Lenze L-force 930 Mounting instructions

SW-HB 13.0002-EN
.0JH
Ä.0JHä
Software Manual
930 Servo Drives

Servo inverter
931E
L-force
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2SW-HB 13.0002-EN EN 3.0
This documentation applies to 931E servo inverters.
Document history
Material No. Version Description
.0JH 3.0 09/ 2006 TD11 First edition
0Fig. 0Tab. 0
Tip!
Current documentation and software updates concerning Lenze products can be found on
the Internet in the ”Services & Downloads” area under
http://www.Lenze.com
Important note:
Software is provided to the user ”as is”. All risks regarding the quality of the software and any results obtained from its use
remain with the user. The user should take appropriate security precautions against possible maloperation.
We do not accept any responsibility for direct or indirect damage caused, e.g. loss of profit, loss of orders or adverse
commercial effects of any kind.
All trade names listed in this documentation are trademarks of their respective owners.
© 2006 Lenze GmbH & Co KG Kleinantriebe, Hans-Lenze-Straße 1, D-32699 Extertal
No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze GmbH &
Co KG Kleinantriebe.
All information given in this documentation has been selected carefully and complies with the hardware and software described.
Nevertheless, discrepancies cannot be ruled out. We do not take any responsibility or liability for any damage that may occur.
Necessary corrections will be included in subsequent editions.
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Contents i
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SW-HB 13.0002-EN EN 3.0
1 Preface and general information 7............................................
1.1 About this Manual 7....................................................
1.2 Terminology used 8....................................................
1.3 Legal regulations 9.....................................................
1.4 Warranty terms 9......................................................
2 Safety instructions 10.........................................................
2.1 Personnel responsible for safety 10........................................
2.2 General safety and application notes for Lenze servo inverters 11...............
2.3 General safety information 13............................................
2.4 Residual hazards 14.....................................................
2.5 Definition of notes used 15...............................................
3 Installation 16...............................................................
3.1 Validity information 16..................................................
3.2 System requirements 16.................................................
3.3 Software installation 17..................................................
4Userinterface 18.............................................................
4.1 Building up serial communication 18.......................................
4.2 Starting SDC / user interface 20...........................................
4.2.1 Standard buttons 20.............................................
4.2.2 Numerical input fields 21.........................................
4.2.3 Control elements 21.............................................
4.2.4 Display of setpoints and actual values 22...........................
4.2.5 Standard control windows 23.....................................
4.2.6 Directories 23...................................................
4.2.7 Communication via communication objects 24......................
4.2.8 Exiting the program 24..........................................
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Contentsi
4SW-HB 13.0002-EN EN 3.0
5 Commissioning 25...........................................................
5.1 Important notes 25......................................................
5.1.1 Default parameter set 27.........................................
5.2 Speed control 28........................................................
5.2.1 Functions available 28...........................................
5.2.2 Commissioning steps 30..........................................
5.2.3 Selecting a motor from the motor database 31.......................
5.2.4 Activating the operating mode 32..................................
5.2.5 Input configuration 32...........................................
5.2.6 Setpoint selection via setpoint selectors 33..........................
5.2.7 Optimising the speed controller 40.................................
5.2.8 Setting the controller enable logic 43...............................
5.2.9 Making the controller ready for operation 44........................
5.3 Torque control 45.......................................................
5.3.1 Functions available 45...........................................
5.3.2 Commissioning steps 47..........................................
5.3.3 Selecting a motor from the motor database 48.......................
5.3.4 Activating the operating mode 49..................................
5.3.5 Input configuration 50...........................................
5.3.6 Setpoint selection via setpoint selectors 51..........................
5.3.7 Setting the controller enable logic 57...............................
5.3.8 Making the controller ready for operation 58........................
5.4 Positioning mode 59.....................................................
5.4.1 Functions available 59...........................................
5.4.2 Commissioning steps 62..........................................
5.4.3 Selecting a motor from the motor database 63.......................
5.4.4 Activating the operating mode 64..................................
5.4.5 Input configuration 64...........................................
5.4.6 Global positioning settings 65.....................................
5.4.7 Target parameterisation 66.......................................
5.4.8 Setting the controller enable logic 70...............................
5.4.9 Approaching targets 71..........................................
5.4.10 Setting digital outputs 72.........................................
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Contents i
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5.5 Course program 73......................................................
5.5.1 Functions available 73...........................................
5.5.2 Commissioning steps 74..........................................
5.5.3 Selecting a motor from the motor database 75.......................
5.5.4 Activating the operating mode 76..................................
5.5.5 Input configuration 77...........................................
5.5.6 Global positioning settings 79.....................................
5.5.7 Target parameterisation 80.......................................
5.5.8 Creating the course programs 84..................................
5.5.9 Type of command - Position branch 87..............................
5.5.10 Type of command - Branch (Line) 89................................
5.5.11 Type of command - Level test 91...................................
5.5.12 Type of command - End of Program 93..............................
5.5.13 Setting the controller enable logic 94...............................
5.5.14 Debugging the course program 95.................................
5.5.15 Application examples 96.........................................
6Homing 99..................................................................
6.1 Parameterisation of homing 104...........................................
7 Digital outputs and analog inputs and outputs 107.................................
7.1 Digital outputs DOUT1, DOUT2 107.........................................
7.2 Holding brake DOUT3 111.................................................
7.3 Analog inputs AIN 113....................................................
7.4 Analog outputs AMON 115................................................
8 Using the oscilloscope function 116..............................................
8.1 Oscilloscope settings 117..................................................
8.2 Oscilloscope window 120..................................................
9 Troubleshooting and fault elimination 122.......................................
9.1 Error monitorings in the 931E 122..........................................
9.1.1 Overcurrent and short-circuit monitoring 122.........................
9.1.2 Monitoring the DC-bus voltage 123.................................
9.1.3 Monitoring the logic supply 123....................................
9.1.4 Monitoring the heatsink temperature 123............................
9.1.5 Monitoring the motor 124.........................................
9.1.6 Monitoring the sequence of motions 124.............................
9.1.7 Other internal monitoring functions 125.............................
9.1.8 Elapsed time meter 125...........................................
9.2 Error message 126........................................................
9.3 Error window 132........................................................
9.4 Error management 133...................................................
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Contentsi
6SW-HB 13.0002-EN EN 3.0
10 Appendix 134................................................................
10.1 Parameterisation of outside motors 134.....................................
10.1.1 Motor data 134..................................................
10.1.2 Angle encoder 136................................................
10.1.3 Motor temperature monitoring 140.................................
10.1.4 Selecting the safety parameters 141.................................
10.1.5 Limit switch settings 142..........................................
10.1.6 Power stage 143.................................................
10.1.7 DC-bus monitoring 144............................................
10.1.8 Current controller 145.............................................
10.1.9 Setting and optimising the position controller 147.....................
10.1.10 General configuration settings 149..................................
10.1.11 Display unit settings 150..........................................
10.1.12 User-defined display unit settings 153...............................
10.1.13 Direct entry of distance, speed and acceleration units 155..............
10.1.14 Defining the input limits 156.......................................
10.2 Communication interfaces 157.............................................
10.2.1 Control via CAN bus 157...........................................
10.2.2 Control via the serial interface 160..................................
10.2.3 Control via the technology interface 163.............................
10.3 Serial communication protocol 164.........................................
10.4 Communication object list 166.............................................
10.4.1 Base units 172...................................................
10.4.2 Bit assignment of command word / status word / error word 173........
10.5 Timing charts 177........................................................
10.5.1 Switch-on sequence 178...........................................
10.5.2 Positioning / target reached 180....................................
10.5.3 Speed message 181...............................................
10.5.4 Error acknowledgement 181.......................................
10.5.5 Limit switches 182................................................
10.6 Parameter set management 183............................................
10.6.1 General information 183..........................................
10.6.2 Loading and saving of parameter sets 184............................
10.6.3 Printing parameter sets 185........................................
10.7 Offline parameterisation 187..............................................
10.8 Info window 189.........................................................
10.9 Quick access via toolbar 190...............................................
10.10 Firmware download to the 931E / firmware update 191........................
10.10.1 Firmware download 191...........................................
11 Index 194....................................................................
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Preface and general information
About this Manual
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SW-HB 13.0002-EN EN 3.0
1 Preface and general information
With the Lenze Small Drives Control parameterisation software, the 931E servo
positioning controller can be optimally adapted to your application. The parameterisation
program provides the following features:
ƒParameterisation of the 931E servo positioning controller
ƒParameter setting via PC
ƒDisplay of status and operating values
ƒDownload of new firmware versions
ƒLoading and saving of parameter sets
ƒPrinting of parameter sets
ƒOffline parameterisation
ƒOscilloscope function
ƒLanguage support: German, English, French
ƒWindows-conform operation
ƒCreation of traversing data records / course programparameterisation
1.1 About this Manual
Target group
This Manual addresses to all persons who carry out dimensioning, installation,
commissioning and settings of servo inverters of the 931 series.
Contents
The Product Manual shall ensure safe operation of the Small Drives Control
parameterisation program for the 931E servo positioning controller. The Software Manual
supplements the Mounting Instructions included in the delivery package:
ƒThe characteristics and functions of the operating software are described in detail.
ƒThe Manual provides detailed information about parameter setting and the use of
the servo inverter.
ƒParameter setting is clarified by means of examples.
ƒIn case of doubt, the supplied Mounting Instructions are always valid.
More detailed information can be found in the following manuals for the 931E product
group:
ƒCANopen Manual ”931E servo positioning controller”: Description of the
implemented CANopen protocol according to DSP402
ƒController Manual ”931E servo positioning controller”
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Preface and general information
Terminology used
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8SW-HB 13.0002-EN EN 3.0
Finding information
ƒVia the contents and the table of keywords, you will quickly find the information
regarding a specific problem.
ƒDescriptions and data with regard to further Lenze products can be gathered from
the respective catalogs, Operating Instructions, and Manuals.
ƒYou can request Lenze documentation from your responsible Lenze sales partner or
download it as a PDF file from the Internet.
1.2 Terminology used
Term In the following text used for
Controller 931E servo inverter
Device 931E servo inverter
Drive 931E servo inverter with connected motor
SDC »Small Drive Control« parameterisation software
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Preface and general information
Legal regulations
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SW-HB 13.0002-EN EN 3.0
1.3 Legal regulations
Labelling Nameplate CE identification Manufacturer
Lenze drive controllers are
definitely identified by the
contents of the nameplate.
In compliance with the EC
Low-Voltage Directive
Lenze GmbH & Co KG
small drives
Postfach 10 13 52
D-31763 Hameln
Application as
directed
931E servo inverters
zmust only be operated under the operating conditions prescribed in these Instructions.
zare components
– for open and closed loop control of variable speed drives with synchronous motors.
– for installation in a machine
– for assembly with other components to form a machine.
zare electric units for the installation into control cabinets or similar closed electrical operating areas.
zcomply with the requirements of the Low-Voltage Directive.
zare not machines for the purpose of the Machinery Directive.
zare not to be used as domestic appliances, but only for industrial purposes.
Drive systems with 931E servo inverters
zcomply with the EMC Directive if they are installed according to the guidelines of CE-typical drive systems.
zcan be used
– for operation on public and non-public mains
– for operation in industrial premises.
zThe user is responsible for the compliance of his application with the EC Directives.
Any other use shall be deemed as inappropriate!
Liability zThe information, data, and notes in these instructions met the state of the art at the time of printing.
Claims on modifications referring to controllers which have already been supplied cannot be derived from
the information, illustrations, and descriptions.
zThe 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.
zLenze does not accept any liability for damage and operating interference caused by:
– disregarding of the Operating Instructions
– unauthorised changes with regard to the drive controllers
– operating errors
– improper working on and with the drive controllers
Warranty zTerms of warranty: see Sales and Delivery Conditions of Lenze GmbH & Co KG small drives.
zWarranty claims must be made to Lenze immediately after detecting the deficiency or fault.
zThe warranty is void in all cases where liability claims cannot be made.
Disposal Material Recycle Dispose
Metal D-
Plastic D-
Assembled PCBs -D
1.4 Warranty terms
No changes except those described in the available Manual may be carried out on the
device. Connect the inputs and outputs, as well as the interfaces only as described in the
Manual. Send the device in original packaging only.
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Safety instructions
Personnel responsible for safety
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10 SW-HB 13.0002-EN EN 3.0
2 Safety instructions
2.1 Personnel responsible for safety
Operator
ƒAn operator is any natural or legal person who uses the drive system or on behalf of
whom the drive system is used.
ƒTheoperatororhissafetyofficermustensure
– that all relevant regulations, instructions and legislation are observed.
– that only qualified personnel work with and on the drive system.
– that the personnel have the Operating Instructions available for all corresponding
operations.
– that non-qualified personnel are prohibited from working with and on the drive
system.
Skilled personnel
Skilled personnel are persons who - because of their education, experience, instructions,
and knowledge about corresponding standards and regulations, rules for the prevention
of accidents, and operating conditions - are authorised by the person responsible for the
safety of the plant to perform the required actions and who are able to recognise potential
hazards.
(See IEC 364, definition of skilled personnel)
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Safety instructions
General safety and application notes for Lenze servo inverters
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SW-HB 13.0002-EN EN 3.0
2.2 General safety and application notes for Lenze servo inverters
(According to: Low-Voltage Directive 73/23/EEC)
General
Lenze controllers (frequency inverters, servo inverters, DC controllers) and the accessory
components can include live and rotating parts - depending on their type of protection -
during operation. Surfaces can be hot.
Non-authorised removal of the required cover, inappropriate use, incorrect installation or
operation, create the risk of severe injury to persons or damage to material assets.
More information can be obtained from the documentation.
All operations concerning transport, installation, and commissioning as well as
maintenance must be carried out by qualified, skilled personnel (IEC 364 and CENELEC HD
384 or DIN VDE 0100 and IEC report 664 or DIN VDE 0110, and national regulations for the
prevention of accidents must be observed).
According to this basic safety information, qualified, skilled personnel are persons who are
familiar with the assembly, installation, commissioning, and operation of the product and
who have the qualifications required for their occupation.
Application as directed
Drive controllers are components designed for installation into electrical systems or
machines. They are not household appliances, but are only designed as components for
industrial or professional purposes in terms of EN 61000-3-2.
When installing the controllers into machines, commissioning (i.e. starting operation
asdirected) is prohibited until it is proven that the machine complies with the regulations
of the EC Directive 98/37/EC (Machinery Directive); EN 60204 must be observed.
Commissioning (i.e. starting of operation as directed) is only allowed when there is
compliance with the EMC Directive (89/336/EEC).
The technical data and information on connection conditions can be obtained from the
nameplate and the documentation. They must be observed in any case.
Warning: The availability of controllers is restricted according to EN 61800-3. These
products can cause radio interferences. In this case, special measures are required.
Transport, storage
Please observe the notes on transport, storage and appropriate handling.
Observe the climatic conditions in accordance with EN 50178.
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Safety instructions
General safety and application notes for Lenze servo inverters
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12 SW-HB 13.0002-EN EN 3.0
Installation
The controllers must be installed and cooled according to the instructions given in the
corresponding documentation.
Ensure proper handling and avoid mechanical stress. Do not bend any components and do
not change any insulation distances during transport or handling. Do not touch any
electroniccomponents and contacts.
Controllers contain electrostatically sensitive components, which can easily be damaged
by inappropriate handling. Do not damage or destroy any electrical components, since this
might endanger your health!
Electrical connection
When working on live controllers, the valid national regulations for the prevention of
accidents (e. g. VBG 4) must be observed.
The electrical installation must be carried out according to the appropriate regulations
(e.g. cable cross-sections, fuses, PE connection). Additional information can be obtained
from the documentation.
The documentation contains notes for the installation according to EMC (shielding,
earthing and running of the cables). Also observe these notes with regard to CE-labelled
drive controllers. The manufacturer of the system or machine is responsible for the
compliance in accordance with the limit values required in connection with EMC
legislation.
Operation
Where required, systems including controllers must be equipped with additional
monitoring and protection devices according to the valid safety regulations (e.g. law on
technical equipment, regulations for the prevention of accidents). The controller can be
adapted to your application. Please observe the corresponding information given in the
documentation.
After the drive controller has been disconnected from the voltage supply, all live
components and power connections must not be touched immediately because capacitors
can still be charged.
All protection covers and doors must be shut during operation.
Maintenance and service
The controllers do not require any maintenance if the prescribed conditions of operation
are observed.
If the ambient air is polluted, the cooling surfaces of the controller may becomedirty, or the
air vents of the controller may be obstructed. Therefore, clean the cooling surfaces and air
vents periodically under these operating conditions. Do not use sharp or pointed tools for
this purpose!
Disposal
Recycle metal and plastic materials. Ensure professional disposal of assembled PCBs.
The product-specific safety and application notes given in these Operating Instructions must be observed!
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Safety instructions
General safety information
2
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SW-HB 13.0002-EN EN 3.0
2.3 General safety information
ƒThese safety information are not claimed to be complete. In case of questions and
problems, please contact your Lenze representative.
ƒAt the time of delivery the communication interfaces meet the state of the art and
ensure basically safe operation.
ƒThe information given in these Operating Instructions refer to the specified
hardware and software versions of the modules.
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Safety instructions
Residual hazards
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14 SW-HB 13.0002-EN EN 3.0
2.4 Residual hazards
Protection of persons
After power-off, the power terminals UL, BR and GND still carry hazardous voltages for at
least 3 minutes!
ƒBefore working on the controller, check that no voltage is applied to the power
terminals.
ƒAlways protect the power terminals against contact.
The discharge current to ground (PE) is > 3.5 mA, according to EN 50178.
ƒIf a fixed installation is required, the PE conductor in the plain manner has to be at
least designed with a cable cross-section of 1.5 mm2,orithashastobedesignedin
a double manner.
Make sure that cables are installed correctly, and that bolted connections and plug
connections are faultless.
Due to the high currents with regard to low-voltage applications, current-carrying parts
can be strongly heated.
Device protection
ƒConnect or disconnect all pluggable terminals in a deenergised state only!
ƒA cyclic connection and disconnection of the supply voltage can overload and
destroy the input current limitation of the drive controller:
– When effecting a cyclic switching of the supply voltage over a longer period, the
period between two switch-on processes at least has to be one minute!
Motor protection
Drive systems can reach dangerous overspeeds (e.g. setting of high field frequencies for
motors and machines which are not qualified for this purpose):
ƒThe controllers do not offer any protection against these operating conditions. Use
additional components for this.
Protection of the machine/system
A missing or incorrect resolver adjustment can bring about undefined control states. The
perfect operation is no longer guaranteed.
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Safety instructions
Definition of notes used
2
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SW-HB 13.0002-EN EN 3.0
2.5 Definition of notes used
The following pictographs and signal words are used in this documentation to indicate
dangers and important information:
Safety instructions
Structure of safety instructions:
Danger!
(characterises the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Pictograph and 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.
Application notes
Pictograph and signal word Meaning
Note! Important note to ensure troublefree operation
Tip! Useful tip for simple handling
Reference to another documentation
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Installation
Validity information
3
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16 SW-HB 13.0002-EN EN 3.0
3 Installation
3.1 Validity information
The Small Drives Control program is used to parameterise the 931E servo positioning
controller. The information contained in this Manual refer to the following firmware and
hardware versions:
ƒ931E servo positioning controller (firmware: version 2.1, release 1.3 or higher)
ƒSmall Drives Control parameterisation software (version 2.1 or higher)
The information contained in this Manual refer to the following operating software of the
controller and the parameterisation program:
ƒ930 Servo Drive firmware: version 2.1
ƒSDC parameterisation software: version 2.1
The firmware of the 931E servo positioning controller and the Small Drives Control
parameterisation software must match each other, i.e. if a new firmware version with
additional functions is used, the corresponding version of the Lenze Small Drives Control
parameterisation software will be required.
The Small Drives Control parameterisation software cannot be used for the
parameterisation of other Lenze controllers.
3.2 System requirements
System requirements for installing the parameterisation program:
ƒIBM-compatible PC-AT, Pentium II processor or higher with min. 32 MB main
memory capacity and min. 10 MB free hard disk capacity.
ƒOperating system Windows®95, Windows®98, Windows NT®, Windows 2000,
Windows XP®
ƒCD-ROM drive.
ƒFree serial interface.
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Installation
Software installation
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SW-HB 13.0002-EN EN 3.0
3.3 Software installation
For installing the CD-ROM, proceed as follows:
1. InserttheCD-ROMintotheCD-ROMdriveofyourcomputer.
2. Start the Windows®Explorer.
3. Select the GERMAN or ENGLISH directory on your CD-ROM.
4. Start the SETUP.EXE program with a double-click.
5. Follow the instructions of the installation program.
The installation program creates a new program group called ”Lenze”. In this program
group, you can find the entry ”SDC” that is used to start the parameterisation program.
Note!
The current version of the Small Drives Control (SDC) software can be
downloaded as installation program from the Lenze web page (see
www.Lenze.de).
If the installation program is downloaded from the Internet (see www.Lenze.de), the
installation is also started with the file ”Setup.exe”.
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User interface
Building up serial communication
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18 SW-HB 13.0002-EN EN 3.0
4Userinterface
4.1 Building up serial communication
For correct communication data setting, proceed as follows:
1. Completely connect the 931E servo positioning controller.
2. Use a serial cable to connect the free interface of your PC with the 931E servo
positioning controller.
3. Switch on the 931E servo positioning controller.
4. Start the parameterisation program
If the Online button is highlighted in green in the button menu (see figure), the
communication parameters have been set correctly.
If the parameterisation program cannot open the serial interface, the following error
window will appear when the program is started:
931e_202
Cause of the error will either be an incorrect interface setting (check the hardware settings
in your control panel) or another Windows or DOS-program accessing the serial interface.
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User interface
Building up serial communication
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SW-HB 13.0002-EN EN 3.0
ƒRetry with old parameters (COM3, 9600 Baud):
To solve the access conflict with a program using the interface, close the other program
(with MS-DOS programs, also close the MS-DOS shell!!) and click Retrywithold parameters
(COM3, 9600 Baud).
ƒChange COM port:
Click Change COM port to correct a wrong interface setting and select a different interface.
ƒSearch Baud rates:
Under certain conditions, the servo positioning controller may use a baud rate other than
the baud rate selected in the parameterisation program. If you select Search Baud rates,
the parameterisation program will try to build up communication with different baud
rates.
ƒOffline parameterisation:
The Offline parameterisation is only useful, if you want to edit parameter set files without
the servo positioning controller. For more information, please see the chapter ”Offline
parameterisation”. (187)
ƒFirmware download:
If the servo positioning controller contains an invalid firmware version or if you want to
download a new firmware, select Firmware download to initiate the firmware download.
ƒExit program:
Click Exit program to exit the program.
The below table lists possible error causes and troubleshooting strategies:
Error Remedy
Communication problem Click Retry with old parameters.
Wrong COM port Click Change COM port and follow the instructions.
Baud rate of parameterisation program and servo
positioning controller is not identical
Click Search Baud rates.
Communication of servo positioning controller has
been interfered
RESET the servo positioning controller, i.e.
power-off/power-on. After this, click Retry with old
parameters.
Hardware error
Servo positioning controller is not switched on Remove error, then click Retry with old parameters.
Connecting cable has not been plugged in
Connecting cable is broken
Wrong pin assignment for serial connection
Connecting cable is too long Reduce baud rate or use shorter cable.
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User interface
Starting SDC / user interface
Standard buttons
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20 SW-HB 13.0002-EN EN 3.0
4.2 Starting SDC / user interface
4.2.1 Standard buttons
If you open a control window, the control window will contain a ”button bar” which may
look as follows:
931e_362
Meaning of the individual buttons:
ƒOK:
All changes made will be accepted and the control window will be closed.
ƒCancel:
All changes will be undone, values that have already been transferred will be restored,
and the control window will be closed.
Thebuttonscanbeactivated
ƒby a click with the left mouse key,
ƒwith the tab key and confirmation with the ENTER key,
ƒvia the keyboard by entering the underlined letter while holding down the Alt key.
If the menu buttons optically differ from the above description, please see this Manual for
more detailed information.
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