Lenze E94P PositionServo with MVOB Manual do Utilizador

PositionServo with MVOBUsers ManualValid for Hardware Version 2

8 L S94H201E_13426446_ENIntroduction1.4 Part Number DesignationThe table herein describes the part number designation for the PositionServo drive. T

98 L S94H201E_13426446_ENDiagnosticsProblemReady LED is on but motor does not run.Suggested Solution If in Torque or Velocity mode:Reference voltage

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S94H201E_13426446_EN L 9Introduction1.4.3 Option Part NumberE94Z ACAN 1Electrical Option in the 94x SeriesA = Communication or Breakout ModuleModul

10 L S94H201E_13426446_ENTechnical Data2 Technical Data2.1 Electrical CharacteristicsSingle-Phase ModelsType (1)Mains Voltage (2)1~ Mains Current (

S94H201E_13426446_EN L 11Technical DataElectrical Specifications applicable to all models:Acceleration Time Range (Zero to Max Speed) 0.1 … 5x106 RP

12 L S94H201E_13426446_ENTechnical Data2.3 Fuse RecommendationsType(1)AC Line Input Fuse (1ø/3ø)Miniature Circuit Breaker (4) (1ø/3ø)AC Line Input F

S94H201E_13426446_EN L 13Technical DataVelocityReference ± 10 VDC or 0…10 VDC; 12-bit; scalableRegulation ± 1 RPMVelocity-Loop Bandwidth Up to 20

14 L S94H201E_13426446_ENTechnical Data2.8 PositionServo DimensionsC151212A38D B34dia = 4.574.57Dimensions in mmS923Type (1)A (mm) B (mm) C (mm) D (

S94H201E_13426446_EN L 15Technical Data2.9 Clearance for Cooling Air Circulation>25mm>3mm >25mmS924

16 L S94H201E_13426446_ENInstallation3 InstallationPerform the minimum system connection. Refer to section 6.1 for minimum connection requirements. O

S94H201E_13426446_EN L 17Installation3.1 WiringDANGER!Hazard of electrical shock! Circuit potentials are up to 480 VAC above earth ground. Avoid dir

Copyright ©2013 - 2010 by Lenze AC Tech Corporation.All rights reserved. No part of this manual may be reproduced or transmitted in any form without w

18 L S94H201E_13426446_ENInstallationEMCCompliance with EN 61800-3:2004 In a domestic environment this product may cause radio interference. The user

S94H201E_13426446_EN L 19InstallationNOTEThe ground connection from the filter must be wired to solid earth ground, not machine ground.If the end-use

20 L S94H201E_13426446_ENInterface4 InterfaceThe standard PositionServo drive is equipped with seven connectors including: four quick-connect termina

S94H201E_13426446_EN L 21InterfaceAll conductors must be enclosed in one shield with a jacket around them. The shield on the drive end of the motor

22 L S94H201E_13426446_ENInterface4.1.3 P3 - Controller I/OP3 is a 50-pin SCSI connector to interface with the front-end of the controller. It is st

S94H201E_13426446_EN L 23Interface4.1.4 P4 - Motor FeedbackFor encoder-based 940 drives, P4 is a 15-pin DB connector that contains connections for

24 L S94H201E_13426446_ENInterfaceP4B Pin Assignments (Resolver Feedback - E94R Drives)Pin Name FunctionRESOLVER15P4961 Ref +Resolver reference conne

S94H201E_13426446_EN L 25Interface4.1.7 Connector and Wiring NotesNote 1 - Buffered Encoder OutputsEach of the encoder output pins on P3 is a buffe

26 L S94H201E_13426446_ENInterface4.1.8 P8 - ISO 13849-1 Safety Circuit (option)If installed, the ISO 13849-1 Safety Circuit connector, P8, is locat

S94H201E_13426446_EN L 27InterfaceOperation of the ISO 13849-1 Safety CircuitISO 13849-1 Cat 3, PL d designates that the enable function of the driv

S94H201E_13426446_EN L 1Contents1 Introduction...51.1 Safety Information ...

28 L S94H201E_13426446_ENInterfaceEvaluation and Testing of the ISO 13849-1 Safety CircuitAs part of the regulations for ISO 13849-1 safety circuit p

S94H201E_13426446_EN L 29InterfaceGuidance of setting up the drive to allow testing on the ISO 13849-1 circuit:External Reference:If the drive is ge

30 L S94H201E_13426446_ENInterfaceTest StepAction Drive Display IndicationSafety Status Output IndicationFailed TestIndication5 Deactivate Safety Inp

S94H201E_13426446_EN L 31Interface4.2 Digital I/O Details4.2.1 Step & Direction/Master Encoder Inputs (P3, pins 1-4)A master encoder with quad

32 L S94H201E_13426446_ENInterface4.2.2 Buffered Encoder Output (P3, pins 7-12)There are many applications where it is desired to close the feedback

S94H201E_13426446_EN L 33Interface4.2.4 Digital InputsIN_Ax, IN_Bx, IN_Cx (P3.26-30, P3.31-35, P3.36-40)The PositionServo drive has 12 optically i

34 L S94H201E_13426446_ENInterface4.3 Analog I/O Details4.3.1 Analog Reference InputAIN1+, AIN1- (P3.24 and P3.25)The analog reference input can ac

S94H201E_13426446_EN L 35Interface4.3.2 Analog OutputAO (P3.23)The analog output is a single-ended signal (with reference to Analog Common (ACOM) w

36 L S94H201E_13426446_ENInterface4.4.3 Modbus RTU SupportThe RS485 interface is configured through the MotionView program. When configured for Modbus

S94H201E_13426446_EN L 37Interface4.4.6 PROFIBUS DP InterfaceAn optional PROFIBUS DP communication module (E94ZAPFB1) is available for the Position

2 L S94H201E_13426446_ENContents5 Parameters ...385.1 Drive Identification ...

38 L S94H201E_13426446_ENParameters5 ParametersThe PositionServo drive has many programmable features accessible via the universal software MotionVie

S94H201E_13426446_EN L 39Parameters5.1 Drive IdentificationAt the top of the Node Tree, click the Drive name [E94P 240V 04Amp ...]. The drive ID str

40 L S94H201E_13426446_ENParameters5.2 MotorThe motor folder displays the data for the currently selected motor. A motor may be selected from the dat

S94H201E_13426446_EN L 41ParametersNOTETo help prevent the motor from drawing to much current and possibly overheating it is recommended that the dr

42 L S94H201E_13426446_ENParametersNOTESave the file even if the autophasing feature will be used and some of the final parameters are not known. After

S94H201E_13426446_EN L 43Parameters8. Click [Save File] to save the completed motor file (use same filename as the initial data in step 1). Click [Up

44 L S94H201E_13426446_ENParametersNOTEIf the phase current rating is not given, use this equation to obtain the nominal continuous phase-to-phase wi

S94H201E_13426446_EN L 45ParametersS912The Halls Order is obtained as follows:1. Look at the “Vrs” Output Voltage and determine the Hall Voltage th

46 L S94H201E_13426446_ENParametersB leads A for CWThis is the encoder phase relationship for CW/CCW shaft rotation. When you obtain the diagram for

S94H201E_13426446_EN L 47Parameters5.3 ParametersParameters List - TopParameters List - Bottom

S94H201E_13426446_EN L 3Contents5.9 Compensation ...565.9.1 Velocity P-gain (proportional

48 L S94H201E_13426446_ENParameters5.3.1 Drive ModeThe PositionServo has 3 operating mode selections: Torque, Velocity and Position.For Torque and V

S94H201E_13426446_EN L 49Parameters5.3.3 Drive PWM FrequencyThis parameter sets the PWM carrier frequency. Frequency can be changed only when the d

50 L S94H201E_13426446_ENParameters5.3.9 Motor Temperature SensorThis parameter enables / disables motor over-temperature detection. It must be disa

S94H201E_13426446_EN L 51Parameters5.3.12 Master Encoder Input Type (position mode only)This parameter sets the type of input for position referenc

52 L S94H201E_13426446_ENParameters5.4 CommunicationThe Communication folder contains four sub-folders: Ethernet, RS-485, CAN and PROFIBUS plus sub-s

S94H201E_13426446_EN L 53Parameters5.5 Analog I/O5.5.1 Analog OutputThe PositionServo has one analog output with 10-bit resolution on P3 pin 23. T

54 L S94H201E_13426446_ENParameters5.5.6 Analog Input Dead BandAllows the setting of a voltage window (in mV) at the reference input AIN1+ and AIN1-

S94H201E_13426446_EN L 55ParametersThe inhibit function allows input A3 to inhibit (prevent) power being applied to the motor but does not provide t

56 L S94H201E_13426446_ENParameters5.8 Position Limits5.8.1 Position ErrorSpecifies the maximum allowable position error in the primary (motor mount

S94H201E_13426446_EN L 57Parameters5.9.3 Position P-gain (proportional)Position P-gain adjusts the system’s overall response to position error. Pos

4 L S94H201E_13426446_ENAbout These InstructionsThis documentation pertains to the PositionServo drive with Hardware Version 2. This documentation co

58 L S94H201E_13426446_ENParameters5.9.10 Set Default GainsClick the [Set Default Gains] button to access the Default Gains parameter. Selecting [Se

S94H201E_13426446_EN L 59Parameters5.10 ToolsThe [Tools] folder contains two action buttons: Oscilloscope and Parameter I/O View. These tools allow

60 L S94H201E_13426446_ENParametersSignal NameThe user can customize the information presented on the Scope tool by choosing the drop-down box in eac

S94H201E_13426446_EN L 61ParametersTo edit a parameter’s value, double click the [Decimal] field of the parameter. When the text is double-clicked,

62 L S94H201E_13426446_ENParametersNOTEThe [Clear Faults] operation will disrupt motion and the program being executed. It is recommended not to clea

S94H201E_13426446_EN L 63Operation6 OperationThis section offers guidance on configuring the PositionServo drive for operations in torque, velocity o

64 L S94H201E_13426446_ENOperationNOTEFor any PC that will need regular configuration to communicate with a PositionServo Drive and if the default PC

S94H201E_13426446_EN L 65OperationIt is most common for the PositionServo drive IP address to be left at its default value (192.168.124.120) and to

66 L S94H201E_13426446_ENOperation6.2.1.3 Configuring the IP Address Automatically (Dynamic Address)When connecting a PositionServo drive onto a netw

S94H201E_13426446_EN L 67OperationStart Menus - Windows XPCategory (Default) View Classic ViewOne of the following screens will be displayed, depend

S94H201E_13426446_EN L 5Introduction1 Introduction1.1 Safety InformationThe safety information provided in this documentation has the layout shown

68 L S94H201E_13426446_ENOperationRegardless of the Windows XP viewing mode the following [Network Connections] screen will appear. Hereafter all con

S94H201E_13426446_EN L 69OperationSelect [Use the following IP address]. The IP address and Subnet mask text boxes can now be edited.Enter an IP add

70 L S94H201E_13426446_ENOperationPhysically connect the Drive to the PC:To connect directly between a PC and a PositionServo drive it is recommended

S94H201E_13426446_EN L 71OperationMotionView OnBoard Splash ScreenWARNING Statement on Initial MotionView DisplayOnce MotionView has launched, verif

72 L S94H201E_13426446_ENOperationThe Connection dialog box will appear.Connection Dialog BoxSelect [Discover] to find the drive(s) on the network ava

S94H201E_13426446_EN L 73Operation6.3 Parameter Storage and EPM Operation6.3.1 Parameter StorageAll settable parameters are stored in the drive’s

74 L S94H201E_13426446_ENOperation6.4 Configuration of the PositionServoRegardless of the mode in which the user wishes to operate, he must first confi

S94H201E_13426446_EN L 75Operation6.5 Position Mode Operation (gearing)In position mode the drive will follow the master reference signals at the 1

76 L S94H201E_13426446_ENOperation6.7 Drive TuningThe PositionServo Drive will likely require some tuning of its gains parameters in order to achiev

S94H201E_13426446_EN L 77Operation6.7.2 Manually Tuning the Drive in Velocity ModeThe PositionServo drive may also be tuned manually. Follow the pr

6 L S94H201E_13426446_ENIntroductionClaim DescriptionLiability•Theinformation,data,andnotesintheseinstructionsmetthelatestdesignandimpl

78 L S94H201E_13426446_ENOperation5) Oscilloscope SettingsOpen the [Tools] folder in MotionView and select the [Oscilloscope] tool. Click the [Set o

S94H201E_13426446_EN L 79OperationGain Scaling set OKMotor Velocity resembles Commanded Velocity. Motor Velocity is reasonably close with a slight o

80 L S94H201E_13426446_ENOperationStep 2: Fine Tuning the Velocity P-GainSlowly alter the Velocity P-Gain (increase and decrease) and observe the mot

S94H201E_13426446_EN L 81OperationI-Gain set OKNo error between Commanded steady state velocity and Actual steady state velocity with excellent stab

82 L S94H201E_13426446_ENOperationGood Current TraceUniform current pulses during accel/deceleration and stable current during steady state velocity.

S94H201E_13426446_EN L 83Operation3) Editing the Position Tuning ProgramThe Tune Position Program performs trapezoidal moves in the forward and rev

84 L S94H201E_13426446_ENOperation6) Compensation FolderOpen the [Compensation] folder in MotionView.Leave the Velocity P-Gain and Velocity I Gain u

S94H201E_13426446_EN L 85OperationFurther Increased Position P-GainShows very good reduction to the maximum error but with additional oscillations s

86 L S94H201E_13426446_ENOperationStep 4: Check Motor CurrentsSet the oscilloscope channel 2 to ‘Phase Current RMS’Channel 2:Signal = “Phase Current

S94H201E_13426446_EN L 87OperationIn this particular example maximum error in pulses is 95.0. The time this peak error occurs can be read from the o

S94H201E_13426446_EN L 7Introduction1.3.3 FeedbackDepending on the primary feedback, there are two types of drives: the Model 940 PositionServo enco

88 L S94H201E_13426446_ENQuick Start Reference7 Quick Start ReferenceThis section provides instructions for External Control, Minimum Connections an

S94H201E_13426446_EN L 89Quick Start ReferenceOptional Parameter Settings:These parameters may require setting depending on the control system imple

90 L S94H201E_13426446_ENQuick Start ReferenceMandatory Parameter Settings:These parameters are required to be set prior to running the drive.Folder

S94H201E_13426446_EN L 91Quick Start Reference7.3 Quick Start - External Positioning ModeMandatory Signals:These signals are required in order to a

92 L S94H201E_13426446_ENQuick Start ReferenceMandatory Parameter Settings:These parameters are required to be set prior to running the driveFolder /

S94H201E_13426446_EN L 93Diagnostics8 Diagnostics8.1 Diagnostic DisplayApply power to the drive and wait until “diS” shows on the display. For anyt

94 L S94H201E_13426446_ENDiagnosticsDisplay DescriptiondHCPEhternet DHCP Configuration: 0=”dHCP” is disabled; 1=”dHCP is enabled.IP_4IP Adress Octet 4

S94H201E_13426446_EN L 95Diagnostics8.4 Faults8.4.1 Fault CodesFaults in the drive are immediately shown on the drive display. The fault condition

96 L S94H201E_13426446_ENDiagnosticsFault Code (Display) Fault DescriptionF_26Unknownbyte codeByte code interpreter error; May occur when program is

S94H201E_13426446_EN L 97Diagnostics8.4.2 Fault EventWhen the drive encounters any fault, the following events occur:• Drive is disabled• Interna