Lenze i950 Series Quick start guide

Inverters
i950 servo inverters
Commissioning EN

Contents
1 About this document 15
1.1 Document descripon 15
1.1.1 Further documents 15
1.2 Notaons and convenons 16
2 Safety instrucons 17
2.1 Basic safety instrucons 17
2.2 Applicaon as directed 17
2.3 Residual hazards 18
3 Product informaon 19
3.1 Idencaon of the products 19
3.1.1 Product codes 19
3.1.2 Nameplates 20
3.2 Features 21
4 Commissioning 27
4.1 Important notes 27
4.2 Operang interfaces 28
4.2.1 Engineering tool »EASY Starter« 29
4.2.1.1 Generate a connecon between inverter and »EASY Starter« 30
4.3 General informaon on parameter seng 31
4.3.1 Addressing of the parameters 31
4.3.2 Structure of the parameter descripons 31
4.3.3 Parameter overview lists 31
4.3.4 Favourites 32
4.3.4.1 Conguring the "Favourites" 32
4.4 Commissioning 35
4.5 Saving the parameter sengs 36
4.5.1 Save parameter sengs with »EASY Starter« 36
5 Basic seng 37
5.1 Device name 37
5.2 Mains voltage 37
5.3 Funcon assignment of the inputs and outputs (default seng) 37
5.4 Motor data 38
5.4.1 Select motor from motor catalogue 39
5.4.2 Manual seng of the motor data 41
5.5 Motor control mode 43
Contents
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6 Technology applicaon (TA) basic sengs 44
6.1 Kinemac sengs 45
6.1.1 Mass inera (load/motor) 45
6.1.2 Torque feedforward control 45
6.1.3 Motor/encoder mounng direcon 45
6.1.4 Motor/encoder gearbox rao 46
6.1.5 Motor/encoder feed constant 48
6.1.6 Motor/encoder travel ranges and cycle length 49
6.1.7 Virtual mode 51
6.2 Moon sengs 52
6.2.1 Quick stop 52
6.2.2 Halt 53
6.2.3 Following error monitoring 53
6.2.4 Target posion detecon 54
6.2.5 Motor/encoder standsll detecon 54
6.2.6 Condioning of the encoder signal 54
6.2.7 Behaviour in the event of inverter disable 55
6.2.8 Control modes 56
6.2.9 Manual jog (inching mode) 57
6.2.10 Homing 58
6.2.10.1 Homing modes 60
6.2.10.2 Digital input for reference switch 69
6.2.10.3 Motor/encoder behaviour aer mains switching 69
6.2.11 Limitaons 70
6.2.11.1 Torque limits 70
6.2.11.2 Maximum values for travel proles 71
6.2.11.3 Hardware limit switches 72
6.2.11.4 Soware limit switches 73
6.2.11.5 Safety limits 74
6.2.12 Status signals 76
6.3 Dening control sources 78
6.3.1 Source of quick stop 78
6.3.2 Source of error reset 78
6.3.3 Source of digital output 1 79
6.3.4 Source of monitoring signal 80
6.4 System bus communicaon 81
6.4.1 Inputs 81
6.4.2 Outputs 82
6.4.2.1 Master value output 82
6.4.2.2 Source of touch probe me stamp 83
6.4.3 Distribuon of the master values by the master 84
6.4.3.1 Example: System bus master is master value master 85
6.4.3.2 Example: System bus slave is master value master 86
6.4.3.3 Example: Using me stamp of another axis 87
Contents
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7Conguring the "Winder Tension" TA 88
7.1 Commissioning 90
7.2 Control sengs 95
7.2.1 Dening the winding direcon 96
7.2.2 Dening the material feeding 98
7.3 Source selecon for control signals 99
7.3.1 Source for line speed 100
7.3.2 Source for start diameter 101
7.3.3 Source for set tensile force 101
7.3.4 Source for actual tensile force 102
7.3.5 Source for tensile force controller inuence 102
7.4 Interface 103
7.4.1 Control signals 103
7.4.2 Status signals 104
7.4.3 Simulaon of the interface 106
7.5 Manual jog of winding sha 107
7.6 Synchronisaon to line speedSynchronisaon to line speed 109
7.7 Diameter calculaon 110
7.7.1 Loading the start diameter 113
7.7.2 Diameter adjustment 114
7.8 Fricon compensaon 115
7.8.1 Idenfying the fricon characterisc 117
7.8.2 Fricon characterisc 119
7.9 Tension control closed loop and open loop 120
7.9.1 Torque-based tension control open loop 122
7.9.2 Torque-based tension control closed loop 123
7.9.3 Tensile force characterisc 125
7.9.4 Diameter-dependent tensile force reducon 126
7.9.5 Reduced controller dynamics in case of system deviaons 127
7.10 Acceleraon compensaon 128
7.11 Idenfying the moments of inera 130
7.11.1 Idenfying the constant moment of inera 131
7.11.2 Idenfying the maximum moment of inera 132
7.11.3 Terminang the idencaon 132
7.11.4 Calculang the maximum moment of inera 133
7.12 Adapng the speed controller gain 134
7.13 Signal ow 137
7.14 Monitoring 139
7.14.1 Web break monitoring 139
7.14.2 Speed limitaon 140
7.14.2.1 Speed limitaon in case of web break 141
7.14.2.2 Speed limitaon for unwinder 141
7.14.3 Diameter hold 142
7.14.4 Speed limitaon by master 143
8 Start, stop and rotang direcon commands 145
8.1 Control selecon 145
Contents
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9Congure posion control 146
9.1 Basic seng 147
9.1.1 Following error detecon and in-posion detecon 148
9.1.2 Interpolaon 149
9.2 Operang mode "CiA 402 Cyclic sync posion mode (csp)" 150
9.2.1 Default mapping 150
9.2.2 Signal ow 151
9.2.3 Control commands and status informaon 153
9.3 Process input data (CiA 402 objects) 153
9.4 Process output data (CiA 402 objects) 154
9.5 Monitoring the posion error 155
9.6 Posion detecon with touch probe (TP) 156
9.6.1 Default mapping 156
9.6.2 General mode of operaon 157
9.6.3 Filtering of the touch probe signal 157
9.6.4 Compensaon of runme delays 158
9.6.5 Touch probe control word 159
9.6.6 Touch probe status word 159
9.6.7 Extension for the digital inputs DI3 and DI4 160
9.6.8 Detected me stamp and posions 161
9.7 Setpoint diagnoscs 161
10 Congure speed control 162
10.1 Basic seng 162
10.2 Operang mode "CiA 402 Velocity mode (vl)" 163
10.2.1 Default mapping 163
10.2.2 Signal ow (servo control) 164
10.2.3 Signal ow (V/f characterisc control) 166
10.3 Operang mode "CiA 402 Cyclic sync velocity mode (csv)" 168
10.3.1 Default mapping 168
10.3.2 Signal ow (servo control) 169
10.3.3 Signal ow (V/f characterisc control) 171
10.3.4 Control commands and status informaon 173
10.4 Process input data (CiA 402 objects) 174
10.5 Process output data (CiA 402 objects) 175
10.6 Monitoring the speed deviaon 176
11 Conguring the torque control 177
11.1 Basic seng 178
11.1.1 Torque limits 179
11.1.2 Speed limitaon 180
11.2 Operang mode "CiA 402 Cyclic sync torque mode (cst)" 181
11.2.1 Default mapping 181
11.2.2 Signal ow 182
11.2.3 Control commands and status informaon 184
11.3 Process input data (CiA 402 objects) 185
11.4 Process output data (CiA 402 objects) 186
11.5 Setpoint diagnoscs 187
Contents
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12 Conguring the feedback system 188
12.1 Congure feedback system for motor control 189
12.1.1 General sengs 190
12.1.2 Resolver sengs 192
12.1.2.1 Resolver error compensaon 193
12.1.3 Encoder sengs 195
12.1.3.1 SinCos encoder 195
12.1.3.2 SinCos absolute value encoder with HIPERFACE® protocol 196
12.1.3.3 SSI encoder 198
12.1.3.4 Evaluaon of the signal quality 200
12.1.4 Detecon of changed sengs of the feedback system 200
12.1.5 Diagnoscs 201
12.2 Second feedback system for the techology applicaon 202
12.2.1 General sengs 202
12.2.2 Resolver sengs 203
12.2.2.1 Resolver error compensaon 204
12.2.3 Encoder sengs 206
12.2.3.1 SinCos encoder 206
12.2.3.2 SinCos absolute value encoder with HIPERFACE® protocol 207
12.2.3.3 SSI encoder 209
12.2.3.4 Evaluaon of the signal quality 211
12.2.4 Detecon of changed sengs of the feedback system 212
12.2.5 Diagnoscs 212
12.3 Encoder: Evaluaon of safely speed and posion 213
12.4 Synchronous motor: Pole posion idencaon (PPI) 214
12.4.1 Monitoring the pole posion idencaon 215
12.4.2 Pole posion idencaon (PPI) 360° 216
12.4.3 Pole posion idencaon (PPI) with minimum movement 220
12.4.4 Pole posion idencaon (PPI) without movement 222
Contents
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13 Conguring the motor control 224
13.1 Servo control for synchronous motor (SC-PSM) 225
13.1.1 Required commissioning steps 225
13.2 Servo control for asynchronous motor (SC-ASM) 226
13.2.1 Required commissioning steps 226
13.3 Sensorless control for synchronous motor (SL-PSM) 226
13.3.1 Required commissioning steps 226
13.4 V/f characterisc control for asynchronous motor (VFC open loop) 227
13.4.1 Required commissioning steps 227
13.4.2 Basic seng 227
13.4.3 Dene V/f characterisc shape 228
13.4.3.1 Linear V/f characterisc 228
13.4.3.2 Square-law V/f characterisc 228
13.4.3.3 User-denable V/f characterisc 229
13.4.4 Acvate voltage vector control (Imin controller) 230
13.4.5 Set voltage boost 231
13.4.6 Set load adjustment 232
13.4.7 Set slip compensaon 232
13.4.8 Set oscillaon damping 233
13.4.9 Opmising the stalling behaviour 234
13.4.10 Flying restart circuit 235
13.5 Parameterisable motor funcons 237
13.5.1 DC braking 237
13.5.2 Short-circuit braking 238
13.5.3 Holding brake control 239
13.5.3.1 Basic seng 240
13.5.3.2 Brake holding load 241
13.5.3.3 Torque feedforward control 241
13.5.3.4 Manual brake control 242
13.6 Opons for opmising the control loops 243
13.6.1 Automac motor idencaon (energized) 243
13.6.2 Tuning of the motor and the speed controller 244
13.6.3 Inverter characterisc 246
13.6.3.1 Compensang for inverter inuence 247
13.6.3.2 Extended sengs for idencaon 248
13.6.3.3 Load standard inverter characterisc 248
13.6.4 Motor equivalent circuit diagram data 249
13.6.5 Motor control sengs 250
13.6.5.1 Speed controller 250
13.6.5.2 Current controller 253
13.6.5.3 ASM eld controller 255
13.6.5.4 ASM eld weakening controller 256
13.6.5.5 ASM eld weakening controller (extended) 256
13.6.5.6 PSM eld weakening controller 257
13.6.5.7 Imax controller 258
13.6.5.8 Flying restart controller 258
13.6.5.9 Posion controller 259
Contents
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13.7 Fine adjustment of the motor model 260
13.7.1 Correcon of the stator leakage inductance (Lss)... 261
13.7.2 Synchronous motor (SM): Compensate temperature and current inuences 266
13.7.3 Asynchronous motor (ASM): Idenfy Lh saturaon characterisc 267
13.7.4 Esmate opmum magnesing current 269
13.8 Parameterise lter elements in the setpoint path 270
13.8.1 Jerk limitaon 270
13.8.2 Notch lter (band-stop lter) 271
13.9 Motor protecon 274
13.9.1 Motor overload monitoring (i²*t) 274
13.9.1.1 Parameters for the thermal model 276
13.9.1.2 Speed-dependent evaluaon of the motor current 278
13.9.1.3 UL 508-compliant motor overload monitoring 281
13.9.2 Motor temperature monitoring 282
13.9.2.1 Individual characterisc for motor temperature sensor 283
13.9.3 Overcurrent monitoring 284
13.9.4 Motor phase failure detecon 284
13.9.5 Motor speed monitoring 285
13.10 Frequency and speed limitaons 286
13.11 Tesng the motor control 287
13.11.1 General sengs for test modes 288
13.11.2 Manual "tension/frequency" test mode 289
13.11.3 Manual "current/frequency" test mode 290
13.11.4 Manual "current pulse" test mode 291
14 I/O extensions and control connecons 293
14.1 Congure digital inputs 293
14.2 Congure analog inputs 295
14.2.1 Analog input 1 295
14.3 Congure digital outputs 297
14.3.1 Digital output 1 297
15 Congure engineering port 298
15.1 Basic seng 299
15.2 NTP server addresses 300
15.3 Diagnoscs 300
Contents
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16 Conguring the network 301
16.1 Device prole CiA 402 302
16.1.1 Supported operang modes 302
16.1.2 Basic seng 303
16.1.3 Process input data 303
16.1.4 Process output data 303
16.1.5 Commands for device state control 304
16.1.5.1 Switch on 305
16.1.5.2 Enable operaon 306
16.1.5.3 Acvate quick stop 307
16.1.5.4 Pulse inhibit 308
16.1.5.5 Reset fault 309
16.1.6 Device states 310
16.1.6.1 Not ready to switch on 311
16.1.6.2 Switch-on inhibited 312
16.1.6.3 Ready to switch on 313
16.1.6.4 Switched on 314
16.1.6.5 Operaon enabled 315
16.1.6.6 Quick stop acve 316
16.1.6.7 Fault reacon acve 317
16.1.6.8 Trouble 318
16.2 EtherCAT 319
16.2.1 Commissioning 320
16.2.2 Basic seng and opons 323
16.2.2.1 Synchronisaon with "distributed clocks" (DC) 323
16.2.2.2 Parameterising addional funcons 323
16.2.3 Process data transfer 326
16.2.3.1 Standard mapping 326
16.2.3.2 Dynamic (free) conguraon 326
16.2.3.3 Further communicaon objects 326
16.2.3.4 Expert sengs 326
16.2.4 Parameter data transfer 327
16.2.5 Monitoring 328
16.2.6 Diagnoscs 329
16.2.6.1 LED status display 329
16.2.6.2 Informaon on the network 329
16.2.6.3 EtherCAT master diagnoscs 329
16.2.6.4 Error history buer 338
16.2.6.5 Device idencaon 338
Contents
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