Lenze AC Tech PositionServo 940 User manual

USERS MANUAL
S94P01C -e1
S955

Copyright ©2005 by AC Technology Corporation.
All rights reserved. No part of this manual may be reproduced or transmitted in any
form without written permission from AC Technology Corporation. The information and
technical data in this manual are subject to change without notice. AC Tech makes
no warranty of any kind with respect to this material, including, but not limited to, the
implied warranties of its merchantability and fitness for a given purpose. AC Tech
assumes no responsibility for any errors that may appear in this manual and makes no
commitment to update or to keep current the information in this manual.
MotionView®, Positionservo®, and all related indicia are either registered trademarks
or trademarks of Lenze AG in the United States and other countries.
This document printed in the United States of America

S94P01C -e1 1
Table of Contents
1 GeneralInformation........................................... 5
1.1AbouttheseOperatingInstructions......................................6
1.2ScopeofSupply ....................................................6
1.3 Legal Regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
2 Specifications................................................ 8
2.1 ElectricalCharacteristics............................................8
2.2 PowerRatings....................................................9
2.3 FuseRecommendations ............................................9
2.4 DigitalI/ORatings ................................................10
2.5 Environment.....................................................10
2.6 OperatingModes.................................................10
2.7 ConnectionsandI/O ..............................................10
3 Dimensions................................................. 11
3.1 PositionServoDimensions..........................................11
3.2 Clearance for Cooling Air Circulation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
4 Installation ................................................. 13
4.1 Wiring..........................................................14
4.2 ShieldingandGrounding...........................................14
4.2.1 GeneralGuidelines..........................................14
4.2.2 EMIProtection.............................................15
4.2.3 Enclosure.................................................15
4.3 LineFiltering ....................................................16
4.4 HeatSinking.....................................................16
4.5 Line(Mains)Fusing...............................................16
5 PositionServoConnections .................................... 17
5.1 ExternalConnectors ..............................................17
5.1.1 P1&P7-InputPowerandOutputPowerConnections . . . . . . . . . . . . . .17
5.1.2 P2-EthernetCommunicationsPort. . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
5.1.3 P3-ControllerInterface......................................19
5.1.4 P4-MotorFeedback/SecondLoopEncoderInput. . . . . . . . . . . . . . . .20
5.1.5 P5-24VDCBack-upPowerInput . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
5.1.6 P6-BrakingResistorandDCBus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
5.1.7 ConnectorsandWiringNotes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
5.1.8 P11-ResolverInterfaceModule(optionmodule). . . . . . . . . . . . . . . . . .22
5.1.9 P12-SecondEncoderInterfaceModule(optionbay2). . . . . . . . . . . . .24
5.2 DigitalI/ODetails.................................................25
5.2.1 Step&Direction/MasterEncoderInputs(P3,pins1-4) . . . . . . . . . . . . .25
5.2.2 BufferedEncoderOutput(P3,pins7-12). . . . . . . . . . . . . . . . . . . . . . . . .26
5.2.3 DigitalOutputs.............................................26
5.2.4 DigitalInputs...............................................27
5.3 AnalogI/ODetails ................................................28
5.3.1 AnalogReferenceInput......................................28
5.3.2 AnalogOutput.............................................29
5.4 CommunicationInterfaces..........................................29
5.4.1 EthernetInterface(standard)..................................29
5.4.2 RS485Interfaces(optionmodule). . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
5.4.3 RS485CommunicationSetup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
5.4.4 MODBUSRTUSupport......................................30
5.5 MotorSelection ..................................................30
5.5.1 MotorConnection...........................................30
5.5.2 MotorOver-temperatureProtection. . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
5.5.3 MotorSet-up...............................................31

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5.6 UsingaCustomMotor.............................................32
5.6.1 CreatingCustomMotorParameters. . . . . . . . . . . . . . . . . . . . . . . . . . . .32
5.6.2 Autophasing..............................................33
5.6.3 CustomMotorDataEntry.....................................34
6 Programmable Features and Parameters . . . . . . . . . . . . . . . . . . . . . . . . . 38
6.1 Parameter Storage and EPM Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
6.1.1 ParameterStorage..........................................38
6.1.2 EPMOperation.............................................38
6.1.3 EPMFault.................................................39
6.2 MotorGroup.....................................................39
6.3 ParametersGroup................................................39
6.3.1 DriveOperatingModes......................................39
6.3.2 DrivePWMfrequency........................................40
6.3.3 CurrentLimit...............................................40
6.3.4 8kHzPeakCurrentLimitand16kHzPeakCurrentLimit . . . . . . . . . . . .40
6.3.5 AnalogInputScale(currentscale). . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40
6.3.6 AnalogInputScale(velocityscale). . . . . . . . . . . . . . . . . . . . . . . . . . . . .41
6.3.7 ACCEL/DECELLimits(velocitymodeonly). . . . . . . . . . . . . . . . . . . . . . .41
6.3.8 Reference.................................................41
6.3.9 StepInputType(positionmodeonly) . . . . . . . . . . . . . . . . . . . . . . . . . . .41
6.3.10FaultResetOption..........................................41
6.3.11MotorTemperatureSensor....................................41
6.3.12MotorPTCCut-offResistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
6.3.13SecondEncoder............................................42
6.3.14RegenerationDutyCycle.....................................42
6.3.15EncoderRepeatSource......................................43
6.3.16SystemtoMasterRatio.......................................43
6.3.17SecondtoPrimeEncoderRatio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
6.3.18Autoboot..................................................43
6.3.19GroupID..................................................43
6.3.20EnableSwitchFunction......................................43
6.3.21UserUnits.................................................43
6.3.22ResolverTrack.............................................44
6.3.23CurrentLimitMaxOverwrite . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
6.4 Communication ..................................................44
6.4.1 EthernetInterface...........................................44
6.4.2 RS-485Conguration........................................48
6.4.3 ModbusBaudRate..........................................48
6.4.4 ModbusReplyDelay........................................48
6.5 AnalogI/OGroup.................................................48
6.5.1 AnalogOutput.............................................48
6.5.2 AnalogOutputCurrentScale(Volt/amps) . . . . . . . . . . . . . . . . . . . . . . . .48
6.5.3 AnalogOutputCurrentScale(mV/RPM) . . . . . . . . . . . . . . . . . . . . . . . . .48
6.5.4 AnalogInputDeadBand.....................................48
6.5.5 AnalogInputOffsetParameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
6.5.6 AdjustAnalogVoltageOffset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49
6.6 DigitalI/O.......................................................49
6.6.1 DigitalInputDe-bounceTime..................................49
6.6.2 HardLimitSwitchAction.....................................49
6.7 VelocityLimitsGroup..............................................49
6.7.1 ZeroSpeed...............................................49
6.7.2 SpeedWindow............................................49
6.7.3 AtSpeed.................................................50
6.8 PositionLimits...................................................50
6.8.1 PositionError..............................................50
6.8.2 MaxErrorTime............................................50
6.8.3 SecondEncoderPositionError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
6.8.4 SecondEncoderMaxErrorTime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50

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6.9 CompensationGroup .............................................50
6.9.1 VelocityP-gain(proportional). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
6.9.2 VelocityI-gain(integral)......................................50
6.9.3 PositionP-gain(proportional). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51
6.9.4 PositionI-gain(integral)......................................51
6.9.5 PositionD-gain(differential) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51
6.9.6 PositionI-limit..............................................51
6.9.7 GainScalingWindow........................................51
6.10 ToolsGroup.....................................................52
6.10.1OscilloscopeTool...........................................52
6.10.2RunPanels................................................52
6.11 FaultsGroup ....................................................52
7 DisplayandDiagnostics....................................... 52
7.1 DiagnosticDisplay................................................52
7.2 DiagnosticLEDs .................................................54
7.3 Faults..........................................................54
7.3.1 FAULTCODES.............................................54
7.3.2 FaultEvent................................................55
7.3.3 FaultReset................................................55
8 Operation.................................................. 55
8.1 MinimumConnections.............................................55
8.2 Configuration of the PositionServo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56
8.3 PositionModeOperation(gearing) ...................................57
8.4 Dual-loopFeedback ..............................................57
8.5 EnablingthePositionServo.........................................58
8.6 TuninginVelocityMode............................................58
8.7 TuninginPositionMode ...........................................60
9 Sample Motor Responses to Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . 62
9.1 Motor Response to Gain Settings (velocity mode). . . . . . . . . . . . . . . . . . . . . . . .62
9.1.1 P-gain....................................................63
9.1.2 I-gain....................................................65
9.1.3 AbnormalGains(velocitymode). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .65
9.2 Motor Response to Gain Settings (position mode) . . . . . . . . . . . . . . . . . . . . . . .66
9.2.1 P-gainselection............................................67
9.2.2 OptimalP-gain/D-gainSettings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .68
10 Troubleshooting............................................. 70

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Safety Information
All safety information given in these Operating Instructions have the same layout:
Signal Word! (Characteristics the severity of the danger)
Note (describes the danger and informs on how to proceed)
Icon Signal Words
Warning of
hazardous
electrical
voltage
DANGER! Warns of impending danger.
Consequences if disregarded:
Death or severe injuries.
Warning of
a general
danger
WARNING! Warns of potential, very hazardous
situations.
Consequences if disregarded:
Death or severe injuries.
Warning of
damage to
equipment
STOP! Warns of potential damage to material
and equipment.
Consequences if disregarded:
Damage to the controller/drive or its
environment.
Information Note Designates a general, useful note.
If you observe it, handling the controller/
drive system is made easier.

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1 General Information
The PositionServo line of advanced general purpose servo drives utilizes the latest
technology in power semiconductors and packaging. The PositionServo uses Field
Oriented control to enable high quality motion.
The PositionServo is available in four mains (input power) configurations:
1. 400/480V (nominal) three phase input. An external input mains (line) filter is
available. Actual voltage can range from 320 - 528 VAC.
2. 120/240V (nominal) Single Phase input with integrated input mains (line)
filter, Actual input voltage can range from 80VAC to 264VAC. The maximum
output voltage is approximately equal to the input voltage.
3. 120V or 240V (nominal) Single or Three Phase input. Actual input voltage
can range from 80VAC to 264VAC. The maximum output voltage is
approximately equal to the input voltage. An external input mains (line) filter
is available.
4. 120V or 240V (nominal) single phase input. When wired for Doubler mode
(L1-N), the input is for 120V nominal only and can range from 45VAC to 132
VAC and the maximum output voltage is double the input voltage. When
wired to terminals L1-L2/N, the input can range from 80 VAC to 264 VAC and
the maximum output voltage is equal to the input voltage.
The PositionServo drive can operate in one of three mode settings, torque (current),
velocity, or position (step & direction or master encoder). The drives command or
reference signal can come from one of three choices. The first is an external reference.
An external reference can be an analog input signal, a step and direction input or an
input from a master encoder. The second reference is an internal reference. An internal
reference is when the commanded move is derived from the drives users program.
The third reference is when the commanded move is done via a host device over a
communications network. This Host device can be an external motion controller, PLC,
HMI or PC. The communication network can be over, RS485 (Point-to-Point or Modbus
RTU), Ethernet (using MotionView DLL’s), Modbus over TCP/IP, or CANopen (DS301
and DS402).
Depending on the primary feedback, there are two types of drives: the Model 940
PositionServo encoder-based drive which accepts an incremental encoder with Hall
channels inputs and the Model 941 PositionServo resolver-based drive which accepts
resolver inputs. The feedback signal is brought back to the P4 connector on the drive.
This connector will be a 15 pin D-sub for the encoder version and a 9 pin D-sub for the
resolver version. A second encoder can be used in position and velocity modes.
The MotionView software is the setup and management tool for PositionServo drives.
All parameters can be set and monitored via this user-friendly tool. It has a real-time
oscilloscope tool for analysis and optimum tuning. The users program written with
SimpleMotion Programming Language (SML) can be utilized to command motion
and handle the drive’s inputs/outputs (I/O). The programming language is designed
to be very user friendly and easy to implement. For programming details, refer to
PositionServo Programming Manual. Note that all PositionServo related manuals can be
found under MotionView “Help” – “Product Manuals”.
On each PositionServo drive, there is an Electronic Programming Module (EPM),
which stores all drive setup and tuning information. This module can be removed from
the drive and reinstalled into another drive, making the field replacement of the drive
extremely easy. Also this makes it easy to duplicate the settings for several drives.
The PositionServo drive supports a variety of communication protocols, including Point-
to-Point (PPP), Modbus RTU over RS485, Ethernet TCP/IP, Modbus over TCP/IP and
CANopen (DS301 and DS402).

S94P01C -e1
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1.1 About these Operating Instructions
• These Operating Instructions are provided to assist the user in connecting and
commissioning the PositionServo drive. Important safety instructions are contained
in this document which must be observed carefully.
• All persons working on and with the controller must have the Operating Instructions
available and must observe the information and notes relevant for their work.
• The Operating Instructions must always be in a complete and perfectly readable state.
1.2 Scope of Supply
Scope of Supply Important
• 1 Model PositionServo type E94P
or E94R.
• 1 Users Manual (English)
• 1 MotionView CD ROM including
- configuration software
- documentation (Adobe Acrobat)
After reception of the delivery, check immediately
whether the scope of supply matches the
accompanying papers. Lenze does not accept any
liability for deficiencies claimed subsequently.
Claim
• visible transport damage immediately to the forwarder
• visible deficiencies / incompleteness immediately to
your Lenze representative.
1.3 Legal Regulations
Identication Nameplate CE Identication Manufacturer
Lenze controllers are
unambiguously designated by
the contents of the nameplate
In compliance with the EC
Low-Voltage Directive
AC Technology Corp.
member of the Lenze Group
630 Douglas Street
Uxbridge, MA 01569 USA
Application as
directed
E94P or E94R servo controller
• must only be operated under the conditions prescribed in these Instructions.
• are components
- for closed loop control of variable speed and torque applications with PM synchronous motors
- for installation in a machine.
- for assembly with other components to form a machine.
• are electric units for the installation into control cabinets or similar enclosed operating housing.
• comply with the requirements of the Low-Voltage Directive.
• are not machines for the purpose of the Machinery Directive.
• are not to be used as domestic appliances, but only for industrial purposes.
Drive systems with E94P or E94R servo inverters
• comply with the EMC Directive if they are installed according to the guidelines of CE-typical
drive systems.
• can be used
- for operation on public and non-public mains
- for operation in industrial premises and residential areas.
• The user is responsible for the compliance of his application with the EC directives.
Any other use shall be deemed as inappropriate!
Liability • The information, data, and notes in these instructions met the state of the art at the time of
publication. Claims on modifications referring to controllers which have already been supplied
cannot be derived from the information, illustrations, and descriptions.
• The specifications, processes and circuitry described in these instructions are for guidance only
and must be adapted to your own specific application. Lenze does not take responsibility for the
suitability of the process and circuit proposals.
• The specifications in these Instructions describe the product features without guaranteeing them.
• Lenze does not accept any liability for damage and operating interference caused by:
- Disregarding the operating instructions
- Unauthorized modifications to the controller
- Operating errors
- Improper working on and with the controller

S94P01C -e1 7
Warranty • Warranty conditions: see Sales and Delivery Conditions of Lenze Drive Systems GmbH.
• Warranty claims must be made to Lenze immediately after detecting the deficiency or fault.
• The warranty is void in all cases where liability claims cannot be made.
Disposal Material Recycle Dispose
Metal •-
Plastic •-
Assembled PCB’s -•

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2 Specications
2.1 Electrical Characteristics
Single-Phase Models
Type (1) Mains Voltage (2)
1~ Mains
Current
(doubler)
1~ Mains
Current
(Std.)
Rated Output
Current (5)
Peak Output
Current (6)
E94_020S1N_X
120V(3) or 240V(4) 9.7 5.0 2.0 6
E94_040S1N_X 16.8 8.6 4.0 12
E94_020S2F_X
120 / 240V(4)
(80 V -0%...264 V +0%)
-- 5.0 2.0 6
E94_040S2F_X -- 8.6 4.0 12
E94_080S2F_X -- 15.0 8.0 24
E94_100S2F_X -- 18.8 10.0 30
E94_120S2F_X -- 24.0 12.0 36
Single/Three-Phase Models
Type (1) Mains Voltage (2)
1~ Mains
Current
3~ Mains
Current
Rated Output
Current (5)
Peak Output
Current (6)
E94_020Y2N_X
120 / 240V(4)
1~ or 3~
(80 V -0%...264 V +0%)
5.0 3.0 2.0 6
E94_040Y2N_X 8.6 5.0 4.0 12
E94_080Y2N_X 15.0 8.7 8.0 24
E94_120Y2N_X 24.0 13.9 12.0 36
E94_180T2N_X 240V 3~
(180 V -0%...264 V +0%) -- 19.6 18.0 54
E94_020T4N_X
400 / 480V
3~
(320 V -0%...528 V +0%)
-- 2.7 2.0 6
E94_040T4N_X -- 5.5 4.0 12
E94_050T4N_X -- 6.9 5.0 15
E94_060T4N_X -- 7.9 6.0 18
E94_090T4N_X -- 12.0 9.0 27
(1) The first “_” equals either “P” for the Model 940 encoder based drive OR an “R” for the Model 941 resolver
based drive.
(2) The second “_” equals either “E” for incremental encoder (must have E94P drive) OR an “R” for the standard
resolver (must have E94R drive).
(3) Mains voltage for operation on 50/60 Hz AC supplies (48 Hz -0% … 62Hz +0%).
(4) Connection of 120VAC (45 V … 132 V) to input power terminals L1 and N on these models doubles the
voltage on motor output terminals U-V-W for use with 230VAC motors.
(5) Connection of 240VAC or 120VAC to input power terminals L1 and L2 on these models delivers an equal voltage
as maximum to motor output terminals U-V-W allowing operation with either 120VAC or 230VAC motors.
(6) Drive rated at 8kHz Carrier Frequency. Derate Continuous current by 17% at 16kHz.
(7) Peak RMS current allowed for up to 2 seconds. Peak current rated at 8kHz. Derate by 17% at 16kHz.
Applies to all models:
Acceleration Time Range (Zero to Max Speed) 0.1 … 5x106RPM/sec
Deceleration Time Range (Max Speed to Zero) 0.1 … 5x106RPM/sec
Speed Regulation (typical) ± 1 RPM
Input Impedance (AIN+ to COM and AIN+ to AIN-) 47 kΩ
Power Device Carrier Frequency (sinusoidal commutation) 8,16 kHz
Encoder Power Supply (max) +5 VDC @ 300 mA
Maximum Encoder Feedback Frequency 2.1 MHz (per channel)
Maximum Output Frequency (to motor) 400Hz

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2.2 Power Ratings
Type(1)
Output Power
at Rated Output
Current (8kHz)(2)
Leakage Current
Power Loss at
Rated Output
Current
(8KHz)
Power Loss at
Rated Output
Current
(16 kHz)(3)
Units kVA mA Watts Watts
E94_020S1N_X 0.8
Typically >3.5 mA.
Consult factory for
applications requiring
<3.5 mA.
19 21
E94_040S1N_X 1.7 29 30
E94_020S2F_X 0.8 19 21
E94_040S2F_X 1.7 29 30
E94_080S2F_X 3.3 61 63
E94_100S2F_X 4.2 80 85
E94_020Y2N_X 0.8 19 21
E94_040Y2N_X 1.7 29 30
E94_080Y2N_X 3.3 61 63
E94_120Y2N_X 5.0 114 129
E94_180T2N_X 7.5 171 195
E94_020T4N_X 1.7 31 41
E94_040T4N_X 3.3 50 73
E94_050T4N_X 4.2 70 90
E94_060T4N_X 5.0 93 122
E94_090T4N_X 7.5 138 182
2.3 Fuse Recommendations
Type(1)
AC Line
Input Fuse
(1ø/3ø)
Miniature
Circuit Breaker(6)
(1ø/3ø)
AC Line Input
Fuse (4) or
Breaker (5)
(N. America)
DC Bus Input
Fuse(7)
Amp Ratings
E94_020S1N_X M20/M10 C20/C10 20/10 10
E94_040S1N_X M32/M20 C32/C20 30/20 20
E94_020S2F_X M20 C20 20 15
E94_040S2F_X M20 C20 20 20
E94_080S2F_X M32 C32 32 40
E94_100S2F_X M40 C40 40 45
E94_020Y2N_X M20/M16 C20/C16 20/15 15
E94_040Y2N_X M20/M16 C20/C16 20/15 20
E94_080Y2N_X M32/M20 C32/C20 30/20 40
E94_120Y2N_X M50/M32 C50/C32 50/30 55
E94_180T2N_X M40 C40 40 80
E94_020T4N_X M10 C10 10 10
E94_040T4N_X M10 C10 10 20
E94_050T4N_X M16 C16 15 25
E94_060T4N_X M20 C20 20 30
E94_090T4N_X M25 C25 25 40
(1) The first “_” equals either “P” for the Model 940 encoder based drive OR an “R” for the Model 941 resolver based drive.
(2) The second “_” equals either “E” for incremental encoder (must have E94P drive) OR an “R” for the standard resolver (must have E94R drive).
(3) At 240 VAC line input for drives with suffixes “S1N”, “S2F”, “Y2N”. At 480 VAC line input for drives with suffixes “T4N”.
a. The output power is calculated from the formula: output power (kVA)=sqrt(3) x ULL x I rated
b. The actual output power depends on the motor in use due to variations in power factor.
(4) At 16 kHz, de-rate continuous current by 17%
(5) Installations with high fault current due to large supply mains may require a type D circuit breaker.
(6) UL Class CC or T fast-acting current-limiting type fuses, 200,000 AIC, preferred. Bussman KTK-R, JJN, JJS or equivalent.
(7) Thermal-magnetic type breakers preferred.
(8) DC-rated fuses, rated for the applied voltage. Examples Bussman KTM or JJN as appropriate.

S94P01C -e1
10
2.4 Digital I/O Ratings
Scan
Times Linearity Temperature Drift Offset Current Input Impedance
Voltage
Range
Units ms % % % mA Ohm VDC
Digital Inputs(1) 0.02(2) Depend on load 2.2 k 5-24
Digital Outputs 0.052(2) 100 max N/A 30 max
Analog Inputs 0.052 ± 0.013 0.1% per °C rise ± 0 adjustable Depend on load 47 k ± 18
Analog Outputs 0.052 0.1% per °C rise ± 0 adjustable 10 max N/A ± 10
(1) Inputs do not have scan time. Their values are read directly by indexer program statement.
De-bounce time is programmable and can be set as low as 0. Propagation delay is typical 20 us
(2) Time when output has an assigned function.
2.5 Environment
Vibration 2 g (10 - 2000 Hz)
Ambient Operating Temperature Range 0 to 40ºC
Ambient Storage Temperature Range -10 to 70ºC
Temperature Drift 0.1% per ºC rise
Humidity 5 - 90% non-condensing
Altitude 1500 m/5000 ft [derate by 1% per 300m
(1000 ft) above 1500m (5000 ft)]
2.6 Operating Modes
Torque
Reference ± 10 VDC 16-bit; scalable
Torque Range 100:1
Current-Loop Bandwidth Up to 3 kHz
Velocity
Reference ± 10 VDC or 0…10 VDC; scalable
Regulation ± 1 RPM
Velocity-Loop Bandwidth Up to 400 Hz
Speed Range 5000:1 with 5000 ppr encoder
Position
Reference 0…2 MHz Step and Direction or
2 channels quadrature input; scalable
Minimum Pulse Width 500 nanoseconds
Loop Bandwidth Up to 200 Hz
Accuracy ±1 encoder count for encoder feedabck
±1.32 arc-minutes for resolver feedback (14-bit resolution)
2.7 Connections and I/O
Mains Power 4-pin removable terminal block (P1)
Ethernet Port Standard RJ45 Connector (P2)
I/O Connector Standard 50-pin SCSI. (P3)
- Buffered Encoder Output In 50-pin SCSI controller connector (P3)
- Digital Inputs 11 programmable, 1 dedicated (5-24V) (P3)
- Digital Outputs 4 programmable, 1 dedicated(5-24V @ 100mA) (P3)
- Analog Input 2 differential; ±10 VDC (one16 bit, one 10 bit) (P3)
- Analog Output 1 single ended; ±10 VDC (10-bit) (P3)
Encoder Feedback (E94P drive) Feedback connector is a 15-pin D-shell (P4)
Resolver Feedback (E94R drive) Feedback connector is a 9-pin D-shell (P4)
24VDC Power “Keep Alive” 2-pin removable terminal block (P5)
Regen and Bus Power 5-pin removable terminal block (P6)
Motor Power 6-pin pin removable terminal block (P7)
Comm Option Bay Optional Comm Modules (CAN, RS485) (P21)
Resolver feedback (option bay) Option module with standard 9-pin D-shell (P11)
Encoder Feedback (option bay) Option module with standard 9-pin D-shell (P12)
Windows® Software: MotionView (Windows 98, NT, 2000, XP)

S94P01C -e1 11
3 Dimensions
3.1 PositionServo Dimensions
8
&*
&'
&'
6
(-
9 7
()
S923
Type (1) A (mm) B (mm) C (mm) D (mm) Weight (kg)
E94_020S1N_X 67 190 190 182 1.1
E94_040S1N_X 69 190 190 182 1.2
E94_020S2F_X 67 190 235 182 1.3
E94_040S2F_X 69 190 235 182 1.5
E94_080S2F_X 88 190 235 182 1.9
E94_100S2F_X 103 190 235 182 2.2
E94_020Y2N_X 67 190 190 182 1.3
E94_040Y2N_X 69 190 190 182 1.5
E94_080Y2N_X 95 190 190 182 1.9
E94_120Y2N_X 67 190 235 182 1.5
E94_180T2N_X 67 242 235 233 2.0
E94_020T4N_X 69 190 190 182 1.5
E94_040T4N_X 95 190 190 182 1.9
E94_050T4N_X 115 190 190 182 2.2
E94_060T4N_X 67 190 235 182 1.4
E94_090T4N_X 67 242 235 233 2.0
(1) The first “_” equals either “P” for the Model 940 encoder based drive OR an “R” for the Model 941 resolver
based drive.
(2) The second “_” equals either “E” for incremental encoder (must have E94P drive) OR an “R” for the standard
resolver (must have E94R drive).

S94P01C -e1
12
3.2 Clearance for Cooling Air Circulation
3'*bb
3(bb
3'*bb
S924

S94P01C -e1 13
4 Installation
Perform the minimum system connection. Please refer to section 8.1 for minimum
connection requirements. Observe the rules and warnings below carefully:
DANGER!
Hazard of electrical shock! Circuit potentials are up to 480 VAC above
earth ground. Avoid direct contact with the printed circuit board or
with circuit elements to prevent the risk of serious injury or fatality.
Disconnect incoming power and wait 60 seconds before servicing
drive. Capacitors retain charge after power is removed.
STOP!
• The PositionServo must be mounted vertically for safe operation and
to ensure enough cooling air circulation.
• Printed circuit board components are sensitive to electrostatic
fields. Avoid contact with the printed circuit board directly. Hold the
PositionServo by its case only.
• Protect the drive from dirt, filings, airborne particles, moisture, and
accidental contact. Provide sufficient room for access to the terminal
block.
• Mount the drive away from any and all heat sources. Operate within
the specified ambient operating temperature range. Additional
cooling with an external fan may be recommended in certain
applications.
• Avoid excessive vibration to prevent intermittent connections
• DO NOT connect incoming (mains) power to the output motor
terminals (U, V, W)! Severe damage to the drive will result.
• Do not disconnect any of the motor leads from the PositionServo
drive unless (mains) power is removed. Opening any one motor lead
may cause failure.
• Control Terminals provide basic isolation (insulation per EN 61800-
5-1). Protection against contact can only be ensured by additional
measures, e.g., supplemental insulation.
• Do not cycle mains power more than once every 2 minutes.
Otherwise damage to the drive may result.
WARNING!
For compliance with EN 61800-5-1, the following warning applies.
This product can cause a d.c. current in the protective earthing
conductor. Where a residual current-operated protective (RCD) or
monitoring (RCM) device is used for protection in case of direct or
indirect contact, only an RCD or RCM of Type B is allowed on the
supply side of this product.
UL INSTALLATION INFORMATION
• Suitable for use on a circuit capable of delivering not more than
200,000 rms symmetrical amperes, at the maximum voltage rating
marked on the drive.
• Use Class 1 wiring with minimum of 75ºC copper wire only.
• Shall be installed in a pollution degree 2 macro-environment.

S94P01C -e1
14
4.1 Wiring
DANGER!
Hazard of electrical shock! Circuit potentials are up to 480 VAC above
earth ground. Avoid direct contact with the printed circuit board or
with circuit elements to prevent the risk of serious injury or fatality.
Disconnect incoming power and wait 60 seconds before servicing the
drive. Capacitors retain charge after power is removed.
WARNING!
Leakage current may exceed 3.5mA AC. Minimum size of the
protective earth conductor shall comply with local safety regulations for
high leakage current equipment.
STOP!
Under no circumstances should power and control wiring be bundled
together. Induced voltage can cause unpredictable behavior in any
electronic device, including motor controls.
Refer to section 5.1.1 for Power wiring specifications.
4.2 Shielding and Grounding
4.2.1 General Guidelines
Lenze recommends the use of single-point grounding (SPG) for panel-mounted
controls. Serial grounding (a “daisy chain”) is not recommended. The SPG for all
enclosures must be tied to earth ground at the same point. The system ground and
equipment grounds for all panel-mounted enclosures must be individually connected
to the SPG for that panel using 14 AWG (2.5 mm2) or larger wire.
In order to minimize EMI, the chassis must be grounded to the mounting. Use 14
AWG (2.5 mm2) or larger wire to join the enclosure to earth ground. A lock washer
must be installed between the enclosure and ground terminal. To ensure maximum
contact between the terminal and enclosure, remove paint in a minimum radius of 0.25
in (6 mm) around the screw hole of the enclosure.
Lenze recommends the use of the special PositionServo drive cables provided by
Lenze. If you specify cables other than those provided by Lenze, please make certain
all cables are shielded and properly grounded.
It may be necessary to earth ground the shielded cable. Ground the shield at both the
drive end and at the motor end.
If the PositionServo drive continues to pick up noise after grounding the shield, it may
be necessary to add an AC line filtering device and/or an output filter (between drive
and servo motor).

S94P01C -e1 15
EMC
Compliance with EN 61800-3:2004
In a domestic environment this product may cause radio interference in which the
user may be required to take adequate measures
Noise emission
Drive Models ending in the suffix “2F” are in
compliance with class A limits according to
EN 55011 if installed in a control cabinet and
the motor cable length does not exceed 10m.
Models ending in “N” will require an appropriate
line filter.
Installation according to EMC
Requirements
E
D
B C
A
F
S930
AScreen clamps
BControl cable
CLow-capacitance motor cable
(core/core < 75 pF/m, core/screen < 150 pF/m)
DEarth grounded conductive mounting plate
EEncoder Feedback Cable
FFootprint or Sidemount Filter (optional)
4.2.2 EMI Protection
Electromagnetic interference (EMI) is an important concern for users of digital
servo control systems. EMI will cause control systems to behave in unexpected and
sometimes dangerous ways. Therefore, reducing EMI is of primary concern not only
for servo control manufacturers such as Lenze, but the user as well. Proper shielding,
grounding and installation practices are critical to EMI reduction.
4.2.3 Enclosure
The panel in which the PositionServo is mounted must be made of metal, and must be
grounded using the SPG method outlined in section 4.2.1.
Proper wire routing inside the panel is critical; power and logic leads must be routed in
different avenues inside the panel.
You must ensure that the panel contains sufficient clearance around the drive. Refer
to Section 3.2 suggested cooling air clearance.

S94P01C -e1
16
4.3 Line Filtering
In addition to EMI/RFI safeguards inherent in the PositionServo design, external
filtering may be required. High frequency energy can be coupled between the circuits
via radiation or conduction. The AC power wiring is one of the most important paths
for both types of coupling mechanisms. In order to comply with IEC61800-3:2004, an
appropriate filter must be installed within 20cm of the drive power inputs.
Line filters should be placed inside the shielded panel. Connect the filter to the
incoming power lines immediately after the safety mains and before any critical control
components. Wire the AC line filter as close as possible to the PositionServo drive.
Note
The ground connection from the filter must be wired to solid earth
ground, not machine ground.
If the end-user is using a CE-approved motor, the AC filter combined with the
recommended motor and encoder cables, is all that is necessary to meet the EMC
directives listed herein. The end user must use the compatible filter to comply with CE
specifications. The OEM may choose to provide alternative filtering that encompasses
the PositionServo drive and other electronics within the same panel. The OEM has
this liberty because CE requirements are for the total system.
4.4 Heat Sinking
The PositionServo drive contains sufficient heat sinking within the specified ambient
operating temperature in their basic configuration. There is no need for additional heat
sinking. However, you must ensure that there is sufficient clearance for proper air
circulation. As a minimum, you must allow an air gap of 25 mm above and below the
drive.
4.5 Line (Mains) Fusing
External line fuses must be installed on all PositionServo drives. Connect the external
line fuse in series with the AC line voltage input. Use fast-acting fuses rated for 250
VAC or 600 VAC (depending on model), and approximately 200% of the maximum
RMS phase current. Refer to section 2.3 for fuse recommendations.

S94P01C -e1 17
5 PositionServo Connections
The standard PositionServo drive contains seven connectors: four quick-connect
terminal blocks, one SCSI connector and one subminiature type “D” connectors.
These connectors provide communications from a PLC or host controller, power to
the drive, and feedback from the motor. Prefabricated cable assemblies may be
purchased from Lenze to facilitate wiring the drive, motor and host computer. Contact
your Lenze Sales Representative for assistance.
As this manual makes reference to specific pins on specific connectors, we will use
the convention PX.Y where X is the connector number and Y is the pin number.
5.1 External Connectors
5.1.1 P1 & P7 - Input Power and Output Power Connections
P1 is a 3 or 4-pin quick-connect terminal block used for input (mains) power. P7 is a
6-pin quick-connect terminal block used for output power to the motor. P7 also has
a thermistor (PTC) input for motor over-temperature protection. The tables below
identify connector pin assignments.
DANGER!
Hazard of electrical shock! Circuit potentials are up to 480 VAC above
earth ground. Avoid direct contact with the printed circuit board or
with circuit elements to prevent the risk of serious injury or fatality.
Disconnect incoming power and wait 60 seconds before servicing
drive. Capacitors retain charge after power is removed.
STOP!
DO NOT connect incoming power to the output motor terminals
(U, V, W)! Severe damage to the PositionServo will result.
Check phase wiring (U, V, W) and thermal input (T1, T2) before
powering up drive. If miss wired severe damage to the PositionServo
will result.
All conductors must be enclosed in one shield and jacket around them. The shield
on the drive end of the motor power cable should be terminated to the conductive
machine panel using screen clamps as shown in section 4.2. The other end should be
properly terminated at the motor shield. Feedback cable shields should be terminated
in a like manner. Lenze recommends Lenze cables for both the motor power and
feedback. These are available with appropriate connectors and in various lengths.
Contact your Lenze representative for assistance.
Wire Size
Current
(Arms)
Terminal
Torque (lb-in)
Wire Size
I<8 4.5 16 AWG (1.5mm2) or 14 AWG (2.5mm2)
8<I<12 4.5 14 AWG (2.5mm2) or 12 AWG (4.0mm2)
12<I<15 4.5 12 AWG (4.0mm2)
15<I<20 5.0 - 7.0 10 AWG (6.0mm2)
20<I<24 11.0 - 15.0 10 AWG (6.0mm2)

S94P01C -e1
18
P1 Pin Assignments (Input Power)
Standard Models Doubler Models
Pin Name Function Name Function
1 PE Protective Earth (Ground) PE Protective Earth (Ground)
2 L1 AC Power in N AC Power Neutral (120V Doubler only)
3 L2 AC Power in L1 AC Power in
4 L3 AC Power in (3~ models only) L2/N AC Power in (non-doubler operation)
P7 Pin Assignments (Output Power)
Pin Terminal Function
1 T1 Thermistor (PTC) Input
2 T2 Thermistor (PTC) Input
3 U Motor Power Out
4 V Motor Power Out
5 W Motor Power Out
6 PE Protective Earth (Chassis Ground)
5.1.2 P2 - Ethernet Communications Port
P2 is a RJ45 Standard Ethernet connector that is used to communicate with a host
computer via Ethernet TCP/IP.
P2 Pin Assignments (Communications)
Pin Name Function
1 + TX Transmit Port (+) Data Terminal
2 - TX Transmit Port (-) Data Terminal
3 + RX Receive Port (+) Data Terminal
4 N.C.
5 N.C.
6 - RX Receive Port (-) Data Terminal
7 N.C.
8 N.C.
Note
To communicate from the PC directly to the drive a crossover cable is
required. If using a Hub or Switch, a regular patch cable shall be used.