Commissioning – Lenze ECSCPxxx User Manual
Page 222
Commissioning
Configuring the electrical shaft ("E−Shaft")
Electrical shaft via MotionBus (CAN) with PLC as electrical shaft master
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222
EDBCSXP064 EN 8.0
Brief description
Setting
4.
Set the synchronisation
of the program cycles by
means of a CAN sync
telegram.
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C1120 = 1; set the source of the sync signal to "CAN Sync MotionBus X4" (the
synchronisation function will be activated).
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C1121 = 2 ms; set the same time for the synchronisation cycle as for the
master.
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C1122 = 0.800 ms; set the synchronisation phase.
– Recommendation: 0.8 ms for baud rate = 500 kbps and synchronisation
cycle = 2 ms
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C1123 = 0,4 ms; synchronisation window, set time
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Recommendation: 0.4 ms for baud rate = 500 kbps and synchronisation
cycle = 2 ms
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C0363 = 1; set sync correction increment.
– Standard setting = 1 (0.2
ms/ms)
– Select the correction increment so that the synchronisation deviation in
code C4264 is about 0. (Recommendation: 0.2
ms/ms)
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C0366 = 1; activate transmission of CAN1_OUT sync response message
(response).
5.
Set monitoring of the
CAN communication.
Settings in the GDC under "Monitoring − CAN MotionBus" menu
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C0357/1 = 3000 ms; set CAN1_IN monitoring time (CE1).
– Standard setting = 3000 ms
– If the reception at CAN1_IN of the slave is disturbed longer than the
monitoring time, the fault response set under code C0591 will be carried
out.
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C0591 = 0; set CE1 fault response to TRIP or warning.
6.
Set electrical shaft
speed−proportional
angular offset.
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C4060 = (−)16400 inc; set the speed−proportional angular offset for the
electrical shaft.
– The recommended value applies for a synchronisation cycle (C1121) of
2 ms, a synchronisation phase (C1122) of 0.8 ms and a CAN baud rate
(C0351) of 500 kbps.
– Setting in case of a CAN baud rate of 1000 kbit/s: C4060 = (−)17380.
Notes:
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The input of negative values for the speed−proportional angular offset under
C4060 is correct since the setpoint position transferred to the slave within
the electrical shaft master is processed with an offset of one cycle time (2 ms)
but immediately in the slave. In total this results in a lead of the slave drives
despite the telegram runtimes and the sync phase setting C1122 = 0.8 ms.
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The lead of the slaves compared to the master is approx. 1 ms = (2 ms − C1122
− sync telegram runtime).
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If the speed is 15000 rpm, the drive would lead approx. 16400 inc within this
time of 1 ms. (
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