Lenze ECS series User manual

EDBCSXM064
.6Rc
Ä.6Rcä
Operating Instructions
ECS

ECSEMxxx / ECSDMxxx / ECSCMxxx
Axis module ˘ "Motion" application


2 EDBCSXM064 EN 7.0
Please read these instructions before you start working!
Follow the enclosed safety instructions.
These instructions are valid for ECSxM axis modules, application software V 1.2, as of version:

ECS x M xxx x 4 x xxx XX XX XX
Device type 
Hans-Lenze-Straße1
D-31855 Aerzen
Made in Germany
L
Input
Output
Overload
Type
Id.-No.
2/PE DC a-aaa/aaaV
bb.b/bb.bA
3/PE AC c-ccc/cccV
dd.d/dd.dA 0-fffHz
ee.eA
ttttttttttt
Prod.-No.
Ser.-No.
yyyyyyyy zzzz
xxxxxxxx
EKZ
A-SW
B-SW
H.H
ECSEAxxxC4BXXXXXVA02
h.h
Parameter
WARNING
Device is live up to
180s after removing
mains voltage
ATTENTION
L ´appareil est sous tension
pendant 180s après la coupure
de la tension réseau
For detailed
information refer to
the Instruction Manual
1D74
Ind.
Conl.
Eq.
1
{
}
Design
E = standard panel−mounted unit, IP20
D = push−through technique (thermally separated)
C = cold−plate technique
Application
M = "Motion"
Peak current
004 = 4 A
008 = 8 A
016 = 16 A
032 = 32 A
048 = 48 A
064 = 64 A
Fieldbus interface
C = CAN system bus
Voltage class
4 = 400 V/500 V
Technical version
B = Standard
I = For IT systems
Variant
Hardware version
1A or higher
Version of operating software (B−SW)
6.0 or higher
Tip!
Current documentation and software updates concerning Lenze products can be found on
the Internet in the "Services & Downloads" area under
http://www.Lenze.com
0Fig. 0Tab. 0
© 2007 Lenze Drive Systems GmbH, Hans−Lenze−Straße 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 and software described.
Nevertheless, discrepancies cannot be ruled out. We do not take any responsibility or liability for any damage that may occur.
Necessary corrections will be included in subsequent editions.

3
EDBCSXM064 EN 7.0
ECSEA_003A


4 EDBCSXM064 EN 7.0
Scope of supply
Position Description Quantity
ECSM... 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 ECSDM...) 1
Note!
The ECSZA000X0B connectors must be ordered separately.
Connections and interfaces
Position Description Detailed
information
X23 Connections
lDC−bus voltage
lPE
47
LEDs: Status and fault display
x1 Automation interface (AIF) for
lCommunication module
lOperating module (keypad XT)
69
160
x2 PE connection for AIF
X3 Analog input configuration 59
X4 CAN connection
lMotionBus (CAN) / for ECSxA: System bus (CAN)
lInterface to higher−level control
70
X14 CAN−AUX connection
lSystem bus (CAN)
lPC interface/HMI for parameter setting and diagnostics
X6 Connections
l24 V supply
lDigital inputs and outputs
lAnalog input
l"Safe torque off" (formerly "safe standstill")
55
58
59
60
S1 DIP switch
lCAN address
lCAN baud rate
183
X7 Resolver connection 74
X8 Encoder connection
lIncremental encoder (TTL encoder)
lSinCos encoder
75
X25 Brake control connection 52
X24 Motor connection 51
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−QSP is active Code C0168/1

Contents i
5
EDBCSXM064 EN 7.0
1 Preface and general information 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 How to use these Operating Instructions 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Terminology used 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 Code descriptions 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 Features of the axis module ECSxM 12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.5 Structure 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6 Scope of supply 14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.7 Legal regulations 15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Safety instructions 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 General safety and application notes for Lenze controllers 16. . . . . . . . . . . . . . . . . .
2.2 Residual hazards 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Safety instructions for the installation according to UL or UR 21. . . . . . . . . . . . . . . .
2.4 Definition of notes used 22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Technical data 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 General data and operating conditions 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Rated data 25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Current characteristics 27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1 Increased continuous current depending on the control factor 27. . . . . . .
3.3.2 Device protection by current derating 30. . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Mechanical installation 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Important notes 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Mounting with fixing rails (standard installation) 32. . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Dimensions 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.2 Assembly steps 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Mounting with thermal separation (push−through technique) 34. . . . . . . . . . . . . . .
4.3.1 Dimensions 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2 Assembly steps 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Mounting in cold−plate design 38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.1 Dimensions 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.2 Assembly steps 40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contentsi

6 EDBCSXM064 EN 7.0
5 Electrical installation 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Installation according to EMC (installation of a CE−typical drive system) 41. . . . . . .
5.2 Power terminals 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 Connection to the DC bus (+UG, −UG) 47. . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 Connection plans 49. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3 Motor connection 51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.4 Motor holding brake connection 52. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.5 Connection at capacitor module ECSxK... (optional) 54. . . . . . . . . . . . . . . .
5.3 Control terminals 55. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.1 Digital inputs and outputs 58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.2 Analog input 59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.3 Safe torque off 60. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Automation interface (AIF) 69. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5 Wiring of MotionBus/system bus (CAN) 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6 Wiring of the feedback system 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.1 Resolver connection 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.2 Encoder connection 75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6 Commissioning 79. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Before you start 79. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Commissioning steps (overview) 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.1 Basic settings with GDC 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.2 Setting of homing 83. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Loading the Lenze setting 86. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Setting of mains data 87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.1 Selecting the function of the charging current limitation 87. . . . . . . . . . .
6.4.2 Setting the voltage thresholds 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Entry of motor data for Lenze motors 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6 Holding brake configuration 91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.1 Closing the brake 92. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.2 Opening the brake 93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7 Setting of the feedback system for position and speed control 94. . . . . . . . . . . . . . .
6.7.1 Resolver for position and speed control 94. . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.2 Codes for setting the resolver feedback 94. . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.3 Resolver as absolute value encoder 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7.4 Incremental encoder / sin/cos encoder without serial communication 97
6.7.5 Absolute value encoder (Hiperface®, single−turn/multi−turn) 98. . . . . . . .
6.7.6 Codes for setting the encoder feedback 100. . . . . . . . . . . . . . . . . . . . . . . . . .

Contents i
7
EDBCSXM064 EN 7.0
6.8 Configuration of control interface (control and status word) 103. . . . . . . . . . . . . . . .
6.8.1 Process data to the axis module 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.8.2 Process data from the axis module 106. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.8.3 Toggle−bit monitoring 108. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.9 Entry of machine parameters 110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.10 Setting of homing parameters 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.10.1 Homing parameters 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.10.2 Homing modes 114. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.10.3 Shifting of the zero position (offset selection) 124. . . . . . . . . . . . . . . . . . . . .
6.10.4 Example: Reference search with linear positioning axis 125. . . . . . . . . . . .
6.10.5 Example: Reference search with continuous positioning axis 127. . . . . . . .
6.11 Selection of the operating mode 129. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.11.1 "Velocity" operating mode 130. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.11.2 "Homing" operating mode 132. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.11.3 Operating mode "Interpolated Position Mode" (IP−Mode) 134. . . . . . . . . . .
6.11.4 "Manual Jog" operating mode 137. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.12 Controller enable 139. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.13 Following error monitoring 140. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.14 Evaluation of hardware limit switches 142. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.15 Quick stop (QSP) 143. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.16 Operation with servo motors from other manufacturers 144. . . . . . . . . . . . . . . . . . . .
6.16.1 Entering motor data manually 144. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.16.2 Checking the direction of rotation of the resolver 146. . . . . . . . . . . . . . . . . .
6.16.3 Adjusting current controller 147. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.16.4 Effecting rotor position adjustment 149. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.17 Optimising the drive behaviour after start 152. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.17.1 Speed controller adjustment 152. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.17.2 Adjustment of field controller and field weakening controller 154. . . . . . .
6.17.3 Resolver adjustment 157. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7 Parameter setting 158. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1 General information 158. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 Parameter setting with "Global Drive Control" (GDC) 159. . . . . . . . . . . . . . . . . . . . . .
7.3 Parameter setting with the XT EMZ9371BC keypad 160. . . . . . . . . . . . . . . . . . . . . . . .
7.3.1 Connecting the keypad 160. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.2 Description of the display elements 161. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.3 Description of the function keys 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.4 Altering and saving parameters 163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.5 Menu structure 164. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contentsi

8 EDBCSXM064 EN 7.0
8 Configuration 166. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1 General information about the system bus (CAN) 167. . . . . . . . . . . . . . . . . . . . . . . . .
8.1.1 Structure of the CAN data telegram 167. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.2 Communication phases of the CAN network (NMT) 168. . . . . . . . . . . . . . . .
8.1.3 Process data transfer 171. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.4 Parameter data transfer 176. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.5 Addressing of the parameter and process data objects 182. . . . . . . . . . . . . .
8.2 Configuring MotionBus/system bus (CAN) 183. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2.1 Setting CAN node address and baud rate 183. . . . . . . . . . . . . . . . . . . . . . . . .
8.2.2 Defining boot−up master in the drive system 187. . . . . . . . . . . . . . . . . . . . . .
8.2.3 Setting of boot−up time/cycle time 188. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2.4 Executing a reset node 188. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2.5 CAN bus synchronisation 189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2.6 Axis synchronisation via CAN bus interface 190. . . . . . . . . . . . . . . . . . . . . . .
8.2.7 Axis synchronisation via terminal 194. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2.8 Diagnostic codes 195. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3 Monitoring functions (overview) 198. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4 Configuring monitoring functions 202. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.1 Reactions 202. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.2 Monitoring times for process data input objects 204. . . . . . . . . . . . . . . . . . .
8.4.3 Motor temperature (OH3, OH7) 205. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.4 Heatsink temperature (OH, OH4) 206. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.5 Interior temperature (OH1, OH5) 207. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.6 Function monitoring of the thermal sensors (H10, H11) 207. . . . . . . . . . . .
8.4.7 Controller current load (I x t−monitoring: OC5, OC7) 208. . . . . . . . . . . . . . . .
8.4.8 Motor current load (I2 x t−monitoring: OC6, OC8) 210. . . . . . . . . . . . . . . . . .
8.4.9 DC−bus voltage (OU, LU) 211. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.10 Voltage supply of the control electronics (U15) 212. . . . . . . . . . . . . . . . . . . .
8.4.11 Motor phases (LP1) 212. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.12 Resolver supply cable (Sd2) 213. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.13 Motor temperature sensor (Sd6) 213. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.14 SinCos encoder (Sd8) 214. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.15 Speed beyond the tolerance margin (nErr) 215. . . . . . . . . . . . . . . . . . . . . . . .
8.4.16 Maximum speed exceeded (NMAX) 216. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9 Diagnostics 217. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1 Diagnostics with Global Drive Control (GDC) 217. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2 Diagnostics with Global Drive Oscilloscope (GDO) 218. . . . . . . . . . . . . . . . . . . . . . . . .
9.2.1 GDO buttons 219. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.2 Diagnostics with GDO 220. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3 Diagnostics with the XT EMZ9371BC keypad 224. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents i
9
EDBCSXM064 EN 7.0
10 Troubleshooting and fault elimination 225. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1 Fault analysis 225. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1.1 Fault analysis via the LED display 225. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1.2 Fault analysis with keypad XT EMZ9371BC 225. . . . . . . . . . . . . . . . . . . . . . .
10.1.3 Fault analysis with the history buffer 226. . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1.4 Fault analysis via LECOM status words (C0150/C0155) 228. . . . . . . . . . . . .
10.2 Malfunction of the drive 229. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3 Fault messages 230. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.1 Causes and remedies 230. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.2 Reset fault messages (TRIP−RESET) 237. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11 Appendix 238. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1 Code table 238. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2 Overview of accessories 288. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.1 Connectors 288. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.2 Shield mounting kit 288. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.3 Power supply modules 288. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.4 Capacitor modules 288. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.5 Components for communication 289. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.6 Brake resistors 290. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.7 Mains fuses 290. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.8 Mains chokes 291. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.9 RFI filter 292. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.10 Motors 292. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12 Index 293. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Preface and general information
How to use these Operating Instructions
1

10 EDBCSXM064 EN 7.0
1 Preface and general information
1.1 How to use these Operating Instructions
These Operating Instructions assist you in connecting and commissioning the
ECSxM... axis modules with multi−axis positioning functionality in connection with a
master control.
They contain safety instructions which must be observed!
All persons working on and with the ECSxM... 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 condition.
1.2 Terminology used
Term In the following text used for
Power supply
module
ECSxE... power supply module
ECSxE... Any power supply module of ECS series
Capacitor module ECSxK... capacitor module
ECSxK... Any capacitor module of ECS series
Axis module
Controller
ECSxM... axis module
ECSxS...
ECSxP...
ECSxM...
ECSxA ...
Any axis module of ECS series:
lECSxS... application "Speed and Torque"
lECSxP... application "Posi and Shaft"
lECSxM... application "Motion"
lECSxA... application "Application"
Drive system Drive systems with:
lECSxS... / ECSxP... / ECSxM... / ECSxA... axis modules
lECSxE... power supply modules
lECSxK... capacitor modules
lOther Lenze drive components
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"(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
Cxxxx/y Subcode y of code Cxxxx (e.g. C0470/3 = subcode 3 of code C0470)
Xk/y Terminal y on the plug connector Xk (e.g. X6/B+ = terminal B+ on the plug connector X6)

Preface and general information
Code descriptions
1
11
EDBCSXM064 EN 7.0
1.3 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 parameter of the code or subcode is accepted after pressing 
.
[Cxxxx] Changed parameter of the code or subcode is accepted after pressing 
if the controller is inhibited.
Designation LCD of XT EMZ9371BC keypad
Lenze/{Appl.} xLenze setting:
lValue at delivery or after loading the Lenze setting with C0002.
{xxx...} Deviating application initialisation value:
lValue at delivery.
lAfter loading the Lenze setting with C0002, the application
initialisation value is overwritten by the Lenze setting.
lThe application initialisation values can be restored by loading the
application software with "Global Drive Loader" (GDL).
ÀThe column "Important" 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 0 Save parameter set
0 Done Saving completed
1Save parameter set 1 Non−volatile saving of parameter
set 1
C1192 Selection of resistance
characteristic for PTC
1Char.: OHM 1000
{0}
0{1 W} 30000 Resistance at temperature 1
2Char.: OHM 2225 Resistance at temperature 2

Preface and general information
Features of the axis module ECSxM
1

12 EDBCSXM064 EN 7.0
1.4 Features of the axis module ECSxM
ƒHoming can be selected from 19 modes
ƒBrake logic can be connected
ƒSwitching of operating modes
– "Velocity Mode"
– "Homing Mode"
– "Interpolated Position Mode" (for travel according to setpoint selection)
– "Manual Jog"
ƒTorque feedforward control
ƒFine interpolation
ƒInterpolation cycle can be selected between 1 − 10 ms
ƒSequence co−ordination with master control
ƒToggle bit monitoring
ƒStatus signals selectable via control words
ƒSafety function "safe torque off" (formerly "safe standstill")
ƒDouble CAN ON BOARD:
– MotionBus (CAN): Control interface "CAN" (PDO1, sync−based)
– System bus (CAN): Interface "CAN−AUX" for parameter setting/diagnostics
ƒSupported feedback systems:
– Resolver with and without position storage
– Encoder (incremental encoder (TTL encoder), sin/cos absolute value encoder)
ƒCommissioning and parameter setting with the Lenze parameter setting and
operating program "Global Drive Control" (GDC)

Preface and general information
Structure
1
13
EDBCSXM064 EN 7.0
1.5 Structure
TTL encoder
Sin/cos encoder
Motor
M
3~
R
PWM
VEC CTRL
Motor control
Position
control
Speed
control
Current/torque
control
62.5 s
m
16 bits
16 bits
32 bits
X4
ECSxM
CAN_IO
CAN_SYNC
+
C0011
*
Fine
interpolation
Digital_IO
Control word
Status word
Homing
Drive control
Set position
(32 bits)
Actual position (32 bits)
Monitor data
Feedback
Toggle bit
-
X6
C3165
C3162
C3161C3160
C3153
C3152
C3151
C3150
C3181
C3180
Init
IP-Mode
Stand by
VelMode
C0579
C0576
C0135
C0150
UG+ UG- UG+ UG- PE PE
C0936
C0935
C3011
C3010
C3012
C3421
C3420
C3422
C3034
C3032
C3030
C3033
C3031
++
C3430
*
250 sm
1000 sm
X7
X8 PE
WVU
alternative
C3008
C3002
C3211
C3210
C3201
C0136
C0497
C0011
C0051
C0022
C0074
C0076
C0078
C0081
C0085
C0088
C0090
C0023
C0075
C0077
C0080
C0084
C0087
C0089
C0091
C0053
C0079
C0082
C0083
C0092
C0018
C0019
C0071
C0105
C0070
C0072
C0030
C0095
C0416
C0420
C0427
C0491
C0540
C0058
C0098
C0419
C0421
C0490
C0495
C3001
C0050
C0909
C4001
C4018
Trouble
Homing
ManJog
C3009
C3012
C3011
C3010
C3021
C3020
C3022
C3170
C3038
C3037
C5000
C3175
C3200
C5001
ECSXA502
Fig.1−1 Structure of the ECS application "Motion"

Preface and general information
Scope of supply
1

14 EDBCSXM064 EN 7.0
1.6 Scope of supply
The scope of supply of the ECSxM... axis module contains:
ƒBasic device
ƒAccessory kit with fixing material corresponding to the design:
– "E" − standard panel−mounted unit
– "D" − push−through technique
– "C" − cold−plate technique
ƒMounting Instructions
ƒDrilling jig
ƒFunctional earth conductor (only ECSDM...)
Accessories
Information on the following accessories can be found in the appendix (288).
ƒConnectors for
– power supply modules: ECSZE000X0B
– capacitor modules: ECSZK000X0B
– axis modules: ECSZA000X0B
ƒECSZS000X0B001 shield mounting kit (EMC accessories)
ƒCommunication modules for the automation interface (AIF)
ƒECSxE... power supply module
ƒECSxK... capacitor module
ƒBrake resistors
ƒMains fuses
ƒMains chokes
ƒRFI filters
ƒMotors

Preface and general information
Legal regulations
1
15
EDBCSXM064 EN 7.0
1.7 Legal regulations
Identification Nameplate CE identification Manufacturer
Lenze controllers are
unambiguously designated by the
contents of the nameplate.
Conforms to the EC Low−Voltage
Directive
Lenze Drive Systems GmbH
PO box 101352
D−31763 Hameln
Application as
directed
ECSxM... 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 in 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 ECSxM... 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

16 EDBCSXM064 EN 7.0
2 Safety instructions
2.1 General safety and application notes for Lenze controllers
(According to: Low−Voltage Directive 73/23/EEC)
General
Depending on their degree of protection, some parts of Lenze controllers (frequency
inverters, servo inverters, DC 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.
All operations concerning transport, installation, and commissioning as well as
maintenance must be carried out by qualified, skilled personnel (IEC 364 and 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
Drive controllers are components which are designed for installation in electrical systems
or machinery. They are not to be used as domestic appliances, but only for industrial
purposes according to EN 61000−3−2.
When installing drive controllers into machines, commissioning of these controllers (i.e.
the starting of operation as directed) is prohibited until it is proven that the machine
corresponds to the regulations of the EC Directive 98/37/EC (Machinery Directive); EN
60204 must be observed.
Commissioning (i.e. starting of operation as directed) is only allowed when there is
compliance with the EMC Directive (89/336/EEC).
The controllers meet the requirements of the Low−Voltage Directive 73/23/EEC. The
harmonised standard EN 61800−5−1 applies to the controllers.
The technical data as well as the connection conditions can be obtained from the
nameplate and the documentation. They must be strictly observed.
Warning: The controllers are products which can be installed in drive systems of category
C2 according to EN 61800−3. These products can cause radio interference 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.

Safety instructions
General safety and application notes for Lenze controllers
2
17
EDBCSXM064 EN 7.0
Installation
The controllers must be installed and cooled according to the instructions given in the
corresponding documentation.
Ensure proper handling and avoid 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 electrostatically sensitive components, 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, the valid national regulations for the prevention of
accidents (e.g. VBG 4) must be observed.
Carry out the electrical installation in compliance with the corresponding regulations (e.g.
cable cross−sections, fuses, PE connection). More detailed information is given in the
corresponding documentation.
Notes about installation according to EMC regulations (shielding, earthing, filters and
cable routing) are included in the documentation. These notes also apply to CE−marked
controllers. The compliance with limit values required by the EMC legislation is the
responsibility of the manufacturer of the machine or system. 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 should have a circumferential
metal connection to the housing. Reduce housing openings and cutouts to a minimum.
Lenze controllers can cause a DC residual current in the protective conductor. If a residual
current device (RCD) is used as a protective means in the 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 used.
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 controller can be adapted to
your application. Please observe the corresponding information given in the
documentation.
After a controller has been disconnected from the voltage supply, all live components 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.
Note for UL approved systems with integrated controllers: UL warnings are notes that only
apply to UL systems. The documentation contains special UL notes.

Safety instructions
General safety and application notes for Lenze controllers
2

18 EDBCSXM064 EN 7.0
Safety functions
Special controller variants support safety functions (e.g. "safe torque off", formerly "safe
standstill") according to the requirements of Annex I 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 on the respective variants.
Maintenance and servicing
The controllers do not require any maintenance, if the prescribed conditions of operation
are observed.
If the ambient air is polluted, the cooling surfaces of the controller may become dirty or the
air vents of the controller 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!
Waste disposal
Recycle metal and plastic materials. Ensure professional disposal of assembled PCBs.
The product−specific safety and application notes given in these Operating Instructions
must be observed!

Safety instructions
Residual hazards
2
19
EDBCSXM064 EN 7.0
2.2 Residual hazards
Protection of persons
ƒBefore 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.
– because the power terminals +UG, −UG, U, V and W remain live when the motor is
stopped.
ƒThe heatsink has an operating temperature of > 70 °C:
– Direct skin contact with the heatsink results in burns.
ƒThe leakage current to PE is > 3.5 mA AC or > 10 mA DC.
– EN 61800−5−1 requires a fixed installation.
– The PE connection must be designed to EN 61800−5−1.
– Comply with the additional requirements of EN 61800−5−1 for high leakage
currents.
Device protection
ƒAll pluggable connection terminals must only be connected or disconnected when
no voltage is applied!
ƒThe power terminals +UG, −UG, U, V, W, and PE are not protected against polarity
reversal.
– When wiring, observe the polarity of the power terminals!
ƒPower 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
ƒthe axis module is supplied via the ECSXE power supply module and the input
current limitation is activated depending on the DC bus voltage (C0175 = 1 or 2).
ƒthe axis module is not supplied via a power supply module from Lenze.
ƒthe low−voltage supply (24 V) is switched off.
Under these operating conditions allow a break of at least 3 minutes between two starting
operations!
In case of frequent disconnections due to safety reasons, use the safety function ˜Safe
torque off˜ (STO).

Safety instructions
Residual hazards
2

20 EDBCSXM064 EN 7.0
Motor protection
ƒOnly use motors with a minimum insulation resistance of û = 1.5 kV,
min. du/dt = 5 kV/ms.
– Lenze motors meet these requirements.
ƒWhen using motors with an unknown insulation resistance, please contact your
motor supplier.
ƒSome settings of the axis module lead to an overheating of the connected motor,
e.g. longer operation of self−ventilated motors with low speeds.
ƒUse PTC thermistors or thermostats with PTC characteristic for motor temperature
monitoring.