Document Outline

• ECSxM - Axis module "Motion"
  • 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 axis module ECSxM (Motion)
      • 1.3 Structure
      • 1.4 Scope of supply
      • 1.5 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 Before you start
      • 6.2 Commissioning steps (overview)
        • 6.2.1 Basic settings with GDC
        • 6.2.2 Setting of homing
      • 6.3 Loading the Lenze setting
      • 6.4 Setting of mains data
        • 6.4.1 Selecting the function of the charging current limitation
        • 6.4.2 Setting the voltage thresholds
      • 6.5 Entry of motor data for Lenze motors
      • 6.6 Holding brake configuration
        • 6.6.1 Closing the brake
        • 6.6.2 Opening the brake
      • 6.7 Setting of the feedback system for position and speed control
        • 6.7.1 Resolver as position and speed encoder
        • 6.7.2 Resolver as absolute value encoder
        • 6.7.3 TTL/SinCos encoder as position and speed encoder
        • 6.7.4 TTL/SinCos encoder as position encoder and resolver as speed encoder
        • 6.7.5 Absolute value encoder as position and speed encoder
        • 6.7.6 Absolute value encoder as position encoder and resolver as speed encoder
      • 6.8 Selecting the control interface (C4010)
      • 6.9 Process data to the axis module (control word Ctrl1 and setpoints)
      • 6.10 Process data from the axis module (status words and actual values)
        • 6.10.1 Toggle-bit monitoring
      • 6.11 Entry of machine parameters
      • 6.12 Configuring the digital inputs and outputs
        • 6.12.1 Digital inputs for communication via the MotionBus (CAN) X4
        • 6.12.2 Digital inputs for communication via the automation interface (AIF) X1
        • 6.12.3 Setting the polarity of digital inputs and outputs
      • 6.13 Setting of homing parameters
        • 6.13.1 Homing parameters
        • 6.13.2 Homing modes
        • 6.13.3 Shifting the zero position with regard to the home position (offsets C3011, C3012)
        • 6.13.4 Example: Reference search with linear positioning axis
        • 6.13.5 Example: Reference search with continuous positioning axis
      • 6.14 Selection of the operating mode
        • 6.14.1 Operating mode "Interpolated Position Mode" (IP-Mode)
        • 6.14.2 "Homing" operating mode
        • 6.14.3 "Manual jog" operating mode
        • 6.14.4 "Velocity" operating mode
      • 6.15 Controller enable (CINH = 0)
      • 6.16 Following error monitoring (C3030, C3031)
      • 6.17 Evaluating and retracting from hardware limit switch
        • 6.17.1 Evaluating hardware limit switches
        • 6.17.2 Retracting from hardware limit switches
      • 6.18 Quick stop (QSP)
      • 6.19 Operation with motors from other manufacturers
        • 6.19.1 Entering motor data manually
        • 6.19.2 Checking the direction of rotation of the motor feedback system
        • 6.19.3 Adjusting current controller
        • 6.19.4 Effecting rotor position adjustment
      • 6.20 Optimising the drive behaviour after start
        • 6.20.1 Speed controller adjustment
        • 6.20.2 Adjustment of field controller and field weakening controller
        • 6.20.3 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 Axis synchronisation (CAN synchronisation)
        • 8.1.7 Monitoring of the synchronisation (sync time slot)
        • 8.1.8 Axis synchronisation via CAN
        • 8.1.9 Axis synchronisation via terminal X6/DI1
      • 8.2 Node guarding
      • 8.3 Diagnostics codes
        • 8.3.1 CAN bus status (C0359)
        • 8.3.2 CAN telegram counter (C0360)
        • 8.3.3 CAN bus load (C0361)
      • 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 application status word (C3150/C3151)
        • 11.1.5 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