ZIEHL-ABEGG ZETADYN 3BF Referenzhandbuch

ZETADYN 3 Series

Additional information for CANopen Lift

Brief instruction

Additional information for the operating instructions:

ZETADYN 3BF ( -TBA05_08)

ZETADYN 3C ( -TBA08_03)

ZETADYN 3C-M L ( -TBA09_01)

ZETADYN 3BF009-1 ( -TBA08_02)

R-TBA11_01-GB 1114 Part.-No. 00163371-GB

english

Content

1 General notes ............................................................. 2

1.1 Validity ............................................................. 2

1.2 Structure o the operating instructions ..................................... 2

1.3 Exclusion o liability ................................................... 2

2 Safety information ......................................................... 2

3 Start-up .................................................................. 3

3.1 In ormation or start-up ................................................. 3

3.2 Frequency inverter .................................................... 3

3.3 Bus-cable ........................................................... 3

3.4 Wiring .............................................................. 3

3.5 Electrical connection ................................................... 4

3.6 Activating the inter ace ................................................. 4

3.7 Operation mode ...................................................... 5

3.7.1 Command- and Statusbits o the recorder .............................. 6

4 Parameter ................................................................ 6

4.1 Parameter settings .................................................... 6

4.2 Inomenu ........................................................... 7

4.3 Network Management Status ............................................ 8

5 Error .................................................................... 8

5.1 Error diagnosis in CANopen Li t .......................................... 8

5.2 Error list ............................................................ 8

Brie instruction ZETADYN 3 Series

R-TBA11_01-GB 1114 Part.-No. 00163371-GB

1/9

1 General notes

1.1 Validity

These operating instructions apply to:

Frequency inverter rom the series: ZETADYN 3

1.2 Structure of the operating instructions

This instruction is a brief instruction with additional informations. It is valid only in connection

with the following operating instructions:

•R-TBA05_08 (ZETADYN 3BF)

•R-TBA08_03 (ZETADYN 3C)

•R-TBA09_01 (ZETADYN 3C-MRL)

•R-TBA08_02 (ZETADYN 3BF009-1)

The ollowing in ormations, described in the operating instructions have to be ollowed:

•Sa ety in ormation

•Product overview

•mechanische Installation

•Electrical installation

•Service & maintenance

•Transport

•Storage duration:

•Disposal & recycling

Before installation and start-up, read this manual carefully to ensure correct use!

1.3 Exclusion of liability

Concurrence between the contents o these operating instructions and the described hardware and

so tware in the device has been examined.

It is still possible that non-compliances exist; no guarantee is assumed or complete con ormity. The

contents o this manual are put through periodic reviews. Necessary modications are incorporated

into the next version.

Ziehl-Abegg AG is not liable or damage due to misuse, incorrect use, improper use or as a

consequence o unauthorized repairs or modications.

2 Safety information

The Safety informations , described in chapter 2 of the operating instructions -TBA05_08,

-TBA08_03, -TBA09_01 or -TBA08_02 or has to be followed!

Brie instruction ZETADYN 3 Series General notes

R-TBA11_01-GB 1114 Part.-No. 00163371-GB

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3 Start-up

3.1 Information for start-up

Danger!

Defective connections can cause the motor to start unexpectedly or lead to uncontrolled motor

movements.

Reversed connections cause the motor to rotate in the wrong direction. That can cause serious

machine damage.

CAUTION!

Caution!

Incorrectly wired connections can destroy the electrical / electronic components.

Electrostatic discharges can be hazardous to the electronic components and lead to errors in the

so tware.

3.2 Frequency inverter

•To operate the installation with CANopen, the frequency inverter must be equipped with

the optional board EM3-ENC-CAN-DCP (Art.-No.357107)!

•Only devices with the CiA 417 prole are allowed.

•All devices work in 11 bit - mode.

•By implication, there can be one ZETADYN 3 connected to one bus-system.

•When two ZETADYN 3 per bus-system are needed, please call Ziehl-Abegg be ore installing.

3.3 Bus-cable

•A shielded bus-cable is not needed, but the data wires should be twisted.

•The installation takes place in line structure. The seperate devices are connected to the bus with

short branch lines.

•The bus should be terminated with a terminating resistor o 120 - 150 Ohms, at both ends o the

bus.

•The maximum length o the bus is 200 m and 6 m at the branch lines.

•All devices normally work with a baud rate o 250 kBit/s.

3.4 Wiring

•The connection o the bus cable takes place at the slot "X-CAN" o the requency inverter.

•Take care o the maximum bus length.

•Not correctly shielded motor- , brake chopper- or brake resistor cables can cause signicant

errors.

•In case o an error, check the shielding o the cables.

Steuerung /

Control system

Umrichter /

Inverter

Schachtgeber /

Encoder

120 - 150 Ohm 120 - 150 Ohm

Exemplary assembly o a bus-system with CANopen

Brie instruction ZETADYN 3 Series Start-up

R-TBA11_01-GB 1114 Part.-No. 00163371-GB

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3.5 Electrical connection

Information

The connection o the bus cable takes place at the slot X-CAN o the requency inverter.

X-CAN

0VC

CAN High (H)

CAN Low (L)

GND

(1)

(2)

(3)

(4)

Optionaler

Schirmanschluss

Connection CAN

3.6 Activating the interface

The activation o the CAN inter ace can be set in the menu Control system/CONFIG.

Control system

"CONFIG 01:ZA_IO

"02:ZA_CAN

Conguration

The INFO menu shows CAN in ormation at the pages 14 - 17 (Assumption: "CONFIG" = "02:

ZA_CAN").

Brie instruction ZETADYN 3 Series Start-up

R-TBA11_01-GB 1114 Part.-No. 00163371-GB

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3.7 Operation mode

Information

There are two operation modes by using CAN:

•Velocity Mode [pv]

Velocity Mode

•Position Mode [pp]

Position Mode

Brie instruction ZETADYN 3 Series Start-up

R-TBA11_01-GB 1114 Part.-No. 00163371-GB

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3.7.1 Command- and Statusbits of the recorder

•Position Mode [pp] C&S / Velocity Mode [pv] C&S

•C = Command = Command rom the control system to the requency inverter

•S = Status = Status o the requency inverter as reaction o a command rom the control system

Status- / Commandbit Description Comment

CSwO Command Switch On

CEVo Command Enable Voltage

CQSt Command Quick Stop

CEOp Command Enable Operation

CFaR Command Fault Reset

CNSp Command New Setpoint only active in position mode

CHlt Command Halt

SRSO Status Ready to Switch On

SSdO Status Switched On

SOpE Status Operation Enabled

SVoE Status Voltage Enabled

SQSt Status Quick Stop

SSOD Status Switch On Disabled

STaR Status Target Reached

SS=0 Status Speed = 0 only active in velocity mode

SSpA Status Setpoint Acknowledge only active in position mode

SFlt Status Fault

SWrn Status Warning

The used mode can be set in the menu "S8: CAN/MODE" o the ZETADYN 3. Generally the mode is

sent rom the control system to the ZETADYN 3 shortly be ore start-up. There or you have to set the

operation mode in the control system.

When the ZETADYN 3 is operated in position mode, the sha t-encoder has to be connected to the

same bus as the ZETADYN 3.

The control system transmits the travel speed to the requency inverter be ore every drive. I the

transmitted speed couldn't be reached, the requency inverter initiates a pointed arch drive. There or

the maximum speed has to be entered in the control system.

4 Parameter

4.1 Parameter settings

The seperate parameters or CAN operation can be modied in the menu S8:CAN.

Parameter Description Value range Factory setting

LIFT_NR Enter the li t number 1 ... 2 1

NODE_ID Node number,

normally:

Control system: 1

Frequency inverter: 2

Encoder: 4

1 ... 128 2

BD_RATE Trans er rate (baud rate) 10 kBd ... 250 kBd 250 kBd

MODE Operation mode o the ZETADYN 3 Position / Velocity Position

T_CMD Maximum waiting time or commands o the

control system

200 ... 3000 ms 1500 ms

T_MAX Maximum processing time or the CAN mes-

sages per cycle.

0,1 ... 3 ms 0.8 ms

Brie instruction ZETADYN 3 Series Parameter

R-TBA11_01-GB 1114 Part.-No. 00163371-GB

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Information

The in the ZETADYN 3 adjusted nominal travel speed V* has to be equal or higher than the speed

which is sent to the ZETADYN 3 by the control system. Otherwise no drive takes place.

4.2 Info menu

The INFO menu provides an easily accessible overview o :

•Current measurements

•Current operation conditions o the ZETADYN 3

•Current switching states o the inputs and outputs

•Inverter internal measurements

•In ormation about the internal components

The individual pages are numbered or increased clarity.

This is a CAN specic instruction. Only the pages 14 - 17 will be described. A complete overview is

shown in the operating instruction o the particular inverter.

Display Description

CAN--------------- - 14

Act·ode: Velocity

T_max: 0 RErr:255

N T:Preop./Warn.Lim:

Page 14: CAN

Operating in ormation (normal view)

Line 2:

Act: A dot signalizes that the inverter operates with CAN

Mode: Operating mode (velocity or position)

Line 3:

T_max: Number o cycles, which excessed the maximum process time

RErr: Recieve bu er - error counter

Line 4:

NMT: Shows the actual NMT status (see table 4.3)

CAN--------------- - 14

Act·ode: Velocity

T_max:0.7ms TErr:255

N T:Preop./Warn.Lim:

Page 14: CAN

Operating in ormation (while pressing "Enter")

Line 2:

Act: A dot signalizes that the inverter operates with CAN

Mode: Operating mode (velocity or position)

Line 3:

T_max: Maximum time or processing the CAN messges per cycle, since switch-on

TErr: Transmit bu er - error counter

Line 4:

NMT: Shows the actual NMT status (see table 4.3)

CAN Velocity------ - 15

V_CAN: +0mm/s

Contr.:Disable Volt.

Status:Sw. On Disab.

Page 15: CAN Velocity

Active in velocity mode

Line 2:

V_CAN: Travel speed, sent ron the control system to the ZETADYN 3.

Line 3:

Contr. Control-byte. Shows commands which are sent by the control system

Line 4:

Status: Status-byte. Shows CAN-status o the ZETADYN 3

CAN Position------ - 16

S_CAN +0mm

Contr.:Disab. Volt.

Status:Sw.On Disab.

Page 16: CAN Position

Active in position mode

Line 2:

S_CAN: Relative target position, sent rom the control system to the ZETADYN 3

Line 3:

Contr. Control-byte. Shows commands which are sent by the control system

Line 4:

Status: Status-byte. Shows CAN-status o the ZETADYN 3

After pressing the "Enter" button the display shows the maximum travel

speed, sent by the control system

CAN Calib. 1------- 17

AbsEnc mm: 5358

otEnc mm:+ 4169

Offs:13081A/ 1.28

Page 17: CAN Calib.

Calibration

Lines 2 - 4:

For calibrating the distances which were sent by the motor encoder and the sha t

encoder.

Brie instruction ZETADYN 3 Series Parameter

R-TBA11_01-GB 1114 Part.-No. 00163371-GB

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4.3 Network Management Status

Status: BootUp: ZETADYN 3 is switching to the bus

Stop: ZETADYN 3 was stopped (normally by the control sys-

tem)

Preop.: ZETADYN 3 can be parametrised, but be ore the it has

to be set to "operational".

Opera.: ZETADYN 3 is ready, a drive can take place.

Controller state: No Error: No errors existent

Warn.Lim.: Error counter exceed 127

Bus o : Because o too many errors the device was switched

o the bus (Error counter > 255)

5 Error

5.1 Error diagnosis in CANopen Lift

For error diagnosis and elimination the operating instructions R-TBA05_08-D, R-TBA08_03-D, R-

TBA09_01-D and R-TBA08_02-D provide the chapter "Error diagnosis". In this chapter the errors and

the possibilities to eliminate them are described.

5.2 Error list

Error Error text Description Condition

800 CAN: Timeout Velocity Mode: Heartbeat rom control

system is missing or at wrong time

Position Mode:In addition to the heart-

beat o the control system, the heart-

beat o the encoder is also monitored

Only during a drive

810 CAN: Quick Stop Det. Control system activates a quick stop Til so tware version 3.32

820 CAN: Illegal Status Control system sends commands in

wrong order to the ZETADYN 3.

830 CAN: Timeout Enab. Op. Controll system gives command "Ena-

ble Operation" not within T_CMD

Til so tware version 3.32

831 CAN: Timeout Dis. Op. Control system gives command "Dis-

able Operation" not within T_CMD, hap-

pens at stop.

Not maskable, i necessary in-

crease T_CMD

832 CAN: Timeout Shutdown Happens by closing the brakes, when

control system gives command "Dis-

able Operation" not within T_CMD.

Not maskable, i necessary in-

crease T_CMD

833 CAN: Timeout Dis. Vol. Happens a ter drive, when control sys-

tem gives command "Disable Voltage"

not within T_CMD.

Not maskable, i necessary in-

crease T_CMD

840 CAN: Enc. In o missing The object Encoder In o, which shows

how much encoder pulses are how

much mm distance wasn't programmed

by the control system

Only Position Mode / not mask-

able!

Brie instruction ZETADYN 3 Series Error

R-TBA11_01-GB 1114 Part.-No. 00163371-GB

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HOTLINE

Tel. +49 (0) 7940 16-308

Fax +49 (0) 7940 16-249

email hotline.ra@ziehl-abegg.de

Ziehl-Abegg AG

Heinz-Ziehl-Straße·D-74653 Künzelsau ·Germany

Tel. +49 (0) 7940 16-0 ·Fax +49 (0) 7940 16-249

[email protected] ·www.ziehl-abegg.com

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