track B Transfer function DFIN_nIn_v f Hz Example gt Input frequency 200 kHz gt C0420 2048 Track A Track Track CW rotation Track A leads by 90 DFIN_nIn_v positive value CW rotation Transmits the speed FALSE DFIN_nIn_v positive value CW rotation Transmits speed and direction of rotation DFIN_nIn_v positive value FALSE 60 CCW rotation Track A lags by 90 DFIN_nIn_v negative value CCW rotation Transmits the speed TRUE DFIN_nIn_v negative value CCW rotation FALSE Transmits speed and direction of rotation DFIN_nIn_v negative value 214 60 Number of incr from C0420 15000 DFIN_nin_v rpm 200000 Hz 5859 rpm 2048 Lenze EDBCSXA064 EN 2 0 System modules 13 DFIN_IO_DigitalF
441. ure of safety instructions AN Danger characterises the type and severity of danger Note describes the danger and gives information about how to prevent dangerous situations Pictograph and signal word Stop Application notes Pictograph and signal word Note Gg Tip Meaning Danger of personal injury through dangerous electrical voltage Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken Danger of personal injury through a general source of danger Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken Danger of property damage Reference to a possible danger that may result in property damage if the corresponding measures are not taken Meaning Important note to ensure troublefree operation Useful tip for simple handling Reference to another documentation Special safety instructions and application notes for UL and UR Pictograph and signal word Warnings WA Warnings EDBCSXA064 EN 2 0 Meaning Safety or application note for the operation of a UL approved device in UL approved systems Possibly the drive system is not operated in compliance with UL if the corresponding measures are not taken Safety or application note for the operation of a UR approved device in UL approved systems Possibly the drive system is not operated
442. ut feedback LOW During operation HIGH Safe torque off former safe standstill active Connection motor holding brake Brake connection Brake connection Low voltage supply motor holding brake Brake supply Brake supply Lenze Electrical data 24V DC 0 7 A max 1 4 A short circuit proof 23 30 V DC max 1 5 A Set the brake voltage so that the permissible voltage at the brake will not be exceeded or the values do not fall below the threshold EDBCSXA064 EN 2 0 System modules 13 FCODE_FreeCode node number 141 13 19 FCODE_FreeCode node number 141 At Lenze drive parameters are called codes By changing the code values the controller can be adapted to the corresponding application without any additional programming effort This SB provides different variables The variables can be directly read out by means of the assigned free codes of the ECSXA axis module and can be processed in the PLC program FCODE_FreeCode C0017 gt rpm TO INT FCODE_nC17_a FCODE_nC26_a T00267 FCODE_nC26_a COSI Med TO INT FCODE_nC27_a T00277 l eet FCODE_nC27_a C0027 2 gt M FCODE_nC32_a C0032 gt INT Sa FCODE_nC37_a
443. ve parameter set with GDC in the parameter set file EDBCSXA064 EN 2 0 Lenze 95 6 4 6 4 1 96 Commissioning Setting of mains data Selecting the function of the charging current limitation Setting of mains data In GDC you can find the parameters and codes to be set in the parameter menu under Code list Parameter menu LE Motor feedback systems LE Monitoring LEE Motionbus CAN p lt 4 000 Mains DC bus voltage threshold LU QU ins 400V brake LU C0174 DU B00V 790V Le Systembus CANaux 14 C0174 000 LU DEus indervolage threshold i 60 C0175 000 Current limitation charge relay Active relay bypass resistor LU dependent HE AIF communication modules LE Terminal 1 0 LO FCODE freely configurable codenu Le PLC flags a LE Identification Fig 6 1 GDC view Network data in the code list Selecting the function of the charging current limitation The ECS axis modules are provided with a charging current limitation by means of charge resistors and charge relays In the Lenze setting the charging current limitation is activated C0175 1 At mains connection the charge relay remains open for a while so that the charging current of the DC bus is limited by the charging resistors When a certain voltage level has been reached the charging resistors are short circuited by switching on closing the charge relay contacts Stop gt If the DC bus voltage is generated with an ECSxE power sup
444. w voltage supply gt Reset node via the bus system by the network management NMT gt Reset node with C0358 2458 1 via the XT keypad 0A Note If reset node is executed via GDC communication will be interrupted You therefore have to log in again manually or find the devices connected to the bus once again EDBCSXA064 EN 2 0 Lenze 163 System bus CAN CAN AUX configuration Individual addressing 9 3 Individual addressing Under C0353 C2453 you can determine whether the identifier COB ID is defined with a basic identifier a 426 and the node address under C0350 C2453 or individually by means of an ID offset The ID offset can be selected under C0354 C2454 For all process data input and output objects the identifier is calculated as follows Identifier COB ID 384 ID offset C0354 or C2454 Note The identifier of the telegram to be sent must correspond to the identifier of the process data input object to be addressed Code Possible settings No Designation Lenze Selection Appl C0353 1 CAN addr sel 2 CAN addr sel 3 CAN addr sel C0354 1 CAN addr 129 2 CAN addr 1 3 CAN addr 257 4 CAN addr 258 5 CAN addr 385 6 CAN addr 386 C2453 1 CANa addr sel 0 2 CANa addr sel 0 3 CANa addr sel 0 164 CAN node address C0350 CAN node address C0350 CAN node address C0350 0 C0350 auto 1 C0354 man 1 1 CAN node address C2450 CAN node address C2450 CAN node
445. w voltage supply is switched on and entered under C2450 CAN node address The switch position for the baud rate is not taken over under CAN AUX C2451 CAN baud rate EDBCSXA064 EN 2 0 Lenze 159 System bus CAN CAN AUX configuration Addressing of parameter and process data objects 9 2 Addressing of parameter and process data objects The CAN bus system is based on a message oriented data exchange between a transmitter and many receivers Thus all nodes can transmit and receive messages at the same time The identifier in the CAN telegram also called COB ID Communication Object Identifier controls which node is to receive a transmitted message With the exception of the network management NMT and the sync telegram Sync the identifier contains the node address of the drive besides the basic identifier Identifier COB ID basic identifier adjustable node address node ID The basic identifier is preset with the following values Direction Basic identifier Object to the from the dec hex ECS module ECS module NMT 0 0 Sync 128 80 XCAN1_IN RPDO1 CANI IN X 512 200 PDO1 CANaux1_IN Process data channel 1 XCAN1_OUT TPDO1 CAN1_OUT X 384 180 CANaux1_OUT XCAN2_IN RPDO2 CAN2 IN X 640 280 PDO2 CANaux2_IN Process data channel 2 XCAN2_OUT TPDO2 CAN2 OUT X 641 281 CANaux2_OUT XCAN3_IN RPDO3 CAN3_IN X 768 300 PDO3 CANaux3_IN Process data channel 3 XCAN3_OUT TPDO3 CAN3_OUT X 769 301 CANaux3_OUT SDO1 X 1536 600 P
446. witched on the initialisation process starts During this phase the controller is not involved in the data exchange on the bus Furthermore a part of the initialisation or the entire initialisation process can be executed in each NMT status by transmitting different telegrams see state transitions All parameters already set will then be written again with their standard values After the initialisation is completed the controller is in the Pre Operational status The controller can receive parameter data The process data is ignored The controller can receive parameter data and process data Only network management telegrams can be received Lenze EDBCSXA064 EN 2 0 State transitions Initialisation Pre Operational Fig 14 5 State transition 1 2 Command hex Appendix 14 General information about the system bus CAN Network status after change Initialisation Pre operational Communication phases of the CAN network NMT E82ZAFU004 State transitions in the CAN network NMT Effect on process or parameter data after state change When the mains is switched on the initialisation is started automatically During the initialisation the controller is not involved in the data exchange After the initialisation is completed the node changes automatically to the Pre Operational status In this phase the master decides how the controllers take part in the communicat
447. x Memories RAM memory access via codes Possible settings IMPORTANT Designation Lenze Selection Appl 0 Offset address within the RAM 356 block selected via C0506 0 1 65532 1 Selection of the RAM block for CO 356 access via C0509 RAM block 1 RAM block 2 0 Value read from the RAM block CO 356 e After reading the pointer to the memory address is automatically incremented by 4 bytes N 0 1 65532 0 Value to be written into the RAM CO 35q4 block e After writing the pointer to the memory address is automatically incremented by 4 bytes 0 1 65532 C0509 CmpChecksRa 0 Check sum verification upsa m 0 Inactive Stop the PLC during the check sum verification to avoid a 1 Active time out when reading back the code Auto increment access Reading writing of the corresponding 4 data bytes is effected by means of the auto increment access i e the pointer to the corresponding address in the selected RAM block is automatically incremented by 4 bytes after every reading of the code C0507 or after writing of the code C0508 Example reading of successive double integer values from the RAM block by means of auto increment access auto increment auto increment 4 bytes 4 bytes C0507 C0507 C0507 4 bytes 4 bytes 4 bytes ECSXA297 Fig 14 3 Example auto increment access EDBCSXA064 EN 2 0 Lenze 357 14 4 358 Appendix
448. y hazardous voltages until up to 3 minutes after power off Possible consequences gt Death or severe injuries when touching the device Protective measures gt Replace fuses in the deenergised state only Set controller inhibit CINH for all axis modules in DC bus operation and disconnect all power supply modules from the mains Lenze 57 5 Electrical installation Power terminals Connection plans 5 3 2 Connection plans O Observe the notes in the detailed documentation of the power supply module Minimum wiring for internal brake resistor The ECSEE and ECSDE power supply modules are provided with an integrated brake resistor For using the internal brake resistor carry out the following wiring gt Jumper between X22 BRO and X22 UG internal brake resistor connected with brake transistor gt Jumper between X6 T1 and X6 T2 temperature monitoring of non installed external brake resistor deactivated i L1 e Sie gt L2 L3 m s N
449. ystem modules 13 AIF2_IO_AutomationInterface node number 42 Outputs_AIF2 This SB is used as an interface for output signals e g setpoints actual values to attached fieldbus modules e g INTERBU The process image is S PROFIBUS DP gt created in the cyclic task by means of a fixed set time interval of 10 ms gt created in an interval task within the time set for this task gt read at the beginning of the task and written at its end O Please read the documentation for the connected fieldbus module Outputs_AIF2 ECSXA204 Notes AIF2_nOutW1_a 16 bits Byte yl AIF2_bFDO0_b Cd 16 binary ry or AIF2_bFDO15_b Signals Byte 2 AIF2_nOutW2_a 16 bits Byte 3 AIF2_bFDO16_b i n 16 binary se AIF2_bFDO31_b signals Byte 4 J x1 16 bits Low Word Byte AIF2_dnOutD1 P oo aa 5 16 bits T Ga High Word Byte 6 AIF2_nOutW3_a 16 bits Byte 7 AIF2_nOutW4_a 16 bits di Byte 8 Fig 13 6 System block Outputs AIF2 System variables Variable Data Signal Address Display Display type type code format AIF2_nOutW1_a OWA42 0 AIF2_nOutW2_a OWA42 1 Int AIF2_nOutW3_a nteger analog QWA2 2 AIF2_nOutW4_a OWA42 3 AIF2_bFDOO_b QX42 0 0 AIF2_bFDO15_b si di QX42 0 15 AIF2_bFDO16_b gia may 0x42 1 0 7 7 AIF2_bFDO31_b KOX42 1 15 AIF2_dnOutD1_p Double position 0D42 0 Intege
450. ze 355 Appendix Memories RAM memory access via codes 14 3 5 RAM memory access via codes Note gt In the system task the memory access is processed at the same time as the PLC program This is why the processing time depends on the workload of the system gt If you want to access the RAM memory from the IEC 61131 program you can use the functions of the LenzeMemDrv lib function library for this purpose If you want to access the RAM memory of the ECSxA axis module by external controls or PC tools e g in order to manipulate the data of motion profiles online you can implement a RAM memory access by means of the following codes RAM block 1 Write protection C0504 1 RAM block selection C0506 read lt C0507 4 bytes write C0508 4 bytes block 2 Write protection C0504 2 0 ECSXA296 Fig 14 2 Codes for RAM memory access Codes Code Possible settings IMPORTANT No Designation Lenze Selection Appl C0504 Activate deactivate write LO 356 protection for RAM memory e Incase of activated write protection writing on the RAM memory via codes or functions from the function library LenzeMemDrv lib not possible 1 0 0 Write protection RAM block 1 inactive 1 Write protection RAM block 1 active 2 0 0 Write protection RAM block 2 inactive 1 Write protection RAM block 2 active 356 Lenze EDBCSXA064 EN 2 0 Code No C0505 C0506 C0507 C0508 Appendi

Operating Instructions ECSxA Axis module Application (V8.x)

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