Lenze I950 Series Kurzanleitung

Inverters

i950 servo inverters

Commissioning EN

Contents

1About this document 15

1.1 Document descripon 15

1.1.1 Further documents 15

1.2 Notaons and convenons 16

2Safety instrucons 17

2.1 Basic safety instrucons 17

2.2 Applicaon as directed 17

2.3 Residual hazards 18

3Product 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

4Commissioning 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

5Basic 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 44

Contents

6 Technology applicaon (TA) basic sengs 45

6.1 Kinemac sengs 46

6.1.1 Mass inera (load/motor) 46

6.1.2 Torque feedforward control 46

6.1.3 Motor/encoder mounng direcon 46

6.1.4 Motor/encoder gearbox rao 47

6.1.5 Motor/encoder feed constant 49

6.1.6 Motor/encoder travel ranges and cycle length 50

6.1.7 Virtual mode 52

6.2 Moon sengs 53

6.2.1 Quick stop 53

6.2.2 Halt 54

6.2.3 Following error monitoring 54

6.2.4 Target posion detecon 55

6.2.5 Motor/encoder standsll detecon 55

6.2.6 Condioning of the encoder signal 55

6.2.7 Behaviour in the event of inverter disable 56

6.2.8 Control modes 57

6.2.9 Manual jog (inching mode) 58

6.2.10 Homing 59

6.2.10.1 Homing modes 61

6.2.10.2 Digital input for reference switch 70

6.2.10.3 Motor/encoder behaviour aer mains switching 70

6.2.11 Limitaons 71

6.2.11.1 Torque limits 71

6.2.11.2 Maximum values for travel proles 72

6.2.11.3 Hardware limit switches 73

6.2.11.4 Soware limit switches 75

6.2.11.5 Safety limits 76

6.2.12 Status signals 78

6.3 Dening control sources 80

6.3.1 Source of quick stop 80

6.3.2 Source of error reset 80

6.3.3 Source of digital output 1 81

6.3.4 Source of monitoring signal 82

6.4 System bus communicaon 84

6.4.1 Inputs 84

6.4.2 Outputs 84

6.4.2.1 Master value output 85

6.4.2.2 Source of touch probe me stamp 86

6.4.3 Distribuon of the master values by the master 87

6.4.3.1 Example: System bus master is master value master 88

6.4.3.2 Example: System bus slave is master value master 89

6.4.3.3 Example: Using me stamp of another axis 90

Contents

7Conguring the "Electronic Gearbox" TA 91

7.1 Control sengs 92

7.2 Interface 93

7.2.1 Control signals 94

7.2.2 Status signals 95

7.2.3 Simulaon of the interface 96

7.2.4 Assignment of control signals and status signals 97

7.3 Master value sources 99

7.3.1 System bus 100

7.3.2 Feedback system for the technology applicaon 101

7.3.3 Virtual master 103

7.3.3.1 Simulaon of the virtual master 110

7.3.3.2 Speed via analog input 1 111

7.3.3.3 External master values 112

7.4 External torque limitaon 115

7.5 Velocity synchronizaon 117

7.6 Clutching 119

7.7 Clutching with basic speed 120

7.8 Connecng the velocity oset 122

7.9 Posion trimming 124

7.10 Signal ow 127

8Start, stop and rotang direcon commands 129

8.1 Control selecon 129

9Congure posion control 130

9.1 Basic seng 131

9.1.1 Following error detecon and in-posion detecon 132

9.1.2 Interpolaon 133

9.2 Operang mode "CiA 402 Cyclic sync posion mode (csp)" 134

9.2.1 Default mapping 134

9.2.2 Signal ow 135

9.2.3 Control commands and status informaon 137

9.3 Process input data (CiA 402 objects) 138

9.4 Process output data (CiA 402 objects) 139

9.5 Monitoring the posion error 140

9.6 Posion detecon with touch probe (TP) 141

9.6.1 Default mapping 141

9.6.2 General mode of operaon 142

9.6.3 Filtering of the touch probe signal 142

9.6.4 Compensaon of runme delays 143

9.6.5 Touch probe control word 144

9.6.6 Touch probe status word 144

9.6.7 Extension for the digital inputs DI3 and DI4 145

9.6.8 Detected me stamp and posions 145

9.7 Setpoint diagnoscs 146

Contents

10 Congure speed control 147

10.1 Basic seng 147

10.2 Operang mode "CiA 402 Velocity mode (vl)" 148

10.2.1 Default mapping 148

10.2.2 Signal ow (servo control) 149

10.2.3 Signal ow (V/f characterisc control) 151

10.3 Operang mode "CiA 402 Cyclic sync velocity mode (csv)" 153

10.3.1 Default mapping 153

10.3.2 Signal ow (servo control) 154

10.3.3 Signal ow (V/f characterisc control) 156

10.3.4 Control commands and status informaon 158

10.4 Process input data (CiA 402 objects) 159

10.5 Process output data (CiA 402 objects) 161

10.6 Monitoring the speed deviaon 162

11 Conguring the torque control 163

11.1 Basic seng 164

11.1.1 Torque limits 165

11.1.2 Speed limitaon 166

11.2 Operang mode "CiA 402 Cyclic sync torque mode (cst)" 167

11.2.1 Default mapping 167

11.2.2 Signal ow 168

11.2.3 Control commands and status informaon 170

11.3 Process input data (CiA 402 objects) 171

11.4 Process output data (CiA 402 objects) 173

11.5 Setpoint diagnoscs 174

Contents

12 Conguring the feedback system 175

12.1 Congure feedback system for motor control 176

12.1.1 General sengs 177

12.1.2 Resolver sengs 178

12.1.2.1 Resolver error compensaon 180

12.1.3 Encoder sengs 182

12.1.3.1 SinCos encoder 183

12.1.3.2 SinCos absolute value encoder with HIPERFACE® protocol 183

12.1.3.3 SSI encoder 185

12.1.3.4 Evaluaon of the signal quality 187

12.1.4 Detecon of changed sengs of the feedback system 188

12.1.5 Diagnoscs 188

12.2 Second feedback system for the techology applicaon 189

12.2.1 General sengs 189

12.2.2 Resolver sengs 190

12.2.2.1 Resolver error compensaon 191

12.2.3 Encoder sengs 193

12.2.3.1 SinCos encoder 194

12.2.3.2 SinCos absolute value encoder with HIPERFACE® protocol 194

12.2.3.3 SSI encoder 196

12.2.3.4 Evaluaon of the signal quality 198

12.2.4 Detecon of changed sengs of the feedback system 199

12.2.5 Diagnoscs 199

12.3 Encoder: Evaluaon of safely speed and posion 200

12.4 Synchronous motor: Pole posion idencaon (PPI) 201

12.4.1 Monitoring the pole posion idencaon 202

12.4.2 Pole posion idencaon (PPI) 360° 203

12.4.3 Pole posion idencaon (PPI) with minimum movement 207

12.4.4 Pole posion idencaon (PPI) without movement 210

Contents

13 Conguring the motor control 212

13.1 Servo control for synchronous motor (SC-PSM) 213

13.1.1 Required commissioning steps 213

13.2 Servo control for asynchronous motor (SC-ASM) 214

13.2.1 Required commissioning steps 214

13.3 Sensorless control for synchronous motor (SL-PSM) 214

13.3.1 Required commissioning steps 214

13.4 V/f characterisc control for asynchronous motor (VFC open loop) 215

13.4.1 Required commissioning steps 215

13.4.2 Basic seng 216

13.4.3 Dene V/f characterisc shape 217

13.4.3.1 Linear V/f characterisc 217

13.4.3.2 Square-law V/f characterisc 217

13.4.3.3 User-denable V/f characterisc 218

13.4.4 Acvate voltage vector control (Imin controller) 219

13.4.5 Set voltage boost 221

13.4.6 Set load adjustment 222

13.4.7 Set slip compensaon 222

13.4.8 Set oscillaon damping 223

13.4.9 Opmising the stalling behaviour 224

13.4.10 Flying restart circuit 225

13.5 Parameterisable motor funcons 227

13.5.1 DC braking 227

13.5.2 Short-circuit braking 228

13.5.3 Holding brake control 229

13.5.3.1 Basic seng 230

13.5.3.2 Brake holding load 231

13.5.3.3 Torque feedforward control 232

13.5.3.4 Manual brake control 232

13.6 Opons for opmising the control loops 233

13.6.1 Automac motor idencaon (energized) 233

13.6.2 Tuning of the motor and the speed controller 234

13.6.3 Inverter characterisc 236

13.6.3.1 Compensang for inverter inuence 237

13.6.3.2 Extended sengs for idencaon 238

13.6.3.3 Load standard inverter characterisc 238

13.6.4 Motor equivalent circuit diagram data 239

13.6.5 Motor control sengs 240

13.6.5.1 Speed controller 240

13.6.5.2 Current controller 243

13.6.5.3 ASM eld controller 245

13.6.5.4 ASM eld weakening controller 246

13.6.5.5 ASM eld weakening controller (extended) 246

13.6.5.6 PSM eld weakening controller 247

13.6.5.7 Imax controller 248

13.6.5.8 Flying restart controller 248

13.6.5.9 Posion controller 249

Contents

13.7 Fine adjustment of the motor model 250

13.7.1 Correcon of the stator leakage inductance (Lss)... 251

13.7.2 Synchronous motor (SM): Compensate temperature and current inuences 256

13.7.3 Asynchronous motor (ASM): Idenfy Lh saturaon characterisc 257

13.7.4 Esmate opmum magnesing current 259

13.8 Parameterise lter elements in the setpoint path 260

13.8.1 Jerk limitaon 260

13.8.2 Notch lter (band-stop lter) 261

13.9 Motor protecon 264

13.9.1 Motor overload monitoring (i²*t) 264

13.9.1.1 Parameters for the thermal model 266

13.9.1.2 Speed-dependent evaluaon of the motor current 268

13.9.1.3 UL 508-compliant motor overload monitoring 271

13.9.2 Motor temperature monitoring 272

13.9.2.1 Individual characterisc for motor temperature sensor 273

13.9.3 Overcurrent monitoring 274

13.9.4 Motor phase failure detecon 274

13.9.5 Motor speed monitoring 275

13.10 Frequency and speed limitaons 276

13.11 Tesng the motor control 277

13.11.1 General sengs for test modes 277

13.11.2 Manual "tension/frequency" test mode 279

13.11.3 Manual "current/frequency" test mode 280

13.11.4 Manual "current pulse" test mode 281

14 I/O extensions and control connecons 283

14.1 Congure digital inputs 283

14.2 Congure analog inputs 285

14.2.1 Analog input 1 285

14.3 Congure digital outputs 287

14.3.1 Digital output 1 287

15 Congure engineering port 288

15.1 Basic seng 289

15.2 NTP server addresses 290

15.3 Diagnoscs 290

Contents

16 Conguring the network 291

16.1 Device prole CiA 402 292

16.1.1 Supported operang modes 292

16.1.2 Basic seng 293

16.1.3 Process input data 293

16.1.4 Process output data 293

16.1.5 Commands for device state control 294

16.1.5.1 Switch on 295

16.1.5.2 Enable operaon 296

16.1.5.3 Acvate quick stop 297

16.1.5.4 Pulse inhibit 298

16.1.5.5 Reset fault 299

16.1.6 Device states 300

16.1.6.1 Not ready to switch on 302

16.1.6.2 Switch-on inhibited 303

16.1.6.3 Ready to switch on 304

16.1.6.4 Switched on 305

16.1.6.5 Operaon enabled 306

16.1.6.6 Quick stop acve 307

16.1.6.7 Fault reacon acve 308

16.1.6.8 Trouble 309

16.2 EtherCAT 310

16.2.1 Commissioning 311

16.2.2 Basic seng and opons 314

16.2.2.1 Synchronisaon with "distributed clocks" (DC) 314

16.2.2.2 Parameterising addional funcons 314

16.2.3 Process data transfer 317

16.2.3.1 Standard mapping 317

16.2.3.2 Dynamic (free) conguraon 317

16.2.3.3 Further communicaon objects 317

16.2.3.4 Expert sengs 317

16.2.4 Parameter data transfer 318

16.2.5 Monitoring 318

16.2.6 Diagnoscs 319

16.2.6.1 LED status display 319

16.2.6.2 Informaon on the network 319

16.2.6.3 EtherCAT master diagnoscs 319

16.2.6.4 Error history buer 329

16.2.6.5 Device idencaon 329

Contents

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