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User manual for 898S
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Table of contents
Document Outline
This documentation is valid for ...
!
Scope of supply
Connections and interfaces
Status displays
Contents
1 Preface and general information
1.1 About these Operating Instructions
1.1.1 Terminology used
1.1.2 Code descriptions
1.2 Features of the ECSxP P axis module
1.3 Scope of supply
1.4 Legal regulations
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 Basic terms of positioning
6.1.1 Positioning
6.1.2 Touch probe positioning
6.1.3 Positioning profile
6.1.4 Positioning profile mode
6.1.5 Additional functions of the positioning profile (C3096/x)
6.1.6 Positioning profile parameters
6.1.7 Setting of manual jog (inching mode)
6.1.8 Homing
6.1.9 Measuring system for positioning
6.1.10 Machine parameters
6.1.11 Electrical shaft ("EShaft")
6.1.12 Device structure and interfaces to the higher-level control
6.2 State control of the positioning drive
6.2.1 Operating states
6.2.2 Conditions for state change (transitions)
6.3 Before you start
6.4 Commissioning steps (overview)
6.4.1 Basic settings with GDC
6.4.2 Set reference
6.4.3 Setting of manual jog (inching mode)
6.4.4 Setting of homing
6.4.5 Setting absolute positioning/relative continuous positioning
6.5 Loading the Lenze setting
6.6 Setting of mains data
6.6.1 Selecting the function of the charging current limitation
6.6.2 Setting the voltage thresholds
6.7 Entry of motor data for Lenze motors
6.8 Holding brake configuration
6.9 Setting of the feedback system for position and speed control
6.9.1 Resolver as position and speed encoder
6.9.2 Resolver as absolute value encoder
6.9.3 TTL/SinCos encoder as position and speed encoder
6.9.4 TTL/SinCos encoder as position encoder and resolver as speed encoder
6.9.5 Absolute value encoder as position and speed encoder
6.9.6 Absolute value encoder as position encoder and resolver as speed encoder
6.10 Select control interface (operating mode)
6.11 Process data to the axis module (control word Ctrl1 and setpoints)
6.11.1 Control word Ctrl1
6.11.2 Setpoint data words to the controller (VelDirect, PosDirect, rx_par1..3)
6.12 Process data from the axis module (status words and actual values)
6.12.1 Status word 1 (Stat1), status word 2 (Stat2)
6.12.2 Device status
6.12.3 Monitor data words from the controller (tx_par1 und tx_par2)
6.13 Entry of machine parameters
6.14 Configuring the digital inputs and outputs
6.14.1 Digital inputs for operation with continuous positioning axis
6.14.2 Digital inputs for operation with linear positioning axis
6.14.3 Setting the polarity of digital inputs and outputs
6.15 Setting of manual control parameters
6.15.1 Manual control to software limit position
6.15.2 Manual control to hardware limit switch
6.15.3 Retracting from hardware limit switches
6.16 Setting of homing parameters
6.16.1 Setting homing modes
6.16.2 Shifting the zero position with regard to the home position (offsets C3011, C3012)
6.16.3 Example: Reference search with linear positioning axis
6.16.4 Example: Reference search with continuous positioning axis
6.17 Setting the positioning profile
6.17.1 Selecting a positioning profile mode
6.17.2 "Point-to-point" positioning
6.17.3 Touch probe positioning
6.17.4 Continuous constant travel
6.17.5 Electrical shaft ("E-shaft") per digital frequency, MotionBs (CAN) or EtherCAT
6.17.6 Homing
6.17.7 Direct positioning
6.17.8 Positioning sequence for controller optimisation
6.17.9 Setting of positioning profile parameters
6.17.10 Setting the profile parameter jerk time for S-shaped ramps
6.17.11 Additional functions of the positioning profile (C3096/x)
6.17.12 Activating the speed override
6.17.13 Activating the torque limitation after positioning
6.17.14 Activating the profile continuation function
6.17.15 Activate immediate profile change during positioning (Direct Change)
6.18 Configuring the electrical shaft ("E-Shaft")
6.18.1 Setting the stretch factor (C3097 / C3098)
6.18.2 Electrical shaft via classical digital frequency coupling (digital frequency input X8)
6.18.3 Electrical shaft via MotionBus (CAN) with ECSxP as electrical shaft master
6.18.4 Electrical shaft via MotionBus (CAN) with PLC as electrical shaft master
6.18.5 Electrical shaft via EtherCAT with PLC as electrical shaft master
6.19 Starting positioning profiles (ProfEnable, profile number)
6.19.1 Start of positioning profile via the "ProfEnable" control bit
6.19.2 Start of positioning profile by selecting a new profile number "PNoSet_x"
6.20 Setting the target position window (InTarget)
6.21 Defining the window for standstill message
6.22 Defining the dwell time
6.23 Following error monitoring (C3030, C3031)
6.24 E-Shaft: Speed-dependent angular trimming
6.25 Software limit positions, limitation of the travel range
6.26 Evaluation of hardware limit switches
6.27 Controller enable (CINH = 0)
6.28 Quick stop (QSP)
6.29 Operation with motors from other manufacturers
6.29.1 Entering motor data manually
6.29.2 Checking the direction of rotation of the motor feedback system
6.29.3 Adjusting current controller
6.29.4 Effecting rotor position adjustment
6.30 Optimising the drive behaviour after start
6.30.1 Speed controller adjustment
6.30.2 Adjustment of field controller and field weakening controller
6.30.3 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 Configuration
8.1 Configuring MotionBus/system bus (CAN)
8.1.1 Setting CAN node address and baud rate
8.1.2 Individual addressing
8.1.3 Defining boot-up master in the drive system
8.1.4 Setting of boot-up time/cycle time
8.1.5 Executing a reset node
8.1.6 Guiding angle selection and synchronisation via MotionBus (CAN)
8.1.7 Axis synchronisation (CAN synchronisation)
8.1.8 Monitoring of the synchronisation (sync time slot)
8.1.9 Axis synchronisation via CAN
8.1.10 Axis synchronisation via terminal X6/DI1
8.2 Node guarding
8.3 Diagnostics codes
8.3.1 CAN bus status (C0359/C2459)
8.3.2 CAN telegram counter (C0360/2460)
8.3.3 CAN bus load (C0361/2461)
8.4 Remote parameterisation (gateway function)
9 Monitoring functions
9.1 Fault responses
9.2 Overview of monitoring functions
9.3 Configuring monitoring functions
9.3.1 Monitoring times for process data input objects
9.3.2 Time-out monitoring for activated remote parameterisation
9.3.3 Short circuit monitoring (OC1)
9.3.4 Earth fault monitoring (OC2)
9.3.5 Motor temperature monitoring (OH3, OH7)
9.3.6 Heatsink temperature monitoring (OH, OH4)
9.3.7 Monitoring of internal device temperature (OH1, OH5)
9.3.8 Function monitoring of thermal sensors (H10, H11)
9.3.9 Current load of controller (I x t monitoring: OC5, OC7)
9.3.10 Current load of motor (I2 x t monitoring: OC6, OC8)
9.3.11 DC-bus voltage monitoring (OU, LU)
9.3.12 Voltage supply monitoring - control electronics (U15)
9.3.13 Motor phase failure monitoring (LP1)
9.3.14 Monitoring of the resolver cable (Sd2)
9.3.15 Motor temperature sensor monitoring (Sd6)
9.3.16 Monitoring of the absolute value encoder initialisation (Sd7)
9.3.17 Sin/cos signal monitoring (Sd8)
9.3.18 Monitoring of the speed system deviation (nErr)
9.3.19 Monitoring of max. system speed (NMAX)
9.3.20 Monitoring of the rotor position adjustment (PL)
10 Diagnostics
10.1 Diagnostics with Global Drive Control (GDC)
10.2 Diagnostics with Global Drive Oscilloscope (GDO)
10.2.1 GDO buttons
10.2.2 Diagnostics with GDO
10.3 Diagnostics with the XT EMZ9371BC keypad
10.4 Diagnostics with PCAN-View
10.4.1 Monitoring of telegram traffic on the CAN bus
10.4.2 Setting all CAN nodes to the "Operational" status
11 Troubleshooting and fault elimination
11.1 Fault analysis
11.1.1 Fault analysis via the LED display
11.1.2 Fault analysis with keypad XT EMZ9371BC
11.1.3 Fault analysis with the history buffer
11.1.4 Fault analysis via LECOM status words (C0150/C0155)
11.2 Malfunction of the drive
11.3 Fault messages
11.3.1 Causes and remedies
11.3.2 Reset fault messages (TRIP-RESET)
12 Appendix
12.1 Code table
12.2 General information about the system bus (CAN)
12.3 Communication with MotionBus/system bus (CAN)
12.3.1 Structure of the CAN data telegram
12.3.2 Communication phases of the CAN network (NMT)
12.3.3 Process data transfer
12.3.4 Parameter data transfer
12.3.5 Addressing of the parameter and process data objects
12.4 Overview of accessories
12.4.1 Connector sets
12.4.2 Shield mounting kit
12.4.3 Components for operation and communication
12.4.4 Brake resistor
12.4.5 Mains fuses
12.4.6 Mains chokes
12.4.7 RFI filters
13 Index
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