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) 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 81

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 Dancer" TA 88

7.1 Commissioning 91

7.2 Control sengs 98

7.2.1 Dening the winding direcon 99

7.2.2 Dening the material feeding 101

7.3 Source selecon for control signals 102

7.3.1 Source for line speed 103

7.3.2 Source for circumferenal speed 104

7.3.3 Source for start diameter 104

7.3.4 Source for set dancer posion 105

7.3.5 Source for actual dancer posion 105

7.3.6 Source for dancer control correcon value 106

7.4 Interface 107

7.4.1 Control signals 108

7.4.2 Status signals 109

7.4.3 Simulaon of the interface 112

7.5 Manual jog of winding sha 114

7.6 Synchronisaon to line speed 116

7.7 Diameter calculaon 117

7.7.1 Loading the start diameter 120

7.7.2 Diameter adjustment 121

7.7.3 Dancer moon compensaon 122

7.8 Diameter esmaon before dancer moon 124

7.9 Scaling the actual dancer posion 127

7.10 Dancer control 129

7.10.1 Reduced controller dynamics in case of system deviaons 131

7.10.2 Dancer limit posion teach-in funcon 132

7.11 Acceleraon compensaon 133

7.12 Idenfying moments of inera 135

7.12.1 Idenfying the constant moment of inera 136

7.12.2 Idenfying the maximum moment of inera 137

7.12.3 Terminang the idencaon 137

7.12.4 Calculang the maximum moment of inera 138

7.13 Adapng the speed controller gain 139

7.14 Signal ow 142

7.15 Monitoring 144

7.15.1 Web break monitoring 144

7.15.1.1 Monitoring based on the change in diameter 144

7.15.1.2 Monitoring based on the dancer posion 146

7.15.2 Monitoring the dancer posion 147

7.15.3 Diameter hold 148

7.15.4 Speed limitaon from the master 149

8Start, stop and rotang direcon commands 151

8.1 Control selecon 151

Contents

9Congure posion control 152

9.1 Basic seng 153

9.1.1 Following error detecon and in-posion detecon 154

9.1.2 Interpolaon 155

9.2 Operang mode "CiA 402 Cyclic sync posion mode (csp)" 156

9.2.1 Default mapping 156

9.2.2 Signal ow 157

9.2.3 Control commands and status informaon 159

9.3 Process input data (CiA 402 objects) 160

9.4 Process output data (CiA 402 objects) 161

9.5 Monitoring the posion error 162

9.6 Posion detecon with touch probe (TP) 163

9.6.1 Default mapping 163

9.6.2 General mode of operaon 164

9.6.3 Filtering of the touch probe signal 164

9.6.4 Compensaon of runme delays 165

9.6.5 Touch probe control word 166

9.6.6 Touch probe status word 166

9.6.7 Extension for the digital inputs DI3 and DI4 167

9.6.8 Detected me stamp and posions 167

9.7 Setpoint diagnoscs 168

10 Congure speed control 169

10.1 Basic seng 169

10.2 Operang mode "CiA 402 Velocity mode (vl)" 170

10.2.1 Default mapping 170

10.2.2 Signal ow (servo control) 171

10.2.3 Signal ow (V/f characterisc control) 173

10.3 Operang mode "CiA 402 Cyclic sync velocity mode (csv)" 175

10.3.1 Default mapping 175

10.3.2 Signal ow (servo control) 176

10.3.3 Signal ow (V/f characterisc control) 178

10.3.4 Control commands and status informaon 180

10.4 Process input data (CiA 402 objects) 181

10.5 Process output data (CiA 402 objects) 183

10.6 Monitoring the speed deviaon 184

11 Conguring the torque control 185

11.1 Basic seng 186

11.1.1 Torque limits 187

11.1.2 Speed limitaon 188

11.2 Operang mode "CiA 402 Cyclic sync torque mode (cst)" 189

11.2.1 Default mapping 189

11.2.2 Signal ow 190

11.2.3 Control commands and status informaon 192

11.3 Process input data (CiA 402 objects) 193

11.4 Process output data (CiA 402 objects) 195

11.5 Setpoint diagnoscs 196

Contents

12 Conguring the feedback system 197

12.1 Congure feedback system for motor control 198

12.1.1 General sengs 199

12.1.2 Resolver sengs 200

12.1.2.1 Resolver error compensaon 202

12.1.3 Encoder sengs 204

12.1.3.1 SinCos encoder 205

12.1.3.2 SinCos absolute value encoder with HIPERFACE® protocol 205

12.1.3.3 SSI encoder 207

12.1.3.4 Evaluaon of the signal quality 209

12.1.4 Detecon of changed sengs of the feedback system 210

12.1.5 Diagnoscs 210

12.2 Second feedback system for the techology applicaon 211

12.2.1 General sengs 211

12.2.2 Resolver sengs 212

12.2.2.1 Resolver error compensaon 213

12.2.3 Encoder sengs 215

12.2.3.1 SinCos encoder 216

12.2.3.2 SinCos absolute value encoder with HIPERFACE® protocol 216

12.2.3.3 SSI encoder 218

12.2.3.4 Evaluaon of the signal quality 220

12.2.4 Detecon of changed sengs of the feedback system 221

12.2.5 Diagnoscs 221

12.3 Encoder: Evaluaon of safely speed and posion 222

12.4 Synchronous motor: Pole posion idencaon (PPI) 223

12.4.1 Monitoring the pole posion idencaon 224

12.4.2 Pole posion idencaon (PPI) 360° 225

12.4.3 Pole posion idencaon (PPI) with minimum movement 229

12.4.4 Pole posion idencaon (PPI) without movement 232

Contents

13 Conguring the motor control 234

13.1 Servo control for synchronous motor (SC-PSM) 235

13.1.1 Required commissioning steps 235

13.2 Servo control for asynchronous motor (SC-ASM) 236

13.2.1 Required commissioning steps 236

13.3 Sensorless control for synchronous motor (SL-PSM) 236

13.3.1 Required commissioning steps 236

13.4 V/f characterisc control for asynchronous motor (VFC open loop) 237

13.4.1 Required commissioning steps 237

13.4.2 Basic seng 238

13.4.3 Dene V/f characterisc shape 239

13.4.3.1 Linear V/f characterisc 239

13.4.3.2 Square-law V/f characterisc 239

13.4.3.3 User-denable V/f characterisc 240

13.4.4 Acvate voltage vector control (Imin controller) 241

13.4.5 Set voltage boost 243

13.4.6 Set load adjustment 244

13.4.7 Set slip compensaon 244

13.4.8 Set oscillaon damping 245

13.4.9 Opmising the stalling behaviour 246

13.4.10 Flying restart circuit 247

13.5 Parameterisable motor funcons 249

13.5.1 DC braking 249

13.5.2 Short-circuit braking 250

13.5.3 Holding brake control 251

13.5.3.1 Basic seng 252

13.5.3.2 Brake holding load 253

13.5.3.3 Torque feedforward control 254

13.5.3.4 Manual brake control 254

13.6 Opons for opmising the control loops 255

13.6.1 Automac motor idencaon (energized) 255

13.6.2 Tuning of the motor and the speed controller 256

13.6.3 Inverter characterisc 258

13.6.3.1 Compensang for inverter inuence 259

13.6.3.2 Extended sengs for idencaon 260

13.6.3.3 Load standard inverter characterisc 260

13.6.4 Motor equivalent circuit diagram data 261

13.6.5 Motor control sengs 262

13.6.5.1 Speed controller 262

13.6.5.2 Current controller 265

13.6.5.3 ASM eld controller 267

13.6.5.4 ASM eld weakening controller 268

13.6.5.5 ASM eld weakening controller (extended) 268

13.6.5.6 PSM eld weakening controller 269

13.6.5.7 Imax controller 270

13.6.5.8 Flying restart controller 270

13.6.5.9 Posion controller 271

Contents

13.7 Fine adjustment of the motor model 272

13.7.1 Correcon of the stator leakage inductance (Lss)... 273

13.7.2 Synchronous motor (SM): Compensate temperature and current inuences 278

13.7.3 Asynchronous motor (ASM): Idenfy Lh saturaon characterisc 279

13.7.4 Esmate opmum magnesing current 281

13.8 Parameterise lter elements in the setpoint path 282

13.8.1 Jerk limitaon 282

13.8.2 Notch lter (band-stop lter) 283

13.9 Motor protecon 286

13.9.1 Motor overload monitoring (i²*t) 286

13.9.1.1 Parameters for the thermal model 288

13.9.1.2 Speed-dependent evaluaon of the motor current 290

13.9.1.3 UL 508-compliant motor overload monitoring 293

13.9.2 Motor temperature monitoring 294

13.9.2.1 Individual characterisc for motor temperature sensor 295

13.9.3 Overcurrent monitoring 296

13.9.4 Motor phase failure detecon 296

13.9.5 Motor speed monitoring 297

13.10 Frequency and speed limitaons 298

13.11 Tesng the motor control 299

13.11.1 General sengs for test modes 299

13.11.2 Manual "tension/frequency" test mode 301

13.11.3 Manual "current/frequency" test mode 302

13.11.4 Manual "current pulse" test mode 303

14 I/O extensions and control connecons 305

14.1 Congure digital inputs 305

14.2 Congure analog inputs 307

14.2.1 Analog input 1 307

14.3 Congure digital outputs 309

14.3.1 Digital output 1 309

15 Congure engineering port 310

15.1 Basic seng 311

15.2 NTP server addresses 312

15.3 Diagnoscs 312

Contents

16 Conguring the network 313

16.1 Device prole CiA 402 314

16.1.1 Supported operang modes 314

16.1.2 Basic seng 315

16.1.3 Process input data 315

16.1.4 Process output data 315

16.1.5 Commands for device state control 316

16.1.5.1 Switch on 317

16.1.5.2 Enable operaon 318

16.1.5.3 Acvate quick stop 319

16.1.5.4 Pulse inhibit 320

16.1.5.5 Reset fault 321

16.1.6 Device states 322

16.1.6.1 Not ready to switch on 324

16.1.6.2 Switch-on inhibited 325

16.1.6.3 Ready to switch on 326

16.1.6.4 Switched on 327

16.1.6.5 Operaon enabled 328

16.1.6.6 Quick stop acve 329

16.1.6.7 Fault reacon acve 330

16.1.6.8 Trouble 331

16.2 EtherCAT 332

16.2.1 Commissioning 333

16.2.2 Basic seng and opons 336

16.2.2.1 Synchronisaon with "distributed clocks" (DC) 336

16.2.2.2 Parameterising addional funcons 336

16.2.3 Process data transfer 339

16.2.3.1 Standard mapping 339

16.2.3.2 Dynamic (free) conguraon 339

16.2.3.3 Further communicaon objects 339

16.2.3.4 Expert sengs 339

16.2.4 Parameter data transfer 340

16.2.5 Monitoring 340

16.2.6 Diagnoscs 341

16.2.6.1 LED status display 341

16.2.6.2 Informaon on the network 341

16.2.6.3 EtherCAT master diagnoscs 341

16.2.6.4 Error history buer 351

16.2.6.5 Device idencaon 351

Contents

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