Lenze I950 Series Manual de usuario

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 81

6.4 System bus communicaon 82

6.4.1 Inputs 82

6.4.2 Outputs 82

6.4.2.1 Master value output 83

6.4.2.2 Source of touch probe me stamp 84

6.4.3 Distribuon of the master values by the master 85

6.4.3.1 Example: System bus master is master value master 86

6.4.3.2 Example: System bus slave is master value master 87

6.4.3.3 Example: Using me stamp of another axis 88

Contents

7Conguring the "Sync and Correcon" TA 89

7.1 Control sengs 90

7.2 Interface 91

7.2.1 Control signals 92

7.2.2 Status signals 93

7.2.3 Simulaon of the interface 95

7.2.4 Assignment of control signals and status signals 97

7.3 Master value sources 100

7.3.1 System bus 101

7.3.2 Feedback system for the technology applicaon 102

7.3.3 Virtual master 104

7.3.3.1 Simulaon of the virtual master 111

7.3.3.2 Speed via analog input 1 112

7.3.3.3 External master values 113

7.4 Posion trimming and posion oset 116

7.5 Posion oset from master 120

7.6 Posion synchronism 121

7.7 Posion clutch 123

7.7.1 Path-controlled clutch 124

7.7.2 Time-controlled clutch 126

7.7.3 Travel prole-based clutch 128

7.7.4 Asynchronous clutch 133

7.8 Master value correcon (register control) 134

7.8.1 Mark window and mark register 137

7.8.2 Mark failure detecon 139

7.8.3 Posion correcon 140

7.8.4 Gearbox factor correcon 142

7.9 Tool correcon 143

7.9.1 Mark window and mark register 144

7.9.2 Mark failure detecon 145

7.9.3 Posion correcon 146

7.10 Signal ow 147

7.10.1 Master value selecon and master value correcon 147

7.10.2 Posion synchronism 151

7.10.3 Tool correcon 151

8Start, stop and rotang direcon commands 153

8.1 Control selecon 153

Contents

9Congure posion control 154

9.1 Basic seng 155

9.1.1 Following error detecon and in-posion detecon 156

9.1.2 Interpolaon 157

9.2 Operang mode "CiA 402 Cyclic sync posion mode (csp)" 158

9.2.1 Default mapping 158

9.2.2 Signal ow 159

9.2.3 Control commands and status informaon 161

9.3 Process input data (CiA 402 objects) 162

9.4 Process output data (CiA 402 objects) 163

9.5 Monitoring the posion error 164

9.6 Posion detecon with touch probe (TP) 165

9.6.1 Default mapping 165

9.6.2 General mode of operaon 166

9.6.3 Filtering of the touch probe signal 166

9.6.4 Compensaon of runme delays 167

9.6.5 Touch probe control word 168

9.6.6 Touch probe status word 168

9.6.7 Extension for the digital inputs DI3 and DI4 169

9.6.8 Detected me stamp and posions 169

9.7 Setpoint diagnoscs 170

10 Congure speed control 171

10.1 Basic seng 171

10.2 Operang mode "CiA 402 Velocity mode (vl)" 172

10.2.1 Default mapping 172

10.2.2 Signal ow (servo control) 173

10.2.3 Signal ow (V/f characterisc control) 175

10.3 Operang mode "CiA 402 Cyclic sync velocity mode (csv)" 177

10.3.1 Default mapping 177

10.3.2 Signal ow (servo control) 178

10.3.3 Signal ow (V/f characterisc control) 180

10.3.4 Control commands and status informaon 182

10.4 Process input data (CiA 402 objects) 183

10.5 Process output data (CiA 402 objects) 185

10.6 Monitoring the speed deviaon 186

11 Conguring the torque control 187

11.1 Basic seng 188

11.1.1 Torque limits 189

11.1.2 Speed limitaon 190

11.2 Operang mode "CiA 402 Cyclic sync torque mode (cst)" 191

11.2.1 Default mapping 191

11.2.2 Signal ow 192

11.2.3 Control commands and status informaon 194

11.3 Process input data (CiA 402 objects) 195

11.4 Process output data (CiA 402 objects) 197

11.5 Setpoint diagnoscs 198

Contents

12 Conguring the feedback system 199

12.1 Congure feedback system for motor control 200

12.1.1 General sengs 201

12.1.2 Resolver sengs 202

12.1.2.1 Resolver error compensaon 204

12.1.3 Encoder sengs 206

12.1.3.1 SinCos encoder 207

12.1.3.2 SinCos absolute value encoder with HIPERFACE® protocol 207

12.1.3.3 SSI encoder 209

12.1.3.4 Evaluaon of the signal quality 211

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

12.1.5 Diagnoscs 212

12.2 Second feedback system for the techology applicaon 213

12.2.1 General sengs 213

12.2.2 Resolver sengs 214

12.2.2.1 Resolver error compensaon 215

12.2.3 Encoder sengs 217

12.2.3.1 SinCos encoder 218

12.2.3.2 SinCos absolute value encoder with HIPERFACE® protocol 218

12.2.3.3 SSI encoder 220

12.2.3.4 Evaluaon of the signal quality 222

12.2.4 Detecon of changed sengs of the feedback system 223

12.2.5 Diagnoscs 223

12.3 Encoder: Evaluaon of safely speed and posion 224

12.4 Synchronous motor: Pole posion idencaon (PPI) 225

12.4.1 Monitoring the pole posion idencaon 226

12.4.2 Pole posion idencaon (PPI) 360° 227

12.4.3 Pole posion idencaon (PPI) with minimum movement 231

12.4.4 Pole posion idencaon (PPI) without movement 234

Contents

13 Conguring the motor control 236

13.1 Servo control for synchronous motor (SC-PSM) 237

13.1.1 Required commissioning steps 237

13.2 Servo control for asynchronous motor (SC-ASM) 238

13.2.1 Required commissioning steps 238

13.3 Sensorless control for synchronous motor (SL-PSM) 238

13.3.1 Required commissioning steps 238

13.4 V/f characterisc control for asynchronous motor (VFC open loop) 239

13.4.1 Required commissioning steps 239

13.4.2 Basic seng 240

13.4.3 Dene V/f characterisc shape 241

13.4.3.1 Linear V/f characterisc 241

13.4.3.2 Square-law V/f characterisc 241

13.4.3.3 User-denable V/f characterisc 242

13.4.4 Acvate voltage vector control (Imin controller) 243

13.4.5 Set voltage boost 245

13.4.6 Set load adjustment 246

13.4.7 Set slip compensaon 246

13.4.8 Set oscillaon damping 247

13.4.9 Opmising the stalling behaviour 248

13.4.10 Flying restart circuit 249

13.5 Parameterisable motor funcons 251

13.5.1 DC braking 251

13.5.2 Short-circuit braking 252

13.5.3 Holding brake control 253

13.5.3.1 Basic seng 254

13.5.3.2 Brake holding load 255

13.5.3.3 Torque feedforward control 256

13.5.3.4 Manual brake control 256

13.6 Opons for opmising the control loops 257

13.6.1 Automac motor idencaon (energized) 257

13.6.2 Tuning of the motor and the speed controller 258

13.6.3 Inverter characterisc 260

13.6.3.1 Compensang for inverter inuence 261

13.6.3.2 Extended sengs for idencaon 262

13.6.3.3 Load standard inverter characterisc 262

13.6.4 Motor equivalent circuit diagram data 263

13.6.5 Motor control sengs 264

13.6.5.1 Speed controller 264

13.6.5.2 Current controller 267

13.6.5.3 ASM eld controller 269

13.6.5.4 ASM eld weakening controller 270

13.6.5.5 ASM eld weakening controller (extended) 270

13.6.5.6 PSM eld weakening controller 271

13.6.5.7 Imax controller 272

13.6.5.8 Flying restart controller 272

13.6.5.9 Posion controller 273

Contents

13.7 Fine adjustment of the motor model 274

13.7.1 Correcon of the stator leakage inductance (Lss)... 275

13.7.2 Synchronous motor (SM): Compensate temperature and current inuences 280

13.7.3 Asynchronous motor (ASM): Idenfy Lh saturaon characterisc 281

13.7.4 Esmate opmum magnesing current 283

13.8 Parameterise lter elements in the setpoint path 284

13.8.1 Jerk limitaon 284

13.8.2 Notch lter (band-stop lter) 285

13.9 Motor protecon 288

13.9.1 Motor overload monitoring (i²*t) 288

13.9.1.1 Parameters for the thermal model 290

13.9.1.2 Speed-dependent evaluaon of the motor current 292

13.9.1.3 UL 508-compliant motor overload monitoring 295

13.9.2 Motor temperature monitoring 296

13.9.2.1 Individual characterisc for motor temperature sensor 297

13.9.3 Overcurrent monitoring 298

13.9.4 Motor phase failure detecon 298

13.9.5 Motor speed monitoring 299

13.10 Frequency and speed limitaons 300

13.11 Tesng the motor control 301

13.11.1 General sengs for test modes 301

13.11.2 Manual "tension/frequency" test mode 303

13.11.3 Manual "current/frequency" test mode 304

13.11.4 Manual "current pulse" test mode 305

14 I/O extensions and control connecons 307

14.1 Congure digital inputs 307

14.2 Congure analog inputs 309

14.2.1 Analog input 1 309

14.3 Congure digital outputs 311

14.3.1 Digital output 1 311

15 Congure engineering port 312

15.1 Basic seng 313

15.2 NTP server addresses 314

15.3 Diagnoscs 314

Contents

16 Conguring the network 315

16.1 Device prole CiA 402 316

16.1.1 Supported operang modes 316

16.1.2 Basic seng 317

16.1.3 Process input data 317

16.1.4 Process output data 317

16.1.5 Commands for device state control 318

16.1.5.1 Switch on 319

16.1.5.2 Enable operaon 320

16.1.5.3 Acvate quick stop 321

16.1.5.4 Pulse inhibit 322

16.1.5.5 Reset fault 323

16.1.6 Device states 324

16.1.6.1 Not ready to switch on 326

16.1.6.2 Switch-on inhibited 327

16.1.6.3 Ready to switch on 328

16.1.6.4 Switched on 329

16.1.6.5 Operaon enabled 330

16.1.6.6 Quick stop acve 331

16.1.6.7 Fault reacon acve 332

16.1.6.8 Trouble 333

16.2 EtherCAT 334

16.2.1 Commissioning 335

16.2.2 Basic seng and opons 338

16.2.2.1 Synchronisaon with "distributed clocks" (DC) 338

16.2.2.2 Parameterising addional funcons 338

16.2.3 Process data transfer 341

16.2.3.1 Standard mapping 341

16.2.3.2 Dynamic (free) conguraon 341

16.2.3.3 Further communicaon objects 341

16.2.3.4 Expert sengs 341

16.2.4 Parameter data transfer 342

16.2.5 Monitoring 342

16.2.6 Diagnoscs 343

16.2.6.1 LED status display 343

16.2.6.2 Informaon on the network 343

16.2.6.3 EtherCAT master diagnoscs 343

16.2.6.4 Error history buer 353

16.2.6.5 Device idencaon 353

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