L-force Drives Ä.4&öä KHB 13.0003-EN .
This documentation is valid for 931M/W servo inverters. Document history Material No. Version 2.0 .4&ö Description 02/2007 TD11 First edition 0Fig. 0Tab. 0 Tip! Current documentation and software updates concerning Lenze products can be found on the Internet in the ”Services & Downloads” area under http://www.Lenze.com Important note: Software is provided to the user ”as is”. All risks regarding the quality of the software and any results obtained from its use remain with the user.
Contents 1 2 3 4 5 i Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.2 About this Communication Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
i 6 7 4 Contents 5.6 Emergency telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.6.1 Telegram structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.6.2 Description of the objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 49 51 5.7 Heartbeat telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.7.
Contents 8 7.7 Digital inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.7.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.7.2 Description of the objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 85 85 7.8 Device information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.8.
i 10 11 6 Contents Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 10.1 Index table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153 KHB 13.0003-EN 2.
Preface Introduction 1 Preface 1.1 Introduction 1 The competitive situation in the mechanical and system engineering sector requires new means to optimise the production costs. This is why modular machine and system engineering is becoming increasingly more important, since individual solutions can now be set up easily and cost-effectively from a single modular system.
1 Preface 1.2 About this Communication Manual About this Communication Manual Target group This manual is directed at all persons who carry out the dimensioning, installation, commissioning and settings of the 931 series drive controllers. Together with the catalogue, it provides the project planning basis for the manufacturer of plants and machinery.
Safety instructions Persons responsible for safety 2 Safety instructions 2.1 Persons responsible for safety 2 Operator An operator is any natural or legal person who uses the drive system or on behalf of whom the drive system is used. The operator or his safety officer is obliged ƒ to ensure the compliance with all relevant regulations, instructions and legislation. ƒ to ensure that only qualified personnel work on and with the drive system.
2 Safety instructions 2.2 General safety instructions 10 General safety instructions ƒ These safety instructions are not claimed to be complete. In case of questions and problems, please contact your Lenze representative. ƒ At the time of delivery, the drive controller meets the state of the art and basically ensures safe operation. ƒ The information given in this manual refers to the specified hardware and software versions of the modules.
Safety instructions 2 Definition of notes used 2.
3 Technical data 3 Technical data 3.1 Communication data Communication data Communication Communication profile DS 301, DSP 402 Network topology without repeater: line / with repeaters: line or tree CAN devices Slave Number of CAN devices 128 Baud rate (in kbits/s) 10, 20, 50, 100, 125, 250, 500, 800, 1000 Max. cable length per bus 1200 m (depending on baud rate and cable type) segment Bus connection 12 M12 KHB 13.0003-EN 2.
Electrical installation 4 CAN bus wiring A1 A2 An CAN_SHLD CAN_H CAN_GND CAN_L CAN_L CAN_GND CAN_H CAN_L X4.2 CAN_L CAN_GND CAN_H CAN_SHLD X4.1 CAN_SHLD CAN bus wiring CAN_SHLD 4.1 CAN_H Electrical installation CAN_GND 4 120 W 120 120 W 6 1 2 7 8 9 3 4 5 CAN_SHLD CAN-GND CAN_H CAN_L 931m_050 Fig. 1 Basic wiring of CANopen with Sub-D connector to the master A1 Node 1 - master (e.g. PLC) A2 Node 2 - slave (e.g. 931M/W controller) An Node n - slave, n = max.
4 Electrical installation 4.2 Connection of CAN bus slave Connection of CAN bus slave X4.1 / X4.2 Input contact pattern 4.3 Output contact Pin pattern Signal Explanation 1 CAN_SHLD CAN_Shield 2 — Reserved 3 CAN_GND CAN_Ground 4 CAN_H CAN_HIGH (high is dominant) 5 CAN_L CAN_LOW (low is dominant) Connection of CAN bus master Below, you can find the assignment of a 9-pole Sub-D socket used by most CAN masters for the connection of fieldbus devices.
CANopen communication 5 About CANopen Structure of the CAN data telegram 5 CANopen communication 5.1 About CANopen The CANopen protocol is a standardised layer 7 protocol for the CAN bus. This layer is based on the CAN application layer (CAL), which has been developed as a universal protocol. In practice, however, it became clear that applications with CAL were too complex for the user.
5 CANopen communication 5.1.2 Identifier About CANopen Identifier The principle of the CAN communication is based on a message-oriented data exchange between a sender and many receivers. All nodes can send and receive quasi-simultaneously. The identifier in the CAN telegram - also called COB-ID (Communication Object Identifier) - is used to control which node is to receive a sent message.
CANopen communication 5 About CANopen User data 5.1.4 User data The master and the drive controller communicate with each other by exchanging data telegrams via the CAN bus. The user data range of the CAN telegram contains network management data, parameter data or process data: KHB 13.0003-EN ƒ Network management data (NMT data) Network service: E.g. all CAN nodes can be influenced at the same time.
5 CANopen communication 5.2 Parameter data transfer (SDO transfer) 5.2.
CANopen communication 5 Parameter data transfer (SDO transfer) Telegram structure Command code 11 bits 4 bits User data (up to 8 bytes) 1st byte Identifier Data length 2nd byte 3rd byte 4th byte Command Index Index Subindex code low byte high byte 5th byte 6th byte 7th byte 8th byte Data 1 Data 2 Data 3 Data 4 Error code The command code contains the services for writing and reading parameters and the information on the length of the user data.
5 CANopen communication Parameter data transfer (SDO transfer) Telegram structure Index low byte / index high byte 11 bits 4 bits User data (up to 8 bytes) 1st byte Identifier Data length 2nd byte 3rd byte 4th byte Command Index Index Subindex code low byte high byte 5th byte 6th byte 7th byte 8th byte Data 1 Data 2 Data 3 Data 4 The object to be addressed is contained in bytes 2 and 3 of the telegram.
CANopen communication 5 Parameter data transfer (SDO transfer) Telegram structure Error code (F0 ... F3) 11 bits 4 bits User data (up to 8 bytes) 1st byte Identifier Data length 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte F0 F1 F2 F3 Command Index Index Subindex code low byte high byte Error code ƒ Byte 1: Code 80h in the command code byte indicates that an error has occurred.
5 CANopen communication 5.2.2 Reading parameters (example) Parameter data transfer (SDO transfer) Reading parameters (example) Problem The operating mode (object 6060_00) of the controller with node address 1 is to be read via the parameter channel.
CANopen communication 5 Parameter data transfer (SDO transfer) Writing parameters (example) 5.2.3 Writing parameters (example) Problem The operating mode (object 6060_00) of the controller with node address 1 is to be set to 03 (speed) via the SDO (parameter data channel).
5 CANopen communication 5.3 Process data transfer (PDO transfer) Process data transfer (PDO transfer) Process data objects (PDOs) can be used, for instance, for the fast event-controlled transfer of data. The PDO transfers one or several parameters specified in advance. Unlike with an SDO, the transfer of a PDO is not acknowledged. After the PDO activation, all receivers must therefore always be able to process any arriving PDOs. This usually means a considerable software load on the master.
CANopen communication 5 Process data transfer (PDO transfer) Telegram structure 5.3.1 Telegram structure The telegram for process data has the following structure: 5.3.2 11 bits 4 bits Identifier Data length User data (up to 8 bytes) 1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Data 0 Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Available process data objects The drive controller is equipped with three transmit and four receive PDOs.
5 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 1. Transmit PDO Index 1800h Name Possible settings Characteristics Lenze Description Selection Transmit PDO1 communication parameters 0 number_of_entries 00h {1h} 05h REC UINT8 RO — Maximally supported subindices. 05h 1 COB-ID_used_by_ PDO 80000181h Six subindices are supported. 80000181h {1h} 800001FFh UINT32 RW — Identifier of transmit PDO1, (180h + node address).
CANopen communication 5 Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name 1A00h Transmit PDO1 mapping parameters Possible settings Characteristics Lenze Description 0 number_of_ mapped_objects Selection 00h {1h} REC UINT32 RW — Maximally supported subindices. 04h 1 first_mapped_ object 04h Five subindices are supported. 60410010h {1h} — UINT32 RW — COB-ID entry of first mapped object.
5 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 2. Transmit PDO Index 1801h Name Possible settings Characteristics Lenze Description Selection Transmit PDO2 communication parameters 0 number_of_entries 00h {1h} 05h REC UINT8 RO — Maximally supported subindices. 05h 1 COB-ID_used_by_ PDO 80000281h Six subindices are supported. 80000281h {1h} 800002FFh UINT32 RW — Identifier of transmit PDO2, (280h + node address).
CANopen communication 5 Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name 1A01h Transmit PDO2 mapping parameters Possible settings Characteristics Lenze Description 0 number_of_ mapped_objects Selection 00h {1h} 04h REC 1 first_mapped_ object 60410010h 2 second_mapped_ object 60610008h — Five subindices are supported. {1h} — UINT32 RW — COB-ID entry of first mapped object. {1h} — UINT32 RW — COB-ID entry of second mapped object.
5 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 3. Transmit PDO Index 1802h Name Possible settings Characteristics Lenze Description Selection Transmit PDO3 communication parameters 0 number_of_entries 00h {1h} 05h REC UINT8 RO — Maximally supported subindices. 05h 1 COB-ID_used_by_ PDO 80000381h Six subindices are supported. 80000381h {1h} 800003FFh UINT32 RW — Identifier of transmit PDO3, (380h + node address).
CANopen communication 5 Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name 1A02h Transmit PDO3 mapping parameters Possible settings Characteristics Lenze Description 0 number_of_ mapped_objects Selection 00h {1h} 04h REC 1 first_mapped_ object 60410010h 2 second_mapped_ object 60640020h — Five subindices are supported. {1h} — UINT32 RW — COB-ID entry of first mapped object. {1h} — UINT32 RW — COB-ID entry of second mapped object.
5 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 1. Receive PDO Index 1400h Name Possible settings Characteristics Lenze Description Selection Receive PDO1 communication parameters 0 number_of_entries 00h {1h} 02h REC UINT8 RO — Maximally supported subindices. 02h 1 COB-ID_used_by_ PDO 80000201h Three subindices are supported.
CANopen communication 5 Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name 1600h Receive PDO1 mapping parameters Possible settings Characteristics Lenze Description 0 number_of_ mapped_objects Selection 00h {1h} REC UINT32 RW — Maximally supported subindices. 04h 1 first_mapped_ object 04h Five subindices are supported. 60400010h {1h} — UINT32 RW — COB-ID entry of first mapped object.
5 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 2. Receive PDO Index 1401h Name Possible settings Characteristics Lenze Description Selection Receive PDO2 communication parameters 0 number_of_entries 00h {1h} 02h REC UINT8 RO — Maximally supported subindices. 02h 1 COB-ID_used_by_ PDO 80000301h Three subindices are supported.
CANopen communication 5 Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name 1601h Receive PDO2 mapping parameters Possible settings Characteristics Lenze Description 0 number_of_ mapped_objects Selection 00h {1h} 04h REC 1 first_mapped_ object 60400010h 2 second_mapped_ object 60600008h — Five subindices are supported. {1h} — UINT32 RW — COB-ID entry of first mapped object. {1h} — UINT32 RW — COB-ID entry of second mapped object.
5 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 3. Receive PDO Index 1402h Name Possible settings Characteristics Lenze Description Selection Receive PDO3 communication parameters 0 number_of_entries 00h {1h} 02h REC UINT8 RO — Maximally supported subindices. 02h 1 COB-ID_used_by_ PDO 80000401h Three subindices are supported.
CANopen communication 5 Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name 1602h Receive PDO3 mapping parameters Possible settings Characteristics Lenze Description 0 number_of_ mapped_objects Selection 00h {1h} 04h REC 1 first_mapped_ object 60400010h 2 second_mapped_ object 607A0020h — Five subindices are supported. {1h} — UINT32 RW — COB-ID entry of first mapped object. {1h} — UINT32 RW — COB-ID entry of second mapped object.
5 CANopen communication Process data transfer (PDO transfer) Objects for PDO parameterisation 4. Receive PDO Index 1403h Name Possible settings Characteristics Lenze Description Selection Receive PDO4 communication parameters 0 number_of_entries 00h {1h} 02h REC UINT8 RO — Maximally supported subindices. 02h 1 COB-ID_used_by_ PDO 80000501h Three subindices are supported.
CANopen communication 5 Process data transfer (PDO transfer) Objects for PDO parameterisation Index Name 1603h Receive PDO4 mapping parameters Possible settings Characteristics Lenze Description 0 number_of_ mapped_objects Selection 00h {1h} 04h REC 1 first_mapped_ object 60400010h 2 second_mapped_ object 60FF0020h — Five subindices are supported. {1h} — UINT32 RW — COB-ID entry of first mapped object. {1h} — UINT32 RW — COB-ID entry of second mapped object.
5 CANopen communication 5.3.4 Description of the objects Process data transfer (PDO transfer) Description of the objects Identifier of the PDO (COB_ID_used_by_PDO) Enter the identifier to be used to transmit or receive the PDO in the object COB_ID-used_by_PDO. If bit 31 is set, the PDO is deactivated. This is the default setting for all PDOs. The COB ID can only be changed if the PDO is deactivated, i.e. if bit 31 is set.
CANopen communication 5 Process data transfer (PDO transfer) Description of the objects Objects to be transferred (first_mapped_object ... fourth_mapped_object) For every object to be contained in the PDO, the drive controller must know the corresponding index, subindex and length. The specified length must be identical to the length specified in the object dictionary. It is not possible to map parts of an object.
5 CANopen communication 5.3.5 Example of a process data telegram Process data transfer (PDO transfer) Example of a process data telegram The following objects are to be transferred together in a PDO: ƒ Status word, index 6041_00h ƒ Modes_of_operation_display, index 6061_00h (operating mode) The first transmit PDO (TPDO 1) is to be used. 187h is to be used as PDO identifier. 1. Delete the number of objects.
CANopen communication Process data transfer (PDO transfer) Activation of the PDOs 5.3.6 5 Activation of the PDOs The following criteria must be met to enable the drive controller to send or receive PDOs: ƒ The number_of_mapped_objects object must be non-zero. ƒ Bit 31 of the cob_id_used_for_pdos object must be deleted. ƒ The communication state of the controller must be operational (see chapter 5.5, network management).
5 CANopen communication 5.4 Sync telegram Sync telegram Telegram structure It is possible to synchronise several controllers of a plant with each other. For this, the master usually periodically sends synchronisation messages. All controllers connected receive these messages and use them for PDO processing. 5.4.1 Telegram structure 11 bits 4 bits Identifier Data length The identifier on which the drive controller receives the sync telegram is permanently set to 080h. The data length is 0. 5.4.
CANopen communication 5 Sync telegram Description of the objects 5.4.3 Description of the objects Index 1005h Name 0 COB-ID_sync_ message Possible settings Lenze Selection 00000080h 00000080h 0 communication_ cycle_period Description {1h} 0 synchronous_ window_length 2.0 UINT32 RW — Value 0 - 10 X 11-bit identifier. 11 - 28 0 29 0 The extended identifier (bit 29) is not supported. Every bit in this range must be set to ”0”. 30 0 Controller does not generate sync telegrams.
5 CANopen communication 5.5 Network management (NMT) Network management (NMT) Communication phases of the CAN network (NMT) Via the network management, the master can carry out state changes for the entire CAN network. For this purpose, the identifier with the highest priority (000h) is reserved. 5.5.
CANopen communication 5 Network management (NMT) Telegram structure 5.5.2 Telegram structure 11 bits Identifier 4 bits Data length User data (2 bytes) 1st byte 2nd byte CS NI 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte Via the NMT, commands can be sent to one or all drive controllers. Each command consists of two bytes. The first byte contains the command code (command specifier, CS) and the second byte contains the node address (node ID, NI) of the addressed drive controller.
5 CANopen communication Network management (NMT) Telegram structure State transitions (1) Initialisation (2) (14) (11) Pre-Operational (7) (4) (13) (3) (12) (10) (5) Stopped (6) (9) (8) Operational E82ZAFU004 Fig. 4 Network management state transitions State transition Command (hex) Network state after change Effect on process and parameter data after state change At power-on the initialisation is started automatically.
CANopen communication 5 Emergency telegram Telegram structure 5.6 Emergency telegram The controller monitors the functioning of its main components, e. g. voltage supply and power stage. In addition, the motor (temperature, phase-angle encoder) and the limit switches are checked continuously. Incorrect parameter settings can also lead to error messages (division by zero, etc.). 5.6.
5 CANopen communication Emergency telegram Telegram structure Error cause 50 Display 2nd byte 1st byte E1 E0 3rd byte 4th ... 8th byte R0 CAN communication error during receiving E12 3 81 82 00 ... 00 Division by 0 E15 0 61 85 00 ... 00 Overrange (overflow/underflow) E15 1 61 86 00 ... 00 Faulty program execution E16 0 61 81 00 ... 00 Interrupt E16 1 61 82 00 ... 00 Initialisation error E16 2 61 87 00 ... 00 Unexpected status E16 3 61 83 00 ...
CANopen communication 5 Emergency telegram Description of the objects 5.6.2 Description of the objects Index Name Possible settings Lenze 1001h Characteristics Selection Description 0 error_register VAR UINT8 RO MAP Here, you can read the value of the error_register contained in the emergency telegram. 1003h Bit No.
5 Index CANopen communication Emergency telegram Description of the objects Name Possible settings Lenze 1014h 1015h 0 COB-ID_emergency_ 00000081h message 0 inhibit_time_emcy 0 Characteristics Selection Description 00000000h {1h} 00000081h VAR UINT32 RW — Identifier emergency object, 080h + node address Bit No. Value 0 - 10 X 11-bit identifier 11 - 28 0 29 0 The extended identifier (bit 29) is not supported. Every bit in this range must be set to ”0”.
CANopen communication 5 Heartbeat telegram Telegram structure 5.7 Heartbeat telegram The heartbeat telegram in implemented to monitor the communication between the drive controller and the master. For this purpose, the controller cyclically sends messages to the master. The master can check the cyclic transmission of these messages and initiate corresponding measures if they are missing. The heartbeat telegram is sent with the identifier 700h (1792d) + node address.
5 CANopen communication Heartbeat telegram Telegram structure COB-ID = 1792 + Node-ID Heartbeat Producer 0 request 1 s r 6…0 7 Heartbeat Producer Time Heartbeat Consumer indication indication indication 0 request indication 1 s r 6…0 7 indication indication indication Heartbeat Consumer Time indication Heartbeat Consumer Time Heartbeat Event epm-t134 Fig.
CANopen communication 5 Heartbeat telegram Description of the objects 5.7.2 Description of the objects Index Name 1016h Consumer_ heartbeat_time Possible settings Characteristics Lenze Description 0 number_of_entries Selection 01h {1h} 7Fh VAR UINT8 RO — Maximally supported subindices. 01h 1 consumer_ heartbeat_time 0 1 subindex is supported. {1 ms} 65535 VAR UINT32 RW — Setting the time in which the controller expects a message from the master.
5 CANopen communication 5.8 Boot-up telegram Heartbeat telegram Boot-up telegram After the supply voltage has been switched on or after a reset, the drive controller sends the boot-up telegram indicating that the initialisation phase is completed. The controller then is in the NMT state pre-operational. 5.8.
CANopen communication 5 Node Guarding 5.9 Node Guarding NMT-Master request COB-ID = 700 + Node-ID Remote transmit request 0 s Node Time Life indication response 6…0 7 Node Guard time 1) 1 t confirm NMT-Slave COB-ID = 700 + Node-ID request Remote transmit request 0 confirm indication 1 s t 7 response 6…0 indication indication Node Guarding Event Life Guarding Event 931m_051 Fig.
5 CANopen communication 5.9.1 Description of the objects Index 100Ch Node Guarding Description of the objects Name 0 guard_time Possible settings Characteristics Lenze Selection 0 0 Description {1 ms} 65535 VAR UINT16 RW — Setting the cyclic monitoring time in which the master queries the status of the slaves. 0 100Dh 0 life_time_factor 0 Function is deactivated.
Commissioning Activation of CANopen 6 Commissioning 6.1 Activation of CANopen 6 The controllers are default set to CAN bus communication. 931m_100 In the CAN Bus field, three parameters must be set: ƒ Node ID For an unambiguous identification in the network, a node address must be assigned to each node. Each node address may only be assigned once in the network. The node address is used to address the device.
6 Commissioning 6.2 Speed control Speed control Parameterising of a process data object (TPDO and RPDO) The purpose of this example is to show how a speed control can be commissioned via the CAN bus. 1. Use/activation of the transmit PDO1 (transmission of actual speed and status word) and of the receive PDO1 (setpoint speed) 2. Control of the network management 3. Parameterisation of the motor, current and speed controller 4. Definition of the operating mode (speed control) 5.
Commissioning 6 Speed control Parameterising of a process data object (TPDO and RPDO) No. Description Identifier Control Command field code Data length Index Low byte High byte Subindex Data 1 Data 2 Data 3 Data 4 1 Network management (NMT) For parameterising the PDO, the network management is set to Pre-operational (80h). 00 2 80 00 00 00 00 00 00 00 2 Deactivating the TPDO The PDO is deactivated by setting bit 31.
6 Commissioning Speed control Parameterising of a process data object (TPDO and RPDO) No. Description Identifier Control Command field code Data length Index Low byte High byte Subindex Data 1 Data 2 Data 3 Data 4 1 Network management (NMT) For parameterising the PDO, the network management is set to Pre-operational (80h). 00 2 80 00 00 00 00 00 00 00 2 Deactivating the RPDO The RPDO is deactivated by setting bit 31.
Commissioning 6 Speed control Parameterising of the speed control 6.2.2 Parameterising of the speed control Before starting a control mode, the controller parameters often have to be adapted to ensure a dynamic and adequately damped operating behaviour. Before this, the controller parameters have to be selected depending on the system and the corresponding process. In the following, speed control is to be selected and then parameterised by means of a short example.
6 Commissioning 6.2.3 Running through the state machine Speed control Running through the state machine After having defined all control parameters required, the drive can be commissioned via the status machine. First, a speed setpoint is defined and sent once via SDOaccess and once via the RPDO. Then, the status machine is traversed. No.
Commissioning Speed control Running through the state machine Switched on disabled State Ready to switch on Switched on Operation Enable 6 d ex x an ier ind inde tif ngth mm n i n b a e o e u d L C I S M Controlword Shut down 601h 6 2Bh 40h 60h 00h 06h 80h 00h 00h Controlword Switch on 601h 6 07h 40h 60h 00h 07h 80h 00h 00h Controlword Enable Operation 601h 6 0Fh 40h 60h 00h 0Fh 80h 00h 00h Speed control during operation (change of speed setpoint is possible) Switched on disabled Contr
6 Commissioning 6.3 Position control Position control Parameterising of the homing run The following example describes the parameterisation and execution of homing. A controller with node address 1 is used as communication device. In addition, the commissioning of a position control will be explained. Select the settings for the lower-level speed control as described in chapter 6.2.2. The following explanation is based on these controller settings. 6.3.
Commissioning 6 Position control Parameterising of the homing run No. Description Identifier Control Command field code Data length Index Low byte High byte Subindex Data 1 Data 2 Data 3 Data 4 1 Status check (reading) Every status change must be carried out depending on the basic status. After a status change, you have to wait until the status change is indicated in the status word.
6 Commissioning 6.3.2 Running through the state machine Position control Running through the state machine After homing, the position control can be started. In addition to the definition of the target position, the required control accuracy and the ramps and speed for the profile generator must be defined. No.
Commissioning 6 Position control Running through the state machine As in all other operating modes, a position change is made by changing the status machine. No. Description Identifier Control Command field code Data length Index Low byte High byte Subindex Data 1 Data 2 Data 3 Data 4 1 Selecting the position setpoint via SDO access The position setpoint (target_ position) is set to 1000 rev. (1 rev. = 4096 increments).
6 Commissioning Position control Running through the state machine In Fig. 8, the state changes and the corresponding states are represented graphically. The process of running through the state machine is independent of the selected operating mode (torque, speed or position control).
Parameter setting Loading and saving of parameter sets Overview 7 7 Parameter setting Before the drive controller can perform the required task (torque or speed control or positioning), several controller parameters have to be adapted to the motor used and to the specific application. For this purpose you should keep to the sequence given in the following chapters. These chapters first explain the parameterisation and then the device control and the use of the different operating modes. 7.
7 Parameter setting Loading and saving of parameter sets Overview You can choose between two different parameter set management variants: 1. The parameter set is created by using the »fluxx« parameterisation program and transferred to the individual controllers. In this case, you only have to set the objects which can only be accessed via CANopen via the CAN bus.
Parameter setting 7 Loading and saving of parameter sets Description of the objects 7.1.2 Description of the objects Index Name 1010h Possible settings Characteristics Lenze Description Selection Store_parameters 0 largest_supported_ subindex 1 save_all_ parameters 00000001h 00000000h {1h} 65766173h UINT8 RO — — UINT32 RW — Accepting the default parameter set in the application parameter set. 00000000h 65766173h 1011h VAR Default parameter set is not accepted.
7 Parameter setting 7.2 Conversion factors (factor group) 7.2.1 Overview Conversion factors (factor group) Overview Controllers are used in various applications, e.g. as direct drives, with downstream gearbox, for line drives, etc. To make parameter setting for all these applications easy, the factor group can be used to parameterise the controller in a way that allows the user to enter and read all values, such as, for instance, the speed, directly in the required units on the drive.
Parameter setting 7 Power stage parameters Overview 7.3 Power stage parameters 7.3.1 Overview The rectified mains voltage is smoothed by the DC-bus capacitors. The motor is fed from the DC bus via the switchable semiconductor components.
7 Parameter setting 7.4 Motor adaptation 7.4.1 Overview Motor adaptation Overview Stop! Uncontrolled motor rotation When the phase sequence in the motor or phase-angle encoder cable is reversed, a direct feedback may occur and the motor speed cannot be controlled. Possible consequences: ƒ This can cause damage to material. Protective measures: ƒ Before switching on the motor, ensure that the phase sequence in the motor cable and the phase-angle encoder cable is correct.
Parameter setting 7 Motor adaptation Description of the objects 7.4.2 Description of the objects Index 6075h 6073h Name Possible settings Characteristics Lenze Description Selection 0 motor_rated_ current {1 mA} 0 max_current {motor_rated_current/1000} VAR UINT32 RO — Reading the rated current for Irat. The default value depends on the size of the drive. VAR UINT16 RW — Input value for Imax. The default value depends on the size of the drive.
7 Parameter setting 7.5 Speed controller 7.5.1 Overview Speed controller Overview The controller parameter set must be adapted to your application. Especially the gain strongly depends on the masses possibly connected to the motor. The data must be optimally determined when commissioning the system with the »fluxx« software. Stop! Uncontrolled vibrations Incorrect speed controller parameter settings can lead to strong vibrations. Possible consequences: ƒ Parts of the system can be destroyed.
Parameter setting 7 Speed controller Description of the objects 7.5.2 Description of the objects Index Name Possible settings Characteristics 60F9h Velocity_control_ parameter_set Lenze Selection Description 1 velocity_control_ gain 1920 0.01 × 128 2 velocity_control_ time 10000 3 velocity_control_ differential_time 6500 4 sampling_time 800 {128} 100 × 128 VAR UINT16 RW — Setting the speed controller gain. »fluxx« software: Kp = 1.
7 Parameter setting 7.6 Position controller (position control function) 7.6.1 Overview Position controller (position control function) Overview This chapter describes all parameters that are required for the position controller. The position setpoint (position_demand_value) of the driving profile generator is assigned to the position controller input. In addition, the actual position value (position_actual_value) is sent by the phase-angle encoder (resolver, incremental encoder, etc.).
Parameter setting 7 Position controller (position control function) Description of the objects xt1 xt0 xi - x 0 xi xi + x 0 position x 931e_419 Fig. 11 Position reached The position limit values which must not be exceeded both by the position_actual_value and the position_demand_value are the limit values for positioning. They are defined in the software_position_limit object. 7.6.2 Description of the objects The controller parameter set must be adapted to your application.
7 Parameter setting Position controller (position control function) Description of the objects Index Name 60FBh Position_control_ parameter_set 6063h 6064h 82 Possible settings Characteristics Lenze Selection Description 1 position_control_ gain 1 0 2 position_control_ end_time 10 {16384} 2 VAR UINT16 RW — Setting the position controller gain. Kp = 1 (corresponds to 16384).
Parameter setting 7 Position controller (position control function) Description of the objects Index 6065h 6067h Name Possible settings Characteristics Lenze Selection 0 following_error_ window 9102 00000000h 0 position_window 1820 Description {1 inc} 7FFFFFFF VAR UINT32 RW MAP Symmetrical range around the position setpoint. If the actual position value is not within this range, a following error occurs and bit 13 is set in the status word.
7 Parameter setting Position controller (position control function) Description of the objects Index Name 607Dh Software_position_ limit 0 number_of_ supported_entries Possible settings Characteristics Lenze Description Selection 00h {1h} VAR UINT8 RO — Maximally supported subindices. 02h 1 min_position_limit 02h Two subindices are supported. {1 inc} VAR INT32 RW — Input value for the minimum positioning limit. The value refers relatively to the home_position.
Parameter setting 7 Digital inputs and outputs Overview 7.7 Digital inputs and outputs 7.7.1 Overview All digital controller inputs can be read via the CAN bus and the digital outputs can be set as you choose. 7.7.2 Description of the objects Index 60FDh Name Possible settings Characteristics Lenze Description 0 digital_inputs Selection 00000000h {1} FFFFFFFFh VAR UINT32 RO MAP Reading the digital inputs. 60FEh Bit No. Digital input 0 Neg. limit switch High-active 1 Pos.
7 Index 2005h 86 Parameter setting Digital inputs and outputs Description of the objects Name 0 local_output_ function Possible settings Characteristics Lenze Selection 0 -128 Description {1} 127 VAR INT8 RW — Digital output can be parameterised by the user. Value Function -128 ... -17 Reserved -16 Reference set -15 ...
Parameter setting 7 Digital inputs and outputs Description of the objects Index 2006h Name 0 local_input_ function KHB 13.0003-EN 2.0 Possible settings Characteristics Lenze Selection 0 -128 Description {1} 127 VAR INT8 RW — Digital input can be parameterised by the user. Value Function -128 ...
7 Parameter setting 7.8 Device information 7.8.1 Description of the objects Device information Description of the objects Index Name 6410h Motor_data 1 resolver_offset Possible settings Characteristics Lenze Selection Description 1 0 {1 inc} 4096 VAR UINT16 RW — Setting the resolver offset. 2 number_of_pole_ pairs 2 1 {1} 13 VAR UINT16 RW — Setting the pole pair number. Bit No. Meaning 0 ...
Parameter setting 7 Device information Description of the objects Index Name Possible settings Lenze 1018h Characteristics Selection 0 identity_object Description ARR UINT8 RO — RO — Not used.
7 Parameter setting 7.9 Manufacturer-specific information parameters 7.9.1 Overview Manufacturer-specific information parameters Overview In this chapter, additional objects have been created which go beyond the objects in DSP301 and DSP402. These objects are described in the following. 7.9.2 Index 200Fh Description of the objects Name Possible settings Characteristics Lenze Description 0 remote_request Selection 0 {1} 1 VAR UINT8 RW MAP Requesting the control authority.
Parameter setting 7 Manufacturer-specific information parameters Description of the objects Index Name Possible settings Lenze 2009h Characteristics Selection Description 0 local_warnings VAR UINT16 RO MAP Reading warnings. 200Ah Bit No. Meaning 0 DC-bus voltage > 220 V 1 22 V > brake voltage > 26 V 2 Motor temperature > 130 °C 3 Temperature of electronic components > 70 °C 4 Following error 5 ... 15 Reserved 0 local_errors VAR UINT16 RO MAP Reading error messages.
7 Parameter setting 7.10 Manufacturer-specific driving records 7.10.1 Overview Manufacturer-specific driving records Overview The 931M/W controllers are equipped with 99 driving programs in which the user can predefine and save the control mode, setpoints, driving profiles, etc. In this way, the predefined setpoints and the complete driving profiles can be directly accepted as current values with a simple SDO command (selection of the corresponding driving program in object 2100).
Parameter setting 7 Manufacturer-specific driving records Description of the objects Index Name 2171h Driving_program_ torque Possible settings Characteristics Lenze Description 0 number_of_ supported_entries 1 driving_program_ torque Selection 00h {1h} FFh VAR UINT8 RO — Maximally supported subindices. 0 -1500 {rated_torque/1000} 1500 VAR INT16 RW — Setting the setpoint torques (with torque control) for the individual driving programs.
7 Parameter setting Manufacturer-specific driving records Description of the objects Index Name 2184h Driving_program_ deceleration Possible settings Characteristics Lenze Description 0 number_of_ supported_entries 1 driving_program_ deceleration Selection 00h {1h} FFh VAR UINT8 RO — Maximally supported subindices. 0 0 {1 rpm/s} 218 VAR INT32 RW — Setting the deceleration ramp. ...
Device control State diagram Overview 8 Device control 8.1 State diagram 8.1.1 Overview 8 The following chapter describes how the drive controller is controlled under CANopen, i.e. how, for instance, the power stage is switched on or how an error is acknowledged. Stop! Uncontrolled rotation of the motor An incorrectly parameterised drive controller can cause uncontrolled rotation of the motor. Possible consequences: ƒ This may result in property damage.
8 Device control 8.1.2 State diagram of the drive controller State diagram State diagram of the drive controller 0 13 1 Start Fault_Reaction_Active 0 14 Not_Ready_To_Switch_On Fault 1 15 Switch_On_Disabled 2 7 Ready_To_Switch_On 3 9 12 10 2 6 Switched_On 8 4 5 Operation_Enable 11 Quick_Stop_Active 931e_421 Fig.
Device control State diagram State diagram of the drive controller 8 With status transitions 2, 3, 4, - basically corresponding to CAN controller enable - you change to the Operation_Enable status. In this status, the power stage is switched on and the motor is controlled according to the selected operating mode. Therefore, it is absolutely necessary to ensure before that the controller parameters are correct and the corresponding setpoint is zero. Status transition 9 corresponds to controller inhibit.
8 Device control State diagram States of the drive controller Example: Switching on the power stage (controller must be parameterised) 1. The controller is in the Switch_On_Disabled status. 2. The controller is to change to Operation_Enable. 3. Transitions 2, 3 and 4 must be executed. 4. For requesting the parameterisation authority via the CAN bus, bit 15 remote_request must be set to 1. If this is not the case, another interface (e.g.
Device control 8 State diagram State transitions of the drive controller 8.1.4 State transitions of the drive controller The following table lists all states and their meaning. Please observe that bit 15 of the control word remote_request must always be set to 1 to ensure the parameterisation authority via the CAN bus. Transition Command Control word (bits) 15 3 2 Action 1 0 0 Switched on or reset Internal transition Start self-test.
8 Device control 8.1.5 Control word State diagram Control word The control word is used to change the current controller status or activate a certain action (e.g. start homing). The function of bits 4, 5, 6, 8 and 14 depends on the current operating mode (modes_of_operation) of the controller. Index Name Possible settings Lenze 6040h 0 control word 0000h Characteristics Selection Description 0000h {1h} FFFFh VAR UINT16 RW MAP Changing the controller status. Activating an action (e.g.
Device control 8 State diagram Control word Bits 0 ... 3 are used for status transitions. The required commands are listed in the below table. The Fault reset command is activated by a LOW-HIGH transition of bit 7. Command Bit 15 Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Shutdown 1 X X 1 1 0 Switch on 1 X X 1 1 1 Disable voltage 1 X X X 0 X Quick stop 1 X X 0 1 X Disable operation 1 X 0 1 1 1 Enable operation 1 X 1 1 1 1 Fault reset 1 0 -> 1 X X X X Tab.
8 Device control State diagram Control word The remaining bits of the control word are explained below. Depending on the operating mode (modes_of_operation), the meaning of some bits changes: Operating mode Bit 4 Bit 5 Bit 6 Bit 8 Bit 14 change_set_ immediately When this bit is not set, processing of the current driving command, if any, is completed before processing of the new driving command is started when a new driving command is received.
Device control 8 State diagram Controller state 8.1.6 Controller state Just as different status transitions can be activated by combining several bits of the control word, it is possible to read the current controller status by combining different bits of the status word . The following table lists the possible states of the status diagram and the bit combinations which are used to display the states in the status word.
8 Device control 8.1.7 Status word Index State diagram Status word Name Possible settings Lenze 6041h 0 status word Characteristics Selection Description 0000h {1h} FFFFh VAR UINT16 RO MAP Displaying the controller status and various events. 104 Bit No. Meaning 0 Ready to switch on 1 Switched on 2 Operation enable 3 Fault 4 Voltage disable This bit is set when the power stage transistors are switched off. Important! In case of a defect, the motor may still be energised.
Device control 8 State diagram Status word Note! The bits of the status word are not buffered. They represent the current controller status. In addition to the controller status, various events are displayed in the status word, i.e. each bit is assigned with a certain event (e.g. following error).
9 Operating modes 9 Operating modes 9.1 Setting of the operating mode 9.1.1 Overview Setting of the operating mode Overview Below the operating modes specified in detail under CANopen are listed: 9.1.
Operating modes 9 Setting of the operating mode Description of the objects Index Name Possible settings Lenze 6061h Characteristics Selection 0 modes_of_ operation_display KHB 13.0003-EN 2.0 Description VAR INT8 RO MAP Operating mode display. If operation via CANopen is not possible, an internal operating mode is displayed.
9 Operating modes 9.2 Speed control 9.2.
Operating modes Homing Overview 9.3 Homing 9.3.1 Overview 9 This chapter describes how the drive controller finds the start position (also called reference position, home position or zero position). There are different methods to determine this position. Sometimes the limit switches at the end of the positioning range are used. In order to increase the reproducibility as much as possible, some methods also integrate the zero pulse of the angle encoder used (resolver, incremental encoder etc.).
9 Operating modes 9.3.2 Description of the objects Index 607Ch Homing Description of the objects Name 0 home_offset Possible settings Characteristics Lenze Selection 0 -231 Description 231-1 {1 inc} VAR INT32 RW — Shifting the zero position compared to the home position.
Operating modes 9 Homing Control of the homing run Index Name 6099h Homing_speeds Possible settings Characteristics Lenze Description 0 number_of_ supported_entries Selection 00h {1h} 02h UINT8 RO — Maximally supported subindices. 02h 1 speed_during_ search_for_switch 100 2 speed_during_ search_for_zero 100 9.3.3 VAR Three subindices are supported. 0 232-1 {1 rpm} VAR UINT32 RW MAP Homing speed for reaching the limit switch.
9 Operating modes 9.4 Positioning 9.4.1 Overview Positioning Overview The target position (target_position) is transferred to the trajectory generator which then generates a position setpoint (position_demand_value) for the position controller. These two function blocks can be set independently of each other.
Operating modes 9 Positioning Description of the objects 9.4.2 Description of the objects Index 607Ah Name 0 target_position Possible settings Characteristics Lenze Selection 0 -231 Description {1 inc} 231-1 VAR INT32 RW MAP Target position input (absolute or relative input, see bit 6 of the control word). The current speed, acceleration and deceleration settings and the driving profile type must be considered.
9 Operating modes 9.4.3 Functional description Positioning Functional description There are two ways to transfer a target position to the drive controller: ƒ Simple travel task When the drive controller has reached a target position, it signals this to the master with the target_reached bit (bit 10 in the status word object). In this operating mode, the drive controller stops when it has reached the target.
Operating modes 9 Positioning Functional description In Fig. 16 a new positioning is only started if the last positioning has been completed completely. For this purpose, the master evaluates the target_reached bit in the status word object. v v2 v1 t0 t1 t2 t3 t 931e_407 Fig. 16 Simple travel task If the new_set_point bit as well as the change_set_immediately bit of the control word are set to ”1”, the master instructs the drive controller to start the new travel task immediately.
9 Operating modes 9.5 Torque control 9.5.1 Overview Torque control Overview This chapter describes the torque-controlled operation. In this operating mode, an external target-torque setpoint can be specified for the drive controller. Thus, it is possible to use the drive controller also for those path controls shifting the position controller as well as the speed controller to an external computer.
Operating modes 9 Torque control Description of the objects 9.5.2 Description of the objects Index 6071h Name 0 target_torque Possible settings Characteristics Lenze Selection 0 -1500 Description {motor_rated_torque/1000} 1500 VAR INT16 RW MAP Input value for the torque controller (torque control). Maximum setting: 1.5 times the rated torque of the controller. 6072h 0 max_torque 1500 0 {motor_rated_torque/1000} 1500 VAR UINT16 RW — Input value for Mmax. Maximum setting: 1.
10 Appendix 10 Appendix 10.1 Index table Index table ƒ The indexes are numerically sorted in ascending order to form a ”reference book”.
Appendix 10 Index table Index Name Possible settings Lenze 1000h Characteristics Selection Description 0 device_type VAR UINT3 2 RO — Device identification in a multi-axis system. 00020192h 1001h 0 error_register 931M/Wservo inverter VAR UINT8 RO MAP Here, you can read the value of the error_register contained in the emergency telegram. KHB 13.0003-EN 2.0 Bit No.
10 Appendix Index table Index Name 1003h Pre_defined_error_ field Possible settings Characteristics Lenze Description 0 number_of_errors Selection 00h {1h} FFh UINT8 RW — Reading the number of error messages saved. 00h Deleting the history buffer by writing the value 00h. After an error, the error must be acknowledged to activate the power stage. 1 standard_error_ field_0 — UINT3 2 RO — Reading the last error message. Bit 31 ... 24 23 ... 16 15 ... 8 7 ...
Appendix 10 Index table Index Name Possible settings Lenze 1006h 0 communication_ cycle_period Characteristics Selection 0 Description {1 μs} VAR 0 synchronous_ window_length 0 {1 μs} VAR UINT3 2 RO — Setting the time slot in which the sync telegrams are sent. Function is deactivated. 0 manufacturer_ device_name VAR 0 manufacturer_ hardware_version VAR 100Ah 0 manufacturer_ software_version VAR 100Ch 0 guard_time 1009h — No synchronisation message sending.
10 Appendix Index table Index Name 1011h Restore_default_ parameters 1 restore_all_default _parameters Possible settings Characteristics Lenze Selection Description 00000001h 00000000h {1h} 64616F6Ch Load 1015h 0 inhibit_time_emcy RW — Loading the default parameter set. 00000001h 0 COB-ID_emergency _message UINT3 2 Loading the default parameter set, only possible when the power stage is deactivated. The CAN communication parameters (node No.
Appendix 10 Index table Index Name 1016h Consumer_ heartbeat_time Possible settings Characteristics Lenze Description 0 number_of_entries Selection 01h {1h} 7Fh VAR UINT8 RO — Maximally supported subindices. 01h 1 consumer_ heartbeat_time 1 subindex is supported. 0 {1 ms} 65535 VAR UINT3 2 RW — Setting the time in which the controller expects a message from the master. The time must be longer than the corresponding index producer_heartbeat_time.
10 Appendix Index table Index Name 1400h Receive PDO1 communication parameters Possible settings Characteristics Lenze Description 0 number_of_entries Selection 00h {1h} 02h REC UINT8 RO — Maximally supported subindices. 02h 1 COB-ID_used_by_ PDO 80000201h Three subindices are supported. 80000201h {1h} 800002FFh UINT3 2 RW — Identifier of receive PDO1 (200h + node address) For processing, bit 31 must be set (parameterisation of mapping). Bit No.
Appendix 10 Index table Index Name 1401h Receive PDO2 communication parameters Possible settings Characteristics Lenze Description 0 number_of_entries Selection 00h {1h} 02h REC UINT8 RO — Maximally supported subindices. 02h 1 COB-ID_used_by_ PDO 80000301h Three subindices are supported. 80000301h {1h} 800003FFh UINT3 2 RW — Identifier of receive PDO2 (300h + node address) For processing, bit 31 must be set (parameterisation of mapping). Bit No.
10 Appendix Index table Index Name 1402h Receive PDO3 communication parameters Possible settings Characteristics Lenze Description 0 number_of_entries Selection 00h {1h} 02h REC UINT8 RO — Maximally supported subindices. 02h 1 COB-ID_used_by_ PDO 80000401h Three subindices are supported. 80000401h {1h} 800004FFh UINT3 2 RW — Identifier of receive PDO3 (400h + node address) For processing, bit 31 must be set (parameterisation of mapping). Bit No.
Appendix 10 Index table Index Name 1403h Receive PDO4 communication parameters Possible settings Characteristics Lenze Description 0 number_of_entries Selection 00h {1h} 02h REC UINT8 RO — Maximally supported subindices. 02h 1 COB-ID_used_by_ PDO 80000501h Three subindices are supported. 80000501h {1h} 800004FFh UINT3 2 RW — Identifier of receive PDO4 (500h + node address) For processing, bit 31 must be set (parameterisation of mapping). Bit No.
10 Appendix Index table Index Name 1601h Receive PDO2 mapping parameters Possible settings Characteristics Lenze Description 0 number_of_ mapped_objects Selection 00h {1h} 04h 1 first_mapped_ object 60400010h RW — 2 second_mapped_ object 60600008h Five subindices are supported. {1h} — UINT3 2 RW — COB-ID entry of first mapped object. {1h} — UINT3 2 RW — COB-ID entry of second mapped object.
Appendix 10 Index table Index Name 1603h Receive PDO4 mapping parameters Possible settings Characteristics Lenze Description 0 number_of_ mapped_objects Selection 00h {1h} 04h REC 1 first_mapped_ object 60400010h 2 second_mapped_ object 60FF0020h — Five subindices are supported. {1h} — UINT3 2 RW — COB-ID entry of first mapped object. {1h} — UINT3 2 RW — COB-ID entry of second mapped object. 3 third_mapped_ object — 4 fourth_mapped_ object — 2.
10 Appendix Index table Index Name 1800h Transmit PDO1 communication parameters Possible settings Characteristics Lenze Description 0 number_of_entries Selection 00h {1h} 05h REC UINT8 RO — Maximally supported subindices. 05h 1 COB-ID_used_by_ PDO 2 transmission_type 80000181h Six subindices are supported. 80000181h {1h} 800001FFh — UINT3 2 RW — Identifier of transmit PDO1, (180h + node address). For processing, bit 31 must be set (parameterisation of mapping). FFh Bit No.
Appendix 10 Index table Index Name 1801h Transmit PDO2 communication parameters Possible settings Characteristics Lenze Description 0 number_of_entries Selection 00h {1h} 05h REC UINT8 RO — Maximally supported subindices. 05h 1 COB-ID_used_by_ PDO 2 transmission_type 80000281h Six subindices are supported. 80000281h {1h} 800002FFh — UINT3 2 RW — Identifier of transmit PDO2, (280h + node address). For processing, bit 31 must be set (parameterisation of mapping). FFh Bit No.
10 Appendix Index table Index Name 1802h Transmit PDO3 communication parameters Possible settings Characteristics Lenze Description 0 number_of_entries Selection 00h {1h} 05h REC UINT8 RO — Maximally supported subindices. 05h 1 COB-ID_used_by_ PDO 2 transmission_type 80000381h Six subindices are supported. 80000381h {1h} 800003FFh — UINT3 2 RW — Identifier of transmit PDO3, (380h + node address). For processing, bit 31 must be set (parameterisation of mapping). FFh Bit No.
Appendix 10 Index table Index Name 1A00h Transmit PDO1 mapping parameters Possible settings Characteristics Lenze Description 0 number_of_ mapped_objects Selection 00h {1h} 04h UINT3 2 RW — Maximally supported subindices. 04h 1 first_mapped_ object REC Five subindices are supported. 60410010h {1h} — UINT3 2 RW — COB-ID entry of first mapped object. 2 second_mapped_ object — UINT3 2 RW — COB-ID entry of second mapped object. ...
10 Appendix Index table Index Name 1A02h Transmit PDO3 mapping parameters Possible settings Characteristics Lenze Description 0 number_of_ mapped_objects Selection 00h {1h} 04h UINT3 2 RW — Maximally supported subindices. 04h 2000h REC 1 first_mapped_ object 60410010h 2 second_mapped_ object 60640020h Five subindices are supported. {1h} — UINT3 2 RW — COB-ID entry of first mapped object. {1h} — UINT3 2 RW — COB-ID entry of second mapped object.
Appendix 10 Index table Index Name 2004h Start_stop_position 0 number_of_ supported_entries Possible settings Characteristics Lenze Description Selection 00h {1h} 02h VAR UINT8 RO — Maximally supported subindices. 02h Three subindices are supported. 1 start_position VAR INT32 RW MAP 2 stop_position VAR INT32 RW MAP KHB 13.0003-EN 2.
10 Index 2005h 136 Appendix Index table Name 0 local_output_ function Possible settings Characteristics Lenze Selection 0 -128 Description {1} 127 VAR INT8 RW — Digital output can be parameterised by the user. Value Function -128 ... -17 Reserved -16 Reference set -15 ... -14 Reserved -13 Stopover Low -12 Motor deenergised Low -11 Controller error Low -10 Reserved -9 Drive in standstill -8 Reserved -7 Homing active -6 ...
Appendix 10 Index table Index 2006h 2007h Name 0 local_input_ function 0 absolute_ resolver_position 2008h Possible settings Characteristics Lenze Selection 0 -128 Description {1} 127 VAR INT8 RW — Digital input can be parameterised by the user. Value Function Active -128 ...
10 Index Appendix Index table Name Possible settings Lenze 2009h Characteristics Selection Description 0 local_warnings VAR UINT1 6 RO MAP Reading warnings. 200Ah Bit No. Meaning 0 DC-bus voltage > 220 V 1 22 V > brake voltage > 26 V 2 Motor temperature > 130 °C 3 Temperature of electronic components > 70 °C 4 Following error 5 ... 15 Reserved 0 local_errors VAR UINT1 6 RO MAP Reading error messages.
Appendix 10 Index table Index Name Possible settings Lenze 200Fh 0 remote_request Characteristics Selection Description 0 {1} 1 VAR UINT8 RW MAP Requesting the control authority. Cannot be saved (when the controller is restarted, the control authority has to be requested again). 207Ah Value Meaning 1 Requesting the control authority via the CAN bus 0 Not requesting the control authority via the CAN bus Bit 15 of the control word need not be set to ”1”.
10 Appendix Index table Index Name 2171h Driving_program_ torque Possible settings Characteristics Lenze Description 0 number_of_ supported_entries 1 driving_program_ torque Selection 00h {1h} FFh VAR UINT8 RO — Maximally supported subindices. 0 -1500 {rated_torque/1000} 1500 VAR INT16 RW — Setting the setpoint torques (with torque control) for the individual driving programs.
Appendix 10 Index table Index Name 2184h Driving_program_ deceleration Possible settings Characteristics Lenze Description 0 number_of_ supported_entries 1 driving_program_ deceleration Selection 00h {1h} FFh VAR UINT8 RO — Maximally supported subindices. 0 0 218 {1 rpm/s} VAR INT32 RW — Setting the deceleration ramp. ... 99 driving_program_ deceleration 21FFh 0 0 218 {1 rpm/s} VAR INT32 RW — Setting the deceleration ramp.
10 Index 6040h Appendix Index table Name 0 control word Possible settings Characteristics Lenze Selection 0000h 0000h Description {1h} FFFFh VAR UINT1 6 RW MAP Changing the controller status. Activating an action (e.g. homing). 142 Bit No. Meaning 0 Switch on 1 Enable voltage 2 Quick stop 3 Enable operation 4 ... 6 Operation-mode specific The bit function depends on the operating mode.
Appendix 10 Index table Index Name Possible settings Lenze 6041h 0 status word Characteristics Selection Description 0000h {1h} FFFFh VAR UINT1 6 RO MAP Displaying the controller status and various events. 6060h 0 modes_of_ operation KHB 13.0003-EN 2.0 0 Bit No. Meaning 0 Ready to switch on 1 Switched on 2 Operation enable 3 Fault 4 Voltage disable This bit is set when the power stage transistors are switched off.
10 Index Appendix Index table Name Possible settings Lenze 6061h Characteristics Selection Description 0 modes_of_ operation_display VAR 6064h 6065h 6067h RO MAP Operating mode display. If operation via CANopen is not possible, an internal operating mode is displayed.
Appendix 10 Index table Index Name Possible settings Lenze 606Ch 0 velocity_actual_ value 6071h 0 target_torque Characteristics Selection Description {1 rpm} VAR INT32 RO MAP Reading the actual speed. 0 -1500 {motor_rated_torque/1000} 1500 VAR INT16 RW MAP Input value for the torque controller (torque control). Maximum setting: 1.5 times the rated torque of the controller. 6072h 0 max_torque 1500 0 {motor_rated_torque/1000} 1500 VAR UINT1 6 RW — Input value for Mmax.
10 Appendix Index table Index Name 607Dh Software_position_ limit Possible settings Characteristics Lenze Description 0 number_of_ supported_entries Selection 00h {1h} 02h VAR UINT8 RO — Maximally supported subindices. 02h Two subindices are supported. 1 min_position_limit {1 inc} VAR INT32 RW — Input value for the minimum positioning limit. The value refers relatively to the home_position.
Appendix 10 Index table Index 607Fh Name 0 max_profile_ velocity Possible settings Characteristics Lenze Selection 4000 0 Description {1 rpm} 4000 VAR UINT3 2 RW — Setting the maximum speed to be traversed in the current profile. 6080h 0 max_motor_speed 4000 0 {1 rpm} 32768 VAR UINT1 6 RW — Setting the maximum speed. The speed setpoint is limited to this value.
10 Index 6098h Appendix Index table Name 0 homing_method Possible settings Characteristics Lenze Selection 35 1 Description 35 Value Direction Target Reference point for zero 1 negative Limit switch Zero pulse 2 positive Limit switch Zero pulse 4 positive Referen Zero pulse ce switch 6 negative Referen Zero pulse ce switch 9 positive Referen Zero pulse ce switch 11 negative Referen Zero pulse ce switch 17 negative Limit switch Limit switch 18 positive Limit switch L
Appendix 10 Index table Index Name 6099h Homing_speeds Possible settings Characteristics Lenze Description 0 number_of_ supported_entries Selection 00h {1h} 02h UINT8 RO — Maximally supported subindices. 02h 1 speed_during_ search_for_switch 100 2 speed_during_ search_for_zero 100 60F9h VAR Three subindices are supported. 0 {1 rpm} 232-1 VAR UINT3 2 RW MAP Homing speed for reaching the limit switch.
10 Appendix Index table Index Name 60FBh Position_control_ parameter_set 60FDh Possible settings Characteristics Lenze Selection Description 1 position_control_ gain 1 0 2 position_control_ end_time 10 0 digital_inputs {16384} 2 VAR UINT1 6 RW — Setting the position controller gain. Kp = 1 (corresponds to 16384).
Appendix 10 Index table Index Name 60FEh Digital_outputs Possible settings Characteristics Lenze Description 0 number_of_ supported_entries Selection 00h {1h} 02h 2 digital_outputs_ mask 0 0 00000000h {1h} Bit No. Digital output 0 Brake 1 ... 15 Reserved 16 DOUT0 17 Neg. limit switch 18 Pos. limit switch 19 Reference switch 20 Quick stop 17 ... 31 Reserved 0 {1} FFFFFFFFh — VAR UINT3 2 RW MAP Activating or deactivating special functionalities or outputs.
10 Appendix Index table Index Name 6410h Motor_data 1 resolver_offset Possible settings Characteristics Lenze Selection Description 1 0 {1 inc} 4096 VAR UINT1 6 RW — Setting the resolver offset. 2 number_of_pole_ pairs 2 1 {1} 13 VAR UINT1 6 RW — Setting the pole pair number. Bit No. Meaning 0 ... 3 Pole pair number 4 Reversal of direction of resolver 3 braking _times {1 ms} VAR UINT3 2 RW — Setting the disengagement and engagement time of the brake.
Index 11 Index A Activation of CANopen, 59 Actual position, 81 Approach new position, 114 B Driving program - acceleration, 92 - deceleration, 92 - position setpoint, 92 - positions, 92 - Program number, 92 - setpoint torque, 92 Boot-up telegram, 56 Driving records, 92 C E Cable specification, 13 E82ZAFPC00x, baud rate, 12 CAN bus wiring, 13 Electrical installation, 13 CAN data telegram, structure, 15 Emergency, 49 CAN network, communication phases, 46 Emergency telegram, 49 CANopen, Commu
11 Index M Monitoring of communication, 56 Motor adaptation, 76 Motor data, 76 Motor parameters, rated current, 76 Process data transfer (PDO transfer), 24 Profile velocity mode, 108 Q Quick Stop Active, 98 Motor temperature, 90 R N Rated current, motor, 76 Network management (NMT), 46 Rated motor current, 76 Network topology, 12 Reading parameters, 22 Node address, 16 Ready to Switch On, 98 Node Guarding, 57 Remote request, 90 Node ID, 16 Resolver position, 90 Not Ready to Switch On, 98
Index T U Target position window, 81 User data, 18 , 19 , 20 , 21 , 25 Target window, position window, 81 target_torque, 116 Technical data, 12 V Preface, 7 Torque control, 116 W Transmission cable, specification, 13 Warnings, 90 Transmission parameters for PDOs, 25 Writing parameters, 23 KHB 13.0003-EN 2.
156 Notes KHB 13.0003-EN 2.
Notes KHB 13.0003-EN 2.
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