Lenze SimpleServo 94 User manual

MODEL 94 USERS MANUAL
IMS94S-mv1

Copyright ©2004 by Lenze AG.
All rights reserved. No part of this manual may be reproduced or transmitted in any
form without written permission from Lenze AG. The information and technical data
in this manual are subject to change without notice. Lenze AG and its Divisions make
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. Lenze
AG and its Divisions assume no responsibility for any errors that may appear in this
manual and make no commitment to update or to keep current the information in this
manual.
MotionView, SimpleServo, 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

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Table of Contents
1 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1 About these Operating Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 Scope of Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.3 Legal regulations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1 Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Environment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.3 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.4 Connections and I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3 Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.1 Model 94 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.2 Clearance for Cooling Air Circulation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.1 Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.2 Shielding and grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4.2.1 General guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4.2.2 EMI Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4.2.3 Enclosure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4.3 Line filtering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.4 Heat sinking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.5 Line (Mains) fusing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
5 SimpleServo Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
5.1 External Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
5.1.1 P1 & P7 - Input Power and Output Power Connections . . . . . . . . . . . . . 14
5.1.2 P2 - Serial Communications Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
5.1.3 P3 - Controller Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
5.1.4 P4 - Motor Feedback / second loop encoder input . . . . . . . . . . . . . . . . 17
5.1.5 P5 - 24 VDC Back-up Power Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5.1.6 P6 - Dynamic Braking and DC Bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5.1.7 Connectors and Wiring Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.1.8 P11. Resolver interface (option module) . . . . . . . . . . . . . . . . . . . . . . . . 19
5.1.9 P12. Second encoder interface (option module) . . . . . . . . . . . . . . . . . . 20
5.2 Digital I/O details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.2.1 Step & Direction / Master Encoder Inputs (P3, pins 11-14) . . . . . . . . . 20
5.2.2 Digital outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.2.3 Digital inputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.3 Analog I/O details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.3.1 Analog reference input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.3.2 Analog output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.4 Communication interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.4.1 RS232 interface (standard) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.4.2 RS485 interface (option module) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.4.3 Using RS232 and RS485 interfaces simultaneously . . . . . . . . . . . . . . . 23
5.4.4 MODBUS-RTU support. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.4.5 CAN bus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.5 Motor Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.5.1 Motor connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.5.2 Motor over-temperature protection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.5.3 Setting Up motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.6 Using custom motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.6.1 Setting custom motor parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.6.2 Autophasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
5.6.3 Custom Motor Data Entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

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6 Programmable Features and Parameters . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.1 Parameters storage and EPM operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.1.1 Parameter’s storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.1.2 EPM operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.1.3 EPM fault. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.2 Motor Group. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.3 Parameters Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.3.1 Drive operating modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.3.2 Drive PWM frequency. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.3.3 Current Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.3.4 Peak current limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
6.3.5 Analog input scale (Current scale). . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
6.3.6 Analog input scale (Velocity scale) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
6.3.7 ACCEL/DECEL Limits (Velocity mode only) . . . . . . . . . . . . . . . . . . . . . . 33
6.3.8 Reference (Velocity mode only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
6.3.9 Step input type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
6.3.10 Reset Option. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6.3.11 Motor temperature sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6.3.12 Motor PTC cut-off resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6.3.13 Steps per Revolution (Step and Direction mode only) . . . . . . . . . . . . . . 34
6.3.14 Second encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6.3.15 Regen duty cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6.3.16 Encoder repeat source. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6.3.17 Master to system ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6.3.18 Second to prime encoder ratio. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6.4 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6.4.1 RS-485 configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6.4.2 Modbus baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6.4.3 Modbus reply delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6.5 Analog I/O Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6.5.1 Analog output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6.5.2 Analog output current scale (Volt/amps). . . . . . . . . . . . . . . . . . . . . . . . 35
6.5.3 Analog output velocity scale (mV/RPM) . . . . . . . . . . . . . . . . . . . . . . . . . 35
6.5.4 Analog input offset parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6.5.5 Analog input dead band . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
6.5.6 Adjust analog voltage offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
6.6 Digital I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
6.6.1 Programmable digital input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
6.6.2 Programmable digital output 1 and 2. . . . . . . . . . . . . . . . . . . . . . . . . . . 36
6.6.3 Digital input polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
6.6.4 Digital output 1 (2) polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
6.6.5 Digital input de-bounce time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
6.6.6 Enable input de-bounce time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
6.7 Velocity Limits Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
6.8 Position limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
6.9 Compensation group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
6.10 Faults Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
6.11 Tools Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
6.11.1 Run Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
6.11.2 Drive monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
6.11.3 Oscilloscope tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
7 Display and Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

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7.1 Diagnostic display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
7.2 Diagnostic LED’s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.3 Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.3.1 Fault Event . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
7.3.2 Fault Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
8 Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
8.1 Minimum Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
8.2 Configuration of the SimpleServo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
8.3 Position mode operation (gearing). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
8.4 Dual loop feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
8.5 Enabling the SimpleServo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
8.6 Tuning in velocity mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
8.7 Tuning in position mode.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
9 Sample Motor Responses to Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . 48
9.1 Motor response to gain settings (Velocity mode) . . . . . . . . . . . . . . . . . . . . . . . 48
9.1.1 Low P-gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
9.1.2 Correct P-gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
9.1.3 I-gain too high. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
9.1.4 Correct P-gain and I-gain. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
9.2 Motor response to gain settings (Position Mode) . . . . . . . . . . . . . . . . . . . . . . . 50
9.2.1 Non-optimal P-gain / D-gain relationship . . . . . . . . . . . . . . . . . . . . . . . . 50
9.2.2 Optimal P-gain / D-gain relationship . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
10 Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

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Safety Warnings
• The symbol shown at left indicates an important safety consideration.
Please read this manual carefully before performing any of the
procedures contained herein. Failure to follow these instructions may
result in equipment damage, fire, severe injury, or fatality.
• Have a qualified electrical maintenance technician install, adjust and
service this equipment. Follow the National Electrical Code and all
other applicable electrical and safety codes, including the provisions
of the Occupational Safety and Health Act (OSHA), when installing
equipment.
• The symbol shown at left indicates additional information, shortcuts,
or tips that do not affect the safe operation of the drive.
• Reduce the chance of an electrical fire, shock, or explosion by
proper grounding, over-current protection, thermal protection, and
enclosure. Follow sound maintenance procedures.
• It is possible for a drive to run at full speed as a result of a
component failure. Please ensure that a master switch has been
placed in the AC line to stop the drive in an emergency.
WARNING!
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.

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1 General Information
The SimpleServo line of advanced general purpose servo drives utilize the latest
technology in power semiconductors and packaging. SimpleServo uses Field Oriented
control to enable high quality motion.
The SimpleServo Model 94 is available in four mains (input power) configurations:
1. 400/480V (nominal) three phase input. An external input line filter (mains
filter) is available. These drives have the suffix “T4N”.
2. 240V (nominal) Single Phase input with integrated input line filter (mains
filter). Actual input voltage can range from 80VAC to 264VAC. The
maximum output voltage is approximately equal to the input voltage. These
drives have the suffix “S2F”.
3. 200/240V (nominal) Single or Three Phase input. An external input line
filter (mains filter) is available. Actual input voltage can range from 80VAC to
264VAC. The maximum output voltage is approximately equal to the input
voltage. These drives have the suffix “Y2N”.
4. 120/240V (nominal) single phase doubler input. When wired for doubler
(120 VAC) mode, the input can range from 45VAC to 132 VAC and the
maximum output voltage is double the input voltage. When wired for 240V,
the input can range from 80 VAC to 264 VAC and the maximum output
voltage is equal to the input voltage. These drives have the suffix “S1N”.
The SimpleServo will accept feedback from an incremental encoder that includes
Hall channel information, or from a resolver. It accepts commands from a variety
of sources, including analog voltage, Modbus-RTU interface, CAN interface, and
quadrature digital pulse train. The control will operate in current (torque) mode,
velocity mode, or position (step and direction/ master encoder) mode.
The SimpleServo’s built-in RS-232 serial communications port and SimpleServo
control program, MotionView™, make programming extremely simple. In fact, you
could be up and running in less than thirty minutes! Real time oscilloscope tool (built
in MotionView) with sweep time 1mS - 500mS allows representation of the current
and velocity in graphic form for analyses and optimum tuning.
The EPM (Electronic Programming Module) stores all drive setup and tuning
information. This module can be removed from the drive and reinstalled, making field
replacement of the SimpleServo extremely easy.
SimpleServo controls support Modbus-RTU (over RS485) and CAN Open
communication protocols.
SimpleServo supports incremental encoder or resolver feedback devices. In addition a
second encoder is also supported in position mode.
1.1 About these Operating Instructions
• These Operating Instructions are provided to assist you in connecting and
commissioning the Model 94 SimpleServo servo controller. In contains safety
instructions which must be observed.
• 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.

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1.2 Scope of Supply
Scope of Supply Important
• 1 Model 94 Servo type E94S...
• 1 Users Manual (English)
• 1 MotionView CD ROM including
- configuration software
- Documentation (Adobe Acrobat)
• Quick Reference Guide
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
Identification Nameplate CE Identification 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
E94S... servo controller
• must only be operated under the conditions prescribed in these Instructions.
• are components
- for closed loop control of variable speed 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 E94S... 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
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 -•

IMS94S-mv1
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2 Specifications
2.1 Electrical Characteristics
Single-Phase Models
Type Mains Voltage (1)
1~ Mains
Current
(doubler)
1~ Mains
Current
(Std.)
Rated Output
Current (4)
Peak Output
Current (5)
E94S020S1N
1/N/PE 120V(2) or 230V(3) 9.7 5.0 2.0 6
E94S040S1N 16.8 8.6 4.0 12
E94S020S2F
1/N/PE 230V(3)
(80 V -0%...264 V +0%)
-- 5.0 2.0 6
E94S040S2F -- 8.6 4.0 12
E94S080S2F -- 15.0 8.0 24
E94S100S2F -- 18.8 10.0 30
Single/Three-Phase Models
Type Mains Voltage (1)
1~ Mains
Current
3~ Mains
Current
Rated Output
Current (4)
Peak Output
Current (5)
E94S020Y2N
1/N/PE 230V(3) or
3/PE 230V
(80 V -0%...264 V +0%)
5.0 3.0 2.0 6
E94S040Y2N 8.6 5.0 4.0 12
E94S080Y2N 15.0 8.7 8.0 24
E94S100Y2N 18.8 10.9 10.0 30
E94S020T4N
3/PE 400V
(320 V -0%...528 V +0%)
-- 2.7 2.0 6
E94S040T4N -- 5.5 4.0 12
E94S050T4N -- 6.9 5.0 15
(1) Mains voltage for operation on 50/60 Hz AC supplies (48 Hz -0% … 62Hz +0%).
(2) 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.
(3) Connection of 230VAC 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.
(4) Drive rated at 8kHz Carrier Frequency. Derate Continuous current by 30% at 16kHz.
(5) 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 … 5x106 RPM/sec
Deceleration Time Range (Max Speed to Zero) 0.1 … 5x106 RPM/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)
2.2 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)]

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IMS94S-mv1
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2.3 Operating Modes
Torque
Reference 0 to ± 10 VDC 16-bit; scalable
Torque Range 100:1
Current-Loop Bandwidth Up to 3 kHz (16-bit feedback resolution)
Velocity
Reference 0 to ± 10 VDC or 0 to 10 VDC; scalable
Accuracy ± 1 RPM
Velocity-Loop Bandwidth Up to 300 Hz
Speed Range 5000:1 with 5000 ppr encoder
Position
Reference 0 to 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
2.4 Connections and I/O
RS232 serial interface Standard 9-pin D-shell (DCE) (P2)
Encoder Feedback (primary) Standard 15-pin D-shell (P4)
Encoder Feedback (secondary) Option module with standard 9-pin D-shell (P12)
Resolver feedback Option module with standard 9-pin D-shell (P11)
Encoder buffered repeat In 25-pin D-shell controller connector (P3)
Mains Power 4-pin removable terminal block) (P1)
Motor Power 6-pin pin removable terminal block (P7)
Regen and Bus Power 5-pin removable terminal block ( P6)
“Keep Alive” 24VDC Power 5-pin removable terminal block (P5)
Digital Inputs 1 dedicated (ENABLE), 1 programmable (5-24V) (P3)
Digital Outputs 2 programmable (5-24V @ 20mA) (P3)
Analog Input 1 differential; 0...+10 VDC (16-bit). (P3)
Analog Output 1 single ended; 0 ... +10 VDC (10-bit). (P3)
I/O Controller Standard 25-pin D-shell. (P3)
Windows® Software: MotionViewTM (Windows 95, 98, NT, 2000, XP)

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3 Dimensions
3.1 Model 94 Dimensions



 

Type A (mm) B (mm) C (mm) Weight (kg)
E94S020S1N 67 190 235 1.5
E94S040S1N 69 190 235 1.6
E94S020S2F 67 190 235 1.3
E94S040S2F 69 190 235 1.5
E94S080S2F 95 190 235 1.9
E94S100S2F 115 190 235 2.2
E94S020Y2N 67 190 190 1.3
E94S040Y2N 69 190 190 1.5
E94S080Y2N 95 190 190 1.9
E94S100Y2N 115 190 190 2.2
E94S020T4N 69 190 190 1.5
E94S040T4N 95 190 190 1.9
E94S050T4N 115 190 190 2.2

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3.2 Clearance for Cooling Air Circulation





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4 Installation
1. Perform minimum system connection. Please refer to section 8.1 for minimum
connection requirements. Observe rules and warnings below:
WARNING!
• 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.
• The SimpleServo must be mounted vertically for safe operation at
the maximum current rating.
• Printed circuit board components are sensitive to electrostatic
fields. Avoid contact with the printed circuit board directly. Hold the
SimpleServo by the case only.
• Protect the control from dirt, filings, airborne particles, moisture, and
accidental contact. Provide sufficient room for access to the terminal
block.
• Mount the control away from other 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 SimpleServo will result.
• Do not disconnect any of the motor leads from the SimpleServo
unless (mains) power is removed or the control is disabled. Opening
any one motor lead may cause failure.
4.1 Wiring
WARNING!
• 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.
• Under no circumstances should power and control wiring be bundled
together. Induced voltage can cause unpredictable behavior in any
electronic device, including motor controls.
Use 18-28 AWG (.75 - .08 mm2) wire for reference and analog signal wiring. Use 12-
16 AWG (4.0 - 1.5 mm2) wire for AC line (L1, L2, and L3) and motor (Phase U, V and
W) wiring.

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IMS94S-mv1
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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 SimpleServo cables provided by Lenze. If
you specify cables other than those provided by Lenze, please make sure all cables
are shielded and properly grounded.
It may be necessary to earth ground the shielded cable. Ground the shield at the
SimpleServo end and at the motor end.
If the SimpleServo 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).
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 SimpleServo is mounted must be made of metal, and must be
grounded using the SPG method outlined above.
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.

IMS94S-mv1
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4.3 Line filtering
In addition to EMI/RFI safeguards inherent in the SimpleServo 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 EN50081-1 and
EN50082-2, 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 SimpleServo. If you
add separate fuses, add them after the AC line filter.
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 SimpleServo 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 SimpleServo and other electronics within the same panel. The
OEM has this liberty because CE is a machinery directive.
4.4 Heat sinking
SimpleServos contain sufficient heat sinking in their basic configuration. There is no
need for additional heat sinking. However, you must ensure that there is sufficient
clearance to circulate air. As a minimum, you must allow an air gap of 50 mm above
and below the drive.
4.5 Line (Mains) fusing
External line fuses must be installed on all SimpleServo 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
phase current.

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IMS94S-mv1
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5 SimpleServo Connections
The standard SimpleServo control contains seven connectors: four quick-connect
terminal blocks and three subminiature type “D” connectors. These connectors provide
power, communications and external feedback to the motor, SimpleServo control,
and host controller (Figure 8). Prefabricated cable assemblies may be purchased
from Lenze to facilitate wiring the control, motor and host computer. Contact your
SimpleServo Sales Representative for assistance.
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. Refer to Tables 3
and 4 for connector pin assignments. Where referenced in the table below, refer to
Connector Wiring Notes for more information.
WARNING!
• 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.
• DO NOT connect incoming power to the output motor terminals
(U, V, W)! Severe damage to the SimpleServo will result..
All conductors must be enclosed in one shield and jacket around them. The shield
on the amplifier end must be terminated at P1 pin 4 (chassis ground); the other end
should be properly terminated at the motor shield. To satisfy CE requirements, Lenze
recommends that you purchase SimpleServo cables for both the motor and AC line.
Contact your SimpleServo representative for assistance.
Wire size
I < 8 A: 16 AWG (1.5 mm2) or 14 AWG (2.5 mm2)
8 A < I < 12 A 14 AWG (2.5 mm2) or 12 AWG (4.0 mm2)
I > 12 A: 12 AWG (4.0 mm2)
TABLE 2 - 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)

IMS94S-mv1
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TABLE 3 - P7 PIN ASSIGNMENTS (OUTPUT POWER)
Pin Name 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 - Serial Communications Port
P2 is a 9-pin D-sub connector that is used to communicate with a host computer via
standard RS-232 interface. This port is present on all SimpleServo drives. All levels
must be RS-232C compliant.
TABLE 4 - P2 PIN ASSIGNMENTS
Pin Name Function
1 RESERVED
2 TX RS-232 (transmit)
3 RX RS-232 (receive)
4 RESERVED
5 GND Common
6 RESERVED
7 RESERVED
8 RESERVED
9 RESERVED
WARNING!
Do not make any connection to Reserved pins!
Note
If you purchase serial cables from a third party, you must use a pass-
through cable, not Null-Modem (not crossover)

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IMS94S-mv1
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5.1.3 P3 - Controller Interface
P3 is a 25-pin DB connector for interfacing to front-end controllers. It is strongly
recommended that you use OEM cables to aid in satisfying CE requirements. Contact
your SimpleServo representative for assistance.
TABLE 5 - P3 PIN ASSIGNMENTS
Pin Name Function(1)
1 EA+ Encoder Channel A+ Output
2 EA- Encoder Channel A- Output
3 EB+ Encoder Channel B+ Output
4 EB- Encoder Channel B- Output
5 EZ+ Encoder Channel Z+ Output
6 EZ- Encoder Channel Z- Output
7 GND Drive Common
8 SHLD Shield
9 +5V +5V
10 IN2 Digital Input #2 (Programmable)
11 MA+/Step+ Master Encoder A+ / Step input+(2)
12 MA-/Step- Master Encoder A- / Step input-(2)
13 MB+/Dir+ Master Encoder B+ / Direction input +
14 MB-/Dir-Master Encoder B- / Direction input
15 OUT1-C Programmable output #1 Collector
16 OUT1-E Programmable output #1 Emitter
17 IN1 Digital Input #1 (Enable) (3)
18 IN_COM Digital Input Common
19 OUT2-C Programmable output #2 Collector
20 OUT2-E Programmable output #2 Emitter
21 AO Programmable analog output +/- 10V
22 GND Drive logic common
23 AIN+ Positive (+) of Analog signal input
24 AIN - Negative (-) of Analog signal input
25 AG Reference Signal Ground/Analog Shield
(1) See Note 1, Section 5.1.7 - Connector and Wiring Notes
(2) See Note 2, Section 5.1.7 - Connector and Wiring Notes
(3) See Note 3, Section 5.1.7 - Connector and Wiring Notes

IMS94S-mv1
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5.1.4 P4 - Motor Feedback / second loop encoder input
P4 is a 15-pin DB connector that contains connections for Hall effect sensors and
encoder feedback. Refer to Table 5 for connector pin assignments. Encoder inputs
on P4 have 26LS32 or compatible differential receivers for increased noise immunity.
Inputs have all necessary filtering and line balancing components so no external noise
suppression networks are needed.
All conductors must be enclosed in one shield and jacket around them. Lenze
recommends that each and every pair (for example, EA+ and EA-) be twisted. In order
to satisfy CE requirements, use of an OEM cable is recommended. Contact your
SimpleServo representative for assistance.
The SimpleServo buffers encoder feedback from P4 to P3. Encoder Feedback
channel A on P4, for example, is Buffered Encoder Output channel A on P3. The Hall
sensors from the motor must be wired to the 15-pin connector.
WARNING!
Use only +5 VDC encoders. Do not connect any other type of
encoder to the SimpleServo reference voltage terminals. When using
a front-end controller, it is critical that the +5 VDC supply on the
front-end controller NOT be connected to the +5 VDC supply on the
SimpleServo, as this will result in damage to the SimpleServo.
Note
• SimpleServo inputs are compatible with single-ended or open-
collector type hall sensors. If you have these type of hall sensors
just connect them to “HA+”, “HB+”, “HC+” and leave “HA-,HB-,HC-”
inputs unconnected. You don’t need to supply pull-up resistors in
case the hall sensors are open-collector. Necessary pull-up circuits
are already provided inside the SimpleServo amplifier.
• Encoder connections must be full differential. SimpleServo doesn’t
support single-ended or open-collector type outputs from the
encoder.
• An encoder resolution of 2000 PPR or higher is recommended for
optimum performance.

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IMS94S-mv1
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Using P4 as second encoder input for dual loop operation.
P4 can be used as second loop encoder input in situation when motor equipped with
resolver as primary feedback. If such motor is used, the drive has to have a resolver
feedback option module installed. Second encoder can then be connected to the A
and B lines of the P4 for dual loop operation. See “Dual loop feedback operation” for
details.
TABLE 6 - P4 PIN ASSIGNMENTS
Pin Name Function(1, 4)
1 EA+ Encoder Channel A+ Output
2 EA- Encoder Channel A- Output
3 EB+ Encoder Channel B+ Output
4 EB- Encoder Channel B- Output
5 EZ+ Encoder Channel Z+ Output
6 EZ- Encoder Channel Z- Output
7 GND Drive Common/Encoder Ground
8 SHLD Shield
9 PWR Encoder supply (+5VDC)
10 HA- Hall Sensor A- Input
11 HA+ Hall Sensor A+ Input
12 HB+ Hall Sensor B+ Input
13 HC+ Hall Sensor C+ Input
14 HB- Hall Sensor B- Input
15 HC- Hall Sensor C- Input
(1) See Note 1, Section 5.1.7 - Connector and Wiring Notes
(4) See Note 4, Section 5.1.7 - Connector and Wiring Notes
5.1.5 P5 - 24 VDC Back-up Power Input
P5 is a 2-pin quick-connect terminal block that can be used with an external 24 VDC
(2 amp) power supply to provide power-loss logic ride-through capability. During a
power loss, the logic and communications will remain active. If the voltage drops
below 20 VDC, this circuit will not properly work as a logic ride-through.
TABLE 7 - P5 PIN ASSIGNMENTS
Pin Name Function
1 +24 VDC Positive 24 VDC Input
4 Return 24V power supply return
5.1.6 P6 - Dynamic Braking and DC Bus
P6 is 5-pin quick-connect terminal block that can be used with an external braking
resistor (the SimpleServo has regen circuitry built-in). This terminal block also allows
the SimpleServo to be powered directly from a DC voltage supply, or share the DC
bus with other SimpleServo drives. The Brake Resistor connects between Pins 1/2
and Pin 3.