Lenze i700 Series User manual

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Ä.T=+ä 13512810
i700
Inverter
i700 servo inverter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Reference manual EN
E70ACM...

Contents
2Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06
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1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 13
1.1 Conventions used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14
1.2 Terminology used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15
1.3 Definition of the notes used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 16
1.4 Structure of the parameter descriptions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 17
2 Parameter handling _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19
2.1 Parameter transfer during initialisation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19
2.2 Storage parameter set (par001.*) and total parameter set (par000.*) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20
2.2.1 Saving a parameter set from the i700 to a file (export) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21
2.2.2 Loading the stored parameter set to the i700 (import) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21
2.2.3 Monitoring of the parameter import (error report) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21
2.3 Cyclic redundancy check (CRC) - parameter set comparison on the basis of the checksum _ _ _ _ _ 22
0x2030 - Parameter set: Validity check (CRC)
3 Communication with the controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23
3.1 Acceleration of the system (initialisation) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23
3.2 Process data (cyclic PDO transfer) and PDO mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25
3.2.1 Synchronisation with "Distributed clocks" (DC) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 26
3.3 Parameter data transfer (SDO communication) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27
3.3.1 Object directory _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27
3.3.2 SDO abort codes (Abort codes) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28
3.3.3 ESI: EtherCAT Slave Information file (device description) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28
3.4 Activating the control via PDO _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29
0x2824 | 0x3024 - Device control via PDO: Activation
3.5 Lenze control and status word _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29
0x2830 | 0x3030 - Lenze control word
0x2831 | 0x3031 - Lenze status word
0x2833 | 0x3033 - Lenze statusword 2
3.6 Ethernet over EtherCAT (EoE) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32
3.6.1 System architecture _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32
3.6.2 Supported protocols and services _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33
3.6.3 Display of EoE-specific information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33
0x2020 - EoE information
3.6.4 GCI-SDO communication (TCP port 9410) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34
3.6.4.1 Structure of the EtherCAT data telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35
3.6.4.2 Assignment of user data areas P0 ... P4 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 37
3.6.4.3 Error codes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 38
3.6.4.4 Telegram example 1: Querying the heatsink temperature (read request) _ 39
3.6.4.5 Telegram-example 2:
Querying the software version of the i700 (read request) _ _ _ _ _ _ _ _ _ _ 41
3.6.4.6 Telegram example 3:
Setting the LV warning threshold in the i700 (write request) _ _ _ _ _ _ _ _ 43
Contents

Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06 3
Contents
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4 Device settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 45
4.1 Behaviour in case of error _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 45
0x10F1 - ECAT: Behaviour in case of error
4.2 Device identification data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 47
0x2000 - Device: Data
0x2001 - Device: Name
0x2100 - brand protection
4.3 Function "Optical device recognition" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 48
0x2021 - Device: Optical recognition
4.4 Device commands _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 48
0x2022 - Device command
4.5 Monitoring of the DC-bus voltage _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 49
0x2540 - Device: Voltage values
4.5.1 Resetting the "Undervoltage (LU)" error message _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 52
4.6 Real time information (distributed clock) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 53
0x2580 - ECAT DC: Real-time information
5 Motor control & motor settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 55
5.1 Required commissioning steps (short overview) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 57
5.1.1 Servo control for synchronous motor (SM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 57
5.1.2 Servo control for asynchronous motor (ASM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 58
5.1.3 V/f characteristic control for asynchronous motor (ASM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 59
5.2 Commissioning functions (short overview) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 60
0x2822 | 0x3022 - Axis command
0x2823 | 0x3023 - Axis command: Progress
0x2825 | 0x3025 - Axis: Operating mode
0x2832 | 0x3032 - Identification: Status word
5.2.1 Enable/inhibit operation via control word _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 62
5.2.2 Saving changed parameters safe against mains failure _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 63
5.3 Wiring check by means of manual test modes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 64
0x2835 | 0x3035 - Manual test mode: Settings
5.3.1 Manual test mode "voltage/frequency" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 66
5.3.2 Manual test mode "current/frequency" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 67
5.4 Manual control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 69
0x2836 | 0x3036 - Manual jog: Settings
5.5 Setting the control mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 73
0x2C00 | 0x3400 - Motor control
5.6 Accepting/adapting plant parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 74
5.7 Compensating for inverter influence on output voltage _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 75
0x2DE0 | 0x35E0 - Advanced settings
0x2947 | 0x3147 - Inverter characteristic: Voltage grid points (y)
5.8 Setting the motor parameters for the servo control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 79
5.8.1 Lenze motor: Easy loading of motor data from the catalogue via the »PLC-Designer« _ _ 79
5.8.2 Motors of other manufacturers or no catalogue data available:
Three possibilities to create the setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 79
0x2C08 | 0x3408 - motor: Setting method - motor parameters
5.8.2.1 Enter motor nameplate data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 80
5.8.2.2 Set motor parameters manually _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 80
5.8.2.3 Determine motor parameters automatically via
"motor parameter identification" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 82

Contents
4Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06
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5.8.3 Motor parameters (object descriptions) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 85
0x2C01 | 0x3401 - Motor: Common parameters
0x2C02 | 0x3402 - Motor (ASM): Parameter
0x2C03 | 0x3403 - Motor (SM): Parameter
0x6075 | 0x6875 - Motor rated current
0x6076 | 0x6876 - Motor rated torque
5.9 Setting the feedback system for the servo control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 89
5.9.1 General settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 90
0x2C45 | 0x3445 - feedback system: Response to open circuit
0x2C46 | 0x3446 - feedback system: Specifiable number of revolutions
0x2C5F | 0x345F - Feedback system: Parameter CRC
5.9.2 Settings for "resolver" version _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 91
0x2C43 | 0x3443 - Resolver: Number of pole pairs
0x2C44 | 0x3444 - Resolver error compensation: Parameter
5.9.3 Settings for "encoder" version _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 93
0x2C40 | 0x3440 - Encoder: Type
0x2C42 | 0x3442 - Encoder: Parameter
5.9.4 Evaluation of the signal quality _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 94
5.9.5 Additional settings for SinCos absolute value encoders with HIPERFACE® protocol _ _ _ 96
0x2C41 | 0x3441 - Hiperface: Parameter
5.9.6 Detection of changed settings of the feedback system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 99
5.10 Synchronous motor (SM): Pole position identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 100
5.10.1 Monitoring of the pole position identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 101
0x2C60 | 0x3460 - Monitoring of pole position identification: Response
5.10.2 Pole position identification PPI (360°) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 101
5.10.2.1 Adapt pole position identification PPI (360°) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 106
0x2C61 | 0x3461 - Pole position identification PPI (360°)
5.10.3 Pole position identification PPI (min. movement) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 109
0x2C62 | 0x3462 - Pole position identification PPI (min. movement)
5.10.4 Pole position identification PPI (without movement) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 112
0x2C63 | 0x3463 - pole position identification PLI (without movement)
5.11 Setting control loops _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 115
5.11.1 Setting and optimising the current controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 115
0x2941 | 0x3141 - Current controller: Feedforward control
0x2942 | 0x3142 - Current controller: Parameter
0x2943 | 0x3143 - Motor: Current setpoint - filter time
5.11.1.1 Manual test mode "Current pulse" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 118
5.11.2 Determining the total moment of inertia _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 121
0x2910 | 0x3110 - Moments of inertia
5.11.3 Setting the speed controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 123
0x2900 | 0x3100 - Speed controller: Parameter
0x2901 | 0x3101 - Speed controller: Gain - adaptation
0x2902 | 0x3102 - Speed controller: Load value I component
0x2903 | 0x3103 - Speed: Speed setpoint - filter time
0x2904 | 0x3104 - Speed: Actual speed - filter time
5.11.4 Setting the position controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 126
0x2980 | 0x3180 - Position controller: Gain
0x2981 | 0x3181 - Position controller: Gain - adaptation
0x2982 | 0x3182 - Position controller: Output signal limitation
0x2983 | 0x3183 - Position: Select a new actual position
0x2984 | 0x3184 - Determine target position: Mode
5.11.5 Setting the field controller (ASM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 128
0x29C0 | 0x31C0 - Field controller: Parameter

Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06 5
Contents
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5.11.6 Setting the field weakening controller (ASM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 129
0x29E0 | 0x31E0 - Field weakening controller: Parameter
0x29E1 | 0x31E1 - field: Field set value limitation
0x29E2 | 0x31E2 - DC link circuit voltage: Filter time
0x29E3 | 0x31E3 - motor: Actual voltage - filter time
0x29E4 | 0x31E4 - Voltage reserve range
5.11.7 Field weakening operation - synchronous motor (SM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 131
5.12 Fine adjustment des motor model _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 132
5.12.1 Correction of the stator leakage inductance (Lss)... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 132
0x2C04 | 0x3404 - Motor: Lss saturation characteristic - inductance grid points (y)
0x2C05 | 0x3405 - Motor: Lss saturation charcteristic - reference for current grid points (x)
5.12.1.1 Example for determining the saturation characteristic _ _ _ _ _ _ _ _ _ _ _ 135
5.12.2 Synchronous motor (SM): Compensating for temperature and current influences _ _ _ 138
0x2C06 | 0x3406 - Motor (SM): Magnet characteristic (current) - grid points
5.12.3 Asynchronous motor (ASM): Identifying the Lh saturation characteristic _ _ _ _ _ _ _ _ _ 139
0x2C07 | 0x3407 - Motor (ASM): Lh saturation characteristic - inductance grid points (y)
5.12.4 Estimating the optimal magnetising current _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 141
5.13 Parameterising filter elements in the setpoint path _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 142
5.13.1 Jerk limitation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 142
0x2945 | 0x3145 - Torque: Setpoint jerk limitation
5.13.2 Notch filters (band-stop filters) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 142
0x2944 | 0x3144 - Torque: Notch filter setpoint torque
5.14 Parameterising the V/f characteristic control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 146
5.14.1 Defining the V/f characteristic shape _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 147
0x2B00 | 0x3300 - VFC: V/f characteristic - shape
0x2B01 | 0x3301 - VFC: V/f characteristic - define reference point
0x2B02 | 0x3302 - VFC: User-definable V/f characteristic - frequency grid points (x)
0x2B03 | 0x3303 - VFC: User-definable V/f characteristic - voltage grid points (y)
5.14.2 Torque increase in the lower speed range ("Boost" function) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 150
0x2B04 | 0x3304 - VFC: Voltage vector control - setpoint current
0x2B05 | 0x3305 - VFC: Voltage vector control parameter
5.14.3 Setting the voltage boost _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 151
0x2B06 | 0x3306 - VFC: Voltage boost
5.14.4 Setting the load adjustment _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 152
0x2B07 | 0x3307 - VFC: Load adjustment parameter
5.14.5 Defining the behaviour at the current limit (Imax controller) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 153
0x2B08 | 0x3308 - VFC: Imax controller - Parameter
5.14.6 Setting the slip compensation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 155
0x2B09 | 0x3309 - VFC: Slip compensation - Parameter
5.14.7 Setting the oscillation damping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 156
0x2B0A | 0x330A - VFC: Oscillation damping - Parameter
5.14.8 Optimising pull-out slip limitation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 158
0x2B0C | 0x330C - VFC: Override point of field weakening
5.14.9 Display parameter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 158
0x2B0B | 0x330B - VFC: Setpoint frequency
5.14.10 "Flying restart" function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 159
0x2BA0 | 0x33A0 - Flying restart: Activate
0x2BA1 | 0x33A1 - Flying restart: Current
0x2BA2 | 0x33A2 - Flying restart: Start frequency
0x2BA3 | 0x33A3 - Flying restart: Integration time
0x2BA4 | 0x33A4 - Flying restart: Min. deviation
0x2BA5 | 0x33A5 - Flying restart: Delay time
0x2BA6 | 0x33A6 - Flying restart: Result
5.15 "DC-injection braking" function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 163
0x2B80 | 0x3380 - DC-injection braking: Current

Contents
6Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
5.16 "Short-circuit braking" function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 164
5.17 Setting the switching frequency _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 165
0x2939 | 0x3139 - Switching frequency
5.18 Frequency and speed limitations _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 166
6 Holding brake control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 167
6.1 Operating modes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 167
6.1.1 Triggering via control word via external control (Lenze setting) _ _ _ _ _ _ _ _ _ _ _ _ _ _ 168
6.1.2 Triggering via state machine of device _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 168
6.1.3 No brake connected _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 169
6.2 Opening the brake with a starting torque _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 169
6.3 Display of the holding brake status _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 169
6.4 Overriding the selected brake mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 169
6.5 Basic signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 169
6.6 Settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 171
0x2820 | 0x3020 - brake control: settings
7 CiA402 device profile _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 174
7.1 Supported drive modes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 176
7.2 Applied units and scaling for position and velocity _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 176
7.3 General CiA402 parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 177
0x60FD | 0x68FD - Digital inputs
0x6404 | 0x6C04 - Motor manufacturer
0x6502 | 0x6D02 - Supported drive modes
0x67FF | 0x6FFF - Device profile number
7.4 Device control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 179
0x6040 | 0x6840 - CiA402 controlword
0x6041 | 0x6841 - Statusword
0x605A | 0x685A - Quick stop option code
0x6060 | 0x6860 - Modes of operation
0x6061 | 0x6861 - Modes of operation display
0x6085 | 0x6885 - Quick stop deceleration
7.4.1 Commands for the device status control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 182
7.4.1.1 Shutdown _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 183
7.4.1.2 Switching on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 184
7.4.1.3 Enable operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 185
7.4.1.4 Activate quick stop _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 186
7.4.1.5 Disable operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 187
7.4.1.6 Disable voltage _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 188
7.4.1.7 Fault reset _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 189
7.4.2 Device states _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 190
7.4.2.1 Not ready to switch on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 192
7.4.2.2 Switch on disabled _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 193
7.4.2.3 Ready to switch on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 194
7.4.2.4 Switched on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 195
7.4.2.5 Operation enabled _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 196
7.4.2.6 Quick stop active _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 197
7.4.2.7 Fault reaction active _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 198
7.4.2.8 Fault _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 199
7.4.2.9 STO ("Safe Torque Off") _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 200
7.4.3 Selection of the operating mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 201

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7.5 Parameters for the scaling of physical values _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 202
0x607E | 0x687E - Polarity
0x6080 | 0x6880 - Max. motor speed
0x608F | 0x688F - Position encoder resolution
0x6090 | 0x6890 - Velocity encoder resolution
7.6 Parameters for actuation of the position control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 205
0x6062 | 0x6862 - Position demand value
0x6063 | 0x6863 - Position actual internal value
0x6064 | 0x6864 - Position actual value
0x6065 | 0x6865 - Following error window
0x6066 | 0x6866 - Following error time out
0x6067 | 0x6867 - Position window
0x6068 | 0x6868 - Position window time
0x60F4 | 0x68F4 - Following error actual value
0x60FA | 0x68FA - Control effort
0x60FC | 0x68FC - Position demand internal value
7.7 Velocity mode (vl) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 208
7.7.1 Default mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 208
7.7.2 Object description _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 209
0x6042 | 0x6842 - vl target velocity
0x6043 | 0x6843 - vl velocity demand
0x6044 | 0x6844 - vl velocity actual value
0x6046 | 0x6846 - vl velocity min max amount
0x6048 | 0x6848 - vl velocity acceleration
0x6049 | 0x6849 - vl velocity deceleration
7.7.3 Signal flow (servo control) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 211
7.7.4 Signal flow (V/f characteristic control) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 214
7.8 Cyclic sync position mode (csp) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 217
7.8.1 Default mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 218
7.8.2 Object description _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 219
0x607A | 0x687A - Target position
0x60C0 | 0x68C0 - Interpolation sub mode select
0x60C2 | 0x68C2 - Interpolation time period
0x60E0 | 0x68E0 - Positive torque limit value
0x60E1 | 0x68E1 - Negative torque limit value
7.8.3 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 221
7.8.4 Control commands & status information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 223
7.9 Cyclic sync velocity mode (csv) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 224
7.9.1 Default mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 225
7.9.2 Object description _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 226
0x606C | 0x686C - Velocity actual value
0x60B1 | 0x68B1 - Velocity offset
0x60FF | 0x68FF - Target velocity
7.9.3 Signal flow (servo control) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 227
7.9.4 Signal flow (V/f characteristic control) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 229
7.9.5 Control commands & status information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 231
7.10 Cyclic sync torque mode (cst) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 232
7.10.1 Default mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 233

Contents
8Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06
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7.10.2 Object description _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 234
0x2946 | 0x3146 - Cyclic sync torque mode: Speed limitation
0x6071 | 0x6871 - Torque demand
0x6072 | 0x6872 - Max torque
0x6073 | 0x6873 - Max current
0x6074 | 0x6874 - Torque demand
0x6077 | 0x6877 - Torque actual value
0x6078 | 0x6878 - Current actual value
0x6079 | 0x6879 - DC link circuit voltage
0x60B2 | 0x68B2 - Torque offset
7.10.3 Signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 239
7.10.4 Control commands & status information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 241
7.11 Touch probe (TP) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 242
7.11.1 Default mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 243
7.11.2 General functional principle _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 244
7.11.3 Filtering the touch probe signal _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 245
0x2500 - Touch probe (TP): Debounce time
7.11.4 Compensation of runtime delays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 245
0x2D00 | 0x3500 - Touch probe (TP): Dead time compensation
7.11.5 Touch probe function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 246
0x60B8 | 0x68B8 - Touch probe function
7.11.6 Touch probe status _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 248
0x60B9 | 0x68B9 - Touch probe status
7.11.7 Time stamps and positions detected _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 249
0x2D01 | 0x3501 - Touch probe (TP): Time stamp
0x60BA | 0x68BA - Touch probe pos1 pos value
0x60BB | 0x68BB - Touch probe pos1 neg value
0x60BC | 0x68BC - Touch probe pos2 pos value
0x60BD | 0x68BD - Touch probe pos2 neg value

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8 Monitoring functions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 251
8.1 24-V supply voltage monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 251
8.2 Monitoring of the power section and device utilisation (Ixt) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 252
0x2D40 | 0x3540 - Ixt utilisation
8.3 Monitoring of the heatsink temperature _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 255
0x2D84 | 0x3584 - Heatsink temperature
8.4 Monitoring of the motor utilisation (I²xt) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 257
0x2D4E | 0x354E - Motor utilisation (I²xt): Motor overload warning threshold
0x2D4F | 0x354F - Motor utilisation (I²xt): Actual utilisation
0x2D50 | 0x3550 - motor utilisation (I²xt): Motor overload error
0x2D4C | 0x354C - Motor utilisation (I²xt): Parameter for the thermal model
0x2D4D | 0x354D - Motor utilisation (I²xt): User-definable characteristic
8.4.1 Example of how to enter the characteristic for standard and servo motors _ _ _ _ _ _ _ 262
8.4.2 UL 508-compliant I²xt motor overload monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 264
8.5 Motor temperature monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 266
0x2D49 | 0x3549 - Motor temperature monitoring: Parameters
8.5.1 Spec. charact. curve for motor temperature sensor _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 268
8.6 Motor speed monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 269
0x2D44 | 0x3544 - Motor speed monitoring
8.7 Motor phase failure monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 270
0x2D45 | 0x3545 - Motor phase failure detection
8.7.1 Limits of the motor phase failure monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 271
8.7.2 Monitoring 2: In the "enable operation" state transition _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 272
8.7.3 Monitoring 1: In "operation enabled" status _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 272
8.7.4 Monitoring with regard to short circuit and earth fault _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 273
8.8 Monitoring of the ultimate motor current _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 274
0x2D46 | 0x3546 - Monitoring: Ultimate motor current
8.9 Monitoring of the position and velocity error _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 275
0x2D51 - monitoring: Position and velocity error
8.9.1 Monitoring of the position error _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 276
8.9.2 Monitoring of the speed deviation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 277
9 Diagnostics & error management _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 278
9.1 LED status displays _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 279
9.2 Indication of fault and warning (error code) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 280
0x603F | 0x683F - Error code
0x284F | 0x304F - Current fault
9.2.1 Response of the device in the event of an error _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 281
0x605E | 0x685E - Response to error
0x2826 | 0x3026 - Quick stop: Duration in the event of a fault
9.2.2 Resetting the error/fault _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 283
0x2840 | 0x3040 - Delay time: Reset error
0x2841 | 0x3041 - Reset error
9.3 History buffer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 284
0x10F3 - Diagnostics: History buffer

Contents
10 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06
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9.4 CiA402 error codes / error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 286
Error code 0x0000: No error
Error code 0x2320: Short circuit or earth leakage on motor side
Error code 0x2340: Short circuit on motor side
Error code 0x2351: Motor utilisation (I²xt) > [value] %
Error code 0x2380: Fault - utilisation of the power section (Ixt) too high
Error code 0x2381: Warning - Utilisation of the power section (Ixt) too high
Error code 0x2382: Fault - device utilisation (Ixt) too high
Error code 0x2383: Warning - device utilisation (Ixt) too high
Error code 0x2384: Ultimate motor current reached
Error code 0x2385: Output current > [value] A (maximum device current)
Error code 0x2386: Clamp is active
Error code 0x2387: Clamp responded too often
Error code 0x3210: DC link circuit - overvoltage [value] V
Error code 0x3220: DC link circuit - undervoltage [value] V
Error code 0x4210: Module temperature too high, [value]
Error code 0x4280: Internal fault - module temperature monitoring
Error code 0x4310: Motor temperature too high, [value]
Error code 0x4380: Motor temperature sensor
Error code 0x5112: 24-V supply
Error code 0x6010: Watchdog reset
Error code 0x6310: Incorrect parameter set download
Error code 0x6320: Parameter error in object [value]
Error code 0x7121: PLI - motor blocked
Error code 0x7303: Error in feedback system
Error code 0x7380: Hiperface communication error
Error code 0x7381: Hiperface: Invalid absolute value - motor speed too high
Error code 0x8180: ECAT DC - synchronisation required
Error code 0x8181: EtherCAT communication
Error code 0x8280: Sync Manager - address [value]
Error code 0x8281: Sync Manager - actual size [value]
Error code 0x8282: Sync Manager - settings [value]
Error code 0x8283: PDO Mapping: Object unknown (index [value])
Error code 0x8284: No PDO mapping object (index [value])
Error code 0x8285: Too many mapped objects (max. number = [value])
Error code 0x8286: PDO mapping - error
Error code 0x8700: Sync controller
Error code 0x8701: Time-out during synchronisation with EtherCAT Sync signal
Error code 0xFF00: Fatal internal error
Error code 0xFF01: Fatal internal communication error, cycle [value]
Error code 0xFF02: Brake
Error code 0xFF03: Fatal internal error - overflow task [value]
Error code 0xFF04: PLI - motor movement too large
Error code 0xFF05: STO inhibited
Error code 0xFF06: Max. speed reached
Error code 0xFF07: Impermissible during identification or in the test mode
Error code 0xFF08: Impossible during identification
Error code 0xFF09: Motor phase failure
Error code 0xFF0A: Motor phase failure - phase U
Error code 0xFF0B: Motor phase failure - phase V
Error code 0xFF0C: Motor phase failure - phase W
Error code 0xFF0D: No resolver connected --> command cannot be executed.
Error code 0xFF0E: Speed too low --> command cannot be executed.
Error code 0xFF0F: No resolver connected --> command cannot be executed.
Error code 0xFF10: Time-out
Error code 0xFF11: Numerical problem

Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06 11
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Error code 0xFF12: Inverter error too big
Error code 0xFF13: Identification aborted
Error code 0xFF14: Not allowed in state 'operation enabled' or 'quick stop active'
Error code 0xFF15: No Hiperface absolute value encoder connected --> command cannot be executed
Error code 0xFF16: Connected Hiperface absolute value encoder is not supported
Error code 0xFF17: Connected Hiperface absolute value encoder is not supported --> command cannot be executed
Error code 0xFF18: Communication timeout in the manual control mode
Error code 0xFF19: Internal error during identification
Error code 0xFF20: The check of the Replacement Protection has failed
9.5 Identification data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 299
0x1000 - Device: Type
0x1001 - Error memory
0x1008 - ECAT: Manufacturer's device name
0x1009 - Device: Hardware version
0x100A - Device: Software version
0x1018 - ECAT: Identification data
9.6 Diagnostics parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 300
0x10F8 - ECAT DC: Current time
0x2D81 | 0x3581 - Counter: Operating time
0x2D82 | 0x3582 - motor: Actual voltage - Veff, phase-phase
0x2D83 | 0x3583 - Motor: Phase currents
0x2D8A | 0x358A - Speed monitoring: Current speed error
10 Service/internal _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 302
0x2DD0 | 0x35D0 - field: Values
0x2DD1 | 0x35D1 - motor: Currents
0x2DD2 | 0x35D2 - Position: Target position interpolated
0x2DD3 | 0x35D3 - Target speeds
0x2DD4 | 0x35D4 - Speed controller: Output signal
0x2DD5 | 0x35D5 - torque: Target torque
0x2DD6 | 0x35D6 - Torque: Filter cascade
0x2DD7 | 0x35D7 - Voltage values
0x2DDC | 0x35DC - Slip: Actual slip
0x2DDD | 0x35DD - Device: Actual output frequency
0x2DDE | 0x35DE - motor: Actual position of rotor angle
0x2DDF | 0x35DF - Axis: Device data
10.1 Firmware update _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 307
10.2 Reserved objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 308
11 Appendix _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 309
11.1 Table of attributes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 309
11.2 Structure of the parameter set file _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 332
11.2.1 File header _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 332
11.2.2 Data header _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 333

Contents
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11.3 Communication objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 335
0x1600 - RPDO-->Axis A: Cyclic sync position mode (csp)
0x1601 - RPDO-->Axis A: Cyclic sync torque mode (cst)
0x1602 - RPDO-->Axis A: Cyclic sync velocity mode (csv)
0x1603 - RPDO-->Axis A: Velocity mode (vl)
0x1604 - RPDO-->Axis A: Touch probe (TP)
0x1605 - RPDO-->Axis A: Freely configurable (user)
0x1606 - RPDO-->Axis A: Torque limits
0x1607 - RPDO --> Axis A: Speed Limits
0x1610 - RPDO-->Axis B: Cyclic sync position mode (csp)
0x1611 - RPDO-->Axis B: Cyclic sync torque mode (cst)
0x1612 - RPDO-->Axis B: Cyclic sync velocity mode (csv)
0x1613 - RPDO-->Axis B: Velocity mode (vl)
0x1614 - RPDO-->Axis B: Touch probe (TP)
0x1615 - RPDO-->Axis B: Freely configurable (user)
0x1616 - RPDO-->Axis B: Torque limits
0x1617 - RPDO --> Axis B: Speed limits
0x1A00 - Axis A-->TPDO: Cyclic sync position mode (csp)
0x1A01 - Axis A-->TPDO: Cyclic sync torque mode (cst)
0x1A02 - Axis A-->TPDO: Cyclic sync velocity mode (csv)
0x1A03 - Axis A-->TPDO: Velocity mode (vl)
0x1A04 - Axis A-->TPDO: Touch probe (TP)
0x1A05 - Axis A-->TPDO: Freely configurable (user)
0x1A06 - Axis A-->TPDO: Additional status information
0x1A10 - Axis B-->TPDO: Cyclic sync position mode (csp)
0x1A11 - Axis B-->TPDO: Cyclic sync torque mode (cst)
0x1A12 - Axis B-->TPDO: Cyclic sync velocity mode (csv)
0x1A13 - Axis B-->TPDO: Velocity mode (vl)
0x1A14 - Axis B-->TPDO: Touch probe (TP)
0x1A15 - Axis B-->TPDO: Freely configurable (user)
0x1A16 - Axis B-->TPDO: Additional status information
0x1C00 - Sync Manager: Communication type
0x1C12 - Sync Manager 2 (RPDO-->Device): PDO mapping
0x1C13 - Sync Manager 3 (RPDO-->Device): PDO mapping
0x1C32 - Sync Manager 2 (RPDO-->Device): Parameter
0x1C33 - Sync Manager 3 (Device-->TPDO): Parameter
11.4 Licences _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 346
Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 347
Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 358

1 About this documentation
13 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1 About this documentation
Target group
This documentation addresses to all persons who want to parameterise, configure, and diagnose
the i700 servo inverter.
Information on validity
The information in this documentation are valid for the following standard devices:
Screenshots/application examples
All screenshots in this documentation are application examples. Depending on the firmware
version of the i700 servo inverter and the software version of the engineering tools installed (»PLC
Designer« or »EASY Starter«), the screenshots in this documentation may deviate from the screen
representation.
Document history
Tip!
Information and tools regarding the Lenze products can be found in the Internet:
http://www.lenze.com Download
Danger!
The servo inverter presents hazards that may lead to death or severe injury of persons.
In order to ensure protection against these hazards, observe the safety instructions
before switching on the servo inverter.
Please read the safety instructions in the mounting instructions and in the hardware
manual for the i700 servo inverter. Both manuals are included in the scope of supply of
the servo inverter.
Product series Type designation From software version
i700 servo inverter E70ACM... 01.00
Version Description
3.0 06/2016 TD06 Extensions & corrections:
•Resetting the "Undervoltage (LU)" error message (52)
2.0 11/2015 TD06 Extensions & corrections; Adaptation to software version V01.09
1.6 12/2014 TD06 Extensions & corrections; Adaptation to software version V01.06
1.5 03/2014 TD05 Extensions & corrections; Adaptation to software version V01.06
1.4 10/2013 TD05 Extensions & corrections;
Adaptation to software versions V01.04 and V01.05
1.3 03/2013 TD05 Extensions & corrections; Adaptation to software version V01.03
1.2 10/2012 TD05 Extensions & corrections; Adaptation to software version V01.02
1.1 07/2012 TD05 First edition

Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06 14
1 About this documentation
1.1 Conventions used
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1.1 Conventions used
This documentation uses the following conventions to distinguish between different types of
information:
Type of information Highlighting Examples/notes
Spelling of numbers
Decimal separator Point The decimal point is always used.
Example: 1234.56
Hexadecimal number 0x For hexadecimal numbers, the "0x" prefix is used.
Example: 0x60F4
Binary number 0b For binary numbers, the "0b" prefix is used.
Example: 0b00010111
Text
Version information Blue text colour All information that only applies to or from a certain
software version of the servo inverter is identified
accordingly in this documentation.
Example: This function extension is available from software
version V3.0!
Program name » « The Lenze PC software »PLC Designer«...
Window italics The Message window... / The Options dialog box...
Variable names Set bEnable to TRUE to...
Control element bold The OK button ... / The Copy command ... / The Properties tab
... / The Name input field ...
Sequence of menu
commands
If several commands must be used in sequence to carry out a
function, the individual commands are separated by an
arrow: Select FileOpen to...
Shortcut <bold> Use <F1> to open the online help.
If a shortcut is required for a command to be executed, a "+"
has been put between the key identifiers: With
<Shift>+<ESC> ...
Program code Courier IF var1 < var2 THEN
a = a + 1
END IF
Keyword Courier bold
Hyperlink underlined Optically highlighted reference to another topic. It is
activated with a mouse-click in this online documentation.
Icons
Page reference (14) Optically highlighted reference to another page. In this
online documentation activated via mouse-click.
Step-by-step instructions Step-by-step instructions are indicated by a pictograph.

1 About this documentation
1.2 Terminology used
15 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06
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1.2 Terminology used
Term Meaning
Engineering tools Software solutions for easy engineering in all project stages
»EASY Navigator« – provides a good guide to the user
• All convenient Lenze engineering tools at a glance
• Tools can be selected quickly
• The clear structure simplifies the engineering process from the start
»EASY Starter« – easy-to-use tool for service technicians
• Specially designed for the commissioning and maintenance of Lenze
devices
• Graphical user interface with just a few buttons
• Easy online diagnostics, parameterisation, and commissioning
• No risk of an unintended change in applications
• Loading of ready-to-use applications to the device
»PLC Designer« –For programming processes
• Creating your own programs
• Programming Logic & Motion according to IEC 61131-3 (AWL, KOP, FUP,
ST, AS and CFC-Editor), based on CoDeSys V3
• Certified function blocks according to PLCopen part 1 + 2
• Graphic DIN 66025 Editor (G code) with DXF import
• Integrated visualisation for easy process visualisation
• All important information at a glance during the commissioning process
Lenze Controller The Lenze Controller (abbreviated: "Controller") is the central component of the
automation system which (by means of the runtime software) controls the Logic and
Motion functionalities.
The Lenze Controller communicates with the field devices via the fieldbus.
Engineering PC The Engineering PC and the engineering tools installed on it serve to configure and
parameterise the system.
The Engineering PC uses Ethernet to communicate with the Lenze Controller.
EtherCAT® is a real-time capable Ethernet system with top performance.
EtherCAT® is a registered trademark and patented technology licensed by Beckhoff
Automation GmbH, Germany.
HIPERFACE® HIPERFACE® stands for High Performance Interface and is a universal interface between
the motor feedback system and the servo inverter.
HIPERFACE® is a registered trademark of the SICK STEGMANN GmbH.
Object "Container" for one or several parameters which can be used to parameterise or monitor
the i700 servo inverter.
Index Each object has a unique index for addressing purposes.
In this documentation the index is represented as a hexadecimal value and is identified
by a prefixed "0x", e.g. "0x1000".
Subindex If a code contains several parameters, they are stored in so-called "subindices".
In this documentation the colon is used as a separator between the index and the
subindex, e.g. "0x1018:1".
Touch probe A "Touch probe" is an event which can for instance be actuated in an edge-controlled
manner via a digital input to detect an actual value (that changes quickly) at the time of
activation and to process it further within the program afterwards.

Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06 16
1 About this documentation
1.3 Definition of the notes used
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1.3 Definition of the notes used
The following signal words and symbols are used in this documentation to indicate dangers and
important information:
Safety instructions
Layout of the safety instructions:
Application notes
Danger!
(characterises the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Pictograph Signal word Meaning
Danger! Danger of personal injury through dangerous electrical voltage
Reference to an imminent danger that may result in death or serious personal
injury if the corresponding measures are not taken.
Danger! Danger of personal injury through a general source of danger
Reference to an imminent danger that may result in death or serious personal
injury if the corresponding measures are not taken.
Stop! Danger of property damage
Reference to a possible danger that may result in property damage if the
corresponding measures are not taken.
Pictograph Signal word Meaning
Note! Important note to ensure trouble-free operation
Tip! Useful tip for easy handling
Reference to another document

1 About this documentation
1.4 Structure of the parameter descriptions
17 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06
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1.4 Structure of the parameter descriptions
All parameters which you can use to parameterise or monitor the i700 servo inverter are stored
within "objects".
• For the purpose of addressing, each object is provided with a unique index. In this
documentation the index is represented as a hexadecimal value and is identified by a prefixed
"0x", e.g. "0x1000".
• If an object contains several parameters, they are stored in "subindexes". In this documentation
the colon is used as a separator between the index and the subindex, e.g. "0x1018:1".
Each parameter description is structured according to the following pattern:
Note!
This documentation is valid for the i700 servo inverter in the single axis version (single
inverter) and also as double axis (double inverter).
For parameters referring to one axis, both indexes (for axis A and axis B) are listed in the
parameter description. For a single axis, only the first index is relevant in this case.
Example: Structure of the parameter descriptions in this documentation
Object index for axis A
Object index for axis B (only relevant for double axis)
Parameter or object name
If the object contains several parameters: Overview table with list of all subindexes
Table with detailed information about the corresponding parameter:
• Explanations & references (optional)
• Display options/possible settings, Lenze setting, attributes (for the meaning see the following table)





Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06 18
1 About this documentation
1.4 Structure of the parameter descriptions
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Parameter attributes
Tip!
To find a specific object or parameter in this documentation, you can use the following
navigation helps:
• At the beginning of each main chapter, all objects which are described in the respective
chapter are listed in a table.
•IntheTable of attributes and the Index, all objects/parameters are listed with a
reference to the detailed description.
Name Meaning
Write access = Parameter can be written to.
= Parameter can only be read.
CINH = Parameter can only be written to if controller inhibit is set.
OSC = Parameter can be recorded by means of the oscilloscope function.
P= Parameter can be persisted.
Tx = Parameter can be mapped into the TPDO.
Rx = Parameter can be mapped into the RPDO.
Data type Data type of the parameter:
INTEGER_8 1 byte, with sign
INTEGER_16 2 bytes with sign
INTEGER_32 4 bytes with sign
UNSIGNED_8 1 byte without sign
UNSIGNED_16 2 bytes without sign
UNSIGNED_32 4 bytes without sign
UNSIGNED_64 8 bytes without sign
STRING(xx) ASCII string (with character length xx)
ARRAY [] OF... ARRAY
Scaling Scaling of the parameter

2 Parameter handling
2.1 Parameter transfer during initialisation
19 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06
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2 Parameter handling
2.1 Parameter transfer during initialisation
During the acceleration of the system, the Controller and the servo inverter exchange configuration
data (e.g. bus cycle and PDO mapping). With regard to this, observe the following particular features
for the i700 servo inverter:
Parameter download
The i700 servo inverter itself does not store parameter settings safe against mains failure. All
settings deviating from the i700 servo inverter "Lenze setting" (default) are maintained centrally in
the controller and are stored there permanently (persistently). During the initialisation at run-up,
only these deviations are transferred to the i700 servo inverter by the controller. Like this it is
ensured that the i700 servo inverter works with the parameter settings provided for it.
Firmware download (optional)
If required, the firmware of the i700 servo inverter can be stored together with the »PLC Designer«
project. During the run-up, the controller then checks whether the firmware version in the i700
servo inverter complies with the firmware version stored in the project for this device. If this is not
the case, the controller loads the firmware version stored in the project to the i700 servo inverter.
Like this, it can be ensured for "Device replacement" service work that the replacement device also
works with the same firmware version as the original device.

Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06 20
2 Parameter handling
2.2 Storage parameter set (par001.*) and total parameter set (par000.*)
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2.2 Storage parameter set (par001.*) and total parameter set (par000.*)
For the storage of the i700 servo inverter parameters, two different parameter sets are provided,
which are stored in different parameter set files in the higher-level controller:
Storage parameter set (par001.i7psf)
• Only contains the parameters of the i700 servo inverter which are writable and identified with
the "P" attribute (persistent).
• Parameters can be read out from the i700 servo inverter and saved to the file. Conversely, the
parameters stored can be written to the i700 servo inverter again.
• Recommended for storage and archiving of the servo inverter settings.
Total parameter set (par000.i7psf)
• Contains all parameters of the i700 servo inverter, including the mere display parameters which
vary permanently during operation.
• The total parameter set can only be read from the i700 servo inverter.
• Use for purposes of service and diagnostics.
The structure of the parameter set file is described in the appendix.
Structure of the parameter set file (332)