Lenze i700 User Manual
I700, Ä.j(yä
Advertising
Table of contents
Document Outline
- i700 servo inverter
- Contents
- 1 About this documentation
- 2 Parameter handling
- 3 Communication with the controller
- 3.1 Acceleration of the system (initialisation)
- 3.2 Process data (cyclic PDO transfer) and PDO mapping
- 3.3 Parameter data transfer (SDO communication)
- 3.4 Activating the control via PDO
- 3.5 Lenze control and status word
- 3.6 Ethernet over EtherCAT (EoE)
- 3.6.1 System architecture
- 3.6.2 Supported protocols and services
- 3.6.3 Display of EoE-specific information
- 3.6.4 GCI-SDO communication (TCP port 9410)
- 3.6.4.1 Structure of the EtherCAT data telegram
- 3.6.4.2 Assignment of user data areas P0 ... P4
- 3.6.4.3 Error codes
- 3.6.4.4 Telegram example 1: Querying the heatsink temperature (read request)
- 3.6.4.5 Telegram example 2: Querying the software version of the i700 (read request)
- 3.6.4.6 Telegram example 3: Setting the LV warning threshold in the i700 (write request)
- 4 Device settings
- 5 Motor control & motor settings
- 5.1 Required commissioning steps (short overview)
- 5.2 Commissioning functions (short overview)
- 5.3 Wiring check by means of manual test modes
- 5.4 Manual control
- 5.5 Setting the control mode
- 5.6 Accepting/adapting plant parameters
- 5.7 Compensating for inverter influence on output voltage
- 5.8 Setting the motor parameters for the servo control
- 5.9 Setting the feedback system for the servo control
- 5.10 Synchronous motor (SM): Pole position identification
- 5.11 Setting control loops
- 5.11.1 Setting and optimising the current controller
- 5.11.2 Determining the total moment of inertia
- 5.11.3 Setting the speed controller
- 5.11.4 Setting the position controller
- 5.11.5 Setting the field controller (ASM)
- 5.11.6 Setting the field weakening controller (ASM)
- 5.11.7 Field weakening operation - synchronous motor (SM)
- 5.12 Fine adjustment des motor model
- 5.13 Parameterising filter elements in the setpoint path
- 5.14 Parameterising the V/f characteristic control
- 5.14.1 Defining the V/f characteristic shape
- 5.14.2 Activating the voltage vector control (lmin controller)
- 5.14.3 Setting the voltage boost
- 5.14.4 Setting the load adjustment
- 5.14.5 Defining the behaviour at the current limit (Imax controller)
- 5.14.6 Setting the slip compensation
- 5.14.7 Setting the oscillation damping
- 5.14.8 Optimising pull-out slip limitation
- 5.14.9 Display parameter
- 5.14.10 "Flying restart" function
- 0x2BA0 | 0x33A0 - Flying restart: Activate
- 0x2BA1 | 0x33A1 - Flying restart: Current
- 0x2BA2 | 0x33A2 - Flying restart: Start frequency
- 0x2BA3 | 0x33A3 - Flying restart: Integration time
- 0x2BA4 | 0x33A4 - Flying restart: Min. deviation
- 0x2BA5 | 0x33A5 - Flying restart: Delay time
- 0x2BA6 | 0x33A6 - Flying restart: Result
- 5.15 "DC-injection braking" function
- 5.16 "Short-circuit braking" function
- 5.17 Setting the switching frequency
- 5.18 Frequency and speed limitations
- 6 Holding brake control
- 7 CiA402 device profile
- 7.1 Supported drive modes
- 7.2 Applied units and scaling for position and velocity
- 7.3 General CiA402 parameters
- 7.4 Device control
- 0x6040 | 0x6840 - CiA402 controlword
- 0x6041 | 0x6841 - Statusword
- 0x605A | 0x685A - Quick stop option code
- 0x6060 | 0x6860 - Modes of operation
- 0x6061 | 0x6861 - Modes of operation display
- 0x6085 | 0x6885 - Quick stop deceleration
- 7.4.1 Commands for the device status control
- 7.4.2 Device states
- 7.4.3 Selection of the operating mode
- 7.5 Parameters for the scaling of physical values
- 7.6 Parameters for actuation of the position control
- 0x6062 | 0x6862 - Position demand value
- 0x6063 | 0x6863 - Position actual internal value
- 0x6064 | 0x6864 - Position actual value
- 0x6065 | 0x6865 - Following error window
- 0x6066 | 0x6866 - Following error time out
- 0x6067 | 0x6867 - Position window
- 0x6068 | 0x6868 - Position window time
- 0x60F4 | 0x68F4 - Following error actual value
- 0x60FA | 0x68FA - Control effort
- 0x60FC | 0x68FC - Position demand internal value
- 7.7 Velocity mode (vl)
- 7.8 Cyclic sync position mode (csp)
- 7.9 Cyclic sync velocity mode (csv)
- 7.10 Cyclic sync torque mode (cst)
- 7.10.1 Default mapping
- 7.10.2 Object description
- 0x2946 | 0x3146 - Cyclic sync torque mode: Speed limitation
- 0x6071 | 0x6871 - Torque demand
- 0x6072 | 0x6872 - Max torque
- 0x6073 | 0x6873 - Max current
- 0x6074 | 0x6874 - Torque demand
- 0x6077 | 0x6877 - Torque actual value
- 0x6078 | 0x6878 - Current actual value
- 0x6079 | 0x6879 - DC link circuit voltage
- 0x60B2 | 0x68B2 - Torque offset
- 7.10.3 Signal flow
- 7.10.4 Control commands & status information
- 7.11 Touch probe (TP)
- 8 Monitoring functions
- 8.1 24-V supply voltage monitoring
- 8.2 Monitoring of the power section and device utilisation (Ixt)
- 8.3 Monitoring of the heatsink temperature
- 8.4 Monitoring of the motor utilisation (I·xt)
- 0x2D4E | 0x354E - Motor utilisation (I·xt): Motor overload warning threshold
- 0x2D4F | 0x354F - Motor utilisation (I·xt): Actual utilisation
- 0x2D50 | 0x3550 - motor utilisation (I·xt): Motor overload error
- 0x2D4C | 0x354C - Motor utilisation (I·xt): Parameter for the thermal model
- 0x2D4D | 0x354D - Motor utilisation (I·xt): User-definable characteristic
- 8.4.1 Example of how to enter the characteristic for standard and servo motors
- 8.4.2 UL 508-compliant I·xt motor overload monitoring
- 8.5 Motor temperature monitoring
- 8.6 Motor speed monitoring
- 8.7 Motor phase failure monitoring
- 8.8 Monitoring of the ultimate motor current
- 9 Diagnostics & error management
- 9.1 LED status displays
- 9.2 Indication of fault and warning (error code)
- 9.3 History buffer
- 9.4 CiA402 error codes / error messages
- Error code 0x0000: No error
- Error code 0x2320: Short circuit or earth leakage on motor side
- Error code 0x2340: Short circuit on motor side
- Error code 0x2351: Motor utilisation (I·xt) > [value] %
- Error code 0x2380: Fault - utilisation of the power section (Ixt) too high
- Error code 0x2381: Warning - Utilisation of the power section (Ixt) too high
- Error code 0x2382: Fault - device utilisation (Ixt) too high
- Error code 0x2383: Warning - device utilisation (Ixt) too high
- Error code 0x2384: Ultimate motor current reached
- Error code 0x2385: Output current > [value] A (maximum device current)
- Error code 0x2386: Clamp is active
- Error code 0x2387: Clamp responded too often
- Error code 0x3210: DC link circuit - overvoltage [value] V
- Error code 0x3220: DC link circuit - undervoltage [value] V
- Error code 0x4210: Module temperature too high, [value]
- Error code 0x4280: Internal fault - module temperature monitoring
- Error code 0x4310: Motor temperature too high, [value]
- Error code 0x4380: Motor temperature sensor
- Error code 0x5112: 24-V supply
- Error code 0x6010: Watchdog reset
- Error code 0x6310: Incorrect parameter set download
- Error code 0x6320: Parameter error in object [value]
- Error code 0x7121: PLI - motor blocked
- Error code 0x7303: Error in feedback system
- Error code 0x7380: Hiperface communication error
- Error code 0x7381: Hiperface: Invalid absolute value - motor speed too high
- Error code 0x8180: ECAT DC - synchronisation required
- Error code 0x8181: EtherCAT communication
- Error code 0x8280: Sync Manager - address [value]
- Error code 0x8281: Sync Manager - actual size [value]
- Error code 0x8282: Sync Manager - settings [value]
- Error code 0x8283: PDO Mapping: Object unknown (index [value])
- Error code 0x8284: No PDO mapping object (index [value])
- Error code 0x8285: Too many mapped objects (max. number = [value])
- Error code 0x8286: PDO mapping - error
- Error code 0x8700: Sync controller
- Error code 0x8701: Time-out during synchronisation with EtherCAT Sync signal
- Error code 0xFF00: Fatal internal error
- Error code 0xFF01: Fatal internal communication error, cycle [value]
- Error code 0xFF02: Brake
- Error code 0xFF03: Fatal internal error - overflow task [value]
- Error code 0xFF04: PLI - motor movement too large
- Error code 0xFF05: STO inhibited
- Error code 0xFF06: Max. speed reached
- Error code 0xFF07: Impermissible during identification or in the test mode
- Error code 0xFF08: Impossible during identification
- Error code 0xFF09: Motor phase failure
- Error code 0xFF0A: Motor phase failure - phase U
- Error code 0xFF0B: Motor phase failure - phase V
- Error code 0xFF0C: Motor phase failure - phase W
- Error code 0xFF0D: No resolver connected --> command cannot be executed.
- Error code 0xFF0E: Speed too low --> command cannot be executed.
- Error code 0xFF0F: No resolver connected --> command cannot be executed.
- Error code 0xFF10: Time-out
- Error code 0xFF11: Numerical problem
- Error code 0xFF12: Inverter error too big
- Error code 0xFF13: Identification aborted
- Error code 0xFF14: Not allowed in state 'operation enabled' or 'quick stop active'
- Error code 0xFF15: No Hiperface absolute value encoder connected --> command cannot be executed
- Error code 0xFF16: Connected Hiperface absolute value encoder is not supported
- Error code 0xFF17: Connected Hiperface absolute value encoder is not supported --> command cannot be executed
- Error code 0xFF18: Communication timeout in the manual control mode
- Error code 0xFF19: Internal error during identification
- 9.5 Identification data
- 9.6 Diagnostics parameters
- 10 Service/internal
- 0x2DD0 | 0x35D0 - field: Values
- 0x2DD1 | 0x35D1 - motor: Currents
- 0x2DD2 | 0x35D2 - Position: Target position interpolated
- 0x2DD3 | 0x35D3 - Target speeds
- 0x2DD4 | 0x35D4 - Speed controller: Output signal
- 0x2DD5 | 0x35D5 - torque: Target torque
- 0x2DD6 | 0x35D6 - Torque: Filter cascade
- 0x2DD7 | 0x35D7 - Voltage values
- 0x2DDC | 0x35DC - Slip: Actual slip
- 0x2DDD | 0x35DD - Device: Actual output frequency
- 0x2DDE | 0x35DE - motor: Actual position of rotor angle
- 0x2DDF | 0x35DF - Axis: Device data
- 10.1 Firmware update
- 11 Appendix
- 11.1 Table of attributes
- 11.2 Structure of the parameter set file
- 11.3 Communication objects
- 0x1600 - RPDO-->Axis A: Cyclic sync position mode (csp)
- 0x1601 - RPDO-->Axis A: Cyclic sync torque mode (cst)
- 0x1602 - RPDO-->Axis A: Cyclic sync velocity mode (csv)
- 0x1603 - RPDO-->Axis A: Velocity mode (vl)
- 0x1604 - RPDO-->Axis A: Touch probe (TP)
- 0x1605 - RPDO-->Axis A: Freely configurable (user)
- 0x1606 - RPDO-->Axis A: Torque limits
- 0x1607 - RPDO --> Axis A: Speed Limits
- 0x1610 - RPDO-->Axis B: Cyclic sync position mode (csp)
- 0x1611 - RPDO-->Axis B: Cyclic sync torque mode (cst)
- 0x1612 - RPDO-->Axis B: Cyclic sync velocity mode (csv)
- 0x1613 - RPDO-->Axis B: Velocity mode (vl)
- 0x1614 - RPDO-->Axis B: Touch probe (TP)
- 0x1615 - RPDO-->Axis B: Freely configurable (user)
- 0x1616 - RPDO-->Axis B: Torque limits
- 0x1617 - RPDO --> Axis B: Speed limits
- 0x1A00 - Axis A-->TPDO: Cyclic sync position mode (csp)
- 0x1A01 - Axis A-->TPDO: Cyclic sync torque mode (cst)
- 0x1A02 - Axis A-->TPDO: Cyclic sync velocity mode (csv)
- 0x1A03 - Axis A-->TPDO: Velocity mode (vl)
- 0x1A04 - Axis A-->TPDO: Touch probe (TP)
- 0x1A05 - Axis A-->TPDO: Freely configurable (user)
- 0x1A06 - Axis A-->TPDO: Additional status information
- 0x1A10 - Axis B-->TPDO: Cyclic sync position mode (csp)
- 0x1A11 - Axis B-->TPDO: Cyclic sync torque mode (cst)
- 0x1A12 - Axis B-->TPDO: Cyclic sync velocity mode (csv)
- 0x1A13 - Axis B-->TPDO: Velocity mode (vl)
- 0x1A14 - Axis B-->TPDO: Touch probe (TP)
- 0x1A15 - Axis B-->TPDO: Freely configurable (user)
- 0x1A16 - Axis B-->TPDO: Additional status information
- 0x1C00 - Sync Manager: Communication type
- 0x1C12 - Sync Manager 2 (RPDO-->Device): PDO mapping
- 0x1C13 - Sync Manager 3 (RPDO-->Device): PDO mapping
- 0x1C32 - Sync Manager 2 (RPDO-->Device): Parameter
- 0x1C33 - Sync Manager 3 (Device-->TPDO): Parameter
- 11.4 Licences
- Index
- Your opinion is important to us