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ECSEM Series
Lenze ECSEM Series User Manual
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Electrical installation
Wiring of system bus (CAN)
5
82
EDBCSXM064 EN 11.0
System bus(CAN) wiring
ECS_COB004
Fig. 5−17
Example: System bus (CAN) wiring via interface X4
ECS
ECS axis module
M
Master control, e.g. ETC
Note!
Connect one bus terminating resistor (120
W
) each to the first and last node of
the system bus (CAN).
81
83
Table of Contents
Default Chapter
5
Table of Contents
5
1 Preface and General Information
11
About These Operating Instructions
11
Terminology Used
12
Code Descriptions
13
Features of the Axis Module Ecsxm (Motion)
14
Structure
15
Scope of Supply
16
Legal Regulations
17
2 Safety Instructions
18
General Safety and Application Notes for Lenze Controllers
18
Thermal Motor Monitoring
22
Forced Ventilated or Naturally Ventilated Motors
23
Self−Ventilated Motors
24
Residual Hazards
26
Safety Instructions for the Installation According to UL
28
Notes Used
29
3 Technical Data
30
General Data and Operating Conditions
30
Rated Data
32
Current Characteristics
34
Increased Continuous Current Depending on the Control Factor
34
Device Protection by Current Derating
37
4 Mechanical Installation
38
Important Notes
38
Mounting with Fixing Rails (Standard Installation)
39
Dimensions
39
Mounting Steps
40
Mounting with Thermal Separation (Push−Through Technique)
41
Dimensions
42
Mounting Steps
44
Mounting in Cold−Plate Design
45
Dimensions
46
Mounting Steps
47
5 Electrical Installation
48
Installation According to EMC (Installation of a Ce−Typical Drive System)
48
Power Terminals
51
Connection to the DC Bus (+UG, −UG)
54
Connection Plan for Mimimum Wiring with Internal Brake Resistor
56
Connection Plan for Mimimum Wiring with External Brake Resistor
58
Motor Connection
60
Motor Holding Brake Connection
61
Connection of an Ecsxk
63
Control Terminals
64
Digital Inputs and Outputs
68
Analog Input
69
Safe Torque off
70
Automation Interface (AIF)
79
Wiring of System Bus (CAN)
80
Wiring of the Feedback System
85
Resolver Connection
86
Encoder Connection
87
Digital Frequency Input/Output (Encoder Simulation)
90
6 Commissioning
92
Before You Start
92
Commissioning Steps (Overview)
93
Basic Settings with GDC
94
Setting of Homing
96
Loading the Lenze Setting
100
Setting of Mains Data
101
Selecting the Function of the Charging Current Limitation
101
Setting the Voltage Thresholds
102
Entry of Motor Data for Lenze Motors
103
Holding Brake Configuration
105
Closing the Brake
107
Opening the Brake
108
Setting of the Feedback System for Position and Speed Control
109
Resolver as Position and Speed Encoder
110
Resolver as Absolute Value Encoder
112
Ttl/Sincos Encoder as Position and Speed Encoder
113
Ttl/Sincos Encoder as Position Encoder and Resolver as Speed Encoder
117
Absolute Value Encoder as Position and Speed Encoder
121
Absolute Value Encoder as Position Encoder and Resolver as Speed Encoder
126
Selecting the Control Interface (C4010)
130
Process Data to the Axis Module (Control Word Ctrl1 and Setpoints)
131
Process Data from the Axis Module (Status Words and Actual Values)
134
Toggle−Bit Monitoring
136
Entry of Machine Parameters
138
Configuring the Digital Inputs and Outputs
140
Digital Inputs for Communication Via the Motionbus (CAN) X4
141
Digital Inputs for Communication Via the Automation Interface (AIF) X1
141
Setting the Polarity of Digital Inputs and Outputs
142
Setting of Homing Parameters
143
Homing Parameters
143
Homing Modes
145
Shifting the Zero Position with Regard to the Home Position (Offsets C3011, C3012)
155
Example: Reference Search with Linear Positioning Axis
156
Example: Reference Search with Continuous Positioning Axis
158
Selection of the Operating Mode
160
Operating Mode "Interpolated Position Mode" (Ip−Mode)
161
Homing" Operating Mode
164
Manual Jog" Operating Mode
165
Velocity" Operating Mode
167
Controller Enable (CINH = 0)
169
Following Error Monitoring (C3030, C3031)
170
Evaluating and Retracting from Hardware Limit Switch
172
Evaluating Hardware Limit Switches
172
Retracting from Hardware Limit Switches
172
Quick Stop (QSP)
173
Operation with Motors from Other Manufacturers
174
Entering Motor Data Manually
174
Checking the Direction of Rotation of the Motor Feedback System
177
Adjusting Current Controller
178
Effecting Rotor Position Adjustment
180
Optimising the Drive Behaviour after Start
183
Speed Controller Adjustment
183
Adjustment of Field Controller and Field Weakening Controller
185
Resolver Adjustment
188
7 Parameter Setting
189
General Information
189
Parameter Setting with "Global Drive Control" (GDC)
190
Parameter Setting with the XT EMZ9371BC Keypad
191
Connecting the Keypad
191
Description of the Display Elements
192
Description of the Function Keys
194
Changing and Saving Parameters
195
8 Configuration
196
Configuring Motionbus/System Bus (CAN)
197
Setting CAN Node Address and Baud Rate
197
Individual Addressing
201
Defining Boot−Up Master in the Drive System
203
Setting of Boot−Up Time/Cycle Time
204
Executing a Reset Node
206
Axis Synchronisation (CAN Synchronisation)
207
Monitoring of the Synchronisation (Sync Time Slot)
209
Axis Synchronisation Via CAN
210
Axis Synchronisation Via Terminal X6/DI1
211
Node Guarding
212
Diagnostics Codes
214
CAN Bus Status (C0359)
214
CAN Telegram Counter (C0360)
215
CAN Bus Load (C0361)
216
Remote Parameterisation (Gateway Function)
217
9 Monitoring Functions
219
Fault Responses
220
Overview of Monitoring Functions
221
Configuring Monitoring Functions
225
Monitoring Times for Process Data Input Objects
225
Time−Out Monitoring for Activated Remote Parameterisation
227
Short Circuit Monitoring (OC1)
228
Earth Fault Monitoring (OC2)
228
Motor Temperature Monitoring (OH3, OH7)
229
Heatsink Temperature Monitoring (OH, OH4)
231
Monitoring of Internal Device Temperature (OH1, OH5)
232
Function Monitoring of Thermal Sensors (H10, H11)
233
Current Load of Controller (I X T Monitoring: OC5, OC7)
234
Current Load of Motor (I2 X T Monitoring: OC6, OC8)
237
DC−Bus Voltage Monitoring (OU, LU)
241
Voltage Supply Monitoring − Control Electronics (U15)
244
Motor Phase Failure Monitoring (LP1)
244
Monitoring of the Resolver Cable (Sd2)
245
Motor Temperature Sensor Monitoring (Sd6)
246
Monitoring of the Absolute Value Encoder Initialisation (Sd7)
247
Sin/Cos Signal Monitoring (Sd8)
248
Monitoring of the Speed System Deviation (Nerr)
249
Monitoring of Max. System Speed (NMAX)
250
Monitoring of the Rotor Position Adjustment (PL)
251
10 Diagnostics
252
Diagnostics with Global Drive Control (GDC)
252
Diagnostics with Global Drive Oscilloscope (GDO)
253
GDO Buttons
254
Diagnostics with GDO
255
Diagnostics with the XT EMZ9371BC Keypad
259
Diagnostics with Pcan−View
260
Monitoring of Telegram Traffic on the CAN Bus
260
Setting All CAN Nodes to the "Operational" Status
262
11 Troubleshooting and Fault Elimination
265
Fault Analysis
265
Fault Analysis Via Application Status Word (C3150/C3151)
266
Fault Analysis Via LECOM Status Words (C0150/C0155)
267
Malfunction of the Drive
269
Fault Messages
270
Reset Fault Messages (TRIP−RESET)
278
12 Appendix
279
Code Table
279
General Information about the System Bus (CAN)
333
Communication with Motionbus/System Bus (CAN)
334
Communication Phases of the CAN Network (NMT)
336
Process Data Transfer
339
Parameter Data Transfer
345
Addressing of the Parameter and Process Data Objects
351
Overview of Accessories
353
Connector Sets
353
Components for Operation and Communication
354
Brake Resistor
355
Mains Fuses
357
Mains Chokes
358
RFI Filters
359
13 Index
360
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Lenze ECSEM Series Specifications
General
Brand
Lenze
Model
ECSEM Series
Category
Control Unit
Language
English
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