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
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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
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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
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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
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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
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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
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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
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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
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