Document Outline

• This documentation is valid for ...
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• This documentation is valid for
• Connections and interfaces
• Status displays
• Contents
  • 1 Preface and general information
    • 1.1 About these Operating Instructions
      • 1.1.1 Conventions used in this Manual
      • 1.1.2 Terminology used
      • 1.1.3 Code descriptions
      • 1.1.4 Structure of the system block descriptions
    • 1.2 Features of the ECSxA A axis module
    • 1.3 Scope of supply
    • 1.4 Legal regulations
    • 1.5 System block introduction
      • 1.5.1 System blocks – principle
      • 1.5.2 Node numbers
      • 1.5.3 Access via system variables
      • 1.5.4 Access via absolute addresses
      • 1.5.5 Definition of the inputs/outputs
      • 1.5.6 Integrate system blocks into DDS
      • 1.5.7 Signal types and scaling
  • 2 Safety instructions
    • 2.1 General safety and application notes for Lenze controllers
    • 2.2 Thermal motor monitoring
      • 2.2.1 Forced ventilated or naturally ventilated motors
      • 2.2.2 Self-ventilated motors
    • 2.3 Residual hazards
    • 2.4 Safety instructions for the installation according to UL
    • 2.5 Notes used
  • 3 Technical data
    • 3.1 General data and operating conditions
    • 3.2 Rated data
    • 3.3 Current characteristics
      • 3.3.1 Increased continuous current depending on the control factor
      • 3.3.2 Device protection by current derating
  • 4 Mechanical installation
    • 4.1 Important notes
    • 4.2 Mounting with fixing rails (standard installation)
      • 4.2.1 Dimensions
      • 4.2.2 Mounting steps
    • 4.3 Mounting with thermal separation (push-through technique)
      • 4.3.1 Dimensions
      • 4.3.2 Mounting steps
    • 4.4 Mounting in cold-plate design
      • 4.4.1 Dimensions
      • 4.4.2 Mounting steps
  • 5 Electrical installation
    • 5.1 Installation according to EMC (installation of a CE-typical drive system)
    • 5.2 Power terminals
      • 5.2.1 Connection to the DC bus (+UG, -UG)
      • 5.2.2 Connection plan for mimimum wiring with internal brake resistor
      • 5.2.3 Connection plan for mimimum wiring with external brake resistor
      • 5.2.4 Motor connection
      • 5.2.5 Motor holding brake connection
      • 5.2.6 Connection of an ECSxK... capacitor module (optional)
    • 5.3 Control terminals
      • 5.3.1 Digital inputs and outputs
      • 5.3.2 Analog input
      • 5.3.3 Safe torque off
    • 5.4 Automation interface (AIF)
    • 5.5 Wiring of system bus (CAN)
    • 5.6 Wiring of the feedback system
      • 5.6.1 Resolver connection
      • 5.6.2 Encoder connection
      • 5.6.3 Digital frequency input/output (encoder simulation)
  • 6 Commissioning
    • 6.1 Before you start
    • 6.2 Commissioning steps (overview)
    • 6.3 Carrying out basic settings with GDC
    • 6.4 Loading the Lenze setting
    • 6.5 Setting of mains data
      • 6.5.1 Selecting the function of the charging current limitation
      • 6.5.2 Setting the voltage thresholds
    • 6.6 Entry of motor data for Lenze motors
    • 6.7 Holding brake configuration
    • 6.8 Setting of the feedback system for position and speed control
      • 6.8.1 Resolver as position and speed encoder
      • 6.8.2 TTL/SinCos encoder as position and speed encoder
      • 6.8.3 TTL/SinCos encoder as position encoder and resolver as speed encoder
      • 6.8.4 Absolute value encoder as position and speed encoder
      • 6.8.5 Absolute value encoder as position encoder and resolver as speed encoder
    • 6.9 Setting the polarity of digital inputs and outputs
    • 6.10 Entry of machine parameters
    • 6.11 Controller enable (CINH = 0)
    • 6.12 Operation with motors from other manufacturers
      • 6.12.1 Entering motor data manually
      • 6.12.2 Checking the direction of rotation of the motor feedback system
      • 6.12.3 Adjusting current controller
      • 6.12.4 Effecting rotor position adjustment
    • 6.13 Optimising the drive behaviour after start
      • 6.13.1 Speed controller adjustment
      • 6.13.2 Adjustment of field controller and field weakening controller
      • 6.13.3 Resolver adjustment
  • 7 Parameter setting
    • 7.1 General information
    • 7.2 Parameter setting with "Global Drive Control" (GDC)
    • 7.3 Parameter setting with the XT EMZ9371BC keypad
      • 7.3.1 Connecting the keypad
      • 7.3.2 Description of the display elements
      • 7.3.3 Description of the function keys
      • 7.3.4 Changing and saving parameters
  • 8 System bus (CAN / CAN-AUX) configuration
    • 8.1 Setting the CAN node address and baud rate
      • 8.1.1 Settings via DIP switch
      • 8.1.2 Settings via codes
    • 8.2 Individual addressing
    • 8.3 Determining the boot-up master for the drive system
    • 8.4 Setting the boot-up time/cycle time
    • 8.5 Reset node
    • 8.6 Axis synchronisation (CAN synchronisation)
      • 8.6.1 Monitoring of the synchronisation (sync time slot)
      • 8.6.2 Axis synchronisation via CAN
      • 8.6.3 Axis synchronisation via terminal X6/DI1
    • 8.7 Node guarding
    • 8.8 CAN management
    • 8.9 Mapping indices to codes
    • 8.10 Diagnostics codes
      • 8.10.1 CAN bus status (C0359/C2459)
      • 8.10.2 CAN telegram counter (C0360/2460)
      • 8.10.3 CAN bus load (C0361/2461)
    • 8.11 Remote parameterisation (gateway function)
  • 9 Configuring the AIF interface (X1)
    • 9.1 CAN baud rate
    • 9.2 CAN boot up (AIF)
    • 9.3 Node address (Node ID)
    • 9.4 Identifiers of the process data objects
      • 9.4.1 Individual identifier assignment
      • 9.4.2 Display of the identifier set
    • 9.5 Cycle time (XCAN1_OUT ... XCAN3_OUT)
    • 9.6 Synchronisation
      • 9.6.1 XCAN sync response
      • 9.6.2 XCAN sync identifier
      • 9.6.3 XCAN Sync Tx transmission cycle
    • 9.7 Reset node
    • 9.8 Monitoring
      • 9.8.1 Time monitoring for XCAN1_IN ... XCAN3_IN
      • 9.8.2 Bus off
    • 9.9 Operating status of AIF interface
  • 10 Monitoring functions
    • 10.1 Fault responses
    • 10.2 Overview of monitoring functions
    • 10.3 Configuring monitoring functions
      • 10.3.1 Monitoring times for process data input objects
      • 10.3.2 Time-out monitoring for activated remote parameterisation
      • 10.3.3 Short circuit monitoring (OC1)
      • 10.3.4 Earth fault monitoring (OC2)
      • 10.3.5 Motor temperature monitoring (OH3, OH7)
      • 10.3.6 Heatsink temperature monitoring (OH, OH4)
      • 10.3.7 Monitoring of internal device temperature (OH1, OH5)
      • 10.3.8 Function monitoring of thermal sensors (H10, H11)
      • 10.3.9 Current load of controller (I x t monitoring: OC5, OC7)
      • 10.3.10 Current load of motor (I2 x t monitoring: OC6, OC8)
      • 10.3.11 DC-bus voltage monitoring (OU, LU)
      • 10.3.12 Voltage supply monitoring - control electronics (U15)
      • 10.3.13 Motor phase failure monitoring (LP1)
      • 10.3.14 Monitoring of the resolver cable (Sd2)
      • 10.3.15 Motor temperature sensor monitoring (Sd6)
      • 10.3.16 Monitoring of the absolute value encoder initialisation (Sd7)
      • 10.3.17 Sin/cos signal monitoring (Sd8)
      • 10.3.18 Monitoring of the speed system deviation (nErr)
      • 10.3.19 Monitoring of max. system speed (NMAX)
      • 10.3.20 Monitoring of the rotor position adjustment (PL)
  • 11 Diagnostics
    • 11.1 Diagnostics with Global Drive Control (GDC)
    • 11.2 Diagnostics with Global Drive Oscilloscope (GDO)
      • 11.2.1 GDO buttons
    • 11.3 Diagnostics with the XT EMZ9371BC keypad
    • 11.4 Diagnostics with PCAN-View
      • 11.4.1 Monitoring of telegram traffic on the CAN bus
      • 11.4.2 Setting all CAN nodes to the "Operational" status
  • 12 Troubleshooting and fault elimination
    • 12.1 Fault analysis
      • 12.1.1 Fault analysis via the LED display
      • 12.1.2 Fault analysis with keypad XT EMZ9371BC
      • 12.1.3 Fault analysis with the history buffer
      • 12.1.4 Fault analysis via LECOM status words (C0150/C0155)
    • 12.2 Malfunction of the drive
    • 12.3 Fault messages
      • 12.3.1 Overview of fault messages, error sources and responses
      • 12.3.2 Causes and remedies
      • 12.3.3 Reset fault messages (TRIP-RESET)
  • 13 System blocks
    • 13.1 AIF_IO_Management (node number 161)
      • 13.1.1 Inputs_AIF_Management
      • 13.1.2 Outputs_AIF_Management
    • 13.2 AIF1_IO_AutomationInterface (node number 41)
      • 13.2.1 Inputs_AIF1
      • 13.2.2 Outputs_AIF1
    • 13.3 AIF2_IO_AutomationInterface (node number 42)
      • 13.3.1 Inputs_AIF2
      • 13.3.2 Outputs_AIF2
    • 13.4 AIF3_IO_AutomationInterface (node number 43)
      • 13.4.1 Inputs_AIF3
      • 13.4.2 Outputs_AIF3
    • 13.5 ANALOG1_IO (node number 11)
      • 13.5.1 Inputs_ANALOG1 (analog input)
    • 13.6 CAN_Management (node number 101)
      • 13.6.1 Inputs_CAN_Management
      • 13.6.2 Outputs_CAN_Management
      • 13.6.3 Executing a reset node
      • 13.6.4 Define instant of transmission for CAN2_OUT/CAN3_OUT
      • 13.6.5 Status messages
    • 13.7 CAN_Synchronization (node number 102)
    • 13.8 CAN1_IO (node number 31)
      • 13.8.1 Inputs_CAN1
      • 13.8.2 Outputs_CAN1
    • 13.9 CAN2_IO (node number 32)
      • 13.9.1 Inputs_CAN2
      • 13.9.2 Outputs_CAN2
    • 13.10 CAN3_IO (node number 33)
      • 13.10.1 Inputs_CAN3
      • 13.10.2 Outputs_CAN3
    • 13.11 CANaux_Management (node number 111)
      • 13.11.1 Inputs_CANaux_Management
      • 13.11.2 Outputs_CANaux_Management
      • 13.11.3 Executing a reset node
      • 13.11.4 Define instant of transmission for CANaux2_OUT/CANaux3_OUT
      • 13.11.5 Status messages
    • 13.12 CANaux1_IO (node number 34)
      • 13.12.1 Inputs_CANaux1
      • 13.12.2 Outputs_CANaux1
    • 13.13 CANaux2_IO (node number 35)
      • 13.13.1 Inputs_CANaux2
      • 13.13.2 Outputs_CANaux2
    • 13.14 CANaux3_IO (node number 36)
      • 13.14.1 Inputs_CANaux3
      • 13.14.2 Outputs_CANaux3
    • 13.15 DCTRL_DriveControl (node number 121)
      • 13.15.1 Inputs_DCTRL
      • 13.15.2 Outputs_DCTRL
      • 13.15.3 Quick stop (QSP)
      • 13.15.4 Operation inhibit (DISABLE)
      • 13.15.5 Controller inhibit (CINH)
      • 13.15.6 Setting TRIP (TRIP-SET)
      • 13.15.7 Resetting TRIP (TRIP-RESET)
      • 13.15.8 Display of digital status signals
      • 13.15.9 Device status
      • 13.15.10 TRIP status (DCTRL_bExternalFault_b)
      • 13.15.11 Transfer of the status/control word via AIF
    • 13.16 DFIN_IO_DigitalFrequency (node number 21)
      • 13.16.1 Inputs_DFIN
    • 13.17 DFOUT_IO_DigitalFrequency (node number 22)
      • 13.17.1 Inputs_DFOUT / Outputs_DFOUT
    • 13.18 DIGITAL_IO (node number 1)
      • 13.18.1 Inputs_DIGITAL (digital inputs)
      • 13.18.2 Outputs_DIGITAL (digital outputs)
    • 13.19 FCODE_FreeCode (node number 141)
    • 13.20 MCTRL_MotorControl (node number 131)
      • 13.20.1 Inputs_MCTRL
      • 13.20.2 Outputs_MCTRL
      • 13.20.3 Torque setpoint / additional torque setpoint
      • 13.20.4 Torque limitation
      • 13.20.5 Setting maximum speed
      • 13.20.6 Speed setpoint limitation
      • 13.20.7 Torque control with speed limitation
      • 13.20.8 Parameterising phase controllers
      • 13.20.9 Quick stop (QSP)
      • 13.20.10 Manual field weakening
      • 13.20.11 Switching frequency changeover
      • 13.20.12 Touch probe (TP)
      • 13.20.13 Adjusting the motor data
      • 13.20.14 Monitoring
    • 13.21 OSC_Oscilloscope (node number 60)
    • 13.22 SYSTEM_FLAGS (system flags, node number 151)
      • 13.22.1 Inputs SYSTEM_FLAGS
      • 13.22.2 Outputs SYSTEM_FLAGS
  • 14 Appendix
    • 14.1 PLC functionality
    • 14.2 Extendability / networking
    • 14.3 Memories
      • 14.3.1 Retain memory
      • 14.3.2 Persistent memory
      • 14.3.3 Download of various data items
      • 14.3.4 Temporary codes
      • 14.3.5 RAM memory access via codes
    • 14.4 System program organisation units
    • 14.5 Code table
    • 14.6 Table of attributes
    • 14.7 General information about the system bus (CAN)
      • 14.7.1 Structure of the CAN data telegram
      • 14.7.2 Communication phases of the CAN network (NMT)
      • 14.7.3 Process data transfer
      • 14.7.4 Parameter data transfer
      • 14.7.5 Addressing of the parameter and process data objects
    • 14.8 Overview of accessories
      • 14.8.1 Connector sets
      • 14.8.2 Shield mounting kit
      • 14.8.3 Components for operation and communication
      • 14.8.4 Brake resistor
      • 14.8.5 Mains fuses
      • 14.8.6 Mains chokes
      • 14.8.7 RFI filters
  • 15 Index