Lenze 9300 Series User guide

EDSVS9332P−EXT
.FZ=
Ä.FZ=ä
System Manual
(Extension)
9300 0.37 ... 75 kW

EVS9321xP ... EVS9332xP
Servo position controllers
Global Drive

Contents
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lEDSVS9332P−EXT DE 2.0
1 Preface 1−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 How to use this System Manual 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Information provided by the System Manual 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2 Document history 1−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.3 Products to which the System Manual applies 1−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Definition of notes used 1−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2 Configuration 2−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 Configuration with Global Drive Control 2−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Basic configurations 2−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Changing the basic configuration 2−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 Speed control C0005 = 1XXX (1000) 2−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Operating modes 2−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1 Parameter setting 2−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.2 Control 2−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Change of the terminal assignment 2−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.1 Freely assignable digital inputs 2−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.2 Freely assignable digital outputs 2−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.3 Freely assignable analog inputs 2−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.4 Freely assignable monitor outputs 2−15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Function library 3−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Working with function blocks 3−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.1 Signal types 3−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.2 Elements of a function block 3−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.3 Connecting function blocks 3−8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.4 Entries into the processing table 3−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Table of function blocks 3−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Table of free control codes 3−17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Positioning control (POS) 3−19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.1 Dimensions 3−25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.2 Machine parameters 3−26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.3 Positioning modes (C1210) 3−30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.4 Measuring systems 3−34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.5 Absolute value encoder 3−38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.6 Control structure 3−42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.7 Travel range limits 3−44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.8 Homing 3−46. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.9 Travel profile generator and setpoints 3−58. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.10 Manual operation 3−67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.11 Program operation 3−70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.12 Variable tables (VT) 3−75. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents
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3.4.13 Program sets (PS) 3−76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.14 POS−TP (Touch−probe saving of the actual position value) 3−91. . . . . . . . . . . . . . . . . . . . . . . . .
3.4.15 POS−PFI (Program Function Inputs) 3−93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.16 POS−PFO (Program Function Outputs) 3−94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5 Function blocks 3−95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1 Absolute value generation (ABS) 3−95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2 Addition block (ADD) 3−96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.3 Automation interface (AIF−IN) 3−97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.4 Automation interface (AIF−OUT) 3−100. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.5 Analog inputs via terminal X6/1, X6/2 and X6/3, X6/4 (AIN) 3−102. . . . . . . . . . . . . . . . . . . . . . . .
3.5.7 AND operation (AND) 3−104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.7 Inverter (ANEG) 3−107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.8 Analog output via terminal 62/63 (AOUT) 3−108. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.9 Arithmetic block (ARIT) 3−110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.11 Arithmetic block (ARITPH) 3−111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.12 Analog signal changeover switch (ASW) 3−114. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.12 BCD decade switch (BCD) 3−116. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.13 Holding brake (BRK) 3−127. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.15 System bus (CAN−IN) 3−132. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.16 System bus (CAN−OUT) 3−133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.16 Comparator (CMP) 3−134. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.17 Long comparator (CMPPH) 3−139. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.19 Signal conversion (CONV) 3−144. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.20 Analog−digital converter (CONVAD) 3−146. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.21 Analog−phase converter (CONVAPH) 3−148. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.21 Digital−analog converter (CONVDA) 3−150. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.22 Phase−analog converter (CONVPHA) 3−153. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.23 Phase conversion (CONVPHPH2) 3−155. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.24 Characteristic function (CURVE) 3−156. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.25 Dead band (DB) 3−159. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.26 Drive control (DCTRL) 3−160. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.27 Master frequency input (DFIN) 3−164. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.28 Digital frequency output (DFOUT) 3−167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.29 Digital frequency ramp function generator (DFRFG) 3−171. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.30 Digital frequency processing (DFSET) 3−177. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.31 Delay elements (DIGDEL) 3−182. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.32 Freely assignable digital inputs (DIGIN) 3−185. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.33 Freely assignable digital outputs (DIGOUT) 3−186. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.34 Free analog display code (DISA) 3−187. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.35 Free phase display code (DISPH) 3−189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.36 First order derivative−action element (DT1) 3−190. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.38 Free piece counter (FCNT) 3−191. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.38 Free digital outputs (FDO) 3−193. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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3.5.40 Freely assignable input variables (FEVAN) 3−195. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.40 Fixed setpoints (FIXSET) 3−202. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.41 Flipflop element (FLIP) 3−204. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.42 Limiting element (LIM) 3−207. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.43 Internal motor control (MCTRL) 3−208. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.44 Motor phase failure detection (MLP) 3−217. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.45 Monitor outputs of monitoring system (MONIT) 3−218. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.46 Motor potentiometer (MPOT) 3−220. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.47 Logic NOT 3−223. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.48 Speed setpoint conditioning (NSET) 3−225. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.49 OR operation (OR) 3−230. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.50 Oscilloscope function (OSZ) 3−233. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.51 Process controller (PCTRL1) 3−237. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.52 Signal adaptation for angle signals (PHDIV) 3−240. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.53 Phase integrator (PHINT) 3−241. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.54 Delay element (PT1−1) 3−244. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.55 CW/CCW/QSP linking (R/L/Q) 3−245. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.56 Ramp function generator (RFG) 3−246. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.57 Sample and hold function (S&H) 3−248. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.58 Angle value selection (SELPH) 3−249. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.59 Switching points (SP) 3−251. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.60 Output of digital status signals (STAT) 3−258. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.61 Control of a drive network (STATE−BUS) 3−259. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.63 Multi−axis synchronisation (SYNC1) 3−260. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.63 Teach−in in programming (TEACH) 3−268. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.65 Edge evaluation (TRANS) 3−270. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.65 Variable table − acceleration (VTACC) 3−273. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.66 Variable table Piece number (VTPCS) 3−275. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.67 Variable table − target position/position values (VTPOS) 3−277. . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.68 Variable table Waiting time (VTTIME) 3−279. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.69 Variable table − speed (VTVEL) 3−281. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 Application examples 4−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Example 1: Dosing system 4−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Example 2: Spray nozzle control 4−7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Example 3: Path control 4−10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.1 Commissioning of the path control 4−13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5 Appendix 5−1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Glossary 5−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.1 Terminology and abbreviations used 5−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Index 5−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents
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Preface and general information
1−1
lEDSVS9332P−EXT DE 2.0
1 Preface
Contents
1.1 How to use this System Manual 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.1 Information provided by the System Manual 1−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.2 Document history 1−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1.3 Products to which the System Manual applies 1−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Definition of notes used 1−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Preface and general information
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Preface and general information
How to use this System Manual
1.1.1 Information provided by the System Manual
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lEDSVS9332P−EXT DE 2.0
1.1 How to use this System Manual
1.1.1 Information provided by the System Manual
Target group
This System Manual addresses to all persons who dimension, install, commission, and set 9300
servo position controllers.
Together with the System Manual, document no. EDSVS9332P, and the catalog, it forms the basis
for project planning for the manufacturer of plants and machinery.
Contents
The System Manual (supplement) completes the System Manual, document no. EDSVS9332P:
lThe features and functions are described in detail.
lIt describes additional possible applications in detail.
lThe parameterisation for typical applications is pointed up by the use of examples.
lIn case of doubt the Mounting Instructions supplied with the 9300 servo position controller are
always valid.
Contents of System Manual Contents of System Manual (supplement)
1 Preface 1 Preface
2 Safety −
3Technical data −
4Mounting the standard device −
5 Wiring the standard device −
6 Commissioning −
7Parameter setting −
8Configuration 2Configuration
8.1 Monitoring 2.1 Configuration with Global Drive Control
8.2 Monitoring functions 2.2 Basic configurations
8.3 Code table 2.3 Modes of operation
8.4 Selection lists 2.4 Change of the terminal assignment
8.5 Table of attributes
− 3 Function library
− 4 Application examples
9Troubleshooting and fault elimination −
10 DC−bus operation −
11 Safe standstill −
12 Accessories −
13 Appendix 5 Appendix

Preface and general information
How to use this System Manual
1.1.2 Document history
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How to find information
Use the System Manual as the basis. It contains references to the corresponding chapters in the
System Manual Supplement:
lEach chapter is a complete unit and comprehensively informs about a subject.
lThe Table of Contents and Index help you to find all information about a certain topic.
lDescriptions and data of other Lenze products (Drive PLC, Lenze geared motors, Lenze
motors, ...) can be found in the corresponding catalogs, Operating Instructions and manuals.
The required documentation can be ordered at your Lenze sales partner or downloaded as
PDF file from the Internet.
)Note!
Documents and software updates for other Lenze products are available on the
Internet in the "Services & Downloads" area under
http://www.Lenze.com
1.1.2 Document history
What is new / what has changed?
Material number Version Description
.FZ= 2.0 03/2012 TD23 Error corrections
13337389 1.0 03/2010 TD23 Extended by functions for software version 8.0
Error correction
Division of the System Manual into 2 parts (EDSVS9332P and
EDSVS9332P−EXT)

Preface and general information
How to use this System Manual
1.1.3 Products to which the System Manual applies
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1.1.3 Products to which the System Manual applies
This documentation is valid for 9300 servo position controllers from nameplate data:
   Nameplate
EVS 93xx − x P Vxx 1x 8x
Product series
9300vec112
EVS = servo controller
Type no. / rated power
400V 480 V
9321 = 0.37 kW 0.37 kW
9322 = 0.75 kW 0.75 kW
9323 = 1.5 kW 1.5 kW
9324 = 3.0 kW 3.0 kW
9325 = 5.5 kW 5.5 kW
9326 = 11 kW 11 kW
9327 = 15 kW 18.5 kW
3928 = 22 kW 30 kW
9329 = 30 kW 37 kW
9330 = 45 kW 45 kW
9331 = 55 kW 55 kW
9332 = 75 kW 90 kW
Type
E = panel−mounted unit
C = panel−mounted unit in "cold plate" technology
Version
P = servo position controller
Variant
− standard
V003 = in "cold plate" technology
V004 = with "safe standstill" function
V100 = for IT systems
V104 = with "safe standstill" function and for IT systems
Hardware version
Software version

Preface and general information
Definition of the notes used
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1.2 Definition of notes used
All safety information given in these instructions has the same layout:
Pictograph (indicates the type of danger)
}Signal word! (indicates the severity of danger)
Note (describes the danger and explains how to avoid it)
Pictograph Signal word Consequences if disregarded
Signal word Meaning

Dangerous electrical voltage

General danger
Danger! Impending danger for persons Death or severe injuries
Warning! Possible, very dangerous situation for
persons
Death or severe injuries
Caution! Possible, dangerous situation for
persons
Injuries
Stop! Possible damage to material Damage of the drive system or its
environment
Note! Useful tip
If you observe it, handling of the drive
system will be easier.

Configuration
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2 Configuration
Contents
2.1 Configuration with Global Drive Control 2−3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Basic configurations 2−4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 Changing the basic configuration 2−5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 Speed control C0005 = 1XXX (1000) 2−6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Operating modes 2−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1 Parameter setting 2−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.2 Control 2−11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Change of the terminal assignment 2−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.1 Freely assignable digital inputs 2−12. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.2 Freely assignable digital outputs 2−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.3 Freely assignable analog inputs 2−14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4.4 Freely assignable monitor outputs 2−15. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Configuration
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Configuration
Configuration with Global Drive Control
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2.1 Configuration with Global Drive Control
With Global Drive Control (GDC), a program for the PC, Lenze offers an easy−to−understand,
clearly−laid−out and convenient tool for configuring your application−specific drive task.
Function block library
GDC provides a clear overview of the function blocks (FB) available in a library. GDC also lists the
complete assignment of a function block.
Signal configuration
Signals can be configured in a single dialog box. This is a convenient way
lto display every FB as a block diagram.
lto see the assignment of all signal inputs at a glance.
lto enter the FB in the processing table.
lto print your signal configuration.
Terminal assignment
Freely assignable terminals can be configured using two dialog boxes:
lDialog box − to link digital inputs and outputs.
lDialog box − to link analog inputs and outputs.

Configuration
Basic configurations
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2.2 Basic configurations
(Stop!
It is possible to load predefined basic configurations via code C0005. If you load a
configuration via C0005, the assignment of all inputs and outputs will be overwritten
with the corresponding basic configuration.
Adapt the function assignment to the wiring.
The internal signal processing is adapted to the drive task by selection of a predefined basic
configuration in C0005. Lenze setting: C0005 = 20000 (standard absolute positioning).
lApplication examples of basic configurations can be found in the chapter "Application
examples".
lBefore you can load a basic configuration via C0005, the controller must be inhibited.
The selection numbers in C0005 have the following meaning:
C0005 = 1 0 0 0 =Speed control
C0005 = 2 X X X X
Device control
0 = Control via control terminals
1 − Control via LECOM A/B/LI
3 − Control via AIF (INTERBUS,PROFIBUS)
5 − Control via system bus (CAN)
Voltage source for the control terminals
0 = External supply voltage
1 = Internal supply voltage
0 = Absolute positioning
2 = Relative positioning
0 = Positioning via home position
2 = Positioning via position switch points and with teach function
6 = External path control
2 = Positioning control

Configuration
Basic configurations
2.2.1 Changing the basic configuration
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2.2.1 Changing the basic configuration
If the basic configuration must be changed for a special application, proceed as follows:
1. Select a basic configuration via C0005 which largely meets the requirements.
2. Add functions by:
– Reconfiguring inputs and/or outputs.
– Setting parameters for function blocks. (3−6)
– Inserting or removing function blocks. (3−12)
)Note!
If you change the signal flow of the basic configuration, e. g. by adding function
blocks, C0005 is set to 0. The display indicates "COMMON".

Configuration
Basic configurations
2.2.2 Speed control C0005 = 1XXX (1000)
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2.2.2 Speed control C0005 = 1XXX (1000)
For standard applications, with the default settings you can commission the drive immediately. In
order to adapt it to specific requirements, observe the notes in the following sections.
2.2.2.1 Setpoint selection
Main setpoint
Via the setpoint nset (display in C0046) the speed is defined, relating to the value nmax (C0011) which
can be set. The setpoint is specified in a bipolar analog manner via input X6/1,2. By the settings
carried out, the drive runs with the speed set in C0011 if a master voltage of 10 V is selected. If you
want to actuate the drive at master voltages with low voltages you can adapt the system via codes
C0026/1 (offset) and C0027/1 (gain).
Alternatively you can also specify the setpoints via
lKeyboard,
lIntegrated system bus (CAN),
lAutomation interface (LECOM, InterBus, Profibus DP, RS 232,
RS 485, optical fibre).
Which input is active as setpoint source depends on the configuration selected in C0005, or the
setpoint source can be set via configuration code C0780 in the NSET function block.
Current master value
If the analog main setpoint is to be specified as current master value via X6/1,2, you can select the
current setting range with code C0034:
lFor −20 mA …+20 mA: C0034 = 2
lFor 4 …20 mA: C0034 = 1 (can only be used in unipolar mode)
If the range 4…20 mA has been selected, the error message Sd5 appears when the value is lower
than 2 mA.
The signal conditioning for this is effected in function block AIN1.
The change−over from the voltage master value to the current master value (current load 242R) has
to be effected via the jumper position at X3:
lVoltage master value/potentiometer:
– Jumper X3 in the lower position (default setting)
lCurrent master value:
– Jumper X3 in the upper position
JOG setpoints
If you require specific fixed settings as main setpoint, you can call parameterisable setpoints from
the memory via the JOG inputs. JOG setpoints replace the main setpoint. The JOG setpoints are
entered in a relative manner in % of nmax. If you set input E3 to HIGH signal, the main setpoint is
switched off and at the same time the first JOG setpoint is activated. A total of 15 JOG setpoints can
be selected.

Configuration
Basic configurations
2.2.2 Speed control C0005 = 1XXX (1000)
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Inverting the main setpoint
Via terminals E1 and E2 the main setpoint can be inverted (i.e. the sign of the input value is changed).
The following applies:
E1 E2 Main setpoint
0 0 Drive executes QSP (quick stop)
1 0 Main setpoint not inverted
0 1 Main setpoint inverted
1 1 Drive maintains its previous state
Acceleration and deceleration times for the main setpoint path
The main setpoint is controlled via a ramp function generator. Like this, input steps can be converted
to a ramp.
The acceleration time and deceleration time refer to a change in speed from 0 to nmax (0% to 100%).
The calculation of the times Tir (C0012) and Tif (C0013) to be set is described in the NSET function
block description.
Additional acceleration and deceleration times
For the ramp function generator of the main setpoint (NSET−N/JOG setpoint) you can call additional
acceleration and deceleration times from the memory via the NSET−TI*x inputs, e.g. to change over
the acceleration speed of the drive from a specific speed. For this, these inputs have to be assigned
to a signal source. A maximum of 15 additional acceleration and deceleration times can be
programmed.
S−shaped ramp function generator characteristic
For the ramp function generator of the main setpoint you can select two different characteristics via
C0134:
lLinear characteristic for all acceleration processes requiring a constant acceleration
lS−shaped characteristic for all acceleration processes requiring a jerk−free acceleration
Code Parameter Meaning
C0134 0
1
Linear characteristic
S−shaped characteristic
C0182 0.01 …50.0 s Ti −time for the S−shaped ramp function generator
C0012 0.00 …999.9 s Tir −time for the acceleration
C0013 0.00 …999.9 s Tif −time for the deceleration
Additional setpoint
Via input X6/3,4 (or also another signal source) an analog additional setpoint (bipolar) can be
connected. The additional setpoint (display in C0049) internally first goes to the NSET function block
via an analog switch. Here the additional setpoint first is lead across a facility for inversion. This facility
for inversion is deactivated. Furthermore there is a ramp function generator (acceleration and
deceleration times via C0220/C0221) before the additional setpoint is linked with the main setpoint
in the arithmetic block. The additional setpoint for instance can be used as a correcting signal for
grinding machines (for controlling a constant circumferential speed when the grinding wheel
diameter is decreased).
If you want to use the additional setpoint, set code C0190 to the desired arithmetic link. According
to the default setting, code C0190 is parameterised to 0. Thus the additional setpoint is switched off.

Configuration
Basic configurations
2.2.2 Speed control C0005 = 1XXX (1000)
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Selection of direction of rotation
The selection of direction of rotation results from the sign of the speed setpoint at the input
MCTRL−N−SET of the MCTRL function block.
In turn, the sign of this speed setpoint results from
lthe sign of the main and additional setpoint,
lthe level position at terminals E1 and E2,
lthe selected link of the main and additional setpoint via the arithmetic block in the NSET
function block