Reference manual 931E Servo inverter manual inverter manual... · 2020. 10. 7. · the servo inverter. ƒ Parameter setting is explained by means of examples. ƒ In case of doubt,

SW−HB 13.0002−EN.CN3

Ä.CN3ä

Software Manual

Servo Drives 930

�

931E/K

Small Drives Control

� 2 SW−HB 13.0002−EN 4.1

The information given in this documentation is valid for servo inverters of the 931 series.

Document history

Material number Version Description

– 1.0 LKA First edition Word file

– 2.0 LKA Word file revision

13154139 3.0 06/2006 TD34 Complete revision

13344518 4.0 04/2010 TD34 Extended by new functions: Jogging & Teaching (931K), ge-neral revision

.CN3 4.1 08/2010 TD09 Corrections in chapter 5.2 and 5.4

0Fig. 0Tab. 0

� Tip!

Information and auxiliary devices around the Lenze products can be found in the downloadarea at

http://www.Lenze.com

Contents i

� 3SW−HB 13.0002−EN 4.1

1 Preface and general information 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 About this Manual 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Terminology used 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Notes used 9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Safety instructions 10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Installation 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Validity information 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 System requirements 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Software installation 11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 User interface 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Building up serial communication 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Starting SDC / user interface 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Standard buttons 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2 Numerical input fields 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.3 Control elements 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.4 Display of setpoints and actual values 16 . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.5 Standard control windows 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.6 Directories 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.7 Communication via communication objects 18 . . . . . . . . . . . . . . . . . . . . . .

4.2.8 Exiting the program 18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Commissioning 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Important notes 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Default parameter set (931E) 20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2 Default parameter set (931K) 20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Speed control 21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.1 Functions available 21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.2 Commissioning steps 24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.3 Selecting a motor from the motor database (only 931E) 25 . . . . . . . . . . . . .

5.2.4 Activating the operating mode 26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.5 Input configuration 26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.6 Setpoint selection via setpoint selectors 27 . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.7 Optimising the speed controller 34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.8 Setting the controller enable logic 37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.9 Making the controller ready for operation 38 . . . . . . . . . . . . . . . . . . . . . . . .

Contentsi

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5.3 Torque control 39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .






5.3.6 Setpoint selection via setpoint selectors 45 . . . . . . . . . . . . . . . . . . . . . . . . . .


5.3.8 Making the controller ready for operation 52 . . . . . . . . . . . . . . . . . . . . . . . .

5.4 Positioning mode 53 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .






5.4.6 Global positioning settings 59 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.7 Target parameterisation 60 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


5.4.9 Approaching targets 65 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4.10 Setting digital outputs 66 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 Course program 67 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .






5.5.6 Global positioning settings 73 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.7 Target parameterisation 74 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.8 Creating the course programs 78 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.9 Type of command − Position branch 81 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.10 Type of command − Branch (Line) 83 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.11 Type of command − Level test 85 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.12 Type of command − End of Program 87 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


5.5.14 Debugging the course program 89 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5.15 Application examples 90 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6 Extending the function of the digital inputs by Jogging & Teaching(only 931K) 93 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.1 Teaching positions 94 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7 Incremental encoder emulation via DOUT1 and DOUT2 96 . . . . . . . . . . . . . . . . . . . . .

Contents i

� 5SW−HB 13.0002−EN 4.1

6 Homing 98 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 Parameterisation of homing 103 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 Digital outputs and analog inputs and outputs 106 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 Digital outputs DOUT1, DOUT2 106 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2 Holding brake DOUT3 110 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3 Analog inputs AIN 112 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4 Analog outputs AMON 114 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8 Using the oscilloscope function 115 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1 Oscilloscope settings 116 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2 Oscilloscope window 119 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9 Troubleshooting and fault elimination 121 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1 Error monitorings in the 931E/K 121 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.1 Overcurrent and short−circuit monitoring 121 . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.2 Monitoring the DC−bus voltage 122 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.3 Monitoring the logic supply 122 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.4 Monitoring the heatsink temperature 122 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.5 Monitoring the motor 123 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.6 Monitoring the sequence of motions 123 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.7 Other internal monitoring functions 124 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1.8 Elapsed time meter 124 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3 Error message 125 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4 Error window 131 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.5 Error management 132 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contentsi

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10 Appendix 133 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1 Parameterisation of outside motors 133 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.1 Motor data 133 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.2 Angle encoder 135 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.3 Motor temperature monitoring 139 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.4 Selecting the safety parameters 140 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.5 Limit switch settings 141 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.6 Power stage 142 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.7 DC−bus monitoring 143 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.8 Current controller 144 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.9 Setting and optimising the position controller 146 . . . . . . . . . . . . . . . . . . . . .

10.1.10 General configuration settings 148 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.11 Display unit settings 149 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.12 User−defined display unit settings 152 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1.13 Direct entry of distance, speed and acceleration units 154 . . . . . . . . . . . . . .

10.1.14 Defining the input limits 155 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2 Communication interfaces 156 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2.1 Control via CAN bus 156 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2.2 Control via the serial interface 159 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2.3 Control via the technology interface 162 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.3 Serial communication protocol 163 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4 Communication object list 165 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4.1 Base units 171 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4.2 Bit assignment of command word / status word / error word 172 . . . . . . . .

10.5 Timing charts 176 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.5.1 Switch−on sequence 177 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.5.2 Positioning / target reached 179 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.5.3 Speed message 180 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.5.4 Error acknowledgement 180 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.5.5 Limit switches 181 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.6 Parameter set management 182 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.6.1 General information 182 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.6.2 Loading and saving of parameter sets 183 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.6.3 Printing parameter sets 184 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.7 Offline parameterisation 186 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.8 Info window 188 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.9 Quick access via toolbar 189 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.10 Firmware download to the 931E/K / firmware update 190 . . . . . . . . . . . . . . . . . . . . . .

10.10.1 Firmware download 190 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11 Index 193 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Preface and general informationAbout this Manual

1

� 7SW−HB 13.0002−EN 4.1

1 Preface and general information

With the »Small Drives Control« parameterisation software, the 931E/K servo positioningcontroller can be optimally adapted to your application. The parameterisation programprovides the following features:

ƒ Parameterisation of the 931E/K servo positioning controller

ƒ Parameter setting via PC

ƒ Display of status and operating values

ƒ Download of new firmware versions

ƒ Loading and saving of parameter sets

ƒ Printing of parameter sets

ƒ Offline parameterisation

ƒ Oscilloscope function

ƒ Language support: German, English, French

ƒ Windows−conform operation

ƒ Creation of traversing data records / course programparameterisation

1.1 About this Manual

Target group

This Manual addresses to all persons dimensionings, installing, commissioning, andsetting the servo inverters of the 931 series.

Preface and general informationTerminology used

1

� 8 SW−HB 13.0002−EN 4.1

Contents

The Product Manual shall ensure safe operation of the »Small Drives Control«parameterisation program for the 931E/K servo positioning controller. The SoftwareManual supplements the Mounting Instructions included in the delivery package:

ƒ The characteristics and functions of the operating software are described in detail.

ƒ The Manual provides detailed information about parameter setting and the use ofthe servo inverter.

ƒ Parameter setting is explained by means of examples.

ƒ In case of doubt, the supplied Mounting Instructions always apply.

More detailed information can be found in the following manuals for the 931E/K productgroup:

ƒ CANopen Communication Manual "931E/K servo positioning controller":Description of the implemented CANopen protocol according to DSP402

ƒ Profibus−DP Communication Manual "931E/K servo positioning controller"

ƒ EtherCAT Communication Manual "931E/K servo positioning controller"

ƒ Hardware Manual "931E servo positioning controller"

ƒ Hardware Manual "931K servo positioning controller"

How to find information

ƒ The table of contents and the index will help you to find information on a certaintopic.

ƒ Descriptions and data with regard to further Lenze products can be gathered fromthe respective catalogs, Operating Instructions, and Manuals.

ƒ You can request Lenze documentation from your responsible Lenze sales partner ordownload it as a PDF file from the Internet.

1.2 Terminology used

Term In the following text used for

Controller 931E/K servo inverter

Drive 931E/K servo inverter

Drive 931E/K servo inverter with connected motor

SDC »Small Drive Control« parameterisation software

Preface and general informationNotes used

1

� 9SW−HB 13.0002−EN 4.1

1.3 Notes used

The following pictographs and signal words are used in this documentation to indicatedangers and important information:

Safety instructions

Structure of safety instructions:

� Danger!

(characterises the type and severity of danger)

Note

(describes the danger and gives information about how to prevent dangeroussituations)

Pictograph and signal word Meaning

� Danger!

Danger of personal injury through dangerous electrical voltage.Reference to an imminent danger that may result in death orserious personal injury if the corresponding measures are nottaken.

� Danger!

Danger of personal injury through a general source of danger.Reference to an imminent danger that may result in death orserious personal injury if the corresponding measures are nottaken.

� Stop!Danger of property damage.Reference to a possible danger that may result in propertydamage if the corresponding measures are not taken.

Application notes

Pictograph and signal word Meaning

� Note! Important note to ensure troublefree operation

� Tip! Useful tip for simple handling

� Reference to another documentation

Safety instructions2

� 10 SW−HB 13.0002−EN 4.1

2 Safety instructions

Please observe the following safety instructions when you want to commission acontroller or system using »SDC«.

� Please read the documentation supplied with the controller / systemcomponents carefully before you start commissioning the devices with »SDC«!The device documentation contains safety instructions which must beobserved!

� Danger!

According to our present level of knowledge it is not possible to ensure theabsolute freedom from errors of a software.

If necessary, systems with built−in controllers must be provided withadditional monitoring and protective equipment according to relevant safetyregulations (e.g. law on technical equipment, regulations for the prevention ofaccidents), so that an impermissible operating status does not endangerpersons or facitilies.

During commissioning persons must keep a safe distance from the motor orthe machine parts driven by the motor. Otherwise there would be a risk ofinjury by the moving machine parts.

� Stop!

If you change parameters in the »SDC« while a device is connected online, thechanges will be directly accepted by the device!

A wrong parameter setting can cause unpredictable motor movements. Byunintentional direction of rotation, too high speed or jerky operation, thedriven machine parts may be damaged!

InstallationValidity information

3

� 11SW−HB 13.0002−EN 4.1

3 Installation

3.1 Validity information

The »Small Drives Control« program is used to parameterise the 931E/K servo positioningcontroller. The information contained in this Manual refer to the following firmware andhardware versions:

ƒ 931E servo positioning controller (firmware: version 3.3 or higher)

ƒ 931K servo positioning controller (firmware: version 3.3 or higher)

ƒ »Small Drives Control« parameterisation software (version 2.4 or higher)

The firmware of the 931E/K servo positioning controller and the »Small Drives Control«parameterisation software must match each other, i.e. if a new firmware version withadditional functions is used, the corresponding version of the Lenze »Small Drives Control«parameterisation software will be required.

The »Small Drives Control« parameterisation software cannot be used for theparameterisation of other Lenze controllers.

3.2 System requirements

System requirements for installing the parameterisation program:

ƒ IBM−compatible PC−AT, Pentium II processor or higher with min. 32 MB mainmemory capacity and min. 10 MB free hard disk capacity.

ƒ Operating system Windows® 95, Windows® 98, Windows NT®, Windows 2000,Windows XP®

ƒ Free serial interface.

3.3 Software installation

� Note!

ƒ The current version of the »Small Drives Control« (SDC) software can bedownloaded as installation program from the Lenze web page(www.Lenze.com).

ƒ The installation is started with the file "Setup.exe".

User interfaceBuilding up serial communication

4

� 12 SW−HB 13.0002−EN 4.1

4 User interface

4.1 Building up serial communication

For correct communication data setting, proceed as follows:

1. Completely connect the 931E/K servo positioning controller.

2. Use a serial cable to connect the free interface of your PC with the 931E/K servopositioning controller.

3. Switch on the control voltage (24VDC).

4. Start the parameterisation program

If the Online button is highlighted in green in the button menu (see figure), thecommunication parameters have been set correctly.

If the parameterisation program cannot open the serial interface, the following errorwindow will appear when the program is started:

931e_202

Cause of the error will either be an incorrect interface setting (check the hardware settingsin your control panel) or another Windows or DOS−program accessing the serial interface.

User interfaceBuilding up serial communication

4

� 13SW−HB 13.0002−EN 4.1

ƒ Retry with old parameters (COM3, 9600 Baud):

To solve the access conflict with a program using the interface, close the other program(with MS−DOS programs, also close the MS−DOS shell!!) and click Retry with old parameters(COM3, 9600 Baud).

ƒ Change COM port:

Click Change COM port to correct a wrong interface setting and select a different interface.

ƒ Search Baud rates:

Under certain conditions, the servo positioning controller may use a baud rate other thanthe baud rate selected in the parameterisation program. If you select Search Baud rates,the parameterisation program will try to build up communication with different baudrates.

ƒ Offline parameterisation:

The Offline parameterisation is only useful, if you want to edit parameter set files withoutthe servo positioning controller. For more information, please see the chapter "Offlineparameterisation". ( 186)

ƒ Firmware download:

If the servo positioning controller contains an invalid firmware version or if you want todownload a new firmware, select Firmware download to initiate the firmware download.

ƒ Exit program:

Click Exit program to exit the program.

The below table lists possible error causes and troubleshooting strategies:

Error Remedy

Communication problem Click Retry with old parameters.

Wrong COM port Click Change COM port and follow the instructions.

Baud rate of parameterisation program and servopositioning controller is not identical

Click Search Baud rates.

Communication of servo positioning controller hasbeen interfered

RESET the servo positioning controller, i.e.power−off/power−on. After this, click Retry with oldparameters.

Hardware error

Servo positioning controller is not switched on Remove error, then click Retry with old parameters.

Connecting cable has not been plugged in

Connecting cable is broken

Wrong pin assignment for serial connection

Connecting cable is too long Reduce baud rate or use shorter cable.

User interfaceStarting SDC / user interfaceStandard buttons

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� 14 SW−HB 13.0002−EN 4.1

4.2 Starting SDC / user interface

4.2.1 Standard buttons

If you open a control window, the control window will contain a "button bar" which maylook as follows:

931e_362

Meaning of the individual buttons:

ƒ OK:

All changes made will be accepted and the control window will be closed.

ƒ Cancel:

All changes will be undone, values that have already been transferred will be restored,and the control window will be closed.

The buttons can be activated

ƒ by a click with the left mouse key,

ƒ with the tab key and confirmation with the ENTER key,

ƒ via the keyboard by entering the underlined letter while holding down the Alt key.

If the menu buttons optically differ from the above description, please see this Manual formore detailed information.

User interfaceStarting SDC / user interface

Numerical input fields

4

� 15SW−HB 13.0002−EN 4.1

4.2.2 Numerical input fields

The control windows of the parameterisation program often contain fields for numericalentries (see below figure):

The values can be entered as follows:

1. Directly via the keyboard: Enter the value directly into the input line. Until the entryhas been completed, the text will be displayed in light characters and not yetaccepted by the parameterisation program (see figure).

When the entry is complete, press the ENTER key or use the tab key to change to anotherinput field. The numerical value will then be displayed in bold.

2. By clicking the arrow keys: The value will change in small steps (fine adjustment).

3. By clicking the fields between grey field and arrow keys: The value will change in bigsteps (rough adjustment).

4. By clicking the grey field and moving the mouse with the left mouse button beingheld down: Quick value selection in the whole value range (rough adjustment).

4.2.3 Control elements

Graphically−oriented control windows are used to lead the users through the program.

The below table lists and describes the control elements used in the individual controlwindows:

Control elements Designation Function

Checkbox Option that can be activated or deactivated bychecking/unchecking the checkbox. Severalcheckboxes can be activated at the same time.

Option button Button used to select one out of several options.

"..." button Button that will start another menu, when clickedby the user.

General button Button that will start another menu, when clickedby the user.

User interfaceStarting SDC / user interfaceDisplay of setpoints and actual values

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� 16 SW−HB 13.0002−EN 4.1

4.2.4 Display of setpoints and actual values

The parameterisation program uses the following concept to display the setpointsselected by the user and the actual controller values:

1. The user changes the scroll box value in the control window by using the scroll baror direct entry of a new value.

2. The parameterisation program transfers the value to the 931E/K servo positioningcontroller.

3. The parameterisation program immediately reads the currently valid parameter anddisplays it in the green field. The scroll box value itself remains unchanged.

931e_222

Term definition:

ƒ Setpoint: Setpoint transferred to the 931E/K servo positioning controller (settingdefined by the user)

ƒ Actual value: Value currently effective in the 931E/K servo positioning controller. Adeviation from the setpoint may have different causes. Examples:

– Quantisation effects, rounding effects, etc.

– The modified parameter will only show effect after storage and controller RESET

– Value range has been temporarily exceeded, e.g. rated current > maximumcurrent.

– Incorrect value ranges, e.g. when loading a parameter set from a servo positioningcontroller with a higher power class (rated current > rated controller current).

� Note!

The concept of different setpoints and actual values shall enable loading aparameter set from a servo positioning controller of a certain power class intoa servo positioning controller of another power class and back again. Unless noadditional parameters have been set, the setpoints will remain unchanged.Only the actual values will change due to the different power classes. Thislargely ensures that a parameter set will not be step−by−step changeddepending on the power class of the controller.

User interfaceStarting SDC / user interface

Standard control windows

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� 17SW−HB 13.0002−EN 4.1

4.2.5 Standard control windows

With online parameterisation, the command window, the status window and the actualvalue window will always be open by default. With offline parameterisation, the statuswindow and the actual value window will not be open.

The actual value window displays current controller parameters such as current, speed,etc. Select the menu items Display � Actual values to configure the actual value window.Mark all values to be displayed with a tick. Select the options Enable all and Disable all tominimise or maximise the actual value window.

931e_366

4.2.6 Directories

The installed version of the parameterisation program contains the followingsub−directories:

Directory Contents

FIRMWARE Firmware versions

TXT Default directory for the plain text output of parameter data

DCO Default directory for the parameter files

EDS CAN configuration

GSD Profibus configuration

XML EtherCAT configuration

User interfaceStarting SDC / user interfaceCommunication via communication objects

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� 18 SW−HB 13.0002−EN 4.1

4.2.7 Communication via communication objects

The parameterisation program uses so−called communication objects to access the931E/K servo positioning controller via a standardised software interface inside thecontroller. During communication, the following error states will be internally monitored:

ƒ Write accesses to read−only communication objects

ƒ Read accesses to write−only communication objects

ƒ Value range exceeded/fallen below

ƒ Faulty data transfer

The first two errors are fatal errors that usually do not occur in practical operation. In thelast case, the parameterisation program repeatedly tries to carry out reading/writingwithout bit errors.

When the value range of a communication object is exceeded/fallen below, a warning willbe displayed. If an internal value is available for the object, the value will be saved asdesired value, but the original value will be used internally, otherwise the value will bedeleted.

4.2.8 Exiting the program

The program can be exited as follows:

ƒ By selecting the menu items File � Exit

ƒ By pressing the key combination <Alt>+F4

ƒ By a click on the x at the top left in the main window

CommissioningImportant notes

5

� 19SW−HB 13.0002−EN 4.1

5 Commissioning

5.1 Important notes

Before switching on the supply voltage for the 931E/K servo positioning controller for thefirst time, check the following connections for correctness and completeness:

ƒ Motor cable and synchronous motor connection (X3) (only 931E)

ƒ Feedback system connection (X7/X8) (only 931E)

ƒ Digital I/O connection (X5)

ƒ Connection of the voltage supply for control section and power stage (X2)

ƒ Connection of the serial communication cable (X1)

For additional information, please see the Hardware Manual (GHB931E, GHB931K) or theMounting Instructions. For parameter setting, the serial interface (X1) of the 931E/K mustbe connected with a free COM port on your notebook / PC.

� Stop!Please carefully check the wiring and the supply voltages selected, beforeswitching on the voltage supply for the first time!

ƒ Malfunctions are most often due to wiring faults.

ƒ Wiring faults or an excessive operating voltage may cause damage to thecontroller!

CommissioningImportant notesDefault parameter set (931E)

5

� 20 SW−HB 13.0002−EN 4.1

5.1.1 Default parameter set (931E)

In the delivery state of the 931E servo positioning controller, the default parameter set isloaded. During the first commissioning, the default parameter set must be adapted to yourapplication. Otherwise, the 931E servo positioning controller will be in the status "notcommissioned".

� Note!The default parameter set contains the basic controller parameterisation foroperation as a speed controller with setpoint selection via the analog inputAIN0. The controller settings and the current limits have been selected thatlow that a connected motor of a typical frame size will not be overloaded ordestroyed when controller enable is activated by mistake.

The manufacturer’s settings in the default parameter set can be restored via the menu File� Parameter set � Load default parameter set.

� Note!When the default parameter set is loaded, the application−specific parameterswill be overwritten and the controller status "not commissioned" will be set.This should be considered when using this function, because the firstcommissioning will have to be repeated as a result.

5.1.2 Default parameter set (931K)

In the delivery state, the 931K servo positioning controller has already been parameterised.The motor parameters are loaded and the most important parameter settings have beenselected.

CommissioningSpeed control

Functions available

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� 21SW−HB 13.0002−EN 4.1

5.2 Speed control

5.2.1 Functions available

The speed control has the structure of a cascade−shaped control system with an innercurrent control circuit and a higher−level speed control circuit. The controllers are designedas PI controllers. Using the setpoint selectors, you can select setpoints from differentsources for the corresponding controllers. See the chapter "Setpoint selection via setpointselectors". ( 27)

The system principles are described in the block diagram on the next page.

With rotor−oriented control, two phase currents and the rotor position will be measured.Using the Clark transformation, the phase currents will be converted into an imaginary anda real part first and then transformed into the rotor coordinates by using the Parktransformation. Using PI controllers, the rotor currents can thus be converted intocorresponding rotor voltages and again be inversely transformed into the stator system.The driver signal generation uses a symmetrical pulse−width modulation for the powerstage in sine commutation with the 3rd harmonic wave.

An integrator monitors the current2−time−integral of the controller. If the maximum value(maximum current for 2 sec) is exceeded, a warning will be sent and the current will belimited to the rated current.

With speed control, a setpoint speed will be selected. The 931E/K servo positioningcontroller uses the encoder evaluation to determine the current actual speed n_act. Thecurrent setpoint i_set is determined to ensure that the setpoint speed will be observed.

CommissioningSpeed controlFunctions available

5

� 22 SW−HB 13.0002−EN 4.1

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931E_100

The speed control has the structure of a cascade−shaped control system with an inner


Functions available

5

� 23SW−HB 13.0002−EN 4.1

current control circuit and a higher−level speed control circuit. The controllers are designedas PI controllers. Using the setpoint selectors, you can select setpoints from differentsources for the corresponding controllers. See the chapter "Setpoint selection via setpointselectors". ( 27)




With speed control, a setpoint speed will be selected. The 931E/K servo positioningcontroller uses the encoder evaluation to determine the current actual speed n_act.

CommissioningSpeed controlCommissioning steps

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� 24 SW−HB 13.0002−EN 4.1

5.2.2 Commissioning steps

Commissioning steps Comments

1. Use a serial cable to connect the serial controller interface X1 with a freeCOM port on your notebook/PC.

2. Switch on the control voltage, do not yet switch on the power supply! When the green "state" LED is on (only931E), the voltage is within thepermissible range.

3. Start the »Small Drive Control (SDC)« parameterisation software. If the "Online" button in the toolbar ishighlighted in green, the communicationparameters have been set correctly.

4. Open the menu Parameters � Device parameters � Motor data � Selectnew motor and select a motor from the Lenze motor database (only 931Eservo positioning controller, 931K servo positioning controller has alreadybeen parameterised).

Apart from the motor data, this menualso includes default settings for thefeedback system and the current andspeed controller. 25

5. Select "Speed control" from the Commands window. 26

6. Open the menu Parameters � I/Os � Digital inputs and check the digitalinput assignments.

26

7. Open the menu Operating mode � Setpoint − Selection and select thesetpoint source.

27

8. Open the menu Parameters � Device parameters � Controller enable logicand activate the controller enable logic.

37

9. Ensure that the controller is inhibited! If the controller is only enabled via thedigital input DIN9, set the input to LOW.DIN9 = LOW

10. Switch on the power supply.

11. Check, if any error messages have occurred. First, remove and acknowledge the errorsor change the error management.

12. Ensure that the drive can rotate without load!

13. Open the menu Parameters � Device parameters � Motor data and clickAuto detect.

This selection calibrates the motor andthe feedback system. 25

14. Open the menu Parameters � Controller parameters � Speed controllerand parameterise the speed controller.

34

15. Click the "Save parameters" icon in the menu bar to save the settingsfail−safe in the EEPROM of the controller.

16. Select a speed setpoint.

17. Enable the controller to start speed−controlled drive operation. If the controller is only enabled via thedigital input DIN9, set the input to HIGH.DIN9 = HIGH (controller enable) 37DIN6 = HIGH (quick stop)


Selecting a motor from the motor database (only 931E)

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� 25SW−HB 13.0002−EN 4.1

5.2.3 Selecting a motor from the motor database (only 931E)

The Small Drives Control parameterisation program contains a motor database with themost important data for different motor types.

� Note!The motor database contains the data of the Lenze synchronous servo motors.Apart from the motor data (pole pair number, stator inductance, …), defaultsettings for the feedback system and current and speed controller have beenimplemented. Using the default settings will make commissioning fast andeasy.

The function can be accessed via the menu Parameters � Device parameters � Motor data� Select new motor. A list will be displayed, from which you can select the motor used:

931e_372

If a Lenze motor is used, select the motor and confirm your selection with Accept values andclose dialog.

Otherwise, click Quit without changes.

CommissioningSpeed controlActivating the operating mode

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� 26 SW−HB 13.0002−EN 4.1

5.2.4 Activating the operating mode

For speed control, configure the command window as follows:

931e_208

5.2.5 Input configuration

Select the menu Parameters � I/Os � Digital inputs and check if the analog input has beenconfigured correctly.

� Note!The analog inputs must not be configured as digital inputs. The selection"AIN’s used as DIN’s" must not be set, otherwise, the analog setpoint cannotbe evaluated.

931e_214


Setpoint selection via setpoint selectors

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� 27SW−HB 13.0002−EN 4.1

5.2.6 Setpoint selection via setpoint selectors

With torque and speed control, you can use the setpoint management of the 931E/K servopositioning controller for setpoint selection. Select Operating mode � Setpoint selectionto open the corresponding menu.

Speed control

931e_210

� Note!If an analog input is activated as setpoint source, but no line to the setpointindicated, the digital entries might be activated.

The following setpoint sources can be selected:

ƒ 2 analog inputs: AIN0 and AIN1

For parameter setting, please see the chapter "Digital outputs and analog inputs andoutputs".

ƒ RS232

ƒ CAN

ƒ Profibus

ƒ EtherCAT

ƒ Position controller (in operating mode speed control)

� Note!If no setpoint source is activated (inactive), the setpoint will be zero.

The setpoint management manages your settings separately for every operating mode.This means that the setpoint selectors will be automatically changed to the values youhave selected in the corresponding operating mode, when the operating mode is changed.

CommissioningSpeed controlSetpoint selection via setpoint selectors

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� 28 SW−HB 13.0002−EN 4.1

Setpoint selection via the analog input

The 931E/K servo positioning controller is equipped with two analog inputs with an inputvoltage range of ± 10 V and a resolution of 12 bits. The inputs can be used to enter speedand torque setpoints.

Select Parameters � I/Os � Analog inputs or click the "..." button when the analog inputis activated in the setpoint selector menu to open the following menu:

AIN 0

931e_212

Here you can select a "conversion factor" between the input voltage and the Torque orSpeed setpoint.

In the Offset field, you can select a voltage that will be automatically added to the voltagemeasured at the analog input. This function may, for instance, be used to compensate forthe offset on the analog control voltage of a control and the offset of the analog input inthe controller. This solves the problem of a very low setpoint still being generated with anexternal voltage selection of 0 V.

As another option, you can select positive and negative setpoints with an input voltage of0 ... 10 V.

The function Safe Zero will limit the detected setpoint to zero, if it is within the voltagespecified in this field. This ensures that the drive will not move or slowly drift away (see thefollowing figure) with an analog setpoint selection of 0 V.



5

� 29SW−HB 13.0002−EN 4.1

U

931E_118

Fig. 1 Safe zero

� Setpoint� Safe zero

� Note!In applications with position control (internal or via the extern control), thefunction "safe zero" must not be activated, because activation will have thesame control effects as a dead band or "backlash" in the controlled system.During operation, this will lead to a reduced stability of the control circuit.

This menu contains separate tabs for the analog inputs. In this way, the inputs can bescaled independently of each other.


5

� 30 SW−HB 13.0002−EN 4.1

Setpoint ramp

The setpoint management includes a ramp generator. Via Selector: Speed setpoint, youcan select one of the above setpoint sources and lead them via the ramp generator. Inaddition, you can select another source as setpoint (Selector: Connecting setpoint), whichwill, however, not be led via the ramp generator. The overall setpoint results from thesummation of the two values. Depending on the direction of rotation, the acceleration ordeceleration time of the ramp can be parameterised.

Speed control

931e_216

The 931E/K servo positioning controller can process speed setpoint jumps in differentways. It can transfer the jump without filtering it to the speed controller or calculate afunction that will smooth the different setpoints of the speed setpoint selector with aselectable ramp.

Use the following button to activate/deactivate the ramp generator.

The menu for setting the ramp is activated in the setpoint selector menu via the followingicon or via Operating mode � Ramps.

The following window will appear:



5

� 31SW−HB 13.0002−EN 4.1

Speed

931e_218

You can separately select ramps for CW and CCW rotation and for rising and falling speeds.

If the ramp accelerations are sometimes identical, you can use the [r3 = r1], [r4 = r2] or[r2 = r3 = r4 = r1] checkboxes to facilitate the entry.

� Note!The ramp generator should be used when the controller operates in speedcontrol and no position control – nor in an external control – is available. Theramps should be selected in a way that ensures that the drive will not exceedthe current limitation when accelerating under realistic load conditions.

When the setpoint ramp is selected correctly, the overshooting of the speedcontroller on reaching the setpoint speed can be considerably reducedcompared to operation without setpoint ramp.

In applications with position control (internal or via the external control), thesetpoint ramp must not be activated, because activation will have the samecontrol effect as a PT1 filter and reduce the stability of the control circuit.


5

� 32 SW−HB 13.0002−EN 4.1

Setpoint selection via RS232

If one of the setpoint sources is set to setpoint via RS232, open the menu Operating mode� Setpoint selection RS232 to select the setpoint. The menu can also be opened by a clickon the "..." button next to the setpoint selector.

The following window appears:

Main

931e_220

The activated RS 232 sources will be marked with a green arrow.

Here, you can enter the setpoints and torque limitation. Click the red STOP symbol to stopfaulty entries immediately. After this, the setpoint will be set to 0 and transmittedimmediately.

If the setpoints are not to be transmitted immediately, uncheck Transmit immediately.After this, new setpoints will only be transmitted, when the Transfer button is clicked.



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� 33SW−HB 13.0002−EN 4.1

Torque limitation

As already mentioned, with speed control, it is possible to define a torque limitation. In thiscase, the selected setpoint source will specify a maximum torque which will symmetricallylimit the setpoint for the current and torque controller.

Please observe that the current setpoint will also be limited by the rated current andmaximum current values selected in the Motor data menu. The current setpoint will thusalways be limited to the lower torque limit value.

� Note!Applications requiring torque control in a quadrant, i.e. a torque setting fromzero to maximum in one direction of rotation, can usually be convenientlyimplemented with speed control and torque limitation:

ƒ The torque setpoint is selected via the torque limitation

ƒ The speed setpoint is selected via a separate setpoint to ensure that thedrive will not "race" when no load is applied. The speed will be limited tomanageable values.

CommissioningSpeed controlOptimising the speed controller

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� 34 SW−HB 13.0002−EN 4.1

5.2.7 Optimising the speed controller

To optimise the speed controller for your application, select Parameters � Controllerparameters � Speed controller to open the menu for selecting the controller parameters:

931e_222

In this menu, you can set the Gain and the Time constant for the PI controller.

The actual speed will be smoothed by means of an Actual speed filter to improve thecontrol behaviour. The effective filter time constant can be parameterised:

� Note!If the time constant of the actual speed filter is too high, the dynamicperformance of the controller will be reduced because interferences can onlybe detected with a delay. In certain cases, the stability of the speed controlcircuit may be reduced, if the selected time constant is too high. The additionalpropagation time may lead to vibrations.

If the time constant is too low, high gain factors will lead to current noises inthe speed controller and slight disturbances at the shaft. This will lead to anincreased temperature rise in the motor.

For stability reasons, select the time constant as low as possible. The minimumvalue will be determined by the measuring noise. Typical values for the actualspeed filter are 0.6 msec to 2.0 msec.

The speed controller setting must ensure that the actual speed will only overshoot once.The overshoot should be approx 15% above the setpoint speed. The falling edge of theovershoot should, however, not or only slightly fall below the speed setpoint to reach thespeed setpoint. This setting applies to most motors that can be operated with the servopositioning controller. If a stricter control behaviour is necessary, the speed controller gaincan be increased further. The gain limit will be determined by the vibrations occurring withhigh speeds or disturbances at the shaft.

The maximum possible gain of the speed control circuit depends on the load conditions atthe motor shaft. This is why the speed controller setting must be checked once again whenthe drive has been installed.

� Note!If the speed controller is parameterised with a free−running motor shaft, thespeed controller must be adapted to your application when the drive has beeninstalled.


Optimisation strategies

5

� 35SW−HB 13.0002−EN 4.1

� Stop!Excessive speed jumps may damage or destroy your system / mechanicalcomponents. Please observe the load limits for the mechanical components.

Optimisation strategies

The behaviour of the speed controller can be monitored by recording the response to aspeed jump. For this, select "Speed control" and deactivate the ramp functionality, if any,in the setpoint selector menu. A speed jump can be reached by entering setpoint jumps viathe RS232 interface. As an alternative, you can use the setpoint selection via an analoginput and short−circuit the analog input to reach a jump.

The speed controller response can be monitored by using the oscilloscope function. See thechapter "Using the oscilloscope function". ( 115)

Set the oscilloscope channels to the actual speed (raw) and the speed setpoint to displaythe step response of the speed controller.

� Note!In general, the gain factor and the time constant must not be changedabruptly but only gradually.

To start with, select a comparatively long integral−action time between 8 msecand 10 msec and gradually increase the gain. Only reduce the integral−actiontime step−by−step after having found the right setting by increasing the gain.

Changing the values may have the following effects:

ƒ If the setting is too hard, the speed controller will become unstable.

ƒ If the setting is too soft, the drive will not be stiff enough. This would lead tofollowing errors during operating.

� Note!The speed controller parameters are not independent of each other. I.e. if ameasuring curve changes from one test to another, this may be due todifferent reasons. Therefore, only change one parameter at a time: either onlythe gain factor or only the time constant.

CommissioningSpeed controlOptimisation strategies

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� 36 SW−HB 13.0002−EN 4.1

For speed controller adjustment, increase the gain until vibrations occur. Then slowlyreduce the gain until the drive stops vibrating. After this, reduce the time constant untilvibrations occur. Then slowly increase the time constant until the controller is stable andstiff with setpoint = 0.

Case 1: Too soft speed controller setting

Remedy:� Increase the gain factor by 2 to 3 tenth of a point� Reduce the time constant by 1 to 2 msec

Case 2: Too hard speed controller setting

Remedy:� Reduce the gain factor by 2 to 3 tenth of a point� Increase the time constant by 1 to 2 msec

Case 3: Correct speed controller setting


Setting the controller enable logic

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� 37SW−HB 13.0002−EN 4.1

5.2.8 Setting the controller enable logic

Select the controller enable logic to enable the power stage and control in the 931E/K servopositioning controller. The controller enable logic decides which conditions must be metto enable the power stage and energise the motor.

Select Parameters � Device parameters � Controller enable logic to open the menu forsetting the controller enable logic.

The menu can also be selected via the Commands window. For selecting the menu, clickthe button in the Controller enable field.

931e_224

Using the combo box, you can select the following options:

ƒ via digital input (DIN9):

Controller enable via digital input DIN9

ƒ via DIN9 and serial interface:

For controller enable, DIN9 must be set and a corresponding serial command must beactivated, e.g. by checking the Controller enable field in the Commands window.

ƒ via DIN9 and fieldbus: CAN bus, Profibus, EtherCAT:

For controller enable, DIN9 must be set and an enable command must be activated viathe fieldbus.

ƒ via serial interface:

For controller enable, a corresponding serial command must be activated, e.g. bychecking the Controller enable field in the Commands window.

ƒ via fieldbus: CAN bus, Profibus, EtherCAT (931K)

For controller enable, an enable command must be activated via the fieldbus.

CommissioningSpeed controlMaking the controller ready for operation

5

� 38 SW−HB 13.0002−EN 4.1

5.2.9 Making the controller ready for operation

After controller enable, the shaft must start rotating. Unless the motor shows thisbehaviour, an error has occurred or the 931E/K servo positioning controller has not beenparameterised correctly. In the below table, you can find typical errors and information onhow to remove them.

Error Remedy

The motor builds up a holding torque and "snaps" indifferent positions.

Pole pair number and/or phase sequence are wrong.Select the correct pole pair number and/or change themotor phases. Repeat the automatic identification. Seethe chapter "Motor data". 133

The motor shaft vibrates and does not run smoothly. The selected angle encoder offset and/or controllerparameters are not correct. See the chapter "Speedcontrol". 34Repeat the automatic identification. See the chapter"Angle encoder". 135

The shaft does not rotate. � No DC−bus voltage.� The limit switches are active.� "Quick stop" (DIN 6) has not been assigned correctly.

The shaft does not rotate. The actual value windowdisplays the speed setpoint = "0".

The speed setpoint has not been configured correctly.See the chapter "Setpoint selection via setpointselectors". 27

� Stop!When connecting the motor phases, please observe that the individual servomotor manufacturers may define different phase sequences. If necessary,change W and U phase.

CommissioningTorque control

Functions available

5

� 39SW−HB 13.0002−EN 4.1

5.3 Torque control


The torque control has the structure of a cascade−shaped control system with an innercurrent control circuit and a higher−level speed control circuit. The controllers are designedas PI controllers. Using the setpoint selectors, you can select setpoints from differentsources for the corresponding controllers. See the chapter "Setpoint selection via setpointselectors". ( 46)




With torque control, a current setpoint i_set will be selected for the active currentcontroller. In this case, only the current controller will be active in the servo positioningcontroller. Since the torque generated on the motor shaft is more or less proportional to theactive motor current, we can speak of torque control here.

� Note!ƒ The quality of the torque control mainly depends on the motor and the

sensor technology for the rotor position detection.

ƒ With a good synchronous machine, a high−resolution rotary encoder(SINCOS encoder) and a good controller setting, the 931E/K can reach atorque ripple between 1% and 3% referred to the maximum current resp.the corresponding maximum motor torque.

� Danger!No speed limitation

In torque control mode, there is no speed limitation!

Possible consequences:

ƒ Death or severe injuries may occur unless appropriate protective measuresare taken.

Protective measures:

ƒ Take protective measures to ensure that the maximum speed will not beexceeded.

CommissioningTorque controlFunctions available

5

� 40 SW−HB 13.0002−EN 4.1

23

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jq

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931E_100

Fig. 2 Block diagram: Controller cascade


Commissioning steps

5

� 41SW−HB 13.0002−EN 4.1




2. Switch on the control voltage, do not yet switch on the power supply! When the green "state" LED is on (931E),the voltage is within the permissiblerange.




5. Select "Torque control" from the Commands window. 43

6. Open the menu Parameters � I/Os � Digital inputs and check the digitalinput assignments.

44

7. Open the menu Operating mode � Setpoint − Selection and select thesetpoint source.

46

8. Open the menu Parameters � Device parameters � Controller enablelogic and activate the controller enable logic.

51

9. Ensure that the controller is inhibited! If the controller is only enabled via thedigital input DIN9, set the input to LOW.DIN9 = LOW







15. Select a torque setpoint.

16. Enable the controller to start torque−controlled drive operation. If the controller is only enabled via thedigital input DIN9, set the input to HIGH.DIN9 = HIGH (controller enable) 51DIN6 = HIGH (quick stop)

CommissioningTorque controlSelecting a motor from the motor database (only 931E)

5

� 42 SW−HB 13.0002−EN 4.1



� Note!The motor database contains the data of the Lenze synchronous servo motors(extra−low voltage version). Apart from the motor data (pole pair number,stator inductance, …), default settings for the feedback system and currentand speed controller have been implemented. Using the default settings willmake commissioning fast and easy.


931e_372




Activating the operating mode

5

� 43SW−HB 13.0002−EN 4.1


For torque control, configure the command window as follows:

931e_226

The torque setpoint can be selected in A or Nm. Open the menu Options � Display units toselect the unit. The corresponding menus will then automatically use the selected unit.

If the torque is to be selected in Nm, the torque constant, i.e. the conversion factor betweencurrent and torque, must be known. The torque constant can be entered in the menuParameters � Device parameters � Motor data. Usually, it can also be calculated by meansof the nameplate data on the motor. For this, divide the rated torque by the rated current.

� Note!A torque constant of 0 Nm/A is impermissible, if "Torque in Nm" has beenactivated.

CommissioningTorque controlInput configuration

5

� 44 SW−HB 13.0002−EN 4.1


Select the menu Parameters � I/Os � Digital inputs and check if the analog input has beenconfigured correctly.

� Note!The analog inputs must not be configured as digital inputs. The selection"AIN’s used as DIN’s" must not be set, otherwise, the analog setpoint cannotbe evaluated.

931e_214



5

� 45SW−HB 13.0002−EN 4.1

5.3.6 Setpoint selection via setpoint selectors

With torque and speed control, you can use the setpoint management of the 931E/K servopositioning controller for setpoint selection. Select Operating mode � Setpoint selectionto open the corresponding menu.

When activating the Torque control tab, one of the above−mentioned setpoint sources canbe selected via Selector: Torque setpoint Selector: . With torque control, there is no rampgenerator and connecting setpoint.

CommissioningTorque controlSetpoint selection via setpoint selectors

5

� 46 SW−HB 13.0002−EN 4.1

Torque control

931e_228

� Note!If an analog input is activated as setpoint source, but no line to the setpointindicated, the digital entries might be activated.

The following setpoint sources can be selected:

ƒ 2 analog inputs: AIN0 and AIN1

For parameter setting, please see the chapter "Digital outputs and analog inputs andoutputs".

For parameter setting, please see the chapter "Analog inputs AIN0 and AIN1".

ƒ RS232

ƒ CAN

ƒ Profibus

ƒ EtherCAT

ƒ Speed controller (in operating mode torque control)

� Note!If no setpoint source is activated (inactive), the setpoint will be zero.

The setpoint management manages your settings separately for every operating mode.This means that the setpoint selectors will be automatically changed to the values youhave selected in the corresponding operating mode, when the operating mode is changed.



5

� 47SW−HB 13.0002−EN 4.1

Setpoint selection via the analog input

The 931E/K servo positioning controller is equipped with two analog inputs with an inputvoltage range of ± 10 V and a resolution of 12 bits. The inputs can be used to enter speedand torque setpoints.


AIN 0

931e_212






5

� 48 SW−HB 13.0002−EN 4.1

U

931E_118

Fig. 3 Safe zero


� Note!In applications with position control (internal or via the extern control), thefunction "safe zero" must not be activated, because activation will have thesame control effects as a dead band or "backlash" in the controlled system.During operation, this will lead to a reduced stability of the control circuit.




5

� 49SW−HB 13.0002−EN 4.1

Setpoint selection via RS232

If one of the setpoint sources is set to setpoint via RS232, open the menu Operating mode� Setpoint selection RS232 to select the setpoint. The menu can also be opened by a clickon the "..." button next to the setpoint selector.

The following window appears:

Main

931e_220

The activated RS 232 sources will be marked with a green arrow.

Here, you can enter the setpoints and torque limitation. Click the red STOP symbol to stopfaulty entries immediately. After this, the setpoint will be set to 0 and transmittedimmediately.

If the setpoints are not to be transmitted immediately, uncheck Transmit immediately.After this, new setpoints will only be transmitted, when the Transfer button is clicked.


5

� 50 SW−HB 13.0002−EN 4.1

Torque limitation

As already mentioned, with torque control, it is possible to define a torque limitation. Inthis case, the selected setpoint source will specify a maximum torque which willsymmetrically limit the setpoint for the current and torque controller.

Please observe that the current setpoint will also be limited by the rated current andmaximum current values selected in the Motor data menu. The current setpoint will thusalways be limited to the lower torque limit value.

� Note!Applications requiring torque control in a quadrant, i.e. a torque setting fromzero to maximum in one direction of rotation, can usually be convenientlyimplemented with speed control and torque limitation:

ƒ The torque setpoint is selected via the torque limitation

ƒ The speed setpoint is selected via a separate setpoint to ensure that thedrive will not "race" when no load is applied. The speed will be limited tomanageable values.


Setting the controller enable logic

5

� 51SW−HB 13.0002−EN 4.1





931e_224












CommissioningTorque controlMaking the controller ready for operation

5

� 52 SW−HB 13.0002−EN 4.1

5.3.8 Making the controller ready for operation

After controller enable, the shaft must start rotating. Unless the motor shows thisbehaviour, an error has occurred or the 931E/K servo positioning controller has not beenparameterised correctly. In the below table, you can find typical errors and information onhow to remove them.

Error Remedy

The motor builds up a holding torque and "snaps" indifferent positions.

Pole pair number and/or phase sequence are wrong.Select the correct pole pair number and/or change themotor phases. Repeat the automatic identification. Seethe chapter "Motor data". 133

The motor shaft vibrates and does not run smoothly. The selected angle encoder offset and/or controllerparameters are not correct.Repeat the automatic identification. See the chapter"Angle encoder". 135

The shaft does not rotate. � No DC−bus voltage.� The limit switches are active.� "Quick stop" (DIN 6) has not been assigned correctly.

The shaft does not rotate. The actual value windowdisplays the speed setpoint = "0".

The torque setpoint has not been configured correctly.See the chapter "Setpoint selection via setpointselectors". 46

� Stop!When connecting the motor phases, please observe that the individual servomotor manufacturers may define different phase sequences. If necessary,change W and U phase.

CommissioningPositioning mode

Functions available

5

� 53SW−HB 13.0002−EN 4.1

5.4 Positioning mode

� Note!You can skip this chapter, if you are only using speed or torque control.


In positioning mode, the speed control is superimposed by a positioning control and aposition is selected which is to be automatically approached by the motor, i.e. withoutexternal control. In this operating mode, the controller cascade of the 931E/K servopositioning controller is extended, as shown in figure Fig. 4:

ƒ The position controller is designed as a proportional−action controller (short Pcontroller). The current position is calculated from the data of the internal encoderevaluation. The position difference is processed by the position controller andtransmitted as speed setpoint to the speed controller.

ƒ The trajectory generator calculates the traversing profile necessary to approach thetarget position from the current position and with the current speed. It provides thesetpoint position for the position controller and a precontrol speed for the speedcontroller to improve the dynamic performance of the control in case of fastpositioning processes.

ƒ The positioning control provides a large number of messages which are required forthe external control, e.g. a target reached message and a following error message.

CommissioningPositioning modeFunctions available

5

� 54 SW−HB 13.0002−EN 4.1

+-POS

931E_101

Fig. 4 Block diagram: Positioning control

� Positioning parameters of:(positioning control, fieldbus (CAN), homing, course program)

� Trajectory generator� Positioning parameters� Temp. data record

Pos set� N precontrol� Target reached� Remaining path message� x act� Positioning start� Following error monitoring� Following error� Correction speed� N set pos� Dead range� Position controller


Functions available

5

� 55SW−HB 13.0002−EN 4.1

� Note!Unlike many competitive products, the 931E/K servo positioning controllerre−calculates the complete traversing process in every control cycle. With thisconcept, positioning processes can be modified or cancelled any time, evenduring traversing.

This is made possible by the high performance of the Motion Control DSP usedin the 931E/K servo positioning controller.

The powerful positioning control of the 931E/K includes many parameters and positionsets. Up to 64 position sets can be saved in the non−volatile memory of the 931E/K and beprocessed via the trajectory generator.

Each of the 64 position sets includes a separate target position. The other parameters ofthe 64 position sets are equally divided into 4 groups. For each of the 4 groups, you can setthe following parameters:

ƒ Acceleration

ƒ Traversing speed

ƒ Type of acceleration:

Acceleration with jerk limitation or time optimal (constant acceleration)

ƒ Relative or absolute positioning

ƒ Waiting until end of current positioning or deletion of current positioning

ƒ Start delay

In addition, there are position sets for positioning via the fieldbus and homing.

The positioning control supports point−to−point motion sequences with final speed = zero(standstill at target position). The cancellation of positioning processes during traversingand direct approaching of the next position selected is also supported.

The groups and positions are selected via the digital inputs ( 66). As an alternative, thegroups and positions can also be selected via the RS232 interface.

For homing or positioning via fieldbus, the corresponding position data records will bedirectly assigned to the trajectory generator.

CommissioningPositioning modeCommissioning steps

5

� 56 SW−HB 13.0002−EN 4.1








5. Select "Positioning, Selection: 64 positions" from the Commands window. 58

6. Open the menu Parameters � I/Os � Digital inputs and activate "AIN’sused as DIN’s".

The digital inputs DIN0 ... DIN5 are usedfor addressing a target position. 58

7. Open the menu Parameters � Positioning � Settings position sets /course program and select the positioning range.

59

8. Open the menu Parameters � Positioning � Destination parameters andparameterise the position sets.

60

9. Ensure that positioning is inhibited! Digital input DIN6: Positioning startmust be set to LOW.DIN6 = LOW







15. Enable the controller. If the controller is only enabled via thedigital input DIN9, set the input to HIGH.The yellow LED (power) goes on.DIN9 = HIGH. 64

16. Select the target position.

A Open the menu Parameters � Positioning � Go to destination and click thecorresponding button.

Positioning is started and the selectedtarget is approached. 65

B Set the corresponding digital inputs and enable positioning. After a rising edge at digital input DIN6,the destinations will be accepted andpositioning will be started.DIN6 = HIGH.



5

� 57SW−HB 13.0002−EN 4.1





931e_372



CommissioningPositioning modeActivating the operating mode

5

� 58 SW−HB 13.0002−EN 4.1


For homing or positioning, configure the command window as follows:

931e_230


Select the menu Parameters � I/Os �Digital inputs to assign functionalities to the digitalinputs DIN0 ... DIN5. In positioning mode, you can specify a 6−bit position selector(DIN0 ... DIN5) to address a target position out of the 64 freely programmable targetpositions. Moreover, the start input is important for positioning. As an option, it is possibleto derive an offset for the CAN node address from the digital inputs DIN0 ... DIN5. Thesetwo functionalities can, however, only be used, if the analog inputs AIN0 and AIN1 are usedas digital inputs.

931e_234


Global positioning settings

5

� 59SW−HB 13.0002−EN 4.1

5.4.6 Global positioning settings

Select Parameters � Positioning � Settings position sets / course program to open themenu Settings position sets / course program. With this menu you can define thepositioning range as a global setting for all positioning processes.

931e_232

With absolute positioning, every new target position is checked for compliance with thelimits of the absolute positioning range. The parameters Minimum value and Maximumvalue in the Positioning range field specify the absolute positioning limits for the positionsetpoint and the actual position. The positioning range always refers to the zero positionof the drive.

A click on the Homing run button opens the Homing run menu. See the chapter "Homing".( 98)

A click on the Destination parameters button opens the menu for parameterising thetarget positions.

In the lower part of the window, you can select settings for the course program. If you checkCourse program active, the course program will be enabled in positioning mode. A click onthe "..." button opens the menu for the course program. See the chapter "Course program".( 67)

In addition, you can define two entry lines for the course program.

CommissioningPositioning modeTarget parameterisation

5

� 60 SW−HB 13.0002−EN 4.1

5.4.7 Target parameterisation

64 position sets can be parameterised in the 931E/K servo positioning controller. Forparameterising the position sets, open the menu Parameters � Positioning � Destinationparameters.

Click GO! to start positioning with the displayed destination position. Please observe thecontroller enable logic. Positions can only be approached after controller enable.

Click Positioning settings to change general positioning settings (e.g. limit positions). Seethe chapter " Global positioning settings". ( 73)

Settings

931e_236

In the Destination field you can select the position set to be parameterised. If 64 positionsets are used, they will be combined to 4 position groups (0 ... 15, 16 ... 31, 32 ... 47, 48 ... 63).The entry (0 ... 15) after the Positioning field indicates that the selection "relative" appliesto all positions of the position group 0 to 15. Other parameters of this menu also apply toall 64 positions. In this case, the entry (0 ... 63) will follow the field name. If there is no entryafter the field name, the parameter only applies to the corresponding position.

As an alternative to the standard position sets 0 ... 63, you can activate the option"CAN−Bus" to display and change the traversing profile currently parameterised via theCAN bus. The same applies to Profibus and EtherCAT.

In the Positioning field you can select, an absolute (referred to the home position) orrelative interpretation of the target position. relative refers to the current setpointposition, for instance, during an active positioning process. The option relative to lastdestination calculates the new position on the basis of the currently approached targetposition or the target position to be approached.

The results of the option relative will differ, depending on the setting in the Start duringpositioning field (see below). If the combination relative/wait for end of positioning run isselected, the new position will refer to the target position.

If the combination relative/Interrupt actual positioning is selected, the new target


Target parameterisation

5

� 61SW−HB 13.0002−EN 4.1

position will be calculated from the current setpoint position.

In the Start during positioning field you can select the behaviour of the servo positioningcontroller, if a start command for a new target position is received during an activepositioning process.

You can choose between the following options:

ƒ Wait for end of positioning run: the current positioning process will be completedbefore the new positioning process will be started. The next positioning process canbe selected before the current positioning process. The following positioning processwill then be automatically started after completion of the current positioningprocess.

ƒ Interrupt actual positioning: the current positioning process will be interrupted andthe new position will be approached immediately.

ƒ Ignore start command: the new positioning command can only be selected andstarted, when the previous positioning process has been completed.

� Note!Please observe that a bouncing switch at the digital start input may lead toproblems, if wait for end of positioning run or Interrupt actual positioning isselected during a relative positioning process. In this case, it may happen thatthe drive traverses a little bit too far!

In the Messages field, you can parameterise the remaining path message. The message canbe output via the fieldbus or a digital output. These trigger messages show the Remainingdistance to the end of the current positioning process. The selected remaining path appliesto all 64 target positions.

In the chapter "Setting the messages for the digital outputs", you will be informed how toassign the message to the digital outputs. ( 106)

In the Start delay field, you can select the time the servo positioning controller will wait forafter a start command before starting the positioning process.

CommissioningPositioning modeTarget parameterisation

5

� 62 SW−HB 13.0002−EN 4.1

Traversing profile

931e_238

Use the Destination field to enter the target position. The target position can beinterpreted in different ways, depending on whether absolute or relative positioning hasbeen selected (see the Settings) tab).

Use the Speed field to enter the Running speed for traversing to the target position. Thefinal speed is always zero and cannot be parameterised.

Use the Acceleration field to parameterise the accelerations for accelerating anddecelerating the drive.

The times resulting from running speed and accelerations can be read in the Times field.

Use the Time constant: jerk−free field to set the filter time for smoothing the accelerationramps to reach jerk−free acceleration. The following figures show the speed profile of apositioning process with and without acceleration with jerk−limitation.



5

� 63SW−HB 13.0002−EN 4.1

Time−optimal positioning Positioning with jerk limitation

Fig. 5 Time optimal positioning and positioning with jerk limitation

The positioning range selected under Parameters � Positioning � Settings position sets /course program is shown in the Positioning range (input limits) field.

� Note!The settings of the setpoint ramp do not have any influence on the traversingprofiles during homing and positioning.

CommissioningPositioning modeSetting the controller enable logic

5

� 64 SW−HB 13.0002−EN 4.1





931e_224













Approaching targets

5

� 65SW−HB 13.0002−EN 4.1

5.4.9 Approaching targets

There are different ways to select destinations and start positioning:

ƒ Via the serial interface:

Target position approaching and homing can be activated via the parameterisationprogram. For this, activate the menu items Parameters � Positioning � Go todestination. For approaching a target position, click the corresponding button.

In addition, you can start positioning to the indicated destination by clicking the GO!button.

931e_240

ƒ Via the digital inputs:

The individual destinations are selected via the digital inputs (DIN0 ... DIN5).

After a rising edge at digital input DIN6, the destinations will be accepted andpositioning will be started.

In positioning mode, some inputs are assigned with fixed functions. In all operating modesit is possible to derive a CAN node number offset from the digital inputs DIN5 ... DIN0.

CommissioningPositioning modeSetting digital outputs

5

� 66 SW−HB 13.0002−EN 4.1

Input Function Description

DIN9 Controller enable With a rising edge, the controller will be initialised and enabled togetherwith the power stage. With a falling edge, the motor will be decelerated tospeed = 0 and the power stage will be switched off.

Erroracknowledgement

If the controller indicates an error, the falling edge will be used toacknowledge active errors. If the error acknowledgement has beensuccessful, the controller will change to "Ready for operation" and can beenabled again with the next edge.

Limit switchacknowledgement

If the motor has reached a limit switch, the falling edge will be used toallow traversing in the same direction.

DIN8 Positive limit switch Positive (DIN8) and negative (DIN7) setpoints will only be enabled, if thelimit switch inputs are connected with + 24 V (limit switches with NCcontact).If no signal is received, the drive will decelerate to speed = 0 when thecurrent limit is reached, the power stage will remain on.

DIN7 Negative limit switch

DIN6 Positioning start With a rising edge, positioning will be executed with the selectedparameter set.

DIN5 Selection ofpositioningparameter set

Selection of the positioning parameter group(accelerations / times, positioning speed, subgroup selection with 16 targetpositions)

DIN4

DIN3

DIN2

DIN1

DIN0

5.4.10 Setting digital outputs

In positioning mode, you can inform the higher−level control via digital outputs that apositioning process has been completed/is being completed.

The digital outputs can transfer the following information:

ƒ Target reached.

ƒ Remaining path to end of positioning process reached.

ƒ Homing completed.

Please see the chapter "Digital outputs" for the configuration of the digital outputs.( 106)

CommissioningCourse program

Functions available

5

� 67SW−HB 13.0002−EN 4.1

5.5 Course program

� Note!You can skip this chapter, if you are only using speed or torque control.


The course program allows you to link several position sets in a sequence. These positionswill be approached one after another. Characteristics of the course program:

ƒ Up to 32 course program steps can be selected.

ƒ Both linear sequences which will terminate automatically and ring−shaped linkagesare possible.

ƒ Via a special digital input, it is possible to approach a selectable position within thecourse program. The position can be selected via digital inputs.

ƒ For every course program step, you can select up to 2 following positions. They canbe used for branches in the course program. The branches depend on the logicalstatus of the digital inputs.

ƒ The course program can control two digital outputs. For every course program step,there are 4 different options (On, Off, Target reached, Remaining path message)available.

ƒ The course program provides two alternative entry points. The entry points can befreely parameterised and are started by means of digital inputs. Thus, you can use acourse program with two entries or, alternatively, two smaller course programs withup to 32 program steps which can be called completely independently of each other.

ƒ The course program can be easily created and monitored by using theparameterisation interface. The created application will be saved in a parameter setor, alternatively, in a course program file and can be transferred to other 931E/Kservo positioning controllers.

ƒ The program lines of the course program are processed every 1.6 msec. This ensuresthat each output set by the course program will remain set for at least 1.6 msec.

The course program mode is activated via the corresponding option button in thecommand window. See the chapter "Activating the operating mode". ( 70)

The setting can be permanently saved in the servo positioning controller.

The course program is controlled via the digital inputs. Digital inputs with level (High/Low)evaluation must remain at the same level for at least 1.6 msec (cycle time of the sequencecontrol for the course program) to ensure reliable level detection. Edge−sensitive inputsmust be set for at least 100 �s.

CommissioningCourse programCommissioning steps

5

� 68 SW−HB 13.0002−EN 4.1








5. Select "Positioning Course program (DIN3)" from the Commands window. 70

6. Open the menu Parameters � I/Os � Digital inputs and activate "AIN’sused as DIN’s".

71

7. Open the menu Parameters �� Positioning �� Settings position sets /course program to select the positioning range and activate "Courseprogram active" in the Course program field.

73

8. Open the menu Parameters � Positioning � Destination parameters andparameterise the position sets.

74

9. Open the menu Parameters � Positioning � Course program and createthe course program.

78

10. Ensure that the controller is inhibited! If the controller is only enabled via thedigital input DIN9, set the input to LOW.DIN9 = LOW 88







16. Enable the controller. If the controller is only enabled via thedigital input DIN9, set the input to HIGH.The yellow LED (power) goes on.DIN9 = HIGH. 88

17. Start the course program. The defined positions will be approacheddepending on the assignment of thedigital inputs DIN4 and DIN5.



5

� 69SW−HB 13.0002−EN 4.1





931e_372



CommissioningCourse programActivating the operating mode

5

� 70 SW−HB 13.0002−EN 4.1


For selecting the course program positioning, configure the command window as follows:

931e_242


Input configuration

5

� 71SW−HB 13.0002−EN 4.1


In the menu Parameters � I/Os � Digital inputs, the two analog inputs must be used asdigital inputs.

931e_368

Select Functional overview to display the digital inputs available and the current inputassignments.

931e_246

When the course program is activated, the digital inputs that are usually used for startingand selecting position sets will be used as follows:

CommissioningCourse programInput configuration

5

� 72 SW−HB 13.0002−EN 4.1

DIN: Function: Explanation:

DIN 0 NEXT 2 Rising edge: Continue with next position 2.

DIN 1 NEXT 1 Rising edge: Continue with next position 1.(NEXT1 has priority over NEXT2, if both inputs are switched at thesame time)

DIN 2 Stop Low = A currently active positioning process will be interrupted.The program will stop in the current course program line.

DIN 3 Course / Posi High = Activation of course program.Low = Position will be approached, then standard positioningmode

DIN 4 Start 1 Rising edge: Traversing to a defined start position. Start of courseprogram.

DIN 5 Start 2 Rising edge: Traversing to a defined start position. Start of courseprogram.(START1 has priority over START2, if both inputs are switched atthe same time)

DIN 6 Positioning: Start Rising edge:If DIN 3 = Low: Start of positioning

DIN 7 Limit switch 0 Limit switch 0

DIN 8 Limit switch 1 Limit switch 1

DIN 9 Clear error / Controllerenable

If errors have occurred, they can be acknowledged after havingbeen removed. If no errors have occurred, the power stage will beenabled.

If the digital input COURSE is set to 0 V, the course program will be inactive. Standardpositioning processes can be activated via the digital inputs, but the number of targets willbe reduced to half, i.e. 32 targets.

DIN4 and DIN5 are used to select the position groups; DIN0, DIN1 and DIN2 are used toselect the target positions.

Assignment 32 positions: Explanation:

Table above 4 groups à 8 positionsPos. 0 ... 7, 16 ... 23, 32 ... 39, 48 ... 55

Standard assignment.Control signal COURSE at DIN 3


Global positioning settings

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5.5.6 Global positioning settings

Select Parameters � Positioning � Settings position sets / course program to open themenu Settings position sets / course program. With this menu you can define thepositioning range as a global setting for all positioning processes.

931e_244

With absolute positioning, every new target position is checked for compliance with thelimits of the absolute positioning range. The parameters Minimum value and Maximumvalue in the Positioning range field specify the absolute positioning limits for the positionsetpoint and the actual position. The positioning range always refers to the zero positionof the drive.

A click on the Homing run button opens the Homing run menu. See the chapter "Homing".( 98)

A click on the Destination parameters button opens the menu for parameterising thetarget positions.

In the lower part of the window, you can select settings for the course program. If you checkCourse program active, the course program will be enabled in positioning mode. A click onthe "..." button opens the menu for the course program. See the chapter "Course program".( 67)

In addition, you can define two entry lines for the course program.

CommissioningCourse programTarget parameterisation

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5.5.7 Target parameterisation

64 position sets can be parameterised in the 931E/K servo positioning controller. Forparameterising the position sets, open the menu Parameters � Positioning � Destinationparameters.

Click GO! to start positioning with the displayed destination position. Please observe thecontroller enable logic. Positions can only be approached after controller enable.

Click Positioning settings to change general positioning settings (e.g. limit positions). Seethe chapter " Global positioning settings". ( 73)

Settings

931e_236

In the Destination field you can select the position set to be parameterised. If 64 positionsets are used, they will be combined to 4 position groups (0 ... 15, 16 ... 31, 32 ... 47, 48 ... 63).The entry (0 ... 15) after the Positioning field indicates that the selection "relative" appliesto all positions of the position group 0 to 15. Other parameters of this menu also apply toall 64 positions. In this case, the entry (0 ... 63) will follow the field name. If there is no entryafter the field name, the parameter only applies to the corresponding position.

As an alternative to the standard position sets 0 ... 63, you can activate the option"CAN−Bus" to display and change the traversing profile currently parameterised via theCAN bus.

In the Positioning field you can select, an absolute (referred to the home position) orrelative interpretation of the target position. relative refers to the current setpointposition, for instance, during an active positioning process. The option relative to lastdestination calculates the new position on the basis of the currently approached targetposition or the target position to be approached.

The results of the option relative will differ, depending on the setting in the Start duringpositioning field (see below). If the combination relative/wait for end of positioning run isselected, the new position will refer to the target position.

If the combination relative/Interrupt actual positioning is selected, the new target



5

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position will be calculated from the current setpoint position.

In the Start during positioning field you can select the behaviour of the servo positioningcontroller, if a start command for a new target position is received during an activepositioning process.

You can choose between the following options:

ƒ Wait for end of positioning run: the current positioning process will be completedbefore the new positioning process will be started. The next positioning process canbe selected before the current positioning process. The following positioning processwill then be automatically started after completion of the current positioningprocess.

ƒ Interrupt actual positioning: the current positioning process will be interrupted andthe new position will be approached immediately.

ƒ Ignore start command: the new positioning command can only be selected andstarted, when the previous positioning process has been completed.

� Note!Please observe that a bouncing switch at the digital start input may lead toproblems, if wait for end of positioning run or Interrupt actual positioning isselected during a relative positioning process. In this case, it may happen thatthe drive traverses a little bit too far!

In the Messages field, you can parameterise the remaining path message. The message canbe output via the fieldbus or a digital output. These trigger messages show the Remainingdistance to the end of the current positioning process. The selected remaining path appliesto all 64 target positions.

In the chapter "Setting the messages for the digital outputs", you will be informed how toassign the message to the digital outputs. ( 106)

In the Start delay field, you can select the time the servo positioning controller will wait forafter a start command before starting the positioning process.

CommissioningCourse programTarget parameterisation

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Traversing profile

931e_238

Use the Destination field to enter the target position. The target position can beinterpreted in different ways, depending on whether absolute or relative positioning hasbeen selected (see the Settings) tab).

Use the Speed field to enter the Running speed for traversing to the target position. Thefinal speed is always zero and cannot be parameterised.

Use the Acceleration field to parameterise the accelerations for accelerating anddecelerating the drive.

The times resulting from running speed and accelerations can be read in the Times field.

Use the Time constant: jerk−free field to set the filter time for smoothing the accelerationramps to reach jerk−free acceleration. The following figures show the speed profile of apositioning process with and without acceleration with jerk−limitation.



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Time−optimal positioning Positioning with jerk limitation

Fig. 6 Time optimal positioning and positioning with jerk limitation

The positioning range selected under Parameters � Positioning � Settings position sets /course program is shown in the Positioning range (input limits) field.

� Note!The settings of the setpoint ramp do not have any influence on the traversingprofiles during homing and positioning.

CommissioningCourse programCreating the course programs

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5.5.8 Creating the course programs

Select Parameters � Positioning � Course program to open the menu for managing andcreating course programs with up to 32 program lines.

931e_248

Click File>>Program to load a course program that has already been created into the servopositioning controller or click Program>>File to save the program you have created.

In the Modus field, you can select between the Edit entry mode and the Debug monitoringmode. For a detailed description of the monitoring mode, please see the chapter"Debugging the course program".

A click on the Edit line button or a line in the table opens another window in which you candefine the commands for the selected course program line.

931e_250


Creating the course programs

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You can select between the following basic course program commands:

ƒ Position branch (and linear position sequence)

ƒ Branch (line)

ƒ Level test (and unconditional program jump)

ƒ End of program

In the chapters "Position branch" ( 81) to "End of program" ( 86), the individualcourse programs will be explained in detail.

Course program options

In the Options field, you can define the evaluation of the digital inputs NEXT1 and NEXT2.If Evaluate NEXT1 or Evaluate NEXT2 is set, an additional field with the input options forthe corresponding signal will appear in the lower field of the window:

ƒ Ignore, if target not reached

If the signal is received during an active positioning process, it will be ignored. Ifpositioning is not in progress, the new following position / next line X will beapproached.

ƒ Go to position / line immediately

The new following position / next line X will be approached immediately. The currentpositioning process will be interrupted immediately.

ƒ Complete positioning, then following position / line

The current positioning process will be completed. Then the following position / nextline X will be approached in accordance with the signal received.

Basically applies:

ƒ If both "Evaluate NEXT" signals are deactivated, the following position / next line 1will be approached.

ƒ If "Evaluate NEXT1" is activated and "Evaluate NEXT2" is deactivated, NEXT1 will beused.

ƒ If "Evaluate NEXT2" is activated and "Evaluate NEXT1" is deactivated, NEXT2 will beused.

In the Options field, you can furthermore define the following states for the digital outputsDOUT1/DOUT2:

ƒ On

ƒ Off

ƒ Target reached

ƒ Remaining path message

Basically applies:

ƒ The options "on" and "Off" will be accepted immediately.

ƒ The options "Target reached" and "Remaining path message" will only be accepted,if the positioning of the course program line is started.

The response to the stop signal can also be defined in the Options field. If the digital stop

CommissioningCourse programCreating the course programs

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signal is evaluated, the following actions will follow:

ƒ The current positioning process, if any, will be interrupted. The drive will deceleratealong the set deceleration ramp. As soon as the stop signal changes to HIGH again,positioning will be continued.

ƒ The position branch will not be executed. The program will stop in the currentprogram line.

ƒ The edge evaluation of the signals NEXT1 and NEXT2 will even be continued, if thestop signal is active.

ƒ The outputs DOUT1 and DOUT2 will not be influenced by the stop signal.


Type of command − Position branch

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5.5.9 Type of command − Position branch

931e_250

Depending on NEXT1 and NEXT2, different positions will be approached. The courseprogram will continue execution in the next command line.

NEXT1 NEXT2

POS A POS B

931E_111

Fig. 7 Course program − position branch

� Line N� LIne N+1 Neither NEXT1 nor NEXT2

If the digital signal NEXT1 changes to HIGH (rising edge), position A will be approached. Ifthe digital signal NEXT2 changes to HIGH (rising edge), position B will be approached. If norising edges are detected, the course program will remain in standby.

CommissioningCourse programType of command − Position branch

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If neither Evaluate NEXT1 nor Evaluate NEXT2 is set, the target selected under NEXT1 willbe approached. Thus, you can carry out a linear positioning process (e.g.POS1�POS2�POS3).

Figure 19 assumes that positioning will be started in program step 10. With the start ofpositioning (10), the course program will change to the next line, program step 11.

Assuming that NEXT1/2 has been set to "Complete position, then target", the NEXT1/2inputs will be polled in the second half of the program step when the message "Targetreached" has been activated. All signal transitions detected since the start of positioningare evaluated. If the signal "Target reached" has been set without detection of a risingsignal of NEXT1/2, the program will remain in program step 11 until at least one signal ofNEXT1/2 has been detected.

t1 t2

t3 t4

t5

t6 t7 t8

931E_112

Fig. 8 Time chart − position branch

� Program step 10� Program step 11� Positioning� Target reached NEXT1/2 edge found� DOUT1/2=HIGH/LOW� DOUT1/2=Target reached/remaining path� Course program activitiest1 Approach position (program step 10)t2 New positiont3 DOUT1/2=HIGH/LOW program step 10t4 DOUT1/2=HIGH/LOW program step 11t5 Target reached/remaining path (positioning program step 10)t6 Approach new positiont7 Evaluate NEXT1/2t8 Calculate new jump destination/new positioning


Type of command − Branch (Line)

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5.5.10 Type of command − Branch (Line)

931e_252

Depending on NEXT1 and NEXT2, the program will continue execution in different lines. Ifthe digital signal NEXT1 changes to HIGH (rising signal), program execution will continuein line X. If the digital signal NEXT2 changes to HIGH (rising signal), program execution willcontinue in line Y. If no rising signals are detected, the course program will remain instandby.

If neither Evaluate NEXT1 nor Evaluate NEXT2 is set, you can select the next line to whichthe program will jump automatically.

NEXT1 NEXT2

931E_113

Fig. 9 Course program − branch (line)

� Line N� Line X Line Y� Neither NEXT1 nor NEXT2

Fig. 10 assumes that positioning has been started in program step 10. With the start of

CommissioningCourse programType of command − Branch (Line)

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positioning (10), the course program changes to the following status.

Assuming that "Go to line immediately" has been selected for NEXT1/2, the NEXT1/2inputs will already be polled in the active positioning process. It is furthermore assumedthat the NEXT1/2 signal will become active before positioning has been completed. Theinputs will be evaluated and the program will jump to the corresponding course programline (Next line 1 or 2, depending on whether NEXT1 or NEXT2 has been active first) andprocess it.

t1

t2 t3

t4

t5 t6 t7

931E_114

Fig. 10 Time chart − branch (line)

� Program step 10� Program step 11� Program step X/Y� Positioning� Target reached NEXT1/2 edge found� DOUT1/2=HIGH/LOW� DOUT1/2=Target reached/remaining path� Course program activitiest1 Approach position (program step 10)t2 DOUT1/2=HIGH/LOW program step 10t3 DOUT1/2=HIGH/LOW program step 11t4 Target reached/remaining path (positioning program step PS 10)t5 Approach new positiont6 Evaluate NEXT1/2t7 Calculate new jump destination


Type of command − Level test

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5.5.11 Type of command − Level test

931e_254

Depending on the level of NEXT1, the program will continue execution in different lines.

NEXT1=HIGH NEXT1=LOW

931E_115

Fig. 11 Course program − level test

� Line N� Line X Line Y� Neither NEXT1 nor NEXT2

If the digital signal NEXT1 = HIGH, program execution will continue in line X. If the digitalsignal NEXT1 = LOW, program execution will continue in line Y.

For an unconditional program jump (e.g. for never−ending loops), select the same jumptarget for NEXT1=HIGH and NEXT1=LOW.

In Fig. 12, the level of NEXT1/2 is checked at the beginning of program step 11. Dependingon the result, the line of the next course program command will be determined.

CommissioningCourse programType of command − Level test

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t1 t2 t3

t4

t5 t6

931E_116

Fig. 12 Time chart − level test

� Program step 10� Program step 11� Program step 12� DOUT1/2=HIGH/LOW� DOUT1/2=Target reached/remaining path Course program activitiest1 DOUT1/2=HIGH/LOW program step 10t2 DOUT1/2=HIGH/LOW program step 11t3 DOUT1/2=HIGH/LOW program step 12t4 Target reached/remaining path (positioning program step 10)t5 Evaluate level of NEXT1/2t6 Calculate new jump destination/new positioning


Type of command − End of Program

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5.5.12 Type of command − End of Program

931e_256

The current positioning process will be completed, then the program will be closed. Nodigital outputs will be set/reset. No other positioning process will be started.

If Evaluate stop signal is activated, the current positioning process can be interrupted.

CommissioningCourse programSetting the controller enable logic

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931e_224













Debugging the course program

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5.5.14 Debugging the course program

If you change to debug mode, additional status information will be displayed in the courseprogram window:

ƒ Course program active: Will be on when the course program is active or beingprocessed.

ƒ Course program stop: Will be on when the course program has been stopped by thestop signal.

ƒ NEXT1 / NEXT2: Indicates the current status of the digital inputs for NEXT1 & 2.

ƒ DOUT1 / DOUT2: Indicates the current status of the digital outputs DOUT1 & 2.

ƒ Line: Indicates the line currently processed by the course program. In the table, theline will be highlighted in blue.

ƒ Position: Indicates the last−approached position set.

931e_258

CommissioningCourse programApplication examples

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5.5.15 Application examples

The following examples will give you an idea of the flexible solutions provided by thecourse program.

Linear linkage of positions

Positions 1 – 2 – 3 – 18 are to be approached. The drive is to stop for 1 second at everyposition. Then, the course program shall stop.

Pos 1 Pos 2 Pos 3 Pos 18

Start

Stop931E_119

Fig. 13 Linear linkage of positions

Implementation:

931e_260

Implementation:

ƒ The start delay for positions 1, 2, 3 and 18 must be parameterised when the targetpositions are programmed.


Application examples

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Linear linkage of positions with digital output setting

Positions 1 – 2 – 3 – 18 are to be approached. The drive is to stop for 1 second at everyposition. Then, the course program shall stop.

When position 3 is reached, the digital output DOUT1 shall be set to HIGH for one second.

Pos 1 Pos 2 Pos 3 Pos 18

Start

Stop931E_119

Fig. 14 Linear linkage of positions with digital output setting

Implementation:

931e_262

Implementation:

ƒ Positions 1, 2, 3 and 18 are parameterised with a start delay of 1 second.

ƒ The setting "Target reached" for DOUT1 must stand in line 3 because the setting"On" or "Off" will be accepted immediately and the signal will thus not be active forone second. When position 18 is approached, DOUT1 will be deleted.

CommissioningCourse programApplication examples

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Setting and querying of digital inputs and outputs; never−ending loop

Set DOUT1 for one second to HIGH. Then wait until NEXT1 will be active.

When NEXT1 is active, position 16 will be constantly approached (3 seconds start delay).

Pos 16

Start

931E_120

Fig. 15 Setting and querying of digital inputs and outputs

� Query of NEXT1

Implementation:

931e_264

Implementation:

ƒ The following trick is used for a defined setting of DOUT1: Position 0 is set to 0revolutions relative with a start delay of 1 second. First, position 0 will be"approached" and DOUT1 set to HIGH. Then, the program will jump to line 2.

ƒ For a never−ending loop, the program will jump from line 4 to table line 3.

CommissioningExtending the function of the digital inputs by Jogging & Teaching (only 931K)

Application examples

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5.6 Extending the function of the digital inputs by Jogging & Teaching (only 931K)

If the Jogging & Teaching option is activated in the Commands window, the extendedfunction of the digital inputs can be used.

931e_550

This function is used to approach and program any desired target position via the digitalinputs. The programming procedure will be described in the following sections.

In addition, it is possible to start a homing run via a digital input or to cancel a homing runand stop the drive via another digital input without switching off the power stage.

When the extended function is active, the digital inputs that are usually used for startingand selecting position sets will be used as follows:

DIN Function Explanation

DIN 0 Spec. / posi High = activation of the extended configuration.Low = normal positioning mode with destination selection via DIN1,DIN2, DIN3 and position group selection via DIN4 and DIN5 (only evenposition numbers are possible).

DIN 1 # STOP (low active) Low = a running positioning run will be cancelled.# STOP has a higher priority than TIP POS, TIP NEG and Start homing.The deceleration ramp used for this is set in the Safety parameterswindow.

DIN 2 − −

DIN 3 TEACH High = activation of the Teach function

DIN 4 JOG (neg) High = positioning in negative direction with the Jog & Teachtraversing parameters.

DIN 5 JOG (pos) High = positioning in positive direction with the Jog & Teachtraversing parameters.

DIN 6 Start positioning / homing Rising edge:If DIN 0 = low: start positioningIf DIN 0 = high: start homing

CommissioningExtending the function of the digital inputs by Jogging & Teaching (only 931K)Teaching positions

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5.6.1 Teaching positions

The procedure described below can be used to approach (jog) positions and to save them(teach) in the up to 64 position sets of the controller via the digital inputs:

The controller must be enabled during the teaching process.

1. Activate the Jog & Teach mode via the Commands window with DIN 0

2. Approach the desired target position with DIN 4 / DIN 5.

3. Set DIN 3 to HIGH to activate the Teach function (step 1).

This deactivates the "Start homing" function of digital input DIN 6 and activates theTeach function.

4. Set DIN 6 to HIGH to activate the Teach function (step 2).

5. Use the digital inputs DIN 0 to DIN 5 to select the position set in which the currentactual position is to be saved.

6. With the falling edge at DIN 6, the current actual position is taken over into theselected position set.

7. The digital inputs will now be ignored for a set time before they will be availableagain. This time is set in the Destination parameters window in the Jog & Teachposition set.

� Note!The position(s) that is/are written into the position set(s) via the Teachfunction is/are not automatically saved in the position set(s).

Use the Save Parameters button to save them permanently.

CommissioningExtending the function of the digital inputs by Jogging & Teaching (only 931K)

Teaching positions

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DIN 0

1. 2. 3. 4. / 5. 6. / 7.

DIN 1

DIN 2

DIN 3

DIN 4

DIN 5

DIN 6 Ref / Teach

Jog up

Jog down

Teach

free

#Stop

activatespecialassignment

t1 t2 t3 t4 t5t6

931e_500

Fig. 16 Time sequence for teaching a target position

t1 = tsetup � 1.6 mst2 = tmin � 1.6 mst3 = tteach � 1.6 mst4 = tset pos � 5.0 mst5 = thold � 1.6 mst6 = tignore � 200.0 ms (parameterisable)

� Danger!Drive may restart

After the time tignore, the digital inputs will re−assume the functionality theyhad before the Teach mode. This may lead to an unintentional restart of thedrive.

Possible consequences:

ƒ Death or severe injuries.

Protective measures:

ƒ Check the functionality of the digital inputs.

CommissioningIncremental encoder emulation via DOUT1 and DOUT2Teaching positions

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5.7 Incremental encoder emulation via DOUT1 and DOUT2

� Note!An activated incremental encoder emulation requires the digital outputsDOUT1 and DOUT2. Since these outputs are connected to the digital inputsDIN2 and DIN3, the inputs cannot be used when the incremental encoderemulation is active.

Exception: 931KxK: extra−low voltage devices can only be used as master(digital frequency output), but not as slave (digital frequency input).

For complex control tasks, two servo positioning controllers can be synchronised bycoupling them in a master/slave configuration via incremental encoder signals. At present,the 931KxK servo positioning controller can only act as master. The master transmits theposition information in the form of incremental encoder track signals via the outputsDOUT1 (track signal A) and DOUT2 (track signal B) to the slave which reads the informationvia the corresponding incremental encoder input.

MasterX1 out Input

Slave

M1 M2

931e_501

Fig. 17 Configuration for master/slave operation

The master operates in one of the operating modes described before (speed control,positioning), while the slave is in synchronised mode.

The following applications are possible with this configuration:

ƒ Speed−synchronous traversing

ƒ Position−synchronous traversing

The classical servo applications, speed control in the servo controller and position controlin the control system, also require an actual position feedback from the servo controller tothe control system. This is also done by using the incremental encoder emulation of theservo positioning controller.

In both cases, the servo inverter as the master emulates the track signals of the incrementalencoder defined by the parameters in the menu Operating mode / Incremental encoderemulation.

Here you can also deactivate the incremental encoder emulation to use the digital inputsDIN2 & 3 or the digital outputs DOUT1 & 2 for other functions.

In the Incremental encoder emulation / Incremental input dialog box you can select thefollowing settings:

CommissioningIncremental encoder emulation via DOUT1 and DOUT2

Teaching positions

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ƒ Number of increments: You can select 32, 64, 128, 256, 512 or 1024 as numberof increments for the emulation.

ƒ Suppress zero pulse: If the checkbox is activated, no zero pulse will be output.

ƒ Reversal of rotation direction: If the checkbox is activated, the direction of rotationof the incremental encoder emulation will be inverted.

ƒ Offset angle: Here you can set an offset between the zero position of the encoderof the servo positioning controller and the emulated zero pulse.

931e_551

� Note!The outputs DOUT1 and DOUT2 supply signals with a 24 V level, so−called HTLsignals. Older and low−cost control systems can directly process these signals.

To enable the transmission of high speeds with a high resolution, DOUT1 andDOUT2 should be equipped with a resistor of 1 k� against 0 V.

Please contact your Lenze representative if your control system cannot processHTL signals but only RS422−compatible track signals.

In many cases, the 931K servo positioning controller can also be connected tothese inputs if they are equipped with additional resistors.

Homing6

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6 Homing

In most applications in which the 931E/K servo positioning controller is used in positioningmode, a zero position must be defined to which the position controller can refer. Thisposition is called homing position and must be defined every time the controller isswitched on. The homing position is defined in the so−called homing run. You can selectbetween different homing modes.

� Note!

An exception are absolute value encoders (e.g. sin/cos encoders withmulti−turn functionality). For these encoders, the home position only has to bedefined once during commissioning.

Homing mode

There are 4 possible destinations for the homing run:

ƒ Homing to the negative or positive limit switch with or without the zero pulse of theangle encoder.

ƒ Homing (without additional signal) to the negative or positive limit stop.

ƒ Homing to the zero pulse of the angle encoder.

ƒ No run.

Homing is started by setting controller enable or via the fieldbus. When homing has beencompleted successfully, a status bit will be set in the device. The status can be evaluatedvia the fieldbus or via a digital output.

The different homing modes will be described on the next pages. The circled numbers inthe figures correspond to the home positions of the corresponding homing modes. Thenumbers correspond to the homing mode numbering specified in the CANopen DSP402.

For information about the activation of the homing modes and the selection of thecorresponding parameters, please see the chapter "Parameterising the homing run".( 103)

Homing 6

� 99SW−HB 13.0002−EN 4.1

Mode 1: Negative limit switch with zero pulse evaluation

With this mode, the drive traverses at search speed in negative direction until reaching thenegative limit switch. In Fig. 18, this is indicated by the rising edge (movement from CW toCCW direction). Then the drive traverses back at crawl speed and searches for the exactposition of the limit switch. The zero position refers to the first zero pulse of the angleencoder in positive direction from the limit switch.

1

931E_102

Fig. 18 Homing to the negative limit switch with zero pulse evaluation

� Zero pulse� Negative limit switch

Mode 2: Positive limit switch with zero pulse evaluation

With this mode, the drive traverses at search speed in positive direction until reaching thepositive limit switch. In Fig. 19, this is indicated by the rising edge. Then the drive traversesback at crawl speed and searches for the exact position of the limit switch. The zeroposition refers to the first zero pulse of the angle encoder in negative direction from thelimit switch.

2

931E_103

Fig. 19 Homing to the positive limit switch with zero pulse evaluation

� Zero pulse� Positive limit switch

Homing6

� 100 SW−HB 13.0002−EN 4.1

� Note!

With homing modes 1 and 2, ensure that the zero mark or the index pulse ofthe encoder will not coincide with the switching edge of the limit switch or benear the switching edge, because this may lead to a home position shift by onemotor revolution.

Mode 17: Homing to the negative limit switch

With this mode, the drive traverses at search speed in negative direction until reaching thenegative limit switch. In Fig. 20, this is indicated by the rising edge. Then the drive traversesback at crawl speed and searches for the exact position of the limit switch. The zeroposition refers to the falling edge of the negative limit switch.

17

931E_104

Fig. 20 Homing to the negative limit switch

� Negative limit switch

Mode 18: Homing to the positive limit switch

With this mode, the drive traverses at search speed in positive direction until reaching thepositive limit switch. In Fig. 21, this is indicated by the rising edge. Then the drive traversesback at crawl speed and searches for the exact position of the limit switch. The zeroposition refers to the falling edge of the positive limit switch.

18

931E_105

Fig. 21 Homing to the positive limit switch

� Positive limit switch

Homing 6

� 101SW−HB 13.0002−EN 4.1

Modes 33 and 34: Homing to zero pulse

With modes 33 and 34, the direction of homing is negative or positive. The zero positionrefers to the first zero pulse of the angle encoder in search direction.

33

34

931E_106

Fig. 22 Homing referred to the zero pulse

� Zero pulse

Mode −1: Negative limit stop with zero pulse evaluation

With this mode, the drive traverses in negative direction until reaching the limit stop. The931E/K servo positioning controller needs at least 1 second to detect the limit stop. Whenselecting the limit stop, ensure that it will not be damaged when the maximum currentparameterised will be applied. The zero position refers to the first zero pulse of the angleencoder in positive direction from the limit stop.

-1

931E_107

Fig. 23 Homing to the negative limit stop with zero pulse evaluation

� Zero pulse

Homing6

� 102 SW−HB 13.0002−EN 4.1

Mode −2: Positive limit stop with zero pulse evaluation

With this mode, the drive traverses in positive direction until reaching the limit stop. The931E servo positioning controller needs at least 1 second to detect the limit stop. Whenselecting the limit stop, ensure that it will not be damaged when the maximum currentparameterised will be applied. The zero position refers to the first zero pulse of the angleencoder in negative direction from the limit stop.

-2

931E_108

Fig. 24 Homing to the positive limit stop with zero pulse evaluation

� Zero pulse

Mode −17: Homing to the negative limit stop

With this mode, the drive traverses in negative direction until reaching the limit stop. The931E servo positioning controller needs at least 1 second to detect the limit stop. Whenselecting the limit stop, ensure that it will not be damaged when the maximum currentparameterised will be applied. The zero position directly refers to the limit stop.

-17

931E_109

Fig. 25 Homing to the negative limit stop

HomingParameterisation of homing

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� 103SW−HB 13.0002−EN 4.1

Mode −18: Homing to the positive limit stop

With this mode, the drive traverses in positive direction until reaching the limit stop. The931E servo positioning controller needs at least 1 second to detect the limit stop. Whenselecting the limit stop, ensure that it will not be damaged when the maximum currentparameterised will be applied. The zero position directly refers to the limit stop.

-18

931E_110

Fig. 26 Homing to the positive limit stop

� Stop!

Homing modes −17 and −18 may only be selected, if the mechanicalcomponents of the positioning axis have been dimensioned accordingly. Selectthe traversing speed as low as possible to limit the kinetic energy whentraversing against the limit stop.

Mode 35: Homing to the current position (no run)

With mode 35, the zero position will be referred to the current position when homing isstarted.

6.1 Parameterisation of homing

The homing parameters are selected in the Homing position menu. Select Parameters �Positioning � Homing position or click the REF button in the toolbar to open the menu.

The below window will appear:

931e_266

Click Positioning settings to open the menu for parameterising the general positioningsettings, e.g. position limits. See the chapter "Global positioning settings". ( 73)

Click GO! to start homing.


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� 104 SW−HB 13.0002−EN 4.1

Settings

Use the Mode field to select the homing mode. With homing, the motor will rotate untilthe Destination is activated.

A special case is the No run mode. In this case, the current actual position will be definedas home position. The drive will not traverse.

In all other cases, the target will be approached at search speed. Afterwards, the drive willtraverse back at crawl speed to determine the contact threshold. The home position (zeroposition of the application) is approached at running speed . The home position may differfrom the destination. The zero pulse is, for instance, preferred as home position, becauseit is more accurate.

The search, crawl and running speed and acceleration settings are selected in theSpeed/Acceleration/Times tab. A more detailed tab description can be found on the nextpage.

If the home position itself − i.e. the calculated zero position for the following positioningprocesses − is a certain distance away from the home position of the homing run, thedistance can be specified in the Offset start position field.

When the option Go to zero position after homing run is activated, the drive will traverseat running speed to the zero position when homing has been completed.

� Note!

When this option is activated, the zero position must not be after theDestination of the homing run because this would lead to a homing run error.

You can select a max. search path. Unless a limit switch signal will be detected on thesearch path, the 931E/K servo positioning controller will output an error message. Thesearch path is derived from the maximum position limits. Click Max. position limits to openthe menu for parameterising the general positioning settings, e.g. position limits. See thechapter "Global positioning settings". ( 73)

When the option Homing run at controller enable is activated, homing will be startedautomatically when the controller is enabled.


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Driving profile

Here you can enter the speeds and accelerations for the following actions:

ƒ Search:

The drive traverses to the target (limit switch, limit stop)

ƒ Crawl:

The drive reverses (at low speed) to determine the contact threshold

ƒ Running:

Optional traversing to the zero position (home position) of the application

931e_268

Digital outputs and analog inputs and outputsDigital outputs DOUT1, DOUT2

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7 Digital outputs and analog inputs and outputs

7.1 Digital outputs DOUT1, DOUT2

By default, four digital outputs (DOUT0 ... DOUT3) are available to display selectedoperating states of the 931E/K servo positioning controller. The output DOUT0 is firmlyconnected and indicates if the servo positioning controller is ready for operation. Thedigital output DOUT3 is firmly assigned to the holding brake. The digital outputs (DOUT1and DOUT2) can be assigned to different functionalities.

For an overview of the available digital outputs and the current function assignments,please open the menu Display � Digital outputs.

931e_316


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Settings

Select the menu Parameters � I/Os � Digital outputs to set the parameters of the digitaloutputs DOUT1 and DOUT2.

931e_318

DOUT1 and DOUT2 can each be independently assigned with one of the following signals:

ƒ OFF, i.e. output inactive, LOW level via integrated pull−down resistor

ƒ ON, i.e. output active, 24 V HIGH level via integrated high−side switch

ƒ Power stage active, i.e. power stage switched on

ƒ I�T message motor / servo

ƒ Group warning

ƒ Group error message

ƒ Following error

ƒ Remaining path message

ƒ Target reached

ƒ Homing completed

ƒ Comparison speed reached

ƒ Course program

With some selections, there is a button with three points behind the selection box. If youclick this button, a window opens in which you can enter additional settings.

Setting the messages for the digital outputs

When used together with a control, it may be useful in many applications that the servopositioning controller generates a message, if the selected operating conditions are notcomplied with or not reached. Select the menu item Parameters � Messages to open thewindow for setting the messages. Here, you can select the tolerance margins for themessages "Comparison speed reached", "Target reached" and "Following error".


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Following error

ƒ Following error:

Tolerance margin for the permissible following error.

ƒ Message delay:

Time delay, in which the actual position must be outside the tolerance margin, beforethe message "Following error" will be set.

931e_320

� Note!

ƒ The following error message should be activated in all positioningapplications.

The ideal size of the tolerance margin depends on many parameters, such ascontroller gain in the speed and position control circuit, resolution of theposition detection, etc.

ƒ With the Message delay parameter you can increase the "ruggedness" ofthe system because not any short−time position difference will lead to anactivation of the following error message.


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Destination

ƒ Angle/distance:

Tolerance margin in which the message "Target reached" is set.

ƒ Message delay:

Time delay, in which the actual position must be within the tolerance window, beforethe message "Target reached" will be set.

931e_322

Motor speed message

ƒ Declared speed:

Speed at which the message "Declared speed reached" will be set.

ƒ Message window:

Tolerance margin, in which the actual speed must be around the declared speed toensure that the message "Declared speed reached" will be set.

931e_324

Digital outputs and analog inputs and outputsHolding brake DOUT3

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7.2 Holding brake DOUT3

If your motor is equipped with a holding brake, the holding brake can be controlled by the931E/K servo positioning controller in line with the operation. The 931E/K servopositioning controller can only control holding brakes with a rated voltage of 24 V DC. Inthe 931E/K, the holding brake is supplied by the 24 V logic supply, i.e. independently of theDC bus voltage in the power stage.

The holding brake is connected via the digital output DOUT3 at connector X3. For a detaileddescription of the holding brake connection and the maximum permissible operatingcurrents of the brake, please see the GHB931E or GHB931K Manual.

Brake functions

The holding brake is always enabled when controller enable is switched on and the powerstage of the servo positioning controller is activated. Due to the mechanical inertia and theelectrical time constant of the control coil, holding brakes are subject to switching delays.The servo positioning controller considers this during operation. Corresponding delaytimes can be selected (see Fig. 27 on the next page).

Select the menu Parameters � Device parameters � Brake functions to edit theparameters for the holding brake control. The below window appears:

931e_326

The Run delay tF is used to adapt the holding brake control to its mechanical inertia. Withspeed control and position control, the speed setpoint will be set to zero during the delaytime when the controller is enabled. In this way, the motor is energised, but the driveremains with holding torque at standstill until the brake is completely released.

When the controller is inhibited, the speed setpoint will be set to zero. As soon as the actualspeed is around zero, the 931E/K deactivates the control output for the holding brake.From this time on, the Stop delay tA becomes effective. During this time, the drive remainsin the current position until the holding brake is actually applied. After the delay time,controller enable will be switched off. In both cases, the mechanical wear of the holdingbrake will be reduced.

Digital outputs and analog inputs and outputsHolding brake DOUT3

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tF tAt

t

t

t

t

931E_117

Fig. 27 Time behaviour of the holding brake

� Controller enable� Power stage active Holding brake released� Speed setpoint� Actual speedtF Run delaytA Stop delay

� Note!

After controller enable, speed setpoints or positioning start commands willonly become effective after the run delay.

With torque control, the torque setpoints will be activated/deactivated at the time ofinternal controller enable.

Digital outputs and analog inputs and outputsAnalog inputs AIN

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7.3 Analog inputs AIN

The 931E servo positioning controller is equipped with two analog inputs with an inputvoltage range of ± 10 V and a resolution of 12 bits. The inputs can be used to enter speedand torque setpoints.


AIN 0

931e_212





Digital outputs and analog inputs and outputsAnalog inputs AIN

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� 113SW−HB 13.0002−EN 4.1

U

931E_118

Fig. 28 Safe zero


� Note!

In applications with position control (internal or via the extern control), thefunction "safe zero" must not be activated, because activation will have thesame control effects as a dead band or "backlash" in the controlled system.During operation, this will lead to a reduced stability of the control circuit.


Digital outputs and analog inputs and outputsAnalog outputs AMON

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7.4 Analog outputs AMON

The 931E servo positioning controller has two analog outputs for the output and displayof internal control values which can be displayed by using an external oscilloscope. Theoutput voltage is between 0 V and +10 V. The resolution is 8 bits.

The 931K servo positioning controller has one analog output for the output and display ofinternal control values. The output voltage and the resolution are the same as for the 931Eservo positioning controller.

Select the menu items Parameters � I/Os � Analog outputs to configure the analogmonitor.

931e_328

You can select between different values. Select the value to be displayed by the analogmonitor.

Select the scaling in the Scaling field. The units will be automatically adapted when thevalue to be displayed is changed.

In the Offset field, you can select an offset voltage to display, for instance, positive andnegative values.

If the Numeric overflow limitation box is checked, all calculated values that are higher than+10 and lower than 0 V will be limited to these values. If the box is not activated, valuesexceeding the +10 V−value will be indicated as voltages starting from 0 V and vice versa.

� Note!

The option "Freely selectable communication object" is reserved for specialapplications. You can also display and check other internal controller values foranalysis purposes.

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8 Using the oscilloscope function

Using the oscilloscope function of the parameterisation program, you can display signalflows and digital states and optimise physical parameters.

The recorded curves, e.g. step responses, can be printed out, saved as bitmaps or exportedto Microsoft® Excel.

Select the menu items Display� Oscilloscope or click the below button to start theoscilloscope.

Two windows will open: the oscilloscope window and the "Oscilloscope − Settings"window.

OszilloskopOscilloscope settings

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8.1 Oscilloscope settings

931e_270

The Oscilloscope Settings window includes four tabs for more precise settings

ƒ Ch1: Selection of the measured value on channel 1

ƒ Ch2: Selection of the measured value on channel 2

ƒ Time base: Time base setting

ƒ Trigger: Trigger setting


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� 117SW−HB 13.0002−EN 4.1

CH1 and CH2

The oscilloscope has two channels. In the CH1 and CH2 tab, you can select the followingchannel settings:

ƒ Measured value to be displayed. Click the selection box of the correspondingchannel and select the physical value or the event to be graphically represented.

ƒ Channel colour. Click the colour button. A colour selection dialog will appear.

ƒ Y−scaling. Use the slide switch next to "Scaling" to select the enlargement in verticaldirection.

ƒ Offset / Y−position. Use the slide switch next to "Offset" to shift the vertical positionof the curve. A click on the 0 button resets the offset to 0.

Click "Clear" to delete the representation of the channels.

If "Freely selectable communication object" has been selected as value to be displayed, youcan display any communication object on the oscilloscope. For this, the followinginformation is required:

ƒ The object number of the communication object

ƒ The information, if the object returns a signed value − please check "signed".

ƒ The physical unit of the object.

ƒ A mask. The mask is used to mask individual bits of a communication object anddisplay them. Select FFFFFFFF (hex) for analog values. The mask is mainly used todisplay individual bits of a status word.

� Note!

The representation of freely selectable communication objects is onlynecessary in special cases.

Time base

The Time base tab is used to select the time resolution and the recording delay:

ƒ Use the Time slide switch to select the time resolution. 10 msec/div means that ablock width in the oscilloscope display correspond to 10 milliseconds.

ƒ Use the Delay slide switch to determine the position of the trigger event on theoscilloscope screen. 0 means that the trigger event will be recorded at the leftmargin of the oscilloscope screen. A negative delay value means that the eventsbefore the trigger condition will also be recorded ("pretrigger").


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Trigger

In the Trigger tab, you can select the trigger source from the selection list in the Triggersource field.

As for CH1 and CH2, the trigger event can be selected from a list of predefined standardevents. As an alternative, you can select "Freely selectable communication object" andtrigger at any communication object.

There are digital and analog trigger sources. Digital trigger sources can only accept thestatus yes or no (or active and inactive). Example: DIN7 limit switch 0. Analog triggersources can accept any numerical values (e.g. actual speed).

For analog trigger sources, a selection box for the trigger threshold will appear. Triggeringwill start when the analog value exceeds or falls below the threshold.

The trigger edge is used to select when to respond to an event:

Symbol Edge Trigger

Rising edge digital trigger: Event occursanalog trigger: Threshold is exceeded

Falling edge digital trigger: Event disappearsanalog trigger: Threshold is fallen below

� Note!

The trigger mode and thus the oscilloscope will only be active, if the RUN /STOP checkbox is activated in the oscilloscope window!

When the transfer window is opened or the parameter set is saved, theoscilloscope will be deactivated. Clear the checkbox and check it again tore−activate the oscilloscope.

In the Mode field you can select the trigger time. You can choose between three differenttrigger modes:

ƒ Auto:

Continuous triggering and display, no matter if the trigger condition has been met ornot.

ƒ Normal:

Triggering and display after meeting the trigger condition. When the trigger conditionis met again after display, triggering will start again.

ƒ Single:

Single triggering after meeting the trigger condition. After the trigger, the RUNcheckbox will be deactivated and the status will change to inactive.

OszilloskopOscilloscope window

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8.2 Oscilloscope window

931e_272

The oscilloscope is equipped with the following buttons to activate activities:

Commands and functions

Shifts the indicated section in horizontal direction

Stops the zoom function

Zoom function: Help text

Activates Excel and generates a worksheet with the measured values of the lastmeasurement (Excel must be installed on your PC)

Prints the oscilloscope window

Maximises the oscilloscope window

Minimises the oscilloscope window

Thick lines in oscilloscope display

Thin lines in oscilloscope display

Activates the Oscilloscope Settings window

OszilloskopOscilloscope window

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Further buttons and checkboxes:

931e_364

ƒ Cursor button

These buttons and checkboxes are used to control and visualise the cursor control ofthe oscilloscope. When the user changes to the oscilloscope window, the value of theselected channel will be numerically displayed at the actual time (cursor position). Inthe example, channel CH2 = 0 rev./min. at t = 3 s.

Click the Cursor button to change to a channel.

ƒ CH1 and CH2 checkbox

These checkboxes are used to show and hide the channels.

When a checkbox is activated, the corresponding channel will be displayed.

ƒ Force button

This button is used for the manual activation of a trigger event. The oscilloscope willstart data recording immediately.

ƒ LED

The LED indicates the operating status of the oscilloscope.

Green LED: The oscilloscope is active.

Red LED: The oscilloscope is inactive.

ƒ RUN/STOP checkbox

The RUN/STOP checkbox is used to activate and deactivate the oscilloscope. Activatethe checkbox, if you want to use the oscilloscope.

ƒ Status display

The colour button indicates the current status of the oscilloscope. The following entriesmay be displayed:

– inactive: The oscilloscope is not active

– start: The oscilloscope is being started

– wait for trigger: The oscilloscope is waiting for a trigger event

– pretrigger: Data recording for the pretrigger has started

– trigger found: A trigger event has been found, but data recording has not startedyet

– data read: The channel data are being transferred to the parameterisationprogram

Troubleshooting and fault eliminationError monitorings in the 931E/K

Overcurrent and short−circuit monitoring

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9 Troubleshooting and fault elimination

9.1 Error monitorings in the 931E/K

The 931E/K servo positioning controller is equipped with a comprehensive sensortechnology that monitors the trouble−free functioning of the controller, the power stage,the motor and the communication with the outside world. All errors that occur will besaved in the internal history buffer.

The most important monitoring functions will be described in the following sections.

� Note!

An easy−to−use error management allows you to adapt the controller responseto the individual errors, see the chapter "Error management". ( 132)

9.1.1 Overcurrent and short−circuit monitoring

ƒ Overcurrent and short−circuit monitoring:

The overcurrent and short−circuit monitoring will respond, if the DC−bus currentexceeds twice the maximum controller current. The monitoring detects short circuitsbetween two motor phases and short circuits at the motor output terminals againstthe positive reference potential of the DC bus. If the error monitoring detects anovercurrent, the power stage will be switched off immediately to ensure theshort−circuit strength of the controller.

ƒ I2T current monitoring with warning for the controller:

The 931E/K servo positioning controller is equipped with an I2t−monitoring to limit theaverage power loss in the power stage. Since the power loss in the power electronicsand in the motor will in the worst case increase square−law with the flowing current,the squared current value will be used to measure the power loss. When reaching 80 %of the maximum integrated measurand, a warning (parameterisable) will be activated.When reaching 100 %, the maximum current will be limited to the rated current.

ƒ Current measurement check and offset adjustment when switching on the powerstage:

When the power stage is switched on, an automatic offset adjustment of the currentmeasurement will be started. If the offset adjustment is not within the permissibletolerances, an error will be generated.

Troubleshooting and fault eliminationError monitorings in the 931E/KMonitoring the DC−bus voltage

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9.1.2 Monitoring the DC−bus voltage

ƒ Overvoltage monitoring:

The overvoltage monitoring for the DC bus will respond if the DC−bus voltage exceedsthe operating voltage range. After this, the power stage will be switched off.

ƒ Undervoltage monitoring: The undervoltage monitoring will respond if the DC−busvoltage falls below the lower voltage threshold, see the chapter "DC−busmonitoring". ( 143)

The response to this error can be parameterised for applications that require "no−loadtraversing" of the DC bus or machine set−up with a reduced DC−bus voltage.

9.1.3 Monitoring the logic supply

ƒ 24 V over/undervoltage monitoring:

The logic supply of the 931E/K servo positioning controller is monitored. When thelogic supply is too high or too low, an error message will be activated.

ƒ Internal operating voltages:

All internal operating voltages such as the 3.3 V supply for the processor are monitored.

9.1.4 Monitoring the heatsink temperature

ƒ Temperature derating:

With high temperatures, the permissible maximum current will be derated to ensurea long service life of the 931E/K servo positioning controller.

ƒ Switch−off in the event of overtemperature:

A linear temperature sensor is used to measure the heatsink temperature of the powerstage. When the temperature limit is reached, an error message will be activated. Inaddition, approx. 5°C below the limit value, a temperature warning will be activated.

Troubleshooting and fault eliminationError monitorings in the 931E/K

Monitoring the motor

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9.1.5 Monitoring the motor

ƒ Rotary encoder monitoring:

When a rotary encoder error occurs, the power stage will be switched off. When aresolver is used, the track signal will be monitored. Other "intelligent" encoders areequipped with other error detections.

ƒ Motor temperature measurement and monitoring:

The 931E/K servo positioning controller is equipped with an analog input for thedetection and monitoring of the motor temperature. Through the analog signaldetection, non−linear sensors will also be supported. The switch−off temperature canbe parameterised. As an alternative, an NC contact or PTC can be used to monitor themotor temperature. In this case, the switch−off threshold can, however, not beparameterised.

ƒ I2T current monitoring with warning for the motor:

The 931E/K servo positioning controller is also equipped with an I2t−monitoring to limitthe average power loss in the motor. Since the power loss in the power electronics andin the motor will in the worst case increase square−law with the flowing current, thesquared current value will be used to measure the power loss. When reaching 80 % ofthe maximum integrated measurand, a warning (parameterisable) will be activated.When reaching 100 %, the maximum current will be limited to the rated current.

ƒ Automatic motor identification monitoring:

Monitors the automatic identification of the phase sequence, pole pair number andangle encoder offset.

9.1.6 Monitoring the sequence of motions

ƒ Following error:

Monitoring the difference between setpoint and actual position.

ƒ Positioning range:

Monitoring whether a currently active positioning process is within a selectablepositioning range.

ƒ Limit switches:

If both limit switches are active at the same time, an error will be generated.

ƒ Course program:

Monitoring whether invalid commands occur when editing of the course program.

Troubleshooting and fault eliminationError monitorings in the 931E/KOther internal monitoring functions

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9.1.7 Other internal monitoring functions

ƒ Memory test / checksums:

The check sum calculation and the processor stack are used to monitor the internalFLASH memory (program and data flash).

ƒ Operating mode:

Depending on the operating mode, specific monitoring functions will be activated.

ƒ Communication:

Communication via the serial interface and the fieldbus (CANopen) is monitored.

9.1.8 Elapsed time meter

The 931E/K servo positioning controller is equipped with an elapsed time meter. Use theSDC parameterisation software, open the menu Info � Info and select the Times tab todisplay the elapsed time meter.

The current status of the elapsed time meter will be saved once a minute in the internalflash. This may lead to deviations of up to 60 seconds after a reset or power−on.

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9.2 Error message

The following table gives you an overview of the errors that may occur.

In the response column, you can find the possible reactions that can be parameterised by the user. They are marked with a � .

� Note!

The parameterisation of the possible errors is described in the chapter "Error management"! ( 132)

Response Meaning Response of drive

A Immediate switch−off of power stage The motor will coast to standstill.

H Emergency stop The motor will be decelerated at its current limit to zero speed. If a motor holding brakeis available, it will be applied. The power stage will be switched off.

W Warning The controller will continue operation, the power stage will remain switched on. Thewarning can be read via the CAN bus or the serial RS232 interface.

O Off The warning will be suppressed − no response.

Symbols used:

Symbol Meaning

� Default setting

� Response can be parameterised in SDC

− Selection not possible

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Error No. CAN errorcode

Meaning Activationtime

Response Cause Remedy

A H W O

3 4310 Motorovertemperature

< 100 ms � � � � Motor overtemperature � Check if the motor cooling via the motor housingis impeded as a result of deposits, etc. (ifnecessary, clean the motor).

� Are there any other sources of heat near themotor that may additionally increase the ambienttemperature and thus lead to a reduced heat lossdissipation?

� Check the controller settings, poor settings willlead to an unnecessary heat generation.

� Reduce the load torque of the motor.� Check the setting of the temperature sensor.� Check the resolver and encoder cable for an open

circuit.� Check the resolver position adjustment.

4 4210 Insufficienttemperature/overtemperature of powerelectronics

< 100 ms � � − − Overtemperature/undertemperature ofcontroller

� Check if the controller has been correctlymounted into the control cabinet:– The heatsink must be connected with a surface

as large as possible to the control cabinethousing.

– Are there any other sources of heat near thecontroller that may increase the ambienttemperature of the inverter?

� Check if the ventilation slots of the controller arepolluted or obstructed. Clean them, if necessary.

� Optimise the controller settings (poor settings willlead to an unnecessary heat generation).

� Check the resolver position adjustment.� Reduce the load torque of the motor.

5 7392 SINCOS supply error < 5 msec � − − − Resolver or SINCOS encoder error, reliabledetection only possible after approx. ½motor revolution, if necessary

� Check resolver plug connection.� Check resolver cable for cable breakage, short

circuit.� Check pin assignment of resolver cable plug.� Correct encoder parameters.

6 7391 SINCOS−RS485communication error

< 5 msec � − − −

7 7390 SINCOS track signalerror

< 5 msec � − − −

8 7380 Resolver, track signalerror or carrier failure

< 5 msec � − − −

9 5113 5V−electronic supplyerror

< 5 msec � − − − � Error may occur as a result of a defectiveangle encoder / defective Hall sensors, awiring error of X2 or a supply voltagedrop

� Possible error at techno module X8� Voltage supply

� Electronics error in 931E/K, cannot be removed bythe user. Send servo positioning controller to yourLenze representative.

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RemedyCauseResponseActivationtime

MeaningCAN errorcode

Error No. RemedyCause

OWHA

Activationtime


Error No.


< 5 msec � − − − � Error may occur as a result of a defectiveangle encoder / SINCOS encoder, awiring error of X2 or a supply voltagedrop

� Voltage supply



< 5 msec � − − − � 24 V logic supply too high or too low� Load capacity of 24 V logic supply is too

low, e.g. when activating the holdingbrake

� Holding brake or X3 wiring error, oroverload of the brake output due to anexcessive current consumption of thebrake.


13 5210 Offset currentmeasurement error

< 5 msec � − − − Send servo positioning controller to your Lenzerepresentative.

14 2320 DC bus / power stageovercurrent

< 10μs � − − − � Defective motor, e.g. winding overloadedor charred, short circuit betweenwinding and housing

� Cable short circuit between two phasesor phase and shield

� Insulation of motor phase connections� 931E/K fault (power stage defective or

insulation error − insulating foil)

15 3220 DC bus undervoltage < 1 ms � � � � DC bus undervoltage � Check DC bus voltage, adapt undervoltagetripping threshold, if necessary.

16 3210 DC bus overvoltage < 1 ms � − − − DC bus overvoltage > 70 V � Check correct functioning of power supply unitand if the supply voltage for the power stage iswithin the permissible range(19.2 V DC ... 57.6 V DC).

� Reduce slope of deceleration ramp.� Connect an external brake resistor to X2.� Check if the overvoltage has been caused by other

devices connected to the DC supply of the powerstage.

19 2312 I2t−error of motor (I2tat 100%)

< 100 ms � � � � I2t−error of motor � Adapt i2t−time of motor.� Carry out a resolver position adjustment.� Check the selected motor data.� Optimise the controller setting.� Adapt the traversing profile (e.g. adapt the

acceleration ramps).� Reduce the load torque of the motor.

20 2311 I2t−error of controller(I2t at 100%)

< 100 ms � � � � I2t−error of controller

26 2380 I2t at 80% < 100 ms � � � � I2t−error

27 4380 Motor temperature5°C below maximum

< 100 ms � � � � Check power dimensioning of the drive system.

Trou

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Error No.

28 4280 Power stagetemperature 5°Cbelow maximum

< 100 ms � � � � Temperature rise of the 931E/K � Check power dimensioning of the drive system.� Check / improve mounting and cooling conditions

29 8611 Following errormonitoring

< 5 msec � � � � Motor is blocked � Optimise controller setting to improve thesmooth running characteristics.

� Adapt traversing profile (e.g. reduce accelerationand deceleration ramps.

� Increase following error margin/message delay.

31 8612 Limit switch error < 1 ms � � � � � Incorrect wiring of limit switch� Limit switch defective

� Ensure correct wiring of limit switch.� Replace limit switch� Check limit switch configuration.

35 6199 Time−out with quickstop

< 5 msec � � � � � Angle encoder error� Motor identification has not been

successful� Selected acceleration is too high

36 8A80 Homing error < 5 msec � � � � � Homing could not be completedsuccessfully.

� Controller parameterisation and angleencoder setting are not OK

� Check configuration of homing.� Change controller parameterisation and angle

encoder setting

40 6197 Error: Motor and angleencoder identification

< 5 msec � � � � � Homing could not be completedsuccessfully.

� Controller parameterisation and angleencoder setting are not OK

� Check resolver plug connection.� Check resolver cable for cable breakage, short

circuit.� Check pin assignment of resolver cable plug.� Correct encoder parameters.

43 6193 Course program:Unknown command

< 5 msec � � � � Please contact the Technical Support.

44 6192 Course program:Invalid jump target

< 5 msec � � � � � The digital inputs for START1 & START2have been set at the same time.

� Impermissible jumptarget/impermissible target position hasbeen selected.

55 8100 CAN communicationerror

< 5 msec � � � � � Communication is interfered� Double nodes in network

� Check installation with regard to EMC.� Check baud rate setting� Check node number setting

56 7510 RS232 communicationerror

< 5 msec � � � � Communication is interfered Check installation with regard to EMC.

57 6191 Position data recorderror

< 5 msec � � � � Conflict between acceleration and selectedtraversing speed.

Please contact the Technical Support.

58 6380 Faulty operating mode < 5 msec � � � � Faulty operating mode Change operating mode when power stage isswitched on.

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60 6190 Error in preliminarypositioning calculation

< 5 msec � � � � Internal error Please contact the Technical Support.

62 6180 Stack overflow < 5 msec � � � �

63 5581 Checksum error < 5 msec � � � �

64 6187 Initialisation error < 5 msec � � � �

Troubleshooting and fault elimination9

� 130 SW−HB 13.0002−EN 4.1

� Note!

ƒ The 931E/K servo positioning controller internally manages error numbers 1to 64.

ƒ Please contact your Lenze representative, if your controller indicates an errornumber that is not described in the error table and identified as anunknown error in the chapter "Error management". ( 132)

ƒ These error numbers may have been assigned as part of firmwareextensions or customer−specific firmware versions including additionalmonitoring functions.

Troubleshooting and fault eliminationError window

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9.3 Error window

The error window is a permanent window of the parameterisation program. If no error isactive, the window will be minimised.

When a controller error occurs, the user interface will change as follows:

1. The error window will be magnified and appear on the user interface.

2. The error will be indicated in red in the lower bar of the main window.

931e_274

Troubleshooting consists of three steps:

1. Error analysis:

In the example, an error has occurred because motor and angle encoder have not been

identified.

2. Error correction: Remove the cause of the error (in the above example, carry out amotor and angle encoder identification).

3. Error acknowledgement: Click the Clear button in the error window. If the error hasbeen removed successfully, the window will be minimised. If the error has not beenremoved successfully, the window will appear again. Error acknowledgement is alsopossible by activating DIN9. If an error message is active, the function "Controllerenable" will change to "Clear error". In this way, errors can be acknowledgedwithout operating program.

The window can be minimised by a click on the Cancel button. Possible error messages willremain active in the error window of the status bar.

� Note!

A click on the Cancel button will not remove the error!

Troubleshooting and fault eliminationError management

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9.4 Error management

The error management window and the error window are used for error messages andwarnings.

Select Error � Error management to open the error management window:

931e_276

This window is used to determine the error response of the servo positioning controller.One out of four response options will be assigned to each of the 64 possible errors.

1. The power stage will be switched off (the motor will coast to standstill).

2. Controlled stop (the motor will be controlled and decelerated to standstill).

3. A warning will be indicated (the error window will open automatically).

4. A warning will be indicated (i.e. a warning will be entered into the error window, butthe error window will not be opened automatically).

Some errors are so severe that the user must not demote them to warnings or a certainresponse is inevitable. In these cases, the user can select the option button, but the servopositioning controller will correct the entry during the online parameterisation. During theoffline parameterisation, these reactions can be parameterised and saved in theparameter set, but they will not be accepted by the servo positioning controller.

AppendixParameterisation of outside motors

Motor data

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� 133SW−HB 13.0002−EN 4.1

10 Appendix

10.1 Parameterisation of outside motors

10.1.1 Motor data

� Note!

This menu must be activated, if the motor could not be identified by means ofthe list.

Select the menu Parameters � Device parameters � Motor data.

931e_206

Basic parameters

Use this menu to enter the maximum and the rated motor current. The data can beobtained from the nameplate. The torque constant results from the quotient of ratedtorque / rated current.

AppendixParameterisation of outside motorsMotor data

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� 134 SW−HB 13.0002−EN 4.1

� Stop!

Please observe that the entries for maximum current and rated current arer.m.s. values!

If the currents are too high, the motor will be destroyed because thepermanent magnets in the motor are demagnetised.

For this reason, the current limits specified by the manufacturer must not beexceeded.

The maximum current limits may depend on the clock frequency of the power stage. ClickPower stage to set the clock frequency. For more information, please see the chapter"Power stage". ( 142).

In addition, you can enter the pole pair number of the motor. Or, you can use the automaticidentification routine which automatically determines the pole pair number and the offsetangle of the angle encoder. For this, simply click the Auto detect button.

� Stop!

Before starting the motor identification, ensure that the current limits (menuitems Parameters � Device parameters � Motor data) have been set,otherwise, the motor may be destroyed!

Advanced parameters

Use the Advanced parameters tab to set the parameters required for the calculation of themotor e.m.f..

931e_278


Angle encoder

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10.1.2 Angle encoder

The 931E/K servo positioning controller supports four angle encoder types.

ƒ Resolvers with sin/cos signals

ƒ Stegmann sin/cos encoders with hiperface interface (multi− and single−turnencoders)

Select the menu Parameters � Device parameters � Angle encoder adjustments to enterthe angle encoder parameters.

931e_280

Depending on the selected angle encoder, the menu may differ from the above examplemenu because different setting options are used.

Motor and angle encoder can be identified automatically or manually. We recommend anautomatic adjustment if the motor has not yet been integrated into a system and the axiscan be freely moved.

The function can be activated via the following menus:

ƒ Parameters � Device parameters � Motor data: "Auto detect".

ƒ Parameters � Device parameters � Angle encoder adjustments: "Automatic offsetdetection".

� Note!

When using an absolute value encoder, press the "Save & reset" button afterencoder selection.

During the automatic angle encoder identification, the controller will be switched on forseveral seconds and the motor directly driven with a controlled rotating field. Theautomatic identification thus determines the following parameters:

ƒ Pole pair number of the motor

ƒ Angle encoder offset = offset between the zero mark of the encoder and the

AppendixParameterisation of outside motorsAngle encoder

10

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magnetic symmetry axis of the winding of phase 1

ƒ Phase sequence of the angle encoder (left, right)

The following conditions must be met for an automatic identification:

ƒ The motor is completely wired

ƒ The DC bus voltage is available

ƒ The servo positioning controller does not indicate any errors (red LED blinking)

ƒ The shaft can be freely moved

� Stop!

Before starting the motor identification, ensure that the current limits (menuitems Parameters � Device parameters �Motor data) have been set,otherwise the motor may be destroyed. The identification is carried outwithout controller enable via DIN 9.

Click Auto detect in the angle encoder menu.

� Danger!

During the adjustment, the shaft will automatically start to move for a fewseconds.

The following menu appears:

931e_282


Angle encoder

10

� 137SW−HB 13.0002−EN 4.1

The following message will appear, if the motor identification has been successful:

931e_284

The following message will appear, if an error has occurred:

931e_286

� Note!

If an automatic determination is not possible, the angle encoder data must beentered manually.

This problem may occur if:

ƒ the motor has not been properly connected

ƒ "special motors" with very high pole pair numbers are used

ƒ the motor shaft cannot be freely moved

ƒ the mass inertia of the motor is very high and the motor does not reach theset position within the integration time

ƒ the DC−bus voltage is fallen below

The manual determination of the angle encoder data requires a profound knowledge ofsynchronous machines and the encoder used. For this reason, we recommend to contactyour Lenze representative in this case.

� Danger!

Faulty angle encoder data may lead to uncontrolled motions of the drivewhich may cause material damage at the motor or the entire system.

In addition to the angle encoder settings, you can select basic control settings in this menu:

ƒ Commutation: Block or sine commutation.

ƒ Speed controller feedback: Encoder or motor e.m.f. (separately for P−component andI−component).

The feedback selection via the motor e.m.f. may have a positive effect on the smoothrunning of the motor when encoders with a poor resolution or low accuracy are used.When high−resolution resolvers or sin/cos encoders are used, we recommend not to use

AppendixParameterisation of outside motorsAngle encoder

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� 138 SW−HB 13.0002−EN 4.1

the motor e.m.f. because the speed determined via the feedback features a higheraccuracy. The feedback via the motor e.m.f. requires the entry of additional motorcharacteristics in the menu Parameters � Device parameters � Motor data, see thechapter "Motor data". ( 133).

� Stop!

Be careful when activating the feedback via the motor e.m.f.!

With feedback via the motor e.m.f., the real motor speed may significantlydeviate from the setpoint, if the function and the motor data have not beenparameterised correctly. The tolerances of the magnets and windings of themotors in the series will also influence the result.


Motor temperature monitoring

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10.1.3 Motor temperature monitoring

If your motor is equipped with a temperature sensor, select the menu Parameters � Deviceparameters � Temperature monitoring to enter the corresponding settings:

931e_294

In the Motor temperature field you can select, if no, an analog or a digital temperaturesensor is to be used.

Select digital motor temperature sensor , if the motor is equipped with a normally−closedcontact or a temperature sensor with PTC characteristic. The controller feeds the sensorwith a measured current. A voltage drop at the sensor will be detected and anovertemperature error activated as a result.

For (in sections linear) analog temperature sensors, it is necessary to select thetemperature threshold. When the analog temperature sensor is activated, enter thecorresponding settings in the analog motor temperature field. Use the selection field tochoose one of the following temperature sensors:

ƒ KTY 81/82−210/220/250

ƒ KTY 81/82−110/120/150

ƒ KTY 83−110/120/150 (Lenze standard temperature sensor)

ƒ KTY 84−130/150

� Stop!

The selection of a wrong temperature sensor will lead to a faulty evaluation ofthe winding temperature. This may lead to the destruction of the motor!

AppendixParameterisation of outside motorsSelecting the safety parameters

10

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10.1.4 Selecting the safety parameters

In many applications, it is necessary to limit the accelerations, speeds and the traversingrange to "manageable" values to protect the mechanical components from overload.Select the menu Parameters � Safety parameters to enter the setpoints limits.

931e_314

The following safety parameters can be configured in this window:

ƒ Decelerations:

– Deceleration − quick stop: (If possible,) quick stop deceleration will be used whencontroller enable is deactivated or if an error occurs.

– Deceleration − limit switch: Limit switch deceleration will be used when the drivehas reached a limit switch.

– Maximum stop delay: If controlled stopping has not been possible afterdeactivation of controller enable (e.g. due to wrong parameter setting), the powerstage will be switched off after this time, the motor will coast to standstill unless ithas already been decelerated to zero.

ƒ Speed limitation:

The speed setpoint will be limited to the set value.

ƒ Torque limitation:

Click Settings to open the Motor data window. For more information, please see thechapter "Motor data". ( 133) Enter the limit value Maximum current in A, rms valueto select the torque limitation in ampere.

ƒ Absolute positioning range:

Click Settings to open the Settings position sets � Course program window. For moreinformation, please see the chapter "Global positioning settings". ( 73)

Here you can define the maximum positioning range (SW limit−switch functionality).

� Note!

Depending on the setting of the current, speed and position control circuits,the set parameters may be exceeded for a short time as a result of control"overshoots". This must be considered during system commissioning. Ifnecessary, the controllers must be optimised during real operation.


Limit switch settings

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10.1.5 Limit switch settings

The 931E/K servo positioning controller supports both limit switches with normally closedand normally open contacts.

When selecting the drive settings, ensure that both limit switches are inactive when thedrive is in the permissible positioning range. The LEDs in the below menu must be inactive.For this, click NC contact (DIN7, DIN8 = +24 V → setpoint enabled) or NO contact (DIN7,DIN8 = +24 V → setpoint inhibited).

931e_296

The little graph in the middle uses a red arrow to show that the drive traverses towards alimit switch. In this way, you can directly see the limit switch assignment to the traversingdirection and can adapt the wiring of the limit switches, if necessary.

As long as a limit switch is active, the setpoint in the corresponding direction of rotationwill be inhibited. In applications, in which a limit switch overrun or bouncing limit switchesare possible, we recommend to activate the option Limit switch inhibits directionpermanently. When this option is activated, the direction of rotation in which a limitswitch has been activated will remain inhibited, even after the limit switch has been left.In this case, it is possible to retract from the limit switch, but the drive cannot once againtraverse in the direction of the limit switch. The inhibited direction of rotation will only bereleased again, when controller enable is deactivated.

AppendixParameterisation of outside motorsPower stage

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10.1.6 Power stage

With the menu Parameters � Device parameters � Power stage you can determine thebehaviour of the power stage.

As clock frequency you can select 10 kHz or 20 kHz.

With a low clock frequency, there will be a singing sound when the motor is running. Ifmotor noises are to be reduced to a minimum, we recommend to select a clock frequencyof 20 kHz. With a high clock frequency, the motor losses will be slightly reduced (in return,the losses in the 931E/K servo positioning controller will increase. This is why themaximum current limits are slightly lower). The clock frequency selection has no influenceon the control behaviour. The clock frequency of the power stage is default set to 10 kHz.

931e_288

� Stop!

ƒ The settings can only be changed when the power stage is switched off. Foraccepting the setting, save the parameter set and reset the controller.

ƒ When the clock frequency is changed, the setting of the maximumpermissible current must be checked. With 10 kHz, the effective maximumcurrent must not exceed 32 A (20 kHz: 28 A).


DC−bus monitoring

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10.1.7 DC−bus monitoring

In special applications, e.g. rapid acceleration or braking of axes with high masses, theDC−bus voltage may suddenly break down or become too high when the selected powersupply unit is not powerful enough or not able to feed back the power. If the DC−busvoltage becomes too high (overvoltage > 70 V), the 931E/K servo positioning controller willswitch off the power stage. This is a safety function and can therefore not beparameterised.

If parameterised by the user, an error can be activated in case of too low DC−bus voltages.

Select Parameters � Device parameters � DC bus monitoring to activate the menu.

931e_292

The Rated DC−bus voltage field indicates the voltage the power stage has been designedfor. This value cannot be changed.

Use the Undervoltage detection field to select the response threshold below which thevoltage must fall before the controller will detect an undervoltage. Depending on thepower supply unit, useful values are 50 % ... 70 % of the rated DC−bus voltage.

� Note!

Selecting an undervoltage detection < 50 % does not make any sense becausethe power supply unit cannot supply the power in this case required by thecontroller. Use a more powerful power supply unit!

Use the Troubleshooting field to select how the servo is to respond to an undervoltagedetection. This setting can also be selected in the "Error management". See the chapter"Error management". ( 132).

AppendixParameterisation of outside motorsCurrent controller

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10.1.8 Current controller

Select the menu Parameters � Controller parameters � Current controller to select thecurrent controller settings:

931e_290

The speed controller can only be adjusted to the selected motor, if the current controllersettings (gain factor and time constant) are correct.

Correctly enter the parameters. If you are not sure about the values, do not change theuncritical values.

� Stop!

ƒ Incorrect current controller gain and time constant data may lead tovibrations and short−time overcurrents that may destroy the motor!

ƒ The overcurrent detection of the servo positioning controller may respond!

ƒ The current controller may only be optimised when the maximum and ratedmotor currents have been set correctly. If the currents are too high, themotor will be destroyed because the permanent magnets in the motor aredemagnetised. For this reason, the current limits specified by themanufacturer must not be exceeded. See the chapter "Motor data".( 133).

� Note!

When selecting a motor from the motor database, you can use optimisedcurrent controller settings. In this case, the current controller settings need notbe changed.

The oscilloscope function can be used to optimise the current controller. For moreinformation, please see the chapter "Using the oscilloscope function". ( 115)

Set the oscilloscope channels to the actual active current and the active current setpointto display the step response of the current controller.

Activate Torque control in the Commands menu and select a current setpoint. Then try toset the optimum step response by varying the parameters. The following plot shows agood step response.

The current should reach the setpoint within 1 msec and maximally overshoot 20 %. Withmotors with a high stator inductance it may take longer until the current reaches thesetpoint. In all cases, the transient reaction should decay without high overshoots andwell−damped.


Current controller

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Fig. 29 Step response of the current controller

AppendixParameterisation of outside motorsSetting and optimising the position controller

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10.1.9 Setting and optimising the position controller

In addition to the speed controller, a higher−level position controller is active duringpositioning which processes the deviations between setpoint and actual position andimplements them into corresponding setpoint selections for the speed controller. Theposition controller generates a correction speed from the difference between setpoint andactual position and transfers it as setpoint to the speed controller.

The position controller is used together with the positioning control. It is a P−controllerwith parameterisable input and output limits.

Select the menu items Parameters � Controller parameters � Position controller to openthe window for the parameterisation of the position controller:

931e_298

Enter the following values:

ƒ Gain:

Enter the proportional controller gain.

ƒ Max. correction speed:

Here you can select the maximum speed to be added to the traversing speed in case ofa deviation between setpoint and actual position. The value should be limited toapprox. +/−500 rev/min.

ƒ Dead range:

Here you can enter a permissible difference between setpoint and actual value withinwhich the position controller will not be activated. The setting of a dead range allowsto suppress limit vibrations which may occur with low−resolution encoders. If possible,the dead range should be set to zero to reach the highest position accuracy.

ƒ Following error:

Following error and message delay parameter setting. If the difference betweensetpoint and actual value exceeds the set limit value, a message or an error will beactivated. Go to error management and select the corresponding response.


Setting and optimising the position controller

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Optimising the position controller

� Stop!

ƒ The position controller adjustment requires correct current and speedcontroller settings. (See the previous chapters.)

ƒ Please ensure that the motor shaft can freely rotate and the drive will not bedamaged.

For optimising the position controller, proceed as follows:

1. Activate the position controller and set the gain to 0.5.

2. Open the menu for position data record parameter setting. See the chapter"Parameterising the position sets". ( 74)

Select the following values for the target position of position sets 0 and 1:

– Target position 0: 10 rev / target position 1: −10 rev

– Traversing speed: (half the rated speed)

– Acceleration: (maximum possible value)

– Deceleration: (maximum possible value)

3. Select the menu items Display � Oscilloscope to start the oscilloscope. See thechapter "Using the oscilloscope function". ( 115)

Select the following values:

– Channel 1: Actual speed; scaling = 1000 rev/min / div, −2 div

– Channel 2: Rotor position; scaling = 50 ° / div; offset 1 div

– Time base: 100 msec / div; delay = −200 msec

– Trigger: Source = actual speed; level = half the traversing speed; mode = normal,falling trigger edge

4. Activate power stage enable. Use the Go to destination menu and start positioningalternately with the targets 0 and 1. See the chapter "Approaching targets". ( 65)

The motor will reverse within the selected limits.

Optimation: Evaluate the speed and the rotor position during stopping. If the transientreaction of the position takes too long, the gain must be increased. If the speed starts tooscillate during stopping, the gain must be reduced.

Fig. 30 Optimising the position controller

Please note that the overshoots are due to non−available acceleration and braking times.

AppendixParameterisation of outside motorsGeneral configuration settings

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10.1.10 General configuration settings

The possible display unit settings (basic configuration) depend on the basic configurationselected under the menu Parameters � Application parameters � General configuration.Here, the following menu will appear. Use this menu to select the common driveconfiguration:

931e_300

Use the Application field to select if your application is a rotary motion or a translatorymotion application.

If you want to select the output unit for your application, click the button in the Gearboxfield or the Settings button. After this, the menu Display units will appear. For moreinformation, please see the chapter "Display unit settings". ( 149).

Application examples:

ƒ Rotary with gearbox: Opening/closing of a gate.

ƒ Translatory with feed constant: Positioning of a slide for transporting goods forfurther processing.


Display unit settings

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10.1.11 Display unit settings

Select the menu Options � Display units to enter the display unit settings for position,speed and acceleration. The display units are only used for the display in theparameterisation program. The parameterisation program communicates with thecontroller via communication objects in a defined physical base unit. Every access via theRS232 interface is made in these base units.

Display units

The user can select display units for the following physical values:

ƒ Position / revolutions

ƒ Speed

ƒ Acceleration

ƒ Torque (in Nm or A)

931e_302

AppendixParameterisation of outside motorsDisplay unit settings

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� Note!

The settings of the display units are selected independently of a possiblesetpoint selection via the fieldbus. I.e. the settings of the display units do notinfluence the factor group and the notation and dimension indices infieldbus−specific protocols such as the CANopen factor group!

Selection Units

Standard values For linear axes: Positions in distance units, speed in[distance units]/sec; acceleration in [distanceunits]/sec�For rotary drives: Positions in revolutions, degrees orradian, different speed and acceleration units.

User−defined Examples:� For linear axes and non−metric distance, speed and

acceleration units (e.g. inch, inch/min).� For rotary drives with special distance, speed and

acceleration units.

Direct input Free selection of the distance, speed and accelerationunits.For experienced users only!

Decimal places

Use the Decimal places tab to adapt the resolution of the displayed values to the "physical"situation.


Display unit settings

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Direct input

Use the Direct input tab to configure the display units. Thus it is possible to use other unitsthan the display units that are available for selection.

� Note!

For further information, please see the chapter "Extended options in the menudisplay units". ( 152)

� Stop!

For experienced users only:

In the Direct input tab, the factor group cab be directly written, if the selection"Direct input" is selected.

The following question appears when the menu is exited:

931e_304

� Note!

The input limits are automatically adapted to the physical units set. To be onthe safe side, you can check them once again. For this, click Yes.

AppendixParameterisation of outside motorsUser−defined display unit settings

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10.1.12 User−defined display unit settings

Go to the Display mode field and activate User−defined to adapt the display units to yourapplication.

931e_306

Display units

� Note!

All user−defined units are displayed with [...].

Use the Translatory application, Feed constant field to enter the scaling in user−definedunits per revolution.

Example:

You have a drive with 1.76 inch per revolution, without gearbox and want to enter theposition in inch. Enter 1.76 under Feed constant.

Furthermore, you can use the Time base speed and Time base acceleration input fields.

Use the Time base speed field to define your own speed units.

Example: (rotary operation)

You have a drive with 20 mm per revolution, without gearbox and want to enter the speedin mm/minute. Enter 20 under Feed constant and 60 under Time base speed(60 seconds = 1 minute).

Use the Time base acceleration field to define your own acceleration units.

Example:

You have a drive with 20 mm per revolution, without gearbox and want to enter theacceleration in (mm/minute)/sec. Enter 20 under Feed constant and 60 under Time basespeed (1 minute x 1 sec = 60 x 1 sec2 = 60 sec2).


User−defined display unit settings

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Decimal places

Furthermore, you can select the decimal positions for the display units. Go to the Decimalplaces tab and select the menu Options�Display units to select the number of decimalpositions for the distance, speed and acceleration unit (between 0 and 5).

931e_308

AppendixParameterisation of outside motorsDirect entry of distance, speed and acceleration units

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10.1.13 Direct entry of distance, speed and acceleration units

Direct input

If you have selected the option Direct input in the Display mode field in the Display unitstab, you can directly enter the Position, Speed and Acceleration factor group in the Directinput tab.

� Stop!

For experienced users only!

Through the direct entry of the physical units you can radically change thecontrol parameters of the 931E/K servo positioning controller.

You can select the following units for the display of the parameter setting program:

ƒ Increments

ƒ Degrees

ƒ Radians

ƒ Revolution

ƒ Metres

ƒ Millimetres

ƒ Micrometres

ƒ User−defined

ƒ No unit

In the example, e.g. in millimetres and hexadecimal format:

931e_310


Defining the input limits

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10.1.14 Defining the input limits

Select Options � Input limits to open the following menu:

931e_312

Enter the maximum speed and acceleration values expected for your application. Theprogram uses your entries for the input field limits.

� Note!

ƒ The input limits can be changed later. They will, however, only have aneffect on the input fields of the parameter setting program!

ƒ The speed and acceleration values in the drive will not be physically limited.Use the menu "Safety parameters" to limit the values in the drive. For moreinformation, please see the chapter "Selecting the safety parameters".( 140)

AppendixCommunication interfacesControl via CAN bus

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10.2 Communication interfaces

10.2.1 Control via CAN bus

Functions available

The 931E/K servo positioning controller uses the CANopen protocol according toDS301 / DSP402.

The following operating modes specified in CANopen are supported:

ƒ Torque control (profile torque mode)

ƒ Speed control (profile velocity mode)

ƒ Homing (homing mode)

ƒ Positioning (profile position mode)

ƒ Synchronous position selection (interpolated position mode)

The following access types are supported for data exchange:

Access type Description

SDO Service Data Object Used for the standard parameterisation of the controller.(Approx. 150 SDOs are supported.)

PDO Process Data Object Fast exchange of process data (e.g. actual speed) possible. (2PDOs are supported.)

SYNC Synchronisation Message Synchronisation of several CAN nodes.

EMCY Emergency Message Transfer of error messages.

NMT Network Management Network service: E.g. all CAN nodes can be influenced at the sametime.

HEARTBEAT Error Control Protocol The bus devices are monitored by means of regular messages.

AppendixCommunication interfaces

Control via CAN bus

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Processing of CAN messages

The 931E/K servo positioning controller uses a command interpreter for the CAN messagesreceived. The command interpreter is called every 1.6 msec. With every call, the commandinterpreter can process one SDO or a special message such as a SYNC telegram or anemergency message. Depending on their complexity, the processing of PDOs may eventake two time slices of the command interpreter. As a result, the processing speed for CANobjects of the 931E/K servo positioning controller is subject to certain restrictions:

ƒ The control must not send PDOs more frequently than every 4 msec. Otherwise, theymight not be registered or evaluated by the 931E/K servo positioning controller. Thismay lead to control jumps or motor jerks.

ƒ In the worst case, a PDO will only become effective in the controller after 4.8 msec(e.g. as a speed setpoint). This may be the case, if two time slices are required forPDO processing and the control sends the PDO directly after the precedingcommand interpreter call.

ƒ There may be 8 msec between sending an SDO and a response from the controllerbecause the response data must be first compiled in the controller.

� Note!

For more detailed information on the 931E/K servo positioning controllercommunication and control via the CANopen interface and information aboutthe CAN bus wiring, please see the CANopen Manual for the 931E/K servopositioning controller.

AppendixCommunication interfacesControl via CAN bus

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CANopen communication parameter settings

Select the menu Parameters � Fieldbus � CANopen to adapt the CANopencommunication parameters of the 931E/K servo positioning controller to your CAN−busnetwork.

931e_330

You can select the following communication parameters:

ƒ Baud rate:

This parameter determines the baud rate for the CANopen bus.

ƒ Basic node number:

This parameter determines the "basic node number" of the device which is used tocalculate the "effective" node number. In addition, the digital inputs can be consideredin the calculation of the effective node number (see below).

The identifiers of the individual messages are based on the node number. In a CANopennetwork, all node numbers may only be assigned once.

ƒ Adding DIN0 ... DIN3 to the node number:

The value of the digital inputs DIN0 ... DIN3 is added to the basic node number. Theinput combination is only read when the CANopen interface is activated or after a resetof the 931E/K servo positioning controller.

In this way, it is possible to assign up to 16 different device numbers at the digital inputsthrough simple bridges after 24V.

If you want to use this function, the digital inputs must be parameterised accordingly.

Click the "..." button to open the menu for the digital input settings.

The Effective node number field displays the node number resulting from basic nodenumber and offset.

Use the CANopen active checkbox to activate and deactivate the fieldbus communicationwith the set parameters. The setting will be accepted immediately, i.e. there is no resetrequired to activate or deactivate the CANopen interface.


Control via the serial interface

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10.2.2 Control via the serial interface

Functions available

The 931E/K servo positioning controller has an asynchronous serial interface which is inmost cases used for the parameterisation of the servo positioning controller.

The interface can also be used to control the controller in the application, if the responsetime of the drive is not particularly important.

In this case, communication will take place via so−called communication objects. Somecommunication objects are used to read status variables such as current and speed. Othercommunication objects are used to read and write parameters.

Each communication object includes the following values:

ƒ min. permissible setting

ƒ max. permissible setting

ƒ Set parameter value

ƒ Controller−internal parameter value

� Note!

ƒ For more information on the command syntax, please see the chapter"Serial communication protocol" ( 163).

The chapter "Communication object list" ( 165) contains a list of allcommunication objects supported.

ƒ The controller−internal parameter value may slightly differ from the setvalue because the servo positioning controller internally uses different unitsand normalisations than the communication objects.

Serial communication of the SDCparameterisation program

The parameterisation program communicates with the 931E/K servo positioningcontroller via the serial interface.

By default, the parameterisation program uses the following settings:

ƒ COM1interface

ƒ Baud rate = 9600 baud (default setting for the servo positioning controllers)

ƒ 8 data bits, 1 stop bit, no parity check. These settings cannot be changed!

The individual commands are defined in a protocol. A list of the commands can be foundin the chapter "Serial communication protocol". ( 163)

When the program is started, the program tries to build up communication with a servopositioning controller. If communication cannot be established, an error message willappear. . In this case, the communication data must be set correctly. For this, you need toknow the serial interface (COM port number) and the baud rate.

AppendixCommunication interfacesControl via the serial interface

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Setting the RS232 communication parameters

Select the menu Options � Communication � Baud rate to increase the baud rate to theActual data transfer rate:

931e_332

For this, select a Preferred data transfer rate. The program will try to build upcommunication with the selected baud rate. The preferred baud rate will be accepted orreduced to a lower baud rate. The implemented baud rate will be indicated as Actual datatransfer rate.

This baud rate is used for the "standard" online communication with the servo positioningcontroller. For the firmware download, a separate baud rate will be selected.

Open the menu Options � Communication � COM port to select the COM port forcommunication between the parameterisation program and the servo positioningcontroller:

931e_334


Control via the serial interface

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Transfer window

The Transfer window is used to send commands directly to the 931E/K servo positioningcontroller and to monitor the response.

Select the menu command File � Transfer to activate the Transfer window.

� Note!

As long as the Transfer window is active, other open windows will not berefreshed (e.g. actual values, oscilloscope).

Therefore, close the Transfer window, when it is no longer required.

In general, the Transfer window is only used to transfer commands that are not of interestfor standard operation. In addition, memory locations and communication objects can beread and written. This is as well only necessary in special cases.

931e_336

For sending a command, enter it into the upper input line and press ENTER or click Send.

AppendixCommunication interfacesControl via the technology interface

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Communication window for RS232 transfer

After selecting the menu items Options � Communication � Display communicationwindow (RS232), a window will appear, in which you can monitor communication via theserial interface. The window is mainly designed for debugging purposes. This option is notof interest for "standard users".

931e_338

10.2.3 Control via the technology interface

The 931E/K servo positioning controller has a technology interface which is equipped witha synchronous serial interface.

This enables the integration of customer−specific extension modules/communicationinterfaces.

If required, please contact your Lenze representative.

AppendixSerial communication protocol

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10.3 Serial communication protocol

The 931E/K servo positioning controller and the SDC parameterisation interfacecommunicate via a serial communication protocol in ASCII format. All commands areterminated by a <CR> (return).

For the exact technical data of the serial interface, please see the chapter "Control via theserial interface". ( 159)

Communication mainly takes place via so−called communication objects.

The communication objects are used to access the actual values and parameters of theservo positioning controller. All physical values are transferred in normalised base units. Inthe following table, you can find the command syntax of the communication objects:

Command Response Description

Write object:OW:NNNN:DDDDDDDD

OK! or OW:FFFF FFFF If no error occurs, "OK!" will bereturned. If an error occurs, thecommand and an error code will besent.

Read object:OR:NNNN

NNNN:DDDDDDDD orOR:FFFF FFFF

Response usually 32 bits. If an erroroccurs, the command and an errorcode will be sent.Read internal value:

OI:NNNNNNNN:DDDDDDDD orOI:FFFF FFFF

Read minimum value:ON:NNNN

NNNN:DDDDDDDD orON:FFFF FFFF

Read maximum value:OX:NNNN

NNNN:DDDDDDDD orOX:FFFF FFFF

Letter Meaning (hexadecimal)

NNNN Communication object number

DD...D Data bytes

FF...F Error code:

0x00000002 Data value too low > not written

0x00000003 Data value too high > not written

0x00000004 Data value too low > written but previously limited

0x00000005 Data value too high> written but previously limited

0x00000008 Non permissible bit constant

0x00000009 Bit data value is currently (in this operating mode) not permissible

0x00000010 Read or write error in Flash

0x00020000 Lower limit for object does not exist

0x00030000 Upper limit for object does not exist

0x00040000 No object with this number available (object does not exist)

0x00050000 Object must not be written

In addition to the access commands for the communication objects, there are a few controlcommands for the servo positioning controller.

The following table gives you an overview of the commands used:

AppendixSerial communication protocol

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Command Response Description

BAUDbbbb OK! Set baud rate

BOOT? SERVICE / APPLICATION Status check: Boot loader active?

BUS? xxxx:BUS:nn:bbbb:mmmm CAN bus status

INIT! Switch−on message Load default parameter set

RESET! Switch−on message Activate HW reset

SQT+ xxxx:CQT+ Clear history buffer

SAVE! DONE Save parameter set in FLASH

SEP! DONE Load parameter set from FLASH

TYPE? TYPE:dddd Type check

VERSION? xxxx:VERSION:dddd Version check

=iiiiss:dd.. =iiiiss:dd.. Simulation SDO write access

?iiiiss =iiiiss:dd.. Simulation SDO read access

ERROR! Unknown command / error

Letter Meaning (hexadecimal)

xxxx Status message

dddd Data bytes

nn Node number

bbbb Baud rate

mmmm Mode

iiii Index of CANopen SDO

ss Subindex of CANopen SDO

AppendixCommunication object list

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10.4 Communication object list

This chapter lists the communication objects used by the SDC parameterisation interfacefor data exchange with the 931E/K servo positioning controller.

The chapter "Base units" contains a list of the base units used for the communicationobjects. ( 171)

No. Name Meaning Scaling

0000 currc_cyc_time_currc Cycle time of current controller Base unit time

0001 currc_cyc_time_spdc Cycle time of speed controller Base unit time

0002 currc_cyc_time_posc Cycle time of position controller Base unit time

0003 main_abtast_ablauf Cycle time of communication handler Base unit time

0004 ioh_uzk_nenn Rated DC−bus voltage of controller Base unit voltage

0005 currc_i_nom_dev Rated device current (peak value) Base unit current

0006 currc_i_max_dev Maximum device current (peak value) Base unit current

0007 pfc_uzk_min Minimum DC−bus voltage of controller Base unit voltage

0010 srvc_device_type Device identification None

0011 main_cpu_time_remaining Load of control interrupt Base unit percent

0012 srvc_operation_time Elapsed time meter in seconds

0013 srvc_commiss_state Commissioning state None

0014 srvc_device_serial_num Serial number of device None

0015 srvc_device_revision Hardware revision Upper 16−bit: Main revisionLower 16−bit: Sub−revision

0016 srvc_encoder_type Selected angle encoder variant Upper 16−bit: Main revisionLower 16−bit: Sub−revision

0017 srvc_soft_main Main and sub−revision number of firmware ofversion management system

Upper 16−bit: Main revisionLower 16−bit: Sub−revision

0018 srvc_custom_main Customer application number − sub−revisionnumber.

Upper 16−bit: Main revisionLower 16−bit: Sub−revision

0019 main_bootloader_version Main and sub−revision of boot loader Upper 16−bit: Main revisionLower 16−bit: Sub−revision

001A srvc_motid_ctrl Control word for angle encoder identification 0: Identification reset1: Angle encoder identification

001B srvc_u_nenn_mot Rated motor voltage Base unit voltage

001C currc_i_nom Rated motor current (peak value) Base unit current

001D currc_i_max Maximum motor current (peak value) Base unit current

001E currc_iit_mot_time I�t−integration time for motor Base unit time

001F srvc_torque_const Torque constant Base unit torque constant

0020 srvc_nenn_mot_speed Rated motor speed Base unit speed

0021 spdc_n_ref_lim_pos Setpoint speed limitation Base unit speed

0022 eeval_enc_polp_num Pole pair number of encoder system (motor) Pole pair number, not number ofpoles!

0023 ioh_l_mot Inductance of motor winding Ls Base unit inductance

0024 ioh_r_mot Resistance of motor winding Rs Base unit resistance

0025 ioh_mot_temp_max Maximum motor temperature Base unit temperature

0026 srvc_soft_prod_step Main and sub−revision number of firmware Upper 16−bit: Main revisionLower 16−bit: Sub−revision

0030 seqc_opmode Parameterisation of operating mode and ramp None

0031 stat_conf2_1 Configuration words of drive None

0032 rs232_stat_sum Status word of status window None

0033 seqc_brake_unlock_time Delay time for unlocking the holding brake. Base unit time


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ScalingMeaningNameNo.

0034 seqc_brake_lock_time Delay time for locking the holding brake. Base unit time

0035 seqc_auto_brake_time Minimum waiting time until brake response.Presently not supported.

Base unit time

0036 commh_ctrlenab_log Parameter writes the component givingcontroller enable.

0: Only DIN91: DIN9 and RS2322: DIN9 and CAN

0040 commh_null Auxiliary object always returning zero None

0050 rs232_baudrate Baud rate for RS232 communication Baud rate RS232

0051 rs232_para_conf Configuration word for parameterisationsoftware

None

0052 rs232_unit_x_var_i Physical position units None

0053 rs232_unit_x_conv_i Physical position units None

0054 rs232_unit_x_numerator Factor group of position numerator None

0055 rs232_unit_x_divisor Factor group of position denominator None

0056 rs232_unit_x_decimals Decimal positions of path None

0057 rs232_unit_n_var_i Physical speed units None

0058 rs232_unit_n_conv_i Physical speed units None

0059 rs232_unit_n_numerator Factor group of speed numerator None

005A rs232_unit_n_divisor Factor group of speed denominator None

005B rs232_unit_n_decimals Decimal positions of speed None

005C rs232_unit_a_var_i Physical acceleration units None

005D rs232_unit_a_conv_i Physical acceleration units None

005E rs232_unit_a_numerator Factor group of acceleration numerator None

005F rs232_unit_a_divisor Factor group of acceleration denominator None

0060 rs232_unit_a_decimals Decimal positions of acceleration None

0061 rs232_kommando Command word None

0062 rs232_osc_screen_time Total time Base unit time

0063 rs232_display_free_adr Free CO address CO number of "free CO"

0070 errh_err_field_0 Bit field of main error numbers 1 to 32 Bit = 0: Error inactiveBit = 1: Error active

0071 errh_err_field_1 Bit field of main error numbers 33 to 64 Bit = 0: Error inactiveBit = 1: Error active

0072 errh_prio_field_0 Bit field of main error numbers 1 to 32 ErrorBit = 0: Motor brake power stage off

0073 errh_prio_field_1 Bit field of main error numbers 33 to 64 Bit = 1: Power stage off

0074 errh_warn_field_0 Bit field of main error numbers 1 to 32 WarningBit = 0: Do not indicate warning

0075 errh_warn_field_1 Bit field of main error numbers 33 to 64 Bit = 1: Indicate warning

0080 currc_i_u_act Measured phase current of phase U Base unit current

0081 currc_i_v_act Measured phase current of phase V Base unit current

0082 ioh_uzk_volt DC−bus voltage Base unit voltage

0083 ioh_mot_temp Motor temperature Base unit temperature

0084 ioh_power_stage_temp Power stage temperature Base unit temperature

0085 ioh_din Pin state of digital inputs None

0086 ioh_dout_data Current state of digital outputs bitfield DOUT0 ready for operation,permanently wiredDOUT1 programmableDOUT2 programmableDOUT3 holding brake. Permanentlywired.


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0087 ioh_aout_range Value range of analog monitor (maximum) forboth channels

Base unit voltage

0088 ioh_aout_resolution_volt Resolution of analog monitor, voltageindication for one bit referred to the valuerange

Base unit voltage

0089 ioh_dout2_1_func Determines the functionality assignments forthe digital outputs.

None

008A ioh_aout0_ko_nr Analog monitor 0: Communication objectnumber of value to be output.

Communication object number ofvalue to be output.

008B ioh_aout0_scale Analog monitor 0: Scaling Base unit gain

008C ioh_aout0_offset Offset voltage for analog monitor Base unit voltage

008D ioh_aout1_ko_nr Analog monitor 1: Communication objectnumber of value to be output.

Communication object number ofvalue to be output.

008E ioh_aout1_scale Analog monitor 1: Scaling Base unit gain

008F ioh_aout1_offset Offset voltage for analog monitor Base unit voltage

0090 ioh_ain0_offs AIN0 offset Base unit voltage

0091 ioh_ain1_offs AIN1 offset Base unit voltage

0092 ioh_ain0_safezero Safe zero Base unit voltage

0093 ioh_ain1_safezero Safe zero Base unit voltage

0094 ioh_control Configuration of analog monitor &temperature sensor

None

0095 ioh_pins_used Optionally, the values for DIN0.. DIN3 can beparameterised as AIN0, #AIN0, AIN1, #AIN1

None

00A0 eeval_enc_phi Rotor position without angle encoder offset Base unit degrees

00A1 enc_config Encoder configuration word None

00A2 emu_ctrl Operating mode selection None

00A3 eeval_enc_phi_offs Offset angle of angle encoder − one rev. Base unit degrees

00A4 eeval_x2b_line_cnt Increments of analog incremental encoder Increments = 4 x number ofincrements

00A5 emu_enc_line_cnt Output increments of encoder emulation Increments = 4 x number ofincrements (32 ..1024)

00A6 emu_enc_offset Offset between setpoint angle and outputangle of encoder emulation

Base unit degrees

00A7 eeval_motid_w_status Status of Motid_w None

00A8 enc_sync_num Synchronisation gearbox factor (numerator) None

00A9 enc_sync_div Synchronisation gearbox factor (denominator) None

00AA enc_encoder_status Angle encoder status None

00AB enc_hiperface_line_cnt Increments of SINCOS encoder None

00AC eeval_enc_phi_offs_2 Offset angle of 2nd track, e.g. Hall encoder forincremental encoder

Base unit degrees

00C0 currc_i_q_act Actual active current in rotor coordinates Base unit current

00C1 currc_i_d_act Actual reactive current in rotor coordinates Base unit current

00C2 currc_i_q_ref Active current setpoint in rotor coordinates Base unit current

00C3 currc_i_d_ref Reactive current setpoint in rotor coordinates Base unit current

00C4 currc_iit_pwr_level Current status of i2t integrator for power stage Base unit percent

00C5 currc_iit_mot_level Current status of i2t integrator for motor Base unit percent

00C6 currc_i_lim_act Current torque limitationLimited to 0 − i_max

Base unit current

00C7 currc_i_ref_rs232 Setpoint torque − RS232 Base unit current

00C8 currc_i_ref_can Setpoint torque − CAN Base unit current

00C9 currc_i_ref_ftd Setpoint torque − FTD Base unit current


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00CA currc_i_ref_profi Setpoint torque − Profi Base unit current

00CB currc_i_lim_rs232 Parameterisable torque limitation − RS232 Base unit current

00CC currc_i_lim_can Parameterisable torque limitation − CAN Base unit current

00CD currc_i_lim_ftd Parameterisable torque limitation − FTD Base unit current

00CE currc_i_lim_profi Parameterisable torque limitation − Profi Base unit current

00CF currc_ctrl Currc control/config word ....

00D0 currc_ctrl_gain_q P−gain of active current controller Base unit gain

00D1 currc_ctrl_time_q I−component time constant of active currentcontroller

Base unit time

00D2 currc_ctrl_gain_d P−gain of reactive current controller Base unit gain

00D3 currc_ctrl_time_d I−component time constant of reactive currentcontroller

Base unit time

00D4 currc_sel_i_switch Torque setpoint selector None

00D5 currc_sel_i_lim_switch Torque limit selector None

00D6 ssel_ain0_i_per_volt Torque setpoint scaling of AIN0:Ampere per Volt

Base unit current

00D7 ssel_ain1_i_per_volt Torque setpoint scaling of AIN1:Ampere per Volt

Base unit current

00D8 currc_i_ref_jog1 Jog setpoint 1 (not supported) Base unit current

00D9 currc_i_ref_jog2 Jog setpoint 2 (not supported) Base unit current

00E0 ssel_n_ref Speed setpoint (input value of speedcontroller)

Base unit speed

00E1 ssel_n_act Actual speed Base unit speed

00E2 ssel_n_act_disp Actual speed (filtered) for display in D2SC Base unit speed

00E3 spdc_n_ref_rs232 Setpoint speed − RS232 Base unit speed

00E4 spdc_n_ref_can Setpoint speed − CAN Base unit speed

00E5 spdc_n_ref_ftd Setpoint speed − FTD Base unit speed

00E6 spdc_n_ref_profi Setpoint speed − Profi Base unit speed

00E7 spdc_n_ref_hilf_rs232 Auxiliary speed − RS232 Base unit speed

00E8 spdc_n_ref_hilf_can Auxiliary speed − CAN Base unit speed

00E9 spdc_n_ref_hilf_ftd Auxiliary speed − FTD Base unit speed

00EA spdc_n_ref_hilf_profi Auxiliary speed − Profi Base unit speed

00EB ssel_ctrl_stat Speed control configuration None

00EC spdc_ctrl_gain P−gain of controller Base unit gain

00ED spdc_ctrl_time I−component time constant of controller Base unit time

00EE spdc_sel_n_switch Speed controller selector for speed setpoint None

00EF spdc_sel_h_n_switch Auxiliary setpoint selector for speed setpoint None

00F0 ssel_ain0_n_per_volt Speed setpoint scaling of AIN0:Speed per volt

Base unit speed

00F1 ssel_ain1_n_per_volt Speed setpoint scaling of AIN1:Speed per volt

Base unit speed

00F2 ssel_time_c_n_act_filter Filter time constant of actual speed filter Base unit time

00F3 ssel_n_acc_pos Slope of ramp generator with: Pos. speed −rising edge

Base unit acceleration

00F4 ssel_n_dec_pos Slope of ramp generator with: Pos. speed −falling edge


00F5 ssel_n_acc_neg Slope of ramp generator with: Neg. speed −rising edge


00F6 ssel_n_dec_neg Slope of ramp generator with: Neg. speed −falling edge


00F7 ssel_lim_sw_ramp_dec Brake acceleration for limit switch ramp Base unit acceleration


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00F8 ssel_enab_off_ramp_dec Brake acceleration for quick stop ramp Base unit acceleration

00F9 spdc_n_target_speed Comparison speed for message "When n_mess+/− n_mess_hyst is reached a bit will be set inthe status word"

Base unit speed

00FA spdc_n_target_win_speed Hysteresis for speed messages:n_act = n_mess and n_act = n_set

Base unit speed

00FB spdc_ramp_brake_max_time Maximum time for quick stop Base unit time

00FC n_ramp_brake_min Speed at which quick stop successfullycompleted

Base unit speed

00FD spdc_n_ref_jog1 Jog setpoint 1 (not supported) Base unit speed

00FE spdc_n_ref_jog2 Jog setpoint 2 (not supported) Base unit speed

00FF ssel_n_act_ixr Actual speed calculated via the machine model Base unit speed

0100 ssel_n_act_filter Actual speed filtered with actual speed filter Base unit speed

0110 psel_x_act Actual position Base unit position

0111 ioh_pos_selector Currently valid value of target selector 0...63 = position data records

0112 posi_bus0_pointer Pointer to current position parameter viaRS232

0...63 = position data records

0113 posi_bus1_pointer Pointer to current position parameter via CAN 0...63 = position data records

0114 posi_bus2_pointer Pointer to current position parameter via FTD 0...63 = position data records

0115 posi_bus3_pointer Pointer to current position parameter via Profi 0...63 = position data records

0116 posc_ctrl_gain Position controller gain Base unit gain

0117 posc_n_lim_pos Symmetric limitation of maximum outputspeed of position controller

Base unit speed

0118 pos_sel_parameter Position controller setpoint selector None

0119 posc_x_diff_time Time to following error activation Base unit time

011A posc_x_diff_lim_pos Following error (position difference betweensetpoint/actual value)

Base unit position

011B posc_x_dead_rng_pos Dead band of position difference Base unit position

011C ipo_sw_lim_pos Position limit of positive software limit switch Base unit position

011D ipo_sw_lim_neg Position limit of negative software limit switch Base unit position

011E posi_bus0_start_delay Start delay after positioning start / applies toall position targets

Base unit time

011F posi_bus0_x_trig Remaining path for remaining path trigger/applies to all position targets

Base unit position

0120 posc_x_target_win_pos Tolerance margin "Target reached" Base unit position

0121 posc_x_target_time Time constant "Target reached" Base unit time

0122 psel_home_offs Offset for homing Base unit position

0123 posi_bus0_ctrl Control word for the characteristics andsequence of the current positioning process

None

0124 posi_bus0_x_end_h Target position of currently selected positionset

Base unit position

0125 posi_bus0_v_max Traversing speed during positioningPositioning group parameter

Base unit speed

0126 posi_bus0_v_end Final speed for positioning, presently = 0Positioning group parameter

Base unit speed

0127 posi_bus0_a_acc Acceleration in motor mode range of drivePositioning group parameter


0128 posi_bus0_a_dec Deceleration in generator mode range of drive;decelerationPositioning group parameter


0129 posi_bus0_a_acc_jerkfree Jerk−free components during accelerationPositioning group parameter

Base unit time


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012A posi_bus0_a_dec_jerkfree Jerk−free components during decelerationPositioning group parameter

Base unit time

012B seqc_homing_method Homing mode Determination according to CANopenDSP 402

012C ssel_ain0_x_per_volt Position setpoint scaling of AIN0:Revolutions per volt

Base unit position

012D ssel_ain1_x_per_volt Position setpoint scaling of AIN1:Revolutions per volt

Base unit position

012E seqc_home_sw_zero_dist Distance between zero pulse and reference(limit switch, home switch) (not supported)

Base unit position

012F seqc_home_sw_zero_min Minimum distance between zero pulse andreference (limit switch, home switch) (notsupported)

Base unit position

0130 pos_x_ref Current position setpoint Base unit position

0131 pos_control_n_korr Position controller output Base unit speed

0132 posi_rev_dist Reversing distance (not supported) Base unit position

0133 pos_sel_x_switch Position controller selector for positionsetpoint

None

0134 pos_sel_n_switch Setpoint selector for speed precontrol None

0135 pos_can_x_ip Position setpoint of currently selected positionset

Base unit position

0136 pos_bus0_delay Start delay after positioning start / applies toall position targets

Base unit time

0137 posc_x_diff_32b Current position difference between currentposition setpoint and actual position

Base unit position

0138 pos_sel2_x_switch Position controller selector for positionsetpoint

None

0139 pos_sel2_n_switch Setpoint selector for speed precontrol None

0140 can_node_id Node number resulting from base and offset 1 ... 127

0141 can_node_id_offset Node number offset through digital inputs 0 ... 63

0142 can_node_id_base Base node number for CAN 0 ... 127

0143 can_baudrate Sets baud rate for CAN bus in kBaud kBaud 125; 250; 500

0144 can_comm_active Activates CANopen or protocol 1: CANopen

0145 can_options Sets different options None

0146 can_pdo_tx0_mapped Identifier of mapped SDO object 0 (transmit) None

0147 can_pdo_tx1_mapped Identifier of mapped SDO object 1 (transmit,optional)

None

0148 can_pdo_rx0_mapped Identifier of mapped SDO object 0 (receive) None

0149 can_pdo_rx1_mapped Identifier of mapped SDO object 1 (receive,optional)

None

014A can_sync_time_slot Nominal interval between two SYNC frames onCAN bus (needed for the interpolated positionmode)

None

014B can_pos_fact_num Numerator of factor for pos. display None

014C can_pos_fact_div Denominator of factor for pos. display None

014D can_val_fact_num Numerator of factor for speed display None

014E can_vel_fact_div Denominator of factor for speed display None

014F can_acc_fact_num Numerator of factor for acceleration display None

0150 can_acc_fact_div Denominator of factor for acceleration display None

0160 osc_control Control word of oscilloscope, operating modes None

0161 osc_status Status word of oscilloscope, operating modes None


Base units

10

� 171SW−HB 13.0002−EN 4.1


0162 osc_samples Number of samples Number of sample values perchannel

0163 osc_sample_time Min. sample time between two samples Base unit time

0164 osc_triggermask Trigger mask of oscilloscope for digital triggers ’01L, ’02L, ’04L, etc., ’FFL’ arepermitted

0165 osc_triggerconfig Trigger configurationbit field None

0166 osc_triggerlevel Trigger threshold (’analog’) or level (’digital’) corresponding to the value to berecorded

0167 osc_timebase Number of cycles until next storage Multiples of sample time t(sample) =osc_timebase * osc_sample_time

0168 osc_delay Trigger shift Number of samplesValue > 0 : Recording of events aftertriggerValue < 0 : Recording of events beforetrigger

0169 osc_data0 Function number for channel recording None

016A osc_KO_nr0 Free CO address CO number of "free CO"

016B osc_KO_mask0 Optional mask for hiding non−required bits orvalue ranges in a communication object.

None

016C osc_data1 Function number for channel recording None

016D osc_KO_nr1 Free CO address CO number of "free CO"

016E osc_KO_mask1 Optional mask for hiding non−required bits orvalue ranges in a communication object.

None

016F osc_data2 Function number for channel recording None

0170 osc_KO_nr2 Free CO address CO number of "free CO"

0171 osc_KO_mask2 Optional mask for hiding non−required bits orvalue ranges in a communication object.

None

0190 ftd_pointer_course_prog Pointer to an entry in the course program None

0191 ftd_line_course_prog Line entry in the course program None

0192 ftd_line_course_prog_akt Pointer to a currently edited line in the courseprogram

None

0193 ftd_line_course_prog_start Sets the start lines for 1 and 2 None

10.4.1 Base units

Value Representation Resolution Resulting value range

Current 32 bits 1 / 216 A ± 215 A

Acceleration 32 bits 1 / 28 rev/min/sec ± 223 rev/min/sec

Speed 32 bits 1 / 212 rev/min ± 524.288 rev/min

Position 32 bits 1 / 216 rev ± 215 rev

Torque constant 32 bits 1 / 212 Nm/A ± 524.288 Nm/A

Voltage 32 bits 1 / 216 V ± 215 V

Power 32 bits 1 / 28 VA ± 223 VA

Gain 32 bits 1 / 216 ± 215

Time constant 32 bits 0.1 �s = 10−7 sec 430 sec

Temperature 16 bits 1 / 24 °C ± 211 °C

32−bit factor 32 bits 1 / 216 ± 215

16−bit factor (%) 16 bits 1 / 216 0 ... 1 (0 ... +100 %)

Resistance 32 bits 1 / 28 0 ... 16.7 MΩTorque change 1 / 28 A/sec ± 223 A/sec

AppendixCommunication object listBit assignment of command word / status word / error word

10

� 172 SW−HB 13.0002−EN 4.1

10.4.2 Bit assignment of command word / status word / error word

Command word (seqc_opmode)

Bit Meaning

31 Controller reset (hardware reset via commh)

30 Debug mode 0 = off; 1= on

29 ˙

28 Load default parameters from program memory (init!)

27 ... 19 ˙

18 Setpoint inhibit (activated inside the controller)

17 Direction bit 0 = CCW rotation, 1 = CW rotation (inverts both speed setpoints and positionsetpoints); if torque control is activated, also inverts the torque setpoints

16 Error acknowledgement

18 Setpoint inhibit (activated inside the controller)

17 Direction bit 0 = CCW rotation, 1 = CW rotation (inverts both speed setpoints and positionsetpoints); if torque control is activated, also inverts the torque setpoints

16 Error acknowledgement

15 ... 13 ˙

12 Start positioning or homing

11 ˙

10 Reversal of direction of rotation (inverted direction of rotation for identical setpoints)

9 ... 7 ˙

6 Activate sub−mode synchronous positioning

5 Activate homing

4 Activate positioning

3 Activate speed control

2 Activate torque control

1 Activate position control

0 Controller enable


Bit assignment of command word / status word / error word

10

� 173SW−HB 13.0002−EN 4.1

Status word (rs232_stat_sum)

Bit Meaning

31 ... 28 ˙

27 MOTID operation

26 ... 25 ˙

24 INTERNAL enabling of controller and power stage

23 ... 22 ˙

21 Automatic encoder adjustment active

20 Homing has been completed

19 Positive direction inhibited

18 Negative direction inhibited

17 Group error message

16 Warning (no group error and no disconnection)

15 Readiness for operation

14 Power stage is switched−on

13 Speed message n_act = (0 +/− n_mess_hyst)

12 SinCos encoder activated

11 iit−monitoring à limitation to rated current; IIT motor / servo

10 Positioning has been started (activated for one IPO cycle)

9 Speed message n_act = (n_set +/− n_mess_hyst)

8 1 = speed message n_act = (n_mess +/− n_mess_hyst)

7

6 Remaining path positioning reached (reset to zero when the following positioning process isstarted)

5 Target−reached message (x_act = x_set +/− x_mess_hyst)

4 Message "Positioning has been completed" (x_set = pos_x_set) (reset to zero when thefollowing positioning process is started)

3 Positive limit switch reached DIN8

2 Negative limit switch reached DIN7

1 Home switch reached

0 Homing active

AppendixCommunication object listBit assignment of command word / status word / error word

10

� 174 SW−HB 13.0002−EN 4.1

Error word (low) (errh_err_field_0)

Bit Meaning

31 ˙

30 Limit switch error

29 ˙

28 Following error monitoring

27 Power stage temperature 5°C below maximum

26 Motor temperature 5°C below maximum

25 I�T with 80%

24 ... 20 ˙

19 I�t−error controller (I�t with 100%)

18 I�t−error motor (I�t with 100%)

17 ˙

16 SINCOS track signal error

15 DC bus overvoltage

14 DC bus undervoltage

13 DC bus / power stage overcurrent

12 Offset current measurement error

11 ˙

10 24V−supply error (out of range)

9 12V−electronic supply error

8 5V−electronic supply error

7 Resolver track signal error / carrier failure

6 SINCOS track signal error

5 SINCOS−RS485 communication error

4 SINCOS supply error

3 Insufficient temperature/overtemperature of power electronics

2 Motor overtemperature

1 ... 0 ˙


Bit assignment of command word / status word / error word

10

� 175SW−HB 13.0002−EN 4.1

Error word (high) (errh_err_field_1)

Bit Meaning

31 Initialisation error

30 Checksum error

29 Stack overflow

28 ˙

27 Error in preliminary pos. calculation

26 ˙

25 Operating mode error

24 Position data record error

23 RS232 communication error

22 CAN communication error

21 ... 12 ˙

11 Course program jump target error

10 Course program error − unknown command

9 ... 8 ˙

7 Motor identification error

6 ... 4 ˙

3 Homing error

2 Time−out with quick stop

1 ... 0 ˙

AppendixTiming charts

10

� 176 SW−HB 13.0002−EN 4.1

10.5 Timing charts

The following diagrams show some typical 931E/K servo positioning controllerapplications and the corresponding timings of the digital inputs and outputs. Since sometimes depend on the operating state of the controller, sometimes only guide values can beindicated.In these cases, the control must query additional status messages of the 931E/K.

The times indicated in the diagrams have a tolerance of ± 100 �s. This tolerance must beconsidered in addition to the times indicated in the timing diagrams!

The 931E/K servo positioning controller is equipped with a sequence control with a timebase of 1.6 msec. The digital input and output states are cyclically detected and updated.

The cycle time of the PLC or control must be selected < (1.6 msec – 100 μs) = 1.5 msec toensure that the PLC can detect all messages from the 931E/K. All control signals from thePLC must be active > (1.6 msec + 100 μs) = 1.7 msec to ensure that the 931E/K will identifythem correctly.

Example:

PLC with tcycle = 1 msec → set the PLC outputs for at least 2 x tcycle = 2 msec


Switch−on sequence

10

� 177SW−HB 13.0002−EN 4.1

10.5.1 Switch−on sequence

t1

t2

t3

t4

t5

t6

t7

t

t

t

t

t

t

t

931E_121

Fig. 31 Switch−on sequence

� Power on� DOUT0: Ready Controller enable� Power stage is on� Holding brake released� Speed setpoint� Actual speed

AppendixTiming chartsSwitch−on sequence

10

� 178 SW−HB 13.0002−EN 4.1

ƒ t1 ≈ 500 msec

Boot−program processing and start of application

ƒ t2 > 1.6 msec

ƒ t3 ≈ 10 msec

Depends on the operating mode and the status of the drive

ƒ t4 = N x 1.6 msec

Parameterisable (brake parameter for run delay tF)

ƒ t5 < 1.6 msec


Depends on the quick stop ramp


Parameterisable (brake parameter for stop delay tA)


Positioning / target reached

10

� 179SW−HB 13.0002−EN 4.1

10.5.2 Positioning / target reached

t1

t2

t3

t4 t5

t

t

t

t

t

t931E_122

Fig. 32 Positioning /target reached

� Positioning start� DIN0 ... DIN5 Positioning in progress� DOUT: Target reached� Set position� Actual position

ƒ t1 > 1.6 msec

Pulse time of the START signal

ƒ t2 < 1.6 msec

Delay, until the drive starts


Target window reached + message delay

ƒ t4 > 1.6 msec

Setup time for position selection

ƒ t5 > 1.6 msec

Hold time for position selection

AppendixTiming chartsSpeed message

10

� 180 SW−HB 13.0002−EN 4.1

10.5.3 Speed message

t1

t2

n

t

t

t1

t2

931E_123

Fig. 33 Speed message

� Setpoint speed � Actual speed DOUT: Setpoint speed reached

ƒ t1 < 1.6 msec

ƒ t2 < 1.6 msec

10.5.4 Error acknowledgement

t1

t

t

t

931E_124

Fig. 34 Error acknowledgement

� Controller enable� DOUT: Ready DOUT: Error

ƒ t1 approx. 10 msec


Limit switches

10

� 181SW−HB 13.0002−EN 4.1

10.5.5 Limit switches

t1

t2 t4

t

t

t

t3

931E_125

Fig. 35 Limit switch

� Limit switch active� Actual speed (1) Actual speed (2)

ƒ t1 < 0.2 msec


Depends on the quick stop ramp

ƒ t3 < 0.2 msec


Depends on the speed ramp

Actual speed(1): Direction of rotation permanently inhibited through the limit switch.

Actual speed (2): Direction of rotation not permanently inhibited through the limit switch.

AppendixParameter set managementGeneral information

10

� 182 SW−HB 13.0002−EN 4.1

10.6 Parameter set management

10.6.1 General information

For trouble−free motor control with the 931E/K servo positioning controller, thecharacteristics of the 931E/K servo positioning controller must have been set correctly. Inthe following, the individual characteristics will be referred to as parameters; the total ofall parameters for a servo positioning controller/motor combination will be referred to asparameter set.

The below figure describes the parameter set management:

931E_126

Fig. 36 Online parameterisation

� PC� *.DCO file Small Drive Control (SDC)� Reading from file and saving in servo� Reading from servo and saving in file� Serial communication� Servo controller� RAM� Flash� Default parameter set� Controller reset� Saving the parameter set� Loading the standard parameter set

AppendixParameter set management

Loading and saving of parameter sets

10

� 183SW−HB 13.0002−EN 4.1

The current parameter set of the 931E/K servo positioning controller is saved in the RAM(RAM = Random Access Memory). The RAM contents will get lost when the supply voltageis switched off. For permanently saving the parameter set, use the commands File �Parameter set � Save parameters and copy the parameter set into the controller memory.The contents of the controller memory will not get lost, even when the voltage is switchedoff.

Every time, the servo positioning controller is reset, the contents of the FLASH will becopied into the RAM. The reset can be activated through the following actions:

ƒ Power−off/power−on

ƒ Activation of the menu item File � Reset Servo

ƒ Activation of the RESET button in the menu bar of the parameter setting program

Every 931E/K servo positioning controller contains a default parameter set which is firmlyimplemented in the firmware and cannot be overwritten. If parameter setting is notsuccessful for whatever reason, the standard parameter set can be loaded and used as a"solid basis". Select the menu items File � Parameter set � Load default parameter set toactivate the standard parameter set. After this, the default parameter set will be copiedinto the FLASH and the RAM.

10.6.2 Loading and saving of parameter sets

It is possible to save and manage parameter sets externally (e.g. on hard disk, floppy disk,etc.). For this, the 931E/K servo positioning controller reads the parameter set and saves itin a file or reads it from a file and saves it in the 931E/K servo positioning controller.

The PC parameter file extension is *.DCO. Select the following menu items to read andwrite the *.DCO files in the parameter setting program:

ƒ File/Parameter set/File>> Servo:

Transferring the *.DCO file from the PC to the servo

ƒ File/Parameter set/Servo >> file:

Writing the *.DCO file on the PC

When writing a parameter set to a PC file, you can fill in the Motor type and Descriptionfields. Furthermore, you can add a comment of up to 100 lines when selecting theComment tab. We strongly recommend to generate descriptions to make sure that theparameter sets will not be mixed up later. We also recommend to choose useful parameterset names to make finding the parameter sets easier.

� Note!

ƒ Please use the comment fields to save information.

ƒ *.DCO files can be sent by floppy disk, CD−ROM and/or e−mail.

AppendixParameter set managementPrinting parameter sets

10

� 184 SW−HB 13.0002−EN 4.1

10.6.3 Printing parameter sets

Select the menu items File � Parameter set � Print to print, display or save parameter setsin plain text format: The following menu appears:

931e_340

In the Print positions field of this menu, you can select the positions to be printed at the endof the parameter list.

The selection has the following effects on the plain text output:

ƒ none

the parameter list will be output without position sets. Approx. 5 pages

ƒ all

all 64 position sets will be output. Approx. 7 pages

ƒ from ... to

the position range can be explicitly defined

Meaning of the Print menu buttons:

ƒ Additional information: Calls the sub−menu of the same name

ƒ Page preview: Generates the plain text and displays it on the screen

ƒ Print: Generates the plain text and prints it out.

ƒ Save as text file: Generates the plain text and saves it under a user−defined name.The subdirectory \txt is used as default directory for the plain text.

When the plain text for Page preview and Print is created, the file $$$.txt will be writtenin the sub−directory \txt.

AppendixParameter set management

Printing parameter sets

10

� 185SW−HB 13.0002−EN 4.1

Additional information

In this menu, the user can enter additional information on the parameter set. Theinformation will be accepted in the plain text. This mainly concerns the date, which maybe defined independently of the current date.

931e_342

The Order, Comment 1/2, Motor data fields will be directly taken over in the plain text:

Field Contents

Order ID of the order/project for which the parameter set has been created

Comment 1, comment 2 Special characteristics of the parameter set

Motor data ID of the motor data record (from file motor.ini)

Due to the format, the entries should not be longer than half a line (approx. 40 characters).

By default, the current date will be used as date for the plain text. Click Change to edit thedate field and change the date. The changed date will be taken over in the plain text.

Page preview

After selecting the Page preview button from the Print menu, the plain text will be createdand the page preview displayed. The page preview gives you a preview of the printout tobe expected.

Save as text file

Click the Save as text file button to save and process the printout as a *.txt−file on hard disk(e.g. file transfer by e−mail).

� Note!

ƒ The text files will be saved in the TXT sub−directory of the parameterisationprogram.

ƒ The parameter sets can be printed both in online and offline mode.

AppendixOffline parameterisation

10

� 186 SW−HB 13.0002−EN 4.1

10.7 Offline parameterisation

The toolbar below the menu bar indicates if offline or online parameterisation is active:

Online parameterisation active Offline parameterisation active

The active mode will be highlighted in green.

The parameter setting program allows you to access parameter sets even if there is noserial communication with the 931E/K servo positioning controller available. This is,however, only possible, if a corresponding *.DCO file is available. See the chapter "Loadingand saving of parameter sets". ( 183)

You can

ƒ read controller parameters from a *.DCO file.

ƒ change controller parameters.

ƒ save changed values in the same or a different *.DCO file.

ƒ print parameter sets. See the chapter "Printing parameter sets". ( 184)

The changes will only become effective, if the modified parameter set is loaded into the931E/K servo positioning controller. See the chapter "Loading and saving of parametersets". ( 183)

The below figure shows the principle of the offline parameterisation:

931E_127

Fig. 37 Offline parameterisation

� PC� *.DCO file Small Drive Control (SDC)

Select the menu items Options � Communication � Offline parameterisation or click theoffline icon in the toolbar to activate the offline parameterisation. You will be asked which*.DCO file you want to open. Select a corresponding file.

� Stop!

If you want to use a DCO file for a different device type, it is absolutelynecessary to check the settings for the rated current, maximum current, angleencoder offset, phase sequence, pole pair number, current controller andspeed controller, otherwise, the servo positioning controller/motor might bedestroyed!

During the offline parameterisation, the behaviour of the parameter setting program

AppendixOffline parameterisation

10

� 187SW−HB 13.0002−EN 4.1

differs from the behaviour during the online parameterisation:

ƒ Certain menus (e.g. Firmware download) are locked

ƒ The menu File � Parameter set has different sub−menus:

– Open file

– Save file

– Save file as...

ƒ When exiting the program, you will be asked, if the parameter file is to be saved.

Select the menu items Options � Communication � Online parameterisation or click theonline icon in the toolbar to exit the offline parameterisation.

AppendixInfo window

10

� 188 SW−HB 13.0002−EN 4.1

10.8 Info window

Select Info � Info to display general information about the SDC parameterisation tool andthe 931E/K servo positioning controller. The following window will appear:

931e_344

� Note!

In case of a complaint, it will be useful to have the information of these tabsavailable.

AppendixQuick access via toolbar

10

� 189SW−HB 13.0002−EN 4.1

10.9 Quick access via toolbar

Some functions of the parameterisation program can be directly called in the toolbarbelow the menu bar:

Commands and functions

German language

English language

French language

Find communication

Online parameterisation

Offline parameterisation

Oscilloscope

Motor data menu

Current controller

Speed controller

Position controller

Homing

Select positions

Approach positions

Save parameters

Reset servo positioning controller

AppendixFirmware download to the 931E/K / firmware updateFirmware download

10

� 190 SW−HB 13.0002−EN 4.1

10.10 Firmware download to the 931E/K / firmware update

The firmware is the "operating program" of the 931E/K servo positioning controller. Thecontrollers are already delivered with a firmware. Under the following circumstances anew firmware may have to be loaded:

ƒ Update to a new firmware version.

ƒ Firmware download with customer−specific functions to make additional functionsavailable.

ƒ Incomplete firmware (e.g. as a result of a cancelled firmware download).

As part of the further product development, the parameter setting program may includeoptions which can only be activated with a more recent firmware version.

If the 931E/K servo positioning controller contains no or only an incomplete firmwareversion, the following window will appear:

931e_356

� Note!

ƒ If the correct firmware is already available in the 931E/K servo positioningcontroller, the error message will not be displayed. In this case, the followingchapter may be skipped!

ƒ Select the menu Info � Info and open the Firmware/hardware tab to readout the current firmware version of the controller.

10.10.1 Firmware download

Select the menu File � Firmware download to load a new firmware.

When a new firmware is loaded, the parameter set saved in the servo positioningcontroller will be overwritten. Therefore, the following message will be indicated:

931e_346

Here you can select, if you first want to save your parameter set on your PC. If you click Yes,the menu Save parameters will open.

After this, the following menu will appear:

AppendixFirmware download to the 931E/K / firmware update

Firmware download

10

� 191SW−HB 13.0002−EN 4.1

931e_348

1. Select the firmware to be loaded and click Open.

2. After this, a window will appear in which you can select the baud rate:

931e_350

3. First of all, try a baud rate of 115200 baud. In the event of data transfer problems(error messages), reduce the baud rate in the next try.

If the firmware download has been successful, the below message will be indicated:

931e_352

If the firmware download has not been successful, the message "Error at firmwaredownload" will be indicated.

931e_358

AppendixFirmware download to the 931E/K / firmware updateFirmware download

10

� 192 SW−HB 13.0002−EN 4.1

In general, the error is due to a communication error during the data transfer to the 931E/Kservo positioning controller. Repeat the above procedure with a lower baud rate.

931e_354

Index 11

� 193SW−HB 13.0002−EN 4.1

11 Index

AActual speed filter, 34

Actual values

− Actual value window, 17

− of the servo, 16

Alt+F4, 18

Analog inputs, 112

Analog monitor, 114

− numeric overflow limitation, 114

− scaling, 114

Angle encoder, setting, 135

Angle encoder identification, 135

Approaching targets, 65

Automatic angle encoder determination, 135

BBaud rate

− Actual data transfer rate, 160

− Preferred data transfer rate, 160

Brake functions, 110

CCancel, 14

CANopen

− Adding DIN0...DIN3 to the node address, 158

− basic node address, 158

− baud rate, 158

− Communication settings, 158

Commissioning, 19

Communication settings, 160

Communication via communication objects, 18

Communication window for RS232 transfer, 162

Communication with RS232, 160

Control elements, 15

Controller cascade, 21 , 23 , 39

Course program, 67

− digital inputs, 67

− global settings, 59 , 73

− program creation, 78

Current controller, manual setting, 144

DDC−bus monitoring, 143

Definition of notes used, 9

Definitions, 8

Digital outputs, 106

Directories, 17

Display units, display mode, 149

− direct entry, 149

− standard value, 149

− user−defined, 149

EEmergency stop, Decelerations, 140

Error acknowledgement, 131

Error analysis, 131

Error correction, 131

Error message, 125

Exiting the program, 18

FFirmware download, 190

Following error, 146

GGeneral configuration, 148

HHoming, 98

− destination, 104

− Go to zero position after homing run, 104

− Offset start position, 104

− speeds/accelerations/times, 105

Index11

�194 SW−HB 13.0002−EN 4.1

Homing mode, 98

− current position, 103

− negative limit stop, 102

− Negative limit stop with zero pulse evaluation, 101

− negative limit switch, 100

− negative limit switch with zero pulse evaluation, 99

− positive limit stop, 103

− positive limit stop with zero pulse evaluation, 102

− positive limit switch, 100

− positive limit switch with zero pulse evaluation, 99

− zero pulse, 101

Homing run, status, 98

Homing run at power stage and controller enable, 104

IInformation, 188

Input limits, 155

Installation, 11

LLimit switch, Decelerations, 140

Loading DCO files, offline parameterisation, 186

Loading of parameter sets, 183

Loading the DCO file, online parameter setting, 183

Mmanual angle encoder data, 135

Messages

− digital outputs, 107

− following error, 146

− remaining path, 61 , 75

Motor data, 133

− automatic determination, 133

− manual setting, 133

NNotes, definition, 9

Numerical input fields, 15

OOK, 14

Optimation

− current controller, 144

− position controller, 147

Oscilloscope, 115

− channels, 116

− settings, 116

− time base, 116

− trigger, 116

PParameter set, printing, 184

Parameter set saving, 183

Position control, 146

Position controller, manual setting, 146

Position−controlled operation, 58 , 70

Positioning, 58 , 70

− approaching positions, 65

− target parameterisation, 147

Positioning mode, 53

Power stage, 142

Printing, parameter set, 184

RREF button, 103

RS232 interface, 160

Run delay, 110

SSafety instructions, 10

− definition, 9

− layout, 9

Safety parameters, 140

Saving DCO files, offline parameterisation, 186

Saving of parameter sets, 183

Saving the DCO file, online parameter setting, 183

Serial communication

− Optimation, 160

− troubleshooting, 13

Serial interface

− Change COM port, 13

− Firmware download, 13

− Offline parameterisation, 13

− Retry with old parameters, 13

− Search Baud rates, 13

Setpoint ramp, 30

Setpoint sources, 27 , 45

Setpoints, 27 , 45

Settings, digital outputs, 107

Index 11

� 195SW−HB 13.0002−EN 4.1

Speed control, 21

Speed controller, manual setting, 34

Speed limitation, 140

Start signal, digital inputs, 58

TTarget parameterisation, 60 , 74

Target values, 16

Temperature monitoring, 139

Toolbar

− offline−online parameterisation, 186

− online−offline parameterisation, 186

− quick access, 189

Torque control, 39

Torque limitation, 33 , 50

Transfer window, 161

Troubleshooting and fault elimination, 121

Notes�

�196 SW−HB 13.0002−EN 4.1

Notes �

� 197SW−HB 13.0002−EN 4.1

�© 08/2010

� Lenze Drives GmbHPostfach 10 13 52D−31763 HamelnGermany

Service Lenze Service GmbHBreslauer Straße 3D−32699 ExtertalGermany

+49�(0)51�54�/ 82−0 00�80�00�/ 24�4�68�77 (24 h helpline)

� +49�(0)51�54�/ 82−28 00 � +49�(0)51�54�/ 82−11 12

� [email protected] � [email protected]

� www.Lenze.com

SW−HB 13.0002−EN .CN3 4.1 TD09

10 9 8 7 6 5 4 3 2 1

Documents

Reference manual 931E Servo inverter manual inverter manual... · 2020. 10. 7. · the servo inverter. ƒ Parameter setting is explained by means of examples. ƒ In case of doubt,