Document Outline

• Axis module - "Posi & Shaft"
  • This documentation is valid for ...
  • !
  • Scope of supply
  • Connections and interfaces
  • Status displays
  • Contents
    • 1 Preface and general information
      • 1.1 About these Operating Instructions
        • 1.1.1 Terminology used
        • 1.1.2 Code descriptions
      • 1.2 Features of the ECSxP P axis module
      • 1.3 Scope of supply
      • 1.4 Legal regulations
    • 2 Safety instructions
      • 2.1 General safety and application notes for Lenze controllers
      • 2.2 Thermal motor monitoring
        • 2.2.1 Forced ventilated or naturally ventilated motors
        • 2.2.2 Self-ventilated motors
      • 2.3 Residual hazards
      • 2.4 Safety instructions for the installation according to UL
      • 2.5 Notes used
    • 3 Technical data
      • 3.1 General data and operating conditions
      • 3.2 Rated data
      • 3.3 Current characteristics
        • 3.3.1 Increased continuous current depending on the control factor
        • 3.3.2 Device protection by current derating
    • 4 Mechanical installation
      • 4.1 Important notes
      • 4.2 Mounting with fixing rails (standard installation)
        • 4.2.1 Dimensions
        • 4.2.2 Mounting steps
      • 4.3 Mounting with thermal separation (push-through technique)
        • 4.3.1 Dimensions
        • 4.3.2 Mounting steps
      • 4.4 Mounting in cold-plate design
        • 4.4.1 Dimensions
        • 4.4.2 Mounting steps
    • 5 Electrical installation
      • 5.1 Installation according to EMC (installation of a CE-typical drive system)
      • 5.2 Power terminals
        • 5.2.1 Connection to the DC bus (+UG, -UG)
        • 5.2.2 Connection plan for mimimum wiring with internal brake resistor
        • 5.2.3 Connection plan for mimimum wiring with external brake resistor
        • 5.2.4 Motor connection
        • 5.2.5 Motor holding brake connection
        • 5.2.6 Connection of an ECSxK... capacitor module (optional)
      • 5.3 Control terminals
        • 5.3.1 Digital inputs and outputs
        • 5.3.2 Analog input
        • 5.3.3 Safe torque off
      • 5.4 Automation interface (AIF)
      • 5.5 Wiring of system bus (CAN)
      • 5.6 Wiring of the feedback system
        • 5.6.1 Resolver connection
        • 5.6.2 Encoder connection
        • 5.6.3 Digital frequency input/output (encoder simulation)
    • 6 Commissioning
      • 6.1 Basic terms of positioning
        • 6.1.1 Positioning
        • 6.1.2 Touch probe positioning
        • 6.1.3 Positioning profile
        • 6.1.4 Positioning profile mode
        • 6.1.5 Additional functions of the positioning profile (C3096/x)
        • 6.1.6 Positioning profile parameters
        • 6.1.7 Setting of manual jog (inching mode)
        • 6.1.8 Homing
        • 6.1.9 Measuring system for positioning
        • 6.1.10 Machine parameters
        • 6.1.11 Electrical shaft ("EShaft")
        • 6.1.12 Device structure and interfaces to the higher-level control
      • 6.2 State control of the positioning drive
        • 6.2.1 Operating states
        • 6.2.2 Conditions for state change (transitions)
      • 6.3 Before you start
      • 6.4 Commissioning steps (overview)
        • 6.4.1 Basic settings with GDC
        • 6.4.2 Set reference
        • 6.4.3 Setting of manual jog (inching mode)
        • 6.4.4 Setting of homing
        • 6.4.5 Setting absolute positioning/relative continuous positioning
      • 6.5 Loading the Lenze setting
      • 6.6 Setting of mains data
        • 6.6.1 Selecting the function of the charging current limitation
        • 6.6.2 Setting the voltage thresholds
      • 6.7 Entry of motor data for Lenze motors
      • 6.8 Holding brake configuration
      • 6.9 Setting of the feedback system for position and speed control
        • 6.9.1 Resolver as position and speed encoder
        • 6.9.2 Resolver as absolute value encoder
        • 6.9.3 TTL/SinCos encoder as position and speed encoder
        • 6.9.4 TTL/SinCos encoder as position encoder and resolver as speed encoder
        • 6.9.5 Absolute value encoder as position and speed encoder
        • 6.9.6 Absolute value encoder as position encoder and resolver as speed encoder
      • 6.10 Select control interface (operating mode)
      • 6.11 Process data to the axis module (control word Ctrl1 and setpoints)
        • 6.11.1 Control word Ctrl1
        • 6.11.2 Setpoint data words to the controller (VelDirect, PosDirect, rx_par1..3)
      • 6.12 Process data from the axis module (status words and actual values)
        • 6.12.1 Status word 1 (Stat1), status word 2 (Stat2)
        • 6.12.2 Device status
        • 6.12.3 Monitor data words from the controller (tx_par1 und tx_par2)
      • 6.13 Entry of machine parameters
      • 6.14 Configuring the digital inputs and outputs
        • 6.14.1 Digital inputs for operation with continuous positioning axis
        • 6.14.2 Digital inputs for operation with linear positioning axis
        • 6.14.3 Setting the polarity of digital inputs and outputs
      • 6.15 Setting of manual control parameters
        • 6.15.1 Manual control to software limit position
        • 6.15.2 Manual control to hardware limit switch
        • 6.15.3 Retracting from hardware limit switches
      • 6.16 Setting of homing parameters
        • 6.16.1 Setting homing modes
        • 6.16.2 Shifting the zero position with regard to the home position (offsets C3011, C3012)
        • 6.16.3 Example: Reference search with linear positioning axis
        • 6.16.4 Example: Reference search with continuous positioning axis
      • 6.17 Setting the positioning profile
        • 6.17.1 Selecting a positioning profile mode
        • 6.17.2 "Point-to-point" positioning
        • 6.17.3 Touch probe positioning
        • 6.17.4 Continuous constant travel
        • 6.17.5 Electrical shaft ("E-shaft") per digital frequency, MotionBs (CAN) or EtherCAT
        • 6.17.6 Homing
        • 6.17.7 Direct positioning
        • 6.17.8 Positioning sequence for controller optimisation
        • 6.17.9 Setting of positioning profile parameters
        • 6.17.10 Setting the profile parameter jerk time for S-shaped ramps
        • 6.17.11 Additional functions of the positioning profile (C3096/x)
        • 6.17.12 Activating the speed override
        • 6.17.13 Activating the torque limitation after positioning
        • 6.17.14 Activating the profile continuation function
        • 6.17.15 Activate immediate profile change during positioning (Direct Change)
      • 6.18 Configuring the electrical shaft ("E-Shaft")
        • 6.18.1 Setting the stretch factor (C3097 / C3098)
        • 6.18.2 Electrical shaft via classical digital frequency coupling (digital frequency input X8)
        • 6.18.3 Electrical shaft via MotionBus (CAN) with ECSxP as electrical shaft master
        • 6.18.4 Electrical shaft via MotionBus (CAN) with PLC as electrical shaft master
        • 6.18.5 Electrical shaft via EtherCAT with PLC as electrical shaft master
      • 6.19 Starting positioning profiles (ProfEnable, profile number)
        • 6.19.1 Start of positioning profile via the "ProfEnable" control bit
        • 6.19.2 Start of positioning profile by selecting a new profile number "PNoSet_x"
      • 6.20 Setting the target position window (InTarget)
      • 6.21 Defining the window for standstill message
      • 6.22 Defining the dwell time
      • 6.23 Following error monitoring (C3030, C3031)
      • 6.24 E-Shaft: Speed-dependent angular trimming
      • 6.25 Software limit positions, limitation of the travel range
      • 6.26 Evaluation of hardware limit switches
      • 6.27 Controller enable (CINH = 0)
      • 6.28 Quick stop (QSP)
      • 6.29 Operation with motors from other manufacturers
        • 6.29.1 Entering motor data manually
        • 6.29.2 Checking the direction of rotation of the motor feedback system
        • 6.29.3 Adjusting current controller
        • 6.29.4 Effecting rotor position adjustment
      • 6.30 Optimising the drive behaviour after start
        • 6.30.1 Speed controller adjustment
        • 6.30.2 Adjustment of field controller and field weakening controller
        • 6.30.3 Resolver adjustment
    • 7 Parameter setting
      • 7.1 General information
      • 7.2 Parameter setting with "Global Drive Control" (GDC)
      • 7.3 Parameter setting with the XT EMZ9371BC keypad
        • 7.3.1 Connecting the keypad
        • 7.3.2 Description of the display elements
        • 7.3.3 Description of the function keys
        • 7.3.4 Changing and saving parameters
    • 8 Configuration
      • 8.1 Configuring MotionBus/system bus (CAN)
        • 8.1.1 Setting CAN node address and baud rate
        • 8.1.2 Individual addressing
        • 8.1.3 Defining boot-up master in the drive system
        • 8.1.4 Setting of boot-up time/cycle time
        • 8.1.5 Executing a reset node
        • 8.1.6 Guiding angle selection and synchronisation via MotionBus (CAN)
        • 8.1.7 Axis synchronisation (CAN synchronisation)
        • 8.1.8 Monitoring of the synchronisation (sync time slot)
        • 8.1.9 Axis synchronisation via CAN
        • 8.1.10 Axis synchronisation via terminal X6/DI1
      • 8.2 Node guarding
      • 8.3 Diagnostics codes
        • 8.3.1 CAN bus status (C0359/C2459)
        • 8.3.2 CAN telegram counter (C0360/2460)
        • 8.3.3 CAN bus load (C0361/2461)
      • 8.4 Remote parameterisation (gateway function)
    • 9 Monitoring functions
      • 9.1 Fault responses
      • 9.2 Overview of monitoring functions
      • 9.3 Configuring monitoring functions
        • 9.3.1 Monitoring times for process data input objects
        • 9.3.2 Time-out monitoring for activated remote parameterisation
        • 9.3.3 Short circuit monitoring (OC1)
        • 9.3.4 Earth fault monitoring (OC2)
        • 9.3.5 Motor temperature monitoring (OH3, OH7)
        • 9.3.6 Heatsink temperature monitoring (OH, OH4)
        • 9.3.7 Monitoring of internal device temperature (OH1, OH5)
        • 9.3.8 Function monitoring of thermal sensors (H10, H11)
        • 9.3.9 Current load of controller (I x t monitoring: OC5, OC7)
        • 9.3.10 Current load of motor (I2 x t monitoring: OC6, OC8)
        • 9.3.11 DC-bus voltage monitoring (OU, LU)
        • 9.3.12 Voltage supply monitoring - control electronics (U15)
        • 9.3.13 Motor phase failure monitoring (LP1)
        • 9.3.14 Monitoring of the resolver cable (Sd2)
        • 9.3.15 Motor temperature sensor monitoring (Sd6)
        • 9.3.16 Monitoring of the absolute value encoder initialisation (Sd7)
        • 9.3.17 Sin/cos signal monitoring (Sd8)
        • 9.3.18 Monitoring of the speed system deviation (nErr)
        • 9.3.19 Monitoring of max. system speed (NMAX)
        • 9.3.20 Monitoring of the rotor position adjustment (PL)
    • 10 Diagnostics
      • 10.1 Diagnostics with Global Drive Control (GDC)
      • 10.2 Diagnostics with Global Drive Oscilloscope (GDO)
        • 10.2.1 GDO buttons
        • 10.2.2 Diagnostics with GDO
      • 10.3 Diagnostics with the XT EMZ9371BC keypad
      • 10.4 Diagnostics with PCAN-View
        • 10.4.1 Monitoring of telegram traffic on the CAN bus
        • 10.4.2 Setting all CAN nodes to the "Operational" status
    • 11 Troubleshooting and fault elimination
      • 11.1 Fault analysis
        • 11.1.1 Fault analysis via the LED display
        • 11.1.2 Fault analysis with keypad XT EMZ9371BC
        • 11.1.3 Fault analysis with the history buffer
        • 11.1.4 Fault analysis via LECOM status words (C0150/C0155)
      • 11.2 Malfunction of the drive
      • 11.3 Fault messages
        • 11.3.1 Causes and remedies
        • 11.3.2 Reset fault messages (TRIP-RESET)
    • 12 Appendix
      • 12.1 Code table
      • 12.2 General information about the system bus (CAN)
      • 12.3 Communication with MotionBus/system bus (CAN)
        • 12.3.1 Structure of the CAN data telegram
        • 12.3.2 Communication phases of the CAN network (NMT)
        • 12.3.3 Process data transfer
        • 12.3.4 Parameter data transfer
        • 12.3.5 Addressing of the parameter and process data objects
      • 12.4 Overview of accessories
        • 12.4.1 Connector sets
        • 12.4.2 Shield mounting kit
        • 12.4.3 Components for operation and communication
        • 12.4.4 Brake resistor
        • 12.4.5 Mains fuses
        • 12.4.6 Mains chokes
        • 12.4.7 RFI filters
    • 13 Index