Professional Documents
Culture Documents
00404602
Operating Instructions
Global Drive
9300 cam profiler
7KHVH ,QVWUXFWLRQV DUH YDOLG IRU ;; FRQWUROOHUV YDULDQWV
Type
Design:
Ex = Enclosure IP20
Cx = Cold Plate
xK = Cam profiler
xP = Positioning controller
xR = Register controller
xS = Servo
Variant
Explanation
UHYLVHG
(GLWLRQ RI
Screen plate mains connection
Mains connection
and DC connection
L1 L2 L3 +UG -UG
PE
RDY IMP Imax Mmax Fail
X3
X1 (hidden):
Automation interface
GND LO HI
A4 A3 A2 A1
X5
ST1
59 ST2
Control terminals
63 7 4 3
2 1
X6
62 7
1
Resolver input
X7
5
5
X8 Encoder input
1
5
Digital frequency input
X9 1
Screen connection
1
X10 Digital frequency output
5
U V W
Motor connection
K35.0002
Contents
BA9300KS1198 i
Contents
5 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.1 Before switching on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2 Initial switch-on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.3 Switch on the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.4 Switch on PC, start GDC. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.5 Generation of parameter set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5.5.1 Adapt controller to mains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.5.2 Adapt controller to motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5.5.3 Enter machine parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5.6 Basic cam data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5.7 Cam profile generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.7.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5.7.2 Cam profile import . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
5.8 Configuration C0005 = 10000
Replacement of a mechanical cam . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
ii BA9300KS1198
Contents
8 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.1 Predefined configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
8.1.1 Working with predefined configurations . . . . . . . . . . . . . . . . . 8-1
8.2 Operating modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.2.1 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.2.2 Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8.3 Working with function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.3.1 Signal types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8.3.2 Elements of a function block . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4
8.3.3 Connection of function blocks . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
8.3.4 Entries into the processing table . . . . . . . . . . . . . . . . . . . . . . . . 8-10
8.4 Description of function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-13
8.5 Definition by means of an example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-18
8.5.1 Normalization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-18
8.5.2 Data structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-20
8.6 Description of cam profile generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-21
8.7 Basic configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-23
8.7.1 Predefined basic configurations . . . . . . . . . . . . . . . . . . . . . . . . 8-23
8.7.2 Configuration C0005 = 10000 cam profiler (see chapter 5.8) 8-24
8.7.3 Configuration C0005 = 11000 welding bar drive . . . . . . . . . . 8-24
8.7.4 Configuration C0005 = 12000
Operation with position memory . . . . . . . . . . . . . . . . . . . . . . . . 8-26
8.7.5 Basic configuration C0005 = 1xXxx . . . . . . . . . . . . . . . . . . . . . 8-27
8.7.5.1 Configurations 1X0XX: No additional function . . 8-27
8.7.5.2 Configurations 1X1XX: Homing function . . . . . . 8-28
8.7.5.3 Configurations 1x2xx: Clutch function . . . . . . . . 8-29
8.7.5.4 Configurations 1x3xx: Switch points
(cam switching) . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-30
8.7.5.5 Configurations 1x8xx: Mark-controlled correction
of the master value . . . . . . . . . . . . . . . . . . . . . . . . 8-31
8.7.5.6 Configurations 1x9xx: Mark-controlled correction
of the actual value . . . . . . . . . . . . . . . . . . . . . . . . . 8-31
8.8 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-32
8.8.1 Reactions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-32
8.8.2 Monitoring functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-34
8.8.3 Fault indication via digital output . . . . . . . . . . . . . . . . . . . . . . . 8-36
10 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
BA9300KS1198 iii
Contents
11 Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
11.1 Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
11.2 Code table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
11.3 Selection list for signal connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-37
11.4 Motor selection list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-41
11.5 Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-44
11.6 Table of keywords . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-45
iv BA9300KS1198
Preface and general information
BA9300KS1198 1-1
Preface and general information
1-2 BA9300KS1198
Safety information
2 Safety information
1. General 4. Erection
During operation, drive controllers may have, according to their The devices must be erected and cooled according to the
type of protection, live, bare, in some cases also movable or regulations of the corresponding documentation.
rotating parts as well as hot surfaces. The drive controllers must be protected from inappropriate loads.
Non-authorized removal of the required cover, inappropriate use, Particularly during transport and handling, components must not
incorrect installation or operation, creates the risk of severe injury be bent and/or isolating distances must not be changed. Touching
to persons or damage to material assets. of electronic components and contacts must be avoided.
Further information can be obtained from the documentation. Drive controllers contain electrostatically sensitive components
All operations concerning transport, installation, and which can easily be damaged by inappropriate handling. Electrical
commissioning as well as maintenance must be carried out by components must not be damaged or destroyed mechanically
qualified, skilled personnel (IEC 364 and CENELEC HD 384 or (health risks are possible!).
DIN VDE 0100 and IEC report 664 or DIN VDE 0110 and national 5. Electrical connection
regulations for the prevention of accidents must be observed). When working on live drive controllers, the valid national
According to this basic safety information qualified skilled regulations for the prevention of accidents (e.g. VBG 4) must be
personnel are persons who are familiar with the erection, observed.
assembly, commissioning, and operation of the product and who The electrical installation must be carried out according to the
have the qualifications necessary for their occupation. appropriate regulations (e.g. cable cross-sections, fuses, PE
2. Application as directed connection). More detailed information is included in the
Drive controllers are components which are designed for documentation.
installation in electrical systems or machinery. Notes concerning the installation in compliance with EMC - such
When installing in machines, commissioning of the drive as screening, grounding, arrangement of filters and laying of
controllers (i.e. the starting of operation as directed) is prohibited cables - are included in the documentation of the drive
until it is proven that the machine corresponds to the regulations controllers. These notes must also be observed in all cases for
of the EC Directive 89/392/EEC (Machinery Directive); EN 60204 drive controllers with the CE mark. The compliance with the
must be observed. required limit values demanded by the EMC legislation is the
Commissioning (i.e. starting of operation as directed) is only responsibility of the manufacturer of the system or machine.
allowed when there is compliance with the EMC Directive 6. Operation
(89/336/EEC). Systems where drive controllers are installed must be equipped,
The drive controllers meet the requirements of the Low Voltage if necessary, with additional monitoring and protective devices
Directive 73/23/EEC. The standards of the EN 50178/ DIN VDE according to the valid safety regulations, e.g. law on technical
0160, EN 60439-1/DIN VDE 0660 part 500 and EN60146/DIN tools, regulations for the prevention of accidents, etc.
VDE 0558 are applicable to drive controllers. Modifications of the drive controllers by the operating software
The technical data and information on the connection conditions are allowed.
must be obtained from the nameplate and the documentation and After disconnecting the drive controllers from the supply voltage,
must be observed in all cases. live parts of the controller and power connections must not be
3. Transport, storage touched immediately, because of possibly charged capacitors. For
Notes on transport, storage and appropriate handling must be this, observe the corresponding labels on the drive controllers.
observed. During operation, all covers and doors must be closed.
Climatic conditions must be observed according to prEN 50178. 7. Maintenance and servicing
The manufacturers documentation must be observed.
This safety information must be kept!
The product-specific safety and application notes in these Operating Instructions must also be observed!
BA9300KS1198 2-1
Safety information
Signal word
Notes
2-2 BA9300KS1198
Technical Data
3 Technical data
3.1 Features
- Several profiles can be stored
- Cam switch function
- Stretching/compression/offset in X and Y direction
- Virtual master
- Clutch replacement / overload clutch
- Welding bar control
- Integrated oscilloscope function
- Power range: 370 W to 75 kW
- Uniform control module and thus uniform connection for the control cables
over the complete power range.
- Heat sink can be separated
- Cooling is possible outside the control cabinet
(push-through technique or cold plate technique)
- Direct connection of resolver or encoder feedback
- Easy connection because of prefabricated system cables (accessories)
- Connecting cables can be plugged
- Integrated angular controller for driftfree standstill
- Digital synchronization system via digital frequency
- Setpoint transmission without offset and gain errors
- Synchronization of speed and rotor position
- Homing function
- User configuration for control functions and input and output signals
- Comprehensive function block library
- High flexibility in the adaptation to the internal control structure of the
application
- Integrated automation interface
- Easy extension of the controller functionality
- System bus for the connection of servo inverters and for the extension of
input and output terminals
- Approval of standard devices UL 508, File No. 132659 (listed)
- Approval 9371 BB (BAE) UL 508, File No. 132659 (listed)
BA9300KS1198 3-1
Technical Data
3-2 BA9300KS1198
Technical Data
1) The currents apply to a periodical load cycle with 1 minute overcurrent with the current mentioned here and 2
minutes base load with 75% Irx
2) When operated under rated load, the controller can supply this power additionally.
* Chopping frequency of the inverter (C0018)
BA9300KS1198 3-3
Technical Data
1) The currents apply to a periodical load cycle with 10 seconds overcurrent with the current mentioned here and
50 seconds base load with 44 % Irx
Main point for Settings under Thermal Max. current phase Recovery phase
individual code C0022 continuous
situations current
Continuous power Imax % 150 % IrX 100 % IrX 150 % IrX for 60 s 75 % IrX for 120 s
Peak power Imax > 150 % IrX 70 % IrX 200 % IrX for 10 s 44 % IrX for 50 s
2) This output current IrX is only valid for a motor current adjustable under C022, which has not exceeded 150%
rated current (nameplate).
If the maximum current is increased to a value higher than this, the continuous current is automatically reduced
to 70% of the original value.
Overcurrent diagram, see chapter 8.8.2
For all other data see chapter 3.3.1
Note!
The change to Imax > 150% IrX is only possible when the controller is inhibited.
3-4 BA9300KS1198
Technical Data
1) The currents apply to a periodical load cycle with 1 minute overcurrent with the current mentioned here and 2
minutes base load with 75% Irx .
2) When operated under rated load, the controller can supply this power additionally.
* Chopper frequency of the inverter (C0018)
BA9300KS1198 3-5
Technical Data
Note!
UL-approved fuses and fuse holders can be obtained from, e.g. Bussmann or
Ferraz.
3-6 BA9300KS1198
Technical Data
The mains filters for RFI degree B contain additional RFI suppression components.
3.4 Dimensions
The dimensions of the controllers depend on the mechanical installation
(see chapter 4.1).
BA9300KS1198 3-7
Technical Data
3-8 BA9300KS1198
Installation
4 Installation
BA9300KS1198 4-1
Installation
A B C
FIG 4-1 Dimensions for assembly with fixing rails/fixing brackets
Type Fig. a b b1 c c1 d d1 e* e1 g k m
9321, 9322 A 78 384 350 39 - 365 - 250 230 6.5 30 -
9323, 9324 A 97 384 350 48.5 - 365 - 250 230 6.5 30 -
9325, 9326 B 135 384 350 21.5 92 365 - 250 230 6.5 30 -
9327 - 9329 C 250 402 350 22 206 370 24 250 230 6.5 24 11
9330 C 340 672 591 28.5 283 624 38 285 265 11 28 18
9331,9332 C 450 748.5 680 30.5 389 702 38 285 265 11 28 18
4-2 BA9300KS1198
Installation
BA9300KS1198 4-3
Installation
Lenze
d1
d b1 b
d1
g
c f
c1 e
a
FIG 4-2 Dimensions for the assembly with thermally separated power stage
Type a b b1 c c1 d d1 e* f g
9321, 9322 112.5 385.5 350 60 95.5 365.5 105.5 250 92 6.5
9323, 9324 131.5 385.5 350 79 114.5 365.5 105.5 250 92 6.5
9325, 9226 135 385.5 350 117 137.5 365.5 105.5 250 92 6.5
Assembly cut-out
All dimensions in mm
4-4 BA9300KS1198
Installation
b1 d b b1 d b b1 d b
g g c2
c g e
a c c
a a
FIG 4-3 Dimensions of 9321 ... 9326 for the assembly with cold plate technique
Type a b b1 c c1 d e* g
9321
78 381 350 48 - 367 168 6.5
9322
9323
97 381 350 67 - 367 168 6.5
9324
9325
135 381 350 105 38 367 168 6.5
9326
BA9300KS1198 4-5
Installation
L
*)
b1
b
d
c e
c1
a
a1
FIG 4-4 Dimensions of 9327 und 9328 for the assembly with cold plate technique
Type a a1 b b1 c c1 d e* g
9327
234 250 381 350 110 220 367 171 6.5
9328
4-6 BA9300KS1198
Installation
BA9300KS1198 4-7
Installation
Danger!
All power terminals carry voltage up to 3 minutes after mains disconnection.
Definition In the following text RCCB is used for residual-current circuit breaker.
Protection of DIN VDE 0100 with residual-current operated protective devices (RCCB):
persons and - The controllers are internally equipped with a mains rectifier. If a short-circuit to frame occurs, a smooth DC
animals residual current can block the activation of the DC sensitive or pulse-current sensitive RCCBs and thus
destroy the protective function for all units connected. We therefore recommend:
- pulse-current sensitive RCCB in systems with 820X controllers (L1/N).
- all-current sensitive RCCB in systems with 93XX/821X/822X/824X controllers (L1/L2/L3).
Rated residual Please observe the rated residual current for the selection of the RCCB.
current The RCCB can be activated unnecessarily by
- capacitive leakage currents between cable screens (especially with long screened motor cables),
- simultaneous connection of several inverters to the mains
- application of RFI filters.
Installation The RCCB must only be installed between the supplying mains and the controller.
Note for the use of - All-current sensitive RCCBs are described for the first time in the European Standard EN 50178 (October
all-current 1997). The EN 50178 has been harmonized and has been effective since October 1997. This standard
sensitive RCCBs: replaces the national standard VDE 0160. All-current sensitive RCCBs are also described in IEC 755.
- RCCBs with a rated residual current of
- 30 mA are only suitable for system with 820X controllers.
- 300 mA are only suitable for systems with 93XX/821X/822X/824X controllers.
Mains isolation / All control inputs and outputs of the controllers are mains isolated. For protection against contact please
protection against observe the information given on the following page.
contact
Replacement of Replace defective fuses with the prescribed type only when no voltage is applied.
defective fuses - For single drives, the controller carries a hazardous voltage up to three minutes after mains disconnection.
- In DC-bus connection all controller must be inhibited and separated from the mains.
Mains Make a safety disconnection between the controller and the mains only via a contactor at the input side.
disconnection - Please observe, that all drives connected to the DC-bus must be inhibited.
4-8 BA9300KS1198
Installation
Insulation
The controllers have an electrical isolation (insulating distance)between the power
terminals and the control terminals as well as to the housing:
- Terminals X1 and X5 have a double basic isolation (double insulating
distance, safe mains isolation to VDE0160, EN50178). The protection
against contact is ensured without any further measures.
Danger!
- Terminals X3, X4, X6, X7, X8, X9, X10 have a single basic isolation (single
insulating distance).
- Protection against contact in the event of fault is ensured only by additional
measures.
- If an external voltage supply (24 V DC) is used, the controller insulation
depends on the insulation of the voltage source.
reinforced insulation
single basic isolation
BA9300KS1198 4-9
Installation
Stop!
The controllers contain electrostatically sensitive components.
- Prior to assembly and service operations, the personnel must be free of
electrostatic charge:
- Discharge by touching the PE fixing screw or another grounded metal part
in the control cabinet.
- Length of the screws for the connection to the screen cable/screen plate for
the types 9327 to 9332: < 12 mm
- Controller protection via external fuses (see chapter 3.3.4).
- Protect unused control inputs and outputs with plugs or covers (included in
the contents of delivery) for the Sub-D inputs.
- Frequent mains switching can overload the internal switch-on current
limitation. For cyclic mains switching, the controller can be switched on every
three minutes as a maximum.
- 9324, 9326 and 9328 controllers must only be operated with the appropriate
mains filter (see chapter 3.3.5).
- In case of condensation, connect the controller to the mains voltage only
after the visible humidity has evaporated.
Stop!
As standard Lenze three-phase AC motors are equipped with PTC thermistors.
If motors from other manufacturers are used, carry out all steps required for the
adaptation to the controller (see chapter 4.2.9).
- When using motors with insulation which is not suitable for inverter
operation:
- Please contact your motor supplier. Lenze AC motors are designed for
inverter operation.
- With the corresponding parameter setting, the controllers generate field
frequencies up to 600 Hz:
- With motors not suited for the application, dangerous overspeeds may
occur and destroy the drive.
4-10 BA9300KS1198
Installation
BA9300KS1198 4-11
Installation
+UG L1 L2 L3 -UG
L1 L2 L3 +UG -UG
PE PE
Correct screen connection with screened cables Correct screen connection with screened cables:
(required parts in the accessory kit): - Connect the screen with suitable clamp on the
- Screw sreen plate on fixing bracket . conducting control cabinet mounting plate.
- Fix screen using cable lugs. Do not use as a strain - To improve the screen connection: Connect the
relief! screen additionally to the stud next to the power
- To improve the screen connection: Connect screen connections.
additionally at the stud next to the power connections.
4-12 BA9300KS1198
Installation
- Connect the mains cables to the screw terminals L1, L2, L3.
- Connect cables for brake unit (935X), supply module (934X) or further
controllers in the DC bus connection to the screw terminals +UG, -UG at the
top of the controller.
- Max. permissible cable cross sections and tightening torques:
Terminals
Max. permissible
L1, L2, L3, + UG, -UG PE connection
Type cable cross-sections
9321 - 9326 4 mm2 1) 0.5 ... 0.6 Nm (4.4 ... 5.3 lbin) 3.4 Nm (30 lbin)
9327 - 9329 25 mm2 2) 4 Nm (35 lbin)
9330 - 9331 95 mm2 2) 7 Nm (62 lbin)
9332 120 mm2 2) 12 Nm (106.2 lbin)
Fuses
Fuses and cable cross-sections The specifications in chapter 3.3.4 are recommendations and refer to the
application
- in control cabinets and machines
- installation in the cable duct
- max. ambient temperature +40 C.
Selection of the cable For selection take into account the voltage drop when being loaded (to DIN
cross-section 18015 part 1: $ 3 %).
Connection of a brake unit If the unit is connected to the terminals +UG / -UG, the fuses and cross-
sections indicated in chapter 3.3.4 are not valid. These unit-specific data
can be obtained from the technical documentation for the brake unit.
Further information For protection of cables and controllers see chapter Accessories.
Further standards The compliance with other standards (e.g.: VDE 0113, VDE 0289, etc.)
remains in the responsibility of the user.
BA9300KS1198 4-13
Installation
Note!
Thescreening of themotor cables is only required to complywith existing standards
(e. g. VDE 0160, EN 50178).
Types 9327 to 9329
Correct screen connection with screened cables:
- Fix the screen of the motor cable and thermal
contact. Do not use as a strain relief!
- To improve the screen connection: Connect the
PE screen additionally to the stud PE next to the
T1 U V W
controller.
T2
4-14 BA9300KS1198
Installation
Type 9332
- Strain relief by using cable clamps and screws
PE M4x12 .
T1 - Additional strain relief/fixing can be achieved
U V W by using cable binders .
T2 - Correct screen connection with screened
cables:
M4 X 12 - Apply motor cable screen to the screening
plate using clamp and screws M5x12 .
- Connect thermal contact screen to the stud PE
M5 X 12
next to the motor connection over a large
surface.
BA9300KS1198 4-15
Installation
Note!
Switching on the motor side of the controller is permitted for safety switch-off only.
Stop!
- Design the circuit so that, if the temperature monitoring of the brake unit is
activated,
- the controllers are inhibited (X5/28 = LOW).
- the mains is disconnected.
Example, see chapter 4.3 or FIG 4-8.
4-16 BA9300KS1198
Installation
R B Z 1 Z 2
K 1
F 7 F 8 F 9 F 1 0
R B 1 R B 2 P E + U G -U G L 1 L 2 L 3 P E + U G -U G L 1 L 2 L 3 P E + U G -U G
9 3 5 2 9 3 2 X - 9 3 3 X 9 3 2 X - 9 3 3 X
Z 3
U V W P E P E P E U V W P E
2 8 A 4 2 8 A 4
K 1 K 1
X 1 X 2
R F R R F R
M M
P E 3 ~ P E 3 ~
K35.0113
Stop!
- Set the DC bus voltage thresholds of controller and brake unit to the same
values.
- Controller using C0173
- Brake unit with switches S1 and S2
- For current monitoring of the mains supply use a bimetal relay.
Note!
Observe the information given in Part F of the Manual and the application report
DC bus connection for selection and rating of the components.
BA9300KS1198 4-17
Installation
F 1 F 2 F 3 F 1 F 2 F 3
Z 1
Z 1
F 4 F 5 F 6 F 7 F 8 F 9
L 1 L 2 L 3 P E + U G -U G L 1 L 2 L 3 P E + U G -U G L 1 L 2 L 3 P E + U G -U G
9 3 4 1 - 9 3 4 3 9 3 2 X - 9 3 3 X 9 3 2 X - 9 3 3 X
Z 2
P E U V W P E U V W
M M
P E 3 ~ P E 3 ~
Note!
If the power supply of the supply module is not high enough, a parallel supply can
be installed via the mains input of other controllers (see Manual, Part F). Use the
appropriate mains filter for controller operation (min. limit value class A).
4-18 BA9300KS1198
Installation
Overview
GND LO HI
X4
59 ST ST A4 A3 A2 A1
39 E5 E4 E3 E2 E1 28
X5
63 7 4 3
62 7 2 1
X6
K35.0115
BA9300KS1198 4-19
Installation
Note!
If necessary, remove the plug-on module to change the jumper.
4-20 BA9300KS1198
Installation
100k
100k
242R
GND1 GND1 U U
3,3nF
GND1
X6 1 2 3 4 7 X6 7 62 63
= =
+ +
100k
242R
93XX
GND1 - by direct connection of the terminal (s) X6/2, X6/4 and X6/7 to
GND1 and PE (see figure).
3,3nF
X6 1 2 3 4 7
= =
+ +
100k
93XX
X3 Note!
Use one of the predefined configurations in C0005 for this
100k
100k
242R
GND1 GND1 U U application. With C0005 = XX1X (e.g. 1010 for speed control with
control via terminals) FIXED100% is automatically assigned to the
3,3nF
GND1
output X6/63 (corresponds to 10 V at the output X6/63).
X6 1 2 3 4 7 X6 7 62 63
10k
10k
BA9300KS1198 4-21
Installation
Digital signals are connected via the 2 x 7-pole terminal block X5.
The levels of the digital inputs and outputs are PLC compatible.
Use relays with low-current contacts for switching the signal cables
(recommendation: relays with gold contacts).
=
93XX
supply for the control electronics (backup operation in the event
22k 10R
of mains failure):
Processor
board - For this, make the connection illustrated as a broken line.
- The external voltage source must be able to drive a
50mA
50mA
50mA
50mA
3k
3k
3k
3k
3k
3k
3k
current > 1 A.
This ensures that all actual values, even after mains
X5 28 E1 E2 E3 E4 E5 39 A1 A2 A3 A4 59
GND 2 disconnection, are still detected and processed.
- Connection of the external voltage source:
R L _
Ctrl.
= - Supply voltage at X5/59
enable +
24V
- External mass at X5/39
QSP TRIP Imax
STOP!
JOG TRIP-
Set/Reset
The maximum permitted voltage difference between GND2
|nact| < nx RDY (terminal X5/39) and the PE of the controller is 50 V.
_
=
+
= 93XX
- For instance terminal X5/A1: Assign C0117/1 with FIXED1.24V
22k 10R are thus applied across terminal X5/A1.
Processor
board
Note!
50mA
50mA
50mA
50mA
3k
3k
3k
3k
3k
3k
3k
4-22 BA9300KS1198
Installation
Note!
Useprefabricated Lenzecables for theconnection to thedigitalfrequencyinput (X9)
or digital frequency output (X10). Otherwise, use cables with twisted pairs and
screened wires (A, A / B, B / Z, Z ) (see connection diagram).
M a s te r S la v e
X 1 0 X 9
B B m m 2 A W G
1 1 F o r C W r o ta t io n
A 2 2 A 0 .1 4 2 6
A
A 3 3 A
A
4 4
B
G N D 5 5 G N D 0 .5 2 0
B
Z 6 6 Z
0 .1 4 2 6 Z
Z 7 7 Z
L a m p Z
e n a b le
8 8 c o n tro l 0 .5 2 0
B 9 9 B 0 .1 4 2 6
C a b le le n g t h m a x . 5 0 m
9 p o le S u b - D c o n n e c to r 9 p o le S u b - D m a le c o n n e c to r
BA9300KS1198 4-23
Installation
Stop!
Do not apply an external voltage to terminal X5/ST.
K 1
L 1
L 2
L 3
N
P E
O F F F 1 F 2 F 3 F 1 F 2 F 3 F 1 F 2 F 3
K 1
O N
Z 1 Z 1 Z 1
K 1
F 4 F 5 F 4 F 5 F 4 F 5
L 1 L 2 L 3 P E + U G -U G L 1 L 2 L 3 P E + U G -U G L 1 L 2 L 3 P E + U G -U G
9 3 X X - 9 3 X X 9 3 X X - 9 3 X X 9 3 X X - 9 3 X X
P E U V W S T 3 9 S T P E 2 8 P E U V W S T 3 9 S T P E 2 8 A 4 P E U V W 3 9 P E 2 8 A 4
A 4 S T S T
K 1 K 1 K 1
R F R R F R R F R
K35.0122
Note!
For more detailed information on the the STATE-BUS, application and
commissioning, see the Manual.
4-24 BA9300KS1198
Installation
K1
L1
L2
L3
N
PE
OFF F1 F2 F3 F1 F2 F3 F1 F2 F3
K1 Z1 Z1 Z1
ON
K1
RA1 RA2
K1 K1 K1
K35.0123
BA9300KS1198 4-25
Installation
Features:
- CAN-based with bus protocol according to CANopen
(CAL-based Communication Profile DS301)
- Bus expansion:
- 25 m for max. 1 Mbit/s baud rate
- up to 1 km with reduced baud rate
- Extremely reliable data transmission (hamming distance = 6)
- Signal level to ISO 11898
- Up to 63 bus devices are possible
- Access to all Lenze parameters
- Master functions integrated into the controller
- Data exchange possible between controllers without participation of a
master system (current ratio control, speed synchronization, etc.)
The following connections of the system bus connection are possible:
- Connection to a decentral terminal extension for digital and analog inputs
and outputs
- Connection to a superimposed control (PLC, decentral digital inputs and
outputs, keypad)
- Interconnection of several controllers
4-26 BA9300KS1198
Installation
Stop!
Do not connect an external voltage to the inputs.
BA9300KS1198 4-27
Installation
24 V
1
7,4k
5 X10 3,3k
MONIT-OH8
T1
PE
T1 U V W
PE
T1 T2 2,7k
T2
U V W
X6 7
T2
93xx
K350052
T1 T1
U V W U V W
T2 T2
FIG 4-13 Connection of a thermal sensor to the terminals T1 and T2 and internal connection
Note!
- The pre-cut Lenze system cables for Lenze servo motors provide the
cable for the temperature feedback. The cables are designed for wiring
according to EMC.
- If you use cables of your own:
- Lay cables separated from the motor cables.
4-28 BA9300KS1198
Installation
BA9300KS1198 4-29
Installation
Note!
Use prefabricated Lenze system cables for resolver connection.
Features:
- 2-pole resolver (V = 10 V, f = 4 kHz)
- Resolver and resolver cable are monitored for open circuit (fault indication
Sd2)
C a b le le n g th m a x . 5 0 m X 7
R e s o lv e r + R E F m m 2 A W G
1
-R E F 0 .5 2 0
2
3
+ C O S
4
-C O S
5
+ S IN
6 0 .1 4 2 6
-S IN
7
+ P T C
8
-P T C
9
P T C
9 p o le S u b - D fe m a le c o n n e c to r
4-30 BA9300KS1198
Installation
Note!
Use prefabricated Lenze system cables for encoder connection.
- The encoder supply voltage VCC5_E can be adjusted in the range from 5 V to
8 V under C0421
- to set the encoder supply
- to compensate the voltage drop on the encoder cable, if necessary
DV 2 * cable length * resistance/m * Iencoder
Stop!
Observe the connection voltage of the encoder system used. If C0421 is set too
high, the encoder can be destroyed.
C a b le le n g th m a x . 5 0 m X 8
S IN
R e fS IN B R e fS IN = 2 ,5 V
0 ,5 V
S IN B m m 2 A W G
1
R e fC O S A C O S
2 0 .1 4 2 6
C O S A R e fC O S = 2 ,5 V
3 0 ,5 V
V c c V C C 5 _ E
4
G N D G N D 1 .0 1 7
5 F o r C W r o ta t io n
Z / - 4 8 5 Z
E n c o d e r
6 A
Z / + 4 8 5 Z
7 A
+ K T Y + K T Y 0 .1 4 2 6
8 B
K T Y -K T Y -K T Y
9 B
Z
9 p o le S u b - D m a le c o n n e c to r Z
BA9300KS1198 4-31
Installation
Incremental encoder
Features:
- Incremental encoders with two 5 V complementary signals shifted by 90
(TTL encoder) can be connected.
- The zero track can be connected (as option).
- 9-pole Sub-D female connector
- Input frequency: 0 - 500 kHz
- Current consumption per channel: 6 mA
Assignment of the male connector (X8)
Pin 1 2 3 4 5 6 7 8 9
Signal B A A VCC5_E GND (-PTC) Z Z +PTC B
Sin/cos encoder
Features:
- The following encoders can be connected
- sin/cos encoders with a rated voltage from 5 V to 8 V.
- sin/cos encoders with a communication interface, type Stegmann
SCS/M70xxx
(The initialization time of the controller is increased to approx. 2 seconds).
- 9-pole Sub-D female connector
- Internal resistance Ri = 221 W
- Voltage sine and cosine track: 1 Vss p0.2 V
- Voltage RefSIN and RefCOS: +2.5 V
Note!
For drives with track indications assign: sine, sine and cosine, cosine:
RefSIN with sine and RefCOS with cosine.
4-32 BA9300KS1198
Installation
BA9300KS1198 4-33
Installation
4-34 BA9300KS1198
Installation
L1
L2
L3
N
PE
F1 ... F3
K1
OFF
Z1
K1
PES PES ON
PES
PES
F4 F5
L1 L2 L3 PE +UG -UG -UG +UG PE T1 T2
K1
932X - 933X
RB
9351
U V W PE X7 1 2 3 4 7 7 62 63 28 E1 E2 E3 E4 E5 39 A1 A2 A3 A4 59 Z2
PES PES PES PES
PES
-X1 K1
+ +
PES RFR
PE M PE
3~ R
K35.0124
FIG 4-16 Example for wiring in accordance with the EMC regulations:
BA9300KS1198 4-35
Installation
4-36 BA9300KS1198
Commissioning
5 Commissioning
Note!
The signal flow for configuration 10000 is shown in the chapter Configuration
(see chapter 5.8).
Note!
- Use a PC with the Lenze program Global Drive Control (GDC) under
Windows for commissioning. The convenient menus include the codes for
the most important settings.
- A communication module type 2102 RS232, RS485, optical fibre (Lecom
A/B) is required to run the GDC. As alternative you can also use a system
bus module (2173) as from GDC version 3.0.
- GDC and the communication module are not included in the delivery
package of the controller.
- The Electronic cam profiler requires
GDC version 3.6.
BA9300KS1198 5-1
Commissioning
j
r
j r
r1
j1 r1
j2 r2
jn /rn
j1
jn rn
/
+]
5-2 BA9300KS1198
Commissioning
The following table lists the procedure for commissioning according to the example
in FIG 5-1.
A detailed description of the commissioning can be obtained from the following
chapters.
Section Action detailed
description in
Switch on 1.Assign terminal X5/28 (controller enable) to a LOW signal. Chapter 5.3
controller 2.Apply digital terminal signals
3.Apply analog input signals
4.Switch on mains:
- The controller is ready for operation after approx. 1s.
(2 s for drives with sin/cos encoders with serial interface).
Switch on PC Start GDC on the PC Chapter 5.4
- Set the communication parameters for on-line operation in the Momentary drive dialog
box. Confirm with OK.
- Select the controller in the Assign controller description dialog box. Confirm with OK.
Generate 1.Adapt controller to the mains Chapter 5.5.1
parameter
t sett 2.Adapt controller to the motor Chapter 5.5.2
3.Enter machine parameters Chapter 5.5.3
Basic cam data 1.Determine the number of profiles required. Chapter 5.6
2.Enter all required data for cam profiles selected.
Cam profile 1.Open the dialog Cam profile import Chapter 5.7
generation 2.Import the cam profile data and transfer them to the controller
3.Copy the transferred data to the active data set.
Basic 1.Load the basic configuration Replacement of a mechanical cam via the code C0005 = Chapter 5.8
configuration 10000. Use the codes listed in the table in chapter 5.8 to adapt the drive to your
application.
2.Store the data in the controller.
BA9300KS1198 5-3
Commissioning
3. Analog inputs:
X6/E1 and X6/E2: not assigned
4. Switch on mains:
- The controller is ready for operation after approx. 1 s.
(2 s for drives with sin/cos encoders with serial interface).
5. Check whether the controller is ready for operation:
- If the green LED is flashing:
Controller is ready for operation.
- When green LED is off and red LED is blinking:
There is a fault. Before proceeding with commissioning, eliminate the fault
(see chapter 9 Troubleshooting and fault elimination).
6. For operation with a fieldbus, module additional settings are necessary
(see Operating Instructions for the fieldbus module used).
5-4 BA9300KS1198
Commissioning
Warning!
Do not change any controller settings not mentioned in this chapter.
BA9300KS1198 5-5
Commissioning
2
3
4
5
grundein
For motors with a resolver, use the eight-digit designation from the motor
nameplate encoder (as option).
5-6 BA9300KS1198
Commissioning
- For this, change to the parameter menu (see button FIG 5-3) and select the
Motor/feedback system menu.
3DUDPHWHU PHQX
0RWRU)HHGEDFN V\VWHPV
0RWRU DGMXVWPHQW
)HHGEDFN V\VWHPV
FIG 5-3 How to find the menus Motor setting and Feedback systems
BA9300KS1198 5-7
Commissioning
1
2
3
4
5
6
7
Note!
For a detailed example with terminology see chapter 8.5.
5-8 BA9300KS1198
Commissioning
3 4 5 grunddat
Motion range
Y upper range value
BA9300KS1198 5-9
Commissioning
- Depending on the data model selected and the number of profiles, different
numbers of points are available:
Data model Number of points available per profile*)
Relative model 256
Absolute model 64
5-10 BA9300KS1198
Commissioning
5.7.1 General
Our example shows how to replace the mechanical cam by the LENZE technology
variant electronic cam. The external dimension of the mechanical cam must be
numerically described by value pairs. These values must then be stored in the
controller.
The source data for the numerical description of the cam profile can be generated
in two ways from already existing data:
- Cam profile import
- Mathematical cam profile generation
For this commissioning, cam profile import has been selected, i.e. the source
data can be obtained, for instance, from an already existing ASCII file. The file must
contain X/Y value pairs.
(For the description of the mathematical cam profile generation, see chapter 8.6
and the Manual).
All commissioning steps, including parameter setting, are carried out using the
operation and parameter setting program Global Drive Control (GDC).
Note!
Please store all settings for the controller via C0003 to protect them from being lost
in the event of mains failure.
BA9300KS1198 5-11
Commissioning
11
10
7
8
6
1 9
3 2
4
5
Kurv_imp
Commissioning procedure
1 A name for a file to be imported can be entered directly or...
2 ..selected from a disk by using the button Open.
3 After the selection of a file, a number of details about the data read in is indicated in the middle left
screen area.
Indicated are the value pairs (points) and
4 the minimum values in X and Y direction
5 as well as the maximum values in X and Y direction.
6 Select the target profile for the imported data in the upper screen area.
7 The data are transferred to the controller.
8 After data transmission, they must be accepted for the active data range of the controller (button
Accept data). To do this, connect the signal CDATA-LOAD (C1322/7) temporarily to FIXED1; reset to
FIXED0 afterwards.
9 The converted data can be stored on a data medium by pressing the button Save
10 The button Display profile leads to the corresponding program dialog.
(See on-line help)
11 The button Check profile starts the calculation of the profile characteristic and checks whether the
required conditions are met.
5-12 BA9300KS1198
5.8
X 9 X 1 0
X 5
x +
X 5 C 0 4 7 2 /1
C 1 4 7 6 /1
C tr l e n a b le 2 8 C 1 4 7 6 /1 6
C 1 3 0 0 -C 1 3 1 7 S tr e tc h in g Y - a x is A 1 T r ip
(C D A T A ) x +
A 2 C o n to u r in g e r r o r
E v e n t p r o file E 1
C 1 4 7 7 /1
A 3 R D Y
P ro file * 1 E 2 P r o file s e le c tio n
C 4 7 2 /9 (Y S E T 1 )
A 4 W a r n in g
P ro file * 2 E 3 C 1 4 2 0
P ro file * 3 E 4 (C S E L 1 )
T r ip -R e s e t / E 5
P ro file
a c c e p ta n c e X 6
1 C o n to u r in g e r r o r
N
X 6
6 2
2 a c t
P r o file c o n tr o l 6 3
M a c t
3 C 1 4 7 7 /2 C 1 3 8 0 /1 ,2
7 G N D
x
4 C 0 4 7 2 /4 (C E R R 1 )
x
C 0 4 7 2 /2
7 C 0 4 7 2 /3
G N D (C C T R L )
C 4 7 2 /9 M o to r c o n tro l
Commissioning
X 7 (-1 )
C 0 0
C 0 0
0 6 ,
2 2 ,
C 0 0
C 0 0
1 1 ,
7 0 ,
C 0 0 7 1 , C 0 0 8 6 ,
R e s o lv e r C 0 1 0 5 , C 0 2 5 4
(M C T R L )
X 8 C 0 4 2 0 C 0 0 2 5
E n c o d e r C 0 4 9 0
C 0 4 9 5
BA9300KS1198
K10000_0
5-13
Commissioning
Code Description
C0005= 10000 The configuration C0005= 10000 allows an electronical solution for the requirements of a
mechanical cam. In additional, functions like stretching / compression / phase trimming in X
and Y direction are offered.
- Master value
C0425 Encoder constant of the master value
- Cam data
C1300-C1317 The cam profile data are determined by the generation of this data and do not need to be
changed separately.
C1420 Determines, which profile is processed when the event input (digital input E1 = LOW level) is
activated.
- Contouring error evaluation
C1380/1 and Determine the comparison window and hysteresis for the contouring error evaluation.
C1380/2
- Adjustment
C0472/2 Speed precontrol influence
C0472/3 Influence torque precontrol
C1477/2 Contouring error limit (in s_units)
C0472/4 Reduction factor for contouring error warning;
warning limit C0472/4 x C1477/2
- Cam profile influence
C0472/1 Stretching/compression X-axis (100% = no stretching / compression)
5-14 BA9300KS1198
During operation
6 During operation
BA9300KS1198 6-1
During operation
1 Type of fault
2 Actual speed
3 Actual motor voltage
4 Actual motor current
5 Motor torque
6 DC bus voltage
7 Heat sink temperature
8 Motor temperature
9 Controller load
10 Reset fault
11 Time when the supply voltage was applied
12 Time when the controller was enabled
13 Actual fault with time and frequency of the fault
14 Fault history with time and frequency of the fault
15 Reset history buffer
6-2 BA9300KS1198
During operation
6WRS
BA9300KS1198 6-3
During operation
IM o to r
I0 x
K < 4 0 C 1 ,5 * IN = Im a t 8 k H z
1 ,5 * I0
8 a x
8
C
6 0
K =
1 ,2 5 * I0 8
C
0
> 8 1 ,5 * IN = Im a t 1 6 k H z
K 8 a x
I0 8
IN 1 6 = c h a n g e o v e r to 8 k H z
I0 1 6 a t C 0 0 1 8 = 0
0 5 |fd| [H z ]
K35.0129
6-4 BA9300KS1198
Parameter setting
7 Parameter setting
- The parameter setting of the controller is used to adapt the drive to your
applications.
- The complete parameter set is organised in codes which are consecutively
numbered and begin with C.
(See Code table, chapter 11.2).
- You can save the parameter set of an application.
- One parameter set is available.
- The parameter sets are factory-set when delivered.
BA9300KS1198 7-1
Parameter setting
7-2 BA9300KS1198
Configuration
8 Configuration
Every practical application demands certain application-specific configurations
(programs).
For this, function blocks are available which can be connected properly for the
corresponding application. The function blocks are connected via codes
(see chapter 8.3).
Note!
If the signal flow for the basic configuration is changed, e.g. by adding function
blocks, C0005 is set to 0. The message COMMON is displayed.
If only the assignment of the control inputs and outputs is changed, C0005 remains
the same. Code C0464 indicates an indentification.
BA9300KS1198 8-1
Configuration
8.2.2 Control
The controllers are controlled via terminals (X5 and X6), the fieldbus module at X1
or the system bus (X4) (see chapter 8.2.1). Mixed modes are also possible.
Note!
C0005 contains predefined configurations which allow a very easy change of the
operating mode (see Manual).
8-2 BA9300KS1198
Configuration
- Symbol: a
- Unit: rpm
- Abbreviation: phd
- Resolution: 16 bit
- Phase signals
- Symbol: ?
- Unit: Increments
- Abbreviation: ph
- Resolution: 32 bit
Only the same types of signals can be connected. Thus, the analog output signal
of onefunction block can only beconnected to the analog input of the other function
block. If you try to connect two different signal types, the connection is rejected.
Note!
A detailed description of all function blocks can be obtained from the Manual.
BA9300KS1198 8-3
Configuration
C1101/2 FCNT1-CMP-VAL
C1103/2
Name of the FB
Identifies the FB unambigeously. FBs with the same function are distinguished by
a number behind their names.
Every FB is defined by a selection number. The input of the selection number into
the processing table (see chapter 8.3.4)is always required for the calcuation of the
FB. The selection numbers are listed in selection list 5 (see chapter 11.3).
Example:
(FCNT1, see FIG 8-1)
- FCNT1 selection number 6400 (selection list 5).
Input symbol
Designates the signal type which is allowed for this output as signal source
(see chapter 8.3.1).
Note!
Inputs, which are not linked, cannot be configured.
Input name
Consists of the FB name and a designation. Inputs with the function are
distinguished by a number behind their designation.
8-4 BA9300KS1198
Configuration
Configuration code
Configures the input with a signal source (e.g. terminal signal, control code, output
of a FB, ). Inputs with identical codes are distinguished by the subcode. The
subcode is attached to the code (Cxxxx/1).These codes are configured by their
subcodes.
It is not possible to connect an input with several signal sources.
Display code
Displays the current input value. Inputs with identical codes aredistinguished bythe
subcode. The subcode is attached to the code (Cxxxx/1). These codes are
displayed via their subcodes.
Display codes cannot be processed.
Function
Represents the mathematical function as a block diagram. FIG 8-1
Output symbol
Designates the signal type. Connections with inputs of the same signal type are
possible (see chapter 8.3.1).
Every output is defined by a selection number. The selection numbers are divided
into selection lists (1 ... 4) accordint to the different signal types (see chapter 11.3).
An output is linked to an input by the selection numbers.
Example:
(FCNT1, see FIG 8-1)
- FCNT1-OUT selection number 6400 (analog signal, selection list 1).
- FCNT1-EQUAL selection number 6400 (dgitial signal, selection list 2).
Note!
Outputs, which are not linked, cannot be configured.
Output name
Consists of the FB name and a designation. Outputs with the same function are
distinguished by a number behind their designation.
BA9300KS1198 8-5
Configuration
General rules
- Assign a signal source to an input.
- One input can have only one signal source.
- Inputs of different function blocks can have the same signal source.
- You can connect only the same types of signals.
Stop!
Existing connections which are not desired must be removed by reconfiguration.
Otherwise, the drive cannot perform the desired function.
Note!
For visualisation use the parameter setting and operating program GDC.
C0830/1
OR1-IN1 OR1 X C0720
C0721
DIGDEL1
C0831/1
OR1-IN2 |1 DIGDEL1-IN
OR1-OUT DIGDEL1-OUT
C0830/2 C0723
C0724 0 t
C0831/2
OR1-IN3
C0830/3
C0831/3
Possible connection
Connection not possible
8-6 BA9300KS1198
Configuration
Basic procedure
1. Select the configuration code of the function block input which is to be
changed.
2. Determine the source of the input signal for the selected input (e.g. from
the output of another function block).
3. The function block input is assigned via a menu which contains only
those signal sources which are of the same type as the function block
input to be assigned.
4. Select and confirm the signal source.
5. Remove undesired connections, if any.
- For this, select the corresponding signal assignment of the input via the
configuration code (e.g. FIXED 0, FIXED 1, FIXED 0%, ...).
6. Repeat 1. to 5. until the desired configuration is set.
7. Save modified configuration in the desired parameter set.
Example
- Condition:
- Factory setting
- Task:
- Square the analog signal of X6/3, X6/4 and output to X6/62.
- Solution:
- You need the function blocks AIN2, ARIT2 and AOUT2.
AIN2
3
4
+
+
AIN2-OUT
C0601/1
ARIT2-IN1 C0600
200% ARIT2
C434/1 AOUT1
x
C0026/2 C0407
AIN2-OFFSET C0602/1
y + - * ARIT2-OUT
C0431
AOUT1-IN +
62
C0409/1 ARIT2-IN2
/ x/(1-y) AOUT1-GAIN +
C0108/1 C0433
C0601/2
AIN2-GAIN
C0027/2 C0408 C0434/3
C0602/2
C0409/2 AOUT1-OFFSET
C0109/1 C0432
C0434/2
BA9300KS1198 8-7
Configuration
Make connections
1. Determine the signal source for ARIT2-IN1:
- Change to the code level using the arrow keys
- Selec C0601/1 using ? or +.
- Change to the parameter level using PRG.
- Select output AIN2/OUT (selection number 55) using ? or +
- Confirm using SH + PRG
- Change to the code level again using PRG.
2. Determine signal source for ARIT2-IN2:
- Select C0601/2 using ?.
- Change to the parameter level using PRG.
- Select output AIN2/OUT (selection number 55) using ? or +.
- Confirm using SH + PRG
- Change to the code level again using PRG.
3. Parameterise ARIT2:
- Select C0600 using +.
- Change to the parameter level using PRG.
- Select multiplication (selection number 3).
- Confirm using SH + PRG
- Change to the code level again using PRG.
4. Determine signal source for AOUT1:
- Select C0431 using +.
- Change to the parameter level using PRG.
- Select output ARIT2-OUT (selection number 5505).
- Confirm using SH + PRG
- Change to the code level again using PRG.
5. Enter function block ARIT2 in the processing table:
- Select C0465 and subcode 8 using ? .
- Change to the parameter level using PRG.
- Enter function block ARIT2 (selection number 5505).
- Confirm using SH + PRG
- Change to the code level again using PRG.
- The sequence of the FB processing is thus determined.
8-8 BA9300KS1198
Configuration
Remove connections
- Since a source can have several targets, there may be further signal
connections, which may not be wanted.
- Example:
- In the factory setting of the basic configuration C0005 = 1000 (speed
control), ASW1-IN1 and AIN2-OUT are connected.
- This connection is not automatically removed by the settings described
above! If you do not want this connection, it must be removed.
C0812/1 ASW1
ASW1-IN1 0
C0810/1 ASW1-OUT
ASW1-IN2 1 NSET-NADD
FIXED0% C0810/2
C0812/2
ASW1-SET
FIXED0 C0811
C0813
AIN2
3 + AIN2-OUT
C0601/1
ARIT2-IN1 C0600
200% ARIT2
C434/1 AOUT1
4 +
AIN2-OFFSET x
C0026/2 C0407
C0602/1
y + - * ARIT2-OUT
C0431
AOUT1-IN +
62
C0409/1 ARIT2-IN2
/ x/(1-y) AOUT1-GAIN +
C0108/1 C0433
C0601/2
AIN2-GAIN
C0027/2 C0408 C0434/3
C0602/2
C0409/2 AOUT1-OFFSET
C0109/1 C0432
C0434/2
BA9300KS1198 8-9
Configuration
AND1-IN1 AND1
E1 DIGIN DIGIN1 C0820/1
E2 DIGIN2 C0821/1
C0114/1...5
& DIGOUT
E3 DIGIN3 AND1-IN2 AND1-OUT DIGOUT1
C0820/2 C0117/1
0 DIGOUT2 C0118/1...4 A1
E4 DIGIN4 C0117/2
1 C0821/2 DIGOUT3 A2
E5 DIGIN5 AND1-IN3 C0117/3 0
C0820/3 DIGOUT4 A3
C0117/4 1
C0443 C0821/3 A4
C0444/1
C0444/2
C0444/3
C0444/4
OR1-IN1 OR1
C0830/1
C0831/1
OR1-IN2 1 OR1-OUT
C0830/2
C0831/2
OR1-IN3
FIXED0 C0830/3
C0831/3
AND2-IN1 AND2
C0822/1
C0823/1
AND2-IN2 & AND2-OUT
C0822/2
C0823/2
AND2-IN3
FIXED1 C0822/3
C0823/3
8-10 BA9300KS1198
Configuration
Structure of the processing table for the configuration example FIG 8-5:
1. DIGIN does not have to entered into the processing table
2. The first FB is AND1, since it receives its input signals from DIGIN and
only has successors.
3. The second FB is OR1, since its signal source is the output of AND1
(predecessor). This means that the output signal in AND1 must be
generated first, before it can be processed in OR1. At the same time,
OR1 has a successor.This means that OR1 must be entered in the
processing table before the successor.
4. The third FB is AND2, since it has a predecessor (see 3.)
5. The entries in C0465 are:
- Position 10: AND1 10500
- Position 11: OR1 10550
- Position 12: AND2 10505
This example was started with position 10, because these positions are not
assigned in the default setting.
FBs do not have to be entered consecutively in the processing table. Empty
positions in the processing table are permissible.
Tip!
Other FBs can also be entered between the FBs listed in the example.
BA9300KS1198 8-11
Configuration
8-12 BA9300KS1198
Configuration
BA9300KS1198 8-13
Configuration
8-14 BA9300KS1198
Configuration
BA9300KS1198 8-15
Configuration
8-16 BA9300KS1198
Configuration
BA9300KS1198 8-17
Configuration
8.5.1 Normalization
- For normalization, mechanical system variables and encoder system
variables are input. The units of the master drive (m-units) and the cam drive
(s-units) are freely selectable (e.g. mm, pieces, etc.) .
&DP GULYH
0RWRU
*HDUER[ $FW YDOXH HQFRGHU
L
0 56
5HVROYHU
,QFUHY
6SLQGOH
IHHG
/HDGVFUHZ SLWFK
PPUHY
*HDUER[ L
0RWRU 0
(QFRGHU ,QFUHPHQW
,QFUHY 0DVWHU GULYH
8-18 BA9300KS1198
Configuration
1305/1
1305/2
1306
1303/1
1305/2
1304
grd_ein
BA9300KS1198 8-19
Configuration
* The selection of the absolute data model can reduce the number of points to a quarter.
In general, two different data models are available. They are selected via GDC.
1. Relative data model
A profile consists of 5 sections with equidistant points per section, i.e.
the distance between the points is constant in the X direction. The
number of points available depends on the number of profiles selected
(see table). This data model makes optimum uses the available data
range.
2. Absolute data model
A profile consists of arbitrarily distributed points. This data model is the
most flexible one, but can however only be used for import data which
have been optimised for linear interpolation. The number of points
available is reduced to 25 % because of the memory space required by
the absolute value pairs.
Note!
The procedure described in chapters 5ff. refers to the use of the relative data
model. For further information please refer to the on-line help of the GDC program
and the Manual.
8-20 BA9300KS1198
Configuration
4 9 2
11
1
10
5
7
8
kurv_ed
BA9300KS1198 8-21
Configuration
Select the profile to be processed in the upper dialog area (1). Depending on the
number of sections ( 2 ), the corresponding number of possible selections is
provided in the middle dialog (3). Available are:
1. 5th order polynomial
2. offset sine curve
3. standstill and
4. synchronous ranges (import data)
The length of a section is indicated in ( 4 ). The calculation is based on the first
section starting at X=0 and the last section ending at X=X max . Enter the number
of points required for every section under (5). Standstill and synchronous ranges
are exceptions because the required number of points is automatically selected
depending on the section length. The number of points for the last section is also
determined automatically by the remaining number of points (see basic data
dialog).
Note!
Observe the number of points available (6).
The input fields assigned to the selected equation are indicated in the lower dialog
area (7). The upper range value of each section is output in the right area of input
fields (8). The profile characteristic is automatically calculated in the background.
The status display (9) indicates whether the cam data have been input correctly or
not (e.g. discontinuous profile).
After the calculation, the data can be stored on any data medium (10) transmitted
to the controller (11) by using the corresponding buttons.
Note!
First process all the profiler which are used. Cam profile data are always transferred
as a block. The transmission time is thus approx. 1-2 minutes.
Please observe, that the data must be accepted by the active data range of the
controller (see chapter 5.7.2) after data transmission.
If the data are to be stored after mains disconnection, they must be stored via code
C0003 after transmission.
8-22 BA9300KS1198
Configuration
Cam data
Before commissioning, the cam data must be generated with Global Drive Control
and then transmitted to the drive. The following cam profiles are in factory setting.
They are effective independently of the basic parameter setting.
Profile 1 Electronic gear (linear position profile)
Profile 2 Forward / backward movement with a standstill at the extremity of the motion
Profile 3 Forward / backward movement with a standstill at the end of motion
Profile 4 Smooth feed
Profiles 5 - 8 No motion
Warning!
With factory setting the motor must be off load, i.e. it must not be mechanically
connected to the machine.
BA9300KS1198 8-23
8-24
BA9300KS1198
8.7.3
8.7.2
Configuration
X 9 X 1 0
X 5
x +
X 5
C 1 4 7 6 /1
C tr l. E n a b le 2 8 C 1 4 7 6 /1 6
C 1 3 0 0 -C 1 3 1 7
W e ld in g tim e A 1 T r ip
in flu e n c e A 2 C o n to u r in g e r r o r
E v e n t p r o file E 1 (C D A T A ) +
A 3 R D Y
P ro file * 1 E 2 C u r v e s e le c tio n C 4 7 4 /1 A 4 W e ld in g t im e
P ro file * 2 E 3 C 1 4 2 0
(W E L D )
e rro r
P ro file * 3 E 4 (C S E L 1 )
T r ip -R e s e t / E 5
C u r v e
a c c e p ta n c e X 6
1 C o n to u r in g e r r o r N
X 6 2
6 2 a c t
C u rv e c o n tro l 6 3 M a c t
3 C 1 4 7 7 /2 C 1 3 8 0 /1 ,2
4
x
C 0 4 7 2 /4
7 G N D
C 0 4 7 2 /2 x (C E R R 1 )
G N D 7 C 0 4 7 2 /3 (C C T R L )
C 4 7 3 /1 0 M o to r c o n tro l
X 7 (-1 )
C 0 0
C 0 0
0 6 ,
2 2 ,
C 0 0
C 0 0
1 1 ,
7 0 ,
C 0 0 7 1 , C 0 0 8 6 ,
R e s o lv e r C 0 1 0 5 , C 0 2 5 4
(M C T R L )
X 8 C 0 4 2 0 C 0 0 2 5
E n c o d e r C 0 4 9 0
C 0 4 9 5
11000_0
Configuration
Code Description
C0005=11000 This configuration enables the operation of a welding bar with variable welding time. The min.
limits of the three phases: closing, welding and opening are monitored. If the value falls below
these limits, a fault signal will be generated.
- Master value
C0425 Encoder constant for the master value
C1300-C1317 The cam profile data are determined by the generation of this data and do not need to be
changed separately.
C1420 Determines which profile is processed when the event input (digital input E1 = LOW level) is
activated.
- Contouring error evaluation
C1380/1 and Determine the comparison window and hysteresis of the contouring error evaluation
C1380/2
- Adjustment
C0472/2 Speed precontrol influence
C0472/3 Torque precontrol influence
C1477/2 Contouring error limit (in s_units)
C0472/4 Reduction factor for contouring error warning, warning limit = C0472/4 x C1477/2
Cam profile influence
C1476/1 Phase trimming in X-direction
C1476/16 TOUCH-PROBE position in X-direction
C0472/9 Stretching/compression of the Y-axis
C0472/10 Torque limit value
C0474/1 Welding time setting (incr. 1 ms)
BA9300KS1198 8-25
8-26
BA9300KS1198
8.7.4
Configuration
X 9 X 1 0
configuration.
An incremental encoder should not be used as a feedback system with this
P ro file * 3 E 4 (C S E L 1 )
T r ip -R e s e t / E 5
C u r v e
a c c e p ta n c e X 6
1 C o n to u r in g e r r o r
X 6 2
6 2 N a c t
C u rv e c o n tro l 6 3 M a c t
3 C 1 4 7 7 /2 C 1 3 8 0 /1 ,2
4
x
C 0 4 7 2 /4
7 G N D
C 0 4 7 2 /2 x (C E R R 1 )
G N D 7 C 0 4 7 2 /3 (C C T R L )
C 0 4 7 4 /1 M o to r c o n tro l
X 7 (-1 )
C 0 0
C 0 0
0 6 ,
2 2 ,
C 0 0
C 0 0
1 1 ,
7 0 ,
C 0 0 7 1 , C 0 0 8 6 ,
R e s o lv e r C 0 1 0 5 , C 0 2 5 4
(M C T R L )
X 8 C 0 4 2 0 C 0 0 2 5 P o s itio n m e m o r y
C 0 4 9 0 C 1 4 3 0 /1 ,2
E n c o d e r C 0 4 9 5 D C T R L
C 1 4 3 1
(P S A V E )
S in e -c o s in e -
a b s o lu te v a lu e e n c o d e r
K12000
Configuration
Code Description
C0005=12000 With this configuration and when using an absolute feedback system (resolver or sin/cos
absolute value encoder) the position value of the motor shaft can be stored when switching off
the mains. After reconnection, the actual values are compared with the stored values.
- Master value
C0425 Encoder constant of the master value
- Cam data
C1300-C1317 The cam profile data are determined by the generation of this data and do not need to be
changed separately.
C1420 Determines, which profile is processed when the event input (digital input E1 = LOW level) is
activated.
- Contouring error evaluation
C1380/1 and Determine the comparison window and hysteresis of the contouring error evaluation
C1380/2
- Adjustment
C0472/2 Speed precontrol influence
C0472/3 Torque precontrol influence
C1477/2 Contouring error limit (in s_units)
C0472/4 Reduction factor for contouring error warning, warning limit = C0472/4 x C1477/2
- Cam profile influence
C1472/1 Stretching/compression X-axis (100% = no stretching / compression)
C1476/1 Phase trimming in X-direction
C1477/1 Phase trimming in Y-direction
- Position memory
C1430/1.2 Tolerance window of the comparison functions
C1431 Determination of the values to be stored (master and/or actual value)
C1476/16 TOUCH-PROBE position in X-direction
C472/9 Stretching/compression of the Y-axis
C472/10 Torque limit value
BA9300KS1198 8-27
Configuration
H o m in g fu n c tio n C o n to u r in g e r r o r
C u rv e c o n tro l
S ta r t h o m in g
x C 1 4 7 7 /2 C 1 3 8 0 /1 ,2
x
H o m in g la b e l C 0 4 7 2 /4 (C E R R 1 )
(R E F C )
(C C T R L )
C 0 4 7 2 /2 M o to r c o n tro l
C 0 0 0 6 , C 0 0 1 1 ,
C 0 4 7 2 /3 (-1 )
C 0 0 2 2 , C 0 0 7 0 ,
C 0 0 7 1 , C 0 0 8 6 ,
C 0 1 0 5 , C 0 2 5 4
(M C T R L )
8-28 BA9300KS1198
Configuration
C lu tc h fu n c tio n C o n to u r in g e r r o r
C u rv e c o n tro l
E n g a g e
c lu tc h x C 1 4 7 7 /2 C 1 3 8 0 /1 ,2
x
O v e r lo a d C 0 4 7 2 /4 (C E R R 1 )
lim it v a lu e (C L U T C H )
(C C T R L )
C 0 4 7 2 /2 M o to r c o n tro l
C 0 0 0 6 , C 0 0 1 1 ,
C 0 4 7 2 /3 (-1 )
C 0 0 2 2 , C 0 0 7 0 ,
C 0 0 7 1 , C 0 0 8 6 ,
C 0 1 0 5 , C 0 2 5 4
(M C T R L )
BA9300KS1198 8-29
Configuration
C o n to u r in g e r r r o r
C 1 4 7 7 /2 C 1 3 8 0 /1 ,2
C 0 4 7 2 /4 (C E R R 1 )
M o to r c o n tro l
C 0 0 0 6 , C 0 0 1 1 ,
(-1 )
C 0 0 2 2 , C 0 0 7 0 ,
C 0 0 7 1 , C 0 0 8 6 ,
C 0 1 0 5 , C 0 2 5 4
(M C T R L ) S w itc h p o in ts
(S P C )
8-30 BA9300KS1198
Configuration
BA9300KS1198 8-31
Configuration
8.8 Monitoring
Various monitoring functions protect the drive from impermissible operating
conditions.
If a monitoring function is activated,
- the corresponding preset reaction is triggered (see chapter 8.8.1).
- a digital output is set, if it is assigned to the corresponding reaction.
- the fault identification is entered in position 1 in the history buffer (see chapter
9.2).
8.8.1 Reactions
The controller can react to interference in four different ways:
- TRIP (highest priority)
- Message
- Warning
- OFF=no reaction (lowest priority)
It is possible to predetermine the controller reactions for some operating faults (see
chapter 8.8.2).
TRIP
3 : on P : off : blinking
Drive behaviour:
- Switches the power outputs U, V, W to a high resistance until TRIP is reset
- The drive is idling (no control!).
- After TRIP reset (see chapter 9.4) the drive moves to its setpoint along the
set ramps.
8-32 BA9300KS1198
Configuration
Message
3 : on P : off : blinking
Drive behaviour:
- Switches the power outputs U, V, W to a high resistance as long as the fault
is active.
- Short-term fault $ 0.5 s:
- The drive is idling (no control!), as long as the fault is active.
- If the fault is eliminated, the drive moves to its setpoint with maximum
torque.
- long-term fault 0.5 s
- The drive is idling (no control!) as long as the fault is active
- Homing points are lost
- If the fault is elminated, the drive moves to its setpoint along the set ramps.
Danger!
The drive restarts automatically after the fault has been eliminated.
Warning
Status indication of the operating module in the event of a warning
RDY IMP FAIL
3 P 3
3 : on P : off : blinking
Drive behaviour:
- The drive operates under control.
OFF
- No reaction to operating faults! Monitoring is deactivated.
Stop!
If monitoring functions are deactivated, the drive can be destroyed.
BA9300KS1198 8-33
Configuration
8-34 BA9300KS1198
Configuration
Note!
The information in the column LECOM is read from C0168/x, if the history buffer
is accessed via a fieldbus module.
200%
150%
$
100% thermal continuous current 100%
for C0022 150 Irx
70% thermal continuous current 70%
for C0022 150% Irx
Time
10s 60s 120s 180s
* rated controller current 100%
x depends on the chopper frequency of the inverter
K35.0151
BA9300KS1198 8-35
Configuration
8-36 BA9300KS1198
Troubleshooting and fault elimination
9.1 Troubleshooting
3 : on P : off : blinking
BA9300KS1198 9-1
Troubleshooting and fault elimination
3 : on P : off
9-2 BA9300KS1198
Troubleshooting and fault elimination
BA9300KS1198 9-3
Troubleshooting and fault elimination
9-4 BA9300KS1198
Troubleshooting and fault elimination
Please note:
- For faults occuring at the same time with different reactions:
- Only the fault of which the reaction has highest priority is input in the
memory. (Priority = TRIP message warning FAIL-QSP).
- For faults occuring at the same time and with the same reaction
(e.g. 2 messages):
- Only the fault which occured first is input.
BA9300KS1198 9-5
Troubleshooting and fault elimination
Time (field 2)
- Contains the times when the faults occurred
- e.g. 1234567 s
- Reference time is the mains switch-on time (see FIG 8-11, field top right).
Please note:
- If a fault is immediately followed by another several times, only the time of the
last occurrence is stored.
Frequency (field 3)
- Contains the frequency of a fault immediately followed by the same fault.The
time of the last occurrence is stored.
Reset fault
- Click on the TRIP reset button.
9-6 BA9300KS1198
Troubleshooting and fault elimination
1RWH
If the fault indication is requested by a fieldbus, the fault indication is represented by
a fault number (C0168/x). See column 2 and the footnote at the end of this table.
BA9300KS1198 9-7
Troubleshooting and fault elimination
9-8 BA9300KS1198
Troubleshooting and fault elimination
BA9300KS1198 9-9
Troubleshooting and fault elimination
9-10 BA9300KS1198
Troubleshooting and fault elimination
TRIP
- After eliminating the fault, the pulse inhibit is only reset after
acknowledgement of TRIP.
- Acknowledge TRIP by:
- Global Drive Control:
Click on the TRIP reset button in the dialog box Diagnostics 9300
(see chapter 9.2.2).
- Keypad 9371 BB:
Press STOP key.
Then press RUN to enable the controller again.
- Fieldbus module: Set C0043 = 0
- Control word C0135
- Terminal X5/E5
- Control word AIF
- Control word system bus (CAN)
Note!
If a TRIP source is still active, TRIP cannot be reset.
Message
- After eliminating the fault, the pulse inhibit is reset automatically.
Warning!
After eliminating the fault, the drive starts automatically.
BA9300KS1198 9-11
Troubleshooting and fault elimination
FAIL-QSP
- After eliminating the fault, the pulse inhibit is only reset after
acknowledgement of TRIP.
- Acknowledge TRIP by:
- Global Drive Control:
Click on the TRIP reset button in the dialog box Diagnostics 9300
(see chapter 9.2.2).
- Bedienmodul 9371 BB:
Press STOP key.
Then press RUN to enable the controller again.
- Fieldbus module: Set C0043 = 0
- Control word C0135
- Terminal X5/E5
- Control word AIF
- Control word system bus (CAN)
Note!
If a TRIP source is still active, TRIP cannot be reset.
Message
- After eliminating the fault, the pulse inhibit is reset automatically.
9-12 BA9300KS1198
Maintenance
10 Maintenance
- The controller is free of maintenance if the prescribed conditions of operation
are observed (see chapter 3.2).
- If the ambient air is polluted, the air vents of the controller may be obstructed.
Check the air vents periodically (depending on the degree of pollution
approx.Therefore, check the air vents in regular intervals (according to the
degree of pollution approx. every four weeks):
- Free the obstructed air vents using a vacuum cleaner.
6WRS
Do not use sharp or pointed tools such as knives or screwdrivers to clean the air
vents.
BA9300KS1198 10-1
Maintenance
10-2 BA9300KS1198
Appendix
11 Appendix
11.1 Accessories
For controllers, Lenze offers the following accessories:
- Mains filter - Brake modules, brake choppers
- Fuses - Brake resistors
- Fuse holders - Regenerative power supply units
- System cable for resolver - Fieldbus modules
- System cable for digital frequency
connection
BA9300KS1198 11-1
Appendix
11-2 BA9300KS1198
Appendix
BA9300KS1198 11-3
Appendix
11-4 BA9300KS1198
Appendix
BA9300KS1198 11-5
Appendix
11-6 BA9300KS1198
Appendix
BA9300KS1198 11-7
Appendix
11-8 BA9300KS1198
Appendix
BA9300KS1198 11-9
Appendix
11-10 BA9300KS1198
Appendix
BA9300KS1198 11-11
Appendix
11-12 BA9300KS1198
Appendix
BA9300KS1198 11-13
Appendix
11-14 BA9300KS1198
Appendix
BA9300KS1198 11-15
Appendix
11-16 BA9300KS1198
Appendix
BA9300KS1198 11-17
Appendix
11-18 BA9300KS1198
Appendix
BA9300KS1198 11-19
Appendix
11-20 BA9300KS1198
Appendix
BA9300KS1198 11-21
Appendix
11-22 BA9300KS1198
Appendix
BA9300KS1198 11-23
Appendix
11-24 BA9300KS1198
Appendix
BA9300KS1198 11-25
Appendix
11-26 BA9300KS1198
Appendix
BA9300KS1198 11-27
Appendix
11-28 BA9300KS1198
Appendix
[C1031] CFG: RESET 1000 FIXED0 @ Selection list 2 Reset input of PHINT2
C1032 DIS: C1030 -32767 {1} 32767 Display of C1030
C1033 DIS: C1031 Display of C1031
C1150 Function 0 0 Load perm Function of PHINT3
1 Load edge
2 Cmp & sub
C1151 Comp. value
2 109 0 {1} 2000000000 Comparison value of PHINT3
[C1153] CFG: IN 1000 FIXEDPHI0 @ Selection list 4 Input phase integrator PHINT3
[C1154] CFG: LOAD 1000 FIXED0 @ Selection list 2 Input of PHINT3
[C1155] CFG: SET 1000 FIXED0INC @ Selection list 3 Input of PHINT3
C1157 DIS: C1153 -32767 {1} 32767 Display of C1153
C1158 DIS: C1154 Display of C1154
C1159 DIS: C1155 -2147483647 {1} 2147483647 Display of C1155
BA9300KS1198 11-29
Appendix
11-30 BA9300KS1198
Appendix
BA9300KS1198 11-31
Appendix
11-32 BA9300KS1198
Appendix
BA9300KS1198 11-33
Appendix
11-34 BA9300KS1198
Appendix
BA9300KS1198 11-35
Appendix
11-36 BA9300KS1198
Appendix
BA9300KS1198 11-37
Appendix
11-38 BA9300KS1198
Appendix
BA9300KS1198 11-39
Appendix
Selection list 3, signals () Selection list 4, signals (D) Selection list 5, function blocks
000100 DFSET-PSET 000050 DFIN-OUT 000000 empty 010570 OR5
000101 DFSET-PSET2 000100 DFSET-POUT 000050 AIN1 010600 NOT1
001000 FIXED0INC 000250 DFOUT-OUT 000055 AIN2 010605 NOT2
005000 MCTRL-PHI-ANG 001000 FIXEDPHI-0 000070 AOUT1 010610 NOT3
005200 REF-PSET 005000 MCTRL-PHI-ACT 000075 AOUT2 010615 NOT4
005520 ARITPH1-OUT 006000 DFRFG-OUT 000100 DFSET 010620 NOT5
005580 PHADD1-OUT 006220 CONV5-OUT 000200 DFIN 010650 CMP1
006235 CONVPHPH1-OUT 006230 CONVPHA1-OUT2 000250 DFOUT 010655 CMP2
012000 PHINT1-OUT 006240 CONVPP1-OUT 005050 NSET 010660 CMP3
012005 PHINT2-OUT 013301 CDATA-NOUT 005100 MPOT1 010680 PHCMP1
012050 PHDIV1-OUT 013302 CDATA-N-SYNCH 005150 PCTRL1 010685 PHCMP2
013301 CDATA-LEN1 013312 CURVEC1-DFOUT 005200 REF 010700 DIGDEL1
013302 CDATA-LEN2 013400 YSET1-OUT 005500 ARIT1 010705 DIGDEL2
013303 CDATA-LEN3 013501 CERR1-W-LIM 005505 ARIT2 010750 TRANS1
013304 CDATA-LEN4 013551 CLUT-NSET 005505 ARITPH1 010755 TRANS2
013305 CDATA-LEN5 013701 MSEL1-OUT 005550 ADD1 010900 FLIP1
013306 CDATA-ACTLEN 013851 CONVPHD1-OUT 005580 PHADD1 010905 FLIP2
013307 CDATA-XPOS 013911 CONVPHPHD1-OUT 005600 RFG1 012000 PHINT1
013308 CDATA-YOUT 014441 SWPHD1-OUT 005610 SRFG1 012005 PHINT2
013309 CDATA-YEND 014445 SWPHD2-OUT 005650 ASW1 012050 PHDIV1
013312 CURVEC1-OUT 019521 FCODE-475/1 005655 ASW2 013000 FEVAN1
013351 CCTRL-POUT 019522 FCODE-475/2 005700 ANEG1 014000 PHDIFF1
013352 CCTRL-PHI-SET 005705 ANEG2 014050 STORE1
013353 CCTRL-PHI-ACT 005750 FIXSET1 014055 STORE2
013354 CCTRL-PHI-SET2 005800 LIM1 014100 GEARCOMP
013501 CERR1-ERR 005850 ABS1 020000 CAN-OUT
013502 CERR1-WARN 005900 PT1-1 025000 AIF-OUT
013551 CLUT-O-POS 005950 DT1-1
013651 PSAVE-M-DIFF 006000 DFRFG1
013652 PSAVE-M-SAVE 006100 MFAIL
013653 PSAVE-ACT-DIFF 006150 DB1
013654 PSAVE-ACT-SAVE 006200 CONV1
013711 MSEL2-OUT 006205 CONV2
013751 WELD-XOUT 006210 CONV3
013951 RFGPH1-OUT 006215 CONV4
014000 PHDIFF1-OUT 006220 CONV5
014050 STORE1-PHACT 006300 S&H1
014051 STORE1-PH1 006350 CURVE1
014052 STORE1-PH2 006400 FCNT1
014053 STORE1-PHDIFF 010000 BRK1
014055 STORE2-PHACT 010250 R/L/Q
014056 STORE2-PH1 010500 AND1
014057 STORE2-PH2 010505 AND2
014100 GEARCOMP-OUT 010510 AND3
019521 FCODE-474/1 010515 AND4
019522 FCODE-474/2 010520 AND5
020103 CAN-IN1.D1 010550 OR1
020201 CAN-IN2.D1 010555 OR2
020301 CAN-IN3.D1 010560 OR3
025103 AIF-IN.D1 010565 OR4
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Appendix
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Appendix
11.5 Glossary
Term Meaning
CE Communaut Europenne (English: European Community)
Code For entry and display (access) of parameter values.
Variable addressing according to the format code/subcode (Cxxxx/xx).
All variables can be addressed via the code digits.
Contouring error Deviation between momentary position setpoint and actual position. Display for a momentary contouring error
under C0908.
Contouring error monitoring Monitors the momentary contouring error for exceeding the following error tolerance and releases a fault
indication, if necessary.
Contouring error tolerance If the contouring error reaches a defined contouring error tolerance, a fault indication is released.
Ctrl. enable Controller enable
Ctrl. inhibit Controller inhibit ( = Controller enable )
Field bus For data exchange between superimposed control and positioning control, e.g. InterBus-S or PROFIBUS DP
GDC Global Drive Control (PC-program (Windows) for Lenze controllers)
InterBus-S Industrial communication standard to DIN E19258
LECOM Lenze Communication
LU Undervoltage
OU Overvoltage
PC Personal Computer
PM Permanent magnet
QSP Quick stop
RFG Ramp generator
Target position The target which is to be approached by means of a defined traversing profile.
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11-46 BA9300KS1198
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I M
Mains, Controller adaption, 5-6
Identification, Controller, 1-2 Mains conditions, 4-11
Mains connection, 4-12
Imax limit, 11-18 Protection, 4-13
Mains filter, 3-7
Information on operation, 6-3
Mains types, 4-11
Inputs Maintenance, 10-1
Manufacturer, 1-2
analog, 4-20
Maximum speed, 11-18, 11-24, 11-30
digital, 4-20
Message, 8-33
Installation Messages, Fault, 9-7
Monitor output, 4-20
CE-typical drive system, 4-33
Filters, 4-33 Monitoring
Grounding, 4-34 Fault indication via digital output, 8-36
Screening, 4-34
Structure, 4-33 Monitoring functions, 8-34
Reactions: warning, message, TRIP, 8-32
Electrical, 4-8
Monitorings, 8-32
Mechanical, 4-1 Motor
Standard assembly, 4-2 Controller adaption, 5-6
Selection list, 11-41
Insulation, 4-8 Motor cable, Screening, 4-14
Motor connection, 4-14, 4-15
Motor potentiometer, 11-23
Motor protection, 4-10
J
Motor stator resistance, 11-19
Motor type selection, 11-20
JOG setpoint, 11-25 Mounting, 4-1
L O
Operating module, Status indications, 6-1
Leakage inductance, 11-20 Oscillations, 4-1
Outputs
Legal regulations, 1-2 analog, 4-20
digital, 4-20
Liability, 1-2 Overspeeds, 2-2
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Table of keywords
P R
Rated data, 3-3
Packing list, 1-1
200% overcurrent, 3-4
Parameter Controllers 9321 to 9325, 3-3
Parameter classes, 7-2 Fuses, cable cross-sections, 3-6
Mains filter, 3-7
PC program, 7-1
Types 9326 to 9332, 3-5
Set generation, 5-5
Rated motor power, 11-19
Structure of a parameter set, 7-2
Ways of parameter setting, 7-1 Rated motor voltage, 11-21
Reset, Fault message, 9-11
Parameter set, Generation, 5-5
Residual current circuit breakers, 4-8
Parameter setting, 7-1
Residual hazards, 2-2
PC, Switch on, 5-5 Residual-current operated
protectivedevices, 4-8
PC program, 7-1
Resolver connection, 4-30
PC-Programm, Global-Drive-Control,
11-1
S
Power connections, 4-12
Safety information, 2-1
Max. permissible cross-sections
for mains connection, 4-13 Layout, 2-2
for motor connection, 4-16 Other notes, 2-2
Warning of damage to material, 2-2
Warning of damage to persons, 2-2
Power optimised operation, 11-22
Screen sheet, 4-19
Process controller adaptation, 11-28
Screening
Process input words, 11-2 Control cables, 4-19
EMC, 4-34
Process output words, 11-2 Motor cable, 4-14
Protection against contact, 4-8 Selection of the feedback system, 11-19
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T V
Technical data, 3-1
Dimensions, 3-7 Vibrations, 4-1
Electrical data, 3-3
Features, 3-1
Voltage drop, 4-13
Fuses, cable cross-sections, 3-6
General data/application conditions, 3-2
Vpi-current controller, 11-19
Temperature monitoring, 4-27
Thermal separation, 4-3 Vpn-speed controller, 11-19
Tightening torques
Control terminals, 4-19
Power terminals, 4-13, 4-16
Tni-current controller, 11-19 W
Tnn-speed controller, 11-19
Transport, storage, 2-1
Warning, 8-33
Troubleshooting, 9-1
TRIP, 8-32 Warranty, 1-2
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