94 ParameterSetting en
94 ParameterSetting en
9400 HighLine
Parameter setting & configuration
Copyright
2006 Lenze Drive Systems GmbH. All rights reserved.
Imprint
Lenze Drive Systems GmbH
Postfach 10 13 52, 31763 Hameln, Germany
Phone: ++49 (0)5154 / 82-0
Fax: ++49 (0)5154 / 82-2111
E-mail: [email protected]
Copyright information
All texts, photos and graphics contained in this documentation are subject to
copyright protection. No part of this documentation may be copied or made
available to third parties without the explicit written approval of Lenze Drive
Systems GmbH.
Liability
All information given in this documentation has been carefully selected and
tested for compliance with the hardware and software described.
Nevertheless, discrepancies cannot be ruled out. We do not accept any
responsibility or liability for any damage that may occur. Required correction
will be included in updates of this documentation.
Depending on the software version of the controller, the screenshots in this
documentation may differ from the Engineer representation.
Contents
Contents
1
16
1.1
Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16
1.2
Terminology used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17
1.3
18
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19
2.1
19
20
20
2.2
21
21
24
24
2.3
25
Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
26
3.1
27
3.2
Test commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
28
3.3
Initial commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
29
3.4
Standard set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
31
3.5
Controller replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
32
3.6
Motor replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
33
Drive interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
34
4.1
34
4.2
Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Machine parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1.1
Mains voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1.2
Gearbox ratio. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1.3
Motor mounting direction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1.4
Configuration feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1.5
Unit/application unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1.6
Traversing range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1.7
Feed constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.2 Monitoring of the device utilisation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.3 Parameter for status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
35
35
36
37
38
38
39
40
42
43
43
4.3
44
4.4
44
4.5
Device states. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1 Status "initialisation active" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.2 Status "Safe torque off active". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.3 State "Device is ready to switch on" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.4 State "Device is switched on" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.5 State "Operation" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.6 State "Warning active" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.7 State "Warning locked active" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.8 State "Quick stop by trouble" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.9 Status"Trouble active" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.10 State "Fault active" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.11 State "System fault active" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45
46
46
47
48
49
49
49
50
50
50
51
4.6
Controller commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.1 Overview of device commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.2 Status display for device command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.3 Start/stop application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.4 Load Lenze setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.5 Save parameter set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.6 Load parameter set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.7 Activate application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.8 Save selected application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.9 Activate/archive parameter set. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
52
53
54
56
56
57
57
58
58
59
4.7
60
63
Motor interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
64
5.1
65
66
66
67
69
70
71
73
75
78
79
81
82
84
Initial commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.1 Read the motor data out of the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.2 Select motor in the Engineer motor catalog . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.3 Display/edit motor data in the Engineer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.4 Accept/adapt route data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.5 Parameterise motor encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.6 Set rotor displacement angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.7 Optimise the switching performance of the inverter . . . . . . . . . . . . . . . . . . . . . . .
5.1.8 Set motor parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.9 Define currents and speed limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.10 Select switching frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.11 Optimise current controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.11.1 Correction of the leakage inductance via saturation characteristic
5.1.11.2 Example for determining the saturation characteristic . . . . . . . . . . .
Contents
5.2
Extended commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
87
5.2.1 Optimise speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
88
5.2.2 Set current setpoint filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
90
5.2.3 Optimise phase controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
92
5.2.4 Optimise the response to setpoint changes by means of the torque feedforward
control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .93
5.3
Signal flow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4
Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
97
5.4.1 Motor monitoring (Ixt) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
98
5.4.1.1
Example for entry of the characteristic for asynchronous servo motor
101
5.4.1.2
Example for entry of the characteristic for synchronous servo motor 102
5.4.2 Special characteristic for motor temperature sensor . . . . . . . . . . . . . . . . . . . . . . . 103
5.4.3 Motor temperature monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
5.5
95
104
Signal flow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
109
6.2
Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.1 Controller configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.2 System with motor encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.3 System with motor encoder and position encoder . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.4 Use external position encoder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
110
111
112
113
114
6.3
115
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
116
7.2
Analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.3 Reconfiguring analog input 1 as a current input . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.4 System block "LS_AnalogInput". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
117
117
118
118
119
7.3
Analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.3 System block "LS_AnalogOutput" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
120
120
121
122
7.4
Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.3 System block "LS_DigitalInput" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
123
123
123
124
7.5
Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.3 System block "LS_DigitalOutput" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
125
125
125
126
7.6
127
128
128
7.7
129
130
131
132
133
133
7.8
134
136
8.2
136
8.3
137
8.4
138
8.5
139
General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.1 Conditions for the use of the basic functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2 Internal state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.1
"Initialisation" status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.2
Status "Controller not ready" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.3
Status "drive in standstill" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.4
Status "Drive is stopped" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.5
Status "Manual jog active" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.6
Status "Homing active". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.7
Status "Positioning active" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.8
Status "Setpoint follower active". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.9
Status "Quick stop active" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.10 Status "Error" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.11 Interrupting/replacing states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2.12 Priorities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.3 Requesting control via a basic function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
140
140
141
142
142
142
143
143
143
143
144
144
144
145
145
146
Contents
9.2
Standard stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.1 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.2 Behaviour of the function (example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2.3 System block "LS_Stop" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
148
149
150
151
9.3
Quick stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.1 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.2 Activating/Deactivating quick stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.3 System block "LS_quick stop" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
152
152
154
155
9.4
Manual jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.1 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.1.1
Smooth start and quick stop of the drive . . . . . . . . . . . . . . . . . . . . . . . .
9.4.1.2
Second manual speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.2 Executing manual jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.2.1
Manual jog in positive/negative direction . . . . . . . . . . . . . . . . . . . . . . .
9.4.2.2
Manual jog to limit position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.2.3
Retracting of an activated limit switch . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.3 System block "LS_ManualJog" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
156
156
157
157
158
159
160
161
162
9.5
Homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.1 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.1.1
Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.1.2
Home position & target position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.1.3
Second homing speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.1.4
Homing to end stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.1.5
Connection of reference switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.1.6
Touch probe interface configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.2 Executing homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.2.1
Setting reference search/setting reference directly . . . . . . . . . . . . . .
9.5.2.2
Loading home position via input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.2.3
Resetting home position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5.3 System block "LS_Homing" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
164
165
165
169
170
171
171
171
172
173
173
173
174
9.6
Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.1 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.2 Carrying out positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.2.1
Starting positioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.2.2
Aborting/interrupting positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.2.3
Continuing an interrupted positioning process . . . . . . . . . . . . . . . . . .
9.6.2.4
Activating override. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6.3 System block "LS_Positioner" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
176
176
177
178
178
178
179
180
9.7
Position follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.1 Signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.2.1
Setpoint interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.2.2
Inversion of the direction of rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.3 Activating setpoint interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7.4 System block "LS_PositionFollower" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
183
184
186
187
187
188
189
9.8
Speed follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8.1 Signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8.2.1
Setpoint interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8.2.2
Inversion of the direction of rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8.3 Activating setpoint interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8.4 System block "LS_SpeedFollower" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
190
191
192
193
193
194
195
9.9
Torque follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9.1 Signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9.2.1
Setpoint interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9.2.2
Inversion of the direction of rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9.3 Activating setpoint interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9.4 System block "LS_TorqueFollower" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
196
196
197
197
197
198
199
9.10 Limiter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.1 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.1.1 Software limit positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.1.2 Hardware limit positions (limit switch). . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.1.3 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.1.4 Limited speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.2 Control word of the safety module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.3 System block "LS_Limiter" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
200
201
202
204
205
207
208
209
Contents
211
212
213
213
214
215
217
219
222
222
223
224
225
226
227
229
231
233
235
236
237
239
240
11
10
242
242
244
245
246
246
247
249
250
251
252
253
255
256
257
258
259
261
262
264
265
266
267
267
268
270
271
272
272
273
274
275
277
278
279
280
281
283
284
286
Contents
12
288
288
289
290
291
291
291
292
292
293
297
298
299
299
300
301
302
303
305
306
307
307
308
309
310
311
312
313
315
316
318
319
320
322
324
325
327
328
11
12
332
334
335
335
336
337
338
339
341
342
343
343
344
345
346
348
349
350
351
353
355
356
358
359
361
363
364
366
Contents
13
368
369
371
372
373
373
374
375
375
376
377
378
379
382
384
385
386
386
388
389
390
390
393
395
397
398
399
400
401
402
403
405
407
408
410
13
14
411
412
413
413
414
415
Oscilloscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416
14.1 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
416
417
418
418
419
419
419
419
420
420
420
14.4 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.4.1 Selecting the variables to be recorded. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.4.2 Selecting the recording time/sample rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.4.3 Selecting the trigger condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.4.4 Starting recording . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.4.5 Adjusting the representation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.4.6 Reading individual measured values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
421
421
422
422
424
424
426
427
427
428
429
429
430
431
Contents
15
16
17
433
434
15.3 Logbook . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.3.1 Function description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.3.2 Filtering logbook entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.3.3 Reading logbook entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
436
437
437
438
15.4 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.4.1 Setting the error response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
439
439
442
443
443
444
444
445
445
446
447
448
537
537
538
539
539
539
540
541
542
543
543
648
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 658
Your opinion is important to us. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
679
15
Note!
The Manual supplements the Mounting Instructions attached to the controller
and the Manual for the 9400 HighLine controller.
The Mounting Instructions contain safety information which must be observed!
The information in this Manual applies to the following "9400 Servo Drives":
1.1
Type
Type designation
9400 HighLine
(Single Drive & Multi Drive)
E94AxHExxxx
As of hardware
version
As of software
version
PD
1.37.00
Conventions used
This Manual uses the following conventions to distinguish between different types of
information:
Type of information
Variable identifier
Writing
Italics
Window range
Control element
Bold
Sequence of
menu commands
Shortcut
Examples/notes
<Bold>
Program code
Courier
Keyword
Courier
bold
Hyperlink
Underlined
Step-by-step
instruction
16
1.2
Terminology used
Term
Meaning
Engineer
Lenze software which supports you throughout the whole machine life
cycle - from planning to maintenance.
Code
Subcode
Function block
System block
System blocks provide interfaces for basic functions and hardware of the
controller in the function block editor of the Engineer (e.g. to the
digital inputs).
System blocks cannot be instanced in contrast to function blocks.
DIS code
TA
17
Pictograph
Signal word
Meaning
Danger!
Danger!
Stop!
Application notes
Pictograph
18
Signal word
Meaning
Note!
Tip!
Introduction
Parameter setting, configuring or programming?
Introduction
The basis of every L-force application is an easy and quick parameter setting of prepared
technology applications and solutions*.
This chapter contains basic information on the runtime software model of L-force and how
you can establish very easily an online connection between PC and controller for parameter
setting with the Engineer.
At the end of this chapter you will find an overview of the different signal types & scalings
which serve to process physical values (e.g. speed or position) within the application.
* In preparation!
2.1
Programming*
Technology level
Motion Control TopLevel
Additional motion and process control
modes for complex drive tasks.
Motion Control HighLevel
Individual expansion of the basic
functions & technology applications by
means of function block editor and
comprehensive function library.
Configuring
The HighLevel and TopLevel licenses enable you to
extend the provided technology applications by
individual functions using the graphic function block
editor of the Engineer. Here, you can access the
comprehensive function libraries of Lenze which
contain, among other things, process controllers,
arithmetic functions, logic blocks, as well as ramp
generators and integrators.
Parameter setting
The StateLevel license includes a range of technology
which can be put into operation easily with a keypad
or via dialogs in the Engineer.
19
Technology applications
Technology applications (TAs) are applications prepared by Lenze which form the basis of
solving typical applications.
r The technology applications available for the 9400 Servo Drives can be selected in the
Engineer form the application catalog.
Runtime software
Technology level
TA "Multi-purpose positioning"
TA "Electronic cam" *
TA "Register control" *
TA "Winding technology" *
2.1.2
Basic functionalities
Important basic drive functions and other basic functionalities are implemented in the
firmware of the controller and are always available irrespective of the prevailing runtime
software license.
Firmware
20
Standard stop
Quick stop
Manual jog
Homing
Positioning
Position follower
Speed follower
Torque follower
Limiter
Brake control
Drive interface
Motor interface
Encoder evaluation
I/O terminals
Safety engineering
Logbook
Oscilloscope
Introduction
Communicating with the controller
2.2
(C 24)
Note!
For communication with the controller, at least the control electronics of the
controller must be supplied with 24 V low voltage via plug X2. For detailed
information, please see the Mounting Instructions for the controller.
O Tip!
Detailed information about the individual interfaces can be found in the
corresponding Communication Manuals.
2.2.1
Note!
Please observe the documentation for the diagnostic adapter!
21
2. Click the
icon or select the command OnlineGo online.
If no online connection has been configured for the selected controller so far,
the Assignment of offline controllers dialog box will be displayed:
The dialog box also appears if the online connection is built up via the command
OnlineGo online instead of using the toolbar icon.
3. Select the entry "Diagnostic adapter" from the Bus connection list field.
22
Introduction
Communicating with the controller
4. Click Find controller path to find the controller in the selected bus system.
The Address assignment dialog box appears:
5. Select the corresponding controller from the Identified field devices list field.
6. Click OK.
The Address assignment dialog box is closed and the selected Controller access
path (e.g. "DDCMP:/") is indicated in the Assignment of offline controllers dialog
box.
7. Click Connect.
The dialog box is closed and the online connection with the controller is built up.
In the Project view, a yellow icon indicates the online connection with the
controller:
Stop!
If you change parameters in the Engineer while the controller is connected
online, the changes will be directly accepted by the controller!
23
PC interface
Parallel interface
(LPT port)
USB
(Universal Serial Bus)
Note!
For detailed information about the PC system bus adapter, please see the
"CAN Communication Manual".
Please observe the documentation for the PC system bus adapter!
The online connection is built up as described in the previous chapter Going
online via diagnostic adapter, only select the entry "CAN system bus" in the
Assignment of offline controllers dialog box from the Bus connection list field.
(C 22)
2.2.3
24
2.3
Signal type
Position
Speed
Unit
Connection
symbol in
the FB editor
Resolution
Increments
u/w
32 bits
rpm
Speed variation/time
Scaled signal
rpm/s
%
Time
Range
14
Number of
decimal
positions
Identifier
suffix
_p
s/t
16 bits
15000 rpm 2
30000.0 rpm
_v
32 bits
480000.0 rpm
_s
32 bits
_x
30
16384
32 bits
100 % 2
200.00 %
_n
16 bits
199.99 %
_a
1 bit
0 FALSE; 1 TRUE
0/1
1073741824
28 bits
0 ... 268435.456 s
Status word
32 bits
Not standardised
O Tip!
Only inputs/outputs of the same signal type (with the same
connection symbol) can be connected in the function block editor of
the Engineer.
Non-standardised inputs/outputs can be connected if the input and
output have the same resolution.
Introduction
Signal types & scaling
25
Control/status signal
Scaling
external internal
Commissioning
This documentation contains detailed information on parameter setting and
configuration of the controller. Sequential reading is not required.
In order to get the information relevant for an initial commissioning, this chapter describes
different commissioning scenarios which can also be used as a guide through this Manual:
A. Test commissioning (C 28)
Target: Rotating the motor with as few settings as possible in best time.
B. Initial commissioning (C 29)
Target: Adapting the controller to electromechanics and control.
C. Standard set-up (C 31)
Target: Taking over the application and parameter set of an already preconfigured
"Engineer" project in several controllers.
D. Controller replacement (C 32)
Target: Replacing a controller which has failed in a running system by a replacement
device using the "old" memory module.
E. Motor replacement (C 33)
Target: Replacing a motor which has failed in a running system.
26
Commissioning
Notes on commissioning using the keypad
3.1
27
Test commissioning
Worksteps
Initial commissioning of motor/controller:
1. Select motor in the Engineer motor catalog. (C 66)
When the motor connected to the motor has an electronic nameplate (ENP), all motor data are
automatically read out of the ENP and a selection from the motor catalog is not required. Read the
motor data out of the controller (C 66)
2. Accept/adapt route data. (C 69)
3. Parameterise motor encoder. (C 70)
Save project and parameter set:
1. Save parameter set. (C 57)
2. Save Engineer project.
Commissioning of the application:
Note:
The following steps require that the technology application "actuator speed" has been selected in the
Engineer application catalog.
See chapter Technology applications (TAs):
Commissioning using the Engineer (C 235)
TA "Actuator speed" (C 244)
A manual control is available for the setting-up operation. Manual jog (C 156)
The enable is executed via the digital input DI6.
The digital inputs DI7 and DI8 activate parameterisable setpoints for both directions of rotation.
28
Commissioning
Initial commissioning
3.3
Initial commissioning
Worksteps
Adapt the motor to the controller:
1. Select motor in the Engineer motor catalog. (C 66)
When the motor connected to the motor has an electronic nameplate (ENP), all motor data are
automatically read out of the ENP and a selection from the motor catalog is not required. Read the
motor data out of the controller (C 66)
2. Accept/adapt route data. (C 69)
3. Parameterise motor encoder. (C 70)
an external motor is operated on a controller:
When
Only in case of a synchronous motor: Set rotor displacement angle. (C 71)
Only in case of unknown motor parameters:
Optimise the switching performance of the inverter. (C 73)
Set motor parameters. (C 75)
29
Worksteps
Check & optimise application /DC-bus operation:
1. Traverse axis in manual operation.
See chapter Basic drive functions
30
Commissioning
Standard set-up
3.4
Standard set-up
Worksteps
Transfer application and parameter set to the controller:
1. Transfer the application preconfigured in the Engineer and the corresponding parameter set to the
memory module of the controller.
2. Save parameter set. (C 57)
For a motor with an electronic nameplate (ENP):
1. Restart controller with connected motor to read out the motor data from the electronic nameplate
(ENP).
Restart the controller either by switching off and on again the voltage supply or by the device
command "Restart controller" (C00002 = "11000").
See chapter Motor interface Read the motor data out of the controller (C 66)
2. Save parameter set. (C 57)
For a motor without an electronic nameplate (ENP):
Note:
Here, the motor is operated with the motor and route data detected during the initial commissioning.
In contrast to the operation of a motor with ENP no resolver errors are compensated and a uniform
saturation characteristic is considered only.
See chapter Motor interface Initial commissioning (C 65)
1. If required, detect rotor displacement angle. Set rotor displacement angle (C 71)
Required for synchronous motors of an original equipment manufacturer and Lenze synchronous
motors with Stegmann absolute value encoder.
2. Save parameter set. (C 57)
31
Controller replacement
Scenario: The controller has failed in a running system.
Note!
For the following procedure described we assume that the memory module and
possibly available extension modules in the controller and the motor are not
affected by the failure.
Worksteps
Replacement of the controller:
1. Replace controller.
See Mounting Instructions for the controller!
2. Insert the memory module of the failed controller into the replacement device.
3. If further extension modules are plugged into the failed controller, these must be inserted into the
replacement device as well.
Further steps are not required since all data needed are on the memory module.
32
Commissioning
Motor replacement
3.6
Motor replacement
Scenario: The motor has failed in a running system.
Note!
In the following procedure described we assume that the controller is not
affected by the failure.
Worksteps
Replacement of the motor:
1. Replace the motor.
See Mounting Instructions for the controller!
Note:
The motor connection at the controller can be accessed without pulling the basic device out of the
installation backplane.
Note:
The motor is operated with the motor and route data that are stored on the memory module.
See chapter Motor interface
1. If required, detect rotor displacement angle. Set rotor displacement angle (C 71)
Required for synchronous motors of an original equipment manufacturer and Lenze synchronous
motors with Stegmann absolute value encoder.
2. Save parameter set. (C 57)
33
Drive interface
This chapter describes the drive interface which serves to set the controller to different
states and query different status information of the controller. Moreover, the machine
constants for the motor end can be entered via this drive interface.
4.1
DRIVE ERROR
DRIVE READY
DRIVE ERROR
OFF
OFF
Meaning
Status "initialisation active"
OFF
OFF
OFF
OFF
State "Operation"
State "Warning active" or State "Warning locked active"
The controller is ready to start, switched on or the operation is
enabled and a warning is indicated.
State "Quick stop by trouble"
OFF
Status"Trouble active"
OFF
OFF
Legend
Meaning of the symbols used to describe the LED states:
LED flashes once approx. every three seconds (slow flash)
LED flashes once approx. every 1.25 seconds ( flash)
LED flashes twice approx. every 1.25 seconds (double flash)
LED blinks every second
LED is permanently on
O Tip!
The current device state is also displayed in C00183.
34
Drive interface
Parameter setting
4.2
Parameter setting
4.2.1
Machine parameters
The global machine constants ("machine parameters") are set in the Engineer on the
Application parameters tab in the Overview Drive interface Machine parameters
dialog level:
O Tip!
Detailed information on the different machine parameters can be obtained from
the following subchapters.
35
Mains voltage
Via the Mains voltage list field (C00173) the mains voltage for the drive controller is set.
r If you set a mains voltage with adjustable threshold for undervoltage ("LU adjustable"),
this undervoltage threshold can be set in the Undervoltage threshold (LU) input field
(C00174).
r In the Resp. to DC bus overvoltage list field (C00600) the response to the DC-bus
overvoltage can be selected.
Note!
Changing the setting in C00173 also affects the permissible device utilisation!
O Tip!
The chapter "Rated data" in the Hardware Manual informs which device type has
which permissible device utilisation at which mains voltage and switching
frequency.
See also:
36
Drive interface
Parameter setting
4.2.1.2
Gearbox ratio
The gearbox ratio specifies the number of revolutions of the motor axis needed for one
rotation of the load axis (e.g. spindle or drive roll).
i = 58.667
[4-1]
r In the example shown in figure [4-1] 58.667 revolutions of the motor axis result in one
revolution of the spindle.
Selection of the gearbox ratio
r The gearbox ratio must be defined in the form of a quotient (numerator/denominator).
The required data is included in the technical gearbox data.
L EXTERTAL / Germany
GFL05-2M HCR 080-32
295 Nm
24/min (50Hz)
i = 58.667
CLP 460
GT/40000027
[4-2]
004 B
GFL 05
i
58.667
z1
12
z2
88
z3
9
z4
72
1196
00500038
factor
= z2 z4
= 88 72
= 6336
C02520
Gearbox
denominator
factor
= z1 z3
= 12 9
= 108
C02521
O Tip!
The resulting gearbox factor is displayed in C02531/1.
37
4.2.1.4
Configuration feedback
In the most cases, the system only has one motor encoder, i.e. no separate position encoder
is installed on the load side. Motor position (angle of rotation) and motor speed are
detected via the motor encoder selected in C00495 and converted with regard to the load
side.
n Motor encoder
[4-3]
The actual position and speed values on the machine side result from the conversion via
the Gearbox ratio on the motor side and the Feed constant.
O Tip!
Detailed information on parameter setting of the feedback systems for the motor
control can be found in chapter "Encoder evaluation". (C 108)
38
Drive interface
Parameter setting
4.2.1.5
Unit/application unit
Using these machine parameters you define the real unit of the machine in which the feed
constant and the parameters for a travel profile must be specified (e.g. position, speed,
acceleration, and deceleration).
r If you set, for instance, the "mm" unit for a linear axis, the position must be specified in
[mm] and the speed in [mm/s].
r By means of the freely definable "application unit" the significant production units as
e.g. "bottles" can be set.
For this, select the entry "User-defined" as unit in C02525 and enter the desired
application unit in C02526.
Note!
In this documentation, the term "unit" in the parameter unit data only serves as
a wildcard for the real unit of a machine.
Display parameters
Parameters
Information
C02533
Time unit
C02534
C02535
User-defined unit
C02537
Unit of speed
C02538
Unit of acceleration
39
Traversing range
The selection of the traversing range ("Unlimited", "Limited" or "Modulo") in the Traversing
range list field (C02528) serves to define the machine measuring system.
Note!
A change-over of the traversing range results in a loss of the reference
information!
[4-4]
[4-5]
40
Drive interface
Parameter setting
Traversing range
continuously
clocked
absolute
absolute
1, 2, 5, 6, 7, 8
1, 2, 5, 6, 7, 8
5, 6, 11 ... 16
None
None
permitted
permitted
not permitted
n Reference setting
o Position in the machine measuring system
p Position in the motor measuring system
Modulo
continuously
[4-8]
Limited
[4-7]
Unlimited
n Cycle
o Position in the machine measuring system
p Position in the motor measuring system
41
Feed constant
The feed constant corresponds to the motion of the machine at one revolution of the
gearbox output shaft.
r The input in the Feed constant field (C02524) is made in the unit defined in C02525
regarding one revolution.
r In case of a conveyor drive the feed constant results from the circumference of the drive
roll which is calculated in the following example based on the diameter given:
d = 200 mm
d = diameter
[Unit]
mm
mm
Feed constant = d ---------------------------- = 200 ---------------------------- = 628.3185 ---------------------------Revolution
Revolution
Revolution
[4-9]
r In case of a spindle drive (linear axis) the speed constant results from the leadscrew
pitch. The feed constant indicates which way the slide travels at one revolution of the
spindle (in the following example 5.023 mm).
h = 5.023 mm
h = leadscrew pitch (can be obtained from the technical data of the linear axis)
[4-10] Schematic diagram: Feed constant in case of a spindle drive
r In case of a rotary table and defined as an angle the feed constant is = 360.
42
Drive interface
Parameter setting
4.2.2
4.2.3
Information
C00003
C00007
Active application
C00150
Status word 1
C00155
Status word 2
C00183
Device state
C02530
43
4.4
44
Drive interface
Device states
4.5
Device states
The state control of the drive is internally controlled via a state machine which can adopt
the following "device states":
Controller inhibit
Power on
Initialisation
active
System fault
active
0
Safe
torque off
active
Fault
active
1
Warning/
Warning locked
active
Ready to
switch on
Switched
on
Operation
Trouble
active
Quickstop
by trouble
active
Note!
The device states of the controller must not be confused with the function states
of the Basic drive functions. (C 140)
The current device status is displayed in C00183.
In the "Operation" device state, the Basic drive functions specify the motion
control of the drive.
45
OFF
OFF
Display in C00183
10: Initialisation active
The controller is in this device state directly after switching on the supply voltage.
r In this device status the operating system is initialised.
r The application is not yet processed.
r The monitoring mode is not yet active.
r Communication is not possible yet.
r The controller cannot be parameterised yet and no device commands can be executed.
r When the device initialisation is completed, the device state is automatically changed
to "Safe torque off active".
4.5.2
Display in C00183
101: Safe torque off active
This device state becomes active when the controller receives the request "Safe torque off".
r "Drive is torqueless" (0x00750003) is entered in the logbook.
r If there is no request by the safety module, it is changed into the next state "Device is
ready to switch on".
Note!
The "Safe torque off active" state is also passed through after errors have been
acknowledged (see fig. [4-11]).
46
Drive interface
Device states
4.5.3
Display in C00183
141: Device is ready to switch on
The controller is in this device state directly after the initialisation is completed and no DCbus voltage is applied yet.
r The bus systems are running and the terminals and encoders are evaluated.
r The monitoring modes are active.
r The controller can be parameterised and device commands can be executed in a limited
way.
r The application is basically executable.
r The function of the user task can be used.
Condition: The application has started (status display in C02108).
r The basic drive functions cannot be used yet.
r There are two options for a change from the "Device is ready to switch on" state to the
"Device is switched on" state:
Auto restart enabled after mains connection (C00142 = "1").
Auto restart inhibited after mains connection (C00142 = "0") and controller
inhibited.
Auto start option 1: Auto restart enabled after mains connection
r The following figure shows the status change for the automatic start option 1 (Lenze
setting) as a function of the controller inhibit:
RFR
Initialisation
Ready to switch on
Switched on
Operation
RFR
RFR
Initialisation
Ready to switch on
RFR
Switched on
Operation
t
47
RFR
Initialisation
Ready to switch on
Switched on
Operation
RFR
RFR
Initialisation
Ready to switch on
Switched on
Operation
RFR
4.5.4
Display in C00183
90: Device is ready to switch on.
The drive is in this device state when the DC-bus voltage is applied and the controller is still
inhibited by the user (controller inhibit).
r The bus systems are running and the terminals and encoders are evaluated.
r The monitoring modes are active.
r The controller can be parameterised yet and device commands can be executed in a
limited way.
r The application is basically executable.
r The function of the user task can be used.
Condition: The application has started (status display in C02108).
r The basic drive functions cannot be used yet.
r When the controller is inhibited, the motor creates a torque.
48
Drive interface
Device states
4.5.5
State "Operation"
LED DRIVE READY
Display in C00183
0: Operation
In this device state the motor follows its setpoint according to the selected basic drive
function.
4.5.6
Display in C00183
1: Operation/warning active
This state can occur parallel to the device states "Device is ready to switch on", "Device is
switched on" and "Operation", if a monitoring is activated, the fault response "Warning"
has been parameterised for.
4.5.7
Display in C00183
2: Operation/Warning locked active
This state can occur parallel to the device states "Device is ready to switch on", "Device is
switched on" and "Operation", if a monitoring is activated which the fault response
"Warning locked" has been parameterised for.
49
Display in C00183
151: Quick stop by trouble active
This device state becomes active as soon as a monitoring mode responds for which the
error response "Quick stop in case of trouble" has been parameterised.
r The drive is decelerated to standstill with torque within the parameterised
deceleration time independent of the defined setpoint and can be kept there.
r The device state can only be abandoned by acknowledging the error if the error cause
is removed.
r When the controller is inhibited, it can be jumped to the "Operation" state even during
the error status since the controller inhibit has a higher priority. As long as the error is
pending and has not been acknowledged, it is changed back to the "Quick stop by
trouble active" when the controller is enabled afterwards.
4.5.9
Status"Trouble active"
LED DRIVE READY
OFF
Display in C00183
104: Trouble active
This device state becomes active as soon as a monitoring mode responds for which the
error response "Trouble" has been parameterised.
r The motor has no torque (is coasting).
r The device state is automatically abandoned if the error cause is removed:
"Trouble active" state < 500 ms: Return to the original device state.
"Trouble active" > state 500 ms: Return via the device state "Safe torque off active".
4.5.10
Display in C00183
102: Fault active
This device state becomes active as soon as a monitoring mode responds for which the
error response "Fault" has been parameterised.
50
Drive interface
Device states
4.5.11
Display in C00183
20: System fault active
51
Controller commands
Different controller commands are available for project management within the
controller. They can be activated under code C00002.
r The following subsections describe the most important controller commands for
project management and parameter set management in the controller.
r With an online connection, the controller commands can be activated from the
Engineer by selecting the corresponding command in the Parameters tab under
C00002. As an alternative, the controller commands can be activated via the keypad.
r In C00003 the number and the status of the device command executed last is
indicated. Status display for device command (C 54)
Note!
Before the supply voltage is switched off after a device command has been
transmitted via C00002, it must be checked via C00003 if the device command
has been completed successfully!
The "0x00" status in the lower 16 bits of C00003 means that the device
command has been executed successfully.
O Tip!
Many frequently required controller commands (e.g. "Save start parameters") can
be executed via the toolbar icons of the Engineers.
Note!
Controller commands that can be executed via the toolbar of the Engineers
always affect the element currently selected in the Project view including all
subelements.
If no controller, but a system module is selected in the Project view, the
corresponding controller command will be activated in all lower-level
controllers having an online connection with the Engineer.
For the commands described in the following subsections, the controller must
be selected in the Project view.
52
Drive interface
Controller commands
4.6.1
Information
5 Activate application
20 Delete logbook
Logbook (C 436)
21 Archive logbook
31 Start application
32 Stop application
33 Reset program
34 Restart program
35 Delete program
41 Inhibit controller
42 Enable controller
43 Reset error
z
z
z
z
z
Status*
53
Controller command
Information
Status*
4.6.2
Bit 0 ... 15
r The following table lists the most important status messages according to the degree
of probability of their occurrence.
Bit 0 ... 15
54
Status
Concerns device
command
0x0000
Execution ok.
All
0x0001
General fault.
All
0x8404
0x841D
0x841E
11,
201, 202, 203, 204,
301, 302, 303, 304
0x841F
0x8420
0x8422
Checksum error
0x842B
0x842C
11
0x842E
1, 11
0x8502
All
0x9Axx
CAN fault
0, 1, 5,
91, 92,
201, 202, 203, 204
0x9B07
0x9B08
51
0x9B09
51
0x9B0A
51
Drive interface
Controller commands
Bit 0 ... 15
Status
Concerns device
command
0x9B0B
51
0x9B12
71, 72
0x9B13
71, 72
0x9B14
71, 72
0x9B15
71, 72
71, 72
0x9B16
0xA001
Access to file has been denied since the file is already accessed from 11,
another position
201, 202, 203, 204,
301, 302, 303, 304
0xA005
11,
201, 202, 203, 204,
301, 302, 303, 304
0xA00C
11,
201, 202, 203, 204,
301, 302, 303, 304
0xA00D
11,
201, 202, 203, 204,
301, 302, 303, 304
0xA01C
11,
201, 202, 203, 204,
301, 302, 303, 304
55
Start/stop application
With an online connection, these controller commands can be executed via the
corresponding toolbar icons of the Engineers.
r Alternatively, the controller commands can also be activated with the parameter
settings listed in the "Controller command" column (e.g. via the keypad).
Symbol
Function
Controller command
C00002 = "31"
C00002 = "32"
Note!
If the drive is stopped during operation, the drive is braked to standstill via the
basic function "Stop".
Standard stop (C 148)
4.6.4
2. Click the
3. Execute the controller command "Load Lenze setting" with C00002 = "0".
56
Drive interface
Controller commands
4.6.5
M How to save the starting parameters safe against mains failure in the memory
module:
Execute the controller command "Save starting parameter" with C00002 = "11".
4.6.6
2. Click the
3. Execute the controller command "Load starting parameter" with C00002 = "1".
57
Activate application
If the memory module contains several applications, you can use this controller command
to activate a different application in the controller.
r After mains switching, the preset application will be loaded into the controller.
r If after mains switching another application than the one preset by Lenze is to be
loaded, it must be activated first and then the application selection must be
saved. Save selected application
Note!
When the application is activated, the corresponding parameter set 1 is loaded
automatically and parameter settings executed before will get lost unless the
parameter set was saved before!
4.6.8
M Execute the controller command "Save selected application" with C00002 = "7" to
select the active application as presetting.
58
Drive interface
Controller commands
4.6.9
RAM
PS
C00002 = 1
C00002 = 201
C00002 = 202
C00002 = 203
C00002 = 204
9400
PS
PS 1
PS 2
PS 3
PS 4
RAM
PS
C00002 = 11
C00002 = 301
C00002 = 302
C00002 = 303
C00002 = 304
9400
PS
PS 1
PS 2
PS 3
PS 4
59
DI_dnState
DI_bResetError1
DI_bReady
DI_bResetError2
DI_bFailActive
DI_bResetError3
DI_bImpActive
DI_bSetExternError
DI_bCInhActive
DI_bWarningActive
DI_bSwitchOn
DI_bUVDetected
DI_bOVDetected
DI_bMainSupplyOk
DI_bReadyToSwitchOn
DI_bOperationEnabled
DI_dwErrorCode
DI_AxisData
Inputs
Input
Information/possible settings
DIS code | Data type
DI_bSetCInh
DI_bResetError1
C02548/1 | BOOL
DI_bResetError2
C02548/2 | BOOL
DI_bResetError3
C02548/3 | BOOL
DI_bSetExternError
C02548/4 | BOOL
DI_bSwitchOn
C02549/4 | BOOL
60
Drive interface
System block "LS_DriveInterface"
Outputs
Output
Value/meaning
DIS code | Data type
DI_dnState
DI_bReady
DI_bFailActive
61
Output
Value/meaning
DIS code | Data type
DI_bImpActive
DI_bCInhActive
C02549/9 | BOOL
DI_bWarningActive
C02549/10 | BOOL
DI_bUVDetected
C02549/11 | BOOL
DI_bOVDetected
C02549/12 | BOOL
DI_bMainSupplyOk
C02549/13 | BOOL
DI_bReadyToSwitchOn
C02549/14 | BOOL
DI_bOperationEnabled
C02549/15 | BOOL
DI_dwErrorCode
DWORD
DI_AxisData
62
TRUE A voltage is applied to the mains voltage inputs L1, L2 and L3.
Status signal "Controller ready to start"
TRUE The controller has completed the initialisation and is in the device
state "Device is ready to switch on".
Status signal "Operation is enabled"
TRUE The controller is in the "operation" device state and the motor
follows its setpoint according to the selected basic drive function or
is at standstill due to stop or quick stop.
Error number of the current error message
Error messages of the operating system (C 443)
Data structure, which contains all required machine constants.
Drive interface
System block "LS_DriveInterface"
4.7.1
Status signals
The following representation shows which status signals of the system block
LS_DriveInterface are set to TRUE in different typical cases:
Case 1:
Application has been transmitted to the controller.
No mains voltage available (LU fault).
Controller is inhibited (via RFR terminal).
Case 2:
Mains voltage has been connected.
Case 3:
Controller inhibit has been deactivated.
Case 4:
Fault is active.
Case 5:
Quick stop by trouble is active
Status
DI_bReady
Fault is active
DI_bImpActive
DI_bCinhActive
Warning is active
Undervoltage detected
DI_bWarningActive
DI_bUVDetected
Overvoltage detected
Mains supply is Ok
DI_bOVDetected
z
Ready to switch on
Operation enabled
DI_bFailActive
DI_bMainSupplyOk
DI_bReadyToSwitchOn
DI_bOperationEnabled
63
Motor interface
This chapter contains information on initial commissioning of the motor and parameter
setting of the internal motor control of the controller.
Note!
To select application-specific setpoints, the motor interface can be extended by
appropriate interfaces using the basic functions "Speed follower", "Torque
follower" and "Position follower".
The application-specific conditioning of the encoder signals is executed with the
basic function "Encoder evaluation".
See also:
64
Motor interface
Initial commissioning
5.1
Initial commissioning
An initial commissioning of the motor is required if the motor data in the memory module
of the controller and the Engineer project is not suitable for the application.
r The following stepwise instructions can be used as "check list" to adjust the motor
correctly to the controller.
r Detailed information on the individual steps can be found in the following
subchapters:
Worksteps
1. Read out the motor data of the controller or select them via the Engineer motor catalog.
When the motor connected to the motor has an electronic nameplate (ENP), all motor data are
automatically read out of the ENP and a selection from the motor catalog is not required. Read the
motor data out of the controller (C 66)
If a motor without ENP or an external motor is used, the motor data can be selected via the
Engineer motor catalog. Select motor in the Engineer motor catalog (C 66)
2. Accept/adapt route data. (C 69)
3. Parameterise motor encoder. (C 70)
an external motor is operated on the controller:
When
Only in case of a synchronous motor: Set rotor displacement angle. (C 71)
Only in case of unknown motor parameters:
Optimise the switching performance of the inverter. (C 73)
Set motor parameters. (C 75)
65
5.1.2
O Tip!
If you use a motor of a third-party manufacturer, you can at first select a suitable
motor concerning the rated data for current, voltage and speed and then adapt the
motor data exactly to the existing motor.
Display/edit motor data in the Engineer (C 67)
66
Motor interface
Initial commissioning | Display/edit motor data in the Engineer
5.1.3
r If you use a motor of a third-party manufacturer, the displayed motor data can be
adapted exactly to the existing motor by selecting the entry "Own motor settings" in
the list field Motor selection.
r Click From Motor catalog to open the motor catalog and select a different motor.
Read the motor data out of the controller (C 66)
r Click From controller to accept the motor data set in the controller while being online
in the Engineer. Read the motor data out of the controller (C 66)
67
Motor interface
Initial commissioning | Display/edit motor data in the Engineer
Overview of motor data
Parameters
Information
Lenze setting
C00006
C00059
C00074
C00075
C00076
C00077
C00078
Value Unit
C00079
- mH
C00081
1 kW
C00082
- Ohm
C00083
C00084
- MS
C00085
C00087
C00088
C00089
200 Hz
C00090
245 V
C00091
1.00
19.8000 Ohm
30.500 mH
4000 rpm
0.9 A
C00092
C00128/1
1.0 min
- A
C00128/2
5.0 min
C00186
C00187
C00188
ENP: Status
C00577
C00578
C01190
C01191/1
25 C
C01191/2
150 C
C01192/1
1000 Ohm
C01192/2
2225 Ohm
0.000 Vs/V
2000.0 ms
KTY83-110
Note!
If the motor has been selected via the Engineer motor catalog or if the motor
data have been adapted offline in the Engineer, all motor data must be
transferred to the controller with an established online connection and stored
with mains failure protection in the memory module (C00002 = "11").
68
Motor interface
Initial commissioning | Accept/adapt route data
5.1.4
Information
Lenze setting
Value Unit
C00011
C00022
Maximum current
3000 rpm
C00070
C00071
24.0 ms
C00072
0.00 ms
C00254
20.00 1/s
C00270/1
200.0 Hz
C00270/2
400.0 Hz
C00271/1
20.0 Hz
C00271/2
40.0 Hz
C00272/1
0 db
C00272/2
0 db
C00585
Off
C00596
6500 rpm
0.00 A
0.500 Nm/rpm
Note!
If the route data have been adapted offline in the Engineer, all route data
must be transferred to the controller with an established online connection and
stored with mains failure protection in the memory module (C00002 = "11").
69
O Tip!
Detailed information on the encoder evaluation and on the use of a separate
position encoder can be found in the following main chapter "Encoder evaluation".
(C 108)
r The motor encoder can also be parameterised in the Engineer on the Application
parameter tab in the dialog level OverviewMotor.
r The following table shows the required settings for different encoder types:
Encoder type:
Resolver
CDD50
ITD21
ITD22
SCS70
SCM70
SRS50
SRM50
ECN1313
EQN1325
EQI1329
MCA
MDFQA
LMR
MDFQA
LMR
MDxKS
MCS
MCA
MCS
MCA
MCS
MCA
Tamagawa
Motor type:
C00495
Motor encoder
MCS
MCA
MDxKS
MDXMA
0
Resolver
1
Encoder
C00080
Resolver - pole pair
number
C00422
Encoder - type
C00420
Encoder - PPR
2048
C00421
Encoder - voltage
5V
0
Incremental encoder
(TTL signal)
1
Sin/cos
encoder
2
Absolute value
encoder (Hiperface)
512
1024
8V
3
Absolute value
encoder (EnDat)
2048
32
5V
Danger!
When using the encoder/resolver as motor encoder:
In case of an error as safe motor operation cannot be ensured anymore. Thus, the
"Fault" response (Lenze setting) should be set permanently for the (open circuit)
monitoring of the encoder/resolver!
C00580: Response to open circuit of encoder
C00586: Response to open circuit of resolver
C00601: Response to communication error of encoder
70
Motor interface
Initial commissioning | Set rotor displacement angle
5.1.6
Note!
Not required if a Lenze motor is operated on the controller!
For the control of permanent-magnet synchronous machines, the rotor angle the angle
between the motor phase U and the field axis of the rotor must be known.
r For Lenze motors the rotor displacement angle for different feedback systems is
already set correctly in C00058/1...3.
r The device command "Set rotor displacement angle" serves to specify the rotor
displacement angle for the current motor encoder activated in C00495 for an external
motor (see following instructions).
Note!
During the procedure of setting the rotor displacement angle, the machine must
not be braked or blocked.
O Tip!
For controller enable all sources for controller inhibit must be reset. In C00158 the
sources for controller inhibit are displayed in a bit-coded manner.
The status of the controller command activated under C00002 is indicated under
C00003.
71
r The rotor is aligned through the current flow. This is absolutely necessary for the
procedure.
r To ensure that the torque-neutral axis is not accidentally energised and the rotor stops,
a 45 current vector is (electrically) generated for 1 second and then (electrically)
switched back to 0 ( phase U).
After this second, you could measure a direct current corresponding to the abovementioned value in this motor phase.
The next steps of the procedure depend on the feedback system used:
r If an absolute value encoder with Hiperface or EnDat protocol is used, the encoder
position is set to zero and the procedure is cancelled.
r If a resolver or an optical encoder without absolute track is used, the difference
between the preselected current angle and the mechanical rotor angle is determined.
After this, the current vector is (electrically) turned by another 22.5 and the difference
between current angle and rotor angle is determined once again.
The procedure is repeated 16 times. This corresponds to one electrical revolution. The
machine rotates by 360 (mech.)/pole pair number.
Take the average value of the 16 measurements to compensate for asymmetries.
After successful completion...
...the controller is inhibited automatically and the rotor displacement angle determined for
the activated feedback system is set in the corresponding subcode of C00058.
r For a permanent acceptance of the set rotor displacement angle, the parameter set
must be saved (C00002 = "11").
r The device command C00002 = "42" serves to deactivated the controller inhibit
automatically set by the procedure.
If an error occurs
If an error occurs during the procedure or the pulse inhibit gets active (e.g. due to shorttime undervoltage), the procedure is terminated with controller inhibit without making a
change in C00058.
If the machine was braked or blocked during the procedure, this will be recognised at the
end of the measurement and no change is made in C00058.
72
Motor interface
Initial commissioning | Optimise the switching performance of the inverter
5.1.7
Note!
Not required if a Lenze motor is operated on the controller!
For an external motor with unknown motor parameters the optimisation of the
inverter switching performance is necessary for the motor parameter setting
described in the following chapter. Set motor parameters (C 75)
O Tip!
For controller enable all sources for controller inhibit must be reset. In C00158 the
sources for controller inhibit are displayed in a bit-coded manner.
The status of the controller command activated under C00002 is indicated under
C00003.
73
Motor interface
Initial commissioning | Optimise the switching performance of the inverter
Sequence
If all conditions are met, the motor is energised with a maximum direct current
corresponding to the lower of the following two values:
2 Rated device current
or
r Ideally, the first value should be reached, the second value is to ensure that the load on
the machine is not too high during the procedure.
During the procedure, the motor current rises up to the specified maximum value and falls
back to "0" to repeat the cycle with a negative current sign.
r The maximum value is reached four times.
r The chopper frequency is set to 8 kHz, sine-wave modulation. After the procedure, it is
reset to the original value.
If the chopper frequency should be changed later during operation, the characteristic
will be adapted to the current chopper frequency.
r Presently, the characteristic is only used for the automatic selection of the motor
parameters. The use for sensorless control methods is in preparation.
After successful completion...
...the controller is inhibited automatically and the detected characteristic is set in the
controller.
r For a permanent acceptance of the characteristic, the parameter set must be saved
(C00002 = "11").
r The device command C00002 = "42" serves to deactivated the controller inhibit
automatically set by the procedure.
O Tip!
The inverter error characteristic must only be detected again if the controller,
motor, or motor cable have changed e.g. due to an exchange.
If an error occurs
If an error occurs during the procedure or the pulse inhibit gets active (e.g. due to shorttime undervoltage), the procedure is terminated with controller inhibit and the detected
characteristic is not considered.
74
Motor interface
Initial commissioning | Set motor parameters
5.1.8
Note!
Not required if a Lenze motor is operated on the controller!
Information
C00079
ASM
;
SM
C00082
C00084
C00085
C00091
C00092
O Tip!
The Engineer displays an equivalent circuit diagram with these motor
parameters when you got to the Application parameter tab in the dialog level
OverviewMotor and press the button Other motor data....
The representation of the equivalent circuit diagram depends on the motor control
selected (C00006).
Requirements
r Before the automatic parameter determination is started, the switching performance
of the inverter must have been optimised to ensure a sinusoidal current flow.
Optimise the switching performance of the inverter (C 73)
r The motor parameters listed in the following table are excluded from the automatic
determination and must be adapted to the motor used (see motor nameplate) before
the determination.
Parameters
Information
C00081
C00087
C00088
C00089
C00090
75
O Tip!
For controller enable all sources for controller inhibit must be reset. In C00158 the
sources for controller inhibit are displayed in a bit-coded manner.
The status of the controller command activated under C00002 is indicated under
C00003.
76
Motor interface
Initial commissioning | Set motor parameters
Sequence
If all conditions are met, the impedance of the controlled system is determined for approx.
30 different frequencies. These valued are used to determine the electrical machine
parameters by means of a mathematical procedure.
r Since the procedure starts with very low frequencies and always considers several
complete periods, the whole process takes approx. 3 minutes.
r During the procedure, the motor is energised with a current, the r.m.s. value of which
corresponds to the lower of the following two values:
Rated device current
or
1
--- Rated motor current
2
Note!
During the procedure, the motor should not rotate.
With synchronous machines, this cannot always be ensured. Although the
current flow is produced in the torque-neutral axis, asymmetries in the machine
lead to a rotation of the rotor.
In such a case, the measurement would be useless and would have to be
repeated.
As a remedy, we recommend to use a holding brake.
With asynchronous machines, slight rotations might possibly occur. Their
influence on the measurements is, however, not worth mentioning.
In case of uncertainties, the measurement should be repeated several times
to check if the results for the stator resistance, the leakage inductance of the
stator and the rotor resistance differ widely. This should not be the case.
The magnetising inductance and the cos() values are not that important for
the diagnostics, because they are strongly non-linear.
77
Note!
When MCS motors are used check if the motor used exceeds the voltage limit in
the required operating range up to maximum current/reference speed.
If so, the reference speed must be reduced to a permissible value.
Presently the controller does not support a field weakening control for
synchronous motors so that an operation at the voltage limit causes an
undefined behaviour.
On the part of the application it must be ensured that maximally 100 % of the
reference speed set in C00011 are required as speed setpoint.
78
Motor interface
Initial commissioning | Select switching frequency
5.1.10
Note!
The maximum output frequency of the controller is limited to 1/8 of the
switching frequency selected in C00018! (See the following table.)
1 kHz
2 kHz
4 kHz
8 kHz
16 kHz
125 Hz
250 Hz
500 Hz
1 kHz
2 kHz
7500
15000
30000
60000
120000
3750
7500
15000
30000
60000
2500
5000
10000
20000
40000
1875
3750
7500
15000
30000
1500
3000
6000
12000
24000
1250
2500
5000
10000
20000
O Tip!
The controller load (I x t) during the last 180 seconds is indicated under C00064.
79
O Tip!
With the same load profile, a deactivation due to an excessive controller load (I x t)
is more likely with a fixed chopper frequency setting than with a variable setting.
80
Motor interface
Initial commissioning | Optimise current controller
5.1.11
Vp = Vp opt.
Vp > Vp opt.
Tn < Tn opt.
t
I
t
I
Tn = Tn opt.
t
I
t
I
Tn > Tn opt.
6. Change the gain Vp under C00075 and the reset time Tn under C00076.
7. Repeat steps 4 ... 6 until the optimum step response of the motor brake is reached.
After optimisation, the current control time is typically 0.5 ... 1 ms.
If the adjustment results are not satisfactory, the decoupling network can be
additionally activated via the setting C00074 = "1". After this, repeat the steps
2 ... 6.
In case of MCS results may only be achieved with a current-dependent
correction of the leakage inductance. For this purpose, it is required to use a
motor with an electronic nameplate (ENP) or to set the saturation characteristic
manually (see the following section).
81
8. After the optimisation has been completed with C00398 = "0", deactivate the test
mode for the current controller again.
9. Save parameter set (C00002 = "11").
5.1.11.1
In case of modern motors, however, the stator leakage inductance changes (C00085) as a
function of the magnitude of current so that each current value requires a new current
controller setting.
When the motor is operated with very low and very high currents (e.g. in Pick and place
applications), it is not always possible to achieve a satisfactory current controller setting
for all operating points. For this purpose, the correction of the leakage inductance and
current controller parameters is possible via a saturation characteristic that can be set in
C02853 (17 base points).
82
Motor interface
Initial commissioning | Optimise current controller
100 %
80 %
60 %
40 %
20 %
I/Imax
0%
0%
[5-1]
10 %
20 %
30 %
40 %
50 %
60 %
70 %
80 %
90 % 100 %
Note!
The saturation characteristic is not only used for the correction of the current
controller but also influences the current controller feedforward control
(C00074).
10
11
12
13
14
15
16
17
6.25
12.5
18.75
25
31.25
37.5
43.75
50
56.25
62.5
68.75
75
81.25
87.5
93.75
100
Vp [V/A]
Tn [ms]
Imax
[5-2]
[%]
O Tip!
The following chapter provides an example for determining the saturation
characteristic. Example for determining the saturation characteristic (C 84)
83
10
11
12
13
14
15
16
17
6.25
12.5
18.75
25
31.25
37.5
43.75
50
56.25
62.5
68.75
75
81.25
87.5
93.75
100
Vp [V/A]
Tn [ms]
Imax
0A
3.75 A
5A
7.5 A
11.25 A
12.38 A
[%]
15 A
Setting C00022
Vp [V/A]
Tn [ms]
0.25 * 15 A =
3.75 A
13
6.5
0.5 * 15 A =
7.5 A
13
0.75 * 15 A =
11.25 A
2.5
15
0.875 * 15 A =
12.38 A
17
84
Scaling
Measured values
1.0 * 15 A =
15 A
1.7
5A
10
Motor interface
Initial commissioning | Optimise current controller
10
11
12
13
14
15
16
17
6.25
12.5
18.75
25
31.25
37.5
43.75
50
56.25
62.5
68.75
75
81.25
87.5
93.75
100
Vp [V/A]
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Imax
0A
[5-4]
3.75 A
5A
7.5 A
11.25 A
12.38 A
[%]
15 A
5. Set the gain Vp in C00075 and reset time Tn in C00076 which were calculated during
the adjustment with the rated motor current (in this example "5 A"):
Set C00075 = "10 V/A".
Set C00076 = "5 ms".
6. Scale the Vp values on the Y axis of the characteristic to the 100 % Vp setting in C00075:
1
10
11
12
13
14
15
16
17
62.5
68.75
75
81.25
87.5
93.75
100
Vp [%]
130
120
110
100
90
80
70
60
50
40
30
20
10
0
13
12
11
10
9
8
7
6
5
4
3
2
1
Imax
0
0
0A
[5-5]
6.25
12.5
18.75
25
3.75 A
31.25
5A
37.5
43.75
50
56.25
7.5 A
11.25 A
12.38 A
[%]
15 A
Scaling of the determined saturation characteristic to the "100 %" setting in C00075
85
10
11
12
13
14
15
16
17
6.25
12.5
18.75
25
31.25
37.5
43.75
50
56.25
62.5
68.75
75
81.25
87.5
93.75
100
Vp [%]
130
107
95
87.5
80
72.5
65
57.5
50
45
40
35
30
Imax
[5-6]
[%]
1 C02583/1 = 130 %
10 C02583/10 = 72.5 %
2 C02583/2 = 130 %
11 C02583/11 = 65 %
3 C02583/3 = 130 %
12 C02583/12 = 57.5 %
4 C02583/4 = 130 %
13 C02583/13 = 50 %
5 C02583/5 = 130 %
14 C02583/14 = 45 %
6 C02583/6 = 107 %
15 C02583/15 = 40 %
7 C02583/7 = 95 %
16 C02583/16 = 35 %
8 C02583/8 = 87.5 %
17 C02583/17 = 30 %
9 C02583/9 = 80 %
86
Motor interface
Extended commissioning
5.2
Extended commissioning
After the initial commissioning of the motor, the required technology application can be
selected in the Engineer and loaded in the controller.
r Further information on this can be found in chapter Technology applications (TAs).
(C 233)
r During operation (with setpoint selection) further steps can be carried out to optimise
the motor control.
r Detailed information on the individual steps can be found in the following
subchapters:
Worksteps
1. Optimise speed controller. (C 88)
Via running a typical speed profile and recording the ramp response of the speed controller with the
oscilloscope.
2. If the speed controller optimisation did not achieve the intended result:
Set current setpoint filter. (C 90)
In order to suppress or damp (mechanical) resonant frequencies, two current setpoint filters are
integrated in the speed control loop of the controller which are switched off in the default setting
but can be parameterised accordingly, if required.
Then readjust the speed controller: Optimise speed controller. (C 88)
3. Optimise phase controller. (C 92)
Via running a typical speed profile and recording the ramp response of the phase controller with the
oscilloscope.
4. Optimise the response to setpoint changes by means of the torque feedforward control. (C 93)
Via running a typical speed profile and recording the inputs and outputs of the speed controller with
the oscilloscope.
5. Save Engineer project.
O Tip!
To run a typical speed profile for optimising the motor control, you can also use the
basic function "manual jog" with suitably adapted manual jog parameters.
Manual jog (C 156)
87
88
Motor interface
Extended commissioning | Optimise speed controller
Stop!
If the controller parameters are preset unfavourably, the control can tend to
heavy overshoots up to instability!
Following and speed errors can adopt very high values.
If the mechanics is very sensitive, the corresponding monitoring functions
must be activated.
M How to optimise the speed controller setting by means of the ramp response:
1. Run a typical speed profile and record the ramp response of the speed with the
Oscilloscope. (C 416)
Motor control variables to be recorded:
Speed.dnSpeedSetpoint (speed setpoint)
Speed.dnActualMotorSpeed (actual speed value)
2. Evaluate the ramp response:
Vp < Vp opt.
Vp = Vp opt.
Vp > Vp opt.
Tn < Tn opt.
t
n
t
n
Tn = Tn opt.
t
n
t
n
Tn > Tn opt.
89
Frequency [Hz]
Width [Hz]
Depth [dB]
Filter 2
C00270/2
C00271/2
C00272/2
Frequency [Hz]
Width [Hz]
Depth [dB]
m*
Optional current setpoint filters (filter cascade) in the speed control loop
Since the frequency response of the speed controlled system is only rarely known to such
an extent that the current setpoint filters can be adjusted to the controlled system in the
run-up, the following example describes how to set current the current setpoint filters.
90
Motor interface
Extended commissioning | Set current setpoint filter
Note!
Readjust the speed controller after setting the current setpoint filter.
Optimise speed controller. (C 88)
91
M How to optimise the phase controller setting by means of the ramp response:
1. Run a typical speed profile and record the ramp response of the phase controller
with the Oscilloscope. (C 416)
Motor control variables to be recorded:
Speed.dnSpeedSetpoint (speed setpoint)
Speed.dnActualMotorSpeed (actual speed value)
Speed.dnOutputPosCtrl (phase controller output)
Position.dnEncounteringError (following error)
2. Adjust the gain Vp of the phase controller under C00254 and repeat oscilloscope
recording until the intended following error behaviour is reached and the motor
runs sufficiently smoothly during the constant travel phase.
3. Save parameter set (C00002 = "11").
92
Motor interface
Extended commissioning | Optimise the response to setpoint changes by means of the torque
5.2.4
Optimise the response to setpoint changes by means of the torque feedforward control
Setting the load moment of inertia under C00273/2 does not always provide the optimum
torque feedforward control. Depending on the application, an adaptation of the setting
under C00273/2 may be necessary to optimise the response to position/speed control
setpoint changes.
Without feedforward control:
n, M
Typical signal characteristics for different settings of the load moment of inertia
C00273/2 can be used to compensate for effects in addition to the moment of inertia
which are detected by the speed controller in the closed speed control loop (e.g. friction
torque).
Below you will find a description of a procedure for optimising the feedforward control
behaviour starting from the system's moment of inertia.
93
Motor interface
Extended commissioning | Optimise the response to setpoint changes by means of the torque
94
Motor interface
Signal flow
5.3
Signal flow
MI_bTorqueSetpointLimited
MI_dnTorqueSetpoint_n
C00776 MCTRL_dnInputJerkCtrl
Max. acceleration change
C00274
Bandwitdh 1
Bandwidth 2
(1)
(2)
(3)
MI_dnTorqueHighLimit_n
Torque setpoint
C00695
C00270/1
C00271/1
C00272/1
MI_dnTorqueLowLimit_n
MI_dnFilteredTorqueSetpoint_n
M
C00270/2
C00271/2
C00272/2
C02559/1...2
Internal torque limit
MI_bCurrentSetpointLimited
(6)
(7)
Actual Q-current
Rotating field frequency
Actual D-current
MCTRL_dnFluxAct
C00778
C00079
Field controller
(13)
(9)
Vp C00077
Tn C00078
Filter DC detection
(11)
a +b
Coordinate
transformation
Vp C00075
Tn C00076
Voltage limit
usq
usd
C00091
Motor type
(12)
Chopper frequency
C00018
Vp C00577
Tn C00578
(14)
a +b
MI_dnActualMotorCurrent_n
C00054 Motor current
C00780 MCTRL_dnImotAct
MI_dnActualMotorVoltage_n
C00052 Motor voltage
C00783 MCTRL_dwMotorVoltageAct
[5-9]
See also:
95
DI_bOVDetected
const.
DI_bUVDetected
C00173
C00174
DC-bus voltage
MI_dnActualDCBusVoltage
C00053 DC-bus voltage
C00779 MCTRL_dnDCBusVoltage
Error message
"Failure of motor phase"
C00597
C00599
Phase currents
(16) U C00055/1
(17) V C00055/2
(18) W C00055/3
const.
S
MCTRL_dnIxtLoad
C00786
MI_bMotorOverloadWarning
const.
Actual Q-current
Actual D-current
Machine simulation
MCTRL_dnI2xtLoad
a +b
C00790
C00128
C00129
C00120
96
No.
Meaning
(1)
Torque.dnInputNotchFilter1
(2)
Torque.dnInputNotchFilter2
(3)
Torque.dnFilteredTorqueSetpoint
(4)
(5)
(6)
Current.dnQuadratureCurrentSet
Q current setpoint
(7)
Current.dnActualQuadratureCurrent
Actual Q-current
(8)
Current.dnActualDirectCurrent
Actual D current
(9)
Current.dnDirectCurrentSet
D current setpoint
(10)
Voltage.dnQuadratureVoltage
Q voltage
(11)
Voltage.dnDirectVoltage
D voltage
(12)
Common.dnActualFlux
(13)
Common.dnFluxSet
Flux setpoint
(14)
Voltage.dnActualMotorVoltage
(15)
Voltage.dnActualDCBusVoltage
(16)
Current.dnActualCurrentPhaseU
(17)
Current.dnActualCurrentPhaseV
(18)
Current.dnActualCurrentPhaseW
Motor interface
Parameter setting
5.4
Parameter setting
Short overview of the other parameters for the motor interface:
Parameters
Information
C00050/1
Speed setpoint 1
C00050/2
Speed setpoint 2
C00051
Actual speed
C00052
Motor voltage
C00054
Motor current
C00055/1
C00055/2
C00055/3
C00055/4
C00056
Torque setpoint
C00057/1
Maximum torque
C00057/2
C00059
C00060
Rotor position
C00063
Motor temperature
C00066
C00120
C00121
C00127
C00583
C00584
C00585
C00606
C00909/1
C00909/2
C02527
C02550/1
C02550/2
C02550/3
C02553
C02554
C02555
C02556
C02557
C02558
C02559/1
C02559/2
C02560
C02567
Control mode
97
See also:
5.4.1
Stop!
The I2xt motor monitoring is no full motor protection!
Since the motor utilisation calculated in the thermal model gets lost after mains
switching, the following operating states cannot be determined correctly:
Restarting (after mains switching) of a motor that is already very heated.
Change of the cooling conditions (e.g. cooling air flow interrupted or too
warm).
A full motor protection requires additional measures as e.g. the evaluation of
temperature sensors that are situated directly in the winding of thermal
contacts.
98
Motor interface
Parameter setting | Motor monitoring (Ixt)
k1
1
(1 + pt1)
k2
1
(1 + pt2)
Parameters
Iact motor
Setting
Current motor current
C00128/1
k1
C01195
C00128/2
k2
100 % - C01195
99
Characteristic point
C01196/1
n1/nn
C01196/2
I1/In
C01196/3
n2/nn
C01196/4
I2/In
C01196/5
n3/nn
C01196/6
I3/In
C01196/7
n4/nn
C01196/8
I4/In
r The speed-dependent evaluation can be more or less switched off by setting C01196/
1...8 to "100 %" each. The calculation simplified due to this setting corresponds to the
calculation in previous devices (e.g. servo inverter 9300 or ECS).
Note!
Self-ventilated standard motors are protected insufficiently by setting C01196/
1...8 to "100 %" each at low speeds.
Servo motors, however, do not have a point from which the torque must be
reduced due to a too low speed.
When setting the characteristic in C01196/1...8 this point must not be
ignored. Hence, point 2 is to be set ideally to point 1 or point 3.
100
Motor interface
Parameter setting | Motor monitoring (Ixt)
5.4.1.1
600
1410
3000
[5-12] Torque/speed characteristic for motor type MDFMARS 090-32 from catalog
Note!
Currently relative current values are still expected for the specification of the
grid points in subcodes 2, 4, 6, 8 of C01196. This example, however, already uses
relative torque values the entry of which shall be possible at a later date.
Parameters
Setting
Information
C00128/1
1.0 min
C00128/2
5.0 min
C01195
0%
C01196/1
0%
C01196/2
60 %
Forced ventilated:
100 %
C01196/3
Self-ventilated:
Speed n2, from which the torque must be reduced with self-ventilated motors.
Self-ventilated:
43 %
Forced ventilated:
0%
C01196/4
100 %
C01196/5
100 %
C01196/6
100 %
C01196/7
213 %
Speed above the rated speed (in the field weakening in case of asynchronous
motors)
= 3000 rpm / 1410 rpm * 100 %
C01196/8
44 %
101
1000
2000
3000
4000
5000
6000
7000
[5-13] Torque/speed characteristic for motor type MCS 06C60 from the catalog
Note!
Currently relative current values are still expected for the specification of the
grid points in subcodes 2, 4, 6, 8 of C01196. This example, however, already uses
relative torque values the entry of which shall be possible at a later date.
102
Parameters
Setting
Information
C00128/1
1.0 min
C00128/2
14.2 min
C01195
27 %
C01196/1
0%
C01196/2
160 %
C01196/3
0%
C01196/4
160 %
C01196/5
100 %
C01196/6
100 %
C01196/7
100 %
C01196/8
100 %
Motor interface
Parameter setting | Special characteristic for motor temperature sensor
5.4.2
2225
1000
0
0
25
150
r Grid pointo
C01191/2 = 150C
C01192/2 = 2225
Note!
By selecting a motor from the motor catalog the parameters C01190, C01191
and C01192 are overwritten!
5.4.3
Note!
By setting C00583 = "0" the monitoring response and the temperature
correction is switched off within the motor control (identification and
parameter correction)
This setting is e.g. sensible if no realisable winding temperature signal is
available.
103
MI_dnPosCtrlAdaptLoad_n
MI_bMotorOrientationInverse
MI_bReserved
MI_dnPosCtrlAdaptMotor_n
MI_dwReferenceSpeed
MI_dnSpeedCtrlAdapt_n
MI_dwReferenceTorque
MI_bResetSpeedCtrlIntegrator
MI_bLimitationActive
MI_dnTorqueHighLimit_n
MI_bPosCtrlLimited
MI_dnTorqueLowLimit_n
MI_bSpeedSetpointLimited
MI_dnSpeedSetpoint_n
MI_dnReserved
MI_dnSpeedSetpoint_s
MI_dnFluxSetpoint_n
MI_bSpeedFollowingError
MI_bSpeedCtrlLimited
MI_bTorqueSetpointLimited
MI_dnTorqueSetpoint_n
MI_dnFilteredTorqueSetpoint_n
MI_bCurrentSetpointLimited
MI_bMotorOverloadWarning
MI_bSpeedBelowThresholdC19
MI_dnActualMotorCurrent_n
MI_dnActualMotorVoltage_n
MI_dnActualMotorTorque_n
MI_dnActualMotorSpeed_n
MI_dnActualMotorSpeed_s
MI_dnActualMotorPos_p
MI_dnActualDCBusVoltage_n
MI_dnThermalLoadDevice_n
MI_dnThermalLoadMotor_n
Inputs
Input
Information/possible settings
DIS code | Data type
MI_dnPosCtrlAdaptLoad_n
C02568/1 | DINT
MI_bReserved
BOOL
104
Motor interface
System block "LS_MotorInterface"
Input
Information/possible settings
DIS code | Data type
MI_bResetSpeedCtrlIntegrator
C02569/2 | BOOL
MI_dnTorqueHighLimit_n
C02568/4 | DINT
MI_dnTorqueLowLimit_n
C02568/5 | DINT
MI_dnReserved
DINT
MI_dnFluxSetpoint_n
C02568/7 | DINT
Outputs
Output
Value/meaning
DIS code | Data type
MI_dwControlMode
DWORD
MI_bMotorOrientationInverse
BOOL
MI_dwReferenceSpeed
DWORD
MI_dwReferenceTorque
DWORD
MI_bLimitationActive
C02569/3 | BOOL
MI_bPosCtrlLimited
C02569/4 | BOOL
105
Output
Value/meaning
DIS code | Data type
MI_bSpeedSetPointLimited
C02569/5 | BOOL
MI_dnSpeedSetpoint_n
DINT
MI_dnSpeedSetpoint_s
DINT
MI_bSpeedFollowingError
C02569/10 | BOOL
Current speed setpoint from position control and speed feedforward control or
direct setpoint selection in [%]
After limitation by the upper speed limit value (C00909/1) and lower speed limit
value (C00909/2).
100 % Motor reference speed (C00011)
Signal flow - position follower (C 184)
Signal flow - speed follower (C 191)
Current speed setpoint from position control and speed feedforward control or
direct setpoint selection in [rpm]
After limitation by the upper speed limit value (C00909/1) and lower speed limit
value (C00909/2).
Status signal "Impermissible speed control deviation"
Signal flow - speed follower (C 191)
TRUE Speed control deviation is higher than the window set in C00576.
MI_bSpeedCtrlLimited
C02569/6 | BOOL
MI_bTorqueSetpointLimited
C02569/7 | BOOL
MI_dnTorqueSetpoint_n
DINT
MI_dnFilteredTorqueSetpoint_n
DINT
Current torque setpoint from speed control and torque feedforward control or direct
setpoint selection
After limitation by MI_dnTorqueLimit_n.
100 % C00057/2
Signal flow - motor interface (C 95)
Filtered torque setpoint (after jerk limitation and band-stop filter)
100 % C00057/2
Signal flow - motor interface (C 95)
MI_bSpeedBelowThresholdC19
C02569/9 | BOOL
MI_dnActualMotorCurrent_n
DINT
MI_dnActualMotorVoltage_n
DINT
106
Motor interface
System block "LS_MotorInterface"
Output
Value/meaning
DIS code | Data type
MI_dnActualMotorSpeed_s
DINT
MI_dnActualMotorPos_p
DINT
MI_dnActualDCBusVoltage_n
DINT
107
Encoder evaluation
This chapter informs how to use feedback systems for the motor control.
Note!
The encoder position is stored safe against mains failure in the memory module
and is therefore known to the drive control even after the mains has been
switched.
The position resolution of higher-level applications follow the resolution of the
encoder which will be activated for the position control.
Behaviour of the home position after mains switching
If the home position/information is to be available after mains switching as well,
the setting C02652 = "1: Keep" is required.
One further condition for keeping the home position/information after
mains switching is the compliance with the maximally permissible angle of
rotation of the encoder which can be set in C02653.
When resolvers or single-turn absolute value encoders are used and the
mains is switched off (24-V supply off), the drive may only be moved by
motor revolution since otherwise the home position will get lost due to the
ambiguity of the encoder information.
Danger!
When using the encoder/resolver as motor encoder:
In case of an error as safe motor operation cannot be ensured anymore. Thus, the
"Fault" response (Lenze setting) should be set permanently for the (open circuit)
monitoring of the encoder/resolver!
C00580: Response to open circuit of encoder
C00586: Response to open circuit of resolver
C00601: Response to communication error of encoder
See also:
108
Encoder evaluation
Signal flow
6.1
Signal flow
FDB_dnPosOffset_p
FDB_dnActPosIn_p
C02527
0
C02570
1
1
FDB_dnActualPos_p
C00490
C02529
C00771
10
(1)
(2)
Motor position
(3)
Motor speed
<4
1
C00770
C00051
C00772
C00497
Position evaluation
Position encoder
MI_dnActualMotorPos_p
Position evaluation
Motor encoder
MI_dnActualMotorSpeed_n
MI_dnActualMotorSpeed_s
C02527
0
C02570
1
1
C00490
C02529
FDB_dnActualSpeed_s
2
10
C00596
<4
1
C00490
Position
encoder
10
Encoder interface
C00495
Motor
encoder
Encoder module
in MXI2
Encoder module
in MXI1
Encoder X8
Resolver X7
C00579
FDB_bResolverError
FDB_bSinCosSignalError
FDB_bEncoderComError
See also:
Meaning
(1)
Position.dnActualLoadPos
Actual position
(2)
Position.dnActualMotorPos
(3)
Speed.dnActualMotorSpeed
109
Parameter setting
Short overview of parameters for the encoder evaluation:
Parameter
Information
Lenze setting
C00058/1
-90.0
C00058/2
0.0
C00058/3
0.0
C00080
C00420
Encoder PPR
C00421
Encoder voltage
C00422
Encoder type
C00490
Position encoder
C00495
Motor encoder
C00497
C00579
C00580
Fault
C00586
Fault
C00601
Fault
C02527
C02529
C02570
Controller configuration
C02572
Speed setpoint
- Unit/s
C02573
Position setpoint
- Unit
C02574
Actual speed
- Unit/s
C02575
Actual position
- Unit
C02576
Following error
- Unit
C02577
- Unit
C02578
- Unit
Value Unit
1
512
5.0 V
Incremental encoder (TTL signal)
Motor encoder
Resolver X7
0.4 ms
Off
See also:
110
Encoder evaluation
Parameter setting
6.2.1
Controller configuration
The device interfaces for the encoder on the motor side and, if available, on the load side
are directly assigned to the corresponding control according to the controller
configurations selected (C02570):
Phase control (Lenze setting)
Position control
Application-dependent
r If only an encoder on the motor side is available, this "motor encoder" provides the
actual value signals for the phase/position control and the speed control.
The motor encoder on the motor side supports the secondary servo control
irrespective of the use for position and speed control (commutation).
r If an additional encoder is available on the motor side, this "position encoder"
exclusively supports the position control, and the controller configuration (C02570)
must be set to position control so that the load encoder will be evaluated.
The starting position of the position encoder can be set via the basic function
"Homing".
Note!
When the basic function "Quick stop" is activated, the controller configuration is
internally changed over to phase control independent of the setting in C02570.
If the basic function "Quick stop" is to be used, the gain of the phase controller
(C00254) must also be set correctly for the "Position control" controller
configuration.
In case of the technology application for the network via the "Electrical shaft" the
controller configuration is preset to position control.
111
n Motor encoder
[6-2]
The actual position and speed values on the machine side result from the conversion via
the gearbox factor on the motor side (C02520/C02521) and the feed constant (C02524).
See also:
112
Encoder evaluation
Parameter setting
6.2.3
n Motor encoder
oPosition encoder
p Gearbox ratio for position encoder
[6-3]
In this case, the actual position and speed values on the machine side result from
converting the position encoder position via the resulting gearbox factor (ratio of motor
speed to position encoder speed; display in C02531/3) and the feed constant (C02524).
O Tip!
The resulting gearbox factor for the position encoder is displayed in C02531/2.
See also:
113
Note!
Encoder inversion and offset selection FDB_dnPositionOffset_p also affect the
external actual position.
If the use of the external actual position preset via FDB_dnActPosIn_p is
activated, a, the "Home position known" status
(HM_bHomePosAvailable = TRUE) is automatically set and homing with the
basic function "Homing" cannot be activated anymore.
When the traversing range (C02528) is set to "Modulo", the external actual
position value must also be set to modulo (0 cycle-1).
114
Encoder evaluation
System block "LS_Feedback"
6.3
FDB_dnPosOffset_p
FDB_dnActualSpeed_s
FDB_dnActPosIn_p
FDB_dnPosFollowingError_p
FDB_dnSetPos_p
FDB_dnSetSpeed_s
FDB_bResolverError
FDB_bSinCosSignalError
FDB_bEncoderComError
Inputs
Input
Information/possible settings
Data type
FDB_dnPosOffset_p
FDB_dnActPosIn_p
DINT
Outputs
Output
Value/meaning
DIS code | Data type
FDB_dnActualPos_p
FDB_dnActualSpeed_s
FDB_dnSetPos_p
DINT
DINT
FDB_dnSetSpeed_s
FDB_bResolverError
C02579/1 | BOOL
FDB_bSinCosSignalError
C02579/2 | BOOL
FDB_bEncoderComError
C02579/3 | BOOL
115
I/O terminals
This chapter informs about possible parameter settings and configurations of the
controller input and output terminals.
O Tip!
Information on wiring the terminals can be found in the Mounting Instructions of
the controller!
Overview
X3
X4
X5
116
X2
SB 24E GE
Terminal assignment
Front view
7.1
Information
Monitoring function "State bus" (C 127)
I/O terminals
Analog inputs
7.2
Analog inputs
The controller has 2 analog inputs that can be used to detect differential voltage signals in
the range of 10 V, e.g. analog speed setpoint selections or the voltage signals of an
external sensor (temperature, pressure, etc.).
r Optionally, analog input 1 can also be used to detect current setpoints.
Terminal assignment/electrical data
X3
Terminal
Use
X3/A1X3/A1+
7.2.1
Electrical data
Level: -10 V ... +10 V
Resolution: 11 bits + sign
Normalisation: When C00034 = "0":
10 V 230
Conversion rate: 1 kHz
Current input
(bridge between A1R and A1)
X3/A2X3/A2+
117
Parameter setting
Short overview of parameters for the analog inputs:
Parameter
Information
C00034
C00598
C02730/1
AIN1: Gain
C02730/2
AIN2: Gain
C02731/1
AIN1: Offset
C02731/2
AIN2: Offset
C02732/1
C02732/2
C02800/1
C02800/2
7.2.3
O Tip!
In this way, you can implement a 4 ...20 mA current loop, e.g. for speed setpoint
selection.
Open-circuit monitoring
Under
C00598, you can select an error response to an open circuit for the 4 ...20 mA current loop.
118
I/O terminals
Analog inputs
7.2.4
C02800/1
C02731/1
C02730/1
C02732/1
AIN1_dnIn_n
250
LS_AnalogInput
X3
C02731/2
C02730/2
AIN2_dnIn_n
C02800/2
Output
C02732/2
AIN1_bCurrentError
Value/meaning
Data type
AIN1_dnIn_n
DINT
AIN2_dnIn_n
DINT
AIN1_bCurrentError
BOOL
Analog input 1
Scaling:
230 10 V for use as voltage input
230 20 mA for use as current input
Analog input 2
Scaling: 230 10 V
Status signal "Current input error"
Only when analog input 1 is used as current input.
Application: Cable-breakage monitoring of the 4 ...20 mA circuit.
TRUE |IAIN1| < 2 mA
119
Analog outputs
The controller has 2 analog outputs that can be used to output internal analog signals as
voltage signals, e.g. for analog indicator control or as setpoint for slave drives.
Note!
Initialisation behaviour:
After mains switching up to the start of the application the analog outputs
remain set to 0 V.
Exception handling:
In case of a critical exception in the application (e.g. reset) the analog outputs
are set to 0 V.
X3
Terminal
Use
X3/AO1
Voltage output 1
AO2 AO1 GA
7.3.1
Electrical data
Level: -10 V ... +10 V
(max. 2 mA)
Resolution: 11 bits + sign
Normalisation: 230 10 V
Conversion rate: 1 kHz
X3/AO2
Voltage output 2
X3/GA
120
I/O terminals
Analog outputs
7.3.2
Parameter setting
Short overview of parameters for the analog outputs:
Parameter
Information
C02733/1
AOUT1: Gain
C02733/2
AOUT2: Gain
C02734/1
AOUT1: Offset
C02734/2
AOUT2: Offset
C02801/1
C02801/2
121
C02801/1
C02801/2
AOUT1_dnOut_n
AOUT2_dnOut_n
Input
X3
AO2 AO1 GA
LS_AnalogOutput
Information/possible settings
Data type
AOUT1_dnOut_n
DINT
Analog output 1
Scaling: 230 10 V
DINT
Analog output 2
Scaling: 230 10 V
AOUT2_dnOut_n
122
I/O terminals
Digital inputs
7.4
Digital inputs
The controller has 8 freely configurable digital inputs.
r All digital inputs can be used for touch probe.
r Control input RFR of terminal strip X5 for controller enable is connected to the device
control.
Terminal assignment/electrical data
X5
Terminal
Use
X5/DI1
7.4.1
Electrical data
LOW level: 0 ... +5 V
HIGH level: +15 ... +30 V
X5/DI8
7.4.2
X5/RFR
Controller enable
X5/GI
Parameter setting
Short overview of parameters for the digital inputs:
Parameter
Information
C00114
C00443
DIx status
C02803
C02830
123
SB 24E GE
LS_DigitalInput
X5
DriveInterface
DIGIN_bCInh
DIGIN_bIn1
DIGIN_bIn2
DIGIN_bIn3
C00114/1...8
DIGIN_bIn4
DIGIN_bIn5
DIGIN_bIn6
C00443/1...8
DIGIN_bIn7
DIGIN_bIn8
X2
Output
CONTROL
DIGIN_bStateBusIn
Value/meaning
DIS code | data type
DIGIN_bCInh
C00443/9 | BOOL
DIGIN_bIn1
...
DIGIN_bIn8
C00443/8 | BOOL
DIGIN_bStateBusIn
C00443/12 | BOOL
124
I/O terminals
Digital outputs
7.5
Digital outputs
The controller has 4 freely configurable digital outputs.
Note!
Initialisation behaviour:
After mains switching up to the start of the application the digital outputs
remain set to FALSE.
Exception handling:
In case of a critical exception in the application (e.g. reset) the digital outputs
are set to FALSE considering the terminal polarity parameterised in C00118.
X4
Terminal
Use
X4/DO1
...
X4/DO4
7.5.1
Electrical data
LOW level: 0 ... +5 V
HIGH level: +15 ... +30 V
Output current: max. 50 mA per output (external
resistance > 480 at 24 V)
Conversion rate: 1 kHz
7.5.2
X4/24O
X4/GO
Parameter setting
Short overview of parameters for the digital outputs:
Parameter
Information
C00118
C00444
DOx status
C02802
125
DIGOUT_bOut1
C00118/1...4
DIGOUT_bOut2
DIGOUT_bOut3
DIGOUT_bOut4
X4
C00444/1...4
X2
DIGOUT_bStateBusOut
SB 24E GE
LS_DigitalOutput
The system block LS_DigitalOutput displays the interface to the digital outputs, the state
bus and the yellow user LED on the front of the controller in the function block editor.
CONTROL
DIGOUT_bUserLED
User LED
Input
Information/possible settings
DIS code | Data type
DIGOUT_bOut1
...
DIGOUT_bOut4
C00444/4 | BOOL
DIGOUT_bStateBusOut
C00444/18 | BOOL
DIGOUT_bUserLED
C00444/9 | BOOL
126
I/O terminals
Monitoring function "State bus"
7.6
X2
X2
SB 24E GE
SB 24E GE
SB 24E GE
The state bus has been exclusively designed for Lenze controllers. The bus system can
interconnect up to 20 controllers and can be used to simulate the function of a "rip cord":
X2
r The state bus only knows the states "OK" and "Error".
r The state bus is a bus with multi-master capability, i.e. each device connected to the
state bus can set the state bus to the status "Error" by setting it to LOW level.
r With "Error", all devices start their adjustable response, e.g. synchronised braking of
the drive system.
r Status "Error" is also set if a device connected to the state bus is not supplied with
voltage.
Note!
Exception handling:
In case of a critical exception in the application (e.g. reset) the "release cord"
is not released, the state bus remains in the "OK" state.
127
SB 24E GE
LS_DigitalInput
7.6.2
X2
CONTROL
DIGIN_bStateBusIn
X2
CONTROL
DIGOUT_bStateBusOut
128
SB 24E GE
LS_DigitalOutput
I/O terminals
Touch probe detection
7.7
System block
LS_TouchProbe1...8 (C 132)
LS_TouchProbeMotor (C 133)
10
LS_TouchProbeLoad (C 133)
11
LS_TouchProbeDFIN
12
LS_TouchProbeDFOUT
r Each touch probe channel is assigned to a system block which provides the application
with a scaled time stamp.
r The time stamp refers to the sampling time of the encoder signals and outputs the
difference compared to the touch probe event.
Touch-probe processing
In order to process the touch probe event the time stamp must be transferred to an entity
of the FB L_SdTouchProbe:
LS_TouchProbex
TPx_dnTouchProbeTimeLag
dnActPos_p
TPx_bTouchProbeReceived
dnTpTimeLag
TPx_bTouchProbeLost
bTpReceived
TPx_bNegativeEdge
[7-2]
L_SdTouchProbe
DI_AxisData
dnTpPos_p
TP
dnTpPosDiff_p
AxisData
r The FB L_SdTouchProbe takes over the interpolation of the input signal based on the
time stamp and outputs the interpolated value and the difference compared with the
last input signal.
129
Application
Task cycle
Data
processing
Task cycle
Application
Data
processing
Application
t
Position
p2
p1
t1
130
I/O terminals
Touch probe detection
7.7.2
Task cycle
Data
processing
Application
Application
Task cycle
Data
processing
Application
t
Position
Delay time
r Filtering of the digital inputs influences the electrical detection of the touch probe, i.e.
the DIx delay time set in C02830 for the digital inputs must be considered in the delay
time C02810.
r For the optional digital frequency input/output the delay times must be set via special
parameters:
C13021 or C14021: TP delay time - digital frequency input.
C13061 or C14061: TP delay time - digital frequency output.
131
TPx_dnTouchProbeTimeLag
TPx_bTouchProbeReceived
TPx_bEnableNegEdge
TP
TPx_bTouchProbeLost
TPx_bNegativeEdge
x = 1 ... 8
Input
Value/meaning
Data type
TPx_bEnablePosEdge
BOOL
TPx_bEnableNegEdge
BOOL
Output
Value/meaning
Data type
TPx_dnTouchProbeTimeLag
DINT
TPx_bTouchProbeReceived
BOOL
Scaled time stamp for processing the touch probe event with the
FB L_SdTouchProbe.
1 ms 20 bits
Status signal "Touch probe detected"
Status is only set for one task cycle.
TRUE Touch probe event has been activated.
TPx_bTouchProbeLost
BOOL
TPx_bNegativeEdge
BOOL
132
I/O terminals
Touch probe detection
7.7.4
TP
Output
TPM_bTouchProbeReceived
TPM_bTouchProbeLost
Value/meaning
Data type
TPM_dnTouchProbeTimeLag Scaled time stamp for processing the touch probe event with the
DINT FB L_SdTouchProbe.
TPM_bTouchProbeReceived
BOOL
TPM_bTouchProbeLost
BOOL
7.7.5
TP
Output
TPL_bTouchProbeReceived
TPL_bTouchProbeLost
Value/meaning
Data type
TPL_dnTouchProbeTimeLag
DINT
Scaled time stamp for processing the touch probe event with the
FB L_SdTouchProbe.
BOOL
BOOL
TPL_bTouchProbeReceived
TRUE More than one touch probe event has been activated in the task run
time and could therefore not be detected.
133
Note!
For detailed information about the CANopen
system bus interface, please see the "System bus
(CANopen) - CAN on-board 9400" Communication
Manual.
134
Safety engineering
The 9400 HighLine controllers can be equipped with a safety module. The individual safety
module types have a different range of functions to optimally meet different
requirements.
"Integrated safety technology" stands for user-related safety functions that are applicable
to the protection of persons working with machines and the machine protection.
The motion functions are executed by the controller. The safety modules monitor the
reliable observation of limit values and provide safe inputs and outputs. When the limit
values are exceeded, the safety modules start control functions for the fault scenario
according to EN 60204-1 standard directly in the controller.
The safety functions are suitable for applications according to IEC 61508, SIL 3 and,
depending on the module, meet the requirements of EN 954, part 1, up to control
category 4.
Note!
For detailed information about the integrated safety technology, please see the
Controller Manual for the "9400 Servo Drives" and the Manual for the safety
module.
135
8.2
136
Safety engineering
Control word of the safety module SM3xx
8.3
r The following table shows the bit coding of the control word SM_dwControl.
The bits that are supported depend on the safety module used.
Bit
Abbreviation
Meaning
STO
SS1
SS2
Safe stop 2
SLS1
SLS2
SLS3
SLS4
SDIpos
SDIneg
ES
10
SLI
11
OMS
12
SLP1
13
SLP2
Safely-limited position 2
14
SLP3
Safely-limited position 3
15
SLP4
Safely-limited position 4
16
SOS
17
SLS1 observed
18
SLS2 observed
19
SLS3 observed
20
SLS4 observed
21
SDIpos observed
22
SDIneg observed
23
SSE
24
Reserved
Error
...
30
31
[8-1]
137
Abbreviation
Meaning
STO
Reserved
Reserved
EC_S0
EC_S1
EC_S2
Internal use
Internal use
Reserved
...
15
[8-2]
[8-3]
138
Abbreviation
Meaning
SD-In1
SD-In2
SD-In3
SD-In4
Reserved
AIS
AIE
Reserved
PS_AIS
PS_AIE
10
Reserved
11
Reserved
12
SD-Out1
13
Reserved
14
Reserved
15
Reserved
Bit coding of the I/O status word sent by the safety module
Safety engineering
System block "LS_SafetyModule"
8.5
Safety
module
SM
SM_wState
SM_wIoState
SM_bPowerStageEnable
SM_byModuleId
Outputs
Output
Value/meaning
Data type
SM_dwControl
DWORD
SM_wState
Word
Word
SM_wIoState
SM_bPowerStageEnable
SM_byModuleId
BYTE
139
9.1
General information
Before the basic functions are described in detail, the following subchapter provides
general information on how to use the basic functions and the internal state machine
which controls the execution of the basic functions.
9.1.1
Note!
Ensure that the corresponding system block is called in a cyclic application task.
Basically projects which only contain an unsolicited task and no cyclic task, are
not permissible!
Programming
In the PLC Designer the basic functions are also available as separate system blocks
which can be inserted in the control configuration, if required, and be accessed from the
IEC 61131-3 program via the corresponding system variables.
140
In preparation
9.1.2
Init
Error
ManualJog
Standstill
2
PositionFollower
Homing
Stopping
SpeedFollower
Positioning
10
Quickstop
Drive executes
a positioning command.
TorqueFollower
Optional limitation
by basic Limiter function.
11
[9-1]
= Priority
141
Note!
The basic functions "Limiter" and "Brake control" run autonomously, but are able
to control the state machine to a certain function state, if required.
The function states are not to be confused with the device states ("Operation",
"Fault active", "Device is switched on", etc.) of the controller. Device states
(C 45)
O Tip!
In C02530 the currently active function state is displayed.
9.1.2.1
"Initialisation" status
If the controller has completed the device initialisation, the function state "Initialisation" is
passed through.
r In the function state "Initialisation", the process data required for processing the basic
functions are initialised.
r The monitoring mode is not yet active.
r The basic functions are not yet processed (e.g. brake control) and cannot yet be
parameterised or activated either.
r When the basic functions are initialised and no error had occurred, it is automatically
changed to the basic state "Drive in standstill".
9.1.2.2
9.1.2.3
142
9.1.2.4
9.1.2.5
9.1.2.6
9.1.2.7
143
9.1.2.9
r The drive is decelerated to standstill irrespective of the defined setpoint within the
parameterised deceleration time.
r If quick stop is deactivated again by the user, it is changed to a setpoint-generating
basic function (e.g. "speed follower"), if requested.
O Tip!
Quick stop can also be set as error response for many monitoring functions ("quick
stop by trouble"). Detailed information can be found in the chapter "Diagnostics &
fault analysis".
The source which activated the quick stop function is shown bit-coded in C00159.
9.1.2.10
Status "Error"
This function state is active if an error has occurred and the controller is in the status "Error
active" or "Quick stop by trouble active.
r The function state can only be abandoned by acknowledging the error if the error is
removed.
144
9.1.2.11
Interrupting/replacing states
An active function state cannot be interrupted or replaced by the activation of another
function state. However, the following exceptions apply:
r The "Initialisation" state replaces all other states.
r The "Error" state can replace all other states except "Initialisation".
r The status "Controller not ready" can replace all other states except "Error" and
"Initialisation".
r The status "Quick stop active" can replace all other states except "Initialisation", "Error"
and "Controller not ready".
9.1.2.12
Priorities
The function states are assigned to priorities so that, if several basic functions are activated
at the same time, it is always changed to the function state with the highest priority:
Priority
Function state
Initialisation
Error
Homing active
Homing (C 164)
Positioning active
Positioning (C 176)
10
10
Brake check
12
Drive is stopped
Note!
The basic state "Drive in standstill" is accepted automatically if no other state is
active.
145
146
Basic function
Status outputs
bEnabled
bActive
bDone
Manual jog
Homing
Positioning
Speed follower
Torque follower
Position follower
147
Standard stop
The standard stop of the drive will be automatically activated by the internal state
machine if a basic function is deactivated and the drive is not yet in standstill.
r The drive is braked to standstill via a parameterisable deceleration ramp.
While the drive is braked to standstill, the state machine is in the function state
"Drive is stopped".
If meanwhile another basic function is activated, this basic function takes over the
control of the drive from the current speed on and the function state "Drive is
stopped" is abandoned.
If the drive is at standstill, it is automatically changed to the basic function "Drive in
standstill".
r An acceleration phase active at the time of activating the stopping process is
considered by the standard stop, i.e. the current acceleration is at first led to "0" with
the parameterised S-ramp time before the real deceleration process starts.
r If the controller is enabled while the shaft is coasting (controller inhibit and pulse
inhibit are deactivated), the drive is braked from the current speed to standstill.
Stop!
The basic functions "Speed follower", "Torque follower" and "Position follower"
take over the control of the drive not from the current speed on but with the
defined setpoint which may lead to a jerk!
148
9.2.1
Parameter setting
r Parameterisation dialog in the Engineer: Tab Application parameter Dialog level
Overview All basic functions Stop
r Short overview of parameters for standard stop :
Parameters
Information
C02610
C02611
C02612
C02610
[9-2]
n
C00011
C02610
[9-3]
n
C00011
C02610 + C02611
C02612 = 0
t
n
C00011
C02612 = 1
[9-4]
149
ManualJog
Stopping
Standstill
ManualJog
MAN_bJogPositive
TRUE
FALSE
MAN_bEnable
TRUE
FALSE
STP_bStopActive
TRUE
FALSE
If the basic function "Manual Jog" is reactivated within the deceleration time n, this basic
function takes over the control of the drive from the current speed and the function state
"Drive is stopped" is abandoned immediately:
Stopping
State
ManualJog
ManualJog
MAN_bJogPositive
TRUE
FALSE
MAN_bEnable
TRUE
FALSE
STP_bStopActive
TRUE
FALSE
150
9.2.3
STP_dnState
STP_bStopActive
Outputs
Identifier
Value/meaning
DIS code | Data type
STP_dnState
C02616 | DINT
Status (bit-coded)
When the basic function is not active, all bits are set to "0".
Bits which are not listed are not assigned with a status (always "0").
Bit 1 Drive is braked to standstill.
The internal state machine is in the function state "Drive is
stopped".
Bit 2 Drive is at standstill.
The internal state machine is in the function state "Drive in
standstill".
Bit 3 Deceleration phase is active.
Bit 5 CCW rotation is active.
STP_bStopActive
151
Quick stop
Compared to the Standard stop quick stop (QSP) is determined for a stop in the case of an
error. If quick stop is activated, the drive is braked to standstill irrespective of the defined
setpoint within the deceleration time set.
Note!
Through this, superimposed controls (e.g. synchronous or position control) may
produce following errors. If several drives execute a coordinated motion, the
quick stop function should only be used for the motion master (master drive) in
order to maintain the coordination.
O Tip!
Quick stop can also be set as error response for many monitoring functions ("quick
stop by trouble"). Detailed information can be found in the chapter "Diagnostics &
fault analysis".
The source which activated the quick stop function is shown bit-coded in C00159.
9.3.1
Parameter setting
r Parameterisation dialog in the Engineer: Tab Application parameter dialog level
Overview All basic functions Quick stop
r Short overview of the parameters for quick stop:
152
Parameters
Information
C00105
C00106
C00107
C00105
t
bActivate1...3
TRUE
FALSE
[9-7]
n
C00011
C00105
[9-8]
C00105 +
n
C00011
C00105 C00106
100 %
C00107 = 0
t
n
C00011
C00107 = 1
[9-9]
O Tip!
After the drive has come to standstill, you can use the torque to hold the standstill
position.
For this purpose, select the phase controller gain in C00254 > "0".
With C00254 > "0" the phase control is automatically activated after the
standstill is reached.
153
Note!
In the standard technology applications the control input QSP_bActivate1 is
linked with the digital input DI1 in the Lenze setting.
154
9.3.3
QSP_bActive
QSP_bActivate3
STOP
Inputs
Identifier
Information/possible settings
DIS code | data type
QSP_bActivate1
QSP_bActivate2
C02619/1 | BOOL
C02619/2 | BOOL
QSP_bActivate3
C02619/3 | BOOL
Outputs
Identifier
Value/meaning
DIS code | data type
QSP_bActive
155
Manual jog
The basic function "Manual jog" serves to traverse the drive manually, e.g. to clean or
exchange the tool.
r Optionally, you can change over to a second manual speed during the process.
r A "retracting" from operated travel range limit switches is also supported. Then, you
can only traverse in the corresponding retracting direction.
Note!
In the manual mode the travel mode is monitored via limit switches and
software limit positions by the basic function "Limiter". (C 200)
Stop!
When the reference is not known and no software limit positions are set, the
drive can run into a mechanical limit during the manual jog and machine parts
can be destroyed or damaged!
9.4.1
Parameter setting
r Parameterisation dialog in the Engineer: Tab Application parameter dialog level
Overview All basic functions Manual jog
r Short overview of the parameters for manual jog:
156
Parameters
Information
C02620
C02621
C02622
Manual acceleration
C02623
Manual deceleration
C02624
9.4.1.1
bJogPositive
TRUE
FALSE
O Tip!
A quick deceleration (C02623) reduces the time from the release of the "Jog key" to
the stop of the drive in order to ensure a better positioning of the drive according
to one's sense of proportion and to prevent that the desired stop position is not
overtravelled.
9.4.1.2
t
bJogPositive
TRUE
FALSE
bActivateJogSpeed2
TRUE
FALSE
157
158
9.4.2.1
MAN_bJogNegative
MAN_bJogPositive
MAN_bActivateJogSpeed2
FALSE
FALSE
FALSE
TRUE
FALSE
Manual jog
In positive direction
With manual speed 1
TRUE
Manual jog
In positive direction
With manual speed 2
FALSE
Manual jog
In negative direction
With manual speed 1
TRUE
Manual jog
In negative direction
With manual speed 2
TRUE
TRUE
FALSE
TRUE
Stop
The drive is braked to standstill with the
deceleration set.
Note!
In the standard technology applications "actuator speed" and "actuator
torque" the control inputs are linked in the Lenze setting with the following
digital inputs:
DI6: Activate manual mode
DI7: Manual jog in positive direction
DI8: Manual jog in negative direction
159
Note!
Detailed information on travel range monitoring via limit switches and software
limit positions can be found in the description of the basic function "Limiter".
(C 200)
t
bJogPositive
TRUE
FALSE
t
bJogPositive
TRUE
FALSE
See also:
160
9.4.2.3
Note!
It can only be retracted from a limit switch if this is still activated, i.e. the
corresponding limit switch input of the limiter is still active. Therefore ensure
that while travelling towards a limit switch that the trigger mechanics will not
be overtravelled by a too high mass or swing so that the limit switch will not be
activated by this.
O Tip!
An activated limit switch can also be abandoned by manual jog in retracting
direction via the control inputs MAN_bJogPositive or MAN_bJogNegative.
See also:
161
MAN_dnState
n
MAN_bJogPositive
MAN_bEnabled
MAN_bJogNegative
MAN_bActive
t
MAN_bActivateJogSpeed2
MAN_bReleaseLimitSwitch
Inputs
Identifier
Information/possible settings
DIS code | data type
MAN_bEnable
MAN_bJogPositive
C02639/2 | BOOL
MAN_bJogNegative
C02639/3 | BOOL
MAN_bActivateJogSpeed2
C02639/4 | BOOL
MAN_bReleaseLimitSwitch
C02639/5 | BOOL
162
Outputs
Identifier
Value/meaning
DIS code | data type
MAN_dnState
C02638 | DINT
Status (bit-coded)
When the basic function is not enabled, all bits are set to "0".
Bits which are not listed are not assigned with a status (always "0").
Bit 1 Manual jog active
Bit 2 Manual jog is completed.
Bit 3 Acceleration/deceleration phase is active.
Bit 5 CCW rotation is active.
Bit 15 Error in basic function active (group signal).
Bit 16 Stop by simultaneous selection of negative direction and retraction
from limit switch.
Bit 17 Stop by simultaneous selection of positive and negative direction.
Bit 18 Stop by simultaneous selection of positive direction and retraction
from limit switch.
Bit 20 Manual speed 2 (C02621) active.
Bit 21 Manual speed 1 (C02620) active.
Bit 22 Stop by selecting positive direction and simultaneous activation of
the positive software limit position or the positive limit switch.
Bit 23 Stop by selecting negative direction and simultaneous activation of
the negative software limit position or the negative limit switch.
Bit 24 General abort process (ramp-down of the speed setpoint)
Takes place e.g. when a manual direction initiator is let go or due
to an impermissible status (see bit 16, 17, 18, 22, 23).
Bit 25 Stopping is active.
Bit 30 Profile generation error.
MAN_bEnabled
C02639/6 | BOOL
MAN_bActive
C02639/7 | BOOL
163
Homing
The basic function "Homing" serves to transfer the measuring system to the physically
possible travel range of the controller.
r The reference (e.g. zero position of the drive axis in the machine measuring system) can
be defined by reference search or reference setting.
r In case of reference search, the drive travels according to the defined homing mode to
detect the reference in the measuring system independently.
r In case of reference setting in the homing mode "100: Set reference directly" or via
control input HM_bLoadHomePos the drive can also be referenced manually when the
motor is at standstill. The measuring system is set according to the home position
parameterised in C02642 or applied to the input HM_dnHomePos_p.
Note!
The encoder position is stored safe against mains failure in the memory module
and is therefore known to the drive control even after the mains has been
switched.
Behaviour of the home position after mains switching
If the home position/information is to be available after mains switching as well,
the setting C02652 = "1: Keep" is required.
One further condition for keeping the home position/information after
mains switching is the compliance with the maximally permissible angle of
rotation of the encoder which can be set in C02653.
When resolvers or single-turn absolute value encoders are used and the
mains is switched off (24-V supply off), the drive may only be moved by
motor revolution since otherwise the home position will get lost due to the
ambiguity of the encoder information.
A renewed reference setting is only required in case of a renewed commissioning
or in case of service (e.g. when drive components are exchanged).
164
9.5.1
Parameter setting
r Parameterisation dialog in the Engineer: Tab Application parameter dialog level
Overview All basic functions Homing
r Short overview of the parameters for homing:
9.5.1.1
Parameters
Information
C02528
Traversing range
C02640
Ref. mode
C02642
HM position
C02643
HM target position
C02644
Ref. speed 1
C02645
Home acceleration 1
C02646
Ref. speed 2
C02647
Ref. acceleration 2
C02648
C02649
HM torque limit
C02650
C02651
C02652
C02653
C02656
Current position
Homing mode
The zero position, also called reference, can be defined by a reference search or reference
setting:
r In case of a reference search the drive travels according to a defined mode to detect the
reference independently.
r In case of reference setting the reference is manually set when the drive has stopped.
O Tip!
A reference search is mainly used for continuous systems or if the traversing range
or machine cycle of the drive cannot be displayed in the display space of the
encoder, e.g. when incremental encoders are used on a motor or single-turn
absolute value encoders or resolvers on geared motors.
Reference setting is usually executed only once during commissioning or in case of
service (e.g. when drive components are exchanged) and are normally used in
systems the machine cycle of which can be displayed in the display space of the
encoder, e.g. when multi-turn absolute value encoder or single-turn absolute value
encoders/resolvers are used in a machine cycle on one motor revolution.
165
Reference switch
HM_bHomingMark on SB LS_Homing
DIGIN_bIn1 ... DIGIN_bIn8 (or optional use of the motor encoder or load
encoder zero pulse). Configuration: C02651.
LIM_bLimitSwitchPositive on SB LS_Limiter
LIM_bLimitSwitchNegative on SB LS_Limiter
Note!
In the homing modes 0...5 as well as 10 and 11, the search for the limit switch/
reference switch is achieved by changing over to a higher speed than for
approaching the encoder zero pulse/touch probe sensor. This serves to reduce
the homing time and increase the accuracy.
After setting the home position the drive travels to the target position set in
C02643.
Operation of mode 0:
bHomingMark
Z-Impulse Encoder
Reference position
bHomingMark
Z-Impulse Encoder
Reference position
166
bLimitSwitchNegative
bHomingMark
bLimitSwitchPositive
Operation of mode 2:
1. Movement in positive direction.
2. Reversing to positive travel range limit
switch.
Z-Impulse Encoder
Reference position
bHomingMark
bLimitSwitchPositive
Operation of mode 3:
1. Movement in negative direction.
2. Reversing to negative travel range limit
switch.
Z-Impulse Encoder
Reference position
bLimitSwitchNegative
bHomingMark
bLimitSwitchPositive
Operation of mode 4:
1. Movement in positive direction.
Z-Impulse Encoder
Reference position
bHomingMark
bLimitSwitchPositive
Operation of mode 5:
1. Movement in negative direction.
Z-Impulse Encoder
Reference position
167
Operation of mode 8:
Touch probe
TP
Reference position
Operation of mode 9:
Touch probe
TP
Reference position
bLimitSwitchNegative
bLimitSwitchPositive
TP
Touch probe
Reference position
bLimitSwitchPositive
TP
Touch probe
Reference position
bLimitSwitchPositive
Reference position
bLimitSwitchNegative
bLimitSwitchPositive
Reference position
Note!
In the homing modes 12 and 13 the load mechanics is able is able to leave the
travel range limit switch. It is then travelled back to the home position which has
been set with the positive edge of the travel range limit switch. The mechanics
may possibly stop on an activated limit switch.
We recommend to set a reference offset to enable the travel range limit switch.
168
Reference position
169
bActivate
C. Negative edge at
HM_bHomingMark enables home
position detection.
TRUE
FALSE
bLimitSwitchPos
TRUE
FALSE
bHomingMark
TRUE
FALSE
TP/MP
TRUE
FALSE
bBusy
TRUE
FALSE
bHomePosAvailable
TRUE
FALSE
bDone
TRUE
FALSE
170
9.5.1.4
9.5.1.5
9.5.1.6
Negative edge
Both edges
DigIn 1
DigIn 2
12
DigIn 3
16
32
48
DigIn 4
64
128
192
DigIn 5
256
512
768
DigIn 6
1024
2048
3072
DigIn 7
4096
8192
12288
DigIn 8
16384
32768
49152
65536
262144
r Example: For selecting the touch probe channel "DIGIN 8" and response to only one
positive edge, it is required to set the decimal value "16384" in C02651.
171
Executing homing
Requirements
r The controller is in the device state "Operation".
r The basic function "Homing" is part of the active application.
r No other basic function is active.
Activation
To request the control via the basic function, the enable input HM_bEnable in the
application must be set to TRUE.
r If no other basic function is active, a changeover to the function state "Homing active"
is effected and homing can be executed via the control inputs.
r A successful change to the function state "Homing active" is displayed by a TRUE signal
at the status output HM_bEnabled.
Deactivation
When the enable input HM_bEnable is reset to FALSE, an active homing is stopped, i.e. the
control inputs for homing are inhibited and the drive is braked to standstill within the
deceleration time for stop.
r The status output HM_bEnabled is reset to FALSE and a changeover from the active
function state "Homing active" via the function state "Drive is stopped" back to th basic
state "Drive in standstill" is effected.
172
9.5.2.1
Note!
In the homing mode "100: Set reference directly" no reference search will be
started but the home position set in C02642 will be directly accepted.
9.5.2.2
9.5.2.3
173
HM_bEnable
HM_bActivateHoming
HM_bEnabled
HM_bHomingMark
HM_bActive
HM_bDone
HM_bLoadHomePos
HM_dnHomePos_p
HM_bResetHomePos
HM_bHomePosAvailable
-100
100 200
Inputs
Identifier
Information/possible settings
DIS code | data type
HM_bEnable
HM_bActivateHoming
C02659/2 | BOOL
HM_bHomingMark
C02659/3 | BOOL
HM_bLoadHomePos
C02659/4 | BOOL
HM_dnHomePos_p
C02658 | DINT
HM_bResetHomePos
C02659/5 | BOOL
174
Outputs
Identifier
Value/meaning
DIS code | data type
HM_dnState
C02657 | DINT
Status (bit-coded)
When the basic function is not enabled, all bits are set to "0".
Bits which are not listed are not assigned with a status (always "0").
Bit 1 Reference search is active.
Bit 2 Reference search is completed.
Bit 3 Acceleration/deceleration phase is active.
Bit 5 CCW rotation is active.
Bit 7 Reference is known
Bit 15 Error in basic function active (group signal).
Bit 16 Pre-stop (home switch) has been detected.
Bit 17 Touch probe/zero pulse has been detected.
Bit 21 Profile data are limited by basic function "Limiter".
Bit 22 Traversing direction is inhibited by basic function "Limiter".
Bit 23 Abort by basic function "Limiter".
Bit 25 Stopping is active.
(Homing is enable but not active or speed 0)
Bit 30 Profile generation error.
HM_bEnabled
HM_bActive
HM_bDone
C02659/8 | BOOL
HM_bHomePosAvailable
C02659/9 | BOOL
175
Positioning
The basic function "Positioning" provides the functions for executing the (travel) profiles
and supports an "override" of speed and acceleration.
r A profile describes a motion request which can be implemented by the
SB LS_Positioner into a rotary motion.
r A profile is described via the following profile parameters: Mode (type of positioning),
position, speed, acceleration, deceleration, S-ramp time, final speed, standard
sequence profile, TP sequence profile, TP window starting and end position and touch
probe signal source(s).
9.6.1
Parameter setting
A parameter setting is not required for the basic function "Positioning".
r After activating the function, the profile is executed which has been transferred to the
basic function via the input POS_ProfileData.
r For profiles with touch probe positioning mode (residual path positioning) touch probe
is detected implicitly.
Options for selecting the profiles
For specifying as well as storing and managing (travel) profiles, the following function
blocks are available:
176
Function block
Function
L_PosPositionerTable
...serves to file and manage up to 100 (travel) profiles and allows the
"teaching" of positions, speed, acceleration/deceleration and S-ramp times.
Another important task of this FB is the conversion of the table values
according to the scaling selected in the SB LS_DriveInterface.
L_PosProfileTable
...serves to file and manage up to four (travel) profiles and allows the
"teaching" of target positions.
In contrast to the FB L_PosPositionerTable this FB does not use any
variable tables but the data of the profile parameters are entered directly
into the assigned codes.
Another special feature: When selecting the profile no. 1 as target
position, the position applied to input dnExtPos_p.
L_PosProfileInterface
9.6.2
177
Starting positioning
By setting the control input POS_bStart to TRUE positioning starts.
r The (travel) profile is executed which has been transferred to the basic function via the
input POS_ProfileData.
9.6.2.2
Aborting/interrupting positioning
By setting the control input POS_bAbort to TRUE, the active positioning can be aborted or
interrupted.
r The current profile is not completed but braked to standstill with the deceleration
defined in the profile data.
r When the control input POS_bAbort is remained on TRUE, a restart or the continuation
of an interrupted positioning process is inhibited.
r After resetting the control input POS_bAbort to FALSE, a restart or the continuation of
an interrupted positioning process is possible again.
9.6.2.3
178
9.6.2.4
Activating override
"Override" is the change of profile parameters and their acceptance during the positioning
process.
r When the input POS_bEnableOverride is set to TRUE, a speed and acceleration override
occurs according to the override values applied to the inputs POS_dnSpeedOverride_n
and POS_dnAccOverride_n.
The override values represent percentage multipliers with regard to the current
profile parameters for speed and acceleration.
For override values 1 % a status bit is set.
Override values 0 % are set internally to 0 %.
Changes of the override values are accepted in each cycle.
Note!
The online change of speed and acceleration is effective from the profile start to
the beginning of the deceleration phase. Thus, the deceleration phase cannot be
changed via an override!
In case of an override value of 0 % for speed, the drive is braked to standstill.
In case of an override value of 0 % for acceleration, no acceleration takes place
anymore.
r When the input POS_bEnableOverride is reset to FALSE again, the speeds and
accelerations defined via the profile parameters are executed again. The drive is
immediately accelerated from the override speed to the speed set in the profile.
179
POS_dnState
POS_bEnabled
POS_bStart
n
POS_bAbort
POS_bRestart
POS_bActive
POS_bDone
POS_bInTarget
POS_ProfileData
POS_dnSetPos_p
POS_bEnableOverride
POS_dnProfileTarget_p
POS_dnSpeedOverride_n
POS_dnAccOverride_n
POS_dnProfileSpeed_s
POS_bDisableTP
POS_dwActualProfileNumber
Inputs
Identifier
Information/possible settings
DIS code | data type
POS_bEnable
POS_bStart
C02679/2 | BOOL
POS_bAbort
FALSETRUE The current profile is not completed but braked to standstill with the
deceleration defined in the profile data.
TRUE A restart via POS_bStart or the continuation of an interrupted
positioning via POS_bRestart is inhibited.
FALSE A restart via POS_bStart or the continuation of an interrupted
positioning via POS_bRestart is possible again.
If the restart signal POS_bRestart occurs during the acceleration
phase, the positioning is continued immediately.
POS_bRestart
C02679/4 | BOOL
POS_ProfileData
POS_bEnableOverride
Activating override
C02679/5 | BOOL
180
Identifier
Information/possible settings
DIS code | data type
POS_dnSpeedOverride_n
C02677/1 | DINT
POS_dnAccOverride_n
C02677/2 | DINT
POS_bDisableTP
C02679/6 | BOOL
Outputs
Identifier
Value/meaning
DIS code | data type
POS_dnState
C02675 | DINT
Status (bit-coded)
When the basic function is not enabled, all bits are set to "0".
Bits which are not listed are not assigned with a status (always "0").
Bit 1 Positioning is active.
Bit 2 Positioning is completed (all profiles are executed).
Bit 3 Acceleration/deceleration phase is active.
Bit 5 CCW rotation is active.
Bit 6 Set position reached (in case of sequence profiles the drive continues
to travel).
Bit 10 Zero crossing in the positioning mode "modulo".
Bit 15 Error in basic function active (group signal).
Bit 16 Positioning is aborted.
Bit 17 Reversing phase is active.
Bit 18 Speed override 1 %
Bit 19 Acceleration override 1 %
Bit 20 Position is limited by basic function "Limiter".
Bit 21 Profile data are limited by basic function "Limiter".
Bit 22 Direction is inhibited by basic function "Limiter".
Bit 23 Abort by basic function "Limiter".
Bit 24 Home position is not known.
Bit 25 Stopping is active.
Bit 26 Cycle is not known.
Bit 27 Invalid positioning mode.
Bit 28 Invalid change of the positioning mode.
Bit 29 Profile data is not plausible or faulty.
Bit 30 Profile generation error.
181
Identifier
Value/meaning
DIS code | data type
POS_bEnabled
POS_bActive
C02679/8 | BOOL
POS_bDone
C02679/9 | BOOL
POS_bInTarget
C02679/10 | BOOL
POS_dnSetPos_p
C02678/1 | DINT
POS_dnProfileTarget_p
C02678/2 | DINT
POS_dnProfileSpeed_s
C02676 | DINT
POS_dwActualProfileNumber
C02674 | DWORD
182
9.7
Position follower
This basic function is used as setpoint interface for position-controlled drives.
r The specified position setpoint can either refer to the encoder on the motor side or to
the (load) encoder used additionally to detect the machine position. The selection of
the encoder configuration serves to adapt the internal control structure accordingly.
r Instead of a position setpoint a speed setpoint can be specified as well by a
corresponding selection in C02680. Then, the set position is calculated by integrating
the speed setpoint based on the current actual position (relative positioning).
r As an option, an internal interpolation of the setpoints can be carried out in order to
specify setpoints with reduced cycle rates without the drive behaviour being unsteady.
The detection of the cycle rate and the synchronisation of the setpoint transfer is
carried out automatically.
r If the direction of rotation of the motor must be inverted due to the mounting position
of the motor or the existing gearbox ratio the use of the control signals can be changed
over accordingly via parameter setting.
r The speed can also be precontrolled with the position setpoint by a corresponding
selection in C02681. Then, the speed is calculated by differentiation of the position
setpoint.
183
C02527
0
PF_dnTorqueAdd_n
PF_dnAccAdd_x
C00273
C00276
C02550/3
0
0
PF_dnSpeedAdd2_n
FDB_dnActualPos_p
C00273
PF_dnSpeedAdd1_s
i
C02531/3
(1)
Interpolator
C00273
C02556
Interpolator
Position controller
i
C02531/3
(3)
C00275
MI_dnSpeedSetpoint_n
C00050/1
C02550/1
MI_dnTorqueLimit_n
C02570
C02570
Interpolator
PF_dnPositionSet_p
i
0
C02531/3
(4)
C02680
(6)
(5)
Phase controller
(7)
C00254
Speed controller
C00070 Vp
C00071 Tn
C00072 Td
C00909
(8)
(9)
0 1
C02550/3
C02559
(2)
MI_dnTorqueSetpoint_n
C00776
MI_bTorqueSetpointLimited
MI_bSpeedCtrlLimited
FDB_dnPosOffset_p
MI_dnPosCtrlAdaptMotor_n
MI_dnPosCtrlAdaptLoad_n
MI_bSpeedSetpointLimited
MI_bPosCtrlLimited
MI_bPosCtrlIntegratorOn
MI_bResetSpeedCtrlIntegrator
See also:
Motor position
Encoder evaluation
C00770
MI_dnSpeedCtrlAdapt_n
Motor speed
Encoder evaluation
C00772
Signal flow
184
9.7.1
Meaning
(1)
Torque.dnTotalTorqueAdd
(2)
Torque.dnTorqueSetpoint
Torque setpoint
(3)
Position.dnActualLoadPos
Actual position
(4)
Position.dnPositionSetpoint
Position setpoint
(5)
Position.dnActualMotorPos
(6)
Position.dnContouringError
Following error
(7)
Speed.dnOutputPosCtrl
(8)
Speed.dnSpeedSetpoint
Speed setpoint
(9)
Speed.dnActualMotorSpeed
185
Parameter setting
r Parameterisation dialog in the Engineer: Tab Application parameter dialog level
Overview All basic functions Position follower
r Short overview of the parameters for the position follower:
Parameters
Information
C00050/1
Speed setpoint 1
C00070
C00071
C00072
C00273/1
C00273/2
C00275
C00276
C00909/1
C00909/2
C02520
C02521
C02522
C02523
C02527
C02550/1
C02550/2
C02550/3
C02553
C02554
C02555
C02559
C02680
C02681
186
9.7.2.1
Setpoint interpolation
When the setpoint interpolation is activated, the motor control creates intermediate
values to "smoothly" follow the setpoints which may be transferred from a slower task.
r C02550/1 = "1": The motor control follows the position setpoint in interpolated steps.
r C02550/2 = "1": The motor control follows the speed setpoint in interpolated steps.
r C02550/3 = "1": The motor control follows the torque setpoint in interpolated steps.
9.7.2.2
187
Stop!
The basic function takes over the control of the drive not from the current speed
on but directly with the defined setpoint which may lead to a jerk!
Deactivation
When the enable input PF_bEnable is reset to FALSE, the setpoint inputs are inhibited. If the
drive is not at standstill, it is braked to standstill within the deceleration time set for stop
unless another basic function takes over the control of the drive.
r The status output PF_bEnabled is reset to FALSE and a changeover from the active
function state "Position follower active" via the function state "Drive is stopped" back
to th basic state "Drive in standstill" is effected.
188
9.7.4
PF_bEnabled
PF_dnPositionSet_p
Position
setpoint
PF_dnSpeedAdd1_s
PF_dnSpeedAdd2_n
PF_dnAccAdd_x
PF_dnTorqueAdd_n
Inputs
Identifier
Information/possible settings
DIS code | data type
PF_bEnable
PF_dnPositionSet_p
C02688/1 | DINT
PF_dnSpeedAdd1_s
C02686 | DINT
PF_dnSpeedAdd2_n
C02687/1 | DINT
PF_dnAccAdd_x
C02685 | DINT
PF_dnTorqueAdd_n
C02687/2 | DINT
Outputs
Identifier
Value/meaning
DIS code | data type
PF_bEnabled
189
Speed follower
This basic function is used as setpoint interface for speed-controlled drives.
r The motor control is automatically changed over to speed control with torque
limitation.
r As an option, an internal interpolation of the setpoints can be carried out in order to
specify setpoints with reduced cycle rates without the drive behaviour being unsteady.
The detection of the cycle rate and the synchronisation of the setpoint transfer is
carried out automatically.
r If the direction of rotation of the motor must be inverted due to the mounting position
of the motor or the existing gearbox ratio the use of the control signals can be changed
over accordingly via parameter setting.
190
9.8.1
Signal flow
C02527
0
SF_dnTorqueAdd_n
C00273
C00276
C02550/3
SF_dnAccAdd_x
0
1
1
(1)
Interpolator
MI_dnTorqueLimit_n
C00273
C00692
MI_dnSpeedSetpoint_n
C00050/1
C02550/2
(3)
(4)
(5)
Interpolator
C00070 Vp
C00071 Tn
C00072 Td
C02570
0
SF_dnSpeedAdd_s
1
1
2
C02520
C02521
C02522
C02523
C02559
C00909
Speed Controller
SF_dnSpeedSet_n
0 1
Motor speed
Encoder evaluation
C00772
(2)
MI_dnTorqueSetpoint_n
C00776
MI_bTorqueSetpointLimited
MI_bSpeedCtrlLimited
MI_bSpeedSetpointLimited
C00576
C00579
MI_bSpeedFollowingError
MI_dnSpeedCtrlAdapt_n
MI_bResetSpeedCtrlIntegrator
1
See also:
Meaning
(1)
Torque.dnTotalTorqueAdd
(2)
Torque.dnTorqueSetpoint
Torque setpoint
(3)
Speed.dnTotalSpeedAdd
(4)
Speed.dnSpeedSetpoint
Speed setpoint
(5)
Speed.dnActualMotorSpeed
191
Parameter setting
r Parameterisation dialog in the Engineer: Tab Application parameter dialog level
Overview All basic functions Speed follower
r Short overview of the parameters for the speed follower:
Parameters
Information
C00050/1
Speed setpoint 1
C00070
C00071
C00072
C00273/1
C00273/2
C00276
C00576
C00579
C00909/1
C00909/2
C02520
C02521
C02522
C02523
C02527
C02531/3
C02550/2
C02550/3
C02570
Controller configuration
C02559
192
9.8.2.1
Setpoint interpolation
When the setpoint interpolation is activated, the motor control creates intermediate
values to "smoothly" follow the speed and/or torque setpoints which may be transferred
from a slower task.
r C02550/2 = "1": The motor control follows the speed setpoint in interpolated steps.
r C02550/3 = "1": The motor control follows the torque setpoint in interpolated steps.
9.8.2.2
193
Stop!
The basic function takes over the control of the drive not from the current speed
on but directly with the defined setpoint which may lead to a jerk!
Deactivation
When the enable input SF_bEnable is reset to FALSE, the setpoint inputs are inhibited. If the
drive is not at standstill, it is braked to standstill within the deceleration time set for stop
unless another basic function takes over the control of the drive.
r The status output SF_bEnabled is reset to FALSE and a changeover from the active
function state "Speed follower active" via the function state "Drive is stopped" back to
th basic state "Drive in standstill" is effected.
194
9.8.4
SF_bEnable
SF_dnSpeedSet_n
Speed
setpoint
SF_dnSpeedAdd_s
SF_dnAccAdd_x
SF_dnTorqueAdd_n
Inputs
Identifier
Information/possible settings
DIS code | data type
SF_bEnable
SF_dnSpeedSet_n
C02694/1 | DINT
SF_dnSpeedAdd_s
C02693 | DINT
SF_dnAccAdd_x
C02692 | DINT
SF_dnTorqueAdd_n
C02694/2 | DINT
Outputs
Identifier
Value/meaning
DIS code | data type
SF_bEnabled
195
Torque follower
This basic function is used as setpoint interface for torque-controlled drives.
r The motor control is automatically changed over to torque control with speed
limitation.
r As an option, an internal interpolation of the torque setpoint can be carried out in order
to specify the setpoint with reduced cycle rates without the drive behaviour being
unsteady. The detection of the cycle rate and the synchronisation of the setpoint
transfer is carried out automatically.
r If the direction of rotation of the motor must be inverted due to the mounting position
of the motor or the existing gearbox ratio the use of the control signals can be changed
over accordingly via parameter setting.
9.9.1
Signal flow
C02550/2
C02527
0
TF_dnSpeedHighLimit_n
C00909
C00070 Vp
C00071 Tn
Speed controller 1
Interpolator
(1)
C02550/3
Interpolator
MI_dnTorqueSetpoint_n
C00776
MI_bTorqueSetpointLimited
TF_dnSpeedLowLimit_n
0 1
C02559
LS_MotorInterface
MI_bSpeedSetpointLimited
TF_dnTorqueSet_n
MI_dnTorqueLimit_n
C02550/2
Interpolator
C00909
(2)
Speed controller 2
C00070 Vp
C00071 Tn
MI_dnSpeedCtrlAdapt_n
Motor speed
Encoder evaluation
C00772
See also:
196
No.
Meaning
(1)
Speed.dnSpeedSetpoint
Speed setpoint
(2)
Speed.dnActualMotorSpeed
9.9.2
Parameter setting
r Parameterisation dialog in the Engineer: Tab Application parameter dialog level
Overview All basic functions Torque follower
r Short overview of the parameters for the torque follower:
Parameters
Information
C00050/1
Speed setpoint 1
C00050/2
Speed setpoint 2
C00070
C00071
C00909/1
C00909/2
C02527
C02550/2
C02550/3
C02559
9.9.2.1
Setpoint interpolation
When the setpoint interpolation is activated, the motor control creates intermediate
values to "smoothly" follow the speed and/or torque setpoints which may be transferred
from a slower task.
r C02550/2 = "1": The motor control follows the speed setpoint in interpolated steps.
r C02550/3 = "1": The motor control follows the torque setpoint in interpolated steps.
9.9.2.2
197
Stop!
The basic function takes over the control of the drive not from the current speed
on but directly with the defined setpoint which may lead to a jerk!
Deactivation
When the enable input TF_bEnable is reset to FALSE, the setpoint inputs are inhibited. If the
drive is not at standstill, it is braked to standstill within the deceleration time set for stop
unless another basic function takes over the control of the drive.
r The status output TF_bEnabled is reset to FALSE and a changeover from the active
function state "Torque follower active" via the function state "Drive is stopped" back to
th basic state "Drive in standstill" is effected.
198
9.9.4
TF_bEnabled
TF_dnTorqueSet_n
TF_dnSpeedHighLimit_n
Torque
setpoint
TF_dnSpeedLowLimit_n
Inputs
Identifier
Information/possible settings
DIS code | data type
TF_bEnable
TF_dnTorqueSet_n
C02698/1 | DINT
TF_dnSpeedHighLimit_n
C02698/2 | DINT
TF_dnSpeedLowLimit_n
C02698/3 | DINT
Outputs
Identifier
Value/meaning
DIS code | data type
TF_bEnabled
199
Limiter
The basic function "Limiter" monitors the travel range limits via limit switches and
parameterised software limit positions and can lead the drive to defined limit ranges when
being asked accordingly by the safety module.
Note!
In order that the basic function "Limiter", after being asked accordingly by the
safety module, can lead the drive to the defined limit ranges before the limits set
for the safety module are reached which stops the drive, the limit values for the
basic function "Limiter" must be set lower than the limit values for the safety
module!
Danger!
The safety is exclusively ensured by the safety module!
When the request for the safety function is cancelled, the drive restarts
automatically.
Ensure by external measures that the drive only starts after a confirmation
(EN 60204).
See also:
200
9.10.1
Parameter setting
r Parameterisation dialog in the Engineer: Tab Application parameter dialog level
Overview All basic functions Limiter
r Short overview of the parameters for the limiter:
Parameters
Information
C02700
C02701/1
C02701/2
C02702
Limitations effective
C02703
Max. speed
C02704
C02705
Max. acceleration
C02706
C02707
C02708/1...4
C02709/1...4
C02710/1...4
C02711/1...4
C02712/1...4
C02713
C02714
C02715
C02716/1
C02716/2
C02716/3
Note!
The safety module has its own parameters.
Relevant to the basic function "Limiter" are the parameters of the safety
modules for setting "Limited direction of rotation", "speed with time limit" and
"Limited increment (position)".
Several other parameters of the safety module, however, do not have another
meaning for the basic function "Limiter", e.g. the parameters for configuring the
inputs of the safety module.
201
Note!
The software limit positions are only evaluated and monitored if the drive knows
the home position and the software limit positions are active (C02700 = "1").
When the traversing range is limited (C02528 = "1") the software limit
positions are basically monitored with regard to the internal value range that
can be maximally displayed (231 increments) even if the monitoring mode is
deactivated.
In case of the "Modulo" traversing range (C02528 = "2") the software limit
positions are not effective.
The software limit positions are not effective for the basic functions "Speed
follower", "Torque follower" and "Position follower".
When the software limit positions are exceeded, it is only displayed via the
status output LIM_dnState.
If a response is to take place (e.g. "fault" or "quick stop by trouble"), this must
be set accordingly in C02716/2.
202
r The positive software limit positions are set in C02701/1 and the negative software
limit positions are set in C02701/2.
C02701/2
C02701/1
Note!
When the drive is outside the permissible travel range and the software limit
positions are switched effectively, only those travel commands can be executed
which cause the drive to traverse back into the permissible travel range.
C02701/2
C02701/1
dnState
Bit 4
1
See also:
203
X5
DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI
LS_DigitalInput
[9-6]
LS_Limiter
DIGIN_bIn3
LIM_bLimitSwitchPositive
DIGIN_bIn4
LIM_bLimitSwitchNegative
Example: Connection of the travel range limit switches to the digital inputs 3 & 4
r If the limit switch is activated, the drive axis is stopped automatically and a changeover
via the function state "Drive is stopped" to the function state "Error" is effected.
r An error is caused via an internal system interface and entered in to the logbook of the
controller. The drive can only be traversed again when the error is acknowledged.
r An activated limit switch can be retracted using the function "Retracting the limit
switch". Retracting of an activated limit switch (C 161)
r When the limit switches are connected to the distributed terminals, both inputs
LIM_bLimitSwitchPositive and LIM_bLimitSwitchNegative of the SB LS_Limiter can be
connected via a bus system (e.g. system bus) with the distributed terminal.
Note!
If digital inputs for connecting the limit switch are to be fail-safe (activation at
LOW level), simply change the terminal polarity of the corresponding digital
inputs in C00114.
See also:
204
9.10.1.3
Limitations
Limit values for the basic functions "Manual jog", "Homing" and "Positioning" can be set via
the following parameters:
Parameters
Information
C02703
Max. speed
Max. permissible speed that can be driven by the system.
This parameter depends, among other things, by the max. motor speed.
C02705
Max. acceleration
Max. permissible acceleration or deceleration for positioning procedures.
This parameter depends, among other things, on the motor torque and moment of
inertia of the entire mechanics which is driven during the positioning process.
C02706
C02707
C02713
Note!
In order that the limit values set are effective, "1" must be selected in C02702.
Irrespective of this setting the speed setpoint is basically limited to the motor
reference speed (C00011)!
The limitations are not effective for the basic functions "Speed follower",
"Torque follower" und "Position follower"!
In case of these basic functions only speed and acceleration are monitored.
When the limit values for speed and acceleration are exceeded, the response
parameterised in C02716/3 takes place (Lenze setting: No response).
Background: The setpoint followers in technology applications which are
synchronised via an electrical shaft may not be limited since this may cause
the synchronism to get lost. A possible consequence would be a collision of
tools.
205
206
9.10.1.4
Limited speed
"Limited speeds" for the basic functions "Manual jog", "Homing" and "Positioning" can be
set via the following parameters:
Parameters
Information
C02708/1...4
C02710/1...4
C02711/1...4
C02712/1...4
Note!
The limited speeds are not effective for the basic functions "Speed follower",
"Torque follower" and Position follower"!
207
[9-7]
LS_Limiter
LIM_dwControl
r It is also possible to make several requirements at the same time via the control word,
e.g. manual jog with limited increment and limited speed 2.
r If no safety module is connected, the control word can be generated by means of a
converter module.
r The bit coding of the control word is described in the "safety engineering" chapter.
Control word of the safety module SM3xx (C 137)
208
9.10.3
LIM_dnState
LIM_bLimitationActive
LIM_bLimitSwitchPositive
LIM_bLimitSwitchNegative
LIM_bActivateLimitedSpeed1
Inputs
Identifier
Information/possible settings
DIS code | data type
LIM_dwControl
C02717 | DWORD
LIM_bLimitSwitchPositive
C02719/1 | BOOL
LIM_bLimitSwitchNegative
C02719/2 | BOOL
LIM_bActivateLimitedSpeed1
C02719/3 | BOOL
209
Value/meaning
DIS code | data type
LIM_dnState
C02718 | DINT
LIM_bLimitationActive
C02715 | BOOL
210
9.11
Brake control
This basic function is used for wear free control and monitoring of a holding brake which
is connected to the optionally available brake module. As an alternative, the holding brake
can also be controlled and monitored via the digital inputs/outputs.
Intended use
Motor holding brakes are used to stop axes when controller inhibit or pulse inhibit is set.
This is particularly important for unbalanced vertical axes.
Stop!
Basically, holding brakes at Lenze motors are not designed for braking during
operation. The increased wear resulting from braking during operation may lead
to an early destruction of the motor holding brake!
Danger!
Please note that the holding brake is an important element of the safety concept
of the entire machine.
Therefore act with caution when commissioning this part of the system!
211
Parameter setting
Danger!
For a faultless function of the automatic brake system the different delay times
must be set correctly in the following parameters!
If the delay times are set incorrectly, a faulty brake control may be caused!
212
Parameters
Information
C02580
C02581
C02582
C02583
C02585
C02586
Starting torque 1
C02587
Starting torque 2
C02588
C02589
C02590
C02591
C02593
C02594
Test torque
C02595
C02596
Grinding speed
C02597
C02598
Grinding ON time
C02599
9.11.1.1
Operating mode
Various operating modes are available in C02580 for different applications and tasks:
r Mode 0: Brake control is switched off (C 222)
r Mode 1/11: Direct control of the brake (C 222)
Without using a special logic or automatic, can be used, for instance, to check in a
simple manner if the brake operates correctly.
r Mode 2/12: Automatic control of the brake (C 223)
The common mode for controlling mechanical holding brakes with or without
holding torque precontrol.
9.11.1.2
Signal configuration
The signal configuration of the control and status signals for the brake logic and
monitoring function is executed via the parameters shown in the following signal flow:
BRK_bReleaseBrake
Brake logic
Monitoring
BRK_bBrakeApplied
1
BRK_bReleaseBrakeOut
Feedback
Control
Control
Digital I/O
Digital I/O
Feedback
M
n C02583: Status input monitoring
o C02585: Brake control polarity (for brake module)
[9-8]
Note!
If an electrically holding (self-releasing) brake is to be controlled instead of an
electrically releasing (self-holding) brake, the corresponding control and
status signals must be inverted!
For detailed information about the assembly and electrical installation of the
motor holding brake, please see the documentation for the brake module and
the brake.
213
Standstill monitoring
After the brake closing time and the waiting time for status monitoring have elapsed, the
standstill monitoring becomes active, i.e. the stop position is memorised and compared
with the permissible angle of rotation set in C02595 (Lenze setting: 5) when the brake is
applied.
Stopping/Standstill
t
CINH
Controller enabled
t
1
BRK_bError
Normal behaviour
Error behaviour
n C02591: Waiting time - status monit.
o C02595: Permissible angle of rotation
CINH = controller inhibit
[9-9]
Note!
The standstill monitoring function can be switched off via the setting
C02595 = "0".
214
9.11.1.4
Standstill
t
BRK_bReleaseBrakeOut
t
speed setpoint
actual speed value
n C02581: Brake activation threshold
[9-10] Process of brake activation through N < Nmin
O Tip!
The value at C02581 is to be set to approx. 5 ... 20 % of the maximum speed to
minimise the wear of the brake and provide for an optimum brake response by a
low grinding of the brake.
215
Note!
In the Lenze setting the time monitoring function is not active (C02593 = "0 s").
Stopping
t
Standstill
t
1
t
BRK_bReleaseBrakeOut
speed setpoint
actual speed value
n C02581: Brake activation threshold
o C02593: Waiting time for brake activation
216
9.11.1.5
Danger!
A wrong setting of the closing and opening time can cause a wrong activation of
the brake!
When the closing time is set too low, the controller is inhibited and the drive
gets torqueless before the brake is closed completely.
Stopping/Standstill
t
BRK_bReleaseBrakeOut
t
CINH
t
CINH
t
217
Stopping/Standstill
t
BRK_bReleaseBrakeOut
0
1
218
9.11.1.6
Note!
The torque is precontrolled for one second. During this time, the actual torque
must have reached 90 % of the set torque, otherwise a fault is tripped!
C02586
C02587
C02588 = 0
Speed controller
S&H
CTRL
1
Application example:
A hoist drive is to be operated with different loads. Unfortunately we do not know when
the load is available, but the starting direction (lifting or lowering) is known.
r In a no-load condition, the hoist drive needs a torque of 10 Nm. For holding the
maximum load it needs a torque of 50 Nm.
r The change-over between lifting and lowering at start-up is done via the input
BRK_bStartingTorque2.
219
r To ensure the correct direction at start-up, the speed controller is loaded with the
following starting torques:
Starting torque:
Lifting
Lowering
C02586 = 50 Nm
C02587 = 10 Nm
Lowering
Optimum behaviour
Optimum behaviour
C02588 = 1
Speed controller
0
1
S&H
CTRL
1
Note!
The higher the threshold for brake activation set in C02581, the higher is the
dynamic part in the marked torque (e.g. the speed-dependent friction torque).
In the special case that the load changes when the brake is closed, a correction
value, which is added to the marked torque, can be defined for the torque
precontrol via the input BRK_dnTorqueAdd_n.
220
CTRL
1
BRK_dnTorqueAdd_n
Application example:
The load for a hoist drive is always known. For an optimum behaviour a torque
proportional to the load and 10 Nm in addition as constant precontrol value are to be
loaded in the speed controller.
r The starting torque 1 is used as constant precontrol value (C02586 ="10 Nm",
C02588 = "0" and BRK_bStartingTorque2 = FALSE).
r Via the input BRK_dnTorqueAdd_n the torque is specified proportional to the load.
221
Note!
The mode 0 is preset in the Lenze setting to reach a safe status after mains
connection.
9.11.3
O Tip!
Mode 1/11 can be used to easily check if the brake switches correctly.
r At the same time, the selection of the mode defines the type of brake control:
Mode 1: Direct brake control via brake module.
Mode 11: Direct brake control via a digital output.
r Setting the pulse inhibit or controller inhibit does not influence the output signal.
r After the brake has been activated and the brake closing time has elapsed, the
controller inhibit is set automatically by the basic function "brake control".
r For the operation with the brake module (mode 1) the required polarity for brake
control can be set in C02585.
222
9.11.4
O Tip!
The mode 2/12 is the common mode for brake control.
In this mode, the input BRK_bReleaseBrake is to be set permanently to FALSE. If
BRK_bReleaseBrake = TRUE, the brake is permanently released and the automatic
control cannot close the brake.
r At the same time, the selection of the mode defines the type of brake control:
Mode 2: Automatic brake control via brake module.
Mode 12: Automatic brake control via a digital output.
r The brake is also activated automatically if a quick stop is activated in the drive, e.g. via
the basic function "Quick stop" or as a response to a fault.
r After the brake has been activated automatically and the brake closing time has
elapsed, the controller inhibit is set automatically by the basic function "brake control".
r For the operation with the brake module (mode 1) the required polarity for brake
control can be set in C02585.
223
Note!
Pulse inhibit can be set in the enabled controller e.g. due to a DC overvoltage
during brake operation by a wrong dimensioning of the brake resistor.
Stop!
Do not set the threshold for brake activation in C02581 too high to protect the
brake from wear.
224
9.11.4.2
225
226
9.11.5
Stop!
If this function is activated, the drive is automatically accelerated to the grinding
speed parameterised in C02596.
The axis must move freely without driving against the travel range
limitations.
The maximally permissible friction energy of the brake must not be exceeded
(observe the specifications of the manufacturer)!
1
2
W total [ J ] M K [ Nm ] ------ N [ min ] t total [ s ]
60
[9-18] Formula for estimating the friction energy during grinding process
Requirements
To activate the grinding of the brake, the following conditions must be fulfilled:
r The grinding speed in C02596 is set higher than 0 rpm.
r The brake is activated, i.e. the "brake closing time" (C02589) and the "waiting time for
status monitoring" (C02591) are elapsed.
r No other source for controller inhibit is active so that the controller inhibit can be
deactivated by the brake control.
Note!
When grinding the brake it must be ensured that the motor shaft can be kept at
speed against the closed brake.
For this purpose, make sure that the maximum torque of the motor control
(C00057/2) is higher than the holding torque of the brake.
227
10 x
10 x
t
228
9.11.6
O Tip!
You can carry out this test regularly to early detect defects or wear of the brake in
good time.
Note!
Due to possible deviations in the torque generation, the test of the holding
torque cannot determine the holding torque exactly!
The generated motor torque can deviate up to 15 % from the default value
depending on temperature.
Requirements
To activate the brake test, the following conditions must be fulfilled:
r The test torque in C02594 is set higher than 0 Nm.
r The permissible angle of rotation in C02595 is set higher than 0 and thus standstill
monitoring is active. Standstill monitoring (C 214)
r The brake is activated, i.e. the "brake closing time" (C02589) and the "waiting time for
status monitoring" (C02591) are elapsed.
r No other source for controller inhibit is active so that the controller inhibit can be
deactivated by the brake control.
229
1
1s
max. 4 s
BRK_bError
t
Normal behaviour
Error behaviour
n C02594: Test torque
o C02595: Permissible angle of rotation
CINH = controller inhibit
[9-20] Sequence of the brake test
Error behaviour
r When the stop position of the motor axis has changed during the brake test by more
than the permissible angle of rotation set in C02595 despite the applied brake:
The brake test is aborted immediately and the controller is inhibited.
The status "position drift when brake is applied" is displayed at the status output
BRK_dnState via bit 21 and the status "brake error" is displayed via bit 15.
The output BRK_bError is set to TRUE.
r By resetting the input BRK_bBrakeTest to FALSE an error can be reset automatically.
230
9.11.7
BRK_dnState
BRK_bStartingTorque2
BRK_bReleaseBrakeOut
BRK_dnTorqueAdd_n
BRK_bBrakeReleased
BRK_bBrakeApplied
BRK_bError
BRK_bCInhActive
BRK_bBrakeTest
BRK_bBrakeGrindIn
Inputs
Identifier
Information/possible settings
DIS code | data type
BRK_bReleaseBrake
C02609/1 | BOOL
BRK_bStartingTorque2
C02609/2 | BOOL
BRK_dnTorqueAdd_n
C02608 | DINT
BRK_bBrakeApplied
C02609/3 | BOOL
Additive torque value in [%] for torque feedforward control during start
100 % C00057/2
Torque feedforward control (C 219)
Input for status detection via switching contact at the brake
Activation of the input by setting C02583 = 1.
Signal configuration (C 213)
FALSE Status "Brake is released".
TRUE Status "Brake is applied".
BRK_bBrakeTest
C02609/4 | BOOL
BRK_bBrakeGrindIn
C02609/5 | BOOL
231
Value/meaning
DIS code | data type
BRK_dnState
C02607 | BOOL
Status (bit-coded)
Bits which are not listed are not assigned with a status (always "0").
Bit 1 Brake control is active.
Bit 4 Brake module is used.
Bit 8 Brake status (internal status signal).
Bit 9 Torque feedforward control is active.
Bit 10 Controller inhibit is active or set by brake.
Bit 15 Error is active (collective message).
Bit 16 Status "Brake grinding-in".
Bit 17 Status "Brake test".
Bit 18 Status "Direct control".
Bit 19 Status "Automatic control".
Bit 20 Error: External feedback.
Bit 21 Error: Position drift when brake is applied/checked.
Bit 22 Error: Brake module monitoring.
Bit 23 Information: Brake activation via waiting time.
Bit 24 Information: Brake grinding-in is completed.
Bit 25 Information: Brake test completed.
Bit 26 Error: precontrol torque could not be created within one second.
BRK_bReleaseBrakeOut
C02609/6 | BOOL
Control signal for triggering an external brake/status signal for control state
FALSE Close the brake.
TRUE Release brake.
BRK_bBrakeReleased
C02609/7 | BOOL
Status signal of the brake control considering the closing and opening time of the
brake
FALSE Brake is applied (after the brake closing time has elapsed).
TRUE Brake is released (after the brake opening time has elapsed).
BRK_bError
BRK_bCInhActive
C02609/9 | BOOL
232
10
MM
License
Controller
9400 StateLine
9400 HighLine
9400 HighLine
PLC
9400 HighLine
[10-1] Indication of the runtime software license in the designation of the memory module
10.1
Overview
Technology application/application ranges
Required license/delivery
233
Required license/delivery
Slitters
Calender drives
Line drives
Conveying belts
Vibrators
Roller mills
Stretching machines
Wire drawing machines
Printing units
Asynchronous cross cutters
Perforating machines
Insetters
Vibrating drives
Line drives
Labelling machines
Transport units
Rotary tables
Storage and retrieval units
Feed drives
Dosing machines
Hoists
234
Transport units
Rotary tables
Storage and retrieval units
Feed drives
Dosing machines
Hoists
10.2
Update devices.
7.
Go online.
8.
Note!
The downloaded application is basically stored in the first application memory
location of the controller.
9. Confirm
10. Confirm
235
Parameterise application
In the Engineer all required settings for the technology application can be made via the
Application parameter tab which contains several levels of parameter dialogs.
r The top level Overview includes all parameters required to carry out a short setup.
The left half of all technology applications is nearly identical and serves to set mains,
motor and gearboxes and the basic functions supported by the technology
application.
The right half, however, depends on the technology application selected.
n Mains voltage
o Basic functions
p Motor/feedback system
q Gearbox
r Technology application
[10-2] Example: Parameter setting dialog in the Engineer for a technology application
r This parameter dialog can also have further subordinate parameter dialogs, depending
on the complexity.
O Tip!
The online documentation for the Engineer contains detailed information on
how to work in the Application parameter tab.
236
10.2.2
Note!
When you enable the function block editor in the Engineer on the FB editor
tab, all multiplexers are removed from the interconnection and the currently set
signal combinations are replaced by fixed signal combinations!
This process is irreversible!
O Tip!
The multiplexer parameters are marked by a prefixed "X" in the name and listed in
the chapter of the corresponding technology application.
Several options are available for changing the signal combinations which are
described in the following sections.
237
r If you press one of such buttons, the I/O configuration for... dialog level is displayed via
which another signal source can be selected.
Changing signal combinations in the function block editor
In the function block editor parameterisable signal combinations are marked by the
background colour Cyan.
r If the command Set multiplexer is selected from the context menu (right mouse
button) for the signal source, all multiplexer parameters available are displayed in a
parameter list and can also be changed here:
238
10.2.3
Configure application
The interconnection of the technology application defined by Lenze is indicated on the FBEditor tab.
r The current values at the inputs and outputs are indicated in the online mode.
r If you click the Activate editor button, the defined interconnection can be changed.
Note!
The activation of the function block editor causes the parameter dialogs for the
technology application to be replaced by general dialogs. The dialogs for
parameter setting of the system and function blocks available in the
interconnection can continue to be used.
Moreover all multiplexers are removed from the interconnection and the
currently set signal combinations are replaced by configurable signal
combinations.
[10-3] Example: Representation of the interconnection of the technology application in the function block editor
O Tip!
The online documentation for the Engineer contains detailed information on
how to use the function block editor.
239
Output ports
Use
LPortAxisIn1
LPortAxisOut1
LPortControl1
LPortStatus1
LPortControl2
LPortStatus2
LPort32In1
LPort32Out1
LPort32In2
LPort32Out2
LPort32In3
LPort32Out3
LPort16In1
LPort16Out1
LPort16In2
LPort16Out2
LPort16In3
LPort16Out3
Note!
The TA variants for the 9400 HighLine have the ports predefined with the
"automatic" interface.
After the addition of a network and interconnection of the ports inside the
machine applications the "automatic" interface is specified according to the bus
system used during the device update.
For commissioning of the communication the Engineer is required.
O Tip!
The exact assignment of the ports can be found in the description of the
technology application.
240
Standard TAs
11
Standard TAs
The technology applications described in this chapter are available for general drive tasks.
Technology application/application ranges
Required license/delivery
241
Introduction
11.1.1
Application examples
Dosing drives
r Both dosing drives are operated in speed-controlled mode and determine the mix ratio
with their speed:
n Mains
o System bus (CAN)
p Drive 1 with TA "actuator speed"
q Drive 2 with TA "actuator speed"
i = gearbox factor
n = Load reference speed in [rpm]
v = Reference speed in [m/s]
d = roll diameter in [m]
i1
v1
i2
n1
n2
d1
v2
d2
Parameters
Information
C00011
C02520
C02521
C02542
Parameters
Information
C02524
C02525
242
Standard TAs
Introduction
Slave
Master
i1
d1
i2
d2
n Master
o Slave with technology application "actuator torque"
p System bus (CAN)
v = speed of the material path
F = tensile stress
[11-2] Example: Conveyor drive with adjustable tension
r The master drive is operated speed-controlled and determines the speed of the
material path.
r The slave drive with the standard technology application "actuator torque" ensures
that a certain minimum tensile stress is complied with between master and slave drive.
When torque-controlled, the slave drive is permanently able to follow the speed
specified by the master drive.
243
TA "Actuator speed"
The technology application "actuator speed" enables the drive to create a speed to be
defined. The speed setpoint can be complied with using a speed controller which adopts
the motor torque to the prevailing load situation.
r The speed setpoint of the drive can be specified for both directions. The driven machine
parts accordingly moves forwards or backwards. As an alternative to the inversion of
the setpoint, the change of the direction of movement can be done via the digital input
DI3.
r After the speed-controlled operation is enabled via the digital input DI2 the
acceleration/deceleration of the drive to the setpoint is controlled via a ramp generator
based on the current setpoint/actual speed.
r The maximum torque of the drive can also be controlled, if required.
Basic drive functions
r A quick stop can be activated via the digital input DI1.
Quick stop (C 257)
r A manual control is provided for the setting-up operation. It is enabled via the digital
input DI6. The inputs DI7 and DI8 activate parameterisable setpoints for both
directions of rotation. Manual jog (C 256)
r The basic function "limiter" enables the travel range to be monitored via limit switches.
Limiter (C 258)
r When a brake is available the brake control opens and closes the brake.
Brake control
(C 259)
See also:
244
Standard TAs
TA "Actuator speed" | Basic signal flow
11.2.1
Gain
LS_Quickstop
n
LS_Stop
n
STOP
LS_Brake
internal
status machine
AIN1
DI4
DI3
Selection
Invert setpoint
DI2
Ramp generator
OUT
DI6
15
%
%
Status
machine
(basic drive
functions)
M
LS_ManualJog
LS_Limiter
DI7
DI8
LS_Speed...
Fixed setpoints
1
2
Speed
setpoint
IN
n
t
245
11.2.2.1
Terminal X3
Speed setpoint
Speed setpoint conditioning (C 250)
AI2AI2+
I/O terminals
Digital inputs
Terminal X5
Quick stop
If DI1 is set to LOW level, the drive is decelerated to standstill within the deceleration
time set for the quick stop function independent of the setpoint selection.
If the quick stop function is deactivated, the drive is led to the selected setpoint again via
the set acceleration time.
Quick stop (C 257)
DI2
DI3
DI4
DI5
Reset error
By means of a LOW-HIGH edge an existing error status can be reset if the cause of the
fault is removed.
DI6
Manual jog
Manual jog (C 256)
I/O terminals
246
DI7
DI8
Function
LOW
LOW
Stop
HIGH
LOW
LOW
HIGH
HIGH
HIGH
Standard TAs
TA "Actuator speed" | Assignment of the I/O terminals
11.2.2.2
AO2 AO1 GA
Terminal X3
Signal configuration
AO1
Motor speed
Scaling: 10 V motor reference speed (C00011)
C03110/1
AO2
C03110/2
I/O terminals
Digital outputs
Terminal X4
Signal configuration
DO1
C03100/1
DO2
C03100/2
DO3
C03100/3
DO4
C03100/4
I/O terminals
State bus
SB 24E GE
Terminal X2
I/O terminals
Signal configuration
C03100/5
247
Drive interface
248
Signal configuration
C03100/6
Standard TAs
TA "Actuator speed" | Machine parameters
11.2.3
Machine parameters
The machine parameters describe e.g. the motor end of the mechanics
used.
O Tip!
In the Engineer the most important machine parameters can be adapted to the
machine on the Application parameter tab directly in the topmost Overview dialog
level:
Detailed information for selecting and entering the machine parameters can be
found in the chapter "Drive interface". Machine parameters (C 35)
Lenze setting
Value Unit
C00173
Mains - voltage
400/415 V
C00174
C00600
C02520
C02521
C02527
C02570
Controller configuration
C02522
C02523
285 V
Trouble
1
1
Motor rotating CW
Phase control
C02528
Traversing range
C02524
Feed constant
C02525
Unit
C02526
User-defined unit
C02533
Time unit
C00273/1
C00273/2
Unlimited
360.0000 Unit
Motor-dependent kg cm2
0.00 kg cm2
249
Gain
Selection
DI3
Invert setpoint
AIN1
OUT
LS_Speed...
Speed
setpoint
Status
machine
(basic drive
functions)
Fixed setpoints
1
2
%
%
15
The speed setpoint is defined in the Lenze setting via the analog input 1 and take place in
both directions (bipolar) and accordingly the driven machine part moves forward or
backward.
r Parameter setting: Tab Application parameter Dialog level Overview
Parameters
Lenze setting
Value Unit
C03002
Setpoint gain
100.00 %
Signal configuration
Setpoint input
(Multiplexer parameters)
250
C03000
Standard TAs
TA "Actuator speed" | Speed setpoint conditioning
11.2.4.1
Gain
Selection
DI3
Invert setpoint
AIN1
OUT
LS_Speed...
Speed
setpoint
Status
machine
(basic drive
functions)
Fixed setpoints
1
2
%
%
15
[11-5] Additional offset for the speed limit value (schematic diagram)
Via the digital input DI4 a change-over to a parameterisable fixed setpoint can take place.
r Parameter setting: Tab Application parameter Dialog level Overview
Parameters
Lenze setting
Value Unit
C03500/1
Fixed setpoint 1
10.00 %
Signal configuration
Control input
(Multiplexer parameters)
C03009/4
Lenze setting
Value Unit
C03500/1
Fixed setpoint 1
10.00 %
C03500/2
Fixed setpoint 2
0.00 %
C03500/...
C03500/15
Fixed setpoint 15
... ...
0.00 %
Signal configuration
Control input
(Multiplexer parameters)
C03009/4
C03009/5
C03009/6
C03009/7
251
Setpoint inversion
Speed setpoint
DI4
Gain
Selection
DI3
Invert setpoint
AIN1
OUT
LS_Speed...
Speed
setpoint
Status
machine
(basic drive
functions)
Fixed setpoints
1
2
%
%
15
Via the digital input DI3 the effective direction of the (bipolar) setpoint can be inverted, if
required.
r Parameter setting: Application parameter tab dialog level Overview Ramp
generator
Control inputs of the function
Lenze setting
Signal configuration
Control input
(Multiplexer parameters)
252
C03009/1
Standard TAs
TA "Actuator speed" | Speed setpoint conditioning
11.2.4.3
Gain
Selection
DI3
Invert setpoint
AIN1
OUT
LS_Speed...
Speed
setpoint
Status
machine
(basic drive
functions)
Fixed setpoints
1
2
%
%
15
In order to avoid setpoint step-changes the speed setpoint passes a ramp generator with a
parameterisable acceleration/deceleration and S-ramp time before it is transmitted to the
basic drive function "Speed follower".
r Parameter setting: Tab Application parameter Dialog level Overview
Parameters
Lenze setting
Value Unit
C03502
1.000 s
C03503
1.000 s
C03504
C03510
Profile mode
0.100 s
Linear ramps
253
Lenze setting
Value Unit
C03512/1
Acceleration time 1
0.000 s
C03512/...
... ...
C03512/15
Acceleration time 15
0.000 s
C03513/1
Deceleration time 1
0.000 s
C03513/...
... ...
C03513/15
Deceleration time 15
0.000 s
C03514/1
S-ramp time 1
0.000 s
C03514/...
S-ramp time
C03514/15
S-ramp time 15
... ...
0.000 s
Signal configuration
Control input
(Multiplexer parameters)
254
C03009/8
C03009/9
C03009/10
C03009/11
Standard TAs
TA "Actuator speed" | Speed follower
11.2.5
Speed follower
Speed setpoint
Gain
LS_Quickstop
n
LS_Stop
n
STOP
LS_Brake
internal
status machine
AIN1
t
DI4
DI3
Selection
Invert setpoint
DI2
Ramp generator
LS_Speed...
OUT
DI6
Fixed setpoints
15
%
%
Status
machine
(basic drive
functions)
Speed
setpoint
IN
1
2
LS_ManualJog
DI7
DI8
LS_Limiter
n
n
t
The speed-controlled operation is requested via the digital input DI2. If no other basic
function and error state are active, the speed-controlled operation is enabled.
r The acceleration/deceleration of the drive to the setpoint is controlled via a ramp
generator based on the current setpoint/actual speed.
r If the enable of the speed-controlled operation is reset via the digital input DI2, the
drive is decelerated to standstill via an independent profile generator of the basic
function "Stop". Standard stop (C 148)
O Tip!
Detailed information on the speed follower can be found in the chapter "basic drive
functions" subchapter "Speed follower". (C 190)
255
Manual jog
Speed setpoint
Gain
LS_Quickstop
n
LS_Stop
n
STOP
LS_Brake
internal
status machine
AIN1
t
DI4
DI3
Selection
Invert setpoint
DI2
Ramp generator
LS_Speed...
OUT
DI6
Fixed setpoints
%
%
15
Status
machine
(basic drive
functions)
Speed
setpoint
IN
1
2
LS_ManualJog
DI7
DI8
LS_Limiter
n
n
t
For the setting-up operation the basic function "Manual jog" is available. It is requested via
the digital input DI6. If no other basic function and error status are active, enable is carried
out and the manual jog via the inputs DI7 and DI8 is possible.
r Parameter setting: Tab Application parameter Dialog level Overview Manual jog
Parameters
Lenze setting
Value Unit
C02620
360.0000 Unit/s
C02621
720.0000 Unit/s
C02622
Manual acceleration
360.0000 Unit/s2
C02623
Manual deceleration
1440.0000 Unit/s2
C02624
0.100 s
Signal configuration
Control input
(Multiplexer parameters)
C03155/1
C03155/2
C03155/3
C03155/4
O Tip!
Detailed information on the manual jog function can be found in chapter "Basic
drive functions" subchapter "Manual jog". (C 156)
256
Standard TAs
TA "Actuator speed" | Quick stop
11.2.7
Quick stop
Basic drive functions
DI1
LS_Quickstop
n
LS_Stop
n
STOP
internal
status machine
DI2
LS_Speed...
Status
machine
(basic drive
functions)
Speed
setpoint
M
DI6
LS_ManualJog
DI7
DI8
LS_Brake
LS_Limiter
n
n
t
r The quick stop function can be activated as follows in the Lenze setting:
By setting the digital input DI1 to LOW level.
By a master control via the port LPortControl1:
By setting bit 2 of the bit-coded control word 1.
r Parameter setting: Tab Application parameter Dialog level Overview Quick stop
Parameters
Lenze setting
Value Unit
C00105
C00106
C00107
0.000 s
0.00 %
Motor reference speed (C00011)
Signal configuration
Control input
(Multiplexer parameters)
C03135/1
C03135/2
C03135/3
O Tip!
Detailed information on quick stop can be found in chapter "Basic drive functions"
subchapter "Quick stop". (C 152)
257
Limiter
Basic drive functions
DI1
LS_Quickstop
n
LS_Stop
n
STOP
internal
status machine
DI2
LS_Speed...
Status
machine
(basic drive
functions)
Speed
setpoint
M
DI6
LS_ManualJog
DI7
DI8
LS_Brake
LS_Limiter
n
n
t
Note!
The parameterised limit values are not effective for the basic functions "Speed
follower", "Torque follower" and "Position follower"!
For the exceeding of the limit values an error response can be set.
Lenze setting
Value Unit
Limitations effective
C02703
Max. speed
3600.0000 Unit/s
C02705
Max. acceleration
3600.0000 Unit/s2
C02706
C02707
100 ms
Deactivated
Signal configuration
Control input
(Multiplexer parameters)
C03150/1
C03150/2
O Tip!
Detailed information on the limiter function can be found in chapter "Basic drive
functions" subchapter "Limiter". (C 200)
258
Standard TAs
TA "Actuator speed" | Brake control
11.2.9
Brake control
Basic drive functions
DI1
LS_Quickstop
n
LS_Stop
n
STOP
internal
status machine
DI2
LS_Speed...
Status
machine
(basic drive
functions)
M
LS_ManualJog
DI7
DI8
Speed
setpoint
DI6
LS_Brake
LS_Limiter
n
n
t
Note!
In the Lenze setting the brake control is switched off to reach a safe status after
mains connection.
O Tip!
Detailed information on brake control can be found in chapter "Basic drive
functions" subchapter "Brake control". (C 211)
259
r Parameter setting: Tab Application parameter Dialog level Overview Brake control
Parameters
Lenze setting
Value Unit
C02580
C02581
C02582
C02583
C02585
C02586
Starting torque 1
0.00 Nm
C02587
Starting torque 2
0.00 Nm
C02588
C02589
100 ms
C02590
100 ms
C02591
C02593
C02594
Test torque
C02595
C02596
Grinding speed
C02597
C02598
Grinding ON time
0.5 s
C02599
0.5 s
100 ms
0.000 s
5
100 rpm
Control/setpoint input
1.000 s
Signal configuration
(Multiplexer parameters)
C03165/1
C03165/2
C03165/3
C03165/4
C03165/5
0 % Additional torque
260
50 rpm
0.00 Nm
C03166
Standard TAs
TA "Actuator speed" | Signal configuration of drive and motor interface
11.2.10
Control input
FALSE Set controller inhibit
Signal configuration
C03130/1
C03130/2
C03130/3
C03130/4
C03130/5
C03130/6
Motor interface
Signal (Lenze setting)
Setpoint input
Signal configuration
C03141/1
C03141/2
261
Output port
Signal configuration
C03120/1
C03120/2
C03120/3
C03120/4
C03120/5
C03120/6
C03120/7
C03120/8
C03120/9
C03120/10
C03120/11
C03120/12
C03120/13
C03120/14
C03120/15
C03120/16
262
C03124/1
C03124/2
Standard TAs
TA "Actuator speed" | Signal configuration of the output ports
Output port
Signal configuration
Status word 1
Drive ready Status word 1 bit 00
C03121/1
C03121/2
C03121/3
C03121/4
C03121/5
C03121/6
C03121/7
C03121/8
C03121/9
C03121/10
C03121/11
C03121/12
C03121/13
C03121/14
C03121/15
C03121/16
Output port
Signal configuration
Status word 2
C03122/1
C03122/2
C03122/3
C03122/4
C03122/5
C03122/6
C03122/7
C03122/8
C03122/9
C03122/10
C03122/11
C03122/12
C03122/13
C03122/14
C03122/15
C03122/16
263
Error-ID
Error response
8001
Warning locked
8000
Error
8000
Error
8000
Error
8000
Error
8000
Error
8000
Error
8000
Error
Lenze setting
C05900
Module-ID
C05901/1...8
Error ID 1 ... 8
980
C05902/1...8
264
Standard TAs
TA "Actuator torque"
11.3
TA "Actuator torque"
When the technology application "actuator torque" is used the drive creates a torque to
be specified independent of the motor speed. A superimposed speed limitation prevents
the drive from accelerating in an uncontrolled mode. The torque setpoint and torque limit
value are the main setpoint values of the application.
r The setpoint of the motor torque can be specified for both directions. The drive
accordingly acts in a driving or braking way. With a unipolar setpoint the effective
direction can be changed via the digital input DI3.
r After the enable of the torque-controlled operation via the digital input DI2 the
creation of the torque is controlled via a ramp generator starting from the current
torque.
r The torque limit value to be specified refers to the freely setting direction of rotation
with positive torque. Based on the current motor speed the internal speed limit value
is also led to the setpoint via a ramp generator after enable.
r If the specified speed limit value directly corresponds to the line speed, the internal
limit value can be increased by entering an offset in C03008.
r The speed limit value in negative direction of rotation equals, according to amount, the
limit value for the positive direction of rotation.
r If the speed of the drive is inside the limitations, the motor generates the specified
torque.
r If the positive or negative speed limit value (for CW or CCW rotation) is reached, the
drive changes to the speed-controlled operation. The set speed limit values are not
exceeded.
Basic drive functions
r A quick stop can be activated via the digital input DI1.
Quick stop (C 279)
r A manual control is provided for the setting-up operation. It is enabled via the digital
input DI6. The inputs DI7 and DI8 activate parameterisable setpoints for both
directions of rotation. Manual jog (C 278)
r The basic function "limiter" enables the travel range to be monitored via limit switches.
Limiter (C 258)
r When a brake is available the brake control opens and closes the brake.
Brake control
(C 281)
See also:
265
Gain
DI1
Ramp generator
LS_Quickstop
n
IN
LS_Stop
n
STOP
LS_Brake
internal
status machine
AIN1
OUT
Speed limit
DI4
Offset
Selection
DI2
Ramp generator
IN
AIN2
OUT
DI6
15
%
%
Status
machine
(basic drive
functions)
Fixed setpoints
1
2
LS_Torque...
Torque
setpoint
LS_ManualJog
DI8
LS_Limiter
DI7
n
t
266
Standard TAs
TA "Actuator torque" | Assignment of the I/O terminals
11.3.2
11.3.2.1
Terminal X3
Torque setpoint
Torque setpoint conditioning (C 271)
AI2AI2+
I/O terminals
Digital inputs
Terminal X5
Quick stop
If DI1 is set to LOW level, the drive is decelerated to standstill within the deceleration
time set for the quick stop function independent of the setpoint selection.
If the quick stop function is deactivated, the defined torque is available again, as the case
may be, an acceleration via the set acceleration time of the speed limit value is effected.
Quick stop (C 279)
DI2
DI3
DI4
DI5
Reset error
By means of a LOW-HIGH edge an existing error status can be reset if the cause of the
fault is removed.
DI6
Manual jog
Manual jog (C 278)
I/O terminals
DI7
DI8
Function
LOW
LOW
Stop
HIGH
LOW
LOW
HIGH
HIGH
HIGH
267
AO2 AO1 GA
Terminal X3
Signal configuration
AO1
Motor speed
Scaling: 10 V motor reference speed (C00011)
C03110/1
AO2
C03110/2
I/O terminals
Digital outputs
Terminal X4
Signal configuration
DO1
C03100/1
DO2
C03100/2
DO3
C03100/3
DO4
C03100/4
I/O terminals
State bus
SB 24E GE
Terminal X2
I/O terminals
268
Signal configuration
C03100/5
Standard TAs
TA "Actuator torque" | Assignment of the I/O terminals
Display elements
User LED
Drive interface
Signal configuration
C03100/6
269
Machine parameters
The machine parameters describe e.g. the motor end of the mechanics
used.
O Tip!
In the Engineer the most important machine parameters can be adapted to the
machine on the Application parameter tab directly in the topmost Overview dialog
level:
Detailed information for selecting and entering the machine parameters can be
found in the chapter "Drive interface". Machine parameters (C 35)
Lenze setting
Value Unit
C00173
Mains - voltage
400/415 V
C00174
C00600
C02520
C02521
C02527
C02570
Controller configuration
C02522
C02523
285 V
Trouble
1
1
Motor rotating CW
Phase control
270
C02528
Traversing range
C02524
Feed constant
C02525
Unit
C02526
User-defined unit
C02533
Time unit
C00273/1
C00273/2
Unlimited
360.0000 Unit
Motor-dependent kg cm2
0.00 kg cm2
Standard TAs
TA "Actuator torque" | Torque setpoint conditioning
11.3.4
DI3
Invert setpoint
Ramp generator
IN
AIN1
OUT
DI2
LS_Torque...
Torque
setpoint
Status
machine
(basic drive
functions)
v
F
[11-14] Torque setpoint conditioning (schematic diagram)
The torque setpoint is defined in the Lenze setting via the analog input 1 and take place in
both directions (bipolar) and accordingly the drive acts in a driving or braking manner.
r Parameter setting: Tab Application parameter Dialog level Overview
Parameters
Lenze setting
Value Unit
C03002
Setpoint gain
100.00 %
Signal configuration
Setpoint input
(Multiplexer parameters)
C03000
271
Setpoint inversion
Torque setpoint
Gain
DI3
Invert setpoint
Ramp generator
DI2
LS_Torque...
Torque
setpoint
IN
AIN1
OUT
Status
machine
(basic drive
functions)
v
F
[11-15] Setpoint inversion (schematic diagram)
Via the digital input DI3 the effective direction of the (bipolar) setpoint can be inverted, if
required.
r Parameter setting: All parameters tab Category Actuator - torque Multiplexer
Control inputs of the function
Lenze setting
Signal configuration
Control input
(Multiplexer parameters)
11.3.4.2
C03003
Ramp generator
Torque setpoint
Gain
DI3
Invert setpoint
Ramp generator
IN
AIN1
OUT
DI2
LS_Torque...
Torque
setpoint
Status
machine
(basic drive
functions)
v
F
[11-16] Ramp generator (schematic diagram)
In order to avoid setpoint step-changes the torque setpoint passes a ramp generator with
a parameterisable acceleration/deceleration and S-ramp time before it is transmitted to
the basic drive function "Torque follower".
r Parameter setting: Tab Application parameter Dialog level Overview
Parameters
Lenze setting
Value Unit
272
C03550
0.010 s
C03551
S-ramp time
0.001 s
Standard TAs
TA "Actuator torque" | Speed limit value conditioning
11.3.5
Offset
Selection
Ramp generator
IN
AIN2
OUT
DI2
LS_Torque...
Torque
setpoint
Status
machine
(basic drive
functions)
Fixed setpoints
1
2
%
%
15
The speed limit value is defined in the Lenze setting via the analog input 2.
r The defined speed limit value refers to the direction of rotation which can be set freely
with positive torque.
r The speed limit value in negative direction of rotation equals, according to amount, the
limit value for the positive direction of rotation.
r If the speed of the drive is inside the limitations, the motor generates the specified
torque.
r If the positive or negative speed limit value (for CW or CCW rotation) is reached, the
drive changes to the speed-controlled operation. The set speed limit values are not
exceeded.
r If the specified speed limit value directly corresponds to the line speed, the internal
limit value can be increased by entering an offset in C03008.
r Parameter setting: Tab Application parameter Dialog level Overview
Parameters
Lenze setting
Value Unit
C03008
Signal configuration
Setpoint input
(Multiplexer parameters)
C03006
0.00 %
C03171
273
Offset
Selection
Ramp generator
IN
AIN2
OUT
DI2
LS_Torque...
Torque
setpoint
Status
machine
(basic drive
functions)
Fixed setpoints
1
2
%
%
15
[11-18] Additional offset for the speed limit value (schematic diagram)
Via the digital input DI4 a change-over to a parameterisable fixed setpoint can take place.
r Parameter setting: Tab Application parameter Dialog level Overview
Parameters
Lenze setting
Value Unit
C03500/1
Fixed setpoint 1
10.00 %
Signal configuration
Control input
(Multiplexer parameters)
C03009/4
Lenze setting
Value Unit
C03500/1
Fixed setpoint 1
10.00 %
C03500/2
Fixed setpoint 2
0.00 %
C03500/...
... ...
C03500/15
Fixed setpoint 15
0.00 %
274
Signal configuration
Control input
(Multiplexer parameters)
C03009/4
C03009/5
C03009/6
C03009/7
Standard TAs
TA "Actuator torque" | Speed limit value conditioning
11.3.5.2
Offset
Selection
Ramp generator
IN
AIN2
OUT
DI2
LS_Torque...
Torque
setpoint
Status
machine
(basic drive
functions)
Fixed setpoints
1
2
%
%
15
In order to avoid setpoint step-changes the speed limit value passes a ramp generator with
a parameterisable acceleration and deceleration time before it is transmitted to the basic
drive function "Torque follower".
r Parameter setting: Tab Application parameter Dialog level Overview
Parameters
Lenze setting
Value Unit
C03502
1.000 s
C03503
1.000 s
C03510
Profile mode
Linear ramps
275
Lenze setting
Value Unit
C03512/1
Acceleration time 1
0.000 s
C03512/...
... ...
C03512/15
Acceleration time 15
0.000 s
C03513/1
Deceleration time 1
0.000 s
C03513/...
... ...
C03513/15
Deceleration time 15
0.000 s
C03514/1
S-ramp time 1
0.000 s
C03514/...
S-ramp time
C03514/15
S-ramp time 15
... ...
0.000 s
Signal configuration
Control input
(Multiplexer parameters)
276
C03009/8
C03009/9
C03009/10
C03009/11
Standard TAs
TA "Actuator torque" | Torque follower
11.3.6
Torque follower
Torque setpoint
DI3
Gain
DI1
Ramp generator
LS_Quickstop
n
IN
LS_Stop
n
STOP
LS_Brake
internal
status machine
AIN1
OUT
t
Speed limit
DI4
Offset
Selection
DI2
Ramp generator
LS_Torque...
IN
AIN2
OUT
DI6
Fixed setpoints
1
2
15
%
%
Status
machine
(basic drive
functions)
Torque
setpoint
LS_ManualJog
DI7
DI8
LS_Limiter
n
n
t
The torque-controlled operation is requested via the digital input DI2. If no other basic
function and error state are active, the torque-controlled operation is enabled.
r The build-up of the defined torque is controlled via a ramp generator based on the
current torque.
r Based on the current motor speed the internal speed limit value is also led to the
setpoint via a ramp generator after the operation is enabled.
r If the enable of the torque-controlled operation is reset via the digital input DI2, the
drive is decelerated to standstill via an independent profile generator of the basic
function "Stop". Standard stop (C 148)
O Tip!
Detailed information on the torque follower can be found in the chapter "basic
drive functions" subchapter "Torque follower". (C 196)
277
Manual jog
Torque setpoint
DI3
Gain
DI1
Ramp generator
LS_Quickstop
n
IN
LS_Stop
n
STOP
LS_Brake
internal
status machine
AIN1
OUT
t
Speed limit
DI4
Offset
Selection
DI2
Ramp generator
LS_Torque...
IN
AIN2
OUT
DI6
Fixed setpoints
1
2
%
%
15
Status
machine
(basic drive
functions)
Torque
setpoint
LS_ManualJog
DI7
DI8
LS_Limiter
n
n
t
For the setting-up operation the basic function "Manual jog" is available. It is requested via
the digital input DI6. If no other basic function and error status are active, enable is carried
out and the manual jog via the inputs DI7 and DI8 is possible.
r Parameter setting: Tab Application parameter Dialog level Overview Manual jog
Parameters
Lenze setting
Value Unit
C02620
360.0000 Unit/s
C02621
720.0000 Unit/s
C02622
Manual acceleration
360.0000 Unit/s2
C02623
Manual deceleration
1440.0000 Unit/s2
C02624
0.100 s
Signal configuration
Control input
(Multiplexer parameters)
C03155/1
C03155/2
C03155/3
C03155/4
O Tip!
Detailed information on the manual jog function can be found in chapter "Basic
drive functions" subchapter "Manual jog". (C 156)
278
Standard TAs
TA "Actuator torque" | Quick stop
11.3.8
Quick stop
Basic drive functions
DI1
LS_Quickstop
n
LS_Stop
n
STOP
internal
status machine
DI2
LS_Torque...
Status
machine
(basic drive
functions)
Torque
setpoint
M
DI6
LS_ManualJog
DI7
DI8
LS_Brake
LS_Limiter
n
n
t
r The quick stop function can be activated as follows in the Lenze setting:
By setting the digital input DI1 to LOW level.
By a master control via the port LPortAxisIn1:
By setting bit 3 of the bit-coded axis control word.
r Parameter setting: Tab Application parameter Dialog level Overview Quick stop
Parameters
Lenze setting
Value Unit
C00105
C00106
C00107
0.000 s
0.00 %
Motor reference speed (C00011)
Signal configuration
Control input
(Multiplexer parameters)
C03135/1
C03135/2
C03135/3
O Tip!
Detailed information on quick stop can be found in chapter "Basic drive functions"
subchapter "Quick stop". (C 152)
279
Limiter
Basic drive functions
DI1
LS_Quickstop
n
LS_Stop
n
STOP
internal
status machine
DI2
LS_Torque...
Status
machine
(basic drive
functions)
Torque
setpoint
M
DI6
LS_ManualJog
DI7
DI8
LS_Brake
LS_Limiter
n
n
t
Note!
The parameterised limit values are not effective for the basic functions "Speed
follower", "Torque follower" and "Position follower"!
For the exceeding of the limit values an error response can be set.
Lenze setting
Value Unit
Limitations effective
C02703
Max. speed
3600.0000 Unit/s
C02705
Max. acceleration
3600.0000 Unit/s2
C02706
C02707
100 ms
Deactivated
Signal configuration
Control input
(Multiplexer parameters)
C03150/1
C03150/2
O Tip!
Detailed information on the limiter function can be found in chapter "Basic drive
functions" subchapter "Limiter". (C 200)
280
Standard TAs
TA "Actuator torque" | Brake control
11.3.10
Brake control
Basic drive functions
DI1
LS_Quickstop
n
LS_Stop
n
STOP
internal
status machine
DI2
LS_Torque...
Status
machine
(basic drive
functions)
M
LS_ManualJog
DI7
DI8
Torque
setpoint
DI6
LS_Brake
LS_Limiter
n
n
t
Note!
In the Lenze setting the brake control is switched off to reach a safe status after
mains connection.
O Tip!
Detailed information on brake control can be found in chapter "Basic drive
functions" subchapter "Brake control". (C 211)
281
r Parameter setting: Tab Application parameter Dialog level Overview Brake control
Parameters
Lenze setting
Value Unit
C02580
C02581
C02582
C02583
C02585
C02586
Starting torque 1
0.00 Nm
C02587
Starting torque 2
0.00 Nm
C02588
C02589
100 ms
C02590
100 ms
C02591
C02593
C02594
Test torque
C02595
C02596
Grinding speed
C02597
C02598
Grinding ON time
0.5 s
C02599
0.5 s
100 ms
0.000 s
5
100 rpm
Control/setpoint input
1.000 s
Signal configuration
(Multiplexer parameters)
C03165/1
C03165/2
C03165/3
C03165/4
C03165/5
0 % Additional torque
282
50 rpm
0.00 Nm
C03166
Standard TAs
TA "Actuator torque" | Signal configuration of drive and motor interface
11.3.11
Control input
Signal configuration
C03130/1
C03130/2
C03130/3
C03130/4
C03130/5
C03130/6
Motor interface
Signal (Lenze setting)
Setpoint input
Signal configuration
C03141/1
C03141/2
283
Output port
Signal configuration
C03120/1
C03120/2
C03120/3
C03120/4
C03120/5
C03120/6
C03120/7
C03120/8
C03120/9
C03120/10
C03120/11
C03120/12
C03120/13
C03120/14
C03120/15
C03120/16
284
C03124/1
C03124/2
Standard TAs
TA "Actuator torque" | Signal configuration of the output ports
Output port
Signal configuration
Status word 1
Drive ready Status word 1 bit 00
C03121/1
C03121/2
C03121/3
C03121/4
C03121/5
C03121/6
C03121/7
C03121/8
C03121/9
C03121/10
C03121/11
C03121/12
C03121/13
C03121/14
C03121/15
C03121/16
Output port
Signal configuration
Status word 2
C03122/1
C03122/2
C03122/3
C03122/4
C03122/5
C03122/6
C03122/7
C03122/8
C03122/9
C03122/10
C03122/11
C03122/12
C03122/13
C03122/14
C03122/15
C03122/16
285
Error-ID
Error response
8001
Warning locked
8000
Error
8000
Error
8000
Error
8000
Error
8000
Error
8000
Error
8000
Error
Lenze setting
C05900
Module-ID
C05901/1...8
Error ID 1 ... 8
980
C05902/1...8
286
12
Required license/delivery
Slitters
Calender drives
Line drives
Conveying belts
Vibrators
Roller mills
Stretching machines
Wire drawing machines
Printing units
Asynchronous cross cutters
Perforating machines
Insetters
Vibrating drives
Line drives
Labelling machines
287
Introduction
The following subchapters provide information on the electrical shaft.
12.1.1
r A drive with a virtual master or a real master (encoder) is able to create the master
angle and transmit this to the other drives which follow this master angle.
Advantages of this type of synchronisation
r The communication between the drives is very simple. A time-consuming evaluation of
the status signals of each drive and the control signals to be generated from it for each
single drive is not required.
r Due to the flexible electronics trimming functions can be carried out very easily. Thus,
motion sequences in machines can be easily synchronised and optimised.
r A variation of the master angle speed changes the number of cycles of the machine.
The drives keep the position allocation.
288
12.1.2
X10: DFout
vR
v
[12-1] Example "Virtual master" (with master value transmission via digital frequency extension module)
Real master
r The master value for a slave drive can
be also specified by a real master (e.g.
external encoder).
Real master/
Slave 1
X9: DFin
X10: DFout
i1
d1
i2
d2
v R1
v1
v R2
v2
[12-2] Example "Real master" (with master value transmission via digital frequency extension module)
289
Note!
For detailed information about the CANopen system bus interface, please see
the "CAN on-board 9400" Communication Manual.
290
Note!
For detailed information about the ETHERNET Powerlink, please see the
"Ethernet" Communication Manual.
12.1.4
12.1.5
12.1.6
291
12.1.8
Electronic gearbox
The electronic gearbox respresents the simplest function in the DC-bus operation via the
electrical shaft. The function is suited for e.g. material transport or material processing. A
direct synchronism of tools to a material path can be created without direct position
reference or for stretching plants with adjustable stretching ratio.
TA "Electronic gearbox" (C 297)
Absolute synchronism
This function is suited for applications with continuously rotating tools (e.g. groove
cylinder), which are fed with material in a fixed machine cycle and for which several tools
have to be synchronised to each other.
Relative synchronism (with mark synchronisation)
This function is suited for processing continuous material in the form of a material web.
Here the tools (e.g. pressure cylinders) are aligned via marks to e.g. print images which are
located on the web. There must be no risk of collision. We distinguish between "Relative
synchronism with register formation and mark synchronisation" and "Relative
synchronism with register control".
TA "Synchronism with mark synchronisation" (C 332)
Absolute table synchronism (cam)
Like "Absolute synchronism", although the tools can also perform a non-linear movement.
292
Application examples
Electronic gearbox with virtual master
System bus
Master/Slave
i1
d1
v R1
Slave
i2
d2
v R2
System bus
Master/Slave
i1
d1
v R1
Slave
i2
d2
v R2
i3
d3
v R3
293
Slave
Digital
frequency
i1
d1
i2
d2
v R1
i3
d3
v R2
v1
v R3
v2
v3
n Real master/slave 1
o Slave 2
p Digital frequency cascade (digital frequency extension module required)
[12-5] Electronic gearbox with real master (cascade)
294
Slave
Slave
Digital
frequency
i1
d1
i2
d2
v R1
i3
d3
v R2
i4
v R3
v1
d4
v R4
v3
v4
n Real master/slave 1
o Slave 2 with master value trimming
p Slave 3
q Digital frequency cascade (digital frequency extension module required)
[12-6] Trimming function in case of the electronic gearbox as cascade
System bus
Master/Slave
Slave
i1
d1
Slave
i2
v R1
d2
a2
i3
v R2
d3
a3
v R3
v
295
In case of the relative synchronism with mark synchronisation, there is a position reference
between tool and web, which occurs in each register. For this, a slight correction is
superimposed to the synchronous motion with regard to the web. Such applications are,
for instance, printing machines.
For the mark synchronisation in particular the register r (the cycle of the guiding angle)
and the distance of the sensor s from the home position of the tool (distances a2 and a3)
are relevant.
Relative synchronism with mark synchronisation and real master
System bus
Master/Slave
i1
d1
Slave
i2
v R1
d2
i3
v R2
a2
d3
a3
v R3
v
296
12.2
TA "Electronic gearbox"
The technology application "Electronic gearbox" serves to implement a synchronism with
adjustable stretching ratio between the drives in the system.
r The ratio can be freely adjusted, the values are input in the form of a fraction
(numerator/denominator) with 32 bit resolution.
r The master value can be specified either by a "Virtual master", or via a bus system or the
digital frequency extension module. It is selected from the Application parameter tab
via the Master value source list field (C03052).
r The master value transmission (high speed stability) is preset. The actual values can be
transmitted by the corresponding selection in the list fields Master value output
(C3054/1, C3054/2, C3197).
Note!
The electrical shaft can be implemented with a bus system as e.g. system bus
(CAN) or Ethernet Powerlink or via digital frequency transmission.
With regard to the configuration of the digital frequency extension module in
the controller, two variants of technology applications are available in the
Engineer application catalog.
In the TA variant "Electronic gearbox" the configuration of a digital frequency
extension module is expected. Therefore, the TA can provide the function of
the electrical shaft either via digital frequency transmission and via a bus
system.
In the TA variant "Electronic gearbox MotionBus" the configuration of a digital
frequency extension module is not included and corresponding interfaces are
not available in the TA. Thus the function of the electrical shaft with this TA
can only be provided via a bus system.
Functions
r Virtual master with inching, handwheel and reduced speed.
r Master value conditioning (master shaft) with master value scaling, stretch factor and
reversal of rotation direction.
r Virtual clutch with emergency stop and basic speed
r Trimming function via profile generator.
r Master value conditioning (machine axis/tool) with setpoint scaling.
r Additional operating modes for activating the basic drive functions "Homing", "Manual
jog (inching)" and "Position override function".
r Support of the basic drive functions "Quick stop" and "Limiter".
r Following error monitoring.
r Optional control of a holding brake.
297
Real master/
Virtual master
Dv
Slave
LS_Homing
LS_ManualJog
LS_Positioner
LS_Quickstop
n
LS_Limiter
n
STOP
298
12.2.2
12.2.2.1
Terminal X3
AI2AI2+
I/O terminals
Digital inputs
Terminal X5
Quick stop
If DI1 is set to LOW level, the drive is decelerated to standstill within the deceleration
time set for the quick stop function independent of the setpoint selection.
If the quick stop function is deactivated, the drive is led to the selected setpoint again via
the set acceleration time.
Basic drive functions Quick stop (C 152)
DI2
DI3
DI4
Close clutch
DI5
Reset error
By means of a LOW-HIGH edge an existing error status can be reset if the cause of the
fault is removed.
DI6
DI7
DI8
I/O terminals
299
AO2 AO1 GA
Terminal X3
Signal configuration
AO1
Motor speed
Scaling: 10 V motor reference speed (C00011)
C03110/1
AO2
C03110/2
I/O terminals
Digital outputs
Terminal X4
Signal configuration
DO1
C03100/1
DO2
C03100/2
DO3
C03100/3
DO4
"Error" status
If the controller is in the error state, the digital output DO4 is set
to HIGH level.
C03100/4
I/O terminals
State bus
SB 24E GE
Terminal X2
I/O terminals
Signal configuration
C03100/5
Display elements
User LED
Drive interface
300
Signal configuration
C03100/6
12.2.3
Machine parameters
The following schematic diagram shows the relevant global data (machine parameters) for
the interconnection via the electrical shaft:
Master/Slave
Slave
Digital
frequency
i1
l1
d1
i2
v max
i3
d2
d3
Symbol
Description
i1
d1
l1
vmax
Maximum speed
i2, i3
d2, d3
Detailed information for setting the machine parameters can be obtained from the
following subchapters.
301
Note!
When setting (scaling) the electrical shaft, ensure that the ratio and encoder
constants are identical for all drives in the system. The reference to the scaling
of the master drive is sensible.
Lenze setting
Value Unit
C03930
C03931
C03932
Feed constant
360.0000 Unit/incr.
C03933
Path units
User-defined
C03934
C03938
Cycle
360.0000 Unit
C03941
Reference speed
500.0000 Unit/t
d1 = 150 mm
l 1 = 600 mm
302
O Tip!
Setting the cycle (C03938) ony is required if the selection "Modulo" is set as
traversing range (C02528).
For operation with a virtual master the following setting of the gearbox ratio is
recommended to achieve a good resolution of the guiding angle/master value:
Numerator (C03930) = 100
Denominator (C03931) = 1
12.2.3.2
Lenze setting
Value Unit
C00173
Mains - voltage
C00174
400/415 V
C00600
C02520
C02521
C02527
C02570
Controller configuration
C02522
C02523
C02529
285 V
Trouble
Motor rotating CW
Position control
1
1
Encoder rotating CW
Traversing range
C02524
Feed constant
C02525
Unit
C02526
User-defined unit
C02533
Time unit
C00273/1
C00273/2
Modulo
360.0000 Unit
Motor-dependent kg cm2
0.00 kg cm2
O Tip!
Detailed information for selecting and entering the machine parameters for the
machine axis can be found in the chapter "Drive interface
Machine parameters (C 35)
303
i2 = 12.612
d2 = 200 mm
2. Set the same gearbox ratio for the encoder on the load
side:
Numerator (C02522) = 12612
Denominator (C02523) = 1000
3. Set feed constant (C02524).
For the conveyor drive: Vk = d2 * = 628,3185 mm
4. Set the selection "mm" as unit (C02525).
O Tip!
The feed constant corresponds to the movement on the machine side when the
gearbox output shaft carries out one revolution (for selection as angle = 360).
When the unit is set, the real unit of the machine for the selection of physical
values (e. g. speeds, accelerations and decelerations) is defined.
304
C03054/1
LPortAxisIn1
LPortAxisOut1
C03054/2
LPort32Out1
C03052
Dj
4
v
M
Virtual master
v
t
Master value
with clutch
with trimming
Actual value
[12-11] Signal flow for selecting the master value source and the master values to be output
305
Lenze setting
Value Unit
C03565
Operating mode
Continuous operation
C03568/1
Master speed 1
500.0000 Unit/t
C03568/2
Master speed 2
0.1000 Unit/t
C03569/1
50.0000 Unit/t
C03569/2
25.0000 Unit/t
C03570/1
Inching ramp
0.010 s
C03570/2
1.000 s
C03570/3
Stop ramp
1.000 s
Control/setpoint input
FALSE VMas master shaft STOP1
Signal configuration
(Multiplexer parameters)
C03058/1
C03058/3
C03058/4
C03058/5
C03058/7
C03058/8
0 VMaster handwheel
C03056
306
Note!
The technology application "Electronic gearbox" MotionBus" which can also be
selected in the application catalog does not contain any interfaces to the digital
frequency extension module.
O Tip!
Detailed information on the digital frequency extension module can be found in
the User Manual "Digital frequency extension module (E94AYFLF) parameter
setting & configuration".
12.2.4.3
Lenze setting
Value Unit
C03550
Signal configuration
Control input
(Multiplexer parameters)
C03058/9
307
Real master/
Virtual master
Dv
C03006 = 0
M
Slave
O Tip!
A description of the different functions for conditioning the master value can be
found in the following subchapters.
308
12.2.5.1
Dj
C03006 = 0
v
Slave
n Master value
oMaster value with stretch factor
[12-13] "Master value processing" function in the signal flow (schematic diagram)
Lenze setting
Value Unit
C03957
Master value
- Unit/t
C03000
1000000000
C03001
1000000000
C03673
- Unit/t
Lenze setting
Value Unit
C03025
Not inverted
Signal configuration
Setpoint input
(Multiplexer parameters)
C03050/1
C03050/2
309
Virtual clutch
Real master/
Virtual master
Dv
C03006 = 0
v
M
Slave
Lenze setting
Value Unit
C03673
C03021
Activate clutch
Deactivated
C03665/1
Clutch in ramp
1.000 s
C03665/2
Decoupling ramp
1.000 s
C03665/3
Stop ramp
1.000 s
C03668
Jerk limitation
1.000 s
C03674
- Unit/t
- Unit/t
Signal configuration
Control input
(Multiplexer parameters)
C03058/12
C03058/13
310
12.2.5.3
Dv
C03006 = 0
v
Slave
Lenze setting
Value Unit
C03674
C03026
Activate trimming
Deactivated
- Unit/t
C03027
Positive trimming
Inactive
C03028
Negative trimming
C03685
Positive speed
400.0000 Unit/t
C03686
Negative speed
-200.0000 Unit/t
C03687
Acceleration ramp
1.000 s
C03688
Deceleration ramp
1.000 s
C03689
Disable ramp
1.000 s
C03690
Inactive
- Unit/t
Signal configuration
Control input
(Multiplexer parameters)
C03058/15
C03058/17
C03058/18
311
Setpoint conditioning
Real master/
Virtual master
Dv
C03006 = 0
v
Slave
This function is used for speed ratio between the master shaft and the machine axis.
r Parameter setting: Tab All parameters Category Electronic gearbox
ConvertElShaftMotor
Parameters
Lenze setting
Value Unit
C03715
Operating mode
C03717/1
Reference variable X
Unit coupling
1.0000
C03717/2
Reference variable Y
1.0000
312
12.2.6
"Homing" mode
In the "Homing" mode (C03006 = "2") the drive is decoupled from the electrical shaft and
the basic function "Homing" is enabled:
C03006 = 2
v
t t
M
Slave
LS_Homing
LS_ManualJog
LS_Positioner
Lenze setting
Value Unit
C02528
Traversing range
C02640
Ref. mode
Modulo
C02642
HM position
C02643
HM target position
C02644
Ref. speed 1
360.0000 Unit/s
C02645
Home acceleration 1
720.0000 Unit/s2
C02646
Ref. speed 2
180.0000 Unit/s
C02647
Ref. acceleration 2
360.0000 Unit/s2
C02648
C02649
HM torque limit
10.00 %
100 ms
C02650
1.000 s
C02652
C02653
C3011
C3012
Home position
Delete
180
Inactive
100.0000 Unit
313
Signal configuration
Control input
(Multiplexer parameters)
C03160/2
C03160/3
C03160/4
C03163
C03160/5
O Tip!
Detailed information on homing can be found in chapter "Basic drive functions"
subchapter "Homing". (C 164)
314
12.2.7
t t
M
Slave
LS_Homing
LS_ManualJog
LS_Positioner
r Parameter setting: Tab Application parameter Dialog level Overview Manual jog
Parameters
Lenze setting
Value Unit
C02620
360.0000 Unit/s
C02621
720.0000 Unit/s
C02622
Manual acceleration
360.0000 Unit/s2
C02623
Manual deceleration
1440.0000 Unit/s2
C02624
C03007
Inactive
C03008
Inactive
0.100 s
Signal configuration
Control input
(Multiplexer parameters)
C03155/2
C03155/3
C03155/4
C03155/5
O Tip!
Detailed information on the manual jog function can be found in chapter "Basic
drive functions" subchapter "Manual jog". (C 156)
315
"Positioning" mode"
In the "Positioning" mode (C03006 = "8") the drive is decoupled from the electrical shaft
and the basic function "Positioning" is enabled:
C03006 = 8
v
t t
M
Slave
LS_Homing
LS_ManualJog
LS_Positioner
r Parameter setting: Tab Application parameter Dialog level Overview All basic
functions Positioning
Parameters
Lenze setting
Value Unit
C00070
C00071
10.0 ms
C00072
0.00 ms
C02570
Controller configuration
C02554
C02553
20.00 1/s
C03040
C03041
316
Control/setpoint input
0.00700 Nm/rpm
Phase control
60.000 s
Signal configuration
(Multiplexer parameters)
C03185/2
C03185/3
C03185/4
C03185/5
C03186/1
C03186/2
C03185/6
C03185/7
Unit
Profile no. 1
Profile no. 2
Profile no. 3
Profile no. 4
Positioning mode
C03970/1
C03970/2
C03970/3
C03970/4
Unit
Set position
C03971/2
C03971/3
C03971/4
Position
Speed
Unit/t
C03972/1
C03972/2
C03972/3
C03972/4
Acceleration
Unit/t2
C03973/1
C03973/2
C03973/3
C03973/4
Delay
Unit/t2
C03974/1
C03974/2
C03974/3
C03974/4
S-ramp time
C03975/1
C03975/2
C03975/3
C03975/4
TP sequence profile
C03976/1
C03976/2
C03976/3
C03976/4
TP selection
C03977/1
C03977/2
C03977/3
C03977/4
Note!
For profile no. 1 the set position of the tool which belongs to the master position
is always used as target position.
Application: Returning the tool e.g. from a maintenance position to the
network.
"Teach" position
When the control input "Teach position" is set to TRUE, the current tool position is saved in
the profile the number of which is set in C03041. After the control input is reset to FALSE
the position saved last is maintained in the profile.
317
n Switching threshold
o Hysteresis
Parameters
Lenze setting
Value Unit
C03911
Switching threshold
1.0000 Unit
C03916
Hysteresis
0.5000 Unit
Signal configuration
Control input
(Multiplexer parameters)
C03058/21
318
12.2.10
Quick stop
t t
Slave
LS_Quickstop
n
LS_Limiter
n
STOP
r The quick stop function can be activated as follows in the Lenze setting:
By setting the digital input DI1 to LOW level.
By a master control via the port LPortControl1:
By setting bit 2 of the bit-coded control word 1.
r Parameter setting: Tab Application parameter Dialog level Overview All basic
functions Quick stop
Parameters
Lenze setting
Value Unit
C00105
C00106
C00107
0.000 s
0.00 %
Motor reference speed (C00011)
Signal configuration
Control input
(Multiplexer parameters)
C03135/1
C03135/2
C03135/3
O Tip!
Detailed information on quick stop can be found in chapter "Basic drive functions"
subchapter "Quick stop". (C 152)
319
Limiter
t t
Slave
LS_Quickstop
n
LS_Limiter
n
STOP
Lenze setting
Value Unit
Limit values
C02707
C02700
C02701/1
0.0000 Unit
C02701/2
0.0000 Unit
Limitations effective
C02703
Max. speed
3600.0000 Unit/s
C02705
Max. acceleration
3600.0000 Unit/s2
C02706
Deactivated
100 ms
Limited speed 1 ... 4 (only for homing, positioning, and manual jog)
C02708/1
Limited speed 1
C02710/1
C02711/1
C02708/2
Limited speed 2
C02710/2
C02711/2
C02708/3
Limited speed 3
C02710/3
C02711/3
C02708/4
Limited speed 4
C02710/4
C02711/4
3600.0000 Unit/s
0.0100 Unit/s2
100 ms
7200.0000 Unit/s
0.0100 Unit/s2
100 ms
14400.0000 Unit/s
0.0100 Unit/s2
100 ms
28800.0000 Unit/s
0.0100 Unit/s2
100 ms
320
360.0000 Unit
Signal configuration
Control input
(Multiplexer parameters)
C03150/1
C03150/2
O Tip!
Detailed information on the limiter function can be found in chapter "Basic drive
functions" subchapter "Limiter". (C 200)
321
Brake control
The basic function "Brake control" serves to the wear free
control and monitoring of a holding brake.
LS_Brake
Note!
In the Lenze setting the brake control is switched off to reach a safe status after
mains connection.
O Tip!
Detailed information on brake control can be found in chapter "Basic drive
functions" subchapter "Brake control". (C 211)
322
r Parameter setting: Tab Application parameter Dialog level Overview Brake control
Parameters
Lenze setting
Value Unit
C02580
C02581
C02582
C02583
C02585
C02586
Starting torque 1
0.00 Nm
C02587
Starting torque 2
0.00 Nm
C02588
C02589
100 ms
C02590
100 ms
C02591
C02593
C02594
Test torque
C02595
C02596
Grinding speed
C02597
C02598
Grinding ON time
0.5 s
C02599
0.5 s
100 ms
0.000 s
5
100 rpm
Control/setpoint input
1.000 s
Signal configuration
(Multiplexer parameters)
C03165/1
C03165/2
C03165/3
C03165/4
C03165/5
0 % Additional torque
50 rpm
0.00 Nm
C03166
323
Control input
FALSE Set controller inhibit
Signal configuration
C03130/1
C03130/2
C03130/3
C03130/4
C03130/5
C03130/6
Motor interface
Signal (Lenze setting)
Setpoint input
100 % Position controller adaption
C03141/1
C03141/2
C03141/3
C03141/4
C03141/5
324
Signal configuration
C03141/6
Output port
Signal configuration
C03120/1
C03120/2
C03120/3
C03120/4
C03120/5
C03120/6
C03120/7
C03120/8
C03120/9
C03120/10
C03120/11
C03120/12
C03120/13
C03120/14
C03120/15
C03120/16
0 % Axis-Port Out 1
C03124/1
C03054/1
325
Output port
Signal configuration
Status word 1
Drive ready Status word 1 bit 00
C03121/1
C03121/2
C03121/3
C03121/4
C03121/5
C03121/6
C03121/7
C03121/8
C03121/9
C03121/10
C03121/11
C03121/12
C03121/13
C03121/14
C03121/15
C03121/16
Output port
Signal configuration
Status word 2
326
C03122/1
C03122/2
C03122/3
C03122/4
C03122/5
C03122/6
C03122/7
C03122/8
C03122/9
C03122/10
C03122/11
C03122/12
C03122/13
C03122/14
C03122/15
C03122/16
12.2.15
Error-ID
Error response
8001
No reaction
8002
Error
8003
Error
8004
Error
Following error
8005
Warning
8006
Warning
8007
8008
Lenze setting
C03990
Module-ID
999
C03991/1...8
Error ID 1 ... 8
C03992/1...8
Signal configuration
Control input
(Multiplexer parameters)
C03060/1
C03060/2
C03060/3
C03060/4
327
2. Go to the Application parameter tab and select the entry "Virtual master in the list field
Master value source (C03052).
3. Click Technology application to change to the dialog level Overview Electronic
gearbox.
4. Click Master value scaling to change to the dialog level Overview Electronic gearbox
Master value scaling.
Parameterise gearbox ratio, feed constant, cycle, path unit, and reference speed for
the master value.
5. Click Back to change to the previous dialog level.
6. Click virtual master to change to the dialog level Overview Electronic gearbox
Virtual master.
Parameterise desired operating mode, speed and ramps.
328
2. Go to the Application parameter tab and select the entry "Virtual master in the list field
Virtual master (C03052).
3. Make the same settings for all other slave controllers.
Establish network
1. Go to Project view and select the system module
2.
Insert network.
Go to the dialog box Insert network to select the entry "System bus (CAN) from the
list field.
The checkmark in the control field Insert and configure node must be set so that a
machine application is inserted in the Project view together with the network.
329
2. Go to the Connections tab and connect the output port LPortAxisOut1 of the master
controller with the input port LPortAxisIn1 of all slave controllers.
Update devices.
Set the checkmark in the control field Recreate all.
Click Create to start the compiling process.
Note!
This setting is only possible after the compiling process is completed since only
then the process data objects are defined for the data exchange among the
devices.
1. Go to Project view below the network and select the master controller.
2. Go to the Process data objects tab and set a transmission time > 1 ms (e.g. 5 ms) for the
process data object.
330
4. Go to the Application parameter and change to the dialog level Electronic gearbox
Electronic gearbox Master value extrapolation.
5. Set the number of extrapolation cycles to the same value than the transmission time
set before.
This means: In case of a transmission time of 5 ms set for the master set the number
of extrapolation cycles for the slave to the value "5".
6. Make the same settings for all other slave controllers.
Transmit applications to the controller
1.
Go online.
2.
Note!
The downloaded application is basically stored in the first application memory
location of the controller.
The preinstalled technology applications on the following memory locations are
still available.
3. Confirm
4. Confirm
5. Confirm
331
Note!
The electrical shaft can be implemented with a bus system as e.g. system bus
(CAN) or Ethernet Powerlink or via digital frequency transmission.
With regard to the configuration of the digital frequency extension module in
the controller, two variants of technology applications are available in the
Engineer application catalog.
In the TA variant "Synchronism with mark synchronisation" the configuration
of a digital frequency extension module is expected. Therefore, the TA can
provide the function of the electrical shaft either via digital frequency
transmission and via a bus system.
In the TA variant "Synchronism with mark synchronisation MotionBus" the
configuration of a digital frequency extension module is not included and
corresponding interfaces are not available in the TA. Thus the function of the
electrical shaft with this TA can only be provided via a bus system.
332
Functions
r Virtual master with inching, handwheel and reduced speed.
r Conditioning of the master value (master shaft) with master value scaling, register
generation, stretch factor, reversal of rotation direction, and mark synchronisation via
profile generator.
r Virtual clutch with emergency stop and basic speed
r Trimming function via profile generator.
r Conditioning of the setpoint (machine axis/tool) with setpoint scaling, register
generation, and mark synchronisation via profile generator.
r Additional operating modes for activating the basic drive functions "Homing", "Manual
jog (inching)" and "Position override function".
r Support of the basic drive functions "Quick stop" and "Limiter".
r Following error monitoring.
r Optional control of a holding brake.
333
Real master/
Virtual master
Dj
Dj
TP
Slave
Dj
TP
LS_Homing
LS_ManualJog
LS_Positioner
LS_Quickstop
n
LS_Limiter
n
STOP
334
12.3.2.1
Terminal X3
AI2AI2+
I/O terminals
Digital inputs
Terminal X5
Quick stop
If DI1 is set to LOW level, the drive is decelerated to standstill within the deceleration
time set for the quick stop function independent of the setpoint selection.
If the quick stop function is deactivated, the drive is led to the selected setpoint again via
the set acceleration time.
Basic drive functions Quick stop (C 152)
DI2
DI3
DI4
Close clutch
DI5
Reset error
By means of a LOW-HIGH edge an existing error status can be reset if the cause of the
fault is removed.
DI6
Start trimming
DI7
DI8
I/O terminals
335
AO2 AO1 GA
Terminal X3
Signal configuration
AO1
Motor speed
Scaling: 10 V motor reference speed (C00011)
C03110/1
AO2
C03110/2
I/O terminals
Digital outputs
Terminal X4
Signal configuration
DO1
C03100/1
DO2
C03100/2
DO3
C03100/3
DO4
"Error" status
If the controller is in the error state, the digital output DO4 is set
to HIGH level.
C03100/4
I/O terminals
State bus
SB 24E GE
Terminal X2
I/O terminals
Signal configuration
C03100/5
Display elements
User LED
Drive interface
336
Signal configuration
C03100/6
Machine parameters
The following schematic diagram shows the relevant global data (machine parameters) for
the interconnection via the electrical shaft:
Master/Slave
Slave
Digital
frequency
i1
l1
d1
i2
v max
i3
d2
d3
Symbol
Description
i1
d1
l1
vmax
Maximum speed
i2, i3
d2, d3
Detailed information for setting the machine parameters can be obtained from the
following subchapters.
337
Note!
When setting (scaling) the electrical shaft, ensure that the ratio and encoder
constants are identical for all drives in the system. The reference to the scaling
of the master drive is sensible.
Lenze setting
Value Unit
C03930
C03931
C03932
Feed constant
360.0000 Unit/incr.
C03933
Path units
User-defined
C03934
C03938
Cycle
360.0000 Unit
C03941
Reference speed
500.0000 Unit/t
d1 = 150 mm
l 1 = 600 mm
338
O Tip!
Setting the cycle (C03938) only is required if the selection "Modulo" is set as
traversing range (C02528).
For operation with a virtual master the following setting of the gearbox ratio is
recommended to achieve a good resolution of the guiding angle/master value:
Numerator (C03930) = 100
Denominator (C03931) = 1
12.3.3.2
Lenze setting
Value Unit
C00173
Mains - voltage
C00174
400/415 V
C00600
C02520
C02521
C02527
C02570
Controller configuration
C02522
C02523
C02529
285 V
Trouble
Motor rotating CW
Position control
1
1
Encoder rotating CW
Traversing range
C02524
Feed constant
C02525
Unit
C02526
User-defined unit
C02533
Time unit
C00273/1
C00273/2
Modulo
360.0000 Unit
Motor-dependent kg cm2
0.00 kg cm2
O Tip!
Detailed information for selecting and entering the machine parameters for the
machine axis can be found in the chapter "Drive interface
Machine parameters (C 35)
339
i2 = 12.612
d2 = 200 mm
2. Set the same gearbox ratio for the encoder on the load
side:
Numerator (C02522) = 12612
Denominator (C02523) = 1000
3. Set feed constant (C02524).
For the conveyor drive: Vk = d2 * = 628,3185 mm
4. Set the selection "mm" as unit (C02525).
O Tip!
The feed constant corresponds to the movement on the machine side when the
gearbox output shaft carries out one revolution (for selection as angle = 360).
When the unit is set, the real unit of the machine for the selection of physical
values (e. g. speeds, accelerations and decelerations) is defined.
340
C03054/1
LPortAxisIn1
LPortAxisOut1
C03054/2
LPort32Out1
C03052
Dv
4
v
M
Virtual master
v
t
Master value
with clutch
with trimming
Actual value
[12-25] Signal flow for selecting the master value source and the master values to be output
341
Lenze setting
Value Unit
C03565
Operating mode
Continuous operation
C03566
STOP position
0.0000 Unit
C03567
START position
0.0000 Unit
C03568/1
1. master speed
360.0000 Unit/t
C03568/2
2. master speed
180.0000 Unit/t
C03569/1
900.0000 Unit/t
C03569/2
900.0000 Unit/t
C03570/1
Inching ramp
5.000 s
C03570/2
5.000 s
C03570/3
STOP ramp
0.5000 s
Control/setpoint input
FALSE VMas master shaft STOP1
Signal configuration
(Multiplexer parameters)
C03058/1
C03058/3
C03058/4
C03058/5
C03058/6
C03058/7
C03058/8
0 VMaster handwheel
C03056
342
Note!
The technology application "Synchronism with mark synchronisation"
MotionBus" which can also be selected in the application catalog does not
contain any interfaces to the digital frequency extension module.
O Tip!
Detailed information on the digital frequency extension module can be found in
the User Manual "Digital frequency extension module (E94AYFLF) parameter
setting & configuration".
12.3.4.3
Lenze setting
Value Unit
C03550
Signal configuration
Control input
(Multiplexer parameters)
C03058/9
343
"Synchronism" mode"
In the "Synchronism" (C03006 = "0") operating mode the drive follows the master value of
the electrical shaft if the clutch is engaged.
Real master/
Virtual master
Dj
C03006 = 0
Dj
TP
Dj
M
Slave
TP
O Tip!
A description of the different functions for conditioning the master value can be
found in the following subchapters.
344
Dv
C03006 = 0
v
Slave
n Master value
oMaster value with stretch factor
[12-27] "Master value processing" function in the signal flow (schematic diagram)
Lenze setting
Value Unit
C03587
Master value
C03000
1000000000
- Unit
C03001
1000000000
C03025
C03034
Starting position
C03938
C03672
0.0000 Unit
Not inverted
360.0000 Unit
- Unit
Signal configuration
Setpoint input
(Multiplexer parameters)
C03058/11
C03053/1
C03050/1
C03050/2
345
Dj
C03006 = 0
v
Dj
Dj
TP
TP
M
Slave
n Master value
oMaster value with stretch factor
[12-28] "Mark synchronisation" function in signal flow (schematic diagram)
This function serves to carry out a mark synchronisation of the master value via touch
probe sensor.
Note!
For this purpose, the touch probe sensor must be connected to the digital input
DI3!
Lenze setting
Value Unit
C03023
Deactivated
C03612
TP position (register)
0.0000 Unit
C03651
TP limit
1.0000 Unit
C03656
Hysteresis
0.0000 Unit/t2
346
Lenze setting
Value Unit
C03620
Positioning mode
C03621
Deactivation mode
C03623/1
Positive speed
3600.0000 Unit/t
C03623/2
Negative speed
3600.0000 Unit/t
C03626/1
Acceleration ramp
1.000 s
C03626/2
Deceleration ramp
1.000 s
C03626/3
Stop ramp
1.000 s
Signal configuration
Control input
(Multiplexer parameters)
C03058/12
Lenze setting
Value Unit
C02810/3
0 s
C03022
TRUE
C03024
FALSE
347
Virtual clutch
Real master/
Virtual master
Dj
C03006 = 0
v
Dj
Dj
TP
TP
M
Slave
r Parameter setting: Tab Application parameter Dialog level Overview Virtual clutch
Parameters
Lenze setting
Value Unit
C03672
C03021
Activate clutch
Deactivated
C03665/1
Clutch in ramp
1.000 s
C03665/2
Decoupling ramp
2.000 s
C03665/3
Stop ramp
1.000 s
C03674
- Unit
- Unit
Signal configuration
Control input
(Multiplexer parameters)
C03058/13
C03058/14
348
Dj
C03006 = 0
v
Dj
Dj
TP
TP
Slave
Lenze setting
Value Unit
C03674
C03026
Activate trimming
- Unit
Deactivated
C03676
Adjustable range
C03685
Positioning mode
0.0000 Unit/t
0
C03686
Deactivation mode
C03688/1
Positive speed
1000.0000 Unit/t
C03688/2
Negative speed
1000.0000 Unit/t
C03691/1
Acceleration ramp
0.500 s
C03691/2
Deceleration ramp
0.500 s
C03691/3
Stop ramp
1.000 s
C03723
- Unit
Signal configuration
Control input
(Multiplexer parameters)
C03058/15
C03058/16
C03058/17
349
Setpoint conditioning
Real master/
Virtual master
Dj
C03006 = 0
v
Dj
Dj
TP
TP
Slave
This function is used for position ratio between the master shaft and the machine axis.
r Parameter setting: Tab Application parameter Dialog level Overview Synchronism
Setpoint conditioning
Parameters
Lenze setting
Value Unit
C02527
C02536
Cycle
360.0000 Unit
Motor rotating CW
Signal configuration
Control input
(Multiplexer parameters)
C03058/20
350
Dj
C03006 = 0
v
Dj
Dj
TP
TP
Slave
This function serves to carry out a mark synchronisation of the setpoint via touch probe
sensor.
Note!
For this purpose, the touch probe sensor must be connected to the digital input
DI2!
Lenze setting
Value Unit
C03033
Deactivated
C03851
Positive TP limit
1.0000 Unit
C03876
TP limit - hysteresis
0.0000 Unit
Signal configuration
Control input
(Multiplexer parameters)
C03058/24
351
Lenze setting
Value Unit
C03855
Positioning mode
C03856
Deactivation mode
C03858/1
Positive speed
1000.0000 Unit/t
C03858/2
Negative speed
1000.0000 Unit/t
C03861/1
Acceleration ramp
1.000 s
C03861/2
Deceleration ramp
1.000 s
C03861/3
Stop ramp
1.000 s
Signal configuration
Control input
(Multiplexer parameters)
C03058/23
Lenze setting
Value Unit
352
C02810/2
0 s
C03031
TRUE
C03032
FALSE
12.3.6
"Homing" mode
In the "Homing" mode (C03006 = "2") the drive is decoupled from the electrical shaft and
the basic function "Homing" is enabled:
C03006 = 2
v
t t
M
Slave
LS_Homing
LS_ManualJog
LS_Positioner
Lenze setting
Value Unit
C02528
Traversing range
C02640
Ref. mode
Modulo
C02642
HM position
C02643
HM target position
C02644
Ref. speed 1
360.0000 Unit/s
C02645
Home acceleration 1
720.0000 Unit/s2
C02646
Ref. speed 2
180.0000 Unit/s
C02647
Ref. acceleration 2
360.0000 Unit/s2
C02648
C02649
HM torque limit
10.00 %
C02650
1.000 s
C02652
C02653
C3011
Inactive
C3012
Home position
0.0000 Unit
100 ms
Delete
180
353
Signal configuration
Control input
(Multiplexer parameters)
C03160/2
C03160/3
C03160/4
C03163
C03160/5
O Tip!
Detailed information on homing can be found in chapter "Basic drive functions"
subchapter "Homing". (C 164)
354
t t
M
Slave
LS_Homing
LS_ManualJog
LS_Positioner
r Parameter setting: Tab Application parameter Dialog level Overview Manual jog
Parameters
Lenze setting
Value Unit
C02620
360.0000 Unit/s
C02621
720.0000 Unit/s
C02622
Manual acceleration
360.0000 Unit/s2
C02623
Manual deceleration
1440.0000 Unit/s2
C02624
C03007
Inactive
C03008
Inactive
0.100 s
Signal configuration
Control input
(Multiplexer parameters)
C03155/2
C03155/3
C03155/4
C03155/5
O Tip!
Detailed information on the manual jog function can be found in chapter "Basic
drive functions" subchapter "Manual jog". (C 156)
355
"Positioning" mode"
In the "Positioning" mode (C03006 = "8") the drive is decoupled from the electrical shaft
and the basic function "Positioning" is enabled:
C03006 = 8
v
t t
M
Slave
LS_Homing
LS_ManualJog
LS_Positioner
Lenze setting
Value Unit
C00070
C00071
10.0 ms
C00072
0.00 ms
C02570
Controller configuration
C02554
C02553
20.00 1/s
C03040
C03041
356
Control/setpoint input
0.00700 Nm/rpm
Phase control
60.000 s
Signal configuration
(Multiplexer parameters)
C03185/2
C03185/3
C03185/4
C03185/5
0 % Speed override
C03186/1
0 % Acceleration override
C03186/2
C03185/6
C03185/7
Unit
Profile no. 1
Profile no. 2
Profile no. 3
Profile no. 4
Positioning mode
C03970/1
C03970/2
C03970/3
C03970/4
Unit
Set position
C03971/2
C03971/3
C03971/4
Position
Speed
Unit/t
C03972/1
C03972/2
C03972/3
C03972/4
Acceleration
Unit/t2
C03973/1
C03973/2
C03973/3
C03973/4
Delay
Unit/t2
C03974/1
C03974/2
C03974/3
C03974/4
S-ramp time
C03975/1
C03975/2
C03975/3
C03975/4
TP sequence profile
C03976/1
C03976/2
C03976/3
C03976/4
TP selection
C03977/1
C03977/2
C03977/3
C03977/4
Note!
For profile no. 1 the set position of the tool which belongs to the master position
is always used as target position.
Application: Returning the tool e.g. from a maintenance position to the
network.
"Teach" position
When the control input "Teach position" is set to TRUE, the current tool position is saved in
the profile the number of which is set in C03041. After the control input is reset to FALSE
the position saved last is maintained in the profile.
357
Quick stop
t t
Slave
LS_Quickstop
n
LS_Limiter
n
STOP
r The quick stop function can be activated as follows in the Lenze setting:
By setting the digital input DI1 to LOW level.
By a master control via the port LPortControl1:
By setting bit 2 of the bit-coded control word 1.
r Parameter setting: Tab Application parameter Dialog level Overview All basic
functions Quick stop
Parameters
Lenze setting
Value Unit
C00105
C00106
C00107
0.000 s
0.00 %
Motor reference speed (C00011)
Signal configuration
Control input
(Multiplexer parameters)
C03135/1
C03135/2
C03135/3
O Tip!
Detailed information on quick stop can be found in chapter "Basic drive functions"
subchapter "Quick stop". (C 152)
358
12.3.10
Limiter
t t
Slave
LS_Quickstop
n
LS_Limiter
n
STOP
Lenze setting
Value Unit
Limit values
C02707
C02700
C02701/1
0.0000 Unit
C02701/2
0.0000 Unit
Limitations effective
C02703
Max. speed
3600.0000 Unit/s
C02705
Max. acceleration
3600.0000 Unit/s2
C02706
Deactivated
100 ms
Limited speed 1 ... 4 (only for homing, positioning, and manual jog)
C02708/1
Limited speed 1
C02710/1
C02711/1
C02708/2
Limited speed 2
C02710/2
C02711/2
C02708/3
Limited speed 3
C02710/3
C02711/3
C02708/4
Limited speed 4
C02710/4
C02711/4
3600.0000 Unit/s
0.0100 Unit/s2
100 ms
7200.0000 Unit/s
0.0100 Unit/s2
100 ms
14400.0000 Unit/s
0.0100 Unit/s2
100 ms
28800.0000 Unit/s
0.0100 Unit/s2
100 ms
360.0000 Unit
359
Signal configuration
Control input
(Multiplexer parameters)
C03150/1
C03150/2
O Tip!
Detailed information on the limiter function can be found in chapter "Basic drive
functions" subchapter "Limiter". (C 200)
360
12.3.11
Brake control
The basic function "Brake control" serves to the wear free
control and monitoring of a holding brake.
LS_Brake
Note!
In the Lenze setting the brake control is switched off to reach a safe status after
mains connection.
O Tip!
Detailed information on brake control can be found in chapter "Basic drive
functions" subchapter "Brake control". (C 211)
361
r Parameter setting: Tab Application parameter Dialog level Overview Brake control
Parameters
Lenze setting
Value Unit
C02580
C02581
C02582
C02583
C02585
C02586
Starting torque 1
0.00 Nm
C02587
Starting torque 2
0.00 Nm
C02588
C02589
100 ms
C02590
100 ms
C02591
C02593
C02594
Test torque
C02595
C02596
Grinding speed
C02597
C02598
Grinding ON time
0.5 s
C02599
0.5 s
100 ms
0.000 s
5
100 rpm
Control/setpoint input
1.000 s
Signal configuration
(Multiplexer parameters)
C03165/1
C03165/2
C03165/3
C03165/4
C03165/5
0 % Additional torque
362
50 rpm
0.00 Nm
C03166
Control input
FALSE Set controller inhibit
Signal configuration
C03130/1
C03130/2
C03130/3
C03130/4
C03130/5
C03130/6
Motor interface
Signal (Lenze setting)
Setpoint input
100 % Position controller adaption
C03141/1
C03141/2
C03141/3
C03141/4
C03141/5
Signal configuration
C03141/6
363
Output port
Signal configuration
C03120/1
C03120/2
C03120/3
C03120/4
C03120/5
C03120/6
C03120/7
C03120/8
C03120/9
C03120/10
C03120/11
C03120/12
C03120/13
C03120/14
C03120/15
C03120/16
364
0 % Axis-Port Out 1
C03124/1
C03054/1
Output port
Signal configuration
Status word 1
Drive ready Status word 1 bit 00
C03121/1
C03121/2
C03121/3
C03121/4
C03121/5
C03121/6
C03121/7
C03121/8
C03121/9
C03121/10
C03121/11
C03121/12
C03121/13
C03121/14
C03121/15
C03121/16
Output port
Signal configuration
Status word 2
C03122/1
C03122/2
C03122/3
C03122/4
C03122/5
C03122/6
C03122/7
C03122/8
C03122/9
C03122/10
C03122/11
C03122/12
C03122/13
C03122/14
C03122/15
C03122/16
365
Error-ID
Error response
8001
Error
8002
Error
8003
Error
8004
Warning
Following error
8005
Warning
8006
No reaction
8007
Reserved
8008
Warning
Lenze setting
C03990
Module-ID
999
C03991/1...8
Error ID 1 ... 8
C03992/1...8
366
Signal configuration
Control input
(Multiplexer parameters)
C03060/1
C03060/2
C03060/3
13
Required license/delivery
Transport units
Rotary tables
Storage and retrieval units
Feed drives
Dosing machines
Hoists
Transport units
Rotary tables
Storage and retrieval units
Feed drives
Dosing machines
Hoists
367
Introduction
Positioning means to move a workpiece/tool or a piece of material from a starting
position n to a defined targeto.
For this purpose a travel profile is to be provided in the controller, for which at least the
following profile parameters are required:
v [m/s]
A
B
t [s]
Icon
Profile parameters
Position
Target position or path distance to be traversed.
Speed
Maximum speed with which the target is to be approached.
Acceleration
Selection of the change in speed by which acceleration is to be carried out maximally.
Deceleration
Selection of the change in speed by means of which decleration to standstill is to be maximally effected
again.
r A positioning can consist of several profiles which are executed in a specified mode.
r A detailed explanation of all profile parameters can be found in the description of the
TA in subchapter "Profile parameters". (C 390)
368
13.1.1
Application examples
Multi-purpose positioning
Master control
Sequence control for machine (PLC)
PROFIBUS
Drive 1
Drive 2
Table positioning
Table positioning
Firmware
Firmware
Drive interface
Motor interface
Encoder evaluation
I/O terminals
Safety engineering
Logbook
Drive interface
Motor interface
Encoder evaluation
I/O terminals
Safety engineering
Logbook
r The sequential positioning control utilises the traversing blocks of the table positioning
and like this activates the basic function "Positioning" containing the profile
generation.
r Here, the multi-purpose positioning only control the "own motor".
r The sequence of the motor/tool/material control are defined in the multi-purpose
positioning.
369
Master control
Sequence control for machine (PLC)
Positioning control
PROFIBUS
Drive 1
Drive 2
Table positioning
Table positioning
Firmware
Firmware
Drive interface
Motor interface
Encoder evaluation
I/O terminals
Safety engineering
Logbook
Drive interface
Motor interface
Encoder evaluation
I/O terminals
Safety engineering
Logbook
[13-2] Example: Table positioning with higher-level positioning control and networking via PROFIBUS
370
13.2
TA "Multi-purpose positioning"
The technology application "Multi-purpose positioning" enables the drive to execute
parameterisable travel profiles. The program sequence is defined by a sequence table.
Functions
r Sequence control for several successive positioning steps with a break and stop
functions and different auxiliary functions (e. g. deriving, counting, waiting).
r Positioning in different positioning modes
Point-to-point positioning
Touch probe positioning (residual path positioning)
Profile chaining with velocity changeover (overchange)
r Homing in different homing modes
r Profile data management
Support of S profiles (jerk limitation)
Separate setting for acceleration and deceleration
"Teach" function
r Speed-/acceleration override
r Path-dependent switching of outputs
r Following error monitoring
r Support of absolute value encoders
r Support of the basic drive functions "Manual jog" and "Quick stop"
r Monitoring of travel range limits with the basic drive function "Limiter"
r Optional control of a holding brake with the basic drive function "Brake control"
371
Sequencer
LS_Homing
LS_Stop
n
Reset DI5
LS_Brake
internal
status machine
DI6
DI7
PositionerTable
Profiles
Sequencer DI8
input 8
LS_Positioner
Override
Enable
Status
machine
(basic drive
functions)
DI1
LS_Quickstop
LS_Limiter
DI4
STOP
DI3
t
Multi-purpose positioning
Sequence table
Profile data management
Speed/acceleration override
Basic drive functions
Homing
Positioning
Manual jog
Stop
Quick stop
Limiter
! Brake control (optional)
372
13.2.2.1
Terminal X3
AI2AI2+
I/O terminals
Digital inputs
Terminal X5
Quick stop
If DI1 is set to LOW level, the positioning program is interrupted and drive is decelerated
to standstill within the deceleration time set for the quick stop function independent of
the setpoint selection.
After the quick stop function is deactivated, a new LOW/HIGH edge is required at DI6 in
order that the positioning program is continued with the next step.
Quick stop (C 402)
DI2
DI3
DI4
Connection of travel range limit switch for basic function "Limiter". (C 403)
DI3 = positive travel range limit switch, DI4 = negative travel range limit switch.
The inputs respond to the FALSE state (fail-safe).
DI5
DI6
DI7
DI8
I/O terminals
373
AO2 AO1 GA
Terminal X3
Signal configuration
AO1
Motor speed
Scaling: 10 V motor reference speed (C00011)
C03110/1
AO2
C03110/2
I/O terminals
Digital outputs
Terminal X4
Signal configuration
DO1
C03100/1
DO2
C03100/2
DO3
C03100/3
DO4
C03100/4
I/O terminals
State bus
SB 24E GE
Terminal X2
I/O terminals
Signal configuration
C03100/5
Display elements
User LED
Drive interface
374
Signal configuration
C03100/6
13.2.3
Basic settings
13.2.3.1
Machine parameters
The machine parameters describe e.g. the motor end of the mechanics
used.
O Tip!
In the Engineer the most important machine parameters can be adapted to the
machine on the Application parameter tab directly in the topmost Overview dialog
level:
Detailed information for selecting and entering the machine parameters can be
found in the chapter "Drive interface". Machine parameters (C 35)
Lenze setting
Value Unit
C00173
Mains - voltage
400/415 V
C00174
C00600
C02520
C02521
C02527
C02570
Controller configuration
C02522
C02523
C02529
285 V
Trouble
1
1
Motor rotating CW
Phase control
Encoder rotating CW
C02528
Traversing range
C02524
Feed constant
C02525
Unit
C02526
User-defined unit
C02533
Time unit
C00273/1
C00273/2
Unlimited
360.0000 Unit
Motor-dependent kg cm2
0.00 kg cm2
375
Traversing range
By setting the traversing range the machine type/measuring system is set:
Traversing range
Unlimited
Limited
After reaching the position limits, the drive must travel in the
opposite direction again.
For positioning, the home position has to be known. By
homing, the positioning measuring system receives a
fixed reference point (zero point).
Basically, monitoring to the internally maximum usable
value range (231 increments) takes place (software limit
position monitoring of the internal value range). An
overflow of the value range results in the loss of the home
position.
Additionally parameterisable software limit positions can
be activated on the user side for limiting the travel range.
Software limit positions (C 202)
Modulo
Lenze setting
Value Unit
376
C02528
Traversing range
C02536
Unlimited
360.0000 Unit
13.2.3.3
Position control
The dialog level Overview S_Positioner and the subordinated and dialog levels serve to
adapt the parameters relevant for the position control, if required.
Parameters
Lenze setting
Value Unit
C00254
20.00 1/s
C02553
20.00 1/s
C02556
214748.3647 Unit/s
377
Program flow
The program flow of the multi-purpose positioning is selected according to a sequence
table which can contain up to 100 references to "actions".
Multi-purpose positioning
Sequencer
LS_Homing
LS_Stop
Reset DI5
LS_Brake
internal
status machine
DI6
PositionerTable
DI7
Profiles
Sequencer DI8
input 8
LS_Positioner
Status
machine
(basic drive
functions)
Override
Enable
LS_ManualJog
LS_Quickstop
LS_Limiter
n
STOP
n
t
What is an action?
r An action comprises a clear functionality which is described with a few parameters.
r Different action types are available which serve to implement, for instance, program
branching, switching operations, waiting times and counters.
0
000
Set
12
3
4
Standby
End
r Before every action type a defined number of actions is available which can be
individually parameterised. The parameters of the actions of the same type only differ
in the subcode.
r An action can be used in several steps if always exactly the same task is to be carried
out.
r After an action has been processed, the action in the next step of the sequence table is
automatically processed unless it is jumped to another step in the sequence table due
to a branch.
r One action can be maximally processed per computing cycle.
378
13.2.4.1
Function/parameter
Homing
In order to execute a homing process, the action type "Homing" is available which activates the basic
function "Homing".
Note: The "Homing" action does not have its own parameters. The settings for homing are made via
the parameters of the basic function "Homing".
Homing (C 164)
Positioning
To execute a profile, 50 actions of type "Positioning" are available.
The execution of the adjusted profile is only started with activated waiting function if the
sequencer input selected for the waiting function accepts the selected signal state. Sequencer
inputs (C 386)
Parameters
Information
C04513/1...50
Profile number
C04511/1...50
C04512/1...50
C04514/1...50
Sequence step
Branching
0
1
25 actions of type "Branching" are available for conditional and unconditional branches (jumps).
A branch to the indicated step is executed when the selected sequencer input has the selected
signal state at the time of processing. If not, the sequence step is processed in the sequence
table. Sequencer inputs (C 386)
Parameters
Information
C04530/1...25
Input for
comparison
C04531/1...25
Comparison
value
C04532/1...25
Sequence step in
case of equality
379
Action type
Function/parameter
Variable branching
1
2
n
For variable branches (jumps) 5 actions of type "Variable branching" are available.
The branch to one of 20 possible steps is executed depending on the value in C03001 ... C03005
at the time or processing.
The parameters C03001 ... C03005 are firmly assigned to the five available actions:
C03001 determines the branch for action 1.
C03002 determines the branch for action 2, etc.
Example:
If C03002 is assigned to the value "15" at the time of processing the action no. 2, it is branched to
the step which is entered in the parameter "Sequence step at branch value 15" for action no. 2
(C04554/2).
Parameters
Information
C04540/1...5
Sequence step at Step which is executed next when C03001 ... C03005 = "1".
branch value 1
With the default setting "0" the branching is deactivated
(sequence step is processed).
C04541/1...5
Sequence step at Step which is executed next when C03001 ... C03005 = "2".
branch value 2
In the default setting "0", branching is deactivated and
the next step in the sequence table is processed.
...
...
C04559/1...5
Sequence step at Step which is executed next when C03001 ... C03005 = "20".
branch value 20
In the default setting "0", branching is deactivated and
the next step in the sequence table is processed.
...
Switching
In order to switch digital output signals 25 actions of type "Switching" are available.
Each action can set two selectable sequencer outputs to FALSE or TRUE independently of each
other. Sequencer outputs (C 386)
Parameters
Information
C04520/1...25
Output A
switching
C04521/1...25
C04522/1...25
Output for B
switching
C04523/1...25
Set counter
000
Set
10 actions of type "Set counter" are available for setting one of the 10 available counters to a certain
starting value.
The 10 actions of type "Set counter" are not firmly assigned to the 10 actions of the "Counting"
type.
You can use, for instance, an action of type "Set counter" to set a counter to a value and later you
can set the same counter with another action of type "Set counter" to another value.
Parameters
380
Information
C04580/1...10
Counter selection With the setting "0" the setting of the counter is deactivated.
C04581/1...10
New counter
content
C04582/1...10
Current counter
content
Read only
Action type
Function/parameter
Count
3
12
4
Information
C04590/1...25
Counter selection With the setting "0" the setting of the counter is deactivated.
C04591/1...25
Step value
C04592/1...25
Comparison
value
C04593/1...25
Sequence step
C04594/1...25
Comparison
condition
Wait
25 actions of type "Wait" are available for the insertion into the program flow.
The sequence step is only processed after the waiting time has elapsed or when the selected
sequencer input has the selected signal state at the time of processing. Sequencer inputs
(C 386)
Parameters
Information
C04571/1...25
Waiting time
C04572/1...25
C04573/1...25
Stand-by
Standby
5 actions of type "Stand-by" are available for the temporary activation of a setpoint follower.
For a sensible use of the "Standby" action, appropriate signal combinations are required in the
(enabled) function block editor.
The setpoint follower is enabled until the condition for exiting the stand-by is met.
Parameters
Information
C04601/1...5
C04602/1...5
Program end
End
To define the program end in the sequence table or delete a program step, the action of type
"Program end" is available.
381
Reset DI5
Sequencer
LS_Homing
Enable/activate
homing
DI6
DI7
Sequencer DI8
input 8
Status
machine
(basic drive
functions)
Note!
The "Homing" action for the sequence table does not have its own parameters.
The settings for homing are made via the parameters of the basic function
"Homing".
Lenze setting
Value Unit
382
C02528
Traversing range
C02640
Ref. mode
Unlimited
C02642
HM position
C02643
HM target position
C02644
Ref. speed 1
360.0000 Unit/s
C02645
Home acceleration 1
720.0000 Unit/s2
C02646
Ref. speed 2
180.0000 Unit/s
C02647
Home acceleration 2
360.0000 Unit/s2
C02648
C02649
HM torque limit
10.00 %
C02650
1.000 s
C02652
C02653
100 ms
Delete
180
Signal configuration
Control input
(Multiplexer parameters)
C03160/1
C03160/2
C03160/3
C03160/4
C03160/5
C03163
O Tip!
Detailed information on homing can be found in chapter "Basic drive functions"
subchapter "Homing". (C 164)
383
Sequencer
LS_Positioner
Enable/activate
positioning
DI6
DI7
Status
machine
(basic drive
functions)
PositionerTable
Sequencer DI8
input 8
Profiles
Profile
number
Profile
data
r Use the parameter Profile number of the action to select the number or the table
position of the profile to be executed. The final profile data are then given to the basic
function by the Profile data management. (C 390)
r The execution of the adjusted profile is only started with activated waiting function if
the sequencer input selected for the waiting function accepts the selected signal
state. Sequencer inputs (C 386)
O Tip!
Detailed information on positioning can be found in the chapter "Basic drive
functions" subchapter "Positioning". (C 176)
384
13.2.4.4
Branch 1 value
C03001
<1
>20
Following
step
[13.1]
20
Next step
Next step
Next step
C04540/1
C04541/1
C04559/1
O Tip!
Instead of the parameters C03001 ... C03005 you can also assign other signal
sources of the application to the "branch" inputs via multiplexer parameters.
r Parameter setting: Tab Application parameter Dialog level Overview L_Sequencer
Parameters
Lenze setting
Value Unit
C03001
Branch value 1
C03002
Branch value 2
C03003
Branch value 3
C03004
Branch value 4
C03005
Branch value 5
Signal configuration
Control input
(Multiplexer parameters)
C03079/1
C03079/2
C03079/3
C03079/4
C03079/5
385
Step 12
Step 13
Step 14
Action number: 2
C03002 = 4 W jump to step number [C04543/2]
C04543/2 = 16
Action number: 3
C03003 = 20 W jump to step number [C04559/3]
C04559/3 = 12
1
n
Step 15
Step 16
Step 17
1
n
[13.2]
13.2.4.5
Sequencer inputs
In order to control conditional branches and the optional waiting function of some action
types during the program flow, 32 sequencer inputs of "BOOL" type.
r The sequencer inputs 1 ... 16 can be linked with the signal sources of the application or
device interfaces in the dialog level Overview L_Sequencer Program inputs via
multiplexer parameters.
r In case of the action types "positioning", "branching", "waiting" and "stand-by" it can be
defined for each action which of the sequencer inputs can be called during the program
sequence for the corresponding function.
Note!
The sequencer input 8 in the Lenze setting is linked with the digital input DI8.
Sequencer outputs
Via a DWORD-to-BIT-converter, 32 sequencer outputs of type "BOOL" are available for
"switching" which can be set to FALSE or TRUE with the action type "switching".
r These sequencer outputs can be connected with the inputs of the application or device
interfaces via multiplexer parameters.
386
r The following table lists the corresponding module outputs of the FB interconnection
and the corresponding selection numbers for the multiplexer parameters:
Module output
SequencerOutput.bBit0
Signal type
SequencerOutput.bBit1
SequencerOutput.bBit2
...
... ...
SequencerOutput.bBit31
387
Basic procedure
In the default setting the sequence table contains a small "Positioning program", which
first rotates the axis 360 clockwise and afterwards 360 counter-clockwise.
Proceed as follows to define the desired program flow:
1. Select the program step (1 .... 100) to be edited on the left in the sequence table.
2. Select the action type for the selected program step by clicking it.
3. If the selected action type provides more than one action, select the action to be
parameterised from the list field Selection of action number.
The next free action is suggested automatically.
4. Enter a comment about the action (optional).
5. Set parameters of the action.
If required, call the corresponding subsequent dialogs.
6. Repeat step 1 ... 5 until all actions required for the program flow are parameterised.
388
13.2.4.8
Note!
In the following cases the program flow is interrupted:
The controller inhibit is activated.
Quick stop is activated.
The drive interface changes to an error status.
If the controller is not inhibited, a shutdown of the drive via the basic function
"Quick stop" is effected.
After the interruption is deactivated again (e.g. because an activated quick stop
has been deactivated again), a renewed LOW/HIGH edge is required at the
digital input DI6 in order that the positioning program can be continued with
the sequence step.
Lenze setting
Value Unit
C03000
Starting step
C04504
Jump destination
Signal configuration
Control input
(Multiplexer parameters)
C03079/6
C03070/1
C03070/2
C03070/6
C03070/7
C03070/8
389
Sequencer
LS_Homing
LS_Stop
n
PositionerTable
LS_Brake
internal
status machine
Profiles
LS_Positioner
Status
machine
(basic drive
functions)
Override
Enable
LS_ManualJog
LS_Quickstop
n
LS_Limiter
n
STOP
n
t
The profile data management serves to file and manage up to 100 (travel) profiles.
r A profile describes a motion request which can be converted by the basic drive function
"Positioning" into a rotary motion.
r To execute a profile, 50 actions of type "Positioning" are available for the sequence
table.
r The profile data management also enables the "teaching" of speed, acceleration/
deceleration and S-ramp times. "Teach" function (C 398)
13.2.5.1
Profile parameters
A profile is described by the following profile parameters:
v [m/s]
v [m/s]
TP
B
E
D
C
TP window
E
F
E
t [s]
F
G
t [s]
390
Icon
Profile parameters
(Standard) profile
Profile data set (profile no. 1 ... 100) in which the profile data are stored.
Mode
Selection of the positioning mode.
Position
Target position or path distance to be traversed.
The position is either indicated as absolute or relative position.
An absolute position always specifies the distance to the zero position defined:
absolute position = target position
80
30
10
P1
10
P3
P2
20
30
40
50
60
70
80
90
100
A relative position indicates the distance to the starting position (current position):
Relative position = target position - starting position
10
0
B
P1
20
P2
10
20
30
P3
50
40
50
60
70
80
90
100
Speed
Maximum speed with which the target is to be approached.
Depending on the profile parameter position, acceleration and deceleration, it is possible that the
drive may not reach the maximum speed. In this case, the graph would display a triangle instead of
a trapezium.
n Acceleration
o Travelling speed (is not reached here)
pDeceleration
q Target position (or feed distance)
v [m/s]
vpos
t [s]
Acceleration
Selection of the change in speed by which acceleration is to be carried out maximally.
The following two acceleration types are distinguished:
Constant acceleration: the speed increases linearly.
Linearly increasing acceleration: The speed increases in S-shapes.
n Constant acceleration
o Linearly increasing acceleration
v [m/s]
vpos
t [s]
v [m/s]
vpos
t [s]
Deceleration
Selection of the change in speed by means of which decleration to standstill is to be maximally effected
again.
391
Icon
Profile parameters
S-ramp time
When the S-ramp time is selected for a profile, it is executed with S-shaped ramps, e.g. acceleration and
deceleration processes are started smoothly to reduce the jerk and thus prevent the drive components
from damage.
The acceleration/deceleration specified in the profile are only reached after the defined S-ramp time
has elapsed.
This type of acceleration/deceleration is required for e.g. sensitive machine parts with clearance.
The slower acceleration increase with the S profile prolongs the positioning time compared to the
time optimal L profile.
v [m/s]
t [s]
t [s]
Final speed
Selection of the speed by which the drive is to start the next profile after reaching the target position.
"Velocity changeover" or "Overchange" can be implemented with a final speed that is non-zero, i.e.
when the target position is reached, a second positioning process is started immediately without the
drive being decelerated to standstill at the first target position:
n Target position
o Final speed (here non zero)
v [m/s]
vpos
vend
t [s]
392
13.2.5.2
Variable tables
To simplify parameter handling, the four most important physical sizes for profile
parameters are stored in separate "variable tables".
Unit
VTPos
Positions
VTSpeed
Speeds
VTAcc
Acceleration/
deceleration
VTJerk
S-ramp times
Unit
Unit/s
Unit/s2
Data format
Memory locations
Code
For profile
parameters
50
50
50
C04711/1...100
C04712/1...50
C04713/1...50
C04714/1...50
Target position
TP window starting position
TP window end position
Speed
Final speed
Acceleration
Deceleration
S-ramp time
Note!
A value is assigned to a profile parameter by referring to a table position of the
assigned variable table.
Hence, not the value itself is entered into the profile parameter but the index
of the table position which contains the value to be used.
See the example in the illustration [13-9]. (C 393)
Mode
Position
Speed
Acceleration
Deceleration
Jerk time
End speed
TP window start position
TP window end position
Next TP profile
Next profile
Mode
Position
Speed
Acceleration
Deceleration
Jerk time
End speed
TP window start position
TP window end position
Next TP profile
Next profile
Profile 1
3
3
1
1
2
1
50
6
7
12
2
Profile 2
4
4
2
1
3
1
50
6
8
13
5
VTPOS
VTPOS
VTACC
VTACC
VTJERK
VTPOS
VTPOS
1
2
...
100
VTSPEED
1 200 [unit]/s
2 400 [unit]/s
...
50 50 [unit]/s
VTACC
VTPOS
VTACC
VTACC
VTJERK
1
2
...
50
VTJERK
VTPOS
VTPOS
1
2
...
50
r In case of several references to the same table position, a change of the value in this
table position affects several profiles at the same time. Thus, recurring profile
parameters only need to be changed on one position.
393
r If e.g. in case of a profile chaining, several profiles are to be executed with the same
speed, the corresponding profile parameters "speed" can all refer to the same table
position.
r For an easier assignment and identification of the entered values, each table position
can be optionally provided with a comment in the Engineer.
394
13.2.5.3
Positioning modes
According to the traversing range/application, different position modes are available for a
positioning function which are described in the following table.
Note!
For absolute positioning the home position must be known!
If an absolute positioning (positioning modes 1 ... 2 and 11 ... 16) is started
although the home position is not known, an error message is output.
In this case a programming error has occurred and the program flow must be
reset.
If the error only occurs in a sequence profile, the last valid deceleration is used
to decelerate the drive to standstill.
Positioning mode
1 Absolute
The axis travels to an absolute position.
Reference for the absolute position is zero position.
The home position must be known.
The traversing range is limited:
to 214748.3647 [unit]
by the internal display area (231 increments)
Not possible with "modulo" traversing range.
2 Absolute TP
Like mode 1, but with profile change when a touch probe is detected.
Touch probe positioning. (C 397)
5 Relative
The axis is traversed by a distance.
Reference for the distance is the target position of the profile executed before.
The feed per positioning is limited:
to 214748.3647 [unit]
by the internal display area (231 increments)
6 Relative TP
Like mode 5, but with profile change when a touch probe is detected.
Touch probe positioning. (C 397)
7 Speed
Continuous constant travel.
Only possible with "unlimited" and "limited" traversing range
This mode does not approach a defined position, but follows the profile.
Acceleration and deceleration are based on profile values.
The traversing direction is defined by the sign of the traversing speed.
Stopped through break signal.
8 Speed TP
Like mode 7, but with profile change when a touch probe is detected.
Touch probe positioning. (C 397)
11 Absolute CW
The axis travels in CW direction to an absolute position.
Only possible with "modulo" traversing range
Reference for the absolute position is zero position.
In this direction the zero position of the axis can be overtravelled.
12 Absolute CW TP
Like mode 11, but with profile change when a touch probe is detected.
Touch probe positioning. (C 397)
395
Positioning mode
13 Absolute CCW
The axis travels in CCW direction to an absolute position.
Only possible with "modulo" traversing range
Reference for the absolute position is zero position.
In this direction the zero position of the axis can be overtravelled.
14 Absolute CCW TP
Like mode 13, but with profile change when a touch probe is detected.
Touch probe positioning. (C 397)
15 Absolute ShortestWay
The axis travels in best time to an absolute position.
Only possible with "modulo" traversing range
Reference for the absolute position is zero position.
The rotary table positioning is basically an absolute positioning with target positions between 0 and 360
angular degree []. In this mode the zero point can also be overtravelled if this is the shortest way to the
target position:
360/0
300
60
240
120
180
16 Absolute ShortestWay TP
Like mode 15, but with profile change when a touch probe is detected.
Touch probe positioning. (C 397)
396
13.2.5.4
v [m/s]
Profile 4
Profile 7
t [s]
Touch probe
Mode
Position
Speed
...
Next TP profile
Next profile
Profile 4
v [m/s]
Profile 4
Profile 7
Touch probe
Profile 7
Mode
Position
Speed
...
Next TP profile
Next profile
t [s]
n "Starting profile"
o "Residual path profile" that is defined in the profile parameter "Sequence profile with TP" of the starting profile.
[13-10] Examples for a "residual path positioning" after a touch probe is detected
r The profile parameters "TP window start" and "TP window end" the range in which
touch probes are to be detected can be restricted.
If both profile parameters = "0", touch probe detection will be active for the whole
profile/the whole traversing range.
r If no touch probe is detected and after the profile is executed, the positioning is
continued with the profile defined in the profile parameter "Sequence profile without
TP" (profile chaining).
Note!
If a profile is travelled with high speed and touch probe positioning is started,
the residual path of which is smaller than the result from current speed and set
deceleration ramp, the target position is "overtravelled".
Normally a reversing movement occurs, i.e. the drive returns.
If, for instance, a CCW rotation of the drive is forbidden by the safety module,
the target cannot be approached since in this case the reversing movement is
not permissible.
Further constellations are possible in connection with profile chaining in which
an approach of the target position is impossible.
397
"Teach" function
The "Teach" function of the profile data management enables the teaching of positions,
speeds, accelerations and S-ramp times.
The basic function "Manual jog" serves, for instance to approach the desired position
manually and transmits it via "Teaching" to the variable table for positions.
r Parameter setting: Tab Application parameter Dialog level Overview
L_PositionerTable
Control/setpoint inputs of the function
Lenze setting
Control/setpoint input
FALSE Teach position
(Multiplexer parameters)
C03020/1
C03029/1
C03125
C03020/2
C03029/2
C03024
Signal configuration
C03020/3
C03029/3
C03027
C03020/4
C03029/4
C03028
Note!
After the function block editor is enabled the "Teach" function must be
configured directly in the FB interconnection instead of via the parameters
mentioned before!
398
13.2.6
Speed/acceleration override
Multi-purpose positioning
Sequencer
LS_Homing
LS_Stop
n
PositionerTable
LS_Brake
internal
status machine
Profiles
LS_Positioner
Status
machine
(basic drive
functions)
Override
Enable
LS_Quickstop
n
LS_Limiter
n
STOP
n
t
"Override" is the change of profile parameters and their acceptance during the positioning
process.
In this case the travel profile is adapted accordingly so that if the speed is changed during
the positioning process ("speed override"), the specified target position is still positioned
exactly.
v [m/s]
Dt
t [s]
Control/setpoint input
Signal configuration
(Multiplexer parameters)
C03185/5
C03186/1
C03186/2
399
n Switching threshold
o Hysteresis
Lenze setting
Value Unit
C03911
Switching threshold 1
100.0000 Unit
C03914
Switching threshold 2
200.0000 Unit
C03917
Hysteresis 1
0.0000 Unit
C03920
Hysteresis 2
0.0000 Unit
C05902/1
Warning
C05902/2
Warning locked
400
Signal configuration
Control input
(Multiplexer parameters)
C03058/1
C03058/2
13.2.8
Manual jog
For the setting-up operation and
"Teaching" of positions the basic function
"Manual jog" is available.
LS_Stop
n
LS_Brake
internal
status machine
LS_Positioner
Status
machine
(basic drive
functions)
LS_ManualJog
LS_Quickstop
n
LS_Limiter
n
STOP
n
t
r Parameter setting: Tab Application parameter Dialog level Overview Manual jog
Parameters
Lenze setting
Value Unit
C02620
360.0000 Unit/s
C02621
720.0000 Unit/s
C02622
Manual acceleration
360.0000 Unit/s2
C02623
Manual deceleration
1440.0000 Unit/s2
C02624
0.100 s
C03007
FALSE
C03008
FALSE
C03009
FALSE
Signal configuration
Control input
(Multiplexer parameters)
C03155/1
C03155/2
C03155/3
C03155/4
C03155/5
O Tip!
Detailed information on the manual jog function can be found in chapter "Basic
drive functions" subchapter "Manual jog". (C 156)
401
Quick stop
The basic function "Quick stop" brakes the
drive to standstill within the deceleration
time set for the quick stop function after a
corresponding request independent of the
setpoint selection. The sequence control is
interrupted.
LS_Stop
n
LS_Brake
internal
status machine
LS_Positioner
Status
machine
(basic drive
functions)
DI1
LS_ManualJog
LS_Quickstop
n
LS_Limiter
n
STOP
n
t
r The quick stop function can be activated as follows in the Lenze setting:
By setting the digital input DI1 to LOW level.
By a master control via the port LPortControl:
By setting bit 2 of the bit-coded control word 1.
r Parameter setting: Tab Application parameter Dialog level Overview All basic
functions Quick stop
Parameters
Lenze setting
Value Unit
C00105
C00106
C00107
0.000 s
0.00 %
Motor reference speed (C00011)
Signal configuration
Control input
(Multiplexer parameters)
C03135/1
C03135/2
C03135/3
O Tip!
Detailed information on quick stop can be found in chapter "Basic drive functions"
subchapter "Quick stop". (C 152)
402
13.2.10
Limiter
Status
machine
(basic drive
functions)
M
LS_Limiter
DI4
n
DI3
t
r The software limit positions which can be set via parameters serve to limit the travel
range by means of software and prevent that travel commands are executed which
would cause an exit of the permissible travel range.
r Moreover, the travel range limits are monitored via limit switches via the digital inputs
DI3 and DI4.
Note!
The digital inputs DI3 and DI4 are configured fail-safe in C00114/3 and C00114/
4 , i.e. a HIGH level is expected at both inputs in idle state.
If the travel range limits should not be monitored (e.g. in case of a rotary axis),
set the limit switch inputs of the basic function "Limiter" permanently to
FALSE.
The parameterised limit values for travel profiles are not effective for the basic
functions "Speed follower", "Torque follower" and "Position follower"!
For the exceeding of the limit values an error response can be set.
Lenze setting
Value Unit
Limit values
C02707
C02700
C02701/1
0.0000 Unit
C02701/2
0.0000 Unit
C02702
Limitations effective
C02703
Max. speed
3600.0000 Unit/s
C02705
Max. acceleration
3600.0000 Unit/s2
C02706
Deactivated
100 ms
403
Parameters
Lenze setting
Value Unit
360.0000 Unit
Limited speed 1 ... 4 (only for homing, positioning, and manual jog)
C02708/1
Limited speed 1
C02710/1
C02711/1
C02708/2
Limited speed 2
C02710/2
3600.0000 Unit/s
100 ms
7200.0000 Unit/s
C02711/2
C02708/3
Limited speed 3
C02710/3
0.0100 Unit/s2
100 ms
14400.0000 Unit/s
C02711/3
C02708/4
Limited speed 4
C02710/4
C02711/4
0.0100 Unit/s2
100 ms
28800.0000 Unit/s
0.0100 Unit/s2
0.0100 Unit/s2
100 ms
Signal configuration
Control input
(Multiplexer parameters)
C03150/1
C03150/2
O Tip!
Detailed information on the limiter function can be found in chapter "Basic drive
functions" subchapter "Limiter". (C 200)
404
13.2.11
Brake control
The basic function "Brake control" serves
to the wear free control and monitoring of
a holding brake.
LS_Brake
Note!
In the Lenze setting the brake control is switched off to reach a safe status after
mains connection.
If the automatic operation (operating mode 2 or 12) is selected in C02580, the brake is
controlled automatically, i.e. if the multi-purpose positioning or another basic function is
activated which causes the drive to traverse, the brake is opened automatically and the
operation is enabled.
O Tip!
Detailed information on brake control can be found in chapter "Basic drive
functions" subchapter "Brake control". (C 211)
405
r Parameter setting: Tab Application parameter Dialog level Overview Brake control
Parameters
Lenze setting
Value Unit
C02580
C02581
C02582
C02583
C02585
C02586
Starting torque 1
0.00 Nm
C02587
Starting torque 2
0.00 Nm
C02588
C02589
100 ms
C02590
100 ms
C02591
C02593
C02594
Test torque
C02595
C02596
Grinding speed
C02597
C02598
Grinding ON time
0.5 s
C02599
0.5 s
100 ms
0.000 s
5
100 rpm
Control/setpoint input
1.000 s
Signal configuration
(Multiplexer parameters)
C03165/1
C03165/2
C03165/3
C03165/4
C03165/5
0 % Additional torque
406
50 rpm
0.00 Nm
C03166
Control input
FALSE Set controller inhibit
Signal configuration
C03130/1
C03130/4
C03130/5
C03130/6
C03130/2
C03130/3
Motor interface
Signal (Lenze setting)
Setpoint input
100 % Position controller adaption
C03141/1
C03141/2
C03141/3
C03141/4
C03141/5
Signal configuration
C03141/6
407
Output port
Signal configuration
C03120/1
C03120/2
C03120/3
C03120/4
C03120/5
C03120/6
C03120/7
C03120/8
C03120/9
C03120/10
C03120/11
C03120/12
C03120/13
C03120/14
C03120/15
C03120/16
408
C03124/1
C03124/2
Output port
Signal configuration
Status word 1
Drive ready Status word 1 bit 00
C03121/1
C03121/2
C03121/3
C03121/4
C03121/5
C03121/6
C03121/7
C03121/8
C03121/9
C03121/10
C03121/11
C03121/12
C03121/13
C03121/14
C03121/15
C03121/16
Output port
Signal configuration
Status word 2
C03122/1
C03122/2
C03122/3
C03122/4
C03122/5
C03122/6
C03122/7
C03122/8
C03122/9
C03122/10
C03122/11
C03122/12
C03122/13
C03122/14
C03122/15
C03122/16
409
Error-ID
Error response
8001
Warning
FB instance "ApplicationError1"
1
8002
Warning locked
8003
Warning
8004
Warning
8005
Warning
8006
Warning
8007
Warning
8008
Warning
FB instance "ApplicationError2"
1
8011
Information
8012
Information
8013
Warning
8014
Information
8015
Warning
Watch-Dog
8016
8017
Warning
Sequencer: Pause
8018
Information
Lenze setting
FB instance "ApplicationError1"
C05900
Function block ID
C05901/1...8
Error ID 1 ... 8
999
C05902/1...8
FB instance "ApplicationError2"
C05903
Function block ID
998
C05904/1...8
Error ID 1 ... 8
C05905/1...8
410
13.3
TA "Table positioning"
The technology application "table positioning" enables the drive to execute
parameterisable travel profiles. The sequence is controlled by a superimposed control (e.g.
PLC).
Functions
r Control of the program flow via predefined ports
r Positioning in different positioning modes
Point-to-point positioning
Touch probe positioning (residual path positioning)
Profile chaining with velocity changeover (overchange)
r Homing in different homing modes
r Profile data management
Support of S profiles (jerk limitation)
Separate setting for acceleration and deceleration
"Teach" function
r Speed-/acceleration override
r Following error monitoring
r Support of absolute value encoders
r Support of the basic drive functions "Manual jog" and "Quick stop"
r Monitoring of travel range limits with the basic drive function "Limiter"
r Optional control of a holding brake with the basic drive function "Brake control"
Note!
With the exception of the sequence table, the functionality of the table
positioning is identical to the multi-purpose positioning.
The different functions are described in the previous chapter on TA "Multipurpose positioning". (C 371)
411
LS_Homing
LS_Stop
n
LPortControl1
LPortAxisIn1
PositionerTable
Profiles
LS_Brake
internal
status machine
LPortStatus1
LPortAxisOut1
LS_Positioner
Override
Enable
Status
machine
(basic drive
functions)
DI1
LS_Quickstop
LS_Limiter
DI4
STOP
DI3
t
Table positioning
Predefined ports for the communication with a master control
Profile data management
Speed/acceleration override
Basic drive functions
Homing
Positioning
Manual jog
Stop
Quick stop
Brake control (optional)
! Limiter (optional)
412
13.3.2
13.3.2.1
Terminal X3
AI2AI2+
I/O terminals
Digital inputs
Terminal X5
Quick stop
If DI1 is set to LOW level, the drive is decelerated to standstill within the deceleration
time set for the quick stop function independent of the setpoint selection.
If the quick stop function is deactivated, the drive is led to the selected setpoint again via
the set acceleration time.
Quick stop (C 402)
DI2
DI3
Connection of travel range limit switch positive/negative for basic function "Limiter".
(C 403)
The inputs respond to the FALSE state (fail-safe).
DI4
DI5
Reset error
By means of a LOW-HIGH edge an existing error status can be reset if the cause of the
fault is removed.
DI6
DI7
DI8
I/O terminals
413
AO2 AO1 GA
Terminal X3
Signal configuration
AO1
C03110/1
AO2
C03110/2
I/O terminals
Digital outputs
Terminal X4
Signal configuration
DO1
C03100/1
DO2
C03100/2
DO3
C03100/3
DO4
C03100/4
I/O terminals
State bus
SB 24E GE
Terminal X2
I/O terminals
Signal configuration
C03100/5
Display elements
User LED
Drive interface
414
Signal configuration
C03100/6
Information/possible settings
Profile number (1 .... 100) of the profile of the profile data management to be
INT executed
Information/possible settings
See also:
415
14
Oscilloscope
The integrated oscilloscope function of the 9400 High Line controller can be used as
support for commissioning, maintenance and troubleshooting.
Typical applications
r Graphical representation of any measured values (e.g. speed setpoint, actual speed and
torque)
r Detection of process values without additional measuring instruments (e.g.
oscilloscope, voltmeter and ammeter)
r Convenient documentation for fine tuning of control circuits or parameter changes of
the controller
r Documentation of production quality in the context of product liability and quality
assurance
Special features
r Recording and saving measured values in the controller
r Measuring on eight independent channels at the same time
r Measuring fast and slow signals by adjustable sample rate
r Triggering on channel, variable or error message
r Detecting measured values before and after a trigger event (pre-/post-trigger)
r Graphical representation and evaluation of measured values on a PC
r Cursor and zoom function for the measurement analysis
r Saving & loading of oscilloscope configurations
r Exporting measured values via the clipboard for further processing
14.1
Technical data
9400 HighLine
416
Memory depth
Max. 16384 measured values, depending on the number of channels and the size of
the variables to be recorded.
Memory capacity
32768 bytes
Number of channels
1 ... 8
Trigger level
Trigger selection
Trigger delay
Trigger source
14.2
Function description
With an online connection to the controller, use the oscilloscope user interface of the
Engineer to set the trigger condition and the sample rate and select the variables to be
recorded.
When the measurement is started, the set parameters are transferred to the controller and
checked. If invalid settings are found, the oscilloscope sends an error. Otherwise, the
measurement is started.
With an online connection, the measured controller data are transferred to the Engineer
and graphically represented on the oscilloscope user interface as soon as the measurement
has been completed.
Recording variable values
The operating system scans the oscilloscope in fixed 1 ms-cycles, i.e. the oscilloscope can
record variable values with a sample rate of max. 1 kHz.
Recording system variable values of the internal motor control
Unlike the variables declared in the application, the system variables of the internal motor
control (MCTRL) can also be recorded with a sample rate higher than 1 kHz.
Note!
In the servo operating modes, recordings with a time-based resolution of 31.25
s and 125 s are not possible!
417
User interface
Oscilloscope toolbar
Vertical settings
Trigger/cursor settings
Status bar
Horizontal settings
Recording settings
Oscillograph
14.3.1
Oscilloscope toolbar
Icon
Function
Loading/importing a data record (C 428)
Saving/exporting a data record (C 427)
Copying data record to clipboard (C 430)
Print oscillogram
418
14.3.2
Function
Activate zoom function
Adjusting the representation (C 424)
Activate automatic scaling function
Adjusting the representation (C 424)
Delete offline data record
14.3.3
Oscillograph
The oscillograph is used to visualise data records.
r Use the zoom and the automatic scaling function to adjust the representation.
r The measured data represented in the form of interpolated curves can be optionally
shown and hidden, represented in any colour or overlaid with the signal characteristics
of other variables recorded.
14.3.4
Vertical settings
Use the Vertical list field to configure the variables to be recorded.
r Simply click into a field to change the corresponding setting.
14.3.5
Column
Designation
Meaning
Ch
Channel number
On
On/off
Inv
Inversion on/off
Variable
Unit
Scaling
1/div
Offset
Offset value
The offset value depends on the scale factor and is designated by a dotted
line in curve colour at the left edge of the oscillograph.
Position
Position value
The position value is independent of the scale factor and designated by a
line at the left edge of the oscillograph.
Status bar
The status messages are displayed in the status bar.
419
Trigger/cursor settings
Trigger
Use the Trigger tab to configure the trigger condition.
Selecting the trigger condition (C 422)
Cursor
If the Cursor tab is on top, you can use a vertical measuring line to read individual
measured values of a selectable channel in the oscilloscope. Using a second vertical
measuring line, it is possible to indicate the difference between two measured values.
Reading individual measured values (C 426)
14.3.7
Group box
Meaning
Channel
Channel selection
Value
Display of the value measured at the position of the active measuring line
Difference
Display of the difference between the values measured at the two measuring lines
Horizontal settings
Use the Horizontal group box to select the time base and the horizontal position.
Selecting the recording time/sample rate (C 422)
14.3.8
Input field
Meaning
Position
Recording settings
Use the Recording group box to select the sample rate and start recording.
r Since the measured data memory has a limited capacity, a compromise must be found
between the sample rate and the recording time that results from the time base
setting.
Selecting the recording time/sample rate (C 422)
420
Oscilloscope
Operation
14.4
Operation
This chapter describes step-by-step how to record the signal characteristics of controller
variables and represent, analyse, document and process them in the oscilloscope.
Note!
In the oscilloscope, settings can only be selected and recording can only be
started, when the controller is connected online.
14.4.1
421
14.4.2
14.4.3
M Select the corresponding settings in the Trigger tab to define the trigger condition.
Setting
Source
Function
Selection of trigger source:
422
Oscilloscope
Operation
Setting
Delay
Function
Delay between recording and trigger event.
Pre-trigger Select a negative delay time to detect signals prior to the trigger event.
Trigger event
Trigger level
Trigger
delay
(negative)
Trigger level
Trigger
delay
(positive)
Edge
If the trigger source is a channel or a variable, you can choose between the following trigger
modes:
Positive edge For triggering on a BOOL variable:
Trigger activation requires a FALSE-TRUE transition.
For triggering on a different variable:
For trigger activation, the selected trigger value must be exceeded.
Negative edge For triggering on a BOOL variable:
Trigger activation requires a TRUE-FALSE transition.
For triggering on a different variable:
For trigger activation, the selected trigger value must be fallen below.
Change For triggering on a BOOL variable:
Trigger activation requires a status change.
For triggering on a different variable:
For trigger activation, the current value must be different than the last value.
423
Starting recording
Zoom function
Zoom selection
Procedure
Hold down the left mouse button and draw the oscilloscope section to be
zoomed:
Hold down the left and right mouse button and move the mouse pointer on the
horizontal scale to the left or right or on the vertical scale to the top or bottom
to shift the selection accordingly.
With a three-button mouse, you can use the mouse button in the middle.
Horizontal stretching
Hold down the left mouse button and move the mouse pointer on the horizontal
scale to the left to stretch the shown selection from the right edge.
Moving the mouse pointer in opposite direction continuously reduces the
stretching.
Hold down the right mouse button and move the mouse pointer on the
horizontal scale to the right to stretch the shown selection from the left edge.
Moving the mouse pointer in opposite direction continuously reduces the
stretching.
424
Oscilloscope
Operation
Zoom function
Procedure
Vertical stretching
Hold down the left mouse button and move the mouse pointer on the vertical
scale to the bottom to stretch the shown selection from the top.
Moving the mouse pointer in opposite direction continuously reduces the
stretching.
Hold down the right mouse button and move the mouse pointer on the vertical
scale to the top to stretch the shown selection from the bottom.
Moving the mouse pointer in opposite direction continuously reduces the
stretching.
Return to original
representation
Click the right mouse button in the oscillograph to return step-by-step to the
original representation.
2. Select the channels/variables for automatic scaling in the Select variable dialog
box.
3. Click OK.
The dialog box is closed and the selected channels/variables are scaled
automatically.
425
426
Oscilloscope
Data records
14.5
Data records
If several data records are loaded in the oscilloscope at the same time, the data record to
be displayed is selected via the list field Data record. There are three types of data records:
Online data record
The online data record is the only data record serving to establish a connection to the
target system. When the online data record has established the connection completely, it
can communicate with the target system.
r In the list field Data record the online data record is marked with a prefixed asterisk (*).
Offline data record
The offline data record is already stored in the project and loaded in the oscilloscope again,
or imported from a file.
Merge data record
The merge data record is automatically available in the list field Data record if two or more
data records are loaded in the oscilloscope at the same time.
r In the merge data record, several characteristics from the currently loaded data records
can be laid on top of each other, e.g. to compare signal characteristics from different
recordings. Overlay function (C 429)
14.5.1
Note!
The data record is only saved if the entire project is saved!
427
14.5.2
428
Oscilloscope
Data records
14.5.3
14.5.4
Overlay function
The overlay function serves to lay several characteristics from the currently loaded data
records on top of each other, e.g. to compare signal characteristics from different
recordings.
r If two or several data records are loaded in the oscilloscope, e.g. an online data record
and a data record saved before in the project, a "merge" data record is available in the
Data record list field.
r When the merge data record is selected, the desired characteristics can be selected
from the loaded data records in the Vertical channel settings group field which are to
be overlaid or compared.
r If an online data record is used in the merge data record, an update is carried out in the
merge data record in case of a renewed recording.
r Removing variables from an offline or online data record causes the characteristics in
the merge data record to be deleted.
429
M How to copy measured data or a picture of the user interface to the clipboard:
1. Go to Oscilloscope toolbar and click .
The Clipboard dialog box appears.
2. Select Curve points if the measured data is to be copied to the clipboard as a table,
or select Screen shot if the oscilloscope user interface is to be copied as a picture.
3. Click OK.
The dialog box is closed and the selected option is copied to the clipboard.
430
Oscilloscope
Variables of the motor control (oscilloscope signals)
14.6
O Tip!
The exact position of a variable in the motor control can be obtained from the
corresponding signal flow.
No.
Meaning
Common.dnFluxSet
Flux setpoint
Current.dnActualCurrentPhaseU
Current.dnActualCurrentPhaseV
Current.dnActualCurrentPhaseW
Current.dnActualDirectCurrent
Actual D current
Current.dnActualQuadratureCurrent
Actual Q-current
Current.dnDirectCurrentSet
D current setpoint
Current.dnQuadratureCurrentSet
Q current setpoint
Torque.dnActualMotorTorque
Actual torque
Torque.dnFilteredTorqueSetpoint
Torque.dnInputNotchFilter1
Torque.dnInputNotchFilter2
Voltage.dnActualDCBusVoltage
Voltage.dnActualMotorVoltage
Voltage.dnDirectVoltage
D voltage
Voltage.dnQuadratureVoltage
Q voltage
Actual position
Position.dnActualMotorPos
Speed.dnActualMotorSpeed
Position.dnActualLoadPos
Actual position
Position.dnActualMotorPos
Position.dnContouringError
Following error
Position.dnPositionSetpoint
Position setpoint
Speed.dnActualMotorSpeed
Speed.dnOutputPosCtrl
Speed.dnSpeedSetpoint
Speed setpoint
Torque.dnTorqueSetpoint
Torque setpoint
Torque.dnTotalTorqueAdd
431
No.
Meaning
Speed.dnSpeedSetpoint
Speed setpoint
Speed.dnTotalSpeedAdd
Torque.dnTorqueSetpoint
Torque setpoint
Torque.dnTotalTorqueAdd
432
Speed.dnActualMotorSpeed
Speed.dnSpeedSetpoint
Speed setpoint
15
15.1
r Use the Reset error button to acknowledge an existing error message if the cause of the
error has been eliminated.
r Use the Logbook button to display the logbook of the controller. For detailed
information about the logbook, please see the chapter "Logbook". (C 436)
433
Icon
Meaning
Note
Controller is enabled.
Controller is inhibited.
Fault is active
Trouble is active
Warning is active
Display parameters
Via the parameters listed in the following tables current states and actual values of the
controller can be queried for diagnostic purposes, e.g. by using the keypad, a bus system or
the Engineer (with an online connection to the controller).
r These parameters are listed in the Engineer parameter list and the keypad in the
Diagnostics category.
r For a detailed parameter description, please see the chapter "Parameter reference".
(C 537)
434
Parameters
Display
C00183
Device state
C00168
Error number
C00051
Actual speed
C00052
Motor voltage
Parameters
Display
C00054
Motor current
C00057/1
Maximum torque
C00057/2
C00059
C00060
Rotor position
C00061
Heatsink temperature
C00062
C00063
Motor temperature
C00064
C00065
C00066
C00068
C00069
CPU temperature
C00178
C00179
C00186
Identification data
The parameters listed in the following table which are entered in the Engineer
parameter list and in the keypad in the Identification Controller category, serve to
display the identification data of the controller:
Parameters
Display
C00099
Firmware version
C00200
C00201
C00203/1...9
HW product types
C00204/1...9
HW serial numbers
C00205/1...6
HW descriptions
C00206/1...6
HW manufacturing data
C00208/1...6
HW manufacturer
C00209/1...6
HW countries of origin
C00210/1...6
HW versions
C02113
Program name
435
Logbook
The integrated logbook function of the controller chronologically logs important events
within the system and plays an important role for troubleshooting and controller
diagnostics.
Events that can be logged
The following events can be logged in the logbook:
r Error messages of the operating system (C 443)
r Error messages generated by the application
r Controller enable
r Starting / stopping the application
r Loading/saving of parameter sets, loading of the Lenze setting
r Transmitting an application or firmware to the controller
r Connection/disconnection of the controller
r Formatting of the file system
O Tip!
Use a parameterisable filter to exclude certain events from logbook entry.
Filtering logbook entries (C 437)
Information saved
For each event, the following information are saved in the logbook:
r Type of response (e.g. fault, warning or information) to the event
r Module that activated the event (e.g. MCTRL or TEMPCONTROL).
r Event
r Date/time (for memory module with real-time clock)
r Value of power-on time meter
Memory depth
The number of possible logbook entries depends on the memory module used:
r MM1xx, MM2xx: 7 entries
r MM3xx, MM4xx: 439 entries
436
15.3.1
Function description
The structure of the logbook corresponds to a ring buffer structure:
r As long as free logbook memory capacity is
available, the entries will be saved at the next
free memory location.
n-1
n-2
Current event
[15-1] Ring buffer structure
15.3.2
Bit 0
0 1 2 3 4 5 6 7
Meaning:
System error
Information
Warning
Warning locked
r Example: Bit 6 must be set to "1" to exclude all events with "Information" response
from entry into the logbook:
Bit 7
Bit 0
1 0 0 0 0 0 0
0 1 2 3 4 5 6 7
Meaning:
System error
Information
Warning
Warning locked
[15-3] Example: Bit mask for hiding events with "Information" response
Note!
Events with the set "None" response are not entered into the logbook.
437
438
15.4
Monitoring
The controller includes different monitoring functions that protect the drive against
impermissible operating conditions.
r If a monitoring function responds,
an entry will be made into the Logbook of the controller,
the response (quick stop by trouble, warning, fault, etc.) selected for the monitoring
function will be activated,
the status of the internal device control changes according to the selected response,
controller inhibit is set, and the "DRIVE ERROR" LED on the front of the controller goes
on:
Response
Logbook entry
Display under
C00168
Pulse inhibit
Controller inhibit
Acknowledgeme
nt required
None
See also:
15.4.1
LED
"DRIVE ERROR"
OFF
Fault
Trouble
;
(after 0.5 s)
Quick stop by
trouble
Warning locked
Warning
Information
System error
OFF
;
Mains
switching
is required!
439
O Tip!
When the response can be set for a monitoring function, the parameter for the
setting and the preset response is listed in the description of the corresponding
error message. Error list (C 448)
440
Parameters
C00573
C00574
C00579
Speed monitoring
C00580
C00581
External error
C00582
C00583
C00584
C00585
C00586
C00588
C00589
C00591
C00594
C00595
CAN bus-off
C00597
C00598
C00600
DC bus overvoltage
C00601
C00604
Device overload
C00606
Motor overload
C00607
C00610
C00611
C00612
C00613
C00614
C00615
C00619
C00635
C00636
C00637
C01501
C01502
Warning thresholds
Some of the monitoring functions are activated if a defined warning threshold (e.g.
temperature) have been exceeded.
r The corresponding preset threshold values can be changed via the following
parameters:
Parameters
Information
C00120
C00121
C00122
C00123
C00126
C00127
C00128
C00132
C00174
C00185
C00576
C00596
C00599
C00620
441
Remedy
Controller is inhibited.
Setpoint = 0
Select setpoint.
With a positive speed setpoint selection, the motor rotates clockwise instead of counterclockwise (when looking at the motor shaft).
Cause
Remedy
The maximum current (C00022) flows and the motor does not rotate according to the
defined speed setpoint.
442
Cause
Remedy
Two motor phases are interchanged, i.e. an anticlockwise rotating field is applied to the motor.
15.6
O Tip!
All error messages are saved in chronological order in the logbook. For detailed
information about the logbook, please see the chapter "Diagnostics & error
analysis". Logbook (C 436)
15.6.1
0
Bit 31
29 28
26 25
Response
3
16 15
Instance-ID
Module ID
Error ID
443
Response
Bit 31
29 28
26 25
16 15
Bit 31
Bit 30
Bit 29
0: No response
Response
1: Fault
2: Trouble
4: Warning locked
5: Warning
6: Information
7: System error
The status of the internal device control changes according to the selected response to an
error, controller inhibit is set and the "DRIVE ERROR" LED at the front of the controller goes
on:
Response
Logbook entry
Display under
C00168
Pulse inhibit
Controller inhibit
Acknowledgeme
nt required
Fault
Trouble
;
(after 0.5 s)
Quick stop by
trouble
Warning locked
Warning
None
15.6.1.2
LED
"DRIVE ERROR"
OFF
Information
System error
OFF
;
Mains
switching
is required!
Instance-ID
Bit 31
29 28
26 25
16 15
444
Bit 28
Bit 27
Bit 26
Meaning
Instance-ID 0
Instance-ID 1
Instance-ID 2
Instance-ID 3
Instance-ID 4
Instance-ID 5
15.6.1.3
Bit 28
Bit 27
Bit 26
Meaning
Instance-ID 6
Instance-ID 7
Module ID
Bit 31
29 28
26 25
16 15
Use the module-ID to identify the module in which the error has occurred.
r The following table lists the module-ID in hexadecimal format:
Module-ID
15.6.1.4
Module
0x0065
Logbook module
0x0068
Module identification
0x0069
0x006a
0x006e
0x0072
SERVICEREGISTER
0x0075
Device control
0x0077
Temperature monitoring
0x0078
0x0079
0x007a
0x007b
Motor control
0x007d
0x007f
0x0083
CAN dispatcher
0x0084
0x0085
0x0086
0x0087
0x0088
0x0089
0x008c
0x008e
0x0090
Parameter Manager
0x0091
0x0092
0x0093
Error ID
Bit 31
29 28
26 25
16 15
445
29 28
26 25
16 15
01000100011110110000000000001111
Assignment
010
001
0001111011
0000000000001111
Information
Response
2: Trouble
Instance-ID
1: Instance ID 1
Module ID
Error ID
446
15.6.2
O Tip!
With an online connection to the controller, use the Diagnostics tab of the
Engineer and click Error message reset to reset a pending error message.
447
Error list
The following sections describe all error messages of the controller operating system.
r The error messages are described in ascending order of the hexadecimal number
resulting from the Module-ID and the Error-ID .
2
Bit 31
0x
29 28
26 25
0...3
3
16 15
0...F
0...F
0...F
0...F
0...F
0...F
O Tip!
The index of this online documentation which contains all error numbers (in the
entry "Error numbers") and all error messages allows you to quickly find a
description of an error message.
Note!
Please observe that depending on the Instance-ID and the selected Response the
first two hexadecimal places of the hexadecimal number indicated in the
internal history buffer (C00168) may differ from the following error messages.
Example:
For information about the error message for the value "0x20077002" indicated
under C00168, please see the index entry "error number 0x00077002".
448
Remedy
Remedy
- (is irreversible)
Remedy
- (is irreversible)
Remedy
Remedy
Mains switching
Please contact Lenze, if the error occurs again.
Cause
Remedy
Mains switching
Please contact Lenze, if the error occurs again.
449
Remedy
Mains switching
If the error occurs again: Switch off the controller,
remove memory module and plug in again, switch on
the controller again.
If the error still occurs: Switch off controller and use a
different memory module.
Remedy
Mains switching
If the error occurs again: Switch off the controller,
remove safety module and plug in again, switch on
the controller again.
If the error still occurs: Switch off controller and use a
different safety module.
Remedy
Remedy
Remedy
You have tried to remove or change the memory module Switch off the controller, plug in memory module and
during operation.
switch on the controller again.
If the error occurs again, the memory module is
defective and must be replaced.
450
Remedy
Remedy
Remedy
Remedy
Remedy
Cause
Remedy
451
Remedy
Remedy
Remedy
Remedy
Remedy
452
Cause
Remedy
Remedy
Remedy
Remedy
Remedy
Remedy
Cause
Remedy
453
Remedy
Remedy
The firmware of the operating system has been updated. - (Information only)
Electronic nameplate: Communication error [0x0068001b]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause
Remedy
Remedy
Remedy
454
Cause
Remedy
Remedy
Remedy
Remedy
Remedy
Remedy
Cause
Remedy
455
Remedy
Remedy
Remedy
Remedy
Remedy
456
Cause
Remedy
Remedy
Remedy
Remedy
Remedy
Remedy
In case of the memory module the maximum number of Exchange memory module, otherwise data may get lost.
permissible writing cycles has been reached.
General application error [0x006a0000]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause
Remedy
457
Remedy
Remedy
Internal error
Remedy
Remedy
Remedy
458
Cause
Remedy
Remedy
Remedy
Remedy
Remedy
Remedy
Remedy
Cause
Remedy
459
Remedy
Remedy
Remedy
Remedy
Remedy
460
Cause
Remedy
- (Information only)
Remedy
- (Information only)
Remedy
Remedy
Remedy
External supply voltage UB24 of the control card is lower Check external supply voltage.
than 18 V.
If the external supply voltage is available and the
error message does not disappear, please contact
Lenze.
461
Remedy
An error has occurred while reading or writing the service Mains switching
register.
Please contact Lenze, if the problem occurs again.
External error [0x00750000]
Response (Lenze setting printed in bold)
Setting: C00581
(; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Remedy
- (Information only)
Remedy
- (Information only)
Remedy
The controller has received the "safe torque off" request - (Information only)
and is now in the "Safe Torque Off active" state.
Controller: Pulse inhibit is active [0x00750005]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
462
Cause
Remedy
- (Information only)
Remedy
Setting: C00582
(; Adjustable response)
; None System fault ; Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause
Remedy
Remedy
Setting: C00584
(; Adjustable response)
; None System fault ; Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause
Remedy
Setting: C00583
(; Adjustable response)
; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause
Remedy
463
Remedy
Remedy
Remedy
Remedy
Setting: C00589
(; Adjustable response)
: None System fault ; Fault Trouble Quick stop by trouble Warning locked ; Warning Information
464
Cause
Remedy
Remedy
Setting: C00588
(; Adjustable response)
; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause
Remedy
Setting: C00588
(; Adjustable response)
; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause
Remedy
Setting: C00594
(; Adjustable response)
; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause
Remedy
Setting: C00588
(; Adjustable response)
; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause
Remedy
465
Setting: C00588
(; Adjustable response)
; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause
Remedy
Encoder for CPU temperature supplies undefined values. Check control cabinet temperature, maybe it is too low.
Motor: PTC has triggered [0x0077000f]
Response (Lenze setting printed in bold)
Setting: C00585
(; Adjustable response)
: None System fault ; Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause
Remedy
Setting: C00610
(; Adjustable response)
; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause
Remedy
Check/clean fan.
Setting: C00611
(; Adjustable response)
; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause
Remedy
Check/clean fan.
Setting: C00604
(; Adjustable response)
; None System fault ; Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause
Remedy
466
Cause
Remedy
Setting: C00606
(; Adjustable response)
; None System fault ; Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause
Remedy
Remedy
Remedy
Device error
Remedy
Device error
Remedy
Device error
Cause
Remedy
Device error
467
Remedy
Device error
Remedy
Device error
Remedy
The connected motor with feedback is not supported by Check drive dimensioning.
the controller firmware.
Device command transmitted incorrectly [0x00790000]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause
Remedy
Internal error
Remedy
Internal error
Remedy
Internal error
468
Cause
Remedy
Remedy
Remedy
Remedy
Remedy
Controller current is too low for rated magnetisation, i.e. Check drive dimensioning.
the controller cannot energise the motor sufficiently.
Motor: Rated current < rated magnetisation current [0x007b0007]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause
Remedy
Remedy
Cause
Remedy
469
Remedy
Remedy
Remedy
Remedy
Remedy
470
Cause
Remedy
Remedy
Setting: C00579
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause
Remedy
Difference between actual and setpoint speed is too big. Increase speed tolerance margin under C00576.
Check drive dimensioning.
Motor control: Task overflow [0x007b0013]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause
Remedy
Remedy
Remedy
Cause
Remedy
471
Remedy
Remedy
Remedy
Remedy
Remedy
Setting: C00619
(; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
472
Cause
Remedy
Remedy
Check set-up.
Setting: C00607
(; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause
Remedy
Setting: C00573
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause
Remedy
Remedy
Remedy
Cause
Remedy
473
Remedy
Remedy
Remedy
Remedy
Remedy
Remedy
474
Cause
Remedy
Setting: C00597
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause
Remedy
Setting: C00597
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause
Remedy
Setting: C00597
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause
Remedy
Remedy
- (Information only)
Remedy
- (Information only)
Remedy
The connected motor with feedback is not supported by Check drive dimensioning.
the controller firmware.
475
Remedy
The connected motor with feedback is not supported by Check drive dimensioning.
the controller firmware.
Internal communication error (DMA) [0x007b0034]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause
Remedy
Internal error.
Remedy
Internal error.
Remedy
Remedy
476
Cause
Remedy
Remedy
- (Information only)
Remedy
- (Information only)
Setting: C00598
(; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Master current is in the impermissible range -4 ... +4 mA, Remove open circuit.
e.g. due to a line break or a defective master current
value encoder.
Only for parameterisation as master current input
(see C00034).
Invalid PLC configuration [0x007d0001]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause
Remedy
Setting: C01501
(; Adjustable response)
: None System fault ; Fault Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause
Remedy
Setting: C00595
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
477
Remedy
Remedy
Repeat download
Correct CAN settings in the project and regenerate
project.
Setting: C00613/1
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/2
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/3
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
478
Cause
Remedy
Setting: C00613/4
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/5
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/6
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/7
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/8
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/9
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
479
Setting: C00613/10
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/11
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/12
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/13
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/14
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/15
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
480
Cause
Remedy
Setting: C00613/16
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/17
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/18
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/19
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/20
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/21
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
481
Setting: C00613/22
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/23
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/24
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/25
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/26
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/27
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
482
Cause
Remedy
Setting: C00613/28
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/29
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/30
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/31
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00613/32
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00614
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
483
Remedy
Repeat download
Correct CAN settings in the project and regenerate
project.
Remedy
Repeat download
Correct CAN settings in the project and regenerate
project.
Setting: C00612/1
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/2
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/3
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
484
Cause
Remedy
Setting: C00612/4
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/5
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/6
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/7
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/8
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/9
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
485
Setting: C00612/10
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/11
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/12
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/13
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/14
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/15
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
486
Cause
Remedy
Setting: C00612/16
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/17
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/18
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/19
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/20
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/21
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
487
Setting: C00612/22
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/23
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/24
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/25
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/26
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/27
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
488
Cause
Remedy
Setting: C00612/28
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/29
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/30
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/31
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00612/32
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Cause
Remedy
Repeat download
Correct CAN settings in the project and regenerate
project.
489
Setting: C00591/1
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00591/2
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00591/3
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00591/4
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
490
Cause
Remedy
Repeat download.
Correct CAN settings in the project and regenerate
project.
Remedy
Repeat download.
Correct CAN settings in the project and regenerate
project.
Remedy
Repeat download
Correct CAN settings in the project and regenerate
project.
Remedy
Internal error
Remedy
Internal error
Remedy
Internal error
Cause
Remedy
Internal error
491
Remedy
Internal error
Remedy
Internal error
Remedy
Internal error
Remedy
Internal error
Remedy
Internal error
492
Cause
Remedy
Remedy
Remedy
Two possibilities:
Use the Engineer to download and activate an
application suitable for the memory module.
Switch off controller and use memory module
suitable for the application.
Remedy
Remedy
Remedy
Cause
Remedy
493
Remedy
The communication module E94AYCEN (Ethernet) in the Use communication module supported by the
module receptacle MXI1 is incompatible with the
application.
application.
MXI2: Ethernet module missing or incompatible [0x008c0012]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause
Remedy
The communication module E94AYCEN (Ethernet) in the Use communication module supported by the
module receptacle MXI2 is incompatible with the
application.
application.
MXI1: Digital frequency module missing or incompatible [0x008c0013]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause
Remedy
Remedy
Remedy
The ICM extension module in module receptacle MXI1 is Use extension module supported by the application.
incompatible with the application.
MXI2: ICM module missing or incompatible [0x008c0016]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause
Remedy
The ICM extension module in module receptacle MXI2 is Use extension module supported by the application.
incompatible with the application.
494
Remedy
Remedy
Remedy
- (Information only)
Remedy
Remedy
Cause
Remedy
- (Information only)
495
Remedy
- (Information only)
Remedy
- (Information only)
Remedy
Remedy
Remedy
Remedy
The parameter set version on the memory module is not Transfer parameter set from Engineer to the controller
compatible with the firmware of the controller.
and save with C00002="11".
496
Remedy
Code number of the operating system has been assigned Remove error in the application and retransmit the
to the application.
application to the controller.
Parameter set: Variant conflict [0x00900009]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause
Remedy
Setting: C00615/2
(; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C00615/3
(; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Remedy
- (Information only)
Cause
Remedy
- (Information only)
497
Remedy
Internal error
Remedy
Internal error
Remedy
Internal error
Remedy
Internal error
Remedy
Exchange application.
Remedy
Internal error
498
Cause
Remedy
Internal error
Remedy
System overload.
Remedy
System overload.
Remedy
System overload.
Remedy
System overload.
Remedy
Cause
Remedy
499
Remedy
Internal error
Remedy
Internal error
Remedy
Internal error
Remedy
The controller has detected a safety module which does Change setting underC00214 or use a suitable safety
not match the setting under C00214.
module.
Then, restart the controller.
DFIN (MXI1): A-/A track error [0x00990000]
Response (Lenze setting printed in bold)
Setting: C13040
(; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C13040
(; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
500
Cause
Remedy
Setting: C13040
(; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C13041
(; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked : Warning ; Information
Cause
Remedy
Setting: C13042
(; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked : Warning ; Information
Cause
Remedy
Setting: C13080
(; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked : Warning ; Information
Cause
Remedy
Setting: C13595
(; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning : Information
Cause
Remedy
501
Remedy
Remedy
Repeat download
Correct CAN settings in the project and regenerate
project.
Setting: C13613/1
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C13613/2
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 2.
CAN module (MXI1): Heartbeat error index 3 [0x009e0002]
Response (Lenze setting printed in bold)
Setting: C13613/3
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 3.
502
Setting: C13613/4
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 4.
CAN module (MXI1): Heartbeat error index 5 [0x009e0004]
Response (Lenze setting printed in bold)
Setting: C13613/5
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 5.
CAN module (MXI1): Heartbeat error index 6 [0x009e0005]
Response (Lenze setting printed in bold)
Setting: C13613/6
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 6.
CAN module (MXI1): Heartbeat error index 7 [0x009e0006]
Response (Lenze setting printed in bold)
Setting: C13613/7
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 7.
CAN module (MXI1): Heartbeat error index 8 [0x009e0007]
Response (Lenze setting printed in bold)
Setting: C13613/8
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 8.
CAN module (MXI1): Heartbeat error index 9 [0x009e0008]
Response (Lenze setting printed in bold)
Setting: C13613/9
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 9.
503
Setting: C13613/10
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 10.
CAN module (MXI1): Heartbeat error index 11 [0x009e000a]
Response (Lenze setting printed in bold)
Setting: C13613/11
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 11.
CAN module (MXI1): Heartbeat error index 12 [0x009e000b]
Response (Lenze setting printed in bold)
Setting: C13613/12
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 12.
CAN module (MXI1): Heartbeat error index 13 [0x009e000c]
Response (Lenze setting printed in bold)
Setting: C13613/13
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 13.
CAN module (MXI1): Heartbeat error index 14 [0x009e000d]
Response (Lenze setting printed in bold)
Setting: C13613/14
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 14.
CAN module (MXI1): Heartbeat error index 15 [0x009e000e]
Response (Lenze setting printed in bold)
Setting: C13613/15
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 15.
504
Setting: C13613/16
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 16.
CAN module (MXI1): Heartbeat error index 17 [0x009e0010]
Response (Lenze setting printed in bold)
Setting: C13613/17
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 17.
CAN module (MXI1): Heartbeat error index 18 [0x009e0011]
Response (Lenze setting printed in bold)
Setting: C13613/18
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 18.
CAN module (MXI1): Heartbeat error index 19 [0x009e0012]
Response (Lenze setting printed in bold)
Setting: C13613/19
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 19.
CAN module (MXI1): Heartbeat error index 20 [0x009e0013]
Response (Lenze setting printed in bold)
Setting: C13613/20
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 20.
CAN module (MXI1): Heartbeat error index 21 [0x009e0014]
Response (Lenze setting printed in bold)
Setting: C13613/21
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 21.
505
Setting: C13613/22
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 22.
CAN module (MXI1): Heartbeat error index 23 [0x009e0016]
Response (Lenze setting printed in bold)
Setting: C13613/23
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 23.
CAN module (MXI1): Heartbeat error index 24 [0x009e0017]
Response (Lenze setting printed in bold)
Setting: C13613/24
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 24.
CAN module (MXI1): Heartbeat error index 25 [0x009e0018]
Response (Lenze setting printed in bold)
Setting: C13613/25
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 25.
CAN module (MXI1): Heartbeat error index 26 [0x009e0019]
Response (Lenze setting printed in bold)
Setting: C13613/26
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 26.
CAN module (MXI1): Heartbeat error index 27 [0x009e001a]
Response (Lenze setting printed in bold)
Setting: C13613/27
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 27.
506
Setting: C13613/28
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 28.
CAN module (MXI1): Heartbeat error index 29 [0x009e001c]
Response (Lenze setting printed in bold)
Setting: C13613/29
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 29.
CAN module (MXI1): Heartbeat error index 30 [0x009e001d]
Response (Lenze setting printed in bold)
Setting: C13613/30
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 30.
CAN module (MXI1): Heartbeat error index 31 [0x009e001e]
Response (Lenze setting printed in bold)
Setting: C13613/31
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 31.
CAN module (MXI1): Heartbeat error index 32 [0x009e001f]
Response (Lenze setting printed in bold)
Setting: C13613/32
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 32.
CAN module (MXI1): Life guarding error [0x009e0020]
Response (Lenze setting printed in bold)
Setting: C13614
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
507
Remedy
Repeat download
Correct CAN settings in the project and regenerate
project.
Remedy
Repeat download
Correct CAN settings in the project and regenerate
project.
Setting: C13612/1
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C13612/2
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 2.
508
Setting: C13612/3
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 3.
CAN module (MXI1): Node guarding error 4 [0x00a00003]
Response (Lenze setting printed in bold)
Setting: C13612/4
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 4.
CAN module (MXI1): Node guarding error 5 [0x00a00004]
Response (Lenze setting printed in bold)
Setting: C13612/5
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 5.
CAN module (MXI1): Node guarding error 6 [0x00a00005]
Response (Lenze setting printed in bold)
Setting: C13612/6
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 6.
CAN module (MXI1): Node guarding error 7 [0x00a00006]
Response (Lenze setting printed in bold)
Setting: C13612/7
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 7.
CAN module (MXI1): Node guarding error 8 [0x00a00007]
Response (Lenze setting printed in bold)
Setting: C13612/8
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 8.
509
Setting: C13612/9
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 9.
CAN module (MXI1): Node guarding error 10 [0x00a00009]
Response (Lenze setting printed in bold)
Setting: C13612/10
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 10.
CAN module (MXI1): Node guarding error 11 [0x00a0000a]
Response (Lenze setting printed in bold)
Setting: C13612/11
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 11.
CAN module (MXI1): Node guarding error 12 [0x00a0000b]
Response (Lenze setting printed in bold)
Setting: C13612/12
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 12.
CAN module (MXI1): Node guarding error 13 [0x00a0000c]
Response (Lenze setting printed in bold)
Setting: C13612/13
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 13.
CAN module (MXI1): Node guarding error 14 [0x00a0000d]
Response (Lenze setting printed in bold)
Setting: C13612/14
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 14.
510
Setting: C13612/15
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 15.
CAN module (MXI1): Node guarding error 16 [0x00a0000f]
Response (Lenze setting printed in bold)
Setting: C13612/16
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 16.
CAN module (MXI1): Node guarding error 17 [0x00a00010]
Response (Lenze setting printed in bold)
Setting: C13612/17
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 17.
CAN module (MXI1): Node guarding error 18 [0x00a00011]
Response (Lenze setting printed in bold)
Setting: C13612/18
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 18.
CAN module (MXI1): Node guarding error 19 [0x00a00012]
Response (Lenze setting printed in bold)
Setting: C13612/19
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 19.
CAN module (MXI1): Node guarding error 20 [0x00a00013]
Response (Lenze setting printed in bold)
Setting: C13612/20
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 20.
511
Setting: C13612/21
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 21.
CAN module (MXI1): Node guarding error 22 [0x00a00015]
Response (Lenze setting printed in bold)
Setting: C13612/22
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 22.
CAN module (MXI1): Node guarding error 23 [0x00a00016]
Response (Lenze setting printed in bold)
Setting: C13612/23
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 23.
CAN module (MXI1): Node guarding error 24 [0x00a00017]
Response (Lenze setting printed in bold)
Setting: C13612/24
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 24.
CAN module (MXI1): Node guarding error 25 [0x00a00018]
Response (Lenze setting printed in bold)
Setting: C13612/25
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 25.
CAN module (MXI1): Node guarding error 26 [0x00a00019]
Response (Lenze setting printed in bold)
Setting: C13612/26
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 26.
512
Setting: C13612/27
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 27.
CAN module (MXI1): Node guarding error 28 [0x00a0001b]
Response (Lenze setting printed in bold)
Setting: C13612/28
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 28.
CAN module (MXI1): Node guarding error 29 [0x00a0001c]
Response (Lenze setting printed in bold)
Setting: C13612/29
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 29.
CAN module (MXI1): Node guarding error 30 [0x00a0001d]
Response (Lenze setting printed in bold)
Setting: C13612/30
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 30.
CAN module (MXI1): Node guarding error 31 [0x00a0001e]
Response (Lenze setting printed in bold)
Setting: C13612/31
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 31.
CAN module (MXI1): Node guarding error 32 [0x00a0001f]
Response (Lenze setting printed in bold)
Setting: C13612/32
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI1: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 32.
513
Remedy
Repeat download
Correct CAN settings in the project and regenerate
project.
Setting: C13591/1
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C13591/2
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C13591/3
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
514
Cause
Remedy
Setting: C13591/4
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C13591/5
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C13591/6
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C13591/7
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C13591/8
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
515
Remedy
Repeat download.
Correct CAN settings in the project and regenerate
project.
Remedy
Repeat download.
Correct CAN settings in the project and regenerate
project.
Remedy
Repeat download
Correct CAN settings in the project and regenerate
project.
Setting: C14040
(; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C14040
(; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
516
Cause
Remedy
Setting: C14040
(; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C14041
(; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked : Warning ; Information
Cause
Remedy
Setting: C14042
(; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked : Warning ; Information
Cause
Remedy
Setting: C14080
(; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked : Warning ; Information
Cause
Remedy
Setting: C14595
(; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning : Information
Cause
Remedy
517
Remedy
Remedy
Repeat download
Correct CAN settings in the project and regenerate
project.
Setting: C14613/1
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C14613/2
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 2.
CAN module (MXI2): Heartbeat error index 3 [0x00ad0002]
Response (Lenze setting printed in bold)
Setting: C14613/3
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 3.
518
Setting: C14613/4
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 4.
CAN module (MXI2): Heartbeat error index 5 [0x00ad0004]
Response (Lenze setting printed in bold)
Setting: C14613/5
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 5.
CAN module (MXI2): Heartbeat error index 6 [0x00ad0005]
Response (Lenze setting printed in bold)
Setting: C14613/6
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 6.
CAN module (MXI2): Heartbeat error index 7 [0x00ad0006]
Response (Lenze setting printed in bold)
Setting: C14613/7
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 7.
CAN module (MXI2): Heartbeat error index 8 [0x00ad0007]
Response (Lenze setting printed in bold)
Setting: C14613/8
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 8.
CAN module (MXI2): Heartbeat error index 9 [0x00ad0008]
Response (Lenze setting printed in bold)
Setting: C14613/9
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 9.
519
Setting: C14613/10
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 10.
CAN module (MXI2): Heartbeat error index 11 [0x00ad000a]
Response (Lenze setting printed in bold)
Setting: C14613/11
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 11.
CAN module (MXI2): Heartbeat error index 12 [0x00ad000b]
Response (Lenze setting printed in bold)
Setting: C14613/12
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 12.
CAN module (MXI2): Heartbeat error index 13 [0x00ad000c]
Response (Lenze setting printed in bold)
Setting: C14613/13
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 13.
CAN module (MXI2): Heartbeat error index 14 [0x00ad000d]
Response (Lenze setting printed in bold)
Setting: C14613/14
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 14.
CAN module (MXI2): Heartbeat error index 15 [0x00ad000e]
Response (Lenze setting printed in bold)
Setting: C14613/15
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 15.
520
Setting: C14613/16
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 16.
CAN module (MXI2): Heartbeat error index 17 [0x00ad0010]
Response (Lenze setting printed in bold)
Setting: C14613/17
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 17.
CAN module (MXI2): Heartbeat error index 18 [0x00ad0011]
Response (Lenze setting printed in bold)
Setting: C14613/18
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 18.
CAN module (MXI2): Heartbeat error index 19 [0x00ad0012]
Response (Lenze setting printed in bold)
Setting: C14613/19
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 19.
CAN module (MXI2): Heartbeat error index 20 [0x00ad0013]
Response (Lenze setting printed in bold)
Setting: C14613/20
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 20.
CAN module (MXI2): Heartbeat error index 21 [0x00ad0014]
Response (Lenze setting printed in bold)
Setting: C14613/21
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 21.
521
Setting: C14613/22
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 22.
CAN module (MXI2): Heartbeat error index 23 [0x00ad0016]
Response (Lenze setting printed in bold)
Setting: C14613/23
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 23.
CAN module (MXI2): Heartbeat error index 24 [0x00ad0017]
Response (Lenze setting printed in bold)
Setting: C14613/24
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 24.
CAN module (MXI2): Heartbeat error index 25 [0x00ad0018]
Response (Lenze setting printed in bold)
Setting: C14613/25
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 25.
CAN module (MXI2): Heartbeat error index 26 [0x00ad0019]
Response (Lenze setting printed in bold)
Setting: C14613/26
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 26.
CAN module (MXI2): Heartbeat error index 27 [0x00ad001a]
Response (Lenze setting printed in bold)
Setting: C14613/27
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 27.
522
Setting: C14613/28
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 28.
CAN module (MXI2): Heartbeat error index 29 [0x00ad001c]
Response (Lenze setting printed in bold)
Setting: C14613/29
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 29.
CAN module (MXI2): Heartbeat error index 30 [0x00ad001d]
Response (Lenze setting printed in bold)
Setting: C14613/30
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 30.
CAN module (MXI2): Heartbeat error index 31 [0x00ad001e]
Response (Lenze setting printed in bold)
Setting: C14613/31
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 31.
CAN module (MXI2): Heartbeat error index 32 [0x00ad001f]
Response (Lenze setting printed in bold)
Setting: C14613/32
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: No heartbeat See remedy for "Heartbeat error index 1".
telegram received from node 32.
CAN module (MXI2): Life guarding error [0x00ad0020]
Response (Lenze setting printed in bold)
Setting: C14614
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
523
Remedy
Repeat download
Correct CAN settings in the project and regenerate
project.
Remedy
Repeat download
Correct CAN settings in the project and regenerate
project.
Setting: C14612/1
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C14612/2
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 2.
524
Setting: C14612/3
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 3.
CAN module (MXI2): Node guarding error 4 [0x00af0003]
Response (Lenze setting printed in bold)
Setting: C14612/4
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 4.
CAN module (MXI2): Node guarding error 5 [0x00af0004]
Response (Lenze setting printed in bold)
Setting: C14612/5
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 5.
CAN module (MXI2): Node guarding error 6 [0x00af0005]
Response (Lenze setting printed in bold)
Setting: C14612/6
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 6.
CAN module (MXI2): Node guarding error 7 [0x00af0006]
Response (Lenze setting printed in bold)
Setting: C14612/7
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 7.
CAN module (MXI2): Node guarding error 8 [0x00af0007]
Response (Lenze setting printed in bold)
Setting: C14612/8
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 8.
525
Setting: C14612/9
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 9.
CAN module (MXI2): Node guarding error 10 [0x00af0009]
Response (Lenze setting printed in bold)
Setting: C14612/10
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 10.
CAN module (MXI2): Node guarding error 11 [0x00af000a]
Response (Lenze setting printed in bold)
Setting: C14612/11
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 11.
CAN module (MXI2): Node guarding error 12 [0x00af000b]
Response (Lenze setting printed in bold)
Setting: C14612/12
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 12.
CAN module (MXI2): Node guarding error 13 [0x00af000c]
Response (Lenze setting printed in bold)
Setting: C14612/13
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 13.
CAN module (MXI2): Node guarding error 14 [0x00af000d]
Response (Lenze setting printed in bold)
Setting: C14612/14
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 14.
526
Setting: C14612/15
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 15.
CAN module (MXI2): Node guarding error 16 [0x00af000f]
Response (Lenze setting printed in bold)
Setting: C14612/16
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 16.
CAN module (MXI2): Node guarding error 17 [0x00af0010]
Response (Lenze setting printed in bold)
Setting: C14612/17
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 17.
CAN module (MXI2): Node guarding error 18 [0x00af0011]
Response (Lenze setting printed in bold)
Setting: C14612/18
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 18.
CAN module (MXI2): Node guarding error 19 [0x00af0012]
Response (Lenze setting printed in bold)
Setting: C14612/19
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 19.
CAN module (MXI2): Node guarding error 20 [0x00af0013]
Response (Lenze setting printed in bold)
Setting: C14612/20
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 20.
527
Setting: C14612/21
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 21.
CAN module (MXI2): Node guarding error 22 [0x00af0015]
Response (Lenze setting printed in bold)
Setting: C14612/22
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 22.
CAN module (MXI2): Node guarding error 23 [0x00af0016]
Response (Lenze setting printed in bold)
Setting: C14612/23
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 23.
CAN module (MXI2): Node guarding error 24 [0x00af0017]
Response (Lenze setting printed in bold)
Setting: C14612/24
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 24.
CAN module (MXI2): Node guarding error 25 [0x00af0018]
Response (Lenze setting printed in bold)
Setting: C14612/25
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 25.
CAN module (MXI2): Node guarding error 26 [0x00af0019]
Response (Lenze setting printed in bold)
Setting: C14612/26
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 26.
528
Setting: C14612/27
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 27.
CAN module (MXI2): Node guarding error 28 [0x00af001b]
Response (Lenze setting printed in bold)
Setting: C14612/28
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 28.
CAN module (MXI2): Node guarding error 29 [0x00af001c]
Response (Lenze setting printed in bold)
Setting: C14612/29
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 29.
CAN module (MXI2): Node guarding error 30 [0x00af001d]
Response (Lenze setting printed in bold)
Setting: C14612/30
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 30.
CAN module (MXI2): Node guarding error 31 [0x00af001e]
Response (Lenze setting printed in bold)
Setting: C14612/31
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 31.
CAN module (MXI2): Node guarding error 32 [0x00af001f]
Response (Lenze setting printed in bold)
Setting: C14612/32
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
CANopen communication module in MXI2: CAN master See remedy for "Node guarding error 1".
has not received a response to a node guarding telegram
from node 32.
529
Remedy
Repeat download
Correct CAN settings in the project and regenerate
project.
Setting: C14591/1
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C14591/2
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C14591/3
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
530
Cause
Remedy
Setting: C14591/4
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C14591/5
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C14591/6
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C14591/7
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C14591/8
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
531
Remedy
Repeat download.
Correct CAN settings in the project and regenerate
project.
Remedy
Repeat download.
Correct CAN settings in the project and regenerate
project.
Remedy
Repeat download
Correct CAN settings in the project and regenerate
project.
Remedy
532
Cause
Remedy
Remedy
Motor brake: Angular drift with closed brake is too large [0x00b80003]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause
Remedy
Motor brake: Automatically activated when the waiting time has elapsed [0x00b80004]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause
Remedy
Cause
Remedy
533
Setting: C02716/2
(; Adjustable response)
; None System fault ; Fault ; Trouble : Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C02716/2
(; Adjustable response)
; None System fault ; Fault ; Trouble : Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C02716/1
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C02716/1
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C02716/3
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
534
Cause
Remedy
Setting: C02716/3
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C02716/3
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Setting: C02716/3
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
The requested S-ramp time is lower than the minimum Increase S-ramp time of the traversing profile of the
S-ramp time set in C02706 and has been limited to this Sbasic function (manual jog, referencing or
ramp time.
positioning).
Reduce minimum S-ramp time (C02706).
Deactivate monitoring of the limit values by the basic
function "Limiter".
Position target is outside software limit positions [0x00b8000f]
Response (Lenze setting printed in bold)
Setting: C02716/2
(; Adjustable response)
; None System fault ; Fault ; Trouble : Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
535
Setting: C02716/3
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause
Remedy
Reduce speed.
Increase maximum speed (C02703).
Deactivate monitoring of the limit values by the basic
function "Limiter".
Setting: C02716/3
(; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
536
Cause
Remedy
Reduce acceleration.
Increase maximum acceleration (C02705).
Deactivate monitoring of the limit values by the basic
function "Limiter".
Parameter reference
Structure of the parameter descriptions
16
Parameter reference
All parameters for controller parameter setting or monitoring are stored within so-called
"codes".
r The codes are numbered and designated by a "C" in front of the code, e.g. "C00002".
r For the sake of clarity, some codes contain "subcodes" for saving parameters. This
Manual uses a slash "/" as a separator between code and subcode, e.g. C00118/3".
O Tip!
For quick reference of a parameter with a certain name simply use the index of the
online documentation. The index always contains the corresponding code in
parentheses behind the name.
For general information on how to read and change parameters please see the
online documentation for the Engineer.
16.1
16.1.1
Data type
The following data types are available for parameters:
537
16.1.2
Data type
Meaning
INTEGER_8
INTEGER_16
INTEGER_32
INTEGER_64
UNSIGNED_8
UNSIGNED_16
UNSIGNED_32
UNSIGNED_64
FLOATING_POINT
VISIBLE_STRING
OCTET_STRING
BITFIELD_8
BITFIELD_16
BITFIELD_32
Cxxxxx | _____________
Description
Display range (min. value | unit | max. value)
; Read access Write access CINH PLC STOP No transfer COM MOT
538
Parameter reference
Structure of the parameter descriptions
16.1.3
16.1.3.1
Cxxxxx | _____________
Description
Setting range (min. value | unit | max. value)
Lenze setting
; Read access ; Write access CINH PLC STOP No transfer COM MOT
Cxxxxx | _____________
Description
Selection list (Lenze setting printed in bold)
1
2
3
; Read access ; Write access CINH PLC STOP No transfer COM MOT
539
Cxxxxx | _____________
Description
Value is bit-coded:
Bit 0
...
Bit 31
; Read access ; Write access CINH PLC STOP No transfer COM MOT
540
Parameter reference
Structure of the parameter descriptions
16.1.3.4
Cxxxxx | _____________
Description
Setting range (min. value | unit | max. value)
Subcodes
Lenze setting
Cxxxxx/1
Cxxxxx/2
Cxxxxx/3
Cxxxxx/4
; Read access ; Write access CINH PLC STOP No transfer COM MOT
541
Parameter attributes
Type of access
r The first four attributes provide information about the parameter access:
Attribute
Meaning
; Read access
; Write access
; PLC STOP
Additional features
r The following attributes refer to the parameter set transfer to the controller:
Attribute
Meaning
; No transfer
Parameter is not transferred to controller when the command Download parameter set is
executed.
; COM
; MOT
Scaling factor
r The "scaling factor" is important for parameter access via bus systems. It is only
indicated for parameters using a data format with decimal positions:
Read value (via bus system) = Scaling factor indicated value (Engineer)
542
Parameter reference
Abbreviations used in parameter & selection texts
16.2
Meaning
CAN module
DF module
ETS
Electronic nameplate
Ethernet module
MXI1
MXI2
Profibus module
Abbreviated units
16.3
Abbreviation
Meaning
Incr.
Increments
Rev.
Revolutions
Parameter list
This chapter describes all parameters of the operating system in numerically ascending
order.
543
C00002
Parameter | Name:
Information
5 Activate application
20 Delete logbook
31 Start application
32 Stop application
33 Reset program
Executes a reset
All variables except for the RETAIN variables are reset
to their initialisation value.
The situation corresponds to a power failure or
deactivation/activation of the controller (warm start)
while the program is running.
34 Delete program
35 Restart program
544
47 Internal command 47
48 Internal command 48
Parameter reference
Parameter list | C00002
Parameter | Name:
545
Parameter | Name:
C00003
Parameter | Name:
4294967295
; Read access Write access CINH PLC STOP No transfer COM MOT
C00004
Parameter | Name:
Lenze setting
4294967295
; Read access ; Write access CINH PLC STOP ; No transfer COM MOT
546
Parameter reference
Parameter list | C00005
C00005
Parameter | Name:
Lenze setting
-1
16 0
; Read access ; Write access CINH PLC STOP ; No transfer COM MOT
C00006
Parameter | Name:
Information
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT
C00007
Parameter | Name:
4294967295
; Read access Write access CINH PLC STOP No transfer COM MOT
C00011
Parameter | Name:
For parameter setting via interface: In case of bigger changes, only change the setting in one step when the
controller is inhibited!
Lenze setting
rpm
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C00018
Parameter | Name:
Information
2 1 kHz fixed
Note:
The maximum output frequency of the controller is
limited to 1/8 of the switching frequency selected here!
3 2 kHz fixed
4 4 kHz fixed
5 8 kHz fixed
8 2 kHz variable
9 4 kHz variable
10 8 kHz variable
11 16 kHz variable
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C00019
Parameter | Name:
rpm
Lenze setting
450 5 rpm
; Read access ; Write access CINH PLC STOP No transfer COM MOT
547
Parameter | Name:
Note: In order that the motor does not start unintentionally without adjusting the route data, the maximum
current in the Lenze setting is set to "0 A"!
Lenze setting
21474836.47 0.00 A
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C00034
Parameter | Name:
C00050
Parameter | Name:
rpm
480000
Subcodes
Information
C00050/1
Speed setpoint 1
C00050/2
Speed setpoint 2
; Read access Write access CINH PLC STOP No transfer COM MOT
C00051
Parameter | Name:
rpm
480000
; Read access Write access CINH PLC STOP No transfer COM MOT
C00052
Parameter | Name:
2147483647
; Read access Write access CINH PLC STOP No transfer COM MOT
C00053
Parameter | Name:
2147483647
; Read access Write access CINH PLC STOP No transfer COM MOT
C00054
Parameter | Name:
500.00
; Read access Write access CINH PLC STOP No transfer COM MOT
548
Parameter reference
Parameter list | C00055
C00055
Parameter | Name:
500.00
Subcodes
Information
C00055/1
C00055/2
Phase U
C00055/3
Phase V
C00055/4
Phase W
; Read access Write access CINH PLC STOP No transfer COM MOT
C00056
Parameter | Name:
Nm
21474836.47
; Read access Write access CINH PLC STOP No transfer COM MOT
C00057
Parameter | Name:
C00057 | Torque
Display range (min. value | unit | max. value)
0.000
Nm
2147483.647
Subcodes
Information
C00057/1
Maximum torque
C00057/2
; Read access Write access CINH PLC STOP No transfer COM MOT
C00058
Parameter | Name:
179.9
Subcodes
Lenze setting
Information
C00058/1
-90.0
C00058/2
0.0
C00058/3
0.0
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C00059
Parameter | Name:
Scaling factor: 10
200
; Read access Write access CINH PLC STOP No transfer COM MOT
C00060
Parameter | Name:
2047
; Read access Write access CINH PLC STOP No transfer COM MOT
549
Parameter | Name:
200
; Read access Write access CINH PLC STOP No transfer COM MOT
C00062
Parameter | Name:
200
; Read access Write access CINH PLC STOP No transfer COM MOT
C00063
Parameter | Name:
200
; Read access Write access CINH PLC STOP No transfer COM MOT
C00064
Parameter | Name:
250
; Read access Write access CINH PLC STOP No transfer COM MOT
C00065
Parameter | Name:
1000.0
; Read access Write access CINH PLC STOP No transfer COM MOT
C00066
Scaling factor: 10
Parameter | Name:
250
; Read access Write access CINH PLC STOP No transfer COM MOT
C00068
Parameter | Name:
200
; Read access Write access CINH PLC STOP No transfer COM MOT
550
Parameter reference
Parameter list | C00069
C00069
Parameter | Name:
200
; Read access Write access CINH PLC STOP No transfer COM MOT
C00070
Parameter | Name:
Lenze setting
Nm/rpm
2000000000 44 Nm/rpm
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C00071
Parameter | Name:
Lenze setting
ms
6000.0 14.4 ms
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C00072
Scaling factor: 10
Parameter | Name:
Lenze setting
ms
3.00 0.00 ms
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C00074
Parameter | Name:
C00075
Parameter | Name:
Lenze setting
V/A
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C00076
Parameter | Name:
ms
Lenze setting
2000.00 2.00 ms
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C00077
Parameter | Name:
A/Vs
Lenze setting
50000.00 165.84 A/Vs
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
551
Parameter | Name:
Lenze setting
ms
6000.0 15.1 ms
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C00079
Scaling factor: 10
Parameter | Name:
mH
214748364.7
; Read access Write access CINH PLC STOP No transfer COM MOT
C00080
Scaling factor: 10
Parameter | Name:
Lenze setting
10 1
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT
C00081
Parameter | Name:
kW
Lenze setting
500.00 0.25 kW
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT
C00082
Parameter | Name:
Ohm
214748.3647
; Read access Write access CINH PLC STOP No transfer COM MOT
C00083
Parameter | Name:
ms
21474836.47
; Read access Write access CINH PLC STOP No transfer COM MOT
C00084
Parameter | Name:
Ohm
Lenze setting
125.0000 18.2200 Ohm
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT
C00085
Parameter | Name:
mH
Lenze setting
500.000 51.000 mH
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT
552
Parameter reference
Parameter list | C00087
C00087
Parameter | Name:
rpm
Lenze setting
50000 4050 rpm
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT
C00088
Parameter | Name:
Lenze setting
1500.00 1.30 A
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT
C00089
Parameter | Name:
Hz
Lenze setting
1000.0 270.0 Hz
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT
C00090
Scaling factor: 10
Parameter | Name:
Lenze setting
15000 225 V
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT
C00091
Parameter | Name:
Lenze setting
1.00 0.80
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT
C00092
Parameter | Name:
500.00
; Read access Write access CINH PLC STOP No transfer COM MOT
C00099
Parameter | Name:
C00100
Parameter | Name:
553
Parameter | Name:
Time between quick stop activation and standstill plus relative inaccuracy time (C00106).
"Basic functionQuick stop"
Setting range (min. value | unit | max. value)
0.000
Lenze setting
999.999 0.000 s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00106
Parameter | Name:
Lenze setting
100.00 0.00 %
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00107
Parameter | Name:
C00114
Parameter | Name:
Subcodes
Lenze setting
Information
C00114/1
C00114/...
C00114/8
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00118
Parameter | Name:
Subcodes
Lenze setting
Information
C00118/1
C00118/...
C00118/4
; Read access ; Write access CINH PLC STOP No transfer COM MOT
554
Parameter reference
Parameter list | C00120
C00120
Parameter | Name:
Lenze setting
200 105 %
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C00121
Parameter | Name:
Lenze setting
150 120 C
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C00122
Parameter | Name:
Lenze setting
85 85 C
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00123
Parameter | Name:
Lenze setting
100 90 %
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00126
Parameter | Name:
Lenze setting
85 70 C
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00127
Parameter | Name:
Lenze setting
200 100 %
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
555
Parameter | Name:
min
600.0
Subcodes
Lenze setting
Information
C00128/1
1.0 min
C00128/2
5.0 min
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C00129
Scaling factor: 10
Parameter | Name:
Lenze setting
Ohm
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00130
Parameter | Name:
Lenze setting
800000 5600 W
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00131
Parameter | Name:
Lenze setting
kWs
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00132
Parameter | Name:
When this temperature is reached, the brake resistor will be switched off and switched on again if the temperature
is fallen below with a hysteresis of 5 K.
Lenze setting
1000 200 C
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00142
Parameter | Name:
556
Parameter reference
Parameter list | C00150
C00150
Parameter | Name:
C00155
Parameter | Name:
557
Parameter | Name:
4294967295
Subcodes
Information
C00156/1
C00156/2
; Read access Write access CINH PLC STOP No transfer COM MOT
C00158
Parameter | Name:
558
Parameter reference
Parameter list | C00159
C00159
Parameter | Name:
C00166
Parameter | Name:
C00167
Parameter | Name:
Parameter | Name:
4294967295
; Read access Write access CINH PLC STOP No transfer COM MOT
C00169
Parameter | Name:
Lenze setting
4294967295 0
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00171
Parameter | Name:
559
Parameter | Name:
Information
0 230 V, LU = 150 V
1 400/415 V, LU = 285 V
2 460/480 V, LU = 328 V
3 500 V, LU = 342 V
4 230 V, LU configurable
5 400/415 V, LU configurable
6 460/480 V, LU configurable
7 500 V, LU configurable
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00174
Parameter | Name:
Lenze setting
342 285 V
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00175
Parameter | Name:
Parameter | Name:
560
Parameter reference
Parameter list | C00177
C00177
Parameter | Name:
Parameter | Name:
4294967295
; Read access Write access CINH PLC STOP No transfer COM MOT
C00179
Parameter | Name:
4294967295
; Read access Write access CINH PLC STOP No transfer COM MOT
C00180
Parameter | Name:
C00181
Parameter | Name:
Lenze setting
100 0 V
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00183
Parameter | Name:
561
Parameter | Name:
Lenze setting
100 90 %
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00186
Parameter | Name:
C00187
Parameter | Name:
C00188
Parameter | Name:
C00199
Parameter | Name:
Device name to be defined by the user (e.g. "Cross cutter" or "hoist axis 1") with max. 128 characters
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00200
Parameter | Name:
C00201
Parameter | Name:
562
Parameter reference
Parameter list | C00203
C00203
Parameter | Name:
Information
C00203/1
C00203/2
C00203/3
C00203/4
C00203/5
C00203/6
C00203/7
C00203/8
C00203/9
Type: ENP
; Read access Write access CINH PLC STOP No transfer COM MOT
C00204
Parameter | Name:
Information
C00204/1
C00204/2
C00204/3
C00204/4
C00204/5
C00204/6
C00204/7
C00204/8
C00204/9
; Read access Write access CINH PLC STOP No transfer COM MOT
C00205
Parameter | Name:
C00205 | HW descriptions
Subcodes
Information
C00205/1
C00205/2
C00205/3
C00205/4
C00205/5
C00205/6
; Read access Write access CINH PLC STOP No transfer COM MOT
563
Parameter | Name:
Information
C00206/1
C00206/2
C00206/3
C00206/4
C00206/5
C00206/6
C00206/7
C00206/8
; Read access Write access CINH PLC STOP No transfer COM MOT
C00208
Parameter | Name:
C00208 | HW manufacturer
Subcodes
Information
C00208/1
C00208/2
C00208/3
C00208/4
C00208/5
C00208/6
; Read access Write access CINH PLC STOP No transfer COM MOT
C00209
Parameter | Name:
Information
C00209/1
C00209/2
C00209/3
C00209/4
C00209/5
C00209/6
; Read access Write access CINH PLC STOP No transfer COM MOT
C00210
Parameter | Name:
C00210 | HW versions
Subcodes
Information
C00210/1
C00210/2
C00210/3
C00210/4
C00210/5
C00210/6
; Read access Write access CINH PLC STOP No transfer COM MOT
564
Parameter reference
Parameter list | C00211
C00211
Parameter | Name:
C00212
Parameter | Name:
C00213
Parameter | Name:
C00214
Parameter | Name:
C00217
Parameter | Name:
Parameter | Name:
; Read access Write access CINH PLC STOP No transfer COM MOT
C00225
Parameter | Name:
Parameter | Name:
1/s
Lenze setting
1000.00 20.00 1/s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
565
Parameter | Name:
Hz
1000.0
Subcodes
Lenze setting
Information
C00270/1
200.0 Hz
C00270/2
400.0 Hz
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00271
Scaling factor: 10
Parameter | Name:
Hz
500.0
Subcodes
Lenze setting
Information
C00271/1
20.0 Hz
C00271/2
40.0 Hz
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00272
Scaling factor: 10
Parameter | Name:
db
100
Subcodes
Lenze setting
Information
C00272/1
0 db
C00272/2
0 db
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00273
Parameter | Name:
kg cm
10000.00
Subcodes
Lenze setting
Information
C00273/1
0.14 kg cm
C00273/2
0.00 kg cm
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00274
Parameter | Name:
%/ms
Lenze setting
400.0 400.0 %/ms
; Read access ; Write access CINH PLC STOP No transfer COM MOT
566
Scaling factor: 10
Parameter reference
Parameter list | C00275
C00275
Parameter | Name:
C00276
Parameter | Name:
C00280
Parameter | Name:
ms
Lenze setting
1000.0 25.0 ms
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00308
Scaling factor: 10
Parameter | Name:
Parameter | Name:
Parameter | Name:
Parameter | Name:
A mask can be parameterised for each byte of the TPDO1 in the assigned subcode.
In case of an event-controlled PDO transmission, only the masked bits will be considered for event control.
Mask "0x0" means that no bit of the corresponding byte activates PDO transmission.
Mask "0xff" means that each bit of the corresponding byte can activate PDO transmission.
Value is bit-coded:
Bit 0 Mask bit 0
... ...
Bit 7 Mask bit 7
Subcodes
Lenze setting
Information
C00311/1
0x00
C00311/...
C00311/8
; Read access ; Write access CINH PLC STOP No transfer COM MOT
567
Parameter | Name:
A mask can be parameterised for each byte of the TPDO2 in the assigned subcode.
In case of an event-controlled PDO transmission, only the masked bits will be considered for event control.
Mask "0x0" means that no bit of the corresponding byte activates PDO transmission.
Mask "0xff" means that each bit of the corresponding byte can activate PDO transmission.
Value is bit-coded:
Bit 0 Mask bit 0
... ...
Bit 7 Mask bit 7
Subcodes
Lenze setting
Information
C00312/1
0x00
C00312/...
C00312/8
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00313
Parameter | Name:
A mask can be parameterised for each byte of the TPDO3 in the assigned subcode.
In case of an event-controlled PDO transmission, only the masked bits will be considered for event control.
Mask "0x0" means that no bit of the corresponding byte activates PDO transmission.
Mask "0xff" means that each bit of the corresponding byte can activate PDO transmission.
Value is bit-coded:
Bit 0 Mask bit 0
... ...
Bit 7 Mask bit 7
Subcodes
Lenze setting
Information
C00313/1
0x00
C00313/...
C00313/8
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00314
Parameter | Name:
A mask can be parameterised for each byte of the TPDO4 in the assigned subcode.
In case of an event-controlled PDO transmission, only the masked bits will be considered for event control.
Mask "0x0" means that no bit of the corresponding byte activates PDO transmission.
Mask "0xff" means that each bit of the corresponding byte can activate PDO transmission.
Value is bit-coded:
Bit 0 Mask bit 0
... ...
Bit 7 Mask bit 7
Subcodes
Lenze setting
Information
C00314/1
0x00
C00314/...
C00314/8
; Read access ; Write access CINH PLC STOP No transfer COM MOT
568
Parameter reference
Parameter list | C00320
C00320
Parameter | Name:
Information
Subcodes
Lenze setting
Information
C00320/1
0x00000181
Identifier TPDO1
After a node address change and CAN reset node, the
value 0x180 + node address will be set by default.
C00320/2
0x00000281
Identifier TPDO2
After a node address change and CAN reset node, the
value 0x280 + node address will be set by default.
C00320/3
0x00000381
Identifier TPDO3
After a node address change and CAN reset node, the
value 0x380 + node address will be set by default.
C00320/4
0x00000481
Identifier TPDO4
After a node address change and CAN reset node, the
value 0x480 + node address will be set by default.
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00321
Parameter | Name:
Information
Subcodes
Lenze setting
Information
C00321/1
0x00000201
Identifier RPDO1
After a node address change and CAN reset node, the
value 0x200 + node address will be set by default.
C00321/2
0x00000301
Identifier RPDO2
After a node address change and CAN reset node, the
value 0x300 + node address will be set by default.
C00321/3
0x00000401
Identifier RPDO3
After a node address change and CAN reset node, the
value 0x400 + node address will be set by default.
C00321/4
0x00000501
Identifier RPDO4
After a node address change and CAN reset node, the
value 0x500 + node address will be set by default.
; Read access ; Write access CINH PLC STOP No transfer COM MOT
569
Parameter | Name:
255
Subcodes
Lenze setting
Information
C00322/1
254
C00322/...
C00322/4
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00323
Parameter | Name:
255
Subcodes
Lenze setting
Information
C00323/1
254
C00323/...
C00323/4
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00324
Parameter | Name:
Minimum time between the sending of two identical TPDOs (see DS301V402).
The delay time is entered in 1/10 ms and automatically rounded to full milliseconds by the code.
Setting range (min. value | unit | max. value)
0
1/10 ms
65535
Subcodes
Lenze setting
Information
C00324/1
0 1/10 ms
C00324/...
C00324/4
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00325
Parameter | Name:
Parameter | Name:
570
Parameter reference
Parameter list | C00327
C00327
Parameter | Name:
Parameter | Name:
Parameter | Name:
Parameter | Name:
Parameter | Name:
Parameter | Name:
Parameter | Name:
Parameter | Name:
Parameter | Name:
571
Parameter | Name:
C00347
Parameter | Name:
Information
C00347/1
C00347/...
C00347/32
; Read access Write access CINH PLC STOP No transfer COM MOT
C00348
Parameter | Name:
The value "1" means that the CAN DIP switch has been identified after mains switching and a valid baud rate and
node address have been set.
"0" means that no CAN DIP switch or no valid setting has been identified or the setting has been overwritten by
writing code C00350 or C00351.
Display range (min. value | unit | max. value)
0
; Read access Write access CINH PLC STOP No transfer COM MOT
C00349
Parameter | Name:
255
Subcodes
Information
C00349/1
Node address
C00349/2
Baud rate:
0: 10 kbit/s
1: 20 kbit/s
2: 50 kbit/s
3: 125 kbit/s
4: 250 kbit/s
5: 500 kbit/s
6: 800 kbit/s
7: 1000 kbit/s
; Read access Write access CINH PLC STOP No transfer COM MOT
572
Parameter reference
Parameter list | C00350
C00350
Parameter | Name:
A change of the node address only gets active after a CAN reset node.
The basic server channel RX/TX is automatically provided by the node address (C00372 and C00373; subcode 1).
Overwriting the value deactivates a possible node address selection entered by means of hardware.
Setting range (min. value | unit | max. value)
1
Lenze setting
127 1
; Read access ; Write access CINH PLC STOP No transfer ; COM MOT
C00351
Parameter | Name:
A change of the baud rate only gets active after a CAN reset node.
Overwriting the value deactivates a possible node address selection entered by means of hardware.
Selection list (Lenze setting printed in bold)
0 500 kbit/s
1 250 kbit/s
2 125 kbit/s
3 50 kbit/s
4 1 mbit/s
5 20 kbit/s
6 10 kbit/s
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 800 kbit/s
15 Reserved
255 Auto baud
; Read access ; Write access CINH PLC STOP No transfer ; COM MOT
C00352
Parameter | Name:
573
Parameter | Name:
ms
65535
Subcodes
Lenze setting
Information
C00356/1
0 ms
C00356/...
C00356/4
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00357
Parameter | Name:
ms
65535
Subcodes
Lenze setting
Information
C00357/1
3000 ms
C00357/...
C00357/4
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00359
Parameter | Name:
574
Parameter reference
Parameter list | C00360
C00360
Parameter | Name:
65535
Subcodes
Information
C00360/1
C00360/2
C00360/3
C00360/4
C00360/5
C00360/6
C00360/7
Tx telegram counter
Correctly received telegrams.
C00360/8
Rx telegram counters
Correctly transmitted telegrams.
; Read access Write access CINH PLC STOP No transfer COM MOT
C00361
Parameter | Name:
Restart the controller or use the controller command "Reset node" (C00002) to reset the display of the maximum
node load.
Display range (min. value | unit | max. value)
0
100
Subcodes
Information
C00361/1
C00361/2
C00361/3
C00361/4
C00361/5
C00361/6
; Read access Write access CINH PLC STOP No transfer COM MOT
C00367
Parameter | Name:
Lenze setting
2047 128
; Read access ; Write access CINH PLC STOP No transfer COM MOT
575
Parameter | Name:
Lenze setting
2047 128
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00369
Parameter | Name:
ms
Subcodes
Lenze setting
C00369/1
0 ms
C00369/2
0 ms
C00369/3
0 ms
65535
Information
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00372
Parameter | Name:
Information
Subcodes
Lenze setting
Information
C00372/1
0x00000601
C00372/2
0x80000000
C00372/3
0x80000000
C00372/4
0x80000000
C00372/5
0x80000000
C00372/6
0x80000000
C00372/7
0x80000000
C00372/8
0x80000000
C00372/9
0x80000000
C00372/10
0x80000000
; Read access ; Write access CINH PLC STOP No transfer ; COM MOT
576
Parameter reference
Parameter list | C00373
C00373
Parameter | Name:
Information
... ...
Bit 31 SDO invalid
Subcodes
Lenze setting
Information
C00373/1
0x00000581
C00373/2
0x80000000
C00373/3
0x80000000
C00373/4
0x80000000
C00373/5
0x80000000
C00373/6
0x80000000
C00373/7
0x80000000
C00373/8
0x80000000
C00373/9
0x80000000
C00373/10
0x80000000
; Read access ; Write access CINH PLC STOP No transfer ; COM MOT
C00374
Parameter | Name:
127
Subcodes
Lenze setting
Information
C00374/1
C00374/2
C00374/3
C00374/4
C00374/5
C00374/6
C00374/7
C00374/8
C00374/9
C00374/10
; Read access ; Write access CINH PLC STOP No transfer ; COM MOT
577
Parameter | Name:
Information
... ...
Bit 31 SDO invalid
Subcodes
Lenze setting
Information
C00375/1
0x80000000
C00375/...
C00375/10
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00376
Parameter | Name:
Information
... ...
Bit 31 SDO invalid
Subcodes
Lenze setting
Information
C00376/1
0x80000000
C00376/...
C00376/10
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00377
Parameter | Name:
Node address of the server with which the SDO client communicates via the selected client channel.
The client functionality need not be activated.
Activation of the CAN SDO client channel requires an entry (see DS301V402).
Setting range (min. value | unit | max. value)
1
127
Subcodes
Lenze setting
Information
C00377/1
C00377/...
C00377/10
; Read access ; Write access CINH PLC STOP No transfer COM MOT
578
Parameter reference
Parameter list | C00378
C00378
Parameter | Name:
Time after mains switching after which the CAN NMT master sends the "Start remote node" telegram to the bus.
The delay time is only used when the master bit is activated (C00352) and the controller has been restarted.
Setting range (min. value | unit | max. value)
0
ms
Lenze setting
65535 3000 ms
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00379
Parameter | Name:
Parameter | Name:
Time interval at which the device sends a heartbeat telegram with its device status to the bus.
Selection of the "node guarding" monitoring function deactivates the "heartbeat" monitoring function.
Setting range (min. value | unit | max. value)
0
ms
Lenze setting
65535 0 ms
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00382
Parameter | Name:
After the set guard time multiplied by the life time factor (C00383), a node guarding telegram must have been
received.
Setting range (min. value | unit | max. value)
0
ms
Lenze setting
65535 0 ms
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00383
Parameter | Name:
The life time factor multiplied by the guard time (C00382) results in the time in which a node guarding telegram
must have been received.
Setting range (min. value | unit | max. value)
0
Lenze setting
255 0
; Read access ; Write access CINH PLC STOP No transfer COM MOT
579
Parameter | Name:
Information
Subcodes
Lenze setting
Information
C00385/1
0x00000000
C00385/...
C00385/32
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00386
Parameter | Name:
The 32 subcodes represent the nodes to be monitored by the master by means of node guarding.
Each subcode entry contains the guard time, the lifetime factor and the node ID (node address) from which the
heartbeat telegram is expected in the form of a bit code.
The response to a non received node guarding response can be parameterised.
Value is bit-coded:
Information
... ...
Bit 31 Lifetime factor bit 7
Subcodes
Lenze setting
Information
C00386/1
0x00000000
C00386/...
C00386/32
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00387
Parameter | Name:
580
Parameter reference
Parameter list | C00388
C00388
Parameter | Name:
Information
C00388/1
C00388/...
C00388/32
; Read access Write access CINH PLC STOP No transfer COM MOT
C00390
Parameter | Name:
Information
; Read access Write access CINH PLC STOP No transfer COM MOT
C00391
Parameter | Name:
Information
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00392
Parameter | Name:
Lenze setting
65535 0
; Read access ; Write access CINH PLC STOP No transfer COM MOT
581
Parameter | Name:
Subcodes
Information
C00393/1
C00393/...
C00393/128
; Read access Write access CINH PLC STOP No transfer COM MOT
C00395
Parameter | Name:
Parameter | Name:
Parameter | Name:
Parameter | Name:
C00399
Parameter | Name:
Hz/1
Lenze setting
1000.0
Information
C00399/1
0.0 Hz/1
C00399/2
0.0 Hz/1
; Read access ; Write access CINH PLC STOP ; No transfer COM MOT
582
Scaling factor: 10
Parameter reference
Parameter list | C00416
C00416
Parameter | Name:
Lenze setting
99999999 0
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT
C00420
Parameter | Name:
Lenze setting
16384 512
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT
C00421
Parameter | Name:
Lenze setting
9.0 5.0 V
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT
C00422
Parameter | Name:
Scaling factor: 10
C00427
Parameter | Name:
583
Parameter | Name:
Subcodes
Information
C00443/1
Digital input 1
C00443/2
Digital input 2
C00443/3
Digital input 3
C00443/4
Digital input 4
C00443/5
Digital input 5
C00443/6
Digital input 6
C00443/7
Digital input 7
C00443/8
Digital input 8
C00443/9
C00443/10
Internal signal
C00443/11
C00443/12
; Read access Write access CINH PLC STOP No transfer COM MOT
C00444
Parameter | Name:
Subcodes
Information
C00444/1
Digital output 1
C00444/2
Digital output 2
C00444/3
Digital output 3
C00444/4
Digital output 4
C00444/5
Internal signal
C00444/6
Internal signal
C00444/7
Internal signal
C00444/8
Internal signal
C00444/9
User LED
C00444/10
Internal signal
C00444/11
Internal signal
C00444/12
Internal signal
C00444/13
C00444/14
Internal signal
C00444/15
Internal signal
C00444/16
Internal signal
C00444/17
Internal signal
C00444/18
; Read access Write access CINH PLC STOP No transfer COM MOT
584
Parameter reference
Parameter list | C00465
C00465
Parameter | Name:
C00466
Parameter | Name:
Lenze setting
65535 0
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00467
Parameter | Name:
C00468
Parameter | Name:
Parameter | Name:
C00490
Parameter | Name:
585
Parameter | Name:
Lenze setting
ms
100000 0 ms
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00495
Parameter | Name:
C00497
Parameter | Name:
ms
Lenze setting
50.0 2.0 ms
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00512
Scaling factor: 10
Parameter | Name:
Parameter | Name:
Parameter | Name:
Parameter | Name:
Parameter | Name:
586
Parameter reference
Parameter list | C00573
C00573
Parameter | Name:
C00574
Parameter | Name:
C00576
Parameter | Name:
Lenze setting
100 100 %
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00577
Parameter | Name:
With setting "0", the proportional component is deactivated and an integral-action controller is used.
Setting range (min. value | unit | max. value)
0.000
Vs/V
Lenze setting
2147483.647 0.000 Vs/V
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C00578
Parameter | Name:
With setting "240000.0 ms", the integral-action component of the field weakening controller is deactivated.
Setting range (min. value | unit | max. value)
1.0
ms
Lenze setting
240000.0 2000.0 ms
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
Scaling factor: 10
587
Parameter | Name:
C00580
Parameter | Name:
C00581
Parameter | Name:
Drive interface
588
Parameter reference
Parameter list | C00582
C00582
Parameter | Name:
C00583
Parameter | Name:
C00584
Parameter | Name:
C00585
Parameter | Name:
589
Parameter | Name:
C00587
Parameter | Name:
C00588
Parameter | Name:
C00589
Parameter | Name:
590
Parameter reference
Parameter list | C00591
C00591
Parameter | Name:
Response, if the corresponding CAN RPDO has not been received in the configured time or with the configured sync.
Selection list
0 No response
1 Error
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
Subcodes
Lenze setting
Information
C00591/1
0: No response
C00591/...
C00591/4
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00594
Parameter | Name:
C00595
Parameter | Name:
C00596
Parameter | Name:
rpm
Lenze setting
50000 6500 rpm
; Read access ; Write access CINH PLC STOP No transfer COM MOT
591
Parameter | Name:
C00598
Parameter | Name:
Response if with master current at AIN1 and mode LifeZero (4...20 mA) the current is in the non permitted range
(-4...+4 mA).
Selection list (Lenze setting printed in bold)
0 No response
1 Error
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00599
Parameter | Name:
Lenze setting
10.0 5.0 %
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00600
Parameter | Name:
Scaling factor: 10
592
Parameter reference
Parameter list | C00601
C00601
Parameter | Name:
C00604
Parameter | Name:
C00606
Parameter | Name:
C00607
Parameter | Name:
593
Parameter | Name:
C00611
Parameter | Name:
C00612
Parameter | Name:
Lenze setting
Information
C00612/1
0: No response
C00612/...
C00612/32
; Read access ; Write access CINH PLC STOP No transfer COM MOT
594
Parameter reference
Parameter list | C00613
C00613
Parameter | Name:
Lenze setting
Information
C00613/1
0: No response
C00613/...
C00613/32
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C00614
Parameter | Name:
C00615
Parameter | Name:
Lenze setting
Information
C00615/1
0: No response
Reserved
C00615/2
1: Error
C00615/3
1: Error
C00615/4
0: No response
Reserved
C00615/5
0: No response
Reserved
; Read access ; Write access CINH PLC STOP No transfer COM MOT
595
Parameter | Name:
4294967295
; Read access Write access CINH PLC STOP No transfer COM MOT
C00619
Parameter | Name:
C00620
Parameter | Name:
Lenze setting
3000.0 3000.0 A
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C00625
Parameter | Name:
Scaling factor: 10
C00635
Parameter | Name:
596
Parameter reference
Parameter list | C00636
C00636
Parameter | Name:
C00637
Parameter | Name:
C00691
Parameter | Name:
200.00
; Read access Write access CINH PLC STOP No transfer COM MOT
C00692
Parameter | Name:
200.00
; Read access Write access CINH PLC STOP No transfer COM MOT
C00693
Parameter | Name:
200.00
; Read access Write access CINH PLC STOP No transfer COM MOT
C00694
Parameter | Name:
200.00
; Read access Write access CINH PLC STOP No transfer COM MOT
597
Parameter | Name:
200.00
; Read access Write access CINH PLC STOP No transfer COM MOT
C00696
Parameter | Name:
200.00
; Read access Write access CINH PLC STOP No transfer COM MOT
C00697
Parameter | Name:
200.00
; Read access Write access CINH PLC STOP No transfer COM MOT
C00698
Parameter | Name:
200.00
; Read access Write access CINH PLC STOP No transfer COM MOT
C00730
Parameter | Name:
Parameter | Name:
Parameter | Name:
Parameter | Name:
Parameter | Name:
Parameter | Name:
598
Parameter reference
Parameter list | C00736
C00736
Parameter | Name:
Parameter | Name:
Parameter | Name:
Parameter | Name:
Parameter | Name:
C00770 | MCTRL_dnMotorPosAct
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0
Incr.
4294967295
Subcodes
Information
C00770/1
Low Word
C00770/2
High Word
; Read access Write access CINH PLC STOP No transfer COM MOT
C00771
Parameter | Name:
C00771 | MCTRL_dnLoadPosAct
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0
Incr.
4294967295
Subcodes
Information
C00771/1
Low Word
C00771/2
High Word
; Read access Write access CINH PLC STOP No transfer COM MOT
C00772
Parameter | Name:
C00772 | MCTRL_dnMotorSpeedAct
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000
rpm
480000
; Read access Write access CINH PLC STOP No transfer COM MOT
599
Parameter | Name:
C00773 | MCTRL_dnLoadSpeedAct
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000
rpm
480000
; Read access Write access CINH PLC STOP No transfer COM MOT
C00774
Parameter | Name:
C00774 | MCTRL_dnTorqueAct
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-21474836.47
Nm
21474836.47
; Read access Write access CINH PLC STOP No transfer COM MOT
C00775
Parameter | Name:
C00775 | MCTRL_dnOutputSpeedCtrl
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-21474836.47
Nm
21474836.47
; Read access Write access CINH PLC STOP No transfer COM MOT
C00776
Parameter | Name:
C00776 | MCTRL_dnInputJerkCtrl
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-21474836.47
Nm
21474836.47
; Read access Write access CINH PLC STOP No transfer COM MOT
C00777
Parameter | Name:
C00777 | MCTRL_dnInputTorqueCtrl
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-21474836.47
Nm
21474836.47
; Read access Write access CINH PLC STOP No transfer COM MOT
C00778
Parameter | Name:
C00778 | MCTRL_dnFluxAct
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00
200.00
; Read access Write access CINH PLC STOP No transfer COM MOT
600
Parameter reference
Parameter list | C00779
C00779
Parameter | Name:
C00779 | MCTRL_dnDCBusVoltage
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0
1000
; Read access Write access CINH PLC STOP No transfer COM MOT
C00780
Parameter | Name:
C00780 | MCTRL_dnImotAct
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-500.00
500.00
; Read access Write access CINH PLC STOP No transfer COM MOT
C00781
Parameter | Name:
C00781 | MCTRL_dwMaxMotorSpeed
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0
rpm
480000
; Read access Write access CINH PLC STOP No transfer COM MOT
C00782
Parameter | Name:
C00782 | MCTRL_dwMaxMotorTorque
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0.000
Nm
2147483.647
; Read access Write access CINH PLC STOP No transfer COM MOT
C00783
Parameter | Name:
C00783 | MCTRL_dwMotorVoltageAct
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0
2000
; Read access Write access CINH PLC STOP No transfer COM MOT
C00784
Parameter | Name:
C00784 | MCTRL_dnMotorFreqAct
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-800.0
Hz
800.0
; Read access Write access CINH PLC STOP No transfer COM MOT
Scaling factor: 10
601
Parameter | Name:
C00786 | MCTRL_dnIxtLoad
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00
200.00
; Read access Write access CINH PLC STOP No transfer COM MOT
C00787
Parameter | Name:
C00787 | MCTRL_dnFlyingSpeedAct
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000
rpm
480000
; Read access Write access CINH PLC STOP No transfer COM MOT
C00788
Parameter | Name:
C00788 | MCTRL_dwMaxEffMotorTorque
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0.000
Nm
2147483.647
; Read access Write access CINH PLC STOP No transfer COM MOT
C00789
Parameter | Name:
C00789 | MCTRL_dwMaxDeviceCurrent
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0.00
21474836.47
; Read access Write access CINH PLC STOP No transfer COM MOT
C00790
Parameter | Name:
C00790 | MCTRL_dnI2xtLoad
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00
200.00
; Read access Write access CINH PLC STOP No transfer COM MOT
C00791
Parameter | Name:
C00791 | MCTRL_dnDeltaMotorPos_p
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-2147483647
Incr.
2147483647
; Read access Write access CINH PLC STOP No transfer COM MOT
602
Parameter reference
Parameter list | C00792
C00792
Parameter | Name:
C00792 | MCTRL_dnOutputPosCtrlMotor_s
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200
200
; Read access Write access CINH PLC STOP No transfer COM MOT
C00800
Parameter | Name:
C00800 | MCTRL_dnPosSet
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0
Incr.
4294967295
Subcodes
Information
C00800/1
Low Word
C00800/2
High Word
; Read access Write access CINH PLC STOP No transfer COM MOT
C00802
Parameter | Name:
C00802 | MCTRL_dnSpeedAdd
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000
rpm
480000
; Read access Write access CINH PLC STOP No transfer COM MOT
C00803
Parameter | Name:
C00803 | MCTRL_dnTorqueAdd
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-2147483.647
Nm
2147483.647
; Read access Write access CINH PLC STOP No transfer COM MOT
C00804
Parameter | Name:
C00804 | MCTRL_dnAccelerationAdd
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-2147483.647
1/s
2147483.647
; Read access Write access CINH PLC STOP No transfer COM MOT
C00805
Parameter | Name:
C00805 | MCTRL_dnSpeedLowLimit
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000
rpm
480000
; Read access Write access CINH PLC STOP No transfer COM MOT
603
Parameter | Name:
C00806 | MCTRL_dnTorqueLowLimit
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-21474836.47
Nm
21474836.47
; Read access Write access CINH PLC STOP No transfer COM MOT
C00807
Parameter | Name:
C00807 | MCTRL_dnTorqueHighLimit
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-21474836.47
Nm
21474836.47
; Read access Write access CINH PLC STOP No transfer COM MOT
C00808
Parameter | Name:
C00808 | MCTRL_dnPosCtrlOutLimit
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000
rpm
480000
; Read access Write access CINH PLC STOP No transfer COM MOT
C00809
Parameter | Name:
C00809 | MCTRL_dnTorqueCtrlAdapt
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00
200.00
; Read access Write access CINH PLC STOP No transfer COM MOT
C00810
Parameter | Name:
C00810 | MCTRL_dnSpeedCtrlAdapt
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00
200.00
; Read access Write access CINH PLC STOP No transfer COM MOT
C00811
Parameter | Name:
C00811 | MCTRL_dnPosCtrlAdapt
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00
200.00
; Read access Write access CINH PLC STOP No transfer COM MOT
604
Parameter reference
Parameter list | C00812
C00812
Parameter | Name:
C00812 | MCTRL_dnMotorPosRefValue
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0
Incr.
4294967295
Subcodes
Information
C00812/1
Low Word
C00812/2
High Word
; Read access Write access CINH PLC STOP No transfer COM MOT
C00813
Parameter | Name:
C00813 | MCTRL_dnLoadPosRefValue
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0
Incr.
4294967295
Subcodes
Information
C00813/1
Low Word
C00813/2
High Word
; Read access Write access CINH PLC STOP No transfer COM MOT
C00814
Parameter | Name:
C00814 | MCTRL_dnBoost
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-1000
1000
; Read access Write access CINH PLC STOP No transfer COM MOT
C00815
Parameter | Name:
C00815 | MCTRL_dnSpeedCtrlIntegrator
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000
Nm
480000
; Read access Write access CINH PLC STOP No transfer COM MOT
C00816
Parameter | Name:
C00816 | MCTRL_dnFieldWeak
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00
200.00
; Read access Write access CINH PLC STOP No transfer COM MOT
C00817
Parameter | Name:
C00817 | MCTRL_dnSpeedSet_s
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000
rpm
480000
; Read access Write access CINH PLC STOP No transfer COM MOT
605
Parameter | Name:
C00854 | ID status
Display range (min. value | unit | max. value)
0
100
; Read access Write access CINH PLC STOP No transfer COM MOT
C00878
Parameter | Name:
Subcodes
Information
C00878/1
C00878/2
C00878/3
C00878/4
C00878/5
; Read access Write access CINH PLC STOP No transfer COM MOT
C00909
Parameter | Name:
%
Lenze setting
175.0
Information
C00909/1
175.0 %
C00909/2
-175.0 %
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C01120
Parameter | Name:
Scaling factor: 10
606
Parameter reference
Parameter list | C01121
C01121
Parameter | Name:
Lenze setting
13000 1000 s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C01122
Parameter | Name:
Lenze setting
64000 0 s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C01123
Parameter | Name:
Lenze setting
1000 0 s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
607
Parameter | Name:
C01190
Parameter | Name:
Information
0 KTY83-110
1 Spec. characteristic
2 KTY83-110 + 2 x PTC
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
608
Parameter reference
Parameter list | C01191
C01191
Parameter | Name:
255
Subcodes
Lenze setting
Information
C01191/1
25 C
C01191/2
150 C
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C01192
Parameter | Name:
Ohm
30000
Subcodes
Lenze setting
Information
C01192/1
1000 Ohm
C01192/2
2225 Ohm
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C01193
Parameter | Name:
C01194
Parameter | Name:
Lenze setting
200 140 C
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C01195
Parameter | Name:
Lenze setting
100 0 %
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
609
Parameter | Name:
600
Subcodes
Lenze setting
Information
C01196/1
0%
C01196/2
100 %
C01196/3
0%
C01196/4
100 %
C01196/5
100 %
C01196/6
100 %
C01196/7
100 %
C01196/8
100 %
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C01203
Parameter | Name:
65535
; Read access Write access CINH PLC STOP No transfer COM MOT
C01204
Parameter | Name:
65535
; Read access Write access CINH PLC STOP No transfer COM MOT
C01205
Parameter | Name:
65535
; Read access Write access CINH PLC STOP No transfer COM MOT
C01206
Parameter | Name:
65535
; Read access Write access CINH PLC STOP No transfer COM MOT
C01208
Parameter | Name:
65535
; Read access Write access CINH PLC STOP No transfer COM MOT
610
Parameter reference
Parameter list | C01209
C01209
Parameter | Name:
65535
; Read access Write access CINH PLC STOP No transfer COM MOT
C01210
Parameter | Name:
255
; Read access Write access CINH PLC STOP No transfer COM MOT
C01211
Parameter | Name:
Parameter | Name:
65535
; Read access Write access CINH PLC STOP No transfer COM MOT
C01213
Parameter | Name:
Parameter | Name:
C01501
Parameter | Name:
Response to communication error between "intelligent" module in module slot 1 and basic device
Selection list (Lenze setting printed in bold)
0 No response
1 Error
3 Quick stop by trouble
4 Warning locked
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM MOT
611
Parameter | Name:
Response to communication error between "intelligent" module in module slot 2 and basic device
Selection list (Lenze setting printed in bold)
0 No response
1 Error
3 Quick stop by trouble
4 Warning locked
5 Warning
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C01510
Parameter | Name:
Information
C01510/1
C01510/...
C01510/5
; Read access Write access CINH PLC STOP No transfer COM MOT
C01511
Parameter | Name:
Information
C01511/1
C01511/...
C01511/5
; Read access Write access CINH PLC STOP No transfer COM MOT
612
Parameter reference
Parameter list | C01902
C01902
Parameter | Name:
Maximum permissible baud rate of the basic device after determination of the baud rate at the diagnostics
interface X6
Communication starts with the default baud rate 19200 of the basic device.
Selection list (Lenze setting printed in bold)
9600 9600 baud
19200 19.200 baud
38400 38.400 baud
57600 57.600 baud
115200 115.200 baud
230400 230.400 baud
375000 375.000 baud
750000 750.000 baud
1500000 1.500.000 baud
3000000 3.000.000 baud
; Read access ; Write access CINH PLC STOP No transfer ; COM MOT
C01903
Parameter | Name:
C01905
Parameter | Name:
3000000
; Read access Write access CINH PLC STOP No transfer COM MOT
C02104
Parameter | Name:
C02108
Parameter | Name:
613
Parameter | Name:
65535
; Read access Write access CINH PLC STOP No transfer COM MOT
C02113
Parameter | Name:
C02121
Parameter | Name:
3600000000
Subcodes
Information
C02121/1
C02121/2
; Read access Write access CINH PLC STOP No transfer COM MOT
C02122
Parameter | Name:
3600000000
Subcodes
Information
C02122/1
C02122/2
; Read access Write access CINH PLC STOP No transfer COM MOT
C02123
Parameter | Name:
3600000000
Subcodes
Information
C02123/1
C02123/2
; Read access Write access CINH PLC STOP No transfer COM MOT
C02520
Parameter | Name:
Drive interface
Setting range (min. value | unit | max. value)
1
Lenze setting
2147483647 1
; Read access ; Write access ; CINH PLC STOP No transfer COM MOT
614
Parameter reference
Parameter list | C02521
C02521
Parameter | Name:
Drive interface
Setting range (min. value | unit | max. value)
1
Lenze setting
2147483647 1
; Read access ; Write access ; CINH PLC STOP No transfer COM MOT
C02522
Parameter | Name:
Drive interface
Setting range (min. value | unit | max. value)
1
Lenze setting
2147483647 1
; Read access ; Write access ; CINH PLC STOP No transfer COM MOT
C02523
Parameter | Name:
Drive interface
Setting range (min. value | unit | max. value)
1
Lenze setting
2147483647 1
; Read access ; Write access ; CINH PLC STOP No transfer COM MOT
C02524
Parameter | Name:
Drive interface
Setting range (min. value | unit | max. value)
0.0001
Unit/rev.
Lenze setting
214748.3647 360.0000 Unit/rev.
; Read access ; Write access ; CINH PLC STOP No transfer COM MOT
C02525
Parameter | Name:
C02525 | Unit
Drive interface
Selection list (Lenze setting printed in bold)
0 User-defined
Information
The text entered in C02526 is displayed for the unit.
1 Incr.
2 m
3 mm
4 M
5 inch
6 yard
7
; Read access ; Write access ; CINH PLC STOP No transfer COM MOT
C02526
Parameter | Name:
Drive interface
; Read access ; Write access ; CINH PLC STOP No transfer COM MOT
615
Parameter | Name:
Drive interface
Selection list (Lenze setting printed in bold)
0 Motor rotating CW
1 Motor rotating CCW
; Read access ; Write access ; CINH PLC STOP No transfer COM MOT
C02528
Parameter | Name:
Drive interface
Selection list (Lenze setting printed in bold)
0 Unlimited
1 Limited
2 Modulo
; Read access ; Write access ; CINH PLC STOP No transfer COM MOT
C02529
Parameter | Name:
Drive interface
Selection list (Lenze setting printed in bold)
0 Sensor rotating CW
1 Encoder rotating CCW
; Read access ; Write access ; CINH PLC STOP No transfer COM MOT
616
Parameter reference
Parameter list | C02530
C02530
Parameter | Name:
C02531
Parameter | Name:
Note: In subcode 3 the resulting gearbox factor between the motor and the load is displayed if a separate position
encoder is configured and the position control is activated (C02570="2"). For a different encoder configuration
(without a separate position encoder) the value "1" is shown in subcode 3.
Drive interface
Display range (min. value | unit | max. value)
0.001
2147483.647
Subcodes
Information
C02531/1
C02531/2
C02531/3
; Read access Write access CINH PLC STOP No transfer COM MOT
C02532
Parameter | Name:
Drive interface
Display range (min. value | unit | max. value)
0.0000
Incr./Unit
214748.3647
; Read access Write access CINH PLC STOP No transfer COM MOT
617
Parameter | Name:
Drive interface
Selection list (display only)
2 s
; Read access Write access CINH PLC STOP No transfer COM MOT
C02534
Parameter | Name:
Drive interface
; Read access Write access CINH PLC STOP No transfer COM MOT
C02535
Parameter | Name:
Drive interface
; Read access Write access CINH PLC STOP No transfer COM MOT
C02536
Parameter | Name:
C02536 | Cycle
Drive interface
Setting range (min. value | unit | max. value)
0.0000
Unit
Lenze setting
214748.3647 360.0000 Unit
; Read access ; Write access ; CINH PLC STOP No transfer COM MOT
C02537
Parameter | Name:
Drive interface
; Read access Write access CINH PLC STOP No transfer COM MOT
C02538
Parameter | Name:
Drive interface
; Read access Write access CINH PLC STOP No transfer COM MOT
C02539
Parameter | Name:
Drive interface
Display range (min. value | unit | max. value)
-214748.3647
Unit
214748.3647
; Read access Write access CINH PLC STOP No transfer COM MOT
C02540
Parameter | Name:
Drive interface
Display range (min. value | unit | max. value)
-214748.3647
Unit/s
214748.3647
; Read access Write access CINH PLC STOP No transfer COM MOT
618
Parameter reference
Parameter list | C02541
C02541
Parameter | Name:
Drive interface
Display range (min. value | unit | max. value)
-214748.3647
Unit/s
214748.3647
; Read access Write access CINH PLC STOP No transfer COM MOT
C02542
Parameter | Name:
Drive interface
Display range (min. value | unit | max. value)
0.000
rpm
4294967.295
; Read access Write access CINH PLC STOP No transfer COM MOT
C02543
Parameter | Name:
Drive interface
Display range (min. value | unit | max. value)
0.000
Nm
4294967.295
; Read access Write access CINH PLC STOP No transfer COM MOT
C02547
Parameter | Name:
C02547 | DI_dnState
Status of the drive interface (LS_DriveInterface).
Display range (min. value | unit | max. value)
-2147483648
2147483647
; Read access Write access CINH PLC STOP No transfer COM MOT
C02548
Parameter | Name:
C02548 | DI_bErrors
Display of the boolean error signals of the drive interface (LS_DriveInterface).
Selection list
0 FALSE
1 TRUE
Subcodes
Information
C02548/1
DI_bResetError1
C02548/2
DI_bResetError2
C02548/3
DI_bResetError3
C02548/4
DI_bSetExternError
; Read access Write access CINH PLC STOP No transfer COM MOT
619
Parameter | Name:
Information
C02549/1
DI_bSetCInh
C02549/2
Reserved
C02549/3
Reserved
C02549/4
DI_bSwitchOn
C02549/5
Reserved
C02549/6
DI_bReady
C02549/7
DI_bFailActive
C02549/8
DI_bImpActive
C02549/9
DI_bCInhActive
C02549/10
DI_bWarningActive
C02549/11
DI_bUVDetected
C02549/12
DI_bOVDetected
C02549/13
DI_bMainSupplyOk
C02549/14
DI_bReadyToSwitchOn
C02549/15
DI_bOperationEnabled
; Read access Write access CINH PLC STOP No transfer COM MOT
C02550
Parameter | Name:
Motor interface
Selection list
0 Off
1 ON
Subcodes
Lenze setting
Information
C02550/1
0: Off
C02550/2
0: Off
C02550/3
0: Off
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02552
Parameter | Name:
Motor interface
Display range (min. value | unit | max. value)
-214748.3647
Unit
214748.3647
; Read access Write access CINH PLC STOP No transfer COM MOT
620
Parameter reference
Parameter list | C02553
C02553
Parameter | Name:
Motor interface
Setting range (min. value | unit | max. value)
0.00
Lenze setting
1/s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02554
Parameter | Name:
Motor interface
Setting range (min. value | unit | max. value)
0.001
Lenze setting
60.000 60.000 s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02555
Parameter | Name:
Motor interface
Setting range (min. value | unit | max. value)
0.000
Lenze setting
100.000 0.000
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02556
Parameter | Name:
Motor interface
Setting range (min. value | unit | max. value)
0.0000
Unit/s
Lenze setting
214748.3647 214748.3647 Unit/s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02557
Parameter | Name:
Motor interface
Display range (min. value | unit | max. value)
-214748.3647
Unit/s
214748.3647
; Read access Write access CINH PLC STOP No transfer COM MOT
C02558
Parameter | Name:
Motor interface
Display range (min. value | unit | max. value)
-214748.3647
Unit/s
214748.3647
; Read access Write access CINH PLC STOP No transfer COM MOT
621
Parameter | Name:
Motor interface
Display range (min. value | unit | max. value)
-200.00
200.00
Subcodes
Information
C02559/1
C02559/2
; Read access Write access CINH PLC STOP No transfer COM MOT
C02560
Parameter | Name:
Motor interface
Display range (min. value | unit | max. value)
0
4294967295
; Read access Write access CINH PLC STOP No transfer COM MOT
C02567
Parameter | Name:
Motor interface
Selection list (display only)
0 Position control
1 Speed control
2 Torque control
; Read access Write access CINH PLC STOP No transfer COM MOT
C02568
Parameter | Name:
200.00
Subcodes
Information
C02568/1
MI_dnPosCtrlAdaptLoad_n
C02568/2
MI_dnPosCtrlAdaptMotor_n
C02568/3
MI_dnSpeedCtrlAdapt_n
C02568/4
MI_dnTorqueHighLimit_n
C02568/5
MI_dnTorqueLowLimit_n
C02568/6
Reserved
C02568/7
MI_dnFluxSetpoint_n
C02568/8
Reserved
; Read access Write access CINH PLC STOP No transfer COM MOT
622
Parameter reference
Parameter list | C02569
C02569
Parameter | Name:
Information
C02569/1
Reserved
C02569/2
MI_bResetSpeedCtrlIntegrator
C02569/3
MI_bLimitationActive
C02569/4
MI_bPosCtrlLimited
C02569/5
MI_bSpeedSetPointLimited
C02569/6
MI_bSpeedCtrlLimited
C02569/7
MI_bTorqueSetpointLimited
C02569/8
MI_bCurrentSetpointLimited
C02569/9
MI_bSpeedBelowC19
C02569/10
MI_bSpeedFollowingError
C02569/11
MI_bMotorOverloadWarning
; Read access Write access CINH PLC STOP No transfer COM MOT
C02570
Parameter | Name:
Encoder evaluation
Selection list (Lenze setting printed in bold)
Information
1 Phase control
2 Position control
; Read access ; Write access ; CINH PLC STOP No transfer COM MOT
C02572
Parameter | Name:
Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647
Unit/s
214748.3647
; Read access Write access CINH PLC STOP No transfer COM MOT
C02573
Parameter | Name:
Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647
Unit
214748.3647
; Read access Write access CINH PLC STOP No transfer COM MOT
623
Parameter | Name:
Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647
Unit/s
214748.3647
; Read access Write access CINH PLC STOP No transfer COM MOT
C02575
Parameter | Name:
Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647
Unit
214748.3647
; Read access Write access CINH PLC STOP No transfer COM MOT
C02576
Parameter | Name:
Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647
Unit
214748.3647
; Read access Write access CINH PLC STOP No transfer COM MOT
C02577
Parameter | Name:
Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647
Unit
214748.3647
; Read access Write access CINH PLC STOP No transfer COM MOT
C02578
Parameter | Name:
Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647
Unit
214748.3647
; Read access Write access CINH PLC STOP No transfer COM MOT
C02579
Parameter | Name:
Information
C02579/1
FDB_bResolverError
C02579/2
FDB_bSinCosSignalError
C02579/3
FDB_bEncoderComError
; Read access Write access CINH PLC STOP No transfer COM MOT
624
Parameter reference
Parameter list | C02580
C02580
Parameter | Name:
C02581
Parameter | Name:
Lenze setting
rpm
50000 50 rpm
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02582
Parameter | Name:
C02583
Parameter | Name:
C02585
Parameter | Name:
625
Parameter | Name:
Lenze setting
Nm
21474836.47 0.00 Nm
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02587
Parameter | Name:
Lenze setting
Nm
21474836.47 0.00 Nm
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02588
Parameter | Name:
C02589
Parameter | Name:
Lenze setting
ms
60000 100 ms
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02590
Parameter | Name:
Lenze setting
ms
60000 100 ms
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02591
Parameter | Name:
ms
Lenze setting
60000 100 ms
; Read access ; Write access CINH PLC STOP No transfer COM MOT
626
Parameter reference
Parameter list | C02593
C02593
Parameter | Name:
Lenze setting
1000.000 0.000 s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02594
Parameter | Name:
Nm
Lenze setting
21474836.47 0.00 Nm
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02595
Parameter | Name:
Lenze setting
360 5
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02596
Parameter | Name:
rpm
Lenze setting
300 100 rpm
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02597
Parameter | Name:
Lenze setting
60.000 1.000 s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02598
Parameter | Name:
Lenze setting
2.0 0.5 s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
Scaling factor: 10
627
Parameter | Name:
Lenze setting
2.0 0.5 s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02607
Scaling factor: 10
Parameter | Name:
C02607 | BRK_dnState
Status of the "brake control" basic function (LS_Brake).
Display range (min. value | unit | max. value)
-2147483648
2147483647
; Read access Write access CINH PLC STOP No transfer COM MOT
C02608
Parameter | Name:
C02608 | BRK_dnTorqueAdd_n
Display of the additive torque value of the "brake control" basic function (LS_Brake).
Display range (min. value | unit | max. value)
-200.00
200.00
; Read access Write access CINH PLC STOP No transfer COM MOT
C02609
Parameter | Name:
Information
C02609/1
BRK_bReleaseBrake
C02609/2
BRK_bStartingTorque2
C02609/3
BRK_bBrakeApplied
C02609/4
BRK_bBrakeTest
C02609/5
BRK_bBrakeGrindIn
C02609/6
BRK_bReleaseBrakeOut
C02609/7
BRK_bBrakeReleased
C02609/8
BRK_bError
C02609/9
BRK_bCInhActive
; Read access Write access CINH PLC STOP No transfer COM MOT
C02610
Parameter | Name:
Basic function"Stop"
Setting range (min. value | unit | max. value)
0.000
Lenze setting
1000.000 1.000 s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
628
Parameter reference
Parameter list | C02611
C02611
Parameter | Name:
Basic function"Stop"
Setting range (min. value | unit | max. value)
0.000
Lenze setting
10.000 0.100 s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02612
Parameter | Name:
Basic function"Stop"
Selection list (Lenze setting printed in bold)
0 Reference speed (C00011)
1 Current speed
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02616
Parameter | Name:
C02616 | STP_dnState
Status of the basic function "Stop" (LS_Stop).
Display range (min. value | unit | max. value)
-2147483648
2147483647
; Read access Write access CINH PLC STOP No transfer COM MOT
C02617
Parameter | Name:
C02617 | STP_bStopActive
Display of the boolean signals of the basic function " Stop" (LS_Stop).
Selection list (display only)
0 Stop not active
1 Stop active
; Read access Write access CINH PLC STOP No transfer COM MOT
C02619
Parameter | Name:
Information
C02619/1
QSP_bActivate1
C02619/2
QSP_bActivate2
C02619/3
QSP_bActivate3
C02619/4
QSP_bActive
; Read access Write access CINH PLC STOP No transfer COM MOT
629
Parameter | Name:
Unit/s
Lenze setting
214748.3647 360.0000 Unit/s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02621
Parameter | Name:
Unit/s
Lenze setting
214748.3647 720.0000 Unit/s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02622
Parameter | Name:
Unit/s
Lenze setting
214748.3647 360.0000 Unit/s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02623
Parameter | Name:
Unit/s
Lenze setting
214748.3647 1440.0000 Unit/s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02624
Parameter | Name:
Lenze setting
10.000 0.100 s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02638
Parameter | Name:
; Read access Write access CINH PLC STOP No transfer COM MOT
630
Parameter reference
Parameter list | C02639
C02639
Parameter | Name:
Information
C02639/1
MAN_bEnable
C02639/2
MAN_bJogPositive
C02639/3
MAN_bJogNegative
C02639/4
MAN_bActivateJogSpeed2
C02639/5
MAN_bReleaseLimitSwitch
C02639/6
MAN_bEnabled
C02639/7
MAN_bActive
; Read access Write access CINH PLC STOP No transfer COM MOT
C02640
Parameter | Name:
C02642
Parameter | Name:
Unit
Lenze setting
214748.3647 0.0000 Unit
; Read access ; Write access CINH PLC STOP No transfer COM MOT
631
Parameter | Name:
Unit
Lenze setting
214748.3647 0.0000 Unit
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02644
Parameter | Name:
Unit/s
Lenze setting
214748.3647 360.0000 Unit/s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02645
Parameter | Name:
Unit/s
Lenze setting
214748.3647 720.0000 Unit/s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02646
Parameter | Name:
Unit/s
Lenze setting
214748.3647 180.0000 Unit/s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02647
Parameter | Name:
Unit/s
Lenze setting
214748.3647 360.0000 Unit/s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02648
Parameter | Name:
ms
Lenze setting
10000 100 ms
; Read access ; Write access CINH PLC STOP No transfer COM MOT
632
Parameter reference
Parameter list | C02649
C02649
Parameter | Name:
Lenze setting
200.00 10.00 %
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02650
Parameter | Name:
Lenze setting
120.000 1.000 s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02651
Parameter | Name:
Lenze setting
4294967295 16
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02652
Parameter | Name:
C02653
Parameter | Name:
Lenze setting
1000000 180
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02656
Parameter | Name:
Unit
214748.3647
; Read access Write access CINH PLC STOP No transfer COM MOT
633
Parameter | Name:
C02657 | HM_dnState
Status of the basic function "Homing" (LS_Homing).
Display range (min. value | unit | max. value)
-2147483648
2147483647
; Read access Write access CINH PLC STOP No transfer COM MOT
C02658
Parameter | Name:
C02658 | HM_dnHomePos_p
Display of the position signals of the basic function "Homing" (LS_Homing).
Display range (min. value | unit | max. value)
-214748.3647
214748.3647
; Read access Write access CINH PLC STOP No transfer COM MOT
C02659
Parameter | Name:
Information
C02659/1
HM_bEnable
C02659/2
HM_bActivateHoming
C02659/3
HM_bHomingMark
C02659/4
HM_bLoadHomePos
C02659/5
HM_bResetHomePos
C02659/6
HM_bEnabled
C02659/7
HM_bActive
C02659/8
HM_bDone
C02659/9
HM_bHomePosAvailable
; Read access Write access CINH PLC STOP No transfer COM MOT
C02674
Parameter | Name:
C02674 | POS_dwActualProfileNumber
Current profile of the basic function "Positioning" (LS_Positioner).
Display range (min. value | unit | max. value)
0
1000
; Read access Write access CINH PLC STOP No transfer COM MOT
C02675
Parameter | Name:
C02675 | POS_dnState
Status of the basic function "Positioning" (LS_Positioner).
Display range (min. value | unit | max. value)
-2147483648
2147483647
; Read access Write access CINH PLC STOP No transfer COM MOT
634
Parameter reference
Parameter list | C02676
C02676
Parameter | Name:
C02676 | POS_dnProfileSpeed_s
Display of the max. speed of the current profile of the basic function "Positioning" (LS_Positioner).
Display range (min. value | unit | max. value)
-214748.3647
214748.3647
; Read access Write access CINH PLC STOP No transfer COM MOT
C02677
Parameter | Name:
200.00
Subcodes
Information
C02677/1
POS_dnSpeedOverride_n
C02677/2
POS_dnAccOverride_n
; Read access Write access CINH PLC STOP No transfer COM MOT
C02678
Parameter | Name:
214748.3647
Subcodes
Information
C02678/1
POS_dnSetPos_p
C02678/2
POS_dnProfileTarget_p
; Read access Write access CINH PLC STOP No transfer COM MOT
C02679
Parameter | Name:
Information
C02679/1
POS_bEnable
C02679/2
POS_bStart
C02679/3
POS_bAbort
C02679/4
POS_bRestart
C02679/5
POS_bEnableOverride
C02679/6
POS_bDisableTP
C02679/7
POS_bEnabled
C02679/8
POS_bActive
C02679/9
POS_bDone
C02679/10
POS_bInTarget
; Read access Write access CINH PLC STOP No transfer COM MOT
635
Parameter | Name:
C02681
Parameter | Name:
C02685
Parameter | Name:
C02685 | PF_dnMotorAcc_x
Display of the motor acceleration of the basic function "Position follower" (LS_PositionFollower).
Display range (min. value | unit | max. value)
-7680000.0
7680000.0
; Read access Write access CINH PLC STOP No transfer COM MOT
C02686
Scaling factor: 10
Parameter | Name:
C02686 | PF_dnSpeedAdd1_s
Display of the speed precontrol value of the basic function "Position follower" (LS_PositionFollower).
Display range (min. value | unit | max. value)
-480000.0
rpm
480000.0
; Read access Write access CINH PLC STOP No transfer COM MOT
C02687
Scaling factor: 10
Parameter | Name:
200.00
Subcodes
Information
C02687/1
PF_dnSpeedAdd2_n
C02687/2
PF_dnTorqueAdd_n
; Read access Write access CINH PLC STOP No transfer COM MOT
C02688
Parameter | Name:
Incr.
214748.3647
; Read access Write access CINH PLC STOP No transfer COM MOT
636
Parameter reference
Parameter list | C02689
C02689
Parameter | Name:
Information
C02689/1
PF_bEnable
C02689/2
PF_bEnabled
; Read access Write access CINH PLC STOP No transfer COM MOT
C02692
Parameter | Name:
C02692 | SF_dnMotorAcc_x
Display of the motor acceleration of the basic function "Speed follower" (LS_SpeedFollower).
Display range (min. value | unit | max. value)
-7680000.0
7680000.0
; Read access Write access CINH PLC STOP No transfer COM MOT
C02693
Scaling factor: 10
Parameter | Name:
C02693 | SF_dnSpeedAdd_s
Display of the additive speed setpoint of the basic function "Speed follower" (LS_SpeedFollower).
Display range (min. value | unit | max. value)
-480000.0
rpm
480000.0
; Read access Write access CINH PLC STOP No transfer COM MOT
C02694
Scaling factor: 10
Parameter | Name:
200.00
Subcodes
Information
C02694/1
SF_dnSpeedSet_n
C02694/2
SF_dnTorqueAdd_n
; Read access Write access CINH PLC STOP No transfer COM MOT
C02695
Parameter | Name:
Information
C02695/1
SF_bEnable
C02695/2
SF_bEnabled
; Read access Write access CINH PLC STOP No transfer COM MOT
637
Parameter | Name:
Display of the boolean input/output signals of the basic function "Torque follower" (LS_TorqueFollower).
Display range (min. value | unit | max. value)
-200.00
200.00
Subcodes
Information
C02698/1
TF_TorqueSet_n
C02698/2
TF_dnSpeedHighLimit_n
C02698/3
TF_dnSpeedLowLimit_n
; Read access Write access CINH PLC STOP No transfer COM MOT
C02699
Parameter | Name:
Display of the boolean input/output signals of the basic function "Torque follower" (LS_TorqueFollower).
Selection list
0 FALSE
1 TRUE
Subcodes
Information
C02699/1
TF_bEnable
C02699/2
TF_bEnabled
; Read access Write access CINH PLC STOP No transfer COM MOT
C02700
Parameter | Name:
C02701
Parameter | Name:
Unit
214748.3647
Subcodes
Lenze setting
Information
C02701/1
0.0000 Unit
C02701/2
0.0000 Unit
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02702
Parameter | Name:
638
Parameter reference
Parameter list | C02703
C02703
Parameter | Name:
Lenze setting
Unit/s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02704
Parameter | Name:
rpm
214748364.7
; Read access Write access CINH PLC STOP No transfer COM MOT
C02705
Scaling factor: 10
Parameter | Name:
Lenze setting
Unit/s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02706
Parameter | Name:
Lenze setting
ms
10000 100 ms
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02707
Parameter | Name:
639
Parameter | Name:
Unit/s
214748.3647
Subcodes
Lenze setting
Information
C02708/1
3600.0000 Unit/s
C02708/2
7200.0000 Unit/s
C02708/3
14400.0000 Unit/s
C02708/4
28800.0000 Unit/s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02709
Parameter | Name:
rpm
214748364.7
Subcodes
Information
C02709/1
C02709/2
C02709/3
C02709/4
; Read access Write access CINH PLC STOP No transfer COM MOT
C02710
Scaling factor: 10
Parameter | Name:
Unit/s
214748.3647
Subcodes
Lenze setting
Information
C02710/1
0.0100 Unit/s
C02710/2
0.0100 Unit/s
C02710/3
0.0100 Unit/s
C02710/4
0.0100 Unit/s
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02711
Parameter | Name:
ms
10000
Subcodes
Lenze setting
Information
C02711/1
100 ms
C02711/2
100 ms
C02711/3
100 ms
C02711/4
100 ms
; Read access ; Write access CINH PLC STOP No transfer COM MOT
640
Parameter reference
Parameter list | C02712
C02712
Parameter | Name:
ms
10000
Subcodes
Information
C02712/1
C02712/2
C02712/3
C02712/4
; Read access Write access CINH PLC STOP No transfer COM MOT
C02713
Parameter | Name:
Unit
Lenze setting
214748.3647 360.0000 Unit
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02714
Parameter | Name:
Incr.
2147483647
; Read access Write access CINH PLC STOP No transfer COM MOT
C02715
Parameter | Name:
641
Parameter | Name:
Lenze setting
Information
C02716/1
0: No response
C02716/2
C02716/3
0: No response
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02717
Parameter | Name:
C02717 | LIM_dwControl
Control word of the basic function "Limiter" (LS_Limiter).
Display range (min. value | unit | max. value)
0
4294967295
; Read access Write access CINH PLC STOP No transfer COM MOT
C02718
Parameter | Name:
C02718 | LIM_dnState
Status of the basic function "Limiter" (LS_Limiter).
Display range (min. value | unit | max. value)
0
; Read access Write access CINH PLC STOP No transfer COM MOT
C02719
Parameter | Name:
Information
C02719/1
LIM_bLimitSwitchPositive
C02719/2
LIM_bLimitSwitchNegative
C02719/3
LIM_bActivateLimitedSpeed1
; Read access Write access CINH PLC STOP No transfer COM MOT
642
Parameter reference
Parameter list | C02730
C02730
Parameter | Name:
200.00
Subcodes
Lenze setting
Information
C02730/1
100.00 %
C02730/2
100.00 %
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02731
Parameter | Name:
200.00
Subcodes
Lenze setting
Information
C02731/1
0.00 %
C02731/2
0.00 %
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02732
Parameter | Name:
100.00
Subcodes
Lenze setting
Information
C02732/1
0.00 %
C02732/2
0.00 %
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02733
Parameter | Name:
200.00
Subcodes
Lenze setting
Information
C02733/1
100.00 %
C02733/2
100.00 %
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02734
Parameter | Name:
200.00
Subcodes
Lenze setting
Information
C02734/1
0.00 %
C02734/2
0.00 %
; Read access ; Write access CINH PLC STOP No transfer COM MOT
643
Parameter | Name:
16383
Subcodes
Information
C02800/1
C02800/2
; Read access Write access CINH PLC STOP No transfer COM MOT
C02801
Parameter | Name:
16383
Subcodes
Information
C02801/1
C02801/2
; Read access Write access CINH PLC STOP No transfer COM MOT
C02802
Parameter | Name:
0xFFFFFFFF
; Read access Write access CINH PLC STOP No transfer COM MOT
C02803
Parameter | Name:
0xFFFFFFFF
; Read access Write access CINH PLC STOP No transfer COM MOT
644
Parameter reference
Parameter list | C02810
C02810
Parameter | Name:
The set delay time will be considered when the position is determined at the touch probe time and will be used to
compensate for dead times, if necessary.
Please observe the setting of the input filter for the digital inputs (C02830).
Setting range (min. value | unit | max. value)
0
us
7000
Subcodes
Lenze setting
Information
C02810/1
0 us
C02810/...
C02810/10
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02830
Parameter | Name:
Information
0 2 s
Filter time
1 4 s
2 8 s
3 16 s
4 32 s
5 64 s
6 128 s
7 256 s
8 512 s
9 1024 s
10 2048 s
11 4096 s
12 8192 s
13 16384 s
14 32768 s
Subcodes
Lenze setting
Information
C02830/1
0: 2 s
C02830/...
C02830/8
; Read access ; Write access CINH PLC STOP No transfer COM MOT
C02850
Parameter | Name:
Parameter | Name:
645
Parameter | Name:
Parameter | Name:
400
Lenze setting
Information
C02853/1
100 %
C02853/2
100 %
C02853/3
100 %
C02853/4
100 %
C02853/5
100 %
C02853/6
100 %
C02853/7
100 %
C02853/8
100 %
C02853/9
100 %
C02853/10
100 %
C02853/11
100 %
C02853/12
100 %
C02853/13
100 %
C02853/14
100 %
C02853/15
100 %
C02853/16
100 %
C02853/17
100 %
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT
C02854
Parameter | Name:
Parameter | Name:
Lenze setting
6000.0 5.4 A
; Read access ; Write access ; CINH PLC STOP No transfer COM ; MOT
C02856
Scaling factor: 10
Parameter | Name:
646
Parameter reference
Parameter list | C02857
C02857
Parameter | Name:
Parameter | Name:
Parameter | Name:
C02860
Parameter | Name:
C02860 | Rr adaptation
Setting range (min. value | unit | max. value)
50.00
Lenze setting
200.00 100.00 %
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C02861
Parameter | Name:
C02861 | Lh adaptation
Setting range (min. value | unit | max. value)
50.00
Lenze setting
200.00 100.00 %
; Read access ; Write access CINH PLC STOP No transfer COM ; MOT
C02996
Parameter | Name:
Parameter | Name:
Parameter | Name:
Parameter | Name:
647
Attribute table
The Attribute table contains information required for communicating with the controller
via parameters.
How to read the table of attributes:
Column
Meaning
Entry
Code
Parameter designation
Cxxxxx
Name
Index
Data
Text
24575 - Lenze code number
hex
DS
Data structure
Single variable
(only one parameter element)
Array variable
(several parameter elements)
dec
DA
DT
Data type
Factor
Access
Number
BITFIELD_8
1 byte bit-coded
BITFIELD_16
2 bytes bit-coded
BITFIELD_32
4 bytes bit-coded
INTEGER_8
INTEGER_16
INTEGER_32
UNSIGNED_8
UNSIGNED_16
UNSIGNED_32
VISIBLE_STRING
ASCII string
Factor
1 no decimal positions
10 1 decimal position
100 2 decimal positions
1000 3 decimal positions
Read access
; Reading allowed
Write access
; Writing allowed
CINH
Attribute table
Code
648
Name
Index
Data
dec
hex
DS
DA
DT
Access
Factor
W
;
C00002
Controller commands
24573
5FFD
UNSIGNED_32
C00003
24572
5FFC
UNSIGNED_32
C00004
Service password
24571
5FFB
UNSIGNED_32
C00005
Application selection
24570
5FFA
INTEGER_32
C00006
24569
5FF9
UNSIGNED_32
C00007
Active application
24568
5FF8
UNSIGNED_32
C00011
24564
5FF4
UNSIGNED_32
C00018
Chopper frequency
24557
5FED
UNSIGNED_32
C00019
Standstill recognitionthreshold
24556
5FEC
UNSIGNED_32
C00022
Maximum current
24553
5FE9
UNSIGNED_32
100
C00034
24541
5FDD
UNSIGNED_32
C00050
Speed setpoint
24525
5FCD
INTEGER_32
C00051
24524
5FCC
INTEGER_32
C00052
Motor voltage
24523
5FCB
UNSIGNED_32
C00053
DC-bus voltage
24522
5FCA
UNSIGNED_32
CINH
Parameter reference
Attribute table
Code
Name
Index
Data
dec
hex
DS
DA
24521
5FC9
DT
C00054
Motor current
UNSIGNED_32
C00055
Phase currents
24520
5FC8
C00056
Torque setpoint
24519
5FC7
C00057
Torque
24518
5FC6
UNSIGNED_32
C00058
24517
5FC5
INTEGER_32
C00059
24516
5FC4
UNSIGNED_32
C00060
Rotor position
24515
5FC3
C00061
Heatsink temperature
24514
5FC2
C00062
24513
5FC1
C00063
Motor temperature
24512
5FC0
C00064
24511
5FBF
C00065
24510
C00066
C00068
C00069
Access
Factor
CINH
100
INTEGER_32
100
INTEGER_32
100
1000
10
INTEGER_32
INTEGER_32
INTEGER_32
INTEGER_32
UNSIGNED_32
5FBE
INTEGER_32
10
24509
5FBD
UNSIGNED_32
24507
5FBB
INTEGER_32
CPU temperature
24506
5FBA
INTEGER_32
C00070
24505
5FB9
UNSIGNED_32
100000
C00071
24504
5FB8
UNSIGNED_32
10
C00072
24503
5FB7
UNSIGNED_32
100
C00074
24501
5FB5
UNSIGNED_8
C00075
24500
5FB4
UNSIGNED_32
100
C00076
24499
5FB3
UNSIGNED_32
100
C00077
24498
5FB2
UNSIGNED_32
100
C00078
24497
5FB1
UNSIGNED_32
10
C00079
24496
5FB0
UNSIGNED_32
10
C00080
24495
5FAF
UNSIGNED_32
C00081
Rated motorpower
24494
5FAE
UNSIGNED_32
100
C00082
24493
5FAD
UNSIGNED_32
10000
C00083
24492
5FAC
UNSIGNED_32
100
C00084
24491
5FAB
UNSIGNED_32
10000
C00085
24490
5FAA
UNSIGNED_32
1000
C00087
24488
5FA8
UNSIGNED_32
C00088
24487
5FA7
UNSIGNED_32
100
C00089
24486
5FA6
UNSIGNED_32
10
C00090
24485
5FA5
UNSIGNED_32
C00091
24484
5FA4
UNSIGNED_32
100
C00092
24483
5FA3
UNSIGNED_32
100
C00099
Firmware version
24476
5F9C
VISIBLE_STRING
C00105
24470
5F96
UNSIGNED_32
1000
C00106
24469
5F95
UNSIGNED_32
100
C00107
24468
5F94
UNSIGNED_8
C00114
24461
5F8D
UNSIGNED_8
C00118
24457
5F89
UNSIGNED_8
C00120
24455
5F87
UNSIGNED_32
C00121
24454
5F86
UNSIGNED_32
C00122
24453
5F85
UNSIGNED_32
C00123
24452
5F84
UNSIGNED_32
C00126
24449
5F81
UNSIGNED_32
C00127
24448
5F80
UNSIGNED_32
C00128
24447
5F7F
UNSIGNED_32
10
C00129
24446
5F7E
INTEGER_32
649
Code
650
Name
Index
Data
dec
hex
DS
DA
DT
Access
Factor
C00130
24445
5F7D
INTEGER_32
C00131
24444
5F7C
INTEGER_32
C00132
24443
5F7B
INTEGER_32
C00142
24433
5F71
UNSIGNED_32
C00150
Status word 1
24425
5F69
BITFIELD_16
C00155
Status word 2
24420
5F64
BITFIELD_16
C00156
24419
5F63
UNSIGNED_32
C00158
24417
5F61
BITFIELD_16
C00159
24416
5F60
BITFIELD_16
C00166
Error status
24409
5F59
VISIBLE_STRING
C00168
Error number
24407
5F57
UNSIGNED_32
C00169
24406
5F56
UNSIGNED_32
C00173
Mains - voltage
24402
5F52
UNSIGNED_8
C00174
24401
5F51
UNSIGNED_32
C00178
24397
5F4D
UNSIGNED_32
C00179
24396
5F4C
UNSIGNED_32
C00180
Service code
24395
5F4B
VISIBLE_STRING
C00181
24394
5F4A
UNSIGNED_32
C00183
Device state
24392
5F48
UNSIGNED_32
C00185
24390
5F46
UNSIGNED_32
C00186
24389
5F45
VISIBLE_STRING
C00187
24388
5F44
VISIBLE_STRING
C00188
ETS: Status
24387
5F43
UNSIGNED_8
C00199
Device name
24376
5F38
VISIBLE_STRING
C00200
24375
5F37
VISIBLE_STRING
C00201
24374
5F36
VISIBLE_STRING
C00203
HW product types
24372
5F34
VISIBLE_STRING
C00204
HW serial number
24371
5F33
VISIBLE_STRING
C00205
HW descriptions
24370
5F32
VISIBLE_STRING
C00206
HW manufacturing data
24369
5F31
VISIBLE_STRING
C00208
HW manufacturer
24367
5F2F
VISIBLE_STRING
C00209
HW countries of origin
24366
5F2E
VISIBLE_STRING
C00210
HW versions
24365
5F2D
VISIBLE_STRING
C00211
Application: Version
24364
5F2C
VISIBLE_STRING
C00212
24363
5F2B
VISIBLE_STRING
C00213
24362
5F2A
VISIBLE_STRING
C00214
24361
5F29
UNSIGNED_8
C00218
Application: ID number
24357
5F25
UNSIGNED_32
C00254
24321
5F01
UNSIGNED_32
100
C00270
24305
5EF1
UNSIGNED_32
10
C00271
24304
5EF0
UNSIGNED_32
10
C00272
24303
5EEF
UNSIGNED_32
C00273
Moment of inertia
24302
5EEE
UNSIGNED_32
100
C00274
24301
5EED
UNSIGNED_32
10
C00275
24300
5EEC
UNSIGNED_16
C00276
24299
5EEB
UNSIGNED_16
C00280
24295
5EE7
UNSIGNED_32
10
C00311
24264
5EC8
BITFIELD_8
C00312
24263
5EC7
BITFIELD_8
C00313
24262
5EC6
BITFIELD_8
C00314
24261
5EC5
BITFIELD_8
CINH
Parameter reference
Attribute table
Code
Name
Index
Data
dec
hex
DS
DA
DT
5EBF
BITFIELD_32
Access
Factor
C00320
24255
C00321
24254
5EBE
BITFIELD_32
C00322
24253
5EBD
UNSIGNED_8
C00323
24252
5EBC
UNSIGNED_8
C00324
24251
5EBB
UNSIGNED_16
C00345
CAN error
24230
5EA6
UNSIGNED_8
C00346
24229
5EA5
BITFIELD_32
C00347
24228
5EA4
32
UNSIGNED_8
C00348
24227
5EA3
UNSIGNED_8
C00349
24226
5EA2
UNSIGNED_8
C00350
24225
5EA1
UNSIGNED_8
C00351
24224
5EA0
UNSIGNED_8
C00352
CAN slave/master
24223
5E9F
UNSIGNED_8
C00356
24219
5E9B
UNSIGNED_16
C00357
24218
5E9A
UNSIGNED_16
C00359
CAN status
24216
5E98
UNSIGNED_8
C00360
24215
5E97
UNSIGNED_16
C00361
24214
5E96
UNSIGNED_32
C00367
24208
5E90
UNSIGNED_32
C00368
24207
5E8F
UNSIGNED_32
C00369
24206
5E8E
UNSIGNED_16
C00372
24203
5E8B
10
BITFIELD_32
C00373
24202
5E8A
10
BITFIELD_32
C00374
24201
5E89
10
UNSIGNED_8
C00375
24200
5E88
10
BITFIELD_32
C00376
24199
5E87
10
BITFIELD_32
C00377
24198
5E86
10
UNSIGNED_8
C00378
24197
5E85
UNSIGNED_16
C00381
24194
5E82
UNSIGNED_16
C00382
24193
5E81
UNSIGNED_16
C00383
24192
5E80
UNSIGNED_8
C00385
24190
5E7E
32
BITFIELD_32
C00386
24189
5E7D
32
BITFIELD_32
C00387
24188
5E7C
BITFIELD_32
C00388
24187
5E7B
32
UNSIGNED_8
C00390
24185
5E79
BITFIELD_8
C00391
24184
5E78
BITFIELD_32
C00392
24183
5E77
UNSIGNED_16
C00393
24182
5E76
128
UNSIGNED_8
C00398
24177
5E71
UNSIGNED_32
C00399
24176
5E70
INTEGER_32
C00416
24159
5E5F
C00420
Encoder - PPR
24155
5E5B
C00421
Encoder voltage
24154
5E5A
C00422
Encoder - type
24153
5E59
C00427
24148
5E54
C00443
DIx status
24132
5E44
12
C00444
DOx status
24131
5E43
C00465
24110
5E2E
C00466
24109
5E2D
C00467
24108
5E2C
CINH
10
UNSIGNED_32
UNSIGNED_16
UNSIGNED_16
10
UNSIGNED_16
UNSIGNED_16
UNSIGNED_8
18
UNSIGNED_8
UNSIGNED_8
UNSIGNED_16
UNSIGNED_8
651
Code
652
Name
Index
Data
dec
hex
DS
DA
DT
Access
Factor
C00469
24106
5E2A
UNSIGNED_8
C00490
Position encoder
24085
5E15
UNSIGNED_16
C00494
24081
5E11
UNSIGNED_32
C00495
Motor encoder
24080
5E10
UNSIGNED_16
C00497
24078
5E0E
UNSIGNED_32
10
C00573
24002
5DC2
UNSIGNED_32
C00574
24001
5DC1
UNSIGNED_32
C00576
23999
5DBF
UNSIGNED_32
C00577
23998
5DBE
UNSIGNED_32
1000
C00578
23997
5DBD
UNSIGNED_32
10
C00579
23996
5DBC
UNSIGNED_32
C00580
23995
5DBB
UNSIGNED_32
C00581
23994
5DBA
UNSIGNED_32
C00582
23993
5DB9
UNSIGNED_32
C00583
23992
5DB8
UNSIGNED_32
C00584
23991
5DB7
UNSIGNED_32
C00585
23990
5DB6
UNSIGNED_32
C00586
23989
5DB5
UNSIGNED_32
C00587
23988
5DB4
BITFIELD_8
C00588
23987
5DB3
UNSIGNED_32
C00589
23986
5DB2
UNSIGNED_32
C00591
23984
5DB0
UNSIGNED_8
C00594
23981
5DAD
UNSIGNED_32
C00595
23980
5DAC
UNSIGNED_8
C00596
23979
5DAB
UNSIGNED_32
C00597
23978
5DAA
UNSIGNED_32
C00598
23977
5DA9
UNSIGNED_32
C00599
23976
5DA8
INTEGER_32
10
C00600
23975
5DA7
UNSIGNED_32
C00601
23974
5DA6
UNSIGNED_32
C00604
23971
5DA3
UNSIGNED_32
C00606
23969
5DA1
UNSIGNED_32
C00607
23968
5DA0
UNSIGNED_32
C00610
23965
5D9D
UNSIGNED_32
C00611
23964
5D9C
UNSIGNED_32
C00612
23963
5D9B
32
UNSIGNED_8
C00613
23962
5D9A
32
UNSIGNED_8
C00614
23961
5D99
UNSIGNED_8
C00615
23960
5D98
UNSIGNED_32
C00618
23957
5D95
UNSIGNED_32
C00619
23956
5D94
UNSIGNED_32
C00620
23955
5D93
UNSIGNED_32
10
C00625
23950
5D8E
UNSIGNED_8
C00635
23940
5D84
UNSIGNED_32
C00636
23939
5D83
UNSIGNED_32
C00637
23938
5D82
UNSIGNED_32
C00691
23884
5D4C
INTEGER_32
100
C00692
Speed setpoint
23883
5D4B
INTEGER_32
100
C00693
23882
5D4A
INTEGER_32
100
C00694
23881
5D49
INTEGER_32
100
C00695
23880
5D48
INTEGER_32
100
CINH
Parameter reference
Attribute table
Code
Name
Index
Data
dec
hex
DS
DA
23879
5D47
DT
C00696
Torque setpoint
C00697
23878
5D46
C00698
Actual torque
23877
5D45
C00770
MCTRL_dnMotorPosAct
23805
5CFD
UNSIGNED_32
C00771
MCTRL_dnLoadPosAct
23804
5CFC
C00772
MCTRL_dnMotorSpeedAct
23803
5CFB
C00773
MCTRL_dnLoadSpeedAct
23802
5CFA
C00774
MCTRL_dnTorqueAct
23801
5CF9
C00775
MCTRL_dnOutputSpeedCtrl
23800
C00776
MCTRL_dnInputJerkCtrl
C00777
100
INTEGER_32
100
INTEGER_32
100
UNSIGNED_32
INTEGER_32
INTEGER_32
INTEGER_32
100
5CF8
INTEGER_32
100
23799
5CF7
INTEGER_32
100
MCTRL_dnInputTorqueCtrl
23798
5CF6
INTEGER_32
100
C00778
MCTRL_dnFluxAct
23797
5CF5
INTEGER_32
100
C00779
MCTRL_dnDCBusVoltage
23796
5CF4
INTEGER_32
C00780
MCTRL_dnImotAct
23795
5CF3
INTEGER_32
100
C00781
MCTRL_dwMaxMotorSpeed
23794
5CF2
UNSIGNED_32
C00782
MCTRL_dwMaxMotorTorque
23793
5CF1
UNSIGNED_32
1000
C00783
MCTRL_dwMotorVoltageAct
23792
5CF0
UNSIGNED_32
C00784
MCTRL_dnMotorFreqAct
23791
5CEF
INTEGER_32
10
C00786
MCTRL_dnIxtLoad
23789
5CED
INTEGER_32
100
C00787
MCTRL_dnFlyingSpeedAct
23788
5CEC
INTEGER_32
C00788
MCTRL_ dwMaxEffMotorTorque
23787
5CEB
INTEGER_32
1000
C00789
MCTRL_ dwMaxDeviceCurrent
23786
5CEA
INTEGER_32
100
C00790
MCTRL_dnI2xtLoad
23785
5CE9
INTEGER_32
100
C00791
MCTRL_dnDeltaMotorPos_p
23784
5CE8
INTEGER_32
C00792
MCTRL_dnOutputPosCtrlMotor_s
23783
5CE7
INTEGER_32
C00800
MCTRL_dnPosSet
23775
5CDF
UNSIGNED_32
C00802
MCTRL_dnSpeedAdd
23773
5CDD
INTEGER_32
C00803
MCTRL_dnTorqueAdd
23772
5CDC
INTEGER_32
1000
C00804
MCTRL_dnAccelerationAdd
23771
5CDB
INTEGER_32
1000
C00805
MCTRL_dnSpeedLowLimit
23770
5CDA
INTEGER_32
C00806
MCTRL_dnTorqueLowLimit
23769
5CD9
INTEGER_32
100
C00807
MCTRL_dnTorqueHighLimit
23768
5CD8
INTEGER_32
100
C00808
MCTRL_dnPosCtrlOutLimit
23767
5CD7
INTEGER_32
C00809
MCTRL_dnTorqueCtrlAdapt
23766
5CD6
INTEGER_32
100
C00810
MCTRL_dnSpeedCtrlAdapt
23765
5CD5
INTEGER_32
100
C00811
MCTRL_dnPosCtrlAdapt
23764
5CD4
INTEGER_32
100
C00812
MCTRL_dnMotorPosRefValue
23763
5CD3
UNSIGNED_32
C00813
MCTRL_dnLoadPosRefValue
23762
5CD2
UNSIGNED_32
C00814
MCTRL_dnBoost
23761
5CD1
INTEGER_32
C00815
MCTRL_dnSpeedCtrlIntegrator
23760
5CD0
INTEGER_32
C00816
MCTRL_dnFieldWeak
23759
5CCF
INTEGER_32
100
C00817
MCTRL_dnSpeedSet_s
23758
5CCE
INTEGER_32
C00854
ID status
23721
5CA9
UNSIGNED_32
C00878
23697
5C91
UNSIGNED_8
C00909
Speed limitation
23666
5C72
INTEGER_16
10
C01120
Sync source
23455
5B9F
UNSIGNED_8
C01121
23454
5B9E
UNSIGNED_32
C01122
23453
5B9D
UNSIGNED_32
C01123
Sync window
23452
5B9C
UNSIGNED_32
C01124
23451
5B9B
UNSIGNED_8
C01190
23385
5B59
UNSIGNED_32
INTEGER_32
Access
Factor
CINH
653
Code
654
Name
Index
Data
dec
hex
DS
DA
DT
C01191
23384
5B58
UNSIGNED_32
Access
Factor
CINH
C01192
23383
5B57
UNSIGNED_32
C01193
23382
5B56
UNSIGNED_16
C01194
23381
5B55
INTEGER_32
C01195
23380
5B54
UNSIGNED_32
C01196
23379
5B53
UNSIGNED_32
C01203
23372
5B4C
UNSIGNED_16
C01204
23371
5B4B
UNSIGNED_16
C01205
23370
5B4A
UNSIGNED_16
C01206
23369
5B49
UNSIGNED_16
C01208
23367
5B47
UNSIGNED_16
C01209
23366
5B46
UNSIGNED_16
C01210
23365
5B45
UNSIGNED_8
C01212
23363
5B43
UNSIGNED_16
C01214
Internal clock
23361
5B41
VISIBLE_STRING
C01501
23074
5A22
UNSIGNED_32
C01502
23073
5A21
UNSIGNED_32
C01510
23065
5A19
VISIBLE_STRING
C01511
23064
5A18
UNSIGNED_8
C01902
22673
5891
UNSIGNED_32
C01903
22672
5890
UNSIGNED_32
C01905
22670
588E
UNSIGNED_32
C02104
Program auto-start
22471
57C7
UNSIGNED_32
C02108
Program status
22467
57C3
UNSIGNED_8
C02109
Program runtime
22466
57C2
UNSIGNED_16
C02113
Program name
22462
57BE
VISIBLE_STRING
C02121
Runtime task 1
22454
57B6
UNSIGNED_32
C02122
Runtime task 2
22453
57B5
UNSIGNED_32
C02123
Runtime task 3
22452
57B4
UNSIGNED_32
C02520
22055
5627
INTEGER_32
C02521
22054
5626
INTEGER_32
C02522
22053
5625
INTEGER_32
C02523
22052
5624
INTEGER_32
C02524
Feed constant
22051
5623
UNSIGNED_32
10000
C02525
Unit
22050
5622
UNSIGNED_32
C02526
User-defined unit
22049
5621
VISIBLE_STRING
C02527
22048
5620
UNSIGNED_32
C02528
Traversing range
22047
561F
UNSIGNED_32
C02529
22046
561E
UNSIGNED_32
C02530
22045
561D
INTEGER_32
C02531
22044
561C
UNSIGNED_32
1000
C02532
Resolution of a unit
22043
561B
UNSIGNED_32
10000
C02533
Time unit
22042
561 A
UNSIGNED_32
C02534
22041
5619
VISIBLE_STRING
C02535
User-defined unit
22040
5618
VISIBLE_STRING
C02536
Cycle
22039
5617
UNSIGNED_32
10000
C02537
Speed unit
22038
5616
VISIBLE_STRING
C02538
Acceleration unit
22037
5615
VISIBLE_STRING
C02539
22036
5614
INTEGER_32
10000
C02540
22035
5613
INTEGER_32
10000
Parameter reference
Attribute table
Code
Name
Index
Data
dec
hex
DS
DA
22034
5612
Access
DT
Factor
INTEGER_32
10000
C02541
C02542
22033
5611
UNSIGNED_32
1000
C02543
22032
5610
UNSIGNED_32
1000
C02547
DI_dnState
22028
560C
INTEGER_32
C02548
DI_bErrors
22027
560B
UNSIGNED_32
C02549
22026
560 A
15
UNSIGNED_32
C02550
Setpoint interpolation
22025
5609
UNSIGNED_32
C02552
Position setpoint
22023
5607
INTEGER_32
10000
C02553
22022
5606
UNSIGNED_32
100
C02554
22021
5605
UNSIGNED_32
1000
C02555
22020
5604
UNSIGNED_32
1000
C02556
22019
5603
INTEGER_32
10000
C02557
22018
5602
INTEGER_32
10000
C02558
22017
5601
INTEGER_32
10000
C02559
22016
5600
INTEGER_32
100
C02560
22015
55FF
UNSIGNED_32
C02567
Control mode
22008
55F8
UNSIGNED_32
C02568
22007
55F7
INTEGER_32
100
C02569
22006
55F6
11
UNSIGNED_32
C02570
Controller configuration
22005
55F5
UNSIGNED_32
C02572
Speed setpoint
22003
55F3
INTEGER_32
10000
C02573
Position setpoint
22002
55F2
INTEGER_32
10000
C02574
22001
55F1
INTEGER_32
10000
C02575
Actual position
22000
55F0
INTEGER_32
10000
C02576
Following error
21999
55EF
INTEGER_32
10000
C02577
21998
55EE
INTEGER_32
10000
C02578
21997
55ED
INTEGER_32
10000
C02579
21996
55EC
UNSIGNED_32
C02580
21995
55EB
UNSIGNED_32
C02581
21994
55EA
INTEGER_32
C02582
21993
55E9
UNSIGNED_32
C02583
21992
55E8
UNSIGNED_32
C02585
21990
55E6
UNSIGNED_32
C02586
Starting torque 1
21989
55E5
C02587
Starting torque 2
21988
55E4
C02588
21987
55E3
C02589
21986
55E2
C02590
21985
55E1
C02591
21984
55E0
C02593
21982
55DE
UNSIGNED_32
C02594
Test torque
21981
55DD
C02595
21980
55DC
C02596
Grinding speed
21979
55 db
C02597
21978
C02598
Grinding ON time
21977
C02599
21976
55D8
C02607
BRK_dnState
21968
55D0
C02608
BRK_dnTorqueAdd_n
21967
55CF
C02609
21966
55CE
C02610
21965
55CD
CINH
INTEGER_32
100
INTEGER_32
100
UNSIGNED_32
UNSIGNED_32
UNSIGNED_32
UNSIGNED_32
1000
INTEGER_32
100
INTEGER_32
INTEGER_32
55DA
UNSIGNED_32
1000
55D9
UNSIGNED_32
10
UNSIGNED_32
10
INTEGER_32
INTEGER_32
100
UNSIGNED_32
UNSIGNED_32
1000
655
Code
656
Name
Index
Data
dec
hex
DS
DA
21964
55CC
DT
1000
;
;
C02611
C02612
21963
55CB
UNSIGNED_32
C02616
STP_dnState
21959
55C7
INTEGER_32
C02617
STP_bStopActive
21958
55C6
UNSIGNED_32
C02619
21956
55C4
UNSIGNED_32
C02620
21955
55C3
INTEGER_32
10000
C02621
21954
55C2
INTEGER_32
10000
C02622
Manual acceleration
21953
55C1
INTEGER_32
10000
C02623
Manual deceleration
21952
55C0
INTEGER_32
10000
C02624
21951
55BF
UNSIGNED_32
1000
C02638
21937
55B1
INTEGER_32
C02639
21936
55B0
UNSIGNED_32
C02640
Ref. mode
21935
55AF
UNSIGNED_32
C02642
HM position
21933
55AD
INTEGER_32
10000
C02643
HM target position
21932
55AC
INTEGER_32
10000
C02644
Ref. speed 1
21931
55AB
INTEGER_32
10000
C02645
Home acceleration 1
21930
55AA
INTEGER_32
10000
C02646
Ref. speed 2
21929
55A9
INTEGER_32
10000
C02647
Ref. acceleration 2
21928
55A8
INTEGER_32
10000
C02648
21927
55A7
INTEGER_32
C02649
HM torque limit
21926
55A6
INTEGER_32
100
C02650
21925
55A5
UNSIGNED_32
1000
C02651
21924
55A4
UNSIGNED_32
C02652
21923
55A3
UNSIGNED_32
C02653
21922
55A2
INTEGER_32
C02656
Current position
21919
559F
INTEGER_32
10000
C02657
HM_dnState
21918
559E
INTEGER_32
C02658
HM_dnHomePos_p
21917
559D
INTEGER_32
10000
C02659
21916
559C
UNSIGNED_32
C02674
POS_ dwActualProfileNumber
21901
558D
UNSIGNED_32
C02675
POS_dnState
21900
558C
INTEGER_32
C02676
POS_dnProfileSpeed_s
21899
558B
INTEGER_32
10000
C02677
Positioning: % signals
21898
558 A
INTEGER_32
100
C02678
21897
5589
INTEGER_32
10000
C02679
21896
5588
10
UNSIGNED_32
C02680
21895
5587
UNSIGNED_32
C02681
21894
5586
UNSIGNED_32
C02685
PF_dnMotorAcc_x
21890
5582
INTEGER_32
C02686
PF_dnSpeedAdd1_s
21889
5581
C02687
21888
5580
C02688
21887
557F
INTEGER_32
C02689
21886
557E
UNSIGNED_32
C02692
SF_dnMotorAcc_x
21883
557B
C02693
SF_dnSpeedAdd_s
21882
557 A
C02694
21881
5579
C02695
21880
5578
C02698
21877
5575
INTEGER_32
C02699
21876
5574
C02700
21875
5573
C02701
21874
5572
C02702
Limitations effective
21873
5571
UNSIGNED_32
Access
Factor
10
INTEGER_32
10
INTEGER_32
100
10000
INTEGER_32
10
INTEGER_32
10
INTEGER_32
100
UNSIGNED_32
100
UNSIGNED_32
UNSIGNED_32
INTEGER_32
10000
UNSIGNED_32
CINH
Parameter reference
Attribute table
Code
Name
Index
Data
dec
hex
DS
DA
21872
5570
DT
10000
CINH
C02703
Max. speed
C02704
21871
556F
INTEGER_32
10
C02705
Max. acceleration
21870
556E
INTEGER_32
10000
C02706
21869
556D
UNSIGNED_32
C02707
21868
556C
UNSIGNED_32
C02708
Limited speed
21867
556B
INTEGER_32
10000
C02709
Limited speed
21866
556 A
INTEGER_32
10
C02710
21865
5569
UNSIGNED_32
10000
C02711
21864
5568
UNSIGNED_32
C02712
21863
5567
UNSIGNED_32
C02713
21862
5566
UNSIGNED_32
10000
C02714
21861
5565
UNSIGNED_32
C02715
Limitation active
21860
5564
UNSIGNED_32
C02716
Resp. to limitation
21859
5563
UNSIGNED_32
C02717
LIM_dwControl
21858
5562
UNSIGNED_32
C02718
LIM_dnState
21857
5561
INTEGER_32
C02719
21856
5560
UNSIGNED_32
C02730
AINx: Gain
21845
5555
INTEGER_32
100
C02731
AINx: Offset
21844
5554
INTEGER_32
100
C02732
21843
5553
INTEGER_32
100
C02733
AOUTx: Gain
21842
5552
INTEGER_32
100
C02734
AOUTx: Offset
21841
5551
INTEGER_32
100
C02800
21775
550F
INTEGER_16
C02801
21774
550E
INTEGER_16
C02802
21773
550D
BITFIELD_32
C02803
21772
550C
BITFIELD_32
C02810
21765
5505
10
UNSIGNED_32
C02830
21745
54F1
UNSIGNED_8
C02853
21722
54DA
17
UNSIGNED_16
C02855
21720
54D8
UNSIGNED_32
10
C02859
21716
54D4
UNSIGNED_8
C02860
Rr adjustment
21715
54D3
UNSIGNED_32
100
C02861
Lh adaptation
21714
54D2
UNSIGNED_32
100
INTEGER_32
Access
Factor
657
17
Index
A
Absolute value encoder
Communication error 472
Acc./dec. time - grinding (C2597) 627
Acceleration has been limited 535
Acceleration unit (C2538) 618
Action types 379
Active application (C7) 547
Active function state (C2530) 617
Actual position (C2575) 624
Actual speed (C2574) 624
Actual speed (C693) 597
Actual speed value (C51) 548
Actual speed value outside the monitoring window
C00576 471
Actual torque (C698) 598
Additional speed source (C2681) 636
AINx
Dead band (C2732) 643
Gain (C2730) 643
Input signal (C2800) 644
Offset (C2731) 643
Analog input 1
Master current 477
Analog inputs 117
Analog outputs 120
AOUTx
Gain (C2733) 643
Offset (C2734) 643
Output signal (C2801) 644
Application
Compile date (C213) 565
ID number (C218) 565
Type code (C212) 565
Version (C211) 565
Application has started 460
Application has stopped 460, 461
Application notes 18
Application selection (C5) 547
Application unit 39
Automatic chopper frequency reduction 80
Automatic restart after mains ON (C142) 556
B
Basic drive functions 140
Basic functions 140
Blocking function in MEC task 500
Brake activation threshold (C2581) 625
Brake chopper
Ixt overload 472
Overcurrent 473
Brake closing time (C2589) 626
658
Brake control
Dig. signals (C2609) 628
Brake control polarity (C2585) 625
Brake opening time (C2590) 626
Brake resistance value (C129) 556
Brake resistor
Ixt overload 472
Brake resistor - thermal capacity (C131) 556
Brake resp. to pulse inhibit (C2582) 625
Breakpoint has been reached 460
BRK_dnState (C2607) 628
BRK_dnTorqueAdd_n (C2608) 628
C
C100 553
C105 554
C106 554
C107 554
C11 547
C1120 606
C1121 607
C1122 607
C1123 607
C1124 608
C114 554
C118 554
C1190 608
C1191 609
C1192 609
C1193 609
C1194 609
C1195 609
C1196 610
C120 555
C1203 610
C1204 610
C1205 610
C1206 610
C1208 610
C1209 611
C121 555
C1210 611
C1211 611
C1212 611
C1213 611
C1214 611
C122 555
C123 555
C126 555
C127 555
C128 556
Index
C129 556
C130 556
C131 556
C132 556
C142 556
C150 557
C1501 611
C1502 612
C1510 612
C1511 612
C155 557
C156 558
C158 558
C159 559
C166 559
C167 559
C168 559
C169 559
C171 559
C173 560
C174 560
C175 560
C176 560
C177 561
C178 561
C179 561
C18 547
C180 561
C181 561
C183 561
C185 562
C186 562
C187 562
C188 562
C19 547
C1902 613
C1903 613
C1905 613
C199 562
C2 544
C200 562
C201 562
C203 563
C204 563
C205 563
C206 564
C208 564
C209 564
C210 564
C2104 613
C2108 613
C2109 614
C211 565
C2113 614
C212 565
C2121 614
C2122 614
C2123 614
C213 565
C214 565
C217 565
C218 565
C22 548
C225 565
C2520 614
C2521 615
C2522 615
C2523 615
C2524 615
C2525 615
C2526 615
C2527 616
C2528 616
C2529 616
C2530 617
C2531 617
C2532 617
C2533 618
C2534 618
C2535 618
C2536 618
C2537 618
C2538 618
C2539 618
C254 565
C2540 618
C2541 619
C2542 619
C2543 619
C2547 619
C2548 619
C2549 620
C2550 620
C2552 620
C2553 621
C2554 621
C2555 621
C2556 621
C2557 621
C2558 621
C2559 622
C2560 622
C2567 622
C2568 622
C2569 623
C2570 623
659
C2572
C2573
C2574
C2575
C2576
C2577
C2578
C2579
C2580
C2581
C2582
C2583
C2585
C2586
C2587
C2588
C2589
C2590
C2591
C2593
C2594
C2595
C2596
C2597
C2598
C2599
C2607
C2608
C2609
C2610
C2611
C2612
C2616
C2617
C2619
C2620
C2621
C2622
C2623
C2624
C2638
C2639
C2640
C2642
C2643
C2644
C2645
C2646
C2647
C2648
C2649
C2650
C2651
660
623
623
624
624
624
624
624
624
625
625
625
625
625
626
626
626
626
626
626
627
627
627
627
627
627
628
628
628
628
628
629
629
629
629
629
630
630
630
630
630
630
631
631
631
632
632
632
632
632
632
633
633
633
C2652 633
C2653 633
C2656 633
C2657 634
C2658 634
C2659 634
C2674 634
C2675 634
C2676 635
C2677 635
C2678 635
C2679 635
C2680 636
C2681 636
C2685 636
C2686 636
C2687 636
C2688 636
C2689 637
C2692 637
C2693 637
C2694 637
C2695 637
C2698 638
C2699 638
C270 566
C2700 638
C2701 638
C2702 638
C2703 639
C2704 639
C2705 639
C2706 639
C2707 639
C2708 640
C2709 640
C271 566
C2710 640
C2711 640
C2712 641
C2713 641
C2714 641
C2715 641
C2716 642
C2717 642
C2718 642
C2719 642
C272 566
C273 566
C2730 643
C2731 643
C2732 643
C2733 643
Index
C2734 643
C274 566
C275 567
C276 567
C280 567
C2800 644
C2801 644
C2802 644
C2803 644
C2810 645
C2830 645
C2850 645
C2851 645
C2852 646
C2853 646
C2854 646
C2855 646
C2856 646
C2857 647
C2858 647
C2859 647
C2860 647
C2861 647
C2996 647
C2997 647
C2998 647
C2999 647
C3 546
C308 567
C309 567
C310 567
C311 567
C312 568
C313 568
C314 568
C320 569
C321 569
C322 570
C323 570
C324 570
C325 570
C326 570
C327 571
C328 571
C329 571
C330 571
C335 571
C336 571
C337 571
C338 571
C34 548
C345 571
C346 572
C347 572
C348 572
C349 572
C350 573
C351 573
C352 573
C356 574
C357 574
C359 574
C360 575
C361 575
C367 575
C368 576
C369 576
C372 576
C373 577
C374 577
C375 578
C376 578
C377 578
C378 579
C379 579
C381 579
C382 579
C383 579
C385 580
C386 580
C387 580
C388 581
C390 581
C391 581
C392 581
C393 582
C395 582
C396 582
C397 582
C398 582
C399 582
C4 546
C416 583
C420 583
C421 583
C422 583
C427 583
C443 584
C444 584
C465 585
C466 585
C467 585
C468 585
C469 585
C490 585
C494 586
661
C495 586
C497 586
C5 547
C50 548
C51 548
C512 586
C513 586
C514 586
C515 586
C516 586
C52 548
C53 548
C54 548
C55 549
C56 549
C57 549
C573 587
C574 587
C576 587
C577 587
C578 587
C579 588
C58 549
C580 588
C581 588
C582 589
C583 589
C584 589
C585 589
C586 590
C587 590
C588 590
C589 590
C59 549
C591 591
C594 591
C595 591
C596 591
C597 592
C598 592
C599 592
C6 547
C60 549
C600 592
C601 593
C604 593
C606 593
C607 593
C61 550
C610 594
C611 594
C612 594
C613 595
662
C614 595
C615 595
C618 596
C619 596
C62 550
C620 596
C625 596
C63 550
C635 596
C636 597
C637 597
C64 550
C65 550
C66 550
C68 550
C69 551
C691 597
C692 597
C693 597
C694 597
C695 598
C696 598
C697 598
C698 598
C7 547
C70 551
C71 551
C72 551
C730 598
C731 598
C732 598
C733 598
C734 598
C735 598
C736 599
C737 599
C738 599
C739 599
C74 551
C75 551
C76 551
C77 551
C770 599
C771 599
C772 599
C773 600
C774 600
C775 600
C776 600
C777 600
C778 600
C779 601
C78 552
Index
C780 601
C781 601
C782 601
C783 601
C784 601
C786 602
C787 602
C788 602
C789 602
C79 552
C790 602
C791 602
C792 603
C80 552
C800 603
C802 603
C803 603
C804 603
C805 603
C806 604
C807 604
C808 604
C809 604
C81 552
C810 604
C811 604
C812 605
C813 605
C814 605
C815 605
C816 605
C817 605
C82 552
C83 552
C84 552
C85 552
C854 606
C87 553
C878 606
C88 553
C89 553
C90 553
C909 606
C91 553
C92 553
C99 553
CAN - DIP switch setting (C349) 572
CAN baud rate (C351) 573
CAN behaviour in the case of fault (C625) 596
CAN bus load (C361) 575
CAN delay boot-up - operational (C378) 579
CAN emergency delay time (C392) 581
CAN emergency object (C391) 581
663
664
Index
490
490
490
490
665
666
D
Data type 537
DC bus overvoltage 470
DC bus undervoltage 470
DC bus voltage (C53) 548
DC-bus capacitor
Overtemperature 464
Temperature > CXXXXX 464
Temperature sensor defective 465
Decel. time - stop function (C2610) 628
Decel. time lim. speed (C2712) 641
Deceleration has been limited 535
Delay lim. speed (C2710) 640
Delay time for TPx (C2810) 645
Depth - current setpoint filter (C272) 566
Device name (C199) 562
Device state (C183) 561
Device util. warning threshold (C123) 555
Device utilisation Ixt > 100 % 466
Device utilisation Ixt > C00123 466
DeviceCFG.dat file is faulty 491
DeviceCFG.dat file is invalid 492
DeviceCFG.dat file is missing 492
DFIN (MXI1)
Index
E
Earth fault detected 471
Elapsed-time meter (C178) 561
Electrolytic capacitor av. temp. (C1210) 611
Electronic nameplate
Checksum error 454
Communication error 454
Data incompatible 468
Data loaded 475
Data out of parameter limits 476
Not found 475
Unknown encoder protocol 475
Unknown encoder signal 476
E-mail to Lenze 679
Encoder
Open circuit 472
Encoder - PPR (C420) 583
Encoder - type (C422) 583
Encoder - voltage (C421) 583
Encoder evaluation 108
Dig. signals (C2579) 624
EnDat encoder
Flat battery 474
Lamp error 474
Overcurrent 474
Overvoltage 474
Position error 474
Signal error 474
Undervoltage 474
ENP
detected motor type (C186) 562
detected serial number (C187) 562
Status (C188) 562
Error during initialisation 500
Error during the update of inputs and outputs 458
Error messages 443
Error number 443
0x00650000 449
0x00650001 449
0x00650002 449
0x00650003 449
0x00680000 449
0x00680001 449
0x00680002 450
0x00680003 450
0x00680004 450
0x00680005 450
0x00680006 450
0x00680007 451
0x00680008 451
0x00680009 451
0x0068000a 451
0x0068000b 451
0x0068000c 451
0x0068000d 452
0x0068000e 452
0x0068000f 452
0x00680010 452
0x00680011 452
0x00680012 452
0x00680013 453
0x00680014 453
0x00680015 453
0x00680016 453
0x00680017 453
0x00680018 453
0x00680019 454
0x0068001a 454
0x0068001b 454
0x0068001c 454
0x0068001d 454
0x0068001e 454
0x0068001f 455
0x00680020 455
0x00680021 455
0x00690000 455
0x00690001 455
0x00690002 455
667
0x00690003 456
0x00690004 456
0x00690005 456
0x00690006 456
0x00690007 456
0x00690008 456
0x00690009 457
0x0069000a 457
0x0069000b 457
0x0069000c 457
0x0069000d 457
0x006a0000 457
0x006a0001 458
0x006a0002 458
0x006a0003 458
0x006a0004 458
0x006a0005 458
0x006a0006 458
0x006a0007 459
0x006a0008 459
0x006a0009 459
0x006a000a 459
0x006a000b 459
0x006a000c 459
0x006a000d 459
0x006a000e 460
0x006a000f 460
0x006a0010 460
0x006a0011 460
0x006a0012 460
0x006a0013 460
0x006a0014 461
0x006a0015 461
0x006a0016 461
0x006f0000 461
0x00720000 462
0x00750000 462
0x00750001 462
0x00750002 462
0x00750003 462
0x00750005 462
0x00750006 463
0x00770000 463
0x00770001 463
0x00770002 463
0x00770003 463
0x00770004 464
0x00770005 464
0x00770006 464
0x00770007 464
0x00770008 464
0x00770009 465
0x0077000a 465
0x0077000b 465
0x0077000c 465
0x0077000d 465
0x0077000e 466
0x0077000f 466
668
0x00770010 466
0x00770011 466
0x00780000 466
0x00780001 466
0x00780002 467
0x00780003 467
0x00780004 467
0x00780005 467
0x00780006 467
0x00780007 467
0x00780008 468
0x00780009 468
0x0078000a 468
0x00790000 468
0x00790001 468
0x00790002 468
0x007b0001 468
0x007b0002 469
0x007b0003 469
0x007b0004 469
0x007b0006 469
0x007b0007 469
0x007b0009 469
0x007b000a 469
0x007b000b 470
0x007b000c 470
0x007b000d 470
0x007b000e 470
0x007b000f 470
0x007b0010 470
0x007b0011 471
0x007b0012 471
0x007b0013 471
0x007b0014 471
0x007b0017 471
0x007b0018 471
0x007b0019 472
0x007b001a 472
0x007b001b 472
0x007b001c 472
0x007b001d 472
0x007b001e 472
0x007b001f 473
0x007b0020 473
0x007b0021 473
0x007b0023 473
0x007b0024 473
0x007b0025 473
0x007b0026 474
0x007b0027 474
0x007b0028 474
0x007b0029 474
0x007b002a 474
0x007b002b 474
0x007b002c 474
0x007b002d 475
0x007b002e 475
0x007b002f 475
Index
0x007b0030 475
0x007b0031 475
0x007b0032 475
0x007b0033 476
0x007b0034 476
0x007b0036 476
0x007b0037 476
0x007b0038 476
0x007b0039 476
0x007c0000 477
0x007c0001 477
0x007d0000 477
0x007d0001 477
0x007f0002 477
0x00830000 477
0x00830001 478
0x00830002 478
0x00840000 478
0x00840001 478
0x00840002 478
0x00840003 479
0x00840004 479
0x00840005 479
0x00840006 479
0x00840007 479
0x00840008 479
0x00840009 480
0x0084000a 480
0x0084000b 480
0x0084000c 480
0x0084000d 480
0x0084000e 480
0x0084000f 481
0x00840010 481
0x00840011 481
0x00840012 481
0x00840013 481
0x00840014 481
0x00840015 482
0x00840016 482
0x00840017 482
0x00840018 482
0x00840019 482
0x0084001a 482
0x0084001b 483
0x0084001c 483
0x0084001d 483
0x0084001e 483
0x0084001f 483
0x00840020 483
0x00840021 484
0x00850000 484
0x00860000 484
0x00860001 484
0x00860002 484
0x00860003 485
0x00860004 485
0x00860005 485
0x00860006 485
0x00860007 485
0x00860008 485
0x00860009 486
0x0086000a 486
0x0086000b 486
0x0086000c 486
0x0086000d 486
0x0086000e 486
0x0086000f 487
0x00860010 487
0x00860011 487
0x00860012 487
0x00860013 487
0x00860014 487
0x00860015 488
0x00860016 488
0x00860017 488
0x00860018 488
0x00860019 488
0x0086001a 488
0x0086001b 489
0x0086001c 489
0x0086001d 489
0x0086001e 489
0x0086001f 489
0x00860020 489
0x00870000 490
0x00870001 490
0x00870002 490
0x00870003 490
0x00870008 490
0x00880000 491
0x00890000 491
0x008c0000 491
0x008c0001 491
0x008c0002 491
0x008c0003 491
0x008c0004 492
0x008c0005 492
0x008c0006 492
0x008c0007 492
0x008c0008 492
0x008c0009 492
0x008c000a 493
0x008c000b 493
0x008c000d 493
0x008c000e 493
0x008c000f 493
0x008c0010 493
0x008c0011 494
0x008c0012 494
0x008c0013 494
0x008c0014 494
0x008c0015 494
0x008c0016 494
0x008c0017 495
0x008c0018 495
669
0x008c001a 495
0x008c001d 495
0x00900000 495
0x00900001 495
0x00900002 496
0x00900003 496
0x00900004 496
0x00900005 496
0x00900006 496
0x00900007 496
0x00900008 497
0x00900009 497
0x0090000a 497
0x0090000b 497
0x00910000 497
0x00910001 497
0x00910002 498
0x00910003 498
0x00910004 498
0x00910005 498
0x00910006 498
0x00910008 498
0x00910009 498
0x0091000a 499
0x0091000b 499
0x0091000c 499
0x0091000d 499
0x0091000e 499
0x0091000f 499
0x00910010 500
0x00910011 500
0x00910012 500
0x00920000 500
0x00990000 500
0x00990001 500
0x00990002 501
0x00990003 501
0x00990004 501
0x00990005 501
0x009d0000 501
0x009d0001 502
0x009d0002 502
0x009e0000 502
0x009e0001 502
0x009e0002 502
0x009e0003 503
0x009e0004 503
0x009e0005 503
0x009e0006 503
0x009e0007 503
0x009e0008 503
0x009e0009 504
0x009e000a 504
0x009e000b 504
0x009e000c 504
0x009e000d 504
0x009e000e 504
0x009e000f 505
670
0x009e0010 505
0x009e0011 505
0x009e0012 505
0x009e0013 505
0x009e0014 505
0x009e0015 506
0x009e0016 506
0x009e0017 506
0x009e0018 506
0x009e0019 506
0x009e001a 506
0x009e001b 507
0x009e001c 507
0x009e001d 507
0x009e001e 507
0x009e001f 507
0x009e0020 507
0x009e0021 508
0x009f0000 508
0x00a00000 508
0x00a00001 508
0x00a00002 509
0x00a00003 509
0x00a00004 509
0x00a00005 509
0x00a00006 509
0x00a00007 509
0x00a00008 510
0x00a00009 510
0x00a0000a 510
0x00a0000b 510
0x00a0000c 510
0x00a0000d 510
0x00a0000e 511
0x00a0000f 511
0x00a00010 511
0x00a00011 511
0x00a00012 511
0x00a00013 511
0x00a00014 512
0x00a00015 512
0x00a00016 512
0x00a00017 512
0x00a00018 512
0x00a00019 512
0x00a0001a 513
0x00a0001b 513
0x00a0001c 513
0x00a0001d 513
0x00a0001e 513
0x00a0001f 513
0x00a00020 514
0x00a10000 514
0x00a10001 514
0x00a10002 514
0x00a10003 515
0x00a10004 515
0x00a10005 515
Index
0x00a10006 515
0x00a10007 515
0x00a10008 516
0x00a20000 516
0x00a30000 516
0x00aa0000 516
0x00aa0001 516
0x00aa0002 517
0x00aa0003 517
0x00aa0004 517
0x00aa0005 517
0x00ac0000 517
0x00ac0001 518
0x00ac0002 518
0x00ad0000 518
0x00ad0001 518
0x00ad0002 518
0x00ad0003 519
0x00ad0004 519
0x00ad0005 519
0x00ad0006 519
0x00ad0007 519
0x00ad0008 519
0x00ad0009 520
0x00ad000a 520
0x00ad000b 520
0x00ad000c 520
0x00ad000d 520
0x00ad000e 520
0x00ad000f 521
0x00ad0010 521
0x00ad0011 521
0x00ad0012 521
0x00ad0013 521
0x00ad0014 521
0x00ad0015 522
0x00ad0016 522
0x00ad0017 522
0x00ad0018 522
0x00ad0019 522
0x00ad001a 522
0x00ad001b 523
0x00ad001c 523
0x00ad001d 523
0x00ad001e 523
0x00ad001f 523
0x00ad0020 523
0x00ad0021 524
0x00ae0000 524
0x00af0000 524
0x00af0001 524
0x00af0002 525
0x00af0003 525
0x00af0004 525
0x00af0005 525
0x00af0006 525
0x00af0007 525
0x00af0008 526
0x00af0009 526
0x00af000a 526
0x00af000b 526
0x00af000c 526
0x00af000d 526
0x00af000e 527
0x00af000f 527
0x00af0010 527
0x00af0011 527
0x00af0012 527
0x00af0013 527
0x00af0014 528
0x00af0015 528
0x00af0016 528
0x00af0017 528
0x00af0018 528
0x00af0019 528
0x00af001a 529
0x00af001b 529
0x00af001c 529
0x00af001d 529
0x00af001e 529
0x00af001f 529
0x00af0020 530
0x00b00000 530
0x00b00001 530
0x00b00002 530
0x00b00003 531
0x00b00004 531
0x00b00005 531
0x00b00006 531
0x00b00007 531
0x00b00008 532
0x00b10000 532
0x00b20000 532
0x00b80000 532
0x00b80001 532
0x00b80002 533
0x00b80003 533
0x00b80004 533
0x00b80005 533
0x00b80007 534
0x00b80008 534
0x00b80009 534
0x00b8000a 534
0x00b8000b 534
0x00b8000c 535
0x00b8000d 535
0x00b8000e 535
0x00b8000f 535
0x00b80010 536
0x00b80011 536
Error number (C168) 559
Error status (C166) 559
Ethernet IP address client x (C1510) 612
Ethernet status client x (C1511) 612
Ext. 24-V voltage (C65) 550
671
F
Failure of motor phase U 475
Failure of motor phase V 475
Failure of motor phase W 475
Faulty application parameter 460
Faulty device command transmission 468
Faulty program download 458
Feed constant (C2524) 615
Feedback 38
Feedback system motor temperature (C1193) 609
Feedback to Lenze 679
Feedforward control of torque 93
Field controller gain (C77) 551
Field controller reset time (C78) 552
Field weak. contr. reset time (C578) 587
Field weakening controller gain (C577) 587
Filter time const. DC detection (C280) 567
Filtered torque setpoint (C697) 598
Firmware - compile date (C201) 562
Firmware - version (C99) 553
Firmware has been changed 454
Firmware is not compatible 454
Firmware product type (C200) 562
Following error (C2576) 624
Frequency - current setpoint filter (C270) 566
G
GDO channel 1/trigger 1 (C731) 598
GDO channel 2/trigger 2 (C732) 598
GDO channel 3 (C733) 598
GDO channel 4 (C734) 598
GDO channel 5 (C735) 598
GDO channel 6 (C736) 599
GDO channel 7 (C737) 599
GDO channel 8 (C738) 599
GDO common parameter (C730) 598
GDO status information (C739) 599
Gearbox fact. denom. load (C2523) 615
Gearbox fact. denom. motor (C2521) 615
Gearbox fact. numer. load (C2522) 615
Gearbox fact. numer. motor (C2520) 614
General error in the application 457
Grinding OFF time (C2599) 628
Grinding ON time (C2598) 627
Grinding speed (C2596) 627
H
Heartbeat not periodic 498
Heatsink
Fan is defective 466
Overtemperature 463
672
I
Identification status (C854) 606
Imax Lss saturat. characteristic (C2855) 646
Imprint 2
Incorrect memory module 452
Influence winding Ixt mon. (C1195) 609
Inside the device
Fan is defective 466
Overtemperature 464
Temperature > CXXXXX 464
Temperature sensor defective 465
Integal-action time of position controller (C2554) 621
Internal clock (C1214) 611
Internal communication error (DMA) 476
Internal communication error (host MCTRL) 471
Internal communication error (MCTRL host) 476
Internal error
see C00180 498
Internal error (CRC application) 495
Internal error (CRC code RAM) 455
Internal error (event mechanism) 457
Internal error (faulty binary semaphores) 457
Internal error (file system) 457
Internal error (LDS instance data) 455
Internal error (LDS tasks) 456
Internal error (memory area - logbook) 455
Internal error (message memory) 456
Internal error (message queue) 456
Internal error (name data base) 456
Internal error (semaphores) 457
Internal error (storage blocks) 456
Internal error (task queue) 456
Internal torque limits (C2559) 622
Invalid PLC configuration 463, 476, 477, 532
Index
J
Jerk has been limited 535
K
Keypad
Default parameter (C466) 585
Default welcome screen (C467) 585
Fct. STOP key (C469) 585
Welcome screen time-out (C465) 585
Keypad LCD display 434
L
Layout of the safety information 18
LCD display (keypad) 434
LED status displays 34
Lenze setting loaded 495
Lh adaptation (C2861) 647
Liability 2
LIM_dnState (C2718) 642
LIM_dwControl (C2717) 642
Limitation active (C2715) 641
Limitations effective (C2702) 638
Limited speed (C2708) 640
Limited speed (C2709) 640
Limiter
Dig. signals (C2719) 642
Load reference speed (C2542) 619
Load reference torque (C2543) 619
Loading of Lenze setting failed 496
Log file - event filter (C169) 559
LOGFILE
Overflow 449
Reset (read error) 449
Reset (version error) 449
LS_AnalogInput 119
LS_AnalogOutput 122
LS_Brake 231
LS_DigitalInput 124
LS_DigitalOutput 126
LS_DriveInterface 60
LS_Feedback 115
LS_Homing 174
LS_Limiter 209
LS_ManualJog 162
LS_MotorInterface 104
LS_Positioner 180
LS_PositionFollower 189
LS_quick stop 155
LS_SafetyModule 139
LS_SpeedFollower 195
LS_Stop 151
LS_TorqueFollower 199
LS_TouchProbe1 132
LS_TouchProbe2 132
LS_TouchProbe3 132
LS_TouchProbe4 132
LS_TouchProbe5 132
LS_TouchProbe6 132
LS_TouchProbe7 132
LS_TouchProbe8 132
LS_TouchProbeLoad 133
LS_TouchProbeMotor 133
Lss sat. characteristic (C2859) 647
M
Machine parameters 35
Mains - voltage (C173) 560
Mains voltage switched off 497
Mains voltage switched on 497
Manual acceleration (C2622) 630
Manual deceleration (C2623) 630
Manual jog
Dig. signals (C2639) 631
Manual jog to software limit position 160
Manual speed 1 (C2620) 630
Manual speed 2 (C2621) 630
Manual S-ramp time (C2624) 630
Max. accel. to be displayed (C2541) 619
Max. acceleration (C2705) 639
Max. acceleration change (C274) 566
Max. angle of rotation after mains switching (C2653)
633
Max. dist. manual jog (C2713) 641
Max. dist. manual jog (C2714) 641
Max. power of brake resistor (C130) 556
Max. speed (C2703) 639
Max. speed [rpm] (C2704) 639
Max. speed to be displayed (C2540) 618
Max. temperature of brake resistor (C132) 556
Maximum acceleration exceeded 536
Maximum current (C22) 548
Maximum position to be displayed (C2539) 618
Maximum speed exceeded 536
MCTRL_dnAccelerationAdd (C804) 603
MCTRL_dnBoost (C814) 605
MCTRL_dnDCBusVoltage (C779) 601
MCTRL_dnDeltaMotorPos_p (C791) 602
MCTRL_dnFieldWeak (C816) 605
MCTRL_dnFluxAct (C778) 600
MCTRL_dnFlyingSpeedAct (C787) 602
MCTRL_dnI2xtLoad (C790) 602
MCTRL_dnImotAct (C780) 601
MCTRL_dnInputJerkCtrl (C776) 600
MCTRL_dnInputTorqueCtrl (C777) 600
MCTRL_dnIxtLoad (C786) 602
MCTRL_dnLoadPosAct (C771) 599
MCTRL_dnLoadPosRefValue (C813) 605
MCTRL_dnLoadSpeedAct (C773) 600
673
674
Index
N
Negative direction of rotation limited 534
Negative limit switch has triggered 533
Negative software limit switch overtravelled 534
New applications loaded 458
No heartbeat signal detected 498
No parameters for module in MXI1 497
No parameters for module in MXI2 497
Number of CRC cycles (C618) 596
O
Offset actual pos. value/setp. (C2578) 624
Operating mode brake (C2580) 625
Optimise response to setpoint changes 93
Overchange 392
Overcurrent detected 470
P
Parameter error information (C217) 565
Parameter set
Variant conflict 497
Version conflict 496
Parameter set faulty 495
Parameter set loaded 496
Parameter set restored 496
Parameter set saved 496
PDO mapping (MXI1)
Faulty configuration 461
PDO mapping (MXI2)
Faulty configuration 461
Permissible angle of rotation (C2595) 627
Permissible direction of rot. (C2707) 639
PF_dnMotorAcc_x (C2685) 636
PF_dnSpeedAdd1_s (C2686) 636
Phase controller gain (C254) 565
Phase currents (C55) 549
Pointer access in impermissible memory area 460
Pos. contr D comp.(C2555) 621
Pos. contr. limitation (C2556) 621
Pos. contr. output (C2558) 621
POS_dnProfileSpeed_s (C2676) 635
POS_dnState (C2675) 634
POS_dwActualProfileNumber (C2674) 634
Q
Quick stop
Dig. signals (C2619) 629
Quick stop by (source) (C159) 559
Quick stop deceleration time (C105) 554
Quick stop S-ramp time (C106) 554
R
Rated motor power (C81) 552
Read error - service register 462
Red. brake chopper threshold (C181) 561
Ref. acceleration 1 (C2645) 632
Ref. acceleration 2 (C2647) 632
Ref. blocking time (C2650) 633
675
676
S
S1 torque characteristic Ixt mon. (C1196) 610
Safety engineering 135
Safety instructions 18
Safety module 135
Incompatible to setting under C00214 500
Safety module has been changed 453
Safety module has been removed 451
Safety module is defective or missing 450, 452
Saturation characteristic 82
Saving of parameters failed 496
Service code (C100) 553
Service code (C1211) 611
Service code (C167) 559
Service code (C171) 559
Service code (C175) 560
Service code (C176) 560
Service code (C177) 561
Service code (C180) 561
Service code (C2850) 645
Service code (C2851) 645
Service code (C2852) 646
Service code (C2854) 646
Service code (C2856) 646
Service code (C2857) 647
Service code (C2858) 647
Service code (C2996) 647
Service code (C2997) 647
Service code (C2998) 647
Service code (C2999) 647
Service code (C308) 567
Service code (C309) 567
Service code (C310) 567
Service code (C325) 570
Service code (C326) 570
Service code (C327) 571
Service code (C328) 571
Service code (C329) 571
Service code (C330) 571
Service code (C335) 571
Service code (C336) 571
Service code (C337) 571
Index
T
Technology applications 233, 241, 287, 367
Temperature for spec. characteristic (C1191) 609
Temperature inside the controller (C62) 550
Test mode - motor control (C398) 582
Test torque (C2594) 627
Therm. motor time constant (C128) 556
Thermal motor load (Ixt) (C66) 550
Threshold - mains recov. detect. (C185) 562
Threshold - undervoltage (LU) (C174) 560
Threshold for max. motor current (C620) 596
Threshold max. speed reached (C596) 591
Threshold motor phase failure (C599) 592
Time error - controller interface 468
Time unit (C2533) 618
Torque (C57) 549
Torque feedforward control 93
Torque follower
% signals (C2698) 638
Dig. signals (C2699) 638
Torque setpoint (C56) 549
Torque setpoint (C696) 598
Total speed setpoint (C691) 597
Total torque setpoint (C695) 598
Touch probe detection 129
Traversing range (C2528) 616
TTL encoder signal evaluation (C427) 583
U
Unit 39
Unit (C2525) 615
User task 1
Overflow 458
677
User task 2
Overflow 458
User task 3
Overflow 458
User task 4
Overflow 459
User task 5
Overflow 459
User task 6
Overflow 459
User task 7
Overflow 459
User task 8
Overflow 459
User task 9
Overflow 459
User-defined time unit (C2534) 618
User-defined unit (C2526) 615
User-defined unit (C2535) 618
V
Violation of the time dial 468
Vp Lss saturat. characteristic (C2853) 646
W
Waiting time - brake activation (C2593) 627
Waiting time - status monitoring (C2591) 626
Warning threshold - CPU temperature (C126) 555
Warning threshold - motor overload (C127) 555
Width - current setpoint filter (C271) 566
Window speed monitoring (C576) 587
Wrong safety module 453
Z
Zero speed detection threshold (C19) 547
678
)(('%$&.
L
679