Document Outline

• ECSxS - Axis module "Speed & Torque"
  • 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
        • 1.1.3 Signal types and scaling
      • 1.2 Features of the ECSxS S 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 Before you start
      • 6.2 Commissioning steps (overview)
      • 6.3 Carrying out basic settings with GDC
      • 6.4 Loading the Lenze setting
      • 6.5 Setting of mains data
        • 6.5.1 Selecting the function of the charging current limitation
        • 6.5.2 Setting the voltage thresholds
      • 6.6 Entry of motor data for Lenze motors
      • 6.7 Holding brake configuration
      • 6.8 Setting of the feedback system for position and speed control
        • 6.8.1 Resolver as position and speed encoder
        • 6.8.2 TTL/SinCos encoder as position and speed encoder
        • 6.8.3 TTL/SinCos encoder as position encoder and resolver as speed encoder
        • 6.8.4 Absolute value encoder as position and speed encoder
        • 6.8.5 Absolute value encoder as position encoder and resolver as speed encoder
      • 6.9 Configuring the digital inputs and outputs
        • 6.9.1 Setting the polarity
        • 6.9.2 Setting the direction of rotation
        • 6.9.3 Change of the terminal assignment
      • 6.10 Selecting the operating mode/control structure
        • 6.10.1 Speed control with setpoint via analog input
        • 6.10.2 Speed control with setpoint via AIF
        • 6.10.3 Speed control with setpoint via MotionBus (CAN)
        • 6.10.4 Torque control with setpoint via analog input
        • 6.10.5 Torque control with setpoint via AIF
        • 6.10.6 Torque control with setpoint via MotionBus (CAN)
      • 6.11 Entry of machine parameters
      • 6.12 Setpoint selection
      • 6.13 Controller enable (CINH = 0)
      • 6.14 Quick stop (QSP)
      • 6.15 Operation with motors from other manufacturers
        • 6.15.1 Entering motor data manually
        • 6.15.2 Checking the direction of rotation of the motor feedback system
        • 6.15.3 Adjusting current controller
        • 6.15.4 Effecting rotor position adjustment
      • 6.16 Optimising the drive behaviour after start
        • 6.16.1 Speed controller adjustment
        • 6.16.2 Adjustment of field controller and field weakening controller
        • 6.16.3 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 Axis synchronisation (CAN synchronisation)
        • 8.1.7 Monitoring of the synchronisation (sync time slot)
        • 8.1.8 Axis synchronisation via CAN
        • 8.1.9 Axis synchronisation via terminal X6/DI1
      • 8.2 Node guarding
      • 8.3 CAN management
      • 8.4 Diagnostics codes
        • 8.4.1 CAN bus status (C0359)
        • 8.4.2 CAN telegram counter (C0360)
        • 8.4.3 CAN bus load (C0361)
      • 8.5 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
      • 10.3 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 Function library
      • 12.1 AIF (Automation interface management)
      • 12.2 AIF1In
      • 12.3 AIF1Out
      • 12.4 AIF2In
      • 12.5 AIF2Out
      • 12.6 AIF3In
      • 12.7 AIF3Out
      • 12.8 AIn1
      • 12.9 CAN (CAN management)
      • 12.10 CANSync (CAN bus synchronisation)
      • 12.11 CAN1In
      • 12.12 CAN1Out
      • 12.13 CAN2In
      • 12.14 CAN2Out
      • 12.15 CAN3In
      • 12.16 CAN3Out
      • 12.17 DCTRL
        • 12.17.1 Quick stop (QSP)
        • 12.17.2 Operation inhibit (DISABLE)
        • 12.17.3 Controller inhibit (CINH)
        • 12.17.4 Setting TRIP (TRIP-SET)
        • 12.17.5 Resetting TRIP (TRIP-RESET)
        • 12.17.6 Axis module status
      • 12.18 DFIN (master frequency input)
      • 12.19 DFOUT (master frequency output)
      • 12.20 DigIn (freely assignable digital inputs)
      • 12.21 DigOut (freely assignable digital outputs)
      • 12.22 FCODE (free codes)
      • 12.23 FIXED (output of constant signals)
      • 12.24 InNeg
      • 12.25 OutNeg
      • 12.26 SYS
      • 12.27 Speed (speed control)
        • 12.27.1 Changing the direction of rotation
        • 12.27.2 Setpoint processing
        • 12.27.3 Setting of motor control
        • 12.27.4 Holding brake control
      • 12.28 Torque (torque control)
        • 12.28.1 Torque control with speed limitation
        • 12.28.2 Changing the direction of rotation
        • 12.28.3 Setpoint processing
        • 12.28.4 Setting of motor control
        • 12.28.5 Holding brake control
    • 13 Appendix
      • 13.1 Code table
      • 13.2 Selection lists for signal linking
        • 13.2.1 List of the digital signal sources
        • 13.2.2 List of the analog signal sources
        • 13.2.3 List of the phase signal sources
      • 13.3 General information about the system bus (CAN)
      • 13.4 Communication with MotionBus/system bus (CAN)
        • 13.4.1 Structure of the CAN data telegram
        • 13.4.2 Communication phases of the CAN network (NMT)
        • 13.4.3 Process data transfer
        • 13.4.4 Parameter data transfer
        • 13.4.5 Addressing of the parameter and process data objects
      • 13.5 Overview of accessories
        • 13.5.1 Connector sets
        • 13.5.2 Shield mounting kit
        • 13.5.3 Components for operation and communication
        • 13.5.4 Brake resistor
        • 13.5.5 Mains fuses
        • 13.5.6 Mains chokes
        • 13.5.7 RFI filters
    • 14 Index