Lenze 9300 Series User guide

L
System Manual
EDSVS9332P
!.ðv7
Global Drive
9300 servo position controller
Ä!."v7ä
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Content of the 9300 System Manuals
Part Project
planning
Servo
inverter
Servo position
controller
Servo
cam profiler
Servo register
controller
AContents
Preface and general information •• • • •
Safety information
•
• • • •
BTechnical data •
•
•
•
•
Installation • • • •
CCommissioning
During operation • • • •
User Manual ”Oscilloscope function”
•
•
DConfiguration D1.1 D2.1 D3.1 D4.1
Code table D1.2 D2.2 D3.2 D4.2
eTroubleshooting and fault elimination • • • •
fDC-bus operation
Operating Instructions for 9340 regenerative
power supply module •
GApplication of brake units
•
Operating Instructions for 9350 brake unit •
HAutomation
•
Automation with system bus (CAN) •
Operating Instructions for 2102 fieldbus
module (RS232/RS485) •
Operating Instructions for 2111 fieldbus
module (INTERBUS) •
Operating Instructions for 2131 fieldbus
module (PROFIBUS) •
Flyer PC software Global Drive Control •
IAccessories and motors •
KHow to select the correct drive
Application examples • • • •
LSignal flow diagrams • • • •
MGlossary
Table of keywords • • • • •
•part of the corresponding System Manual
All documentation listed here contains a type designation and an identification code at the top left edge.
The features and data of the controller specified in your System Manual correspond to the controller version at the time of printing (date of printing: see
inner cover page of the parts).
Lenze strives to keep all information to the state of the latest controller version. If you should still find deviations from your System Manual, we kindly
ask you to refer to the Operating Instructions included in the scope of supply or to contact your Lenze representative directly.
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K35.0002
P E
M a i n s c o n n e c t i o n
a n d D C c o n n e c t i o n
D e t a c h a b l e o p e r a t i n g m o d u l e
a l t e r n a t i v e l y
F i e l d b u s e s
I N T E R B U
y s t e m b u s ( C A N )
D i g i t a l f r e q u e n c y i n p u t
E n c o d e r i n p u t
R e s o l v e r i n p u t
D i g i t a l f r e q u e n c y o u t p u t
M o t o r c o n n e c t i o n
U V W
R D Y I M P I m a x M m a x F a i l
1
2
7
6 2
3
4
7
6 3
A 4
T 2
5 9
T 1
A 3
A 2
A 1
E 3
E 5
3 9 E 4 E 2 E 1 2 8
G N D
L O
H I
M C T R L - N - A C T
X 4
X 5
X 6
X 8
X 9
P E
P T C
U V W
L 1 L 2
L 3
+ U G
- U G
X 1 0
T 1 T 2
1
5
5
1
5
1
1
5
h i e l d c o n n e c t i o n
1 2 5 0
r p m
X 7
h i e l d s h e e t o f m o t o r c a b l e s
h i e l d s h e e t o f c o n t r o l c o n n e c t i o n s
h i e l d s h e e t o f m a i n s c o n n e c t i o n
X 1 ( h i d d e n ) :
A u t o m a t i o n i n t e r f a c e
X 1
P T C c o n n e c t i o n
C o n t r o l t e r m i n a l s
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L
System Manual
Part A
Contents
Preface and general information
EDS
V
S9332P-
A
Global Drive
9300 servo position controller
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This documentation is valid for 9300 position controllers as of version:
33.932X EP 2x 2x (9321 - 9329)
33.933X EP 2x 2x (9330 - 9332)
33.932X CP 2x 2x - V003 Cold Plate (9321 - 9328)
Type
Design:
EP = Built-in unit IP20
CP = Cold Plate
Hardware version and index
Software version and index
Variant
Explanation
© 2004 Lenze Drive Systems GmbH, Hameln
No part of these Instructions must be copied or given to third parties without written approval of Lenze Drive Systems GmbH.
All indications given in this documentation have been selected carefully and comply with the hardware and software described.
Nevertheless, deviations cannot be ruled out. We do not take any responsibility or liability for damages which might possibly occur. Necessary
corrections will be included in the next edition.
3.0 11/2004
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Contents
i
L EDSVS9332P-A EN 3.0
Part A
1 Preface and general information 1-1...........................................
1.1 How to use this Manual 1-1............................................................
1.1.1 Terminology used 1-1.........................................................
1.1.2 What is new? 1-1............................................................
1.2 Legal regulations 1-2.................................................................
1.3 EC directives / Declaration of conformity 1-3................................................
1.3.1 What is the purpose of EC directives? 1-3...........................................
1.3.2 What does the CE marking imply? 1-3.............................................
1.3.3 EC Low-Voltage Directive 1-4....................................................
1.3.3.1 General 1-4.......................................................
1.3.4 EC Directive Electromagnetic Compatibility 1-5.......................................
1.3.4.1 General 1-5.......................................................
1.3.5 EC Machinery Directive 1-7.....................................................
1.3.5.1 General 1-7.......................................................
2 Safety instructions 2-1......................................................
2.1 General safety and application notes for Lenze controllers 2-1...................................
2.2 Residual hazards 2-3.................................................................
2.3 Layout of the safety instructions 2-3......................................................
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Contents
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L
EDSVS9332P-A EN 3.0
Part B
3 Technical data 3-1.........................................................
3.1 Features 3-1.......................................................................
3.2 General data/operating conditions 3-2....................................................
3.3 Rated data 3-3......................................................................
3.3.1 Types 9321 to 9325 3-3........................................................
3.3.2 Types 9321 to 9324 with 200 % overcurrent 3-4.....................................
3.3.3 Types 9326 to 9332 3-5........................................................
3.3.4 Fuses and cable cross-sections 3-6...............................................
3.3.5 Mains filter 3-7..............................................................
3.4 Dimensions 3-7.....................................................................
4 Installation 4-1............................................................
4.1 Mechanical installation 4-1.............................................................
4.1.1 Important notes 4-1...........................................................
4.1.2 Standard assembly with fixing rails or fixing brackets 4-2...............................
4.1.3 Assembly with thermally separated power stage (”Push-through technique”) 4-3..............
4.1.4 Assembly of variants 4-6.......................................................
4.2 Electrical installation 4-9..............................................................
4.2.1 Protection of persons 4-9.......................................................
4.2.1.1 Residual-current circuit breakers 4-9....................................
4.2.1.2 Isolation 4-10.......................................................
4.2.1.3 Replacement of defective fuses 4-10.....................................
4.2.1.4 Mains disconnection 4-10..............................................
4.2.2 Protection of the controller 4-11...................................................
4.2.3 Motor protection 4-11..........................................................
4.2.4 Mains types/mains conditions 4-11................................................
4.2.5 Interaction with compensation equipment 4-12........................................
4.2.6 Specification of the cables used 4-12...............................................
4.2.7 Power connections 4-12........................................................
4.2.7.1 Mains connection 4-13................................................
4.2.7.2 Motor connection 4-16................................................
4.2.7.3 Connection of a brake unit 4-21.........................................
4.2.7.4 DC bus connection of several drives 4-22..................................
4.2.8 Control connections 4-24........................................................
4.2.8.1 Control cables 4-24..................................................
4.2.8.2 Assignment of the control terminals 4-24..................................
4.2.8.3 Connection of digital signals (X5) 4-25....................................
4.2.8.4 Connection of analog signals (X6) 4-28....................................
4.2.9 Automation interface (X1) 4-34....................................................
4.2.10 Motor temperature monitoring 4-35................................................
4.2.10.1 User-specific characteristic for a PTC thermistor 4-36.........................
4.2.11 Feedback systems 4-37.........................................................
4.3 Installation of a CE-typical drive system 4-41................................................
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Contents
iii
L EDSVS9332P-A EN 3.0
Part C
5 Commissioning 5-1........................................................
5.1 Before switching on 5-1...............................................................
5.2 Initial switch-on 5-1..................................................................
5.3 Commissioning sequence 5-4...........................................................
5.4 Switchoncontroller 5-5...............................................................
5.5 SwitchonPC,startGDC 5-6............................................................
5.6 Generate parameter set 5-7............................................................
5.6.1 Adapt controller to the mains 5-7.................................................
5.6.2 Adapt controller to the motor 5-8.................................................
5.6.3 Enter machine parameters 5-9...................................................
5.6.4 Parameters for manual control 5-10................................................
5.6.5 Controller enable 5-11..........................................................
5.7 Function test with manual control 5-12.....................................................
5.8 Enter travel profile parameters 5-14.......................................................
5.8.1 Structure of a positioning program 5-14.............................................
5.8.1.1 Tools for editing 5-15.................................................
5.8.1.2 Structure of a travel profile 5-16.........................................
5.8.1.3 Enter parameter 5-20.................................................
5.8.2 Saving a parameter set 5-21.....................................................
5.9 Load parameter set 5-22...............................................................
5.9.1 Load parameter set from the PC 5-22...............................................
5.9.2 Load parameter set from the controller 5-23..........................................
5.10 Control drive 5-24....................................................................
5.10.1 Description of the dialog box 5-24.................................................
5.10.2 Parameters for homing 5-25.....................................................
5.10.3 Manual homing 5-26...........................................................
5.10.4 Program control 5-27...........................................................
5.11 Automatic control parameter identification 5-28..............................................
5.11.1 Procedure 5-29...............................................................
5.11.2 Troubleshooting 5-30...........................................................
5.11.2.1 Password protection 5-31..............................................
6 During operation 6-1.......................................................
6.1 Status indications 6-1................................................................
6.1.1 Display on the controller 6-1....................................................
6.1.2 Display on the keypad 6-1......................................................
6.1.3 Display in Global Drive Control 6-2................................................
6.1.4 Actual value display via codes 6-3................................................
6.2 Information on operation 6-3...........................................................
6.2.1 Switching on the motor side 6-3..................................................
6.2.2 Controller protection by current derating 6-4.........................................
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Contents
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EDSVS9332P-A EN 3.0
Part D2.1
7 Configuration 7-1..........................................................
7.1 Configuration with Global Drive Control 7-1.................................................
7.1.1 Changing the basic configuration 7-2..............................................
7.2 Operating modes 7-3.................................................................
7.2.1 Parameter setting 7-3.........................................................
7.2.2 Control 7-3.................................................................
7.2.3 Signal types 7-4.............................................................
7.2.4 Elements of a function block 7-5.................................................
7.2.5 Connection of function blocks 7-7................................................
7.2.6 Entries into the processing table 7-11..............................................
7.2.6.1 Signal configuration with Global Drive Control 7-13...........................
7.3 Terminal assignment 7-14..............................................................
7.3.1 Freely assignable digital inputs 7-15...............................................
7.3.2 Freely assignable digital outputs 7-16..............................................
7.3.3 Input and outputof the STATE-BUS 7-17.............................................
7.3.4 Freely assignable analog inputs 7-18...............................................
7.3.5 Freely assignable analog outputs 7-19..............................................
7.4 Description of the function blocks 7-20.....................................................
7.5 Positioning control (POS) 7-24...........................................................
7.5.1 Dimensions 7-30..............................................................
7.5.2 Machine parameters 7-31.......................................................
7.5.2.1 Position encoder at material path 7-33....................................
7.5.3 Positioning modes (C1210) 7-35...................................................
7.5.3.1 Relative positioning 7-35..............................................
7.5.3.2 Absolute positioning 7-37..............................................
7.5.3.3 Absolute positioning with saving 7-38.....................................
7.5.4 Measuring systems 7-39........................................................
7.5.4.1 Measuring systems and zero shifts 7-40...................................
7.5.4.2 Measuring systems for absolute value encoders 7-41.........................
7.5.5 Absolute value encoder 7-42.....................................................
7.5.5.1 Absolute value encoder via encoder connection X8 7-42.......................
7.5.5.2 Absolute value encoder via system bus (CAN) 7-44...........................
7.5.6 Control structure 7-46..........................................................
7.5.7 Travel range limits 7-47.........................................................
7.5.7.1 End of travel range limit switch 7-47......................................
7.5.7.2 Position limit values (C1223, C1224) 7-48..................................
7.5.8 Homing 7-49.................................................................
7.5.8.1 Homing 7-49.......................................................
7.5.8.2 Homing end 7-50....................................................
7.5.8.3 Referencing status (POS-REF-OK) 7-51....................................
7.5.8.4 Homing mode 0 and 1 7-52............................................
7.5.8.5 Homing mode 2 and 3 7-53............................................
7.5.8.6 Homing mode 4 and 5 7-54............................................
7.5.8.7 Homing mode 6 and 7 7-55............................................
7.5.8.8 Homing mode 8 and 9 7-56............................................
7.5.8.9 Homing mode 10 and 11 7-57..........................................
7.5.8.10 Second homing speed 7-58............................................
7.5.8.11 Set homing value 7-58................................................
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Contents
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L EDSVS9332P-A EN 3.0
7.5.9 Travel profile generator and setpoints 7-59...........................................
7.5.9.1 Linear ramps (L profile) 7-60...........................................
7.5.9.2 S ramps (S profile) 7-61...............................................
7.5.9.3 Override 7-63.......................................................
7.5.9.4 New travel profile parameters during positioning 7-63.........................
7.5.9.5 Influence of precontrol values (POS-NOUT-GAIN, POS-MOUT-GAIN) 7-63............
7.5.9.6 ”Target-reached” message (POS-IN-TARGET) 7-64............................
7.5.9.7 Target window (POS-WAITSTATE) 7-65.....................................
7.5.9.8 Virtual master (output POS-PHI-SET) 7-66..................................
7.5.9.9 Setting the actual position value (POS-ABS-SET) 7-67.........................
7.5.10 Manual operation 7-68.........................................................
7.5.10.1 Manual positioning 7-69...............................................
7.5.10.2 Manual positioning with intermediate stop 7-70..............................
7.5.10.3 Manual homing 7-70.................................................
7.5.11 Program operation 7-71.........................................................
7.5.11.1 Program control 7-71.................................................
7.5.11.2 Status of the program control 7-73.......................................
7.5.12 Variable tables (VT) 7-75........................................................
7.5.13 Program sets (PS) 7-76.........................................................
7.5.13.1 PS mode 7-77......................................................
7.5.13.2 Point-to-point positioning 7-78..........................................
7.5.13.3 Point-to-point positioning with changeover of velocity 7-79.....................
7.5.13.4 Touch probe positioning 7-80...........................................
7.5.13.5 Stand-by mode 7-81.................................................
7.5.13.6 Set position value 7-84................................................
7.5.13.7 Prg. fct. “Wait for input” 7-85...........................................
7.5.13.8 Prg. fct. “Switch output before positioning” 7-85.............................
7.5.13.9 Prg. fct. “Switch output after positioning” 7-86..............................
7.5.13.10 Prg. fct. “Waiting time” 7-86............................................
7.5.13.11 Prg. fct. “Branch 1” 7-87..............................................
7.5.13.12 Prg. fct. “Branch 2” 7-87..............................................
7.5.13.13 Prg. fct. “Repetition function - No. of pieces” 7-88...........................
7.5.13.14 Prg fct. “Jump to next PS” 7-89.........................................
7.5.14 POS-TP (Touch-probe saving of the actual position value) 7-90............................
7.5.15 POS-PFI (Program Function Inputs) 7-92.............................................
7.5.16 POS-PFO (Program Function Outputs) 7-93...........................................
7.5.17 Absolute value generator (ABS) 7-94...............................................
7.5.18 Addition block (ADD) 7-95.......................................................
7.5.19 Automation interface (AIF-IN) 7-96.................................................
7.5.20 Automation interface (AIF-OUT) 7-99...............................................
7.5.21 Analog input via terminal 1,2/3,4 (AIN) 7-101..........................................
7.5.22 AND operation (AND) 7-103.......................................................
7.5.23 Inverter (ANEG) 7-106...........................................................
7.5.24 Analog output via terminal 62/63 (AOUT) 7-107........................................
7.5.25 Arithmetic block (ARIT) 7-109.....................................................
7.5.26 Arithmetic block (ARITPH) 7-110...................................................
7.5.27 Changeover switch for analog signals (ASW) 7-113......................................
7.5.28 BCD decade switch (BCD) 7-115...................................................
7.5.28.1 Data inputs 7-119....................................................
7.5.28.2 Signal processing 7-120................................................
7.5.28.3 ”CANCEL” function 7-121...............................................
7.5.28.4 ”RESET” function 7-121................................................
7.5.28.5 BCD decade switch 7-122..............................................
7.5.28.6 Complete BCD reading 7-123............................................
7.5.28.7 BCD mode 7-124.....................................................
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L
EDSVS9332P-A EN 3.0
7.5.29 Holding brake (BRK) 7-126........................................................
7.5.29.1 Applying the brake 7-127...............................................
7.5.29.2 Opening the brake (release) 7-128........................................
7.5.29.3 Setting controller inhibit 7-129...........................................
7.5.30 System bus (CAN-IN) 7-131.......................................................
7.5.31 System bus (CAN-OUT) 7-138.....................................................
7.5.32 Comparator (CMP) 7-143.........................................................
7.5.32.1 Function 1: CMP1-IN1 = CMP1-IN2 7-144...................................
7.5.32.2 Function 2: CMP1-IN1 > CMP1-IN2 7-145...................................
7.5.32.3 Function 3: CMP1-IN1 < CMP1-IN2 7-145...................................
7.5.32.4 Function 4: |CMP1-IN1| = |CMP1-IN2| 7-146.................................
7.5.32.5 Function 5: |CMP1-IN1| > |CMP1-IN2| 7-146.................................
7.5.32.6 Function 6: |CMP1-IN1| < |CMP1-IN2| 7-146.................................
7.5.33 Long comparator (CMPPH) 7-147...................................................
7.5.33.1 Function 1: CMPPH1-IN1 = CMPPH1-IN2 7-149...............................
7.5.33.2 Function 2: CMPPH1-IN1 > CMPPH1-IN2 7-150...............................
7.5.33.3 Function 3: CMPPH1-IN1 < CMPPH1-IN2 7-150...............................
7.5.33.4 Function 4: |CMPPH1-IN1| = |CMPPH1-IN2| 7-151.............................
7.5.33.5 Function 5: |CMPPH1-IN1| > |CMPPH1-IN2| 7-151.............................
7.5.33.6 Function 6: |CMPPH1-IN1| < |CMPPH1-IN2| 7-151.............................
7.5.34 Signal conversion (CONV) 7-152....................................................
7.5.35 Analog-digital converter (CONVAD) 7-155.............................................
7.5.36 Analog-phase converter (CONVAPH) 7-157............................................
7.5.37 Digital-analog converter (CONVDA) 7-159.............................................
7.5.38 Phase-analog converter (CONVPHA) 7-162............................................
7.5.39 Phase conversion (CONVPHPH2) 7-164...............................................
7.5.40 Characteristic function (CURVE) 7-165...............................................
7.5.40.1 Characteristic with two co-ordinates 7-166..................................
7.5.40.2 Characteristic with three co-ordinates 7-166.................................
7.5.40.3 Characteristic with four co-ordinates 7-167..................................
7.5.41 Dead band (DB) 7-168...........................................................
7.5.42 Controller control (DCTRL) 7-169...................................................
7.5.42.1 Quick stop (QSP) 7-170................................................
7.5.42.2 Operation inhibited (DISABLE) 7-170.......................................
7.5.42.3 Controller inhibit (CINH) 7-170...........................................
7.5.42.4 TRIP-SET 7-171......................................................
7.5.42.5 TRIP-RESET 7-171....................................................
7.5.42.6 Controller status 7-171.................................................
7.5.43 Digital frequency input (DFIN) 7-172.................................................
7.5.44 Digital frequency output (DFOUT) 7-175..............................................
7.5.44.1 Output signals to X10 7-176.............................................
7.5.44.2 Output of an analog signal 7-177.........................................
7.5.44.3 Output of a speed signal 7-177...........................................
7.5.44.4 Encoder simulation of the resolver 7-178...................................
7.5.44.5 Direct output of X8 (C0540 = 5) 7-178.....................................
7.5.44.6 Direct output of X9 (C0540 = 4) 7-178.....................................
7.5.45 Digital frequency ramp function generator (DFRFG) 7-179.................................
7.5.45.1 Profile generator 7-180................................................
7.5.45.2 Quick stop 7-181.....................................................
7.5.45.3 Ramp function generator stop 7-181.......................................
7.5.45.4 RESET 7-182........................................................
7.5.45.5 Detect phase difference 7-182...........................................
7.5.45.6 Start via touch probe initiator (terminal X5/E5) 7-183...........................
7.5.45.7 Correction of the touch probe initiator (terminal X5/E5) 7-184....................
7.5.45.8 Offset setting 7-184...................................................
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Contents
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L EDSVS9332P-A EN 3.0
7.5.46 Digital frequency processing (DFSET) 7-185...........................................
7.5.46.1 Setpoint conditioning with stretching and gearbox factor 7-186...................
7.5.46.2 Processing of correction values 7-187......................................
7.5.46.3 Synchronising to zero track or touch probe 7-188.............................
7.5.47 Delay elements (DIGDEL) 7-189....................................................
7.5.47.1 On-delay 7-190......................................................
7.5.47.2 Dropout delay 7-190...................................................
7.5.47.3 General delay 7-191...................................................
7.5.48 Freely assignable digital inputs (DIGIN) 7-192..........................................
7.5.49 Freely assignable digital outputs (DIGOUT) 7-193.......................................
7.5.50 Free analog display code (DISA) 7-194...............................................
7.5.51 Free phase display code (DISPH) 7-196..............................................
7.5.52 First order derivative-action element (DT1) 7-197.......................................
7.5.53 Free piece counter (FCNT) 7-198...................................................
7.5.54 Free codes (FCODE) 7-201........................................................
7.5.55 Free digital outputs (FDO) 7-202....................................................
7.5.56 Freely assignable input variables (FEVAN) 7-204........................................
7.5.57 Fixed setpoints (FIXSET) 7-211.....................................................
7.5.57.1 Enabling of the FIXSET1 setpoints 7-212....................................
7.5.58 Flipflop element (FLIP) 7-213......................................................
7.5.59 Limiter (LIM) 7-216.............................................................
7.5.60 Internal motor control (MCTRL) 7-217................................................
7.5.60.1 Current controller 7-219................................................
7.5.60.2 Additional torque setpoint 7-219..........................................
7.5.60.3 Torque limitation 7-220................................................
7.5.60.4 Speed controller 7-221.................................................
7.5.60.5 Torque control with speed limitation 7-222..................................
7.5.60.6 Speed setpoint limitation 7-222..........................................
7.5.60.7 Phase controller 7-223.................................................
7.5.60.8 Quick stop QSP 7-224.................................................
7.5.60.9 Field weakening 7-225.................................................
7.5.60.10 Switching frequency changeover 7-225.....................................
7.5.61 Motor phase failure detection (MLP) 7-226............................................
7.5.62 Monitor outputs of monitoring system (MONIT) 7-227....................................
7.5.63 Motor potentiometer (MPOT) 7-228.................................................
7.5.64 Logic NOT 7-231...............................................................
7.5.65 Speed setpoint conditioning (NSET) 7-233............................................
7.5.65.1 Main setpoint path 7-234...............................................
7.5.65.2 JOG setpoints 7-235...................................................
7.5.65.3 Setpoint inversion 7-236................................................
7.5.65.4 S ramp 7-237.......................................................
7.5.65.5 Arithmetic operation 7-237..............................................
7.5.65.6 Additional setpoint 7-238...............................................
7.5.66 OR operation (OR) 7-239.........................................................
7.5.67 Oscilloscope function (OSZ) 7-242..................................................
7.5.68 Process controller (PCTRL1) 7-246..................................................
7.5.68.1 Control characteristic 7-247.............................................
7.5.68.2 Ramp function generator 7-248..........................................
7.5.68.3 Value range of the output signal 7-248.....................................
7.5.68.4 Evaluation of the output signal 7-248......................................
7.5.68.5 Deactivation of the process controller 7-248.................................
7.5.69 Signal adaptation for phase signals (PHDIV) 7-249......................................
7.5.70 Phase integrator (PHINT) 7-250....................................................
7.5.70.1 Constant input value 7-251..............................................
7.5.70.2 Scaling of PHINTx-OUT 7-252............................................
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Contents
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7.5.71 First order delay element (PT1) 7-253................................................
7.5.72 CW/CCW-QSP link (R/L/Q) 7-254...................................................
7.5.73 Ramp function generator (RFG) 7-255...............................................
7.5.73.1 Calculation and setting of the times Tir and Tif 7-256..........................
7.5.73.2 Loading of the ramp function generator 7-256................................
7.5.74 Sample and hold function (S&H) 7-257...............................................
7.5.75 Phase value selection (SELPH) 7-258................................................
7.5.76 Switching points (SP) 7-260.......................................................
7.5.76.1 Switching points 7-262.................................................
7.5.76.2 Hysteresis 7-263.....................................................
7.5.76.3 Dead time 7-264.....................................................
7.5.76.4 Filter time constant 7-265..............................................
7.5.77 Output of digital status signals (STAT) 7-266...........................................
7.5.78 Control of a drive network (STATE-BUS) 7-267.........................................
7.5.79 Multi-axis synchronisation (SYNC1) 7-268............................................
7.5.79.1 Possible axis synchronisations 7-269......................................
7.5.79.2 Cycle times 7-271....................................................
7.5.79.3 Phase displacement 7-273..............................................
7.5.79.4 Time slot for synchronisation via terminal 7-273..............................
7.5.79.5 Correction value of the phase controller 7-274...............................
7.5.79.6 Fault indications 7-274.................................................
7.5.79.7 Configuration examples 7-275...........................................
7.5.79.8 Scaling 7-275.......................................................
7.5.80 Teach-in in programming (TEACH) 7-276.............................................
7.5.81 Edge evaluation (TRANS) 7-278....................................................
7.5.81.1 Evaluate positive edge 7-279............................................
7.5.81.2 Evalute negative edge 7-279............................................
7.5.81.3 Evaluate positive or negative edge 7-280...................................
7.5.82 Variable table - acceleration (VTACC) 7-281...........................................
7.5.83 Variable table Piece number (VTPCS) 7-283...........................................
7.5.84 Variable table - target position/position values (VTPOS) 7-285..............................
7.5.85 Variable table Waiting time (VTTIME) 7-287............................................
7.5.86 Variable table - speed (VTVEL) 7-289................................................
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Contents
ix
L EDSVS9332P-A EN 3.0
7.6 Monitoring 7-291......................................................................
7.6.1 Reactions 7-291...............................................................
7.6.2 Set reactions 7-292.............................................................
7.6.3 Monitoring functions 7-293.......................................................
7.6.3.1 System fault CCr 7-295................................................
7.6.3.2 Communication error CE0 7-296..........................................
7.6.3.3 External error EEr 7-297...............................................
7.6.3.4 Power stage identification H07 7-298......................................
7.6.3.5 Monitoring for failure of a motor phase LP1 7-299.............................
7.6.3.6 Low voltage LU 7-300.................................................
7.6.3.7 System speed monitoring NMax 7-301.....................................
7.6.3.8 Monitoring for short-circuit OC1 7-302.....................................
7.6.3.9 Monitoring for earth fault OC2 7-303.......................................
7.6.3.10 Fault message (OC5) 7-304.............................................
7.6.3.11 Heatsink monitoring OH (fixed) 7-305......................................
7.6.3.12 Motor temperature monitoring OH3 (fixed) 7-306.............................
7.6.3.13 Heatsink monitoring OH4 (adjustable) 7-307.................................
7.6.3.14 Motor temperature monitoring OH7 (adjustable) 7-308..........................
7.6.3.15 Motor temperature monitoring OH8 7-309...................................
7.6.3.16 Overvoltage OU 7-310.................................................
7.6.3.17 Following error P03 7-312..............................................
7.6.3.18 Phase controller overflow P13 7-313.......................................
7.6.3.19 Parameter error PRO 7-314..............................................
7.6.3.20 Parameter set error PR1, PR2, PR3, PR4 7-315...............................
7.6.3.21 Resolver monitoring for wire breakage Sd2 7-316.............................
7.6.3.22 Dig-Set monitoring Sd3 7-317...........................................
7.6.4 Fault indication via digital output 7-318..............................................
7.7 Parameter setting 7-319.................................................................
7.7.1 Possible parameter settings 7-319..................................................
7.7.2 Structure of a parameter set 7-320.................................................
Part D2.2
7.8 Code table 7-323......................................................................
7.9 Selection lists 7-381...................................................................
7.9.1 Selection list - signal links 7-381...................................................
7.9.2 Table of attributes 7-389.........................................................
7.9.3 Motor selection list 7-406........................................................
7.9.3.1 Servo motors 7-406...................................................
7.9.3.2 Three-phase AC asynchronous motor 7-409.................................
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Contents
x
L
EDSVS9332P-A EN 3.0
Part E
8 Troubleshooting and fault elimination 8-1......................................
8.1 Troubleshooting 8-1..................................................................
8.2 Error analysis with the history buffer 8-3...................................................
8.2.1 Structure of the history buffer 8-3................................................
8.2.2 Working with the history buffer 8-4...............................................
8.3 Fault messages 8-5..................................................................
8.4 Reset of fault messages 8-10............................................................
Part F
9 Network of several drives
See folder “Planning”
Part G
10 Application of brake units
See folder “Planning”
Part H
11 Automation
See folder “Planning”
Part I
12 Accessories and motors
See folder “Planning”
Part K
13 Selection help
See folder “Planning”
14 Application examples 14-1...................................................
14.1 Example 1: Dosing 14-1................................................................
14.2 Example 2: Spray jet control 14-5.........................................................
14.3 Example 3: Contouring control 14-8.......................................................
14.3.1 Commissioning of the contouring control 14-11........................................
Part L
15 Signal flow diagram 15-1....................................................
Part M
16 Glossary 16-1..............................................................
17 Table of keywords 17-1......................................................
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Preface and general information
1-1
l EDSVS9332P-A EN 3.0
Part A
1 Preface and general information
1.1 How to use this M anual
• This Manual supplements the Operating Instructions of the servo position controller 93XX.
• It contains the Operating Instructions which were valid at the time of printing of the System
Manual and additional information on systems engineering, functionality and accessories.
– In case of doubt, the Operating Instructions attached to the 93XX servo position controller
is valid.
• The System Manual helps to select and dimension the 93XX servo position controller and
accessories to ensure a safe and trouble-free operation. It contains safety information which
must be observed.
• The System Manual must always be in a complete and perfectly readable state.
1.1.1 Terminology used
Term In the following text used for
93XX Any type of servo position controller (types 9321 ... 9332)
Controller 93XX servo position controller
Drive system Drive systems with servo position controllers 93XX and other
Lenze drive components
1.1.2 What is new?
Version Id. No. Modifications
1.0 05/97 00397653 First edition
2.0 02/99 00406175 Types 9321 to 9324 with 200% overcurrent, new function “Automatic control parameter
identification”
3.0 03/2003 TD23 00463261 Fault correction and editorial revision
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Preface and general information
1-2
l
EDSVS9332P-A EN 3.0
1.2 Legal regulations
Labelling Nameplate CE-identification Manufacturer
g
Lenze controllers are unambiguously
designated by the contents of the nameplate.
Conforms to the EC Low-Voltage Directive Lenze Drive Systems GmbH
Postfach 101352
D-31763 Hameln
Application as
directed
93XX servo position controller
• must only be operated under the conditions prescribed in these Instructions.
• are components
– for open and closed loop control of variable speed drives with PM synchronous motors, asynchronous servo motors or asynchronous
standard motors.
– for installation in a machine
– for assembly with other components to form a machine.
• are electric units for the installation into control cabinets or similar enclosed operating housing.
• comply with the requirements of the Low-Voltage Directive.
• are not machines for the purpose of the Machinery Directive.
• are not to be used as domestic appliances, but for industrial purposes only.
Drive systems with 93XX servo position controllers
• comply with the EMC Directive if they are installed according to the guidelines of CE-typical drive systems.
• can be used
– for operation on public and non-public mains
– for operation in industrial premises and residential areas.
• The user is responsible for the compliance of his application with the EC directives.
Any other use shall be deemed inappropriate!
Liability • The information, data, and notes in these Instructions met the state of the art at the time of printing. Claims on modifications referring to
controllers which have already been supplied cannot be derived from the information, illustrations, and descriptions.
• The specifications, processes, and circuitry described in these Instructions are for guidance only and must be adapted to your own specific
application. Lenze does not take responsibility for the suitability of the process and circuit proposals.
• The specifications in these Instructions describe the product features without guaranteeing them.
• Lenze does not accept any liability for damage and operating interference caused by:
– disregarding the Operating Instructions
– unauthorised modifications to the controller
– operating errors
– improper working on and with the controller
Warranty • Terms of warranty: see terms of sales and delivery of Lenze Drive Systems GmbH.
• Warranty claims must be made to Lenze immediately after detecting the deficiency or fault.
• The warranty is void in all cases where liability claims cannot be made.
Disposal Material recycle dispose
p
Metal D-
Plastic D-
Assembled PCBs -D
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Preface and general information
1-3
l EDSVS9332P-A EN 3.0
1.3 EC directives / Declaration of conformity
1.3.1 What is the purpose of EC directives?
The EC directives are issued by the European Council and are intended for the determination of
common technical requirements (harmonisation) and certification procedures with the European
Community. At the moment, there are 21 EC directives for product ranges. The directives are or will
be converted into national laws of the member states. A certification issued by one member state
is valid automatically without any further approval in all other member states.
The texts of the directives are restricted to the essential requirements. Technical details are or will
be determined by European harmonised standards.
1.3.2 What does the CE marking imply?
After a verification, the conformity according to the EC directives is certified by affixing a CEmarking.
WithintheECtherearenocommercialbarriersforaproductprovidedwithaCEmarking.
Attaching a declaration of conformity is not necessary for most of the directives. Users or customers
are therefore not aware which of the 21 EC Directives comply with a certain product and which
harmonised standards were considered in the evaluation procedure of conformity.
Controllers with the CE marking exclusively correspond to the Low Voltage Directive. So far, only
recommendations were given for the compliance with the EMC regulation. In this case, the user
himself has to prove the compliance with the CE directives for the installation of a machine. Lenze
has already provided evidence of installing CE-typical drive systems and confirmed this by the
declaration of conformity to the EMC EC directive.
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Preface and general information
1-4
l
EDSVS9332P-A EN 3.0
1.3.3 EC Low-Voltage Directive
(73/23/EEC)
amended by: CE-mark Directive (93/68/EWG)
1.3.3.1 General
• The Low-Voltage Directive applies to all electrical equipment for use with a rated voltage
between 50 V and 1000 V AC and between 75 and 1500 V DC under normal ambient
conditions, except for e.g. the use of electrical equipment in explosive atmospheres and
electrical parts in passenger and goods lifts.
• The objective of the Low-Voltage Directive is to ensure that only such electrical equipment is
placed on the market which does neither endanger the safety of persons and animals nor the
conservation of material assets.
9300std001
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