Lenze I950 Series Kurzanleitung

Inverters

i950 servo inverters

Commissioning EN

Contents

1 About this document 15

1.1 Document descripon 15

1.1.1 Further documents 15

1.2 Notaons and convenons 16

2 Safety instrucons 17

2.1 Basic safety instrucons 17

2.2 Applicaon as directed 17

2.3 Residual hazards 18

3 Product informaon 19

3.1 Idencaon of the products 19

3.1.1 Product codes 19

3.1.2 Nameplates 20

3.2 Features 21

4 Commissioning 27

4.1 Important notes 27

4.2 Operang interfaces 28

4.2.1 Engineering tool »EASY Starter« 29

4.2.1.1 Generate a connecon between inverter and »EASY Starter« 30

4.3 General informaon on parameter seng 31

4.3.1 Addressing of the parameters 31

4.3.2 Structure of the parameter descripons 31

4.3.3 Parameter overview lists 31

4.3.4 Favourites 32

4.3.4.1 Conguring the "Favourites" 32

4.4 Commissioning 35

4.5 Saving the parameter sengs 36

4.5.1 Save parameter sengs with »EASY Starter« 36

5 Basic seng 37

5.1 Device name 37

5.2 Mains voltage 37

5.3 Funcon assignment of the inputs and outputs (default seng) 37

5.4 Motor data 38

5.4.1 Select motor from motor catalogue 39

5.4.2 Manual seng of the motor data 41

5.5 Motor control mode 43

Contents

6 Technology applicaon (TA) basic sengs 44

6.1 Kinemac sengs 45

6.1.1 Mass inera (load/motor) 45

6.1.2 Torque feedforward control 45

6.1.3 Motor/encoder mounng direcon 45

6.1.4 Motor/encoder gearbox rao 46

6.1.5 Motor/encoder feed constant 48

6.1.6 Motor/encoder travel ranges and cycle length 49

6.1.7 Virtual mode 51

6.2 Moon sengs 52

6.2.1 Quick stop 52

6.2.2 Halt 53

6.2.3 Following error monitoring 53

6.2.4 Target posion detecon 54

6.2.5 Motor/encoder standsll detecon 54

6.2.6 Condioning of the encoder signal 54

6.2.7 Behaviour in the event of inverter disable 55

6.2.8 Control modes 56

6.2.9 Manual jog (inching mode) 57

6.2.10 Homing 58

6.2.10.1 Homing modes 60

6.2.10.2 Digital input for reference switch 69

6.2.10.3 Motor/encoder behaviour aer mains switching 69

6.2.11 Limitaons 70

6.2.11.1 Torque limits 70

6.2.11.2 Maximum values for travel proles 71

6.2.11.3 Hardware limit switches 72

6.2.11.4 Soware limit switches 73

6.2.11.5 Safety limits 74

6.2.12 Status signals 76

6.3 Dening control sources 78

6.3.1 Source of quick stop 78

6.3.2 Source of error reset 78

6.3.3 Source of digital output 1 79

6.3.4 Source of monitoring signal 80

6.4 System bus communicaon 81

6.4.1 Inputs 81

6.4.2 Outputs 82

6.4.2.1 Master value output 82

6.4.2.2 Source of touch probe me stamp 83

6.4.3 Distribuon of the master values by the master 84

6.4.3.1 Example: System bus master is master value master 85

6.4.3.2 Example: System bus slave is master value master 86

6.4.3.3 Example: Using me stamp of another axis 87

Contents

7Conguring the "Winder Tension" TA 88

7.1 Commissioning 90

7.2 Control sengs 95

7.2.1 Dening the winding direcon 96

7.2.2 Dening the material feeding 98

7.3 Source selecon for control signals 99

7.3.1 Source for line speed 100

7.3.2 Source for start diameter 101

7.3.3 Source for set tensile force 101

7.3.4 Source for actual tensile force 102

7.3.5 Source for tensile force controller inuence 102

7.4 Interface 103

7.4.1 Control signals 103

7.4.2 Status signals 104

7.4.3 Simulaon of the interface 106

7.5 Manual jog of winding sha 107

7.6 Synchronisaon to line speedSynchronisaon to line speed 109

7.7 Diameter calculaon 110

7.7.1 Loading the start diameter 113

7.7.2 Diameter adjustment 114

7.8 Fricon compensaon 115

7.8.1 Idenfying the fricon characterisc 117

7.8.2 Fricon characterisc 119

7.9 Tension control closed loop and open loop 120

7.9.1 Torque-based tension control open loop 122

7.9.2 Torque-based tension control closed loop 123

7.9.3 Tensile force characterisc 125

7.9.4 Diameter-dependent tensile force reducon 126

7.9.5 Reduced controller dynamics in case of system deviaons 127

7.10 Acceleraon compensaon 128

7.11 Idenfying the moments of inera 130

7.11.1 Idenfying the constant moment of inera 131

7.11.2 Idenfying the maximum moment of inera 132

7.11.3 Terminang the idencaon 132

7.11.4 Calculang the maximum moment of inera 133

7.12 Adapng the speed controller gain 134

7.13 Signal ow 137

7.14 Monitoring 139

7.14.1 Web break monitoring 139

7.14.2 Speed limitaon 140

7.14.2.1 Speed limitaon in case of web break 141

7.14.2.2 Speed limitaon for unwinder 141

7.14.3 Diameter hold 142

7.14.4 Speed limitaon by master 143

8 Start, stop and rotang direcon commands 145

8.1 Control selecon 145

Contents

9Congure posion control 146

9.1 Basic seng 147

9.1.1 Following error detecon and in-posion detecon 148

9.1.2 Interpolaon 149

9.2 Operang mode "CiA 402 Cyclic sync posion mode (csp)" 150

9.2.1 Default mapping 150

9.2.2 Signal ow 151

9.2.3 Control commands and status informaon 153

9.3 Process input data (CiA 402 objects) 153

9.4 Process output data (CiA 402 objects) 154

9.5 Monitoring the posion error 155

9.6 Posion detecon with touch probe (TP) 156

9.6.1 Default mapping 156

9.6.2 General mode of operaon 157

9.6.3 Filtering of the touch probe signal 157

9.6.4 Compensaon of runme delays 158

9.6.5 Touch probe control word 159

9.6.6 Touch probe status word 159

9.6.7 Extension for the digital inputs DI3 and DI4 160

9.6.8 Detected me stamp and posions 161

9.7 Setpoint diagnoscs 161

10 Congure speed control 162

10.1 Basic seng 162

10.2 Operang mode "CiA 402 Velocity mode (vl)" 163

10.2.1 Default mapping 163

10.2.2 Signal ow (servo control) 164

10.2.3 Signal ow (V/f characterisc control) 166

10.3 Operang mode "CiA 402 Cyclic sync velocity mode (csv)" 168

10.3.1 Default mapping 168

10.3.2 Signal ow (servo control) 169

10.3.3 Signal ow (V/f characterisc control) 171

10.3.4 Control commands and status informaon 173

10.4 Process input data (CiA 402 objects) 174

10.5 Process output data (CiA 402 objects) 175

10.6 Monitoring the speed deviaon 176

11 Conguring the torque control 177

11.1 Basic seng 178

11.1.1 Torque limits 179

11.1.2 Speed limitaon 180

11.2 Operang mode "CiA 402 Cyclic sync torque mode (cst)" 181

11.2.1 Default mapping 181

11.2.2 Signal ow 182

11.2.3 Control commands and status informaon 184

11.3 Process input data (CiA 402 objects) 185

11.4 Process output data (CiA 402 objects) 186

11.5 Setpoint diagnoscs 187

Contents

12 Conguring the feedback system 188

12.1 Congure feedback system for motor control 189

12.1.1 General sengs 190

12.1.2 Resolver sengs 192

12.1.2.1 Resolver error compensaon 193

12.1.3 Encoder sengs 195

12.1.3.1 SinCos encoder 195

12.1.3.2 SinCos absolute value encoder with HIPERFACE® protocol 196

12.1.3.3 SSI encoder 198

12.1.3.4 Evaluaon of the signal quality 200

12.1.4 Detecon of changed sengs of the feedback system 200

12.1.5 Diagnoscs 201

12.2 Second feedback system for the techology applicaon 202

12.2.1 General sengs 202

12.2.2 Resolver sengs 203

12.2.2.1 Resolver error compensaon 204

12.2.3 Encoder sengs 206

12.2.3.1 SinCos encoder 206

12.2.3.2 SinCos absolute value encoder with HIPERFACE® protocol 207

12.2.3.3 SSI encoder 209

12.2.3.4 Evaluaon of the signal quality 211

12.2.4 Detecon of changed sengs of the feedback system 212

12.2.5 Diagnoscs 212

12.3 Encoder: Evaluaon of safely speed and posion 213

12.4 Synchronous motor: Pole posion idencaon (PPI) 214

12.4.1 Monitoring the pole posion idencaon 215

12.4.2 Pole posion idencaon (PPI) 360° 216

12.4.3 Pole posion idencaon (PPI) with minimum movement 220

12.4.4 Pole posion idencaon (PPI) without movement 222

Contents

13 Conguring the motor control 224

13.1 Servo control for synchronous motor (SC-PSM) 225

13.1.1 Required commissioning steps 225

13.2 Servo control for asynchronous motor (SC-ASM) 226

13.2.1 Required commissioning steps 226

13.3 Sensorless control for synchronous motor (SL-PSM) 226

13.3.1 Required commissioning steps 226

13.4 V/f characterisc control for asynchronous motor (VFC open loop) 227

13.4.1 Required commissioning steps 227

13.4.2 Basic seng 227

13.4.3 Dene V/f characterisc shape 228

13.4.3.1 Linear V/f characterisc 228

13.4.3.2 Square-law V/f characterisc 228

13.4.3.3 User-denable V/f characterisc 229

13.4.4 Acvate voltage vector control (Imin controller) 230

13.4.5 Set voltage boost 231

13.4.6 Set load adjustment 232

13.4.7 Set slip compensaon 232

13.4.8 Set oscillaon damping 233

13.4.9 Opmising the stalling behaviour 234

13.4.10 Flying restart circuit 235

13.5 Parameterisable motor funcons 237

13.5.1 DC braking 237

13.5.2 Short-circuit braking 238

13.5.3 Holding brake control 239

13.5.3.1 Basic seng 240

13.5.3.2 Brake holding load 241

13.5.3.3 Torque feedforward control 241

13.5.3.4 Manual brake control 242

13.6 Opons for opmising the control loops 243

13.6.1 Automac motor idencaon (energized) 243

13.6.2 Tuning of the motor and the speed controller 244

13.6.3 Inverter characterisc 246

13.6.3.1 Compensang for inverter inuence 247

13.6.3.2 Extended sengs for idencaon 248

13.6.3.3 Load standard inverter characterisc 248

13.6.4 Motor equivalent circuit diagram data 249

13.6.5 Motor control sengs 250

13.6.5.1 Speed controller 250

13.6.5.2 Current controller 253

13.6.5.3 ASM eld controller 255

13.6.5.4 ASM eld weakening controller 256

13.6.5.5 ASM eld weakening controller (extended) 256

13.6.5.6 PSM eld weakening controller 257

13.6.5.7 Imax controller 258

13.6.5.8 Flying restart controller 258

13.6.5.9 Posion controller 259

Contents

13.7 Fine adjustment of the motor model 260

13.7.1 Correcon of the stator leakage inductance (Lss)... 261

13.7.2 Synchronous motor (SM): Compensate temperature and current inuences 266

13.7.3 Asynchronous motor (ASM): Idenfy Lh saturaon characterisc 267

13.7.4 Esmate opmum magnesing current 269

13.8 Parameterise lter elements in the setpoint path 270

13.8.1 Jerk limitaon 270

13.8.2 Notch lter (band-stop lter) 271

13.9 Motor protecon 274

13.9.1 Motor overload monitoring (i²*t) 274

13.9.1.1 Parameters for the thermal model 276

13.9.1.2 Speed-dependent evaluaon of the motor current 278

13.9.1.3 UL 508-compliant motor overload monitoring 281

13.9.2 Motor temperature monitoring 282

13.9.2.1 Individual characterisc for motor temperature sensor 283

13.9.3 Overcurrent monitoring 284

13.9.4 Motor phase failure detecon 284

13.9.5 Motor speed monitoring 285

13.10 Frequency and speed limitaons 286

13.11 Tesng the motor control 287

13.11.1 General sengs for test modes 288

13.11.2 Manual "tension/frequency" test mode 289

13.11.3 Manual "current/frequency" test mode 290

13.11.4 Manual "current pulse" test mode 291

14 I/O extensions and control connecons 293

14.1 Congure digital inputs 293

14.2 Congure analog inputs 295

14.2.1 Analog input 1 295

14.3 Congure digital outputs 297

14.3.1 Digital output 1 297

15 Congure engineering port 298

15.1 Basic seng 299

15.2 NTP server addresses 300

15.3 Diagnoscs 300

Contents

16 Conguring the network 301

16.1 Device prole CiA 402 302

16.1.1 Supported operang modes 302

16.1.2 Basic seng 303

16.1.3 Process input data 303

16.1.4 Process output data 303

16.1.5 Commands for device state control 304

16.1.5.1 Switch on 305

16.1.5.2 Enable operaon 306

16.1.5.3 Acvate quick stop 307

16.1.5.4 Pulse inhibit 308

16.1.5.5 Reset fault 309

16.1.6 Device states 310

16.1.6.1 Not ready to switch on 311

16.1.6.2 Switch-on inhibited 312

16.1.6.3 Ready to switch on 313

16.1.6.4 Switched on 314

16.1.6.5 Operaon enabled 315

16.1.6.6 Quick stop acve 316

16.1.6.7 Fault reacon acve 317

16.1.6.8 Trouble 318

16.2 EtherCAT 319

16.2.1 Commissioning 320

16.2.2 Basic seng and opons 323

16.2.2.1 Synchronisaon with "distributed clocks" (DC) 323

16.2.2.2 Parameterising addional funcons 323

16.2.3 Process data transfer 326

16.2.3.1 Standard mapping 326

16.2.3.2 Dynamic (free) conguraon 326

16.2.3.3 Further communicaon objects 326

16.2.3.4 Expert sengs 326

16.2.4 Parameter data transfer 327

16.2.5 Monitoring 328

16.2.6 Diagnoscs 329

16.2.6.1 LED status display 329

16.2.6.2 Informaon on the network 329

16.2.6.3 EtherCAT master diagnoscs 329

16.2.6.4 Error history buer 338

16.2.6.5 Device idencaon 338

Contents

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