Lenze ECS series User manual

EDBCSXS064
.LKn
Ä.LKnä
Operating Instructions
ECS

ECSESxxx / ECSDSxxx / ECSCSxxx
Axis module ˘ "Speed & Torque"


2 EDBCSXS064 EN 4.0
Please read these instructions before you start working!
Follow the enclosed safety instructions.
This documentation is valid for ECSxS axis modules, application software (A−SW) "Speed & Torque", as
of version:

ECS x S xxx C 4 x xxx XX xx xx
Device type 
ATTENTION
L ´appareil est sous tension
pendant 180s après la coupure
de la tension réseau
WARNING
Device is live up to 180s
after removing
mains voltage

Design
E = standard panel−mounted unit, IP20
D = push−through technique (thermally separated)
C = cold−plate technique
Application
S = "Speed and Torque"
Peak current
004 = 4 A
008 = 8 A
016 = 16 A
032 = 32 A
048 = 48 A
064 = 64 A
Fieldbus interface
C = MotionBus/system bus (CAN)
Voltage class
4 = 400 V/500 V
Technical version
B = standard
V = coated
I = for IT systems, uncoated
K= for IT systems, coated
Variant
042 = Motion CiA402
Hardware version
1A or higher
Operating software version (B−SW)
8.0 or higher
0Fig. 0Tab. 0
© 2013 Lenze Automation GmbH, Hans−Lenze−Str. 1, D−31855 Aerzen
No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze Automa-
tion GmbH.
All information given in this documentation has been selected carefully and complies with the hardware 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.

3
EDBCSXS064 EN 4.0
ECSEA_003A


4 EDBCSXS064 EN 4.0
Scope of supply
Position Description Quantity
A ECSS... axis module 1
Accessory kit with fixing material corresponding to the design ():
l"E" − standard panel−mounted unit
l"D" − push−through technique
l"C" − cold−plate technique
1
Mounting Instructions 1
Drilling jig 1
Functional earth conductor (only ECSDS...) 1
Note!
The ECSZA000X0B connector set must be ordered separately.
Connections and interfaces
Position Description Detailed
information
X23 Connections
lDC−bus voltage
lPE
55
BLEDs: Status and fault display
X1 Automation interface (AIF) for
lCommunication module
lOperating module (keypad XT)
80
163
x2 PE connection of AIF
X3 Analog input configuration 70
X4 CAN connection
lMotionBus (CAN) / for ECSxA: System bus (CAN)
lInterface to the master control
81
X14 CAN−AUXconnection
lSystem bus (CAN)
lPC interface/HMI for parameter setting and diagnostics
X6 Connections
lLow−voltage supply
lDigital inputs and outputs
lAnalog input
l"Safe torque off" (formerly "safe standstill")
65
69
70
71
S1 DIP switch
lCAN node address
lCAN baud rate
169
X7 Resolver connection 87
X8 Encoder connection
lIncremental encoder (TTL encoder)
lSin/cos encoder
88
X25 Brake control connection 62
X24 Motor connection 61
Status displays
LED Operating state Check
Red Green
Off On Controller enabled, no fault
Off Blinking Controller inhibited (CINH), switch−on inhibit Code C0183
Blinking Off Fault/error (TRIP) active Code C0168/1
Blinking On Warning/FAIL−QSP active Code C0168/1

Contents i
5
EDBCSXS064 EN 4.0
1 Preface and general information 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 About these Operating Instructions 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Terminology used 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2 Code descriptions 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.3 Signal types and scaling 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Features of the ECSxS axis module 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Scope of supply 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Legal regulations 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Safety instructions 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General safety and application notes for Lenze controllers 19. . . . . . . . . . . . . . . . . .
2.2 Thermal motor monitoring 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Forced ventilated or naturally ventilated motors 24. . . . . . . . . . . . . . . . . . .
2.2.2 Self−ventilated motors 25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Residual hazards 27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Safety instructions for the installation according to UL 29. . . . . . . . . . . . . . . . . . . . .
2.5 Notes used 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Technical data 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 General data and operating conditions 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Rated data 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Current characteristics 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1 Increased continuous current depending on the control factor 35. . . . . . .
3.3.2 Device protection by current derating 38. . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Mechanical installation 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Important notes 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Mounting with fixing rails (standard installation) 40. . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Dimensions 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.2 Mounting steps 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Mounting with thermal separation (push−through technique) 42. . . . . . . . . . . . . . .
4.3.1 Dimensions 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2 Mounting steps 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Mounting in cold−plate design 46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.1 Dimensions 47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.2 Mounting steps 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contentsi
6 EDBCSXS064 EN 4.0
5 Electrical installation 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Installation according to EMC (installation of a CE−typical drive system) 49. . . . . . .
5.2 Power terminals 52. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 Connection to the DC bus (+UG, −UG) 55. . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 Connection plan for mimimum wiring with
internal brake resistor 57. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3 Connection plan for mimimum wiring with
external brake resistor 59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.4 Motor connection 61. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.5 Motor holding brake connection 62. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.6 Connection of an ECSxK... capacitor module (optional) 64. . . . . . . . . . . . . .
5.3 Control terminals 65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.1 Digital inputs and outputs 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.2 Analog input 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.3 Safe torque off 71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Automation interface (AIF) 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5 Wiring of system bus (CAN) 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6 Wiring of the feedback system 86. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.1 Resolver connection 87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.2 Encoder connection 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.3 Digital frequency input/output (encoder simulation) 91. . . . . . . . . . . . . . .
6 Commissioning 93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Before you start 93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Commissioning steps (overview) 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Carrying out basic settings with GDC 95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Loading the Lenze setting 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Setting of mains data 98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5.1 Selecting the function of the charging current limitation 98. . . . . . . . . . . .
6.5.2 Setting the voltage thresholds 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6 Entry of motor data for Lenze motors 100. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7 Holding brake configuration 102. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.8 Setting of the feedback system for position and speed control 103. . . . . . . . . . . . . . .
6.8.1 Resolver as position and speed encoder 104. . . . . . . . . . . . . . . . . . . . . . . . . .
6.8.2 TTL/SinCos encoder as position and speed encoder 106. . . . . . . . . . . . . . . . .
6.8.3 TTL/SinCos encoder as position encoder and resolver
as speed encoder 109. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.8.4 Absolute value encoder as position and speed encoder 113. . . . . . . . . . . . .
6.8.5 Absolute value encoder as position encoder and resolver
as speed encoder 117. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents i
7
EDBCSXS064 EN 4.0
6.9 Configuring the digital inputs and outputs 121. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.9.1 Setting the polarity 121. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.9.2 Setting the direction of rotation 121. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.9.3 Change of the terminal assignment 122. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.10 Selecting the operating mode/control structure 126. . . . . . . . . . . . . . . . . . . . . . . . . . .
6.10.1 Speed control with setpoint via analog input 127. . . . . . . . . . . . . . . . . . . . . .
6.10.2 Speed control with setpoint via AIF 130. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.10.3 Speed control with setpoint via MotionBus (CAN) 132. . . . . . . . . . . . . . . . . .
6.10.4 Torque control with setpoint via analog input 134. . . . . . . . . . . . . . . . . . . . .
6.10.5 Torque control with setpoint via AIF 137. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.10.6 Torque control with setpoint via MotionBus (CAN) 139. . . . . . . . . . . . . . . . .
6.11 Entry of machine parameters 141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.12 Setpoint selection 142. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.13 Controller enable (CINH = 0) 143. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.14 Quick stop (QSP) 144. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.15 Operation with motors from other manufacturers 145. . . . . . . . . . . . . . . . . . . . . . . . .
6.15.1 Entering motor data manually 145. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.15.2 Checking the direction of rotation of the motor feedback system 148. . . . .
6.15.3 Adjusting current controller 149. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.15.4 Effecting rotor position adjustment 151. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.16 Optimising the drive behaviour after start 154. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.16.1 Speed controller adjustment 154. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.16.2 Adjustment of field controller and field weakening controller 157. . . . . . . .
6.16.3 Resolver adjustment 160. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contentsi
8 EDBCSXS064 EN 4.0
7 Parameter setting 161. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1 General information 161. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 Parameter setting with "Global Drive Control" (GDC) 162. . . . . . . . . . . . . . . . . . . . . . .
7.3 Parameter setting with the XT EMZ9371BC keypad 163. . . . . . . . . . . . . . . . . . . . . . . .
7.3.1 Connecting the keypad 163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.2 Description of the display elements 164. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.3 Description of the function keys 166. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.4 Changing and saving parameters 167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8 Configuration 168. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1 Configuring MotionBus/system bus (CAN) 169. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.1 Setting CAN node address and baud rate 169. . . . . . . . . . . . . . . . . . . . . . . . .
8.1.2 Individual addressing 173. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.3 Defining boot−up master in the drive system 175. . . . . . . . . . . . . . . . . . . . . .
8.1.4 Setting of boot−up time/cycle time 176. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.5 Executing a reset node 178. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.6 Axis synchronisation (CAN synchronisation) 179. . . . . . . . . . . . . . . . . . . . . .
8.1.7 Monitoring of the synchronisation (sync time slot) 181. . . . . . . . . . . . . . . . .
8.1.8 Axis synchronisation via CAN 182. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.9 Axis synchronisation via terminal X6/DI1 183. . . . . . . . . . . . . . . . . . . . . . . . .
8.2 Node guarding 184. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3 CAN management 186. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4 Diagnostics codes 187. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.1 CAN bus status (C0359) 187. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.2 CAN telegram counter (C0360) 188. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.3 CAN bus load (C0361) 189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.5 Remote parameterisation (gateway function) 190. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents i
9
EDBCSXS064 EN 4.0
9 Monitoring functions 192. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1 Fault responses 193. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2 Overview of monitoring functions 194. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3 Configuring monitoring functions 198. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.1 Monitoring times for process data input objects 198. . . . . . . . . . . . . . . . . . .
9.3.2 Time−out monitoring for activated remote parameterisation 200. . . . . . . .
9.3.3 Short circuit monitoring (OC1) 201. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.4 Earth fault monitoring (OC2) 201. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.5 Motor temperature monitoring (OH3, OH7) 202. . . . . . . . . . . . . . . . . . . . . . .
9.3.6 Heatsink temperature monitoring (OH, OH4) 204. . . . . . . . . . . . . . . . . . . . . .
9.3.7 Monitoring of internal device temperature (OH1, OH5) 205. . . . . . . . . . . . .
9.3.8 Function monitoring of thermal sensors (H10, H11) 206. . . . . . . . . . . . . . . .
9.3.9 Current load of controller (I x t monitoring: OC5, OC7) 207. . . . . . . . . . . . . .
9.3.10 Current load of motor (I2 x t monitoring: OC6, OC8) 210. . . . . . . . . . . . . . . .
9.3.11 DC−bus voltage monitoring (OU, LU) 214. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.12 Voltage supply monitoring − control electronics (U15) 217. . . . . . . . . . . . . .
9.3.13 Motor phase failure monitoring (LP1) 217. . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.14 Monitoring of the resolver cable (Sd2) 218. . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.15 Motor temperature sensor monitoring (Sd6) 219. . . . . . . . . . . . . . . . . . . . . .
9.3.16 Monitoring of the absolute value encoder initialisation (Sd7) 220. . . . . . . .
9.3.17 Sin/cos signal monitoring (Sd8) 221. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.18 Monitoring of the speed system deviation (nErr) 222. . . . . . . . . . . . . . . . . . .
9.3.19 Monitoring of max. system speed (NMAX) 223. . . . . . . . . . . . . . . . . . . . . . . .
9.3.20 Monitoring of the rotor position adjustment (PL) 224. . . . . . . . . . . . . . . . . .
10 Diagnostics 225. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1 Diagnostics with Global Drive Control (GDC) 225. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2 Diagnostics with Global Drive Oscilloscope (GDO) 226. . . . . . . . . . . . . . . . . . . . . . . . .
10.2.1 GDO buttons 227. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3 Diagnostics with the XT EMZ9371BC keypad 228. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4 Diagnostics with PCAN−View 229. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.1 Monitoring of telegram traffic on the CAN bus 229. . . . . . . . . . . . . . . . . . . .
10.4.2 Setting all CAN nodes to the "Operational" status 231. . . . . . . . . . . . . . . . . .

Contentsi
10 EDBCSXS064 EN 4.0
11 Troubleshooting and fault elimination 232. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1 Fault analysis 232. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1.1 Fault analysis via the LED display 232. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1.2 Fault analysis with keypad XT EMZ9371BC 232. . . . . . . . . . . . . . . . . . . . . . . .
11.1.3 Fault analysis with the history buffer 233. . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1.4 Fault analysis via LECOM status words (C0150/C0155) 235. . . . . . . . . . . . .
11.2 Malfunction of the drive 237. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3 Fault messages 238. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.1 Causes and remedies 238. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3.2 Reset fault messages (TRIP−RESET) 246. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12 Function library 247. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1 AIF (Automation interface management) 247. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2 AIF1In 248. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3 AIF1Out 251. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4 AIF2In 256. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.5 AIF2Out 258. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6 AIF3In 261. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.7 AIF3Out 263. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.8 AIn1 266. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.9 CAN (CAN management) 267. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.10 CANSync (CAN bus synchronisation) 270. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.11 CAN1In 273. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.12 CAN1Out 276. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.13 CAN2In 282. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.14 CAN2Out 285. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.15 CAN3In 288. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.16 CAN3Out 291. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.17 DCTRL 294. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.17.1 Quick stop (QSP) 297. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.17.2 Operation inhibit (DISABLE) 297. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.17.3 Controller inhibit (CINH) 297. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.17.4 Setting TRIP (TRIP−SET) 298. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.17.5 Resetting TRIP (TRIP−RESET) 298. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.17.6 Axis module status 299. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.18 DFIN (master frequency input) 301. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.19 DFOUT (master frequency output) 304. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.20 DigIn (freely assignable digital inputs) 307. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.21 DigOut (freely assignable digital outputs) 308. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents i
11
EDBCSXS064 EN 4.0
12.22 FCODE (free codes) 309. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.23 FIXED (output of constant signals) 312. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.24 InNeg 313. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.25 OutNeg 315. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.26 SYS 317. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.27 Speed (speed control) 318. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.27.1 Changing the direction of rotation 325. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.27.2 Setpoint processing 326. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.27.3 Setting of motor control 332. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.27.4 Holding brake control 340. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.28 Torque (torque control) 343. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.28.1 Torque control with speed limitation 349. . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.28.2 Changing the direction of rotation 350. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.28.3 Setpoint processing 351. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.28.4 Setting of motor control 354. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.28.5 Holding brake control 360. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13 Appendix 363. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1 Code table 363. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2 Selection lists for signal linking 428. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.1 List of the digital signal sources 428. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.2 List of the analog signal sources 437. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2.3 List of the phase signal sources 440. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.3 General information about the system bus (CAN) 441. . . . . . . . . . . . . . . . . . . . . . . . . .
13.4 Communication with MotionBus/system bus (CAN) 442. . . . . . . . . . . . . . . . . . . . . . .
13.4.1 Structure of the CAN data telegram 442. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.2 Communication phases of the CAN network (NMT) 444. . . . . . . . . . . . . . . .
13.4.3 Process data transfer 447. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.4 Parameter data transfer 454. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.5 Addressing of the parameter and process data objects 460. . . . . . . . . . . . . .
13.5 Overview of accessories 462. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.5.1 Connector sets 462. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.5.2 Shield mounting kit 462. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.5.3 Components for operation and communication 463. . . . . . . . . . . . . . . . . . .
13.5.4 Brake resistor 464. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.5.5 Mains fuses 466. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.5.6 Mains chokes 467. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.5.7 RFI filters 468. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14 Index 469. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Preface and general information
About these Operating Instructions
1

12 EDBCSXS064 EN 4.0
1 Preface and general information
1.1 About these Operating Instructions
These Operating Instructions will assist you in connecting and commissioning the ECSxS...
axis modules.
They contain safety instructions which must be observed!
All persons working on and with the ECSxS... axis modules must have the Operating
Instructions available and must observe the information and notes relevant for their work.
The Operating Instructions must always be in a complete and perfectly readable state.

Preface and general information
About these Operating Instructions
Terminology used
1
13
EDBCSXS064 EN 4.0
1.1.1 Terminology used
Term In the following text used for
Power supply module ECSxE... power supply module
ECSxE...
Capacitor module ECSxK... capacitor module
ECSxK...
Axis module
Controller
Standard device
Axis module of the ECS series
lECSxS... − "Speed and Torque"
lECSxP... − "Posi and Shaft"
lECSxM... − "Motion"
lECSxA... − "Application"
ECSxS...
ECSxP...
ECSxM...
ECSxA ...
Drive system ECS drive system consisting of:
lECSxE... power supply module
lAxis module ECSxS... / ECSxP... / ECSxM... / ECSxA...
lECSxK series capacitor module (optional)
lfurther Lenze drive components (accessories)
24 V supply
Low−voltage supply
Voltage supply
lof the control card, voltage range 20 ... 30 V DC (±0 V)
lof the "safe torque off" function (formerly "safe standstill"), voltage range
18 ... 30 V DC (±0 V)
lof the motor holding brake, voltage range 23 ... 30 V DC (±0 V)
AIF Automation InterFace
System bus (CAN) Lenze standard bus system based on CANopen for
lcommunication with a higher−level host system (PLC) or further controllers.
lparameter setting and diagnostics.
MotionBus (CAN) The "MotionBus (CAN)" term expresses the functionality of the CAN interface X4 in
case of ECSxS/P/M... axis modules, where communication takes place using a
higher−level host system (PLC) or further controllers exclusively via the X4 interface.
Interface X14 (CAN−AUX) is exclusively used for parameter setting and diagnostics.
DDS Drive PLC Developer Studio
(Lenze software for PLC programming acc. to IEC 61131)
GDC Global Drive Control
(Lenze software for parameter setting and diagnostics)
GDO Global Drive Oscilloscope
(additional diagnostic tool of the GDC)
Cxxxx Code Cxxxx (e.g. C0351)
Parameters which serve to parameterise or monitor the controller.
Cxxxx/y Subcode y of code Cxxxx (e. g. C0470/3 = subcode 3 of code C0470)
Xk/y Terminal y on terminal strip Xk (e.g. X6/B+ = terminal B+ on terminal strip X6)

Preface and general information
About these Operating Instructions
Code descriptions
1

14 EDBCSXS064 EN 4.0
1.1.2 Code descriptions
Lenze codes are described in the form of tables with the following structure:
Column Abbreviation Meaning
No. Cxxxx Code no. Cxxxx
1Subcode 1 of Cxxxx
2Subcode 2 of Cxxxx
Cxxxx Changed input value of the code or subcode is accepted after pressing
.
[Cxxxx] Changed input value of the code or subcode is accepted after pressing
 when the controller is inhibited.
Name LCD display of the keypad XT EMZ9371BC
Lenze/{Appl.} xLenze setting:
lValue at the time of delivery or after loading the Lenze setting using
C0002.
{xxx...} Different application initialisation value
lValue at the time of delivery
lAfter loading the Lenze setting using C0002, the application
initialisation value is overwritten with the Lenze setting.
lThe application initialisation values can be restored by loading the
application software with "Global Drive Loader" (GDL).
àThe "Important" column contains further information
Selection 1 {%} 99 minimum value {unit}maximum value
IMPORTANT Short code description
Example
Code Possible settings IMPORTANT
No. Designation Lenze/
{Appl.}
Selection
C0003 Par save 0Non−volatile saving of parameter
set
0No response
1Save parameter set
C1192 Selection of resistance
characteristic for PTC
1Char.: OHM 1000
{0}
0 {1 W} 30000 PTC characteristic:
resistance R1 at T1
2Char.: OHM 2225 PTC characteristic:
resistance R2 at T2

Preface and general information
About these Operating Instructions
Signal types and scaling
1
15
EDBCSXS064 EN 4.0
1.1.3 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:
ƒdigital and analog signals
ƒposition and speed signals
The identifier of the corresponding input/output variable has an ending (starting with an
underscore). It indicates the signal type.
Signal Ending Memory Scaling
(external size ºinternal size)
Type Symbol
Analog _a (analog) 16 Bit1 100 % º16384
Digital _b (binary) 1 bit 0 ºFALSE; 1 ºTRUE
Angular
difference or
speed (rot.)
_v (velocity) 16 Bit1 15000 rpm º16384
lAngular difference/speed ref. to 1 ms
lNormalisation example:
1 motor revolution +65536 [inc]
Variable value (..._v) +15000
60000 [ms] @65536 [inc] +16384 ƪinc
msƫ
Speed (on motor side) +15000 [rpm] +15000
60 [s]
Angle or position _p (position) 32 Bit 1 motor revolution º65536

High Word Low Word 031

Direction (0 ºclockwise rotation; 1 ºcounter−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

Preface and general information
Features of the ECSxS
1

16 EDBCSXS064 EN 4.0
1.2 Features of the ECSxS axis module
ƒSafety function "safe torque off" (formerly "safe standstill")
ƒSpeed control/torque control with the subfunctions:
– Selectable direction of rotation
– Setpoint conditioning
– Motor control
– Brake control
– Monitoring functions
ƒThe functions are described as function blocks (FB) according to IEC 61131−3 (see
chapter "12 Function library" (247)).
ƒSelectable control interfaces (via code C3005):
– Automation interface (AIF)
– CAN (PDO1 (sync−based), PDO2, PDO3)
ƒDouble CAN ON BORD
–MotionBus (CAN):
Interface X4 "CAN" (PDO1, Sync−based) for communicating with a higher−level
host system (PLC) or further controllers.
–System bus (CAN):
Interface X14 "CAN−AUX" for parameter setting and diagnostics
ƒAutomation interface (AIF)
– Connection to other fieldbus systems with Lenze communication modules
(e.g. EMF2133IB PROFIBUS−DP)
– Connection of the XT EMZ9371BC keypad for parameter setting and diagnostics
ƒSupported feedback systems:
– Resolver with and without position storage
– Encoder (incremental encoder (TTL encoder), sin/cos encoder)
ƒCommissioning, parameter setting and diagnostics with the Lenze parameter
setting and operating program "Global Drive Control" (GDC) or the XT EMZ9371BC
keypad

Preface and general information
Scope of supply
1
17
EDBCSXS064 EN 4.0
1.3 Scope of supply
The scope of supply of the ECSxS... axis module includes:
ƒStandard device
ƒAccessory kit with fixings according to the design:
– "E" − panel−mounted device
– "D" − push−through technique
– "C" − cold−plate technique
ƒMounting Instructions
ƒDrilling jig
ƒFunctional earth conductor (only ECSDS...)
Accessories
The appendix includes information on the following accessories: (462).
ƒConnector sets for
– power supply modules: ECSZE000X0B
– capacitor modules: ECSZK000X0B
– axis modules: ECSZA000X0B
ƒECSZS000X0B001 shield mounting kit (EMC accessories)
ƒComponents for operation and communication
ƒBrake resistors
ƒMains fuses
ƒMains chokes
ƒRFI filters
Tip!
Information and auxiliary devices related to the Lenze products can be found
in the download area at
http://www.Lenze.com

Preface and general information
Legal regulations
1

18 EDBCSXS064 EN 4.0
1.4 Legal regulations
Identification Nameplate CE designation Manufacturer
Lenze controllers are
unambiguously designated by the
contents of the nameplate.
Conforms to the EC Low−Voltage
Directive
Lenze Automation GmbH
Grünstraße 36
D−40667 Meerbusch
Application as
directed
ECSxS... axis modules
lmust only be operated under the conditions prescribed in these Instructions.
lare components
– for open and closed loop control of variable speed drives with PM synchronous motors and asynchronous
motors.
– for installation into a machine
– for assembly with other components to form a machine.
lare electrical equipment for the installation in control cabinets or similar closed operating areas.
lcomply with the protective requirements of the EC Low−Voltage Directive.
lare not machines for the purpose of the EC Machinery Directive.
lare not to be used as domestic appliances, but for industrial purposes only.
Drive systems with ECSxS... axis modules
lcomply with the EC Directive "Electromagnetic compatibility" if they are installed according to the guidelines
of CE−typical drive systems.
lcan be used
– at public and non−public mains.
– in industrial premises.
lThe user is responsible for the compliance of his application with the EC directives.
Any other use shall be deemed inappropriate!
Liability lThe 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.
lThe 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.
lLenze 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
Warranty lTerms of warranty: See terms of sales and delivery of Lenze Drive Systems GmbH.
lWarranty claims must be made to Lenze immediately after detecting the deficiency or fault.
lThe warranty is void in all cases where liability claims cannot be made.

Safety instructions
General safety and application notes for Lenze controllers
2
19
EDBCSXS064 EN 4.0
2 Safety instructions
2.1 General safety and application notes for Lenze controllers
(in accordance with Low−Voltage Directive 2006/95/EC)
For your personal safety
Disregarding the following safety measures can lead to severe injury to persons and
damage to material assets:
ƒOnly use the product as directed.
ƒNever commission the product in the event of visible damage.
ƒNever commission the product before assembly has been completed.
ƒDo not carry out any technical changes on the product.
ƒOnly use the accessories approved for the product.
ƒOnly use original spare parts from Lenze.
ƒObserve all regulations for the prevention of accidents, directives and laws
applicable on site.
ƒTransport, installation, commissioning and maintenance work must only be carried
out by qualified personnel.
– Observe IEC 364 and CENELEC HD 384 or DIN VDE 0100 and IEC report 664 or
DIN VDE 0110 and all national regulations for the prevention of accidents.
– 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.
ƒObserve all specifications in this documentation.
– This is the condition for safe and trouble−free operation and the achievement of
the specified product features.
– The procedural notes and circuit details described in this documentation are only
proposals. It is up to the user to check whether they can be transferred to the
particular applications. Lenze Automation GmbH does not accept any liability for
the suitability of the procedures and circuit proposals described.
ƒDepending 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.
ƒHigh 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).

Safety instructions
General safety and application notes for Lenze controllers
2

20 EDBCSXS064 EN 4.0
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 2006/42/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 systems 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.
Installation
The controllers must be installed and cooled according to the instructions given in the
corresponding documentation.
The ambient air must not exceed degree of pollution 2 according to EN 61800−5−1.
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!