EDBCSXS064 .ù}< Operating Instructions ECS ECSESxxx / ECSDSxxx / ECSCSxxx Axis module ˘ "Speed and Torque" application � Ä.ù}<ä � Please read these instructions before you start working! Follow the enclosed safety instructions. These Instructions are valid for ECSxS... axis modules as of version: � ECS x S xxx C 4 x xxx XX XX XX Hans-Lenze-Straße1 � Device type D-31855 Aerzen L Made in Germany Input 2/PE DC a-aaa/aaaV bb.b/bb.bA Output 3/PE AC c-ccc/cccV dd.d/dd.dA 0-fffHz Design Overload ee.eA 1 Type ttttttttttt E = standard panel−mounted unit, IP20 Id.-No. Prod.-No. Ser.-No. xxxxxxxx yyyyyyyy zzzz D = push−through technique (thermally separated) C = cold−plate technique EKZ ECSEAxxxC4BXXXXXVA02 A-SW B-SW Parameter h.h H.H Application S = "Speed and Torque" Peak current 004 = 4 A 032 = 32 A 008 = 8 A 048 = 48 A 016 = 16 A 064 = 64 A Fieldbus interface C = MotionBus/system bus CAN Voltage class 4 = 400 V/500 V Technical version B = standard I = for IT systems Variant Hardware version 1A or higher Version of operating software (B−SW) 6.0 or higher � Tip! Current documentation and software updates for Lenze products can be found on the Internet in the "Services & Downloads" area under http://www.Lenze.com © 2006 Lenze Drive Systems GmbH, Hans−Lenze−Straße 1, D−31855 Aerzen No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze Drive Systems GmbH. All information given in this documentation has been selected carefully and complies with the hardware and software described. Nevertheless, deviations cannot be ruled out. We do not take any responsibility or liability for damages which might possibly occur. Necessary corrections will be included in subsequent editions. EDBCSXS064 EN 3.0 2 � WARNING ATTENTION Device is live up to 180s L ´appareil est sous tension after removing pendant 180s après la coupure mains voltage de la tension rèseau For detailed information refer to the Instruction Manual 1D74 ECSEA_003A EDBCSXS064 EN 3.0 � 3 Scope of supply Position Description Quantity � Axis module ECS�S... 1 Accessory kit with fixing material according to the design (�): 1 � "E" − standard panel−mounted unit � "D" − push−through technique � "C" − cold−plate technique Mounting Instructions 1 Drilling jig 1 Only axis module ECSDS...: functional earth conductor (available in the scope of supply from 1 March 2006) � Note! The ECSZA000X0B connectors must be ordered separately. Connections and interfaces Position Description Detailed information X23 Connections � 44 � DC−bus voltage � PE � LEDs: Status and error display X1 Automation interface (AIF) for � 62 � Operating module (Keypad XT) � Communication module x2 PE connection AIF X3 Configuration of analog input � 54 X4 CAN connection � 63 � MotionBus (CAN) � Interface to higher−level control X14 CAN−AUX connection � System bus (CAN) � PC interface / HMI for parameter setting and diagnosing X6 Connections � 51 � 24 V supply � Digital inputs and outputs � 53 � Analog input � 54 � "Safe torque off" (formerly "safe standstill") � 55 S1 DIP switch � 150 � CAN address � CAN baud rate X7 Resolver connection � 68 X8 Encoder connection � 69 � Incremental encoder (TTL encoder) � Sin/cos encoder X25 Connection of brake control � 48 X24 Motor connection � 47 Status displays LED Operating state Check test Red Green Off On Controller enabled, no fault Off Blinking Controller inhibited (CINH), switch−on inhibit Code C0183 Blinking Off Trouble/fault (TRIP) is active Code C0168/1 Blinking On Warning/FAIL−QSP is active Code C0168/1 EDBCSXS064 EN 3.0 4 � Contents i 1 Preface and general information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 1.1 How to use these Operating Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 1.2 Terminology used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 1.3 Symbols used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 1.4 Features of the ECSxS axis module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 1.5 Scope of supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 1.6 Legal regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2 Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 2.1 General safety and application notes for Lenze controllers . . . . . . . . . . . . . . . . . . 15 2.2 Residual hazards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 2.3 Safety instructions for the installation according to UL or UR . . . . . . . . . . . . . . . . 20 2.4 Definition of notes used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 3 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 3.1 General data and operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 3.2 Rated data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 3.3 Current characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 3.3.1 Increased continuous current depending on the control factor . . . . . . . 26 3.3.2 Device protection by current derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 4 Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 4.1 Important notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 4.2 Mounting with fixing rails (standard installation) . . . . . . . . . . . . . . . . . . . . . . . . . 31 4.2.1 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 4.2.2 Assembly steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 4.3 Mounting with thermal separation (push−through technique) . . . . . . . . . . . . . . . 32 4.3.1 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 4.3.2 Assembly steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 4.4 Mounting in cold−plate technique . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 4.4.1 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 4.4.2 Assembly steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 5 Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 5.1 Installation according to EMC (installation of a CE−typical drive system) . . . . . . . 39 5.2 Power connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 5.2.1 Connection to the DC bus (+UG, −UG) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 5.2.2 Connection plans . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 5.2.3 Motor connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 5.2.4 Motor holding brake connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 5.2.5 Connection at capacitor module ECSxK... (optional) . . . . . . . . . . . . . . . . 50 EDBCSXS064 EN 3.0 � 5 i Contents 5.3 Control terminals (X6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 5.3.1 Digital inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 5.3.2 Analog input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 5.3.3 Safe torque off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 5.4 Automation interface (AIF) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 5.5 Wiring of MotionBus/system bus (CAN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 5.6 Wiring the feedback system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 5.6.1 Resolver connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 5.6.2 Encoder connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 5.7 Master frequency input/output (encoder simulation) . . . . . . . . . . . . . . . . . . . . . . 72 6 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 6.1 Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 6.2 Commissioning steps (overview) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 6.3 Carrying out basic settings with GDC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 6.4 Setting of mains data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 6.4.1 Selecting the function of the charge relay . . . . . . . . . . . . . . . . . . . . . . . . 78 6.4.2 Setting the voltage thresholds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 6.5 Entry of motor data for Lenze motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 6.6 Holding brake configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83 6.7 Setting of the feedback system for position and speed control . . . . . . . . . . . . . . . 84 6.7.1 Resolver for position and speed control . . . . . . . . . . . . . . . . . . . . . . . . . . 84 6.7.2 Codes for setting the resolver feedback . . . . . . . . . . . . . . . . . . . . . . . . . . 84 6.7.3 Incremental encoder / sin/cos encoder without serial communication 87 6.7.4 Absolute value encoder (hyperface, single−turn/multi−turn) . . . . . . . . . 88 6.7.5 Codes for setting the encoder feedback . . . . . . . . . . . . . . . . . . . . . . . . . . 89 6.8 Configuring the digital inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 6.8.1 Setting the polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 6.8.2 Setting the direction of rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 6.8.3 Change of the terminal assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 6.9 Selecting the operating mode/control structure . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 6.9.1 Speed control with setpoint via analog input . . . . . . . . . . . . . . . . . . . . . . 95 6.9.2 Speed control with setpoint via AIF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98 6.9.3 Speed control with setpoint via MotionBus (CAN) . . . . . . . . . . . . . . . . . . 100 6.9.4 Torque control with setpoint via analog input . . . . . . . . . . . . . . . . . . . . . 102 6.9.5 Torque control with setpoint via AIF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 6.9.6 Torque control with setpoint via MotionBus (CAN) . . . . . . . . . . . . . . . . . 107 6.10 Entry of machine parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 6.11 Setpoint selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 6.12 Controller enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 EDBCSXS064 EN 3.0 6 � Contents i 6.13 Quick stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 6.14 Loading Lenze settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 6.15 Operation with servo motors from other manufacturers . . . . . . . . . . . . . . . . . . . 114 6.15.1 Entering motor data manually . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 6.15.2 Checking resolver polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 6.15.3 Adjusting current controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 6.15.4 Effecting rotor position adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 6.16 Optimising the drive behaviour after start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 6.16.1 Speed controller adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 6.16.2 Adjustment of field controller and field weakening controller . . . . . . . 122 6.16.3 Resolver adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 7 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 7.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 7.2 Parameter setting with "Global Drive Control" (GDC) . . . . . . . . . . . . . . . . . . . . . . 127 7.3 Parameter setting with the keypad XT EMZ9371BC . . . . . . . . . . . . . . . . . . . . . . . . 128 7.3.1 Connecting the keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128 7.3.2 Description of the display elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129 7.3.3 Description of the function keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130 7.3.4 Saving and changing parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 7.3.5 Menu structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 8 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 8.1 Communication with MotionBus/system bus (CAN) . . . . . . . . . . . . . . . . . . . . . . . 135 8.1.1 Structure of the CAN data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135 8.1.2 Communication phases of the CAN network (NMT) . . . . . . . . . . . . . . . . 136 8.1.3 Process data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138 8.1.4 Parameter data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 8.1.5 Addressing of the parameter and process data objects . . . . . . . . . . . . . 149 8.2 Configuring MotionBus/system bus (CAN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 8.2.1 Setting CAN node address and baud rate . . . . . . . . . . . . . . . . . . . . . . . . . 150 8.2.2 Defining boot−up master in the drive system . . . . . . . . . . . . . . . . . . . . . . 153 8.2.3 Setting of boot−up time/cycle time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 8.2.4 Executing a reset node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 8.2.5 CAN bus synchronisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155 8.2.6 Diagnostic codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160 EDBCSXS064 EN 3.0 � 7 i Contents 8.3 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163 8.3.1 Reactions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163 8.3.2 Monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 8.3.3 Monitoring times for process data input objects . . . . . . . . . . . . . . . . . . . 168 8.3.4 Motor temperature (OH3, OH7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169 8.3.5 Heatsink temperature (OH, OH4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170 8.3.6 Interior temperature (OH1, OH5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171 8.3.7 Function monitoring of the thermal sensors (H10, H11) . . . . . . . . . . . . 171 8.3.8 Controller current load (I x t monitoring ˘ OC5, OC7) . . . . . . . . . . . . . . . 172 8.3.9 Motor current load (I2 x t monitoring ˘ OC6, OC8) . . . . . . . . . . . . . . . . . 174 8.3.10 DC−bus voltage (OU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 8.3.11 Control electronics voltage supply (U15) . . . . . . . . . . . . . . . . . . . . . . . . . 175 9 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176 9.1 Diagnostics with Global Drive Control (GDC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176 9.2 Diagnostics with Global Drive Oscilloscope (GDO) . . . . . . . . . . . . . . . . . . . . . . . . . 177 9.3 Diagnostics with keypad XT EMZ9371BC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178 10 Troubleshooting and fault elimination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 10.1 Fault analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 10.1.1 Fault analysis via the LED display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 10.1.2 Fault analysis with keypad XT EMZ9371BC . . . . . . . . . . . . . . . . . . . . . . . 179 10.1.3 Fault analysis with the history buffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 10.1.4 Fault analysis via LECOM status words (C0150/C0155) . . . . . . . . . . . . . 181 10.2 Malfunction of the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183 10.3 System error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184 10.3.1 Causes and remedies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184 10.3.2 Resetting system error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191 11 Function library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192 11.1 AIF (automation interface management) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192 11.2 AIF1In . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193 11.3 AIF1Out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196 11.4 AIF2In . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201 11.5 AIF2Out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203 11.6 AIF3In . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206 11.7 AIF3Out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208 11.8 AIn1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211 11.9 CAN (CAN management) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212 11.10 CAN1In . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215 11.11 CAN1Out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218 EDBCSXS064 EN 3.0 8 � Contents i 11.12 CAN2In . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224 11.13 CAN2Out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227 11.14 CAN3In . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230 11.15 CAN3Out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233 11.16 CANSync (CAN bus synchronisation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236 11.17 DCTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239 11.17.1 Quick stop (QSP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242 11.17.2 Operation inhibit (DISABLE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242 11.17.3 Controller inhibit (CINH) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242 11.17.4 Setting TRIP (TRIP−SET) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243 11.17.5 Resetting TRIP (TRIP−RESET) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243 11.17.6 Controller status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244 11.18 DFIN (master frequency input) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245 11.19 DFOUT (master frequency output) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248 11.20 DigIn (freely assignable digital inputs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251 11.21 DigOut (freely assignable digital outputs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252 11.22 FCODE (free codes) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253 11.23 FIXED (output of constant signals) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256 11.24 InNeg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257 11.25 OutNeg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259 11.26 SYS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261 11.27 Speed (speed control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262 11.27.1 Changing the direction of rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269 11.27.2 Setpoint processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270 11.27.3 Setting of motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276 11.27.4 Holding brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281 11.28 Torque (torque control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284 11.28.1 Torque control with speed limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290 11.28.2 Changing the direction of rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291 11.28.3 Setpoint processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291 11.28.4 Setting of motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294 11.28.5 Holding brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298 EDBCSXS064 EN 3.0 � 9 i Contents 12 Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301 12.1 Code table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301 12.2 Selection lists for signal linking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362 12.2.1 List of the digital signal sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362 12.2.2 List of the analog signal sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371 12.2.3 List of the phase signal sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374 12.3 Overview of accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375 12.3.1 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375 12.3.2 Shield mounting kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375 12.3.3 Power supply modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375 12.3.4 Capacitor modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375 12.3.5 Communication modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376 12.3.6 Brake resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377 12.3.7 Mains fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377 12.3.8 Mains chokes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378 12.3.9 RFI filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378 12.3.10 Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379 12.3.11 Master frequency connection for ECSxS/P/A axis modules . . . . . . . . . . 379 13 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380 EDBCSXS064 EN 3.0 10 � Preface and general information 1 How to use these Operating Instructions 1 Preface and general information 1.1 How to use these Operating Instructions These Operating Instructions will assist you in connecting and commissioning the ECSxS... axis modules. They contain safety instructions which must be observed! All persons working on and with the ECSxS... axis modules 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 Terminology used Term In the following text used for Power supply ECSxE... power supply module module ECSxE... Any power supply module of ECS series Capacitor module ECSxK... capacitor module ECSxK... Any capacitor module of ECS series Axis module ECSxS... axis module Controller ECSxS... Any axis module of ECS series: ECSxP... � ECSxS... application "Speed and Torque" ECSxM... � ECSxP... application "Posi and Shaft" ECSxA ... � ECSxM... application "Motion" � ECSxA... application "Application" Drive system Drive systems with: � ECSxS... / ECSxP... / ECSxM... / ECSxA... axis modules � ECSxE... power supply modules � ECSxK... capacitor modules � Other Lenze drive components 24 V supply Voltage supply Low−voltage supply � of the control card, voltage range 20 ... 30 V DC (�0 V) � of the "safe torque off"(formerly "safe standstill"), voltage range 18 ... 30 V DC (�0 V) � of the motor holding brake, voltage range 23 ... 30 V DC (�0 V) KSB Short−circuit braking: quick discharge of the DC bus via the brake resistor AIF Automation InterFace Cxxxx/y Subcode y of code Cxxxx (e.g. C0470/3 = subcode 3 of code C0470) Xk/y Terminal y on the plug connector Xk (e.g. X6/B+ = terminal B+ on the plug connector X6) EDBCSXS064 EN 3.0 � 11 1 Preface and general information Symbols used 1.3 Symbols used Signal types Symbol Signal type Unit Value range Resolution (labelling) � Analog (a) % 16 bits, scaling: ±16384 � ±100 % ±16384 � ±100 % � Digital (d) Binary (with HIGH or 1 bit LOW level) 15 � Speed signal (phd) � rpm (for display) ±(2 − 1) Bit 16 � inc/ms (internal presentation) � Phase signal (ph) inc ±(231 − 1) 32 bits, scaling: 1 revolution � 65536 inc 1.4 Features of the ECSxS axis module ƒ Speed control/torque control with the subfunctions: – Selectable direction of rotation – Setpoint conditioning – Motor control – Brake control – Monitoring functions ƒ Selectable control interfaces (via code C3005): – Automation interface (AIF) – CAN (PDO1 (sync−based), PDO2, PDO3) ƒ Safety function "safe torque off" (formerly "safe standstill") ƒ Double CAN ON BOARD: – MotionBus (CAN): Control interface "CAN" (PDO1, sync−based) – System bus (CAN): Interface "CAN−AUX" for parameter setting/diagnostics ƒ Supported feedback systems: – Resolver with and without position storage – Encoder (incremental encoder (TTL encoder), sin/cos encoder) ƒ Commissioning and parameter setting with the Lenze parameter setting and operating program "Global Drive Control" (GDC) EDBCSXS064 EN 3.0 12 � Preface and general information 1 Scope of supply 1.5 Scope of supply The scope of supply of the ECSxS... axis module comprises: ƒ Basic device ƒ Accessory kit with fixing material corresponding to the design: – "E" − standard panel−mounted unit – "D" − push−through technique – "C" − cold−plate technique ƒ Mounting Instructions ƒ Drilling jig ƒ ECSDS... axis module only: Functional earth conductor (included in the scope of supply from March 2006) Accessories The appendix includes information on the following accessories: (� 375). ƒ Connectors for – power supply modules: ECSZE000X0B – capacitor modules: ECSZK000X0B – axis modules: ECSZA000X0B ƒ Shield mounting kit ECSZS000X0B001 (EMC accessories) ƒ Communication modules for the automation interface (AIF) ƒ Power supply module ECSxE... ƒ Capacitor module ECSxK... ƒ Brake resistors ƒ Mains fuses ƒ Mains chokes ƒ RFI filters ƒ Motors ƒ Master frequency connections (for ECSxS/P/A axis modules) EDBCSXS064 EN 3.0 � 13 1 Preface and general information Legal regulations 1.6 Legal regulations Identification Nameplate CE identification Manufacturer Lenze controllers are Conforms to the EC Low−Voltage Lenze Drive Systems GmbH unambiguously designated by the Directive PO box 10� 13� 52 contents of the nameplate. D−31763 Hameln Application as ECSxS... axis modules directed � must only be operated under the conditions prescribed in these instructions. � are components – for open and closed loop control of variable speed drives with PM synchronous motors and asynchronous motors. – for installation in a machine. – for assembly with other components to form a machine. � are electrical equipment for the installation in control cabinets or similar closed operating areas. � comply with the protective requirements of the EC Low−Voltage Directive. � are not machines for the purpose of the EC Machinery Directive. � are not to be used as domestic appliances, but for industrial purposes only. Drive systems with ECSxS... axis modules � comply with the EC Directive "Electromagnetic compatibility" if they are installed according to the guidelines of CE−typical drive systems. � can be used – at public and non−public mains. – in industrial premises. � The user is responsible for the compliance of his application with the EC directives. Any other use shall be deemed inappropriate! Liability � The information, data and notes in these instructions met the state of the art at the time of printing. Claims on modifications referring to axis modules and components which have already been supplied cannot be derived from the information, illustrations and descriptions given in these instructions. � 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. � Lenze does not accept any liability for damages and failures caused by: – Disregarding the Operating Instructions – Unauthorised modifications to the axis module – Operating errors – Improper working on and with the axis module Warranty � Terms of warranty: See terms of sales and delivery 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. EDBCSXS064 EN 3.0 14 � Safety instructions 2 General safety and application notes for Lenze controllers 2 Safety instructions 2.1 General safety and application notes for Lenze controllers (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/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 necessary for their occupation. Application as directed Drive controllers are components which are designed for installation in electrical systems or machinery. They are not to be used as domestic appliances, but only for industrial purposes according to EN 61000−3−2. When installing the controllers into machines, commissioning (i.e. starting of operation as directed) is prohibited until it is proven that the machine corresponds to 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/EWG). The controllers meet the requirements of the Low−Voltage Directive 73/23/EEC. The harmonised standard EN 61800−5−1 applies to the controllers. The technical data as well as the connection conditions can be obtained from the nameplate and the documentation. They must be strictly observed. Warning: The controllers are products which can be installed in drive systems of category C2 according to EN 61800−3. These products can cause radio interference in residential areas. In this case, special measures can be necessary. Transport, storage Please observe the notes on transport, storage and appropriate handling. Observe the climatic conditions according to EN 50178. EDBCSXS064 EN 3.0 � 15 2 Safety instructions General safety and application notes for Lenze controllers 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 electronic components 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. Notes about installation according to EMC regulations (shielding, earthing, filters and cable routing) are included in the documentation. These notes also apply to CE−marked controllers. The compliance with limit values required by the EMC legislation is the responsibility of the manufacturer of the machine or system. The controllers must be installed in housings (e.g. control cabinets) to meet the limit values for radio interferences valid at the site of installation. The housings must enable an EMC−compliant installation. Observe in particular that e.g. the control cabinet doors should have a circumferential metal connection to the housing. Reduce housing openings and cutouts to a minimum. Lenze controllers can cause a DC residual current in the protective conductor. If a residual current device (RCD) is used as a protective means in the case of direct or indirect contact, only a residual current device (RCD) of type B may be used on the current supply side of the controller. Otherwise, another protective measure, such as separation from the environment through double or reinforced insulation or disconnection from the mains by means of a transformer must be used. Operation If necessary, 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 a 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. Please observe the corresponding stickers on the controller. All protection covers and doors must be shut during operation. Note for UL approved systems with integrated controllers: UL warnings are notes that only apply to UL systems. The documentation contains special UL notes. EDBCSXS064 EN 3.0 16 � Safety instructions 2 General safety and application notes for Lenze controllers Safety functions Special controller variants support safety functions (e.g. "safe torque off", formerly "safe standstill") according to the requirements of Annex I No. 1.2.7 of the EC Directive "Machinery" 98/37/EC, EN 954−1 Category 3 and EN 1037. Strictly observe the notes on the safety functions given in the documentation on the respective variants. Maintenance and servicing 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 become dirty 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! Waste 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! EDBCSXS064 EN 3.0 � 17 2 Safety instructions Residual hazards 2.2 Residual hazards Protection of persons ƒ Before working on the axis module, check that no voltage is applied to the power terminals – because the power terminals +UG, −UG, U, V and W remain live for at least 3 minutes after mains switch−off. – because the power terminals +UG, −UG, U, V and W remain live when the motor is stopped. ƒ The heatsink has an operating temperature of > 70 °C: – Direct skin contact with the heatsink results in burns. ƒ The discharge current against PE is > 3.5 mA AC or > 10 mA DC. – EN 61800 −5−1 requires a fixed installation. – The PE connection has to be effected in accordance with EN 61800−5−1. – Observe further conditions of EN 61800−5−1 with regard to a high discharge current. Device protection ƒ All pluggable connection terminals must only be connected or disconnected when no voltage is applied! ƒ The power terminals +UG, −UG, U, V, W, and PE are not protected against polarity reversal. – When wiring, observe the polarity of the power terminals! ƒ Power must not be converted until all devices of the power system are ready for operation. Otherwise, the input current limitation may be destroyed. Cyclic connection and disconnection of the mains voltage of the power supply module can overload and destroy the input current limitation of the axis module, if ƒ the axis module is supplied via the ECSXE supply module and the input current limitation is deactivated depending on the DC bus voltage (C0175 = 1 or 2). ƒ the axis module is not supplied via a supply module delivered by Lenze. ƒ the low−voltage supply (24 V) is switched off. For this reason allow a break of three minutes between two starting operations in case of cyclic mains switching over a longer period of time! EDBCSXS064 EN 3.0 18 � Safety instructions 2 Residual hazards Motor protection ƒ Only use motors with a minimum insulation resistance of û = 1.5 kV, min. du/dt = 5 kV/�s. – Lenze motors meet these requirements. ƒ When using motors with an unknown insulation resistance, please contact your motor supplier. ƒ Some settings of the axis module lead to an overheating of the connected motor, e.g. longer operation of self−ventilated motors with low speeds. ƒ Use PTC thermistors or thermostats with PTC characteristic for motor temperature monitoring. EDBCSXS064 EN 3.0 � 19 2 Safety instructions Safety instructions for the installation according to U or U L R 2.3 Safety instructions for the installation according to U or U L R � Warnings! General markings: ƒ Use 60/75 °C or 75 °C copper wire only. ƒ Maximum ambient temperature 55 °C, with reduced output current. Markings provided for the supply units: ƒ Suitable for use on a circuit capable of delivering not more than 5000 rms symmetrical amperes, 480 V max, when protected by K5 or H Fuses (400/480 V devices). ƒ Alternate − Circuit breakers (either inverse−time, instantaneous trip types or combination motor controller type E) may be used in lieu of above fuses 2 when it is shown that the let−through energy (i t) and peak let−through current (I ) of the inverse−time current−limiting circuit breaker will be less p than that of the non−semiconductor type K5 fuses with which the drive has been tested. ƒ Alternate − An inverse−time circuit breaker may be used, sized upon the input rating of the drive, multiplied by 300 %. Markings provided for the inverter units: ƒ The inverter units shall be used with supply units which are provided with overvoltage devices or systems in accordance with UL840 2nd ed., Table 5.1. ƒ The devices are provided with integral overload and integral thermal protection for the motor. ƒ The devices are not provided with overspeed protection. Terminal tightening torque of lb−in (Nm) ƒ X 21, X 22, X 23, X 24 – 10.6 ... 13.3 lb−in (1.2 ... 1.5 Nm) ƒ X4, X6, X14 – 1.95 ... 2.2 lb−in (0.22 ... 0.25 Nm) ƒ X 25 – 4.4 ... 7.1 lb−in (0.5 ... 0.8 Nm) Wiring diagram AWG ƒ X 21, X 22, X 23, X 24 – AWG 24 ... AWG 8 ƒ X4, X6, X14 – AWG 28 ... AWG 16 ƒ X 25 – AWG 24 ... AWG 12 EDBCSXS064 EN 3.0 20 � Safety instructions 2 Definition of notes used 2.4 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 of personal injury through dangerous electrical voltage. Reference to an imminent danger that may result in death or serious � Danger! personal injury if the corresponding measures are not taken. Danger of personal injury through a general source of danger. Reference to an imminent danger that may result in death or serious � Danger! personal injury if the corresponding measures are not taken. Danger of property damage. Reference to a possible danger that may result in property damage if the � Stop! corresponding measures are not taken. Application notes Pictograph and signal word Meaning Important note to ensure troublefree operation � Note! Useful tip for simple handling � Tip! Reference to another documentation � Special safety instructions and application notes for UL and UR Pictograph and signal word Meaning Safety or application note for the operation of a UL−approved device in UL−approved systems. � Warnings! Possibly the drive system is not operated in compliance with UL if the corresponding measures are not taken. Safety or application note for the operation of a UR−approved device in UL−approved systems. � Warnings! Possibly the drive system is not operated in compliance with UL if the corresponding measures are not taken. EDBCSXS064 EN 3.0 � 21 3 Technical data General data and operating conditions 3 Technical data 3.1 General data and operating conditions Standards and operating conditions Conformity CE Low−Voltage Directive (73/23/EWG) Approvals UL 508C Power Conversion Equipment Underwriter Laboratories (file no. E132659) for USA and Canada Max. permissible shielded 50 m For rated mains voltage and switching frequency of 8 kHz motor cable length Vibration resistance Accelerational stability up to 0.7 g (Germanischer Lloyd, general conditions) Degree of pollution VDE 0110 part 2 pollution degree 2 Packaging (DIN 4180) Delivery packing Permissible site altitude 0 ... 4000 m amsl Reduce rated output current by 5 %/1000 m above 1000 m amsl. From 2000 m use permitted in environments with overvoltage category II only Installation Installation into IP20 control cabinet For the function "safe torque off" (formerly "safe standstill"): Installation into IP54 control cabinet Mounting position Vertically suspended Free space above � 65 mm below � 65 mm With shield mounting kit ECSZS000B0B001: > 195 mm to the sides Side−by−side mounting without any clearance Climatic conditions Class/standard Deviations from the standard Temperature 3K3 in accordance with IEC/EN 60721−3−3 Condensation, splash water and ice−formation not permissible. Storage 1K3 in accordance with IEC/EN 60721−3−1 −25 °C ... + 55 °C Transport 2K3 in accordance with IEC/EN 60721−3−2 Operation 3K3 in accordance with IEC/EN 60721−3−3 0 °C ... + 55 °C > +40 °C: reduce the rated output current by 2 %/°C Air humidity 3K3 in accordance with IEC/EN 60721−3−3 Atmospheric pressure 3K3 in accordance with IEC/EN 60721−3−3 86 ... 106 kPa EDBCSXS064 EN 3.0 22 � Technical data 3 General data and operating conditions General electrical data EMC Compliance with EN 61800−3 Noise emission Compliance with limit value class A to EN 55011 (released with application−specific collective filter) Noise immunity Requirements to EN 61800−3 Requirements Standard Severity 1) ESD EN 61000−4−2 3, i.� e. � 8 kV with air discharge � 6 kV with contact discharge High frequency in cables EN 61000−4−6 10 V; 0.15 ... 80 MHz RF interference (enclosure) EN 61000−4−3 3, i.� e. 10 V/m; 80 ... 1000 MHz Burst EN 61000−4−4 3/4, i.� e. 2 kV/5 kHz Surge (on mains cable) EN 61000−4−5 3, i.� e. 1.2/50 �s � 1 kV phase−phase � 2 kV phase−PE Insulation resistance Overvoltage category III in accordance with VDE 0110 Discharge current against PE (in > 3.5 mA AC during operation accordance with EN 61800−5−1) Enclosure IP20 for � standard mounting (built−in unit) � mounting in cold plate technique � mounting with thermal separation (push−through technique), IP54 on the heatsink side Protective measures against Short circuit, earth fault (earth−fault protected during operation, limited earth−fault protection during power−up), overvoltage, motor stalling, motor overtemperature 2 (input for PTC, I t monitoring) Protective insulation of control circuits Safe mains isolation Double/reinforced insulation in accordance with EN 61800−5−1 1) Noise immunity in the above−mentioned severities must be guaranteed through the control cabinet. The user must check the compliance with the severities! EDBCSXS064 EN 3.0 � 23 3 Technical data Rated data 3.2 Rated data Type ECSxS004 ECSxS008 ECSxS016 Rated data Output power 400 V mains S [kVA] 1.3 2.6 5.3 r Data for operation with upstream supply U [V] 400 480 400 480 400 480 mains module on mains voltage DC−bus voltage U [V] 0 ... 770 DC DC−bus current I [A] 2.5 2.0 4.9 3.9 9.8 7.8 DC Rated output current at 4 kHz I [A] 2.0 1.6 4.0 3.2 8.0 6.4 r (causes a heatsink temperature of 70°C at an ambient temperature of 20 °C) 1) Rated output current at 8 kHz (causes a I [A] 1.4 1.1 2.7 2.2 5.3 4.2 r heatsink temperature of 70 °C at an ambient temperature of 20 °C) Max. output current I [A] 4.0 8.0 16.0 max (acceleration current) Continuous current at standstill I [A] 2.0 1.6 4.0 3.2 8.0 6.4 0,eff 4 kHz (holding current at 90 °C, 4 kHz) Short−time standstill current I [A] 2.3 4.6 9.1 0,eff 4 kHz 2) (holding current at 90 °C, 4 kHz) Short−time standstill current I [A] 3.0 6.0 12.0 0,eff 4 kHz 2) (holding current at 70 °C, 4 kHz) Short−time standstill current I [A] 1.5 3.0 6.0 0,eff 8 kHz 2) (holding current at 70 °C, 8 kHz) Power loss (operation with Interior 13.3 17.3 20.7 rated current P [W] loss Heatsink 14.0 29.0 64.0 at 4 kHz / 8 kHz) Max. output frequency f [Hz] 600 out Weight m [kg] 2.2 3) Dimensions ECSES... 88.5 x 247 x 176 (W x H x D) ECSDS... [mm] ECSCS... 88.5 x 282 x 121 1) If the heatsink temperature reaches 70 °C, the switching frequency automatically changes to 4 kHz. 2) The indicated temperature is the measured temperature of the heatsink (C0061). 3) Change of the mounting depth: + 36 mm, depending on the plugged−on communication module EDBCSXS064 EN 3.0 24 � Technical data 3 Rated data Type ECSxS032 ECSxS048 ECSxS064 Rated data Output power 400 V mains S [kVA] 8.3 11.2 13.2 r Data for operation with upstream supply U [V] 400 480 400 480 400 480 mains module on mains voltage DC−bus voltage U [V] 0 ... 770 DC DC−bus current I [A] 15.6 12.5 20.9 16.8 24.5 19.6 DC Rated output current at 4 kHz I [A] 12.7 10.2 17.0 13.6 20.0 16.0 r (causes a heatsink temperature of 70°C at an ambient temperature of 20 °C) 1) Rated output current at 8 kHz (causes a I [A] 8.5 6.8 11.3 9.0 13.3 10.6 r heatsink temperature of 70 °C at an ambient temperature of 20 °C) Max. output current I [A] 32.0 48.0 64.0 max (acceleration current) 2) Continuous current at standstill I [A] 16.0 12.8 23.0 18.4 27.0 21.6 0,eff 4 kHz (holding current at 90 °C, 4 kHz) Short−time standstill current I [A] 18.1 27.2 36.3 0,eff 4 kHz 2) (holding current at 90 °C, 4 kHz) Short−time standstill current I [A] 24.0 36.0 48.0 0,eff 4 kHz 2) (holding current at 70 °C, 4 kHz) Short−time standstill current I [A] 12.1 18.1 24.2 0,eff 8 kHz 2) (holding current at 70 °C, 8 kHz) Power loss (operation with Interior 27.5 34.5 41.0 rated current P [W] loss Heatsink 117.0 132.0 158.0 at 4 kHz / 8 kHz) Max. output frequency f [Hz] 600 out Weight m [kg] 2.2 3.1 3) Dimensions ECSES... 88.5 x 247 x 176 131 x 247 x 176 (W x H x D) ECSDS... [mm] ECSCS... 88.5 x 282 x 121 131 x 282 x 121 1) If the heatsink temperature reaches 70 °C, the switching frequency automatically changes to 4 kHz. 2) The indicated temperature is the measured temperature of the heatsink (C0061). 3) Change of the mounting depth: + 36 mm, depending on the plugged−on communication module EDBCSXS064 EN 3.0 � 25 3 Technical data Current characteristics Increased continuous current depending on the control factor 3.3 Current characteristics 3.3.1 Increased continuous current depending on the control factor In the lower speed range ˘ the motor does not need the full motor voltage ˘ particularly the more powerful ECS axis modules can be permanently operated with increased output current (cp. continuous current I � 24). 0,eff I [A] I [A] 0 30.0 27.0 ECSxS/P/M/A064 25.0 I [A] N 23.0 ECSxS/P/M/A048 20.0 20.0 17.0 16.0 ECSxS/P/M/A032 15.0 12.7 10.0 8.0 ECSxS/P/M/A016 8.0 5.0 4.0 4.0 ECSxS/P/M/A008 2.0 ECSxS/P/M/A004 2.0 0.0 0 % 50 % 100 % U/U Mot_n Mot_max ECSXA002 Fig.3−1 Continuous device current, depending on the output voltage for U � 400 V at 4 kHz mains I Rated output current of the axis module r U Actual controller output voltage Mot_n U 0.9 x current mains voltage Mot_max The permissible continuous current depends on the control factor of the power output stages, approximately on the ratio of the motor voltage output in the operating point (U ) to the maximum possible output voltage (U ). Due to voltage drops across Mot_n Mot_max the components involved at rated load and a control margin, U can be estimated Mot_max with 90 % of the mains voltage. EDBCSXS064 EN 3.0 26 � Technical data 3 Current characteristics Increased continuous current depending on the control factor The following table represents the connections between mains voltage, DC−bus voltage and motor voltage: Mains voltage DC−bus voltage Output voltage (motor voltage) nominally achievable for 100 % [U ] [U = U x 1.35] mains ZK mains modulation [U = 0.66 x U ] mot ZK 3 x 230 V AC 310 V DC 3 x 205 V AC 3 x 380 V AC 510 V DC 3 x 340 V AC 3 x 400 V AC 540 V DC 3 x 360 V AC 3 x 415 V AC 560 V DC 3 x 370 V AC 3 x 460 V AC 620 V DC 3 x 415 V AC 3 x 480 V AC 650 V DC 3 x 435 V AC 3 x 528 V AC 712 V DC 3 x 475 V AC For steady−state operation in generator mode with increased DC−bus voltage or supply from a closed−loop controlled DC voltage source, interpolate accordingly between the values given in the table. The increased rated currents are valid for the entire specified voltage range at switching frequencies of 4 kHz and 8 kHz. � Note! If in this connection a heatsink temperature of > 70 °C is reached, the drive switches to a switching frequency of 4 kHz, independently of the adjusted switching frequency. � Tip! The operating threshold of the I x t monitoring (� 172) is automatically derived from the variable continuous currents. EDBCSXS064 EN 3.0 � 27 3 Technical data Current characteristics Increased continuous current depending on the control factor Example: The ECS axis module suitable for operation in conjunction with a Lenze motor of type MCS 14L32 is to be determined. ƒ Rated motor data – Rated motor torque (M ) = 17.2 Nm mot – Rated motor speed (n ) = 3225 rpm mot – Motor voltage at 3250 rpm (U ) = 275 V mot_n3250 – Rated motor current (I ) = 15 A mot – Max. motor current (I ) = 92 A mot_max ƒ Application data: – Max. torque (M ) = 35 Nm max – Max. operating speed (n ) = 2500 rpm max – An effective process power (P ) of 4.5 kW arises on the basis of the Mn diagram. eff – The drive rating results in an effective motor current (I ) of 14.8 A. Mot_eff A first estimation based on the rated current of the ECS axis module would probably lead to selecting the ECSxS048 module with a rated current of 17.0 A. However, if we take into account the increased continuous current for smaller control factors, the more cost−effective ECSxS032 axis module with a rated current of 12.7 A can be used here. ƒ When the MCS 14L32 is operated with 2500 rpm, the real motor voltage is (U ): Mot_n2500 n 2500�rpm max � U � U � 275�V�� � 212�V Mot_n2500 Mot_n3250 n 3250�rpm Mot ƒ This leads to the following max. control factor (α ) of the axis module: max U Mot_n2500 212�V � � 0.59� 59�% � � max 360�V U max Using the current characteristic of Fig.3−1 (� 26), a continuous current of 15.5 A can be determined for the ECSxS032 axis module when the control factor (α ) is 59 %. max ƒ Result: Under the conditions mentioned above the MCS 14L32 Lenze motor can be operated continuously on the ECSxS032 axis module. EDBCSXS064 EN 3.0 28 � Technical data 3 Current characteristics Device protection by current derating 3.3.2 Device protection by current derating The maximum output current is limited. With output frequencies < 5 Hz the limitation depends on the heatsink temperature. 1.00 � I out 1.00 I max � 70 °C 0.75 0.67 � � 90 °C 0.57 0.38 0.00 05 10 f [Hz] out ECSXA024 Fig.3−2 Current derating characteristics � Operation with switching frequency = 8 kHz (C0018 = 1). � If the current exceeds the characteristic �, the switching frequency is automatically changed to 4 kHz (e.g. for higher torque in acceleration processes). � Operation with switching frequency = 4 kHz (C0018 = 0). � The current limitation follows the characteristic �. � With output frequencies < 5 Hz and heatsink temperatures between 70 and 90 °C the current limit is steplessly adjusted in the range �. Type I [A] max Switching frequency 8 kHz � Switching frequency 4 kHz � f > 5 Hz f � 0 Hz f > 5 Hz f � 0 Hz f � 0 Hz out out out out out � 70 °C 90 °C ECSxS004 2.7 1.5 4.0 3.0 2.3 ECSxS008 5.3 3.0 8.0 6.0 4.6 ECSxS016 10.7 6.0 16.0 12.0 9.1 ECSxS032 21.3 12.1 32.0 24.0 18.1 ECSxS048 32.0 18.1 48.0 36.3 27.2 ECSxS064 42.7 24.2 64.0 48.0 36.3 EDBCSXS064 EN 3.0 � 29 4 Mechanical installation Important notes 4 Mechanical installation 4.1 Important notes ƒ Axis modules of the ECS series provide IP20 enclosure and can therefore only be used for installation in control cabinets. ƒ If the cooling air contains pollutants (dust, fluff, grease, aggressive gases): – Take suitable preventive measures , e.g. separate air duct, installation of filters, regular cleaning. ƒ Possible mounting positions: – Vertically at the mounting plate – DC bus connections (X23) at the top – Motor connection (X24) at the bottom ƒ Maintain the specified clearances (above and below) to other installations! – If the shield mounting kit ECSZS000X0B001 is used, an additional clearance is required. – Ensure unimpeded ventilation of cooling air and outlet of exhaust air. – Several modules of the ECS series can be installed in the control cabinet next to each other without any clearance. ƒ The mounting plate of the control cabinet – must be electrically conductive. – must not be varnished. ƒ In case of continuous vibrations or shocks use shock absorbers. EDBCSXS064 EN 3.0 30 � Mechanical installation 4 Mounting with fixing rails (standard installation) Dimensions 4.2 Mounting with fixing rails (standard installation) 4.2.1 Dimensions � Note! Mounting with shield mounting kit ECSZS000X0B001: ƒ Clearance below the module > 195 mm ECSXA005 Fig.4−1 Dimensions for "panel−mounted" design Axis module Dimensions [mm] Type Size a b d d1 e h g ECSES004 ECSES008 � 88.5 ECSES016 176 6.5 240 276 260 10 1) ECSES032 212 (M6) ECSES048 � 131 ECSES064 1) max. 212 mm, depending on the plugged−on communication module 4.2.2 Assembly steps How to install the axis module: 1. Prepare the fixing holes on the mounting surface. – Use the drilling jig for this purpose. 2. Take the fixing rails from the accessory kit in the cardboard box. 3. Push the rails into the slots of the heatsink: – From above: Push in the long side. – From below: Push in the short side. 4. Attach the axis module to the mounting surface. EDBCSXS064 EN 3.0 � 31 4 Mechanical installation Mounting with thermal separation (push−through technique) 4.3 Mounting with thermal separation (push−through technique) For the push−through technique the rear panel of the control cabinet must be a steel plate with a thickness of at least 2 mm. The edges of the mounting cutout and the fixing holes for the clamps must be slightly curved inwards (towards the axis module). Cooling With the separated heatsink the heat generation in the control cabinet can be reduced. ƒ Distribution of the power loss: – approx. 65 % via separated cooler – approx. 35 % in the inside of the axis module ƒ Protection class of the separated cooler: IP54 – The sealing surface at the heatsink of the axis module must rest completely against the mounting plate. – Use a liquid thread sealant to bond the screws of the clamps. ƒ For sufficient cooling of the drive system: – Air flow behind the rear panel of the control cabinet must be � 3 m/s (e.g. by means of a collective fan). ƒ With sufficient cooling, the rated data of the axis modules remain valid. EDBCSXS064 EN 3.0 32 � Mechanical installation 4 Mounting with thermal separation (push−through technique) Dimensions 4.3.1 Dimensions � Note! Mounting with shield mounting kit ECSZS000X0B001: ƒ Clearance below the module > 195 mm ECSXA007 Fig.4−2 Dimensions for "push−through design" Z Mounting cutout (a1 x b1), � 34 Axis module Dimensions [mm] Type Size a a1 b b1 c1 d e e1 g h ECSDS004 ECSDS008 � 88.5 78.5 ECSDS016 109 240 197 75 250 67 M5 10.5 1) ECSDS032 145 ECSDS048 � 131 121.5 ECSDS064 1) max. 145 mm, depending on the plugged−on communication module EDBCSXS064 EN 3.0 � 33 4 Mechanical installation Mounting with thermal separation (push−through technique) Dimensions Dimensions of mounting cutout � Note! Mounting with shield mounting kit ECSZS000X0B001: ƒ Clearance below the mounting cutout > 220 mm a1 a1 c1 c1 � � � ECSXA063 Fig.4−3 Dimensions of mounting cutout � Mounting surface � Mounting cutout for size � � Mounting cutout for size � Axis module Dimensions [mm] Type Size a1 b1 c1 d g h ECSDS004 ECSDS008 � 78.5 ECSDS016 197 75 250 M5 10.5 ECSDS032 ECSDS048 � 121.5 ECSDS064 EDBCSXS064 EN 3.0 34 � � 60 mm � 90 mm b1 g g h b1 d Mechanical installation 4 Mounting with thermal separation (push−through technique) Assembly steps 4.3.2 Assembly steps Proceed as follows to mount the axis module: 1. Prepare the fixing holes for the clamps on the mounting surface. – Use the drilling jig for this purpose. 2. Prepare mounting cutout. – The edges of the mounting cutout and the fixing holes for the clamps must be slightly curved inwards (towards the axis module). 3. Use a liquid sealant to bond the thread of the screws for the clamps. 4. Fasten the clamps together with the supplied functional earth conductor (see Fig.4−4). – The functional earth conductor is included in the scope of supply of the ECSDS... axis modules from March 2006. 5. Push the axis module into the mounting cutout. 6. Let the axis module snap into the clamps at the top and at the bottom. 7. Connect functional earth conductor with the axis module (see Fig.4−4). � Note! The functional earth conductor must be connected to the axis module ECSDS... for a better electromagnetic compatibility (EMC). ECSXA081 Fig.4−4 Functional earth conductor at the axis module ECSDS... � Functional earth conductor EDBCSXS064 EN 3.0 � 35 4 Mechanical installation Mounting in cold−plate technique 4.4 Mounting in cold−plate technique The axis modules ECSC... are intended for mounting in cold−plate design (e.g. on collective coolers). Requirements for collective coolers The following requirements must be met to ensure a safe operation of the axis modules: ƒ Good thermal contact with the cooler – The contact surface between collective cooler and axis module must be at least as large as the cooling plate of the axis module. – Smooth contact surface, max. deviation 0.05 mm. – Connect the collective cooler with all specified screwed connections to the axis module. ƒ Maintain the thermal resistance R according to the table. th – The values apply for operating the axis modules under rated conditions. Axis module Power to be dissipated Heat sink − environment Type Ploss [W] R [k/W] th ECSCS004 14.0 ECSCS008 29.0 0.31 ECSCS016 64.0 ECSCS032 117.0 0.13 ECSCS048 132.0 ECSCS064 158.0 0.11 ƒ Ambient conditions: – The rating for the ambient temperature and the derating factors for higher temperatures still apply to the axis modules (see detailed documentation). – Temperature of the cooling plate ("cold plate"): max. +85 °C EDBCSXS064 EN 3.0 36 � Mechanical installation 4 Mounting in cold−plate technique Dimensions 4.4.1 Dimensions � Note! Mounting with shield mounting kit ECSZS000X0B001: ƒ Clearance below the module > 195 mm � � a a a1 a1 g g g g e c1 c1 ECSXA009 Fig.4−5 Dimensions for "cold−plate design" Axis module Dimensions [mm] Type Size a a1 b c1 d e g ECSCS004 ECSCS008 � 88.5 60 ECSCS016 121 282 50 286 M6 1) 157 ECSCS032 ECSCS048 � 131 90 ECSCS064 1) max. 157 mm, depending on the plugged−on communication module EDBCSXS064 EN 3.0 � 37 � 65 mm � 65 mm d b b 4 Mechanical installation Mounting in cold−plate technique Assembly steps 4.4.2 Assembly steps � � � ECSXA030 Fig.4−6 Mounting for "cold−plate design" Proceed as follows to mount the axis module: 1. Prepare the fixing holes on the mounting plate. – Use a drilling jig for this purpose. 2. Clean and degrease the contact area of collective cooler and heatsink of the axis module (e.g. with methylated spirit). 3. Screw the support onto the collective cooler. 4. Insert the axis module from above � into the support � and fasten the two stud bolts with 3.5 ... 4.5 Nm �. � Note! Penetration depth of the screws into the collective cooler: approx. 15 mm! � Tip! The heat transfer resistance is reduced if − following step 2. − ƒ a thin layer of heat conducting paste is applied to the contact surface or ƒ heat conducting foil is used. EDBCSXS064 EN 3.0 38 � Electrical installation 5 Installation according to EMC (installation of a CE−typical drive system) 5 Electrical installation 5.1 Installation according to EMC (installation of a CE−typical drive system) General notes ƒ The electromagnetic compatibility of a machine depends on the type of installation and care taken. Especially consider the following: – Assembly – Filters – Shielding – Earthing ƒ For diverging installations, the evaluation of the conformity to the EMC Directive requires a check of the machine or system regarding the EMC limit values. This is valid, for instance, when: – Using unshielded cables – Using collective suppression filters in place of the assigned RFI filters – Operating without RFI filter ƒ The compliance of the machine application with the EMC Directive is in the responsibility of the user. – If you observe the following measures, you can assume that the machine will operate without any EMC problems caused by the drive system and that compliance with the EMC Directive and the EMC law is achieved. – If devices which do not comply with the CE requirement concerning noise immunity EN 61000−6−2 are operated close to the axis modules, these devices may be disturbed electromagnetically by the axis modules. EDBCSXS064 EN 3.0 � 39 5 Electrical installation Installation according to EMC (installation of a CE−typical drive system) Assembly ƒ Connect the power supply modules, capacitor modules (optional), axis modules, RFI filters and mains chokes to the earthed mounting plate with a surface as large as possible. – Mounting plates with conductive surfaces (zinc−coated or stainless steel) allow permanent contact. – Painted plates are not suitable for an EMC−compliant installation. ƒ If you use the ECSxK... capacitor module: – Install the capacitor module between the power supply module and the axis module(s). – If the total cable length in the DC−bus connection exceeds 5 m, install the capacitor module as close as possible to the axis module with the highest power. ƒ If you use several mounting plates: – Connect as much surface of the mounting plates as possible (e.g. with copper bands). ƒ Ensure the separation of motor cable and signal or mains cables. ƒ Do not use the same terminal/power strip for mains input and motor output. ƒ Lay the cables as close as possible to the reference potential. Freely suspended cables act like aerials. Filters Use RFI filters and mains chokes which are assigned to the power supply modules: ƒ RFI filters reduce impermissible high−frequency interference to a permissible value. ƒ Mains chokes reduce low−frequency interferences which depend on the motor cables and their lengths. EDBCSXS064 EN 3.0 40 � Electrical installation 5 Installation according to EMC (installation of a CE−typical drive system) Shielding ƒ Connect the motor cable shield to the axis module – with the ECSZS000X0B001 shield mounting kit. – to the mounting plate below the axis module with a large surface. – Recommendation: For the shield connection, use earthing clamps on bare metal mounting surfaces. ƒ If contactors, motor−protecting switches or terminals are located in the motor cable: – Connect the shields of the connected cables to each other and connect them to the mounting plate, too, with a surface as large as possible. ƒ Connect the shield in the motor terminal box or on the motor housing to PE: – Metal cable glands at the motor terminal box ensure a large−surface connection of the shield and the motor housing. ƒ Shield the control cables: – Connect both shield ends of the digital control cables. – Connect one shield end of the analog control cables. – Always connect the shields to the shield connection at the axis module over the shortest possible distance. ƒ Using the axis modules in residential areas: – Additionally dampen the shield in order to limit the interfering radiation: ≥�10 dB . This can be realised by using standard, enclosed, metallic, and earthed control cabinets or boxes. Earthing ƒ Earth all metallically conductive components (e.g. power supply module, capacitor module, axis module, RFI filter, motor filter, mains choke) using suitable cables connected to a central point (PE bar). ƒ Maintain the minimum cross−sections prescribed in the safety regulations: – For EMC, not the cable cross−section is decisive, but the cable surface and a contact area as large as possible. EDBCSXS064 EN 3.0 � 41 5 Electrical installation Power connections 5.2 Power connections ECSXA080 Fig.5−1 Plug connectors for power terminals � Danger! The discharge current against ground (PE) is > 3.5 mA AC or > 10 mA DC. ƒ EN 61800−5−1 requires a fixed installation. ƒ The PE connection has to be effected in accordance with EN 61800−5−1. ƒ Observe further conditions of EN 61800−5−1 with regard to a high discharge current. � Stop! Observe the maximum permissible mains voltage. Any higher voltage will destroy the device. ƒ All power connections are plug connections and are coded. The ECSZA000X0B connectors must be ordered separately. ƒ Installation of the cables according to EN 60204−1. ƒ The cables used must comply with the approvals required at the site of use (e.g. VDE, UL, etc.). � Note! ECSDS... axis modules: Connect the functional earth conductor (part of the scope of supply from March 2006) to the ECSDS... axis module for a better electromagnetic compatibility (EMC) (see � 35). This is not required for the ECSES... (standard installation) and ECSCS... (cold plate) axis modules! EDBCSXS064 EN 3.0 42 � Electrical installation 5 Power connections Terminal assignment Terminal Function Electrical data X23 Connection of DC−bus voltage X23/+UG Dependent on application and type Positive supply of DC−bus voltage 0 ... 770 V X23/+UG 2 ... 24.5 A (� 24) X23/−UG Negative supply of DC−bus voltage X23/−UG X23/PE Earth connection X23/PE X24 Motor connection Dependent on application and type X24/U Motor phase U 0 ... 480 V X24/V Motor phase V 1.6 ... 20 A (� 24) X24/W Motor phase W X24/PE Earth connection X25 Connection of motor holding brake X25/BD1 Brake connection + 23 ... 30 V DC, max. 1.5 A X25/BD2 Brake connection − Cable cross−sections and screw−tightening torques Cable type Wire end ferrule Possible cable Starting torque Stripping length cross−sections Plug connector X23 and X24 2 0.2 ... 10 mm rigid ˘ (AWG 24 ... 8) 2 0.2 ... 10 mm Without wire end ferrule (AWG 24 ... 8) 1.2 ... 1.5 Nm 5 mm 2 (10.6 ... 13.3 lb−in) 0.25 ... 6 mm Flexible With wire end ferrule (AWG 22 ... 10) 2 0.25 ... 4 mm With TWIN wire end ferrule (AWG 22 ... 12) Plug connector X25 2 0.2 ... 2.5 mm 0.5 ... 0.8 Nm Flexible Without wire end ferrule 5 mm (AWG 24 ... 12) (4.4 ... 7.1 lb−in) Shielded cables The following factors decisively determine the effect of shielded cables: ƒ Good shield connection – Ensure a contact surface as large as possible ƒ Low shield resistance – Only use shields with tin−plated or nickel−plated copper braids (shields with steel braids cannot be used). ƒ High overlap rate of the braid – At least 70 ... 80 % with 90° overlap angle The ECSZS000X0B001 shield mounting kit includes wire clamp and shield sheet. EDBCSXS064 EN 3.0 � 43 5 Electrical installation Power connections Connection to the DC bus (+U , −U ) G G 5.2.1 Connection to the DC bus (+U , −U ) G G ƒ With a total cable length > 20 m, install an axis module or a capacitor module directly at the power supply module. ƒ Twist ±U cables and keep the cable length as short as possible. Pay attention to G short−circuit−proof installation! ƒ Cable length (module � module) > 30 cm: – Shield ±U cables. G Fuses ƒ Fusing the DC−bus supply is not required if power supply modules of the ECSxE series are used, which are fused on the supply side. ƒ If Lenze devices of the 82xx and 93xx series are used in the DC−bus connection with a DC continuous current > 40 A, use the following fuses between the supplying device and the ECS devices: Fuse Support Value [A] Lenze type Lenze type 50 EFSGR0500ANIN EFH20007 � Warnings! ƒ Use UL−approved cables, fuses and fuse holders only. ƒ UL fuse: – Voltage 500 ... 600 V – Tripping characteristic "H", "K5" or "CC" � Danger! Exchanging defect fuses ƒ Only replace defect fuses in deenergised state and only with the prescribed type. ƒ In DC−bus operation it is vital to set controller inhibit (CINH) for all axis modules and separate all power supply modules from the mains. Cable cross−sections 1) Cable length Wire end ferrule Cable Starting torque Stripping cross−section length Without wire end ferrule 2 6 mm up to 20 m (AWG 10) With wire end ferrule 1.2 ... 1.5 Nm 5 mm Without wire end ferrule (10.6 ... 13.3 lb−in) 2 10 mm > 20 m With wire end ferrule (AWG 8) For wiring, use pin−end connector! 1) Cable length from module to module EDBCSXS064 EN 3.0 44 � Electrical installation 5 Power connections Connection plans 5.2.2 Connection plans � Stop! ECS power supply modules must always be operated with a brake resistor. Mimimum wiring with power supply module ECSEE... / ECSDE... A brake resistor is integrated in the ECSEE... and ECSDE... power supply modules. The internal brake resistor is used with the following jumpers: ƒ from X22/BR0 to X22/+UG ƒ from X6/T1 to X6/T2 � Note! Power supply modules can also be connected to external brake resistors (� 377) with a higher power. Observe the notes in the detailed documentation of the power supply module. K1 L1 L2 L3 N PE F4 F1...F3 Z1 PES Off PES On L1 L2 L3 PE BR0 BR1 +UG +UG -UG PE +UG PE +UG PE +UG -UG -UG PE +UG -UG -UG PE K1 X21 X22 X23 X23 Rb ECSEE... ECSxS/P/M/A... ECSxS/P/M/A... ECSDE... K1 X25 X24 X7 X25 X24 X7 X6 BD1 BD2 UV W PE BD1 BD2 UV W PE ... PES PES � � PES PES 6 6 M M R R 3~ 3~ � � 2 2 PE PE ECSXA011 Fig.5−2 Interconnected power system with internal brake resistor HF shield termination by large−surface PE connection Twisted cables K1 Mains contactor F1 ... F4 Fuse Z1 Mains choke / mains filter, optional Rb Brake resistor � System cable ˘ feedback EDBCSXS064 EN 3.0 � 45 T1 T2 5 Electrical installation Power connections Connection plans Mimimum wiring with power supply module ECSCE... The power supply module ECSCE... has, according to its construction, no integrated brake resistor. Therefore, install an external brake resistor of the ERBM..., ERBS... or ERBD... (� 377) series: ƒ Connect the brake resistor to X22/BR1 and X22/+UG. ƒ Connect a thermal detector (NC contact) to X6/T1 and X6/T2. � Observe ... the notes in the detailed documentation of the power supply module ECSxE...! K1 L1 L2 L3 N PE F4 F1...F3 Rb � Z1 PES PES Off L1 L2 L3 PE BR0 BR1 +UG +UG -UG PE +UG -UG PE PE +UG +UG -UG -UG PE PE +UG -UG X21 X22 X23 X23 On K1 ECSCE... ECSCS/P/M/A... ECSCS/P/M/A... X25 X24 X7 X25 X24 X7 X6 BD1 BD2 UV W PE BD1 BD2 UV W PE ... K1 PES PES � � Rb � PES PES 6 6 M M R R 3~ 3~ � � 2 2 PE PE ECSXA012 Fig.5−3 Interconnected power system with external brake resistor HF shield termination by large−surface PE connection Twisted cables K1 Mains contactor F1 ... F4 Fuse Z1 Mains choke / mains filter, optional Rb Brake resistor � System cable ˘ feedback EDBCSXS064 EN 3.0 46 � T1 T2 Electrical installation 5 Power connections Motor connection 5.2.3 Motor connection ECSXA010 Fig.5−4 Motor and motor holding brake connection Motor cables ƒ Use low−capacitance motor cables. Capacitance per unit length: – Core/core: max. 75 pF/m – Core/shield: max. 150 pF/m ƒ Length: max. 50 m, shielded ƒ The cross−section of the motor cables are selected according to the motor standstill current (I ) when using synchronuous motors or according to the rated motor 0 current (I ) for asynchronuous motors. N ƒ Length of the unshielded ends: 40 ... 100 mm (depending on the cable cross−section) ƒ Lenze system cables meet these requirements. ƒ Use the shield mounting kit ECSZS000X0B001 for EMC−compliant wiring. � Further information .... on EMC−compliant wiring with the ECSZS000X0B001 shield mounting kit can be found in the Mounting Instructions of the shield mounting. EDBCSXS064 EN 3.0 � 47 5 Electrical installation Power connections Motor holding brake connection 5.2.4 Motor holding brake connection The motor holding brake ƒ is connected to X25/BD1 and X25/BD2. ƒ and is supplied with low voltage via the terminals X6/B+ and X6/B−: – +23 ... +30 V DC, max. 1.5 A � Stop! ƒ X6/B+ must be provided with a fuse F 1.6 A. ƒ If no suitable voltage (wrong value, wrong polarity) is impressed on the brake, it is applied and can be overheated and destroyed by the further rotating motor. 5.2.4.1 Spark suppressor A spark suppressor is integrated into the axis module for the motor holding brake. 5.2.4.2 Brake monitoring The connection of the motor holding brake can be monitored for voltage failure and cable breakage if monitoring is activated under C0602. Motor holding brake opened (inactive): The connection of the motor holding brake is monitored for voltage failure and cable breakage: ƒ Threshold value for cable breakage: 140 mA �10 % ƒ Threshold value for voltage failure: +4 V �10 % Motor holding brake closed (active): The connection of the motor holding brake is monitored for cable breakage if the threshold value of the voltage supply X6/B+ and X6/B− exceeds 4 V. EDBCSXS064 EN 3.0 48 � Electrical installation 5 Power connections Motor holding brake connection 5.2.4.3 Requirements on the brake cables ƒ Use a Lenze system cable with integrated brake cable. – The shielding of the brake cable must be separated. ƒ Length: max. 50 m ƒ If a separately installed brake cable is required, shield it. � Note! Please note: ƒ The ohmic voltage loss along the motor supply cable. ƒ Due to the current monitoring a voltage loss of 1.5 V arises. A higher voltage at the cable entry can compensate the voltage loss. The following applies to all Lenze system cables: V � � U �[V]� U �[V]� 0.08� � L �[m]� I �[A]� 1.5�[V] K B L B m� A U Voltage for compensating the voltage loss [V] comp U Supply voltage at X6/B+, X6/B− [V] brake L Cable length [m] L I Brake current [A] brake B+ B- BD2 BD1 X6 X25 F 1.6 A _ _ M +23 ... +30 V DC 3~ max. 1.5 A PE ECSXA017 Fig.5−5 Connection of the motor holding brake to X25 EDBCSXS064 EN 3.0 � 49 + 1.5 A + 5 Electrical installation Power connections Connection at capacitor module ECSxK... (optional) 5.2.5 Connection at capacitor module ECSxK... (optional) � Observe ... the notes in the detailed documentation of the capacitor module ECSxK...! K1 L1 L2 L3 N PE F4 F1...F3 Z1 PES Off PES On L1 L2 L3 PE BR0 BR1 +UG +UG -UG PE +UG +UG -UG -UG PE PE +UG +UG -UG -UG PE PE K1 X21 X22 X23 X23 ... ECSxExxx ECSxKxxx ECSxAxxx X6 K1 X26 X25 X24 X7 B1 B2 U V W PE *1 PES K1 PES 6 M R 3~ � 2 PE Ctrl. enable GND - + 24VDC ECSXX004 Fig.5−6 Wiring of capacitor module ECSxK... HF shield termination by large−surface PE connection Twisted cables K1 Mains contactor F1 ... F4 Fuse Z1 Mains choke / mains filter, optional � Contactor relay � System cable ˘ feedback � Terminal X6/SI1 of the connected axis modules (controller enable/inhibit) EDBCSXS064 EN 3.0 50 � T1 T2 DI1 DI2 DO1 D24 +24V GND Electrical installation 5 Control terminals (X6) 5.3 Control terminals (X6) ECSXA070 Fig.5−7 Plug connectors for control terminals (X6) For the supply of the control electronics, an external 24 V DC voltage on the terminals X6/+24 and X6/GND is required. � Stop! ƒ The control cables must always be shielded to prevent interference injections. ƒ The voltage difference between X6/AG, X6/GND and PE of the axis module may maximally amount to 50 V. ƒ The voltage difference is limited by: – overvoltage−limiting components or – direct connection of X6/AG and X6/GND to PE. ƒ The wiring has to ensure that for X6/DO1 = 0 (LOW level) the connected axis modules do not draw energy from the DC bus. Otherwise, the power supply module may be damaged. Shield connection of control cables and signal cables The plate on the front of the device serves as the mounting place (two threaded holes M4) for the shield connection of the signal cables. The screws used may extend into the inside of the device by up to 10 mm. For optimum contact of the shield connection, use the wire clamps from the ECSZS000X0B001 shield mounting kit. EDBCSXS064 EN 3.0 � 51 5 Electrical installation Control terminals (X6) L3 PE +UG +UG -UG L1 L2 BR0 BR1 PE +UG +UG -UG -UG PE PE X21 X23 X22 ECSxE... ECSxS/P/M/A... X6 X6 PES PES PES U � PES PES PES - = � + � +24 VDC 24 VDC GND � ECSXA013 Fig.5−8 System: control signals with internal brake resistor HF shield termination by large−surface PE connection � Voltage supply of motor holding brake 23 ... 30 V DC, max. 1.5 A � Contactor relay � Safe torque off (formerly "safe standstill") � Controller enable/inhibit Terminal assignment Plug connector X6 Terminal Function Electrical data X6/+24 Low−voltage supply of the control electronics 20 ... 30 V DC, 0.5 A (max. 1 A) at 24 V starting current: X6/GND Reference potential of low−voltage supply max. 2 A for 50 ms X6/DO1 Digital output 1 24 V DC, 0.7 A (max. 1.4 A) short−circuit−proof X6/DI1 Digital input 1 LOW: −3 ... +5 V; −3 ... +1.5 mA X6/DI2 Digital input 2 HIGH: +15 ... +30 V; X6/DI3 Digital input 3 +2 ... +15 mA Input current at 24 V DC: X6/DI4 Digital input 4 8 mA per input X6/AI+ Analog input + Adjustable with jumper bar X3: −10 ... +10 V, max. 2 mA X6/AI− Analog input − −20 ... +20 mA X6/AG Reference potential of analog input (internal Resolution: 11 bits + sign ground) X6/B+ Brake supply + 23 ... 30 VDC max. 1.5 A Set the brake voltage so that the permissible voltage at the brake will not be exceeded or the X6/B− Brake supply − values do not fall below the threshold ˘ otherwise malfunction or destruction may occur! X6/S24 Connection of "safe torque off" (formerly "safe � 55 standstill") X6/SO X6/SI1 X6/SI2 EDBCSXS064 EN 3.0 52 � T1 T2 DI1 DI2 DO1 D24 +24V GND DO1 DI1 DI2 DI3 DI4 PES AI+ AI- AG +24V GND S24 SO SI1 SI2 B+ F1,6A B- - = + Electrical installation 5 Control terminals (X6) Digital inputs and outputs Cable cross−sections and screw−tightening torques Cable type Wire end ferrule Cable cross−section Starting torque Stripping length 2 0.08 ... 1.5 mm Without wire end ferrule (AWG 28 ... 16) 0,22 ... 0,25 Nm flexible 5 mm 2 (1.95 ... 2.2 lb−in) Insulated with wire end 0.25 ... 0,5 mm ferrule (AWG 22 ... 20) 2 We recommend control cables with a cable cross−section of 0.25 mm . 5.3.1 Digital inputs and outputs � Stop! If an inductive load is connected to X6/DO1, a spark suppressor with a limiting function to max. 50 V � 0 % must be provided. GNDext 47k 1k DI1 DI2 DI3 DI4 DO1 +24 X6 GND _ = 24 VDC ECSXA014 Fig.5−9 Digital inputs and outputs at X6 ƒ The polarity of the digital inputs (X6/DI1 ... DI4) is set via C0114/x. The digital inputs (depending on the operating mode/control structure) are assigned with the following functions: Terminal Function Further information Operating mode/control structure "Speed control" X6/DI1 � CW rotation/CCW rotation � 92, 269 X6/DI2 � Quick stop (QSP) � 112, 280 X6/DI3 Fixed speed (JOG) � 93, 270 X6/DI4 Activation of the holding brake � 83, 281 Operating mode/control structure "Torque control" X6/DI1 � CW rotation/CCW rotation � 92, 291 X6/DI2 � Quick stop (QSP) � 112, 295 X6/DI3 Not assigned X6/DI4 Activation of the holding brake � 83, 298 ƒ The polarity of the digital output (X6/DO1) is set via C0118/1. EDBCSXS064 EN 3.0 � 53 3k3 3k3 3k3 3k3 + 1.5 A = = 5 Electrical installation Control terminals (X6) Analog input 5.3.2 Analog input X3 5 6 GND AI- AG AI+ X6 ECSXA015 Fig.5−10 Analog input at X6 Analog input configuration ƒ Set via C0034 whether the input for a master voltage or a master current is to be used. ƒ Set jumper bar X3 according to the setting in C0034: � Stop! Do not plug the jumper on 3−4! The axis module cannot be initialised like this. Jumper strip X3 Setting Measuring range 5 6 � Level: −10 ... +10 V (see also C0034) 5−6 open � Resolution: 5 mV (11 bit + sign) 3 4 Jumper on 1−2: parking position � Scaling: �10 V � �16384 � �100% 1 2 � Level: −20 ... +20 mA / +4 ... +20 mA (see also 5 6 C0034) 5−6 closed 3 4 � Resolution: 20 �A (11 bit + sign) 1 2 � Scaling: �20 mA � �16384 � �100% EDBCSXS064 EN 3.0 54 � 250R 3.3 nF 3.3 nF 82k5 82k5 Electrical installation 5 Control terminals (X6) Safe torque off 5.3.3 Safe torque off The axis modules support the safety function "safe torque off" (formerly "safe standstill"), "protection against unexpected start−up", according to the requirements of the control category 3 of EN 954 Part 1 and Part 2 (from 01.01.2007: EN ISO 13849). For this purpose the axis modules are provided with two independent safety routes which are connected in parallel. Control category 3 is reached when the output signal at X6/SO is verified additionally. 5.3.3.1 Additional safety instructions Installation/commissioning ƒ Only qualified personnel is permitted to install and set up the function "safe torque off". ƒ All control components (switches relays, PLC, ...) and the control cabinet must comply with the requirements of the EN 954−1 and EN 954−2 (from 01.01.2007: EN ISO 13849). This includes among other things: – Switches, relays with enclosure IP54. – Control cabinet with enclosure IP54. – Gather all further requirements from EN 954−1 and EN 954−2 (from 01.01.2007: EN ISO 13849). ƒ Wiring with insulated wire end ferrules is essential. ƒ All safety−relevant cables (e. g. control cable for the safety relay, feedback contact) must be installed outside the control cabinet, e. g. in the cable duct. It must be ensured that short circuits between the single cables cannot occur! For further measures see EN 954−2 (from 01.01.2007:13849), table D4. ƒ When an external force is likely to act with the "safe torque off" function (e.g. sagging of hanging loads), additional measures have to be provided (e.g. mechanical brakes). � Danger! When using the function "safe torque off", additional measures are required for emergency−off": ƒ There is neither an electrical isolation between motor and axis module nor a "service switch" or a "repair switch".! ƒ An "emergency−off" requires an electrical isolation of the cable path to the motor, e.g. by means of a central mains contactor with "emergency−off" connection. During operation ƒ After installation the operator must check the "safe torque off" function. ƒ The function check must be regularly repeated, after one year at the latest. EDBCSXS064 EN 3.0 � 55 5 Electrical installation Control terminals (X6) Safe torque off 5.3.3.2 Implementation In the axis module, the "safe torque off" connection is implemented with optocouplers. The optocouplers isolate the following areas electrically from each other: ƒ The digital inputs and outputs: – input X6/SI1 (controller enable/inhibit) – input X6/SI2 (pulse enable/inhibit) – brake output X6/B+, B− – output X6/SO ("safe torque off" active/inactive) ƒ The circuit for the internal control ƒ The final power stage �� � U & X6 X2 V & Sl1 U Sl2 W & µP V S24 >1 X & W SO Y & GND Z & B+ B- X25 BD2 BD1 ECSXA100 Fig.5−11 Implementation of the "safe torque off" function Area 1: Inputs and outputs Area 2: Circuit for the internal control Area 3: Power output stage � Stop! Use insulated wire end ferrules when wiring the "safe torque off" circuits to X6. EDBCSXS064 EN 3.0 56 � Electrical installation 5 Control terminals (X6) Safe torque off 5.3.3.3 Principle of operation The status "safe torque off" can be initiated any time via the input terminals X6/SI1 (controller enable/inhibit) and X6/SI2 (pulse enable/inhibit). For this purpose, a LOW level has to be applied to both terminals: ƒ X6/SI1 = LOW (controller inhibited): The inverter is inhibited via the microcontroller system. ƒ X6/SI2 = LOW (pulses inhibited): The supply voltage for the optocouplers of the power section driver is switched off, i. e. the inverter cannot be enabled or activated via the microcontroller system anymore. The input signal on X6/SI2 to the hardware is additionally directed to the microcontroller system and is evaluated there for purposes of state control. For the external further processing, a HIGH level is output for the status "safe torque off active" on the digital output X6/SO. Therefore control of the inverter is prevented by two methods which are independent from each other. It is therefore prevented that the motor can start again. 5.3.3.4 Technical data Terminal assignment Plug connector X6 Terminal Function Level Electrical data X6/S24 Low−voltage supply 18 ... 30 V DC 0.7 A X6/SO Output feedback "safe torque LOW During operation 24 V DC off" 0.7 A (max. 1.4 A) Short−circuit−proof HIGH "Safe torque off" active X6/SI1 Input 1 (controller LOW Controller is inhibited LOW level: enable/inhibit) −3 ... +5 V HIGH Controller enabled −3 ... +1.5 mA HIGH level: X6/SI2 Input 2 (pulse enable/inhibit) LOW Pulses for power stage +15 ... +30 V inhibited +2 ... +15 mA HIGH Pulses for power stage Input current at 24 V DC: enabled 8 mA per input Cable cross−sections and screw−tightening torques Cable type Wire end ferrule Cable cross−section Tightening torque Stripping length 2 With insulated wire end 0.25 ... 0.5 mm 0.22 ... 0.25 Nm Flexible 5 mm ferrule (AWG 22 ... 20) (1.95 ... 2.2 lb−in) EDBCSXS064 EN 3.0 � 57 5 Electrical installation Control terminals (X6) Safe torque off 5.3.3.5 Minimum wiring In order to reach the control category 3, the signal at X6/SO must be verified additionally. This requires external wiring. The external wiring must be adapted to the existing safety concepts and checked for a correct operation. "Safe torque off" with multiple−contact switches This circuit shows the minimum external wiring of the axis module with multiple−contact switches for a motor with brake. 24VDC 13 23 11 S1 12 14 24 11 13 23 S2 X6 12 14 24 Sl1 Sl2 S24 SO GND B+ B- X25 H1 BD2 Y1 BD1 GND ECSXA101 Fig.5−12 Minimum external wiring with multiple−contact switches � Stop! Observe the reaction of the drive when you activate controller enable and/or pulse enable (X6/SI1 or SI2 = HIGH level): ƒ The motor brake is applied immediately. This can lead to high wear on the motor holding brake (see data sheet of the brake). ƒ If the brake monitoring is active (C0602 = 0), the TRIP is set to TRIP "Rel1". Before recommissioning, the TRIP must be reset (� 191). EDBCSXS064 EN 3.0 58 � Electrical installation 5 Control terminals (X6) Safe torque off Preconditions for the external wiring with multiple−contact switches: ƒ The switches S1 and S2 must have at least three contacts: – At least one NC contact and two NO contacts being all electrically independent and positively driven. – The contacts must not be bridged. ƒ The switches S1 and S2 must be mechanically separated to avoid that all contacts switch at the same time when being operated. ƒ The NO contacts of S1 and S2 may only close when the NC contacts are open. NO contacts and NC contacts must not be operated at the same time. ƒ Design S1 and S2 for a voltage of 24 V DC. If a higher voltage occurs in the electrical environment, the switches must have an insulation voltage. This insulation voltage must at least correspond to the highest voltage that can occur in case of an error. ƒ Ensure that double channel is available for control category 3: – For every disconnection (also single−channel) via the contacts 13/14 of the switches S1 and S2, the supply of the brake is interrupted, so that the brake is applied. Additionally the internal brake relay has to be switched off by the application. – The supply of the output (X6/S24) via the NC contacts 11/12 of the switches S1 and S2 only is put through if the controller is switched off by two channels. By this it is prevented that the output X6/SO outputs a HIGH level in case of a short circuit of the internal transistor, while the drive is not switched off by two channels. ƒ The switch contacts must resist the maximum current of the 24 V DC voltage supply. ƒ All control components (switches relays, PLC, ...) and the control cabinet must comply with the requirements of the EN 954−1 and EN 954−2 (from 01.01.2007: EN ISO 13849). This includes among other things: – Switches, relays with enclosure IP54. – Control cabinet with enclosure IP54. – Gather all further requirements from EN 954−1 and EN 954−2 (from 01.01.2007: EN ISO 13849). ƒ The wiring with wire end ferrules is essential. ƒ All safety−relevant cables (e. g. control cable for the safety relay, feedback contact) must be installed outside the control cabinet, e. g. in the cable duct. It must be ensured that short circuits between the single cables cannot occur! For further measures see EN 954−2 (from 01.01.2007:13849), table D4. EDBCSXS064 EN 3.0 � 59 5 Electrical installation Control terminals (X6) Safe torque off "Safe torque off" with safety PLC The version "safe torque off" with safety PLC must ensure the functions of the multiple−contact switches. The following conditions must be fulfilled: ƒ The NO contacts only close after the NC contacts are open. ƒ Voltage supply for the brake must be safely switched off in the event of LOW level at X6/SI1 and/or LOW level at X6/SI2. ƒ Voltage supply for the output X6/SO must be safely switched off in the event of HIGH level at x6/SI1 and/or HIGH level at x6/SI2. ƒ Safe processing of the output signal at X6/SO for higher−level safety concepts. ƒ The PLC must be programmed so that the following requirements are met: – The input and output states of output X6/SO are checked for plausibility according to the following truth table. – The entire system is put into a safe state, when the plausibility check results in an impermissible state. Permissible and impermissible states of the "safe torque off" function at the axis module Resulting level at Impermissible level at Level at input terminal output terminal output terminal X6/SI1 X6/SI2 X6/SO X6/SO LOW LOW HIGH LOW LOW HIGH LOW HIGH LOW LOW HIGH HIGH HIGH LOW ƒ All control components (switches relays, PLC, ...) and the control cabinet must comply with the requirements of the EN 954−1 and EN 954−2 (from 01.01.2007: EN ISO 13849). This includes among other things: – Switches, relays with enclosure IP54. – Control cabinet with enclosure IP54. – Gather all further requirements from EN 954−1 and EN 954−2 (from 01.01.2007: EN ISO 13849). ƒ The wiring with wire end ferrules is essential. ƒ All safety−relevant cables (e.g. control cable for the safety relay, feedback contact) must be installed outside the control cabinet, e. g. in the cable duct. It must be ensured that short circuits between the single cables cannot occur! For further measures see EN 954−2 (from 01.01.2007:13849), table D4. EDBCSXS064 EN 3.0 60 � Electrical installation 5 Control terminals (X6) Safe torque off 5.3.3.6 Function check ƒ After installation the operator must check the "safe torque off" function. ƒ The function check must be regularly repeated, after one year at the latest. � Stop! If the function check leads to impermissible states at the terminals, the commissioning cannot take place! Test specifications ƒ Check the circuitry for correct function. ƒ Check directly at the terminals whether the "safe torque off" function operates faultlessly in the axis module: Permissible and impermissible states of the "safe torque off" function at the axis module Resulting level at Impermissible level at Level at input terminal output terminal output terminal X6/SI1 X6/SI2 X6/SO X6/SO LOW LOW HIGH LOW LOW HIGH LOW HIGH LOW LOW HIGH HIGH HIGH LOW EDBCSXS064 EN 3.0 � 61 5 Electrical installation Automation interface (AIF) Safe torque off 5.4 Automation interface (AIF) A communication module can be plugged on or removed from the automation interface (X1). This can also be done during operation. A variety of communication modules are available for power supply modules and axis modules of the ECS series: Communication module Type/order number Keypad XT EMZ9371BC Diagnosis terminal (hand−held keypad XT) E82ZBBXC LECOM−A (RS232) EMF2102IB−V004 LECOM−B (RS485) EMF2102IB−V002 LECOM−A/B (RS232/485) EMF2102IB−V001 LECOM−LI (optical fibre) EMF2102IB−V003 LON EMF2141IB INTERBUS EMF2113IB PROFIBUS−DP EMF2133IB DeviceNet/CANopen EMF2175IB CAN addressing EMF2174IB Voltage supply via DIN connection PC system bus adapter EMF2173IB Voltage supply via PS2 connection EMF2173IB−V002 Voltage supply via PS2 connection, electrical EMF2173IB−V003 isolation to the CAN bus USB system bus adapter EMF2177IB � Further information .... on wiring and application of communication modules can be found in the corresponding Mounting Instructions and Communication Manuals. EDBCSXS064 EN 3.0 62 � Electrical installation 5 Wiring of MotionBus/system bus (CAN) Safe torque off 5.5 Wiring of MotionBus/system bus (CAN) Basic wiring of CAN buses The following two basic schematic diagrams show drive systems with different conductivity concepts: ƒ In Fig.5−13 a higher−level control assumes the function of the master, e.g. ETC. ƒ In Fig.5−14 the function of the master is enabled by a controller intended as master. In both representations the master values are transmitted via the MotionBus (CAN). The system bus (CAN) serves to diagnose and/or parameterise the drives. M PC HMI MB SB X4 X14 X4 X14 X4 X14 SSS ECS_COB006 Fig.5−13 MotionBus (CAN) with master control MB MotionBus (CAN), connection to plug connector X4 SB System bus (CAN), connection to plug connector X14 M Master E Slave PC PC HMI HMI / operating unit PC HMI MB SB X4 X14 X4 X14 X4 X14 M SS ECS_COB007 Fig.5−14 MotionBus (CAN) with controller as master MB MotionBus (CAN), connection to plug connector X4 SB System bus (CAN), connection to plug connector X14 M Master E Slave PC PC HMI HMI / operating unit EDBCSXS064 EN 3.0 � 63 5 Electrical installation Wiring of MotionBus/system bus (CAN) Safe torque off Wiring of the MotionBus (CAN) ECS_COB004 Fig.5−15 Wiring example for the MotionBus (CAN) ECS ECS axis module M Master control, e.g. ETC � Stop! Connect a 120 � terminating resistor to the first and last node of the MotionBus/system bus (CAN). EDBCSXS064 EN 3.0 64 � Electrical installation 5 Wiring of MotionBus/system bus (CAN) Safe torque off Specification of the transmission cable Please observe our recommendations for signal cables: Transmission cable specification Total length � 300 m � 1000 m 2 2 Cable type LIYCY 2 x 2 x 0.5 mm CYPIMF 2 x 2 x 0.5 mm (twisted in pairs with shield) (twisted in pairs with shield) Specific resistance � 80 �/km � 80 �/km Capacitance per unit � 130 nF/km � 60 nF/km length ECS_COB003 Fig.5−16 Bus connections at the controller Assignment of the plug connector for the MotionBus (CAN) X4 Explanation CH CAN−HIGH CL CAN−LOW CG Reference potential of the MotionBus (CAN) Assignment of the plug connector for the system bus (CAN) X14 Explanation CAH CAN−HIGH CAL CAN−LOW CAG Reference potential of the system bus (CAN) EDBCSXS064 EN 3.0 � 65 5 Electrical installation Wiring of MotionBus/system bus (CAN) Safe torque off Bus cable length � Note! Be sure to observe the permissible cable lengths. 1. Check the compliance with the total cable length in Tab. 5−1. The baud rate specifies the total cable length. Baud rate [kBit/s] Max. bus length [m] 50 1500 125 630 250 290 500 120 1000 25 Tab. 5−1 Total cable length 2. Check the compliance of the segment cable length in Tab. 5−2. The segment cable length is specified by the cable cross−section used, and by the number of nodes. Without a repeater, the segment cable length equals the total cable length. Cable cross−section 2 2 2 2 0.25 mm 0.5 mm 0.75 mm 1.0 mm Nodes 2 240 m 430 m 650 m 940 m 5 230 m 420 m 640 m 920 m 10 230 m 410 m 620 m 900 m 20 210 m 390 m 580 m 850 m 32 200 m 360 m 550 m 800 m 63 170 m 310 m 470 m 690 m Tab. 5−2 Segment cable length 3. Compare the two determined values to each other. If the value determined from Tab. 5−2 is smaller than the total cable length from Tab. 5−1 to be implemented, repeaters have to be used. Repeaters divide the total cable length in segments. � Note! ƒ Observe the reduction of the total cable length due to the signal delay of the repeater (see example � 67). ƒ Mixed mode – Mixed mode is available if different nodes are operated on one mains. – If the respective total cable lengths of the nodes are different at the same baud rate, the smaller value has to be used for determining the max. cable length. EDBCSXS064 EN 3.0 66 � Electrical installation 5 Wiring of MotionBus/system bus (CAN) Safe torque off Example: Selection help Specifications 2 � Cable cross−section: 0.5 mm (according to cable specification � 65 ) � Number of nodes: 63 � Repeater: Lenze repeater, type 2176 (cable reduction: 30 m) For the max. number of nodes (63), the following cable lengths / number of repeaters are observed from the specification: Baud rate [kBit/s] 50 120 250 500 1000 Max. cable length [m] 1500 630 290 120 25 Segment cable length [m] 310 310 290 120 25 Number of repeaters 5 2 − − − Check repeater application Specifications � Baud rate: 125 kbits/sec 2 � Cable cross−section: 0.5 mm � Number of nodes: 28 � Cable length: 450 m Test steps Cable length see 1. Total cable length at 125 kBit/s: 630 m Off Tab. 5−1 2. Segment cable length for 28 nodes and for a cable cross−section of 360 m Off Tab. 5−2 2 0.5 mm : 3. Comparison: The value in point 2 is smaller than the cable length of 450 m to be implemented. Conclusion � Without the use of repeaters, the cable length of 450 m that is to be implemented is not possible. � After 360 m (point 2), a repeater has to be used. Result � The Lenze repeater, type 2176 (cable reduction: 30 m) is used � Calculation of the max. cable length: First segment: 360 Second segment: 360 m (according to Tab. 5−1) minus 30 m (cable reduction if a repeater is used) � Max. cable length to be implemented with a repeater: 690 m. � Therefore, the specified cable length can be implemented. � Note! The use of a further repeater is recommended as ƒ a service interface Advantage: A trouble−free coupling in the running bus operation can be achieved. ƒ Calibration interface Advantage: The calibration/programming device is isolated. EDBCSXS064 EN 3.0 � 67 5 Electrical installation Wiring the feedback system Resolver connection 5.6 Wiring the feedback system Different feedback system can be connected to the axis module: ƒ Resolver on X7 (� 68) ƒ Encoder on X8 (� 69) – Incremental encoder with TTL level – Sin/cos encoder with rated voltage (5 ... 8 V) – SinCos absolute value encoder (single−turn/multi−turn) with serial communication (hyperface interface) � Note! ƒ We recommend to use Lenze system cables for wiring. ƒ With self−prepared cables only use cables with shielded cores twisted in pairs. 5.6.1 Resolver connection � Note! Before using a resolver from another manufacturer, please consult Lenze. Via the 9−pole Sub−D socket X7, you connect a resolver. Features ƒ 2−pole resolver (U = 10 V, f = 4 kHz) ƒ The resolver and resolver supply cable are monitored with regard to open circuit (error message "Sd2") X7 � 2 mm AWG +REF 1 0.5 20 -REF X7 2 1 3 6 +COS 4 -COS 5 9 5 +SIN 6 0.14 26 -SIN 7 R1 (+KTY) 8 R2 (-KTY) 9 KTY ECSXA022 Fig.5−17 Resolver connection Connector assignment X7: socket , Sub−D 9−pole Pin 1 2 3 4 5 6 7 8 9 Signal +Ref −Ref GND +COS −COS +SIN −SIN R1 (+KTY) R2 (−KTY) 2 2 0.5 mm (AWG 20) ˘ 0.14 mm (AWG 26) EDBCSXS064 EN 3.0 68 � Electrical installation 5 Wiring the feedback system Encoder connection 5.6.2 Encoder connection Via the 9−pole Sub−D−plug X8, you can connect the following encoders: ƒ Incremental encoder – with two 5 V complementary signals (TTL encoders) that are electrically shifted by 90°. – Optionally, the zero track can be connected. ƒ Sin/cos encoder – with rated voltage (5 ... 8 V). – with serial communication (single−turn or multi−turn; the initialisation time of the axis module is extended to approx. 2 s). The controller supplies the encoder with voltage. Use C0421 to set the supply voltage V (5 ... 8 V) to compensate, if required, the voltage CC loss [�U] on the encoder cable: �U� 2� L �[m]� R�m�[��m]� I �[A] L G �U Voltage loss on the encoder cable [V] L Cable length [m] L R/m Resistance per meter of cable length [�/m] I Encoder current [A] G � Stop! Observe the permissible connection voltage of the encoder used. If the values in C0421 are set too high, the encoder can be destroyed! EDBCSXS064 EN 3.0 � 69 5 Electrical installation Wiring the feedback system Encoder connection Incremental encoder (TTL encoder) Features Input/output frequency: 0 ... 200 kHz Current consumption: 6 mA per channel Current on output V (X8/pin 4): Max. 200 mA CC <50m 5 9 X8 B B 6 1 1 A 2 A 3 V CC � 4 GND A 5 A Z 6 Z B 7 KTY B R1 (+KTY) 8 Z R2 (-KTY) Z 9 ECSXA026 Fig.5−18 Connection of incremental encoder with TTL level � Signals in case of clockwise rotation Cores twisted in pairs Connector assignment X8: pins, Sub−D 9−pole Pin 1 2 3 4 5 6 7 8 9 Signal B A A V GND Z Z R2 B CC (R1/+KTY) (−KTY) 2 2 2 0.14 mm (AWG 26) 1 mm (AWG 18) 0.14 mm (AWG 26) EDBCSXS064 EN 3.0 70 � Electrical installation 5 Wiring the feedback system Encoder connection SinCos encoder Features Input/output frequency: 0 ... 200 kHz Internal resistance (R ): 221 � i Offset voltage for signals SIN, COS, Z: 2.5 V ƒ The differential voltage between the signal track and the reference track must not exceed 1 V � 10 % ! ƒ The connection is open−circuit monitored (error message Sd8) ƒ For encoders with tracks sine, sine and cosine, cosine: – Assign RefSIN with sine. – Assign RefCOS with cosine. <50m 5 9 X8 RefSIN SIN 1 6 1 RefCOS 2 COS 3 V CC 4 � GND SIN 5 Z RefSIN = 2.5 V 6 0.5V Z 7 KTY R1 (+KTY) COS 8 R2 (-KTY) RefCOS = 2.5 V 9 0.5 V ECSXA023 Fig.5−19 Sin/cos encoder connection � Signals in case of clockwise rotation Cores twisted in pairs Connector assignment X8: pins, Sub−D 9−pole Pin 1 2 3 4 5 6 7 8 9 Signal SIN RefCOS COS V GND Z or Z or R1 RefSIN CC (cosinus) (R2/−KTY) −RS458 +RS485 (+KTY) (sinus) 2 2 2 0.14 mm (AWG 26) 1 mm (AWG 18) 0.14 mm (AWG 26) EDBCSXS064 EN 3.0 � 71 5 Electrical installation Master frequency input/output (encoder simulation) 5.7 Master frequency input/output (encoder simulation) � Note! ƒ We recommend to use Lenze system cables for wiring. ƒ With self−prepared cables only use cables with shielded cores twisted in pairs. The 9−pole Sub−D plug X8 can be used as a digital frequency input or as a digital frequency output (e.g. for encoder simulation) (configuration via C0491). The digital frequency coupling of ECS axis modules in principle is effected as a master−slave connection. If several ECS axis modules (max. 3 slaves) are connected to a master, the EMF2131IB digital frequency distributor is required for this purpose (� 73). Features X8 as master frequency input X8 as master frequency output � Input frequency: 0 ... 200 kHz � Output frequency: 0 ... 200 kHz � Current consumption: max. 6 mA per channel � Permissible current loading: max. 20 mA per channel � Two−track with inverse 5 V signals and zero track � Two−track with inverse 5 V signals (RS422) � Possible input signals: � The function of the output signals can be set via – incremental encoder with two 5 V complementary C0540 (� 248). signals (TTL encoders) offset by 90° � The function of the input signals can be set via C0427 (� 245). EDBCSXS064 EN 3.0 72 � Electrical installation 5 Master frequency input/output (encoder simulation) <50m 5 9 B X8 X8 (ECS-Master) (ECS-Slave) B 1 1 6 1 A 2 2 A 3 3 4 4 � GND A 5 5 A Z 6 6 B Z 7 7 B 8 8 Z Z 9 9 ECSXA029 Fig.5−20 Connection of the master frequency input/output X8 (master � slave) � Signals for clockwise rotation Cores twisted in pairs Connector assignment X8: pins, Sub−D 9−pole Pin 1 2 3 4 5 6 7 8 9 Input signal B A A ˘ GND Z Z ˘ B Output signal B A A ˘ GND Z Z ˘ B 2 2 2 0.14 mm (AWG 26) 1 mm (AWG 18) 0.14 mm (AWG 26) P M S S S 1 2 3 X S X4/X14 X8 X4/X14 X8 X4/X14 X8 X4/X14 X8 L 2 X4 L L 1 2 X3 L 2 X2 X1 LV X5 ECSXP001 Fig.5−21 ECS devices in the CAN network with digital frequency distributor p Drive PLC or client PLC for activating the drive system Conductivity master (ECSxS/P/A axis module) M S Slave 1, slave 2, slave 3 (ECSxS/P/A axis module) 1,2,3 LV EMF2132IB Digital frequency distributor L1 EYD0017AxxxxW01W01, connecting cable L2 EYD0017AxxxxW01S01, connecting cable EDBCSXS064 EN 3.0 � 73 120 6 Commissioning Before you start 6 Commissioning 6.1 Before you start � Note! ƒ In the description of the commissioning steps the use of a Lenze motor is assumed. For details on the operation with other motors see � 114. ƒ The operation with the Lenze parameter setting and operating program Global Drive Control (GDC) is taken as a basis. The parameters are displayed in the online mode, i.e. GDC can directly access the codes of the axis module. Prior to initial switch−on of the drive system, check the wiring for completeness, short−circuit, and earth fault: ƒ Power connection: – Polarity of the DC−bus voltage supply via terminals +UG, −UG ƒ Motor connection: – Connection to the motor in correct phase relation (direction of rotation) ƒ Wiring of �safe torque off" (formerly "safe standstill") ƒ Feedback system ƒ Control terminals: – Wiring adjusted to the signal assignment of the control terminals. EDBCSXS064 EN 3.0 74 � Commissioning 6 Commissioning steps (overview) 6.2 Commissioning steps (overview) Start Carry out basic settings (�� 76) Select operating mode/control structure (�� 94) Set machine parameters for Set machine parameters for speed control torque control (�� 109) (�� 109) � Switch on the mains. � Enable controller (� 120). � Save parameters in the controller with C0003 = 1. � Save parameter set with GDC in the parameter set file. Optimise drive behaviour (�� 120) � Save parameters in the controller with C0003 = 1. � Save parameter set with GDC in the parameter set file. End EDBCSXS064 EN 3.0 � 75 6 Commissioning Carrying out basic settings with GDC 6.3 Carrying out basic settings with GDC � Note! ƒ Switch on the low−voltage supply (24 V DC) before carrying out the settings. ƒ Observe the commissioning steps in the given order. Setting Short description Detailed information Basic settings of the device Preconditions � Green LED off, red LED blinking (mains is disconnected). � Ensure that the controller inhibit is active if the low−voltage supply is switched on. 1. Switch on low−voltage supply. 2. Connect PC / laptop (with Connection to terminal X14 (CAN−AUX) with PC system bus � 127 installed GDC parameter adapter. setting program) to the controller. 3. Start GDC and select the device Selecting a device: GDC online to be set. help Change to the online mode via the GDC tool bar with the key and select "Searching for drives" using the key. � Drive is identified and the parameter menu is opened. 4. If the controller is operated � CAN node address (via DIP switch) � 150 within a CAN network, set � Baud rate (via DIP switch) communication parameters. � C0356 (CAN boot up/cycle time) � 154 � C1120 = 1 (sync connection via MotionBus (CAN)) � 155 � C1121 (synchronisation cycle [in ms]) 5. Set mains data. Set the codes in the GDC parameter menu under Short � 78 setup � Mains. � C0173 (voltage thresholds) � C0175 (function of the charge relay) – For operation with power supply module ECSxE set C0175 = 3. 6. Enter motor data. Lenze motors: Use the motor assistant of the GDC. � 81 Motors of other manufacturers � 114 7. Configure holding brake. � Not required if a holding brake is not available; � 83 otherwise � set C0472/10 (speed threshold) > 0 (e. g. 1 %) for closing the holding brake. 8. Set feedback system. � With resolver feedback system (standard): Set the codes � 84 in the GDC parameter menu under Short setup � Feedback. � Alternative feedback systems can be set in the GDC parameter menu under Motor/Feedback � Feedback. 9. A Set direction of rotation of Set C0114/x (polarity dig. inputs) in the parameter menu � 92 the motor/polarity of the of the GDC under Terminal E/A � Digital inputs: digital inputs. � CW rotation – C0114/1 = HIGH level active (X6/DI1) – C0114/2 = LOW level active (X6/DI2) � CCW rotation – C0114/1 = LOW level active (X6/DI1) – C0114/2 = HIGH level active (X6/DI2) � Quick stop (QSP) – C0114/1 = LOW level active (X6/DI1) � 112 – C0114/2 = LOW level active (X6/DI2) B Set polarity of the digital Set C0118/1 (polarity of dig. output X6/DO1) in the GDC � 92 outputs. parameter menu under Terminal I/O � Digital outputs. EDBCSXS064 EN 3.0 76 � Commissioning 6 Carrying out basic settings with GDC Setting Short description Detailed information Basic control settings 10. Select operating mode/control � 94 A Speed control: structure. Set the following in the parameter menu of the GDC under Short setup � Speed: – C3005 = 1000: setpoint via analog input – C3005 = 1003: setpoint via AIF – C3005 = 1005: setpoint via MotionBus (CAN) B Torque control: Set the following in the parameter menu of the GDC under Short setup � Torque: – C3005 = 4000: setpoint via analog input – C3005 = 4003: setpoint via AIF – C3005 = 4005: setpoint via MotionBus (CAN) 11. The basic settings are now A parameter settings for speed control � 109 completed. Continue with the B parameter settings for torque control ... EDBCSXS064 EN 3.0 � 77 6 Commissioning Setting of mains data Selecting the function of the charge relay 6.4 Setting of mains data The GDC includes the parameters and codes to be set in the parameter menu under Short setup ��Mains: ECSXA301 Fig.6−1 GDC view: Short setup of the mains data 6.4.1 Selecting the function of the charge relay The ECS axis modules are provided with a charging current limitation by means of charge resistors and charge relays. In the Lenze setting the charging current limitation is activated (C0175 = 1). At mains connection the charge relay remains open for a while so that the charging current of the DC bus is limited by the charging resistors. When a certain voltage level has been reached, the charging resistors are short circuited by switching on (closing) the charge relay contacts. � Stop! ƒ If the DC−bus voltage is generated with an ECSxE power supply module, the DC bus is loaded in a controlled way. Therefore C0175 = 3 must be set for the axis module. ƒ Cyclic switching of the mains voltage at the power supply module can overload and destroy the input current limitation of the axis module if C0175 = 1 or C0175 = 2. For this reason allow a break of three minutes between two starting operations in case of cyclic mains switching over a longer period of time! Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0175 UG−Relais Fkt 1 Charge relay behaviour with � 78 undervoltage (LU) in the DC bus. 1 Standard Relay switches as a function of LU. 2 One Time Relay switches when LU is exceeded for the first time and remains on. 3 Fixed On Charging current limitation is inactive. � Relay is always switched on and the charging resistors of the axis module are thus permanently jumpered. � Setting for operation with ECSxE power supply module. EDBCSXS064 EN 3.0 78 � Commissioning 6 Setting of mains data Setting the voltage thresholds 6.4.2 Setting the voltage thresholds � Note! All drive components in DC−bus connections must have the same thresholds! Selection Mains voltage Brake unit LU message OU message (Undervoltage) (Overvoltage) C0173 Power supply module Setting Resetting Setting Resetting [V DC] [V DC] [V AC] [V DC] [V DC] 0 230 yes/no 130 275 400 390 1 400 yes/no 285 430 800 790 2 400 ... 460 yes/no 328 473 800 790 3 480 no 342 487 800 785 4 480 yes 342 487 800 785 10 230 yes/no C0174 C0174 + 5 V 400 390 11 400 (Lenze setting) yes/no C0174 C0174 + 5 V 800 790 12 400 ... 460 yes/no C0174 C0174 + 5 V 800 790 13 480 no C0174 C0174 + 5 V 800 785 14 480 yes C0174 C0174 + 5 V 800 785 EDBCSXS064 EN 3.0 � 79 6 Commissioning Setting of mains data Setting the voltage thresholds Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0173 UG limit 11 Adaptation of the DC−bus � 78 voltage thresholds: � Check during commissioning and adapt, if necessary. � All drive components in DC bus connections must have the same thresholds. – LU = Undervoltage threshold – OU = Overvoltage threshold 0 Mains = 230V +− B Operation on 230 V mains with or without brake unit LU = 130 V, OU = 400 V 1 Mains = 400V +− B Operation on 400 V mains with or without brake unit LU = 285 V, OU = 800 V 2 Mains = 460V +− B Operation on 460 V mains with or without brake unit LU = 328 V, OU = 800 V 3 Mains = 480V − B Operation on 480 V mains without brake unit LU = 342 V, OU = 800 V 4 Mains = 480V + B Operation on 480 V mains with brake unit LU = 342 V, OU = 800 V 10 Mains = 230V +− B Operation on 230 V mains with or without brake unit LU = C0174, OU = 400 V 11 Mains = 400V +− B Operation on 400 V mains with or without brake unit LU = C0174, OU = 800 V 12 Mains = 460V +− B Operation on 460 V mains with or without brake unit LU = C0174, OU = 800 V 13 Mains = 480V − B Operation on 480 V mains without brake unit LU = C0174, OU = 800 V 14 Mains = 480V + B Operation on 480 V mains with brake unit LU = C0174, OU = 800 V C0174 UG min 60 Undervoltage threshold of DC � 78 bus (LU) 15 {1 V} 342 EDBCSXS064 EN 3.0 80 � Commissioning 6 Entry of motor data for Lenze motors 6.5 Entry of motor data for Lenze motors � Note! The following only describes the parameter setting for Lenze motors! (If you use a motor from another manufacturer, see � 114) Parameter setting with the "Input assistant for motor data" of the GDC 1. Select the menu item Tool � Motor data from the menu bar of the GDC or click on the button with the voltage divider symbol in the tool bar (the rightmost symbol in the illustration): ECSXA300 Fig.6−2 GDC view: Menu bar and tool bar – The "Input assistant for motor data" opens: ECSXA311 Fig.6−3 GDC view: Selection of motor list 2. Select the "Lenze motor list" and then click on the [ Continue ] button. EDBCSXS064 EN 3.0 � 81 6 Commissioning Entry of motor data for Lenze motors ECSXA302 Fig.6−4 GDC view: Selection of motor 3. Select the connected motor from the list (see motor nameplate). – The corresponding motor data are displayed in the "Motor data" fields. 4. Click on the [ Complete ] button. – The data are transferred to the controller. This process can take a few seconds and is confirmed by a message after being completed. EDBCSXS064 EN 3.0 82 � Commissioning 6 Holding brake configuration 6.6 Holding brake configuration � Tip! If you use a motor without a holding brake, you can skip this chapter. In the GDC, the parameters or codes to be set can be found in the parameter menu under Short setup�� Brake: ECSXA303 Fig.6−5 GDC view: Short setup of the holding brake Code Designation Description C0195 Brake closing The time required for closing the holding brake. time/engagement � Only after this time has elapsed, the controller inhibit is activated (control time bit CINH = 1 (TRUE)). C0196 Brake opening The time required for opening the holding brake. time/disengagement � During the time set the drive generates the torque set under C0244 time against the holding brake. � If an actual speed higher than the value in C0472/10 is detected before the brake opening time (C0196) has expired, the drive can immediately change to speed−controlled operation. C0244 Holding torque Holding torque of the drive against the holding brake � 100 % � value of C0057 C0472/10 FCODE analog [%] Speed threshold from which the drive is allowed to output the signal "Close brake". � This code refers to the maximum speed set in C0011. Note: Enter a value > 0 so that the brake can be opened. C0472/11 FCODE analog [%] Value/direction of the torque against the holding brake. EDBCSXS064 EN 3.0 � 83 6 Commissioning Setting of the feedback system for position and speed control Resolver for position and speed control 6.7 Setting of the feedback system for position and speed control These feedback systems can be set for position and speed control: ƒ Resolver (� 84) on X7 ƒ Incremental encoder/sin/cos encoder without serial communication on X8 (� 87) ƒ Absolute value encoder (hyperface, single−turn/multi−turn) on X8 (� 88) 6.7.1 Resolver for position and speed control If a resolver is connected to X7 and used for position and speed control, no settings are required. Lenze setting: ƒ Feedback system for position control: C0490 = 0 ƒ Feedback system for speed control: C0495 = 0 � Note! When an absolute value encoder (hyperface, single−turn/multi−turn) is used, the settings for C0490 and C0495 must be the same. 6.7.2 Codes for setting the resolver feedback The GDC includes the parameters or codes to be set in the parameter menu under Short setup ��Feedback: ECSXA304 Fig.6−6 GDC view: Short setup of the feedback system EDBCSXS064 EN 3.0 84 � Commissioning 6 Setting of the feedback system for position and speed control Codes for setting the resolver feedback Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C0490] Feedback pos 0 Selection of feedback system for � 84 positioning control When an absolute value encoder (single−turn, multi−turn) is used, the settings for C0490 and C0495 must be the same. 0 Resolver at X7 Standard setting 1 TTL encoder at X8 2 Sin/cos encoder at X8 3 Absolute value encoder (single−turn) at X8 4 Absolute value encoder (multi−turn) at X8 [C0495] Feedback n 0 Selection of feedback system for � 84 speed control When an absolute value encoder (single−turn, multi−turn) is used, the settings for C0490 and C0495 must be the same. 0 Resolver at X7 Standard setting 1 TTL encoder at X8 2 Sin/cos encoder at X8 3 Absolute value encoder (single−turn) at X8 4 Absolute value encoder (multi−turn) at X8 Codes for optimising the operation and display Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0058 Rotor diff −90.0 Rotor displacement angle for � 117 synchronous motors (C0095) Only display −180.0 {0.1 �} 179.9 [C0080] Res pole no. 1 Number of pole pairs of resolver 1 {1} 10 [C0095] Rotor pos adj 0 Rotor position adjustment of a � 117 synchronous motor C0058 shows the rotor displacement angle. 0 Inactive 1 Active EDBCSXS064 EN 3.0 � 85 6 Commissioning Setting of the feedback system for position and speed control Codes for setting the resolver feedback Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C0416] Resolver adj. 5 Setting of resolver excitation � 84 amplitude 0 100 % 1 80 % 2 68 % 3 58 % 4 50 % 5 45 % 6 40 % 7 37 % [C0417] Resolver cor. 0 Resolver adjustment � 125 0 Ready 1 Start adjustment 2 Loading default values EDBCSXS064 EN 3.0 86 � Commissioning 6 Setting of the feedback system for position and speed control Incremental encoder / sin/cos encoder without serial communication 6.7.3 Incremental encoder / sin/cos encoder without serial communication If an incremental encoder or a sin/cos encoder without serial communication is connected to X8 and used for position and speed control, comply with the following setting sequence: 1. Select encoder for position and speed control. – Incremental encoder (TTL encoder): C0490 and C0495 = 1 – Sin/cos encoder without serial communication: C0490 and C0495 = 2 If X8 has been selected as output due to a change of C0491, an automatic reset to input is made due to the encoder selection. 2. Select encoder used. – Incremental encoder (TTL encoder): C0419 = 110 ... 113 – Sin/cos encoder without serial communication: C0419 = 210 ... 213 – Encoder used is not in the list: C0419 = 1 ("Common") 3. When setting C0419 = 1 ("Common") configure encoder data. � Note! When setting C0419 = 11x or 21x do not configure encoder data. The encoder data (C0420, C0421, C0427) are set automatically in accordance with the selection. – C0420 (number of increments of the encoder) – C0421 (encoder voltage) – C0427 (signal type of the encoder) 4. Set encoder mounting position. – C3001 = 0: normal (direction of rotation CW with regard to direction of rotation of the motor) – C3001 = 1: inverse (direction of rotation CCW with regard to direction of rotation of the motor) 5. Save settings with C0003 = 1. EDBCSXS064 EN 3.0 � 87 6 Commissioning Setting of the feedback system for position and speed control Absolute value encoder (hyperface, single−turn/multi−turn) 6.7.4 Absolute value encoder (hyperface, single−turn/multi−turn) If an absolute value encoder with a hyperface interface is connected to X8 and is used for position and speed control, comply with the following setting sequence: 1. Select absolute value encoder for position and speed control. – Single−turn encoder: C0490 and C0495 = 3 – Multi−turn encoder: C0490 and C0495 = 4 If X8 has been selected as output due to a change of C0491, an automatic reset of X8 as an input is effected due to the encoder selection. � Note! When an absolute value encoder (hyperface, single−turn/multi−turn) is used, the settings for C0490 and C0495 must be the same. 2. Select an absolute value encoder. – Single−turn encoder: C0419 = 307 ... 311 – Multi−turn encoder: C0419 = 407 ... 411 The encoder data (C0420, C0421, C0427) is set automatically in accordance with the selection. � Danger! Injury to persons/breakdown of machinery may occur when absolute value encoders are used! This means: ƒ In case of an operating system up to and including version 6.7, a connected motor may start in an uncontrolled manner with high speed and torque after mains connection and controller enable. Therefore: ƒ Do not parameterise codes C0420, C0421 and C0427! 3. Set encoder mounting position. – C3001 = 0: normal (same direction of rotation as direction of rotation of the motor) – C3001 = 1: inverse (opposite direction of rotation to direction of rotation of the motor) 4. Save settings with C0003 = 1. EDBCSXS064 EN 3.0 88 � Commissioning 6 Setting of the feedback system for position and speed control Codes for setting the encoder feedback 6.7.5 Codes for setting the encoder feedback The GDC contains the parameters or codes to be set in the parameter menu under Motor/Feedback�� Feedback. ECSXA313 Fig.6−7 GDC view: Commissioning of further feedback systems Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C0419] Enc. setup 110 Encoder selection � 245 � Selection of encoder which is � 87 indicated on the nameplate of � 88 the Lenze motor. � The encoder data (C0420, C0421, C0427) is set automatically in accordance with the selection. 0 COMMON 110 IT512−5V Incremental encoder with TTL level 111 IT1024−5V 112 IT2048−5V 113 IT4096−5V 210 IS512−5V Sin/cos encoder 211 IS1024−5V 212 IS2048−5V 213 IS4096−5V 307 AS64−8V SinCos absolute value encoder with hyperface interface 308 AS128−8V (single−turn) 309 AS256−8V 307, 308, 309 can only be selected using the operating 310 AS512−8V system 7.0 or higher. 311 AS1024−8V 407 AM64−8V SinCos absolute value encoder with hyperface interface 408 AM128−8V (multi−turn) 409 AM256−8V 407, 408, 409 can only be selected using the operating 410 AM512−8V system 7.0 or higher. 411 AM1024−8V EDBCSXS064 EN 3.0 � 89 6 Commissioning Setting of the feedback system for position and speed control Codes for setting the encoder feedback Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C0490] Feedback pos 0 Selection of feedback system for � 84 positioning control When an absolute value encoder (single−turn, multi−turn) is used, the settings for C0490 and C0495 must be the same. 0 Resolver at X7 Standard setting 1 TTL encoder at X8 2 Sin/cos encoder at X8 3 Absolute value encoder (single−turn) at X8 4 Absolute value encoder (multi−turn) at X8 [C0495] Feedback n 0 Selection of feedback system for � 84 speed control When an absolute value encoder (single−turn, multi−turn) is used, the settings for C0490 and C0495 must be the same. 0 Resolver at X7 Standard setting 1 TTL encoder at X8 2 Sin/cos encoder at X8 3 Absolute value encoder (single−turn) at X8 4 Absolute value encoder (multi−turn) at X8 [C0491] X8 in/out 0 Function of X8 � 245 � 248 0 X8 is input � 87 1 X8 is output � 88 [C0420] Encoder const. 1024 � 245 Number of increments of the encoder � 87 � 88 1 {1 inc/rev} 8192 Sets C0419 = 0 ("common") if the value is altered. [C0421] Encoder volt 0 Encoder voltage � 245 � 87 0 5.0 V Sets C0419 = 0 ("common") if the � 88 value is altered. 1 5.6 V 2 6.3 V 3 6.9 V 4 7.5 V 5 8.1 V [C0427] Enc. signal 0 Function of the master frequency � 245 input signals on X8 (DFIN) � 87 � 88 0 2−phase 1 A: speed B: direction 2 A or B: speed or direction C0058 Rotor diff −90.0 Rotor displacement angle for � 117 synchronous motors (C0095) Only display −180.0 {0.1 �} 179.9 EDBCSXS064 EN 3.0 90 � Commissioning 6 Setting of the feedback system for position and speed control Codes for setting the encoder feedback Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C0095] Rotor pos adj 0 Rotor position adjustment of a � 117 synchronous motor C0058 shows the rotor displacement angle. 0 Inactive 1 Active EDBCSXS064 EN 3.0 � 91 6 Commissioning Configuring the digital inputs and outputs Setting the polarity 6.8 Configuring the digital inputs and outputs 6.8.1 Setting the polarity For each digital input and digital output the polarity can be defined. By this, you determine whether the input or output is HIGH active or LOW active. The following is provided: ƒ 4 freely assignable digital inputs (X6/DI1 ... DI4) ƒ 1 digital output (X6/DO1) ƒ 1 relay output (X25/BD1, BD2) The GDC contains codes for setting the polarity of digital inputs and outputs in the parameter menu under Terminal I/O: ECSXA308 Fig.6−8 GDC view: Setting of the polarity of digital inputs and outputs 6.8.2 Setting the direction of rotation Based on the Lenze setting, the direction of rotation of the motor depends on ƒ the sign of the speed setpoint. ƒ the polarity of the digital inputs X6/DI1 and X6/DI2. How to set the polarity/direction of rotation via C0114/x: ƒ CW rotation – C0114/1 = HIGH level active (X6/DI1) – C0114/2 = LOW level active (X6/DI2) ƒ CCW rotation – C0114/1 = LOW level active (X6/DI1) – C0114/2 = HIGH level active (X6/DI2) ƒ Quick stop (QSP) – C0114/1 = LOW level active (X6/DI1) – C0114/2 = LOW level active (X6/DI2) – See also page � 112. EDBCSXS064 EN 3.0 92 � Commissioning 6 Configuring the digital inputs and outputs Change of the terminal assignment 6.8.3 Change of the terminal assignment The input terminals are to be considered as signal sources for the internal functions (signal name). The assignment of the digital inputs is effected indirectly, as a signal source for controlling the function is selected from the list of all digital signal sources on the basis of the internal function. � Stop! ƒ If you change the configuration via C3005, the assignment of all inputs and outputs is overwritten with the corresponding basic assignment. If necessary, the function assignment must be readjusted to your wiring. ƒ Signal sources, i. e. also digital inputs, can be connected parallel to more than one function (signal name). ƒ If you allocate (assign) an input as a new signal source, undesired connections have to be deleted, if required. ƒ Example: digital inputs/outputs in basic configuration C3005 = 1000 Here the most important targets for digital inputs and outputs for "speed control" are listed: Code Subcode Signal name Controlled by Note Signal (interface) C7411 SPEED−RLQ.CW DIGIn−In1 (terminal HIGH level = do not invert main setpoint 1 X6/DI1) (CW rotation) SPEED−RLQ.CCW DIGIn−In2 (terminal HIGH level = Invert main setpoint (CCW 2 X6/DI2) rotation) SPEED−Nset.Jog1 DIGIn−In3 (terminal HIGH level = main setpoint is substituted by 3 the fixed speed from C0039/x X6/DI3) The signals are binary coded. 4 SPEED−Nset.Jog2 FIXED 0, not interconnected 5 SPEED−NSET.Jog4 FIXED 0, not interconnected 6 SPEED−Nset.Jog8 FIXED 0, not interconnected 10 SPEED−BRK.SetBrake DIGIn−In4 (terminal HIGH level = close holding brake when the X6/DI4) speed falls below the threshold in C0472/10. C6371 1 DigOut1−Out1 FIXED 0, not interconnected 2 DigOut relay SPEED−BRK.NegOut Control of the holding brake by the "Speed" function block. � Note! For "Speed control", carry out settings in C7511 and C6371. EDBCSXS064 EN 3.0 � 93 6 Commissioning Selecting the operating mode/control structure 6.9 Selecting the operating mode/control structure For frequent applications, the controller−internal signal processing is saved in basic configurations hich can be selected via C3005: ƒ Speed control: Code Value Interfaces Application Functional examples description 1000 Activation/setpoint via analog input � 95 1003 Control / setpoint via AIF � 98 C3005 � 262 1005 Control / setpoint via MotionBus (CAN) � 100 ƒ Torque control: Code Value Interfaces Application Functional examples description 4000 Activation/setpoint via analog input � 102 C3005 4003 Control / setpoint via AIF � 105 � 284 4005 Control / setpoint via MotionBus (CAN) � 107 � Stop! When the internal control structure is changed, another terminal assignment may result! In the GDC the code C3005 can be found in the parameter menu under ƒ Short setup � Speed (for speed control). ƒ Short setup � Torque (for torque control). ECSXA305 Fig.6−9 GDC view: short setup of the speed control ("Speed") EDBCSXS064 EN 3.0 94 � Commissioning 6 Selecting the operating mode/control structure Speed control with setpoint via analog input 6.9.1 Speed control with setpoint via analog input Configuration C3005 = 1000 � Note! Use the "input assistant for motor data" of the GDC for setting the motor data (� 81). Set the following codes: Code Meaning Further information DC−bus voltage thresholds and charge relay function C0173 = x DC−bus voltage thresholds C0175 = x Charge relay function (when using an ECS supply module: C0175 = 3) Maximum motor current C0022 = x [A] Maximum motor current (I ) max Controller configuration and feedback system C3005 = 1000 Speed control with setpoint via analog input � 94 C0495 = x Feedback system � 84 Speed setpoint settings C0011 = x [rpm] Maximum speed � 276 C0012 = x [s] Acceleration time � 271 C0013 = x [s] Deceleration time C0105 = x [s] Quick stop deceleration time � 280 Application parameters C0070 = x Proportional gain (V ) of speed controller � 277 p C0071 = x [ms] Integral−action time (T ) of speed controller n Save parameters C0003 = 1 Save all parameters EDBCSXS064 EN 3.0 � 95 ... ... ... ... ... ... ... ... ... ... 6 Commissioning Selecting the operating mode/control structure Speed control with setpoint via analog input DctrlCtrl 10 C6331/1 wAIF1Ctrl Stat 36 DCTRL W1 11 C6331/2 CAN1Ctrl FaultNumber 37 W2 12 C6311/1 CInh1 Fail 255 W3 13 C6311/2 CInh2 Imp 256 Ctrl.Quickstop_B3 19 C6311/3 TripSet1 Trip 257 Ctrl.Disable_B8 20 C6311/12 TripSet2 Qspin 258 Ctrl.CInhibit_B9 21 C6311/13 TripSet3 Rdy 259 Ctrl.TripSet_B10 22 C6311/14 TripSet4 CwCcw 260 Ctrl.TripReset_B11 23 C6311/4 TripReset1 NActEq0 261 Ctrl.Bit0 24 C6311/15 TripReset2 Clnh 262 Ctrl.Bit1 25 C6311/5 StatB0 Stat1 263 Ctrl.Bit2 26 C6311/6 StatB2 Stat2 264 Ctrl.Bit4 27 C6311/7 StatB3 Stat4 265 Ctrl.Bit5 28 C6311/8 StatB4 Stat8 266 Ctrl.Bit6 29 C6311/9 StatB5 Warn 267 X1 Ctrl.Bit7 30 C6311/10 StatB14 Mess 268 Ctrl.Bit12 31 Init 269 C6311/11 StatB15 Ctrl.Bit13 32 ExternalFault 270 33 Ctrl.Bit14 Ctrl.Bit15 34 Bit0 35 Bit31 66 W1.Bit0 700 W1.Bit1 701 W1.Bit2 702 W1.Bit3 703 W1.Bit4 704 W1.Bit5 705 W1.Bit15 715 W0/W1 21 W2/W3 10 X6 CInh SI1 131 �P DI1 In1 132 C7411/1 RLQ.Cw RLQ.QSP 450 SPEED DI2 In2 133 C7411/2 RLQ.CCw RLQ.CwCCw 451 DI3 In3 134 C7411/9 NSET.RfgStop NSET.NOut 130 DI4 In4 135 C7411/7 NSET.Rfg0 NSET.RfglEq0 400 136 C7431/1 NSET.NSet MCTRL.Qspin 320 SI2 SafeStandstill �P+Imp C7411/3 NSET.Jog1 MCTRL.NSetIn 90 X6 NSET.Jog2 C7411/4 MCTRL.MMax 321 AI- Out 920 NSET.Jog4 AI+ C7411/5 MCTRL.MSetIn 91 Error 920 AG NSET.Jog8 C7411/6 MCTRL.IMax 322 100% 2 C7411/13 NSET.TI1 MCTRL.IAct 92 -100% 3 DctrlCtrl 23 C7411/14 NSET.TI2 MCTRL.DCVolt 93 1/TRUE 2 W1 24 C7411/15 NSET.TI4 MCTRL.MAct 94 W2 25 MCTRL.UnderVoltage C7411/16 NSET.TI8 324 C0017 38 W3 26 MCTRL.OverVoltage C7411/8 NSET.NAddInv 325 C0037 43 Ctrl.Quickstop_B3 141 C7431/2 NSET.NAdd MCTRL.ShortCircuit 326 C0108/1 44 Ctrl.Disable_B8 142 C7411/17 QSPSet1 MCTRL.EarthFault 327 C0108/2 45 Ctrl.CInhibit_B9 143 C7411/18 QSPSet2 MCTRL.IxtOverload 337 C0109/1 46 Ctrl.TripSet_B10 144 C7431/4 MCTRL.HiMLim MCTRL.Pos 95 C0109/2 47 Ctrl.TripReset_B11 MCTRL.NegLoMLim 145 C7431/3 MCTRL.NAct_v 96 C0141 48 Ctrl.Bit0 146 C7411/11 MCTRL.NMSwt MCTRL.NAct 97 C0472/1 49 MCTRL.NAdapt Ctrl.Bit1 147 C7431/7 MCTRL.Pos 30 C0472/2 50 Ctrl.Bit2 148 C7411/12 MCTRL.ILoad MCTRL.NmaxFault 328 C0472/3 51 Ctrl.Bit4 149 C7431/8 MCTRL.ISet MCTRL.NmaxC11 98 C0472/4 52 Ctrl.Bit5 150 C7431/11 MCTRL.PAdapt MCTRL.wMaxC57 99 Ctrl.Bit6 151 C7451 MCTRL.PosSet MCTRL.ResolverFault 329 X4 C0472/10 58 CH Ctrl.Bit7 152 C7431/12 MCTRL.PosLim MCTRL.EncoderFault 336 C0472/11 59 CL Ctrl.Bit12 153 C7411/19 MCTRL.PosOn MCTRL.SensorFault 335 CG Ctrl.Bit13 154 MCTRL.MotorTempGreaterSetValue 330 C0472/20 68 Ctrl.Bit14 155 MCTRL.MotorTempGreaterCO121 331 C0473/1 69 Ctrl.Bit15 156 MCTRL.KuehlGreaterSetValue 333 Bit0 157 C0473/10 78 MCTRL.KuehlGreaterCO122 334 X6 DigOut C0475/1_v 79 C7431/13 MCTRL.NStartMLim BRK.SetQSP 410 DO1 Bit31 188 C0475/2_v 80 C7211/9 MCTRL.MAddInv BRK.NegOut 411 C6371/1 Out1 SO W1.Bit0 800 C0250 271 C7431/5 MCTRL.MAdd BRK.Out 412 C6371/2 Relais X25 W1.Bit1 801 C0471.Bit0 272 C7431/6 MCTRL.FldWeak BRK.SetCInh 413 B1 W1.Bit2 802 B2 C7431/9 BRK.SpeedThreshold BRK.MStore 414 W1.Bit3 803 C0471.Bit31 303 C7431/10 BRK.Sign BRK.MSetOut 140 W1.Bit4 804 C0135.Bit0 304 C7411/10 BRK.SetBrake W1.Bit5 805 C0135.Bit15 319 W1.Bit15 815 C0474/1 16 W0/W1 24 W2/W3 13 C0474/5 20 ECSXA270 Fig.6−10 Signal flow diagram for configuration 1000 (setpoint via analog input) EDBCSXS064 EN 3.0 96 � CAN1In AIn1 DIGIn AIF1in FCODE FIXED Commissioning 6 Selecting the operating mode/control structure Speed control with setpoint via analog input K1 L1 L2 L3 N PE F1 F2 F3 F4 Off Z1 On PES K1 � PES K1 X21 X22 X23 ECSxE... ECSxA... X6 X4 X6 X25 X24 X7 X8 X4 X14 PES PES PES PES � PES PES PES PES � 2 6 - M K1 R +� 3~ � + - � � +24 VDC + �� �� � GND - � ECSXA280 Fig.6−11 Connection diagram for configuration 1000 (setpoint via analog input) Direction of rotation / quick stop (QSP) � � Direction of rotation / quick stop (QSP) � Fixed speed C0039/1 � Holding brake � Analog input voltage supply � Switch for controller enable/inhibit � Motor system cable � Voltage supply of motor holding brake � Voltage supply of control � Controller enable � System cable feedback DC−bus voltage � HF shield termination by large−surface PE connection Twisted cables � Note! In the wiring example (Fig.6−11) a HIGH level is fixedly applied on X6/SI2 (pulses for power section enabled). EDBCSXS064 EN 3.0 � 97 T1 T2 DI1 DI2 L1 DO1 D24 L2 +24 V GND L3 PE CH CL CG BR0 PE BR1 CH +UG CL +UG CG -UG PE PE DO1 +UG +UG DI1 -UG DI2 -UG DI3 PE DI4 PE AI+ AI- AG +24 V GND S24 SO SI1 SI2 B+ F 1,6 A B- B1 B2 U V W PE CAH CAL CAG CH CL CG PE CH CL CG PE 6 Commissioning Selecting the operating mode/control structure Speed control with setpoint via AIF 6.9.2 Speed control with setpoint via AIF Configuration C3005 = 1003 � Note! ƒ Use the "input assistant for motor data" of the GDC for setting the motor data (� 81). ƒ Further information can be obtained from the documentation for the corresponding fieldbus module. Set the following codes: Code Meaning Further information DC−bus voltage thresholds and charge relay function C0173 = x DC−bus voltage thresholds C0175 = x Charge relay function (when using an ECS supply module: C0175 = 3) Maximum motor current C0022 = x [A] Maximum motor current (I ) max Controller configuration and feedback system C3005 = 1003 Speed control with setpoint via AIF � 94 C0495 = x Feedback system � 84 Speed setpoint settings C0011 = x [rpm] Maximum speed � 276 C0012 = x [s] Acceleration time � 271 C0013 = x [s] Deceleration time C0105 = x [s] Quick stop deceleration time � 280 Application parameters C0070 = x Proportional gain (V ) of speed controller � 277 p C0071 = x [ms] Integral−action time (T ) of speed controller n Save parameters C0003 = 1 Save all parameters EDBCSXS064 EN 3.0 98 � ... ... ... ... ... ... ... ... ... ... Commissioning 6 Selecting the operating mode/control structure Speed control with setpoint via AIF DctrlCtrl 10 C6331/1 wAIF1Ctrl Stat 36 DCTRL W1 11 C6331/2 CAN1Ctrl FaultNumber 37 W2 12 C6311/1 CInh1 Fail 255 Imp W3 13 C6311/2 CInh2 256 Ctrl.Quickstop_B3 TripSet1 Trip 19 C6311/3 257 TripSet2 Qspin Ctrl.Disable_B8 20 C6311/12 258 TripSet3 Rdy Ctrl.CInhibit_B9 21 C6311/13 259 Ctrl.TripSet_B10 TripSet4 22 C6311/14 CwCcw 260 Ctrl.TripReset_B11 TripReset1 NActEq0 23 C6311/4 261 Ctrl.Bit0 24 C6311/15 TripReset2 Clnh 262 Ctrl.Bit1 25 C6311/5 StatB0 Stat1 263 Ctrl.Bit2 26 C6311/6 StatB2 Stat2 264 Ctrl.Bit4 27 C6311/7 StatB3 Stat4 265 Ctrl.Bit5 28 C6311/8 StatB4 Stat8 266 Ctrl.Bit6 29 C6311/9 StatB5 Warn 267 X1 Ctrl.Bit7 30 C6311/10 StatB14 Mess 268 Ctrl.Bit12 31 C6311/11 StatB15 Init 269 Ctrl.Bit13 32 ExternalFault 270 Ctrl.Bit14 33 Ctrl.Bit15 34 Bit0 35 Bit31 66 W1.Bit0 700 W1.Bit1 701 C7411/1 RLQ.Cw RLQ.QSP 450 W1.Bit2 702 SPEED C7411/2 RLQ.CCw RLQ.CwCCw 451 W1.Bit3 703 C7411/9 NSET.RfgStop NSET.NOut 130 W1.Bit4 704 C7411/7 NSET.Rfg0 NSET.RfglEq0 400 W1.Bit5 705 C7431/1 NSET.NSet MCTRL.Qspin 320 W1.Bit15 715 C7411/3 NSET.Jog1 MCTRL.NSetIn 90 W0/W1 21 C7411/4 NSET.Jog2 MCTRL.MMax 321 W2/W3 10 C7411/5 NSET.Jog4 MCTRL.MSetIn 91 C7411/6 NSET.Jog8 MCTRL.IMax 322 C7411/13 NSET.TI1 MCTRL.IAct 92 DctrlCtrl 23 C7411/14 NSET.TI2 MCTRL.DCVolt 93 W1 24 C7411/15 NSET.TI4 MCTRL.MAct 94 W2 25 C7411/16 NSET.TI8 MCTRL.UnderVoltage 324 W3 26 C7411/8 NSET.NAddInv MCTRL.OverVoltage 325 Ctrl.Quickstop_B3 141 C7431/2 NSET.NAdd MCTRL.ShortCircuit 326 Ctrl.Disable_B8 142 C7411/17 QSPSet1 MCTRL.EarthFault 327 Ctrl.CInhibit_B9 143 C7411/18 QSPSet2 MCTRL.IxtOverload 337 Ctrl.TripSet_B10 144 C7431/4 MCTRL.HiMLim MCTRL.Pos 95 Ctrl.TripReset_B11 145 MCTRL.NegLoMLim MCTRL.NAct_v C7431/3 96 Ctrl.Bit0 146 100% 2 C7411/11 MCTRL.NMSwt MCTRL.NAct 97 Ctrl.Bit1 147 MCTRL.NAdapt -100% 3 C7431/7 MCTRL.Pos 30 Ctrl.Bit2 148 1/TRUE 2 C7411/12 MCTRL.ILoad MCTRL.NmaxFault 328 Ctrl.Bit4 149 C7431/8 MCTRL.ISet MCTRL.NmaxC11 98 Ctrl.Bit5 150 MCTRL.PAdapt C7431/11 MCTRL.wMaxC57 99 C0017 38 Ctrl.Bit6 151 X4 C7451 MCTRL.PosSet MCTRL.ResolverFault 329 C0037 43 CH Ctrl.Bit7 152 C7431/12 MCTRL.PosLim MCTRL.EncoderFault 336 CL C0108/1 44 Ctrl.Bit12 153 CG C7411/19 MCTRL.PosOn MCTRL.SensorFault 335 C0108/2 45 Ctrl.Bit13 154 MCTRL.MotorTempGreaterSetValue 330 C0109/1 46 Ctrl.Bit14 155 MCTRL.MotorTempGreaterCO121 331 C0109/2 47 Ctrl.Bit15 156 MCTRL.KuehlGreaterSetValue 333 C0141 48 Bit0 157 MCTRL.KuehlGreaterCO122 334 C0472/1 49 X6 DigOut C7431/13 MCTRL.NStartMLim BRK.SetQSP 410 Bit31 188 C0472/2 50 DO1 C7211/9 MCTRL.MAddInv BRK.NegOut 411 C6371/1 Out1 SO W1.Bit0 800 C0472/3 51 C7431/5 MCTRL.MAdd BRK.Out 412 C6371/2 Relais W1.Bit1 801 C0472/4 52 X25 C7431/6 MCTRL.FldWeak BRK.SetCInh 413 W1.Bit2 802 B1 B2 C0472/10 58 C7431/9 BRK.SpeedThreshold BRK.MStore 414 W1.Bit3 803 C0472/11 59 C7431/10 BRK.Sign BRK.MSetOut 140 W1.Bit4 804 C7411/10 BRK.SetBrake W1.Bit5 805 C0472/20 68 C0473/1 69 W1.Bit15 815 W0/W1 24 C0473/10 78 W2/W3 13 C0475/1_v 79 C0475/2_v 80 C0250 271 C0471.Bit0 272 C0471.Bit31 303 C0135.Bit0 304 C0135.Bit15 319 C0474/1 16 C0474/5 20 ECSXA271 Fig.6−12 Signal flow diagram for configuration 1003 (setpoint via AIF) EDBCSXS064 EN 3.0 � 99 CAN1In AIF1in FCODE FIXED 6 Commissioning Selecting the operating mode/control structure Speed control with setpoint via MotionBus (CAN) 6.9.3 Speed control with setpoint via MotionBus (CAN) Configuration C3005 = 1005 � Note! ƒ Use the "input assistant for motor data" of the GDC for setting the motor data (� 81). ƒ Reading the data via CAN1_In requires an external sync signal (from the master control). Set the following codes: Code Meaning Further information DC−bus voltage thresholds and charge relay function C0173 = x DC−bus voltage thresholds C0175 = x Charge relay function (when using an ECS supply module: C0175 = 3) Maximum motor current C0022 = x [A] Maximum motor current (I ) max Controller configuration and feedback system C3005 = 1005 Speed control with setpoint via MotionBus (CAN) � 94 C0495 = x Feedback system � 84 Speed setpoint settings C0011 = x [rpm] Maximum speed � 276 C0012 = x [s] Acceleration time � 271 C0013 = x [s] Deceleration time C0105 = x [s] Quick stop deceleration time � 280 Application parameters C0070 = x Proportional gain (V ) of speed controller � 277 p C0071 = x [ms] Integral−action time (T ) of speed controller n Save parameters C0003 = 1 Save all parameters EDBCSXS064 EN 3.0 100 � ... ... ... ... ... ... ... ... ... ... Commissioning 6 Selecting the operating mode/control structure Speed control with setpoint via MotionBus (CAN) DctrlCtrl 23 C6331/1 wAIF1Ctrl Stat 36 DCTRL W1 24 C6331/2 CAN1Ctrl FaultNumber 37 W2 25 C6311/1 CInh1 Fail 255 Imp W3 26 C6311/2 CInh2 256 TripSet1 Trip Ctrl.Quickstop_B3 141 C6311/3 257 TripSet2 Qspin Ctrl.Disable_B8 142 C6311/12 258 TripSet3 Rdy Ctrl.CInhibit_B9 143 C6311/13 259 TripSet4 Ctrl.TripSet_B10 144 C6311/14 CwCcw 260 TripReset1 NActEq0 Ctrl.TripReset_B11 145 C6311/4 261 Ctrl.Bit0 146 C6311/15 TripReset2 Clnh 262 Ctrl.Bit1 147 C6311/5 StatB0 Stat1 263 Ctrl.Bit2 148 C6311/6 StatB2 Stat2 264 Ctrl.Bit4 149 C6311/7 StatB3 Stat4 265 Ctrl.Bit5 150 C6311/8 StatB4 Stat8 266 Ctrl.Bit6 151 C6311/9 StatB5 Warn 267 X4 CH Ctrl.Bit7 152 C6311/10 StatB14 Mess 268 CL Ctrl.Bit12 153 C6311/11 StatB15 Init 269 CG Ctrl.Bit13 154 ExternalFault 270 Ctrl.Bit14 155 Ctrl.Bit15 156 Bit0 157 Bit31 188 W1.Bit0 800 W1.Bit1 801 C7411/1 RLQ.Cw RLQ.QSP 450 SPEED W1.Bit2 802 C7411/2 RLQ.CCw RLQ.CwCCw 451 W1.Bit3 803 C7411/9 NSET.RfgStop NSET.NOut 130 W1.Bit4 804 C7411/7 NSET.Rfg0 NSET.RfglEq0 400 W1.Bit5 805 C7431/1 NSET.NSet MCTRL.Qspin 320 C7411/3 NSET.Jog1 MCTRL.NSetIn 90 W1.Bit15 815 C7411/4 NSET.Jog2 MCTRL.MMax 321 W0/W1 24 C7411/5 NSET.Jog4 MCTRL.MSetIn 91 W2/W3 13 C7411/6 NSET.Jog8 MCTRL.IMax 322 C7411/13 NSET.TI1 MCTRL.IAct 92 DctrlCtrl 10 C7411/14 NSET.TI2 MCTRL.DCVolt 93 W1 11 C7411/15 NSET.TI4 MCTRL.MAct 94 W2 12 C7411/16 NSET.TI8 MCTRL.UnderVoltage 324 W3 13 C7411/8 NSET.NAddInv MCTRL.OverVoltage 325 Ctrl.Quickstop_B3 19 C7431/2 NSET.NAdd MCTRL.ShortCircuit 326 Ctrl.Disable_B8 20 C7411/17 QSPSet1 MCTRL.EarthFault 327 Ctrl.CInhibit_B9 21 C7411/18 QSPSet2 MCTRL.IxtOverload 337 Ctrl.TripSet_B10 22 C7431/4 MCTRL.HiMLim MCTRL.Pos 95 Ctrl.TripReset_B11 23 MCTRL.NegLoMLim MCTRL.NAct_v C7431/3 96 Ctrl.Bit0 24 100% 2 C7411/11 MCTRL.NMSwt MCTRL.NAct 97 Ctrl.Bit1 25 MCTRL.NAdapt -100% 3 C7431/7 MCTRL.Pos 30 Ctrl.Bit2 26 1/TRUE 2 C7411/12 MCTRL.ILoad MCTRL.NmaxFault 328 Ctrl.Bit4 27 C7431/8 MCTRL.ISet MCTRL.NmaxC11 98 Ctrl.Bit5 28 MCTRL.PAdapt C7431/11 MCTRL.wMaxC57 99 C0017 38 Ctrl.Bit6 29 X1 C7451 MCTRL.PosSet MCTRL.ResolverFault 329 C0037 43 Ctrl.Bit7 30 C7431/12 MCTRL.PosLim MCTRL.EncoderFault 336 C0108/1 44 Ctrl.Bit12 31 C7411/19 MCTRL.PosOn MCTRL.SensorFault 335 C0108/2 45 Ctrl.Bit13 32 MCTRL.MotorTempGreaterSetValue 330 C0109/1 46 Ctrl.Bit14 33 MCTRL.MotorTempGreaterCO121 331 C0109/2 47 Ctrl.Bit15 34 MCTRL.KuehlGreaterSetValue 333 C0141 48 Bit0 35 MCTRL.KuehlGreaterCO122 334 C0472/1 49 X6 DigOut Bit31 66 C7431/13 MCTRL.NStartMLim BRK.SetQSP 410 C0472/2 50 DO1 W1.Bit0 700 C7211/9 MCTRL.MAddInv BRK.NegOut 411 C6371/1 Out1 SO C0472/3 51 W1.Bit1 701 C7431/5 MCTRL.MAdd BRK.Out 412 C6371/2 Relais C0472/4 52 X25 W1.Bit2 702 C7431/6 MCTRL.FldWeak BRK.SetCInh 413 B1 B2 W1.Bit3 703 C0472/10 58 C7431/9 BRK.SpeedThreshold BRK.MStore 414 W1.Bit4 704 C0472/11 59 C7431/10 BRK.Sign BRK.MSetOut 140 W1.Bit5 705 C7411/10 BRK.SetBrake C0472/20 68 W1.Bit15 715 C0473/1 69 W0/W1 21 C0473/10 78 W2/W3 10 C0475/1_v 79 C0475/2_v 80 C0250 271 C0471.Bit0 272 C0471.Bit31 303 C0135.Bit0 304 C0135.Bit15 319 C0474/1 16 C0474/5 20 ECSXA272 Fig.6−13 Signal flow diagram for configuration 1005 (setpoint via MotionBus (CAN)) EDBCSXS064 EN 3.0 � 101 AIF1in CAN1In FCODE FIXED 6 Commissioning Selecting the operating mode/control structure Torque control with setpoint via analog input 6.9.4 Torque control with setpoint via analog input Configuration C3005 = 4000 � Note! Use the "input assistant for motor data" of the GDC for setting the motor data (� 81). Set the following codes: Code Meaning Further information DC−bus voltage thresholds and charge relay function C0173 = x DC−bus voltage thresholds C0175 = x Charge relay function (when using an ECS supply module: C0175 = 3) Maximum motor current C0022 = x [A] Maximum motor current (I ) max Controller configuration and feedback system C3005 = 4000 Torque control with setpoint via analog input � 94 C0495 = x Feedback system � 84 Speed setpoint settings C0011 = x [rpm] Maximum speed � 295 C0012 = x [s] Acceleration time � 292 C0013 = x [s] Deceleration time C0105 = x [s] Quick stop deceleration time � 295 Speed limitation C0472/4 = x [%] Speed limit (positive value) � 290 C7131/1 = 52 FCODE C0472/4 C7531/2 = 651 InNeg−AnOut1 C7531/5 = 52 FCODE C0472/4 Application parameters C0070 = x Proportional gain (V ) of speed controller � 296 p C0071 = x [ms] Integral−action time (T ) of speed controller n Save parameters C0003 = 1 Save all parameters EDBCSXS064 EN 3.0 102 � ... ... ... ... ... ... ... ... ... ... Commissioning 6 Selecting the operating mode/control structure Torque control with setpoint via analog input DctrlCtrl 10 C6331/1 wAIF1Ctrl Stat 36 DCTRL W1 11 C6331/2 CAN1Ctrl FaultNumber 37 W2 12 C6311/1 CInh1 Fail 255 Imp W3 13 C6311/2 CInh2 256 Ctrl.Quickstop_B3 TripSet1 Trip 19 C6311/3 257 TripSet2 Qspin Ctrl.Disable_B8 20 C6311/12 258 TripSet3 Rdy Ctrl.CInhibit_B9 21 C6311/13 259 Ctrl.TripSet_B10 TripSet4 22 C6311/14 CwCcw 260 Ctrl.TripReset_B11 TripReset1 NActEq0 23 C6311/4 261 Ctrl.Bit0 24 C6311/15 TripReset2 Clnh 262 Ctrl.Bit1 25 C6311/5 StatB0 Stat1 263 Ctrl.Bit2 26 C6311/6 StatB2 Stat2 264 Ctrl.Bit4 27 C6311/7 StatB3 Stat4 265 Ctrl.Bit5 28 C6311/8 StatB4 Stat8 266 Ctrl.Bit6 29 C6311/9 StatB5 Warn 267 X1 Ctrl.Bit7 30 C6311/10 StatB14 Mess 268 Ctrl.Bit12 31 C6311/11 StatB15 Init 269 Ctrl.Bit13 32 ExternalFault 270 Ctrl.Bit14 33 Ctrl.Bit15 34 Bit0 35 Bit31 66 W1.Bit0 700 W1.Bit1 701 W1.Bit2 702 W1.Bit3 703 W1.Bit4 704 W1.Bit5 705 W1.Bit15 715 W0/W1 21 W2/W3 10 X6 SI1 CInh 131 �P DI1 In1 132 C7511/1 RLQ.Cw RLQ.QSP 460 Torque DI2 In2 133 C7511/2 RLQ.CCw RLQ.CwCCw 461 DI3 In3 134 C7511/8 NSET.RfgStop NSET.NOut 131 DI4 In4 135 C7511/3 NSET.Rfg0 NSET.RfglEq0 401 SI2 SafeStandstill 136 C7531/2 NSET.NSet MCTRL.QspIn 340 �P+Imp C7511/5 QSPSet1 MCTRL.NSetIn 100 X6 C7511/6 QSPSet2 MCTRL.MMax 341 AI- 920 Out C7531/4 MCTRL.HiMLim MCTRL.MSetIn 101 AI+ Error 920 C7531/3 MCTRL.NegLoMLim MCTRL.IMax 342 AG 100% 2 C7531/7 MCTRL.NAdapt MCTRL.IAct 102 -100% 3 DctrlCtrl 23 C7511/7 MCTRL.ILoad MCTRL.DCVolt 103 1/TRUE 2 W1 24 C7531/8 MCTRL.ISet MCTRL.MAct 104 W2 25 C7531/5 MCTRL.NStartMLim MCTRL.UnderVoltage 344 C0017 38 W3 26 C7511/9 MCTRL.MAddInv MCTRL.OverVoltage 345 C0037 43 Ctrl.Quickstop_B3 141 C7531/1 MCTRL.MAdd MCTRL.ShortCircuit 346 C0108/1 44 Ctrl.Disable_B8 142 C7531/6 MCTRL.FldWeak MCTRL.EarthFault 347 C0108/2 45 Ctrl.CInhibit_B9 143 C7531/9 BRK.SpeedThreshold MCTRL.IxtOverload 357 C0109/1 46 Ctrl.TripSet_B10 144 C7531/10 BRK.Sign MCTRL.Pos 105 C0109/2 47 Ctrl.TripReset_B11 145 C7511/4 BRK.SetBrake MCTRL.NAct_v 106 C0141 48 Ctrl.Bit0 146 MCTRL.NAct 107 C0472/1 49 Ctrl.Bit1 147 MCTRL.Pos 40 C0472/2 50 Ctrl.Bit2 148 MCTRL.NmaxFault 348 C0472/3 51 Ctrl.Bit4 149 MCTRL.NmaxC11 108 C0472/4 52 Ctrl.Bit5 150 109 MCTRL.wMaxC57 Ctrl.Bit6 151 MCTRL.ResolverFault 349 X4 C0472/10 58 CH Ctrl.Bit7 152 MCTRL.EncoderFault 356 C0472/11 59 CL Ctrl.Bit12 153 MCTRL.SensorFault 355 CG Ctrl.Bit13 154 MCTRL.MotorTempGreaterSetValue 350 C0472/20 68 Ctrl.Bit14 155 MCTRL.MotorTempGreaterCO121 351 C0473/1 69 Ctrl.Bit15 156 MCTRL.KuehlGreaterSetValue 353 Bit0 157 C0473/10 78 MCTRL.KuehlGreaterCO122 354 X6 DigOut C0475/1_v 79 BRK.SetQSP 420 DO1 Bit31 188 C0475/2_v BRK.NegOut 80 421 C6371/1 Out1 SO W1.Bit0 800 C0250 271 BRK.Out 422 C6371/2 Relais X25 W1.Bit1 801 C0471.Bit0 272 BRK.SetCInh 423 B1 W1.Bit2 802 B2 BRK.MStore 424 W1.Bit3 803 C0471.Bit31 303 BRK.MSetOut 141 W1.Bit4 804 C0135.Bit0 304 W1.Bit5 805 C0135.Bit15 319 W1.Bit15 815 C0474/1 16 W0/W1 24 W2/W3 13 C0474/5 20 ECSXA273 Fig.6−14 Signal flow diagram for configuration 4000 (setpoint via analog input) EDBCSXS064 EN 3.0 � 103 CAN1In AIn1 DIGIn AIF1in FCODE FIXED 6 Commissioning Selecting the operating mode/control structure Torque control with setpoint via analog input K1 L1 L2 L3 N PE F4 F1 F2 F3 Off Z1 On PES K1 � K1 PES X21 X22 X23 ECSxE... ECSxA... X6 X4 X6 X25 X24 X7 X8 X14 X4 PES PES PES PES � PES PES PES PES � 2 6 - M K1 R � + 3~ � + - � � +24 VDC + �� �� � GND - � ECSXA283 Fig.6−15 Connection diagram for configuration 4000 (setpoint via analog input) Direction of rotation / quick stop (QSP) � � Direction of rotation / quick stop (QSP) � Fixed speed C0039/1 � Holding brake � Analog input voltage supply � Switch for controller enable/inhibit � Motor system cable � Voltage supply of motor holding brake � Voltage supply of control � Controller enable � System cable feedback DC−bus voltage � HF shield termination by large−surface PE connection Twisted cables � Note! In the wiring example (Fig.6−15) a HIGH level is fixedly applied on X6/SI2 (pulses for power section enabled). EDBCSXS064 EN 3.0 104 � T1 T2 DI1 DI2 L1 DO1 D24 L2 +24 V GND L3 PE CH CL BR0 CG PE BR1 CH +UG CL +UG CG -UG PE PE DO1 +UG +UG DI1 -UG DI2 -UG DI3 PE DI4 PE AI+ AI- AG +24 V GND S24 SO SI1 SI2 B+ F 1,6 A B- B1 B2 U V W PE CAH CAL CAG CH CL CG PE CH CL CG PE Commissioning 6 Selecting the operating mode/control structure Torque control with setpoint via AIF 6.9.5 Torque control with setpoint via AIF Configuration C3005 = 4003 � Note! ƒ Use the "input assistant for motor data" of the GDC for setting the motor data (� 81). ƒ Further information can be obtained from the documentation for the corresponding fieldbus module. Set the following codes: Code Meaning Further information DC−bus voltage thresholds and charge relay function C0173 = x DC−bus voltage thresholds C0175 = x Charge relay function (when using an ECS supply module: C0175 = 3) Maximum motor current C0022 = x [A] Maximum motor current (I ) max Controller configuration and feedback system C3005 = 4003 Torque control with setpoint via AIF � 94 C0495 = x Feedback system � 84 Speed setpoint settings C0011 = x [rpm] Maximum speed � 295 C0012 = x [s] Acceleration time � 292 C0013 = x [s] Deceleration time C0105 = x [s] Quick stop deceleration time � 295 Speed limitation C0472/4 = x [%] Speed limit (positive value) � 290 C7131/1 = 52 FCODE C0472/4 C7531/2 = 651 InNeg−AnOut1 C7531/5 = 52 FCODE C0472/4 Application parameters C0070 = x Proportional gain (V ) of speed controller � 296 p C0071 = x [ms] Integral−action time (T ) of speed controller n Save parameters C0003 = 1 Save all parameters EDBCSXS064 EN 3.0 � 105 ... ... ... ... ... ... ... ... ... ... 6 Commissioning Selecting the operating mode/control structure Torque control with setpoint via AIF DctrlCtrl 10 C6331/1 wAIF1Ctrl Stat 36 DCTRL W1 11 C6331/2 CAN1Ctrl FaultNumber 37 W2 12 C6311/1 CInh1 Fail 255 Imp W3 13 C6311/2 CInh2 256 Ctrl.Quickstop_B3 19 C6311/3 TripSet1 Trip 257 Ctrl.Disable_B8 20 C6311/12 TripSet2 Qspin 258 Ctrl.CInhibit_B9 21 C6311/13 TripSet3 Rdy 259 Ctrl.TripSet_B10 22 C6311/14 TripSet4 CwCcw 260 Ctrl.TripReset_B11 23 C6311/4 TripReset1 NActEq0 261 Ctrl.Bit0 24 C6311/15 TripReset2 Clnh 262 Ctrl.Bit1 25 C6311/5 StatB0 Stat1 263 Ctrl.Bit2 26 C6311/6 StatB2 Stat2 264 Ctrl.Bit4 27 C6311/7 StatB3 Stat4 265 Ctrl.Bit5 28 C6311/8 StatB4 Stat8 266 Ctrl.Bit6 29 C6311/9 StatB5 Warn 267 X1 Ctrl.Bit7 30 C6311/10 StatB14 Mess 268 Ctrl.Bit12 31 C6311/11 StatB15 Init 269 Ctrl.Bit13 32 ExternalFault 270 Ctrl.Bit14 33 Ctrl.Bit15 34 Bit0 35 Bit31 66 W1.Bit0 700 W1.Bit1 701 W1.Bit2 702 W1.Bit3 703 W1.Bit4 704 W1.Bit5 705 W1.Bit15 715 W0/W1 21 W2/W3 10 DctrlCtrl 23 W1 24 C7511/1 RLQ.Cw RLQ.QSP 460 Torque W2 25 C7511/2 RLQ.CCw RLQ.CwCCw 461 W3 26 C7511/8 NSET.RfgStop NSET.NOut 131 Ctrl.Quickstop_B3 141 C7511/3 NSET.Rfg0 NSET.RfglEq0 401 Ctrl.Disable_B8 142 C7531/2 NSET.NSet MCTRL.QspIn 340 Ctrl.CInhibit_B9 143 C7511/5 QSPSet1 MCTRL.NSetIn 100 Ctrl.TripSet_B10 144 C7511/6 QSPSet2 MCTRL.MMax 341 Ctrl.TripReset_B11 145 C7531/4 MCTRL.HiMLim MCTRL.MSetIn 101 Ctrl.Bit0 146 C7531/3 MCTRL.NegLoMLim MCTRL.IMax 342 100% 2 Ctrl.Bit1 147 C7531/7 MCTRL.NAdapt MCTRL.IAct 102 -100% 3 Ctrl.Bit2 148 C7511/7 MCTRL.ILoad MCTRL.DCVolt 103 1/TRUE 2 Ctrl.Bit4 149 C7531/8 MCTRL.ISet MCTRL.MAct 104 Ctrl.Bit5 150 MCTRL.UnderVoltage 344 C7531/5 MCTRL.NStartMLim C0017 38 Ctrl.Bit6 151 MCTRL.OverVoltage C7511/9 MCTRL.MAddInv 345 X4 C0037 43 CH Ctrl.Bit7 152 C7531/1 MCTRL.MAdd MCTRL.ShortCircuit 346 C0108/1 44 CL Ctrl.Bit12 153 C7531/6 MCTRL.FldWeak MCTRL.EarthFault 347 CG C0108/2 45 Ctrl.Bit13 154 BRK.SpeedThreshold C7531/9 MCTRL.IxtOverload 357 C0109/1 46 Ctrl.Bit14 155 BRK.Sign C7531/10 MCTRL.Pos 105 C0109/2 47 Ctrl.Bit15 156 MCTRL.NAct_v C7511/4 BRK.SetBrake 106 C0141 48 Bit0 157 MCTRL.NAct 107 C0472/1 49 MCTRL.Pos 40 C0472/2 50 Bit31 188 MCTRL.NmaxFault 348 C0472/3 51 W1.Bit0 800 MCTRL.NmaxC11 108 C0472/4 52 W1.Bit1 801 MCTRL.wMaxC57 109 W1.Bit2 802 MCTRL.ResolverFault 349 C0472/10 58 W1.Bit3 803 MCTRL.EncoderFault 356 C0472/11 59 W1.Bit4 804 MCTRL.SensorFault 355 W1.Bit5 805 MCTRL.MotorTempGreaterSetValue 350 C0472/20 68 MCTRL.MotorTempGreaterCO121 351 C0473/1 69 W1.Bit15 815 MCTRL.KuehlGreaterSetValue 353 24 W0/W1 C0473/10 78 MCTRL.KuehlGreaterCO122 354 X6 W2/W3 13 DigOut C0475/1_v 79 BRK.SetQSP 420 DO1 C0475/2_v 80 BRK.NegOut 421 C6371/1 Out1 SO C0250 271 BRK.Out 422 C6371/2 Relais X25 C0471.Bit0 272 BRK.SetCInh 423 B1 BRK.MStore 424 B2 C0471.Bit31 303 BRK.MSetOut 141 C0135.Bit0 304 C0135.Bit15 319 C0474/1 16 C0474/5 20 ECSXA274 Fig.6−16 Signal flow diagram for configuration 4003 (setpoint via AIF) EDBCSXS064 EN 3.0 106 � CAN1In AIF1in FCODE FIXED Commissioning 6 Selecting the operating mode/control structure Torque control with setpoint via MotionBus (CAN) 6.9.6 Torque control with setpoint via MotionBus (CAN) Configuration C3005 = 4005 � Note! ƒ Use the "input assistant for motor data" of the GDC for setting the motor data (� 81). ƒ Reading the data via CAN1In requires an external Sync signal (from the master control). Set the following codes: Code Meaning Further information DC−bus voltage thresholds and charge relay function C0173 = x DC−bus voltage thresholds C0175 = x Charge relay function (when using an ECS supply module: C0175 = 3) Maximum motor current C0022 = x [A] Maximum motor current (I ) max Controller configuration and feedback system C3005 = 4005 Torque control with setpoint via MotionBus (CAN) � 94 C0495 = x Feedback system � 84 Speed setpoint settings C0011 = x [rpm] Maximum speed � 295 C0012 = x [s] Acceleration time � 292 C0013 = x [s] Deceleration time C0105 = x [s] Quick stop deceleration time � 295 Speed limitation C0472/4 = x [%] Speed limit (positive value) � 290 C7131/1 = 52 FCODE C0472/4 C7531/2 = 651 InNeg−AnOut1 C7531/5 = 52 FCODE C0472/4 Application parameters C0070 = x Proportional gain (V ) of speed controller � 296 p C0071 = x [ms] Integral−action time (T ) of speed controller n Save parameters C0003 = 1 Save all parameters EDBCSXS064 EN 3.0 � 107 ... ... ... ... ... ... ... ... ... ... 6 Commissioning Selecting the operating mode/control structure Torque control with setpoint via MotionBus (CAN) DctrlCtrl 23 C6331/1 wAIF1Ctrl Stat 36 DCTRL W1 24 C6331/2 CAN1Ctrl FaultNumber 37 W2 25 C6311/1 CInh1 Fail 255 W3 26 C6311/2 CInh2 Imp 256 Ctrl.Quickstop_B3 141 C6311/3 TripSet1 Trip 257 Ctrl.Disable_B8 142 TripSet2 Qspin C6311/12 258 Ctrl.CInhibit_B9 143 TripSet3 Rdy C6311/13 259 Ctrl.TripSet_B10 144 TripSet4 C6311/14 CwCcw 260 Ctrl.TripReset_B11 145 TripReset1 NActEq0 C6311/4 261 Ctrl.Bit0 146 TripReset2 C6311/15 Clnh 262 Ctrl.Bit1 147 C6311/5 StatB0 Stat1 263 Ctrl.Bit2 148 C6311/6 StatB2 Stat2 264 Ctrl.Bit4 149 C6311/7 StatB3 Stat4 265 Ctrl.Bit5 150 C6311/8 StatB4 Stat8 266 Ctrl.Bit6 151 C6311/9 StatB5 Warn 267 X4 CH Ctrl.Bit7 152 C6311/10 StatB14 Mess 268 CL Ctrl.Bit12 153 C6311/11 StatB15 Init 269 CG Ctrl.Bit13 154 ExternalFault 270 Ctrl.Bit14 155 Ctrl.Bit15 156 Bit0 157 Bit31 188 W1.Bit0 800 W1.Bit1 801 W1.Bit2 802 W1.Bit3 803 W1.Bit4 804 W1.Bit5 805 W1.Bit15 815 W0/W1 24 W2/W3 13 DctrlCtrl 10 C7511/1 RLQ.Cw RLQ.QSP 460 W1 11 Torque C7511/2 RLQ.CCw RLQ.CwCCw 461 W2 12 NSET.RfgStop 131 13 C7511/8 NSET.NOut W3 NSET.Rfg0 NSET.RfglEq0 Ctrl.Quickstop_B3 19 C7511/3 401 MCTRL.QspIn 20 C7531/2 NSET.NSet 340 Ctrl.Disable_B8 C7511/5 QSPSet1 MCTRL.NSetIn 100 Ctrl.CInhibit_B9 21 Ctrl.TripSet_B10 C7511/6 QSPSet2 MCTRL.MMax 341 22 Ctrl.TripReset_B11 C7531/4 MCTRL.HiMLim MCTRL.MSetIn 101 23 MCTRL.NegLoMLim C7531/3 MCTRL.IMax 342 Ctrl.Bit0 24 100% 2 MCTRL.NAdapt C7531/7 MCTRL.IAct 102 Ctrl.Bit1 25 -100% 3 C7511/7 MCTRL.ILoad MCTRL.DCVolt 103 Ctrl.Bit2 26 1/TRUE 2 C7531/8 MCTRL.ISet MCTRL.MAct 104 Ctrl.Bit4 27 MCTRL.UnderVoltage C7531/5 MCTRL.NStartMLim 344 Ctrl.Bit5 28 C0017 38 MCTRL.OverVoltage C7511/9 MCTRL.MAddInv 345 Ctrl.Bit6 29 X1 C0037 43 C7531/1 MCTRL.MAdd MCTRL.ShortCircuit 346 Ctrl.Bit7 30 C0108/1 44 C7531/6 MCTRL.FldWeak MCTRL.EarthFault 347 Ctrl.Bit12 31 C0108/2 45 C7531/9 BRK.SpeedThreshold MCTRL.IxtOverload 357 Ctrl.Bit13 32 46 C0109/1 C7531/10 BRK.Sign MCTRL.Pos 105 Ctrl.Bit14 33 C0109/2 47 C7511/4 BRK.SetBrake MCTRL.NAct_v 106 Ctrl.Bit15 34 C0141 48 MCTRL.NAct 107 Bit0 35 C0472/1 49 MCTRL.Pos 40 C0472/2 50 Bit31 66 MCTRL.NmaxFault 348 C0472/3 51 W1.Bit0 700 MCTRL.NmaxC11 108 C0472/4 52 W1.Bit1 701 MCTRL.wMaxC57 109 W1.Bit2 702 MCTRL.ResolverFault 349 C0472/10 58 W1.Bit3 703 MCTRL.EncoderFault 356 C0472/11 59 W1.Bit4 704 MCTRL.SensorFault 355 W1.Bit5 705 MCTRL.MotorTempGreaterSetValue C0472/20 68 350 MCTRL.MotorTempGreaterCO121 351 C0473/1 69 W1.Bit15 715 MCTRL.KuehlGreaterSetValue 353 W0/W1 21 C0473/10 78 MCTRL.KuehlGreaterCO122 354 X6 W2/W3 10 DigOut C0475/1_v 79 BRK.SetQSP 420 DO1 C0475/2_v 80 BRK.NegOut 421 C6371/1 Out1 SO C0250 271 BRK.Out 422 C6371/2 Relais X25 C0471.Bit0 272 BRK.SetCInh 423 B1 B2 BRK.MStore 424 303 C0471.Bit31 BRK.MSetOut 141 C0135.Bit0 304 C0135.Bit15 319 C0474/1 16 C0474/5 20 ECSXA275 Fig.6−17 Signal flow diagram for configuration 4005 (setpoint via MotionBus (CAN)) EDBCSXS064 EN 3.0 108 � AIF1in CAN1In FCODE FIXED Commissioning 6 Entry of machine parameters 6.10 Entry of machine parameters In the GDC the codes for machine parameters, like for example maximum speed and ramp times can be found in the parameter menu under ƒ Short setup � Speed (for speed control). ƒ Short setup � Torque (for torque control). � Note! Detailed information concerning the possible settings can be gathered from the function block descriptions: ƒ Function block "Speed": � 262 ƒ Function block "Torque": � 284 ECSXA305 Fig.6−18 GDC view: short setup of the speed control ("Speed") EDBCSXS064 EN 3.0 � 109 6 Commissioning Setpoint selection 6.11 Setpoint selection The operating mode selected in C3005 enables a pre−assignment from different setpoint sources: 1) Code Value Setpoint source Setpoints 1000 Analog input � Fixed speed 4000 � Analog setpoints (e. g. master voltage or master current) C3005 1003 AIF module � Fixed speed 4003 � Fieldbus setpoints 1005 MotionBus (CAN) � Fixed speed 4005 � CAN setpoints 1) 100x = speed control ("Speed") 400x = torque control ("Torque") Example: selection of analog setpoints For selecting analog setpoints you can for instance configure the analog input signal in GDC in the parameter menu under Function blocks � AIn1: ECSXA307 Fig.6−19 GDC view: Codes of the function block AIn1 EDBCSXS064 EN 3.0 110 � Commissioning 6 Controller enable 6.12 Controller enable ƒ The controller is only enabled if enable is issued by all signal sources that are relevant for this process (AND operation). ƒ If the controller is enabled, the green LED on the controller is illuminated. If the controller is not enabled (inhibited), the causal signal source is displayed under C0183 (drive diagnostics) in the parameter menu under Diagnostics � Actual info: ECSXA314 Fig.6−20 GDC view: Diagnostics of current operation The following table shows the signal sources for controller enable: Signal source Controller inhibit Controller enable Note Terminal X6/SI1 0 ... +4 V +13 ... +30 V For controller enable, X6/SI1 has to be (LOW level) (HIGH level) = HIGH and X6/SI2 = HIGH. Terminal X6/SI2 0 ... +4 V +13 ... +30 V (LOW level) (HIGH level) Operating ! key " key Inhibiting with ! key is only possible if module/keypad the ! key is assigned with "CINH" via C0469. Fault � in case of TRIP TRIP−RESET For check see � 179. � in case of message MotionBus/system Transmission of the Transmission of the See "CAN Communication Manual". bus (CAN) control information control information Observe the function keys in the GDC: INHIBIT via C0135. ENABLE via C0135. � key (controller enable) � key (controller stop) Fieldbus module See Operating Instructions of the corresponding fieldbus module. � Note! All signal sources act like a series connection of switches which are independent of each other. EDBCSXS064 EN 3.0 � 111 6 Commissioning Quick stop 6.13 Quick stop By means of the quick stop function, the drive is braked to standstill within a set deceleration time (C0105). Quick stop (QSP) is activated by the following signal sources: Configuration/operating mode QSP active if � X6/DI1 and DI2 = HIGH During mains connection or � X6/DI1 and DI2 = LOW Lenze setting � X6/DI1 and DI2 = LOW During operation QSP is recognised device−internally if a LOW signal is applied to X6/DI1 and DI2 for more than 2 ms. � SPEED−QSP.Set1 (C7411/17) = TRUE or Speed control ("Speed") � SPEED−QSP.Set2 (C7411/18) = TRUE (further information: � 280) � TORQUE−QSP.Set1 (C7511/17) = TRUE or Torque control ("Torque"): � TORQUE−QSP.Set2 (C7511/18) = TRUE (further information: � 295) The deceleration time for the brake application is set via C0105 in the GDC parameter menu under ƒ Short setup � Speed (for speed control). ƒ Short setup � Torque (for torque control). Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0042 DIS: QSP Quick stop status (QSP) � 242 Only display � 112 0 QSP not active 1 QSP active C0105 QSP Tif 0.000 Deceleration time for quick stop � 242 (QSP) � 112 0.000 {0.001 s} 999.999 Relating to speed variation n max (C0011) ... 0 rpm. EDBCSXS064 EN 3.0 112 � Commissioning 6 Loading Lenze settings 6.14 Loading Lenze settings � Note! After loading the Lenze setting, all parameters are set to basic setting defined by Lenze. Settings that have been adjusted before get lost during this process! In the GDC the parameters or codes to be set can be found in the parameter menu under Load / Store: ECSXA312 Fig.6−21 GDC view: parameter set management How to load the Lenze setting: 1. Stop the PLC program: C2108 = 2. 2. Load the Lenze setting: C0002 = 0. 3. Automatic start of the PLC program after mains connection: C2104 = 1. 4. Start the PLC program: C2108 = 1 5. Save parameter set: C0003 = 1 EDBCSXS064 EN 3.0 � 113 6 Commissioning Operation with servo motors from other manufacturers Entering motor data manually 6.15 Operation with servo motors from other manufacturers 6.15.1 Entering motor data manually If you operate servo motors of other manufacturers on the controller, you have to enter the motor data manually. The GDC includes the corresponding codes in the parameter menu under Motor/Feedb.�� Motor adjustment. ECSXA318 Fig.6−22 GDC view: Manual setting of the motor data Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C0006] Op mode 1 Operating mode of the motor � 114 control Only possible with C2108 = 2 (Stop) 1 Servo PM−SM Servo control of synchronous motors 2 Servo ASM Servo control of asynchronous motors C0018 fchop 2 Switching frequency 1 4 kHz sin 4 kHz permanent PWM frequency 2 8/4 kHz sin 8 kHz PWM frequency with automatic derating to 4 kHz at high load C0022 Imax current � I limit max 0 {0.01 A} � device−dependent list The maximum current can be obtained from the "Technical data". C0058 Rotor diff −90.0 Rotor displacement angle for � 117 synchronous motors (C0095) Only display −180.0 {0.1 �} 179.9 [C0081] Mot power 3.20 Rated motor power according to nameplate 0.01 {0.01 kW} 500.00 EDBCSXS064 EN 3.0 114 � Commissioning 6 Operation with servo motors from other manufacturers Checking resolver polarity Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C0084] Mot Rs 1.10 Motor stator resistance The upper limit is device−dependent. 0.00 {0.01 �} 95.44 ECSxS/P/M/A004 47.72 ECSxS/P/M/A008 23.86 ECSxS/P/M/A016 11.93 ECSxS/P/M/A032 7.95 ECSxS/P/M/A048 5.96 ECSxS/P/M/A064 [C0085] Mot Ls 5.30 Leakage inductance of the motor 0.00 {0.01 mH} 200.00 [C0087] Mot speed 3700 Rated motor speed 300 {1 rpm} 16000 [C0088] Mot current 7.0 Rated motor current 0.5 {0.1 A} 500.0 [C0089] Mot 185 Rated motor frequency frequency 10 {1 Hz} 1000 [C0090] Mot voltage 325 Rated motor voltage 50 {1 V} 500 [C0091] Mot cos phi 1.00 cos � of the asynchronous motor 0.50 { 0.01} 1.00 [C0095] Rotor pos adj 0 Rotor position adjustment of a � 117 synchronous motor C0058 shows the rotor displacement angle. 0 Inactive 1 Active [C0418] Test Cur.Ctrl 0 Controller adjustment: � 116 0 Deactivated Deactivate test mode 1 Activated Activate test mode 6.15.2 Checking resolver polarity The GDC contains the parameters/codes to be set in the parameter menu under Motor/Feedb. � Motor adjustment. Code C0060 indicates the rotational angle of a revolution as a numerical value between 0�...�2047. ƒ This value must increase when the rotor rotates in CW direction (with view to the front of the motor shaft). ƒ If the values decrease, exchange the connections of Sin+ and Sin−. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0060 Rotor pos Current rotor position Only display 0 {1 inc} 2047 1 rev = 2048 inc EDBCSXS064 EN 3.0 � 115 6 Commissioning Operation with servo motors from other manufacturers Adjusting current controller 6.15.3 Adjusting current controller For optimum machine operation, the current controller must be adapted to the electrical values of the motor. � Note! When using MCS motors ... adjust the current controller with the maximum current intended for operation. Leakage inductance and stator resistance of the motor are known: The gain of the current controller V and the integral−action time of the current controller p T can be calculated by approximation: n Current controller gain (V ) Integral−action time of the current controller (T ) p n L1 L1 S S V ��� T ��� p n R1 250��s S L1 Motor leakage inductance S R1 Motor stator resistance S � Note! Depending on the leakage inductance of the motor, the calculated values can be outside the adjustable range. In this case ƒ set a lower gain and a higher integral−action time; ƒ adjust the current controller metrologically (� 117). For applications with high current controller dynamics the pilot control of the current controller outputs can be activated with C0074 (C0074 = 1). For this, it is vital to enter the correct values for the stator resistance (C0084) and leakage inductance (C0085).These can be obtained from the data sheet of the motor used! EDBCSXS064 EN 3.0 116 � Commissioning 6 Operation with servo motors from other manufacturers Effecting rotor position adjustment Leakage inductance and stator resistance of the motor are not known: The current controller can be optimised metrologically with a current probe and an oscilloscope. For this, a test mode is available in which the current C0022 x �2 flows in phase U after controller enable. � Stop! Avoid any damages to the motor and the machine ƒ During the controller adjustment the motor must be able to rotate freely. ƒ The test current must not exceed the maximum permissible motor current. ƒ Always adjust the current controller at a switching frequency of 8 kHz. Observe the current step in phase U to adjust the current controller. Setting sequence: 1. Set the switching frequency = 8 kHz (C0018 = 2). 2. Set the quantity of the test current under C0022: – Start with low current, e. g. half rated motor current. 3. Activate the test mode with C0418 = 1. 4. Enable the controller (X6/SI1 = HIGH, � 111). – Let the synchronous motor adjust. – Asynchronous motor stops. 5. Enable and inhibit the controller several times in a row, changing V via C0075 and p T via C0076 so that the current characteristic is free of harmonics. n 6. After the adjustment has been successfully completed, deactivate the test mode with C0418 = 0. 7. If necessary, change the switching frequency via C0018. 6.15.4 Effecting rotor position adjustment � Note! Resolver / absolute value encoder with hyperface interface ƒ If the rotor zero phase is not known, the rotor position adjustment only has to be carried out once for commissioning. ƒ For SinCos absolute value encoders with a hyperface interface, the encoder value is set to "0" automatically after the rotor position adjustment. Incremental encoder / SinCos encoder with zero track ƒ If these encoder types are used for operating synchronous motors, the rotor position adjustment has to be carried out every time after the low−voltage supply has been switched on. EDBCSXS064 EN 3.0 � 117 6 Commissioning Operation with servo motors from other manufacturers Effecting rotor position adjustment The rotor position must be adjusted if: ƒ A servo motor from another manufacturer is operated on the controller. ƒ Another encoder has been mounted subsequently. ƒ A defective encoder has been replaced. The rotor position can only be adjusted if: ƒ The resolver is polarised correctly. ƒ The current controller has been adjusted. � Note! Resolver ƒ If the zero angle of the rotor is not known, adjust the rotor zero angle once during commissioning. Incremental encoder/encoder ƒ If encoders without absolute position transfer are used (C0490 / C0495 = 1 or 2), adjust the zero angle of the rotor after every switch−on of the low−voltage supply. ƒ For multi−turn encoders, the traversing range must be within the display area of the encoder (0 ... 4095 revolutions) when the traversing range is limited. The GDC parameter menu contains the codes for adjusting the rotor position under Short setup���Feedback. ECSXA304 Fig.6−23 GDC view: Short setup of the feedback system EDBCSXS064 EN 3.0 118 � Commissioning 6 Operation with servo motors from other manufacturers Effecting rotor position adjustment Setting sequence: 1. Inhibit controller (e. g. with X6/SI1 = LOW). – Green LED is blinking, red LED is off 2. Unload motor mechanically. – Separate motor from gearbox or machine. – Remove toothed lock washers, gear wheels, etc. from motor shaft if necessary. – Support holding torques which are held by a mounted motor brake by means of arresting devices if necessary. 3. Deactivate "safe torque off" (� 55) so that the motor can be energised during rotor position adjustment. – X6/SI1 = HIGH – X6/SI2 = HIGH 4. Open holding brake (if available). 5. Activate rotor position adjustment with C0095 = 1. 6. Enable controller (X6/SI1 = HIGH, � 111). The rotor position adjustment program of the controller is started: – The rotor rotates half a revolution in 16 steps (for resolver with 1 pole pair: 180° electrically � 180° mechanically). – C0095 is reset to ’0’ after one revolution. – The rotor zero phase is stored under C0058. (For incremental encoder/encoder at X8, C0058 is always "0" since the value is stored in the encoder!) � Note! If the rotor position adjustment is terminated with the error message "Sd7" (� 184), the controller may not be enabled! ƒ Repeat the rotor position adjustment (start with step 1). ƒ Check the wiring and the interference immunity of the incremental encoder/encoder at X8. 7. Save the data detected by the controller with C0003 = 1. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0058 Rotor diff −90.0 Rotor displacement angle for � 117 synchronous motors (C0095) Only display −180.0 {0.1 �} 179.9 [C0095] Rotor pos adj 0 Rotor position adjustment of a � 117 synchronous motor C0058 shows the rotor displacement angle. 0 Inactive 1 Active EDBCSXS064 EN 3.0 � 119 6 Commissioning Optimising the drive behaviour after start Speed controller adjustment 6.16 Optimising the drive behaviour after start For applications with high current controller dynamics, the pilot control for the current controller can be adjusted under C0074: Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0074 Dynamics 0 Pilot control of the current � 116 controller for higher dynamics 0 Normal Normal 1 Enhanced Enhanced 6.16.1 Speed controller adjustment ƒ The speed controller can only be set correctly when the system constellation has been completed. ƒ Please note that the input variables and output variables of the speed controller are scaled: – Input: scaling to n (C0011) max – Output: scaling to I (C0022) max ƒ Hence, C0011 and C0022 have a direct impact on the speed controller gain (C0070). ƒ The speed controller cannot be optimally adjusted if – the current controller is set incorrectly. – the time constant for the actual speed value filter is set too high (C0497). – the axis module is poorly connected to PE, as this results in noisy speed and current signals. – there are elastic or loose connections between the drive and the load. ƒ The speed controller is designed as an ideal PID controller. The codes for adjusting the speed controller can be found in the parameter menu of the GDC under Controller settings�� Speed. ECSXA317 Fig.6−24 GDC view: Adjustment of the speed controller EDBCSXS064 EN 3.0 120 � Commissioning 6 Optimising the drive behaviour after start Speed controller adjustment Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0070 Vp speedCTRL 3.00 Proportional gain of speed � 120 controller (V ) pn 0.00 { 0.01} 127.99 C0071 Tn speedCTRL 24.0 Integral−action time of speed � 120 controller (T ) nn 1.0 {0.5 ms} 6000.0 C0072 Td speedCTRL 0.00 Derivative gain of speed � 120 controller (T ) dn 0.0 {0.1 ms} 32.0 Parameter setting: ƒ Via C0070 you set the proportional gain (V ): p – Enter approx. 50 % of the speed setpoint (100 % = 16384 = N ). max – Increase C0070 until the drive becomes instable (pay attention to engine noises). – Reduce C0070 until the drive runs stable again. – Reduce C0070 to approx. half the value. � Note! For speed control ("Speed"): The proportional gain (V ) can be altered via SPEED−MCTRL.NAdapt (C7431/7): p ƒ V = SPEED−MCTRL.NAdapt[%] x C0070 p ƒ If SPEED−MCTRL.NAdapt is not assigned, the following applies: V = 100 %, p C0070 = C0070 For torque control ("Torque"): The proportional gain (V ) can be altered via TORQUE−MCTRL.NAdapt p (C7531/7): ƒ V = TORQUE−MCTRL.NAdapt[%] x C0070 p ƒ If TORQUE−MCTRL.NAdap is not assigned, the following applies: V = 100 %, p C0070 = C0070 ƒ The reset time (T ) is set via C0071: n – Reduce C0071 until the drive becomes unstable (pay attention to motor noise). – Increase C0071, until the drive runs stable again. – Increase C0071 to approx. the double value. ƒ The derivative gain (T ) is set via C0072: d – Increase C0072 during operation until an optimal control mode is reached. EDBCSXS064 EN 3.0 � 121 6 Commissioning Optimising the drive behaviour after start Adjustment of field controller and field weakening controller 6.16.2 Adjustment of field controller and field weakening controller � Stop! ƒ The field controller and the field weakening controller must only be adjusted for operation with asynchronous motors. ƒ The available torque is reduced by the field weakening. An optimal machine operation in the field weakening range requires a correct setting of the field controller and field weakening controller. The motor is operated in the field weakening range if ƒ the output voltage of the controller exceeds the rated motor voltage (C0090). ƒ the controller cannot increase the output voltage with rising speed due to the mains voltage or DC−bus voltage. The GDC includes the codes for adjusting the field controller and field weakening controller in the parameter menu under Controller: ECSXA315 Fig.6−25 GDC view: Field controller / field weakening controller adjustment EDBCSXS064 EN 3.0 122 � Commissioning 6 Optimising the drive behaviour after start Adjustment of field controller and field weakening controller 6.16.2.1 Field controller adjustment The field controller settings depend on the motor data. Setting sequence: 1. Stop the PLC program: C2108 = 2 2. Set motor control for asynchronous motors: C0006 = 2 – The motor nameplate data must be entered correctly! 3. Read rotor time constant T (C0083). r 4. Read magnetising current I (C0092). d 5. Calculate field controller gain V and enter it into C0077. pF T �(C0083)� I �(C0092) r d V ��� pF 875��s� I max I Maximum current of axis module max 6. Enter rotor time constant T as integral−action time T for the field controller in r nF C0078. EDBCSXS064 EN 3.0 � 123 6 Commissioning Optimising the drive behaviour after start Adjustment of field controller and field weakening controller 6.16.2.2 Field weakening controller adjustment ƒ The field weakening controller determines the speed performance of the asynchronous motor in the field weakening range. ƒ The field weakening controller can only be set correctly when the system constellation has been completed and is under load. � Note! An excessive value of I (C0022) can cause a malfunction of the drive in the max field weakening range of the asynchronous motor. For this reason, the current is limited in terms of speed in the field weakening range. The limitation has a 1/n characteristic and is derived from the motor parameters. The limitation can be adjusted with the stator leakage inductance (C0085): ƒ Low values cause a limitation at higher speeds. ƒ Higher values cause a limitation at lower speeds. Setting sequence: 1. Set gain V : C0577 = 0.01 ... 0.99 p –V must not be "0"! p 2. Set integral−action time T : C0578 = 1 ... 40 ms n 3. Select a speed setpoint so that the motor is operated in the field weakening range. 4. Observe the speed curve – If the speed takes an irregular course, the field weakening controller must be readjusted. – The field weakening controller must be provided with a distinct integral action. EDBCSXS064 EN 3.0 124 � Commissioning 6 Optimising the drive behaviour after start Resolver adjustment 6.16.3 Resolver adjustment For resolver adjustment, mainly component tolerances of the resolver evaluation are compensated in the device. A resolver error characteristic is not included. The resolver adjustment ƒ is required if the speed characteristic is unstable. ƒ is carried out by C0417 = 1 while the motor is idling. ƒ is started after controller enable has been effected. It stops automatically after 16 shaft revolutions by selecting a setpoint or by manual rotation in the inhibited state (X6/SI1 or X6/SI2 = LOW). If it is not possible to adjust the resolver (due to a fault or a defective cable), the original adjustment values can be restored with C0417 = 2. C0417 can be found in the GDC in the parameter menu under Motor/Feedback���Feedback. ECSXA316 Fig.6−26 GDC view: Resolver adjustment EDBCSXS064 EN 3.0 � 125 7 Parameter setting General information 7 Parameter setting 7.1 General information ƒ The controller can be adapted to your application by setting the parameters. A detailed description of the functions can be found in the chapter "Commissioning" (� 74). ƒ The parameters for the functions are stored in numbered codes: – The codes are marked in the text with a "C". – The code table (� 301) provides a quick overview of all codes. The codes are sorted in numerical ascending order, thus serving as a "reference book". Parameter setting with keypad XT or PC/laptop Detailed information on parameter setting with the keypad XT can be found in the following chapters. � Detailed information ... on the parameter setting with a PC/laptop can be found in the documentation of the parameter setting and operating program "Global Drive Control" (GDC). In addition to parameter setting the keypad XT or PC/laptop serves to: ƒ Control the controller (e. g. inhibiting or enabling) ƒ Select the setpoints ƒ Display operating data ƒ Transfer parameter sets to other controllers (only via PC/laptop). Parameter setting with a bus system � Detailed information ... on the parameter setting with a bus system can be found in the documentation of the communication module to be applied (� 376). EDBCSXS064 EN 3.0 126 � Parameter setting 7 Parameter setting with "Global Drive Control" (GDC) 7.2 Parameter setting with "Global Drive Control" (GDC) With the Global Drive Control (GDC) parameterisation and operating program, Lenze offers a plain, concise, and comfortable tool for the configuration of your application−specific drive task with the PC/laptop: ƒ The input assistant of the GDC offers a comfortable motor selection. ƒ The menu structure supports the commissioning process by its clear organisation. � � � � X14 � � ECSXA453 Fig.7−1 Using the GDC � Lenze parameterisation program "Global Drive Control" (GDC) � PC/laptop � PC system bus adapter (EMF2173IB/2177IB) with connecting cable � Sub−D−plug with 3−pole cable � 3−pole plug (CAG ˘ CAL ˘ CAH) of ECSZA000X0B connector set � ECSxS... axis module EDBCSXS064 EN 3.0 � 127 L 7 Parameter setting Parameter setting with the keypad XT EMZ9371BC Connecting the keypad 7.3 Parameter setting with the keypad XT EMZ9371BC � The keypad is available as accessories. A complete description is given in the documentation on the keypad. 7.3.1 Connecting the keypad � �� ��� SHPRG� Code Menu 00 Para 0050 50.00_Hz MCTRL-NOUT � �� � EMZ9371BC �� ��� SHPRG� Menu Code � 0050 00 E82ZBBXC Para GLOBAL DRIVE Init � �� � � � 0050 00 �� ��� � 50.00 Hz 20 % � � �� � � � � � 00 0050 50.00 Hz 20 % � �� � 9371BC018 � Connect the keypad to the AIF interface (X1) of the axis module/power supply module. It is possible to connect/disconnect the keypad during operation. � As soon as the keypad is supplied with voltage, it carries out a short self−test. � The operation level indicates when the keypad is ready for operation: � Current status of the axis module/power supply module � Code number, subcode number, and current value � Active fault message or additional status message � Current value in % of the status display defined in C0004 � # must be pressed to leave the operation level EDBCSXS064 EN 3.0 128 � ����� SHPRG� Menu PCaordae 0050 00 50.00_Hz MCTRL-NOUT � �� � E82ZWLxxx � � � � � � � � � � � � � � � � � � � � Parameter setting 7 Parameter setting with the keypad XT EMZ9371BC Description of the display elements 7.3.2 Description of the display elements � � � �� ��� � Menu SHPRG� Code 0050 00 Para � 50.00_Hz � � MCTRL-NOUT � � � �� � 9371BC002 Fig.7−2 Keypad: Front view � Status displays Display Meaning Explanation $ Ready for operation % Pulse inhibit active Power outputs inhibited & Adjusted current limitation is exceeded in motor mode or generator mode ’ Speed controller 1 within its limitation � Drive is torque−controlled � Only active for operation with Lenze devices of the 9300 series! ( Active fault � Parameter acceptance Display Meaning Explanation ) Parameter is accepted �immediately � The device immediately operates with the new parameter value. SHPRG ) The parameter must be confirmed with * The device operates with the new # parameter value after being confirmed. SHPRG When the controller is inhibited, the The device operates with the new parameter must be confirmed with * # parameter value after the controller has been released again. None Display parameters Cannot be changed. � Active level Display Meaning Explanation Menu Active menu level � Selection of main menu and submenus � No menu for ECSxE... power supply module! Code Active code level Selection of codes and subcodes Para Active parameter level Change of parameters in the codes or subcodes None Active operating level Display of operating parameters � Short text Display Meaning Explanation Alphanumerical Contents of the menus, meaning of the codes and parameters Display of C0004 in % and the active fault in the operating level EDBCSXS064 EN 3.0 � 129 � � � � 7 Parameter setting Parameter setting with the keypad XT EMZ9371BC Description of the function keys � Number Active level Meaning Explanation Menu level Menu number � Display is only active when operating Lenze devices of the 8200 vector or 8200 motec series. � No menu for ECSxE... power supply module! Code level Four−digit code number � Number Active level Meaning Explanation Menu level Submenu number � Display is only active when operating Lenze devices of the 8200 vector or 8200 motec series. � No menu for ECSxE... power supply module! Code level Two−digit subcode number � Parameter value Parameter value with unit � Cursor The figure over the cursor can be directly changed in the parameter level. + Function keys For description see the following table. 7.3.3 Description of the function keys � Note! Key combinations with *: Press * and keep it pressed, then press second key in addition. Key Function 1) Menu level Code level Parameter level Operating level Change to parameter Change to operating # Change to code level level level Load predefined Accept parameters * # configurations in the when SHPRG ) or 2) menu "Short setup" SHPRG is displayed , Change between menu Change figure over Change code number items cursor - * , Quick change between Quick change of code Quick change of figure menu items number over cursor * - . Cursor to the right Change between main menu, submenus and code level / Cursor to the left 0 Cancel function of 1 key, the LED in the key goes out. 1 Inhibit the controller, LED in the key lights up. Reset fault (TRIP reset): 1. Remove cause of malfunction 2. Press 1 3. Press 0 1) No menu for ECSxE... power supply module 2) Only active when operating Lenze devices of the 8200 vector or 8200 motec series. EDBCSXS064 EN 3.0 130 � Parameter setting 7 Parameter setting with the keypad XT EMZ9371BC Saving and changing parameters 7.3.4 Saving and changing parameters All parameters for axis module/power supply module parameterisation or monitoring are stored in codes. The codes are numbered and marked with a "C" in the documentation. Some codes store the parameters in numbered "subcodes" to provide a clear structure for parameter setting (e.g. C0517 user menu). � Stop! Your settings have an effect on the current parameters in the RAM. You must store your settings as a parameter set to prevent that they will get lost when switching the mains! Step Keys Action 1. Select menu , - . / Select the desired menu with arrow keys. 2. Change to code level . Display of first code in the menu 3. Select code or subcode - , Display of current parameter value 4. Change to parameter level # 5. If SHPRG is displayed, inhibit 1 The drive is idling. controller 6. Change parameters A . / Move cursor under the digit to be changed B - , Change digit * - Change digit quickly * , 7. Accept changed parameters Display SHPRG or SHPRG ) * # Confirm change to accept parameter Display "OK" Display ) − The parameter was accepted immediately. 8. If necessary, enable controller 0 The drive should be running again. 9. Change to code level A # Display of operating level B # Display of the code with changed parameters 10. Change further parameters Restart the "loop" at step 1. or step 3. 11. Save changed parameters A , - . / Select code C0003 "PAR SAVE" in the menu "Load/Store" B # Change to parameter level Display "0" and "Ready" Select parameter set in which the C , Save as parameter set 1: parameters are to be saved � set "1" "Save PS1" permanently D * # When "OK" is displayed, the settings are permanently saved. 12. Change to code level A # Display of operating level B # Display C0003 "PAR SAVE" EDBCSXS064 EN 3.0 � 131 7 Parameter setting Parameter setting with the keypad XT EMZ9371BC Menu structure 7.3.5 Menu structure For easy operation, the codes are clearly arranged in function−related menus: Main menu Submenus Description Display Display USER menu Codes defined under C0517 Code list All available codes User code list List of all application−specific codes Load / Store Parameter set management Parameter set transfer, restore delivery state Multitasking Diagnostic Diagnostics Actual info Display codes to monitor the drive History Fault analysis with history buffer System blocks Configuration of the main function blocks MCTRL Motor control DCTRL Internal control Terminal I/O Linkage of the inputs and outputs with internal signals AIN1 Analog input 1 DIGIN Digital inputs DIGOUT Digital outputs DFIN Master frequency input DFOUT Master frequency output Controller Configuration of internal control parameters Speed Speed controller Current Current controller or torque controller Phase Phase controller Field Field controller Field weak Field weakening controller Motor/Feedb. Input of motor data, configuration of speed feedback Motor adj Motor data Feedback Configuration of feedback systems Monitoring Configuration of monitoring functions LECOM/AIF Configuration of operation with communication modules LECOM A/B Serial interface AIF interface Process data Status word Display of status words EDBCSXS064 EN 3.0 132 � Parameter setting 7 Parameter setting with the keypad XT EMZ9371BC Menu structure Main menu Submenus Description Description Display Display 1) System bus Configuration of MotionBus (CAN) Management CAN communication parameters CAN−IN1 CAN object 1 CAN−OUT1 CAN−IN2 CAN object 2 CAN−OUT2 CAN−IN3 CAN object 3 CAN−OUT3 Status word Display of status words Sync.manag. Diagnostic CAN diagnostics FCODE Configuration of free codes Identify Identification Drive Software version of basic device Op Keypad Software version of keypad 1) Only in case of ECS modules the configuration of the MotionBus (CAN) is executed under the menu level "System bus"! EDBCSXS064 EN 3.0 � 133 8 Configuration 8 Configuration By configuring the axis module you can adapt the drive system to your application. The axis module can be configured via the following interfaces: ƒ X1 ˘ AIF (automation interface) – For connecting the keypad XT EMZ9371BC or another communication module (� 376) with which you can access the codes. ƒ X14 ˘ system bus (CAN) interface – PC interface/HMI for parameter setting and diagnostics (e.g. with the Lenze parameter setting and operating program "Global Drive Control") or – Interface to a decentralised I/O system Systembus (CAN) �� ��� SHPRG� Menu Code Para 0050 00 � 50.00_Hz � � � MCTRL-NOUT � �� � MotionBus (CAN) X1 X1 X1 X1 X1 X4 X4 X4 X4 X4 X14 X14 X14 X14 � � ECSXA028 Fig.8−1 MotionBus/system bus (CAN) � XT EMZ9371BC keypad or another communication module � PC/laptop or HMI � Decentralised I/O system � Higher−level master system / MotionBus control � ECSxE...power supply module � ECSxx...axis modules EDBCSXS064 EN 3.0 134 � � � � � Configuration 8 Communication with MotionBus/system bus (CAN) Structure of the CAN data telegram 8.1 Communication with MotionBus/system bus (CAN) For communication between the components of the drive system the axis modules ECSxS... have two CAN bus terminals: ƒ Terminal X4 ("CAN") – MotionBus (CAN) – For communication with a higher−level master system or further controllers – The data is exchanged via process data channels and parameter data channels. – Parameter setting/diagnostics via code range C03xx ƒ Terminal X14 ("CAN−AUX") – System bus (CAN) – PC interface / HMI for parameter setting and diagnosing – Interface to a decentralised I/O system – The data is exchanged via parameter data channels only. – Parameter setting/diagnostics via code range C24xx The communication is effected via data telegrams. � Note! In case of ECSxS... axis modules only the parameter channels (SDO) are supported for the system bus ˘ connection X14 (CAN−AUX) ˘. 8.1.1 Structure of the CAN data telegram Control field CRC delimit. ACK delimit. Start RTR bit CRC sequence ACK slot End Identifier User data (0 ... 8 bytes) � Network management � Process data 1 bit 11 bits 1 bit 6 bits 15 bits 1 bit 1 bit 1 bit 7 bits � Parameter data Fig.8−2 Basic structure of the CAN telegram Identifier The identifier determines the priority of the message. Moreover, the following is coded: ƒ The CAN node address (device address in the CAN network) of the node which is to receive the CAN telegram. See also chapter "Addressing of the parameter and process data objects" (� 149). ƒ The type of user data to be transferred EDBCSXS064 EN 3.0 � 135 8 Configuration Communication with MotionBus/system bus (CAN) Communication phases of the CAN network (NMT) User data The user data area of the CAN telegram either contains network management data, process data or parameter data: User data Description Network management data The information serves to establish communication via the CAN network (NMT data) Process data � Process data are transmitted via the process data channel. (PDO, Process Data Objects) � The process data serve to control the controller. � Process data can be accessed directly by the higher−level host system. The data are, for instance, stored directly in the I/O area of the PLC. It is necessary that the data can be exchanged between the host system and the controller within the shortest time possible. In this connection, small amounts of data can be transferred cyclically. � Process data are transmitted between the higher−level host system and the controllers to ensure a permanent exchange of current input and output data. � Process data are not stored in the controller. � Process data are, for instance, setpoints and actual values. Parameter data � Parameter data are transferred via the parameter data channel and acknowledged by the receiver, i.e. the receiver gets a feedback whether (SDO, Service Data Objects) the transmission was successful. � Parameter data of Lenze devices are called codes. � The parameter data channel enables access to all Lenze codes and all CANopen indexes. � Parameters are set, for instance, for the initial commissioning of a plant or when material of a production machine is exchanged. � Usually the transfer of parameters is not time−critical. � Parameter changes are stored in the controller. � Parameter data are, for instance, operating parameters, diagnostic information and motor data. � Tip! The other signals refer to the transfer features of the CAN telegram that are not described in these instructions. For further information visit the homepage of the CAN user organisation CiA (CAN in Automation): www.can−cia.org. 8.1.2 Communication phases of the CAN network (NMT) With reference to communication the drive knows the following states: State Explanation "Initialisation" After the controller is switched on the initialisation phase is run through. During this phase, the controller is not involved in the data transfer on the bus. (Initialisation) Furthermore it is possible to run through a part of the initialisation in each NMT state due to the transfer of different telegrams (see "State transitions"). Here, all parameters already set are rewritten with their standard values. After completing the initialisation the drive is automatically in the "Pre−Operational" state. "Pre−operational" The drive can receive parameter data. (before operation) The process data are ignored. "Operational" The drive can receive parameter data and process data. (ready for operation) "Stopped" Only network management telegrams can be received. EDBCSXS064 EN 3.0 136 � Configuration 8 Communication with MotionBus/system bus (CAN) Communication phases of the CAN network (NMT) Status transitions (1) Initialisation (2) (14) (11) Pre-Operational (7) (10) (13) (4) (5) Stopped (3) (6) (9) (12) (8) Operational E82ZAFU004 Fig.8−3 State transitions in the CAN network (NMT) State Command Network state after Impact on process or parameter data after state change transition change (hex) If the mains is switched ON, initialisation is started automatically. During the initialisation phase the drive is not involved in the data exchange. (1) − Initialisation After the initialisation is completed, a boot−up message of the node with an own identifier is sent to the master and the node automatically changes to the state "Pre−Operational". The master decides in this phase in which way the controllers take part in (2) − Pre−Operational communication. From here on, the states are changed by the master for the entire network. A target address included in the command specifies the receiver(s). Network management telegrams, sync, emergency, process data (PDO) and parameter data (SDO) are active (corresponds to "Start Remote Node") (3), (6) 01xx Operational Optional: During the change event−controlled and time−controlled process data (PDO) are transmitted once. Network management telegrams, sync, emergency and parameter data (4), (7) 80xx Pre−Operational (SDO) are active (corresponds to "Enter Pre−Operational State") (5), (8) 02xx Stopped Only network management telegrams can be received. (9) Initialisation of all parameters in the communication module with the (10) 81xx values stored (corresponds to "Reset−Node") (11) Initialisation (12) Initialisation of parameters relevant to communication (CiA DS 301) in the (13) communication module with the values stored (corresponds to "Reset 82xx Communication") (14) xx = 00 With this assignment, all devices connected are addressed by the telegram. The hex status can be changed for all devices at the same time. xx = node ID If a node address is indicated, the status will only be changed for the device addressed. Network management (NMT) The telegram structure used for the network management contains the identifier and the command included in the user data which consists of the command byte and the node address. EDBCSXS064 EN 3.0 � 137 8 Configuration Communication with MotionBus/system bus (CAN) Process data transfer Identifier User data Value = 0 Only contains command 11 bits 2�bytes Fig.8−4 Telegram for switching over the communcation phases The communication phases are changed over by a node, the network master, for the entire network. The change−over can also be done by a controller (see chapter "CAN−boot−up", � 154). With a certain delay after mains connection, a telegram is sent once that changes the state of the entire drive system to the "Operational" state. The delay time for the ƒ MotionBus (CAN) can be set under code C0356/subcode 1. ƒ System bus (CAN) can be set under code C2456/subcode 1. � Note! Communication via process data is only possible with a status change to �operational"! Example: For changing the status of all nodes on the bus from "pre−operational" to �operational" via the CAN master, the following identifier and user data must be set in the telegram: ƒ Identifier: 00 (broadcast telegram) ƒ User data: 0100 (hex) 8.1.3 Process data transfer Definitions ƒ Process data telegrams between host and drive are distinguished as follows: – Process data telegrams to the drive – Process data telegrams from the drive ƒ The CANopen process data objects are designated as seen from the node’s view: – RPDOx: process data object received by a node – TPDOx: process data object sent by a node EDBCSXS064 EN 3.0 138 � Configuration 8 Communication with MotionBus/system bus (CAN) Process data transfer 8.1.3.1 Available process data objects The following process data objects are available for the ECS axis modules via the CAN interfaces X4 and X14: CAN interface RPDOs TPDOs Axismodule ECSxS ECSxP ECSxM ECSxA CAN1_IN CAN1_OUT � � � � X4 CAN2_IN CAN2_OUT � � ˘ � MotionBus (CAN) CAN3_IN CAN3_OUT � ˘ ˘ � CANaux1_IN CANaux1_OUT ˘ � ˘ � X14 CANaux2_IN CANaux2_OUT ˘ � ˘ � System bus (CAN) CANaux3_IN CANaux3_OUT ˘ ˘ ˘ � ƒ The CANx_IN/OUT process data objects are integrated into the ECSxS... axis modules in the form of function blocks. ƒ In the function blocks the user data is converted to corresponding signal types for further use. ƒ These are the function blocks provided: – CAN (� 212) ˘ CAN management – CAN1In (� 215) – CAN1Out (� 218) – CAN2In (� 224) – CAN2Out (� 227) – CAN3In (� 230) – CAN3Out (� 233) – CANSync (� 236) ˘ CAN sychronisation EDBCSXS064 EN 3.0 � 139 8 Configuration Communication with MotionBus/system bus (CAN) Process data transfer 8.1.3.2 Structure of the process data Each process data telegram has a maximum user data length of eight bytes. Process data telegram CAN1...3_IN/CANaux1...3_IN (RPDO) ƒ CAN1...3_IN/CANaux1...3_IN transfers control information to the axis module. ƒ The control word is transmitted in byte 1 and 2 of the user data. Identifier User data (8 bytes) Control word 00 00 00 00 00 00 hex hex hex hex hex hex 11 bits LOW HIGH byte byte Fig.8−5 Structure of process data telegram CAN1...3_IN/CANaux1...3_IN Process data telegram CAN1...3_OUT/CANaux1...3_OUT (TPDO) ƒ CAN1...3_OUT/CANaux1...3_OUT indicates status information from the axis module. Status information can be as follows: – Current status of the axis module – Status of the digital inputs – States of internal analog values – Error messages This information enables the master system to react. ƒ The status word 1 is transmitted in byte 1 and 2 of the user data. ƒ The status word 2 is transmitted in byte 3 and 4 of the user data. Identifier User data (8 bytes) Status word 1 Status word 2 00 00 00 00 hex hex hex hex LOW HIGH 11 bits LOW HIGH byte byte byte byte Fig.8−6 Structure of process data telegram CAN1...3_OUT/CANaux1...3_OUT EDBCSXS064 EN 3.0 140 � Configuration 8 Communication with MotionBus/system bus (CAN) Process data transfer 8.1.3.3 Transfer of the process data objects Process data objects Data transmission CAN1_IN cyclic (sync−controlled) CANaux1_IN CAN2_IN cyclic (sync−controlled) RPDOs CANaux2_IN CAN3_IN cyclic (sync−controlled) CANaux3_IN CAN1_OUT cyclic (sync−controlled) CANaux1_OUT CAN2_OUT time or event−controlled TPDOs CANaux2_OUT CAN3_OUT time or event−controlled CANaux3_OUT ƒ The cyclic data transmission is activated for each PDO only by a sync telegram. ƒ The event−controlled data transmission is caused if a value in the corresponding output object changes. ƒ For the time−controlled transmission the boot−up time, cycle time or delay time can be set via code C0356/C2456 (� 154). 8.1.3.4 Cyclic process data objects The process data via CAN1_IN and CAN1_OUT are determined for a master system. PDO1, cyclic process data (setpoints and actual values) PAW CAN1_IN Axis module ECSxS/P/M/A... PEW CAN1_OUT Host system Fig.8−7 Example: Process data transfer via CAN1_IN and CAN1_OUT For a quick cyclic data transfer one process data object for input signals and one for output signals with eight bytes of user data each is available. EDBCSXS064 EN 3.0 � 141 8 Configuration Communication with MotionBus/system bus (CAN) Process data transfer Synchronisation of PDOs with cyclic transmission In order that the process data from the controller are read cyclically or the controllers accept the process data, an additional special telegram, the sync telegram, is used. The sync telegram is the trigger point for the data acceptance in the controller and starts the transmission process from the controller. The sync telegram must be generated accordingly for a cyclic process data processing. Sync telegram Sync telegram TPDOs RPDOs 3. 1. 2. Cycle time Fig.8−8 Sync telegram 1. After the sync telegram has been received, the cyclic process data of the controllers are sent to the master (TPDOs). In the master they are read as process input data. 2. When the transmission process is completed, the process output data (of the master) are received by the controllers (RPDO’s). All other telegrams (e.g. parameters or event−controlled process data) are accepted acyclically by the controllers. The acyclic data are not described in the above−mentioned graphics. They must be considered when the cycle time is dimensioned. 3. The data acceptance in the controller is carried out with the next sync telegram. � Tip! The response to a sync telegram is determined by the transmission type selected. � Note! Information on how to set the synchronisation can be found from � 155. EDBCSXS064 EN 3.0 142 � Configuration 8 Communication with MotionBus/system bus (CAN) Process data transfer 8.1.3.5 Event−controlled process data objects The event−controlled process data objects are especially suitable for the data exchange between axis modules and for distributed terminal extensions. However, they can also be used by a master system. Process data channel 2 event−controlled process data CAN2_IN CAN2_OUT Axis module Axis module ECSxS/P/M/A... ECSxS/P/M/A... CAN2_IN CAN2_OUT Fig.8−9 Example: Transfer of event−controlled process data objects The process data objects serve to transmit simple binary signals (e.g. states of digital input terminals) or complete values in 16 and 32 bits (e.g. analog signals). Event−controlled process data objects with adjustable cycle time (optional) The output data are transmitted ƒ event−controlled if a value changes within the user data (8�bytes) or ƒ cyclically with the cycle time set (� 154) for the – MotionBus (CAN) under the code C0356. – System bus (CAN) under the code C2456. Monitoring times for the inputs CAN1...3_IN/CANaux1...3_IN can be set under code C0357/C2457. EDBCSXS064 EN 3.0 � 143 8 Configuration Communication with MotionBus/system bus (CAN) Parameter data transfer 8.1.4 Parameter data transfer ECS module ECSxE/S/P/M/A... Parameter data channel 1 Parameter data channel 2 read read write write Parameter (Code) Parameter (Code) Operator device PC/laptop Fig.8−10 Device connection for parameterisation via two parameter data channels Parameters ƒ are values which are stored in Lenze controllers under a code. ƒ are carried out, for instance, for initial commissioning of a plant or when material of a production machine is exchanged. ƒ are transmitted with low priority. Parameter data is transferred as SDOs (Service Data Objects) via the system bus and acknowledged by the receiver. The SDOs enable the reading and writing access to the object directory. Both CAN interfaces (X4, X14) are provided with two separated parameter data channels each which serve to simultaneously connect different devices for parameter setting and diagnostics. The codes for parameter setting and diagnostics of the MotionBus (CAN) and the system bus (CAN) are divided in separate ranges: Bus Connection Code range MotionBus (CAN) X4 ("CAN") C03xx System bus (CAN) X14 ("CAN−AUX") C24xx EDBCSXS064 EN 3.0 144 � Configuration 8 Communication with MotionBus/system bus (CAN) Parameter data transfer 8.1.4.1 User data Structure of the parameter data telegram User data (up to 8 bytes) 1. byte 2. byte 3. byte 4. byte 5. byte 6. byte 7. byte 8. byte Data 1 Data 2 Data 3 Data4 Low word High word Index Index Command Subindex Low byte High byte Low byte High byte Low byte High byte Error code � Note! The user data are displayed in Motorola format. Examples of parameter data transfer can be found from � 147. Command The command contains services for writing and reading parameters and the information on the length of the user data: Bit 7 Bit6 Bit5 Bit 4 Bit3 Bit2 Bit1 Bit 0 MSB LSB Command specifier (cs) toggle (t) Length E E Command Write request 0 0 1 0 1 1 00 = 4 bytes Write response 0 1 1 0 0 0 01 = 3 bytes 10 = 2 bytes Read request 0 1 0 0 0 0 11 = 1 byte Read response 0 1 0 0 1 1 Error response 1 0 0 0 0 0 0 0 The following information are contained or must be entered in the command. 4 byte data 2 byte data 1 byte data Block (5. ... 8. byte) (5. and 6. byte) (5. byte) hex dec hex dec hex dec hex dec Command Write request 23 35 2B 43 2F 47 21 33 (Transmit parameters to the drive) Write response 60 96 60 96 60 96 60 96 (Acknowledgement, controller response to write request) Read request 40 64 40 64 40 64 40 64 (Request to read a controller parameter) Read response 43 67 4B 75 4F 79 41 65 (Response to read request with current value) Error response 80 128 80 128 80 128 80 128 (The controller indicates a communication error) Command "Error response": In the event of an error, the node addressed generates an "error response". This telegram always contains the value "6" in data 4 and an error code in data 3. The error codes are standardised according to DS301, V4.02. EDBCSXS064 EN 3.0 � 145 8 Configuration Communication with MotionBus/system bus (CAN) Parameter data transfer Addressing by index and subindex The parameter or Lenze code is addressed with these bytes according to the following formula: Index = 24575 − (Lenze code number + 2000 (parameter set − 1)) Example The acceleration time (code C0012) in the parameter set 2 is to respond. This code has the subindex 0 (no subindex). Calculation: ƒ Index: 24575 − 12 −2000 = 22563 = 5823 dec hex ƒ Subindex: 0 hex Data�1�...�Data�4 Parameter value length depending on the data format Parameter value 00 00 00 (Length: 1 byte) Parameter value (length: 2 bytes) 00 00 Low byte High byte Parameter value (length: 4 bytes) Low word High word Low byte High byte Low byte High byte � Note! Lenze parameters are mainly represented as data type FIX32 (32�bit value with sign, decimally with four decimal positions). To obtain integer values, the desired parameter value must be multiplied by 10,000 . dec The parameters C0135 and C0150 must be transmitted bit−coded and without a factor. Error messages User data (up to 8 bytes) 1. byte 2. byte 3. byte 4. byte 5. byte 6. byte 7. byte 8. byte Index Index Command Subindex Display Low byte High byte ƒ Byte 1: In the command byte the code 128 or 80 indicates that a fault has occurred. dec hex ƒ Byte 2, 3 and 4: In these bytes the index (byte 2 and 3) and subindex (byte 4) of the code in which an error occurred are entered. ƒ Byte 5 to 8: In the data bytes 5 to 8 the error code is entered. The structure of the error code is reversed to the read direction. EDBCSXS064 EN 3.0 146 � Configuration 8 Communication with MotionBus/system bus (CAN) Parameter data transfer Example: The representation of the error code 06 04 00 41 in the bytes 5 to 8 hex Read direction of the error code 41 00 04 06 5. byte 6. byte 7. byte 8. byte Low word High word Low byte High byte Low byte High byte Possible error codes: Command 7th byte 8th byte Meaning 80 6 6 Wrong index hex 80 5 6 Wrong subindex hex 80 3 6 Access denied hex 8.1.4.2 Examples of the parameter data telegram Read parameters The heatsink temperature C0061 (value: 43 °C) is to be read out by the controller with the node address 5 via the parameter data channel 1. ƒ Identifier calculation Identifier of SDO 1 to the controller Calculation 1536 + node address 1536 + 5 = 1541 ƒ Command "Read Request" (request to read controller parameter) Command Value Read request 40 hex ƒ Index calculation Index Calculation 24575 − code number 24575 − 61 = 24514 = 5FC2 hex ƒ Telegram to drive: User data Command Index Index Subindex Data 1 Data 2 Data 3 Data 4 Low byte High byte Identifier 1541 40 C2 5F 00 00 00 00 00 hex hex hex ƒ Telegram from drive Identifier: SDO 1 from controller (= 1408) + node address = 1413 Command: "Read Response" response to read request with the actual value = 43 hex Index of read request: 5FC2 hex Subindex: 0 Data 1 to data 4: 00 06 8F B0 = 430,000 � 430,000 : 10,000 = 43 °C EDBCSXS064 EN 3.0 � 147 8 Configuration Communication with MotionBus/system bus (CAN) Parameter data transfer User data Command Index Index Subindex Data 1 Data 2 Data 3 Data 4 Identifier Low byte High byte 1413 43 C2 5F 00 B0 8F 06 00 hex hex hex hex hex hex Write parameters The acceleration time C0012 (parameter set 1) of the controller with the node address 1 is to be changed via the SDO 1 (parameter data channel 1) to 20 seconds. ƒ Identifier calculation Identifier of SDO 1 to the controller Calculation 1536 + node address 1536 + 1 = 1537 ƒ Command "Write Request" (transmit parameters to the drive) Command Value Write request 23 hex ƒ Index calculation Index Calculation 24575 − code number 24575 − 12 = 24563 = 5FF3 hex ƒ Subindex: 0 ƒ Calculation of the acceleration time Data 1 ... 4 Calculation Value of acceleration time 20 s � 10,000 = 200,000 dec = 00 03 0D 40 hex ƒ Telegram to drive User data Command Index Index Subindex Data 1 Data 2 Data 3 Data 4 Identifier Low byte High byte 1537 23 F3 5F 00 40 0D 03 00 hex hex hex hex hex hex ƒ Drive response to correct execution User data Command Index Index Subindex Data 1 Data 2 Data 3 Data 4 Identifier Low byte High byte 1409 60 F3 5F 00 00 00 00 00 hex hex hex ƒ Identifier SDO 1 from controller = 1408 + node address = 1409 ƒ Command = "Write Response" (controller response (acknowledgement)) = 60 hex EDBCSXS064 EN 3.0 148 � Configuration 8 Communication with MotionBus/system bus (CAN) Addressing of the parameter and process data objects 8.1.5 Addressing of the parameter and process data objects The CAN bus system is based on a message−oriented data exchange between a transmitter and many receivers. Thus, all nodes can transmit and receive messages at the same time. The identifier in the CAN telegram ˘ also called COB−ID (Communication Object Identifier) controls which node is to receive a transmitted message. With the exception of the network management (NMT) and the sync telegram (Sync) the identifier contains the node address of the drive besides the basic identifier: Identifier (COB−ID) = basic identifier + adjustable node address (node ID) The basic identifier is preset with the following values: Direction Basic identifier Object to the from the dec hex drive drive NMT 0 0 Sync 128 80 CAN1_IN RPDO1 x 512 200 CANaux1_IN PDO1 (Process data channel 1) CAN1_OUT TPDO1 x 384 180 CANaux1_OUT CAN2_IN RPDO1 x 640 280 CANaux2_IN PDO2 CAN2_OUT (Process data channel 2) TPDO1 x 641 281 CANaux2_OUT CAN3_IN RPDO1 x 768 300 CANaux3_IN PDO3 (Process data channel 3) CAN3_OUT TPDO1 x 769 301 CANaux3_OUT x 1536 600 SDO1 (Parameter data channel 1) x 1408 580 x 1600 640 SDO2 (Parameter data channel 2) x 1472 5C0 Node−Guarding x 1792 700 � Note! Chapter "8.2.1 Setting of CAN node address and baud rate" contains information on ƒ Setting of the node address (� 150). ƒ Selective addressing (� 152). Display of the resulting identifiers The display code for the resulting identifiers is for the ƒ MotionBus (CAN) C0355. ƒ System bus (CAN) C2455. Here you cannot predefine values. EDBCSXS064 EN 3.0 � 149 8 Configuration Configuring MotionBus/system bus (CAN) Setting CAN node address and baud rate 8.2 Configuring MotionBus/system bus (CAN) � Note! In case of ECSxS... axis modules only the parameter channels (SDO) are supported for the system bus ˘ connection X14 (CAN−AUX) ˘. 8.2.1 Setting CAN node address and baud rate ƒ The node address and baud rate for the MotionBus (CAN) can be set via – DIP switch or – codes. ƒ The node address and baud rate for the system bus (CAN) must be set via codes only. 8.2.1.1 Settings via DIP switch ECS_COB005 Fig.8−11 DIP switch for node address and baud rate (all switches: OFF) Node address setting The node address is set via DIP switches 2 ... 7. These switches are assigned to certain valencies. The sum of valencies results in the node address to be set (see example). EDBCSXS064 EN 3.0 150 � Configuration 8 Configuring MotionBus/system bus (CAN) Setting CAN node address and baud rate Example Switching status Node address Switch Valency 1˘ Any 2 32 ON 3 16 ON 4 8 ON 32 + 16 + 8 = 56 5 4 OFF 6 2 OFF 7 1 OFF Baud rate setting � Note! The baud rate must be set identically for all controllers and the master computer. Switch Baud rate [kbit/s] 1000 500 250 125 50 8ON OFF OFF OFF OFF 9 OFF OFF OFF ON ON 10 OFF OFF ON OFF ON EDBCSXS064 EN 3.0 � 151 8 Configuration Configuring MotionBus/system bus (CAN) Setting CAN node address and baud rate 8.2.1.2 Settings via codes � Note! ƒ The codes C0350 ( MotionBus node address) and C0351 (MotionBus baud rate) are active if one of the DIP switches is set to the "ON" position. ƒ The baud rate must be identical for all controllers and the master computer. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0350 CAN address 1 Node address MotionBus (CAN) � 150 � 149 1 {1} 63 C0351 CAN Baud 0 MotionBus (CAN)baud rate � 150 rate 0 500 kbits/s 1 250 kbits/sec 2 125 kbits/sec 3 50 kbits/sec 4 1000 kbits/sec Save changes with C0003 = 1. The settings are only accepted after carrying out one of the following actions: ƒ Switching−on of the low−voltage supply ƒ Command �Reset node" via the bus system ƒ Reset node via C0358 (� 154) 8.2.1.3 Selective addressing C0354 serves to set the controller address irrespective of the node address in C0350. To make it valid, set C0353/1 = 1. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0354 Alternative node addresses for � 152 MotionBus (CAN) 1 CAN addr. 129 1 {1} 512 Address 2 CAN1_IN 2 CAN addr. 1 Address 2 CAN1_OUT 3 CAN addr. 257 Address 2 CAN2_IN 4 CAN addr. 258 Address 2 CAN2_OUT 5 CAN addr. 385 Address 2 CAN3_IN 6 CAN addr. 386 Address 2 CAN3_OUT To make the alternative node address valid, set the corresponding subcode of C0353 = 1. EDBCSXS064 EN 3.0 152 � Configuration 8 Configuring MotionBus/system bus (CAN) Defining boot−up master in the drive system Bus code Value The addresses are defined by C0353/1 0 C0350 (Lenze setting) 1 C0354/1 for CAN1_IN C0354/2 for CAN1_OUT C0353/2 0 C0350 (Lenze setting) MotionBus (CAN) 1 C0354/3 for CAN2_IN C0354/4 for CAN2_OUT C0353/3 0 C0350 (Lenze setting) 1 C0354/5 for CAN3_IN C0354/6 for CAN3_OUT Save changes with C0003 = 1. The settings are only accepted after carrying out one of the following actions: ƒ Switching−on of the low−voltage supply ƒ Command �Reset node" via the bus system ƒ Reset node via C0358 (� 154) 8.2.2 Defining boot−up master in the drive system If the bus initialisation and the related state change of "Pre−Operational" to "Operational" is not executed by a higher−level master system, the controller can be intended for the master to execute this task. The MotionBus (CAN) is configured via code C0352. The master functionality is only required for the initialisation phase of the drive system. In the initialisation phase, C0356 serves to set a boot−up time for the master. (� 154). With the NMT telegram start_remote_node (broadcast telegram) the master sets all nodes in the NMT status "Operational". Data via the process data objects can only be exchanged during this status. � Note! The change of the master/slave operation only becomes effective after a renewed mains switching of the controller or by sending one of the NMT telegrams reset_node or reset_communication to the controller. As an alternative to the NMT telegram reset_node the code C0358 ("Reset Node") is available for a reinitialisation of the CAN−specific device parameters. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0352 CAN mst 0 MotionBus (CAN) master/slave � 153 configuration 0 Slave CAN boot−up is not active 1 Master CAN boot up is active 2 Master with node guarding 3 Slave and heartbeat producer 4 Slave with node guarding EDBCSXS064 EN 3.0 � 153 8 Configuration Configuring MotionBus/system bus (CAN) Setting of boot−up time/cycle time 8.2.3 Setting of boot−up time/cycle time Use C0356 to change the times required for data exchange. Setting boot−up time for MotionBus (CAN) code Meaning C0356/1 � Here the time is set when the activation is started after switching on the low−voltage supply. – Only valid when C0352 = 1. – Normally the Lenze setting (3000 ms) is sufficient. � If several controllers are interconnected and there is no higher−level host, one of the controllers must initialise the CAN network. The master activates the entire network once at a specific instant and thus starts the process data transfer. – Status changes from "pre−operational" to operational". Setting the cycle time for MotionBus (CAN) output data: code Meaning C0356/2 Cycle time CAN2_OUT/CAN3_OUT (reserved) C0356/3 Cycle time CAN1_OUT in cyclic or event−controlled operation C0356/4 Delay time for sending telegrams via the process data object ƒ C0356/2...4 = 0: event−controlled process data transfer The output data will only be sent if a value in the output object changes. ƒ C0356/2...4 > 0: cycle time [ms] 8.2.4 Executing a reset node The following changes only become valid after a reset node: ƒ Changes of the baud rates ƒ Changes of the addresses of process data objects ƒ Changes of the MotionBus node addresses. Reset node can be made by: ƒ Switching on the low−voltage supply ƒ Reset node via the bus system ƒ Reset node via C0358 Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0358 Reset Node 0 Carry out reset node of � 154 MotionBus (CAN) 0 No function 1 CAN reset EDBCSXS064 EN 3.0 154 � Configuration 8 Configuring MotionBus/system bus (CAN) CAN bus synchronisation 8.2.5 CAN bus synchronisation By means of this function, the internal time base can be synchronised with the instant of reception of the sync signal. By this, the start of cyclic and time−controlled internal processes of all drives involved in the synchronisation takes place in a synchronous manner. Operating mode Via C1120, the operating mode (source of the sync signal) is set: Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C1120 Sync mode 0 Sync signal source 0 Off Off 1 CAN Sync Sync connection via MotionBus � 159 (CAN) 2 Terminal sync Sync connection via terminal � 160 Synchronisation time The synchronisation process requires an additional period of time after the mains connection and the initialisation phase. The synchronisation time depends on ƒ the baud rate of the CAN bus, ƒ the starting time (arrival of the first sync signal), ƒ the time interval between the sync signals, ƒ the sync correction factor (C0363), ƒ the operating mode (C1120). The synchronisation time can be set via the code C0369. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0369 SyNc Tx time 0 � 155 CAN sync transmitting cycle A sync telegram with the identifier set in C0368 is sent with the set cycle time. 0 {1 ms} 65000 0 = switched off EDBCSXS064 EN 3.0 � 155 8 Configuration Configuring MotionBus/system bus (CAN) CAN bus synchronisation Axis sychronisation The CAN bus transfers the sync signal and the process signals. Application example: ƒ Presetting of cyclic, synchronised position setpoint information for multi−axis applications via the CAN bus. Synchronisation cycle For the purpose of synchronisation the master sends a periodic sync signal. The controllers receive the sync signal and compare the time between two LOW−HIGH edges of the signal with the preselected cycle time (C1121). Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C1121 Sync cycle 2 Synchronisation cycle � 156 1 {1 ms} 13 CAN sync identifier Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0367 Sync Rx ID 128 MotionBus (CAN) Sync receipt ID � 156 1 {1} 256 Phase shift The synchronisation phase (C1122) defines the period of time of the offset by which the start of the controller−internal cycle lags behind the sync signal received. � Note! Always set the synchronisation phase greater than the maximum possible temporal jitter* of the sync signals received! * Jitters are phase shiftings and hence periodic changes of signal frequencies. They are shiftings of fixed instants of a digital signal (e.g. the transition instant from one signal amplitude to another). Jitters especially occur at high frequencies and may cause data losses. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C1122 Sync phase 0.046 � 156 Synchronisation phase 0.000 {0.001 ms} 6.500 EDBCSXS064 EN 3.0 156 � Configuration 8 Configuring MotionBus/system bus (CAN) CAN bus synchronisation Correction value of phase controller The CAN sync correction increment (C0363) specifies the increment by means of which the rule cycle is extended or shortened (e. g. in order to shift the starting time). As a rule, the factory−set smallest value can be maintained. Only in disadvantageous cases (e. g. if the sync master does not observe its cycle time precisely enough), it may be necessary to extend the CAN sync correction increment so that the value in C4264 becomes minimal. Otherwise, an extension has rather disdavantageous effects on the drive features. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0363 Sync correct. 1 CAN sync correction increment � 157 1 0.2 �s/ms 2 0.4 �s/ms 3 0.6 �s/ms 4 0.8 �s/ms 5 1.0 �s/ms Monitoring of the synchronisation (time slot) Sync-window Sync-signal Sync cycle Sync cycle ECSXA474 Fig.8−12 "Time slot" for the LOW−HIGH edges of the sync signal � Note! A jitter (see note � 156) up to �200 �s on the LOW−HIGH edges of the sync signal is permissible. The amount of the jitter has an impact on the parameterisation of the "time slot". C3165 can be used for monitoring the synchronisation. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C1123 Sync window 0.010 Synchronisation window � 157 0.000 {0.001 ms} 6.500 EDBCSXS064 EN 3.0 � 157 8 Configuration Configuring MotionBus/system bus (CAN) CAN bus synchronisation CAN sync response Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0366 Sync Response 1 MotionBus (CAN) Sync response � 158 0 No response 1 Response � Note! In C0366 the value "1" must be set permanently. EDBCSXS064 EN 3.0 158 � Configuration 8 Configuring MotionBus/system bus (CAN) CAN bus synchronisation 8.2.5.1 Synchronisation via MotionBus (CAN) During the commissioning phase, comply with the following sequence: Device Step Description All devices 1. Commission the controller and MotionBus (CAN). � 74 2. Inhibit the controller. Slaves 3. Connect "CANSync−InsideWindow" with digital output. 4. C1120 = 1 Synchronisation by means of sync telegram via MotionBus (CAN) active. 5. C0366 = 1 (Lenze setting) CAN sync reaction: Slaves respond to sync telegram. Master 6. Define the telegram sequence (identifier): 1. . Send new setpoint to all slaves 2. Send sync telegram 3. Receive response of all slaves 4. Start communication/send sync telegrams. Slaves 5. Read C0362 of the master. Retrieve cycle time of the sync telegram of the master. 6. Set C1121 according to C0362 of the master. Adjust the time distance of the sync telegrams to be received to the cycle time of the master. 7. Set C1123. Set optimum size for the "time slot". � If the sync signal "jitters" heavily (� 156), increase "time slot". 8. Enable the controller via the signal Monitoring of the synchronisation. "CANSync−InsideWindow" applied to the digital � If "CANSync−InsideWindow" = TRUE, output. enable the controller. EDBCSXS064 EN 3.0 � 159 8 Configuration Configuring MotionBus/system bus (CAN) Diagnostic codes 8.2.5.2 Synchronisation via terminal During the commissioning phase, comply with the following sequence: Site Step Description All devices 1. Commission the controller and MotionBus (CAN). � 74 2. Inhibit the controller. Slaves 3. Connect "CANSync−InsideWindow" with digital output. 4. Apply the sync signal of the master to terminal X4/CH. Slaves 5. C1120 = 2 Active synchronisation by sync signal via terminal X4/CH. Slaves 6. C0366 = 1 (Lenze setting) CAN sync reaction: Slaves respond to sync telegram. Master 7. Start communication/send sync signals. Slaves 8. Read C0362 of the master. Retrieve cycle time of the sync signal from the master. 9. Set C1121 according to C0362 of the master. Adjust the time distance of the sync signal to be received to the cycle time of the master. 10. Set C1123. Set optimum size for the "time slot". � If the sync signal "jitters" heavily (� 156), increase "time slot". 11. Enable the controller via the signal Monitoring of the synchronisation. "CANSync−InsideWindow" applied to the digital � If "CANSync−InsideWindow" = TRUE, output. enable the controller. 8.2.6 Diagnostic codes The operation via the MotionBus (CAN) can be observed via the following diagnostic codes: ƒ C0359: Bus state ƒ C0360: Telegram counter ƒ C0361: Bus load EDBCSXS064 EN 3.0 160 � Configuration 8 Configuring MotionBus/system bus (CAN) Diagnostic codes 8.2.6.1 Bus status (C0359) C0359 shows the current operating state of the MotionBus (CAN). Value of Operating state Description C0359 0 Operational The bus system is fully operational. 1 Pre−Operational Only parameters (codes) can be transferred via the bus system. Data exchange between controllers is not possible. A change into the state operational" can be made via a special signal on the MotionBus (CAN). Changing from "pre−operational" to "operational" can be carried out by the following actions: � Master functionality of a higher−level host system � If a drive is determined as master via C0352, the operating state is automatically changed for the entire drive system after the set boot−up time C0356 (subcode 1), when power is switched on. � Reset node via C0358 (� 154) � With a binary input signal Reset node", which can be set correspondingly. � Reset node via connected host system 2 Warning Faulty telegrams have been received. The controller remains passive (does not send any data). Possible reasons: � Missing bus termination � Insufficient shielding � Potential differences in the grounding of the control electronics � Bus load is too high � Controller is not connected to MotionBus (CAN) 3 Bus off Too many faulty telegrams. The controller is disconnected from the MotionBus (CAN). It can be reconnected by: � TRIP reset � Reset node (� 154) � Renewed mains connection 8.2.6.2 Telegram counter (C0360) C0360 counts for all parameter channels those telegrams that are valid for the controller. The counters have a width of 16 bits. If a counter exceeds the value ’65535’, the counting process restarts with ’0’. Counted messages: C0360 Meaning Subcode 1 All sent telegrams Subcode 2 All received telegrams Subcode 3 Sent telegrams of CAN1_OUT Subcode 4 Telegrams sent from CAN2_OUT � Always "0" since channel is not used! Subcode 5 Telegrams sent from CAN3_OUT � Always "0" since channel is not used! Subcode 6 Telegrams sent from parameter data channel 1 Subcode 7 Telegrams sent from parameter data channel 2 Subcode 8 Telegrams received from CAN1_IN Subcode 9 Telegrams received from CAN2_IN � Always "0" since channel is not used! Subcode 10 Telegrams received from CAN3_IN � Always "0" since channel is not used! Subcode 11 Telegrams received from parameter data channel 1 Subcode 12 Telegrams received from parameter data channel 2 EDBCSXS064 EN 3.0 � 161 8 Configuration Configuring MotionBus/system bus (CAN) Diagnostic codes 8.2.6.3 Bus load (C0361) It can be detected via C0361 which bus load in percent is needed by the controller or by the single data channels. Faulty telegrams are not considered. Bus load of the single subcodes: C0361 Meaning Subcode 1 All sent telegrams Subcode 2 All received telegrams Subcode 3 Sent telegrams of CAN1_OUT Subcode 4 Telegrams sent from CAN2_OUT � Always "0" since channel is not used! Subcode 5 Telegrams sent from CAN3_OUT � Always "0" since channel is not used! Subcode 6 Telegrams sent from parameter data channel 1 Subcode 7 Telegrams sent from parameter data channel 2 Subcode 8 Received telegrams of CAN1_IN Subcode 9 Telegrams received from CAN2_IN � Always "0" since channel is not used! Subcode 10 Telegrams received from CAN3_IN � Always "0" since channel is not used! Subcode 11 Telegrams received from parameter data channel 1 Subcode 12 Telegrams received from parameter data channel 2 The data transfer is limited. The limits are determined by the number of telegrams transferred per time unit and by the data transfer speed. The limits can be determined during data exchange in a drive network by adding all drives involved under code C0361/1. Example: Drives/host system Bus load C0361/1 − controller 1 23.5 % C0361/1 − controller 2 12.6 % Host system 16.0 % 52.1 % (total) Two drives and the master system are interconnected via the MotionBus (CAN). � Note! ƒ Max. bus load of all devices involved: 80 % ƒ If other devices are connected, as for instance decentralised inputs and outputs, their telegrams must be taken into consideration. ƒ Bus overload can, for instance, be caused by sync telegrams sent with a too short time interval. – Remedy: Change synchronisation cycle of higher−level control and controller (C1121). EDBCSXS064 EN 3.0 162 � Configuration 8 Monitoring Reactions 8.3 Monitoring Various monitoring functions (� 164) protect the drive system against impermissible operating conditions. If a monitoring function responds, ƒ the set reaction is triggered to protect the drive. ƒ the fault message is entered at position 1 in the history buffer (� 180). The history buffer (C0168/x) stores error messages with an offset which indicates the type of response: No. of the error message Type of response 0xxx TRIP 1xxx Message 2xxx Warning 3xxx FAIL−QSP Example: C0168/1 = 2061 ƒ x061: The current error (subcode 1 of C0168) is a communication error between the AIF module and the ECS axis module (error message "CE0"/No. "x061"). ƒ 2xxx: The response to this is a warning. 8.3.1 Reactions According to the failure, one or more of the following responses are possible: Response Effects on drive or controller Danger warnings TRIP � Switches the power outputs U, V, W to a high resistance (highest until TRIP is reset priority) � The drive is idling (no control!). � After TRIP reset, the drive accelerates to its setpoint along the set ramps. Message Switches the power outputs U, V, W to a high resistance as long as the message is active. � Danger! � Short−ter The drive is idling (no control!) as long as the The drive restarts automatically if m message is active. the message is removed. message If the message is removed, the drive � 0.5 s accelerates to its setpoint with maximum torque. � Long−term The drive is idling (because of internal message controller inhibit) as long as the message is > 0.5 s active. If necessary, restart the drive. FAIL−QSP If a fault occurs, the drive brakes to standstill along the QSP ramp (C0105). Warning � Only failure is displayed. � The drive operates under control. � Stop! Since these responses have no Off � No response to failure! Monitoring is deactivated. effect on the drive behaviour, the drive may be destroyed. EDBCSXS064 EN 3.0 � 163 8 Configuration Monitoring functions EDBCSXS064 EN 3.0 164 � 8.3.2 Monitoring functions The responses partly can be parameterised via codes. Monitoring Possible responses � Lenze setting � Setting possible Code TRIP Message Warning FAIL−QSP Off Error message Description Source x071 CCR System fault Internal � x091 EEr External monitoring (activated via DCTRL) FWM C0581 � � � � � x191 HSF Internal error Internal � Voltage supply x020 OU Overvoltage in the DC bus (C0173) MCTRL � x030 LU DC bus undervoltage (C0174) MCTRL � x107 H07 Internal fault (power stage) Internal � Communication x041 ap1 Internal fault (signal processor) MCTRL � x061 CE0 Communication error on the automation interface (AIF) AIF C0126 � � � x062 CE1 Communication error on the CAN1_IN process data input object CAN1_IN C0591 � � � (monitoring time adjustable via C0357/1) x063 CE2 Communication error on the CAN2_IN process data input object CAN2_IN C0592 � � � (monitoring time adjustable via C0357/2) x064 CE3 Communication error on the CAN3_IN process data input object CAN3_IN C0593 � � � (monitoring time adjustable via C0357/3) x065 CE4 BUS−OFF status of MotionBus (CAN) CAN C0595 � � � (too many faulty telegrams) x066 CE5 Communication error of the Gateway function (C0370, C0371) via CAN C0603 � � � MotionBus (CAN) x122 CE11 Communication error on the CANaux1_IN process data input object ( time CANaux1_IN C2481 � � � monitoring adjustable via C2457/1) x123 CE12 Communication error on the CANaux2_IN process data input object ( time CANaux2_IN C2482 � � � monitoring adjustable via C2457/2) x124 CE13 Communication error on the CANaux3_IN process data input object ( time CANaux3_IN C2483 � � � monitoring adjustable via C2457/3) x125 CE14 BUS−OFF status of system bus (CAN) CANaux C2484 � � � (too many faulty telegrams) x126 CE15 Communication error of the Gateway function (C0370, C0371) via system CANaux C2485 � � � bus (CAN) x 0 = TRIP, 1 = message, 2 = warning, 3 = FAIL−QSP 1) Adjustable in the DDS under Project � Exceptional handling 2) For ECSxA... only Configuration 8 Monitoring functions EDBCSXS064 EN 3.0 � 165 Monitoring Possible responses � Lenze setting � Setting possible Code TRIP Message Warning FAIL−QSP Off Error message Description Source 2) x260 Err Node "Life Guarding Event": Node C0384 � � � � � Guard The controller configured as CAN slave does not receive a "Node Guarding" Guarding telegram with the "Node Life Time" from the CAN master. Temperatures / sensors x050 OH Heatsink temperature > 90C MCTRL � x051 OH1 Interior temperature > 90C MCTRL � x053 OH3 Motor temperature > 150° C MCTRL C0583 � � � x054 OH4 Heatsink temperature > C0122 MCTRL C0582 � � � x055 OH5 Interior temperature > C0124 MCTRL C0605 � � � x057 OH7 Motor temperature > C0121 MCTRL C0584 � � � x058 OH8 Motor temperature via inputs T1 and T2 is too high. MCTRL C0585 � � � x086 Sd6 Thermal sensor error on the motor (X7 or X8) MCTRL C0594 � � � x095 FAN1 Fan monitoring (only for built−in units) � � X110 H10 Thermal sensor error on heatsink FWM C0588 � � x111 H11 Thermal sensor error in the interior of the device FWM C0588 � � Motor / feedback system x011 OC1 Motor cable short circuit MCTRL � x012 OC2 Motor cable earth fault MCTRL � x015 OC5 I x t overload MCTRL � 2 x016 OC6 I x t overload (C0120) MCTRL � x017 OC7 I x t warning (C0123) MCTRL C0604 � � � 2 x018 OC8 I x t warning (C0127) MCTRL C0606 � � � x032 LP1 Motor phase failure MCTRL C0599 � � � Caution: applicable for asynchronous motors only. By activating the motor phase failure detection the calculating time provided to the user is minimised! x082 Sd2 Resolver error at X7 MCTRL C0586 � � � Caution: In case of "Warning" (C0586 = 2) the drive may be destroyed if the trouble is not corrected in time! x085 Sd5 Master current value encoder error on analog input X6/AI+, AI− (C0034 = 1) MCTRL C0598 � � � x087 Sd7 Absolute value encoder error at X8 MCTRL � x088 sd8 SinCos encoder error on X8 MCTRL C0580 � � � x089 PL Error with regard to rotor position adjustment MCTRL � Speed x 0 = TRIP, 1 = message, 2 = warning, 3 = FAIL−QSP 1) Adjustable in the DDS under Project � Exceptional handling 2) For ECSxA... only 8 Configuration Monitoring functions EDBCSXS064 EN 3.0 166 � Monitoring Possible responses � Lenze setting � Setting possible Code TRIP Message Warning FAIL−QSP Off Error message Description Source x190 nErr Speed control error (monitoring window C0576) MCTRL C0579 � � � � � x200 Nmax Maximum speed (C0596) has been exceeded. MCTRL C0607 � � � Float error x209 float Sys−T Float error in system task (ID 0) Internal � � � 1) 1) x210 float Cycl.−T Float error in cyclic task (PLC_PRG, ID 1) Internal � � � 1) x211 float Task1 Float error in task 1 (ID 2) Internal � � � 1) x212 float Task2 Float error in task 2 (ID 3) Internal � � � 1) x213 float Task3 Float error in task 3 (ID 4) Internal � � � 1) x214 float Task4 Float error in task 4 (ID 5) Internal � � � 1) x215 float Task5 Float error in task 5 (ID 6) Internal � � � 1) x216 float Task6 Float error in task 6 (ID 7) Internal � � � 1) x217 float Task7 Float error in task 7 (ID 8) Internal � � � 1) x218 float Task8 Float error in task 8 (ID 9) Internal � � � Time−out / overflow X105 H05 Internal fault (memory) Internal � x108 H08 Extension board not connected properly or not supported by program. Internal � 1) x201 overrun Time−out in task 1 (ID 2) Internal � � � Task1 1) x202 overrun Time−out in task 2 (ID 3) Internal � � � Task2 1) x203 overrun Time−out in task 3 (ID 4) Internal � � � Task3 1) x204 overrun Time−out in task 4 (ID 5) Internal � � � Task4 1) x205 overrun Time−out in task 5 (ID 6) Internal � � � Task5 1) x206 overrun Time−out in task 6 (ID 7) Internal � � � Task6 1) x207 overrun Time−out in task 7 (ID 8) Internal � � � Task7 1) x208 overrun Time−out in task 8 (ID 9) Internal � � � Task8 x219 overrun Time−out in cyclic task (PLC_PRG, ID 1) Internal � � � Cycl.−T x 0 = TRIP, 1 = message, 2 = warning, 3 = FAIL−QSP 1) Adjustable in the DDS under Project � Exceptional handling 2) For ECSxA... only Configuration 8 Monitoring functions EDBCSXS064 EN 3.0 � 167 Monitoring Possible responses � Lenze setting � Setting possible Code TRIP Message Warning FAIL−QSP Off Error message Description Source X220 noT−Fkt Not enough technology units available in the PLC. Internal � Credit x230 No program No PLC program loaded in the PLC. Internal � x231 Unallowed You have called the library function in the PLC program. This function is not Internal � Lib supported. x232 NoCamData Motion profiles (cam data) are not available. Internal � x240 ovrTrans Overflow of the transmit request memory Free CAN � � � � � Queue objects x241 ovr Receive Too many receive telegrams Free CAN � � objects Parameter setting x072 PR1 Check sum error in parameter set 1 Internal � x074 PEr Program error Internal � x075 PR0 Error in the parameter sets Internal � x079 PI Error during parameter initialisation Internal � x080 PR6 � With ECSxS/P/M:Internal error Internal � � With ECSxA: Too many user codes x 0 = TRIP, 1 = message, 2 = warning, 3 = FAIL−QSP 1) Adjustable in the DDS under Project � Exceptional handling 2) For ECSxA... only 8 Configuration Monitoring times for process data input objects 8.3.3 Monitoring times for process data input objects Each process data input object can monitor whether a telegram has been received within a time set. As soon as a telegram arrives, the corresponding monitoring time (C0357) is restarted ("retriggerable monoflop" function). The following assignments are valid: Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0357 MotionBus (CAN) monitoring � 168 time for CAN1...3_IN 1 CE monit time 3000 1 {1 ms} 65000 CE1 monitoring time 2 CE monit time 3000 CE2 monitoring time 3 CE monit time 3000 CE3 monitoring time Determining the reaction to monitoring: ƒ C0591 for CAN1_IN ("CE1") ƒ C0592 for CAN2_IN ("CE2") ƒ C0593 for CAN3_IN ("CE3") The following can be set: ƒ 0 = fault (TRIP) − controller sets controller inhibit (CINH) ƒ 2 = warning ƒ 3 = monitoring is switched off You can also use the signals as binary output signal, e. g. for assigning the output terminal. Bus off If the controller disconnects from the CAN bus due to faulty telegrams, the signal "BusOffState" (CE4) is set. BusOffState" can trip an error (TRIP) or warning (as CE1, CE2, CE3). The signal can be switched off and the reaction can be set via C0595. It is also possible to assign the terminal output for this purpose. Reset node Changes of the baud rates, the CAN node addresses or the addresses of process objects are only valid after a reset node. A node can be reset by: ƒ Switching on the low−voltage supply ƒ Reset node via the bus system ƒ Reset node via C0358 (� 154) EDBCSXS064 EN 3.0 168 � Configuration 8 Motor temperature (OH3, OH7) 8.3.4 Motor temperature (OH3, OH7) The motor temperature is monitored by means of a continuous thermal sensor (KTY). Wire the thermal sensor to the resolver cable on X7 (� 68) or to the encoder cable on X8 (� 69). ƒ Adjustable warning threshold (OH7) via C0121 ƒ Fixed threshold (OH3) = 150 °C The reaction to exceeding the thresholds can be defined via: ƒ C0584 (adjustable threshold) ƒ C0583 (fixed threshold) Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0121 OH7 limit 120 Adjustable threshold for early � 169 motor temperature warning 45 {1 °C} 150 Motor temperature > C0121 � fault OH7 C0583 MONIT OH3 0 � 169 Configuration of motor temperature monitoring via resolver input X7 or encoder input X8 0 TRIP 2 Warning 3 Off C0584 MONIT OH7 2 Configuration of motor � 169 temperature monitoring via resolver input X7 or encoder input X8 Threshold setting in C0121 0 TRIP 2 Warning 3 Off EDBCSXS064 EN 3.0 � 169 8 Configuration Heatsink temperature (OH, OH4) 8.3.5 Heatsink temperature (OH, OH4) The heatsink temperature of the controller can be monitored with a temperature threshold: ƒ Adjustable threshold (OH4) via C0122 ƒ Fixed threshold (OH) = 90 °C The reaction to exceeding the adjustable threshold can be defined via C0582. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0122 OH4 limit 80 Adjustable threshold for early � 170 heatsink temperature warning 45 {1 °C} 90 Heatsink temperature > C0122 � fault OH4 C0582 MONIT OH4 2 Configuration of heatsink � 170 temperature monitoring Threshold setting in C0122 0 TRIP 2 Warning 3 Off EDBCSXS064 EN 3.0 170 � Configuration 8 Interior temperature (OH1, OH5) 8.3.6 Interior temperature (OH1, OH5) The temperature inside the device is permanently monitored with two temperature thresholds: ƒ Adjustable threshold (OH5) via C0124 ƒ Fixed threshold (OH1) = 90 °C The reaction to exceeding the adjustable threshold can be defined via C0605. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0124 OH5 limit 75 Adjustable threshold for early � 171 warning of temperature inside the device 10 {1 %} 90 C0062 � C0124 � fault OH5 C0605 MONIT OH5 2 Configuration of early warning � 171 of temperature inside the device Threshold setting in C0124 0 TRIP 2 Warning 3 Off 8.3.7 Function monitoring of the thermal sensors (H10, H11) The function of the thermal sensors of heatsink and the interior of the device. If the thermal sensors report values beyond the measuring range, the fault H10 (heatsink) or H11 (interior) is reported. The response to the faults can be defined via C0588. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0588 MONIT 0 Configuration of thermal sensor � 171 H10/H11 monitoring (H10, H11) in the controller "SensFaultTht/SensFaultTid" (FWM H10/H11) 0 TRIP 2 Warning 3 Off EDBCSXS064 EN 3.0 � 171 8 Configuration Controller current load (I x t monitoring ˘ OC5, OC7) 8.3.8 Controller current load (I x t monitoring ˘ OC5, OC7) The I x t monitoring controls the current load of the axis module. The monitoring is set in a way that renders operation possible ƒ with continuous device output current = Ir. ƒ for � 30 s with device output current � 1.5 x I . N The overload protection of the controller can be set with thresholds: ƒ Adjustable threshold (OC7) with C0123 ƒ Fixed threshold (OC5) = 100 % After an overcurrent phase a recovery phase of 120 s must be taken into account. For a more precise consideration, use the overcurrent characteristic and the value 3 x � axis module (� 173). The reaction to exceeding the adjustable threshold can be defined via C0604. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0123 OC7 limit 90 Adjustable threshold for I x t � 172 early warning 0 {1 %} 100 C0064 � C0123 � fault OC7 C0604 MONIT OC7 2 Configuration of early warning � 172 I x t, threshold setting in C0123 0 TRIP 2 Warning 3 Off EDBCSXS064 EN 3.0 172 � Configuration 8 Controller current load (I x t monitoring ˘ OC5, OC7) Overcurrent characteristic t [s] TRIP 200 180 160 ECSxS/P/M/A064 140 ECSxS/P/M/A048 ECSxS/P/M/A004, -008, -016, -032 120 100 80 60 40 20 0 I/I 1 1.5 2.0 2.5 3.0 3.5 4.0 r ECSXA025 Fig.8−13 Overcurrent characteristic ECSxS..., see also �Rated data� � 24 The overcurrent characteristic shows the maximum time t till the axis module TRIP generates an I x t error. In order to reach this time t again, the time 3 x � with TRIP axis module the load I/I = 0 A must be observed. r Device Overcurrent characteristic � [s] axis module ECSxS004 54.6 ECSxS008 27.3 t subprofile_x ECSxS016 27.3 I I � subprofile_x subprofile_x � axis_module I� t� �� ���I� t �� e ECSxS032 27.3 subprofile_x�1 I I rated rated ECSxS048 29.5 ECSxS064 35.1 EDBCSXS064 EN 3.0 � 173 8 Configuration 2 Motor current load (I x t monitoring ˘ OC6, OC8) 2 8.3.9 Motor current load (I x t monitoring ˘ OC6, OC8) 2 The I x t load of the motor is continually calculated by the axis module and displayed in C0066. Two tripping thresholds can be set via C0120 and C0127. If threshold 1 is exceeded, the reaction set in C0606 (OC8) is activated. If threshold 2 is exceeded, OC6−TRIP is activated. 2 The I x t monitoring is designed so that it trips after 179 s at a motor current of 1.5 x I and r a set threshold of 100 % (thermal motor−time constant C0128 = 5 min). Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. 2 C0120 OC6 limit 105 Threshold for I xt disconnection � 174 2 0 {1 %} 120 0 = I xt monitoring is switched off 2 I xt > C0120 �TRIP 006 2 C0127 OC8 limit 100 Threshold for I xt early warning � 174 2 0 {1 %} 120 I xt > C0127 � reaction as adjusted in C0606 C0128 Tau motor 5.0 Thermal time constant of the � 174 motor 2 1.0 {0.1 min} 25.0 For calculating the I xt disconnection 2 C0606 MONIT OC8 2 � 174 Configuration of I xt early warning Threshold setting in C0120 0 TRIP 2 Warning 3 Off Calculation of the release time: I Current motor current M � � y� 1 I Rated motor current t�� (C0128)� ln� 1� r � � 2 I M � � � 100 y C0120 or C0127 I � � r The release time for different motor currents and thresholds can be taken from the diagram (C0128 = 5.0 min): 2 I t [%] I =3xI I =2xI I =1.5xI I=I mot r r r mot r mot mot 120 100 50 0 t[s] 0 100 200 300 400 500 600 700 800 900 1000 ECSXA040 2 Fig.8−14 I x t monitoring: Release times with different motor currents Imot Motor current I Rated motor current r 2 2 ItI t load T Time EDBCSXS064 EN 3.0 174 � Configuration 8 DC−bus voltage (OU) 8.3.10 DC−bus voltage (OU) The DC−bus voltage is monitored for overvoltage and undervoltage via C0173 and C0174. Overvoltage If the DC−bus voltage exceeds the upper threshold, an OU message is released. Selection Mains voltage Brake unit LU message OU message (Undervoltage) (Overvoltage) C0173 Power supply module Setting Resetting Setting Resetting [V DC] [V DC] [V AC] [V DC] [V DC] 0 230 yes/no 130 275 400 390 1 400 yes/no 285 430 800 790 2 400 ... 460 yes/no 328 473 800 790 3 480 no 342 487 800 785 4 480 yes 342 487 800 785 10 230 yes/no C0174 C0174 + 5 V 400 390 11 400 (Lenze setting) yes/no C0174 C0174 + 5 V 800 790 12 400 ... 460 yes/no C0174 C0174 + 5 V 800 790 13 480 no C0174 C0174 + 5 V 800 785 14 480 yes C0174 C0174 + 5 V 800 785 Undervoltage If the DC−bus voltage falls below the lower threshold set under C0174, an LU message is released. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0174 UG min 60 Undervoltage threshold of DC � 78 bus (LU) 15 {1 V} 342 8.3.11 Control electronics voltage supply (U15) If the voltage at X6/DI1 or X6/DI3 falls below 17 V, TRIP "U15" is released. The error can only be acknowledged if U > 19 V. EDBCSXS064 EN 3.0 � 175 9 Diagnostics Diagnostics with Global Drive Control (GDC) 9 Diagnostics 9.1 Diagnostics with Global Drive Control (GDC) In order to diagnose the current controller operation, click on Diagnostic � Actual info in the GDC parameter menu. The table which appears then shows the current motor data, operating times, error messages, etc. ECSXA346 Fig.9−1 GDC view: Diagnostic of the current operation The parameter menu of the GDC displays values regarding the fault history under Diagnostic � History: ECSXA348 Fig.9−2 GDC view: Diagnostic history EDBCSXS064 EN 3.0 176 � Diagnostics 9 Diagnostics with Global Drive Oscilloscope (GDO) 9.2 Diagnostics with Global Drive Oscilloscope (GDO) The Global Drive Oscilloscope (GDO) is included in the scope of supply of the Lenze parameter setting and operating program "Global Drive Control (GDC)" and can be used as an additional diagnostics program. The GDO serves to e. g. record input and output data and device−internal states during the controller operation. � Note! ƒ Detailed information concerning the handling and functional range of GDO can be gathered from the Manual "Global Drive Oscilloscope (GDO), First steps". ƒ Overview of the variables used in the GDO: � 362 � � � � � � � � � � ECSXA480 Fig.9−3 Global Drive Oscilloscope (GDO) � Menu bar � Symbol bar at the top � Data sets � Symbol bar on the left � Graph display field � Vertical operating elements � Status display � Trigger/cursor operating elements � Horizontal operating elements � Operating elements for recording EDBCSXS064 EN 3.0 � 177 9 Diagnostics Diagnostics with keypad XT EMZ9371BC 9.3 Diagnostics with keypad XT EMZ9371BC The two submenus "Actual info" and "History" in the "Diagnostic" menu contain all codes for the ƒ Monitoring of the drive ƒ Error diagnosis Status messages are additionally displayed in the operating level. If several messages are active, the message with the highest priority is displayed. Priority Display Meaning 1 GLOBAL DRIVE INIT Initialisation or communication error between keypad and controller 2 XXX − TRIP Active TRIP (contents of C0168/1) 3 XXX − MESSAGE Active message (contents of C0168/1) 4 Special device states: Switch−on inhibit 5 Source for controller inhibit (the value of C0004 is displayed simultaneously): STP1 Terminal X5/28 STP3 Operating module or LECOM A/B/LI STP4 INTERBUS or PROFIBUS−DP STP5 System bus (CAN) is called MotionBus for ECS modules (CAN) STP6 C0040 6 Source for quick stop (QSP): QSP−term−Ext MCTRL−QSP input of the MCTRL function block is applied to HIGH signal QSP−C0135 Operating module or LECOM A/B/LI QSP−AIF INTERBUS or PROFIBUS−DP QSP−CAN System bus (CAN) is called MotionBus for ECS modules (CAN) 7 XXX − WARNING Active warning (contents of C0168/1) 8 xxxx Value below C0004 EDBCSXS064 EN 3.0 178 � Troubleshooting and fault elimination 10 Fault analysis Fault analysis via the LED display 10 Troubleshooting and fault elimination A failure can be quickly detected by means of display elements or status information via the MotionBus (CAN) Display elements and status messages provide a rough classification of the trouble. The chapter "10.3 System error message" (� 184) provides notes on causes and eliminations of trouble. 10.1 Fault analysis 10.1.1 Fault analysis via the LED display LED Operating state Check Red Green Off On Controller enabled, no fault Off Blinking Controller inhibit (CINH) active, switch−on inhibit Code C0183 Blinking Off Trouble/fault (TRIP) is active Code C0168/1 Blinking On Warning/FAIL−QSP is active Code C0168/1 10.1.2 Fault analysis with keypad XT EMZ9371BC The status messages in the display indicate the controller status. Display Controller status Check rdy Controller ready for operation, controller can be Code C0183, C0168/1 inhibited. imp Pulses at the power stage inhibited. Code C0183, C0168/1 Imax Maximum current reached. Mmax Maximum torque reached. FAIL Fault through TRIP, message, fail QSP or Code C0183, C0168/1 warning. EDBCSXS064 EN 3.0 � 179 10 Troubleshooting and fault elimination Fault analysis Fault analysis with the history buffer 10.1.3 Fault analysis with the history buffer The history buffer enables you to trace faults. The corresponding fault messages are stored in 8 memory locations in the sequence of their occurrence. The memory locations can be retrieved via the codes. Structure of the history buffer ƒ The fields under "fault history" show the memory locations 2 ... 7. ƒ The fields under "current faults" indicate memory location 1. It gives information on the active fault. ƒ If the fault is no longer active or has been acknowledged, – all information in the fault memory will by automatically shifted upwards by one subcode. – memory location 1 will be deleted (no active fault). The information on the formerly active fault is now in subcode 2. – the contents of subcode 8 will be eliminated from the history buffer and cannot be read any longer. ƒ The history buffer contains three information units for every fault occurred: – Error number and response – Time of the last occurrence – Frequency of the immediately following occurrence � Note! ƒ If several faults with different responses occur at the same time, only the fault the response of which has the highest priority is entered in the fault memory. – TRIP (highest) → message → FAIL−QSP → warning (lowest) ƒ If several faults with the same response occur at the same time, (e.g. two error messages) only the fault that occurred first is entered in the fault memory. ƒ If a fault occurs several times in quick succession, only the time of the last occurrence is entered in the fault memory. Assignment of information to the codes Code and retrievable information contains information on ... C0168 C0169 C0170 Subcode active fault 1 2 last fault second−to−last fault 3 Frequency of the 4 third−to−last fault Number and response Time of the last immediately following of the error message occurrence fourth−to−last fault 5 occurrence 6 fifth−to−last fault 7 six−to−last fault 8 seventh−to−last fault EDBCSXS064 EN 3.0 180 � Troubleshooting and fault elimination 10 Fault analysis Fault analysis via LECOM status words (C0150/C0155) Reset fault The current fault can be reset via a TRIP−RESET (e.g. via C0043): Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0043 Trip reset Reset active TRIP 0 Reset TRIP 1 TRIP active Delete entries in the history buffer The entries in the history buffer can be deleted via C0167. ƒ This function only works when no trouble is active. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0167 Reset failmem 0 Delete history buffer (C0168) � 180 0 No reaction 1 Delete history buffer 10.1.4 Fault analysis via LECOM status words (C0150/C0155) The LECOM status words (C0150/C0155) are coded as follows: Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0150 Status word 0 Status word for networking via automation interface (AIF) Only display 0 {1} 65535 Controller evaluates information as 16 bits (binary coded) Bit 0 Not assigned Bit 1 Pulse inhibit (IMP) is active Bit 2 Not assigned Bit 3 Not assigned Bit 4 Not assigned Bit 5 Not assigned Bit 6 n=0 Bit 7 Controller inhibit (CINH) is active Bit 8 Controller status Bit 9 Controller status Bit 10 Controller status Bit 11 Controller status Bit 12 Warning is active Bit 13 Message is active Bit 14 Not assigned Bit 15 Not assigned EDBCSXS064 EN 3.0 � 181 10 Troubleshooting and fault elimination Fault analysis Fault analysis via LECOM status words (C0150/C0155) Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0155 Status word 2 0 Status word 2 (extended status word) Only display 0 {1} 65535 Controller evaluates information as 16 bits (binary coded) Bit 0 Fail Bit 1 Mmax Bit 2 Imax Bit 3 Pulse inhibit is active (IMP) Bit 4 Ready for operation (RDY) Bit 5 Controller inhibited (CINH) Bit 6 TRIP is active Bit 7 Init Bit 8 Direction of rotation of the motor (CW/CCW) Bit 9 Not assigned Bit 10 Not assigned Bit 11 Not assigned Bit 12 Not assigned Bit 13 Not assigned Bit 14 Not assigned Bit 15 Not assigned EDBCSXS064 EN 3.0 182 � Troubleshooting and fault elimination 10 Malfunction of the drive 10.2 Malfunction of the drive Maloperation / fault Cause Remedy Feedback system � Motor rotates CCW when viewed Feedback system is not connected in Connect feedback system in correct to the motor shaft. correct phase relation. phase relation. � C0060 counts down after controller enable. Asynchronous motor � Motor rotates with I and half Motor is not connected in correct Connect motor in correct phase max slip frequency. phase relation. relation at the terminals U, V, W � Motor does not react to setpoint change. Synchronous motor � Motor does not follow the Motor is not connected in correct Connect motor in correct phase setpoint change. phase relation. relation at the terminals U, V, W � I follows the setpoint max selection in idle state. � Motor rotates CCW when viewed The rotor angle (offset of electrical Carry out rotor position adjustment to the motor shaft. and mechanical rotor angle) is not (C0095 = 1) or set rotor correct. displacement angle manually. � The synchronous motor accelerates with a speed setpoint Operate motor without load for this = 0 to the rated speed. purpose! � The torque of the synchronous motor is too low. � Motor blocks in certain positions. The number of pole pairs of the Number of pole pairs (C0080) must resolver or motor is not set be set correctly. correctly. EDBCSXS064 EN 3.0 � 183 10 Troubleshooting and fault elimination System error messages Causes and remedies 10.3 System error messages 10.3.1 Causes and remedies � Tip! For enquiry of the system errors via the MotionBus/system bus (CAN), the error messages are represented as numbers (see "Error message ˘ number" column of the following table). Error message Description Cause Remedy No. Display −−− −−− No fault ˘ ˘ x011 OC1 Short circuit of motor cable Short circuit � Search for the cause of short circuit. � Check motor cable. Capacitive charging current of the Use motor cable which is shorter motor cable is too high. or of lower capacitance. x012 OC2 Earth fault − motor cable One of the motor phases has � Search for the cause of the earth contact. short circuit. � Check motor cable. x015 OC5 I x t overload � Frequent and too long Check drive dimensioning. acceleration with overcurrent � Continuous overload with I > 1.05 x I motor rx 2 0016 OC6 Motor overload (I x t overload) Motor is thermally overloaded � Check drive dimensioning. due to: � Check setting of C0120. � impermissible continuous current � frequent or too long acceleration processes x017 OC7 I x t warning Thermal load of motor > C0123 � Check drive dimensioning. (e. g. by frequent or too long � Check setting of C0123. acceleration processes) 2 x018 OC8 I x t warning Thermal load of the � Check drive dimensioning. motor > C0127 (e. g. by frequent � Check setting of C0127. or too long acceleration processes) x020 OU Overvoltage in DC bus Braking energy is too high. � Insert braking unit or regenerative module. (DC−bus voltage is higher than set in C0173.) � Check dimensioning of the brake resistor. x030 LU Undervoltage in DC bus DC−bus voltage is lower than � Check mains voltage. determined in C0174. � Check power supply module. x032 LP1 Motor phase failure A current−carrying motor phase � Check motor. has failed. � Check motor cable. � Switch off monitoring (C0597 = 3). The current limit value is set too � Set higher current limit value low. via C0599. x041 ap1 Internal error Contact Lenze. x 0 = TRIP, 1 = message, 2 = warning, 3 = FAIL−QSP EDBCSXS064 EN 3.0 184 � Troubleshooting and fault elimination 10 System error messages Causes and remedies Error message Description Description Cause Cause Remedy Remedy No. Display x050 OH Heatsink temperature > +90 °C Ambient temperature � Allow module to cool and T > +40 °C or > +50 °C ensure better ventilation. u � Check ambient temperature in the control cabinet. Heatsink is very dirty. Clean heatsink Wrong mounting position Change mounting position. x051 OH1 Interior temperature > +90 °C Ambient temperature � Allow module to cool and ensure better ventilation. T > +40 °C or > +50 °C u � Check ambient temperature in the control cabinet. Wrong mounting position Change mounting position. x053 OH3 Motor temperature Motor is thermally overloaded � Check drive dimensioning. > +150 °C threshold due to: � Switch off monitoring (temperature detection via � impermissible continuous (C0583 = 3). current resolver or incremental value encoder) � frequent or too long acceleration processes No PTC/temperature contact Correct wiring. connected. x054 OH4 Heatsink temperature > C0122 Ambient temperature T > +40 °C � Allow module to cool and u ensure better ventilation. or > +50 °C � Check ambient temperature in the control cabinet. � Switch off monitoring (C0582 = 3). Heatsink is very dirty. Clean heatsink Wrong mounting position Change mounting position. The value under C0122 is set too Enter a higher value under C0122. low. x055 OH5 Interior temperature > C0124 � Allow module to cool and ensure better ventilation. � Check ambient temperature in the control cabinet. � Switch off monitoring (C0605 = 3). The value under C0124 is set too Enter a higher value under C0124. low. x057 OH7 Motor temperature > C0121 Motor is thermally overloaded � Check drive dimensioning. (temperature detection via due to: � Switch off monitoring resolver or incremental value � impermissible continuous (C0584 = 3). encoder) current � frequent or too long acceleration processes No PTC/temperature contact Correct wiring. connected. The value under C0121 is set too Enter a higher value in C0121. low. x058 OH8 Motor temperature via inputs T1 Motor is thermally overloaded � Check drive dimensioning. and T2 is too high. due to: � Switch off monitoring � impermissible continuous (C0585 = 3). current � frequent or too long acceleration processes Terminals T1 and T2 are not Connect PTC/temperature assigned contact. x 0 = TRIP, 1 = message, 2 = warning, 3 = FAIL−QSP EDBCSXS064 EN 3.0 � 185 10 Troubleshooting and fault elimination System error messages Causes and remedies Error message Description Description Cause Cause Remedy Remedy No. Display x061 CE0 Communication error Faulty transfer of control � Plug on the communication Automation interface (AIF) commands via AIF. module/keypad XT firmly, screw down, if necessary. � Switch off monitoring (C0126 = 3). x062 CE1 Communication error at the CAN1_IN object receives faulty � Check wiring at X4. process data input object data or communication is � Check transmitter. CAN1_IN interrupted. � Increase monitoring time under C0357/1, if necessary. � Switch off monitoring (C0591 = 3). x063 CE2 Communication error at the CAN2_IN object receives faulty � Check wiring at X4. process data input object data or communication is � Check transmitter. CAN2_IN interrupted. � Increase monitoring time under C0357/2, if necessary. � Switch off monitoring (C0592 = 3). x064 CE3 Communication error at the CAN3_IN object receives faulty � Check wiring on X4. process data input object data or communication is � Check transmitter. CAN3_IN interrupted. � Increase monitoring time under C0357/3, if necessary. � Switch off monitoring (C0593 = 3). x065 CE4 BUS−OFF status of The module has received too � Check wiring at X4: bus MotionBus (CAN) many incorrect telegrams via termination available? MotionBus (CAN) and has � Check shield contact of the disconnected from the bus. cables. � Check PE connection. � Check bus load, reduce baud rate, if necessary (observe cable length!) � Switch off monitoring (C0595 = 3). x066 ce5 MotionBus (CAN) time−out For remote parameterisation � Check wiring on X4. (C0370, C0371) via MotionBus (communication error of gateway � Check CAN bus configuration. function) (CAN): � Switch off monitoring � Slave does not respond. (C0603 = 3). � Communication monitoring time has been exceeded. x070 U15 Undervoltage of internal 15 V Check voltage supply. voltage supply x071 CCR System failure Strong interference on the control Control cables must be shielded. cables Earth loops in the wiring � Check wiring. � Check PE connection. 0072 PR1 Check sum error in parameter � Fault when loading a � Set the required parameters set 1 parameter set. and save them with C0003 = 1. ATTENTION: Lenze setting is � Interruption during � For "PR0", additionally switch loaded automatically! transmission of the parameter off the supply voltage. set via operating unit/keypad. � Check use of pointers. The saved parameters do not In order to be able to match the loaded software acknowledge the error, first save version. the parameter set by means of C0003 = 1. 0074 PEr Program error Error in the program flow � Check use of pointers. � Send module with PLC program and parameter set to Lenze (on floppy disk/CD−ROM). x 0 = TRIP, 1 = message, 2 = warning, 3 = FAIL−QSP EDBCSXS064 EN 3.0 186 � Troubleshooting and fault elimination 10 System error messages Causes and remedies Error message Description Description Cause Cause Remedy Remedy No. Display 0075 PR0 Parameter set error � Fault when loading a � Set the required parameters ATTENTION: Lenze setting is parameter set. and save them with C0003 = 1. loaded automatically! � Interruption during � For "PR0", additionally switch transmission of the parameter off the supply voltage. set via operating unit/keypad. � Check use of pointers. The saved parameters do not In order to be able to match the loaded software acknowledge the error, first save version. the parameter set by means of C0003 = 1. 0079 PI Error during parameter � A fault was detected during � Correct parameter set. initialisation parameter set transfer � Check code initialisation between two devices. values. � Parameter set does not match the controller, e.g. when data has been transmitted from a controller with a higher performance to a controller with less performance. 0080 PR6 With ECSxS/P/M: internal error Contact Lenze. With ECSxA: too many user codes Reduce number of user codes. x082 Sd2 Resolver error on X7 Resolver cable is interrupted. � Check cable for wire breakage. � Check resolver. � Switch off monitoring (C0586 = 3). Excitation amplitude is too low. Increase excitation amplitude of resolver (C0416). x085 Sd5 Master current value encoder Master current value on � Check cable for wire breakage. error on analog input X6/AI+, AI− X6/AI+, AI− < 2mA � Check master current value (C0034 = 1) encoder. � Switch off monitoring (C0598 = 3). x086 Sd6 Thermal sensor error on the Encoder for detecting the motor � Check cable with regard to motor (X7 or X8) temperature on X7 or X8 indicates firm connection. undefined values. � Switch off monitoring (C0594 = 3). x087 Sd7 Absolute value encoder error on Absolute value encoder on X8 � Check cable for wire breakage. X8 does not send any data. � Check absolute value encoder. � Check voltage supply (C0421). � No Stegmann encoder connected. Error reset: Disconnect and then reconnect the low−voltage supply. x088 sd8 SinCos encoder error on X8 SinCos encoder on X8 does not � Check cable for wire breakage. send any data. � Check SinCos encoder. � Check voltage supply (C0421). � No Stegmann encoder connected. Error reset: Disconnect and then reconnect the low−voltage supply. x089 PL Error with regard to rotor position adjustment x091 EEr External monitoring has been A digital signal assigned to the � Check external encoder. activated via DCTRL. TRIP set function has been � Switch off monitoring activated. (C0581 = 3). x095 FAN1 Fan monitoring Heatsink fan is locked, dirty or Clean or exchange heatsink fan. defect. (for built−in units) 0105 H05 Internal fault (memory) Contact Lenze. x 0 = TRIP, 1 = message, 2 = warning, 3 = FAIL−QSP EDBCSXS064 EN 3.0 � 187 10 Troubleshooting and fault elimination System error messages Causes and remedies Error message Description Description Cause Cause Remedy Remedy No. Display 0107 H07 Internal fault (power stage) During initialisation of the Contact Lenze. controller, an incorrect power stage was detected. x108 H08 "Extension board" error "Extension board" not connected � Connect "extension board" correctly. correctly. � Check connecting plug. "Extension board" is not � Adapt PLC program to supported by PLC program. "extension board". � Use "extension board" which is supported by PLC program. X110 H10 Thermal sensor error on heatsink Sensor for detecting the heatsink � Contact Lenze. temperature indicates undefined � Switch off monitoring values. (C0588 = 3). x111 H11 Thermal sensor error in the Sensor for detecting the internal � Contact Lenze. interior of the device temperature indicates undefined � Switch off monitoring values. (C0588 = 3). x122 CE11 Communication error at the CANaux1_IN object receives � Check wiring at X14. process data input object faulty data or communication is � Check transmitter. CANaux1_IN interrupted. � Increase monitoring time under C2457/1, if necessary. � Switch off monitoring (C2481 = 3). x123 CE12 Communication error at the CANaux2_IN object receives � Check wiring at X14. process data input object faulty data or communication is � Check transmitter. CANaux2_IN interrupted. � Increase monitoring time under C2457/2, if necessary. � Switch off monitoring (C2482 = 3). x124 ce13 Communication error at the CANaux3_IN object receives � Check wiring on X14. process data input object faulty data or communication is � Check transmitter. CANaux3_IN interrupted. � Increase monitoring time under C2457/3, if necessary. � Switch off monitoring (C2483 = 3). x125 CE14 BUS−OFF status of system bus The module has received too � Check wiring at X14: bus (CAN) many incorrect telegrams via termination available? system bus (CAN) and has � Check shield contact of the disconnected from the bus. cables. � Check PE connection. � Check bus load, reduce baud rate, if necessary (observe cable length!) � Switch off monitoring (C2484 = 3). x126 ce15 System bus (CAN) time−out For remote parameterisation � Check wiring at X14. (C0370, C0371) via system bus (communication error of gateway � Check CAN bus configuration. (CAN): function) � Switch off monitoring � Slave does not respond. (C2485 = 3). � Communication monitoring time has been exceeded. x190 nErr Speed control error � Active load (e.g. for hoists) is Check drive dimensioning. too high. (speed beyond the tolerance window (C0576)) � Mechanical blockades on the load side x191 HSF Internal error Contact Lenze. x200 Nmax Maximum speed (C0596) has � Active load (e.g. for hoists) is � Check drive dimensioning. been exceeded. too high. � Increase torque limit, if � Drive is not speed−controlled, necessary. torque is excessively limited. x 0 = TRIP, 1 = message, 2 = warning, 3 = FAIL−QSP EDBCSXS064 EN 3.0 188 � Troubleshooting and fault elimination 10 System error messages Causes and remedies Error message Description Description Cause Cause Remedy Remedy No. Display x201 Overrun Time−out in task 1 (ID 2) Processing of the task lasts longer � Adapt length of the task than the monitoring time set. runtime. Task1 � Adapt monitoring time. x202 Overrun Time−out in task 2 (ID 3) � Determine the cause of the Task2 time−out by checking the task x203 Overrun Time−out in task 3 (ID 4) runtime on the task monitor. Task3 � Remove time−critical program x204 Overrun Time−out in task 4 (ID 5) parts to a slower task. Task4 x205 Overrun Time−out in task 5 (ID 6) Task5 x206 Overrun Time−out in task 6 (ID 7) Task6 x207 Overrun Time−out in task 7 (ID 8) Task7 x208 Overrun Time−out in task 8 (ID 9) Task8 x209 float Float error in system task (ID 0) Error in real calculation Check calculations (program code). Sys−T (e.g. division by 0) x210 float Float error in cyclic task (PLC_PRG, Cycl.−T ID 1) x211 float Task1 Float error in task 1 (ID 2) x212 Float error in task 2 (ID 3) float Task2 x213 float Task3 Float error in task 3 (ID 4) x214 Float error in task 4 (ID 5) float Task4 x215 float Task5 Float error in task 5 (ID 6) x216 Float error in task 6 (ID 7) float Task6 x217 float Task7 Float error in task 7 (ID 8) x218 Float error in task 8 (ID 9) float Task8 x219 Overrun Time−out in cyclic task (PLC_PRG, Processing of the task lasts longer � Adapt length of the task Cyc.−t ID 1) than the monitoring time set. runtime. � Adapt monitoring time. � Determine the cause of the time−out by checking the task runtime on the task monitor. � Remove time−critical program parts to a slower task. 0220 noT−Fkt Not enough technology units A program with technology � Insert technology variants of Credit available. functions to a drive controller not the controller. providing corresponding units has � Contact Lenze, if necessary. been tried to be loaded 0230 No Missing PLC program No PLC program loaded. Load PLC program. Program 0231 Unallowed PLC program calls invalid library In the PLC program a library � Remove library function or function. function was called which is not ensure that the corresponding Lib supported by the controller (e.g. hardware is available. because the corresponding � Contact Lenze, if necessary. hardware is missing). 0232 NoCam Motion profiles (cam data) are not When calling functions of the � Ensure that valid data has available. function library been attached to the project Data LenzeCamControl.lib we noted via the DDS CAM support. that no motion profiles (CAM � Reload the PLC program into data) are loaded in the memory of the controller. (Possibly the the controller. command Online�Reset (origin) has been executed in DDS.) x 0 = TRIP, 1 = message, 2 = warning, 3 = FAIL−QSP EDBCSXS064 EN 3.0 � 189 10 Troubleshooting and fault elimination System error messages Causes and remedies Error message Description Description Cause Cause Remedy Remedy No. Display x240 ovrTrans Error "Free CAN objects" Overflow of the transmit request � Reduce number of transmit Queue memory requests. � Prolong cycle time. x241 ovr Receive Too many receive telegrams Reduce number of telegrams on the MotionBus/system bus (CAN). x260 Err Node "Life guarding event" The controller configured as CAN � Check wiring on X4/X14. Guard slave does not receive a "Node � Check CAN configuration. Guarding" telegram with the � Ensure that "Node Guarding" "Node Life Time" from the CAN has been activated in the CAN master. master. � Adjust "Node Life Time" (C0383) to the setting in the CAN master. x 0 = TRIP, 1 = message, 2 = warning, 3 = FAIL−QSP EDBCSXS064 EN 3.0 190 � Troubleshooting and fault elimination 10 Resetting system error messages 10.3.2 Resetting system error messages Response Measures for resetting the error message TRIP/ FAIL−QSP Note! � For resetting the TRIP/FAIL−QSP, an acknowledgement is required. � If a TRIP/FAIL−QSP source is still active, the upcoming TRIP/FAIL−QSP cannot be reset. The acknowledgement of the TRIP/FAIL−QSP can be effected by: � "Diagnostics" dialog box in the GDC �, activate "Fault memory reset" button. � pressing XT EMZ9371 BB � 1 keypad. Afterwards, press 0 to enable the axis module again. � Setting code C0043 = 0. � Control word C0135, bit 11 � Control word AIF � Control word MotionBus/system bus (CAN) Message Danger! After eliminating the fault, the error message cancels itself automatically, and the drive starts automatically! Warning After eliminating the fault, the error message is reset automatically. EDBCSXS064 EN 3.0 � 191 11 Function library AIF (automation interface management) 11 Function library 11.1 AIF (automation interface management) Function This function block serves to monitor communication faults by means of a fieldbus module connected to the automation interface (AIF). ƒ If a fault occurs, the monitoring sets "AIF−Ce0CommErr" to TRUE and releases the communication error CE0 (LECOM No. 61); the corresponding response can be configured via C0126 (default setting: Off). ƒ When using more current AIF fieldbus modules (e.g. EMF2133IB and EMF2175IB), a fault number is output in addition from the fieldbus module via the "AIF−FieldBusStateBit0 ...7". � Please read the documentation for the plug−on fieldbus module. AIF AIF AIF-Ce0CommErr Communication 10 Error AIF-FieldBusStateBit0 11 AIF-FieldBusStateBit1 12 X1 AIF-FieldBusStateBit2 13 AIF-FieldBusStateBit3 14 AIF AIF-FieldBusStateBit4 Fieldbus State 15 AIF-FieldBusStateBit5 16 AIF-FieldBusStateBit6 17 AIF-FieldBusStateBit7 18 ECSXA200 Fig.11−1 AIF function block Response to CE0 communication error Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0126 MONIT CE0 3 Monitoring of the communication on the automation interface (AIF). 0 TRIP A communication error ("CommErr") releases the 2 Warning adjusted reaction. 3 Off Monitoring is switched off. EDBCSXS064 EN 3.0 192 � Function library 11 AIF1In 11.2 AIF1In Function This function block serves as an interface for input signals (e. g. setpoint and actual values) from the attached fieldbus module. � Please read the documentation for the plug−on fieldbus module. AIF1In AIF1In-DctrlCtrl 16 Bit 10 AIF1In-Ctrl.Bit0 24 AIF1In-Ctrl.Bit1 25 AIF1In-Ctrl.Bit2 26 AIF1In-Ctrl.Quickstop_B3 19 AIF1In-Ctrl.Bit4 27 AIF1In-Ctrl.Bit5 28 AIF1In-Ctrl.Bit6 29 C0136/3 AIF1In-Ctrl.Bit7 30 AIF1In-Ctrl.Disable_B8 20 16 binary signals AIF1In-Ctrl.CInhibit_B9 21 AIF1In-Ctrl.TripSet_B10 22 AIF1In-Ctrl.TripReset_B11 23 AIF1In-Ctrl.Bit12 31 AIF1In-Ctrl.Bit13 32 AIF1In-Ctrl.Bit14 33 AIF1In-Ctrl.Bit15 34 Byte AIF1In-W1 1 11 16 Bit C0856/1 AIF1In-W1.Bit0 700 Byte 2 16 binary AIF1In-W1.Bit15 signals 715 Byte 3 16 Bit LowWord AIF1In-W0/W1 21 16 Bit Byte HighWord 4 X1 AIF1In-W2 12 16 Bit Byte 5 C0856/2 AIF1In-Bit0 C0855/1 35 16 binary Byte AIF1In-Bit15 signals 50 6 AIF1In-W3 13 16 Bit Byte 7 C0856/3 AIF1In-Bit16 C0855/2 51 16 binary Byte AIF1In-Bit31 signals 66 8 16 Bit LowWord AIF1In-W2/W3 10 16 Bit C0857 HighWord ECSXA201 Fig.11−2 AIF1In function block EDBCSXS064 EN 3.0 � 193 Controlword … … … 11 Function library AIF1In Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0136 Control words Only display 1 Ctrl word 0 {hex} FFFF Control word in DCTRL 2 Ctrl word Control word in CANaux_IN 3 Ctrl word Control word in AIF1In C0855 Digital process data input words � 193 indicated hexadecimally on the AIF interface (AIF1_IN) Read only 1 AIF1 IN bits 0000 {hex} FFFF Input word 2 (bit 0 ... 15) 2 AIF1 IN bits Input word 3 (bit 0 ... 15) C0856 Analog process data input words � 193 are indicated decimally on the AIF interface (AIF1_IN) 100.00% = 16384 Read only 1 AIF1 IN words −199.99 {0.01 %} 199.99 Input word 1 2 AIF1 IN words Input word 2 3 AIF1 IN words Input word 3 C0857 AIF1 IN phi 32 bits of phase information on � 193 the AIF interface (AIF1_IN) Read only −2147483648 {1} 2147483647 EDBCSXS064 EN 3.0 194 � Function library 11 AIF1In User data Each of the eight bytes of received user data is assigned to different signal types. For this reason, they can be evaluated —as required— as ƒ digital signals (1 bit) ƒ control word / analog signals (16 bits) ƒ phase signals (32 Bit) in the axis module: Byte Digital signals (1 bit) Analog signals (16 bit) Phase signals (32 Bit) 1, 2 AIF1In−Ctrl.Bit0 AIF1In−Ctrl.Bit1 AIF1In−Ctrl.Bit2 AIF1In−Ctrl.Quickstop_B3 AIF1In−Ctrl.Bit4 ... AIF1In−Ctrl.Bit7 AIF1In−DctrlCtrl AIF1In−Ctrl.Disable_B8 AIF1In−Ctrl.CInhibit_B9 AIF1In−Ctrl.TripSet_B10 AIF1In−Ctrl.TripReset_B11 AIF1In−Ctrl.Bit12 AIF1In−W0/W1 ... AIF1In−Ctrl.Bit15 Note: The internal control word is firmly allocated to bytes 1 and 2. Via this control word it is possible touse � signals for the functions "quick stop" (QSP), DISABLE, CINH, TRIP−SET und TRIP−RESET and � the other 11 control bits (AIF1In−Ctrl.Bit...) in further functions/function blocks. 3, 4 AIF1In−W1.Bit0 ... AIF1In−W1 AIF1In−W1.Bit15 5, 6 AIF1In−Bit0 AIF1In−W2 ... AIF1In−Bit15 AIF1In−W2/W3 7, 8 AIF1In−Bit16 ... AIF1In−W3 AIF1In−Bit31 EDBCSXS064 EN 3.0 � 195 11 Function library AIF1Out 11.3 AIF1Out Function This function block provides the interface for output signals (e. g. setpoint and actual values) to the attached fieldbus module. � Please read the documentation for the plug−on fieldbus module. AIF1Out Byte 1 AIF1Out-DctrlStat C6131/1 16 Bit C6130/1 Byte 2 C6154 Byte 3 AIF1Out-W1 AIF1Out-W1 C6131/2 16 Bit C6130/2 Byte 4 X1 0 1 AIF1Out-W2 AIF1Out-W2 C6131/3 2 16 Bit Byte 3 C6130/3 5 4 AIF1Out-Bit0 AIF1Out-Bit0 5 C6111/1 AIF1Out-Bit15 C6111/16 AIF1Out-Bit15 16 binary Byte C6110/1 0 signals 6 1 C6110/16 2 3 AIF1Out-W3 AIF1Out-W3 C6131/4 4 16 Bit Byte 5 C6130/4 7 AIF1Out-Bit0 0 1 AIF1Out-Bit15 16 binary Byte 2 signals 8 3 4 5 16 Bit 16 Bit LowWord LowWord AIF1Out-W2/W3 AIF1Out-W2/W3 C6151/1 16 Bit 16 Bit C6150/1 HighWord HighWord ECSXA202 Fig.11−3 AIF1Out function block EDBCSXS064 EN 3.0 196 � … … … … Function library 11 AIF1Out Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C6110 Display of the digital output � 196 signals to the fieldbus module 0 (= FALSE) 1 (= TRUE) 1 AIF−DigOut AIF1Out−Bit0 (bit 0) 2 AIF−DigOut AIF1Out−Bit1 (bit 1) 3 AIF−DigOut AIF1Out−Bit2 (bit 2) 4 AIF−DigOut AIF1Out−Bit3 (bit 3) 5 AIF−DigOut AIF1Out−Bit4 (bit 4) 6 AIF−DigOut AIF1Out−Bit5 (bit 5) 7 AIF−DigOut AIF1Out−Bit6 (bit 6) 8 AIF−DigOut AIF1Out−Bit7 (bit 7) 9 AIF−DigOut AIF1Out−Bit8 (bit 8) 10 AIF−DigOut AIF1Out−Bit9 (bit 9) 11 AIF−DigOut AIF1Out−Bit10 (bit 10) 12 AIF−DigOut AIF1Out−Bit11 (bit 11) 13 AIF−DigOut AIF1Out−Bit12 (bit 12) 14 AIF−DigOut AIF1Out−Bit13 (bit 13) 15 AIF−DigOut AIF1Out−Bit14 (bit 14) 16 AIF−DigOut AIF1Out−Bit15 (bit 15) [C6111] Selection of the digital output signals to the fieldbus module 1 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit0 (bit 0) � 196 2 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit1 (bit 1) 3 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit2 (bit 2) 4 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit3 (bit 3) 5 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit4 (bit 4) 6 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit5 (bit 5) 7 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit6 (bit 6) 8 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit7 (bit 7) 9 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit8 (bit 8) 10 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit9 (bit 9) 11 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit10 (bit 10) 12 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit11 (bit 11) 13 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit12 (bit 12) 14 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit13 (bit 13) 15 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit14 (bit 14) 16 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit15 (bit 15) For possible signals see "selection list − digital � 362 signals" EDBCSXS064 EN 3.0 � 197 11 Function library AIF1Out Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C6130 Display of the analog output signals to the fieldbus module −32768 {1} 32767 1 AIF−AnOut Output word AIF1Out−DctrlStat � 196 2 AIF−AnOut Output word AIF1Out−W1 3 AIF−AnOut Output word AIF1Out−W2 4 AIF−AnOut Output word AIF1Out−W3 5 AIF−AnOut Output word AIF2Out−W0 � 203 6 AIF−AnOut Output word AIF2Out−W1 7 AIF−AnOut Output word AIF2Out−W2 8 AIF−AnOut Output word AIF2Out−W3 9 AIF−AnOut Output word AIF3Out−W0 � 208 10 AIF−AnOut Output word AIF3Out−W1 11 AIF−AnOut Output word AIF3Out−W2 12 AIF−AnOut Output word AIF3Out−W3 [C6131] Selection of the analog output signals to the fieldbus module 1 AIF1Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 196 AIF1Out−DctrlStat 2 AIF1Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF1Out−W1 3 AIF1Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF1Out−W2 4 AIF1Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF1Out−W3 5 AIF2Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 203 AIF2Out−W0 6 AIF2Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF2Out−W1 7 AIF2Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF2Out−W2 8 AIF2Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF2Out−W3 9 AIF3Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 208 AIF3Out−W0 10 AIF3Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF3Out−W1 11 AIF3Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF3Out−W2 12 AIF3Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF3Out−W3 For possible signals see "selection list − analog � 371 signals" C6150 Display of the phase output signals to the fieldbus module −2147483647 {1} 2147483647 1 AIF−PhiOut Output double word � 196 AIF1Out-W2/W3 2 AIF−PhiOut Output double word � 203 AIF2Out-W0/W1 3 AIF−PhiOut Output double word � 208 AIF3Out-W0/W1 EDBCSXS064 EN 3.0 198 � Function library 11 AIF1Out Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C6151] Selection of the phase output signals to the fieldbus module 1 AIF1Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 196 AIF1Out-W2/W3 2 AIF2Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 203 AIF2Out-W0/W1 3 AIF3Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 208 AIF3Out-W0/W1 For possible signals see "selection list − phase � 374 signals" C6154 AIF1PdoMap 0 Assignment of the 8 byte user � 196 data of the AIF1Out function block to the fieldbus module 0 W2=Int W3=Int Byte 1, byte 2 = AIF1Out−DctrlStat Byte 3, byte 4 = AIF1Out−W1 Byte 5, byte 6 = AIF1Out−W2 Byte 7, byte 8 = AIF1Out−W3 1 W2 / W3=Dint Byte 1, byte 2 = AIF1Out−DctrlStat Byte 3, byte 4 = AIF1Out−W1 Byte 5, byte 6 = AIF1Out−W2/W3 Byte 7, byte 8 = AIF1Out−W2/W3 2 W2=Int W3=bit Byte 1, byte 2 = AIF1Out−DctrlStat Byte 3, byte 4 = AIF1Out−W1 Byte 5, byte 6 = AIF1Out−W2 Byte 7, byte 8 = AIF1Out−Bit0...Bit15 3 W2=Bit W3=Int Byte 1, byte 2 = AIF1Out−DctrlStat Byte 3, byte 4 = AIF1Out−W1 Byte 5, byte 6 = AIF1Out−Bit0...Bit15 Byte 7, byte 8 = AIF1Out−W3 4 W1=Bit W23=I Byte 1, byte 2 = AIF1Out−DctrlStat Byte 3, byte 4 = AIF1Out−Bit0...Bit15 Byte 5, byte 6 = AIF1Out−W2 Byte 7, byte 8 = AIF1Out−W3 5 W1=Bit W23=Di Byte 1, byte 2 = AIF1Out−DctrlStat Byte 3, byte 4 = AIF1Out−Bit0...Bit15 Byte 5, byte 6 = AIF1Out−W2/W3 Byte 7, byte 8 = AIF1Out−W2/W3 EDBCSXS064 EN 3.0 � 199 11 Function library AIF1Out User data The eight bytes of user data to the fieldbus module can be assigned with ƒ digital signals (1 bit). ƒ analog signals (16 bits). ƒ phase signals (32 bits). The switch C6154 is used to assign the eight bytes of user data to the fieldbus module: User data Value in C6154 Byte 1, 2 Byte 3, 4 Byte 5, 6 Byte 7, 8 AIF1Out−DctrlStat AIF1Out−W1 AIF1Out−W2 AIF1Out−W3 0 16 bits (C6131/1) 16 bits (C6131/2) 16 bits (C6131/3) 16 bits (C6131/4) AIF1Out−DctrlStat AIF1Out−W1 AIF1Out−W2/W3 1 16 bits (C6131/1) 16 bits (C6131/2) 32 bits (C6151/1) AIF1Out−DctrlStat AIF1Out−W1 AIF1Out−W2 AIF1Out−Bit0 ... 15 2 16 bits (C6131/1) 16 bits (C6131/2) 16 bits (C6131/3) 1 bit (C6111/1 ... 15) AIF1Out−DctrlStat AIF1Out−W1 AIF1Out−Bit0 ... 15 AIF1Out−W3 3 16 bits (C6131/1) 16 bits (C6131/2) 1 bit (C6111/1 ... 15) 16 bits (C6131/4) AIF1Out−DctrlStat AIF1Out−Bit0 ... 15 AIF1Out−W2 AIF1Out−W3 4 16 bits (C6131/1) 1 bit (C6111/1 ... 15) 16 bits (C6131/3) 16 bits (C6131/4) AIF1Out−DctrlStat AIF1Out−Bit0 ... 15 AIF1Out−W2/W3 5 16 bits (C6131/1) 1 bit (C6111/1 ... 15) 32 bits (C6151/1) � Note! You can use byte 1 and byte 2 to transfer the status word from the DCTRL function block (� 239) to the fieldbus module. EDBCSXS064 EN 3.0 200 � Function library 11 AIF2In 11.4 AIF2In Function This function block serves as an interface for input signals (e. g. setpoint and actual values) from the attached fieldbus module. � Please read the documentation for the plug−on fieldbus module. AIF2In AIF2In-W0 16 Bit 14 Byte 1 AIF2In-Bit0 67 16 binary signals Byte AIF2In-Bit15 2 82 AIF2In-W1 16 Bit 15 Byte 3 AIF2In-Bit16 83 16 binary signals Byte AIF2In-Bit31 4 98 X1 16 Bit Byte LowWord 5 AIF2In-W0/W1 11 16 Bit HighWord Byte 6 AIF2In-W2 16 Bit 16 Byte 7 AIF2In-W3 16 Bit 17 Byte 8 16 Bit LowWord AIF2In-W2/W3 22 16 Bit HighWord ECSXA203 Fig.11−4 AIF2In function block EDBCSXS064 EN 3.0 � 201 ... ... 11 Function library AIF2In User data Each of the eight bytes of received user data is assigned to different signal types. For this reason, they can be evaluated —as required— as ƒ digital signals (1 bit) ƒ analog signals (16 bit) ƒ phase signals (32 Bit) in the axis module: Byte Digital signals (1 bit) Analog signals (16 Bit) Phase signals (32 Bit) 1, 2 AIF2In−Bit0 AIF2In−W0 ... AIF2In−Bit15 AIF2In−W0/W1 3, 4 AIF2In−Bit16 ... AIF2In−W1 AIF2In−Bit31 5, 6 AIF2In−W2 AIF2In−W2/W3 7, 8 AIF2In−W3 EDBCSXS064 EN 3.0 202 � Function library 11 AIF2Out 11.5 AIF2Out Function This function block provides the interface for output signals (e. g. setpoint and actual values) to the attached fieldbus module. � Please read the documentation for the plug−on fieldbus module. AIF2Out C6155 Byte 1 AIF2Out-W0 0 C6131/5 1 16 Bit C6130/5 16 Bit Byte LowWord 2 AIF2Out-W0/W1 C6151/2 16 Bit C6150/2 HighWord Byte 3 AIF2Out-W1 0 C6131/6 1 16 Bit C6130/6 Byte 4 X1 Byte 5 AIF2Out-W2 C6131/7 16 Bit C6130/7 Byte 6 Byte 7 AIF2Out-W3 C6131/8 16 Bit C6130/8 Byte 8 ECSXA204 Fig.11−5 AIF2Out function block Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C6130 Display of the analog output signals to the fieldbus module −32768 {1} 32767 1 AIF−AnOut Output word AIF1Out−DctrlStat � 196 2 AIF−AnOut Output word AIF1Out−W1 3 AIF−AnOut Output word AIF1Out−W2 4 AIF−AnOut Output word AIF1Out−W3 5 AIF−AnOut Output word AIF2Out−W0 � 203 6 AIF−AnOut Output word AIF2Out−W1 7 AIF−AnOut Output word AIF2Out−W2 8 AIF−AnOut Output word AIF2Out−W3 9 AIF−AnOut Output word AIF3Out−W0 � 208 10 AIF−AnOut Output word AIF3Out−W1 11 AIF−AnOut Output word AIF3Out−W2 12 AIF−AnOut Output word AIF3Out−W3 EDBCSXS064 EN 3.0 � 203 11 Function library AIF2Out Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C6131] Selection of the analog output signals to the fieldbus module 1 AIF1Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 196 AIF1Out−DctrlStat 2 AIF1Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF1Out−W1 3 AIF1Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF1Out−W2 4 AIF1Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF1Out−W3 5 AIF2Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 203 AIF2Out−W0 6 AIF2Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF2Out−W1 7 AIF2Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF2Out−W2 8 AIF2Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF2Out−W3 9 AIF3Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 208 AIF3Out−W0 10 AIF3Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF3Out−W1 11 AIF3Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF3Out−W2 12 AIF3Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF3Out−W3 For possible signals see "selection list − analog � 371 signals" C6150 Display of the phase output signals to the fieldbus module −2147483647 {1} 2147483647 1 AIF−PhiOut Output double word � 196 AIF1Out-W2/W3 2 AIF−PhiOut Output double word � 203 AIF2Out-W0/W1 3 AIF−PhiOut Output double word � 208 AIF3Out-W0/W1 [C6151] Selection of the phase output signals to the fieldbus module 1 AIF1Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 196 AIF1Out-W2/W3 2 AIF2Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 203 AIF2Out-W0/W1 3 AIF3Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 208 AIF3Out-W0/W1 For possible signals see "selection list − phase � 374 signals" EDBCSXS064 EN 3.0 204 � Function library 11 AIF2Out Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C6155 AIF2PdoMap 0 Assignment of the 8 byte user � 203 data of the AIF2Out function block to the fieldbus module 0 W0=Int W1=Int Byte 1, byte 2 = AIF2Out−W0 Byte 3, byte 4 = AIF2Out−W1 Byte 5, byte 6 = AIF2Out−W2 Byte 7, byte 8 = AIF2Out−W3 1 W0 / W1=Dint Byte 1, byte 2 = AIF2Out−W0/W1 Byte 3, byte 4 = AIF2Out−W0/W1 Byte 5, byte 6 = AIF2Out−W2 Byte 7, byte 8 = AIF2Out−W3 User data The eight bytes of user data to the fieldbus module can be assigned with ƒ analog signals (16 bits). ƒ phase signals (32 bits). The switch C6155 is used to assign the eight bytes of user data to the fieldbus module: User data Value in C6155 Byte 1, 2 Byte 3, 4 Byte 5, 6 Byte 7, 8 AIF2Out−W0 AIF2Out−W1 AIF2Out−W2 AIF2Out−W3 0 16 bits (C6131/5) 16 bits (C6131/6) 16 bits (C6131/7) 16 bits (C6131/8) AIF1Out−W0/W1 AIF2Out−W2 AIF2Out−W3 1 32 bits (C6151/2) 16 bits (C6131/7) 16 bits (C6131/8) EDBCSXS064 EN 3.0 � 205 11 Function library AIF3In 11.6 AIF3In Function This function block serves as an interface for input signals (e. g. setpoint and actual values) from the attached fieldbus module. � Please read the documentation for the plug−on fieldbus module. AIF3In AIF3In-W0 16 Bit 18 Byte 1 AIF3In-Bit0 99 16 binary signals Byte AIF3In-Bit15 2 114 AIF3In-W1 16 Bit 19 Byte 3 AIF3In-Bit16 115 16 binary signals Byte AIF3In-Bit31 4 130 X1 16 Bit Byte LowWord 5 AIF3In-W0/W1 12 16 Bit HighWord Byte 6 AIF3In-W2 16 Bit 20 Byte 7 AIF3In-W3 16 Bit 21 Byte 8 16 Bit LowWord AIF3In-W2/W3 23 16 Bit HighWord ECSXA205 Fig.11−6 AIF3In function block EDBCSXS064 EN 3.0 206 � ... ... Function library 11 AIF3In User data Each of the eight bytes of received user data is assigned to different signal types. For this reason, they can be evaluated —as required— as ƒ digital signals (1 bit) ƒ analog signals (16 bit) ƒ phase signals (32 Bit) in the axis module: Byte Digital signals (1 bit) Analog signals (16 bit) Phase signals (32 Bit) AIF3In−Bit0 1, 2 AIF3In−W0 ... AIF3In−Bit15 AIF3In−W0/W1 3, 4 AIF3In−Bit16 ... AIF3In−W1 AIF3In−Bit31 5, 6 AIF3In−W2 AIF3In−W0/W1 7, 8 AIF3In−W3 EDBCSXS064 EN 3.0 � 207 11 Function library AIF3Out 11.7 AIF3Out Function This function block provides the interface for output signals (e. g. setpoint and actual values) to the attached fieldbus module. � Please read the documentation for the plug−on fieldbus module. AIF3Out C6156 Byte 1 AIF3Out-W0 0 C6131/9 1 16 Bit C6130/9 16 Bit Byte LowWord 2 AIF3Out-W0/W1 C6151/3 16 Bit C6150/3 HighWord Byte 3 AIF3Out-W1 0 C6131/10 1 16 Bit C6130/10 Byte 4 X1 Byte 5 AIF3Out-W2 C6131/11 16 Bit C6130/11 Byte 6 Byte 7 AIF3Out-W3 C6131/12 16 Bit C6130/12 Byte 8 ECSXA206 Fig.11−7 AIF3Out function block Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C6130 Display of the analog output signals to the fieldbus module −32768 {1} 32767 1 AIF−AnOut Output word AIF1Out−DctrlStat � 196 2 AIF−AnOut Output word AIF1Out−W1 3 AIF−AnOut Output word AIF1Out−W2 4 AIF−AnOut Output word AIF1Out−W3 5 AIF−AnOut Output word AIF2Out−W0 � 203 6 AIF−AnOut Output word AIF2Out−W1 7 AIF−AnOut Output word AIF2Out−W2 8 AIF−AnOut Output word AIF2Out−W3 9 AIF−AnOut Output word AIF3Out−W0 � 208 10 AIF−AnOut Output word AIF3Out−W1 11 AIF−AnOut Output word AIF3Out−W2 12 AIF−AnOut Output word AIF3Out−W3 EDBCSXS064 EN 3.0 208 � Function library 11 AIF3Out Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C6131] Selection of the analog output signals to the fieldbus module 1 AIF1Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 196 AIF1Out−DctrlStat 2 AIF1Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF1Out−W1 3 AIF1Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF1Out−W2 4 AIF1Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF1Out−W3 5 AIF2Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 203 AIF2Out−W0 6 AIF2Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF2Out−W1 7 AIF2Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF2Out−W2 8 AIF2Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF2Out−W3 9 AIF3Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 208 AIF3Out−W0 10 AIF3Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF3Out−W1 11 AIF3Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF3Out−W2 12 AIF3Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF3Out−W3 For possible signals see "selection list − analog � 371 signals" C6150 Display of the phase output signals to the fieldbus module −2147483647 {1} 2147483647 1 AIF−PhiOut Output double word � 196 AIF1Out-W2/W3 2 AIF−PhiOut Output double word � 203 AIF2Out-W0/W1 3 AIF−PhiOut Output double word � 208 AIF3Out-W0/W1 [C6151] Selection of the phase output signals to the fieldbus module 1 AIF1Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 196 AIF1Out-W2/W3 2 AIF2Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 203 AIF2Out-W0/W1 3 AIF3Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 208 AIF3Out-W0/W1 For possible signals see "selection list − phase � 374 signals" EDBCSXS064 EN 3.0 � 209 11 Function library AIF3Out Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C6156 AIF3PdoMap 0 Assignment of the 8 byte user � 208 data of the AIF3Out function block to the fieldbus module 0 W0=Int W1=Int Byte 1, byte 2 = AIF3Out−W0 Byte 3, byte 4 = AIF3Out−W1 Byte 5, byte 6 = AIF3Out−W2 Byte 7, byte 8 = AIF3Out−W3 1 W0 / W1=Dint Byte 1, byte 2 = AIF3Out−W0/W1 Byte 3, byte 4 = AIF3Out−W0/W1 Byte 5, byte 6 = AIF3Out−W2 Byte 7, byte 8 = AIF3Out−W3 User data The eight bytes of user data to the fieldbus module can be assigned with ƒ analog signals (16 bits). ƒ phase signals (32 bits). The switch C6156 is used to assign the eight bytes of user data to the fieldbus module: User data Value in C6156 Byte 1, 2 Byte 3, 4 Byte 5, 6 Byte 7, 8 AIF3Out−W0 AIF3Out−W1 AIF3Out−W2 AIF3Out−W3 0 16 bits (C6131/9) 16 bits (C6131/10) 16 bits (C6131/11) 16 bits (C6131/12) AIF3Out−W0/W1 AIF3Out−W2 AIF3Out−W3 1 32 bits (C6151/3) 16 bits (C6131/11) 16 bits (C6131/12) EDBCSXS064 EN 3.0 210 � Function library 11 AIn1 11.8 AIn1 Function This function block provides the interface for analog input signals (differential signals) via X6/AI−, AI+. The conditioned input signal is available at the function block output. When using X6/AI−, AI+ as a master current input, cable−break monitoring is possible. AIn1 C0027/1 C0026/1 C0034 X6 AI- AIn1-Out 920 AI+ C0400 AG AIn1-Error 920 ECSXA221 Fig.11−8 AIn1 function block Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0026 Used for relative analog signals � 211 � 253 1 FCODE (offset) 0.00 −199.99 {0.01 %} 199.99 2 FCODE (offset) 0.00 C0027 Used for relative analog signals � 211 � 253 1 FCODE (GAIN) 100.00 −199.99 {0.01 %} 199.99 2 FCODE (GAIN) 100.00 C0034 MST CURRENT 0 Selection: master � 211 voltage/master current for analog setpoint selection 0 −10 ... + 10 V Master voltage 1 +4 ... +20 mA Master current 2 −20 ... +20 mA C0400 DIS: AnalogIn Signal at analog input � 211 Only display −199.99 {0.01 %} 199.99 EDBCSXS064 EN 3.0 � 211 11 Function library CAN (CAN management) 11.9 CAN (CAN management) Function By means of this function block, ƒ a reset node can be carried out, e. g. in order to accept changes with regard to the baud rate and addressing. ƒ the instant of transmission of CAN2_Out and CAN3_Out can be influenced. In addition, the MotionBus communication can be monitored. � Note! Even if the CAN function block has not been assigned to the control configuration, a reset node can be carried out via C0358. C0358 CAN 1 CAN_ResetNode CAN-ResetNode C6211/18 CAN-Ce1CommErrCanIn1 CAN1_IN C6210/18 137 Communication Error X4 CAN-Ce2CommErrCanIn2 CAN2_IN CH 138 Communication Error CL CAN-Ce3CommErrCanIn3 CAN3_IN 139 CG Communication Error CAN-Ce4BusOffState CAN 140 Bus Off State CAN-TxCan2Synchronized C6211/19 CAN2_OUT CAN_SYNC C6210/19 CAN-TxCan3Synchronized C6211/20 CAN3_OUT CAN_SYNC C6210/20 ECSXA210 Fig.11−9 CAN function block (system bus management) "CAN−TxCan2Syncronized"/"CAN−TxCan3Syncronized" function ƒ FALSE: data from CAN2_OUT/CAN3_OUT is sent at the end of the process image. ƒ TRUE: data from CAN2_OUT/CAN3_OUT is sent after the CAN bus synchronisation. – The identifiers for sync transmission and reception telegrams can be set via C0367/C0368. – The "Sync Tx time" can be set via C0369. � Note! Detailed information concerning the CAN bus synchronisation: � 155 EDBCSXS064 EN 3.0 212 � Function library 11 CAN (CAN management) Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0358 Reset Node 0 Carry out reset node of � 154 MotionBus (CAN) 0 No function 1 CAN reset C6210 Display of the digital output signals to the MotionBus (CAN) 0 (= FALSE) 1 (= TRUE) 1 CAN−DigOut CAN1Out−Bit0 (bit 0) � 218 2 CAN−DigOut CAN1Out−Bit1 (bit 1) 3 CAN−DigOut CAN1Out−Bit2 (bit 2) 4 CAN−DigOut CAN1Out−Bit3 (bit 3) 5 CAN−DigOut CAN1Out−Bit4 (bit 4) 6 CAN−DigOut CAN1Out−Bit5 (bit 5) 7 CAN−DigOut CAN1Out−Bit6 (bit 6) 8 CAN−DigOut CAN1Out−Bit7 (bit 7) 9 CAN−DigOut CAN1Out−Bit8 (bit 8) 10 CAN−DigOut CAN1Out−Bit9 (bit 9) 11 CAN−DigOut CAN1Out−Bit10 (bit 10) 12 CAN−DigOut CAN1Out−Bit11 (bit 11) 13 CAN−DigOut CAN1Out−Bit12 (bit 12) 14 CAN−DigOut CAN1Out−Bit13 (bit 13) 15 CAN−DigOut CAN1Out−Bit14 (bit 14) 16 CAN−DigOut CAN1Out−Bit15 (bit 15) 17 CAN−DigOut CANSync−ResetSyncForInterpolat � 212 ord 18 CAN−DigOut CAN−ResetNode 19 CAN−DigOut CAN−TxCan2Synchronized 20 CAN−DigOut CAN−TxCan3Synchronized EDBCSXS064 EN 3.0 � 213 11 Function library CAN (CAN management) Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C6211] Selection of the digital output signals to the MotionBus (CAN) 1 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit0 (bit 0) � 218 2 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit1 (bit 1) 3 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit2 (bit 2) 4 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit3 (bit 3) 5 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit4 (bit 4) 6 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit5 (bit 5) 7 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit6 (bit 6) 8 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit7 (bit 7) 9 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit8 (bit 8) 10 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit9 (bit 9) 11 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit10 (bit 10) 12 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit11 (bit 11) 13 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit12 (bit 12) 14 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit13 (bit 13) 15 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit14 (bit 14) 16 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit15 (bit 15) 17 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for � 212 CANSync−ResetSyncForInterpolat ord 18 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN reset node 19 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN−TxCan2Synchronized 20 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN−TxCan3Synchronized For possible signals see "selection list − digital � 362 signals" EDBCSXS064 EN 3.0 214 � Function library 11 CAN1In 11.10 CAN1In Function This function block serves to transfer cyclic process data (� 138) via the MotionBus (CAN). For receiving the data, a sync telegram (� 142) is required, which has to be generated by another node. CAN1In CAN1In-DctrlCtrl 16 Bit 23 CAN1In-Ctrl.Bit0 146 CAN1In-Ctrl.Bit1 147 CAN1In-Ctrl.Bit2 148 CAN1In-Ctrl.Quickstop_B3 141 CAN1In-Ctrl.Bit4 149 CAN1In-Ctrl.Bit5 150 CAN1In-Ctrl.Bit6 151 C0136/2 CAN1In-Ctrl.Bit7 152 CAN1In-Ctrl.Disable_B8 142 16 binary signals CAN1In-Ctrl.CInhibit_B9 143 CAN1In-Ctrl.TripSet_B10 144 CAN1In-Ctrl.TripReset_B11 145 CAN1In-Ctrl.Bit12 153 CAN1In-Ctrl.Bit13 154 CAN1In-Ctrl.Bit14 155 CAN1In-Ctrl.Bit15 156 Byte 1 16 Bit LowWord CAN1In-W0/W1 24 16 Bit Byte HighWord 2 CAN1In-W1 24 16 Bit Byte 3 CAN1In-W1.Bit0 800 16 binary X4 Byte CAN1In-W1.Bit15 signals 4 815 CH CL CAN1In-W2 25 16 Bit CG Byte 5 C0866/2 CAN1In-Bit0 C0863/1 157 16 binary Byte CAN1In-Bit15 signals 172 6 CAN1In-W3 26 16 Bit Byte C0866/3 7 CAN1In-Bit16 C0863/2 173 16 binary Byte CAN1In-Bit31 signals 188 8 16 Bit LowWord CAN1In-W2/W3 13 16 Bit C0867/1 HighWord ECSXA211 Fig.11−10 CAN1In function block EDBCSXS064 EN 3.0 � 215 Controlword … … … … 11 Function library CAN1In Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0136 Control words Only display 1 Ctrl word 0 {hex} FFFF Control word in DCTRL 2 Ctrl word Control word in CANaux_IN 3 Ctrl word Control word in AIF1In C0863 Digital process data input words � 140 indicated hexadecimally for � 215 MotionBus (CAN) 0000 {hex} FFFF Read only 1 CAN IN bits Bit 0 ... Bit15 CAN1_IN: process data input word 1 2 CAN IN bits Bit 16 ... Bit 31 CAN1_IN: process data input word 2 3 CAN IN bits Bit 0 ... Bit15 CAN2_IN: process data input word 1 4 CAN IN bits Bit 16 ... Bit 31 CAN2_IN: process data input word 2 5 CAN IN bits Bit 0 ... Bit15 CAN3_IN: process data input word 1 6 CAN IN bits Bit 16 ... Bit 31 CAN3_IN: process data input word 2 C0866 Analog process data input words � 140 indicated decimally for � 215 MotionBus (CAN) 100.00% = 16384 Read only 1 CAN IN words −199.99 {0.01 %} 199.99 CAN1_IN word 1 2 CAN IN words CAN1_IN word 2 3 CAN IN words CAN1_IN word 3 4 CAN IN words CAN2_IN word 1 5 CAN IN words CAN2_IN word 2 6 CAN IN words CAN2_IN word 3 7 CAN IN words CAN2_IN word 4 8 CAN IN words CAN3_IN word 1 9 CAN IN words CAN3_IN word 2 10 CAN IN words CAN3_IN word 3 11 CAN IN words CAN3_IN word 4 C0867 32 −bit phase information for MotionBus (CAN) Only display 1 CAN IN phi −2147483648 {1} 2147483647 CAN1_IN 2 CAN IN phi CAN2_IN 3 CAN IN phi CAN3_IN EDBCSXS064 EN 3.0 216 � Function library 11 CAN1In User data Each of the eight bytes of received user data is assigned to different signal types. For this reason, they can be evaluated —as required— as ƒ digital signals (1 bit) ƒ control word / analog signals (16 bits) ƒ phase signals (32 Bit) in the axis module: Byte Digital signals (1 bit) Analog signals (16 bit) Phase signals (32 Bit) 1, 2 CAN1In−Ctrl.Bit0 CAN1In−Ctrl.Bit1 CAN1In−Ctrl.Bit2 CAN1In−Ctrl.Quickstop_B3 CAN1In−Ctrl.Bit4 ... CAN1In−Ctrl.Bit7 CAN1In−DctrlCtrl CAN1In−Ctrl.Disable_B8 CAN1In−Ctrl.CInhibit_B9 CAN1In−Ctrl.TripSet_B10 CAN1In−Ctrl.TripReset_B11 CAN1In−Ctrl.Bit12 CAN1In−W0/W1 ... CAN1In−Ctrl.Bit15 Note: The internal control word is firmly allocated to bytes 1 and 2. Via this control word it is possible touse � signals for the functions "quick stop" (QSP), DISABLE, CINH, TRIP−SET und TRIP−RESET and � the other 11 control bits (CAN1In−Ctrl.Bit...) in further functions/function blocks. 3, 4 CAN1In−W1.Bit0 ... CAN1In−W1 CAN1In−W1.Bit15 5, 6 CAN1In−Bit0 CAN1In−W2 ... CAN1In−Bit15 CAN1In−W2/W3 7, 8 CAN1In−Bit16 ... CAN1In−W3 CAN1In−Bit31 � Note! Via C0357 you can set the monitoring time (Lenze setting: 3000 ms) for data reception. (� 168) EDBCSXS064 EN 3.0 � 217 11 Function library CAN1Out 11.11 CAN1Out Function This function block serves to transfer cyclic process data (� 138) via the MotionBus (CAN). For receiving the data, a sync telegram (� 142) is required, which has to be generated by another node. CAN1Out Byte 1 CAN1Out-DctrlStat C6231/1 16 Bit C6230/1 Byte 2 C6254 Byte 3 CAN1Out-W1 CAN1Out-W1 C6231/2 16 Bit C6230/2 0 Byte X4 1 4 CH 2 3 CL CAN1Out-W2 4 CAN1Out-W2 C6231/3 CG 5 16 Bit Byte 5 C6230/3 CAN1Out-Bit0 CAN1Out-Bit0 C6211/1 0 1 CAN1Out-Bit15 C6211/16 2 CAN1Out-Bit15 16 binary Byte C6210/1 3 signals 6 4 C6210/16 5 CAN1Out-W3 CAN1Out-W3 C6231/4 16 Bit Byte 0 C6230/4 7 CAN1Out-Bit0 1 2 3 16 Bit CAN1Out-Bit15 4 16 binary LowWord Byte CAN1Out-W2/W3 5 signals 8 C6251/1 16 Bit C6250/1 HighWord ECSXA212 Fig.11−11 CAN1Out function block EDBCSXS064 EN 3.0 218 � … … … … Function library 11 CAN1Out Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C6210 Display of the digital output signals to the MotionBus (CAN) 0 (= FALSE) 1 (= TRUE) 1 CAN−DigOut CAN1Out−Bit0 (bit 0) � 218 2 CAN−DigOut CAN1Out−Bit1 (bit 1) 3 CAN−DigOut CAN1Out−Bit2 (bit 2) 4 CAN−DigOut CAN1Out−Bit3 (bit 3) 5 CAN−DigOut CAN1Out−Bit4 (bit 4) 6 CAN−DigOut CAN1Out−Bit5 (bit 5) 7 CAN−DigOut CAN1Out−Bit6 (bit 6) 8 CAN−DigOut CAN1Out−Bit7 (bit 7) 9 CAN−DigOut CAN1Out−Bit8 (bit 8) 10 CAN−DigOut CAN1Out−Bit9 (bit 9) 11 CAN−DigOut CAN1Out−Bit10 (bit 10) 12 CAN−DigOut CAN1Out−Bit11 (bit 11) 13 CAN−DigOut CAN1Out−Bit12 (bit 12) 14 CAN−DigOut CAN1Out−Bit13 (bit 13) 15 CAN−DigOut CAN1Out−Bit14 (bit 14) 16 CAN−DigOut CAN1Out−Bit15 (bit 15) 17 CAN−DigOut CANSync−ResetSyncForInterpolat � 212 ord 18 CAN−DigOut CAN−ResetNode 19 CAN−DigOut CAN−TxCan2Synchronized 20 CAN−DigOut CAN−TxCan3Synchronized EDBCSXS064 EN 3.0 � 219 11 Function library CAN1Out Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C6211] Selection of the digital output signals to the MotionBus (CAN) 1 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit0 (bit 0) � 218 2 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit1 (bit 1) 3 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit2 (bit 2) 4 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit3 (bit 3) 5 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit4 (bit 4) 6 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit5 (bit 5) 7 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit6 (bit 6) 8 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit7 (bit 7) 9 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit8 (bit 8) 10 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit9 (bit 9) 11 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit10 (bit 10) 12 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit11 (bit 11) 13 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit12 (bit 12) 14 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit13 (bit 13) 15 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit14 (bit 14) 16 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit15 (bit 15) 17 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for � 212 CANSync−ResetSyncForInterpolat ord 18 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN reset node 19 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN−TxCan2Synchronized 20 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN−TxCan3Synchronized For possible signals see "selection list − digital � 362 signals" C6230 Display of the analog output signals to the MotionBus (CAN) −32768 {1} 32767 1 CAN−AnOut Output word CAN1Out−DctrlStat � 218 2 CAN−AnOut Output word CAN1Out−W1 3 CAN−AnOut Output word CAN1Out−W2 4 CAN−AnOut Output word CAN1Out−W3 � 227 5 CAN−AnOut Output word CAN2Out−W0 6 CAN−AnOut Output word CAN2Out−W1 7 CAN−AnOut Output word CAN2Out−W2 8 CAN−AnOut Output word CAN2Out−W3 9 CAN−AnOut Output word CAN3Out−W0 � 233 10 CAN−AnOut Output word CAN3Out−W1 11 CAN−AnOut Output word CAN3Out−W2 12 CAN−AnOut Output word CAN3Out−W3 EDBCSXS064 EN 3.0 220 � Function library 11 CAN1Out Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C6231] Selection of the analog output signals to the MotionBus (CAN) 1 CAN1Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 218 CAN1Out−DctrlStat 2 CAN1Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN1Out−W1 3 CAN1Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN1Out−W2 4 CAN1Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN1Out−W3 5 CAN2Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 227 CAN2Out−W0 6 CAN2Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN2Out−W1 7 CAN2Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN2Out−W2 8 CAN2Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN2Out−W3 9 CAN3Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 233 CAN3Out−W0 10 CAN3Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN3Out−W1 11 CAN3Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN3Out−W2 12 CAN3Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN3Out−W3 For possible signals see "selection list − analog � 371 signals" C6250 Display of the phase output signals to the MotionBus (CAN) −2147483647 {1} 2147483647 1 CAN−PhiOut Output double word � 218 CAN1Out-W2/W3 2 CAN−PhiOut Output double word � 227 CAN2Out-W0/W1 3 CAN−PhiOut Output double word � 233 CAN3Out-W0/W1 [C6251] Selection of the phase output signals to the MotionBus (CAN) 1 CAN1Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 218 CAN1Out-W2/W3 2 CAN2Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 227 CAN2Out-W0/W1 3 CAN3Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 233 CAN3Out-W0/W1 For possible signals see "selection list − phase � 374 signals" EDBCSXS064 EN 3.0 � 221 11 Function library CAN1Out Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C6254 CAN1PdoMap 0 Assignment of the 8 byte user � 218 data of the CAN1Out function block to the MotionBus (CAN) 0 W2=Int W3=Int Byte 1, byte 2 = CAN1Out−DctrlStat Byte 3, byte 4 = CAN1Out−W1 Byte 5, byte 6 = CAN1Out−W2 Byte 7, byte 8 = CAN1Out−W3 1 W2 / W3=Dint Byte 1, byte 2 = CAN1Out−DctrlStat Byte 3, byte 4 = CAN1Out−W1 Byte 5, byte 6 = CAN1Out−W2/W3 Byte 7, byte 8 = CAN1Out−W2/W3 2 W2=Int W3=bit Byte 1, byte 2 = CAN1Out−DctrlStat Byte 3, byte 4 = CAN1Out−W1 Byte 5, byte 6 = CAN1Out−W2 Byte 7, byte 8 = CAN1Out−Bit0...Bit15 3 W2=Bit W3=Int Byte 1, byte 2 = CAN1Out−DctrlStat Byte 3, byte 4 = CAN1Out−W1 Byte 5, byte 6 = CAN1Out−Bit0...Bit15 Byte 7, byte 8 = CAN1Out−W3 4 W1=Bit W23=I Byte 1, byte 2 = CAN1Out−DctrlStat Byte 3, byte 4 = CAN1Out−Bit0...Bit15 Byte 5, byte 6 = CAN1Out−W2 Byte 7, byte 8 = CAN1Out−W3 5 W1=Bit W23=Di Byte 1, byte 2 = CAN1Out−DctrlStat Byte 3, byte 4 = CAN1Out−Bit0...Bit15 Byte 5, byte 6 = CAN1Out−W2/W3 Byte 7, byte 8 = CAN1Out−W2/W3 EDBCSXS064 EN 3.0 222 � Function library 11 CAN1Out User data The eight bytes of user data to the MotionBus (CAN) can be assigned with ƒ digital signals (1 bit). ƒ analog signals (16 bits). ƒ phase signals (32 bits). The switch C6254 is used to assign the eight bytes of user data to the MotionBus (CAN): User data Value in C6254 Byte 1, 2 Byte 3, 4 Byte 5, 6 Byte 7, 8 CAN1Out−DctrlStat CAN1Out−W1 CAN1Out−W2 CAN1Out−W3 0 16 bits (C6231/1) 16 bits (C6231/2) 16 bits (C6231/3) 16 bits (C6231/4) CAN1Out−DctrlStat CAN1Out−W1 CAN1Out−W2/W3 1 16 bits (C6231/1) 16 bits (C6231/2) 32 bits (C6251/1) CAN1Out−DctrlStat CAN1Out−W1 CAN1Out−W2 CAN1Out−Bit0 ... 15 2 16 bits (C6231/1) 16 bits (C6231/2) 16 bits (C6231/3) 1 bit (C6211/1 ... 15) CAN1Out−DctrlStat CAN1Out−W1 CAN1Out−Bit0 ... 15 CAN1Out−W3 3 16 bits (C6231/1) 16 bits (C6231/2) 1 bit (C6211/1 ... 15) 16 bits (C6231/4) CAN1Out−DctrlStat CAN1Out−Bit0 ... 15 CAN1Out−W2 CAN1Out−W3 4 16 bits (C6231/1) 1 bit (C6211/1 ... 15) 16 bits (C6231/3) 16 bits (C6231/4) CAN1Out−DctrlStat CAN1Out−Bit0 ... 15 CAN1Out−W2/W3 5 16 bits (C6231/1) 1 bit (C6211/1 ... 15) 32 bits (C6251/1) � Note! You can use byte 1 and byte 2 to transfer the status word from the DCTRL function block (� 239) to the MotionBus (CAN). EDBCSXS064 EN 3.0 � 223 11 Function library CAN2In 11.12 CAN2In Function This function block serves to transfer event−controlled or time−controlled process data (� 138) via the MotionBus (CAN). A sync telegram is not required. CAN2In 16 Bit LowWord CAN2In-W0/W1 14 16 Bit C0867/2 HighWord CAN2In-W0 16 Bit 27 Byte 1 C0866/4 CAN2In-Bit0 C0863/3 189 16 binary Byte CAN2In-Bit15 signals 2 204 CAN2In-W1 28 16 Bit Byte 3 C0866/5 CAN2In-Bit16 C0863/4 205 X4 16 binary Byte CAN2In-Bit31 signals 4 220 CH CL CG Byte 5 CAN2In-W2 29 16 Bit C0866/6 Byte 6 Byte 7 CAN2In-W3 16 Bit 30 C0866/7 Byte 8 16 Bit LowWord CAN2In-W2/W3 25 16 Bit HighWord ECSXA213 Fig.11−12 CAN2In function block EDBCSXS064 EN 3.0 224 � Controlword … … Function library 11 CAN2In Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0863 Digital process data input words � 140 indicated hexadecimally for � 215 MotionBus (CAN) 0000 {hex} FFFF Read only 1 CAN IN bits Bit 0 ... Bit15 CAN1_IN: process data input word 1 2 CAN IN bits Bit 16 ... Bit 31 CAN1_IN: process data input word 2 3 CAN IN bits Bit 0 ... Bit15 CAN2_IN: process data input word 1 4 CAN IN bits Bit 16 ... Bit 31 CAN2_IN: process data input word 2 5 CAN IN bits Bit 0 ... Bit15 CAN3_IN: process data input word 1 6 CAN IN bits Bit 16 ... Bit 31 CAN3_IN: process data input word 2 C0866 Analog process data input words � 140 indicated decimally for � 215 MotionBus (CAN) 100.00% = 16384 Read only 1 CAN IN words −199.99 {0.01 %} 199.99 CAN1_IN word 1 2 CAN IN words CAN1_IN word 2 3 CAN IN words CAN1_IN word 3 4 CAN IN words CAN2_IN word 1 5 CAN IN words CAN2_IN word 2 6 CAN IN words CAN2_IN word 3 7 CAN IN words CAN2_IN word 4 8 CAN IN words CAN3_IN word 1 9 CAN IN words CAN3_IN word 2 10 CAN IN words CAN3_IN word 3 11 CAN IN words CAN3_IN word 4 C0867 32 −bit phase information for MotionBus (CAN) Only display 1 CAN IN phi −2147483648 {1} 2147483647 CAN1_IN 2 CAN IN phi CAN2_IN 3 CAN IN phi CAN3_IN EDBCSXS064 EN 3.0 � 225 11 Function library CAN2In User data Each of the eight bytes of received user data is assigned to different signal types. For this reason, they can be evaluated —as required— as ƒ digital signals (1 bit) ƒ analog signals (16 bit) ƒ phase signals (32 Bit) in the axis module: Byte Digital signals (1 bit) Analog signals (16 bit) Phase signals (32 Bit) 1, 2 CAN2In−Bit0 CAN2In−W0 ... CAN2In−Bit15 CAN2In−W0/W1 3, 4 CAN2In−Bit16 ... CAN2In−W1 CAN2In−Bit31 5, 6 CAN2In−W2 CAN2In−W2/W3 7, 8 CAN2In−W3 � Note! Via C0357 you can set the monitoring time (Lenze setting: 3000 ms) for data reception. (� 168) EDBCSXS064 EN 3.0 226 � Function library 11 CAN2Out 11.13 CAN2Out Function This function block serves to transfer event−controlled or time−controlled process data (� 138) via the MotionBus (CAN). ƒ A sync telegram is not required. ƒ The process data is transmitted when a value within the eight bytes of user data has changed (event−controlled) or with the cycle time set under C0356/2 (time−controlled, (� 154). CAN2Out C6255 Byte 1 CAN2Out-W0 0 C6231/5 1 16 Bit C6230/5 16 Bit Byte LowWord 2 CAN2Out-W0/W1 C6251/2 16 Bit C6250/2 HighWord Byte 3 CAN2Out-W1 0 C6231/6 16 Bit 1 C6230/6 Byte X4 4 CH CL CG Byte 5 CAN2Out-W2 C6231/7 16 Bit C6230/7 Byte 6 Byte 7 CAN2Out-W3 16 Bit C6231/8 C6230/8 Byte 8 ECSXA214 Fig.11−13 CAN2Out function block EDBCSXS064 EN 3.0 � 227 11 Function library CAN2Out Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C6230 Display of the analog output signals to the MotionBus (CAN) −32768 {1} 32767 1 CAN−AnOut Output word CAN1Out−DctrlStat � 218 2 CAN−AnOut Output word CAN1Out−W1 3 CAN−AnOut Output word CAN1Out−W2 4 CAN−AnOut Output word CAN1Out−W3 5 CAN−AnOut Output word CAN2Out−W0 � 227 6 CAN−AnOut Output word CAN2Out−W1 7 CAN−AnOut Output word CAN2Out−W2 8 CAN−AnOut Output word CAN2Out−W3 9 CAN−AnOut Output word CAN3Out−W0 � 233 10 CAN−AnOut Output word CAN3Out−W1 11 CAN−AnOut Output word CAN3Out−W2 12 CAN−AnOut Output word CAN3Out−W3 [C6231] Selection of the analog output signals to the MotionBus (CAN) 1 CAN1Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 218 CAN1Out−DctrlStat 2 CAN1Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN1Out−W1 3 CAN1Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN1Out−W2 4 CAN1Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN1Out−W3 5 CAN2Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 227 CAN2Out−W0 6 CAN2Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN2Out−W1 7 CAN2Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN2Out−W2 8 CAN2Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN2Out−W3 9 CAN3Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 233 CAN3Out−W0 10 CAN3Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN3Out−W1 11 CAN3Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN3Out−W2 12 CAN3Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN3Out−W3 For possible signals see "selection list − analog � 371 signals" C6250 Display of the phase output signals to the MotionBus (CAN) −2147483647 {1} 2147483647 1 CAN−PhiOut Output double word � 218 CAN1Out-W2/W3 2 CAN−PhiOut Output double word � 227 CAN2Out-W0/W1 3 CAN−PhiOut Output double word � 233 CAN3Out-W0/W1 EDBCSXS064 EN 3.0 228 � Function library 11 CAN2Out Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C6251] Selection of the phase output signals to the MotionBus (CAN) 1 CAN1Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 218 CAN1Out-W2/W3 2 CAN2Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 227 CAN2Out-W0/W1 3 CAN3Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 233 CAN3Out-W0/W1 For possible signals see "selection list − phase � 374 signals" C6255 CAN2PdoMap 0 Assignment of the 8 byte user � 227 data of the CAN2Out function block to the MotionBus (CAN) 0 W0=Int W1=Int Byte 1, byte 2 = CAN2Out−W0 Byte 3, byte 4 = CAN2Out−W1 Byte 5, byte 6 = CAN2Out−W2 Byte 7, byte 8 = CAN2Out−W3 1 W0 / W1=Dint Byte 1, byte 2 = CAN2Out−W0/W1 Byte 3, byte 4 = CAN2Out−W0/W1 Byte 5, byte 6 = CAN2Out−W2 Byte 7, byte 8 = CAN2Out−W3 User data The eight bytes of user data to the MotionBus (CAN) can be assigned with ƒ analog signals (16 bits). ƒ phase signals (32 bits). The switch C6255 is used to assign the eight bytes of user data to the MotionBus (CAN): User data Value in C6255 Byte 1, 2 Byte 3, 4 Byte 5, 6 Byte 7, 8 CAN2Out−W0 CAN2Out−W1 CAN2Out−W2 CAN2Out−W3 0 16 bits (C6231/5) 16 bits (C6231/6) 16 bits (C6231/7) 16 bits (C6231/8) CAN1Out−W0/W1 CAN2Out−W2 CAN2Out−W3 1 32 bits (C6251/2) 16 bits (C6231/7) 16 bits (C6231/8) EDBCSXS064 EN 3.0 � 229 11 Function library CAN3In 11.14 CAN3In Function This function block serves to transfer event−controlled or time−controlled process data (� 138) via the MotionBus (CAN). A sync telegram is not required. CAN3In 16 Bit LowWord CAN3In-W0/W1 15 16 Bit C0867/3 HighWord CAN3In-W0 16 Bit 31 Byte 1 C0866/8 CAN3In-Bit0 C0863/5 221 16 binary Byte CAN3In-Bit15 signals 2 236 CAN3In-W1 32 16 Bit Byte 3 C0866/9 CAN3In-Bit16 C0863/6 237 16 binary X4 Byte CAN3In-Bit31 signals 4 252 CH CL CG Byte 5 CAN3In-W2 33 16 Bit C0866/10 Byte 6 Byte 7 CAN3In-W3 16 Bit 34 C0866/11 Byte 8 16 Bit LowWord CAN3In-W2/W3 26 16 Bit HighWord ECSXA215 Fig.11−14 CAN3In function block EDBCSXS064 EN 3.0 230 � Controlword … … Function library 11 CAN3In Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0863 Digital process data input words � 140 indicated hexadecimally for � 215 MotionBus (CAN) 0000 {hex} FFFF Read only 1 CAN IN bits Bit 0 ... Bit15 CAN1_IN: process data input word 1 2 CAN IN bits Bit 16 ... Bit 31 CAN1_IN: process data input word 2 3 CAN IN bits Bit 0 ... Bit15 CAN2_IN: process data input word 1 4 CAN IN bits Bit 16 ... Bit 31 CAN2_IN: process data input word 2 5 CAN IN bits Bit 0 ... Bit15 CAN3_IN: process data input word 1 6 CAN IN bits Bit 16 ... Bit 31 CAN3_IN: process data input word 2 C0866 Analog process data input words � 140 indicated decimally for � 215 MotionBus (CAN) 100.00% = 16384 Read only 1 CAN IN words −199.99 {0.01 %} 199.99 CAN1_IN word 1 2 CAN IN words CAN1_IN word 2 3 CAN IN words CAN1_IN word 3 4 CAN IN words CAN2_IN word 1 5 CAN IN words CAN2_IN word 2 6 CAN IN words CAN2_IN word 3 7 CAN IN words CAN2_IN word 4 8 CAN IN words CAN3_IN word 1 9 CAN IN words CAN3_IN word 2 10 CAN IN words CAN3_IN word 3 11 CAN IN words CAN3_IN word 4 C0867 32 −bit phase information for MotionBus (CAN) Only display 1 CAN IN phi −2147483648 {1} 2147483647 CAN1_IN 2 CAN IN phi CAN2_IN 3 CAN IN phi CAN3_IN EDBCSXS064 EN 3.0 � 231 11 Function library CAN3In User data Each of the eight bytes of received user data is assigned to different signal types. For this reason, they can be evaluated —as required— as ƒ digital signals (1 bit) ƒ analog signals (16 bit) ƒ phase signals (32 Bit) in the axis module: Byte Digital signals (1 bit) Analog signals (16 bit) Phase signals (32 Bit) 1, 2 CAN3In−Bit0 CAN3In−W0 ... CAN3In−Bit15 CAN3In−W0/W1 3, 4 CAN3In−Bit16 ... CAN3In−W1 CAN3In−Bit31 5, 6 CAN3In−W2 CAN3In−W2/W3 7, 8 CAN3In−W3 � Note! Via C0357 you can set the monitoring time (Lenze setting: 3000 ms) for data reception. (� 168) EDBCSXS064 EN 3.0 232 � Function library 11 CAN3Out 11.15 CAN3Out Function This function block serves to transfer event−controlled or time−controlled process data (� 138) via the MotionBus (CAN). ƒ A sync telegram is not required. ƒ The process data is transmitted when a value within the eight bytes of user data has changed (event−controlled) or with the cycle time set under C0356/2 (time−controlled, (� 154). CAN3Out C6256 Byte 1 CAN3Out-W0 0 C6231/9 1 16 Bit C6230/9 16 Bit Byte LowWord 2 CAN3Out-W0/W1 C6251/3 16 Bit C6250/3 HighWord Byte 3 CAN3Out-W1 0 C6231/10 1 16 Bit C6230/10 X4 Byte 4 CH CL CG Byte 5 CAN3Out-W2 C6231/11 16 Bit C6230/11 Byte 6 Byte 7 CAN3Out-W3 C6231/12 16 Bit C6230/12 Byte 8 ECSXA216 Fig.11−15 CAN3Out function block EDBCSXS064 EN 3.0 � 233 11 Function library CAN3Out Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C6230 Display of the analog output signals to the MotionBus (CAN) −32768 {1} 32767 1 CAN−AnOut Output word CAN1Out−DctrlStat � 218 2 CAN−AnOut Output word CAN1Out−W1 3 CAN−AnOut Output word CAN1Out−W2 4 CAN−AnOut Output word CAN1Out−W3 5 CAN−AnOut Output word CAN2Out−W0 � 227 6 CAN−AnOut Output word CAN2Out−W1 7 CAN−AnOut Output word CAN2Out−W2 8 CAN−AnOut Output word CAN2Out−W3 9 CAN−AnOut Output word CAN3Out−W0 � 233 10 CAN−AnOut Output word CAN3Out−W1 11 CAN−AnOut Output word CAN3Out−W2 12 CAN−AnOut Output word CAN3Out−W3 [C6231] Selection of the analog output signals to the MotionBus (CAN) 1 CAN1Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 218 CAN1Out−DctrlStat 2 CAN1Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN1Out−W1 3 CAN1Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN1Out−W2 4 CAN1Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN1Out−W3 5 CAN2Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 227 CAN2Out−W0 6 CAN2Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN2Out−W1 7 CAN2Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN2Out−W2 8 CAN2Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN2Out−W3 9 CAN3Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 233 CAN3Out−W0 10 CAN3Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN3Out−W1 11 CAN3Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN3Out−W2 12 CAN3Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN3Out−W3 For possible signals see "selection list − analog � 371 signals" C6250 Display of the phase output signals to the MotionBus (CAN) −2147483647 {1} 2147483647 1 CAN−PhiOut Output double word � 218 CAN1Out-W2/W3 2 CAN−PhiOut Output double word � 227 CAN2Out-W0/W1 3 CAN−PhiOut Output double word � 233 CAN3Out-W0/W1 EDBCSXS064 EN 3.0 234 � Function library 11 CAN3Out Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C6251] Selection of the phase output signals to the MotionBus (CAN) 1 CAN1Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 218 CAN1Out-W2/W3 2 CAN2Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 227 CAN2Out-W0/W1 3 CAN3Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 233 CAN3Out-W0/W1 For possible signals see "selection list − phase � 374 signals" C6256 CAN3PdoMap 0 Assignment of the 8 byte user � 233 data of the CAN3Out function block to the MotionBus (CAN) 0 W0=Int W1=Int Byte 1, byte 2 = CAN3Out−W0 Byte 3, byte 4 = CAN3Out−W1 Byte 5, byte 6 = CAN3Out−W2 Byte 7, byte 8 = CAN3Out−W3 1 W0 / W1=Dint Byte 1, byte 2 = CAN3Out−W0/W1 Byte 3, byte 4 = CAN3Out−W0/W1 Byte 5, byte 6 = CAN3Out−W2 Byte 7, byte 8 = CAN3Out−W3 User data The eight bytes of user data to the MotionBus (CAN) can be assigned with ƒ analog signals (16 bits). ƒ phase signals (32 bits). The switch C6256 is used to assign the eight bytes of user data to the MotionBus (CAN): User data Value in C6256 Byte 1, 2 Byte 3, 4 Byte 5, 6 Byte 7, 8 CAN3Out−W0 CAN3Out−W1 CAN3Out−W2 CAN3Out−W3 0 16 bits (C6231/9) 16 bits (C6231/10) 16 bits (C6231/11) 16 bits (C6231/12) CAN3Out−W0/W1 CAN3Out−W2 CAN3Out−W3 1 32 bits (C6251/3) 16 bits (C6231/11) 16 bits (C6231/12) EDBCSXS064 EN 3.0 � 235 11 Function library CANSync (CAN bus synchronisation) 11.16 CANSync (CAN bus synchronisation) Function By means of this function block, the internal time base of the controller can be synchronised with the instant of reception of the sync telegram or a terminal signal. Thereby the start of cyclical and time−controlled internal processes of all controllers involved in the synchronisation (e. g. data transfer from tasks to the DCTRL function block) is effected in a synchronuous manner. CANSync C0367 C0368 CANSync-ResetSyncForInterpolatord CANSync-InsideWindow C6211/17 253 Off 0 Sync CANSync-ForInterpolator C6210/17 254 X6 Control Sync telegram 1 CANSync-Deviation DO1 35 Sync signal 2 DI1 C1120 DI2 C1121 C0363 DI3 C1122 C0366 C1123 C0369 DI4 ECSXA217 Fig.11−16 CANSync function block � Note! Detailed information concerning the CAN bus synchronisation: � 155 Codes The operating mode is set via C1120: Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0363 Sync correct. 1 CAN sync correction increment � 157 1 0.2 �s/ms 2 0.4 �s/ms 3 0.6 �s/ms 4 0.8 �s/ms 5 1.0 �s/ms C0366 Sync Response 1 MotionBus (CAN) Sync response � 158 0 No response 1 Response C0367 Sync Rx ID 128 MotionBus (CAN) Sync receipt ID � 156 1 {1} 256 C0368 Sync Tx ID 128 MotionBus (CAN) Sync transmission ID 1 {1} 256 C0369 SyNc Tx time 0 CAN sync transmitting cycle � 155 A sync telegram with the identifier set in C0368 is sent with the set cycle time. 0 {1 ms} 65000 0 = switched off EDBCSXS064 EN 3.0 236 � Function library 11 CANSync (CAN bus synchronisation) Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C1120 Sync mode 0 Sync signal source 0 Off Off 1 CAN Sync Sync connection via MotionBus � 159 (CAN) 2 Terminal sync Sync connection via terminal � 160 C1121 Sync cycle 2 � 156 Synchronisation cycle 1 {1 ms} 13 C1122 Sync phase 0.050 Synchronisation phase 0.000 {0.001 ms} 6.500 C1123 Sync window 0.010 Synchronisation window � 157 0.000 {0.001 ms} 6.500 C6210 Display of the digital output signals to the MotionBus (CAN) 0 (= FALSE) 1 (= TRUE) 1 CAN−DigOut CAN1Out−Bit0 (bit 0) � 218 2 CAN−DigOut CAN1Out−Bit1 (bit 1) 3 CAN−DigOut CAN1Out−Bit2 (bit 2) 4 CAN−DigOut CAN1Out−Bit3 (bit 3) 5 CAN−DigOut CAN1Out−Bit4 (bit 4) 6 CAN−DigOut CAN1Out−Bit5 (bit 5) 7 CAN−DigOut CAN1Out−Bit6 (bit 6) 8 CAN−DigOut CAN1Out−Bit7 (bit 7) 9 CAN−DigOut CAN1Out−Bit8 (bit 8) 10 CAN−DigOut CAN1Out−Bit9 (bit 9) 11 CAN−DigOut CAN1Out−Bit10 (bit 10) 12 CAN−DigOut CAN1Out−Bit11 (bit 11) 13 CAN−DigOut CAN1Out−Bit12 (bit 12) 14 CAN−DigOut CAN1Out−Bit13 (bit 13) 15 CAN−DigOut CAN1Out−Bit14 (bit 14) 16 CAN−DigOut CAN1Out−Bit15 (bit 15) 17 CAN−DigOut CANSync−ResetSyncForInterpolat � 212 ord 18 CAN−DigOut CAN−ResetNode 19 CAN−DigOut CAN−TxCan2Synchronized 20 CAN−DigOut CAN−TxCan3Synchronized EDBCSXS064 EN 3.0 � 237 11 Function library CANSync (CAN bus synchronisation) Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C6211] Selection of the digital output signals to the MotionBus (CAN) 1 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit0 (bit 0) � 218 2 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit1 (bit 1) 3 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit2 (bit 2) 4 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit3 (bit 3) 5 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit4 (bit 4) 6 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit5 (bit 5) 7 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit6 (bit 6) 8 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit7 (bit 7) 9 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit8 (bit 8) 10 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit9 (bit 9) 11 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit10 (bit 10) 12 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit11 (bit 11) 13 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit12 (bit 12) 14 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit13 (bit 13) 15 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit14 (bit 14) 16 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit15 (bit 15) 17 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for � 212 CANSync−ResetSyncForInterpolat ord 18 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN reset node 19 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN−TxCan2Synchronized 20 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN−TxCan3Synchronized For possible signals see "selection list − digital � 362 signals" EDBCSXS064 EN 3.0 238 � Function library 11 DCTRL 11.17 DCTRL Function This function block controls the controller into certain states: ƒ Quick stop (QSP, � 242) ƒ Operation inhibit (DISABLE, � 242) ƒ Controller inhibit (CINH, � 242) ƒ Setting a TRIP (TRIP−SET, � 243) ƒ Resetting a TRIP (TRIP−RESET, � 243) ƒ Status of the controller (� 244) C0135 C6330/2 DCTRL 16 DCTRL-CAN1Ctrl Bit3 C6331/2 16 Bit Bit3 >1 QSP DCTRL-wAIF1Ctrl C135.B3 DCTRL-Fail C6331/1 16 Bit >1 255 Bit8 DCTRL-Imp C6330/1 Bit8 >1 DISABLE 256 C135.B8 DCTRL-Trip 257 Bit9 DCTRL-QspIn 258 Bit9 C135.B9 DCTRL-Rdy 259 X5/28 DCTRL-CInh1 DCTRL-CwCcw >1 CINH C6311/1 260 DCTRL-NActEq0 C6310/1 261 DCTRL-CInh2 DCTRL-CInh C6311/2 262 Bit10 DCTRL-Stat1 C6310/3 C6310/2 263 Bit10 TRIP-SET >1 DCTRL-TripSet1 C135.B10 DCTRL-Stat2 C6311/3 264 >1 DCTRL-TripSet2 DCTRL-Stat4 C6311/12 265 DCTRL-TripSet3 C6311/13 DCTRL-Stat8 266 Bit11 DCTRL-TripSet4 C6311/14 Bit11 TRIP- DCTRL-Warn >1 267 C135.B11 DCTRL-TripReset1 RESET C6311/4 DCTRL-Mess >1 268 DCTRL-TripReset2 C6311/15 DCTRL-Init C0136/1 269 C6310/15 DCTRL-ExternalFault 270 DCTRL-FaultNumber 37 STAT DCTRL-StatB0 C6311/5 0 C6310/5 Imp 1 DCTRL-StatB2 C6311/6 2 DCTRL-StatB3 C6311/7 3 DCTRL-StatB4 C6311/8 4 DCTRL-StatB5 C6311/9 5 C6310/9 NActEq0 6 DCTRL-Stat CInh 7 36 Stat1 8 C0150 Stat2 9 Stat4 10 Stat8 11 Warn 12 C6310/10 Mess 13 DCTRL-StatB14 C6311/10 14 DCTRL-StatB15 C6311/11 15 C6310/11 ECSXA260 Fig.11−17 DCTRL function block EDBCSXS064 EN 3.0 � 239 11 Function library DCTRL Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0135 Control word 0 Control word for networking via automation interface (AIF) 0 {1} 65535 Controller evaluates information as 16 bits (binary coded) Bit 0 Not assigned Bit 1 Not assigned Bit 2 Not assigned Bit 3 Activate quick stop (QSP) Bit 4 Not assigned Bit 5 Not assigned Bit 6 Not assigned Bit 7 Not assigned Bit 8 Activate operation inhibit (DISABLE) Bit 9 Activate controller inhibit (CINH) Bit 10 Set TRIP Bit 11 Reset TRIP Bit 12 Not assigned Bit 13 Not assigned Bit 14 Not assigned Bit 15 Not assigned C0136 Control words Only display 1 Ctrl word 0 {hex} FFFF Control word in DCTRL 2 Ctrl word Control word in CANaux_IN 3 Ctrl word Control word in AIF1In C0150 Status word 0 Status word for networking via automation interface (AIF) Only display 0 {1} 65535 Controller evaluates information as 16 bits (binary coded) Bit 0 Not assigned Bit 1 Pulse inhibit (IMP) is active Bit 2 Not assigned Bit 3 Not assigned Bit 4 Not assigned Bit 5 Not assigned Bit 6 n=0 Bit 7 Controller inhibit (CINH) is active Bit 8 Controller status Bit 9 Controller status Bit 10 Controller status Bit 11 Controller status Bit 12 Warning is active Bit 13 Message is active Bit 14 Not assigned Bit 15 Not assigned EDBCSXS064 EN 3.0 240 � Function library 11 DCTRL Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C6310 Display of the digital input � 239 signals in the DCTRL function 0 (= FALSE) 1 (= TRUE) block 1 DCTRL−DigOut DCTRL−CINH1 2 DCTRL−DigOut DCTRL−CINH2 3 DCTRL−DigOut DCTRL−TripSet1 4 DCTRL−DigOut DCTRL−TripReset1 5 DCTRL−DigOut DCTRL−StatB0 6 DCTRL−DigOut DCTRL−StatB2 7 DCTRL−DigOut DCTRL−StatB3 8 DCTRL−DigOut DCTRL−StatB4 9 DCTRL−DigOut DCTRL−StatB5 10 DCTRL−DigOut DCTRL−StatB14 11 DCTRL−DigOut DCTRL−StatB15 12 DCTRL−DigOut DCTRL−TripSet2 13 DCTRL−DigOut DCTRL−TripSet3 14 DCTRL−DigOut DCTRL−TripSet4 15 DCTRL−DigOut DCTRL−TripReset2 [C6311] Selection of the digital input � 239 signals of the DCTRL function block 1 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−CInh1 2 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−CInh2 3 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−TripSet1 4 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−TripReset1 5 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−StatB0 6 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−StatB2 7 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−StatB3 8 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−StatB4 9 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−StatB5 10 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−StatB14 11 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−StatB15 12 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−TripSet2 13 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−TripSet3 14 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−TripSet4 15 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−TripReset2 For possible signals see "selection list − digital � 362 signals" C6330 Display of the analog input � 239 signals in the DCTRL function −32768 {1} 32767 block 1 DCTRL−AnOut DCTRL−wAIF1Ctrl 2 DCTRL−AnOut DCTRL−CAN1Ctrl EDBCSXS064 EN 3.0 � 241 11 Function library DCTRL Quick stop (QSP) Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C6331] Selection of the analog input � 239 signals of the DCTRL function block 1 DCTRL−anl 1000 FIXED 0 % (not assigned) Source for DCTRL−wAIF1Ctrl 2 DCTRL−anl 1000 FIXED 0 % (not assigned) Source for DCTRL−CAN1Ctrl For possible signals see "selection list − analog � 371 signals" 11.17.1 Quick stop (QSP) The QSP function serves to stop the drive in an adjustable time irrespective of the setpoint selection. ƒ The function can be controlled via the following inputs (OR’d): – Control word "CAN1In−DctrlCtrl" bit 3 of CAN1In function block – Control word "AIF1In−DctrlCtrl" bit 3 of AIF1In function block – C0135/3 (control word for networking via AIF) ƒ C0136/1 indicates the control word C0135. ƒ The speed is reduced to "0" within the deceleration time set via C0105. 11.17.2 Operation inhibit (DISABLE) This function sets "Operation inhibit" (DISABLE) in the drive, i.e. the power output stages are inhibited and all speed/current/position controllers are reset. In the "Operation inhibit" state, the drive cannot be started with the command "Controller enable". ƒ The function can be controlled via the following inputs (OR’d): – Control word "CAN1In−DctrlCtrl" bit 8 of CAN1_IN function block – Control word "AIF1In−DctrlCtrl" bit 8 of AIF1_IN function block – C0135/8 (control word for networking via AIF) ƒ C0136/1 indicates the control word C0135. 11.17.3 Controller inhibit (CINH) This function sets "Controller inhibit" (CINH) in the drive, i.e. the power output stages are inhibited and all speed/current/position controllers are reset. ƒ The function can be controlled via the following inputs (OR’d): – Terminal X6 (FALSE = controller inhibit) – Control word "CAN1In−DctrlCtrl" bit 9 of CAN1In function block – Control word "AIF1In−DctrlCtrl" bit 9 of AIF1In function block – C0135/9 (control word for networking via AIF) – Signal "DCTRL−CInh1" and "DCTRL−CInh2" (ANDed, TRUE = set controller inhibit) ƒ C0136/1 indicates the control word C0135. EDBCSXS064 EN 3.0 242 � Function library 11 DCTRL Setting TRIP (TRIP−SET) 11.17.4 Setting TRIP (TRIP−SET) This function sets TRIP" in the drive and indicates "External error" (error message "EEr"). ƒ The function can be controlled via the following inputs (OR’d): – Control word "CAN1In−DctrlCtrl" bit 10 of CAN1In function block – Control word "AIF1In−DctrlCtrl" bit 10 of AIF1In function block – C0135/10 (control word for networking via AIF) – Signal "DCTRL−TripSet1" ... "DCTRL−TripSet4" (ANDed, TRUE = set TRIP) ƒ C0136/1 indicates the control word C0135. ƒ The response to TRIP can be set via C0581. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0581 MONIT EEr 0 Configuration of external fault � 243 monitoring "ExternalFault" (FWM EEr) 0 TRIP 1 Message 2 Warning 3 Off 4 FAIL−QSP 11.17.5 Resetting TRIP (TRIP−RESET) This function resets an upcoming TRIP, provided that the cause of malfunction has been eliminated. If the cause of malfunction is still active, there will be no reaction. ƒ The function can be controlled via the following inputs (OR’d): – Control word "CAN1In−DctrlCtrl" bit 11 of CAN1In function block – Control word "AIF1In−DctrlCtrl" bit 11 of AIF1In function block – C0135/11 (control word for networking via AIF) – Signal "DCTRL−TripReset1" and "DCTRL−TripReset2" (ANDed, set TRUE = TRIP) ƒ C0136/1 indicates the control word C0135. � Note! The function is only carried out by a FALSE−TRUE edge of the signal resulting from the OR operation. If one input is assigned to TRUE, a FALSE−TRUE edge cannot occur. EDBCSXS064 EN 3.0 � 243 11 Function library DCTRL Controller status 11.17.6 Controller status Via "DCTRL−Stat" a status word is output, consisting of signals generated by the DCTRL function block and signals of freely configurable function block inputs. ƒ The status is analog coded in the output 36. ƒ The status word can be displayed via C0150. DCTRL STAT DCTRL-StatB0 C6311/5 0 Imp C6310/5 1 DCTRL-StatB2 C6311/6 2 DCTRL-StatB3 C6311/7 3 DCTRL-StatB4 C6311/8 4 DCTRL-StatB5 C6311/9 5 C6310/9 NActEq0 6 DCTRL-Stat CInh 7 36 Stat1 8 C0150 Stat2 9 Stat4 10 Stat8 11 Warn 12 C6310/10 Mess 13 DCTRL-StatB14 C6311/10 14 DCTRL-StatB15 C6311/11 15 C6310/11 ECSXA266 Fig.11−18 DCTRL function block: Output of the status word DCTRL−Stat EDBCSXS064 EN 3.0 244 � Function library 11 DFIN (master frequency input) 11.18 DFIN (master frequency input) Function This function block can convert a power pulse current at the master frequency input X8 into a speed value and scale it. A master frequency can be transferred with high precision without any offset and gain errors. ƒ The master frequency input X8 is designed for signals with TTL level. ƒ The zero track entry is optional. ƒ The master frequency input X8 can be configured as a master frequency output via C0491. ƒ An encoder can be selected and configured via the codes: – C0419 (encoder selection) – C0420 (encoder increments) – C0421 (encoder bias) – C0427 (Type of master frequency input signal) ƒ Output of the analog signal "DFIN_In_v" The digital frequency coupling of ECS axis modules in principle is effected as a master−slave connection. If several ECS axis modules (max. 3 slaves) are connected to a master, the EMF2131IB digital frequency distributor is required for this purpose (� 73). C0491 DFIN X8 DFIN_In_v 0 CTRL 900 1 C0426 C0421 C0427 C0420 C0419 ECSXA231 Fig.11−19 DFIN function block EDBCSXS064 EN 3.0 � 245 11 Function library DFIN (master frequency input) Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C0419] Enc. setup 110 Encoder selection � 245 � Selection of encoder which is � 87 indicated on the nameplate of � 88 the Lenze motor. � The encoder data (C0420, C0421, C0427) is set automatically in accordance with the selection. 0 COMMON 110 IT512−5V Incremental encoder with TTL level 111 IT1024−5V 112 IT2048−5V 113 IT4096−5V 210 IS512−5V Sin/cos encoder 211 IS1024−5V 212 IS2048−5V 213 IS4096−5V 307 AS64−8V SinCos absolute value encoder with hyperface interface 308 AS128−8V (single−turn) 309 AS256−8V 307, 308, 309 can only be selected using the operating 310 AS512−8V system 7.0 or higher. 311 AS1024−8V 407 AM64−8V SinCos absolute value encoder with hyperface interface 408 AM128−8V (multi−turn) 409 AM256−8V 407, 408, 409 can only be selected using the operating 410 AM512−8V system 7.0 or higher. 411 AM1024−8V [C0420] Encoder const. 1024 Number of increments of the � 245 encoder � 87 � 88 1 {1 inc/rev} 8192 Sets C0419 = 0 ("common") if the value is altered. [C0421] Encoder volt 0 Encoder voltage � 245 � 87 0 5.0 V Sets C0419 = 0 ("common") if the � 88 value is altered. 1 5.6 V 2 6.3 V 3 6.9 V 4 7.5 V 5 8.1 V C0426 DIS: In Signal at DFIN input � 245 Only display −32767 {1 rpm} 32767 [C0427] Enc. signal 0 � 245 Function of the master frequency input signals on X8 (DFIN) � 87 � 88 0 2−phase 1 A: speed B: direction 2 A or B: speed or direction EDBCSXS064 EN 3.0 246 � Function library 11 DFIN (master frequency input) Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C0491] X8 in/out 0 Function of X8 � 245 � 248 0 X8 is input � 87 1 X8 is output � 88 Configuring the master frequency input signal Via C0427, you configure the master frequency input signal: Configuration C0427 Track CW rotation CCW rotation C0427 = 0 (2 phases) a Track A leads by 90º Track A lags by 90º A (positive value at DFIN_In_v) (negative value at DFIN_In_v) A B B B ˘ ˘ Z Z Signal sequence with phase shift (CW rotation) C0427 = 1 (A = speed, B = direction) a transmits the speed. transmits the speed A A B B B = FALSE = TRUE Z (positive value at DFIN_In_v) (negative value at DFIN_In_v) Z Control of the direction of rotation via track B C0427 = 2 (A or B = speed or direction) a transmits speed and = FALSE A direction of rotation A (positive value at DFIN_In_v) B B Z B = FALSE transmits speed and Z direction of rotation (negative value at DFIN_In_v) Control of speed and direction of rotation via track A or track B Transfer function 14 60 2 DFIN_In_v� f�[Hz]� � C0420 15000 Example: ƒ Input frequency = 200 kHz ƒ C0420 = 2048 (increments/revolution) 60 DFIN_In_v�[rpm]� 200000�Hz� � 5859�rpm 2048 EDBCSXS064 EN 3.0 � 247 11 Function library DFOUT (master frequency output) 11.19 DFOUT (master frequency output) Function This function block converts internal speed signals into frequency signals. Transmission is effected with high precision (without offset and gain errors) with residual value treatment. ƒ The master frequency output X8 can be configured as a master frequency input via C0491. ƒ The type of the master frequency output signals can be set via C0540: – Output of an analog signal "DFOut−ln_v" – Output of a speed signal – Encoder simulation of the resolver with zero track The digital frequency coupling of ECS axis modules in principle is effected as a master−slave connection. If several ECS axis modules (max. 3 slaves) are connected to a master, the EMF2131IB digital frequency distributor is required for this purpose (� 73). DFOUT C0545 C0491 n max C0540 C0540 C0030 0 DFOut-In_v 0 0 910 DFOut-Out 1 1 1 C6431 2 2 C0549 C0547 X8 X7 C6431 0 15000 rpm 1 CTRL ECSXA232 Fig.11−20 DFOUT function block Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0030 DFOUT CONST 3 Constant for the master � 248 frequency output in increments � 87 per revolution � 88 0 256 inc/rev 1 512 inc/rev 2 1024 inc/rev 3 2048 inc/rev 4 4096 inc/rev 5 8192 inc/rev 6 16384 inc/rev [C0491] X8 in/out 0 Function of X8 � 245 � 248 0 X8 is input � 87 1 X8 is output � 88 [C0540] X8 Signal out 2 Function of the master frequency � 69 output signals on X8 (DFOUT) � 248 � 87 0 Analog � DFOUT � 88 1 PH−diff � DFOUT 2 EncSim � DFOUT EDBCSXS064 EN 3.0 248 � Function library 11 DFOUT (master frequency output) Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0545 PH offset 0 Phase offset � 248 0 {1 inc} 65535 1 revolution = 65535 increments C0547 DIS: AN−IN Analog signal on the input of the � 248 DFOUT block Only display −199.99 {0.00 %} 199.99 C0549 DIS: DF−IN � 248 Speed on the input of the DFOUT block Only display −32767 {1 rpm} 32767 C6430 DFOUT � 248 Display of the analog output signal DFOut−Out in the DFOUT function block −32768 {1} 32767 [C6431] DFOUT 1000 Selection of the analog output � 248 signal DFOut−Out for the DFOUT function block FIXED 0 % (not assigned) For possible signals see "selection list − analog � 371 signals" EDBCSXS064 EN 3.0 � 249 11 Function library DFOUT (master frequency output) Configuring the master frequency output signal � Note! Dependent on the system, the master frequency output X8 has a delay time of T = 1 ms. d Via code C0540 you configure the type of the master frequency output signal: C0540 = 0 Output of an analog signal Function The input signal DFOUT_nOut_vis interpreted as an analog signal [%] and is output as a frequency signal on the master frequency output X8. Scaling 100 % � (INT)16384 � C0011 (n max) Transfer function C0011�(n ) C0030 max f�[Hz]� DFOUT−Out�[%]� � 100 60 14 60 2 DFOUT−ln_v� f�[Hz]� � C0030 15000 Example � DFOUT_nOut_v = 50 % � C0030 = 3, this corresponds to a number of increments of 2048 increments/revolution � C0011 = 3000 rpm 2048 3000 f�[Hz]� 50�%� � ��� 51200�Hz 100 60 C0540 = 1 Output of a speed signal Function The input signal DFOUT_nOut_vis interpreted as a speed signal [rpm] and is output as a frequency signal on the master frequency output X8. Scaling 15000 rpm � (INT)16384 Transfer function C0030 f�[Hz]� DFOUT−Out�[rpm]� 60 Example � DFOUT_nOut_v = 3000 rpm � C0030 = 3, this corresponds to a number of increments of 2048 increments/revolution 2048 f�[Hz]� 3000�rpm� �� 102400�Hz 60 C0540 = 2 Encoder simulation of the resolver with zero track in resolver position Function � The function is used if a resolver is connected to X7. � The encoder constant for output X8 is set in C0030. � The output of the zero pulse with reference to the rotor depends on how the resolver is mounted to the motor. � The zero pulse can be shifted by +360 ° via code C0545 (65536 inc = 360 °). Signal sequence Track CW rotation CCW rotation A If the input values are positive, If the input values are A track A leads by 90º. negative, track A lags by 90º. A B B B ˘ ˘ Z Z Signal sequence with phase shift (CW rotation) ƒ The output signal corresponds to the message of an incremental encoder: – Track A, B and, if selected, zero track as well as the corresponding inverted tracks are output with tracks shifted by 90 degrees. – The levels are TTL compatible. ƒ The zero track is output in accordance with the function set in code C0540. EDBCSXS064 EN 3.0 250 � Function library 11 DigIn (freely assignable digital inputs) 11.20 DigIn (freely assignable digital inputs) Function This function block reads and conditions the signals on X6/DI1 ... DI4. ƒ The configuration of the terminal polarity for the inputs X6/DI1 ... DI4 is effected via C0114. ƒ The "safe torque off" safety function (� 55) is controlled via X6/SI1 and X6/SI2. X6 DigIn DigIn-In1 DI1 132 DigIn-In2 0 DI2 133 1 DigIn-In3 DI3 1 134 DigIn-In4 DI4 135 C0114/1...4 C0443 �P X6 DigIn-CInh SI1 131 safe standstill DigIn-safe_standstill SI2 136 �P + Imp C0443 ECSXA241 Fig.11−21 DigIn function block Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0114 Polarity of the digital inputs � 251 (DIGIN) � 92 1 DIGIN pol 0 HIGH level active X6/DI1 2 DIGIN pol 0 HIGH level active X6/DI2 3 DIGIN pol 0 HIGH level active X6/DI3 4 DIGIN pol 0 HIGH level active X6/DI4 0 HIGH level active 1 LOW level active C0443 DIS: DIGIN Input signals at X6 � 251 Terminal states are described by binary interpretation Only display 0 {1} 255 Bit 0 DIGIN1 X6/DI1 Bit1 DIGIN2 X6/DI2 Bit2 DIGIN3 X6/DI3 Bit3 DIGIN4 X6/DI4 Bit4 DIGIN_safe_standstill X6/SI1 Bit5 free Bit6 DIGIN_CInh X6/SI2 Bit5 free EDBCSXS064 EN 3.0 � 251 11 Function library DigOut (freely assignable digital outputs) 11.21 DigOut (freely assignable digital outputs) Function This function block conditions the digital signal "DigOut−Out1" and outputs it via X6/DO1. ƒ A motor holding brake supplied with low voltage via X6/B+ and X6/B− can be connected to X25/B1 and X25/B2 48 – The motor holding brake can be switched by the signal DigOut−Relay . – The terminal polarity for the outputs X6/DO1, X25/B1 and X25/B2 can be configured via C0118. ƒ X6/SO serves to return information concerning the safety function "safe torque off" (� 55). X6 0 DigOut DigOut-Out1 DO1 C6371/1 1 1 C6370/1 C0118/1 X6 safe standstill SO 0 DigOut-Relais C6371/2 1 1 C6370/2 X6 C0118/2 X25 B+ B1 B- B2 ECSXA242 Fig.11−22 DigOut function block Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0118 Polarity of the digital outputs � 252 (DIGOUT) � 92 1 DIGOUT pol 0 No inversion X6/DO1 2 DIGOUT pol 0 No inversion X25/BD1, X25/BD2 (brake connection) 0 No inversion 1 Logic inversion of the level C6370 Display of the output signals at � 252 the digital output and the brake 0 (= FALSE) 1 (= TRUE) relay 1 DIGOUT Output signal at the digital output X6/DO1 (DigOut−Out1) 2 DIGOUT Control of the brake relay (DigOut relay) [C6371] Selection of the digital output � 252 signals for the digital output and the brake relay 1 DigoutIn−dig 1000 0 (FALSE, not assigned) Source for the output signal at the digital output X6/DO1 (DigOut−Out1) 2 DigoutIn−dig 1000 0 (FALSE, not assigned) Source for the control of the brake relay (DigOut relay) For possible signals see "selection list − digital � 362 signals" EDBCSXS064 EN 3.0 252 � Function library 11 FCODE (free codes) 11.22 FCODE (free codes) Function This function block provides different signals. The signals can be directly read out and processed via the assigned "free" codes of the controller. ƒ Values in the codes of the function block are assigned to the corresponding output signals. ƒ The code value is converted into a signal value via a fixed scaling routine. FCODE FCODE-C0017 C0017 rpm TO INT 38 FCODE-C0037 C0037 rpm TO INT 43 FCODE-C0108/1 C0108/1 44 FCODE-C0108/2 C0108/2 45 FCODE-C0109/1 C0109/1 % TO INT 46 FCODE-C0109/2 C0109/2 47 FCODE-C0141 C0141 48 FCODE-C0250 C0250 BOOL 271 FCODE-C0471.Bit0 272 DWORD C0471 TO FCODE-C0471.Bit31 BIT/BOOL 303 FCODE-C0472/1 C0472/1 49 % TO INT FCODE-C0472/20 C0472/20 68 FCODE-C0473/1 C0473/1 69 INT FCODE-C0473/10 C0473/10 78 FCODE-C0474/1 C0474/1 16 DINT FCODE-C0474/5 20 C0474/5 FCODE-C0475/1_v C0475/1 79 INT FCODE-C0475/2_v C0475/2 80 FCODE-C0135.Bit0 304 C0135 16 Bit FCODE-C0135.Bit15 319 ECSXA261 Fig.11−23 FCODE function block Beispiel You can enter a percentage value [%] in C0472/1 (e.g. by using the keypad). The value is directly assigned to the signal "FCODE−C0472/1" (data type "integer") via a fixed scaling routine and can be processed in the PLC program. � Note! The free code C0470 has the same memory address as C0471. C0470 can be read out via the signals "FCODE−C0471.Bit0 ... 31" in C0471. In contrast to code C0471 which can accept a 32−bit value, code C0470 is divided into four subcodes with eight bits each. EDBCSXS064 EN 3.0 � 253 ... ... ... ... ... 11 Function library FCODE (free codes) Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0017 FCODE (QMIN) 50 Used for speed signals � 253 −16000 {1 rpm} 16000 C0037 Set−value rpm 0 Setpoint selection in rpm � 253 −16000 {1 rpm} 16000 C0108 Used for relative analog signals � 253 1 FCODE (GAIN) 100.00 −199.99 {0.01 %} 199.99 2 FCODE (GAIN) 100.00 C0109 Used for relative analog signals � 253 1 FCODE (offset) 0.00 −199.99 {0.01 %} 199.99 2 FCODE (offset) 0.00 C0135 Control word 0 Control word for networking via automation interface (AIF) 0 {1} 65535 Controller evaluates information as 16 bits (binary coded) Bit 0 Not assigned Bit 1 Not assigned Bit 2 Not assigned Bit 3 Activate quick stop (QSP) Bit 4 Not assigned Bit 5 Not assigned Bit 6 Not assigned Bit 7 Not assigned Bit 8 Activate operation inhibit (DISABLE) Bit 9 Activate controller inhibit (CINH) Bit 10 Set TRIP Bit 11 Reset TRIP Bit 12 Not assigned Bit 13 Not assigned Bit 14 Not assigned Bit 15 Not assigned C0141 FCODE (setval) 0.00 Used for relative analog signals � 253 −199.99 {0.01 %} 199.99 C0250 FCODE 1 Bit 0 Freely selectable digital signal � 253 (1 bit) 0 1 C0470 Freely configurable code for � 253 digital signals 1 FCODE 8bit 0 0 {1} 255 C0470/1 = C0471, bit 0 ... 7 2 FCODE 8bit 0 C0470/2 = C0471, bit 8 ... 15 3 FCODE 8bit 0 C0470/3 = C0471, bit 16 ... 23 4 FCODE 8bit 0 C0470/4 = C0471, bit 24 ... 31 C0471 FCODE 32bit 0 Hexadecimal 32−bit � 253 interpretation of C0470 0 {1} 4294967295 EDBCSXS064 EN 3.0 254 � Function library 11 FCODE (free codes) Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0472 FCODE analog Freely configurable code for � 253 relative analog signals 1 0.00 −199.99 {0.01 %} 199.99 FCODE_bC472_1_a 2 0.00 FCODE_bC472_2_a 3 100.00 FCODE_bC472_3_a 4 0.00 FCODE_bC472_4_a ... ... ... 20 0.00 FCODE_bC472_20_a C0473 Freely configurable code for � 253 absolute analog signals 1 FCODE abs 1 −32767 {1} 32767 2 FCODE abs 1 3 FCODE abs 0 ... ... ... 10 FCODE abs 0 � 253 C0474 Freely configurable code for phase signals 1 FCODE PH 0 −2147483647 {1} 2147483647 ... ... ... 5 FCODE PH 0 C0475 Freely configurable code for � 253 phase difference signals 1 FCODE DF 0 −16000 {1 rpm} 16000 2 FCODE DF 0 EDBCSXS064 EN 3.0 � 255 11 Function library FIXED (output of constant signals) 11.23 FIXED (output of constant signals) Function This function block outputs fixed values to provide easy programming in the standard calculation of percentage (100 % = 16384) of the drive technology. FIXED 100% 2 FIXED FIXED -100% 3 FIXED 1(True) 2 ECSXA262 Fig.11−24 FIXED function block (output of constant signals) EDBCSXS064 EN 3.0 256 � Function library 11 InNeg 11.24 InNeg Function This function block serves to invert the input signals. The function block can invert digital, analog and phase signals. ƒ The values of the analog signals are in a decimal range of ±32767. ƒ The values of the phase signals are in a decimal range of ±2147483648. The values are calculated before the selected main function block is calculated. Thus the calculated values are made available to the subsequent blocks in the current cycle. -1 InNeg 32767 InNeg-AnIn1 InNeg-AnOut1 651 C7131/1 C7130/1 -32767 -1 32767 InNeg-AnIn2 InNeg-AnOut2 C7131/2 652 C7130/2 -32767 -1 InNeg-DigIn1 InNeg-DigOut1 C7111/1 651 C7110/1 -1 InNeg-DigIn2 InNeg-DigOut2 652 C7111/2 C7110/2 -1 InNeg-DigIn3 InNeg-DigOut3 C7111/3 653 C7110/3 -1 2147483647 InNeg-PhiIn1 InNeg-PhiOut1 C7151/1 651 C7150/1 -2147483647 -1 2147483647 InNeg-PhiIn2 InNeg-PhiOut2 C7151/2 652 C7150/2 -2147483647 ECSXA251 Fig.11−25 InNeg function block Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C7110 Display of the digital input � 257 signals in the function block InNeg (signal inversion) 1 InNeg−digV InNeg−DigIn1 2 InNeg−digV InNeg−DigIn2 3 InNeg−digV InNeg−DigIn3 C7111 Selection of the digital input � 257 signals for the InNeg function block (signal inversion) 1 InNeg−dig 1000 0 (FALSE, not assigned) Source for InNeg−DigIn1 2 InNeg−dig 1000 0 (FALSE, not assigned) Source for InNeg−DigIn2 3 InNeg−dig 1000 0 (FALSE, not assigned) Source for InNeg−DigIn3 For possible signals see "selection list − digital � 362 signals" EDBCSXS064 EN 3.0 � 257 11 Function library InNeg Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C7130 Display of the analog input � 257 signals in the InNeg function −32768 {1} 32767 block (signal inversion) (= −100 %) (= 100 %) 1 InNeg−AnV InNeg−AnIn1 2 InNeg−AnV InNeg−AnIn2 C7131 Selection of the analog input � 257 signals for the InNeg function block (signal inversion) 1 InNeg−An 1000 FIXED 0 % (not assigned) Source for InNeg−AnIn1 2 InNeg−An 1000 FIXED 0 % (not assigned) Source for InNeg−AnIn2 For possible signals see "selection list − analog � 371 signals" C7150 Display of the phase input � 257 signals in the InNeg function −2147483647 {1} 2147483647 block (signal inversion) 1 InNeg−PhiV InNeg−PhiIn1 2 InNeg−PhiV InNeg−PhiIn2 C7151 Selection of the phase input � 257 signals for the InNeg function block (signal inversion) 1 InNeg−Phi 1000 FIXED 0 (not assigned) Source for InNeg−PhiIn1 2 InNeg−Phi 1000 FIXED 0 (not assigned) Source for InNeg−PhiIn2 For possible signals see "selection list − phase � 374 signals" EDBCSXS064 EN 3.0 258 � Function library 11 OutNeg 11.25 OutNeg Function This function block serves to invert the output signals. The function block can invert digital, analog and phase signals. ƒ The values of the analog signals are in a decimal range of ±32767. ƒ The values of the phase signals are in a decimal range of ±2147483648. The values are calculated before the selected main function block is calculated. Thus the calculated values are made available to the subsequent blocks in the current cycle. OutNeg -1 32767 OutNeg-AnIn1 OutNeg-AnOut1 C7231/1 671 C7230/1 -32767 -1 32767 OutNeg-AnIn2 OutNeg-AnOut2 C7231/2 672 C7230/2 -32767 -1 OutNeg-DigIn1 OutNeg-DigOut1 C7211/1 671 C7210/1 -1 OutNeg-DigIn2 OutNeg-DigOut2 672 C7211/2 C7210/2 -1 OutNeg-DigIn3 OutNeg-DigOut3 C7211/3 673 C7210/3 -1 2147483647 OutNeg-PhiIn1 OutNeg-PhiOut1 C7251/1 671 C7250/1 -2147483647 -1 2147483647 OutNeg-PhiIn2 OutNeg-PhiOut2 C7251/2 672 C7250/2 -2147483647 ECSXA252 Fig.11−26 OutNeg function block Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C7210 Display of the digital input � 259 signals in the OutNeg function block (signal inversion) 1 OutNeg−digV OutNeg−DigIn1 2 OutNeg−digV OutNeg−DigIn2 3 OutNeg−digV OutNeg−DigIn3 C7211 Selection of the digital input � 259 signals for the OutNeg function block (signal inversion) 1 OutNeg−dig 1000 0 (FALSE, not assigned) Source for OutNeg−DigIn1 2 OutNeg−dig 1000 0 (FALSE, not assigned) Source for OutNeg−DigIn2 3 OutNeg−dig 1000 0 (FALSE, not assigned) Source for OutNeg−DigIn3 For possible signals see "selection list − digital � 362 signals" EDBCSXS064 EN 3.0 � 259 11 Function library OutNeg Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C7230 Display of the analog input � 259 signals in the OutNeg function −32768 {1} 32767 block (signal inversion) (= −100 %) (= 100 %) 1 OutNeg−AnV OutNeg−AnIn1 2 OutNeg−AnV OutNeg−AnIn2 C7231 Selection of the analog input � 259 signals for the OutNeg function block (signal inversion) 1 OutNeg−An 1000 FIXED 0 % (not assigned) Source for OutNeg−AnIn1 2 OutNeg−An 1000 FIXED 0 % (not assigned) Source for OutNeg−AnIn2 For possible signals see "selection list − analog � 371 signals" C7250 Display of the phase input � 259 signals in the OutNeg function −2147483647 {1} 2147483647 block (signal inversion) 1 OutNeg−PhiV OutNeg−PhiIn1 2 OutNeg−PhiV OutNeg−PhiIn2 C7251 Selection of the phase input � 259 signals for the OutNeg function block (signal inversion) 1 OutNeg−Phi 1000 FIXED 0 (not assigned) Source for OutNeg−PhiIn1 2 OutNeg−Phi 1000 FIXED 0 (not assigned) Source for OutNeg−PhiIn2 For possible signals see "selection list − phase � 374 signals" EDBCSXS064 EN 3.0 260 � Function library 11 SYS 11.26 SYS Function This function block contains global system variables which are firmly integrated into the run−time system. They provide functions for programming relief. ƒ On the function block outputs clock signals with the same pulse/pause ratio are output. ƒ The outputs are toggled in real time. ƒ If you use these output signals, observe the scanning frequency at which the outputs are scanned (Aliasing effect). It should at least be twice the toggle frequency. The following outputs are integrated: Output Toggle frequency Period Clock01Hz 0.1 Hz T = 10 s Clock1Hz 1.0 Hz T = 1 s Clock10Hz 10 Hz T = 100 ms Clock0100Hz 100 Hz T = 10 ms SYS Clock01Hz 880 Clock1Hz 881 Clock10Hz 882 Clock100Hz 883 ECSXA263 Fig.11−27 SYS function block EDBCSXS064 EN 3.0 � 261 11 Function library Speed (speed control) 11.27 Speed (speed control) Function Completely wired speed control with the subfunctions: ƒ Selection of direction of rotation (� 269) ƒ Setpoint conditioning (� 270) ƒ Motor control (� 276) ƒ Brake control (� 281) ƒ Monitoring functions (� 163) EDBCSXS064 EN 3.0 262 � Function library 11 Speed (speed control) ECSXA264 Fig.11−28 "Speed" function block (speed control) − Page 1 of 2 EDBCSXS064 EN 3.0 � 263 Speed C0196 SPEED-BRK.SpeedThreshold SPEED-BRK.SetQSP C7431/9 410 t 0 C7430/9 SPEED-BRK.NegOut 1 411 SPEED-BRK.Out CTRL 412 SPEED-BRK.MStore 414 C0195 SPEED-BRK.SetCInh SPEED-BRK.SetBrake 413 C7411/10 t 0 C7410/10 C0244 SPEED-BRK.Sign SPEED-BRK.MSetOut C7431/10 140 C7430/10 Cw/CCw or QSP SPEED-RLQ.Cw SPEED-RLQ.QSP C7411/1 450 C7410/1 R/L/Q SPEED-RLQ.CwCCw SPEED-RLQ.CCw 451 C7411/2 C7410/2 A SPEED-NSET.RfgStop C7411/9 linking main C7410/9 SPEED-NSET.Rfg0 setpoint and C7411/7 S-shape additional setpoint main setpoint C7410/7 ramp generator C0190 main setpoint C0182 0 32767 SPEED-NSET.NSet 0 C7431/1 x+- SPEED-NSET.NOut * 130 1 C7430/1 1 C0039/1 / x/(1-y) 1 JOG SPEED-NSET.Jog1 y C7411/3 15 C0134 0 C0039/15 SPEED-NSET.Jog2 C7411/4 B 0 SPEED-NSET.Jog4 15 C0241 C7411/5 3 SPEED-NSET.RfgIEq0 SPEED-NSET.Jog8 C7411/6 400 0 C7410/3 C0012 C0013 1 C0101/1 C0103/0 C7410/6 TI SPEED-NSET.TI1 C7411/13 15 0 C0101/15 C0103/15 SPEED-NSET.TI2 C7411/14 0 C SPEED-NSET.TI4 15 C7411/15 3 SPEED-NSET.TI8 C7411/16 CINH D C7410/13 C7410/16 C0220 SPEED-NSET.NAddInv C7411/8 C0221 ramp generator C7410/8 additional setpoint 0 SPEED-NSET.NAdd C7431/2 1 C7430/2 1 … … ... ... ... ... ... 11 Function library Speed (speed control) ECSXA264 Fig.11−29 "Speed" function block (speed control) − Page 2 of 2 EDBCSXS064 EN 3.0 264 � Speed D C SPEED-QSP.Set1 C7411/17 SPEED-MCTRL.QspIn C7410/17 1 320 SPEED-QSP.Set2 C0042 C7411/18 SPEED-MCTRL.NSetIn C7410/18 90 SPEED-MCTRL.HiMLim C0050 C7431/4 C7430/4 SPEED-MCTRL.NegLoMLim C7431/3 1 C7430/3 SPEED-MCTRL.NMSwt C7411/11 C7410/11 SPEED-MCTRL.NAdapt C7431/7 C0070 SPEED-MCTRL.MMax C7430/7 321 SPEED-MCTRL.ILoad C7411/12 C0056 SPEED-MCTRL.MSetIn C7410/12 91 SPEED-MCTRL.ISet SPEED-MCTRL.IMax C7431/8 322 C7430/8 SPEED-MCTRL.IAct 92 SPEED-MCTRL.DCVolt C0105 93 C0909 SPEED-MCTRL.MAct + 100% 1 - 94 SPEED-MCTRL.wMaxC57 1 0 99 B 0 C0254 0 1 VECT_CTRL PWM SPEED-MCTRL.PAdapt C7431/11 1 1 C0072 C7430/11 0 C0070 0 0 SPEED-MCTRL.PosSet C0071 C7451 C0018 C7450 C0022 C0022 C0023 C0079 SPEED-MCTRL.UnderVoltage 324 C0074 C0075 C0082 MONIT-LU SPEED-MCTRL.PosLim C7431/12 C0076 C0077 C0083 C7430/12 C0078 C0080 C0092 C0173 C0081 C0084 SPEED-MCTRL.PosOn C7411/19 UG-VOLTAGE SPEED-MCTRL.OverVoltage C0085 C0087 325 C7410/19 C0088 C0089 MONIT-OU C0053 C0090 C0091 SPEED-MCTRL.NStartMLim C7431/13 const C7430/13 Imotor SPEED-MCTRL.ShortCircuit 326 SPEED-MCTRL.MAddInv MONIT-OC1 C7411/20 C0022 C7410/20 C0576 0 const SPEED-MCTRL.MAdd C0579 C7431/5 SPEED-MCTRL.EarthFault 1 MONIT-nErr 327 C7430/5 1 DCTRL MONIT-OC2 SPEED-MCTRL.FldWeak C7431/6 SPEED-MCTRL.IxtOverload >1,50INX 337 C7430/6 MONIT-OC5 A const DFOUT X7 SPEED-MCTRL.Pos 95 Resolver SPEED-MCTRL.NAct_v 96 SPEED-MCTRL.NAct 97 C0051 SPEED-MCTRL.Pos C0420 30 C0011 C0497 C0490 C0596 C0491 C0098 C0491 X8 MONIT-NMAX SPEED-MCTRL.NmaxFault 328 Encoder 0 const SPEED-MCTRL.NmaxC11 98 1 MONIT-Sd2 SPEED-MCTRL.ResolverFault 329 DFOUT const MONIT-Sd6 SPEED-MCTRL.SensorFault 1 335 const SPEED-MCTRL.EncoderFault MONIT-Sd7 336 150°C Mot temp (X7 or X8) MONIT-OH3 SPEED-MCTRL.MotorTempGreaterSetValue 330 C0063 C0121 MONIT-OH7 SPEED-MCTRL.MotorTempGreaterC0121 331 85°C Heatsink temp MONIT-OH SPEED-MCTRL.KuehlGreaterSetValue 333 C0061 C0122 MONIT-OH4 SPEED-MCTRL.KuehlGreaterC0122 334 Function library 11 Speed (speed control) Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C7410 Display of the current signal states on the digital inputs of the 0 (= FALSE) 1 (= TRUE) "Speed" function block 1 Speed−dig CW rotation (SPEED−RLQ.Cw) � 269 2 Speed−dig CCW rotation (SPEED−RLQ.CCw) � 270 3 Speed−dig Selection of the fixed speeds (SPEED−NSET.Jog1)saved in C0039 4 Speed−dig Selection of the fixed speeds (SPEED−NSET.Jog2)saved in C0039 5 Speed−dig Selection of the fixed speeds (SPEED−NSET.Jog4)saved in C0039 6 Speed−dig Selection of the fixed speeds (SPEED−NSET.Jog8)saved in C0039 7 Speed−dig Setting of the speed setpoint � 270 integrator to "0" along the adjusted ramps (SPEED−NSET.Rfg0) 8 Speed−dig Inversion of additional speed setpoint (SPEED−NAddInv) 9 Speed−dig Keeping (freezing) the speed setpoint integrator to the actual value (SPEED-NSET.RfgStop) 10 Speed−dig Activation of the motor holding � 281 brake (SPEED−BRK.SetBrake) 11 Speed−dig Switching of speed/torque � 276 (SPEED−MCTRL.NMSwt) 12 Speed−dig Source for the integral−action component of the speed controller (SPEED−MCTRL.ILoad) 13 Speed−dig Selection of the acceleration and � 270 deceleration times stored in C0101 and C0103 (SPEED−NSET.TI1) 14 Speed−dig Selection of the acceleration and deceleration times stored in C0101 and C0103 (SPEED−NSET.TI2) 15 Speed−dig Selection of the acceleration and deceleration times stored in C0101 and C0103 (SPEED−NSET.TI4) 16 Speed−dig Selection of the acceleration and deceleration times stored in C0101 and C0103 (SPEED−NSET.TI8) 17 Speed−dig Setting of quick stop � 276 (SPEED−QSP.Set1) 18 Speed−dig Setting of quick stop (SPEED−QSP.Set2) 19 Speed−dig Activation of phase controller (SPEED-MCTRL.PosOn) EDBCSXS064 EN 3.0 � 265 11 Function library Speed (speed control) Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. 20 Speed−dig Inversion of additional torque setpoint (SPEED−MAddInv) [C7411] Selection of the signal source for the digital input signals of the "Speed" function block 1 SpeedIn−dig 1000 0 (FALSE, not assigned) CW rotation (SPEED−RLQ.Cw) � 269 2 SpeedIn−dig 1000 0 (FALSE, not assigned) CCW rotation (SPEED−RLQ.CCw) 3 SpeedIn−dig 1000 0 (FALSE, not assigned) Selection of the fixed speeds � 270 (SPEED−NSET.Jog1) saved in C0039 4 SpeedIn−dig 1000 0 (FALSE, not assigned) Selection of the fixed speeds (SPEED−NSET.Jog2)saved in C0039 5 SpeedIn−dig 1000 0 (FALSE, not assigned) Selection of the fixed speeds (SPEED−NSET.Jog4)saved in C0039 6 SpeedIn−dig 1000 0 (FALSE, not assigned) Selection of the fixed speeds (SPEED−NSET.Jog8)saved in C0039 7 SpeedIn−dig 1000 0 (FALSE, not assigned) Setting of the speed setpoint � 270 integrator to 0 along the adjusted ramps (SPEED−NSET.Rfg0) 8 SpeedIn−dig 1000 0 (FALSE, not assigned) Inversion of additional speed setpoint (SPEED−NAddInv) 9 SpeedIn−dig 1000 0 (FALSE, not assigned) Keeping (freezing) the speed setpoint integrator to the actual value (SPEED-NSET.RfgStop) 10 SpeedIn−dig 1000 0 (FALSE, not assigned) Activation of the motor holding � 281 brake (SPEED−BRK.SetBrake) 11 SpeedIn−dig 1000 0 (FALSE, not assigned) Switching of speed − torque � 276 (SPEED−MCTRL.NMSwt) 12 SpeedIn−dig 1000 0 (FALSE, not assigned) Source for the integral−action component of the speed controller (SPEED−MCTRL.ILoad) 13 SpeedIn−dig 1000 0 (FALSE, not assigned) Selection of the acceleration and � 270 deceleration times stored in C0101 and C0103 (SPEED−NSET.TI1) 14 SpeedIn−dig 1000 0 (FALSE, not assigned) Selection of the acceleration and deceleration times stored in C0101 and C0103 (SPEED−NSET.TI2) 15 SpeedIn−dig 1000 0 (FALSE, not assigned) Selection of the acceleration and deceleration times stored in C0101 and C0103 (SPEED−NSET.TI4) 16 SpeedIn−dig 1000 0 (FALSE, not assigned) Selection of the acceleration and deceleration times stored in C0101 and C0103 (SPEED−NSET.TI8) 17 SpeedIn−dig 1000 0 (FALSE, not assigned) Setting of quick stop � 276 (SPEED−QSP.Set1) 18 SpeedIn−dig 1000 0 (FALSE, not assigned) Setting of quick stop (SPEED−QSP.Set2) 19 SpeedIn−dig 1000 0 (FALSE, not assigned) Activation of phase controller (SPEED-MCTRL.PosOn) EDBCSXS064 EN 3.0 266 � Function library 11 Speed (speed control) Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. 20 SpeedIn−dig 1000 0 (FALSE, not assigned) Inversion of additional torque setpoint (SPEED−MAddInv) For possible signals see "selection list − digital � 362 signals" C7430 Display of the current signal states on the analog input of the −32768 {1} 32767 "Speed" function block (= −100 %) (= 100 %) 1 Speed−an Speed setpoint � 270 (SPEED−NSET.NSet) 2 Speed−an Additional speed setpoint (SPEED−NSET.NAdd) 3 Speed−an Lower torque limit � 276 (SPEED-MCTRL.negLoMLim) 4 Speed−an Upper torque limit (SPEED-MCTRL.HiMLim) 5 Speed−an Additional torque setpoint (SPEED-MCTRL.MAdd) 6 Speed−an Manual field weakening (SPEED−MCTRL.FldWeak) 7 Speed−an Manual adaptation of the proportional gain of the speed controller (SPEED−MCTRL.NAdapt) 8 Speed−an Manual adaptation of the integral−action component of the speed controller (SPEED−MCTRL.ISet) 9 Speed−an Speed threshold for the motor � 281 holding brake (SPEED-BRK.SpeedThreshold) 10 Speed−an Direction of torque created by the drive against the motor holding brake (SPEED−BRK.Sign) 11 Speed−an Manual adaptation of the phase � 276 controller (SPEED−MCTRL.PAdapt) 12 Speed−an Limit value for influencing the phase controller (SPEED−MCTRL.PosLim) 13 Speed−an Lower speed limit for speed limitation (SPEED−MCTRL.NStartMLim) EDBCSXS064 EN 3.0 � 267 11 Function library Speed (speed control) Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C7431] Selection of the signal source for the analog input signals of the "Speed" function block 1 SpeedIn−anl 1000 FIXED 0 % (not assigned) Speed setpoint � 270 (SPEED−NSET.NSet) 2 SpeedIn−anl 1000 FIXED 0 % (not assigned) Additional speed setpoint (SPEED−NSET.NAdd) 3 SpeedIn−anl 1000 FIXED 0 % (not assigned) Lower torque limit � 276 (SPEED-MCTRL.negLoMLim) 4 SpeedIn−anl 1000 FIXED 0 % (not assigned) Upper torque limit (SPEED-MCTRL.HiMLim) 5 SpeedIn−anl 1000 FIXED 0 % (not assigned) Additional torque setpoint (SPEED-MCTRL.MAdd) 6 SpeedIn−anl 1000 FIXED 0 % (not assigned) Manual field weakening (SPEED−MCTRL.FldWeak) 7 SpeedIn−anl 1000 FIXED 0 % (not assigned) Manual adaptation of the proportional gain of the speed controller (SPEED−MCTRL.NAdapt) 8 SpeedIn−anl 1000 FIXED 0 % (not assigned) Manual adaptation of the Integral−action component of the speed controller (SPEED−MCTRL.ISet) 9 SpeedIn−anl 1000 FIXED 0 % (not assigned) Speed threshold for the motor � 281 holding brake (SPEED-BRK.SpeedThreshold) 10 SpeedIn−anl 1000 FIXED 0 % (not assigned) Direction of torque created by the drive against the motor holding brake (SPEED−BRK.Sign) � 276 11 SpeedIn−anl 1000 FIXED 0 % (not assigned) Manual adaptation of the phase controller (SPEED−MCTRL.PAdapt) 12 SpeedIn−anl 1000 FIXED 0 % (not assigned) Limit value for influencing the phase controller (SPEED−MCTRL.PosLim) 13 SpeedIn−anl 1000 FIXED 0 % (not assigned) Lower speed limit for speed limitation (SPEED−MCTRL.NStartMLim) For possible signals see "selection list − analog � 371 signals" C7450 Speed−phi Display of the setpoint for the � 276 phase controller in the "Speed" function block (speed controlSPEED−MCTRL.PosSet) −2147483647 {1} 2147483647 [C7451] SpeedIn−phi 1000 Setpoint for the phase controller � 276 in the "Speed" function block (SPEED−MCTRL.PosSet) FIXED 0 (not assigned) For possible signals see "selection list − phase � 374 signals" EDBCSXS064 EN 3.0 268 � Function library 11 Speed (speed control) Changing the direction of rotation 11.27.1 Changing the direction of rotation By means of the inputs SPEED−RLQ.Cw (C7411/1) and SPEED−RLQ.CCw (C7411/2) of the function block "Speed", two functions are carried out: ƒ Changing the direction of rotation ƒ Set quick stop (QSP) � Note! Both inputs only have an effect on the speed setpoint. � Stop! The speed and direction of torque have to be selected according to the application. Signal name Response SPEED−RLQ.CW SPEED−RLQ.CCW Rotation Quick stop (QSP) 00 None Yes 1 0 To the right No 0 1 To the left No 1 1 No change No EDBCSXS064 EN 3.0 � 269 11 Function library Speed (speed control) Setpoint processing 11.27.2 Setpoint processing 11.27.2.1 Selecting the source for the speed setpoint The function block "Speed" is supplied with the speed setpoint via the input SPEED−NSET.NSet (C7431/1). The valid values are within the decimal range ±32767. The speed setpoint is conditioned by a ramp function generator and special controllers. In C0039/1 ... 15, 15 fixed setpoints (JOG) can be stored. The values can be stored independent of the direction of rotation, since the direction of rotation can also be changed with activated JOG values. The fixed setpoints can be activated via the inputs SPEED−NSET.Jogx (C7411/3 ... /6). When the fixed setpoints are active, the input SPEED−NSET.NSet is switched off. Signal name Source for the speed setpoint SPEED−Nset.Jog8 SPEED−NSET.Jog4 SPEED−Nset.Jog2 SPEED−Nset.Jog1 00 0 0 SPEED−NSET.NSet 0 0 0 1 C0039/1 0 0 1 0 C0039/2 0 0 1 1 C0039/3 0 1 0 0 C0039/4 0 1 0 1 C0039/5 0 1 1 0 C0039/6 0 1 1 1 C0039/7 1 0 0 0 C0039/8 1 0 0 1 C0039/9 1 0 1 0 C0039/10 1 0 1 1 C0039/11 1 1 0 0 C0039/12 1 1 0 1 C0039/13 1 1 1 0 C0039/14 1 1 1 1 C0039/15 Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0039 15 fixed setpoints � 270 Can be retrieved via digital signals SPEED−NSET.Jogx. 1 JOG 0.00 −199.99 {0.01 %} 199.99 Relating to n (C0011) max SET−VALUE 2 JOG 0.00 SET−VALUE ... JOG 0.00 SET−VALUE 14 JOG 0.00 SET−VALUE 15 JOG 0.00 SET−VALUE EDBCSXS064 EN 3.0 270 � Function library 11 Speed (speed control) Setpoint processing 11.27.2.2 Setting acceleration and deceleration times The speed setpoint is led via a ramp function generator. This enables input steps to be converted into a ramp. The acceleration time (T ) and deceleration time (T ) refer to a change in speed from "0" ir if to n (0 ... 100�%). The times to be set are calculated according to the formulae: max Acceleration time (code C0012) Deceleration time (code C0013) 100�% 100�% T � t � T � t � ir ir if if w2� w1 w2� w1 [%] RFG-OUT 100 w2 w1 0 t t t ir if T T ir if ECSXASA001 Fig.11−30 Diagram for acceleration and deceleration time In C0101/1 ... 15 and C0103/1 ... 15, 15 time pairs (T times) can be stored additionally. Via i the inputs SPEED−NSET.TIx (C7411/13 ... C7411/16) the T times can be activated: i Signal name Source for active time pair SPEED−NSET.TI8 SPEED−NSET.TI4 SPEED−NSET.TI2 SPEED−NSET.TI1 Acceleration Deceleration time time 00 0 0 C0012 C0013 0 0 0 1 C0101/1 C0103/1 0 0 1 0 C0101/2 C0103/2 0 0 1 1 C0101/3 C0103/3 0 1 0 0 C0101/4 C0103/4 0 1 0 1 C0101/5 C0103/5 0 1 1 0 C0101/6 C0103/6 0 1 1 1 C0101/7 C0103/7 1 0 0 0 C0101/8 C0103/8 1 0 0 1 C0101/9 C0103/9 1 0 1 0 C0101/10 C0103/10 1 0 1 1 C0101/11 C0103/11 1 1 0 0 C0101/12 C0103/12 1 1 0 1 C0101/13 C0103/13 1 1 1 0 C0101/14 C0103/14 1 1 1 1 C0101/15 C0103/15 EDBCSXS064 EN 3.0 � 271 11 Function library Speed (speed control) Setpoint processing Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0012 TIR (ACC) 0.000 Acceleration time for the � 271 � speed setpoint (for "speed control") � torque setpoint (for "torque control") 0.000 {0.001 s} 999.999 Relating to speed variation 0 rpm ... n (C0011) max C0013 TIF (DEC) 0.000 Deceleration time for the � 271 � speed setpoint (for "speed control") � torque setpoint (for "torque control") 0.000 {0.001 s} 999.999 Relating to speed variation 0 rpm ... n (C0011) max C0101 15 additional acceleration times � 271 for the speed setpoint. Can be retrieved via digital signals SPEED−NSET.TIx. 1 add Tir 0.000 0.000 {0.001 s} 999.999 Relating to speed variation 0 rpm ... n (C0011) max 2 add Tir 0.000 ... add Tir 0.000 14 add Tir 0.000 15 add Tir 0.000 C0103 add Tif 15 additional deceleration times � 271 for the speed setpoint. Can be retrieved via digital signals SPEED−NSET.TIx. 1 add Tif 0.000 0.000 {0.001 s} 999.999 Relating to speed variation 0 rpm ... n (C0011) max 2 add Tif 0.000 ... 0.000 14 add Tif 0.000 15 add Tif 0.000 EDBCSXS064 EN 3.0 272 � Function library 11 Speed (speed control) Setpoint processing 11.27.2.3 Influencing the ramp function generator ƒ If the controller is inhibited, the ramp function generator accepts the actual speed and passes it to the downstream function. This function has priority over all other functions. ƒ If the input SPEED−NSET.RfgStop = TRUE (C7411/9), the ramp function generator is stopped. Changes of the input of the ramp function generator have no effect on the output signal. ƒ If the input SPEED−NSET.Rfg0 = TRUE (C7411/7) the ramp function generator reaches zero along the deceleration ramp. ƒ The threshold in C0241 specifies when the message "Setpoint reached" is output. On the ramp function generator for the speed setpoint, the following applies: input signal = output signal Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0241 NSET RFG I = O 1.00 Threshold for message "Setpoint � 273 reached" � 293 On the ramp function generator for � speed setpoint (for "speed control") � torque setpoint (for "torque control") input signal = output signal. 0.00 {0.01 %} 100.00 100 % = n max EDBCSXS064 EN 3.0 � 273 11 Function library Speed (speed control) Setpoint processing 11.27.2.4 Changing the characteristic of the ramp function generator You can select two different characteristics for the ramp function generator of the speed setpoint via C0134: ƒ A linear characteristic for all acceleration processes that are required for a constant acceleration. ƒ S−shaped characteristic for all acceleration processes that require a jerk−free acceleration. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0134 RFG charac 0 Characteristic of the ramp � 274 function generator for the � speed setpoint (for "speed control") � torque setpoint (for "torque control") 1 Linear Ramp function generator operates linearly. 2 S−shaped Ramp function generator operates without jerk (S−shaped). C0182 Ti S−shaped 20.00 Form of the S−curve for the � 274 � speed setpoint (for "speed control") � torque setpoint (for "torque control") of the ramp function generator (C0134 = 1) 0.01 {0.01 s} 50.00 The higher the value, the bigger the S−rounding. EDBCSXS064 EN 3.0 274 � Function library 11 Speed (speed control) Setpoint processing 11.27.2.5 Connecting an additional setpoint An additional setpoint can be connected via the input SPEED−NSET.NAdd (C7431/2). The additional setpoint is inverted by an anlog switch. Then, a ramp function generator follows before the additional setpoint is connected to the speed setpoint in the arithmetic block. The additional setpoint can be used, for instance, as a correction signal for grinding machines for controlling a constant circumferential speed when the grinding wheel diameter decreases.� If you want to use the additional setpoint, set C0190 to the desired arithmetical connection. In the Lenze setting, the additional setpoint is switched off. Value in Output signal SPEED−NSET.NOut = Values used from the codes C0190 0 SPEED−NSET.NSet C7431/1 1 SPEED−NSET.NSet + SPEED−NSET.NAdd C7431/1 + C7431/2 2 SPEED−NSET.NSet − SPEED−NSET.NAdd C7431/1 − C7431/2 3 SPEED−NSET.NSet x SPEED−NSET.NAdd C7431/1 x C7431/2 4 SPEED−NSET.NSet / I SPEED−NSET.NAdd I C7431/1 |C7431/2| 5 SPEED−NSET.NSet / (100 − SPEED−NSET.NAdd) C7431/1 100� C7431/2 Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0190 NSET ARIT 0 Linking of speed setpoint (NSet) � 275 and additional setpoint (NAdd) 0 OUT = NAdd Additional setpoint is not considered. 1 NSet + NAdd Additional setpoint is added to speed setpoint. 2 NSET−NADD Additional setpoint is subtracted from speed setpoint. 3 NSet x NAdd Additional setpoint is multiplied by speed setpoint. 4 NSet / NAdd Speed setpoint is divided by additional setpoint. 5 NSet / (100 − NAdd) Speed setpoint is divided by (100 − additional setpoint). C0220 NSET Tir add 0.000 Acceleration time for the � 275 additional setpoint 0.000 {0.001 s} 999.999 Relating to speed variation 0 rpm ... n (C0022) max C0221 NSET Tif add 0.000 Deceleration time for the � 275 additional setpoint 0.000 {0.001 s} 999.999 Relating to speed variation 0 rpm ... n (C0011) max EDBCSXS064 EN 3.0 � 275 11 Function library Speed (speed control) Setting of motor control 11.27.3 Setting of motor control 11.27.3.1 Torque setpoint/additional setpoint SPEED−MCTRL.MAdd (C7431/5) serves as a torque setpoint or additional torque setpoint, depending on the setting of SPEED−MCTRL.NMSwt (C7411/11). The controller calculates the maximum possible torque from the motor parameters. You can read it off C0057. ƒ Torque setpointorque setpoint"# – If SPEED−MCTRL.NMSwt = TRUE, the torque control is active. – SPEED−MCTRL.MAdd acts as torque setpoint. – The speed controllers carry out a monitoring function. – The torque setpoint is defined in [%] of the maximum possible torque. – Negative values cause a torque in CCW rotation of the motor. – Positive values cause a torque in CW rotation of the motor. ƒ Additional torque setpoint "additional torque setpoint"# – If SPEED−MCTRL.NMSwt = FALSE, the speed control is active. – SPEED−MCTRL.MAdd is added to the output of the speed controller. – The limits determined by the torque limitation SPEED−MCTRL.NegLoMLim (C7431/3) and SPEED−MCTRL.HiMLim (C7431/4) are not exceeded. – The additional torque setpoint is used e. g. for friction compensation or increase in acceleration (dv/dt). 11.27.3.2 Torque limitation An external torque limitation can be set via SPEED−MCTRL.NegLoMLim (C7431/3) and SPEED−MCTRL.HiMLim (C7431/4). This enables you to select different torques for the quadrants "driving" and "braking". ƒ SPEED−MCTRL.HiMLim is the upper limit in [%] of the maximum possible torque. ƒ SPEED−MCTRL.LoMLim is the lower limit [%] of the maximum possible torque. The maximum possible torque depends on the motor parameters (C0057). � Note! In case of quick stop (QSP), the torque limitation is switched to an inactive state, i. e. the operation runs with ±100 %. 11.27.3.3 Maximum speed The maximum speed N speed is set via C0011. It is the reference value for: max ƒ the absolute and relative setpoint selection for acceleration and deceleration times ƒ the upper and lower speed limit. ƒ n = 100 % = 16384 (data type "Integer"). max EDBCSXS064 EN 3.0 276 � Function library 11 Speed (speed control) Setting of motor control 11.27.3.4 Speed controller adjusting The speed controller is designed as an ideal PID controller. Parameter setting: ƒ Via C0070 you set the proportional gain (V ): p – Enter approx. 50 % of the speed setpoint (100 % = 16384 = N ). max – Increase C0070 until the drive becomes instable (pay attention to engine noises). – Reduce C0070 until the drive runs stable again. – Reduce C0070 to approx. half the value. ƒ The proportional gain (V ) can be altered via SPEED−MCTRL.NAdapt (C7431/7): p –V = SPEED−MCTRL.NAdapt[%] x C0070 p – If SPEED−MCTRL.NAdapt is not assigned, the following applies: V = 100 %, p C0070 = C0070 ƒ The reset time (T ) is set via C0071: n – Reduce C0071 until the drive becomes unstable (pay attention to motor noise). – Increase C0071, until the drive runs stable again. – Increase C0071 to approx. the double value. ƒ The derivative gain (T ) is set via C0072: d – Increase C0072 during operation until an optimal control mode is reached. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0070 Vp speedCTRL 3.00 Proportional gain of speed � 120 controller (V ) pn 0.00 { 0.01} 127.99 C0071 Tn speedCTRL 24.0 Integral−action time of speed � 120 controller (T ) nn 1.0 {0.5 ms} 6000.0 C0072 Td speedCTRL 0.00 Derivative gain of speed � 120 controller (T ) dn 0.0 {0.1 ms} 32.0 Signal limitation ƒ If the drive operates with the maximum torque, the speed controller operates within the limitation. ƒ The drive cannot follow the speed setpoint. ƒ The output SPEED−MCTRL.MMax is set to TRUE. EDBCSXS064 EN 3.0 � 277 11 Function library Speed (speed control) Setting of motor control Setting the integral component For selecting torque starting values the integral component of the speed controller can be set externally (e.g. when using the brake control). ƒ SPEED−MCTRL.ILoad = TRUE (C7411/12): – The speed controller accepts the value applied at SPEED−MCTRL.ISet (C7431/8) into its integral component. – The value at SPEED−MCTRL.ISet (C7431/8) acts as a torque setpoint for the motor control. ƒ SPEED−MCTRL.ILoad = FALSE (C7411/12): – The function is switched off. 11.27.3.5 Torque control with speed limitation If SPEED−MCTRL.NMSwt = TRUE (C7411/11), this function is activated. For the speed limitation, a second speed controller (auxiliary speed controller) is connected. SPEED−MCTRL.MAdd (C7431/5) operates as a bipolar torque setpoint. "torque control with speed limitation"# ƒ The speed controller 1 is used to make up the upper speed limit. – The upper speed limit is defined at SPEED−NSET.NSet (C7431/8) in [%] by N max (positive sign for CW rotation). ƒ The speed controller 2 (auxiliary speed controller) is used to make up the lower speed limit. – The lower speed limit is defined at SPEED−MCTRL.NStartMLim (C7431/13) in [%] by N (negative sign for CCW rotation). max ƒ N is selected via C0011. max � Stop! The upper speed limit is only to be used for CW rotation (positive values) and the lower speed limit only for CCW rotation (negative values); Otherwise the drive may accelerate in an uncontrolled way. � Note! The value at SPEED−MCTRL.NegLoMLim (C7431/3) is negated in the "Speed" function block. EDBCSXS064 EN 3.0 278 � Function library 11 Speed (speed control) Setting of motor control 11.27.3.6 Phase controller The phase controller is required, for instance, to achieve a phase−synchronous operation and a driftfree standstill. Parameter setting: 1. Assign SPEED−MCTRL.PosSet (C7451) with a signal source, which provides the phase difference between set angle and actual angle. � Note! For the application "Speed and Torque", the phase difference has to be generated externally (e .g. in a master control) and transferred via bus system. 2. Select a value > 0 at SPEED−MCTRL.PosLim (C7431/12). 3. Set SPEED−MCTRL.PosOn = TRUE (C7431/19) . 4. Set the gain of the phase controller > 0 via C0254. – Before C0254 is set, a preferably high proportional gain of the speed controller has to be set via C0070. – Increase C0254 during operation until the drive has the required control mode. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0254 Vp angle CTRL 0.4000 Phase controller gain (V ) � 279 p 0.0000 {0.0001} 3.9999 Phase controller influence The output of the phase controller is added to the speed setpoint. When the actual angle is lagging, the drive is accelerated. When the actual angle is leading, the drive is decelerated until the required angular synchronism has been reached. The influence of the phase controller consists of: ƒ phase difference multiplied by the proportional gain V (C0254). p ƒ influence of the analog signal at SPEED−MCTRL.NAdapt (C7431/7). V = C0254 x SPEED−MCTRL.NAdapt / 16384 p ƒ Limitation of the phase controller output – The output of the phase controller is limited to ±SPEED−MCTRL.PosLim (C7431/12). – ±SPEED−MCTRL.PosLim limits the maximum speed−up of the drive with great angular displacements. EDBCSXS064 EN 3.0 � 279 11 Function library Speed (speed control) Setting of motor control 11.27.3.7 Quick stop (QSP) By means of the QSP function, the drive can be stopped within an adujstable time, irrespective of the setpoint selection. The QSP function is active if: ƒ SPEED−QSP.Set1 (C7411/17) = TRUE or ƒ SPEED−QSP.Set2 (C7411/18) = TRUE Function: If a torque control has been selected, it is switched inactive. The drive is guided by the speed controller. The speed is reduced to zero within the deceleration time set under C0105. The torque limitation SPEED−MCTRL.NegLoMLim (C7431/3) and SPEED−MCTRL.HiMLim (C7431/4) is switched inactive, i. e. the operation runs with ±100 %. The phase controller is switched active, achieving a drift−free standstill. If the rotor position is actively displaced, the drive creates a torque against the displacement if ƒ C0254 � 0 or ƒ SPEED−MCTRL.PosLim (C7431/12) > 0 % 11.27.3.8 Field weakening � Stop! The available torque decreases with the field weakening. The motor is operated in the field weakening range if the controller can no longer increase the output voltage proportionally at increasing speed due to the mains voltage or the DC−bus voltage. � Note! An optimal machine operation in the field weakening range requires a correct setting of the field controller and field weakening controller. Information on the setting: � 122 Manual field weakening � Stop! If the field is weakened manually (SPEED−MCTRL.FldWeak (C7431/6) < 100 %), the drive cannot create the maximum torque. A manual field weakening is possible via SPEED−MCTRL.FldWeak (7431/6). For a maximum excitation, SPEED−MCTRL.FldWeak must be triggered with +100 % (= 16384). EDBCSXS064 EN 3.0 280 � Function library 11 Speed (speed control) Holding brake control 11.27.4 Holding brake control By means of this function, you can control a motor holding brake. Possible applications are: ƒ Hoists ƒ Traverse drives ƒ Drives with active loads Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0195 BRK T act 99.9 � 281 Closing time of the motor holding brake � 298 � 83 0.0 {0.1 sec} 99.9 During the time set the drive continues to generate a torque. After the set time is expired, the status "mechanical brake closed" is reached. C0196 BRK T rel 0.0 � 281 Opening time of the motor holding brake � 298 � 83 0.0 {0.1 sec} 60.0 During the time set the drive can generate the torque set under C0244 against the holding brake. After the set time is expired, the status "mechanical brake opened" is reached. C0244 BRK M set 0.00 Holding torque of the drive � 281 against the motor holding brake � 298 � 83 −199.99 {0.01 %} 199.99 Referring to M (C0057). max During the time set in C0196 the drive generates the set torque against the holding brake. EDBCSXS064 EN 3.0 � 281 11 Function library Speed (speed control) Holding brake control 11.27.4.1 Closing holding brake A HIGH level on the input SPEED−BRK.SetBrake (C7411/10 = TRUE) activates the function. At the same time, the output SPEED−BRK.SetQSP is set to HIGH. This signal can be used to brake the drive to standstill via a deceleration ramp (speed = 0). If the setpoint speed falls below the value set at the input SPEED−BRK.SpeedThreshold (C7431/9), the output SPEED−BRK.Out is set to HIGH. � Note! For a fail−safe design this signal must be inverted at the output (e.� g. via C0118). After the brake closing time set C0195 has lapsed, the output SPEED−BRK.SetCInh switches to TRUE. By means of this signal you can for example activate controller inhibit (device−internal on the function block DCTRL). The setting of the brake closing time is required because the brake is not immediately activated at SPEED−BRK.Out = TRUE (the drive has to provide another holding torque for the set time). � t � t � � t � � t � t ECSXASA002 Fig.11−31 Signal characteristic − closing of holding brake � SPEED−BRK.SetBrake � SPEED−BRK.SetQSP � SPEED−BRK.MSetOut � SPEED−BRK.Out � SPEED−BRK.SetCInh SPEED−BRK.SpeedThreshold � � Brake closing time (C0195) EDBCSXS064 EN 3.0 282 � Function library 11 Speed (speed control) Holding brake control 11.27.4.2 Opening holding brake A LOW level on the input SPEED−BRK.SetBrake (7411/10 = FALSE) immediately sets the output SPEED−BRK.SetCInh to LOW (controller inhibit is deactivated). At the same time, the output SPEED−BRK.MStore is set to HIGH. This signal can be used to let the drive create a defined torque against the brake. The drive takes over the torque while the brake is released. The signal is only reset after the brake opening time set in C0196 has lapsed. After the brake opening time has lapsed, the output SPEED−BRK.SetQSP is reset to LOW. This signal serves to e. g. release the setpoint integrator after the brake opening time has expired.� If an actual speed value higher than the value at SPEED−BRK.SpeedThreshold (C7431/9) is recognised before the brake opening time has expired, the signals SPEED−BRK.SetQSP and SPEED−BRK.MStore are immediately reset to LOW. Then, the drive can immediately pass over to the speed−controlled operation. � t � t � t � t � � t � � t � t ECSXASA003 Fig.11−32 Signal characteristic − opening of holding brake � SPEED−BRK.SetBrake � SPEED−BRK.SetCInh � SPEED−BRK.SetQSP � SPEED−BRK.MStore � SPEED−MCTRL.MAct � SPEED−BRK.Out � SPEED−BRK.MSetOut � SPEED−MCTRL.MAct � Brake opening time (C0196) EDBCSXS064 EN 3.0 � 283 11 Function library Torque (torque control) 11.28 Torque (torque control) Function Completely wired torque control with the subfunctions: ƒ Torque control with speed limitation (� 290) ƒ Selection of direction of rotation (� 291) ƒ Setpoint conditioning (� 291) ƒ Motor control (� 294) ƒ Brake control (� 298) ƒ Monitoring functions (� 163) EDBCSXS064 EN 3.0 284 � Function library 11 Torque (torque control) ECSXA265 Fig.11−33 "Torque" function block (torque control) − Page 1 of 2 EDBCSXS064 EN 3.0 � 285 Torque C0196 TORQUE-BRK.TorqueThreshold TORQUE-BRK.SetQSP C7531/9 420 t 0 C7530/9 TORQUE-BRK.NegOut 1 421 TORQUE-BRK.Out CTRL 422 TORQUE-BRK.MStore 424 C0195 TORQUE-BRK.SetBrake TORQUE-BRK.SetCInh C7511/4 423 t 0 C7510/4 C0244 TORQUE-BRK.Sign TORQUE-BRK.MSetOut C7531/10 141 C7530/10 E Cw/CCw or QSP TORQUE-RLQ.Cw TORQUE-RLQ.QSP C7511/1 460 C7510/1 R/L/Q TORQUE-RLQ.CwCCw TORQUE-RLQ.CCw 461 C7511/2 C7510/2 A TORQUE-NSET.RfgStop C7511/8 C7510/8 TORQUE-NSET.Rfg0 C7511/3 S-shape main setpoint C7510/3 ramp generator C0182 main setpoint 0 32767 TORQUE-NSET.NSet TORQUE-NSET.NOut C7531/2 131 1 C7530/2 1 C0134 C B CINH C0241 D TORQUE-NSET.RfgIEq0 401 11 Function library Torque (torque control) ECSXA265 Fig.11−34 "Torque" function block (torque control) − Page 2 of 2 EDBCSXS064 EN 3.0 286 � E Torque D C TORQUE-QSP.Set1 C7511/5 1 TORQUE-MCTRL.QspIn C7510/5 340 TORQUE-QSP.Set2 C7511/6 C0042 TORQUE-MCTRL.NSetIn C7510/6 100 TORQUE-MCTRL.HiMLim C0050 C7531/4 C7530/4 TORQUE-MCTRL.NegLoMLim C7531/3 1 C7530/3 TORQUE-MCTRL.NAdapt C7531/7 C0070 TORQUE-MCTRL.MMax C7530/7 341 TORQUE-MCTRL.ILoad C7511/7 C0056 C7510/7 TORQUE-MCTRL.MSetIn 101 TORQUE-MCTRL.ISet TORQUE-MCTRL.IMax C7531/8 342 C7530/8 TORQUE-MCTRL.IAct 102 TORQUE-MCTRL.DCVolt C0105 103 C0909 TORQUE-MCTRL.MAct +100% 1 - 104 1 TORQUE-MCTRL.wMaxC57 0 109 B 0 VECT_CTRL PWM C0072 C0070 C0071 C0018 C0022 C0022 C0023 C0079 TORQUE-MCTRL.UnderVoltage 344 C0074 C0075 C0082 MONIT-LU C0076 C0077 C0083 C0078 C0080 C0092 C0173 C0081 C0084 C0085 C0087 UG-VOLTAGE TORQUE-MCTRL.OverVoltage 345 C0088 C0089 MONIT-OU C0053 C0090 C0091 TORQUE-MCTRL.NStartMLim C7531/5 const C7530/5 TORQUE-MCTRL.ShortCircuit Imotor 346 TORQUE-MCTRL.MAddInv C7211/9 MONIT-OC1 C0022 C7510/9 C0576 0 const TORQUE-MCTRL.MAdd C0579 C7531/1 TORQUE-MCTRL.EarthFault 1 MONIT-nErr 347 C7530/1 1 DCTRL MONIT-OC2 TORQUE-MCTRL.FldWeak C7531/6 TORQUE-MCTRL.IxtOverload 357 >1,50INX C7530/6 MONIT-OC5 const A X7 DFOUT TORQUE-MCTRL.Pos 105 Resolver TORQUE-MCTRL.NAct_v 106 TORQUE-MCTRL.NAct 107 TORQUE-MCTRL.Pos C0051 C0420 40 C0011 C0497 C0490 C0596 C0491 C0098 C0491 X8 MONIT-NMAX TORQUE-MCTRL.NmaxFault C0495 348 Encoder 0 const TORQUE-MCTRL.NmaxC11 108 1 TORQUE-MCTRL.ResolverFault MONIT-Sd2 349 DFOUT const TORQUE-MCTRL.SensorFault 1 MONIT-Sd6 355 const MONIT-Sd7 TORQUE-MCTRL.EncoderFault 356 150°C Mot temp (X7 or X8) MONIT-OH3 TORQUE-MCTRL.MotorTempGreaterSetValue 350 C0063 C0121 MONIT-OH7 TORQUE-MCTRL.MotorTempGreaterC0121 351 85°C Heatsink temp MONIT-OH TORQUE-MCTRL.KuehlGreaterSetValue 353 C0061 C0122 MONIT-OH4 TORQUE-MCTRL.KuehlGreaterC0122 354 Function library 11 Torque (torque control) Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C7510 Display of the current signal states on the digital inputs of the 0 (= FALSE) 1 (= TRUE) "Torque" function block 1 TorqueIn−dig CW rotation (TORQUE−RLQ.Cw) � 291 2 TorqueIn−dig CCW rotation (TORQUE−RLQ.CCw) 3 TorqueIn−dig Setting of the torque setpoint � 291 integrator to "0" along the adjusted ramps (TORQUE−NSET.Rfg0) 4 TorqueIn−dig Activation of the motor holding � 298 brake (TORQUE−BRK.SetBrake) 5 TorqueIn−dig Setting of quick stop � 294 (TORQUE−QSP.Set1) 6 TorqueIn−dig Setting of quick stop (TORQUE−QSP.Set2) 7 TorqueIn−dig Source for the integral−action component of the controller (TORQUE−MCTRL.ILoad) 8 TorqueIn−dig Keeping (freezing) the torque setpoint integrator to the current value (TORQUE-NSET.RfgStop) 9 TorqueIn−dig Inversion of additional torque setpoint (TORQUE−MAddInv) [C7511] Selection of the signal source for the digital input signals of the "Torque" function block 1 TorqueIn−dig 1000 0 (FALSE, not assigned) CW rotation (TORQUE−RLQ.Cw) � 291 2 TorqueIn−dig 1000 0 (FALSE, not assigned) CCW rotation (TORQUE−RLQ.CCw) 3 TorqueIn−dig 1000 0 (FALSE, not assigned) Setting of the torque setpoint � 291 integrator to 0 along the adjusted ramps (TORQUE−NSET.Rfg0) 4 TorqueIn−dig 1000 0 (FALSE, not assigned) Activation of the motor holding � 298 brake (TORQUE−BRK.SetBrake) 5 TorqueIn−dig 1000 0 (FALSE, not assigned) Setting of quick stop � 294 (TORQUE−QSP.Set1) 6 TorqueIn−dig 1000 0 (FALSE, not assigned) Setting of quick stop (TORQUE−QSP.Set2) 7 TorqueIn−dig 1000 0 (FALSE, not assigned) Source for the integral−action component of the controller (TORQUE−MCTRL.ILoad) 8 TorqueIn−dig 1000 0 (FALSE, not assigned) Keeping (freezing) the torque setpoint integrator to the current value (TORQUE-NSET.RfgStop) 9 TorqueIn−dig 1000 0 (FALSE, not assigned) Inversion of additional torque setpoint (TORQUE−MAddInv) For possible signals see "selection list − digital � 362 signals" EDBCSXS064 EN 3.0 � 287 11 Function library Torque (torque control) Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C7530 Display of the current signal states on the analog input of the −32768 {1} 32767 "Torque" function block (= −100 %) (= 100 %) 1 TorqueIn−anl Torque setpoint � 294 (SPEED-MCTRL.MAdd) 2 TorqueIn−anl Setpoint for the upper limit of � 291 speed limitation (TORQUE−NSET.NSet) 3 TorqueIn−anl Lower torque limit � 294 (TORQUE-MCTRL.negLoMLim) 4 TorqueIn−anl Upper torque limit (TORQUE-MCTRL.HiMLim) 5 TorqueIn−anl Setpoint for the lower limit of speed limitation (TORQUE−MCTRL.NStartMLim) 6 TorqueIn−anl Manual field weakening (TORQUE−MCTRL.FldWeak) 7 TorqueIn−anl Manual adaptation of the proportional gain of the speed controller (TORQUE−MCTRL.NAdapt) 8 TorqueIn−anl Manual adaptation of the integral−action component of the speed controller (TORQUE−MCTRL.ISet) 9 TorqueIn−anl Torque threshold for the motor � 298 holding brake (TORQUE−BRK.TorqueThreshold) 10 TorqueIn−anl Direction of torque created by the drive against the motor holding brake (TORQUE−BRK.Sign) EDBCSXS064 EN 3.0 288 � Function library 11 Torque (torque control) Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C7531] Selection of the signal source for the analog input signals of the "Torque" function block 1 TorqueIn−anl 1000 FIXED 0 % (not assigned) Torque setpoint � 294 (SPEED-MCTRL.MAdd) 2 TorqueIn−anl 1000 FIXED 0 % (not assigned) Setpoint for the upper limit of � 291 speed limitation (TORQUE−NSET.NSet) 3 TorqueIn−anl 1000 FIXED 0 % (not assigned) Lower torque limit � 294 (TORQUE-MCTRL.negLoMLim) 4 TorqueIn−anl 1000 FIXED 0 % (not assigned) Upper torque limit (TORQUE-MCTRL.HiMLim) 5 TorqueIn−anl 1000 FIXED 0 % (not assigned) Setpoint for the lower limit of speed limitation (TORQUE−MCTRL.NStartMLim) 6 TorqueIn−anl 1000 FIXED 0 % (not assigned) Manual field weakening (TORQUE−MCTRL.FldWeak) 7 TorqueIn−anl 1000 FIXED 0 % (not assigned) Manual adaptation of the proportional gain of the speed controller (TORQUE−MCTRL.NAdapt) 8 TorqueIn−anl 1000 FIXED 0 % (not assigned) Manual adaptation of the Integral−action component of the speed controller (TORQUE−MCTRL.ISet) � 298 9 TorqueIn−anl 1000 FIXED 0 % (not assigned) Torque threshold for the motor holding brake (TORQUE−BRK.TorqueThreshold) 10 TorqueIn−anl 1000 FIXED 0 % (not assigned) Direction of torque created by the drive against the motor holding brake (TORQUE−BRK.Sign) For possible signals see "selection list − analog � 371 signals" EDBCSXS064 EN 3.0 � 289 11 Function library Torque (torque control) Torque control with speed limitation 11.28.1 Torque control with speed limitation The "torque control with speed limitation" is the basic function of the "Torque" function block. Thereby, only the current control loop (torque control loop) is in the axis module. The torque setpoint is generated externally and is defined as a bipolar torque setpoint on TORQUE−MCTRL.MAdd (C7531/1). Within the external setpoint source, there can possibly be higher−level control loops (speed, position, pressure, �). "torque control with speed limitation"# By means of the specification of speed limits (speed limitation in the "Torque" function block it is provided that the drive does not operate in an uncontrolled manner if the load torque suddenly fails, e. g. due to a defect. The speed limits for positive and negative directions of rotations can be altered dynamically. For this purpose, the unused speed controller and a second speed controller (auxiliary speed controller) are used. ƒ The speed controller 1 is used to make up the upper speed limit. – The upper speed limit is defined at TORQUE−NSET.NSet (C7531/8) in [%] by N max (positive sign for CW rotation). ƒ The speed controller 2 (auxiliary speed controller) is used to make up the lower speed limit. – The lower speed limit is defined at TORQUE−MCTRL.NStartMLim (C7531/5) in [%] by N (negative sign for CCW rotation). max ƒ N is selected via code C0011. max � Stop! The upper speed limit is only to be used for CW rotation (positive values) and the lower speed limit only for CCW rotation (negative values); otherwise the drive may accelerate in an uncontrolled way. � Note! The value at TORQUE−MCTRL.NegLoMLim (C7531/3) is negated in the "Torque" function block. EDBCSXS064 EN 3.0 290 � Function library 11 Torque (torque control) Changing the direction of rotation 11.28.2 Changing the direction of rotation By means of the inputs TORQUE−RLQ.Cw (C7511/1) and TORQUE−RLQ.CCw (C7511/2) of the "Torque" function block, two functions are carried out: "changing the direction of rotation"# ƒ Changing the direction of rotation ƒ Set quick stop (QSP) � Stop! The speed and direction of torque have to be selected according to the application. � Note! Both input signals only have an effect on the torque setpoint path. Signal name Response TORQUE−RLQ.Cw TORQUE−RLQ.CCw Direction of rotation Quick stop (QSP) 00 None Yes 1 0 To the right No 0 1 To the left No 1 1 No change No 11.28.3 Setpoint processing 11.28.3.1 Selecting the source for the torque setpoint The "Torque" function block is supplied with the torque setpoint via the input TORQUE−NSET.NSet (code C7531/2). The valid values are within the decimal range ±32767. The torque setpoint is conditioned by a ramp function generator and special controllers. EDBCSXS064 EN 3.0 � 291 11 Function library Torque (torque control) Setpoint processing 11.28.3.2 Setting acceleration and deceleration times The torque setpoint is led via a ramp function generator. This enables input steps to be converted into a ramp. The acceleration time (T ) and deceleration time (T ) refer to a change in speed from "0" ir if to n (0 ... 100�%). The times to be set are calculated according to the formulae: max Acceleration time (code C0012) Deceleration time (code C0013) 100�% 100�% T � t � T � t � ir ir if if w2� w1 w2� w1 [%] RFG-OUT 100 w2 w1 0 t t t ir if T T ir if ECSXASA001 Fig.11−35 Diagram for acceleration and deceleration time Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0012 TIR (ACC) 0.000 Acceleration time for the � 271 � speed setpoint (for "speed control") � torque setpoint (for "torque control") 0.000 {0.001 s} 999.999 Relating to speed variation 0 rpm ... n (C0011) max C0013 TIF (DEC) 0.000 � 271 Deceleration time for the � speed setpoint (for "speed control") � torque setpoint (for "torque control") 0.000 {0.001 s} 999.999 Relating to speed variation 0 rpm ... n (C0011) max EDBCSXS064 EN 3.0 292 � Function library 11 Torque (torque control) Setpoint processing 11.28.3.3 Influencing the ramp function generator ƒ If the controller is inhibited, the ramp function generator accepts the actual speed and passes it to the downstream function. This function has priority over all other functions. ƒ If the input TORQUE−NSET.RfgStop = TRUE (C7511/8), the ramp function generator is stopped. Changes of the input of the ramp function generator have no effect on the output signal. ƒ If the input TORQUE−NSET.Rfg0 = TRUE (C7511/3) the ramp function generator reaches zero along the deceleration ramp. ƒ The threshold in C0241 specifies when the message "Setpoint reached" is output. On the ramp function generator for the torque setpoint, the following applies: input signal = output signal Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0241 NSET RFG I = O 1.00 Threshold for message "Setpoint � 273 reached" � 293 On the ramp function generator for � speed setpoint (for "speed control") � torque setpoint (for "torque control") input signal = output signal. 0.00 {0.01 %} 100.00 100 % = n max EDBCSXS064 EN 3.0 � 293 11 Function library Torque (torque control) Setting of motor control 11.28.3.4 Changing the characteristic of the ramp function generator You can select two different characteristics for the ramp function generator via C0134: ƒ A linear characteristic for all acceleration processes that are required for a constant acceleration. ƒ S−shaped characteristic for all acceleration processes that require a jerk−free acceleration. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0134 RFG charac 0 Characteristic of the ramp � 274 function generator for the � speed setpoint (for "speed control") � torque setpoint (for "torque control") 1 Linear Ramp function generator operates linearly. 2 S−shaped Ramp function generator operates without jerk (S−shaped). C0182 Ti S−shaped 20.00 Form of the S−curve for the � 274 � speed setpoint (for "speed control") � torque setpoint (for "torque control") of the ramp function generator (C0134 = 1) 0.01 {0.01 s} 50.00 The higher the value, the bigger the S−rounding. 11.28.4 Setting of motor control 11.28.4.1 Torque setpoint ƒ The maximum possible torque is calculated from the motor parameters by the controller. It can be read in C0057. ƒ Torque setpoint "torque setpoint"# – TORQUE−MCTRL.MAdd (C7531/1) acts as a torque setpoint. – The speed controllers carry out a monitoring function. – The torque setpoint is defined in [%] of the maximum possible torque. – Negative values cause a torque in CCW rotation of the motor. – Positive values cause a torque in CW rotation of the motor. EDBCSXS064 EN 3.0 294 � Function library 11 Torque (torque control) Setting of motor control 11.28.4.2 Torque limitation An external torque limitation can be set via TORQUE−MCTRL.NegLoMLim (C7531/3) and TORQUE−MCTRL.HiMLim (C7531/4). This enables you to select different torques for the quadrants "driving" and "braking". ƒ TORQUE−MCTRL.HiMLim is the limit in the positive direction in [%] of the maximum possible torque. ƒ TORQUE−MCTRL.HoMLim is the limit in the negative direction in [%] of the maximum possible torque. The maximum possible torque (C0057) depends on the motor parameters (C0022, C0081, C0087, C0088). � Note! In case of quick stop (QSP), the torque limitation is switched to an inactive state, i. e. the operation runs with ±100 %. 11.28.4.3 Maximum speed The maximum speed N speed is set via C0011. It is the reference value for: max ƒ The absolute and relative setpoint selection for the acceleration and deceleration times. ƒ The upper and lower speed limit. ƒ n = 100 % = 16384 (data type "Integer"). max 11.28.4.4 Quick stop (QSP) By means of the QSP function, the drive can be stopped within an adujstable time, irrespective of the setpoint selection. The QSP function is active if: ƒ Input TORQUE−QSP.Set1 (C7511/5) = TRUE ƒ Input TORQUE−QSP.Set2 (C7511/6) = TRUE ƒ Output TORQUE−RLQ.QSP = TRUE Function: If a torque control has been selected, it is switched inactive. The drive is guided by the speed controller. The speed is reduced to zero within the deceleration time set under C0105. The torque limitation TORQUE−MCTRL.NegLoMLim (C7531/3) and TORQUE−MCTRL.HiMLim (C7531/4) is switched inactive, i. e. the operation runs with ±100 %. The phase controller is switched active. If the rotor position is actively displaced, the drive creates a torque against the displacement if C0254 is unequal to 0.0 EDBCSXS064 EN 3.0 � 295 11 Function library Torque (torque control) Setting of motor control 11.28.4.5 Adjusting the speed controller The speed controller is designed as an ideal PID controller. Parameter setting: ƒ Via C0070 you set the proportional gain (V ): p – Enter approx. 50 % of the speed setpoint (100 % = 16384 = N ). max – Increase C0070 until the drive becomes instable (pay attention to engine noises). – Reduce C0070 until the drive runs stable again. – Reduce C0070 to approx. half the value. ƒ The proportional gain (V ) can be altered via TORQUE−MCTRL.NAdapt (C7531/7): p – Vp = TORQUE−MCTRL.NAdapt [%] x C0070 – If TORQUE−MCTRL.NAdapt is not assigned, the following applies: Vp = 100 % x C0070 = C0070. ƒ The reset time (T ) is set via C0071: n – Reduce C0071 until the drive becomes unstable (pay attention to motor noise). – Increase C0071, until the drive runs stable again. – Increase C0071 to approx. the double value. ƒ The derivative gain (T ) is set via C0072: d – Increase C0072 during operation until an optimal control mode is reached. Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0070 Vp speedCTRL 3.00 Proportional gain of speed � 120 controller (V ) pn 0.00 { 0.01} 127.99 C0071 Tn speedCTRL 24.0 Integral−action time of speed � 120 controller (T ) nn 1.0 {0.5 ms} 6000.0 C0072 Td speedCTRL 0.00 Derivative gain of speed � 120 controller (T ) dn 0.0 {0.1 ms} 32.0 Signal limiting If the drive operates with the maximum torque, the speed controller operates within the limitation. The drive cannot follow the speed setpoint. The output TORQUE−MCTRL.MMax is set to TRUE. EDBCSXS064 EN 3.0 296 � Function library 11 Torque (torque control) Setting of motor control Setting the integral component For selecting defined starting values for the torque, the integral component of the speed controller can be set externally (e.g. when using the brake control). ƒ TORQUE−MCTRL.ILoad = TRUE (C7511/7): – The speed controller accepts the value applied at TORQUE−MCTRL.ISet (C7531/8) into its integral component. – The value at TORQUE−MCTRL.ISet (C7431/8) acts as a torque setpoint for the motor control. ƒ TORQUE−MCTRL.ILoad = FALSE (C7511/7): – The function is switched off. 11.28.4.6 Field weakening � Stop! The available torque decreases with the field weakening. The motor is operated in the field weakening range if ƒ the output voltage of the controller exceeds the rated motor voltage (C0090). ƒ the controller is no longer able to increase the output voltage with rising speed due to the mains voltage or DC−bus voltage. � Note! An optimal machine operation in the field weakening range requires a correct setting of the field controller and field weakening controller. Information on the setting: � 122 Manual field weakening � Stop! If the field is weakened manually (TORQUE−MCTRL.FldWeak (C7531/6) < 100 %), the drive cannot create the maximum torque. A manual field weakening is possible via TORQUE−MCTRL.FldWeak (7531/6). For a maximum excitation, TORQUE−MCTRL.FldWeak must be triggered with +100 % (= 16384). EDBCSXS064 EN 3.0 � 297 11 Function library Torque (torque control) Holding brake control 11.28.5 Holding brake control By means of this function, you can control a motor holding brake. Possible applications are: ƒ Hoists ƒ Traverse drives ƒ Drives with active loads Codes Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0195 BRK T act 99.9 � 281 Closing time of the motor holding brake � 298 � 83 0.0 {0.1 sec} 99.9 During the time set the drive continues to generate a torque. After the set time is expired, the status "mechanical brake closed" is reached. C0196 BRK T rel 0.0 Opening time of the motor � 281 holding brake � 298 � 83 0.0 {0.1 sec} 60.0 During the time set the drive can generate the torque set under C0244 against the holding brake. After the set time is expired, the status "mechanical brake opened" is reached. C0244 BRK M set 0.00 Holding torque of the drive � 281 against the motor holding brake � 298 � 83 −199.99 {0.01 %} 199.99 Referring to M (C0057). max During the time set in C0196 the drive generates the set torque against the holding brake. EDBCSXS064 EN 3.0 298 � Function library 11 Torque (torque control) Holding brake control 11.28.5.1 Closing the holding brake A HIGH level on the input TORQUE−BRK.SetBrake (C7511/4 = TRUE) activates the function. At the same time, the output TORQUE−BRK.SetQSP is set to HIGH. This signal can be used to brake the drive to standstill via a deceleration ramp (speed = 0). If the setpoint speed falls below the value set at the input TORQUE−BRK.SpeedThreshold (C7531/9), the output TORQUE−BRK.Out is set to HIGH. � Note! For a fail−safe design this signal must be inverted at the output (e.� g. via C0118). After the brake closing time set C0195 has lapsed, the output TORQUE−BRK.CInh switches to TRUE. By means of this signal you can for example activate controller inhibit (device−internal on the DCTRL function block). The setting of the brake closing time is required because the brake is not immediately activated at TORQUE−BRK.Out = TRUE (the drive has to provide another holding torque for the set time). � t � t � � t � � t � t ECSXASA002 Fig.11−36 Signal characteristic − closing of holding brake � TORQUE−BRK.SetBrake � TORQUE−BRK.SetQSP � TORQUE−BRK.MSetOut � TORQUE−BRK.Out � TORQUE−BRK.SetCInh TORQUE−BRK.TorqueThreshold � � Brake closing time (C0195) EDBCSXS064 EN 3.0 � 299 11 Function library Torque (torque control) Holding brake control 11.28.5.2 Opening the holding brake A LOW level on the input TORQUE−BRK.SetBrake (C7511/4 = FALSE) immediately sets the output TORQUE−BRK.SetCInh to LOW (controller inhibit is deactivated). At the same time, the output TORQUE−BRK.MStore is set to HIGH. This signal can be used to let the drive create a defined torque against the brake. The drive takes over the torque while the brake is released. The signal is only reset after the brake opening time set in C0196 has lapsed. After the brake opening time has lapsed, the output TORQUE−BRK.SetQSP is reset to LOW. This signal serves to e. g. release the setpoint integrator after the brake opening time has expired.� If an actual speed value higher than the value at TORQUE−BRK.TorqueThreshold (C7531/9) is recognised before the brake opening time has expired, the signals TORQUE−BRK.SetQSP and TORQUE−BRK.MStore are immediately reset to LOW. Then, the drive can immediately pass over to the speed−controlled operation. � t � t � t � t � � t � � t � t ECSXASA003 Fig.11−37 Signal characteristic − opening of holding brake � TORQUE−BRK.SetBrake � TORQUE−BRK.SetCInh � TORQUE−BRK.SetQSP � TORQUE−BRK.MStore � TORQUE−MCTRL.MAct � TORQUE−BRK.Out � TORQUE−BRK.MSetOut � TORQUE−MCTRL.MAct � Brake opening time (C0196) EDBCSXS064 EN 3.0 300 � Appendix 12 Code table 12 Appendix 12.1 Code table How to read the code table Column Abbreviation Meaning No. Cxxxx Code no. Cxxxx 1 Subcode 1 of Cxxxx 2 Subcode 2 of Cxxxx Cxxxx Changed parameter of code or subcode are accepted after pressing * #. [Cxxxx] Changed parameter of code or subcode are accepted after pressing * # when the controller is inhibited Designation LCD display of the keypad XT EMZ9371BC Lenze/appl. x Lenze setting: � Value at the time of delivery or after loading the Lenze setting using C0002. {xxx...} Varying application initialisation value � Value at the time of delivery � After loading the Lenze setting using C0002 the application initialisation value is overwritten with the Lenze setting. � The application initialisation value can be re−established by loading the application software using "Global Drive Loader" (GDL). � The column "Important" contains further information Selection 1 {%} 99 minimum value {unit} maximum value IMPORTANT Short code description Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0002 Par load 0 Load parameter set 0 Loading Lenze setting Load Lenze setting into the RAM and activate it: Only possible with C2108 = 2 (Stop) 1 Load parameter set 1 Load parameter set 1 into the RAM and activate it: Parameter set 1 is loaded automatically after every mains connection. C0003 Par save 0 Save parameter set 0 Done Saving completed 1 Save parameter set 1 Non−volatile saving of parameter set 1 C0004 Op display 56 Keypad status display 1 {Code no.} 9999 The keypad displays the selected code in the operating level, if no status messages from C0183 are active (e. g.: 56 = torque setpoint (C0056)) EDBCSXS064 EN 3.0 � 301 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C0006] Op mode 1 Operating mode of the motor � 114 control Only possible with C2108 = 2 (Stop) 1 Servo PM−SM Servo control of synchronous motors 2 Servo ASM Servo control of asynchronous motors C0009 LECOM 1 Device address for operation via ADDRESS AIF interface 1 {1} 99 Communication modules on AIF interface: � LECOM−A/B/LI 2102 – 10, 20, ..., 90 are reserved for broadcast to groups of nodes � PROFIBUS−DP 213x Operation via MotionBus (CAN): � Set CAN node address in C0350 C0011 Nmax 3000 Maximum speed: 500 {1 rpm} 16000 Reference value for the absolute and relative setpoint selection for the acceleration and deceleration times. For parameter setting via interface: greater changes in one step should only be made when the controller is inhibited (CINH)! C0012 TIR (ACC) 0.000 Acceleration time for the � 271 � speed setpoint (for "speed control") � torque setpoint (for "torque control") 0.000 {0.001 s} 999.999 Relating to speed variation 0 rpm ... n (C0011) max C0013 TIF (DEC) 0.000 Deceleration time for the � 271 � speed setpoint (for "speed control") � torque setpoint (for "torque control") 0.000 {0.001 s} 999.999 Relating to speed variation 0 rpm ... n (C0011) max C0017 FCODE (QMIN) 50 Used for speed signals � 253 −16000 {1 rpm} 16000 C0018 fchop 2 Switching frequency 1 4 kHz sin 4 kHz permanent PWM frequency 2 8/4 kHz sin 8 kHz PWM frequency with automatic derating to 4 kHz at high load C0019 Thresh nact = 0 Threshold, when N = 0 rpm is act 0 detected 0 {1 rpm} 16000 EDBCSXS064 EN 3.0 302 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0022 Imax current � I limit max 0 {0.01 A} � device−dependent list The maximum current can be obtained from the "Technical data". C0023 Imax fld.weak 0 Maximum field weakening current for synchronous machines 0 {1 %} 100 C0026 Used for relative analog signals � 211 � 253 1 FCODE (offset) 0.00 −199.99 {0.01 %} 199.99 2 FCODE (offset) 0.00 C0027 Used for relative analog signals � 211 � 253 1 FCODE (GAIN) 100.00 −199.99 {0.01 %} 199.99 2 FCODE (GAIN) 100.00 C0030 DFOUT CONST 3 Constant for the master � 248 frequency output in increments � 87 per revolution � 88 0 256 inc/rev 1 512 inc/rev 2 1024 inc/rev 3 2048 inc/rev 4 4096 inc/rev 5 8192 inc/rev 6 16384 inc/rev C0034 MST CURRENT 0 Selection: master � 211 voltage/master current for analog setpoint selection 0 −10 ... + 10 V Master voltage 1 +4 ... +20 mA Master current 2 −20 ... +20 mA C0037 Set−value rpm 0 Setpoint selection in rpm � 253 −16000 {1 rpm} 16000 C0039 15 fixed setpoints � 270 Can be retrieved via digital signals SPEED−NSET.Jogx. 1 JOG 0.00 −199.99 {0.01 %} 199.99 Relating to n (C0011) max SET−VALUE 2 JOG 0.00 SET−VALUE ... JOG 0.00 SET−VALUE 14 JOG 0.00 SET−VALUE 15 JOG 0.00 SET−VALUE EDBCSXS064 EN 3.0 � 303 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0040 Ctrl enable 1 Controller inhibit (CINH) � Writing: Controls the controller inhibit � Reading: Reads the status of the controller inhibit 0 Controller inhibited 1 Controller enabled C0042 DIS: QSP Quick stop status (QSP) � 242 Only display � 112 0 QSP not active 1 QSP active C0043 Trip reset Reset active TRIP 0 Reset TRIP 1 TRIP active C0050 MCTRL−NSET2 Speed setpoint on the input of the speed controller Only display −100.00 {0.01 %} 100.00 C0051 MCTRL−NACT Actual speed Only display −30000 {1 rpm} 30000 C0052 MCTRL Umot Actual motor voltage Only display 0 {1 V} 800 C0053 UG−VOLTAGE DC−bus voltage Only display 0 {1 V} 900 C0054 Imot Actual motor current Only display 0.0 {0.1 A} 500.0 C0055 Phase current Actual phase current Only display 1 Iu 0.0 {0.1 A} 500.0 Actual current in U phase 2 Iv Actual current in V phase 3 Iw Actual current in W phase 4 Io Actual theoretical star−point current C0056 MCTRL−MSET2 Speed setpoint on the output of the speed controller Only display −100 {1 %} 100 C0057 Max torque Maximum possible torque of the drive configuration Dependent on C0022, C0081, C0087, C0088 Only display 0.0 {0.1 Nm} 500.0 C0058 Rotor diff −90.0 Rotor displacement angle for � 117 synchronous motors (C0095) Only display −180.0 {0.1 �} 179.9 EDBCSXS064 EN 3.0 304 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0059 Mot pole no. Pole pair number of the motor Only display 1 {1} 200 C0060 Rotor pos Current rotor position Only display 0 {1 inc} 2047 1 rev = 2048 inc C0061 Heatsink Heatsink temperature temp Only display 0 {1 °C} 100 C0062 Interior temp Temperature inside the device Only display 0 {1 °C} 100 C0063 Mot temp � 169 Motor temperature Only display 0 {1 °C} 200 C0064 Utilization Drive load I x t during the last 180 s Only display 0 {1 %} 150 � C0064 � 100 % releases TRIP OC5 � TRIP reset is only possible if C0064 � 95 % C0065 U24 ext External supply voltage Only display 0.0 {0.1V} 100.0 2x C0066 Motor load Thermal motor load I t � 174 Only display 0 {1 %} 250 C0067 ACT TRIP Current TRIP � 184 (in case of FAIL−QSP, warning and message, "0" is displayed.) Read only C0070 Vp speedCTRL 3.00 Proportional gain of speed � 120 controller (V ) pn 0.00 { 0.01} 127.99 C0071 Tn speedCTRL 24.0 Integral−action time of speed � 120 controller (T ) nn 1.0 {0.5 ms} 6000.0 C0072 Td speedCTRL 0.00 Derivative gain of speed � 120 controller (T ) dn 0.0 {0.1 ms} 32.0 C0074 Dynamics 0 Pilot control of the current � 116 controller for higher dynamics 0 Normal Normal 1 Enhanced Enhanced EDBCSXS064 EN 3.0 � 305 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0075 Vp currCTRL 4.00 Proportional gain of current � 116 controller (V ) pi The upper limit is device−dependent. 0.00 {0.01 �} 381.80 ECSxS/P/M/A004 190.90 ECSxS/P/M/A008 95.46 ECSxS/P/M/A016 47.72 ECSxS/P/M/A032 31.82 ECSxS/P/M/A048 23.86 ECSxS/P/M/A064 C0076 Tn currCTRL 5.00 Integral−action time of current � 116 controller (T ) ni 0.01 {0.01 ms} 200.00 C0077 Vp fieldCTRL 5.00 Field controller gain V � 122 pF 0.00 { 0.01} 63.99 C0078 Tn fieldCTRL 20.0 Integral−action time of field � 122 controller T nF 1.0 {0.5 ms} 6000.0 C0079 DIS:Lh Mutual inductance of the asynchronous motor Only display 0.0 {0.1 mH} 3276.7 [C0080] Res pole no. 1 Number of pole pairs of resolver 1 {1} 10 [C0081] Mot power 3.20 Rated motor power according to nameplate 0.01 {0.01 kW} 500.00 [C0082] DIS:Rr Rotor resistance of the asynchronous motor Only display 0.000 {0.001 �} 32.767 C0083 DIS:Tr Rotor time constant of the asynchronous motor Only display 0.00 {0.01 ms} 327.67 [C0084] Mot Rs 1.10 Motor stator resistance The upper limit is device−dependent. 0.00 {0.01 �} 95.44 ECSxS/P/M/A004 47.72 ECSxS/P/M/A008 23.86 ECSxS/P/M/A016 11.93 ECSxS/P/M/A032 7.95 ECSxS/P/M/A048 5.96 ECSxS/P/M/A064 [C0085] Mot Ls 5.30 Leakage inductance of the motor 0.00 {0.01 mH} 200.00 [C0087] Mot speed 3700 Rated motor speed 300 {1 rpm} 16000 [C0088] Mot current 7.0 Rated motor current 0.5 {0.1 A} 500.0 EDBCSXS064 EN 3.0 306 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C0089] Mot 185 Rated motor frequency frequency 10 {1 Hz} 1000 [C0090] Mot voltage 325 Rated motor voltage 50 {1 V} 500 [C0091] Mot cos phi 1.00 cos � of the asynchronous motor 0.50 { 0.01} 1.00 C0092 DIS:Isdeff Magnetising current of the asynchronous motor Only display 0.00 {0.01 A} 327.67 C0093 Drive ident Device identification of the ECS axis module Read only 0 Defective power section 1 No power section recognised 4 ECSxS/P/M/A004C4 8 ECSxS/P/M/A008C4 16 ECSxS/P/M/A016C4 32 ECSxS/P/M/A032C4 48 ECSxS/P/M/A048C4 64 ECSxS/P/M/A064C4 65 ECSxS/P/M/A064C2 C0094 Password 0 Password Parameter access protection for the keypad 0 {1} 9999 When the password is activated, only the codes of the user menu (C0517) can be accessed. Further 0 = no password possible selections: see C0096 [C0095] Rotor pos adj 0 Rotor position adjustment of a � 117 synchronous motor C0058 shows the rotor displacement angle. 0 Inactive 1 Active C0096 Extended password protection for bus systems with activated password (C0094) All codes in the user menu can be accessed. 1 AIF/CAN prot. 0 No access protection AIF access protection 2 AIF/CAN prot. 0 No access protection CAN access protection 0 No access protection Full access 1 Write protection Reading not possible 2 Write protection Writing not possible 3 Read/write protection Reading and writing not possible C0097 DIS:Lt−Ident Without function C0098 zero pos off 0 Position offset −2147483647 {1 inc} 2147483647 C0099 S/W version Software version Only display EDBCSXS064 EN 3.0 � 307 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0101 15 additional acceleration times � 271 for the speed setpoint. Can be retrieved via digital signals SPEED−NSET.TIx. 1 add Tir 0.000 0.000 {0.001 s} 999.999 Relating to speed variation 0 rpm ... n (C0011) max 2 add Tir 0.000 ... add Tir 0.000 14 add Tir 0.000 15 add Tir 0.000 C0103 add Tif 15 additional deceleration times � 271 for the speed setpoint. Can be retrieved via digital signals SPEED−NSET.TIx. 1 add Tif 0.000 0.000 {0.001 s} 999.999 Relating to speed variation 0 rpm ... n (C0011) max 2 add Tif 0.000 ... 0.000 14 add Tif 0.000 15 add Tif 0.000 C0105 QSP Tif 0.000 � 242 Deceleration time for quick stop (QSP) � 112 0.000 {0.001 s} 999.999 Relating to speed variation n max (C0011) ... 0 rpm. C0108 Used for relative analog signals � 253 1 FCODE (GAIN) 100.00 −199.99 {0.01 %} 199.99 2 FCODE (GAIN) 100.00 C0109 Used for relative analog signals � 253 1 FCODE (offset) 0.00 −199.99 {0.01 %} 199.99 2 FCODE (offset) 0.00 C0110 Service codes Only the Lenze service is allowed ... to make changes! C0113 50 {1 %} 200 For controlling an asynchronous motor C0114 Polarity of the digital inputs � 251 (DIGIN) � 92 1 DIGIN pol 0 HIGH level active X6/DI1 2 DIGIN pol 0 HIGH level active X6/DI2 3 DIGIN pol 0 HIGH level active X6/DI3 4 DIGIN pol 0 HIGH level active X6/DI4 0 HIGH level active 1 LOW level active C0118 Polarity of the digital outputs � 252 (DIGOUT) � 92 1 DIGOUT pol 0 No inversion X6/DO1 2 DIGOUT pol 0 No inversion X25/BD1, X25/BD2 (brake connection) 0 No inversion 1 Logic inversion of the level EDBCSXS064 EN 3.0 308 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. 2 C0120 OC6 limit 105 Threshold for I xt disconnection � 174 2 0 {1 %} 120 0 = I xt monitoring is switched off 2 I xt > C0120 �TRIP 006 C0121 OH7 limit 120 Adjustable threshold for early � 169 motor temperature warning 45 {1 °C} 150 Motor temperature > C0121 � fault OH7 C0122 OH4 limit 80 Adjustable threshold for early � 170 heatsink temperature warning 45 {1 °C} 90 Heatsink temperature > C0122 � fault OH4 C0123 OC7 limit 90 Adjustable threshold for I x t � 172 early warning 0 {1 %} 100 C0064 � C0123 � fault OC7 C0124 OH5 limit 75 Adjustable threshold for early � 171 warning of temperature inside the device 10 {1 %} 90 C0062 � C0124 � fault OH5 C0125 Baud rate 0 Baud rate for accessory module LECOM A/B/LI 0 9600 bit/s 1 4800 bit/s 2 2400 bit/s 3 1200 bit/s 4 19200 bit/s C0126 MONIT CE0 3 Monitoring of the communication on the automation interface (AIF). 0 TRIP A communication error ("CommErr") releases the 2 Warning adjusted reaction. 3 Off Monitoring is switched off. 2 C0127 OC8 limit 100 Threshold for I xt early warning � 174 2 0 {1 %} 120 I xt > C0127 � reaction as adjusted in C0606 C0128 Tau motor 5.0 Thermal time constant of the � 174 motor 2 1.0 {0.1 min} 25.0 For calculating the I xt disconnection C0134 RFG charac 0 Characteristic of the ramp � 274 function generator for the � speed setpoint (for "speed control") � torque setpoint (for "torque control") 1 Linear Ramp function generator operates linearly. 2 S−shaped Ramp function generator operates without jerk (S−shaped). EDBCSXS064 EN 3.0 � 309 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0135 Control word 0 Control word for networking via automation interface (AIF) 0 {1} 65535 Controller evaluates information as 16 bits (binary coded) Bit 0 Not assigned Bit 1 Not assigned Bit 2 Not assigned Bit 3 Activate quick stop (QSP) Bit 4 Not assigned Bit 5 Not assigned Bit 6 Not assigned Bit 7 Not assigned Bit 8 Activate operation inhibit (DISABLE) Bit 9 Activate controller inhibit (CINH) Bit 10 Set TRIP Bit 11 Reset TRIP Bit 12 Not assigned Bit 13 Not assigned Bit 14 Not assigned Bit 15 Not assigned C0136 Control words Only display 1 Ctrl word 0 {hex} FFFF Control word in DCTRL 2 Ctrl word Control word in CANaux_IN 3 Ctrl word Control word in AIF1In C0141 FCODE (setval) 0.00 Used for relative analog signals � 253 −199.99 {0.01 %} 199.99 C0142 Start options 1 Starting condition for start (controller enable) executed � after mains connection � after message (t � 0.5 s) � after TRIP 0 Start protection 1 Automatic start EDBCSXS064 EN 3.0 310 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0150 Status word 0 Status word for networking via automation interface (AIF) Only display 0 {1} 65535 Controller evaluates information as 16 bits (binary coded) Bit 0 Not assigned Bit 1 Pulse inhibit (IMP) is active Bit 2 Not assigned Bit 3 Not assigned Bit 4 Not assigned Bit 5 Not assigned Bit 6 n=0 Bit 7 Controller inhibit (CINH) is active Bit 8 Controller status Bit 9 Controller status Bit 10 Controller status Bit 11 Controller status Bit 12 Warning is active Bit 13 Message is active Bit 14 Not assigned Bit 15 Not assigned C0155 Status word 2 0 Status word 2 (extended status word) Only display 0 {1} 65535 Controller evaluates information as 16 bits (binary coded) Bit 0 Fail Bit 1 Mmax Bit 2 Imax Bit 3 Pulse inhibit is active (IMP) Bit 4 Ready for operation (RDY) Bit 5 Controller inhibited (CINH) Bit 6 TRIP is active Bit 7 Init Bit 8 Direction of rotation of the motor (CW/CCW) Bit 9 Not assigned Bit 10 Not assigned Bit 11 Not assigned Bit 12 Not assigned Bit 13 Not assigned Bit 14 Not assigned Bit 15 Not assigned EDBCSXS064 EN 3.0 � 311 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0157 State of the user−definable bits of the status word Only display 1 Stat. FreeBit 0 1 Bit 0 2 Stat. FreeBit Bit 2 3 Stat. FreeBit Bit 3 4 Stat. FreeBit Bit 4 5 Stat. FreeBit Bit 5 6 Stat. FreeBit Bit 14 7 Stat. FreeBit Bit 15 C0161 ACT TRIP Current TRIP � 184 � as in C0168/1 � in case of FAIL−QSP, warning and message, "0" is displayed. Read only C0167 Reset failmem 0 Delete history buffer (C0168) � 180 0 No reaction 1 Delete history buffer � 180 C0168 History buffer (list of faults occurred) Read only 1 Fail number Currently active 2 Fail number Last 3 Fail number Last but one 4 Fail number Last but two 5 Fail number Last but three 6 Fail number Last but four 7 Fail number Last but five 8 Fail number Last but six All fault indications (TRIP, short−circuit brake, TRIP, FAIL−QSP, warning, message) C0169 Time at which the faults entered � 180 into the history buffer (C0168) occurred Only display 1 Failtime Respective power−on time (C0179) Currently active 2 Failtime Last 3 Failtime Last but one 4 Failtime Last but two 5 Failtime Last but three 6 Failtime Last but four 7 Failtime Last but five 8 Failtime Last but six 0 {1 h} 65535 EDBCSXS064 EN 3.0 312 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0170 Frequency of successive � 180 occurrence of the faults entered in the history buffer (C0168) Only display 1 Counter Respective fault frequency Currently active 2 Counter Last 3 Counter Last but one 4 Counter Last but two 5 Counter Last but three 6 Counter Last but four 7 Counter Last but five 8 Counter Last but six 0 {1} 65535 C0173 UG limit 11 Adaptation of the DC−bus � 78 voltage thresholds: � Check during commissioning and adapt, if necessary. � All drive components in DC bus connections must have the same thresholds. – LU = Undervoltage threshold – OU = Overvoltage threshold 0 Mains = 230V +− B Operation on 230 V mains with or without brake unit LU = 130 V, OU = 400 V 1 Mains = 400V +− B Operation on 400 V mains with or without brake unit LU = 285 V, OU = 800 V 2 Mains = 460V +− B Operation on 460 V mains with or without brake unit LU = 328 V, OU = 800 V 3 Mains = 480V − B Operation on 480 V mains without brake unit LU = 342 V, OU = 800 V 4 Mains = 480V + B Operation on 480 V mains with brake unit LU = 342 V, OU = 800 V 10 Mains = 230V +− B Operation on 230 V mains with or without brake unit LU = C0174, OU = 400 V 11 Mains = 400V +− B Operation on 400 V mains with or without brake unit LU = C0174, OU = 800 V 12 Mains = 460V +− B Operation on 460 V mains with or without brake unit LU = C0174, OU = 800 V 13 Mains = 480V − B Operation on 480 V mains without brake unit LU = C0174, OU = 800 V 14 Mains = 480V + B Operation on 480 V mains with brake unit LU = C0174, OU = 800 V EDBCSXS064 EN 3.0 � 313 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0174 UG min 60 Undervoltage threshold of DC � 78 bus (LU) 15 {1 V} 342 C0175 UG−Relais Fkt 1 Charge relay behaviour with � 78 undervoltage (LU) in the DC bus. 1 Standard Relay switches as a function of LU. 2 One Time Relay switches when LU is exceeded for the first time and remains on. 3 Fixed On Charging current limitation is inactive. � Relay is always switched on and the charging resistors of the axis module are thus permanently jumpered. � Setting for operation with ECSxE power supply module. C0178 Op timer Running time meter Read only 0 {1 sec} 4294967295 Time when the controller was enabled C0179 Mains timer Power−on time meter Only display 0 {1 sec} 4294967295 Time when the mains was switched on C0182 Ti S−shaped 20.00 Form of the S−curve for the � 274 � speed setpoint (for "speed control") � torque setpoint (for "torque control") of the ramp function generator (C0134 = 1) 0.01 {0.01 s} 50.00 The higher the value, the bigger the S−rounding. EDBCSXS064 EN 3.0 314 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0183 Diagnostics Drive diagnostics Only display � Indicates fault or status information � If several fault or status information units are to be shown, the information unit with the smallest number is displayed. 0 OK No fault 101 Initialisation phase 102 TRIP/trouble 103 Emergency stop activated 104 IMP message 105 Power off 111 Operation inhibit C0135 112 Operation inhibit AIF 113 Operation inhibit CAN 121 Controller inhibit via X6/SI1 122 Internal controller inhibit 1 123 Internal controller inhibit 2 124 Controller inhibit via STOP key of the keypad 125 Controller inhibit via AIF 126 Controller inhibit via CAN 131 FAIL−QSP 141 Restart protection 142 Pulse inhibit High resistance power outputs 151 Quick stop (QSP) via terminal 152 Quick stop (QSP) via STOP key of the keypad 153 Quick stop (QSP) via AIF 154 Quick stop (QSP) via CAN 160 PLC Stop 250 Warning C0190 NSET ARIT 0 Linking of speed setpoint (NSet) � 275 and additional setpoint (NAdd) 0 OUT = NAdd Additional setpoint is not considered. 1 NSet + NAdd Additional setpoint is added to speed setpoint. 2 NSET−NADD Additional setpoint is subtracted from speed setpoint. 3 NSet x NAdd Additional setpoint is multiplied by speed setpoint. 4 NSet / NAdd Speed setpoint is divided by additional setpoint. 5 NSet / (100 − NAdd) Speed setpoint is divided by (100 − additional setpoint). EDBCSXS064 EN 3.0 � 315 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0195 BRK T act 99.9 Closing time of the motor � 281 holding brake � 298 � 83 0.0 {0.1 sec} 99.9 During the time set the drive continues to generate a torque. After the set time is expired, the status "mechanical brake closed" is reached. C0196 BRK T rel 0.0 Opening time of the motor � 281 holding brake � 298 � 83 0.0 {0.1 sec} 60.0 During the time set the drive can generate the torque set under C0244 against the holding brake. After the set time is expired, the status "mechanical brake opened" is reached. C0199 BuildNumber Software identification Only display C0200 S/W Id Software identification Only display C0201 S/W date Software release date Only display C0202 Service code Only display 1 Product code 1 ... ... 4 Product code 4 C0203 Komm.−No. x / xxxx / xxxxx Commission number Only display C0204 Serial No. Serial number Only display C0205 PLC Target ID Identification key Only display C0206 Product. date Production date Only display C0207 DL info 1 Download info 1 Only display C0208 DL info 2 Download info 2 Only display C0209 DL info 3 Download info 3 Only display C0220 NSET Tir add 0.000 � 275 Acceleration time for the additional setpoint 0.000 {0.001 s} 999.999 Relating to speed variation 0 rpm ... n (C0022) max C0221 NSET Tif add 0.000 Deceleration time for the � 275 additional setpoint 0.000 {0.001 s} 999.999 Relating to speed variation 0 rpm ... n (C0011) max EDBCSXS064 EN 3.0 316 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0241 NSET RFG I = O 1.00 Threshold for message "Setpoint � 273 reached" � 293 On the ramp function generator for � speed setpoint (for "speed control") � torque setpoint (for "torque control") input signal = output signal. 0.00 {0.01 %} 100.00 100 % = n max C0244 BRK M set 0.00 Holding torque of the drive � 281 against the motor holding brake � 298 � 83 −199.99 {0.01 %} 199.99 Referring to M (C0057). max During the time set in C0196 the drive generates the set torque against the holding brake. C0250 FCODE 1 Bit 0 Freely selectable digital signal � 253 (1 bit) 0 1 C0254 Vp angle CTRL 0.4000 Phase controller gain (V ) � 279 p 0.0000 {0.0001} 3.9999 C0300 Service Codes Only the Lenze service is allowed to make changes! ... C0302 C0304 Service Codes Only the Lenze service is allowed to make changes! ... C0310 C0349 Status of DIP switch for MotionBus (CAN) Only display 1 CAN DIP−SW 0 {1} 63 Node address set on the DIP switch 2 CAN DIP−SW 0 4 For setting the DIP switches > 4, set the display to 0. C0350 CAN address 1 Node address MotionBus (CAN) � 150 � 149 1 {1} 63 C0351 CAN Baud 0 MotionBus (CAN)baud rate � 150 rate 0 500 kbits/s 1 250 kbits/sec 2 125 kbits/sec 3 50 kbits/sec 4 1000 kbits/sec C0352 CAN mst 0 MotionBus (CAN) master/slave � 153 configuration 0 Slave CAN boot−up is not active 1 Master CAN boot up is active 2 Master with node guarding 3 Slave and heartbeat producer 4 Slave with node guarding EDBCSXS064 EN 3.0 � 317 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0353 Source for system bus node addresses of CAN−IN/CAN−OUT 0 1 1 CAN addr sel 0 CAN node address (C0350) CAN1_IN/CAN1_OUT addr. 2 CAN addr sel 0 CAN node address (C0350) CAN2_IN/CAN2_OUT addr. 3 CAN addr sel 0 CAN node address (C0350) CAN3_IN/CAN3_OUT addr. 0 C0350 (auto) Automatically determined by C0350 1 C0354 (man.) Determined by C0354 C0354 Alternative node addresses for � 152 MotionBus (CAN) 1 CAN addr. 129 1 {1} 512 Address 2 CAN1_IN 2 CAN addr. 1 Address 2 CAN1_OUT 3 CAN addr. 257 Address 2 CAN2_IN 4 CAN addr. 258 Address 2 CAN2_OUT 5 CAN addr. 385 Address 2 CAN3_IN 6 CAN addr. 386 Address 2 CAN3_OUT C0355 MotionBus (CAN) identifier � 149 Readonly 1 CAN Id 1 {1} 2047 Identifier CAN1_IN 2 CAN Id Identifier CAN1_OUT 3 CAN Id Identifier CAN2_IN 4 CAN Id Identifier CAN2_OUT 5 CAN Id Identifier CAN3_IN 6 CAN Id Identifier CAN3_OUT C0356 MotionBus (CAN) time settings � 154 1 CAN times 3000 0 {1 ms} 65000 CAN boot−up time: Delay time after mains connection for initialisation through the master. 2 CAN times 0 CAN2_OUT/CAN3_OUT times: Factor for the task time to send process data telegram. 3 CAN times 0 0 = event−controlled transmission 4 CAN times 20 CAN delay time: Delay time for sending telegrams via the process data object C0357 MotionBus (CAN) monitoring � 168 time for CAN1...3_IN 1 CE monit time 3000 1 {1 ms} 65000 CE1 monitoring time 2 CE monit time 3000 CE2 monitoring time 3 CE monit time 3000 CE3 monitoring time C0358 Reset Node 0 Carry out reset node of � 154 MotionBus (CAN) 0 No function 1 CAN reset EDBCSXS064 EN 3.0 318 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0359 CAN state 0 Status MotionBus (CAN) � 161 Only display 0 Operational 1 Pre−operational 2 Warning 3 Bus off 4 Stopped C0360 Telegram counter of MotionBus � 161 (CAN), number of telegrams Only display 1 CAN 0 {1} 65535 All sent telegrams Messages With a count value � 65535 the counter restarts 2 CAN All received telegrams Messages with 0 3 CAN Sent to CAN1_OUT Messages 4 CAN Sent to CAN2_OUT Messages 5 CAN Sent to CAN3_OUT Messages 6 CAN Sent on parameter data Messages channel 1 7 CAN Sent on parameter data Messages channel 2 8 CAN Received from CAN1_IN Messages 9 CAN Received from CAN2_IN Messages 10 CAN Received from CAN3_IN Messages 11 CAN Received from parameter data Messages channel 1 12 CAN Received from parameter data Messages channel 2 EDBCSXS064 EN 3.0 � 319 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0361 Detected load of the MotionBus � 162 (CAN) Only display A faultless operation is only guaranteed if the total bus load of all connected nodes amounts to a value � 80 %. 1 Load IN/OUT 0 {1 %} 100 All sent telegrams 2 Load IN/OUT All received telegrams 3 Load IN/OUT Sent to CAN1_OUT 4 Load IN/OUT Sent to CAN2_OUT 5 Load IN/OUT Sent to CAN3_OUT 6 Load IN/OUT Sent on parameter data channel 1 7 Load IN/OUT Sent on parameter data channel 2 8 Load IN/OUT Received from CAN1_IN 9 Load IN/OUT Received from CAN2_IN 10 Load IN/OUT Received from CAN3_IN 11 Load IN/OUT Received from parameter data channel 1 12 Load IN/OUT Received from parameter data channel 2 C0362 Sync cycle Time between 2 sync telegrams � 155 on the MotionBus (CAN) Only display 1 {1 ms} 30 C0363 Sync correct. 1 � 157 CAN sync correction increment 1 0.2 �s/ms 2 0.4 �s/ms 3 0.6 �s/ms 4 0.8 �s/ms 5 1.0 �s/ms C0365 DIS:CAN Input signal CAN active active Only display 0 CAN not active 1 CAN active C0366 Sync Response 1 MotionBus (CAN) Sync response � 158 0 No response 1 Response C0367 Sync Rx ID 128 � 156 MotionBus (CAN) Sync receipt ID 1 {1} 256 C0368 Sync Tx ID 128 MotionBus (CAN) Sync transmission ID 1 {1} 256 C0369 SyNc Tx time 0 CAN sync transmitting cycle � 155 A sync telegram with the identifier set in C0368 is sent with the set cycle time. 0 {1 ms} 65000 0 = switched off EDBCSXS064 EN 3.0 320 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C0370] SDO Gateway 0 Gateway address � 154 Activating remote parameter setting � When selecting a setting �0, all code read/write accesses will be redirected to the system bus device with the corresponding CAN node address. � The respective code is accessed via parameter data channel 1 of the target device. 0 {1} 63 0 = remote parameterisation deactivated C0371 Gateway Ch. 1 Selection of the gateway channel 0 CAN Use MotionBus (CAN) 1 CAN−AUX Use system bus (CAN) C0381 HeartProTime 0 Heartbeat (slave): HeartbeatProducerTime � Time interval for transmitting the heartbeat message. � Only relevant if C0352 = 3. 0 {1 ms} 65535 C0382 GuardTime 0 Node Guarding (slave): NodeGuardTime � Time interval of the status inquiry of the master. � Only relevant if C0352 = 4. 0 {1 ms} 65535 C0383 LifeTimeFact 0 Node Guarding (slave): NodeLifeTime factor � Factor for the monitoring time of NodeLifeTime � NodeLifeTime = C0383 x C0382 (NodeGuardTime) � Only relevant if C0352 = 4. 0 {1} 255 C0384 Err 0 Node Guarding (slave) NodeGuard � Reaction if a NodeGuard event occurs. � Only relevant if C0352 = 4. 0 TRIP 1 Message 2 Warning 3 Off 4 Fail−QSP C0400 DIS: AnalogIn � 211 Signal at analog input Only display −199.99 {0.01 %} 199.99 EDBCSXS064 EN 3.0 � 321 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C0416] Resolver adj. 5 Setting of resolver excitation � 84 amplitude 0 100 % 1 80 % 2 68 % 3 58 % 4 50 % 5 45 % 6 40 % 7 37 % [C0417] Resolver cor. 0 Resolver adjustment � 125 0 Ready 1 Start adjustment 2 Loading default values [C0418] Test Cur.Ctrl 0 Controller adjustment: � 116 0 Deactivated Deactivate test mode 1 Activated Activate test mode [C0419] Enc. setup 110 Encoder selection � 245 � Selection of encoder which is � 87 indicated on the nameplate of � 88 the Lenze motor. � The encoder data (C0420, C0421, C0427) is set automatically in accordance with the selection. 0 COMMON 110 IT512−5V Incremental encoder with TTL level 111 IT1024−5V 112 IT2048−5V 113 IT4096−5V 210 IS512−5V Sin/cos encoder 211 IS1024−5V 212 IS2048−5V 213 IS4096−5V 307 AS64−8V SinCos absolute value encoder with hyperface interface 308 AS128−8V (single−turn) 309 AS256−8V 307, 308, 309 can only be selected using the operating 310 AS512−8V system 7.0 or higher. 311 AS1024−8V 407 AM64−8V SinCos absolute value encoder with hyperface interface 408 AM128−8V (multi−turn) 409 AM256−8V 407, 408, 409 can only be selected using the operating 410 AM512−8V system 7.0 or higher. 411 AM1024−8V [C0420] Encoder const. 1024 Number of increments of the � 245 encoder � 87 � 88 1 {1 inc/rev} 8192 Sets C0419 = 0 ("common") if the value is altered. EDBCSXS064 EN 3.0 322 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C0421] Encoder volt 0 Encoder voltage � 245 � 87 0 5.0 V Sets C0419 = 0 ("common") if the � 88 value is altered. 1 5.6 V 2 6.3 V 3 6.9 V 4 7.5 V 5 8.1 V C0426 DIS: In Signal at DFIN input � 245 Only display −32767 {1 rpm} 32767 [C0427] Enc. signal 0 Function of the master frequency � 245 input signals on X8 (DFIN) � 87 � 88 0 2−phase 1 A: speed B: direction 2 A or B: speed or direction C0428 DFIN TP sel. 0 DFIN selection of zero pulse/touch probe 0 Master pulse 1 Touch probe C0429 TP1 delay 0 Touch probe offset −32767 {1 inc} 32767 C0431 DFIN TP Edge DFIN touch probe edge 0 Rising edge 1 Falling edge 2 Rising and falling edge 3 Switched off C0443 DIS: DIGIN Input signals at X6 � 251 Terminal states are described by binary interpretation Only display 0 {1} 255 Bit 0 DIGIN1 X6/DI1 Bit1 DIGIN2 X6/DI2 Bit2 DIGIN3 X6/DI3 Bit3 DIGIN4 X6/DI4 Bit4 DIGIN_safe_standstill X6/SI1 Bit5 free Bit6 DIGIN_CInh X6/SI2 Bit5 free C0444 Status of the digital outputs Only display 1 DIS: DIGOUT 0 1 Status of the digital output X6/DO1 2 DIS: DIGOUT Relay control status EDBCSXS064 EN 3.0 � 323 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C0469] Fct STP key 2 Function of the STOP key of the keypad Must not be changed if the "STOP" key is pressed! 0 Inactive Without function 1 Controller inhibit (CINH) 2 Quick stop (QSP) C0470 Freely configurable code for � 253 digital signals 1 FCODE 8bit 0 0 {1} 255 C0470/1 = C0471, bit 0 ... 7 2 FCODE 8bit 0 C0470/2 = C0471, bit 8 ... 15 3 FCODE 8bit 0 C0470/3 = C0471, bit 16 ... 23 4 FCODE 8bit 0 C0470/4 = C0471, bit 24 ... 31 C0471 FCODE 32bit 0 Hexadecimal 32−bit � 253 interpretation of C0470 0 {1} 4294967295 C0472 FCODE analog Freely configurable code for � 253 relative analog signals 1 0.00 −199.99 {0.01 %} 199.99 FCODE_bC472_1_a 2 0.00 FCODE_bC472_2_a 3 100.00 FCODE_bC472_3_a 4 0.00 FCODE_bC472_4_a ... ... ... 20 0.00 FCODE_bC472_20_a C0473 Freely configurable code for � 253 absolute analog signals 1 FCODE abs 1 −32767 {1} 32767 2 FCODE abs 1 3 FCODE abs 0 ... ... ... 10 FCODE abs 0 C0474 Freely configurable code for � 253 phase signals 1 FCODE PH 0 −2147483647 {1} 2147483647 ... ... ... 5 FCODE PH 0 C0475 Freely configurable code for � 253 phase difference signals 1 FCODE DF 0 −16000 {1 rpm} 16000 2 FCODE DF 0 EDBCSXS064 EN 3.0 324 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C0490] Feedback pos 0 Selection of feedback system for � 84 positioning control When an absolute value encoder (single−turn, multi−turn) is used, the settings for C0490 and C0495 must be the same. 0 Resolver at X7 Standard setting 1 TTL encoder at X8 2 Sin/cos encoder at X8 3 Absolute value encoder (single−turn) at X8 4 Absolute value encoder (multi−turn) at X8 [C0491] X8 in/out 0 Function of X8 � 245 � 248 0 X8 is input � 87 1 X8 is output � 88 [C0495] Feedback n 0 Selection of feedback system for � 84 speed control When an absolute value encoder (single−turn, multi−turn) is used, the settings for C0490 and C0495 must be the same. 0 Resolver at X7 Standard setting 1 TTL encoder at X8 2 Sin/cos encoder at X8 3 Absolute value encoder (single−turn) at X8 4 Absolute value encoder (multi−turn) at X8 C0497 Nact filter 2.0 Time constant of actual speed 0.0 {0.1 ms} 50.0 0.0 ms = switched off Service codes Only the Lenze service is allowed C0504 to make changes! ... C0509 C0510 ProtAppFlash 0 Write−protection application FLASH 0 No write protection 1 Write protection is active EDBCSXS064 EN 3.0 � 325 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0517 User menu with up to 32 entries 1 User menu 51.00 C0051 MCTRL−NACT Display of actual speed 2 User menu 54.00 C0054 Imot Display of motor current 3 User menu 56.00 C0056 MCTRL−MSET2 4 User menu 0.00 Not assigned 5 User menu 0.00 Not assigned 6 User menu 183.00 C0183 Diagnostics 7 User menu 168.01 C0183 Fail number Display of current faults 8 User menu 0.00 0 Not assigned 9 User menu 22.00 C0022 Imax current Input of maximum output current 10 User menu 0.00 Not assigned 11 User menu 11.00 C0011 Nmax Input of the maximum speed 12 User menu 0.00 Not assigned 13 User menu 0.00 Not assigned 14 User menu 105.00 C0105 QSP Tif Input of the deceleration time for quick stop 15 User menu 0.00 Not assigned 16 User menu 70.00 C0070 Vp speed CTRL Input of gain for speed controller 17 User menu 71.00 C0071 Tn speed CTRL Input of integral−action time for speed controller 18 User menu 0.00 Not assigned 19 User menu 2100.00 C2100 Time slice Input of time slice of cyclic task 20 User menu 2102.00 C2102 Task switch Selection of switching function of cyclic task 21 User menu 2104.00 C2104 PLC autorun Autom. start of the PLC program after mains power−up 22 User menu 2106.00 C2106 Download protect Write protection PLC program 23 User menu 2108.00 C2108 PLC run/stop Control PLC program 24 User menu 2111.00 C2111 GDC ID Creation date of PLC application program 25 User menu 2113.00 C2113 PLC prog name Name of PLC user program 26 User menu 2115.00 C2115 T−fct Credit Number of technology units 27 User menu 0.00 Not assigned 28 User menu 0.00 Not assigned 29 User menu 0.00 Not assigned 30 User menu 0.00 Not assigned 31 User menu 94.00 C0094 Password 32 User menu 3.00 C0003 Par save Save parameter set 0.00 {0.01} 7999.00 � Enter the numbers of the required codes into the subcodes. � Entry in the format xxxx.yy – xxxx = code number – yy = subcode of the code � It is not checked whether the entered code exists. EDBCSXS064 EN 3.0 326 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C0540] X8 Signal out 2 Function of the master frequency � 69 output signals on X8 (DFOUT) � 248 � 87 0 Analog � DFOUT � 88 1 PH−diff � DFOUT 2 EncSim � DFOUT C0545 PH offset 0 Phase offset � 248 0 {1 inc} 65535 1 revolution = 65535 increments C0547 DIS: AN−IN Analog signal on the input of the � 248 DFOUT block Only display −199.99 {0.00 %} 199.99 C0549 DIS: DF−IN Speed on the input of the DFOUT � 248 block Only display −32767 {1 rpm} 32767 C0576 nErr Window 100 Monitoring window of the speed control error referring to n max . 100 % = lowest monitoring sensitivity 0 {1 %} 100 C0577 Vp fld weak 1.00 Gain of the field weakening � 122 controller V p 0.00 { 0.01} 63.99 C0578 TN fld weak 4.00 Integral−action time of the field weakening controller V n 0.1 {0.1 ms} 6000.0 C0579 Monit nErr 3 Configuration of speed control error monitoring 0 TRIP 1 Message 2 Warning 3 Off 4 FAIL−QSP C0580 Monit SD8 3 Configuration of open−circuit monitoring for sin/cos encoders 0 TRIP 3 Off C0581 MONIT EEr 0 � 243 Configuration of external fault monitoring "ExternalFault" (FWM EEr) 0 TRIP 1 Message 2 Warning 3 Off 4 FAIL−QSP EDBCSXS064 EN 3.0 � 327 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0582 MONIT OH4 2 Configuration of heatsink � 170 temperature monitoring Threshold setting in C0122 0 TRIP 2 Warning 3 Off C0583 MONIT OH3 0 � 169 Configuration of motor temperature monitoring via resolver input X7 or encoder input X8 0 TRIP 2 Warning 3 Off C0584 MONIT OH7 2 Configuration of motor � 169 temperature monitoring via resolver input X7 or encoder input X8 Threshold setting in C0121 0 TRIP 2 Warning 3 Off C0586 MONIT SD2 0 Configuration of resolver monitoring "ResolverFault" (MCTRL Sd2) 0 TRIP 2 Warning 3 Off C0588 MONIT 0 Configuration of thermal sensor � 171 H10/H11 monitoring (H10, H11) in the controller "SensFaultTht/SensFaultTid" (FWM H10/H11) 0 TRIP 2 Warning 3 Off C0591 MONIT CE1 3 Configuration of CAN1_IN error � 168 monitoring "CommErrCANIN1" (CAN CE1) 0 TRIP 2 Warning 3 Off C0592 MONIT CE2 3 Configuration of CAN2_IN error � 168 monitoring "CommErrCANIN2" (CAN CE2) 0 TRIP 2 Warning 3 Off EDBCSXS064 EN 3.0 328 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0593 MONIT CE3 3 Configuration of CAN3_IN error � 168 monitoring"CommErrCANIN3" (CAN CE3) 0 TRIP 2 Warning 3 Off C0594 MONIT SD6 3 Configuration of motor temperature sensor monitoring "SensorFault" (MCTRL Sd6) 0 TRIP 2 Warning 3 Off C0595 MONIT CE4 3 � 168 Configuration of system bus (CAN) off monitoring "BusOffState" (CANMan CE4) 0 TRIP 2 Warning 3 Off C0596 NMAX limit 5500 Monitoring: Maximum speed of the machine 0 {1 rpm} 16000 C0598 MONIT SD5 3 Configuration of monitoring for master current at X6 < 2 mA "MastISourceDef" 0 TRIP 2 Warning 3 Off C0602 MONIT REL1 3 Configuration of open−circuit monitoring of the relay output 0 TRIP 3 Off C0603 MONIT CE5 3 Configuration of gateway function monitoring 0 TRIP 2 Warning 3 Off C0604 MONIT OC7 2 Configuration of early warning � 172 I x t, threshold setting in C0123 0 TRIP 2 Warning 3 Off C0605 MONIT OH5 2 Configuration of early warning � 171 of temperature inside the device Threshold setting in C0124 0 TRIP 2 Warning 3 Off EDBCSXS064 EN 3.0 � 329 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. 2 C0606 MONIT OC8 2 Configuration of I xt early � 174 warning Threshold setting in C0120 0 TRIP 2 Warning 3 Off C0607 MONIT NMAX 0 Configuration of maximum speed monitoring 0 TRIP 2 Warning 3 Off C0608 ovr. Tx−Queue 2 Fault configuration Transmission memory overflow of free CAN objects 0 TRIP 1 Message 2 Warning 3 Off 4 FAIL−QSP C0609 ovr. Rx−Isr 0 Fault configuration Receipt memory overflow of free CAN objects 0 TRIP 4 FAIL−QSP C0745 Only the Lenze service is allowed to make changes! Oscilloscope − internal service C0746 Only the Lenze service is allowed to make changes! Oscilloscope − internal service 1 ... 24 C0747 Only the Lenze service is allowed to make changes! Oscilloscope − internal service C0855 Digital process data input words � 193 indicated hexadecimally on the AIF interface (AIF1_IN) Read only 1 AIF1 IN bits 0000 {hex} FFFF Input word 2 (bit 0 ... 15) 2 AIF1 IN bits Input word 3 (bit 0 ... 15) C0856 Analog process data input words � 193 are indicated decimally on the AIF interface (AIF1_IN) 100.00% = 16384 Read only 1 AIF1 IN words −199.99 {0.01 %} 199.99 Input word 1 2 AIF1 IN words Input word 2 3 AIF1 IN words Input word 3 EDBCSXS064 EN 3.0 330 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0857 AIF1 IN phi 32 bits of phase information on � 193 the AIF interface (AIF1_IN) Read only −2147483648 {1} 2147483647 C0858 Analog process data output words indicated decimally on the AIF interface (AIF1_OUT) 100.00% = 16384 Only display 1 AIF1 OUT −199.99 {0.01 %} 199.99 Output word 1 words 2 AIF1 OUT Output word 2 words 3 AIF1 OUT Output word 3 words C0859 AIF1 OUT phi 32−bit phase information at the AIF interface (AIF1_OUT) Only display −2147483648 {1} 2147483647 C0863 Digital process data input words � 140 indicated hexadecimally for � 215 MotionBus (CAN) 0000 {hex} FFFF Read only 1 CAN IN bits Bit 0 ... Bit15 CAN1_IN: process data input word 1 2 CAN IN bits Bit 16 ... Bit 31 CAN1_IN: process data input word 2 3 CAN IN bits Bit 0 ... Bit15 CAN2_IN: process data input word 1 4 CAN IN bits Bit 16 ... Bit 31 CAN2_IN: process data input word 2 5 CAN IN bits Bit 0 ... Bit15 CAN3_IN: process data input word 1 6 CAN IN bits Bit 16 ... Bit 31 CAN3_IN: process data input word 2 C0866 Analog process data input words � 140 indicated decimally for � 215 MotionBus (CAN) 100.00% = 16384 Read only 1 CAN IN words −199.99 {0.01 %} 199.99 CAN1_IN word 1 2 CAN IN words CAN1_IN word 2 3 CAN IN words CAN1_IN word 3 4 CAN IN words CAN2_IN word 1 5 CAN IN words CAN2_IN word 2 6 CAN IN words CAN2_IN word 3 7 CAN IN words CAN2_IN word 4 8 CAN IN words CAN3_IN word 1 9 CAN IN words CAN3_IN word 2 10 CAN IN words CAN3_IN word 3 11 CAN IN words CAN3_IN word 4 EDBCSXS064 EN 3.0 � 331 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0867 32 −bit phase information for MotionBus (CAN) Only display 1 CAN IN phi −2147483648 {1} 2147483647 CAN1_IN 2 CAN IN phi CAN2_IN 3 CAN IN phi CAN3_IN C0868 DIS:OUTx.Wx Analog process data output words decimally for MotionBus (CAN) 100.00% = 16384 Readonly 1 CAN OUT −32768 {1 %} 32768 CAN1_OUT word 1 words 2 CAN OUT CAN1_OUT word 2 words 3 CAN OUT CAN1_OUT word 3 words 4 CAN OUT CAN2_OUT word 1 words 5 CAN OUT CAN2_OUT word 2 words 6 CAN OUT CAN2_OUT word 3 words 7 CAN OUT CAN2_OUT word 4 words 8 CAN OUT CAN3_OUT word 1 words 9 CAN OUT CAN3_OUT word 2 words 10 CAN OUT CAN3_OUT word 3 words 11 CAN OUT CAN3_OUT word 4 words C0869 32 −bit phase information for MotionBus (CAN) Only display 1 CAN OUT phi −2147483648 {1} 2147483647 CAN1_OUT 2 CAN OUT phi CAN2_OUT 3 CAN OUT phi CAN3_OUT C0878 Digital input signals to DCTRL Only display 1 DigInOfDCTRL 0 1 Controller inhibit (CINH) 1 2 DigInOfDCTRL Controller inhibit (CINH) 2 3 DigInOfDCTRL TRIP−set 4 DigInOfDCTRL TRIP−RESET C0879 1 Reset CTRL 0 No reset Reset C0135 2 Reset CTRL 0 No reset Reset AIF 3 Reset CTRL 0 No reset Reset CAN 0 No reset 1 Reset Performs one "reset" EDBCSXS064 EN 3.0 332 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C0906 Analog input signals to MCTRL Only display 1 MCTRL analog −199.99 {0.01 %} 199.99 Speed controller input 2 MCTRL analog Torque setpoint 3 MCTRL analog Lower torque limit 4 MCTRL analog Upper torque limit 5 MCTRL analog Limit of the position controller 6 MCTRL analog Speed for activating the torque limitation 7 MCTRL analog Field weakening 8 MCTRL analog Integrator of the speed controller 9 MCTRL analog P adaptation of the position controller C0907 Digital input signals to MCTRL Only display 1 MCTRL digital 0 1 Activating position controller 2 MCTRL digital Speed control or torque control 3 MCTRL digital Set quick stop (QSP) 4 MCTRL digital Loading integral−action component of the speed controller C0908 MCTRL PosSet Set phase signal 1 revolution = 65536 increments Only display −2147483648 {1 inc} 2147483647 C0909 speed limit 1 Limitation of direction of rotation for speed setpoint 1 −175 ... +175 % 2 0 ... +175 % 3 −175 ... 0 % C0910 TP delay 0 Touch probe delay, compensation of delay times of the TP signal source X6/DI2 −32767 {1 inc} 32767 1 inc � approx. 60 �s C0911 MCTRL TP sel. 0 MCTRL selection zero pulse/touch probe 0 Master pulse 1 Touch probe C0912 MCTRL TP 0 MCTRL touch probe edge Edge 0 Rising edge 1 Falling edge 2 Rising and falling edge 3 Switched off C1120 Sync mode 0 Sync signal source 0 Off Off 1 CAN Sync Sync connection via MotionBus � 159 (CAN) 2 Terminal sync Sync connection via terminal � 160 EDBCSXS064 EN 3.0 � 333 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C1121 Sync cycle 2 Synchronisation cycle � 156 1 {1 ms} 13 C1122 Sync phase 0.046 Synchronisation phase � 156 0.000 {0.001 ms} 6.500 C1123 Sync window 0.010 Synchronisation window � 157 0.000 {0.001 ms} 6.500 C1190 MPTC mode 0 Selection of PTC evaluation for motor 0 Standard 1 Characterist. C1191 Selection of PTC temperature characteristic 1 Char.: temp 25 0 {1 °C} 255 Temperature 1 2 Char.: temp 150 Temperature 2 C1192 Selection of resistance characteristic for PTC 1 Char.: OHM 1000 0 {1 �} 30000 Resistance at temperature 1 2 Char.: OHM 2225 Resistance at temperature 2 C1798 Lenze−internal Only display 1 ... 13 C1810 SW ID LECOM Software identification LECOM Only display C1811 SW date Software creation date LECOM LECOM Only display C2100 Time slice 13 Time slice for cyclic task 6 {1 ms} 26 C2102 Task switch 0 Change−over: System task �cycl. task (PLC) 0 Time slice No change−over 1 Time slice + end of PLC_PRG 2 Time slice + end of PLC_PRG + end of system task C2104 PLC Autorun 0 Automatic start of PLC program after power−up 0 Off 1 On C2106 Downl.protect 0 Write protection PLC program 0 not protected 1 protected 2 Reserved C2108 PLC run/stop 0 Control PLC program 0 No function 1 Run 2 Stop 3 Reset EDBCSXS064 EN 3.0 334 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C2111 GDC Id Creation date of PLC application program Only display C2113 PLC Prog Name of PLC user program Name Only display C2115 T−Fkt Credit 0 Number of technology units C2116 CreditPinCode 0 Code for technology units if service is required (please consult Lenze) 0 {1} 4294967295 C2117 Full Credit 0 Service code C2118 ParWriteChan 0 CAN object for L_ParRead and . L_ParWrite 0 Process data channel (CAN1...3_IN/CAN1...3_OUT) 1 Parameter data channel 2 C2120 AIF: Control 0 AIF−CAN: control word 0 {1} 255 Binary interpretation reflects bit states Note: The MSB (bit 7) of the 0 No command control word automatically 1 Read XCAN codes + reinitialisation changes its state with every 2 Read XCAN code access to the code. Observe this when interpreting the data! 10 Read XCAN C2356/1 ... 4 11 Read XCAN C2357 12 Read XCAN C2375 13 Read XCAN C2376 ... C2378 14 Read XCAN C2382 255 Not assigned C2121 AIF:State AIF−CAN: Status � For detailed information: See description of the corresponding fieldbus module. Only display 1 {1} 255 Binary interpretation reflects bit states Bit 0 XCAN1_IN monitoring time Bit1 XCAN2_IN monitoring time Bit2 XCAN3_IN monitoring time Bit3 XCAN bus off Bit 4 XCAN operational Bit 5 XCAN pre−operational Bit6 XCAN warning Bit 7 Internally assigned C2130 FileNameAdd Symbolic data name Information on the additional Da data that have been transmitted together with the application C2131 Type AddData Specification identification of the data program. C2132 VersionAddDa Data version Only display ta C2133 TimeStamp Time stamp of the data EDBCSXS064 EN 3.0 � 335 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C2350 XCAN address 1 XCAN = system bus (CAN) on AIF Node address XCAN 1 {1} 63 C2351 XCAN baud 0 Baud rate XCAN rate 0 500 kbit/s 1 250 kbit/s 2 125 kbit/s 3 50 kbit/s 4 1000 kbit/s C2352 XCAN mst 0 Setting master operation XCAN 0 Slave 1 Master C2353 Source for system bus node addresses of XCAN_IN/XCAN_OUT 1 XCAN addr sel 0 CAN node address (C2350) XCAN1_IN/XCAN1_OUT addr. 2 XCAN addr sel 0 CAN node address (C2350) XCAN2_IN/XCAN2_OUT addr. 3 XCAN addr sel 0 CAN node address (C2350) XCAN3_IN/XCAN3_OUT addr. 0 C2350 (auto) Automatically determined by C2350 1 C2354 (man.) Determined by C2354 C2354 XCAN: altern. node addresses for XCAN_IN/XCAN_OUT 1 XCAN addr. 129 1 {1} 512 XCAN1_IN address 2 2 XCAN addr. 1 XCAN1_OUT address 2 3 XCAN addr. 257 XCAN2_IN address 2 4 XCAN addr. 258 XCAN2_OUT address 2 5 XCAN addr. 385 XCAN3_IN address 2 6 XCAN addr. 386 XCAN3_OUT address 2 C2355 Identifier for XCAN_IN/XCAN_OUT Only display 1 XCAN Id 1 {1} 2047 Identifier XCAN1_IN 2 XCAN Id Identifier XCAN1_OUT 3 XCAN Id Identifier XCAN2_IN 4 XCAN Id Identifier XCAN2_OUT 5 XCAN Id Identifier XCAN3_IN 6 XCAN Id Identifier XCAN3_OUT C2356 Time settings for XCAN 1 XCAN times 3000 0 {1 ms} 65000 XCAN boot−up time XCAN2_OUT/XCAN3_OUT times: 2 XCAN times 0 Factor for the task time to send 3 XCAN times 0 process data object. 4 XCAN times 0 5 XCAN times 0 XCAN delay time EDBCSXS064 EN 3.0 336 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C2357 Monitoring time for XCAN process data input objects 1 CE monit time 3000 1 {1 ms} 65000 XCAN1_IN monitoring time 2 CE monit time 3000 XCAN2_IN monitoring time 3 CE monit time 3000 XCAN3_IN monitoring time 4 CE monit time 1 Bus off C2359 AIF HW Set. 0 0 {1} 65535 C2367 Sync Rx ID 128 XCAN receipt identifier of the sync telegram 1 {1} 2047 C2368 Sync Tx ID 128 XCAN transmission identifier of the sync telegram 1 {1} 2047 C2373 Sync counter 1 Sync Rate IN 1 1 {1} 240 XCAN1_IN 2 Sync Rate IN 1 XCAN2_IN 3 Sync Rate IN 1 XCAN3_IN C2374 Sync counter 1 Sync Rate OUT 1 1 {1} 240 XCAN1_OUT 2 Sync Rate OUT 1 XCAN2_OUT 3 Sync Rate OUT 1 XCAN3_OUT C2375 TX mode for XCANx_OUT 1 XCAN 0 Response to sync XCAN1_OUT Tx−Mode 2 XCAN 0 Response to sync XCAN2_OUT Tx−Mode 3 XCAN 0 Response to sync XCAN3_OUT Tx−Mode 0 Response to sync 1 No response to sync 2 Event 3 Event, cycle C2356 superimposed C2376 XCAN1_OUT mask 1 XCAN1 Mask FFFF 0000 {hex} FFFF Mask for process data output word 1 2 XCAN1 Mask FFFF Mask for process data output word 2 3 XCAN1 Mask FFFF Mask for process data output word 3 4 XCAN1 Mask FFFF Mask for process data output word 4 EDBCSXS064 EN 3.0 � 337 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C2377 XCAN2_OUT mask 1 XCAN2 Mask FFFF 0000 {hex} FFFF Mask for process data output word 1 2 XCAN2 Mask FFFF Mask for process data output word 2 3 XCAN2 Mask FFFF Mask for process data output word 3 4 XCAN2 Mask FFFF Mask for process data output word 4 C2378 XCAN3_OUT mask 1 XCAN3 Mask FFFF 0000 {hex} FFFF Mask for process data output word 1 2 XCAN3 Mask FFFF Mask for process data output word 2 3 XCAN3 Mask FFFF Mask for process data output word 3 4 XCAN3 Mask FFFF Mask for process data output word 4 C2382 Configuration of monitoring XCAN (no telegrams received) 1 XCAN Conf. CE 0 Off XCAN1_IN 2 XCAN Conf. CE 0 Off XCAN2_IN 3 XCAN Conf. CE 0 Off XCAN3_IN 4 XCAN Conf. CE 0 Off Bus off 5 XCAN Conf. CE 0 Off Life Guarding Event 0 Off 1 Controller inhibit (CINH) 2 Quick stop (QSP) C2450 CANa address 1 Node address of system bus � 150 (CAN) � 149 1 {1} 63 C2451 CAN baud rate 0 System bus (CAN) baud rate � 150 0 500 kbits/s 1 250 kbits/sec 2 125 kbits/sec 3 50 kbits/sec 4 1000 kbits/sec C2452 CANa mst 0 System bus (CAN) master/slave � 153 configuration 0 Slave 1 Master C2453 Source for system bus (CAN) � 152 node addresses 1 CANa addr sel 0 CAN node address (C2450) Address CANaux1_IN/OUT 2 CANa addr sel 0 CAN node address (C2450) Address CANaux2_IN/OUT 3 CANa addr sel 0 CAN node address (C2450) Address CANaux3_IN/OUT 0 C2450 (auto) Automatically determined by C2450 1 C2454 (man.) Determined by C2454 EDBCSXS064 EN 3.0 338 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C2454 Alternative node addresses for � 152 system bus (CAN) 1 CANa addr. 129 1 {1} 512 CANaux1_IN addr. 2 2 CANa addr. 1 CANaux1_OUT addr. 2 3 CANa addr. 257 CANaux2_IN addr. 2 4 CANa addr. 258 CANaux2_OUT addr. 2 5 CANa addr. 385 CANaux3_IN addr. 2 6 CANa addr. 386 CANaux3_OUT addr. 2 C2455 System bus (CAN) identifier � 149 Readonly 1 CANa Id 1 {1} 2047 Identifier CANaux1_IN 2 CANa Id Identifier CANaux1_OUT 3 CANa Id Identifier CANaux2_IN 4 CANa Id Identifier CANaux2_OUT 5 CANa Id Identifier CANaux3_IN 6 CANa Id Identifier CANaux3_OUT C2456 System bus (CAN) time settings � 154 1 CANa times 3000 0 {1 ms} 65000 CAN−AUX boot−up time 2 CANa times 0 CANaux2_OUT/CANaux3_OUT times: Factor for the task time to 3 CANa times 0 send process data object. 4 CANa times 20 CAN−AUX delay time C2457 System bus (CAN) monitoring � 168 time for CANaux1...3_IN 1 CE monit time 3000 1 {1 ms} 65000 CE11 monitoring time 2 CE monit time 3000 CE12 monitoring time 3 CE monit time 3000 CE13 monitoring time C2458 Reset node 0 Execute reset node of system bus � 154 (CAN) 0 No function 1 CAN−AUX reset C2459 CANa state 0 System bus (CAN) status � 161 Only display 0 Operational 1 Pre−operational 2 Warning 3 Bus off EDBCSXS064 EN 3.0 � 339 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C2460 Telegram counter of system bus � 161 (CAN), number of telegrams Only display 1 CANa 0 {1} 65535 All sent telegrams Messages 2 CANa With a count value � 65535 the counter restarts All received telegrams Messages with 0 3 CANa Sent to CANaux1_OUT Messages 4 CANa Sent to CANaux2_OUT Messages 5 CANa Sent to CANaux3_OUT Messages 6 CANa Sent on parameter data channel 1 Messages 7 CANa Sent on parameter data channel 2 Messages 8 CANa Received from CANaux1_IN Messages 9 CANa Received from CANaux2_IN Messages 10 CANa Received from CANaux3_IN Messages 11 CANa Received from parameter data channel 1 Messages 12 CANa Received from parameter data channel 2 Messages C2461 Detected load of the system bus � 162 (CAN) Only display A faultless operation is only guaranteed if the total bus load of all connected nodes amounts to a value � 80 %! 1 Load IN/OUT 0 {1 %} 100 All sent telegrams 2 Load IN/OUT All received telegrams 3 Load IN/OUT Sent to CANaux1_OUT 4 Load IN/OUT Sent on CANaux2_OUT 5 Load IN/OUT Sent on CANaux3_OUT 6 Load IN/OUT Sent on parameter data channel 1 7 Load IN/OUT Sent on parameter data channel 2 8 Load IN/OUT Received from CANaux1_IN 9 Load IN/OUT Received from CANaux2_IN 10 Load IN/OUT Received from CANaux3_IN 11 Load IN/OUT Received from parameter data channel 1 12 Load IN/OUT Received from parameter data channel 2 C2466 Sync Response 1 MotionBus (CAN) sync response � 158 0 No response 1 Response EDBCSXS064 EN 3.0 340 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C2467 Sync Rx ID 128 MotionBus (CAN) Sync receipt ID � 156 1 {1} 256 C2468 Sync Tx ID 128 MotionBus (CAN) Sync � 158 transmission ID 1 {1} 256 C2469 Sync Tx Time 0 MotionBus (CAN) sync � 154 transmission cycle � 158 A sync telegram with the identifier set in C0368 is sent with the set cycle time. 0 {1 ms} 65000 0 = switched off C2481 MONIT CE11 3 Configuration of monitoring � 168 CANaux1_IN error "CommErrCANauxIN1" (CAN−AUX CE11) 0 TRIP 2 Warning 3 Off C2482 MONIT CE12 3 Configuration of monitoring � 168 CANaux2_IN error "CommErrCANauxIN2" (CAN−AUX CE12) 0 TRIP 2 Warning 3 Off C2483 MONIT CE13 3 Configuration of monitoring � 168 CANaux3_IN error "CommErrCANauxIN3" (CAN−AUX CE13) 0 TRIP 2 Warning 3 Off C2484 MONIT CE14 3 Configuration of monitoring � 168 CAN−AUX Off "BusOffState" (CANauxMan CE14) 0 TRIP 2 Warning 3 Off C2485 MONIT CE15 3 Configuration of gateway function 0 TRIP 2 Warning 3 Off EDBCSXS064 EN 3.0 � 341 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C2491 Process data input words − system bus (CAN), indicated hexadecimally (CAN) Only display 1 CANa IN bits 0 {1 hex} FFFF CANaux1_IN (bit 0 ... 15) 2 CANa IN bits CANaux1_IN (bit 16 ... 31) 3 CANa IN bits CANaux2_IN (bit 0 ... 15) 4 CANa IN bits CANaux2_IN (bit 16 ... 31) 5 CANa IN bits CANaux3_IN (bit 0 ... 15) 6 CANa IN bits CANaux3_IN (bit 16 ... 31) C2492 Process data input words − system bus (CAN) 100.00% = 16384 Only display 1 CANa IN −199.99 {0.01 %} 199.99 CANaux1_IN word 1 words 2 CANa IN CANaux1_IN word 2 words 3 CANa IN CANaux1_IN word 3 words 4 CANa IN CANaux2_IN word 1 words 5 CANa IN CANaux2_IN word 2 words 6 CANa IN CANaux2_IN word 3 words 7 CANa IN CANaux2_IN word 4 words 8 CANa IN CANaux3_IN word 1 words 9 CANa IN CANaux3_IN word 2 words 10 CANa IN CANaux3_IN word 3 words 11 CANa IN CANaux3_IN word 4 words EDBCSXS064 EN 3.0 342 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C2493 Process data output words − system bus (CAN) 100.00% = 16384 Only display 1 CANa OUT −199.99 {0.01 %} 199.99 CANaux1_OUT word 1 words 2 CANa OUT CANaux1_OUT word 2 words 3 CANa OUT CANaux1_OUT word 3 words 4 CANa OUT CANaux2_OUT word 1 words 5 CANa OUT CANaux2_OUT word 2 words 6 CANa OUT CANaux2_OUT word 3 words 7 CANa OUT CANaux2_OUT word 4 words 8 CANa OUT CANaux3_OUT word 1 words 9 CANa OUT CANaux3_OUT word 2 words 10 CANa OUT CANaux3_OUT word 3 words 11 CANa OUT CANaux3_OUT word 4 words C2500 PLC flag 1 ... 255 0 {1} 65535 C2501 PLC flag 256 ... 512 0 {1} 65535 3005 ControlMode 0 Selection of operating modes � 94 0 Common Display with changed standard application 100 None Reset of all signal connections � 262 1000 SpeedTerm Speed−controlled, setpoint via analog input 1003 SpeedAIF Speed−controlled, setpoint via AIF 1005 SpeedCAN Speed−controlled, setpoint via MotionBus (CAN) � 284 4000 TorqueTerm Torque−controlled, setpoint via analog input 4003 TorqueAIF Torque−controlled, setpoint via AIF 4005 TorqueCAN Torque−controlled, setpoint via MotionBus (CAN) C3998 BuildNo Build no. of the application software Read only C3999 Version Version of the application software Read only EDBCSXS064 EN 3.0 � 343 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C6110 Display of the digital output � 196 signals to the fieldbus module 0 (= FALSE) 1 (= TRUE) 1 AIF−DigOut AIF1Out−Bit0 (bit 0) 2 AIF−DigOut AIF1Out−Bit1 (bit 1) 3 AIF−DigOut AIF1Out−Bit2 (bit 2) 4 AIF−DigOut AIF1Out−Bit3 (bit 3) 5 AIF−DigOut AIF1Out−Bit4 (bit 4) 6 AIF−DigOut AIF1Out−Bit5 (bit 5) 7 AIF−DigOut AIF1Out−Bit6 (bit 6) 8 AIF−DigOut AIF1Out−Bit7 (bit 7) 9 AIF−DigOut AIF1Out−Bit8 (bit 8) 10 AIF−DigOut AIF1Out−Bit9 (bit 9) 11 AIF−DigOut AIF1Out−Bit10 (bit 10) 12 AIF−DigOut AIF1Out−Bit11 (bit 11) 13 AIF−DigOut AIF1Out−Bit12 (bit 12) 14 AIF−DigOut AIF1Out−Bit13 (bit 13) 15 AIF−DigOut AIF1Out−Bit14 (bit 14) 16 AIF−DigOut AIF1Out−Bit15 (bit 15) [C6111] Selection of the digital output signals to the fieldbus module 1 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit0 (bit 0) � 196 2 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit1 (bit 1) 3 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit2 (bit 2) 4 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit3 (bit 3) 5 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit4 (bit 4) 6 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit5 (bit 5) 7 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit6 (bit 6) 8 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit7 (bit 7) 9 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit8 (bit 8) 10 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit9 (bit 9) 11 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit10 (bit 10) 12 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit11 (bit 11) 13 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit12 (bit 12) 14 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit13 (bit 13) 15 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit14 (bit 14) 16 AIF1Out−dig 1000 0 (FALSE, not assigned) Source for AIF1Out−Bit15 (bit 15) For possible signals see "selection list − digital � 362 signals" EDBCSXS064 EN 3.0 344 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C6130 Display of the analog output signals to the fieldbus module −32768 {1} 32767 1 AIF−AnOut Output word AIF1Out−DctrlStat � 196 2 AIF−AnOut Output word AIF1Out−W1 3 AIF−AnOut Output word AIF1Out−W2 4 AIF−AnOut Output word AIF1Out−W3 5 AIF−AnOut Output word AIF2Out−W0 � 203 6 AIF−AnOut Output word AIF2Out−W1 7 AIF−AnOut Output word AIF2Out−W2 8 AIF−AnOut Output word AIF2Out−W3 9 AIF−AnOut Output word AIF3Out−W0 � 208 10 AIF−AnOut Output word AIF3Out−W1 11 AIF−AnOut Output word AIF3Out−W2 12 AIF−AnOut Output word AIF3Out−W3 [C6131] Selection of the analog output signals to the fieldbus module 1 AIF1Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 196 AIF1Out−DctrlStat 2 AIF1Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF1Out−W1 3 AIF1Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF1Out−W2 4 AIF1Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF1Out−W3 5 AIF2Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 203 AIF2Out−W0 6 AIF2Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF2Out−W1 7 AIF2Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF2Out−W2 8 AIF2Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF2Out−W3 9 AIF3Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 208 AIF3Out−W0 10 AIF3Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF3Out−W1 11 AIF3Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF3Out−W2 12 AIF3Out−anl 1000 FIXED 0 % (not assigned) Source for output word AIF3Out−W3 For possible signals see "selection list − analog � 371 signals" C6150 Display of the phase output signals to the fieldbus module −2147483647 {1} 2147483647 1 AIF−PhiOut Output double word � 196 AIF1Out-W2/W3 2 AIF−PhiOut Output double word � 203 AIF2Out-W0/W1 3 AIF−PhiOut Output double word � 208 AIF3Out-W0/W1 EDBCSXS064 EN 3.0 � 345 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C6151] Selection of the phase output signals to the fieldbus module 1 AIF1Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 196 AIF1Out-W2/W3 2 AIF2Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 203 AIF2Out-W0/W1 3 AIF3Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 208 AIF3Out-W0/W1 For possible signals see "selection list − phase � 374 signals" C6154 AIF1PdoMap 0 Assignment of the 8 byte user � 196 data of the AIF1Out function block to the fieldbus module 0 W2=Int W3=Int Byte 1, byte 2 = AIF1Out−DctrlStat Byte 3, byte 4 = AIF1Out−W1 Byte 5, byte 6 = AIF1Out−W2 Byte 7, byte 8 = AIF1Out−W3 1 W2 / W3=Dint Byte 1, byte 2 = AIF1Out−DctrlStat Byte 3, byte 4 = AIF1Out−W1 Byte 5, byte 6 = AIF1Out−W2/W3 Byte 7, byte 8 = AIF1Out−W2/W3 2 W2=Int W3=bit Byte 1, byte 2 = AIF1Out−DctrlStat Byte 3, byte 4 = AIF1Out−W1 Byte 5, byte 6 = AIF1Out−W2 Byte 7, byte 8 = AIF1Out−Bit0...Bit15 3 W2=Bit W3=Int Byte 1, byte 2 = AIF1Out−DctrlStat Byte 3, byte 4 = AIF1Out−W1 Byte 5, byte 6 = AIF1Out−Bit0...Bit15 Byte 7, byte 8 = AIF1Out−W3 4 W1=Bit W23=I Byte 1, byte 2 = AIF1Out−DctrlStat Byte 3, byte 4 = AIF1Out−Bit0...Bit15 Byte 5, byte 6 = AIF1Out−W2 Byte 7, byte 8 = AIF1Out−W3 5 W1=Bit W23=Di Byte 1, byte 2 = AIF1Out−DctrlStat Byte 3, byte 4 = AIF1Out−Bit0...Bit15 Byte 5, byte 6 = AIF1Out−W2/W3 Byte 7, byte 8 = AIF1Out−W2/W3 EDBCSXS064 EN 3.0 346 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C6155 AIF2PdoMap 0 Assignment of the 8 byte user � 203 data of the AIF2Out function block to the fieldbus module 0 W0=Int W1=Int Byte 1, byte 2 = AIF2Out−W0 Byte 3, byte 4 = AIF2Out−W1 Byte 5, byte 6 = AIF2Out−W2 Byte 7, byte 8 = AIF2Out−W3 1 W0 / W1=Dint Byte 1, byte 2 = AIF2Out−W0/W1 Byte 3, byte 4 = AIF2Out−W0/W1 Byte 5, byte 6 = AIF2Out−W2 Byte 7, byte 8 = AIF2Out−W3 C6156 AIF3PdoMap 0 Assignment of the 8 byte user � 208 data of the AIF3Out function block to the fieldbus module 0 W0=Int W1=Int Byte 1, byte 2 = AIF3Out−W0 Byte 3, byte 4 = AIF3Out−W1 Byte 5, byte 6 = AIF3Out−W2 Byte 7, byte 8 = AIF3Out−W3 1 W0 / W1=Dint Byte 1, byte 2 = AIF3Out−W0/W1 Byte 3, byte 4 = AIF3Out−W0/W1 Byte 5, byte 6 = AIF3Out−W2 Byte 7, byte 8 = AIF3Out−W3 C6210 Display of the digital output signals to the MotionBus (CAN) 0 (= FALSE) 1 (= TRUE) 1 CAN−DigOut CAN1Out−Bit0 (bit 0) � 218 2 CAN−DigOut CAN1Out−Bit1 (bit 1) 3 CAN−DigOut CAN1Out−Bit2 (bit 2) 4 CAN−DigOut CAN1Out−Bit3 (bit 3) 5 CAN−DigOut CAN1Out−Bit4 (bit 4) 6 CAN−DigOut CAN1Out−Bit5 (bit 5) 7 CAN−DigOut CAN1Out−Bit6 (bit 6) 8 CAN−DigOut CAN1Out−Bit7 (bit 7) 9 CAN−DigOut CAN1Out−Bit8 (bit 8) 10 CAN−DigOut CAN1Out−Bit9 (bit 9) 11 CAN−DigOut CAN1Out−Bit10 (bit 10) 12 CAN−DigOut CAN1Out−Bit11 (bit 11) 13 CAN−DigOut CAN1Out−Bit12 (bit 12) 14 CAN−DigOut CAN1Out−Bit13 (bit 13) 15 CAN−DigOut CAN1Out−Bit14 (bit 14) 16 CAN−DigOut CAN1Out−Bit15 (bit 15) 17 CAN−DigOut CANSync−ResetSyncForInterpolat � 212 ord 18 CAN−DigOut CAN−ResetNode 19 CAN−DigOut CAN−TxCan2Synchronized 20 CAN−DigOut CAN−TxCan3Synchronized EDBCSXS064 EN 3.0 � 347 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C6211] Selection of the digital output signals to the MotionBus (CAN) 1 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit0 (bit 0) � 218 2 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit1 (bit 1) 3 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit2 (bit 2) 4 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit3 (bit 3) 5 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit4 (bit 4) 6 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit5 (bit 5) 7 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit6 (bit 6) 8 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit7 (bit 7) 9 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit8 (bit 8) 10 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit9 (bit 9) 11 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit10 (bit 10) 12 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit11 (bit 11) 13 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit12 (bit 12) 14 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit13 (bit 13) 15 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit14 (bit 14) 16 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN1Out−Bit15 (bit 15) 17 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for � 212 CANSync−ResetSyncForInterpolat ord 18 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN reset node 19 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN−TxCan2Synchronized 20 CAN1Out−dig 1000 0 (FALSE, not assigned) Source for CAN−TxCan3Synchronized For possible signals see "selection list − digital � 362 signals" C6230 Display of the analog output signals to the MotionBus (CAN) −32768 {1} 32767 1 CAN−AnOut Output word CAN1Out−DctrlStat � 218 2 CAN−AnOut Output word CAN1Out−W1 3 CAN−AnOut Output word CAN1Out−W2 4 CAN−AnOut Output word CAN1Out−W3 � 227 5 CAN−AnOut Output word CAN2Out−W0 6 CAN−AnOut Output word CAN2Out−W1 7 CAN−AnOut Output word CAN2Out−W2 8 CAN−AnOut Output word CAN2Out−W3 9 CAN−AnOut Output word CAN3Out−W0 � 233 10 CAN−AnOut Output word CAN3Out−W1 11 CAN−AnOut Output word CAN3Out−W2 12 CAN−AnOut Output word CAN3Out−W3 EDBCSXS064 EN 3.0 348 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C6231] Selection of the analog output signals to the MotionBus (CAN) 1 CAN1Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 218 CAN1Out−DctrlStat 2 CAN1Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN1Out−W1 3 CAN1Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN1Out−W2 4 CAN1Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN1Out−W3 5 CAN2Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 227 CAN2Out−W0 6 CAN2Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN2Out−W1 7 CAN2Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN2Out−W2 8 CAN2Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN2Out−W3 9 CAN3Out−anl 1000 FIXED 0 % (not assigned) Source for output word � 233 CAN3Out−W0 10 CAN3Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN3Out−W1 11 CAN3Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN3Out−W2 12 CAN3Out−anl 1000 FIXED 0 % (not assigned) Source for output word CAN3Out−W3 For possible signals see "selection list − analog � 371 signals" C6250 Display of the phase output signals to the MotionBus (CAN) −2147483647 {1} 2147483647 1 CAN−PhiOut Output double word � 218 CAN1Out-W2/W3 2 CAN−PhiOut Output double word � 227 CAN2Out-W0/W1 3 CAN−PhiOut Output double word � 233 CAN3Out-W0/W1 [C6251] Selection of the phase output signals to the MotionBus (CAN) 1 CAN1Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 218 CAN1Out-W2/W3 2 CAN2Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 227 CAN2Out-W0/W1 3 CAN3Out−phi 1000 FIXED 0 (not assigned) Source for output double word � 233 CAN3Out-W0/W1 For possible signals see "selection list − phase � 374 signals" EDBCSXS064 EN 3.0 � 349 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C6254 CAN1PdoMap 0 Assignment of the 8 byte user � 218 data of the CAN1Out function block to the MotionBus (CAN) 0 W2=Int W3=Int Byte 1, byte 2 = CAN1Out−DctrlStat Byte 3, byte 4 = CAN1Out−W1 Byte 5, byte 6 = CAN1Out−W2 Byte 7, byte 8 = CAN1Out−W3 1 W2 / W3=Dint Byte 1, byte 2 = CAN1Out−DctrlStat Byte 3, byte 4 = CAN1Out−W1 Byte 5, byte 6 = CAN1Out−W2/W3 Byte 7, byte 8 = CAN1Out−W2/W3 2 W2=Int W3=bit Byte 1, byte 2 = CAN1Out−DctrlStat Byte 3, byte 4 = CAN1Out−W1 Byte 5, byte 6 = CAN1Out−W2 Byte 7, byte 8 = CAN1Out−Bit0...Bit15 3 W2=Bit W3=Int Byte 1, byte 2 = CAN1Out−DctrlStat Byte 3, byte 4 = CAN1Out−W1 Byte 5, byte 6 = CAN1Out−Bit0...Bit15 Byte 7, byte 8 = CAN1Out−W3 4 W1=Bit W23=I Byte 1, byte 2 = CAN1Out−DctrlStat Byte 3, byte 4 = CAN1Out−Bit0...Bit15 Byte 5, byte 6 = CAN1Out−W2 Byte 7, byte 8 = CAN1Out−W3 5 W1=Bit W23=Di Byte 1, byte 2 = CAN1Out−DctrlStat Byte 3, byte 4 = CAN1Out−Bit0...Bit15 Byte 5, byte 6 = CAN1Out−W2/W3 Byte 7, byte 8 = CAN1Out−W2/W3 EDBCSXS064 EN 3.0 350 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C6255 CAN2PdoMap 0 Assignment of the 8 byte user � 227 data of the CAN2Out function block to the MotionBus (CAN) 0 W0=Int W1=Int Byte 1, byte 2 = CAN2Out−W0 Byte 3, byte 4 = CAN2Out−W1 Byte 5, byte 6 = CAN2Out−W2 Byte 7, byte 8 = CAN2Out−W3 1 W0 / W1=Dint Byte 1, byte 2 = CAN2Out−W0/W1 Byte 3, byte 4 = CAN2Out−W0/W1 Byte 5, byte 6 = CAN2Out−W2 Byte 7, byte 8 = CAN2Out−W3 C6256 CAN3PdoMap 0 Assignment of the 8 byte user � 233 data of the CAN3Out function block to the MotionBus (CAN) 0 W0=Int W1=Int Byte 1, byte 2 = CAN3Out−W0 Byte 3, byte 4 = CAN3Out−W1 Byte 5, byte 6 = CAN3Out−W2 Byte 7, byte 8 = CAN3Out−W3 1 W0 / W1=Dint Byte 1, byte 2 = CAN3Out−W0/W1 Byte 3, byte 4 = CAN3Out−W0/W1 Byte 5, byte 6 = CAN3Out−W2 Byte 7, byte 8 = CAN3Out−W3 C6310 Display of the digital input � 239 signals in the DCTRL function 0 (= FALSE) 1 (= TRUE) block 1 DCTRL−DigOut DCTRL−CINH1 2 DCTRL−DigOut DCTRL−CINH2 3 DCTRL−DigOut DCTRL−TripSet1 4 DCTRL−DigOut DCTRL−TripReset1 5 DCTRL−DigOut DCTRL−StatB0 6 DCTRL−DigOut DCTRL−StatB2 7 DCTRL−DigOut DCTRL−StatB3 8 DCTRL−DigOut DCTRL−StatB4 9 DCTRL−DigOut DCTRL−StatB5 10 DCTRL−DigOut DCTRL−StatB14 11 DCTRL−DigOut DCTRL−StatB15 12 DCTRL−DigOut DCTRL−TripSet2 13 DCTRL−DigOut DCTRL−TripSet3 14 DCTRL−DigOut DCTRL−TripSet4 15 DCTRL−DigOut DCTRL−TripReset2 EDBCSXS064 EN 3.0 � 351 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C6311] Selection of the digital input � 239 signals of the DCTRL function block 1 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−CInh1 2 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−CInh2 3 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−TripSet1 4 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−TripReset1 5 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−StatB0 6 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−StatB2 7 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−StatB3 8 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−StatB4 9 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−StatB5 10 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−StatB14 11 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−StatB15 12 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−TripSet2 13 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−TripSet3 14 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−TripSet4 15 DCTRL−dig 1000 0 (FALSE, not assigned) Source for DCTRL−TripReset2 For possible signals see "selection list − digital � 362 signals" C6330 Display of the analog input � 239 signals in the DCTRL function −32768 {1} 32767 block 1 DCTRL−AnOut DCTRL−wAIF1Ctrl 2 DCTRL−AnOut DCTRL−CAN1Ctrl � 239 [C6331] Selection of the analog input signals of the DCTRL function block 1 DCTRL−anl 1000 FIXED 0 % (not assigned) Source for DCTRL−wAIF1Ctrl 2 DCTRL−anl 1000 FIXED 0 % (not assigned) Source for DCTRL−CAN1Ctrl For possible signals see "selection list − analog � 371 signals" C6370 Display of the output signals at � 252 the digital output and the brake 0 (= FALSE) 1 (= TRUE) relay 1 DIGOUT Output signal at the digital output X6/DO1 (DigOut−Out1) 2 DIGOUT Control of the brake relay (DigOut relay) EDBCSXS064 EN 3.0 352 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C6371] Selection of the digital output � 252 signals for the digital output and the brake relay 1 DigoutIn−dig 1000 0 (FALSE, not assigned) Source for the output signal at the digital output X6/DO1 (DigOut−Out1) 2 DigoutIn−dig 1000 0 (FALSE, not assigned) Source for the control of the brake relay (DigOut relay) For possible signals see "selection list − digital � 362 signals" C6430 DFOUT Display of the analog output � 248 signal DFOut−Out in the DFOUT function block −32768 {1} 32767 [C6431] DFOUT 1000 Selection of the analog output � 248 signal DFOut−Out for the DFOUT function block FIXED 0 % (not assigned) For possible signals see "selection list − analog � 371 signals" C7110 Display of the digital input � 257 signals in the function block InNeg (signal inversion) 1 InNeg−digV InNeg−DigIn1 2 InNeg−digV InNeg−DigIn2 3 InNeg−digV InNeg−DigIn3 C7111 Selection of the digital input � 257 signals for the InNeg function block (signal inversion) 1 InNeg−dig 1000 0 (FALSE, not assigned) Source for InNeg−DigIn1 2 InNeg−dig 1000 0 (FALSE, not assigned) Source for InNeg−DigIn2 3 InNeg−dig 1000 0 (FALSE, not assigned) Source for InNeg−DigIn3 For possible signals see "selection list − digital � 362 signals" C7130 Display of the analog input � 257 signals in the InNeg function −32768 {1} 32767 block (signal inversion) (= −100 %) (= 100 %) 1 InNeg−AnV InNeg−AnIn1 2 InNeg−AnV InNeg−AnIn2 C7131 Selection of the analog input � 257 signals for the InNeg function block (signal inversion) 1 InNeg−An 1000 FIXED 0 % (not assigned) Source for InNeg−AnIn1 2 InNeg−An 1000 FIXED 0 % (not assigned) Source for InNeg−AnIn2 For possible signals see "selection list − analog � 371 signals" C7150 Display of the phase input � 257 signals in the InNeg function −2147483647 {1} 2147483647 block (signal inversion) 1 InNeg−PhiV InNeg−PhiIn1 2 InNeg−PhiV InNeg−PhiIn2 EDBCSXS064 EN 3.0 � 353 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C7151 Selection of the phase input � 257 signals for the InNeg function block (signal inversion) 1 InNeg−Phi 1000 FIXED 0 (not assigned) Source for InNeg−PhiIn1 2 InNeg−Phi 1000 FIXED 0 (not assigned) Source for InNeg−PhiIn2 For possible signals see "selection list − phase � 374 signals" C7210 Display of the digital input � 259 signals in the OutNeg function block (signal inversion) 1 OutNeg−digV OutNeg−DigIn1 2 OutNeg−digV OutNeg−DigIn2 3 OutNeg−digV OutNeg−DigIn3 C7211 Selection of the digital input � 259 signals for the OutNeg function block (signal inversion) 1 OutNeg−dig 1000 0 (FALSE, not assigned) Source for OutNeg−DigIn1 2 OutNeg−dig 1000 0 (FALSE, not assigned) Source for OutNeg−DigIn2 3 OutNeg−dig 1000 0 (FALSE, not assigned) Source for OutNeg−DigIn3 For possible signals see "selection list − digital � 362 signals" C7230 Display of the analog input � 259 signals in the OutNeg function −32768 {1} 32767 block (signal inversion) (= −100 %) (= 100 %) 1 OutNeg−AnV OutNeg−AnIn1 2 OutNeg−AnV OutNeg−AnIn2 C7231 Selection of the analog input � 259 signals for the OutNeg function block (signal inversion) 1 OutNeg−An 1000 FIXED 0 % (not assigned) Source for OutNeg−AnIn1 2 OutNeg−An 1000 FIXED 0 % (not assigned) Source for OutNeg−AnIn2 For possible signals see "selection list − analog � 371 signals" C7250 Display of the phase input � 259 signals in the OutNeg function −2147483647 {1} 2147483647 block (signal inversion) 1 OutNeg−PhiV OutNeg−PhiIn1 2 OutNeg−PhiV OutNeg−PhiIn2 C7251 Selection of the phase input � 259 signals for the OutNeg function block (signal inversion) 1 OutNeg−Phi 1000 FIXED 0 (not assigned) Source for OutNeg−PhiIn1 2 OutNeg−Phi 1000 FIXED 0 (not assigned) Source for OutNeg−PhiIn2 For possible signals see "selection list − phase � 374 signals" EDBCSXS064 EN 3.0 354 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C7410 Display of the current signal states on the digital inputs of the 0 (= FALSE) 1 (= TRUE) "Speed" function block 1 Speed−dig CW rotation (SPEED−RLQ.Cw) � 269 2 Speed−dig CCW rotation (SPEED−RLQ.CCw) 3 Speed−dig Selection of the fixed speeds � 270 (SPEED−NSET.Jog1)saved in C0039 4 Speed−dig Selection of the fixed speeds (SPEED−NSET.Jog2)saved in C0039 5 Speed−dig Selection of the fixed speeds (SPEED−NSET.Jog4)saved in C0039 6 Speed−dig Selection of the fixed speeds (SPEED−NSET.Jog8)saved in C0039 7 Speed−dig Setting of the speed setpoint � 270 integrator to "0" along the adjusted ramps (SPEED−NSET.Rfg0) 8 Speed−dig Inversion of additional speed setpoint (SPEED−NAddInv) 9 Speed−dig Keeping (freezing) the speed setpoint integrator to the actual value (SPEED-NSET.RfgStop) 10 Speed−dig Activation of the motor holding � 281 brake (SPEED−BRK.SetBrake) 11 Speed−dig Switching of speed/torque � 276 (SPEED−MCTRL.NMSwt) 12 Speed−dig Source for the integral−action component of the speed controller (SPEED−MCTRL.ILoad) � 270 13 Speed−dig Selection of the acceleration and deceleration times stored in C0101 and C0103 (SPEED−NSET.TI1) 14 Speed−dig Selection of the acceleration and deceleration times stored in C0101 and C0103 (SPEED−NSET.TI2) 15 Speed−dig Selection of the acceleration and deceleration times stored in C0101 and C0103 (SPEED−NSET.TI4) 16 Speed−dig Selection of the acceleration and deceleration times stored in C0101 and C0103 (SPEED−NSET.TI8) 17 Speed−dig Setting of quick stop � 276 (SPEED−QSP.Set1) 18 Speed−dig Setting of quick stop (SPEED−QSP.Set2) 19 Speed−dig Activation of phase controller (SPEED-MCTRL.PosOn) 20 Speed−dig Inversion of additional torque setpoint (SPEED−MAddInv) EDBCSXS064 EN 3.0 � 355 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C7411] Selection of the signal source for the digital input signals of the "Speed" function block 1 SpeedIn−dig 1000 0 (FALSE, not assigned) CW rotation (SPEED−RLQ.Cw) � 269 2 SpeedIn−dig 1000 0 (FALSE, not assigned) CCW rotation (SPEED−RLQ.CCw) 3 SpeedIn−dig 1000 0 (FALSE, not assigned) Selection of the fixed speeds � 270 (SPEED−NSET.Jog1) saved in C0039 4 SpeedIn−dig 1000 0 (FALSE, not assigned) Selection of the fixed speeds (SPEED−NSET.Jog2)saved in C0039 5 SpeedIn−dig 1000 0 (FALSE, not assigned) Selection of the fixed speeds (SPEED−NSET.Jog4)saved in C0039 6 SpeedIn−dig 1000 0 (FALSE, not assigned) Selection of the fixed speeds (SPEED−NSET.Jog8)saved in C0039 7 SpeedIn−dig 1000 0 (FALSE, not assigned) Setting of the speed setpoint � 270 integrator to 0 along the adjusted ramps (SPEED−NSET.Rfg0) 8 SpeedIn−dig 1000 0 (FALSE, not assigned) Inversion of additional speed setpoint (SPEED−NAddInv) 9 SpeedIn−dig 1000 0 (FALSE, not assigned) Keeping (freezing) the speed setpoint integrator to the actual value (SPEED-NSET.RfgStop) 10 SpeedIn−dig 1000 0 (FALSE, not assigned) Activation of the motor holding � 281 brake (SPEED−BRK.SetBrake) 11 SpeedIn−dig 1000 0 (FALSE, not assigned) Switching of speed − torque � 276 (SPEED−MCTRL.NMSwt) 12 SpeedIn−dig 1000 0 (FALSE, not assigned) Source for the integral−action component of the speed controller (SPEED−MCTRL.ILoad) 13 SpeedIn−dig 1000 0 (FALSE, not assigned) Selection of the acceleration and � 270 deceleration times stored in C0101 and C0103 (SPEED−NSET.TI1) 14 SpeedIn−dig 1000 0 (FALSE, not assigned) Selection of the acceleration and deceleration times stored in C0101 and C0103 (SPEED−NSET.TI2) 15 SpeedIn−dig 1000 0 (FALSE, not assigned) Selection of the acceleration and deceleration times stored in C0101 and C0103 (SPEED−NSET.TI4) 16 SpeedIn−dig 1000 0 (FALSE, not assigned) Selection of the acceleration and deceleration times stored in C0101 and C0103 (SPEED−NSET.TI8) 17 SpeedIn−dig 1000 0 (FALSE, not assigned) Setting of quick stop � 276 (SPEED−QSP.Set1) 18 SpeedIn−dig 1000 0 (FALSE, not assigned) Setting of quick stop (SPEED−QSP.Set2) 19 SpeedIn−dig 1000 0 (FALSE, not assigned) Activation of phase controller (SPEED-MCTRL.PosOn) 20 SpeedIn−dig 1000 0 (FALSE, not assigned) Inversion of additional torque setpoint (SPEED−MAddInv) EDBCSXS064 EN 3.0 356 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. For possible signals see "selection list − digital � 362 signals" C7430 Display of the current signal states on the analog input of the −32768 {1} 32767 "Speed" function block (= −100 %) (= 100 %) 1 Speed−an Speed setpoint � 270 (SPEED−NSET.NSet) 2 Speed−an Additional speed setpoint (SPEED−NSET.NAdd) 3 Speed−an Lower torque limit � 276 (SPEED-MCTRL.negLoMLim) 4 Speed−an Upper torque limit (SPEED-MCTRL.HiMLim) 5 Speed−an Additional torque setpoint (SPEED-MCTRL.MAdd) 6 Speed−an Manual field weakening (SPEED−MCTRL.FldWeak) 7 Speed−an Manual adaptation of the proportional gain of the speed controller (SPEED−MCTRL.NAdapt) 8 Speed−an Manual adaptation of the integral−action component of the speed controller (SPEED−MCTRL.ISet) 9 Speed−an Speed threshold for the motor � 281 holding brake (SPEED-BRK.SpeedThreshold) 10 Speed−an Direction of torque created by the drive against the motor holding brake (SPEED−BRK.Sign) 11 Speed−an Manual adaptation of the phase � 276 controller (SPEED−MCTRL.PAdapt) 12 Speed−an Limit value for influencing the phase controller (SPEED−MCTRL.PosLim) 13 Speed−an Lower speed limit for speed limitation (SPEED−MCTRL.NStartMLim) EDBCSXS064 EN 3.0 � 357 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C7431] Selection of the signal source for the analog input signals of the "Speed" function block 1 SpeedIn−anl 1000 FIXED 0 % (not assigned) Speed setpoint � 270 (SPEED−NSET.NSet) 2 SpeedIn−anl 1000 FIXED 0 % (not assigned) Additional speed setpoint (SPEED−NSET.NAdd) 3 SpeedIn−anl 1000 FIXED 0 % (not assigned) Lower torque limit � 276 (SPEED-MCTRL.negLoMLim) 4 SpeedIn−anl 1000 FIXED 0 % (not assigned) Upper torque limit (SPEED-MCTRL.HiMLim) 5 SpeedIn−anl 1000 FIXED 0 % (not assigned) Additional torque setpoint (SPEED-MCTRL.MAdd) 6 SpeedIn−anl 1000 FIXED 0 % (not assigned) Manual field weakening (SPEED−MCTRL.FldWeak) 7 SpeedIn−anl 1000 FIXED 0 % (not assigned) Manual adaptation of the proportional gain of the speed controller (SPEED−MCTRL.NAdapt) 8 SpeedIn−anl 1000 FIXED 0 % (not assigned) Manual adaptation of the Integral−action component of the speed controller (SPEED−MCTRL.ISet) 9 SpeedIn−anl 1000 FIXED 0 % (not assigned) Speed threshold for the motor � 281 holding brake (SPEED-BRK.SpeedThreshold) 10 SpeedIn−anl 1000 FIXED 0 % (not assigned) Direction of torque created by the drive against the motor holding brake (SPEED−BRK.Sign) � 276 11 SpeedIn−anl 1000 FIXED 0 % (not assigned) Manual adaptation of the phase controller (SPEED−MCTRL.PAdapt) 12 SpeedIn−anl 1000 FIXED 0 % (not assigned) Limit value for influencing the phase controller (SPEED−MCTRL.PosLim) 13 SpeedIn−anl 1000 FIXED 0 % (not assigned) Lower speed limit for speed limitation (SPEED−MCTRL.NStartMLim) For possible signals see "selection list − analog � 371 signals" C7450 Speed−phi Display of the setpoint for the � 276 phase controller in the "Speed" function block (speed controlSPEED−MCTRL.PosSet) −2147483647 {1} 2147483647 [C7451] SpeedIn−phi 1000 Setpoint for the phase controller � 276 in the "Speed" function block (SPEED−MCTRL.PosSet) FIXED 0 (not assigned) For possible signals see "selection list − phase � 374 signals" EDBCSXS064 EN 3.0 358 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C7510 Display of the current signal states on the digital inputs of the 0 (= FALSE) 1 (= TRUE) "Torque" function block 1 TorqueIn−dig CW rotation (TORQUE−RLQ.Cw) � 291 2 TorqueIn−dig CCW rotation (TORQUE−RLQ.CCw) 3 TorqueIn−dig Setting of the torque setpoint � 291 integrator to "0" along the adjusted ramps (TORQUE−NSET.Rfg0) 4 TorqueIn−dig Activation of the motor holding � 298 brake (TORQUE−BRK.SetBrake) 5 TorqueIn−dig Setting of quick stop � 294 (TORQUE−QSP.Set1) 6 TorqueIn−dig Setting of quick stop (TORQUE−QSP.Set2) 7 TorqueIn−dig Source for the integral−action component of the controller (TORQUE−MCTRL.ILoad) 8 TorqueIn−dig Keeping (freezing) the torque setpoint integrator to the current value (TORQUE-NSET.RfgStop) 9 TorqueIn−dig Inversion of additional torque setpoint (TORQUE−MAddInv) [C7511] Selection of the signal source for the digital input signals of the "Torque" function block 1 TorqueIn−dig 1000 0 (FALSE, not assigned) CW rotation (TORQUE−RLQ.Cw) � 291 2 TorqueIn−dig 1000 0 (FALSE, not assigned) CCW rotation (TORQUE−RLQ.CCw) 3 TorqueIn−dig 1000 0 (FALSE, not assigned) Setting of the torque setpoint � 291 integrator to 0 along the adjusted ramps (TORQUE−NSET.Rfg0) 4 TorqueIn−dig 1000 0 (FALSE, not assigned) Activation of the motor holding � 298 brake (TORQUE−BRK.SetBrake) 5 TorqueIn−dig 1000 0 (FALSE, not assigned) Setting of quick stop � 294 (TORQUE−QSP.Set1) 6 TorqueIn−dig 1000 0 (FALSE, not assigned) Setting of quick stop (TORQUE−QSP.Set2) 7 TorqueIn−dig 1000 0 (FALSE, not assigned) Source for the integral−action component of the controller (TORQUE−MCTRL.ILoad) 8 TorqueIn−dig 1000 0 (FALSE, not assigned) Keeping (freezing) the torque setpoint integrator to the current value (TORQUE-NSET.RfgStop) 9 TorqueIn−dig 1000 0 (FALSE, not assigned) Inversion of additional torque setpoint (TORQUE−MAddInv) For possible signals see "selection list − digital � 362 signals" EDBCSXS064 EN 3.0 � 359 12 Appendix Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. C7530 Display of the current signal states on the analog input of the −32768 {1} 32767 "Torque" function block (= −100 %) (= 100 %) 1 TorqueIn−anl Torque setpoint � 294 (SPEED-MCTRL.MAdd) 2 TorqueIn−anl Setpoint for the upper limit of � 291 speed limitation (TORQUE−NSET.NSet) 3 TorqueIn−anl Lower torque limit � 294 (TORQUE-MCTRL.negLoMLim) 4 TorqueIn−anl Upper torque limit (TORQUE-MCTRL.HiMLim) 5 TorqueIn−anl Setpoint for the lower limit of speed limitation (TORQUE−MCTRL.NStartMLim) 6 TorqueIn−anl Manual field weakening (TORQUE−MCTRL.FldWeak) 7 TorqueIn−anl Manual adaptation of the proportional gain of the speed controller (TORQUE−MCTRL.NAdapt) 8 TorqueIn−anl Manual adaptation of the integral−action component of the speed controller (TORQUE−MCTRL.ISet) 9 TorqueIn−anl Torque threshold for the motor � 298 holding brake (TORQUE−BRK.TorqueThreshold) 10 TorqueIn−anl Direction of torque created by the drive against the motor holding brake (TORQUE−BRK.Sign) EDBCSXS064 EN 3.0 360 � Appendix 12 Code table Code Possible settings IMPORTANT No. Designation Lenze/ Selection appl. [C7531] Selection of the signal source for the analog input signals of the "Torque" function block 1 TorqueIn−anl 1000 FIXED 0 % (not assigned) Torque setpoint � 294 (SPEED-MCTRL.MAdd) 2 TorqueIn−anl 1000 FIXED 0 % (not assigned) Setpoint for the upper limit of � 291 speed limitation (TORQUE−NSET.NSet) 3 TorqueIn−anl 1000 FIXED 0 % (not assigned) Lower torque limit � 294 (TORQUE-MCTRL.negLoMLim) 4 TorqueIn−anl 1000 FIXED 0 % (not assigned) Upper torque limit (TORQUE-MCTRL.HiMLim) 5 TorqueIn−anl 1000 FIXED 0 % (not assigned) Setpoint for the lower limit of speed limitation (TORQUE−MCTRL.NStartMLim) 6 TorqueIn−anl 1000 FIXED 0 % (not assigned) Manual field weakening (TORQUE−MCTRL.FldWeak) 7 TorqueIn−anl 1000 FIXED 0 % (not assigned) Manual adaptation of the proportional gain of the speed controller (TORQUE−MCTRL.NAdapt) 8 TorqueIn−anl 1000 FIXED 0 % (not assigned) Manual adaptation of the Integral−action component of the speed controller (TORQUE−MCTRL.ISet) � 298 9 TorqueIn−anl 1000 FIXED 0 % (not assigned) Torque threshold for the motor holding brake (TORQUE−BRK.TorqueThreshold) 10 TorqueIn−anl 1000 FIXED 0 % (not assigned) Direction of torque created by the drive against the motor holding brake (TORQUE−BRK.Sign) For possible signals see "selection list − analog � 371 signals" EDBCSXS064 EN 3.0 � 361 12 Appendix Selection lists for signal linking List of the digital signal sources 12.2 Selection lists for signal linking 12.2.1 List of the digital signal sources Symbol in signal flow diagrams: 2 Selection No. Signal Keypad display Variable for Global Drive Oscilloscope (GDO) 2 FIXED 1(TRUE) FI 1 / TRUE gC_bTrue 10 AIF−bCe0CommErr AIF−Ce0 AIF_bCe0CommErr_b 11 AIF−bFieldBusStateBit0 AIF−Bit0 AIF_bFieldBusStateBit0_b 12 AIF−bFieldBusStateBit1 AIF−Bit1 AIF_bFieldBusStateBit1_b 13 AIF−bFieldBusStateBit2 AIF−Bit2 AIF_bFieldBusStateBit2_b 14 AIF−bFieldBusStateBit3 AIF−Bit3 AIF_bFieldBusStateBit3_b 15 AIF−bFieldBusStateBit4 AIF−Bit4 AIF_bFieldBusStateBit4_b 16 AIF−bFieldBusStateBit5 AIF−Bit5 AIF_bFieldBusStateBit5_b 17 AIF−bFieldBusStateBit6 AIF−Bit6 AIF_bFieldBusStateBit6_b 18 AIF−bFieldBusStateBit7 AIF−Bit7 AIF_bFieldBusStateBit7_b 19 AIF1In−Ctrl.Quickstop_B3 AIF1−CB3 AIF1_bCtrlQuickstop_b 20 AIF1In−Ctrl.Disable_B8 AIF1−CB8 AIF1_bCtrlDisable_b 21 AIF1In−Ctrl.CInhibit_B9 AIF1−CB9 AIF1_bCtrlCInhibit_b 22 AIF1In−Ctrl.TripSet_B10 AIF1−CB10 AIF1_bCtrlTripSet_b 23 AIF1In−Ctrl.TripReset_B11 AIF1−CB11 AIF1_bCtrlTripReset_b 24 AIF1In−Ctrl.Bit0 AIF1−CB0 AIF1_bCtrlB0_b 25 AIF1In−Ctrl.Bit1 AIF1−CB1 AIF1_bCtrlB1_b 26 AIF1In−Ctrl.Bit2 AIF1−CB2 AIF1_bCtrlB2_b 27 AIF1In−Ctrl.Bit4 AIF1−CB4 AIF1_bCtrlB4_b 28 AIF1In−Ctrl.Bit5 AIF1−CB5 AIF1_bCtrlB5_b 29 AIF1In−Ctrl.Bit6 AIF1−CB6 AIF1_bCtrlB6_b 30 AIF1In−Ctrl.Bit7 AIF1−CB7 AIF1_bCtrlB7_b 31 AIF1In−Ctrl.Bit12 AIF1−CB12 AIF1_bCtrlB12_b 32 AIF1In−Ctrl.Bit13 AIF1−CB13 AIF1_bCtrlB13_b 33 AIF1In−Ctrl.Bit14 AIF1−CB14 AIF1_bCtrlB14_b 34 AIF1In−Ctrl.Bit15 AIF1−CB15 AIF1_bCtrlB15_b 35 AIF1In−Bit0 AIF1−Bit0 AIF1_bInB0_b 36 AIF1In−Bit1 AIF1−Bit1 AIF1_bInB1_b 37 AIF1In−Bit2 AIF1−Bit2 AIF1_bInB2_b 38 AIF1In−Bit3 AIF1−Bit3 AIF1_bInB3_b 39 AIF1In−Bit4 AIF1−Bit4 AIF1_bInB4_b 40 AIF1In−Bit5 AIF1−Bit5 AIF1_bInB5_b 41 AIF1In−Bit6 AIF1−Bit6 AIF1_bInB6_b 42 AIF1In−Bit7 AIF1−Bit7 AIF1_bInB7_b 43 AIF1In−Bit8 AIF1−Bit8 AIF1_bInB8_b 44 AIF1In−Bit9 AIF1−Bit9 AIF1_bInB9_b 45 AIF1In−Bit10 AIF1−Bit10 AIF1_bInB10_b 46 AIF1In−Bit11 AIF1−Bit11 AIF1_bInB11_b 47 AIF1In−Bit12 AIF1−Bit12 AIF1_bInB12_b 48 AIF1In−Bit13 AIF1−Bit13 AIF1_bInB13_b 49 AIF1In−Bit14 AIF1−Bit14 AIF1_bInB14_b 50 AIF1In−Bit15 AIF1−Bit15 AIF1_bInB15_b EDBCSXS064 EN 3.0 362 � Appendix 12 Selection lists for signal linking List of the digital signal sources Selection No. Signal Keypad display Variable for Global Drive Oscilloscope (GDO) 51 AIF1In−Bit16 AIF1−Bit16 AIF1_bInB16_b 52 AIF1In−Bit17 AIF1−Bit17 AIF1_bInB17_b 53 AIF1In−Bit18 AIF1−Bit18 AIF1_bInB18_b 54 AIF1In−Bit19 AIF1−Bit19 AIF1_bInB19_b 55 AIF1In−Bit20 AIF1−Bit20 AIF1_bInB20_b 56 AIF1In−Bit21 AIF1−Bit21 AIF1_bInB21_b 57 AIF1In−Bit22 AIF1−Bit22 AIF1_bInB22_b 58 AIF1In−Bit23 AIF1−Bit23 AIF1_bInB23_b 59 AIF1In−Bit24 AIF1−Bit24 AIF1_bInB24_b 60 AIF1In−Bit25 AIF1−Bit25 AIF1_bInB25_b 61 AIF1In−Bit26 AIF1−Bit26 AIF1_bInB26_b 62 AIF1In−Bit27 AIF1−Bit27 AIF1_bInB27_b 63 AIF1In−Bit28 AIF1−Bit28 AIF1_bInB28_b 64 AIF1In−Bit29 AIF1−Bit29 AIF1_bInB29_b 65 AIF1In−Bit30 AIF1−Bit30 AIF1_bInB30_b 66 AIF1In−Bit31 AIF1−Bit31 AIF1_bInB31_b 67 AIF2In−Bit0 AIF2−Bit0 AIF2_bInB0_b 68 AIF2In−Bit1 AIF2−Bit1 AIF2_bInB1_b 69 AIF2In−Bit2 AIF2−Bit2 AIF2_bInB2_b 70 AIF2In−Bit3 AIF2−Bit3 AIF2_bInB3_b 71 AIF2In−Bit4 AIF2−Bit4 AIF2_bInB4_b 72 AIF2In−Bit5 AIF2−Bit5 AIF2_bInB5_b 73 AIF2In−Bit6 AIF2−Bit6 AIF2_bInB6_b 74 AIF2In−Bit7 AIF2−Bit7 AIF2_bInB7_b 75 AIF2In−Bit8 AIF2−Bit8 AIF2_bInB8_b 76 AIF2In−Bit9 AIF2−Bit9 AIF2_bInB9_b 77 AIF2In−Bit10 AIF2−Bit10 AIF2_bInB10_b 78 AIF2In−Bit11 AIF2−Bit11 AIF2_bInB11_b 79 AIF2In−Bit12 AIF2−Bit12 AIF2_bInB12_b 80 AIF2In−Bit13 AIF2−Bit13 AIF2_bInB13_b 81 AIF2In−Bit14 AIF2−Bit14 AIF2_bInB14_b 82 AIF2In−Bit15 AIF2−Bit15 AIF2_bInB15_b 83 AIF2In−Bit16 AIF2−Bit16 AIF2_bInB16_b 84 AIF2In−Bit17 AIF2−Bit17 AIF2_bInB17_b 85 AIF2In−Bit18 AIF2−Bit18 AIF2_bInB18_b 86 AIF2In−Bit19 AIF2−Bit19 AIF2_bInB19_b 87 AIF2In−Bit20 AIF2−Bit20 AIF2_bInB20_b 88 AIF2In−Bit21 AIF2−Bit21 AIF2_bInB21_b 89 AIF2In−Bit22 AIF2−Bit22 AIF2_bInB22_b 90 AIF2In−Bit23 AIF2−Bit23 AIF2_bInB23_b 91 AIF2In−Bit24 AIF2−Bit24 AIF2_bInB24_b 92 AIF2In−Bit25 AIF2−Bit25 AIF2_bInB25_b 93 AIF2In−Bit26 AIF2−Bit26 AIF2_bInB26_b 94 AIF2In−Bit27 AIF2−Bit27 AIF2_bInB27_b 95 AIF2In−Bit28 AIF2−Bit28 AIF2_bInB28_b 96 AIF2In−Bit29 AIF2−Bit29 AIF2_bInB29_b 97 AIF2In−Bit30 AIF2−Bit30 AIF2_bInB30_b 98 AIF2In−Bit31 AIF2−Bit31 AIF2_bInB31_b EDBCSXS064 EN 3.0 � 363 12 Appendix Selection lists for signal linking List of the digital signal sources Selection No. Signal Keypad display Variable for Global Drive Oscilloscope (GDO) 99 AIF3In−Bit0 AIF3−Bit0 AIF3_bInB0_b 100 AIF3In−Bit1 AIF3−Bit1 AIF3_bInB1_b 101 AIF3In−Bit2 AIF3−Bit2 AIF3_bInB2_b 102 AIF3In−Bit3 AIF3−Bit3 AIF3_bInB3_b 103 AIF3In−Bit4 AIF3−Bit4 AIF3_bInB4_b 104 AIF3In−Bit5 AIF3−Bit5 AIF3_bInB5_b 105 AIF3In−Bit6 AIF3−Bit6 AIF3_bInB6_b 106 AIF3In−Bit7 AIF3−Bit7 AIF3_bInB7_b 107 AIF3In−Bit8 AIF3−Bit8 AIF3_bInB8_b 108 AIF3In−Bit9 AIF3−Bit9 AIF3_bInB9_b 109 AIF3In−Bit10 AIF3−Bit10 AIF3_bInB10_b 110 AIF3In−Bit11 AIF3−Bit11 AIF3_bInB11_b 111 AIF3In−Bit12 AIF3−Bit12 AIF3_bInB12_b 112 AIF3In−Bit13 AIF3−Bit13 AIF3_bInB13_b 113 AIF3In−Bit14 AIF3−Bit14 AIF3_bInB14_b 114 AIF3In−Bit15 AIF3−Bit15 AIF3_bInB15_b 115 AIF3In−Bit16 AIF3−Bit16 AIF3_bInB16_b 116 AIF3In−Bit17 AIF3−Bit17 AIF3_bInB17_b 117 AIF3In−Bit18 AIF3−Bit18 AIF3_bInB18_b 118 AIF3In−Bit19 AIF3−Bit19 AIF3_bInB19_b 119 AIF3In−Bit20 AIF3−Bit20 AIF3_bInB20_b 120 AIF3In−Bit21 AIF3−Bit21 AIF3_bInB21_b 121 AIF3In−Bit22 AIF3−Bit22 AIF3_bInB22_b 122 AIF3In−Bit23 AIF3−Bit23 AIF3_bInB23_b 123 AIF3In−Bit24 AIF3−Bit24 AIF3_bInB24_b 124 AIF3In−Bit25 AIF3−Bit25 AIF3_bInB25_b 125 AIF3In−Bit26 AIF3−Bit26 AIF3_bInB26_b 126 AIF3In−Bit27 AIF3−Bit27 AIF3_bInB27_b 127 AIF3In−Bit28 AIF3−Bit28 AIF3_bInB28_b 128 AIF3In−Bit29 AIF3−Bit29 AIF3_bInB29_b 129 AIF3In−Bit30 AIF3−Bit30 AIF3_bInB30_b 130 AIF3In−Bit31 AIF3−Bit31 AIF3_bInB31_b 131 DIGIN−CINH DIG−CInh DIGIN_bCInh_b 132 DigIn−In1 DIG−In1 DIGIN_bIn1_b 133 DigIn−In2 DIG−In2 DIGIN_bIn2_b 134 DigIn−In3 DIG−In3 DIGIN_bIn3_b 135 DigIn−In4 DIG−In4 DIGIN_bIn4_b 136 DigIn−safe_standstill DIG−SS DIGIN_b_safe_standstill_b 137 CAN−Ce1CommErrCanIn1 CAN−Ce1 CAN_bCe1CommErrCanIn1_b 138 CAN−Ce2CommErrCanIn2 CAN−Ce2 CAN_bCe2CommErrCanIn2_b 139 CAN−Ce3CommErrCanIn3 CAN−Ce3 CAN_bCe3CommErrCanIn3_b 140 CAN−Ce4BusOffState CAN−Ce4 CAN_bCe4BusOffState_b 141 CAN1In−Ctrl.Quickstop_B3 CAN1−CB3 CAN1_bCtrlQuickstop_b 142 CAN1In−Ctrl.Disable_B8 CAN1−CB8 CAN1_bCtrlDisable_b 143 CAN1In−Ctrl.CInhibit_B9 CAN1−CB9 CAN1_bCtrlCInhibit_b 144 CAN1In−Ctrl.TripSet_B10 CAN1−CB10 CAN1_bCtrlTripSet_b 145 CAN1In−Ctrl.TripReset_B11 CAN1−CB11 CAN1_bCtrlTripReset_b 146 CAN1In−Ctrl.Bit0 CAN1−CB0 CAN1_bCtrlB0_b EDBCSXS064 EN 3.0 364 � Appendix 12 Selection lists for signal linking List of the digital signal sources Selection No. Signal Keypad display Variable for Global Drive Oscilloscope (GDO) 147 CAN1In−Ctrl.Bit1 CAN1−CB1 CAN1_bCtrlB1_b 148 CAN1In−Ctrl.Bit2 CAN1−CB2 CAN1_bCtrlB2_b 149 CAN1In−Ctrl.Bit4 CAN1−CB4 CAN1_bCtrlB4_b 150 CAN1In−Ctrl.Bit5 CAN1−CB5 CAN1_bCtrlB5_b 151 CAN1In−Ctrl.Bit6 CAN1−CB6 CAN1_bCtrlB6_b 152 CAN1In−Ctrl.Bit7 CAN1−CB7 CAN1_bCtrlB7_b 153 CAN1In−Ctrl.Bit12 CAN1−CB12 CAN1_bCtrlB12_b 154 CAN1In−Ctrl.Bit13 CAN1−CB13 CAN1_bCtrlB13_b 155 CAN1In−Ctrl.Bit14 CAN1−CB14 CAN1_bCtrlB14_b 156 CAN1In−Ctrl.Bit15 CAN1−CB15 CAN1_bCtrlB15_b 157 CAN1In−Bit0 CAN1−Bit0 CAN1_bInB0_b 158 CAN1In−Bit1 CAN1−Bit1 CAN1_bInB1_b 159 CAN1In−Bit2 CAN1−Bit2 CAN1_bInB2_b 160 CAN1In−Bit3 CAN1−Bit3 CAN1_bInB3_b 161 CAN1In−Bit4 CAN1−Bit4 CAN1_bInB4_b 162 CAN1In−Bit5 CAN1−Bit5 CAN1_bInB5_b 163 CAN1In−Bit6 CAN1−Bit6 CAN1_bInB6_b 164 CAN1In−Bit7 CAN1−Bit7 CAN1_bInB7_b 165 CAN1In−Bit8 CAN1−Bit8 CAN1_bInB8_b 166 CAN1In−Bit9 CAN1−Bit9 CAN1_bInB9_b 167 CAN1In−Bit10 CAN1−Bit10 CAN1_bInB10_b 168 CAN1In−Bit11 CAN1−Bit11 CAN1_bInB11_b 169 CAN1In−Bit12 CAN1−Bit12 CAN1_bInB12_b 170 CAN1In−Bit13 CAN1−Bit13 CAN1_bInB13_b 171 CAN1In−Bit14 CAN1−Bit14 CAN1_bInB14_b 172 CAN1In−Bit15 CAN1−Bit15 CAN1_bInB15_b 173 CAN1In−Bit16 CAN1−Bit16 CAN1_bInB16_b 174 CAN1In−Bit17 CAN1−Bit17 CAN1_bInB17_b 175 CAN1In−Bit18 CAN1−Bit18 CAN1_bInB18_b 176 CAN1In−Bit19 CAN1−Bit19 CAN1_bInB19_b 177 CAN1In−Bit20 CAN1−Bit20 CAN1_bInB20_b 178 CAN1In−Bit21 CAN1−Bit21 CAN1_bInB21_b 179 CAN1In−Bit22 CAN1−Bit22 CAN1_bInB22_b 180 CAN1In−Bit23 CAN1−Bit23 CAN1_bInB23_b 181 CAN1In−Bit24 CAN1−Bit24 CAN1_bInB24_b 182 CAN1In−Bit25 CAN1−Bit25 CAN1_bInB25_b 183 CAN1In−Bit26 CAN1−Bit26 CAN1_bInB26_b 184 CAN1In−Bit27 CAN1−Bit27 CAN1_bInB27_b 185 CAN1In−Bit28 CAN1−Bit28 CAN1_bInB28_b 186 CAN1In−Bit29 CAN1−Bit29 CAN1_bInB29_b 187 CAN1In−Bit30 CAN1−Bit30 CAN1_bInB30_b 188 CAN1In−Bit31 CAN1−Bit31 CAN1_bInB31_b 189 CAN2In−Bit0 CAN2−Bit0 CAN2_bInB0_b 190 CAN2In−Bit1 CAN2−Bit1 CAN2_bInB1_b 191 CAN2In−Bit2 CAN2−Bit2 CAN2_bInB2_b 192 CAN2In−Bit3 CAN2−Bit3 CAN2_bInB3_b 193 CAN2In−Bit4 CAN2−Bit4 CAN2_bInB4_b 194 CAN2In−Bit5 CAN2−Bit5 CAN2_bInB5_b EDBCSXS064 EN 3.0 � 365 12 Appendix Selection lists for signal linking List of the digital signal sources Selection No. Signal Keypad display Variable for Global Drive Oscilloscope (GDO) 195 CAN2In−Bit6 CAN2−Bit6 CAN2_bInB6_b 196 CAN2In−Bit7 CAN2−Bit7 CAN2_bInB7_b 197 CAN2In−Bit8 CAN2−Bit8 CAN2_bInB8_b 198 CAN2In−Bit9 CAN2−Bit9 CAN2_bInB9_b 199 CAN2In−Bit10 CAN2−Bit10 CAN2_bInB10_b 200 CAN2In−Bit11 CAN2−Bit11 CAN2_bInB11_b 201 CAN2In−Bit12 CAN2−Bit12 CAN2_bInB12_b 202 CAN2In−Bit13 CAN2−Bit13 CAN2_bInB13_b 203 CAN2In−Bit14 CAN2−Bit14 CAN2_bInB14_b 204 CAN2In−Bit15 CAN2−Bit15 CAN2_bInB15_b 205 CAN2In−Bit16 CAN2−Bit16 CAN2_bInB16_b 206 CAN2In−Bit17 CAN2−Bit17 CAN2_bInB17_b 207 CAN2In−Bit18 CAN2−Bit18 CAN2_bInB18_b 208 CAN2In−Bit19 CAN2−Bit19 CAN2_bInB19_b 209 CAN2In−Bit20 CAN2−Bit20 CAN2_bInB20_b 210 CAN2In−Bit21 CAN2−Bit21 CAN2_bInB21_b 211 CAN2In−Bit22 CAN2−Bit22 CAN2_bInB22_b 212 CAN2In−Bit23 CAN2−Bit23 CAN2_bInB23_b 213 CAN2In−Bit24 CAN2−Bit24 CAN2_bInB24_b 214 CAN2In−Bit25 CAN2−Bit25 CAN2_bInB25_b 215 CAN2In−Bit26 CAN2−Bit26 CAN2_bInB26_b 216 CAN2In−Bit27 CAN2−Bit27 CAN2_bInB27_b 217 CAN2In−Bit28 CAN2−Bit28 CAN2_bInB28_b 218 CAN2In−Bit29 CAN2−Bit29 CAN2_bInB29_b 219 CAN2In−Bit30 CAN2−Bit30 CAN2_bInB30_b 220 CAN2In−Bit31 CAN2−Bit31 CAN2_bInB31_b 221 CAN3In−Bit0 CAN3−Bit0 CAN3_bInB0_b 222 CAN3In−Bit1 CAN3−Bit1 CAN3_bInB1_b 223 CAN3In−Bit2 CAN3−Bit2 CAN3_bInB2_b 224 CAN3In−Bit3 CAN3−Bit3 CAN3_bInB3_b 225 CAN3In−Bit4 CAN3−Bit4 CAN3_bInB4_b 226 CAN3In−Bit5 CAN3−Bit5 CAN3_bInB5_b 227 CAN3In−Bit6 CAN3−Bit6 CAN3_bInB6_b 228 CAN3In−Bit7 CAN3−Bit7 CAN3_bInB7_b 229 CAN3In−Bit8 CAN3−Bit8 CAN3_bInB8_b 230 CAN3In−Bit9 CAN3−Bit9 CAN3_bInB9_b 231 CAN3In−Bit10 CAN3−Bit10 CAN3_bInB10_b 232 CAN3In−Bit11 CAN3−Bit11 CAN3_bInB11_b 233 CAN3In−Bit12 CAN3−Bit12 CAN3_bInB12_b 234 CAN3In−Bit13 CAN3−Bit13 CAN3_bInB13_b 235 CAN3In−Bit14 CAN3−Bit14 CAN3_bInB14_b 236 CAN3In−Bit15 CAN3−Bit15 CAN3_bInB15_b 237 CAN3In−Bit16 CAN3−Bit16 CAN3_bInB16_b 238 CAN3In−Bit17 CAN3−Bit17 CAN3_bInB17_b 239 CAN3In−Bit18 CAN3−Bit18 CAN3_bInB18_b 240 CAN3In−Bit19 CAN3−Bit19 CAN3_bInB19_b 241 CAN3In−Bit20 CAN3−Bit20 CAN3_bInB20_b 242 CAN3In−Bit21 CAN3−Bit21 CAN3_bInB21_b EDBCSXS064 EN 3.0 366 � Appendix 12 Selection lists for signal linking List of the digital signal sources Selection No. Signal Keypad display Variable for Global Drive Oscilloscope (GDO) 243 CAN3In−Bit22 CAN3−Bit22 CAN3_bInB22_b 244 CAN3In−Bit23 CAN3−Bit23 CAN3_bInB23_b 245 CAN3In−Bit24 CAN3−Bit24 CAN3_bInB24_b 246 CAN3In−Bit25 CAN3−Bit25 CAN3_bInB25_b 247 CAN3In−Bit26 CAN3−Bit26 CAN3_bInB26_b 248 CAN3In−Bit27 CAN3−Bit27 CAN3_bInB27_b 249 CAN3In−Bit28 CAN3−Bit28 CAN3_bInB28_b 250 CAN3In−Bit29 CAN3−Bit29 CAN3_bInB29_b 251 CAN3In−Bit30 CAN3−Bit30 CAN3_bInB30_b 252 CAN3In−Bit31 CAN3−Bit31 CAN3_bInB31_b 253 CANSync−InsideWindow CSync−IW CAN_bSyncInsideWindow_b 254 CANSync−ForInterpolator CSync−FIn CAN_bSyncForInterpolator_b 255 DCTRL−FAIL DCT−Fail DCTRL_bFail_b 256 DCTRL−IMP DCT−Imp DCTRL_bImp_b 257 DCTRL−TRIP DCT−Trip DCTRL_bTrip_b 258 DCTRL−QspIn DCT−QspIn DCTRL_bQspIn_b 259 DCTRL−RDY DCT−Rdy DCTRL_bRdy_b 260 DCTRL−CwCcw DCT−CwCcw DCTRL_bCwCcw_b 261 DCTRL−NActEq0 DCT−NEq0 DCTRL_bNActEq0_b 262 DCTRL−CINH DCT−CInh DCTRL_bCInh_b 263 DCTRL−Stat1 DCT−Stat1 DCTRL_bStat1_b 264 DCTRL−Stat2 DCT−Stat2 DCTRL_bStat2_b 265 DCTRL−Stat4 DCT−Stat4 DCTRL_bStat4_b 266 DCTRL−Stat8 DCT−Stat8 DCTRL_bStat8_b 267 DCTRL−WARN DCT−Warn DCTRL_bWarn_b 268 DCTRL−MESS DCT−Mess DCTRL_bMess_b 269 DCTRL−INIT DCT−Init DCTRL_bInit_b 270 DCTRL−ExternalFault DCT−EEr DCTRL_bExternalFault_b 271 FCODE−C0250 FC−250 FCODE_bC250_b 272 FCODE−C0471.Bit0 FC−471.0 FCODE_bC471Bit0_b 273 FCODE−C0471.Bit1 FC−471.1 FCODE_bC471Bit1_b 274 FCODE−C0471.Bit2 FC−471.2 FCODE_bC471Bit2_b 275 FCODE−C0471.Bit3 FC−471.3 FCODE_bC471Bit3_b 276 FCODE−C0471.Bit4 FC−471.4 FCODE_bC471Bit4_b 277 FCODE−C0471.Bit5 FC−471.5 FCODE_bC471Bit5_b 278 FCODE−C0471.Bit6 FC−471.6 FCODE_bC471Bit6_b 279 FCODE−C0471.Bit7 FC−471.7 FCODE_bC471Bit7_b 280 FCODE−C0471.Bit8 FC−471.8 FCODE_bC471Bit8_b 281 FCODE−C0471.Bit9 FC−471.9 FCODE_bC471Bit9_b 282 FCODE−C0471.Bit10 FC−471.10 FCODE_bC471Bit10_b 283 FCODE−C0471.Bit11 FC−471.11 FCODE_bC471Bit11_b 284 FCODE−C0471.Bit12 FC−471.12 FCODE_bC471Bit12_b 285 FCODE−C0471.Bit13 FC−471.13 FCODE_bC471Bit13_b 286 FCODE−C0471.Bit14 FC−471.14 FCODE_bC471Bit14_b 287 FCODE−C0471.Bit15 FC−471.15 FCODE_bC471Bit15_b 288 FCODE−C0471.Bit16 FC−471.16 FCODE_bC471Bit16_b 289 FCODE−C0471.Bit17 FC−471.17 FCODE_bC471Bit17_b 290 FCODE−C0471.Bit18 FC−471.18 FCODE_bC471Bit18_b EDBCSXS064 EN 3.0 � 367 12 Appendix Selection lists for signal linking List of the digital signal sources Selection No. Signal Keypad display Variable for Global Drive Oscilloscope (GDO) 291 FCODE−C0471.Bit19 FC−471.19 FCODE_bC471Bit19_b 292 FCODE−C0471.Bit20 FC−471.20 FCODE_bC471Bit20_b 293 FCODE−C0471.Bit21 FC−471.21 FCODE_bC471Bit21_b 294 FCODE−C0471.Bit22 FC−471.22 FCODE_bC471Bit22_b 295 FCODE−C0471.Bit23 FC−471.23 FCODE_bC471Bit23_b 296 FCODE−C0471.Bit24 FC−471.24 FCODE_bC471Bit24_b 297 FCODE−C0471.Bit25 FC−471.25 FCODE_bC471Bit25_b 298 FCODE−C0471.Bit26 FC−471.26 FCODE_bC471Bit26_b 299 FCODE−C0471.Bit27 FC−471.27 FCODE_bC471Bit27_b 300 FCODE−C0471.Bit28 FC−471.28 FCODE_bC471Bit28_b 301 FCODE−C0471.Bit29 FC−471.29 FCODE_bC471Bit29_b 302 FCODE−C0471.Bit30 FC−471.30 FCODE_bC471Bit30_b 303 FCODE−C0471.Bit31 FC−471.31 FCODE_bC471Bit31_b 304 FCODE−C0135.Bit0 FC−135.0 FCODE_bC135Bit0_b 305 FCODE−C0135.Bit1 FC−135.1 FCODE_bC135Bit1_b 306 FCODE−C0135.Bit2 FC−135.2 FCODE_bC135Bit2_b 307 FCODE−C0135.Bit3 FC−135.3 FCODE_bC135Bit3_b 308 FCODE−C0135.Bit4 FC−135.4 FCODE_bC135Bit4_b 309 FCODE−C0135.Bit5 FC−135.5 FCODE_bC135Bit5_b 310 FCODE−C0135.Bit6 FC−135.6 FCODE_bC135Bit6_b 311 FCODE−C0135.Bit7 FC−135.7 FCODE_bC135Bit7_b 312 FCODE−C0135.Bit8 FC−135.8 FCODE_bC135Bit8_b 313 FCODE−C0135.Bit9 FC−135.9 FCODE_bC135Bit9_b 314 FCODE−C0135.Bit10 FC−135.10 FCODE_bC135Bit10_b 315 FCODE−C0135.Bit11 FC−135.11 FCODE_bC135Bit11_b 316 FCODE−C0135.Bit12 FC−135.12 FCODE_bC135Bit12_b 317 FCODE−C0135.Bit13 FC−135.13 FCODE_bC135Bit13_b 318 FCODE−C0135.Bit14 FC−135.14 FCODE_bC135Bit14_b 319 FCODE−C0135.Bit15 FC−135.15 FCODE_bC135Bit15_b 320 SPEED−MCTRL.QspIn SP−M.Qsp MCTRL_bQspIn_b 321 SPEED−MCTRL.MMax SP−M.MMax MCTRL_bMMax_b 322 SPEED−MCTRL.IMax SP−M.IMax MCTRL_bIMax_b 324 SPEED−MCTRL.UnderVoltage SP−M.UnV MCTRL_bUnderVoltage_b 325 SPEED−MCTRL.OverVoltage SP−M.OvV MCTRL_bOverVoltage_b 326 SPEED−MCTRL.ShortCircuit SP−M.ShC MCTRL_bShortCircuit_b 327 SPEED−MCTRL.EarthFault SP−M.EaF MCTRL_bEarthFault_b 328 SPEED−MCTRL.NmaxFault SP−M.NmaF MCTRL_bNmaxFault_b 329 SPEED−MCTRL.ResolverFault SP−M.ResF MCTRL_bResolverFault_b 330 SPEED−MCTRL.MotorTempGreaterSetValue SP−M.MoVa MCTRL_bMotorTempGreaterSetValue_b 331 SPEED−MCTRL.MotorTempGreaterC0121 SP−M.M121 MCTRL_bMotorTempGreaterC0121_b 333 SPEED−MCTRL.KuehlGreaterSetValue SP−M.KuVa MCTRL_bKuehlGreaterSetValue_b 334 SPEED−MCTRL.KuehlGreaterC0122 SP−M.K122 MCTRL_bKuehlGreaterC0122_b 335 SPEED−MCTRL.SensorFault SP−M.SenF MCTRL_bSensorFault_b 336 SPEED−MCTRL.EncoderFault SP−M.EncF MCTRL_bEncoderFault_b 337 SPEED−MCTRL.IxtOverload SP−M.Ixt MCTRL_bIxtOverload_b 340 TORQUE−MCTRL.QspIn T−M.Qsp MCTRL_bQspIn_b 341 TORQUE−MCTRL.MMax T−M.MMax MCTRL_bMMax_b 342 TORQUE−MCTRL.IMax T−M.IMax MCTRL_bIMax_b EDBCSXS064 EN 3.0 368 � Appendix 12 Selection lists for signal linking List of the digital signal sources Selection No. Signal Keypad display Variable for Global Drive Oscilloscope (GDO) 344 TORQUE−MCTRL.UnderVoltage T−M.UnV MCTRL_bUnderVoltage_b 345 TORQUE−MCTRL.OverVoltage T−M.OvV MCTRL_bOverVoltage_b 346 TORQUE−MCTRL.ShortCircuit T−M.ShC MCTRL_bShortCircuit_b 347 TORQUE−MCTRL.EarthFault T−M.EaF MCTRL_bEarthFault_b 348 TORQUE−MCTRL.NmaxFault T−M.NmaF MCTRL_bNmaxFault_b 349 TORQUE−MCTRL.ResolverFault T−M.ResF MCTRL_bResolverFault_b 350 TORQUE−MCTRL.MotorTempGreaterSetValue T−M.MoVa MCTRL_bMotorTempGreaterSetValue_b 351 TORQUE−MCTRL.MotorTempGreaterC0121 T−M.M121 MCTRL_bMotorTempGreaterC0121_b 353 TORQUE−MCTRL.KuehlGreaterSetValue T−M.KuVa MCTRL_bKuehlGreaterSetValue_b 354 TORQUE−MCTRL.KuehlGreaterC0122 T−M.K122 MCTRL_bKuehlGreaterC0122_b 355 TORQUE−MCTRL.SensorFault T−M.SenF MCTRL_bSensorFault_b 356 TORQUE−MCTRL.EncoderFault T−M.EncF MCTRL_bEncoderFault_b 357 TORQUE−MCTRL.IxtOverload T−M.Ixt MCTRL_bIxtOverload_b 400 SPEED−NSET.RfgIEqO SP−N.REqO ECS_MAIN.L_NSET1.bRfgIEqO_b 401 TORQUE−NSET.RfgIEqO T−N.REqO ECS_MAIN.L_NSET1.bRfgIEqO_b 410 SPEED−BRK.SetQSP SP−B.QSP ECS_MAIN.L_BRK1.bQSP_b 411 SPEED−BRK.NegOut SP−B.NOut ECS_MAIN.BRK_bNegOut_b 412 SPEED−BRK.Out SP−B.Out ECS_MAIN.L_BRK1.bOut_b 413 SPEED−BRK.SetCInh SP−B.CInh ECS_MAIN.L_BRK1.bCInh_b 414 SPEED−BRK.MStore SP−B.MSt ECS_MAIN.L_BRK1.bMStore_b 420 TORQUE−BRK.SetQSP T−B.QSP ECS_MAIN.L_BRK1.bQSP_b 421 TORQUE−BRK.NegOut T−B.NOut ECS_MAIN.BRK_bNegOut_b 422 TORQUE−BRK.Out T−B.Out ECS_MAIN.L_BRK1.bOut_b 423 TORQUE−BRK.SetCInh T−B.CInh ECS_MAIN.L_BRK1.bCInh_b 424 TORQUE−BRK.MStore T−B.MSt ECS_MAIN.L_BRK1.bMStore_b 450 SPEED−RLQ.QSP SP−RL.QSP ECS_MAIN.L_RLQ1.bQSP_b 451 SPEED−RLQ.CwCCw SP−RL.Cw ECS_MAIN.L_RLQ1.bCwCCw_b 460 TORQUE−RLQ.QSP T−RL.QSP ECS_MAIN.L_RLQ1.bQSP_b 461 TORQUE−RLQ.CwCCw T−RL.Cw ECS_MAIN.L_RLQ1.bCwCCw_b 651 InNeg−DigOut1 IN−AnOut1 InNeg_bDigOut1 652 InNeg−DigOut2 IN−AnOut2 InNeg_bDigOut2 653 InNeg−DigOut3 IN−AnOut3 InNeg_bDigOut3 671 OutNeg−DigOut1 ON−AnOut1 OutNeg_bDigOut1 672 OutNeg−DigOut2 ON−AnOut2 OutNeg_bDigOut2 673 OutNeg−DigOut3 ON−AnOut3 OutNeg_bDigOut3 700 AIF1In−W1.Bit0 AIF1−1.0 AIF1_bInWord1B0_b 701 AIF1In−W1.Bit1 AIF1−1.1 AIF1_bInWord1B1_b 702 AIF1In−W1.Bit2 AIF1−1.2 AIF1_bInWord1B2_b 703 AIF1In−W1.Bit3 AIF1−1.3 AIF1_bInWord1B3_b 704 AIF1In−W1.Bit4 AIF1−1.4 AIF1_bInWord1B4_b 705 AIF1In−W1.Bit5 AIF1−1.5 AIF1_bInWord1B5_b 706 AIF1In−W1.Bit6 AIF1−1.6 AIF1_bInWord1B6_b 707 AIF1In−W1.Bit7 AIF1−1.7 AIF1_bInWord1B7_b 708 AIF1In−W1.Bit8 AIF1−1.8 AIF1_bInWord1B8_b 709 AIF1In−W1.Bit9 AIF1−1.9 AIF1_bInWord1B9_b 710 AIF1In−W1.Bit10 AIF1−1.10 AIF1_bInWord1B10_b 711 AIF1In−W1.Bit11 AIF1−1.11 AIF1_bInWord1B11_b 712 AIF1In−W1.Bit12 AIF1−1.12 AIF1_bInWord1B12_b EDBCSXS064 EN 3.0 � 369 12 Appendix Selection lists for signal linking List of the digital signal sources Selection No. Signal Keypad display Variable for Global Drive Oscilloscope (GDO) 713 AIF1In−W1.Bit13 AIF1−1.13 AIF1_bInWord1B13_b 714 AIF1In−W1.Bit14 AIF1−1.14 AIF1_bInWord1B14_b 715 AIF1In−W1.Bit15 AIF1−1.15 AIF1_bInWord1B15_b 800 CAN1In−W1.Bit0 CAN1−1.0 CAN1_bInWord1B0_b 801 CAN1In−W1.Bit1 CAN1−1.1 CAN1_bInWord1B1_b 802 CAN1In−W1.Bit2 CAN1−1.2 CAN1_bInWord1B2_b 803 CAN1In−W1.Bit3 CAN1−1.3 CAN1_bInWord1B3_b 804 CAN1In−W1.Bit4 CAN1−1.4 CAN1_bInWord1B4_b 805 CAN1In−W1.Bit5 CAN1−1.5 CAN1_bInWord1B5_b 806 CAN1In−W1.Bit6 CAN1−1.6 CAN1_bInWord1B6_b 807 CAN1In−W1.Bit7 CAN1−1.7 CAN1_bInWord1B7_b 808 CAN1In−W1.Bit8 CAN1−1.8 CAN1_bInWord1B8_b 809 CAN1In−W1.Bit9 CAN1−1.9 CAN1_bInWord1B9_b 810 CAN1In−W1.Bit10 CAN1−1.10 CAN1_bInWord1B10_b 811 CAN1In−W1.Bit11 CAN1−1.11 CAN1_bInWord1B11_b 812 CAN1In−W1.Bit12 CAN1−1.12 CAN1_bInWord1B12_b 813 CAN1In−W1.Bit13 CAN1−1.13 CAN1_bInWord1B13_b 814 CAN1In−W1.Bit14 CAN1−1.14 CAN1_bInWord1B14_b 815 CAN1In−W1.Bit15 CAN1−1.15 CAN1_bInWord1B15_b 880 SYS−Clock01Hz SYS−0.1Hz SYSTEM_bClock01Hz 881 SYS−Clock1Hz SYS−1Hz SYSTEM_bClock1Hz 882 SYS−Clock10Hz SYS−10Hz SYSTEM_bClock10Hz 883 SYS−Clock100Hz SYS−100Hz SYSTEM_bClock100Hz 920 AIn1−Error AIN1−Err AIN1_bError_b 1000 FIXED 0/FALSE 0/FALSE gC_bFalse EDBCSXS064 EN 3.0 370 � Appendix 12 Selection lists for signal linking List of the analog signal sources 12.2.2 List of the analog signal sources Symbol in signal flow diagrams: 3 Selection No. Signal Keypad display Variable for Global Drive Oscilloscope (GDO) 2 FIXED100% FIXED100% gC_wPos16384 3 FIXED−100% FIXED−100% gC_wNeg16384 10 AIF1In−DctrlCtrl AIF1−Dctrl AIF1_wDctrlCtrl 11 AIF1In−W1 AIF1In−W1 AIF1_nInW1_a 12 AIF1In−W2 AIF1In−W2 AIF1_nInW2_a 13 AIF1In−W3 AIF1In−W3 AIF1_nInW3_a 14 AIF2In−W1 AIF2In−W1 AIF2_nInW1_a 15 AIF2In−W2 AIF2In−W2 AIF2_nInW2_a 16 AIF2In−W3 AIF2In−W3 AIF2_nInW3_a 17 AIF2In−W4 AIF2In−W4 AIF2_nInW4_a 18 AIF3In−W1 AIF3In−W1 AIF3_nInW1_a 19 AIF3In−W2 AIF3In−W2 AIF3_nInW2_a 20 AIF3In−W3 AIF3In−W3 AIF3_nInW3_a 21 AIF3In−W4 AIF3In−W4 AIF3_nInW4_a 23 CAN1In−DctrlCtrl CAN1−Dctrl CAN1_wDctrlCtrl 24 CAN1In−W1 CAN1In−W1 CAN1_nInW1_a 25 CAN1In−W2 CAN1In−W2 CAN1_nInW2_a 26 CAN1In−W3 CAN1In−W3 CAN1_nInW3_a 27 CAN2In−W1 CAN2In−W1 CAN2_nInW1_a 28 CAN2In−W2 CAN2In−W2 CAN2_nInW2_a 29 CAN2In−W3 CAN2In−W3 CAN2_nInW3_a 30 CAN2In−W4 CAN2In−W4 CAN2_nInW4_a 31 CAN3In−W1 CAN3In−W1 CAN3_nInW1_a 32 CAN3In−W2 CAN3In−W2 CAN3_nInW2_a 33 CAN3In−W3 CAN3In−W3 CAN3_nInW3_a 34 CAN3In−W4 CAN3In−W4 CAN3_nInW4_a 35 CANSync−Deviation CANSync−De CAN_nSyncDeviation 36 DCTRL−Stat DCTRL−Stat DCTRL_wStat 37 DCTRL−FaultNumber DCTRL−FNr DCTRL_wFaultNumber 38 FCODE−C0017 FCODE−C17 FCODE_nC17_a 43 FCODE−C0037 FCODE−C37 FCODE_nC37_a 44 FCODE−C0108/1 FC−C108_1 FCODE_nC108_1_a 45 FCODE−C0108/2 FC−C108_2 FCODE_nC108_2_a 46 FCODE−C0109/1 FC−C109_1 FCODE_nC109_1_a 47 FCODE−C0109/2 FC−C109_2 FCODE_nC109_2_a 48 FCODE−C0141 FC−C141 FCODE_nC141_a 49 FCODE−C0472/1 FC−C472_1 FCODE_nC472_1_a 50 FCODE−C0472/2 FC−C472_2 FCODE_nC472_2_a 51 FCODE−C0472/3 FC−C472_3 FCODE_nC472_3_a 52 FCODE−C0472/4 FC−C472_4 FCODE_nC472_4_a 53 FCODE−C0472/5 FC−C472_5 FCODE_nC472_5_a 54 FCODE−C0472/6 FC−C472_6 FCODE_nC472_6_a 55 FCODE−C0472/7 FC−C472_7 FCODE_nC472_7_a 56 FCODE−C0472/8 FC−C472_8 FCODE_nC472_8_a EDBCSXS064 EN 3.0 � 371 12 Appendix Selection lists for signal linking List of the analog signal sources Selection No. Signal Keypad display Variable for Global Drive Oscilloscope (GDO) 57 FCODE−C0472/9 FC−C472_9 FCODE_nC472_9_a 58 FCODE−C0472/10 FC−C472_10 FCODE_nC472_10_a 59 FCODE−C0472/11 FC−C472_11 FCODE_nC472_11_a 60 FCODE−C0472/12 FC−C472_12 FCODE_nC472_12_a 61 FCODE−C0472/13 FC−C472_13 FCODE_nC472_13_a 62 FCODE−C0472/14 FC−C472_14 FCODE_nC472_14_a 63 FCODE−C0472/15 FC−C472_15 FCODE_nC472_15_a 64 FCODE−C0472/16 FC−C472_16 FCODE_nC472_16_a 65 FCODE−C0472/17 FC−C472_17 FCODE_nC472_17_a 66 FCODE−C0472/18 FC−C472_18 FCODE_nC472_18_a 67 FCODE−C0472/19 FC−C472_19 FCODE_nC472_19_a 68 FCODE−C0472/20 FC−C472_20 FCODE_nC472_20_a 69 FCODE−C0473/1 FC−C473_1 FCODE_nC473_1_a 70 FCODE−C0473/2 FC−C473_2 FCODE_nC473_2_a 71 FCODE−C0473/3 FC−C473_3 FCODE_nC473_3_a 72 FCODE−C0473/4 FC−C473_4 FCODE_nC473_4_a 73 FCODE−C0473/5 FC−C473_5 FCODE_nC473_5_a 74 FCODE−C0473/6 FC−C473_6 FCODE_nC473_6_a 75 FCODE−C0473/7 FC−C473_7 FCODE_nC473_7_a 76 FCODE−C0473/8 FC−C473_8 FCODE_nC473_8_a 77 FCODE−C0473/9 FC−C473_9 FCODE_nC473_9_a 78 FCODE−C0473/10 FC−C473_10 FCODE_nC473_10_a 79 FCODE−C0475/1_v FC−475_1_v FCODE_nC475_1_v 80 FCODE−C0475/2_v FC−475_2_v FCODE_nC475_2_v 90 SPEED−MCTRL.NSetIn SP−MC.NSe MCTRL_nNSetIn_a 91 SPEED−MCTRL.MSetIn SP−MC.MSe MCTRL_nMSetIn_a 92 SPEED−MCTRL.IAct SP−MC.IAct MCTRL_nIAct_a 93 SPEED−MCTRL.DCVolt SP−MC.DCV MCTRL_nDCVolt_a 94 SPEED−MCTRL.MAct SP−MC.MAct MCTRL_nMAct_a 95 SPEED−MCTRL.Pos SP−MC.Pos MCTRL_nPos_a 96 SPEED−MCTRL.NAct_v SP−MC.NA_v MCTRL_nNAct_v 97 SPEED−MCTRL.NAct SP−MC.NAct MCTRL_nNAct_a 98 SPEED−MCTRL.NmaxC11 SP−MC.NC11 MCTRL_nNmaxC11 99 SPEED−MCTRL.wMmaxC57 SP−MC.MC57 MCTRL_wMmaxC57 100 TORQUE−MCTRL.NSetIn T−MC.NSe MCTRL_nNSetIn_a 101 TORQUE−MCTRL.MSetIn T−MC.MSe MCTRL_nMSetIn_a 102 TORQUE−MCTRL.IAct T−MC.IAct MCTRL_nIAct_a 103 TORQUE−MCTRL.DCVolt T−MC.DCV MCTRL_nDCVolt_a 104 TORQUE−MCTRL.MAct T−MC.MAct MCTRL_nMAct_a 105 TORQUE−MCTRL.Pos T−MC.Pos MCTRL_nPos_a 106 TORQUE−MCTRL.NAct_v T−MC.NA_v MCTRL_nNAct_v 107 TORQUE−MCTRL.NAct T−MC.NAct MCTRL_nNAct_a 108 TORQUE−MCTRL.NmaxC11 T−MC.NC11 MCTRL_nNmaxC11 109 TORQUE−MCTRL.wMmaxC57 T−MC.MC57 MCTRL_wMmaxC57 130 SPEED−NSET.NOut SP−NS.NOu ECS_MAIN.L_NSET1.nNOut_a 131 TORQUE−NSET.NOut T−NS.NOu ECS_MAIN.L_NSET1.nNOut_a 140 SPEED−BRK.MSetOut SP−BR.MOu ECS_MAIN.L_BRK1.nMSetOut_a 141 TORQUE−BRK.MSetOut T−BR.MOu ECS_MAIN.L_BRK1.nMSetOut_a EDBCSXS064 EN 3.0 372 � Appendix 12 Selection lists for signal linking List of the analog signal sources Selection No. Signal Keypad display Variable for Global Drive Oscilloscope (GDO) 651 InNeg−AnOut1 IN−AnOut1 InNeg_nAnOut1 652 InNeg−AnOut2 IN−AnOut2 InNeg_nAnOut2 671 OutNeg−AnOut1 ON−AnOut1 OutNeg_nAnOut1 672 OutNeg−AnOut2 ON−AnOut2 OutNeg_nAnOut2 900 DFIn−In_v DFIn−In_v DFIN_nIn_v_Shadow 910 DFOut−In_v DFOUT−I_v DFOUT_nIn_v_Shadow 920 AIN1−OUT AIN1−OUT L_AIN1.nOut_a EDBCSXS064 EN 3.0 � 373 12 Appendix Selection lists for signal linking List of the phase signal sources 12.2.3 List of the phase signal sources Symbol in signal flow diagrams: � Selection No. Signal Keypad display Variable for Global Drive Oscilloscope (GDO) 10 AIF1In−W2/W3 AIF1−W2/W3 AIF1_dnInD1_p 11 AIF2In−W0/W1 AIF2−W0/W1 AIF2_dnInD1_p 12 AIF3In−W0/W1 AIF3−W0/W1 AIF3_dnInD1_p 13 CAN1In−W2/W3 CAN1−W2/W3 CAN1_dnInD1_p 14 CAN2In−W0/W1 CAN2−W0/W1 CAN2_dnInD1_p 15 CAN3In−W0/W1 CAN3−W0/W1 CAN3_dnInD1_p 16 FCODE−C0474/1 FCE−474_1 FCODE_dnC474_1_p 17 FCODE−C0474/2 FC−474_2 FCODE_dnC474_2_p 18 FCODE−C0474/3 FC−474_3 FCODE_dnC474_3_p 19 FCODE−C0474/4 FC−474_4 FCODE_dnC474_4_p 20 FCODE−C0474/5 FC−474_5 FCODE_dnC474_5_p 21 AIF1In−W0/W1 AIF1−W0/W1 AIF1_dnInD0_p 22 AIF2In−W2/W3 AIF2−W2/W3 AIF2_dnInD2_p 23 AIF3In−W2/W3 AIF3−W2/W3 AIF3_dnInD2_p 24 CAN1In−W0/W1 CAN1−W0/W1 CAN1_dnInD0_p 25 CAN2In−W2/W3 CAN2−W2/W3 CAN2_dnInD2_p 26 CAN3In−W2/W3 CAN3−W2/W3 CAN3_dnInD2_p 30 SPEED−MCTRL.Pos SP−M.Pos MCTRL_dnPos_p 40 TORQUE−MCTRL.Pos T−M.Pos MCTRL_dnPos_p 651 InNeg−PhiOut1 IN−PhiO1 InNeg_dnPhiOut1 652 InNeg−PhiOut2 IN−PhiO2 InNeg_dnPhiOut2 671 OutNeg−PhiOut1 ON−PhiO1 OutNeg_dnPhiOut1 672 OutNeg−PhiOut2 ON−PhiO2 OutNeg_dnPhiOut2 EDBCSXS064 EN 3.0 374 � Appendix 12 Overview of accessories 12.3 Overview of accessories The accessories are not included in the scope of supply. Lenze’s basic devices and accessories are carefully matched to each other. With the basic device and the accessories, all components for a complete drive system are available. The component selection must be matched to the respective application. 12.3.1 Connectors In order to provide a flexible purchasing, the connectors are available as separate delivery units complementing the power supply, capacitor and axis modules of the ECS series: ƒ ECSZE000X0B (connectors for power supply modules) ƒ ECSZK000X0B (connectors for capacitor modules) ƒ ECSZA000X0B (connectors for axis modules) 12.3.2 Shield mounting kit The shield mounting kit ECSZS000X0B001 contains components for reliable and quick fixing of the cable shields. The scope of supply includes: ƒ Shield sheet for motor cable ƒ Wire clamp for shield connection of motor cable ƒ Wire clamp for shield connection of control cables ƒ Wire clamp for shield connection of motor monitoring cable 12.3.3 Power supply modules For generating the DC−bus voltage for the axis modules: ƒ ECSxE012 ƒ ECSxE020 ƒ ECSxE040 The modules are delivered in three different mounting designs (x): standard panel mounting (E), push−through mounting (D) and cold−plate mounting (C). 12.3.4 Capacitor modules For backing up the DC−bus voltage for the drive system: ƒ ECSxK001 ƒ ECSxK002 The modules are delivered in three different mounting designs (x): standard panel mounting (E), push−through mounting (D) and cold−plate mounting (C). EDBCSXS064 EN 3.0 � 375 12 Appendix Overview of accessories 12.3.5 Communication modules For the AIF automation interface various modules are available: ƒ LECOM−LI (optical fibre) ... EMF2102IB−V003 ƒ LECOM−A (RS232) ... EMF2102IB−V004 ƒ LECOM−B (RS485) ... EMF2102IB−V002 ƒ LECOM−A/B (RS232/RS485) ... EMF2102IB−V001 ƒ LON ... EMF2141IB ƒ INTERBUS ... EMF2113IB ƒ PROFIBUS−DP ... EMF2133IB ƒ DeviceNet/CANopen ... EMF2175IB ƒ CAN addressing ... EMF2174IB ƒ Keypad XT ... EMZ9371BC ƒ Diagnosis terminal = Keypad XT in hand−held design ... E82ZBBXC ƒ PC system bus adapter: Module Short description EMF2173IB PC printer interface/system bus converter Voltage supply via DIN connection EMF2173IB V002 PC printer interface/system bus converter Voltage supply via PS2 connection EMF2173IB V003 PC printer interface/system bus converter Voltage supply via PS2 connection, electrical isolation to the CAN bus EMF2177IB USB system bus adapter EDBCSXS064 EN 3.0 376 � Appendix 12 Overview of accessories 12.3.6 Brake resistors External brake resistors with specially adjusted pulse capability for the cold−plate variant in IP50 design: ƒ ERBM039R120W (39 �, 0.12 kW) ƒ ERBM020R150W (20 �, 0.15 kW) External brake resistors with increased power loss in IP20 design (protection against accidental contact according to NEMA 250 type 1): ƒ ERBD047R01K2 (47 �, 1.2 kW) ƒ ERBD022R03K0 (22 �, 3.0 kW) External brake resistors with increased power loss in IP65 design (NEMA 250 type 4x): ƒ ERBS039R01K6 (39 �, 1.6 kW) ƒ ERBS020R03K2 (20 �, 3.2 kW) Assignment of external brake resistors Power supply module P D Brake resistor � ECSEE... ECSDE... ECSCE... [kW] 012 020 040 012 020 040 012 020 040 ERBM039R120W 39 0.12 � � ERBM020R150W 20 0.15 � ERBD047R01K2 47 1.2 � � � � � � ERBD022R03K0 22 3.0 � � � ERBS039R01K6 39 1.6 � � � � � � ERBS020R03K2 20 3.2 � � � P Permanent power D 12.3.7 Mains fuses Fuses are not offered by Lenze. Please use standard fuses. Observe the national and regional regulations (VDE, UL, EVU, ...). Only circuit−breakers or UL−approved fuses can be used for cable protection. In UL−approved systems, only UL−approved cables, fuses and fuse holders are to be used. EDBCSXS064 EN 3.0 � 377 12 Appendix Overview of accessories 12.3.8 Mains chokes It is not mandatory to use a mains choke for operating the ECS modules. The respective application determines whether a mains choke is required or not. Advantages when using a mains choke: ƒ Lower system perturbations – The waveform of the mains current is approximated to the sinusoidal shape. – Reduction of the effective mains current by up to 25%. – Reduction of the mains, cable and fuse load. ƒ The effective DC−bus current also decreases by up to 25%. ƒ Increased service life of the connected axis modules – A mains choke reduces the AC current load of the DC−bus capacitors and thus increases their service life. ƒ Low−frequency radio interference voltages are reduced. Please note: ƒ With mains choke operation the maximally possible output voltage does not fully reach the value of the mains voltage. ƒ For operation of drives for accelerating duty with high peak currents, it is recommended to use mains chokes with linear L/I characteristic (Lenze types ELN3...). ƒ The choke rating is to be checked and adapted to the respective conditions. Mains chokes for the power supply modules: Power supply module Short−circuit Mains choke type I [A] L [mH] r r type voltage (U ) k ECSxE012 ELN3−0150H024 3 x 24 3 x 1.5 ECSxE020 ELN3−0088H035 3 x 35 3 x 0.88 4 % ECSxE040 ELN3−0055H055 3 x 55 3 x 0.55 12.3.9 RFI filters Depending on the application case, servo systems require different mains−side measures for reducing the mains current and for suppressing radio interference. These measures are generally not compulsory but ensure the universal use of a servo system. For every power supply module, Lenze offers a built−on filter for interference level A. These filters are designed for a configuration of 10 axes and 25 m of motor cable length each (Lenze system cable). The interference level A is also complied with in other combinations of ECS axis modules, as long as the motor cable length per axis module does not exceed 25 m (Lenze system cables) and the maximum number of ECS axis modules is 10. The following table shows the rated operation. EDBCSXS064 EN 3.0 378 � Appendix 12 Overview of accessories Type Axes in idle state Axes with 25% partial Axes with 100% load Sum of the load (0 ... 100 % speed, (100 % speed, motors input power 400V evenly spread, motors (50 % speed, motors with approx. 100% in idle state) with 50% load) rated load) ECSxE012 5 × ECSx�008 3 × ECSx�008 2 × ECSx�008 6 KW ECSxE020 5 × ECSx�008 3 × ECSx�008 2 × ECSx�016 10 KW 2 × ECSx�048 ECSxE040 5 × ECSx�008 3 × ECSx�016 20 KW (approx. 70 % load) � Application software: S = Speed & Torque P = Posi & Shaft M = Motion A = Application Designation I [A] U [V] r mains ECSZZ020X4B 16 500 ECSZZ040X4B 32 12.3.10 Motors Matched motors can be obtained under the following type designations: ƒ MCA series asynchronous motor (high speeds by means of wide field weakening range) ƒ MCS series synchronous motor (for high−dynamic applications) ƒ MDxMA series asynchronous motor (cost−effective) 12.3.11 Master frequency connection for ECSxS/P/A axis modules Master frequency connection Connection EMF 2132 IB master frequency distributor Several slaves on the master One slave on the master EYD0017AxxxxW01W01 master frequency cable ECS (master) � EMF 2132 IB EYD0017AxxxxW01S01 master frequency cable ECS (slave) � EMF 2132 IB EDBCSXS064 EN 3.0 � 379 13 Index 13 Index AIF1In, 193 A AIF1Out, 196 Absolute value encoder (hyperface, single−turn/multi−turn), 88 AIF2In, 201 Acceleration time AIF2Out, 203 − Operating mode "Speed control", 271 AIF3In, 206 − operating mode "Torque control", 292 AIF3Out, 208 Accessories, 375 AIn1, 211 − brake resistors, 377 Air humidity, 22 − capacitor modules, 375 − communication modules, 376 Analog input, 54 − connectors, 375 Analog input configuration, 54 − mains chokes, 378 Analog inputs, 211 − mains fuses, 377 Analog signals, list, 371 − master frequency connection, 379 − motors, 379 Application, as directed, 14 − power supply modules, 375 Application as directed, 14 − RFI filters, 378 Approvals, 22 − shield mounting kit, 375 Assignment, External brake resistor, 377 Activating brake, speed control − closing holding brake, 282 Atmospheric pressure, 22 − opening holding brake, 283 Automation interface (AIF), 62 Activating holding brake, speed control − AIF1In, 193 − closing holding brake, 282 − AIF1Out, 196 − opening holding brake, 283 − AIF2In, 201 − AIF2Out, 203 Activating the brake, torque control − AIF3In, 206 − closing the holding brake, 299 − AIF3Out, 208 − opening the holding brake, 300 − management, 192 Activating the holding brake, torque control Axis module, 11 − closing the holding brake, 299 − ECSCx... − opening the holding brake, 300 dimensions, 37 Additional setpoint, 275 mounting, 36 − ECSDx... Additional torque setpoint, operating mode "Speed dimensions, 33 control", 276 mounting, 32 Address setting, 150 − ECSEx... − via codes, 152 dimensions, 31 mounting, 31 Addressing Axis synchronisation, 156 − parameter data objects, 149 − process data objects, 149 Adjusting current controller, 116 Adjusting the current controller − calculating the electrical motor values, 116 − metrological detection of electrical motor values, 117 Adjustment of field controller / field weakening controller, Adjustment, 122 AIF (automation interface), 192 EDBCSXS064 EN 3.0 380 � Index 13 CAN bus B − carry out reset node, 154 Basic identifier, 149 − communication, 135 − configuring, 150 Baud rate − cyclic process data objects, 141 − setting, 151 synchronisation, 142 via codes, 152 − data telegram, 135 via DIP switch, 151 − determining the master in the drive system, 153 − system bus (CAN). See baud rate − event−controlled process data objects, 143 Brake, connection, 48 − function blocks CAN (CAN management), 212 Brake configuration, 83 CAN1In, 215 Brake resistor, external, 377 CAN1Out, 218 CAN2In, 224 − assignment, 377 CAN2Out, 227 − connection, 46 CAN3In, 230 Brake resistor, internal, Connection, 45 CAN3Out, 233 CANSync, 236 Bus cable length, 66 − identifier, 135 , 149 display code, 149 Bus load, 162 − network management data, 136 Bus off, 168 − parameter data, 136 , 144 Bus status, 161 − parameter data channels, 144 − parameter data objects, addressing, 149 − process data, 136 C − process data objects, 139 Cable cross−section, 66 addressing, 149 data transmission, 141 Cable cross−sections − process data telegrams, 140 − control connections, 44 , 53 − selective addressing, 152 connection of "safe torque off", 57 − setting baud rate, 150 − control terminals, 43 − setting boot up time, 154 − setting node address, 150 Cable specification, 65 − setting the cycle time, 154 Cable type, 65 − synchronisation, 155 Cables, shielded, 43 via terminal, 160 − user data, 136 , 145 Cables, specification, motor cables, 47 CAN data telegram, 135 CAN management (function block), 212 CAN network − Communication phases, 136 − network management (NMT), 137 − state transitions, 137 − states, 136 CAN sync identifier, 156 CAN sync response, 158 CAN user organisation CiA, Homepage, 136 CAN−Bus, synchronisation, via MotionBus (CAN), 159 CAN−TxCan2Syncronized, 212 EDBCSXS064 EN 3.0 � 381 13 Index CAN−TxCan3Syncronized, 212 Commissioning, 74 − adjusting the current controller CAN1In, 215 calculating the electrical motor values, 116 CAN1Out, 218 metrological detection of electrical motor values, 117 − Adjustment of field controller / field weakening CAN2In, 224 controller, 122 CAN2Out, 227 − before you start, 74 CAN3In, 230 − carrying out basic settings with GDC, 76 − commissioning steps, overview, 75 CAN3Out, 233 − configuring digital inputs/outputs CANSync, 236 altering the terminal assignment, 93 setting the direction of rotation, 92 Capacitance per unit length, 65 setting the polarity, 92 Capacitor module, 11 − configuring the digital inputs/outputs, 92 − controller enable, 111 Capacitor module ECSxK..., Connection, 50 − entry of machine parameters, 109 Carrying out basic settings with GDC, 76 − Entry of motor data, 81 Carrying out reset node, 212 − holding brake configuration, 83 CCW rotation, 92 − loading Lenze settings, 113 − operation with servo motors from other manufacturers, CE−typical drive system, 39 114 − assembly, 40 − operation with servo motors of other manufacturers − earthing, 41 adjusting current controller, 116 − filters, 40 checking resolver polarity, 115 effecting rotor position adjustment, 117 − installation , 39 entering motor data, 114 − shielding, 41 − Optimising the drive behaviour, 120 cables, 43 − quick stop (QSP), 112 CE0 communication error, 192 operating mode "Speed control", 280 Changing the direction of rotation, 269 , 291 − Resolver adjustment, 125 − operating mode "Speed control", 269 − selecting the function of the charge relay, 78 − operating mode "Torque control", 291 − selecting the operating mode/control structure, 94 − setpoint selection, 110 Characteristic − setting of feedback system − Ramp function generator, 274 absolute value encoder, 88 − ramp function generator, 294 incremental encoder (TTL encoder), 87 resolver, 84 Climatic conditions, 22 sin/cos encoder, 87 − air humidity, 22 sin/cos encoder (single−turn, multi−turn), 88 − atmospheric pressure, 22 − setting of mains data, 78 − temperature, 22 − setting of the feedback system, 84 COB−ID, 149 − setting the voltage threshold, 79 − display code, 149 − Speed controller adjustment, 120 Code table, 301 Communication phases, 136 EDBCSXS064 EN 3.0 382 � Index 13 Configuration, 134 Control connections, 52 − code table, 301 − cable cross−sections, 44 , 53 connection of "safe torque off", 57 − Function library, 192 − Digital inputs, 53 − monitoring, 163 bus off, 168 − Digital outputs, 53 current load of the motor (I²xt monitoring), 174 − starting torques, 44 , 53 DC−bus voltage, 175 − tightening torques, connection of "safe torque off", 57 heatsink temperature, 170 monitoring times for process data input objects, 168 Control factor, 26 reset node, 168 Control signals, 52 temperature inside the device, 171 thermal sensors, 171 Control terminals, 51 voltage supply of control electronics, 175 − cable cross−sections, 43 − monitoring functions − starting torques, 43 possible responses, 164 responses, 163 Control/signal cables, shield connection, 51 − monitoring processes Controller, 11 controller current load (Ixt monitoring), 172 − application as directed, 14 motor temperature, 169 − MotionBus/system bus (CAN) − identification, 14 axis synchronisation, 156 Controller current load, Ixt monitoring, 172 bus load, 162 Bus status, 161 Controller enable, 111 diagnostic codes, 160 Controller inhibit (CINH), DCTRL function block, 242 synchronisation, 155 telegram counter, 161 Controller status, 244 − speed control Correction value of phase controller, 157 setpoint via AIF, 98 setpoint via analog input, 95 Current characteristics setpoint via MotionBus (CAN), 100 − application example, 28 − torque control − device protection by current derating, 29 setpoint via AIF, 105 − rated output current, 26 setpoint via analog input, 102 , 105 setpoint via CAN, 107 Current derating, 29 setpoint via MotionBus (CAN), 107 Current load of the motor, I²xt monitoring, 174 − via automation interface (AIF), 134 − via system bus (CAN) interface, 134 CW rotation, 92 Conformity, 22 Cyclic process data objects, 141 Connection − Capacitor module ECSxK..., 50 D − DC bus, 43 , 44 Data telegram, 135 − external brake resistor, 46 Data, general electrical, 23 − Internal brake resistor, 45 DC bus − motor, 43 − connection, 43 , 44 − motor holding brake, 43 , 48 − fuses, 44 Connection of "safe torque off", 55 DC−bus voltage − additional safety instructions, 55 − monitoring, 175 − function check, 61 − overvoltage, 175 − implementation, 56 − Undervoltage, 175 − minimum wiring, 58 − principle of operation, 57 − technical data, 57 − with multiple−contact switches, 58 − with safety PLC, 60 EDBCSXS064 EN 3.0 � 383 13 Index DCTRL, 239 DigOut (freely assignable digital outputs), 252 − controller status, 244 Dimensions, 31 , 33 , 37 controller inhibit (CINH), 242 − axis module ECSCx..., 37 operation inhibit (DISABLE), 242 quick stop (QSP), 242 − axis module ECSDx..., 33 TRIP−RESET, 243 − axis module ECSEx..., 31 TRIP−SET, 243 DIP switch, 150 Deceleration time Discharge current against PE, 23 − Operating mode "Speed control", 271 − operating mode "Torque control", 292 Drive control, 239 Defining boot−up master, 153 Drive system, 11 Defining master in the drive system, 153 E Definition of notes used, 21 Earthing, EMC, 41 Definitions, 11 Effecting rotor position adjustment, 117 Degree of pollution, 22 Electrical installation, 39 Device address setting, 150 − connection of "safe torque off", 55 Device control, 239 additional safety instructions, 55 function check, 61 Device protection, 18 implementation, 56 Device protection by current derating, 29 minimum wiring, 58 principle of operation, 57 DFIN (master frequency input), 245 technical data, 57 − configuring the input signal, 247 with multiple−contact switches, 58 with safety PLC, 60 DFOUT (master frequency output), 248 − Connection of capacitor module ECSxK..., 50 − configuring the output signal, 250 − control connections, 52 Diagnostic codes, 160 Digital inputs, 53 Digital outputs, 53 − bus status, 161 − feedback system, 68 − telegram counter, 161 encoder, 69 diagnostic codes, bus load, 162 resolver, 68 − Installation of a CE−typical drive system, earthing, 41 Diagnostics, 176 − installation of a CE−typical drive system, 39 − with Global Drive Control (GDC), 176 assembly, 40 − with Global Drive Oscilloscope (GDO), 177 filters, 40 − with keypad XT EMZ9371BC, 178 shielding, 41 − power connections, 42 DigIn (freely assignable digital inputs), 251 connection of external brake resistor, 46 Digital inputs, 53 DC−bus connection, 44 internal brake resistor connection, 45 − altering the terminal assignment, 93 motor connection, 47 − configuring, 92 − power terminals, 43 − setting the direction of rotation, 92 connection of motor holding brake, 43 , 48 − setting the polarity, 92 DC−bus connection, 43 Motor connection, 43 − terminal assignment, 53 terminal assignment, 43 Digital inputs (DigIn), 251 − specification of the cables, motor cables, 47 Digital outputs, 53 Electromagnetic compatibility, 23 − altering the terminal assignment, 93 EMC, 23 − configuring, 92 − earthing, 41 − setting the direction of rotation, 92 − filters, 40 − setting the polarity, 92 − shielding, 41 Digital outputs (DigOut), 252 cables, 43 Digital signals, list, 362 Enclosure, 23 EDBCSXS064 EN 3.0 384 � Index 13 Encoder, 69 Executing a reset node, 154 − absolute value encoder (hyperface, Explanations, code table, 301 single−turn/multi−turn), 88 External brake resistor, 377 − incremental encoder, 70 − assignment, 377 − incremental encoder (TTL encoder), 87 − connection, 46 − sin/cos encoder, without serial communication, 87 − SinCos encoder, 71 absolute value encoder (hyperface, F single−turn/multi−turn), 88 − supply voltage, 69 FAIL−QSP, 163 Encoder simulation, 72 Fault analysis, 179 − via history buffer, 180 Entering motor data, 114 − via LECOM status word, 181 Entry of machine parameters, 109 − via LEDs, 179 Entry of master angle and synchronisation, − with keypad XT EMZ9371BC, 179 synchronisation cycle, 156 Fault elimination, fault analysis with history buffer, 180 Entry of motor data, 81 FCODE (free codes), 253 Error analysis, 179 − via history buffer, 180 Feedback system, wiring, 68 − via LECOM status word, 181 − encoder, 69 − incremental encoder, 70 Error detection and fault elimination, monitoring, 163 − resolver, 68 Error messages, 184 − SinCos encoder, 71 − causes and remedies, 184 Field controller / field weakening controller, 122 − configuration, 164 − resetting, 191 Field weakening Error response, 145 − Operating mode "Speed control", 280 − operating mode "Torque control", 297 Event−controlled process data objects, 143 Filters, EMC, 40 Examples − Read parameters, 147 FIXED (output of constant signals), 256 − Selection help for cable length / number of repeaters, 67 Free codes (FCODE), 253 − write parameters, 148 Free space, 22 EDBCSXS064 EN 3.0 � 385 13 Index Function blocks Fuses, 44 − AIF (automation interface), 192 − DC bus, 44 − AIF1In, 193 − exchange, 44 − AIF1Out, 196 − AIF2In, 201 G − AIF2Out, 203 Global Drive Control (GDC) − AIF3In, 206 − Diagnostics, 176 − AIF3Out, 208 − parameter setting, 127 − AIn1, 211 − CAN (CAN management), 212 Global Drive Oscilloscope (GDO), 177 − CAN1In, 215 Guiding angle default and sychronisation, correction value − CAN1Out, 218 of phase controller, 157 − CAN2In, 224 Guiding angle default and synchronisation − CAN2Out, 227 − axis synchronisation, 156 − CAN3In, 230 − CAN sync identifier, 156 − CAN3Out, 233 − CAN sync response, 158 − CANSync, 236 − monitoring, 157 − DCTRL, 239 controller inhibit (CINH), 242 − phase shift, 156 controller status, 244 Guiding angle selection and synchronisation, operation inhibit (DISABLE), 242 quick stop (QSP), 242 synchronisation time, 155 TRIP−RESET, 243 TRIP−SET, 243 H − DFIN (master frequency input), 245 − DFOUT (master frequency output), 248 Heatsink temperature, monitoring, 170 − DigIn (freely assignable digital inputs), 251 History buffer, 180 − DigOut (freely assignable digital outputs), 252 − codes, 180 − FCODE (free codes), 253 − delete entries, 181 − FIXED (output of constant signals), 256 − for fault elimination, 180 − InNeg, 257 Holding brake configuration, 83 − OutNeg, 259 − Speed (speed control), 262 Holding brake control Holding brake control, 281 − Operating mode "speed control", 281 Setting of motor control, 276 − Operating mode "torque control", 298 − speed (speed control) changing the direction of rotation, 269 torque control with speed limitation, 278 I − SYS, 261 Identification, controller, 14 − Torque (torque control), 284 Holding brake control, 298 Identifier, 135 , 149 Setpoint processing, 291 Setting of motor control, 294 − CAN sync identifier, 156 − torque (torque control) − display code, 149 changing the direction of rotation, 291 Incremental encoder, 70 , 87 torque control with speed limitation, 290 InNeg, 257 Function library, 192 Functional earth conductor, 35 Installation, 22 EDBCSXS064 EN 3.0 386 � Index 13 Installation of a CE−typical drive system, 39 K − assembly, 40 Keypad XT EMZ9371BC − earthing, 41 − changing and saving parameters, 131 − filters, 40 − connecting the keypad, 128 − shielding, 41 − Diagnostics, 178 cables, 43 − display elements, 129 Installation, electrical, 39 − fault analysis, 179 − connection of "safe torque off", 55 − function keys, 130 additional safety instructions, 55 function check, 61 − menu structure, 132 implementation, 56 − Parameter setting, 128 minimum wiring, 58 principle of operation, 57 technical data, 57 L with multiple−contact switches, 58 with safety PLC, 60 LECOM, status word (C0150/C0155), 181 − Connection of capacitor module ECSxK..., 50 LEDs, 179 − control connections, 52 Digital inputs, 53 Legal regulations, 14 Digital outputs, 53 Liability, 14 − feedback system, 68 encoder, 69 Loading Lenze settings, 113 resolver, 68 Low−voltage supply, 11 − Installation of a CE−typical drive system, earthing, 41 − installation of a CE−typical drive system, 39 assembly, 40 M filters, 40 Main setpoint shielding, 41 − power connections, 42 − Influencing the ramp function generator, 273 connection of external brake resistor, 46 − influencing the ramp function generator, 293 DC−bus connection, 44 internal brake resistor connection, 45 Malfunction of drive, 183 motor connection, 47 Manufacturer, 14 − power terminals, 43 connection of motor holding brake, 43 , 48 Master frequency cables, 379 DC−bus connection, 43 Master frequency distributor, 379 motor connection, 43 terminal assignment, 43 Master frequency input, 72 − specification of the cables, motor cables, 47 − features, 72 Installation, mechanical, 30 Master frequency input (DFIN), 245 − push−through technique (ECSDx...), 32 − configuring the input signal, 247 Installation, mechanical Master frequency input signal, configuring, 247 − cold−plate technique (ECSCx...), 36 Master frequency output, 72 − important notes, 30 − features, 72 − with fixing rails (ECSEx...), 31 Master frequency output (DFOUT), 248 Insulation resistance, 23 Internal brake resistor, Connection, 45 Master frequency output signal, configuring, 250 EDBCSXS064 EN 3.0 � 387 13 Index Maximum speed MotionBus (CAN), 135 − CAN data telegram, 135 − Operating mode "Speed control", 276 − carry out reset node, 154 − operating mode "Torque control", 295 − communication, 135 Mechanical installation, 30 − configuring, 150 − cold−plate technique (ECSCx...), 36 − cyclic process data objects, 141 − important notes, 30 synchronisation, 142 − determining the master in the drive system, 153 − push−through technique (ECSDx...), 32 − event−controlled process data objects, 143 − with fixing rails (ECSEx...), 31 − identifier, 135 , 149 Menu structure, keypad XT EMZ9371BC, 132 display code, 149 − network management data, 136 Message, 163 − parameter data, 136 , 144 Monitoring, 163 − parameter data channels, 144 − bus off, 168 − parameter data objects, addressing, 149 − current load of the motor, I²xt monitoring, 174 − process data, 136 − process data objects, 139 − DC−bus voltage, 175 addressing, 149 − heatsink temperature, 170 data transmission, 141 − monitoring times for process data input objects, 168 − process data telegrams, 140 − motor temperature, 171 − selective addressing, 152 − reset node, 168 − Setting boot−up time, 154 − responses, 163 − setting of baud rate, 150 FAIL−QSP, 163 − setting of node address, 150 message, 163 − setting the cycle time, 154 TRIP, 163 − structure of a bus system, 64 warning, 163 − synchronisation, 159 − thermal sensors, 171 − user data, 136 , 145 − voltage supply of control electronics, 175 − wiring, 63 Monitoring functions, 164 Motor, connection, 43 , 47 − possible responses, 164 Motor cable length, 22 − responses, 163 Motor cables, specification, 47 Motor holding brake, connection, 43 Monitoring processes Motor protection, 19 − configuring, 164 Motor temperature, monitoring, 169 − controller current load, Ixt monitoring, 172 − motor temperature, 169 Motor, connection, , 47 − possible responses, 164 Motors from other manufacturers, 114 Mounting Monitoring times for process data input objects, 168 − axis module ECSCx..., 36 Monitorings, CAN bus synchronisation, 157 − axis module ECSDx..., 32 − axis module ECSEx..., 31 − cold−plate technique, 36 − standard installation (with fixing rails), 31 − thermally separated (push−through technique), 32 Mounting position, 22 EDBCSXS064 EN 3.0 388 � Index 13 Parameters N − changing and saving, with keypad XT EMZ9371BC, 131 Network management (NMT), 137 − machine parameters, 109 Network management data, 136 Phase controller Node address setting, 150 − correction value, 157 Node ID, 149 − Operating mode "Speed control", 279 Phase controller influence, operating mode "Speed Node−ID, display code, 149 control", 279 Noise emission, 23 Phase shift, 156 Noise immunity, 23 Phase signals, list, 374 Notes, definition, 21 Position control, feedback system, 84 − absolute value encoder, 88 O − incremental encoder (TTL encoder), 87 Operating conditions, 22 − resolver, 84 Operation inhibit (DISABLE), DCTRL function block, 242 − sin/cos encoder, 87 − sin/cos encoder (single−turn, multi−turn), 88 Operation with servo motors from other manufacturers, 114 Power connections, 42 Operation with servo motors of other manufacturers − connection of external brake resistor, 46 − DC−bus connection, 44 − adjusting current controller, 116 − adjusting the current controller − Internal brake resistor connection, 45 calculating the electrical motor values, 116 − motor connection, 47 metrological detection of electrical motor values, 117 Power reduction, 22 − checking resolver polarity, 115 Power supply module, 11 − effecting rotor position adjustment, 117 − entering motor data, 114 Power terminals, 43 Optimising the drive behaviour, 120 − connection of motor holding brake, 43 , 48 − DC−bus connection, 43 OutNeg, 259 − motor connection, 43 Output of constant signals (FIXED), 256 Process data, 136 Overcurrent characteristic, 173 − structure, 140 Overvoltage threshold, DC−bus voltage, 175 Process data objects − addressing, 149 P − available, 139 Packaging, 22 − cyclic, 141 − event−controlled, 143 Parameter data, 136 , 144 − transfer, 141 Parameter data objects, addressing, 149 Process data telegram, 140 Parameter data telegram, 145 Process data transfer, 138 − examples, 147 Protection of persons, 18 Parameter data transfer, 144 Protective insulation, 23 Parameter setting, 126 Protective measures, 23 − with Global Drive Control (GDC), 127 − with keypad XT EMZ9371BC, 128 changing and saving parameters, 131 connecting the keypad, 128 keypad display elements, 129 keypad function keys, 130 menu structure, 132 EDBCSXS064 EN 3.0 � 389 13 Index Servo motors from other manufacturers, 114 Q Seting the motor control, operating mode "speed Quick stop (QSP), 92 , 112 control", adjusting speed controller, 277 − , 280 , 295 Setpoint processing − DCTRL function block, 242 − Operating mode , 270 − operating mode "Speed control", 280 − Operating mode "torque control", 291 − operating mode "Torque control", 295 Setpoint selection, 110 R Setting address, via DIP switch, 150 Ramp function generator Setting of boot up time , 154 − Changing the characteristic, 274 , 294 Setting of cycle time, 154 − influence, 273 , 293 Setting of feedback system Rated data, 24 , 25 − absolute value encoder, 88 Rated output current, 26 − incremental encoder (TTL encoder), 87 Reactions, 163 − resolver, 84 Reset fault, 181 − sin/cos encoder, 87 Resetting TRIP (TRIP−RESET), DCTRL function block, 243 − sin/cos encoder (single−turn, multi−turn), 88 Residual hazards, 18 Setting of mains data, 78 Resolver, 68 , 125 Setting of motor control − Adjustment, 125 − Operating mode "speed control", 276 − checking polarity, 115 − Operating mode "torque control", 294 − setting, 84 Setting of node address Responses − via codes, 152 − CAN sync response, 158 − via DIP switch, 150 − FAIL−QSP, 163 Setting of the feedback system, 84 − message, 163 Setting the direction of rotation, 92 − TRIP, 163 − warning, 163 Setting the integral component − Operating mode "Speed control", 278 S − operating mode "Torque control", 297 Safe standstill, 55 Setting the motor control − Operating mode "Speed control" Safe torque off, 55 Field weakening, 280 Safety instructions, 15 Maximum speed, 276 Phase controller, 279 − definition, 21 Setting the integral component, 278 − design, 21 Signal limitation, 277 Selecting the control structure, 94 Torque limitation, 276 − operating mode "Speed control" Selecting the operating mode, 94 additional torque setpoint, 276 Selection help for cable length / number of repeaters, phase controller influence, 279 Example, 67 quick stop (QSP), 280 torque setpoint, 276 Selection lists − operating mode "Torque control" − signal combinations adjusting the speed controller, 296 analog signals, 371 field weakening, 297 digital signals, 362 maximum speed, 295 phase signals, 374 quick stop (QSP), 295 − Signal links, 362 setting the integral component, 297 signal limiting, 296 Selection the function of the charge relay, 78 torque limitation, 295 Selective addressing, 152 torque setpoint, 294 EDBCSXS064 EN 3.0 390 � Index 13 Setting the polarity, 92 Speed (speed control), 262 − changing the direction of rotation, 269 − digital inputs/outputs, 92 − Holding brake control, 281 Setting the voltage thresholds, 79 − Setpoint processing, 270 Setting TRIP (TRIP−SET), DCTRL function block, 243 − Setting of motor control, 276 − Setting the motor control Shield connection, control/signal cables, 51 Field weakening, 280 Shielded cables, 43 Maximum speed, 276 Phase controller, 279 Shielding Setting the integral component, 278 − cables, 43 Signal limitation, 277 Torque limitation, 276 − EMC, 41 − setting the motor control Signal combinations, selection lists additional torque setpoint, 276 − analog signals, 371 adjusting speed controller, 277 phase controller influence, 279 − digital signals, 362 quick stop (QSP), 280 − phase signals, 374 torque setpoint, 276 Signal flow diagrams − torque control with speed limitation, 278 Speed control − speed control setpoint via AIF, 99 − setpoint via AIF, 98 setpoint via analog input, 96 − setpoint via analog input, 95 setpoint via MotionBus (CAN), 101 − setpoint via CAN, 100 − torque control − setpoint via MotionBus (CAN), 100 setpoint via AIF, 106 Speed control (, function block), setting the motor setpoint via analog input, 103 control, 280 setpoint via MotionBus (CAN), 108 Speed control ("Speed"), 94 Signal limitation, Operating mode "Speed control", 277 Speed control (FB Speed), 262 Signal limiting, operating mode "Torque control", 296 − changing the direction of rotation, 269 − Holding brake control, 281 Signal links, selection lists, 362 − Setpoint processing, 270 SinCos encoder, 71 − Setting of motor control, 276 Site altitude, 22 − Setting the motor control Field weakening, 280 Source for the speed setpoint, operating mode "Speed Maximum speed, 276 control", 270 Phase controller, 279 Setting the integral component, 278 Source for torque setpoint, operating mode "Torque Signal limitation, 277 control", 291 Torque limitation, 276 Specific resistance, 65 − setting the motor control adjusting speed controller, 277 Specification of the cables, motor cables, 47 phase controller influence, 279 Specification of the transmission cable, 65 Speed control (function block, ), 278 − setting the motor control, 276 Speed control (function block , , , , , 276 Speed control, feedback system, 84 − absolute value encoder, 88 − incremental encoder (TTL encoder), 87 − resolver, 84 − sin/cos encoder, 87 − sin/cos encoder (single−turn, multi−turn), 88 Speed controller, 120 − Adjustment, 120 − operating mode "Torque control", 296 EDBCSXS064 EN 3.0 � 391 13 Index Speed setpoint, operating mode "Speed control", 270 system bus (CAN) − CAN data telegram, 135 Standards, 22 − parameter data objects, addressing, 149 Starting torques System error messages, 184 − control connections, 44 , 53 − causes and remedies, 184 − control terminals, 43 − configuration, 164 States, CAN network, 136 − resetting, 191 Status word, LECOM (C0150/C0155), 181 Structure of the process data, 140 T Supply voltage, encoder, 69 Technical data, 22 − current characteristics Sychronisation, CAN sync identifier, 156 application example, 28 Symbol definitions, 12 device protection by current derating, 29 rated output current, 26 Sync signal, 155 − general electrical data, 23 Sync telegram, 142 − rated data, 24 , 25 − standards and operating conditions, 22 Synchronisation − axis synchronisation, 156 Telegram counter, 161 − CAN sync response, 158 Temperature, 22 − correction value of phase controller, 157 Temperature inside the device, monitoring, 171 − cyclic process data objects, 142 Terminal assignment, power terminals, 43 − monitoring, 157 − phase shift, 156 Thermal sensors, monitoring, 171 − synchronisation cycle, 156 Thermal separation, 32 − via MotionBus (CAN), 159 Tightening torques, control connections, connection of − via termial, 160 "safe torque off", 57 Synchronisation time, 155 Torque, safe torque off, 55 SYS, 261 Torque (torque control), 284 System bus (CAN), 135 − changing the direction of rotation, 291 − baud rate, 66 , 67 − Holding brake control, 298 − communication, 135 − Setpoint processing, 291 − configuring, 150 − Setting of motor control, 294 − cyclic process data objects, 141 − setting the motor control synchronisation, 142 adjusting the speed controller, 296 − event−controlled process data objects, 143 field weakening, 297 maximum speed, 295 − identifier, 135 , 149 quick stop (QSP), 295 display code, 149 setting the integral component, 297 − network management data, 136 signal limiting, 296 − parameter data, 136 , 144 torque limitation, 295 torque setpoint, 294 − parameter data channels, 144 − torque control with speed limitation, 290 − process data, 136 − process data objects, 139 Torque control addressing, 149 − setpoint via AIF, 105 data transmission, 141 − setpoint via analog input, 102 − process data telegrams, 140 − setpoint via MotionBus (CAN), 107 − selective addressing, 152 − with speed limitation, 278 , 290 − setting of baud rate, 150 Torque control (, function block), 290 , 291 − setting of node address, 150 − setting the motor control, 294 , 295 , 296 , 297 − user data, 136 , 145 − wiring, 63 Torque control ("Torque"), 94 EDBCSXS064 EN 3.0 392 � Index 13 Torque control (FB Torque), 284 TTL encoder, 70 − Holding brake control, 298 − Setpoint processing, 291 U − Setting of motor control, 294 Undervoltage threshold, DC−bus voltage, 175 − setting the motor control User data, 136 , 145 , 146 field weakening, 297 torque limitation, 295 − AIF1In function block, 195 − AIF1Out function block, 200 Torque limitation − AIF2In function block, 202 − Operating mode "Speed control", 276 − AIF2Out function block, 205 − operating mode "Torque control", 295 − AIF3In function block, 207 Torque setpoint − AIF3Out function block, 210 − operating mode "Speed control", 276 − CAN1In function block, 217 − operating mode "Torque control", 291 , 294 − CAN1OUT function block, 223 Transmission cable, specification, 65 − CAN2In function block, 226 TRIP, 163 − CAN2OUT function block, 229 − CAN3In function block, 232 TRIP−RESET, 181 − CAN3OUT function block, 235 − DCTRL function block, 243 TRIP−SET, DCTRL function block, 243 V Troubleshooting Vibration resistance, 22 − fault analysis with history buffer, 180 − malfunction of drive, 183 Voltage supply of control electronics, monitoring, 175 Troubleshooting and fault elimination, 179 W − monitoring bus off, 168 Warning, 163 current load of the motor (I²xt monitoring), 174 DC−bus voltage, 175 Warranty, 14 heatsink temperature, 170 Waste disposal, 17 monitoring times for process data input objects, 168 reset node, 168 Wiring of the MotionBus, 64 responses, 163 temperature inside the device, 171 thermal sensors, 171 voltage supply of control electronics, 175 − monitoring processes controller current load (Ixt monitoring), 172 motor temperature, 169 EDBCSXS064 EN 3.0 � 393 4 Lenze Drive Systems GmbH EDBCSXS064 3.0 02/2006 Hans−Lenze−Straße 1 © 2006 D−31855 Aerzen TD17 Germany � +49�(0)�51�54�82−0 � Service 00�80�00�24�4�68�77 (24 h helpline) � Service +49�(0)�51�54�82−1112 E−Mail Lenze@Lenze.de Internet 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