Lenze i950 Series Quick start guide

Inverters
i950 servo inverters
Commissioning EN

Contents
1About this document 15
1.1 Document descripon 15
1.1.1 Further documents 15
1.2 Notaons and convenons 16
2Safety instrucons 17
2.1 Basic safety instrucons 17
2.2 Applicaon as directed 17
2.3 Residual hazards 18
3Product 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
4Commissioning 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
5Basic 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 44
Contents
3

6 Technology applicaon (TA) basic sengs 45
6.1 Kinemac sengs 46
6.1.1 Mass inera (load/motor) 46
6.1.2 Torque feedforward control 46
6.1.3 Motor/encoder mounng direcon 46
6.1.4 Motor/encoder gearbox rao 47
6.1.5 Motor/encoder feed constant 49
6.1.6 Motor/encoder travel ranges and cycle length 50
6.1.7 Virtual mode 52
6.2 Moon sengs 53
6.2.1 Quick stop 53
6.2.2 Halt 54
6.2.3 Following error monitoring 54
6.2.4 Target posion detecon 55
6.2.5 Motor/encoder standsll detecon 55
6.2.6 Condioning of the encoder signal 55
6.2.7 Behaviour in the event of inverter disable 56
6.2.8 Control modes 57
6.2.9 Manual jog (inching mode) 58
6.2.10 Homing 59
6.2.10.1 Homing modes 61
6.2.10.2 Digital input for reference switch 70
6.2.10.3 Motor/encoder behaviour aer mains switching 70
6.2.11 Limitaons 71
6.2.11.1 Torque limits 71
6.2.11.2 Maximum values for travel proles 72
6.2.11.3 Hardware limit switches 73
6.2.11.4 Soware limit switches 75
6.2.11.5 Safety limits 76
6.2.12 Status signals 78
6.3 Dening control sources 80
6.3.1 Source of quick stop 80
6.3.2 Source of error reset 80
6.3.3 Source of digital output 1 81
6.3.4 Source of monitoring signal 82
6.4 System bus communicaon 84
6.4.1 Inputs 84
6.4.2 Outputs 84
6.4.2.1 Master value output 85
6.4.2.2 Source of touch probe me stamp 86
6.4.3 Distribuon of the master values by the master 87
6.4.3.1 Example: System bus master is master value master 88
6.4.3.2 Example: System bus slave is master value master 89
6.4.3.3 Example: Using me stamp of another axis 90
Contents
4

7Conguring the "Electronic Gearbox" TA 91
7.1 Control sengs 92
7.2 Interface 93
7.2.1 Control signals 94
7.2.2 Status signals 95
7.2.3 Simulaon of the interface 96
7.2.4 Assignment of control signals and status signals 97
7.3 Master value sources 99
7.3.1 System bus 100
7.3.2 Feedback system for the technology applicaon 101
7.3.3 Virtual master 103
7.3.3.1 Simulaon of the virtual master 110
7.3.3.2 Speed via analog input 1 111
7.3.3.3 External master values 112
7.4 External torque limitaon 115
7.5 Velocity synchronizaon 117
7.6 Clutching 119
7.7 Clutching with basic speed 120
7.8 Connecng the velocity oset 122
7.9 Posion trimming 124
7.10 Signal ow 127
8Start, stop and rotang direcon commands 129
8.1 Control selecon 129
9Congure posion control 130
9.1 Basic seng 131
9.1.1 Following error detecon and in-posion detecon 132
9.1.2 Interpolaon 133
9.2 Operang mode "CiA 402 Cyclic sync posion mode (csp)" 134
9.2.1 Default mapping 134
9.2.2 Signal ow 135
9.2.3 Control commands and status informaon 137
9.3 Process input data (CiA 402 objects) 138
9.4 Process output data (CiA 402 objects) 139
9.5 Monitoring the posion error 140
9.6 Posion detecon with touch probe (TP) 141
9.6.1 Default mapping 141
9.6.2 General mode of operaon 142
9.6.3 Filtering of the touch probe signal 142
9.6.4 Compensaon of runme delays 143
9.6.5 Touch probe control word 144
9.6.6 Touch probe status word 144
9.6.7 Extension for the digital inputs DI3 and DI4 145
9.6.8 Detected me stamp and posions 145
9.7 Setpoint diagnoscs 146
Contents
5

10 Congure speed control 147
10.1 Basic seng 147
10.2 Operang mode "CiA 402 Velocity mode (vl)" 148
10.2.1 Default mapping 148
10.2.2 Signal ow (servo control) 149
10.2.3 Signal ow (V/f characterisc control) 151
10.3 Operang mode "CiA 402 Cyclic sync velocity mode (csv)" 153
10.3.1 Default mapping 153
10.3.2 Signal ow (servo control) 154
10.3.3 Signal ow (V/f characterisc control) 156
10.3.4 Control commands and status informaon 158
10.4 Process input data (CiA 402 objects) 159
10.5 Process output data (CiA 402 objects) 161
10.6 Monitoring the speed deviaon 162
11 Conguring the torque control 163
11.1 Basic seng 164
11.1.1 Torque limits 165
11.1.2 Speed limitaon 166
11.2 Operang mode "CiA 402 Cyclic sync torque mode (cst)" 167
11.2.1 Default mapping 167
11.2.2 Signal ow 168
11.2.3 Control commands and status informaon 170
11.3 Process input data (CiA 402 objects) 171
11.4 Process output data (CiA 402 objects) 173
11.5 Setpoint diagnoscs 174
Contents
6

12 Conguring the feedback system 175
12.1 Congure feedback system for motor control 176
12.1.1 General sengs 177
12.1.2 Resolver sengs 178
12.1.2.1 Resolver error compensaon 180
12.1.3 Encoder sengs 182
12.1.3.1 SinCos encoder 183
12.1.3.2 SinCos absolute value encoder with HIPERFACE® protocol 183
12.1.3.3 SSI encoder 185
12.1.3.4 Evaluaon of the signal quality 187
12.1.4 Detecon of changed sengs of the feedback system 188
12.1.5 Diagnoscs 188
12.2 Second feedback system for the techology applicaon 189
12.2.1 General sengs 189
12.2.2 Resolver sengs 190
12.2.2.1 Resolver error compensaon 191
12.2.3 Encoder sengs 193
12.2.3.1 SinCos encoder 194
12.2.3.2 SinCos absolute value encoder with HIPERFACE® protocol 194
12.2.3.3 SSI encoder 196
12.2.3.4 Evaluaon of the signal quality 198
12.2.4 Detecon of changed sengs of the feedback system 199
12.2.5 Diagnoscs 199
12.3 Encoder: Evaluaon of safely speed and posion 200
12.4 Synchronous motor: Pole posion idencaon (PPI) 201
12.4.1 Monitoring the pole posion idencaon 202
12.4.2 Pole posion idencaon (PPI) 360° 203
12.4.3 Pole posion idencaon (PPI) with minimum movement 207
12.4.4 Pole posion idencaon (PPI) without movement 210
Contents
7

13 Conguring the motor control 212
13.1 Servo control for synchronous motor (SC-PSM) 213
13.1.1 Required commissioning steps 213
13.2 Servo control for asynchronous motor (SC-ASM) 214
13.2.1 Required commissioning steps 214
13.3 Sensorless control for synchronous motor (SL-PSM) 214
13.3.1 Required commissioning steps 214
13.4 V/f characterisc control for asynchronous motor (VFC open loop) 215
13.4.1 Required commissioning steps 215
13.4.2 Basic seng 216
13.4.3 Dene V/f characterisc shape 217
13.4.3.1 Linear V/f characterisc 217
13.4.3.2 Square-law V/f characterisc 217
13.4.3.3 User-denable V/f characterisc 218
13.4.4 Acvate voltage vector control (Imin controller) 219
13.4.5 Set voltage boost 221
13.4.6 Set load adjustment 222
13.4.7 Set slip compensaon 222
13.4.8 Set oscillaon damping 223
13.4.9 Opmising the stalling behaviour 224
13.4.10 Flying restart circuit 225
13.5 Parameterisable motor funcons 227
13.5.1 DC braking 227
13.5.2 Short-circuit braking 228
13.5.3 Holding brake control 229
13.5.3.1 Basic seng 230
13.5.3.2 Brake holding load 231
13.5.3.3 Torque feedforward control 232
13.5.3.4 Manual brake control 232
13.6 Opons for opmising the control loops 233
13.6.1 Automac motor idencaon (energized) 233
13.6.2 Tuning of the motor and the speed controller 234
13.6.3 Inverter characterisc 236
13.6.3.1 Compensang for inverter inuence 237
13.6.3.2 Extended sengs for idencaon 238
13.6.3.3 Load standard inverter characterisc 238
13.6.4 Motor equivalent circuit diagram data 239
13.6.5 Motor control sengs 240
13.6.5.1 Speed controller 240
13.6.5.2 Current controller 243
13.6.5.3 ASM eld controller 245
13.6.5.4 ASM eld weakening controller 246
13.6.5.5 ASM eld weakening controller (extended) 246
13.6.5.6 PSM eld weakening controller 247
13.6.5.7 Imax controller 248
13.6.5.8 Flying restart controller 248
13.6.5.9 Posion controller 249
Contents
8

13.7 Fine adjustment of the motor model 250
13.7.1 Correcon of the stator leakage inductance (Lss)... 251
13.7.2 Synchronous motor (SM): Compensate temperature and current inuences 256
13.7.3 Asynchronous motor (ASM): Idenfy Lh saturaon characterisc 257
13.7.4 Esmate opmum magnesing current 259
13.8 Parameterise lter elements in the setpoint path 260
13.8.1 Jerk limitaon 260
13.8.2 Notch lter (band-stop lter) 261
13.9 Motor protecon 264
13.9.1 Motor overload monitoring (i²*t) 264
13.9.1.1 Parameters for the thermal model 266
13.9.1.2 Speed-dependent evaluaon of the motor current 268
13.9.1.3 UL 508-compliant motor overload monitoring 271
13.9.2 Motor temperature monitoring 272
13.9.2.1 Individual characterisc for motor temperature sensor 273
13.9.3 Overcurrent monitoring 274
13.9.4 Motor phase failure detecon 274
13.9.5 Motor speed monitoring 275
13.10 Frequency and speed limitaons 276
13.11 Tesng the motor control 277
13.11.1 General sengs for test modes 277
13.11.2 Manual "tension/frequency" test mode 279
13.11.3 Manual "current/frequency" test mode 280
13.11.4 Manual "current pulse" test mode 281
14 I/O extensions and control connecons 283
14.1 Congure digital inputs 283
14.2 Congure analog inputs 285
14.2.1 Analog input 1 285
14.3 Congure digital outputs 287
14.3.1 Digital output 1 287
15 Congure engineering port 288
15.1 Basic seng 289
15.2 NTP server addresses 290
15.3 Diagnoscs 290
Contents
9

16 Conguring the network 291
16.1 Device prole CiA 402 292
16.1.1 Supported operang modes 292
16.1.2 Basic seng 293
16.1.3 Process input data 293
16.1.4 Process output data 293
16.1.5 Commands for device state control 294
16.1.5.1 Switch on 295
16.1.5.2 Enable operaon 296
16.1.5.3 Acvate quick stop 297
16.1.5.4 Pulse inhibit 298
16.1.5.5 Reset fault 299
16.1.6 Device states 300
16.1.6.1 Not ready to switch on 302
16.1.6.2 Switch-on inhibited 303
16.1.6.3 Ready to switch on 304
16.1.6.4 Switched on 305
16.1.6.5 Operaon enabled 306
16.1.6.6 Quick stop acve 307
16.1.6.7 Fault reacon acve 308
16.1.6.8 Trouble 309
16.2 EtherCAT 310
16.2.1 Commissioning 311
16.2.2 Basic seng and opons 314
16.2.2.1 Synchronisaon with "distributed clocks" (DC) 314
16.2.2.2 Parameterising addional funcons 314
16.2.3 Process data transfer 317
16.2.3.1 Standard mapping 317
16.2.3.2 Dynamic (free) conguraon 317
16.2.3.3 Further communicaon objects 317
16.2.3.4 Expert sengs 317
16.2.4 Parameter data transfer 318
16.2.5 Monitoring 318
16.2.6 Diagnoscs 319
16.2.6.1 LED status display 319
16.2.6.2 Informaon on the network 319
16.2.6.3 EtherCAT master diagnoscs 319
16.2.6.4 Error history buer 329
16.2.6.5 Device idencaon 329
Contents
10

16.3 PROFINET 330
16.3.1 Commissioning 331
16.3.1.1 Sengs in the »EASY Starter« 331
16.3.1.2 Restarng or stopping the communicaon 332
16.3.1.3 Sengs in the Siemens »TIA Portal« 332
16.3.1.4 Device descripon le 333
16.3.1.5 Establishing a connecon to the »EASY Starter« via PROFINET 333
16.3.2 Basic seng and opons 334
16.3.2.1 Staon name and IP conguraon 334
16.3.2.2 Suppress diagnosc messages to the IO controller 335
16.3.3 Process data transfer 335
16.3.4 Parameter data transfer 336
16.3.5 Monitoring 337
16.3.6 Diagnoscs 339
16.3.6.1 LED status display 339
16.3.6.2 Informaon on the network 339
16.3.7 PROFIsafe 341
16.3.8 PROFIenergy 341
16.3.8.1 Supported commands 341
16.3.8.2 Supported measured values 341
16.4 EtherCAT system bus 342
16.4.1 Commissioning 344
16.4.2 Basic seng and opons 345
16.4.3 Process data transfer 346
16.4.3.1 Standard mapping 347
16.4.3.2 Process output data 347
16.4.3.3 Process input data 347
16.4.4 Monitoring 348
16.4.5 Diagnoscs 349
16.4.5.1 LED status displays 349
16.4.5.2 Informaon on the network 349
16.4.5.3 Device idencaon 351
Contents
11

17 Device funcons 353
17.1 Opcal device idencaon 353
17.2 Reset parameters to default 354
17.3 Saving/loading the parameter sengs 355
17.4 Enabling the device 356
17.5 Restart device 356
17.6 Restarng Extended Safety 356
17.7 Export logbook 356
17.8 Delete logbook les 357
17.9 Acvate loaded applicaon 357
17.10 Uploading the applicaon 357
17.11 Inverter control word 358
17.12 Access protecon 358
17.12.1 Brand protecon 358
17.13 Switching frequency changeover 358
17.14 Device overload monitoring (i*t) 359
17.15 Heatsink temperature monitoring 360
17.16 Update device rmware 360
17.16.1 Manual rmware download with »EASY Starter (rmware loader)« 360
17.16.1.1 Download via Ethernet connecon 360
18 Addional funcons 361
18.1 Brake energy management 361
18.1.1 Use of a brake resistor 361
18.2 Manual jog parameters 362
18.3 Mains failure control 363
18.4 Oscilloscope funcon 364
Contents
12

19 Safety funcons 373
19.1 Safe Torque O (STO) 374
19.2 Safe Emergency Stop (SSE) 376
19.3 Ramp monitoring 377
19.4 Safe Stop 1 (SS1) 379
19.5 Safe Stop 2 (SS2) 382
19.6 Safe Operang Stop (SOS) 385
19.7 Safe Maximum Speed (SMS) 387
19.8 Safely-Limited Speed (SLS) 388
19.9 Safe Speed Monitor (SSM) 393
19.10 Safely Limited Increment (SLI) 394
19.11 Safe Direcon (SDI) 396
19.12 Safely-Limited Posion (SLP) 398
19.13 Posion-dependent Safe Speed (PDSS) 401
19.14 Mini-homing 403
19.15 Safe homing (SHOM) 404
19.16 Safe Cam (SCA) 408
19.17 Operaon mode selector (OMS) 410
19.18 Enable Switch (ES) 413
19.19 Repair mode select (RMS) 414
19.20 Cascading (CAS) 416
19.21 Safe network interfaces 417
19.21.1 FSoE connecon 417
19.22 Connecon to the applicaons 418
19.22.1 Inputs 418
19.22.2 Outputs 419
19.22.3 Internal communicaon 419
19.22.4 Control signals 419
19.22.5 Status signals 421
19.23 Safe parameter seng 425
19.23.1 Safety address 425
19.23.2 Parameter set informaon 425
19.24 Response mes 426
19.25 Diagnoscs 429
19.25.1 LED status display 429
19.25.1.1 LED status during parameter set transfer 429
19.25.2 Error history buer 429
19.25.3 Diagnosc parameters 431
Contents
13

20 Technical data 432
20.1 Standards and operang condions 432
20.1.1 Conformies/approvals 432
20.1.2 Protecon of persons and device protecon 432
20.1.3 EMC data 432
20.1.4 Motor connecon 433
20.1.5 Environmental condions 433
20.1.6 Electrical supply condions 433
20.2 3-phase mains connecon 400 V 434
20.2.1 Rated data 434
20.3 3-phase mains connecon 480 V 436
20.3.1 Rated data 436
21 Appendix 438
21.1 Parameter aribute list 438
21.2 Glossary 471
Contents
14

1 About this document
WARNING!
Read this documentaon carefully before starng any work.
▶Please observe the safety instrucons!
The informaon in this document represents the following version:
Product Hardware data version Date
i950 V0009 2018-10-04
Firmware version Soware data version Date
V_1_1_3 V_1_1_3_007 2018-09-24
1.1 Document descripon
1.1.1 Further documents
For certain tasks, informaon is available in further documents.
Document Contents/topics
Conguraon document Basic informaon on project planning and ordering the product
Commissioning document Fundamental informaon for the installaon and commissioning of the product
For certain tasks, informaon is available in other forms.
Form Contents/topics
Engineering Tools For commissioning
AKB arcles Applicaon Knowledge Base with addional technical informaon for users
CAD data Exports in dierent formats
EPLAN macros Project planning, documentaon and management of projects for P8.
•Data reference via Lenze or EPLAN data portal
Informaon and tools with regard to the Lenze products can be found on the
Internet:
hp://www.lenze.com à Download
About this document
Document descripon
Further documents
15

1.2 Notaons and convenons
This document uses the following convenons to disnguish dierent types of informaon:
Numeric notaon
Decimal separator Point The decimal point is always used.
Example: 1 234.56
Warning
UL warning UL Are used in English and French.
UR warning UR
Text
Engineering tools » « Soware
Example: »Engineer«, »EASY Starter«
Icons
Page reference ¶Reference to another page with addional informaon
Example: ¶ 16 = see page 16
Documentaon reference ,Reference to another documentaon with addional informaon
Example: , EDKxxx = see documentaon EDKxxx
Layout of the safety instrucons
DANGER!
Indicates an extremely hazardous situaon. Failure to comply with this instrucon will result
in severe irreparable injury and even death.
WARNING!
Indicates an extremely hazardous situaon. Failure to comply with this instrucon may result
in severe irreparable injury and even death.
CAUTION!
Indicates a hazardous situaon. Failure to comply with this instrucon may result in slight to
medium injury.
NOTICE
Indicates a material hazard. Failure to comply with this instrucon may result in material dam-
age.
About this document
Notaons and convenons
16

2 Safety instrucons
Disregarding the following basic safety measures and safety informaon may lead to severe
personal injury and damage to property!
Observe all specicaons of the corresponding documentaon supplied. This is the precondi-
on for safe and trouble-free operaon and for obtaining the product features specied.
Please observe the specic safety informaon in the other secons!
2.1 Basic safety instrucons
Personnel
The product must only be used by qualied personnel. IEC 60364 or CENELEC HD 384 dene
the skills of these persons:
•They are familiar with installing, mounng, commissioning, and operang the product.
•They have the corresponding qualicaons for their work.
•They know and can apply all regulaons for the prevenon of accidents, direcves, and
laws applicable at the place of use.
Process engineering
The procedural notes and circuit details described are only proposals. It is up to the user to
check whether they can be adapted to the parcular applicaons. Lenze does not take any
responsibility for the suitability of the procedures and circuit proposals described.
2.2 Applicaon as directed
•The product must only be operated under the operang condions prescribed in this doc-
umentaon.
•The product meets the protecon requirements of 2014/35/EU: Low-Voltage Direcve.
•Commissioning or starng the operaon as directed of a machine with the product is not
permied unl it has been ensured that the machine meets the regulaons of the EC
Direcve 2006/42/EU: Machinery Direcve; observe EN 60204−1.
•Commissioning or starng operaon as directed is only permissible if the EMC Direcve
2014/30/EU is complied with.
•The harmonised standards EN 61800−5−1 and EN 61800−3 are applied to the inverters.
•The product is not a household appliance, but is only designed as a component for com-
mercial or professional use in terms of EN 61000−3−2.
•Drive systems comply with categories according to EN 61800−3, if the product is used in
accordance with the technical data.
•In residenal areas, the product may cause EMC interferences. The operator is responsible
for taking interference suppression measures.
•The product must only be actuated with motors that are suitable for the operaon with
inverters.
-Lenze L-force motors meet the requirements
-Excepon: m240 motors are designed for mains operaon only.
Safety instrucons
Applicaon as directed
17

2.3 Residual hazards
Product
Observe the warning labels on the product!
Icon Descripon
Electrostac sensive devices:
Before working on the product, the sta must ensure to be free of electrostac charge!
Dangerous electrical voltage
Before working on the product, check if no voltage is applied to the power terminals!
Aer mains disconnecon, the power terminals carry the hazardous electrical voltage for the me given next to the symbol!
High leakage current:
Carry out xed installaon and PE connecon in compliance with EN 61800−5−1 or EN 60204−1!
Hot surface:
Use personal protecve equipment or wait unl the device has cooled down!
Motor protecon
With some sengs of the inverter, the connected motor can be overheated.
•E. g. by longer operaon of self-venlated motors at low speed.
•E. g. by longer operaon of the DC-injecon brake.
Protecon of the machine/system
Drives can reach dangerous overspeeds.
•E. g. by seng high output frequencies in connecon with motors and machines not suita-
ble for this purpose.
•The inverters do not provide protecon against such operang condions. For this pur-
pose, use addional components.
Switch contactors in the motor cable only if the controller is inhibited.
•Switching while the inverter is enabled is only permissible if no monitoring funcons are
acvated.
Motor
If there is a short circuit of two power transistors, a residual movement of up to 180°/number
of pole pairs can occur at the motor! (e. g. 4-pole motor: residual movement max. 180°/2 =
90°).
Degree of protecon - protecon of persons and device protecon
•Informaon applies to the mounted and ready-for-use state.
•Informaon does not apply to the wire range of the terminals.
-Terminals that are not assigned only have a low protecon against contact.
-Terminals for large cable cross-secons have lower classes of protecon, e. g. from
15 kW IP10 only.
Safety instrucons
Residual hazards
18

3 Product informaon
3.1 Idencaon of the products
3.1.1 Product codes
I 9 5 A E □□□ F 1 □ □ □ 0 □□□□
Product type Inverter I
Product family i900 9
Product i950 5
Product generaon Generaon 1 A
Mounng type Control cabinet mounng E
Rated power [W] 0.55 kW 155
0.75 kW 175
2.2 KW 222
4.0 kW 240
7,5 kW 275
11 kW 311
15 kW 315
22 kW 322
30 kW 330
45 kW 345
55 kW 355
75 kW 375
90 kW 390
110 kW 411
Mains voltage and connecon
type
3/PE AC 400 V
3/PE 480 V AC F
Motor connecons Single axis 1
Integrated funconal safety Basic Safety STO A
Extended Safety C
Enclosure IP20 0
IP20, coated V
Interference suppression Without 0
Integrated RFI lter 1
Design types Control code 0
□□□□
Product informaon
Product codes
19

3.1.2 Nameplates
Posion and meaning of the nameplates
Complete inverter Component (opons)
①
②
①
①
①
①Nameplate at front top: Technical data, type and serial
number of the inverter
①Type and serial number of the component
②Nameplate at the side: Technical data of the inverter --
Product informaon
Idencaon of the products
Nameplates
20