ZIEHL-ABEGG ZETADYN 3BF Reference guide

ZETADYN 3 Series
Additional information for CANopen Lift
Brief instruction
Additional information for the operating instructions:
ZETADYN 3BF ( -TBA05_08)
ZETADYN 3C ( -TBA08_03)
ZETADYN 3C-M L ( -TBA09_01)
ZETADYN 3BF009-1 ( -TBA08_02)
R-TBA11_01-GB 1114 Part.-No. 00163371-GB
english

Content
1 General notes ............................................................. 2
1.1 Validity ............................................................. 2
1.2 Structure o the operating instructions ..................................... 2
1.3 Exclusion o liability ................................................... 2
2 Safety information ......................................................... 2
3 Start-up .................................................................. 3
3.1 In ormation or start-up ................................................. 3
3.2 Frequency inverter .................................................... 3
3.3 Bus-cable ........................................................... 3
3.4 Wiring .............................................................. 3
3.5 Electrical connection ................................................... 4
3.6 Activating the inter ace ................................................. 4
3.7 Operation mode ...................................................... 5
3.7.1 Command- and Statusbits o the recorder .............................. 6
4 Parameter ................................................................ 6
4.1 Parameter settings .................................................... 6
4.2 Inomenu ........................................................... 7
4.3 Network Management Status ............................................ 8
5 Error .................................................................... 8
5.1 Error diagnosis in CANopen Li t .......................................... 8
5.2 Error list ............................................................ 8
Brie instruction ZETADYN 3 Series
R-TBA11_01-GB 1114 Part.-No. 00163371-GB
1/9

1 General notes
1.1 Validity
These operating instructions apply to:
Frequency inverter rom the series: ZETADYN 3
1.2 Structure of the operating instructions
This instruction is a brief instruction with additional informations. It is valid only in connection
with the following operating instructions:
•R-TBA05_08 (ZETADYN 3BF)
•R-TBA08_03 (ZETADYN 3C)
•R-TBA09_01 (ZETADYN 3C-MRL)
•R-TBA08_02 (ZETADYN 3BF009-1)
The ollowing in ormations, described in the operating instructions have to be ollowed:
•Sa ety in ormation
•Product overview
•mechanische Installation
•Electrical installation
•Service & maintenance
•Transport
•Storage duration:
•Disposal & recycling
Before installation and start-up, read this manual carefully to ensure correct use!
1.3 Exclusion of liability
Concurrence between the contents o these operating instructions and the described hardware and
so tware in the device has been examined.
It is still possible that non-compliances exist; no guarantee is assumed or complete con ormity. The
contents o this manual are put through periodic reviews. Necessary modications are incorporated
into the next version.
Ziehl-Abegg AG is not liable or damage due to misuse, incorrect use, improper use or as a
consequence o unauthorized repairs or modications.
2 Safety information
The Safety informations , described in chapter 2 of the operating instructions -TBA05_08,
-TBA08_03, -TBA09_01 or -TBA08_02 or has to be followed!
Brie instruction ZETADYN 3 Series General notes
R-TBA11_01-GB 1114 Part.-No. 00163371-GB
2/9

3 Start-up
3.1 Information for start-up
Danger!
Defective connections can cause the motor to start unexpectedly or lead to uncontrolled motor
movements.
Reversed connections cause the motor to rotate in the wrong direction. That can cause serious
machine damage.
CAUTION!
Caution!
Incorrectly wired connections can destroy the electrical / electronic components.
Electrostatic discharges can be hazardous to the electronic components and lead to errors in the
so tware.
3.2 Frequency inverter
•To operate the installation with CANopen, the frequency inverter must be equipped with
the optional board EM3-ENC-CAN-DCP (Art.-No.357107)!
•Only devices with the CiA 417 prole are allowed.
•All devices work in 11 bit - mode.
•By implication, there can be one ZETADYN 3 connected to one bus-system.
•When two ZETADYN 3 per bus-system are needed, please call Ziehl-Abegg be ore installing.
3.3 Bus-cable
•A shielded bus-cable is not needed, but the data wires should be twisted.
•The installation takes place in line structure. The seperate devices are connected to the bus with
short branch lines.
•The bus should be terminated with a terminating resistor o 120 - 150 Ohms, at both ends o the
bus.
•The maximum length o the bus is 200 m and 6 m at the branch lines.
•All devices normally work with a baud rate o 250 kBit/s.
3.4 Wiring
•The connection o the bus cable takes place at the slot "X-CAN" o the requency inverter.
•Take care o the maximum bus length.
•Not correctly shielded motor- , brake chopper- or brake resistor cables can cause signicant
errors.
•In case o an error, check the shielding o the cables.
Steuerung /
Control system
Umrichter /
Inverter
Schachtgeber /
Encoder
120 - 150 Ohm 120 - 150 Ohm
Exemplary assembly o a bus-system with CANopen
Brie instruction ZETADYN 3 Series Start-up
R-TBA11_01-GB 1114 Part.-No. 00163371-GB
3/9

3.5 Electrical connection
Information
The connection o the bus cable takes place at the slot X-CAN o the requency inverter.
X-CAN
CL
CH
0VC
CAN High (H)
CAN Low (L)
GND
(1)
(2)
(3)
(4)
Optionaler
Schirmanschluss
Connection CAN
3.6 Activating the interface
The activation o the CAN inter ace can be set in the menu Control system/CONFIG.
Control system
|
-
"CONFIG 01:ZA_IO
|
-
"02:ZA_CAN
Conguration
The INFO menu shows CAN in ormation at the pages 14 - 17 (Assumption: "CONFIG" = "02:
ZA_CAN").
Brie instruction ZETADYN 3 Series Start-up
R-TBA11_01-GB 1114 Part.-No. 00163371-GB
4/9

3.7 Operation mode
Information
There are two operation modes by using CAN:
•Velocity Mode [pv]
Velocity Mode
•Position Mode [pp]
Position Mode
Brie instruction ZETADYN 3 Series Start-up
R-TBA11_01-GB 1114 Part.-No. 00163371-GB
5/9

3.7.1 Command- and Statusbits of the recorder
•Position Mode [pp] C&S / Velocity Mode [pv] C&S
•C = Command = Command rom the control system to the requency inverter
•S = Status = Status o the requency inverter as reaction o a command rom the control system
Status- / Commandbit Description Comment
CSwO Command Switch On
CEVo Command Enable Voltage
CQSt Command Quick Stop
CEOp Command Enable Operation
CFaR Command Fault Reset
CNSp Command New Setpoint only active in position mode
CHlt Command Halt
SRSO Status Ready to Switch On
SSdO Status Switched On
SOpE Status Operation Enabled
SVoE Status Voltage Enabled
SQSt Status Quick Stop
SSOD Status Switch On Disabled
STaR Status Target Reached
SS=0 Status Speed = 0 only active in velocity mode
SSpA Status Setpoint Acknowledge only active in position mode
SFlt Status Fault
SWrn Status Warning
The used mode can be set in the menu "S8: CAN/MODE" o the ZETADYN 3. Generally the mode is
sent rom the control system to the ZETADYN 3 shortly be ore start-up. There or you have to set the
operation mode in the control system.
When the ZETADYN 3 is operated in position mode, the sha t-encoder has to be connected to the
same bus as the ZETADYN 3.
The control system transmits the travel speed to the requency inverter be ore every drive. I the
transmitted speed couldn't be reached, the requency inverter initiates a pointed arch drive. There or
the maximum speed has to be entered in the control system.
4 Parameter
4.1 Parameter settings
The seperate parameters or CAN operation can be modied in the menu S8:CAN.
Parameter Description Value range Factory setting
LIFT_NR Enter the li t number 1 ... 2 1
NODE_ID Node number,
normally:
Control system: 1
Frequency inverter: 2
Encoder: 4
1 ... 128 2
BD_RATE Trans er rate (baud rate) 10 kBd ... 250 kBd 250 kBd
MODE Operation mode o the ZETADYN 3 Position / Velocity Position
T_CMD Maximum waiting time or commands o the
control system
200 ... 3000 ms 1500 ms
T_MAX Maximum processing time or the CAN mes-
sages per cycle.
0,1 ... 3 ms 0.8 ms
Brie instruction ZETADYN 3 Series Parameter
R-TBA11_01-GB 1114 Part.-No. 00163371-GB
6/9

Information
The in the ZETADYN 3 adjusted nominal travel speed V* has to be equal or higher than the speed
which is sent to the ZETADYN 3 by the control system. Otherwise no drive takes place.
4.2 Info menu
The INFO menu provides an easily accessible overview o :
•Current measurements
•Current operation conditions o the ZETADYN 3
•Current switching states o the inputs and outputs
•Inverter internal measurements
•In ormation about the internal components
The individual pages are numbered or increased clarity.
This is a CAN specic instruction. Only the pages 14 - 17 will be described. A complete overview is
shown in the operating instruction o the particular inverter.
Display Description
CAN--------------- - 14
Act·ode: Velocity
T_max: 0 RErr:255
N T:Preop./Warn.Lim:
Page 14: CAN
Operating in ormation (normal view)
Line 2:
Act: A dot signalizes that the inverter operates with CAN
Mode: Operating mode (velocity or position)
Line 3:
T_max: Number o cycles, which excessed the maximum process time
RErr: Recieve bu er - error counter
Line 4:
NMT: Shows the actual NMT status (see table 4.3)
CAN--------------- - 14
Act·ode: Velocity
T_max:0.7ms TErr:255
N T:Preop./Warn.Lim:
Page 14: CAN
Operating in ormation (while pressing "Enter")
Line 2:
Act: A dot signalizes that the inverter operates with CAN
Mode: Operating mode (velocity or position)
Line 3:
T_max: Maximum time or processing the CAN messges per cycle, since switch-on
TErr: Transmit bu er - error counter
Line 4:
NMT: Shows the actual NMT status (see table 4.3)
CAN Velocity------ - 15
V_CAN: +0mm/s
Contr.:Disable Volt.
Status:Sw. On Disab.
Page 15: CAN Velocity
Active in velocity mode
Line 2:
V_CAN: Travel speed, sent ron the control system to the ZETADYN 3.
Line 3:
Contr. Control-byte. Shows commands which are sent by the control system
Line 4:
Status: Status-byte. Shows CAN-status o the ZETADYN 3
CAN Position------ - 16
S_CAN +0mm
Contr.:Disab. Volt.
Status:Sw.On Disab.
Page 16: CAN Position
Active in position mode
Line 2:
S_CAN: Relative target position, sent rom the control system to the ZETADYN 3
Line 3:
Contr. Control-byte. Shows commands which are sent by the control system
Line 4:
Status: Status-byte. Shows CAN-status o the ZETADYN 3
After pressing the "Enter" button the display shows the maximum travel
speed, sent by the control system
CAN Calib. 1------- 17
AbsEnc mm: 5358
otEnc mm:+ 4169
Offs:13081A/ 1.28
Page 17: CAN Calib.
Calibration
Lines 2 - 4:
For calibrating the distances which were sent by the motor encoder and the sha t
encoder.
Brie instruction ZETADYN 3 Series Parameter
R-TBA11_01-GB 1114 Part.-No. 00163371-GB
7/9

4.3 Network Management Status
Status: BootUp: ZETADYN 3 is switching to the bus
Stop: ZETADYN 3 was stopped (normally by the control sys-
tem)
Preop.: ZETADYN 3 can be parametrised, but be ore the it has
to be set to "operational".
Opera.: ZETADYN 3 is ready, a drive can take place.
Controller state: No Error: No errors existent
Warn.Lim.: Error counter exceed 127
Bus o : Because o too many errors the device was switched
o the bus (Error counter > 255)
5 Error
5.1 Error diagnosis in CANopen Lift
For error diagnosis and elimination the operating instructions R-TBA05_08-D, R-TBA08_03-D, R-
TBA09_01-D and R-TBA08_02-D provide the chapter "Error diagnosis". In this chapter the errors and
the possibilities to eliminate them are described.
5.2 Error list
Error Error text Description Condition
800 CAN: Timeout Velocity Mode: Heartbeat rom control
system is missing or at wrong time
Position Mode:In addition to the heart-
beat o the control system, the heart-
beat o the encoder is also monitored
Only during a drive
810 CAN: Quick Stop Det. Control system activates a quick stop Til so tware version 3.32
820 CAN: Illegal Status Control system sends commands in
wrong order to the ZETADYN 3.
830 CAN: Timeout Enab. Op. Controll system gives command "Ena-
ble Operation" not within T_CMD
Til so tware version 3.32
831 CAN: Timeout Dis. Op. Control system gives command "Dis-
able Operation" not within T_CMD, hap-
pens at stop.
Not maskable, i necessary in-
crease T_CMD
832 CAN: Timeout Shutdown Happens by closing the brakes, when
control system gives command "Dis-
able Operation" not within T_CMD.
Not maskable, i necessary in-
crease T_CMD
833 CAN: Timeout Dis. Vol. Happens a ter drive, when control sys-
tem gives command "Disable Voltage"
not within T_CMD.
Not maskable, i necessary in-
crease T_CMD
840 CAN: Enc. In o missing The object Encoder In o, which shows
how much encoder pulses are how
much mm distance wasn't programmed
by the control system
Only Position Mode / not mask-
able!
Brie instruction ZETADYN 3 Series Error
R-TBA11_01-GB 1114 Part.-No. 00163371-GB
8/9

©by Ziehl-Abegg - - 00163371-GB - 1114 - - Subject to technical changes
HOTLINE
%
Tel. [phone]
Fax [phone]
email [e-mail]
Ziehl-Abegg AG
Heinz-Ziehl-Straße·D-74653 Künzelsau ·Germany
Tel. [phone] ·Fax [phone]
[email protected] ·www.ziehl-abegg.com