Lenze 9400 Software Manual
Uploaded by
Anuchit KamongiatpatLenze 9400 Software Manual
Uploaded by
Anuchit KamongiatpatEDS94AxHExxxx
13331265 L-force Drives
Ä.B-bä
Software Manual
9400
E94AxHExxxx
Servo Drives 9400 HighLine
Parameter setting & configuration
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9400 HighLine | Parameter setting & configuration
Overview of technical documentation for Servo Drives 9400
Overview of technical documentation for Servo Drives 9400
Project planning, selection & order Legend:
Hardware manual 9400 Printed documentation
Catalogue / electronic catalogue (DSC - Drive Solution Catalogue) Online documentation
(PDF/Engineer online help)
Mounting & wiring Abbreviations used:
MA - 9400 StateLine/HighLine BA Operating instructions
MA - communication module KHB Communication manual
MA - extension module MA Mounting instructions
MA - safety module SW Software Manual
MA - accessories
MA - remote maintenance components
Parameter setting
BA - keypad
SW - Lenze software »Engineer«
SW - controller (9400 StateLine/HighLine/PLC) Í This documentation
SW - regenerative power supply module
KHB - communication module
SW - extension module
SW - safety module
SW - Lenze technology application
SW - function library 9400
Configuring & programming
SW - Lenze software »Engineer«
SW - Lenze software »PLC Designer«
SW - controller (9400 HighLine/PLC) Í This documentation
KHB - communication module
SW - extension module
SW - safety module
SW - Lenze technology application
SW - function library 9400
Drive commissioning
Commissioning guide
SW - controller (9400 StateLine/HighLine/PLC) Í This documentation
Chapter "Commissioning" ( 29)
Chapter "Oscilloscope" ( 590)
Chapter "Diagnostics & fault analysis" ( 611)
Remote maintenance manual
Networking structure
KHB - communication medium used
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Content
Content
1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.1 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.2 Terminology used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.3 Definition of notes used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
2 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.1 Parameter setting, configuring, or programming?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.1.1 Basic functionalities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.1.2 Technology applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.2 Communicating with the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.2.1 Going online via diagnostic adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.2.2 Going online via system bus (CAN on board) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.2.3 Use of other communication interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.3 Signal types & scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.2 Notes on commissioning using the keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
3.3 Initial commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.4 Standard set-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.5 Controller replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.6 Motor replacement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4 Drive interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.1 Machine parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.1.1 Mains voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.1.2 Gearbox ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.1.3 Motor mounting direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.1.4 Feedback configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.1.5 Unit/user-defined unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.1.6 Traversing range. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.1.7 Feed constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.1.8 Resolution of an encoder revolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.1.8.1 Determining the optimum resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.1.9 Max. position, speed, and acceleration that can be displayed internally . . . . . 47
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9400 HighLine | Parameter setting & configuration
Content
4.2 Device commands. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.2.1 Load Lenze setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
4.2.2 Load start parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
4.2.3 ENP:Load plant data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.2.4 Activate application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.2.5 Save selected application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.2.6 Save start parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4.2.7 Delete logbook . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.2.8 Archive logbook . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.2.9 Start application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4.2.10 Stop application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
4.2.11 Reset program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
4.2.12 Delete program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
4.2.13 Restart program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
4.2.14 Reset runtime measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.2.15 Inhibit controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4.2.16 Enable controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
4.2.17 Reset error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.2.18 Activate quick stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
4.2.19 Reset quick stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
4.2.20 Identify pole position (360°) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
4.2.21 Identify pole position (min. motion) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
4.2.22 Resolver error identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
4.2.23 Load Lenze inverter characteristic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
4.2.24 Calculate inv. characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
4.2.25 Determine motor parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
4.2.26 Calculate current controller parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
4.2.27 Calculate speed controller parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
4.2.28 CAN on board: Reset node. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
4.2.29 CAN module: Reset node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
4.2.30 CAN on board: Pred.Connect.Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
4.2.31 CAN module: Pred.Connect.Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
4.2.32 CAN on board: Identify node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
4.2.33 CAN module: Identify node. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
4.2.34 Ethernet module MXI2 unbind/bind . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
4.2.35 Ethernet module MXI2 unbind/bind . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
4.2.36 Activate parameter set 1 ... 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
4.2.37 Activate parameter set 1 ... 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
4.2.38 Load cam data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
4.2.39 Save cam data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
4.2.40 Calculate cam data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
4.2.41 Calculate cam data checksum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
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Content
4.2.42 Format file system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
4.2.43 Restore file system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
4.2.44 Prepare firmware update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
4.2.45 Restart controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
4.3 Device states. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
4.3.1 "Initialisation active" state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
4.3.2 "Safe torque off active" state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
4.3.3 "Device is ready to switch on" state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
4.3.4 "Device is switched on" state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
4.3.5 "Operation" state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
4.3.6 "Warning active" state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
4.3.7 "Warning locked active" state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
4.3.8 "Quick stop by trouble active" state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
4.3.9 "Trouble active" state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
4.3.10 "Fault active" state. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
4.3.11 "System fault active" state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
4.4 Automatic restart after mains connection/trouble.... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
4.5 Behaviour after task overflow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
4.6 Device output power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
4.6.1 Switching frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
4.6.2 Monitoring of the device utilisation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
4.6.3 Operation with increased continuous power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
4.7 Internal interfaces | "LS_DriveInterface" system block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
4.7.1 Status signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
4.7.2 Monitoring of external events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
5 Motor interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
5.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
5.1.1 Reading out motor data from the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
5.1.2 Selecting motor in the »Engineer« motor catalogue . . . . . . . . . . . . . . . . . . . . . . . 126
5.1.3 Displaying/editing motor data in the »Engineer« . . . . . . . . . . . . . . . . . . . . . . . . . . 127
5.2 Select motor control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
5.3 Adjusting motor and controller to each other . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
5.3.1 Accepting/adapting plant parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
5.3.2 Parameterise motor encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
5.3.3 Pole position identification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
5.3.3.1 Adjustment of the pole position identification. . . . . . . . . . . . . . . . . . . 140
5.3.4 Optimising the switching performance of the inverter . . . . . . . . . . . . . . . . . . . . . 143
5.3.5 Determining the motor parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
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Content
5.4 Servo control (SC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
5.4.1 Optimise control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
5.4.1.1 Optimise current controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
5.4.1.2 Optimising the speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
5.4.1.3 Set current setpoint filter (band-stop filter) . . . . . . . . . . . . . . . . . . . . . 159
5.4.1.4 Optimising phase controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
5.4.1.5 Optimise response to setpoint changes . . . . . . . . . . . . . . . . . . . . . . . . . 163
5.4.1.6 Setting the field weakening for asynchronous machines . . . . . . . . . 165
5.4.2 Signal flow (servo control for synchronous motor) . . . . . . . . . . . . . . . . . . . . . . . . . 168
5.4.3 Signal flow (servo control for asynchronous motor) . . . . . . . . . . . . . . . . . . . . . . . . 170
5.5 Sensorless vector control (SLVC). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
5.5.1 Basic settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
5.5.1.1 Parameterising speed and torque controller . . . . . . . . . . . . . . . . . . . . . 174
5.5.2 Optimising motor parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
5.5.2.1 Motor power factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
5.5.2.2 Motor stator resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
5.5.2.3 Mutual motor inductance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
5.5.2.4 Motor rotor resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
5.5.3 Optimise control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
5.5.3.1 Optimising field feedforward control . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
5.5.3.2 Optimising the speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
5.5.3.3 Optimising torque controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
5.5.3.4 Optimise current controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
5.5.4 Signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
5.6 V/f control (VFCplus) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
5.6.1 Basic settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
5.6.1.1 Defining the V/f characteristic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
5.6.1.2 Setting the voltage boost. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
5.6.1.3 Parameterising load adjustment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
5.6.1.4 Activating voltage vector control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
5.6.1.5 Defining the current limit (Imax controller). . . . . . . . . . . . . . . . . . . . . . 196
5.6.2 Optimise control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
5.6.2.1 Free definition of the V/f characteristic . . . . . . . . . . . . . . . . . . . . . . . . . 198
5.6.2.2 Parameterising slip compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
5.6.2.3 Parameterising oscillation damping. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
5.6.2.4 Optimise current controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
5.6.2.5 Optimise pull-out slip limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
5.6.3 Signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
5.7 V/f control (VFCplus) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
5.7.1 Signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
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5.8 Parameterisable additional functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
5.8.1 Correction of the stator leakage inductance... . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
5.8.2 Field weakening for synchronous machines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
5.8.3 Flying restart function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
5.8.4 DC-injection braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
5.9 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
5.9.1 Signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
5.9.2 Motor monitoring (I2xt) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
5.9.2.1 Example for entry of the characteristic for asynchronous servo motor
227
5.9.2.2 Example for entry of the characteristic for synchronous servo motor 228
5.9.3 Motor temperature monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
5.9.3.1 Special characteristic for motor temperature sensor . . . . . . . . . . . . . 230
5.9.3.2 Motor temperature monitoring (PTC) . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
5.9.3.3 Temperature monitoring of a second motor . . . . . . . . . . . . . . . . . . . . . 232
5.9.4 Motor phase failure monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
5.9.4.1 Monitoring of the individual motor phases during operation . . . . . 233
5.9.4.2 Checking the individual motor phases before operation is started 234
5.9.5 Maximum current monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
5.10 Internal interfaces | "LS_MotorInterface" system block . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
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6 Encoder evaluation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
6.1 Internal interfaces | "LS_Feedback" system block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
6.1.1 Use of an external position encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
6.2 Signal flow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
6.3 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
6.3.1 Controller configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
6.3.2 System with motor encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
6.3.3 System with motor encoder and position encoder . . . . . . . . . . . . . . . . . . . . . . . . . 251
6.3.4 Adaptation of the resolver evaluation dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
6.3.5 Parameterisation of an unknown Hiperface encoder. . . . . . . . . . . . . . . . . . . . . . . 253
6.3.6 Support of the laser measuring system (DME4000/5000) . . . . . . . . . . . . . . . . . . 254
6.3.7 Use of an SSI encoder at X8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
6.3.7.1 "LS_SsiEncoderX8" system block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
6.3.7.2 Division of the SSI data word into partwords . . . . . . . . . . . . . . . . . . . . 257
6.3.8 Provision of the encoder signal of input X8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
6.3.8.1 System block "LS_EncoderX8" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
6.3.8.2 Activate evaluation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
6.3.9 Resolver error compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
6.3.10 Encoder angular drift monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263
6.3.10.1 Angular drift monitoring for encoders without absolute information
263
6.3.10.2 Angular drift monitoring for encoders with absolute information 264
7 Braking operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265
7.1 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
7.1.1 Setting the voltage threshold for braking operation . . . . . . . . . . . . . . . . . . . . . . . 266
7.2 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
7.2.1 Overcurrent protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
7.2.2 Ixt utilisation - brake transistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
7.2.3 I2t utilisation - brake resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
7.2.4 DC bus overvoltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
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8 I/O terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
8.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
8.2 Analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
8.2.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
8.2.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
8.2.3 Reconfiguring analog input 1 into current input . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
8.2.4 "LS_AnalogInput" system block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
8.3 Analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
8.3.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
8.3.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
8.3.3 "LS_AnalogOutput" system block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
8.4 Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
8.4.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
8.4.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
8.4.3 "LS_DigitalInput" system block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
8.5 Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
8.5.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
8.5.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
8.5.3 "LS_DigitalOutput" system block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
8.6 "State bus" monitoring function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
8.6.1 Detecting the current state. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
8.6.2 Setting the state bus to the "Error" state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
8.7 Touch probe detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
8.7.1 Actual value interpolation (principle) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
8.7.2 Dead time compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
8.7.3 "LS_TouchProbe1...8" system block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
8.7.4 "LS_TouchProbeMotor" system block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
8.7.5 "LS_TouchProbeLoad" system block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
8.8 Configure exception handling of the outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
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9 "CAN on board" system bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
9.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
9.1.1 General data and operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
9.1.2 Supported protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
9.1.3 Communication time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
9.2 Possible settings by DIP switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
9.2.1 Setting the node address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
9.2.2 Setting the baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
9.3 LED status displays for the system bus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
9.4 Structure of the CAN data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
9.4.1 Identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
9.4.2 User data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
9.5 Communication phases/network management. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
9.5.1 State transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
9.5.2 Network management telegram (NMT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
9.5.3 Parameterising the controller as CAN master. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
9.6 Process data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
9.6.1 Identifiers of the process data objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
9.6.2 Transmission type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
9.6.3 Masking of the TPDOs for event control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
9.6.4 Monitoring of the RPDOs for data reception. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
9.6.5 Synchronisation of PDOs via sync telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
9.6.5.1 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
9.6.5.2 Effect of C01130 on the sync phase position. . . . . . . . . . . . . . . . . . . . . 313
9.7 Parameter data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
9.7.1 Identifiers of the parameter data objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
9.7.2 User data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
9.7.2.1 Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
9.7.2.2 Addressing through index and subindex . . . . . . . . . . . . . . . . . . . . . . . . 319
9.7.2.3 Data 1 ... data 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
9.7.2.4 Error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
9.7.3 Examples for a parameter data telegram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
9.7.3.1 Reading parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
9.7.3.2 Writing parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
9.7.3.3 Reading block parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
9.8 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
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9.9 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
9.9.1 Node guarding protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
9.9.1.1 Telegram structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
9.9.1.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
9.9.1.3 Commissioning example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
9.9.2 Heartbeat protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
9.9.2.1 Telegram structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
9.9.2.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
9.9.2.3 Commissioning example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
9.9.3 Emergency telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339
9.10 Implemented CANopen objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
9.11 System block "LS_SyncInput" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365
9.11.1 Behaviour of the status signal bSyncInsideWindow. . . . . . . . . . . . . . . . . . . . . . . . 366
10 Safety engineering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
10.1 Integration into the application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368
10.2 Selecting the required safety module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
10.3 System block "LS_SafetyModuleInterface" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370
10.3.1 Status information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371
10.3.2 I/O status information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372
10.3.3 Control information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
11 Basic drive functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
11.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
11.1.1 Internal state machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
11.1.2 Function states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
11.1.3 Interrupting/replacing states. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
11.1.4 Priorities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
11.1.5 Requesting control via a basic function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381
11.1.6 Start acceleration/acceleration reduction when the basic function changes. 383
11.1.7 Setting the S-ramp time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
11.2 Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
11.2.1 Internal interfaces | "LS_Stop" system block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
11.2.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
11.2.3 Behaviour of the function (example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390
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11.3 Quick stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
11.3.1 Internal interfaces | "LS_Quickstop" system block" . . . . . . . . . . . . . . . . . . . . . . . . . 391
11.3.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392
11.3.3 Activating/deactivating quick stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394
11.3.4 DC-injection braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
11.3.4.1 DC-injection braking and flying restart process . . . . . . . . . . . . . . . . . . 396
11.3.4.2 DC-injection braking when quick stop is activated . . . . . . . . . . . . . . . 397
11.4 Manual jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
11.4.1 Internal interfaces | "LS_ManualJog" system block" . . . . . . . . . . . . . . . . . . . . . . . . 399
11.4.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402
11.4.2.1 Smooth start and quick stop of the drive . . . . . . . . . . . . . . . . . . . . . . . . 402
11.4.2.2 Second speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
11.4.3 Executing manual jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404
11.4.3.1 Manual jog in positive/negative direction . . . . . . . . . . . . . . . . . . . . . . . 405
11.4.3.2 Manual jog with step limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 406
11.4.3.3 Manual jog with intermediate stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407
11.4.3.4 Manual jog to limit position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 408
11.4.3.5 Retracting of an activated limit switch . . . . . . . . . . . . . . . . . . . . . . . . . . 409
11.5 Manual jog, encoderless . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410
11.5.1 Internal interfaces | "LS_ManualJogOpenLoop" system block . . . . . . . . . . . . . . . 411
11.5.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413
11.5.2.1 Necessary basic parameter settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414
11.5.2.2 Profile parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414
11.5.3 Executing manual jog open loop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415
11.5.3.1 Selection of the profile parameter set . . . . . . . . . . . . . . . . . . . . . . . . . . . 418
11.5.3.2 Manual jog open loop in positive/negative direction . . . . . . . . . . . . . 418
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11.6 Homing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419
11.6.1 Internal interfaces | "LS_Homing" system block. . . . . . . . . . . . . . . . . . . . . . . . . . . . 421
11.6.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423
11.6.2.1 Behaviour of the home position after mains switching . . . . . . . . . . . 424
11.6.2.2 Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
11.6.2.3 Home position & target position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426
11.6.2.4 Drive behaviour after setting the home position . . . . . . . . . . . . . . . . . 426
11.6.2.5 Profile data set change-over . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 427
11.6.2.6 Homing to end stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
11.6.2.7 Connection of reference switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
11.6.2.8 Touch probe interface configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
11.6.3 Overview of the Lenze homing modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 430
11.6.4 Overview of DS402 homing modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
11.6.5 Execute homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479
11.6.5.1 Starting reference search/setting the reference directly. . . . . . . . . . 480
11.6.5.2 Loading home position via input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480
11.6.5.3 Resetting home position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481
11.7 Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 482
11.7.1 Internal interfaces | "LS_Positioner" system block. . . . . . . . . . . . . . . . . . . . . . . . . . 483
11.7.1.1 Possibilities for the selection of the profile . . . . . . . . . . . . . . . . . . . . . . 487
11.7.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488
11.7.2.1 Actual value-based evaluation "Target position reached". . . . . . . . . 488
11.7.2.2 Actual value- and setpoint-based evaluation "Drive in the target" 489
11.7.3 Carrying out positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
11.7.3.1 Starting positioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
11.7.3.2 Aborting/interrupting positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
11.7.3.3 Continue interrupted positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
11.7.3.4 Activating override. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
11.8 Position follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 494
11.8.1 Internal interfaces | "LS_PositionFollower" system block . . . . . . . . . . . . . . . . . . . 495
11.8.2 Signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
11.8.3 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499
11.8.3.1 Setpoint interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500
11.8.3.2 Inversion of the direction of rotation. . . . . . . . . . . . . . . . . . . . . . . . . . . . 500
11.8.4 Activating setpoint interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501
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11.9 Speed follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 502
11.9.1 Internal interfaces | "LS_SpeedFollower" system block . . . . . . . . . . . . . . . . . . . . . 502
11.9.2 Signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504
11.9.3 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505
11.9.3.1 Setpoint interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506
11.9.3.2 Inversion of the direction of rotation. . . . . . . . . . . . . . . . . . . . . . . . . . . . 506
11.9.4 Activating setpoint interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
11.10 Torque follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
11.10.1 Internal interfaces | "LS_TorqueFollower" system block . . . . . . . . . . . . . . . . . . . . 509
11.10.2 Signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
11.10.3 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511
11.10.3.1 Setpoint interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511
11.10.3.2 Inversion of the direction of rotation. . . . . . . . . . . . . . . . . . . . . . . . . . . . 511
11.10.4 Activating setpoint interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512
11.11 Limiter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
11.11.1 Internal interfaces | "LS_Limiter" system block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
11.11.1.1 Interface to the safety module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517
11.11.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
11.11.2.1 Software limit positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519
11.11.2.2 Triggering behaviour of software limit position monitoring . . . . . . 521
11.11.2.3 Hardware limit positions (limit switch). . . . . . . . . . . . . . . . . . . . . . . . . . 522
11.11.2.4 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524
11.11.2.5 Permissible direction of rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525
11.11.2.6 Limited speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526
11.11.2.7 Limited increment for manual jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 527
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11.12 Brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528
11.12.1 Internal interfaces | "LS_Brake" system block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530
11.12.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 532
11.12.2.1 Operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 533
11.12.2.2 Signal configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534
11.12.2.3 Standstill monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 537
11.12.2.4 Brake activation in automatic operation . . . . . . . . . . . . . . . . . . . . . . . . 538
11.12.2.5 Brake time response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 540
11.12.2.6 Torque feedforward control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543
11.12.2.7 Torque feedforward control via ramp function . . . . . . . . . . . . . . . . . . 546
11.12.2.8 Speed feedforward control via ramp function for V/f control . . . . . 547
11.12.3 Mode 0: Brake control is switched off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 548
11.12.4 Mode 1/11: Direct control of the brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549
11.12.5 Mode 2/12: Automatic control of the brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 550
11.12.5.1 Behaviour at pulse inhibit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551
11.12.5.2 Process when brake is released . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553
11.12.5.3 Process when brake is closed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 554
11.12.6 Mode 22: Automatic DC-injection braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555
11.12.7 Grinding the brake. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 558
11.12.8 Carrying out brake test. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560
11.12.9 Control of two motor holding brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 562
11.13 Cam data management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563
11.13.1 "Online" tab for cam data management. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 564
11.13.1.1 Memory distribution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 565
11.13.1.2 Access protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566
11.13.1.3 Regenerating the cam data file and transferring it to the controller 568
11.13.2 Internal interfaces | "LS_CamInterface" system block . . . . . . . . . . . . . . . . . . . . . . 569
11.13.3 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571
11.13.3.1 Password entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 572
11.13.3.2 Online change mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573
11.13.3.3 Changing cam data via parameterisation . . . . . . . . . . . . . . . . . . . . . . . 575
11.13.4 Product/track change-over . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578
11.13.5 Invalid cam data due to changed machine parameters. . . . . . . . . . . . . . . . . . . . . 579
11.13.6 Behaviour after mains switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 580
11.14 Pole position identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581
11.14.1 Internal interfaces | System block "LS_PolePositionIdentification" . . . . . . . . . . 582
11.14.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
11.14.3 Execute pole position identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
11.14.4 Signal characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 586
11.14.5 Impacts of parameter changes on the signal PPI_bPolePositionAvailable . . . 588
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12 Oscilloscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 590
12.1 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 590
12.2 Functional description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591
12.3 User interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592
12.3.1 Oscilloscope toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 593
12.3.2 Oscillograph. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 593
12.3.3 Vertical settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 594
12.3.4 Status bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 594
12.3.5 Trigger/cursor settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 594
12.3.6 Horizontal settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 595
12.3.7 Recording settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 595
12.4 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 596
12.4.1 Selecting the variables to be recorded. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 596
12.4.2 Selecting the recording time/sample rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 597
12.4.3 Selecting the trigger condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 598
12.4.4 Starting recording . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 599
12.4.5 Adjusting the representation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 600
12.4.6 Reading individual measured values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601
12.4.7 Compare peak values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 602
12.5 Data records . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603
12.5.1 Comment data record. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603
12.5.2 Saving/exporting a data record. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 604
12.5.3 Loading/importing a data record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 605
12.5.4 Close data record . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 606
12.5.5 Deleting a data record in the project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 606
12.5.6 Overlay function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607
12.5.7 Copying a data record to the clipboard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607
12.6 Variables of the motor control (oscilloscope signals) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 608
13 Diagnostics & fault analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 611
13.1 LED status displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 611
13.1.1 LED status displays for the device state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612
13.2 Drive diagnostics with the »Engineer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 613
13.3 Drive diagnostics via keypad/bus system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614
13.4 Logbook . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 616
13.4.1 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617
13.4.2 Filtering logbook entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617
13.4.3 Reading out logbook entries. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 618
13.4.4 Export logbook entries into a file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 619
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13.5 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 620
13.5.1 Setting the error response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 621
13.6 Maloperation of the drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 622
13.7 Error messages of the operating system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 623
13.7.1 Structure of the error number (bit coding). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 623
13.7.1.1 Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 624
13.7.1.2 Instance ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 624
13.7.1.3 Module ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 625
13.7.1.4 Error ID. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 626
13.7.1.5 Example for bit coding of the error number . . . . . . . . . . . . . . . . . . . . . 626
13.7.2 Reset of error message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 627
13.7.3 Short overview (A-Z) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 628
13.7.4 Cause & possible remedies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 636
14 Parameter reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 705
14.1 Structure of the parameter descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 706
14.1.1 Data type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 706
14.1.2 Parameters with read-only access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 707
14.1.3 Parameters with write access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 707
14.1.3.1 Parameters with setting range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 708
14.1.3.2 Parameters with selection list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 708
14.1.3.3 Parameters with a bit coded setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 709
14.1.3.4 Parameters with subcodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 710
14.1.4 Parameter attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 711
14.1.5 Abbreviations used in parameter & selection texts . . . . . . . . . . . . . . . . . . . . . . . . 711
14.2 Parameter list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 712
14.3 Attribute table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 881
15 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 894
Your opinion is important to us . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 919
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9400 HighLine | Parameter setting & configuration
About this documentation
1 About this documentation
This documentation contains information on the 9400 HighLine controller.
Read the Mounting Instructions supplied with the controller before you start
working!
The Mounting Instructions contain safety information which must be observed!
Target group
This documentation addresses to all persons who want to parameterise, configure, and
diagnose the 9400 HighLine controller by means of the engineering software L-force
»Engineer« and the keypad.
Validity information
The information in this documentation applies to the following standard devices:
Product series Type designation From software version
Servo Drives 9400 E94AxHExxxx 1.5
Document history
Version Description
1.0 12/2006 TD05 First edition for 9400 HighLine V1.5
2.0 05/2007 TD05 Extended edition
3.0 11/2007 TD05 Supplemented with new functions for 9400 HighLine V3
4.0 06/2008 TD05 Supplemented with new functions for 9400 HighLine V4
4.1 07/2008 TD05 New main chapter: "CAN on board" system bus
5.0 11/2008 TD05 Extended by new functions for 9400 HighLine V5
5.1 12/2008 TD05 Error corrections
5.2 01/2009 TD05 Error corrections & supplements
6.0 08/2009 TD05 Extended by new functions for 9400 HighLine V7
6.1 08/2009 TD05 Error corrections & supplements
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About this documentation
Conventions used
1.1 Conventions used
This documentation uses the following conventions to distinguish between different types
of information:
Type of information Writing Examples/notes
Numbers
Decimal separator Point The decimal point is always used.
Example: 1234.56
Text
Version information Text colour blue The information valid for or from one specific
software version of the controller is marked
accordingly in this documentation.
Example: This function extension is available from
software version V3.0!
Program name »« The Lenze PC software »Engineer«...
Window Italics The Message window... / The Options dialog box...
Variable identifier By setting bEnable to TRUE...
Control element Bold The OK button... / The Copy command... / The
Properties tab... / The Name input field...
Sequence of menu If the execution of a function requires several
commands commands, the individual commands are separated
by an arrow: Select FileOpen to...
Shortcut <Bold> Use <F1> to open the online help.
If a command requires a combination of keys, a "+" is
placed between the key symbols: Use <Shift>+<ESC>
to...
Program code Courier IF var1 < var2 THEN
Keyword Courier bold a = a + 1
END IF
Hyperlink Underlined Optically highlighted reference to another topic. It is
activated with a mouse click in this online
documentation.
Symbols
Page reference ( 19) Optically highlighted reference to another page. It is
activated with a mouse click in this online
documentation.
Step-by-step instructions Step-by-step instructions are indicated by a
pictograph.
The information valid for or from one specific software version of the controller is marked
accordingly in this documentation.
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9400 HighLine | Parameter setting & configuration
About this documentation
Terminology used
1.2 Terminology used
Term Meaning
»Engineer« Lenze software which supports you throughout the whole machine life cycle -
from planning to maintenance.
Code "Container" for one or several parameters used for controller parameter setting
or monitoring.
Subcode If a code contains several parameters, the individual parameters are stored
under "subcodes".
This Manual uses a slash "/" as a separator between code and subcode
(e.g. "C00118/3").
Function block editor Graphical interconnection tool which is provided for controllers in the
MotionControl HighLevel and TopLevel license level in the »Engineer« on the FB
editor tab and by means of which the technology applications supplied can also
be reconfigured and extended by individual functions.
Function block A function block (FB) can be compared with an integrated circuit that contains a
certain control logic and delivers one or several values when being executed.
• An instance (reproduction, copy) of the function block is always inserted in
the circuit.
• It is also possible to insert several instances of a function block in a circuit.
• Each instance has an unequivocal identifier (the instance name) and a
processing number which defines the position at which the function block is
calculated during the task cycle.
System block System blocks provide interfaces to basic functions and hardware of the
controller in the function block editor of the »Engineer« (e.g. to the digital
inputs).
• System blocks cannot be instanced in contrast to function blocks.
DIS code Parameter that displays the current state or value of an input/output of a
system block.
TA Abbreviation for "Technology Application".
Technology applications are applications prepared by Lenze which form the
basis of solving typical applications.
Each technology application is provided with an individual online
documentation.
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About this documentation
Definition of notes used
1.3 Definition of notes used
The following signal words and symbols are used in this documentation to indicate
dangers and important information:
Safety instructions
Layout of the safety instructions:
Danger!
(characterises the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Pictograph Signal word Meaning
Danger! Danger of personal injury through dangerous electrical voltage
Reference to an imminent danger that may result in death or serious personal
injury if the corresponding measures are not taken.
Danger! Danger of personal injury through a general source of danger
Reference to an imminent danger that may result in death or serious personal
injury if the corresponding measures are not taken.
Stop! Danger of property damage
Reference to a possible danger that may result in property damage if the
corresponding measures are not taken.
Application notes
Pictograph Signal word Meaning
Note! Important note to ensure trouble-free operation
Tip! Useful tip for simple handling
Reference to another document
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21
9400 HighLine | Parameter setting & configuration
Introduction
Parameter setting, configuring, or programming?
2 Introduction
The basis of every L-force application is an easy and quick parameter setting of prepared
technology applications and solutions*.
This chapter contains basic information on the runtime software model of L-force and on
how you can establish an online connection between the PC and controller for parameter
setting with the »Engineer« very easily.
At the end of this chapter you will find an overview of the different signal types & scaling
which serve to process physical values (e.g. a speed or position) within the application.
* In preparation!
2.1 Parameter setting, configuring, or programming?
The graded runtime software model of L-force provides a simple and consistent solution
for motion and process tasks as well as for complex machine functions:
Runtime software
PLC level Programming*
Freely programmable open and closed
loop control functions*
Technology level Configuring
Motion Control TopLevel The HighLevel and TopLevel licenses enable you to
extend the provided technology applications by
Additional motion and process control individual functions using the graphic function block
modes for complex drive tasks. editor of the »Engineer«. Here you can access the
comprehensive function libraries of Lenze which
among other things contain process controllers,
Motion Control HighLevel arithmetic functions, logic blocks, and ramp
generators and integrators.
Individual extensibility of the basic
functions & technology applications by
means of the function block editor and Parameter setting
the comprehensive function library. The StateLevel license includes a range of technology
applications which can be put into operation easily
with a keypad or via dialogs in the »Engineer«.
Motion Control StateLevel
Parameterisable basic functions &
technology applications.
* In preparation!
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9400 HighLine | Parameter setting & configuration
Introduction
Parameter setting, configuring, or programming?
2.1.1 Basic functionalities
Important basic drive functions and further basic functions are implemented in the
firmware of the controller and thus are always provided, irrespective of the runtime
software licence available.
Firmware
Motion Control basic drive functions Further basic functionalities
• Stop • Drive interface
• Quick stop • Motor interface
• Manual jog • Encoder evaluation
• Homing • I/O terminals
• Positioning • Safety engineering
• Position follower • Logbook
• Speed follower • Oscilloscope
• Torque follower
• Limiter
• Brake control
2.1.2 Technology applications
Technology applications (TAs) are applications prepared by Lenze which can serve as a
basis for solving typical applications.
The technology applications available for the Servo Drives 9400 can be selected in the
»Engineer« from the application catalogue.
Runtime software
Technology level Each higher license contains additional technology
applications for further application fields.
Motion Control TopLevel
• TA "Positioning sequence control"
• TA "Electronic cam" *
• TA "Register control" *
• TA "Winding technology" *
Motion Control HighLevel
• TA "Electronic gearbox"
• TA "Synchronism with mark
synchronisation"
Motion Control StateLevel
• TA "Actuator – speed"
• TA "Actuator – torque"
• TA "Table positioning"
* In preparation!
Tip!
Detailed information about the individual technology applications can be found in
the corresponding software manuals.
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9400 HighLine | Parameter setting & configuration
Introduction
Communicating with the controller
2.2 Communicating with the controller
The following interfaces/communication modules can be used to establish
communication between the PC and controller:
Diagnostic interface X6/Going online via diagnostic adapter
CAN on board interface/Going online via system bus (CAN on board) ( 27)
Optional interfaces which are provided by corresponding communication modules in
the module slots MXI1/MXI2 of the controller.
Note!
For communication with the controller, at least the control electronics of the
controller must be supplied with 24 V low voltage via plug X2. For detailed
information, please see the Mounting Instructions for the controller.
Stop!
If you change parameters in the »Engineer« while the controller is connected
online, the changes will be directly accepted by the controller!
Tip!
Detailed information about the individual interfaces can be found in the
corresponding Communication Manuals (KHB).
2.2.1 Going online via diagnostic adapter
For initial commissioning of the controller you can for instance use the diagnostic adapter
offered by Lenze:
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9400 HighLine | Parameter setting & configuration
Introduction
Communicating with the controller
Note!
Please observe the documentation for the diagnostic adapter!
Preconditions:
The diagnostic adapter is connected to the controller at the diagnostic interface X6 and
to the PC at a free USB port.
The driver required for the diagnostic adapter is installed.
The control electronics of the controller is supplied with 24 V low voltage via plug X2.
How to build up an online connection via the diagnostic adapter:
1. Select the 9400 HighLine controller to which you want to build up an online
connection in the Project view of the »Engineer«:
2. Click the icon.
If the changes you have made on the project have not been accepted yet, first a
query on whether an update is to be carried out is effected.
If an update is to be carried out:
• Click on Yes to open the Update project dialog box.
• Press the Create button in the Update project dialog box to update the changed
project elements.
• After the update a note is shown, saying whether the update was carried out
successfully.
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9400 HighLine | Parameter setting & configuration
Introduction
Communicating with the controller
If no communication path was configured yet for the controller selected, the
Communication path dialog box is shown after the update has been carried out:
• The "Diagnostic adapter" bus connection is already preset.
3. Click on Connect.
• The dialog box is closed and the online connection with the controller is built up.
• In the Project view a yellow icon indicates the online connection with the
controller:
Now you can use the icons and to easily build up and end a connection with the
controller. The communication settings are only required when communication with a
controller is built up for the first time.
If you want to change the configured communication path, select the command Online
Set communication path and go online to open the Communication path dialog box
and change the settings.
When an online connection has been established, the »Engineer« displays the current
parameter settings of the controller with a yellow background colour.
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9400 HighLine | Parameter setting & configuration
Introduction
Communicating with the controller
2.2.2 Going online via system bus (CAN on board)
As an alternative to the diagnostic adapter, you can use the integrated system bus
interface (CAN on board, terminal X1) of the controller for communication.
Lenze offers the following communication accessories for connection to the PC:
Communication accessories PC interface
PC system bus adapter 2173 Parallel interface
incl. connection cable and voltage supply adapter (LPT port)
• for DIN keyboard connection (EMF2173IB)
• for PS/2 keyboard connection (EMF2173IBV002)
• for PS/2 keyboard connection with electrical isolation (EMF2173IBV003)
PC system bus adapter 2177 USB
incl. connection cable (EMF2177IB) (Universal Serial Bus)
Note!
• For detailed information about the PC system bus adapter, please see the
"CAN Communication Manual".
• Please observe the documentation for the PC system bus adapter!
• The online connection is established as described in the previous chapter
"Going online via diagnostic adapter", only that this time the entry "CAN
system bus" is to be selected in the Bus connection list field of the
Communication path dialog box. ( 25)
2.2.3 Use of other communication interfaces
The controller can be extended by further communication interfaces, if required, e.g.
Ethernet, ETHERNET Powerlink, or PROFIBUS.
For this the controller is provided with the module slots MXI1 and MXI2 for accepting
communication modules.
Detailed information on this subject can be found in the Hardware Manual and
Communication Manual for the corresponding communication system.
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9400 HighLine | Parameter setting & configuration
Introduction
Signal types & scaling
2.3 Signal types & scaling
It is very helpful for the parameterisation & configuration of the controller to know the
signal types and their scaling listed below, which serve to process physical quantities (e.g.
a speed or position) within the function block interconnection.
Note!
From software version V3.0 the resolution of an encoder revolution can be
parameterised in C00100 (Lenze setting: 16 bits/encoder revolution).
Resolution of an encoder revolution ( 44)
Signal type (data type) Connection Resolution Value range (external) Decimal positions/
symbol in signal type suffix
the FB editor in the identifier
Scaled (INT) 16 bits ± 199.99 % 2 _a
Scaled (DINT) 32 bits ± 200.00 % 2 _n
Speed (INT) / 16 bits ± 30000.0 rpm 1 _v
Speed (DINT) 32 bits ± 480000.0 rpm 1 _s
31 31
Position/angle (DINT) / 32 bits -2 ... 2 -1 increments 3 _p
Digital (BOOL) 1 bit 0 ≡ FALSE; 1 ≡ TRUE 0
Acceleration (DINT) 32 bits ± 7.69 * 109 rpm/s 3 _x
Time 28 bits 0 ... 268435.456 s 3
Other (BYTE) 8 bits 0 ... 255 0
Other (WORD) 16 bits 0 ... 65535 0
Other (DWORD) 32 bits 0 ... 4294967295 0
Other (INT) 16 bits -32768 ... 32767 0
Other (DINT) 32 bits -2147483648 ... 2147483647 0
Scaling of physical quantities
Signal type Connection Resolution Scaling
symbol in
the FB editor External value ≡ internal value
Scaled (INT) 16 bits 100 % ≡ 214 ≡ 16384
Scaled (DINT) 32 bits 100 % ≡ 230 ≡ 1073741824
Speed (INT) / 16 bits 15000 rpm ≡ 214 ≡ 16384
Speed (DINT) 32 bits 15000 rpm ≡ 226 ≡ 67108864
Position/angle (DINT) / 32 bits 1 encoder revolution ≡ 216 increments
Acceleration (DINT) 32 bits 15000000 rpm/s ≡ 222 ≡ 4194304
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9400 HighLine | Parameter setting & configuration
Commissioning
3 Commissioning
This documentation contains detailed information on parameter setting and
configuration of the controller. Sequential reading is not required.
In order to obtain the information relevant for initial commissioning, this chapter
describes different commissioning scenarios which can also be used as a guide through
this manual:
A. Initial commissioning ( 32)
– Target: Adapting the controller to the electromechanics and the control system.
B. Standard set-up ( 33)
– Target: Taking over the application and parameter set of an already preconfigured
"Engineer" project into several controllers.
C. Controller replacement ( 34)
– Target: Replacing a controller which has failed in a running system by a replacement
device using the "old" memory module.
D. Motor replacement ( 34)
– Target: Replacing a motor which has failed in a running system.
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9400 HighLine | Parameter setting & configuration
Commissioning
General information
3.1 General information
Note!
Some parameters of the controller have a setting range depending on the device
type.
If parameterisation is carried out offline or if the memory module is exchanged
between different 9400 HighLine device types, always check the settings of the
parameters listed in the following table and adapt them, if required, to prevent
a parameter error after the parameter set download or module change!
Parameter Information Lenze setting
C00018 Switching frequency 8 kHz variable
C00022 Maximum current 0.00 A
Accepting/adapting plant parameters ( 132)
C00173 Mains voltage and undervoltage threshold (LU) 400/415 V, LU = 285 V
C00174 Machine parameters ( 36)
Tip!
The rated data of the different device types can be found in the Hardware Manual
in the "Rated data" chapter.
Term definition of "Plant parameters"
The term "plant parameters" which is frequently used in the following chapters
summarises all parameters which result from the combination of motor and load. They
characterise the transfer behaviour of the entire controlled system including the desired
monitoring functions. The plant parameters depend on the application in which the
controller and motor are used.
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9400 HighLine | Parameter setting & configuration
Commissioning
Notes on commissioning using the keypad
3.2 Notes on commissioning using the keypad
For a motor with an electronic nameplate (ENP)
A display of the plant parameters offered by ENP via keypad is not provided. The plant
parameters must be edited and optimised individually.
To avoid that the motor starts unintentionally without adjusting the plant parameters,
the maximum current in the Lenze setting is set to "0 A" in C00022.
After setting the plant parameters, they have to be saved on the memory module of the
controller with mains failure protection, just as the motor data that have been read out
from the ENP (C00002 = "11: Save start parameters").
For a motor without an electronic nameplate (ENP)
The motor data and plant parameters must be edited and set individually.
To avoid that the motor starts unintentionally without adjusting the plant parameters,
the maximum current is set to "0 A" in C00022 by the factory.
After setting the motor data and plant parameters, they have to be saved on the
memory module of the controller with mains failure protection (C00002 = "11: Save
start parameters").
Commissioning of the application
The application must already be stored on the memory module of the controller.
Otherwise commissioning by only using the keypad is not possible.
All application parameters which deviate from the factory adjustment have to be
edited individually. For this the project planner has to provide a corresponding list to
the commissioner (including the motor and plant data).
In the case of a standard set-up, a pole position identification may have to be carried
out for synchronous motors of a third party manufacturer or Lenze synchronous
motors with a Stegmann absolute value encoder.
After setting the parameters, they have to be saved on the memory module of the
controller with mains failure protection (C00002 = "11: Save start parameters").
Tip!
Detailed information on the individual technology applications can be found in the
corresponding Software Manual for the technology application and the »Engineer«
online help in the chapter "L-force Servo Drives 9400 Technology applications".
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9400 HighLine | Parameter setting & configuration
Commissioning
Initial commissioning
3.3 Initial commissioning
Worksteps
Parameterise motor control:
1. Read out the motor data of the controller or select them via the »Engineer« motor catalogue.
• If the motor connected to the controller is provided with an electronic nameplate (ENP), all motor
data are automatically read out from the ENP and a selection in the motor catalogue is not required.
Reading out motor data from the controller ( 125)
• If a motor without ENP or a motor by a third-party manufacturer is used, the selection is carried out
via the »Engineer« motor catalogue. Selecting motor in the »Engineer« motor catalogue ( 126)
2. Select motor control. ( 129)
• Servo control is preset for the synchronous motor.
3. Adjusting motor and controller to each other ( 131)
4. Carry out settings for selected motor control.
• For this see description for the corresponding motor control:
– Servo control (SC)
– Sensorless vector control (SLVC) (from software version V3.0)
– V/f control (VFCplus) (from software version V3.0)
– V/f control (VFCplus) (from software version V3.0)
Parameterise/configure application:
5. Load & parameterise technology application.
Detailed information on the individual technology applications can be found in the corresponding
Software Manual for the technology application and the »Engineer« online help in the chapter "L-force
Servo Drives 9400 Technology applications".
6. If required, reconfigure the interconnection of the technology application with the function block editor.
Optimise control mode:
7. Optimise control mode of the selected motor control.
• By means of traversing profile from the application and oscilloscope.
• For this see description for the corresponding motor control:
– Servo control (SC)
– Sensorless vector control (SLVC) (from software version V3.0)
– V/f control (VFCplus) (from software version V3.0)
– V/f control (VFCplus) (from software version V3.0)
Save project and parameter set:
8. Execute device command C00002 = "11: Save start parameters".
9. Save »Engineer« project.
More (optional) worksteps
Worksteps
Establish network:
1. Insert network and machine application into the »Engineer« project.
2. Interconnect port blocks reasonably to each other within the machine application.
3. Configure network (set addresses, baud rate, and process data channels in a reasonable manner).
4. Establish communication with the control system.
5. Establish communication with other drive components (e.g. HMIs, I/O extensions and other controllers).
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9400 HighLine | Parameter setting & configuration
Commissioning
Standard set-up
Worksteps
Check & optimise application/DC-bus operation:
1. Traverse axis in manual operation.
• See chapter Basic drive functions Manual jog ( 398)
2. Check area boundaries (path, speed, torque).
3. Traverse axis in automatic operation with set-up speed, possibly together with coupled axes.
4. Check coupling with other movements (master/slave axes, tools, …).
5. Optimisation of the process at higher speeds.
6. Recording of typical signal characteristics using the oscilloscope function for the documentation.
• See chapter Oscilloscope ( 590)
Save & archive project and parameter set:
1. Execute device command C00002 = "11: Save start parameters".
2. Save »Engineer« project.
3. Deposit a backup copy of the »Engineer« project, e.g. on CD ROM, in the control cabinet.
3.4 Standard set-up
Worksteps
Transfer application and parameter set to the controller:
1. Transfer the application preconfigured in the »Engineer« and the corresponding parameter set to the
memory module of the controller.
2. Execute device command C00002 = "11: Save start parameters".
For a motor with an electronic nameplate (ENP):
3. Restart controller with connected motor to read out the motor data from the electronic nameplate
(ENP).
• Either by switching off/switching on again the voltage supply or by means of device command
C00002 = "11000: Restart controller".
• See chapter Motor interface Reading out motor data from the controller ( 125)
4. Execute device command C00002 = "11: Save start parameters".
For a motor without an electronic nameplate (ENP):
Note:
The motor is operated with the motor data and plant parameters identified during initial
commissioning. Adjusting motor and controller to each other ( 131)
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9400 HighLine | Parameter setting & configuration
Commissioning
Controller replacement
3.5 Controller replacement
Scenario: The controller has failed in a running system.
Note!
For the procedure described in the following it is assumed that the memory
module and possibly available extension modules in the controller, as well as the
motor are not affected by the failure and that all parameters have been saved
with mains failure protection.
Worksteps
Replacement of the controller:
1. Replace controller.
See Mounting Instructions for the controller!
2. Insert the memory module of the failed controller into the replacement device.
3. If further extension modules are plugged into the failed controller, they must be inserted into the
replacement device as well.
Further steps are not required since all data required are on the memory module.
3.6 Motor replacement
Scenario: The motor has failed in a running system.
Note!
For the procedure described in the following it is assumed that the controller is
not affected by the failure.
Worksteps
Replacement of the motor:
1. Replace the motor.
See Mounting Instructions for the controller!
Note:
The motor connection on the controller is accessible without having to remove the standard device
from the installation backplane.
For a motor with an electronic nameplate (ENP):
2. Restart controller with connected motor to read out the motor data from the electronic nameplate.
• Either by switching off/switching on again the voltage supply or by means of device command
C00002 = "11000: Restart controller".
• See chapter Motor interface Reading out motor data from the controller ( 125)
3. Execute device command C00002 = "11: Save start parameters".
For a motor without an electronic nameplate (ENP):
Note:
The motor is operated with the motor data and plant data from the memory module.
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9400 HighLine | Parameter setting & configuration
Drive interface
4 Drive interface
This chapter provides you with information on the drive interface via which you can control
the drive controller into specific states and call different pieces of status information of the
controller. Furthermore the machine constants for the motor end are entered via the drive
interface.
How to get to the dialog for setting the drive interface parameters:
1. Go to the Project view of the »Engineer« and select the 9400 HighLine controller.
2. Select the Application parameters tab from the Workspace.
3. Click the following button of the Overview dialog level:
Parameterisation dialog in the »Engineer«
The white buttons indicate the configuration of the drive interface inputs. Internal
interfaces | "LS_DriveInterface" system block ( 118)
– The assignment is predefined by the technology application selected (in the example
"Actuating drive – speed"). If required, this assignment configuration can be changed
by clicking the corresponding buttons.
If you click a button marked with the symbol, you go one level deeper in the
corresponding parameterisation dialog.
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9400 HighLine | Parameter setting & configuration
Drive interface
Machine parameters
4.1 Machine parameters
The global machine constants ("machine parameters") are set in the »Engineer» on the
Application parameters tab in the dialog level Overview Drive interface Machine
parameters:
Tip!
Detailed information on the different machine parameters can be obtained from
the following subchapters.
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9400 HighLine | Parameter setting & configuration
Drive interface
Machine parameters
4.1.1 Mains voltage
Via the Mains voltage list field (C00173) the mains voltage for the controller is set.
If you set a mains voltage with an adjustable threshold for undervoltage ("LU
adjustable"), this undervoltage threshold can be set in the Undervoltage threshold (LU)
input field (C00174).
In the Resp. to DC-bus overvoltage list field (C00600) you can select the response that
is to be effected when a DC-bus overvoltage occurs.
Note!
Changing the setting in C00173 also affects the permissible device utilisation!
Tip!
In the chapter "Rated data" of the hardware manual the device types and their
permissible device utilisation at a certain mains voltage and switching frequency
are specified.
See also: Monitoring of the device utilisation ( 116)
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9400 HighLine | Parameter setting & configuration
Drive interface
Machine parameters
4.1.2 Gearbox ratio
The gearbox ratio specifies the number of revolutions of the motor axis needed for one
rotation of the load axis (e.g. spindle or drive roll).
M M
i = 58.667
[4-1] Schematic diagram - gearbox ratio
In the example shown in illustration [4-1] one revolution of the spindle is carried out at
exactly 58,667 revolutions of the motor axis.
Selection of the gearbox ratio
The gearbox ratio is to be defined in the form of a quotient (numerator/denominator);
the data required can be found in the technical data for the gearbox:
L EXTERTAL / Germany
GFL05-2M HCR 080-32 004 B GFL 05
295 Nm i z1 z2 z3 z4
24/min (50Hz) 58.667 12 88 9 72
i = 58.667 CLP 460 1196
GT/40000027 00500038
[4-2] Example: Technical data for the gearbox (from the gearbox catalogue)
Tip!
For an exact selection of the gearbox ratio, use the number of teeth given in the
data sheet or catalogue (see the following calculation) instead of the data on the
nameplate.
In C02531/1 the gearbox factor is displayed in decimal format.
Example calculation on the basis of the technical gearbox data:
Gearbox factor numerator (C02520) = z2 × z4 = 88 × 72 = 6336
Gearbox factor denominator (C02521) = z1 × z3 = 12 × 9 = 108
[4-3] Calculation example
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9400 HighLine | Parameter setting & configuration
Drive interface
Machine parameters
4.1.3 Motor mounting direction
Depending on the motor mounting position, you can carry out an inversion of the direction
of rotation via the Motor mounting direction list field (C02527), if required:
C02527 = "0": Clockwise rotating motor ≡ positive machine direction.
C02527 = "1": Counter-clockwise rotating motor ≡ positive machine direction.
4.1.4 Feedback configuration
In most cases the system only has one motor encoder, i.e. no separate position encoder is
installed on the load side. The motor position (angle of rotation) and motor speed are
detected via the motor encoder selected in C00495 and converted with regard to the load
side.
M M
n Motor encoder
[4-4] Schematic diagram - feedback with position encoder = motor encoder
The actual position and speed values on the machine side result from the conversion via
the Gearbox ratio on the motor side and the Feed constant.
Tip!
Detailed information on the parameterisation of the feedback systems for the
motor control can be found in the chapter "Encoder evaluation". ( 241)
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9400 HighLine | Parameter setting & configuration
Drive interface
Machine parameters
4.1.5 Unit/user-defined unit
Via these machine parameters you define the real unit of the machine in which the feed
constant and the parameters for a travel profile must be specified (e.g. position, speed,
acceleration, and deceleration).
If you for instance set the unit "mm" for a linear axis, the position must be specified in
[mm] and the speed in [mm/s].
By means of the user-defined unit, significant production units, like for example
"bottles" can also be set.
– For this, select the "User-defined" entry as unit in C02525 and then enter the desired
user-defined unit in C02526.
Note!
In this documentation the term "unit" in the parameter unit data only serves as
a wildcard for the real unit of the machine.
Display parameters
Parameter Information
C02534 Used time unit
C02535 Used unit
C02537 Speed unit
C02538 Acceleration unit
Highlighted in grey = display parameter
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9400 HighLine | Parameter setting & configuration
Drive interface
Machine parameters
4.1.6 Traversing range
The selection of the traversing range ("Unlimited", "Limited", or "Modulo") in the Traversing
range list field (C02528) serves to define the machine measuring system.
Note!
A change-over of the traversing range results in a loss of the reference
information!
"Unlimited" traversing range
The drive can rotate continuously in one direction.
By referencing and activating the software limit positions the traversing range can be
limited.
For positioning with absolute travel command the home position must be known.
[4-5] Unlimited traversing range, taking the "feed control tape" as an example
"Limited" traversing range
The travel range is limited by positive and negative position limits (mechanical limits/
travel range limit switches/software limit positions). Limiter ( 513)
After a defined distance the drive must travel in the opposite direction again.
For positioning in the limited traversing range the home position must be known.
The software limit positions are basically monitored with regard to the maximum
internally representable value range (±231 increments), even if monitoring has been
deactivated via C02700.
An overflow of the value range results in a loss of the reference information.
[4-6] Example: Limited traversing range - "spindle drive" (linear axis)
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9400 HighLine | Parameter setting & configuration
Drive interface
Machine parameters
"Modulo" traversing range
The measuring system is repeated.
If the cycle set in C02536 is exceeded, a defined overflow occurs. In a rotative system,
the cycle typically corresponds to a revolution or tool distance.
For positioning in the "Modulo" traversing range the home position must be known.
Software limit positions are not effective.
Absolute targets can be approached by exceeding the measuring system limit, e.g.
from 10° to 350°.
M
n C02536: Cycle (illustration = 60°)
[4-7] Example: Modulo traversing range - "rotary table""
Dependencies - traversing range/basic drive functions
The following table lists the different dependencies between the selected traversing
range and the basic drive functions.
Basic drive function Traversing range
Unlimited Limited Modulo
Position data for Encoder evaluation continuously continuously clocked
Position data for Position follower absolute absolute absolute (in time)
Positioning modes for Positioning 1, 2, 5, 6, 7, 8 1, 2, 5, 6, 7, 8 5, 6, 11 ... 16
Restrictions for Homing none none home position must
be in time
Limit positions (Limiter) permitted permitted not permitted
j Example 1: Unlimited/limited position display
n Reference setting
t o Position in the machine measuring system
p Position in the motor measuring system
Example 2: Modulo position display
j
n Cycle
o Position in the machine measuring system
t
p Position in the motor measuring system
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9400 HighLine | Parameter setting & configuration
Drive interface
Machine parameters
4.1.7 Feed constant
The feed constant corresponds to the movement of the machine during one revolution of
the gearbox output shaft.
The entry in the Feed constant field (C02524) is made in the unit defined in C02525
relating to one revolution.
In the case of a conveyor drive, the feed constant results from the circumference of the
drive roll, which in the following example is calculated on the basis of the diameter
specified:
d = 200 mm
d = diameter
[unit] mm mm
Feed constant = π ⋅ d ---------------------------- = π ⋅ 200 ---------------------------- = 628.3185 ----------------------------
Revolution Revolution Revolution
[4-8] Schematic diagram: Feed constant for a conveyor drive
In the case of a spindle drive (linear axis), the feed constant results from the leadscrew
pitch. The feed constant indicates the distance travelled by the slide during one
revolution of the spindle (in the following example 5,023 mm).
h = 5.023 mm
h = leadscrew pitch (can be obtained from the technical data of the linear axis)
[4-9] Schematic diagram: Feed constant for a spindle drive
For a rotary table and defined as an angle, the feed constant is = 360°/rev.
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9400 HighLine | Parameter setting & configuration
Drive interface
Machine parameters
4.1.8 Resolution of an encoder revolution
The following applies to software versions lower than V3.0:
The resolution of an encoder revolution and hence of a position value is constantly set to
16 bits/revolution, which corresponds to 65536 increments/revolution. At this resolution,
the traversing range comprises ±32767 revolutions.
The following applies from software version V3.0:
C00100 serves to adjust the resolution according to the application.
The default resolution of 16 bits/revolution is sufficient for standard applications.
%LW
Sign bit
Number of revolutions: 15 bits ≡ ±32767 revolutions
Resolution of one encoder revolution: 16 bits ≡ 65536 increments/revolution
[4-10] Example: standard resolution (16 bits/revolution)
For more significant applications, a higher resolution of the position values can clearly
improve the control properties and positioning accuracies:
– Finer resolution of the position targets improved positioning accuracy
– Finer quantisation of setpoints and actual values better control quality
– Higher loop gain can be set less following errors
However, a higher resolution at the same time causes a restricted number of encoder
revolutions, and only smaller traversing distances can be displayed.
%LW
Sign bit
Number of revolutions: 9 bits ≡ ±512 revolutions
Resolution of one encoder revolution: 22 bits ≡ 4194304 increments/revolution
[4-11] Example: Higher resolution (22 bits/revolution) with a restricted traversing range
Tip!
In the following subchapter "Determining the optimum resolution" ( 46) it is
described how you can determine the optimum resolution of the position values.
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Drive interface
Machine parameters
Note!
The position values (e.g. setpoints, actual values, parameters, …) in the signal
flow always use the resolution set in C00100. In this connection it is irrelevant
which resolution is delivered directly by the encoder.
Multi-axis systems
In an interconnection via the electrical shaft, at least two measuring systems
(master and slave) are available in the drive.
• Each measuring system is provided with an individual setting of the
resolution.
• The machine parameters (gearbox factors, feed constants, encoder
resolution and cycle) for the master measuring system or master value must
be set identically for all drives in the system.
Technology applications "Electronic gearbox" and "Synchronism"
For these two technology applications the machine parameters of the master
measuring system are defined on the Application parameters tab in the "Master
value scaling" dialog level.
Electronic cam
The machine parameters of the master measuring system for electronic cams
can be defined on the Measuring systems tab for the electrical shaft.
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Machine parameters
4.1.8.1 Determining the optimum resolution
This function extension is available from software version V3.0!
How to determine the optimum resolution:
In the dialog level Overview Drive interface Machine parameters:
1. Set gearbox factors.
2. Set real unit of the machine.
3. Set feed constant.
4. Press the Optimum positional resolution button.
• The Optimum positional resolution dialog box is displayed:
5. Go to the Max. presentable position input field and enter the highest position
which is to be entered in a parameter during operation.
• If required, set a reserve in the Overshoot input field to take into account
possible following errors (overshoot of actual values).
Then the maximum resolution for the position entered is shown in the Maximum
resolution for encoder revolution field.
6. Click on Accept value to accept the displayed resolution in C00100.
7. Click on Close to close the dialog box again.
Tip!
In order to have the maximally presentable position for a defined resolution
displayed, activate the second option Determine max. presentable position. Then
you can set the resolution for which the maximally presentable position is to be
displayed in the Maximum resolution for encoder revolution input field.
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Drive interface
Machine parameters
4.1.9 Max. position, speed, and acceleration that can be displayed internally
By setting the following machine parameters, the connection between the real units
(application units) of the machine and the internal units in the controller is described:
Gearbox ratio (C02520, C02521, C02522, C02523)
Feed constant (C02524)
Resolution of an encoder revolution (C00100)
Possibly the defined values for position, speed, and acceleration cannot be represented in
the internal units by the numerical 32-bit format used.
The following display parameters show the values that can be maximally displayed:
Parameter Information Lenze setting
Value Unit
C02539 Max. presentable position - Unit
C02540 Speed that can be maximally displayed - Unit/s
C02541 Acceleration that can be maximally displayed - Unit/s2
Highlighted in grey = display parameter
Behaviour when entering a value that cannot be displayed internally
If a position, speed, or acceleration which cannot be represented internally is defined via
parameters, the value defined is limited to the maximum value that can be represented
internally (±2147483647).
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9400 HighLine | Parameter setting & configuration
Drive interface
Machine parameters
The following only applies to software version V3.0:
If a position, speed, or acceleration which cannot be represented internally is defined
via parameters, the value defined is rejected.
If an internal counter overflow of a parameter value due to a subsequent change of the
machine parameters for the gearbox ratio, feed constant, or resolution of an encoder
revolution is detected, the "Fault" error response is triggered and a corresponding error
message is entered in the logbook of the controller:
Error number Error message
0x00B8001A Int. overflow C02620 (manual speed 1)
0x00B8001B Int. overflow C02621 (manual speed 2)
0x00B8001C Int. overflow C02622 (manual acceleration)
0x00B8001D Int. overflow C02624 (manual deceleration)
0x00B80020 Int. overflow C02701/1 (positive SW limit position)
0x00B80021 Int. overflow C02701/2 (negative SW limit position)
0x00B80022 Int. overflow C02703 (maximum speed)
0x00B80023 Int. overflow C02705 (maximum acceleration)
0x00B80024 Int. Overflow C02708/1 (Limited speed 1)
0x00B80025 Int. Overflow C02708/2 (Limited speed 2)
0x00B80026 Int. Overflow C02708/3 (Limited speed 3)
0x00B80027 Int. Overflow C02708/4 (Limited speed 4)
0x00B80028 Int. overflow C02710/1 (decel. limited speed 1)
0x00B80029 Int. overflow C02710/2 (decel. limited speed 2)
0x00B8002A Int. overflow C02710/3 (decel. limited speed 3)
0x00B8002B Int. overflow C02710/4 (decel. limited speed 4)
0x00B8002C Int. overflow C02713 (maximum distance manual jog)
0x00B8002D Int. Overflow C02642 (home position)
0x00B8002E Int. Overflow C02643 (homing: target position)
0x00b8002f Int. Overflow C02644 (homing: speed 1)
0x00B80030 Int. Overflow C02645 (homing: acceleration 1)
0x00B80031 Int. Overflow C02646 (homing: speed 2)
0x00B80032 Int. Overflow C02647 (homing: acceleration 2)
0x00B80033 Int. overflow C02670 (positioning: tolerance for target position)
Tip!
Possible measures for error correction:
• Plausibility check of the machine parameters set for gearbox ratio, feed
constant, or resolution of an encoder revolution.
• Set parameters with a counter overflow to a value which can also be
represented internally.
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9400 HighLine | Parameter setting & configuration
Drive interface
Device commands
4.2 Device commands
In the following subchapters the device commands of the controller are described, which
are provided in C00002 and which can be executed by means of the »Engineer« or
alternatively with the keypad when an online connection has been established.
Note!
Before switching off the supply voltage after a device command has been
executed, check the successful execution of the device command via the status
display in C00003!
The meaning of the status display in C00003 can be obtained from the
subchapter for the corresponding device command.
Activating frequently required device commands via the toolbar
The simplest way to execute the frequently required device commands is directly via the
Toolbar of the »Engineer« when an online connection has been established.
Icon Function
Enable controller
Inhibit controller
Start application
Inhibit controller and Stop application
Note!
Device commands that can be executed via the Toolbar of the »Engineer« always
affect the element currently selected in the Project View including all
subelements!
• If no controller but a system module is selected in the Project view, the
corresponding device command will be activated in all lower-level controllers
having an online connection with the »Engineer«.
Before executing the corresponding action a confirmation prompt is displayed,
asking you whether the action should really be carried out.
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9400 HighLine | Parameter setting & configuration
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Device commands
Activating device commands via the "Device commands" dialog box
All device commands of the controller are available in the »Engineer« in the Device
Commands dialog box:
The Device commands dialog box can be opened by clicking on the Device commands
list field on the Application parameters tab in the dialog level Overview Drive
interface.
The Device commands dialog box can also be opened by clicking on the setting of
C00002 on the All parameters tab.
Note!
If you click on a device command in the list field of the Device commands dialog
box, the corresponding device command is executed immediately!
During and after the execution of the device command, the processing status is
displayed in the Device Commands dialog box:
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Device commands
4.2.1 Load Lenze setting
The C00002 = "0: Load Lenze setting" device command is used to reset the parameters of
the active application to the Lenze setting, which is stored in the controller firmware:
9400 RAM Memory module MM
Firmware Application Application 1
PS PS PSApplication 2
PSApplication 3
PS
[4-12] "Load Lenze setting" function
Only possible when the application has stopped and the controller is inhibited.
All parameter changes made since the last saving of the parameter set will get lost!
This device command only affects the settings of the operating system, application and
module parameters, the active application or the configuration selected with the
function block editor remain unchanged.
Possible status displays for this device command
Status (C00003) Meaning
34050 Device command in process
0 Device command executed successfully
1 General fault
39424 CAN fault
... ...
39679 CAN fault
Related device commands
Load start parameters ( 52)
Save start parameters ( 56)
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Device commands
4.2.2 Load start parameters
Via C00002 = "1: Load start parameters" the start parameters of the active application can
be reloaded from the memory module to the controller:
9400 RAM Memory module MM
Firmware Application 1* Application 1*
PS PS PSApplication 2
PSApplication 3
PS
* In this example, application 1 is the active application
[4-13] "Load start parameters" function
Only possible when the application has stopped and the controller is inhibited.
All parameter changes made since the last saving of the parameter set will get lost!
This device command only affects the settings of the operating system, application and
module parameters, the active application or the configuration selected with the
function block editor remain unchanged.
Possible status displays for this device command
Status (C00003) Meaning
99586 Device command in process
65536 Device command executed successfully
65537 General fault
99371 Fault while reading the parameter set partition
99374 No memory module available
104960 CAN fault
... ...
105215 CAN fault
Related device commands
Save start parameters ( 56)
Load Lenze setting ( 51)
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Device commands
4.2.3 ENP:Load plant data
If the Lenze motor connected to the controller is provided with an electronic nameplate
(ENP), all motor data are automatically read out from the electronic nameplate of the
motor when the controller is switched on for the first time and are temporarily stored in
the controller at first.
With the device command C00002 = "2: ENP: Load plant data" the motor data can be
reread from the electronic nameplate (ENP) of the motor.
Only possible when the application has stopped and the controller is inhibited.
For a permanent acceptance of the motor data, the parameter set must be
saved. Save start parameters ( 56)
The following plant data are read out from the ENP:
Parameter Information
C00022 Maximum current
C00070 Speed controller gain
C00071 Speed controller reset time
C00596 Threshold max. speed reached
Note!
The two pieces of plant data C00011 and C00497 listed in the following table are
not read out from the ENP and thus have to be checked and, if required, set
manually after this device command has been executed!
Parameter Information
C00011 Motor reference speed
C00497 Speed act. val. time const.
Possible status displays for this device command
Status (C00003) Meaning
165122 Device command in process
131072 Device command executed successfully
131073 General fault
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Device commands
4.2.4 Activate application
If several applications are available on the memory module, the C00002 = "5: Activate
application" device command can be used to activate the application the number of which
has been set in C00005.
9400 RAM Memory module MM
Firmware Application Application 1
Application 2*
PS PS
PSApplication 3
* In this example, application selection "2" is set in C00005
[4-14] "Activate application" function
Only possible when the application has stopped and the controller is inhibited.
Whether the application is started at the same time, depends on the auto-start setting
selected in C02104.
After mains switching, the preset application will be loaded into the controller.
If after mains switching another application than the one preset by Lenze is to be
loaded, it must be activated first and then the selected application must be saved with
the device command "Save selected application" ( 55).
The number of the currently active application is displayed in C00007.
Note!
When the application is activated, the corresponding start parameter set is
loaded automatically and parameter settings executed before will get lost
unless the parameter set was saved before!
Possible status displays for this device command
Status (C00003) Meaning
361730 Device command in process
327680 Device command executed successfully
327681 General fault
Related device commands
Save selected application ( 55)
Start application ( 60) / Stop application ( 61)
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Drive interface
Device commands
4.2.5 Save selected application
After mains switching the controller always loads the preset start application from the
memory module, even if a different application has been active before.
With the device command C00002 = "7: Save selected application" the active application
can be defined as start application.
9400 RAM Memory module MM
Firmware Application 2* Application 1
Application 2*
PS PS
PSApplication 3
* In this example, the active application 2 is defined as start application
[4-15] "Save selected application" function
When this device command is executed, the parameter set is also saved automatically.
The number of the currently active application is displayed in C00007.
Possible status displays for this device command
Status (C00003) Meaning
492802 Device command in process
458752 Device command executed successfully
458753 General fault
Related device commands
Activate application ( 54)
Start application ( 60)
Stop application ( 61)
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Device commands
4.2.6 Save start parameters
Controller parameter changes made via the »Engineer« or keypad will get lost after mains
switching of the controller or loading of another application unless the settings have been
explicitly saved.
With the device command C00002 = "11: Save start parameters" the current parameter
settings of the active application can be saved with mains failure protection in the memory
module of the controller:
9400 RAM Memory module MM
Firmware Application 1* Application 1*
PS PS PSApplication 2
PSApplication 3
PS
* In this example, application 1 is the active application
[4-16] "Save start parameters" function
Tip!
With the keypad this device command can be executed via the left function key if
it is currently assigned with the function.
Note!
The saving process can take several seconds. Before you switch off the supply
voltage after having executed this device command, therefore be absolutely
sure to check via the status display in C00003 whether the device command has
been executed successfully!
Saving of the cam data
From software version V4.0, this device command also includes the powerfail-
proof saving of the cam data on the memory module.
• The saving process is only carried out if the cam data in the controller and the
memory module differ from each other (based on the time stamp/GUID of
the cam data).
• For saving the cam data, you do not need to enter a possibly existing user
password (C02900).
• The C00002 = "502: Save Cam Data" device command remains
available. Save cam data ( 97)
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Device commands
Possible status displays for this device command
Status (C00003) Meaning
754946 Device command in process
720896 Device command executed successfully
720897 General fault
754718 Fault while writing into a file
754734 No memory module available
761857 Access to file has been denied since the file is already accessed from another position
761861 I/O fault when accessing the file system
761868 RAM is full
761869 Access authorisation denied
761884 No free memory on the memory module
Related device commands
Load start parameters ( 52)
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Device commands
4.2.7 Delete logbook
The C00002 = "20: Delete logbook" device command is used to delete all entries in the
logbook.
Tip!
To display the logbook in the »Engineer«, click the Logbook button on the
Diagnostics tab.
You can also delete all entries in the logbook by clicking the Delete button in the
Logbook dialog box.
Further information on the logbook can be found in the chapter "Diagnostics &
fault analysis". ( 611)
Possible status displays for this device command
Status (C00003) Meaning
1344770 Device command in process
1310720 Device command executed successfully
1310721 General fault
Related device commands
Archive logbook ( 59)
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Device commands
4.2.8 Archive logbook
The C00002 = "21: Archive logbook" device command is used to archive the entries in the
logbook.
Tip!
To display the logbook in the »Engineer«, click the Logbook button on the
Diagnostics tab.
You can also export all entries available in the logbook into a file (*.log) by clicking
the Export button in the Logbook dialog box.
Further information on the logbook can be found in the chapter "Diagnostics &
fault analysis". ( 611)
Possible status displays for this device command
Status (C00003) Meaning
1410306 Device command in process
1376256 Device command executed successfully
1376257 General fault
Related device commands
Delete logbook ( 58)
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Device commands
4.2.9 Start application
The C00002 = "31: Start application" device command is used to start the active
application in the controller.
9400 RAM Memory module MM
Firmware Application Application 1
Application 2
Application 3
[4-17] "Start application" function
The number of the currently active application is displayed in C00007.
The current program status is displayed in C02108.
The active function state of the application is displayed in C02530.
Tip!
This device command can also be activated via the icon in the Toolbar.
Possible status displays for this device command
Status (C00003) Meaning
2065666 Device command in process
2031616 Device command executed successfully
2031617 General fault
Related device commands
Stop application ( 61)
Activate application ( 54)
Save selected application ( 55)
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Device commands
4.2.10 Stop application
The C00002 = "32: Stop application" device command can be used to stop the application
started in the controller again.
9400 RAM Memory module MM
Firmware Application Application 1
Application 2
Application 3
[4-18] "Stop application" function
Only possible when controller is inhibited.
Tip!
Via the icon in the Toolbar the controller can be inhibited, and at the same time
the application in the controller can be stopped.
Possible status displays for this device command
Status (C00003) Meaning
2131202 Device command in process
2097152 Device command executed successfully
2097153 General fault
Related device commands
Start application ( 60)
Inhibit controller ( 67)
Activate application ( 54)
Save selected application ( 55)
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Device commands
4.2.11 Reset program
The C00002 = "33: Reset program" device command is used to reset the application
program in the controller.
All variables are reset to their initialisation value.
The situation corresponds to the start of a new program loaded into the control (cold
start).
Possible status displays for this device command
Status (C00003) Meaning
2196738 Device command in process
2162688 Device command executed successfully
2162689 General fault
Related device commands
Delete program ( 63)
Restart program ( 64)
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Device commands
4.2.12 Delete program
The C00002 = "34: Delete program" device command is used to delete the application
program in the controller and reset the controller to its original state.
All variables are reset to their initialisation value.
Possible status displays for this device command
Status (C00003) Meaning
2262274 Device command in process
2228224 Device command executed successfully
2228225 General fault
Related device commands
Reset program ( 62)
Restart program ( 64)
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Device commands
4.2.13 Restart program
The C00002 = "35: Restart program" device command is used to restart the application
program in the controller.
All variables except the RETAIN variables are reset to their initialisation value.
The situation corresponds to a power failure or switching the controller off/on (warm
start) while the program is running.
Possible status displays for this device command
Status (C00003) Meaning
2327810 Device command in process
2293760 Device command executed successfully
2293761 General fault
Related device commands
Reset program ( 62)
Delete program ( 63)
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Device commands
4.2.14 Reset runtime measurement
When the application is started, the controller continuously carries out a runtime
measurement for the interval-controlled application task, the interval-controlled user task,
and the free-running idle task and displays the current and maximum task runtimes via
parameters.
The C00002 = "36: Reset runtime measurement" device command is used to reset the
runtime measurement, i.e. the memory for the maximum values is reset to "0".
Possible status displays for this device command
Status (C00003) Meaning
2393346 Device command in process
2359296 Device command executed successfully
2359297 General fault
Note!
The runtime measurement is also reset by the following actions:
• Start application
• Reset/delete/restart program
Example for runtime measurement
0 1 ms 4 ms
0
1
2
3
T1 T1 T1 T1 T1 T1
T2 T2
T3
System task
Application task (here: task interval = 1 ms) T1 = runtime of the application task
User task (here: task interval = 4 ms) T2 = runtime of the user task
Free-running idle task T3 = runtime of the idle task
[4-19] Example: runtimes of the different tasks
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Device commands
Display parameters
Parameter Information Lenze setting
Value Unit
C02121/1 Current runtime - application task - μs
C02121/2 Maximum runtime - application task - μs
C02122/1 Current runtime - user task - μs
C02122/2 Maximum runtime - user task - μs
C02123/1 Current runtime - idle task - μs
C02123/2 Maximum runtime - idle task - μs
Highlighted in grey = display parameter
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Drive interface
Device commands
4.2.15 Inhibit controller
The C00002 = "41: Inhibit controller" device command is used to inhibit the controller
("controller inhibit"), i.e. the power output stages in the controller are inhibited and the
speed/current and position controllers of the motor control are reset. The motor becomes
torqueless and coasts unless it is already at standstill.
The controller can also be inhibited by other sources, e.g. via the digital input RFR or
through the application.
The sources or triggers that are active for controller inhibit are shown in C00158 in a bit
coded manner.
Note!
This device command has no status display in C00003, i.e. the display remains
unchanged showing the previous device command status.
Tip!
This device command can also be activated via the icon in the Toolbar.
Related device commands
Enable controller ( 68)
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Device commands
4.2.16 Enable controller
The C00002 = "42: Enable controller" device command is used to re-enable an inhibited
controller.
Note!
Please note that the controller will only be enabled if all sources for controller
inhibit are reset!
• The sources or triggers that are active for controller inhibit are shown in
C00158 in a bit coded manner.
This device command has no status display in C00003, i.e. the display remains
unchanged showing the previous device command status.
Tip!
This device command can also be activated via the icon in the Toolbar.
Related device commands
Inhibit controller ( 67)
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Device commands
4.2.17 Reset error
The C00002 = "43: Reset error" device command is used to acknowledge an error message
if the error cause has been eliminated and the error is thus no longer pending.
Tip!
An error message can also be acknowledged by clicking the Reset error button on
the Diagnostics tab.
Further information on error messages can be found in the chapter "Diagnostics &
fault analysis". ( 611)
Note!
This device command has no status display in C00003, i.e. the display remains
unchanged showing the previous device command status.
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Device commands
4.2.18 Activate quick stop
The C00002 = "45: Activate quick stop" device command is used to activate the basic
function "Quick stop", i. e. the drive is brought to standstill within the deceleration time set,
irrespective of the setpoint defined.
Quick stop can also be activated by other sources, e.g. by the application.
The sources or triggers that are active for quick stop are shown in C00159 in a bit coded
manner.
Note!
The activation of quick stop may cause following errors in superimposed
controls (e.g. synchronous or position control). If several drives execute a
coordinated movement, the quick stop function should therefore only be used
for the motion master (master drive) in order to maintain the coordination.
This device command has no status display in C00003, i.e. the display remains
unchanged showing the previous device command status.
Tip!
In contrast to the "stop" function, quick stop is required for a stop in case of error.
Thus, quick stop can also be set as an error response ("quick stop by trouble) for
many monitoring functions. Detailed information on this can be found in the
chapter "Diagnostics & fault analysis". ( 611)
Related device commands
Reset quick stop ( 71)
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Drive interface
Device commands
4.2.19 Reset quick stop
The C00002 = "46: Reset quick stop" device command is used to exit an active quick stop
again.
Note!
Please note that the quick stop is only exited if all sources for quick stop are
reset!
• The sources or triggers that are active for quick stop are shown in C00159 in
a bit coded manner.
This device command has no status display in C00003, i.e. the display remains
unchanged showing the previous device command status.
Related device commands
Activate quick stop ( 70)
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9400 HighLine | Parameter setting & configuration
Drive interface
Device commands
4.2.20 Identify pole position (360°)
If no absolute value encoder is connected or a synchronous motor of a third-party
manufacturer is driven by the controller, the C00002 = "51: Identify pole position (360°)"
device command is used to determine the pole position with regard to the motor encoder
currently activated in C00495.
The function can only be activated if the controller is inhibited. Then the execution of
the function starts automatically as soon as the controller inhibit is deactivated again.
During the pole position identification, the motor makes one electrical revolution. This
leads to a mechanical rotation of the motor shaft.
The determined pole position is indicated under code C00058.
Note!
From software version V4.0 the response parameterised in C00640 (Lenze
setting: "Fault") is triggered and the error message "Pole position identification
cancelled" is entered in the logbook of the controller if the pole position
identification process is aborted.
Tip!
Detailed information on the pole position identification can be found in the
chapter "Motor interface", subchapter "Pole position identification". ( 136)
Possible status displays for this device command
Status (C00003) Meaning
3376386 Device command in process
3342336 Device command executed successfully
3342337 General fault
3382023 Pole position identification cannot be executed because of wrong motor type (asynchronous
motor).
3382024 Pole position identification has been aborted
3382025 Pole position identification cannot be executed because another identification is already
active.
3382026 Identification of pole position cannot be executed because U-rotation or I-rotation test
mode is active.
3382027 Identification of pole position cannot be executed because current controller optimisation
mode is active.
3382033 Pole position identification cannot be executed because the motor is blocked (e.g. by a
mechanical brake), a motor phase is not connected, or a phase shifter is in the motor cable.
3382047 Pole position identification cannot be executed because an error or trouble is active.
3382065 Pole position identification cannot be executed because either the entire motor or a motor
phase is not connected.
• This error message is only available from software version V3.0 onwards.
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Device commands
Related device commands
Identify pole position (min. motion) ( 74)
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Drive interface
Device commands
4.2.21 Identify pole position (min. motion)
If no absolute value encoder is connected or a synchronous motor of a third-party
manufacturer is driven by the controller, the C00002 = "52: Identify pole position (min.
motion)" device command is used to determine the pole position with respect to the motor
encoder currently activated in C00495.
The function can only be activated if the controller is inhibited. Then the execution of
the function starts automatically as soon as the controller inhibit is deactivated again.
During the pole position identification, the rotor aligns itself. This is compensated by a
position control.
The determined pole position is indicated under code C00058.
Note!
From software version V4.0 the response parameterised in C00640 (Lenze
setting: "Fault") is triggered and the error message "Pole position identification
cancelled" is entered in the logbook of the controller if the pole position
identification process is aborted.
Tip!
Detailed information on the pole position identification can be found in the
chapter "Motor interface", subchapter "Pole position identification". ( 136)
Possible status displays for this device command
Status (C00003) Meaning
3441922 Device command in process
3407872 Device command executed successfully
3407873 General fault
3447559 Pole position identification cannot be executed because of wrong motor type (asynchronous
motor).
3447560 Pole position identification has been aborted
3447561 Pole position identification cannot be executed because another identification is already
active.
3447562 Identification of pole position cannot be executed because U-rotation or I-rotation test
mode is active.
3447563 Identification of pole position cannot be executed because current controller optimisation
mode is active.
3447569 Pole position identification cannot be executed because the motor is blocked (e.g. by a
mechanical brake), a motor phase is not connected, or a phase shifter is in the motor cable.
• This error message is only available from software version V4.0 onwards.
3447583 Pole position identification cannot be executed because an error or trouble is active.
3447597 Identification of pole position cannot be executed because the rotor has moved too strongly.
3447601 Pole position identification cannot be executed because either the entire motor or a motor
phase is not connected.
• This error message is only available from software version V3.0 onwards.
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Device commands
Related device commands
Identify pole position (360°) ( 72)
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Device commands
4.2.22 Resolver error identification
This function extension is available from software version V7.0!
The C00002 = "59: Resolver error identification" device command serves to detect resolver
errors which are caused when sine and cosine tracks do not magnetise orthogonally. The
identified resolver errors serve to compensate the resolver errors.
Only possible with servo control.
Tip!
Detailed information on the resolver error compensation can be found in the
chapter "Encoder evaluation" in the subchapter "Resolver error compensation".
( 261)
Possible status displays for this device command
Status (C00003) Meaning
3900674 Device command in process
3866624 Device command executed successfully
3866625 General fault
3906358 Resolver error identification cannot be executed since the wrong control type is active (no
servo control).
3906359 Resolver error identification cannot be executed since an error or trouble is active.
3906360 Resolver error identification cannot be executed because another identification is already
active.
3906361 Resolver error identification cannot be executed because of too small speed (< 500 rpm).
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Drive interface
Device commands
4.2.23 Load Lenze inverter characteristic
This function extension is available from software version V4.0!
If it is not possible to determine the so-called "Inverter error characteristic" by means of the
"Calculate inv. characteristic" device command, or if the results of the determination are
incorrect, the C00002 = "70: Load Lenze inverter characteristic" device command can be
used to load a characteristic typical for the device.
Only possible when controller is inhibited.
Tip!
Detailed information about the determination of the inverter error characteristic
can be found in the chapter "Motor interface" in the subchapter "Optimising the
switching performance of the inverter". ( 143)
Possible status displays for this device command
Status (C00003) Meaning
4621570 Device command in process
4587520 Device command executed successfully
4587521 General fault
Related device commands
Calculate inv. characteristic ( 78)
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9400 HighLine | Parameter setting & configuration
Drive interface
Device commands
4.2.24 Calculate inv. characteristic
If a motor of a third-party manufacturer with unknown motor parameters is driven by the
controller, the C00002 = "71: Determine inverter characteristic" device command can be
used to determine the so-called "Inverter error characteristic" for optimising the inverter
switching behaviour.
Tip!
Detailed information about the determination of the inverter error characteristic
can be found in the chapter "Motor interface" in the subchapter "Optimising the
switching performance of the inverter". ( 143)
From software version V4.0: If the inverter error characteristic cannot be
determined by means of this device command, or if the results of the
determination are incorrect, the device command "Load Lenze inverter
characteristic" can be used to load a characteristic typical for the device. ( 77)
Possible status displays for this device command
Status (C00003) Meaning
4687106 Device command in process
4653056 Device command executed successfully
4653057 General fault
4692754 The calculation of the inverter characteristic cannot be started since the current controller
test mode is active.
4692755 The calculation of the inverter characteristic cannot be started since the V/f test mode is
active.
4692756 The calculation of the inverter characteristic cannot be started since the pole position
identification is active.
4692757 Calculation of the inverter characteristic has been aborted.
4692758 Calculation of the inverter characteristic has been interrupted by error.
4692789 Determined inverter error characteristic exceeds internal limits.
• This situation can for instance occur if the motor power is very much lower than the
device power.
• This error message is only available from software version V5.0 onwards.
Related device commands
Load Lenze inverter characteristic ( 77)
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Device commands
4.2.25 Determine motor parameters
The C00002 = "72: Determine motor parameters" device command is used to
automatically determine the motor parameters for a third-party motor that are listed in
the following table – if they are not known:
Parameter Information ASM SM
C00079 Mutual motor inductance ;
C00082 Motor rotor resistance ;
C00084 Motor stator resistance ; ;
C00085 Motor stator leakage induct. ; ;
C00091 Motor - cosine phi ;
C00092 Motor magnetising current ;
Tip!
Detailed information about the automatic determination of the motor parameters
can be found in the chapter "Motor interface" in the subchapter "Determining the
motor parameters". ( 146)
Possible status displays for this device command
Status (C00003) Meaning
4752642 Device command in process
4718592 Device command executed successfully
4718593 General fault
4758290 Motor identification cannot be started since the current controller test mode is active.
4758291 Motor identification cannot be started since the V/f test mode is active.
4758292 Motor identification cannot be started because pole position identification is active.
4758293 Motor identification has been aborted.
4758294 Motor identification has been aborted by fault.
4758332 Motor identification aborted due to inconsistent motor parameters.
• This error message is only available from software version V7.0 onwards.
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Drive interface
Device commands
4.2.26 Calculate current controller parameters
This function extension is available from software version V5.0 onwards!
The device command C00002 = "77: Calculate current controller parameters" is used to
calculate the gain and the reset time of the current controller for a third-party motor.
Precondition: The two motor parameters "stator resistance" (C00084) and "stator leakage
inductance" (C00085) either have been parameterised manually on the basis of the
manufacturer information before, or have been determined automatically via the device
command "Determine motor parameters".
Note!
For a Lenze motor the calculation and the subsequent optimisation of the
current controller parameters is not required, as the correct current controller
parameters are accepted from the »Engineer« motor catalogue.
The device command is no identification procedure for determining the current
controller parameters!
The calculation is carried out according to the following formulas:
Stator leakage inductance
Gain = -------------------------------------------------------------------
340 μs
Stator leakage inductance
Reset time = -------------------------------------------------------------------
Stator resistance
After the device command has been executed successfully (see status in C00003), the
two calculated values are set in C00075 and C00076. They serve as starting values for
a subsequent optimisation of the current controller in the test mode.
In case of error, codes C00075 and C00076 are not altered.
Tip!
Detailed information on the optimisation of the current controller in the test mode
can be found in the chapter "Motor interface" in the subchapter for the respective
motor control:
• Servo control (SC) Optimise current controller ( 153)
• Sensorless vector control (SLVC) Optimise current controller ( 187)
• V/f control (VFCplus) Optimise current controller ( 202)
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Device commands
Possible status displays for this device command
Status (C00003) Meaning
5080322 Device command in process
5046272 Device command executed successfully
5046273 General fault
5086002 At least one calculated value is beyond the valid setting range.
5086003 Stator resistance (C00084) too small (zero).
Related device commands
Determine motor parameters ( 79)
Calculate speed controller parameters ( 82)
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9400 HighLine | Parameter setting & configuration
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Device commands
4.2.27 Calculate speed controller parameters
This function extension is available from software version V5.0 onwards!
The device command C00002 = "78: Calculate speed controller parameters" is used to
calculate the gain, reset time, and rate time of the speed controller.
Precondition: The moments of inertia for the motor (C00273/1) and load (C00273/2) have
been parameterised correctly before.
Note!
The device command is no identification procedure for determining the speed
controller parameters!
The calculation is carried out according to the following formulas, taking the actual
speed value filter time constant into consideration (C00497):
Moment of inertia of motor+load 2π
Gain = ----------------------------------------------------------------------------------------------------------------------------------------- ⋅ ------
4 ⋅ ( Actual speed value filter time constant + 500 μs ) 60
2
Reset time = 4 ⋅ ( Actual speed value filter time constant + 500 μs )
Rate time = 0 ms
After the device command has been executed successfully (see status in C00003), the
calculated values are set in the corresponding codes:
– C00070: Speed controller gain
– C00071: Speed controller reset time
– C00072: Speed controller rate time
In case of error, these codes are not altered.
Possible status displays for this device command
Status (C00003) Meaning
5145858 Device command in process
5111808 Device command executed successfully
5111809 General fault
5151540 At least one calculated value is beyond the valid setting range.
Related device commands
Calculate current controller parameters ( 80)
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Drive interface
Device commands
4.2.28 CAN on board: Reset node
The C00002 = "91: CAN on board: reset node" device command is used to reinitialise the
CANopen system bus interface of the controller ("CAN on board"), which is required, for
instance, after the data transfer rate, node address, or identifiers have been changed.
Tip!
For detailed information about the "CAN on board" CANopen system bus interface,
please see the "CAN" Communication Manual.
Possible status displays for this device command
Status (C00003) Meaning
5997826 Device command in process
5963776 Device command executed successfully
5963777 General fault
6003200 CAN fault
... ...
6003455 CAN fault
Related device commands
CAN on board: Pred.Connect.Set ( 85)
CAN on board: Identify node ( 87)
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9400 HighLine | Parameter setting & configuration
Drive interface
Device commands
4.2.29 CAN module: Reset node
The C00002 = "92: CAN module: reset node" device command is used to reinitialise the
CANopen interface of a CANopen communication module in module slot MXI1 or MXI2,
which is required, for instance, after the data transfer rate, node address, or identifiers
have been changed.
Tip!
Detailed information on the CANopen communication module (E94AYCCA) can be
found in the "CAN" Communication Manual.
Possible status displays for this device command
Status (C00003) Meaning
6063362 Device command in process
6029312 Device command executed successfully
6029313 General fault
6068736 CAN fault
...
6068991 CAN fault
Related device commands
CAN module: Pred.Connect.Set ( 86)
CAN module: Identify node ( 88)
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Drive interface
Device commands
4.2.30 CAN on board: Pred.Connect.Set
The C00002 = "93: CAN on board: Pred.Connect.Set" device command is used to set the
basic identifiers for the CANopen system bus interface of the controller ("CAN on board")
according to the "Predefined Connection Set" (DS301V402).
Tip!
For detailed information about the "CAN on board" CANopen system bus interface,
please see the "CAN" Communication Manual.
Possible status displays for this device command
Status (C00003) Meaning
6128898 Device command in process
6094848 Device command executed successfully
6094849 General fault
Related device commands
CAN on board: Reset node ( 83)
CAN on board: Identify node ( 87)
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9400 HighLine | Parameter setting & configuration
Drive interface
Device commands
4.2.31 CAN module: Pred.Connect.Set
The C00002 = "94: CAN module: pred.connect.set" device command is used to set the basic
identifiers for the CANopen system bus interface of a CANopen communication module in
module slot MXI1 or MXI2 according to the "Predefined Connection Set" (DS301V402).
Tip!
Detailed information on the CANopen communication module (E94AYCCA) can be
found in the "CAN" Communication Manual.
Possible status displays for this device command
Status (C00003) Meaning
6194434 Device command in process
6160384 Device command executed successfully
6160385 General fault
Related device commands
CAN module: Reset node ( 84)
CAN module: Identify node ( 88)
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Drive interface
Device commands
4.2.32 CAN on board: Identify node
The C00002 = "95: CAN on board: identify node" device command is used to determine the
nodes connected to the CANopen system bus interface of the controller ("CAN on board").
The result of the CAN bus scan is displayed in C00393.
Tip!
For detailed information about the "CAN on board" CANopen system bus interface,
please see the "CAN" Communication Manual.
Possible status displays for this device command
Status (C00003) Meaning
6259970 Device command in process
6225920 Device command executed successfully
6225921 General fault
Related device commands
CAN on board: Reset node ( 83)
CAN on board: Pred.Connect.Set ( 85)
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9400 HighLine | Parameter setting & configuration
Drive interface
Device commands
4.2.33 CAN module: Identify node
The C00002 = "96: CAN module: identify node" device command is used to determine the
nodes connected to the CANopen system bus interface of a CANopen communication
module in module slot MXI1 or MXI2.
The result of the CAN bus scan is displayed in C13393 (for MXI1) or in C14393 (for
MXI2).
Tip!
Detailed information on the CANopen communication module (E94AYCCA) can be
found in the "CAN" Communication Manual.
Possible status displays for this device command
Status (C00003) Meaning
6325506 Device command in process
6291456 Device command executed successfully
6291457 General fault
Related device commands
CAN module: Reset node ( 84)
CAN module: Pred.Connect.Set ( 86)
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Device commands
4.2.34 Ethernet module MXI2 unbind/bind
The C00002 = "101: Unbind/bind Ethernet module: MXI1" device command is used to
reinitialise the Ethernet interface of an Ethernet communication module in module slot
MXI1, e. g. to accept a newly set IP or gateway address without mains switching.
Tip!
Detailed information on the Ethernet communication module (E94AYCEN) can be
found in the "Ethernet" Communication Manual.
Possible status displays for this device command
Status (C00003) Meaning
6653186 Device command in process
6619136 Device command executed successfully
6619137 General fault
Related device commands
Ethernet module MXI2 unbind/bind ( 90)
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9400 HighLine | Parameter setting & configuration
Drive interface
Device commands
4.2.35 Ethernet module MXI2 unbind/bind
The C00002 = "102: Unbind/bind Ethernet module: MXI2" device command is used to
reinitialise the Ethernet interface of an Ethernet communication module in module slot
MXI2, e. g. to accept a newly set IP or gateway address without mains switching.
Tip!
Detailed information on the Ethernet communication module (E94AYCEN) can be
found in the "Ethernet" Communication Manual.
Possible status displays for this device command
Status (C00003) Meaning
6718722 Device command in process
6684672 Device command executed successfully
6684673 General fault
Related device commands
Ethernet module MXI2 unbind/bind ( 89)
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Device commands
4.2.36 Activate parameter set 1 ... 4
In addition to the start parameters, up to four further parameter sets can be stored in the
memory module for each application. Like this you can for instance define different
controller settings for an application, which are then simply activated via device command,
if required.
The following device commands can be used to activate the parameter set 1 ... 4 for the
active application (if available on the memory module):
C00002 = "201: Activate parameter set 1"
C00002 = "202: Activate parameter set 2"
C00002 = "203: Activate parameter set 3"
C00002 = "204: Activate parameter set 4"
9400 RAM Memory module MM
Firmware Application 1* Application 1*
Application 2
PS PS PS
PS 1 PS
PS 2 PS 1
PS 3 PS 2
PS 4 PS 3
PS 4
* In this example, application 1 is the active application
[4-20] Example: "Activate parameter set 1" function
Only possible when the application has stopped and the controller is inhibited.
All parameter changes of the previously active parameter set carried out since the last
saving will get lost!
These device commands only affect the settings of the operating system, application
and module parameters, the active application or a configuration selected with the
function block editor remain unchanged.
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Device commands
Possible status displays for these device commands
Status (C00003) Meaning
for command for command for command for command
201 202 203 204
13206786 13272322 13337858 13403394 Device command in process
13172736 13238272 13303808 13369344 Device command executed successfully
13172731 13238273 13303809 13369345 General fault
13206532 13272068 13337604 13403140 File could not be opened.
13206557 13272093 13337629 13403165 Fault while reading out of a file.
13206558 13272094 13337630 13403166 Fault while writing into a file.
13206559 13272095 13337631 13403167 Invalid file type.
13206560 13272096 13337632 13403168 Unexpected file end.
13206562 13272098 13337634 13403170 Checksum error
13212160 13277696 13343232 13408768 CAN fault
... ... ... ... ...
13212415 13277951 13343487 13409023 CAN fault
13213697 13279233 13344769 13410305 Access to file has been denied since the file is
already accessed from another position
13213701 13279237 13344773 13410309 I/O fault when accessing the file system
13213708 13279244 13344780 13410316 RAM is full
13213709 13279245 13344781 13410317 Access authorisation denied
13213724 13279260 13344796 13410332 No free memory on the memory module
Related device commands
Activate parameter set 1 ... 4 ( 93)
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Drive interface
Device commands
4.2.37 Activate parameter set 1 ... 4
In addition to the start parameters, up to four further parameter sets can be stored in the
memory module for each application. Like this you can for instance define different
controller settings for an application, which are then simply activated via device command,
if required.
The following device commands are used to archive the current parameter settings of the
controller for the active application in the memory module as parameter set 1 ... 4:
C00002 = "301: Archive parameter set 1"
C00002 = "302: Archive parameter set 2"
C00002 = "303: Archive parameter set 3"
C00002 = "304: Archive parameter set 4"
9400 RAM Memory module MM
Firmware Application 1* Application 1*
Application 2
PS PS PS
PS 1 PS
PS 2 PS 1
PS 3 PS 2
PS 4 PS 3
PS 4
* In this example, application 1 is the active application
[4-21] Example: "Archive parameter set 1" function
Previously archived parameter settings will be overwritten with the current parameter
settings!
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9400 HighLine | Parameter setting & configuration
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Device commands
Possible status displays for these device commands
Status (C00003) Meaning
for command for command for command for command
301 302 303 304
19760386 19825922 19891458 19956994 Device command in process
19726336 19791872 19857408 19922944 Device command executed successfully
19726337 19791873 19857409 19922945 General fault
19760132 19825668 19891204 19956740 File could not be opened.
19760157 19825693 19891229 19956765 Fault while reading out of a file.
19760158 19825694 19891230 19956766 Fault while writing into a file.
19760160 19825696 19891232 19956768 Unexpected file end.
19767297 19832833 19898369 19963905 Access to file has been denied since the file is
already accessed from another position
19767301 19832837 19898373 19963909 I/O fault when accessing the file system
19767308 19832844 19898380 19963916 RAM is full
19767309 19832845 19898381 19963917 Access authorisation denied
19767324 19832860 19898396 19963932 No free memory on the memory module
Related device commands
Activate parameter set 1 ... 4 ( 91)
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9400 HighLine | Parameter setting & configuration
Drive interface
Device commands
4.2.38 Load cam data
This function extension is available from software version V3.0!
The C00002 = "501: Load cam data" device command serves to reload cam data from the
memory module into the controller.
Note!
If you transfer the parameter set or the application from the »Engineer« to the
controller, the cam data are also transferred automatically to the controller.
• The new/altered cam data are accepted in the controller according to the
online change mode set.
• Thus, normally this device command does not need to be executed manually.
9400 RAM Memory module MM
Cam data Cam data
Cam application
[4-22] "Load cam data" function
Only possible when the application has stopped and the controller is inhibited.
If the cam data are provided with an access protection, the user password has to be
entered in C02900 first.
Tip!
Detailed information on the online change mode and the access protection can be
found in the chapter "Basic drive functions", subchapter "Cam data management".
( 563)
Sequence
1. The cam data are completely loaded from the memory module into the main memory
of the controller.
2. The present cam data in the application unit are converted to the internal unit
[increments] and are reorganised.
3. The processed cam data are stored in a separate main memory that can be accessed by
the cam application.
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Drive interface
Device commands
Possible status displays for this device command
Status (C00003) Meaning
32867586 Device command in process
32833536 Device command executed successfully
32833537 General fault
32875521 No cam data available on the memory module
32875523 Loading of the cam data failed
32875525 Checksum error
32875542 Wrong password entered
32875545 The cam functionality is deactivated
Related device commands
Save cam data ( 97)
Calculate cam data ( 99)
Calculate cam data checksum ( 100)
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9400 HighLine | Parameter setting & configuration
Drive interface
Device commands
4.2.39 Save cam data
This function extension is available from software version V3.0!
The C00002 = "502: Save cam data" device command serves to save the cam data available
in the main memory of the controller with mains failure protection in the memory module.
9400 RAM Memory module MM
Cam data Cam data
Cam application
[4-23] "Save cam data" function
This function is executed in the background and is also possible when the controller is
enabled and the application is running.
– However, this function is only executed if valid cam data are available.
– The cam data can also be saved if previously no cam data have been available on the
memory module.
While the function is executed, no online change and no change of the cam data via
parameters can be carried out.
For software versions lower than V4.0 the following applies:
If the cam data are provided with an access protection, the user password has to be
entered in C02900 first.
The following applies from software version V4.0:
For saving the cam data, you do not need to enter a possibly existing user password
(C02900).
Tip!
Detailed information on the access protection can be found in the chapter "Basic
drive functions", subchapter "Cam data management". ( 563)
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9400 HighLine | Parameter setting & configuration
Drive interface
Device commands
Possible status displays for this device command
Status (C00003) Meaning
32933122 Device command in process
32899072 Device command executed successfully
32899073 General fault
32941057 No cam data to be saved are available in the RAM of the controller
32941060 Saving of the cam data failed
32941078 Wrong password entered
32941081 The cam functionality is deactivated
Related device commands
Load cam data ( 95)
Calculate cam data ( 99)
Calculate cam data checksum ( 100)
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9400 HighLine | Parameter setting & configuration
Drive interface
Device commands
4.2.40 Calculate cam data
This function extension is available from software version V3.0!
The C00002 = "503: Calculate cam data" device command converts the cam data stored in
the main memory of the controller to the internal format and makes them available to the
application. This, for instance, is necessary if one or more machine parameters affecting
the internal scaling of cam data have been changed.
The status signal bNewDataAvailable of the basic drive function "Cam data
management" (LS_CamInterface system block) is set to TRUE and the cam data are
accepted automatically or manually depending on the online change mode set. After
successful data acceptance, the status signal bNewDataAvailable is automatically reset
to FALSE.
The user password does not have to be entered in C02900.
While the function is executed, no online change and no change of the cam data via
parameters can be carried out.
This function is executed in the background and can also be activated when the
controller is enabled and the application is running.
Tip!
Detailed information on the cam functionality can be found in the chapter "Basic
drive functions", subchapter "Cam data management". ( 563)
Possible status displays for this device command
Status (C00003) Meaning
32998658 Device command in process
32964608 Device command executed successfully
32964609 General fault
33006617 The cam functionality is deactivated
Related device commands
Load cam data ( 95)
Save cam data ( 97)
Calculate cam data checksum ( 100)
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9400 HighLine | Parameter setting & configuration
Drive interface
Device commands
4.2.41 Calculate cam data checksum
This function extension is available from software version V3.0!
The C00002 = "504: Calculate cam data checksum" device command is used to recalculate
the checksum of the cam data available in the main memory of the controller. This is
required if the cam data in the main memory of the controller have been changed via
parameters. Afterwards the cam data can be converted to the internal format using the
"503: Calculate cam data" device command, or they can be saved with mains failure
protection in the memory module using the "502: Save cam data" device command.
The user password does not have to be entered in C02900.
This function is executed in the background and can also be activated when the
controller is enabled and the application is running.
Tip!
Detailed information on the cam functionality can be found in the chapter "Basic
drive functions", subchapter "Cam data management". ( 563)
Possible status displays for this device command
Status (C00003) Meaning
33064194 Device command in process
33030144 Device command executed successfully
33030145 General fault
33072153 The cam functionality is deactivated
Related device commands
Load cam data ( 95)
Save cam data ( 97)
Calculate cam data ( 99)
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9400 HighLine | Parameter setting & configuration
Drive interface
Device commands
4.2.42 Format file system
The C00002 = "1030: Format file system" device command is used to format the file system
in the memory module.
Note!
By means of this device command all folders and files in the file system of the
memory module are irrevocably deleted!
The application has to be downloaded again with the »Engineer«.
Possible status displays for this device command
Status (C00003) Meaning
67536130 Device command in process
67502080 Device command executed successfully
67502081 General fault
Related device commands
Restore file system ( 102)
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9400 HighLine | Parameter setting & configuration
Drive interface
Device commands
4.2.43 Restore file system
The C00002 = "1040: Restore file system" device command is used to execute a low level
formatting of the file system in the memory module.
Note!
By means of this device command all folders and files in the file system of the
memory module and all internal information for the management of the file
system are irrevocably deleted!
This device command has no status display in C00003, i.e. the display remains
unchanged showing the previous device command status.
Stop!
The low level formatting of the file system by the user is only intended for the
exceptional case when the standard formatting of the file system via the
C00002 = "1030: Format file system" device command is no longer possible, e.g.
due to damaged internal management information.
Related device commands
Format file system ( 101)
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9400 HighLine | Parameter setting & configuration
Drive interface
Device commands
4.2.44 Prepare firmware update
Note!
For Lenze service only!
The C00002 = "10000: Prepare firmware update" device command is used to set
the controller to the firmware update mode to update the firmware, if required,
using the corresponding software.
Only possible when the application has stopped and the controller is inhibited.
Possible status displays for this device command
Status (C00003) Meaning
655394050 Device command in process
655360000 Device command executed successfully
655360001 General fault
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9400 HighLine | Parameter setting & configuration
Drive interface
Device commands
4.2.45 Restart controller
The C00002 = "11000: Restart controller" device command is used to restart the controller
via parameter setting.
Only possible when the application has stopped and the controller is inhibited.
Possible status displays for this device command
Status (C00003) Meaning
720930050 Device command in process
720896001 General fault
Note!
Due to the restart at the successful execution of the device command, this status
is no longer displayed in C00003.
If this device command is used, the message "Undervoltage in the DC bus
(0x007b000f)" may appear in the logbook.
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9400 HighLine | Parameter setting & configuration
Drive interface
Device states
4.3 Device states
The state control of the drive is controlled internally via a state machine which can adopt
the following "device states":
Power on
Controller inhibit
Initialisation System fault
active active
0
Safe
Fault
torque off
active
active
Warning/
Ready to
switch on 2 Warning locked
active
Switched
on Operation
Quick stop
Trouble
by trouble
active
active
, From all states
Status "Warning active"/"Warning locked active" can occur simultaneously with other states.
[4-24] Device states of the state machine for the device control
Note!
The device states of the controller must not be confused with the function states
of the Basic drive functions. ( 375)
• In the device state "Operation" the Basic drive functions define the motion
control of the drive.
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Drive interface
Device states
Display parameters for diagnostic purposes
In C00183 the current device state is shown.
In C00150 (status word 1) the current device state is shown bit coded via bits 8 ... 11:
Bit 11 Bit 10 Bit 9 Bit 8 Meaning
0 0 0 0 "Initialisation active" state
0 0 0 1 "Device is ready to switch on" state
0 0 1 0 -
0 0 1 1 "Device is switched on" state
0 1 0 0 -
0 1 0 1 -
0 1 1 0 "Operation" state
0 1 1 1 "Warning active" state or "Warning locked active" state
The controller is ready to switch on, switched on or operation is
enabled, and a warning is present.
1 0 0 0 "Trouble active" state
1 0 0 1 -
1 0 1 0 "Quick stop by trouble active" state
1 0 1 1 "Safe torque off active" state
Observe LED of the safety module!
1 1 0 0 "Fault active" state
1 1 0 1 -
1 1 1 0 -
1 1 1 1 -
C02530 displays the active function state.
LED status displays
The control of the two LEDs "DRIVE READY" and "DRIVE ERROR" in the middle of the
controller's front panel depends on the device state. LED status displays for the device
state ( 612)
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Drive interface
Device states
Influence of the status signals of the SB LS_DriveInterface by the device state
Status signals
(Outputs of the SB LS_DriveInterface)
Device state DI_bReady DI_bFail DI_bImp DI_bCInh DI_bWarning DI_bReady DI_bOperation
Active Active Active Active ToSwitchOn Enabled
Initialisation active FALSE FALSE TRUE TRUE FALSE FALSE FALSE
Safe torque off active FALSE FALSE TRUE TRUE TRUE/FALSE FALSE FALSE
Device is ready to switch on FALSE FALSE TRUE TRUE TRUE/FALSE TRUE FALSE
Device is switched on TRUE FALSE TRUE TRUE TRUE/FALSE FALSE FALSE
Operation TRUE FALSE FALSE FALSE TRUE/FALSE FALSE TRUE
Warning active TRUE/FALSE TRUE/FALSE TRUE/FALSE TRUE/FALSE TRUE TRUE/FALSE TRUE/FALSE
Warning locked active TRUE/FALSE TRUE/FALSE TRUE/FALSE TRUE/FALSE TRUE TRUE/FALSE TRUE/FALSE
Quick stop by trouble active FALSE TRUE FALSE FALSE TRUE/FALSE FALSE FALSE
Trouble active FALSE FALSE TRUE TRUE TRUE/FALSE FALSE FALSE
Fault active FALSE TRUE TRUE TRUE TRUE/FALSE FALSE FALSE
System fault active FALSE TRUE TRUE TRUE TRUE/FALSE FALSE FALSE
Internal interfaces | "LS_DriveInterface" system block ( 118)
4.3.1 "Initialisation active" state
LED DRIVE READY LED DRIVE ERROR Display in C00183
OFF OFF 10: Initialisation active
This is the controller's state directly after switching on the supply voltage.
In this device state the operating system is initialised.
The application is not processed yet.
The monitoring is not active yet.
Communication is not possible yet.
The controller cannot be parameterised yet and no device commands can be executed.
When the device initialisation is completed, the device state is automatically changed
to "Safe torque off active".
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Drive interface
Device states
4.3.2 "Safe torque off active" state
LED DRIVE READY LED DRIVE ERROR Display in C00183
OFF 101: Safe torque off active
This device state becomes active if the controller receives the "Safe torque off" request by
the safety module.
"Drive is torqueless" (0x00750003) is entered in the logbook.
If no corresponding request by the safety module is available, a change to the
subsequent state "Device is ready to switch on" is effected.
Note!
The "Safe torque off active" status is also passed through after an error has been
acknowledged (see illustration [4-24]).
4.3.3 "Device is ready to switch on" state
LED DRIVE READY LED DRIVE ERROR Display in C00183
OFF "Device is ready to switch on"
This is the device state of the controller directly after the initialisation has been completed
and where no DC-bus voltage is applied yet.
The bus systems are running and the terminals and encoders are evaluated.
Monitoring is active.
The controller can be parameterised and device commands can be executed to a
limited extent.
The application is basically executable.
The functions of the user task can be used.
– Precondition: The application has started (status display in C02108).
The basic drive functions cannot be used yet.
Note!
The "Device is ready to switch on" status is not only activated after mains
connection but also after reset of "Trouble", "Fault" or "Safe torque off active".
• In order to change from the "Device is ready to switch on" to the "Device is
switched on" status when C00142 = "0: inhibited", at least one of the
controller inhibit sources must be active.
• When C00142 = "1: Enabled", the "Device is ready to switch on" status directly
changes to the "Device is switched on" status.
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Drive interface
Device states
Danger!
If automatic restart is enabled (C00142 = "1: Enabled"), the drive can restart
automatically from the "Trouble" and "Safe torque off" device states when the
trouble or requirement for "Safe torque off active" has been eliminated!
Automatic restart after mains connection/trouble... ( 112)
4.3.4 "Device is switched on" state
LED DRIVE READY LED DRIVE ERROR Display in C00183
OFF 90: Drive is switched on
This is the device state of the controller if the DC-bus voltage is applied and the controller
is still inhibited by the user (controller inhibit).
The bus systems are running and the terminals and encoders are evaluated.
Monitoring is active.
The controller can be parameterised and device commands can be executed to a
limited extent.
The application is basically executable.
The functions of the user task can be used.
– Precondition: The application has started (status display in C02108).
The basic drive functions cannot be used yet.
If the controller is enabled, the motor builds up a torque.
4.3.5 "Operation" state
LED DRIVE READY LED DRIVE ERROR Display in C00183
OFF 0: Operation
In this device state the motor follows its setpoint according to the basic drive function
selected.
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Drive interface
Device states
4.3.6 "Warning active" state
LED DRIVE READY LED DRIVE ERROR Display in C00183
1: Operation/warning active
This state can occur at the same time as the device states "Device is ready to switch on",
"Device is switched on" and "Operation" if a monitoring function is activated for which the
"Warning" error response has been parameterised.
4.3.7 "Warning locked active" state
LED DRIVE READY LED DRIVE ERROR Display in C00183
2: Operation/warning locked active
This state can occur at the same time as the device states "Device is ready to switch on",
"Device is switched on" and "Operation" if a monitoring function is activated for which the
"Warning locked" error response has been parameterised.
4.3.8 "Quick stop by trouble active" state
LED DRIVE READY LED DRIVE ERROR Display in C00183
151: Quick stop by trouble active
This device state becomes active as soon as a monitoring function responds for which the
"Quick stop by trouble" error response has been parameterised.
Irrespective of the setpoint defined, the drive is brought to standstill with a torque
within the parameterised deceleration time for quick stop and can be held there.
The device state can only be exited by acknowledging the error if the error cause has
been eliminated.
It is also possible to skip to the "Operation" state during the error status by setting
controller inhibit, as controller inhibit has a higher priority. As long as the error is still
available and has not been acknowledged, a change back to the "Quick stop by trouble
active" state is effected when the controller is enabled afterwards.
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9400 HighLine | Parameter setting & configuration
Drive interface
Device states
4.3.9 "Trouble active" state
LED DRIVE READY LED DRIVE ERROR Display in C00183
OFF 104: Trouble active
This device state becomes active as soon as a monitoring function responds for which the
"Trouble" error response has been parameterised.
The motor has no torque (is coasting).
The device state is automatically exited if the error cause is eliminated:
– "Trouble active" state < 500 ms: Return to the original device state.
– "Trouble active" state > 500 ms: Return via the device state "Safe torque off active".
4.3.10 "Fault active" state
LED DRIVE READY LED DRIVE ERROR Display in C00183
OFF 102: Fault active
This device state becomes active as soon as a monitoring function responds for which the
"Fault" error response has been parameterised.
4.3.11 "System fault active" state
LED DRIVE READY LED DRIVE ERROR Display in C00183
OFF 20: System fault active
This device state becomes active if a system fault occurs.
The device state can only be exited by mains switching.
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Drive interface
Automatic restart after mains connection/trouble...
4.4 Automatic restart after mains connection/trouble...
.../Fault/"safe torque off active"
In C00142, the starting performance of the controller after mains connection and reset of
"Trouble", "Fault" or "safe torque off active" can be parameterised.
Note!
From software version V4.0 the automatic restart is inhibited in the Lenze
setting! Set the selection "1: Enabled" in C00142 to obtain the former behaviour.
Danger!
If automatic restart is enabled (C00142 = "1: Enabled"), the drive can restart
automatically from the "Trouble" and "Safe torque off" device states when the
trouble or requirement for "Safe torque off active" has been eliminated!
Auto-start option 0: Auto restart inhibited after mains connection
Controller inhibit always has to be set if the controller is to change from the "Ready to
switch on" state to the "Switched on" state after mains connection or reset of "Trouble",
"Fault", or "Safe torque off active". The following change to the "Operation" state is
performed when the controller is enabled:
0 1
RFR
Initialisation Ready to switch on Switched on Operation
RFR
t
RFR
Initialisation Ready to switch on Switched on Operation
RFR
t
Controller pulses are inhibited
Controller pulses are enabled
n With controller inhibit after power-on
o Without controller inhibit after power-on
[4-25] State change when auto-restart is inhibited (C00142 = "0: Inhibited")
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Drive interface
Automatic restart after mains connection/trouble...
Auto-start option 1: Auto restart enabled after mains connection
The following illustration shows the state changes for the auto-start option 1 and their
relationship to controller inhibit:
0 1
RFR
Initialisation Ready to switch on Switched on Operation
RFR
t
RFR
Initialisation Ready to switch on Switched on Operation
RFR
t
Controller pulses are inhibited
Controller pulses are enabled
n With controller inhibit after power-on
o Without controller inhibit after power-on
[4-26] State change when auto-restart is enabled (C00142 = "1: Enabled")
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Drive interface
Behaviour after task overflow
4.5 Behaviour after task overflow
Up to software version V5.0 the following applies:
After a task overflow in the application or user task the "Error" response is effected.
The following applies from software version V5.0:
In C02111 the error response after a task overflow in the application or user task can be
parameterised. The Lenze setting "Error" corresponds to the previous behaviour of the
controller with software versions lower than V5.0.
Tip!
For a hoist for instance the "Quick stop by trouble" error response with
engagement of the brake can be set, so that the drive is brought to standstill within
the shortest time possible.
From »Engineer« version 2.10 onwards, the function block editor can also be used
to configure the behaviour of the analog and digital outputs and that of the brake
control and the output ports after a task overflow in order to adapt it to the
respective application. Configure exception handling of the outputs ( 290)
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9400 HighLine | Parameter setting & configuration
Drive interface
Device output power
4.6 Device output power
The parameters described in the following subchapters influence the output power of the
controller.
4.6.1 Switching frequency
The controller uses a pulse-width modulation to generate its output voltage. The switching
frequency is used to change the control factor of the pulse-width modulation.
Automatic switching frequency reduction
In the Lenze setting, the "variable" switching frequency "8 kHz" has been selected in
C00018, which means that the controller automatically reduces the switching frequency
depending on the setpoint current.
Depending on the current amount, it is changed down to an assigned switching
frequency.
The switching thresholds are device-dependent (see 9400 hardware manual, chapter
"Rated data").
If a fixed switching frequency is selected in C00018 instead of a variable one, there is
no switching frequency changeover, however, (due to the field frequency range
0...5 Hz) it can only be traversed at a low continuous current and low maximum
currents (see 9400 hardware manual, chapter "Rated data").
Note!
If parameterisation is carried out offline or if the memory module is exchanged
between different 9400 HighLine device types, always check the setting of the
switching frequency in C00018 and adapt it, if required, to prevent a parameter
error after the parameter set download or module change!
The maximum output frequency of the controller is limited to 1/8 of the
switching frequency selected in C00018! (See the following table.)
Switching frequency (C00018): 1 kHz 2 kHz 4 kHz 8 kHz 16 kHz
Maximum output frequency: 125 Hz 250 Hz 500 Hz 1000 Hz 1999 Hz
Motor - number of pole pairs: Maximum speed [rpm]
1 7500 15000 30000 60000 120000
2 3750 7500 15000 30000 60000
3 2500 5000 10000 20000 40000
4 1875 3750 7500 15000 30000
5 1500 3000 6000 12000 24000
6 1250 2500 5000 10000 20000
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Device output power
Tip!
If a load profile and a fixed setting of the switching frequency (e. g. 8 kHz fixed) are
given, an I x t disconnection due to a high device utilisation can be avoided by
selecting the variable setting for the same switching frequency instead.
Monitoring of the device utilisation
Reduced switching losses through switching frequency reduction
The advantage of a switching frequency reduction are the reduced switching losses in the
controller, which are monitored via an I x t evaluation.
A reduced switching frequency enables a greater current-time area at the output than
it would be the case with a higher switching frequency. However, depending on the
process, you always have to make a compromise between the torque ripple and the
output power.
4.6.2 Monitoring of the device utilisation
In C00064 the device utilisation (I x t) is displayed over the last 180 seconds in [%].
If the value displayed in C00064 exceeds the warning threshold set in C00123, the error
message "device utilisation Ixt > C00123" is output and the fault response set in
C00604 occurs (default setting: "Warning").
If the value displayed in C00064 exceeds 100 %, the error message "device utilisation
Ixt > 100 %" is output and the "Fault" error response occurs.
– The fault can only be reset if the value displayed in C00064 is < 95 % again.
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Drive interface
Device output power
4.6.3 Operation with increased continuous power
This function extension is available from software version V3.0!
If required, operation with an increased continuous power for the switching frequencies
1 kHz and 2 kHz can be activated in C01199 for controllers from the device size 8S, if the
following requirements are met:
Controller is of E94AxxE1454 ... E94AxxE6954 type (device size 8S ... 10).
The maximum current (C00022) is < 150 % of the rated device current.
Stop!
During operation with increased continuous power, the max. permissible
ambient temperature is reduced to 40 °C.
The overload current must be reduced. An overload current of 180 % for 10 s is
no longer permissible during operation with increased continuous power.
Note!
To activate the operation with increased continuous power, controller inhibit
must be set in the controller.
The "activated" setting in C01199 is automatically reset to "deactivated"
(without error message) if the previously mentioned requirements are not (no
longer) met.
• This is the also the case if the memory module is plugged into a controller of
the smaller design 8 (device exchange).
Tip!
The permissible output currents and overload factors for operation with increased
continuous power for different device types can be found in the Hardware Manual
in the "Rated data" chapter.
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Drive interface
Internal interfaces | "LS_DriveInterface" system block
4.7 Internal interfaces | "LS_DriveInterface" system block
The LS_DriveInterface system block provides the internal interfaces to the drive interface
in the function block editor.
LS_DriveInterface
DI_bSetCInh DI_dnState
DI_bResetError1 DI_bReady
DI_bResetError2 ³1 DI_bFailActive
DI_bResetError3 DI_bImpActive
DI_bSetExternError DI_bCInhActive
DI_bSwitchOn DI_bWarningActive
DI_bUVDetected
DI_bOVDetected
DI_bMainSupplyOk
DI_bReadyToSwitchOn
DI_bOperationEnabled
DI_dwErrorCode
DI_AxisData
Inputs
Identifier Information/possible settings
DIS code | data type
DI_bSetCInh Set/remove controller inhibit
C02549/1 | BOOL • The controller can be inhibited by different sources, e.g. via the digital input RFR
or using the device command "Inhibit controller". ( 67)
• The bit code under C00158 shows the source that inhibited the controller.
TRUE Set controller inhibit.
• The power output stages in the controller are inhibited and the
speed, current, and position controller of the motor control are
reset.
TRUEÌFALSE Remove controller inhibit.
• Please note that the controller will only be enabled if all sources
for controller inhibit are reset!
DI_bResetError1 Error message reset (acknowledgement)
C02548/1 | BOOL • This function resets an active error message if the cause of the error message has
DI_bResetError2 been eliminated.
C02548/2 | BOOL • The three inputs are linked via a logic OR gate.
DI_bResetError3
C02548/3 | BOOL TRUE Reset (acknowledge) error message.
DI_bSetExternError Activation of error message "External error".
C02548/4 | BOOL Monitoring of external events ( 122)
TRUE Activate error message with the response selected in C00581.
DI_bSwitchOn Deactivate switch-on inhibit
C02549/4 | BOOL • If the automatic restart is inhibited (C00142 = "0"), the state machine remains in
the "Device is ready to switch on" state after mains switching.
"Device is ready to switch on" state ( 108)
FALSEÊTRUE The switch-on inhibit is deactivated and the controller changes to
the device state "Device is switched on".
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9400 HighLine | Parameter setting & configuration
Drive interface
Internal interfaces | "LS_DriveInterface" system block
Outputs
Identifier Value/meaning
DIS code | data type
DI_dnState Status (bit coded)
C02547 | DINT
Status signals of the currently enabled basic function (if available):
Bit 0 -
Bit 1 Basic function is active (signal bActive).
Bit 2 Basic function is completed (signal bDone).
Bit 3 Acceleration/deceleration phase is active (signal bAccDec).
Bit 4 -
Bit 5 CCW rotation is active (signal bCcw).
Bit 6 -
Bit 7 Reference known.
Bit 8 Brake is open.
Bit 9 Waiting for clutch condition.
Bit 10 Zero crossing detected or position = "0".
Bit 11 -
Bit 12 -
Bit 13 -
Bit 14 -
Bit 15 Fault in active basic function (group signal).
Status signals of the internal state machine for the basic functions:
Bit 16 Torque follower active.
Bit 17 Speed follower active.
Bit 18 Position follower active.
Bit 19 Setpoint follower is active (group signal for bit 16 ...18).
Bit 20 Positioning active.
Bit 21 Homing active.
Bit 22 Manual jog active.
Bit 23 Brake test is active.
Bit 24 Drive at standstill.
Bit 25 Drive is stopped.
Bit 26 Quick stop active.
Bit 27 -
Bit 28 Controller is not ready.
Bit 29 Initialisation
Bit 30 State "Fault active" (signal DI_bFailActive).
Bit 31 State machine is not ready to receive setpoints.
(Group signal for bit 28 ... 30)
DI_bReady Status signal "Controller is ready for operation"
C02549/6 | BOOL
TRUE The controller is ready for operation.
DI_bFailActive Status signal "Error active - acknowledgement required"
C02549/7 | BOOL
TRUE Monitoring with the "Fault" or "Quick stop by trouble" error response
has responded and the controller is in the device state "Fault active"
or "Quick stop by trouble active".
For exiting the device state the fault has to be acknowledged, e. g. via
the input DI_bErrorReset1...3.
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Internal interfaces | "LS_DriveInterface" system block
Identifier Value/meaning
DIS code | data type
DI_bImpActive Status signal "Pulse inhibit set"
C02549/8 | BOOL
TRUE The power output stages are switched to high impedance.
DI_bCInhActive Status signal "Controller inhibit active"
C02549/9 | BOOL
TRUE The controller inhibit is active.
DI_bWarningActive Status signal "Warning active"
C02549/10 | BOOL
TRUE A warning is active in the controller.
DI_bUVDetected Status signal "Undervoltage detected"
C02549/11 | BOOL • The threshold for this monitoring function depends on the setting under C00173.
TRUE Undervoltage detected in DC bus.
DI_bOVDetected Status signal "Overvoltage detected"
C02549/12 | BOOL • The threshold for this monitoring function depends on the setting under C00173.
TRUE Overvoltage detected in DC bus.
DI_bMainSupplyOk Status signal "Mains voltage is applied"
C02549/13 | BOOL
TRUE A voltage is applied to the mains voltage inputs L1, L2 and L3.
DI_bReadyToSwitchOn Status signal "Controller ready to switch on"
C02549/14 | BOOL
TRUE The controller has completed the initialisation and is in the "Device
is ready to switch on" device state.
DI_bOperationEnabled Status signal "Operation is enabled"
C02549/15 | BOOL
TRUE The controller is in the "Operation" device state and the motor
follows its setpoint according to the selected basic drive function or
is at standstill due to stop or quick stop.
DI_dwErrorCode Error number of the current error message
DWORD Error messages of the operating system ( 623)
DI_AxisData Data structure, which contains all required machine constants.
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9400 HighLine | Parameter setting & configuration
Drive interface
Internal interfaces | "LS_DriveInterface" system block
4.7.1 Status signals
The following representation shows which status signals of the drive interface are set to
TRUE in different typical cases:
Case 1:
Application has been transmitted to the controller.
No mains voltage available (LU fault).
Controller is inhibited (via RFR terminal).
Case 2:
Mains voltage has been connected.
Case 3:
Controller inhibit has been deactivated.
Case 4:
Fault active.
Case 5:
Quick stop by trouble is active
Status Status signal (output)
Ready for operation z z DI_bReady
Fault active z z DI_bFailActive
Pulse inhibit active z z z DI_bImpActive
Controller inhibit active z z z DI_bCInhActive
Warning active DI_bWarningActive
Undervoltage detected z DI_bUVDetected
Overvoltage detected DI_bOVDetected
Mains supply is ok z z z z DI_bMainSupplyOk
Ready to switch on DI_bReadyToSwitchOn
Operation enabled z DI_bOperationEnabled
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Drive interface
Internal interfaces | "LS_DriveInterface" system block
4.7.2 Monitoring of external events
Use the input DI_bSetExternError of the LS_DriveInterface system block to monitor
external events by means of corresponding logic operations and activate the error
message "External error" in the controller.
Parameterising a response to an external error
The controller response to the error message "External error" can be selected under
C00581.
Activation of error message "External error".
The error message "External error" is activated by setting the input DI_bSetExternError to
TRUE.
After this, the error number for the error message "External error" "0x20750000" (when
"Fault" has been selected as response) will be stored in the internal fault memory
(C00168).
Reset of error message
The error message "External error" and other active error messages are reset by setting the
input DI_bResetError to TRUE.
If the input DI_bSetExternError is still set to TRUE, the reset will not be carried out.
Error messages can only be reset if the cause of the error has been eliminated.
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9400 HighLine | Parameter setting & configuration
Motor interface
5 Motor interface
This chapter provides you with information on initial commissioning of the motor and the
parameterisation of the internal motor control of the controller.
Note!
The motor interface contains all control functions that are not provided by other
basic drive functions.
To select application-specific setpoints, the motor interface can be extended by
appropriate interfaces using the basic functions "Speed follower", "Torque
follower" and "Position follower".
The application-specific conditioning of the encoder signals is executed with the
basic function "Encoder evaluation".
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Motor interface
How to get to the dialog for setting the motor interface parameters:
1. Go to the Project view of the »Engineer« and select the 9400 HighLine controller.
2. Select the Application parameters tab from the Workspace.
3. Click the following button of the Overview dialog level:
Parameterisation dialog in the »Engineer«
The white buttons indicate the configuration of the motor interface inputs. Internal
interfaces | "LS_MotorInterface" system block ( 236)
– The configuration is predefined by the technology application selected (in this
example "Actuating drive – speed"). If required, this configuration can be changed by
clicking the corresponding buttons.
If you click a button marked with the symbol, you go one level deeper in the
corresponding parameterisation dialog.
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9400 HighLine | Parameter setting & configuration
Motor interface
General information
5.1 General information
5.1.1 Reading out motor data from the controller
If the Lenze motor connected to the controller has an electronic nameplate (ENP), the
motor does not need to be selected in the »Engineer« motor catalogue.
With the first switch-on of the controller all motor data are automatically read out
from the electronic nameplate of the motor and at first are saved temporarily within
the controller.
For a permanent acceptance of the motor data, the parameter set must be saved
(C00002 = "11: Save start parameters").
If there is an online connection between the »Engineer« and the controller, the motor
data can be accepted from the controller to the »Engineer« project.
How to read out the motor data from the controller:
1. Establish an online connection between »Engineer« and controller.
2. Select the Application parameters tab and change to the Overview Motor
Motor dialog level.
3. Click on the From Drive button.
• Then the motor data are read out of the controller and directly written into the
corresponding codes of the »Engineer« project.
Display parameters for electronic nameplate (ENP)
Parameter Information Lenze setting
Value Unit
C00186 ENP: Identified motor type -
C00187 ENP: Identified serial number -
C00188 ENP: Status -
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Motor interface
General information
5.1.2 Selecting motor in the »Engineer« motor catalogue
If the Lenze motor does not have an electronic nameplate (ENP) or if a motor of a third-
party manufacturer is used, select the motor in the »Engineer« via the motor catalogue
and transfer the motor data to the controller.
If you, when inserting the controller into the project in the dialog step "Other
components", put a checkmark in the control field Motor, you can select as a further
dialog step the motor for the controller from the motor catalogue:
As an alternative you can also insert the motor into the project later on via the Insert
component command.
Tip!
If you use a motor of a third-party manufacturer, you can first select a suitable
motor regarding the rated data for current, voltage and speed and then adapt the
motor data exactly to the existing motor.
Displaying/editing motor data in the »Engineer« ( 127)
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9400 HighLine | Parameter setting & configuration
Motor interface
General information
5.1.3 Displaying/editing motor data in the »Engineer«
The term "Motor data" combines all parameters that only depend on the motor. They solely
characterise the electrical behaviour of the machine.
The motor data do not depend on the application in which the controller and motor are
used.
The motor data are, if available in the »Engineer« via electronic nameplate or motor
catalogue, accepted by the controller without confirmation prompt.
In the »Engineer« the motor data are shown on the Application parameters tab in the
dialog level OverviewMotorMotor:
If you use a motor of a third-party manufacturer, the displayed motor data can be
adapted exactly to the existing motor by clicking the From Project button and then
selecting the "Own motor settings" entry in the Motor selection dialog box.
Click From Motor Catalogue to open the motor catalogue and select a different motor.
Selecting motor in the »Engineer« motor catalogue ( 126)
If an online connection has been established, the motor data set in the controller can
be accepted in the »Engineer« via the button From Drive. Reading out motor data
from the controller ( 125)
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9400 HighLine | Parameter setting & configuration
Motor interface
General information
Overview of motor data
Parameter Information Lenze setting *
Value Unit
C00052 Motor voltage - V
C00054 Motor current - A
C00057/1 Maximum torque - Nm
C00057/2 Motor reference torque - Nm
C00059 Motor - number of pole pairs -
C00060 Rotor position -
C00079 Mutual motor inductance - mH
C00081 Rated motor power kW
C00082 Motor rotor resistance - Ohm
C00083 Motor - rotor time constant - ms
C00084 Motor stator resistance Ohm
C00085 Motor stator leakage induct. mH
C00087 Rated motor speed rpm
C00088 Rated motor current A
C00089 Rated motor frequency Hz
C00090 Rated motor voltage V
C00091 Motor - cosine phi
C00092 Motor magnetising current - A
C00128/1 Therm. time constant coil min
C00128/2 Therm. time constant plates min
C00273/1 Motor moment of inertia kg cm²
C01190 Motor thermal sensor
C01191/1 Spec. characteristic: Temperature °C
C01191/2 Spec. characteristic: Temperature °C
C01192/1 Spec. characteristic: resistance Ohm
C01192/2 Spec. characteristic: resistance Ohm
Highlighted in grey = display parameter * depending on the selected motor type
Note!
If the motor has been selected via the »Engineer« motor catalogue, or if the
motor data have been adapted offline in the »Engineer«, all motor data have to
be transferred to the controller afterwards when an online connection has been
established and have to be saved in the memory module with mains failure
protection (device command C00002 = "11: Save start parameters").
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9400 HighLine | Parameter setting & configuration
Motor interface
Select motor control
5.2 Select motor control
In C00006 the motor control is selected; the default is the servo control for synchronous
motors.
Function extension from software version V3.0:
From software version V3.0, alternatively to the servo control also the V/f control and the
sensorless vector control are provided as control types in C00006:
Open/closed loop control Detailed information
1 SC: Servo control for synchronous motor Servo control (SC) ( 151)
2 SC: Servo control for asynchronous motor
4 SLVC: Sensorless vector control Sensorless vector control (SLVC) ( 172)
6 VFCplus: V/f control open loop V/f control (VFCplus) ( 190)
7 VFCplus: V/f control closed loop V/f control (VFCplus) ( 206)
The V/f control is the classic operating mode for standard applications.
Compared to the V/f control, improved drive characteristics can be achieved with
sensorless vector control by:
– a higher torque across the entire speed range
– a higher speed accuracy and a higher concentricity factor
– Higher efficiency
M
MN
nN n
n V/f control
o Sensorless vector control
[5-1] Comparison of V/f control and sensorless vector control
Note!
Sensorless vector control (SLVC) is only approved for powers up to 55 kW and
horizontal applications (no hoists or lifting equipment)!
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Select motor control
For the V/f control and sensorless vector control the following table helps with the
selection of the correct control type:
Selection of the motor control in C00006
Motor cable Motor cable
shielded ≤ 50 m shielded > 50 m
unshielded ≤ 100 m unshielded > 100 m
recommended optional recommended optional
Single drives
With motor filter 6/7 - 6/7 -
With constant load 4 6/7 6/7 -
With extremely alternating loads 4 6/7 6/7 -
With high starting duty 4 6/7 6/7 -
Positioning and infeed drives 4 6/7 6/7 -
Winders/unwinders dancer 6/7 - 6/7 -
Pump and fan drives * 6/7 - 6/7 -
Three-phase reluctance motors 6/7 - 6/7 -
Three-phase sliding rotor motors 6/7 - 6/7 -
Three-phase AC motors with firmly assigned 6/7 - 6/7 -
voltage/frequency characteristic
Vertical drive/hoist (up to 55 kW) 6/7 - 6/7 -
(with VCC**) (with VCC**)
* For this application, we recommend a square-law voltage characteristic (C00950 = "1")
** VCC = voltage vector control
Group drives
Depending on the resulting motor cable length:
I res = i ⋅ ( I 1 + I 2 + ... + I i )
Identical motors and loads 4 6/7 6/7 -
Different motors and/or alternating loads 6/7 - 6/7 -
Note!
For operation with motor encoder, we recommend to use the servo control!
For operation with motor filter, always use the V/f control!
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9400 HighLine | Parameter setting & configuration
Motor interface
Adjusting motor and controller to each other
5.3 Adjusting motor and controller to each other
This "initial commissioning" of the motor is required if no motor data suitable for the
application is available yet in the memory module of the controller and in the »Engineer«
project .
The following step-by-step instructions can be used as a "check list" to correctly adjust
the motor and controller to each other.
Detailed information on the individual steps can be found in the following
subchapters.
Worksteps Motor control*
SC SLVC VFC
plus
1. Accepting/adapting plant parameters. ( 132) z z z
2. Parameterise motor encoder. ( 134) z (z)
• Only required for the control types with speed feedback (servo control and V/f
control).
3. Pole position identification. ( 136) (z)
• Only required:
– For servo control with synchronous motor of a third-party manufacturer.
– For servo control with synchronous motor and use of incremental encoders (TTL
or sin/cos encoders as well as multi-pole-pair resolvers).
– After changes of the motor feedback system, e.g. encoder exchange.
4. Optimising the switching performance of the inverter. ( 143) (z) z z
• Only required for servo control if the motor parameters are to be defined by a
motor from a third-party manufacturer!
• Always required for sensorless vector control and open loop V/f control!
– An optimum drive performance can only be achieved with the sensorless
operating modes if the voltage errors in the inverter are compensated as exactly
as possible.
5. Determining the motor parameters. ( 146) (z) z
• Only required for servo control if the motor parameters are to be defined by a
motor from a third-party manufacturer!
• Always required for sensorless vector control!
– An optimum drive performance can only be achieved with the sensorless vector
control if the motor parameters correspond to the real motor as exactly as
possible.
* SC = servo control SLVC = sensorless vector control VFCplus = V/f control
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Adjusting motor and controller to each other
5.3.1 Accepting/adapting plant parameters
The "plant parameters" summarise all parameters which result from the combination of
motor and load. These characterise the transfer behaviour of the entire controlled system
including the required monitoring modes.
The plant parameters depend on the application in which the controller and motor are
used.
If a Lenze motor is selected in the »Engineer«, the plant parameters for no-load
operation will be suggested for this motor.
Overview of plant parameters
Parameter Information Lenze setting Motor control*
Value Unit SC SLVC VFC
plus
C00011 Motor reference speed 3000 rpm z z z
C00022 Maximum current 0.00 A z z z
C00070 Speed controller gain 0.500 Nm/rpm z z z1
C00071 Speed controller reset time 24.0 ms z z z1
C00072 Speed controller rate time 0.00 ms z
C00497 Speed act. val. time const. 2.0 ms z z z
C00596 Threshold max. speed reached 6500 rpm z z z
1
* SC = servo control SLVC = sensorless vector control VFCplus = V/f control open loop Only for V/f control closed loop
Note!
If plant data have been adapted offline in the »Engineer«, all plant data have to
be transferred to the control afterwards when an online connection has been
established and have to be saved in the memory module with mains failure
protection (device command C00002 = "11: Save start parameters").
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9400 HighLine | Parameter setting & configuration
Motor interface
Adjusting motor and controller to each other
Motor reference speed
In C00011 the reference speed of the motor must be set.
Note!
From the perspective of the application it has to be ensured that a maximum of
100 % of the reference speed set in C00011 is requested as speed setpoint.
When using MCS motors, please observe the following:
The controller with software version V01.xx does not support a field weakening
control for synchronous motors, so that for this version the operation of MCS
motors at the voltage limit may present an undefined behaviour.
Therefore, it should be detected whether the motor used exceeds the voltage
limit within the desired operating range up to the maximum current/reference
speed. If so, the reference speed must be reduced to a value permissible with
regard to voltage.
Maximum current
In C00022 the required maximum current must be set.
To avoid that the motor starts unintentionally without adjusting the plant data, the
maximum current in the Lenze setting is set to "0 A" in C00022.
Ultimate motor current IULT
C00620 serves to check the set ultimate motor current IULT.
Note!
When you select a Lenze motor from the catalogue and transfer the plant
parameters of the motor to the controller, the setting in C00620 is automatically
adjusted to the selected motor.
The ultimate motor current IULT is a limit value to protect the motor from destruction or
influence of the rated data.
This limit value must not be travelled cyclically during the drive process.
The maximum current parameterisable in C00022 should have a sufficient distance
from this limit value.
If the instantaneous value of the motor current exceeds the limit value set in C00620,
the response set in C00619 is executed for motor protection (Lenze setting: Fault).
Maximum motor speed
Adapt the maximum motor speed in C00596 and select the error response required when
this speed limit has been reached in C00607.
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Adjusting motor and controller to each other
5.3.2 Parameterise motor encoder
Note!
Only required for servo control and closed loop V/f control!
Tip!
Detailed information on the encoder evaluation and on the use of a separate
position encoder can be found in the following main chapter "Encoder evaluation".
( 241)
The motor encoder can be parameterised on the Application parameters tab of the
»Engineer« in the Overview Motor Encoder dialog level.
The following table shows the required settings for different encoder types:
Encoder type: Resolver CDD50 ITD21 ITD22 SEK... SKS... SCS70 SRS50 ECN1313 EQI1329
Tamagawa SEL... SKM... SCM70 SRM50 EQN1325
Motor type: MCS MCA MDFQA MDFQA MDxKS MCS MCS MCS
MCA LMR LMR MCA MCA MCA
MDxKS
MDXMA
C00495 0 1
Motor encoder Resolver Encoder
selection
C00080 1 - - - - - - - - -
Resolver - number of
pole pairs
C00422 - 0 1 2 3
Encoder type Incremental encoder Sin/cos Absolute value encoder (Hiperface) Absolute value
(TTL signal) encoder encoder (EnDat)
C00420 - 2048 16 128 512 1024 2048 32
Encoder - number of
increments
C00421 - 5V 8V 5V
Encoder voltage
Danger!
If the encoder/resolver is used as motor encoder:
In case of error, safe operation of the motor is no longer guaranteed!
When servo control is used:
• For the (open circuit) monitoring of the encoder/resolver for reasons of safety
always the "Fault" response (Lenze setting) should be set!
When V/f control is used:
• For this type of motor control, the drive basically is to coast down after an
encoder failure and may not stop, therefore the "Warning" response is to be
set for the (open circuit) monitoring in this case!
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9400 HighLine | Parameter setting & configuration
Motor interface
Adjusting motor and controller to each other
Short overview: Parameters for setting the response to (open circuit) monitoring
Parameter Information Lenze setting
C00580 Resp. to encoder open circuit Fault
C00586 Resp. to resolver open circuit Fault
C00601 Resp. to encoder comm. error Fault
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Adjusting motor and controller to each other
5.3.3 Pole position identification
Note!
Only required:
• For servo control with synchronous motor of a third-party manufacturer.
• For servo control with synchronous motor and use of incremental encoders
(TTL or sin/cos encoders as well as multi-pole-pair resolvers).
• After changes of the motor feedback system, e.g. encoder exchange.
For the control of permanent-magnet synchronous machines, the pole position – the angle
between the motor phase U and the field axis of the rotor – must be known.
For Lenze motors with absolute value encoder or resolver, the pole position is already
set correctly in C00058/1...3.
When incremental encoders (TTL or sin/cos encoders) are used, a pole position
identification (PPI) is always required after mains switching, even with Lenze motors.
The controller can also evaluate multi-pole-pair resolvers.
– When the number of motor pole pairs is an integer multiple of the number of pole
pairs of the resolver, a pole position identification must only be executed once.
– When the number of motor pole pairs is no integer multiple of the number of pole
pairs of the resolver, a pole position identification must be executed after every
mains switching.
The device commands "Identify pole position (360°)" and "Identify pole position (min.
motion)" serve to determine the pole position for the motor encoder currently
activated in C00495 (see the following instructions).
Danger!
The machine must not be braked or blocked during the pole position identification!
For this reason, the pole position identification is not permitted for hanging loads!
During the pole position identification the rotor aligns itself. The motor shaft
moves by max. one electrical revolution which causes the corresponding
movement of the connected mechanical components!
Stop!
Check the correct parameterisation of the max. motor current monitoring
(C00619 and C00620) before carrying out the pole position identification to
prevent the motor from being permanently damaged.
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9400 HighLine | Parameter setting & configuration
Motor interface
Adjusting motor and controller to each other
Note!
From software version V4.0 onwards:
If the pole position identification is aborted, the response parameterised in
C00640 is activated (Lenze setting: "Fault").
• Pay attention to this changed behaviour in the Lenze setting when updating
the firmware of existing systems!
• If this behaviour is not wanted, deactivate the monitoring by selecting "0: No
response" in C00640.
The pole position identification can be adjusted to the respective machine and
the prevailing moments of inertia by means of parameters.
• In the Lenze setting of the parameters, the pole position identification
remains the same as in software versions < V4.0.
Adjustment of the pole position identification ( 140)
How to execute the pole position identification:
1. If the controller is enabled, inhibit the controller, e. g. with the device command
C00002 = "41: Inhibit controller".
2. Execute device command C00002 = "51: Identify pole position (360°)" or
device command C00002 = "52: Identify pole position (min. motion)".
The procedure starts with controller enable, if
• a synchronous machine is selected,
• no other identification is active,
• no error has occurred, and
• no test mode is activated.
If one of the above conditions is not met, the procedure is cancelled and the
corresponding device command status is indicated under C00003.
Note:
By means of controller inhibit, the procedure started can be cancelled anytime, if
required, without carrying out a change in C00058.
For detailed information about the corresponding procedure, please see the
following sections:
Tip!
For controller enable all sources for controller inhibit must be reset. In C00158 the
sources for controller inhibit are displayed in a bit-coded manner.
The status of the device command activated under C00002 is indicated under
C00003.
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Procedure for "pole position identification 360°"
If all conditions are met, the motor is energised with a direct current corresponding to the
lower of the following two values:
2 ⋅ Rated device current
or
2 ⋅ Rated motor current
The rotor is aligned through the current flow. This is absolutely necessary for the
procedure.
To ensure that the torque-neutral axis is not accidentally energised and the rotor stops,
a 45° current vector is (electrically) generated for a short instant and then (electrically)
switched back to 0° (≡ phase U).
– Then a DC current of the above-mentioned value could be measured in this motor
phase.
The next steps of the procedure depend on the feedback system used:
If an absolute value encoder with Hiperface or EnDat protocol is used, the encoder
position is set to zero and the procedure is cancelled.
If a resolver or an optical encoder without absolute track is used, the difference
between the preselected current angle and the mechanical rotor angle is determined.
After this, the current vector is (electrically) turned by another 22.5° and the difference
between current angle and rotor angle is determined once again.
– The procedure is repeated 16 times. This corresponds to one electrical revolution. The
machine rotates by 360° (mech.)/pole pair number.
– Take the average value of the 16 measurements to compensate for asymmetries.
Procedure for "pole position identification with minimal movement"
If all conditions are met, the motor current is increased step by step to the smaller of the
following two values:
25 % ⋅ 2 ⋅ Rated device current
or
25 % ⋅ 2 ⋅ Rated motor current
By the current flow the rotor aligns itself, which, however, is compensated by a position
control.
If the rotor moves electrically by more than 20°, a fault message is output and the value
measured is rejected. This may occur in the case of motors with a noticeable detent
torque.
In order to detect a non-permissible blocking of the machine, a positive and negative
test angle (± 20°) relative to the current position are defined after the identification.
The machine must align itself to these two test angles within a tolerance of 25 %.
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Note!
In this procedure it is not written back into an optical absolute value encoder and
all feedback systems are treated the same way.
Unlike in the "pole position identification 360°" procedure where, when an
optical absolute value encoder is used, a "0" is entered into the encoder and into
C00058/2, for this procedure nothing needs to be entered into the encoder and
the identification result is entered into C00058/2.
After successful completion...
...the controller is inhibited automatically and the pole position determined for the
activated feedback system is set in the corresponding subcode of C00058.
For a permanent acceptance of the identified pole position, the parameter set must be
saved (C00002 = "11: Save start parameters").
The next controller inhibit and subsequent controller enable serve to cancel the
controller inhibit automatically set by the procedure (e.g. by first executing the device
command C00002 = "41: Inhibit controller" and then executing the device command
C00002 = "42: Enable controller").
If an error occurs
If an error occurs during the procedure or the pulse inhibit gets active (e.g. due to short-
time undervoltage), the procedure is terminated with controller inhibit without making a
change in C00058.
If the machine was braked or blocked during the procedure, this will be recognised at the
end of the measurement and no change is made in C00058.
From software version V4.0 onwards, the response parameterised in C00640 (Lenze
setting: "Fault") is triggered and the error message "Pole position identification cancelled"
is entered in the logbook of the controller if the pole position identification process is
aborted.
Tip!
From software version V7.0 onwards, the pole position identification is
additionally available as a basic function in the form of the
LS_PolePositionIdentification system block.
Basic drive functions: Pole position identification ( 581)
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5.3.3.1 Adjustment of the pole position identification
This function extension is available from software version V4.0!
The two procedures for Pole position identification (PPI) described in the previous sections
can be adjusted to the respective machine and the prevailing moments of inertia by means
of the parameters described below.
In the Lenze setting of the parameters, the pole position identification remains the same
as in software versions < V4.0.
Note!
The two procedures for the pole position identification should give the same
results. But, due to e.g. friction, bearing forces and a trapezoidal field pattern,
the results may differ. A proportional increase of the current amplitude in
C00641 or C00646 can counteract this deviation.
Parameters for the pole position identification 360°
Parameter Information Lenze setting
Value Unit
C00641 PolePosId 360° current amp. 100 %
C00642 PolePosId 360° ramp time 100 %
C00643 PolePosId 360° travel dir. Clockwise rotating field
C00644 PolePosId 360° fault tol. 0 °
The current amplitude can be adjusted proportionally in C00641.
– For large machines and high mass inertia values or for linear direct drives, the current
amplitude usually has to be increased.
– The Lenze setting "100 %" corresponds to the smaller of the two following values:
2 ⋅ Rated device current
or
2 ⋅ Rated motor current
Stop!
If there is no temperature monitoring in the motor and/or the I2xt motor
monitoring and the maximum current monitoring are not parameterised
correctly, the motor may be permanently damaged when the current amplitude
is set too high (e.g. to the maximum value)!
Motor monitoring (I2xt) ( 224)
Maximum current monitoring ( 235)
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Adjusting motor and controller to each other
Note!
If the current amplitude is set to 100 % in C00641 >, the device utilisation (Ixt)
monitoring and/or one of the motor monitoring functions may respond and
cause the abort of the pole position identification.
The ramp time can be adjusted proportionally in C00642.
– For large machines and high mass inertia values, the ramp time usually has to be
increased.
– For small machines, a reduction of the ramp time can speed up the pole position
identification process.
In some situations it may be helpful to reverse the travel direction (C00643) for the pole
position identification (e.g. for linear motor at the end stop).
The "pole position identification 360°" procedure comprises a plausibility check. If the
rotor position determined via the encoder system does not correspond to the
controlled output position:
– the pole position identification procedure is aborted.
– the response parameterised in C00640 (Lenze setting: "Fault") is activated.
– the error message "Pole position identification cancelled" is entered into the logbook
of the controller.
The preset fault tolerance for the plausibility check can be changed via C00644.
Parameters for the pole position identification with minimal movement
Parameter Information Lenze setting
Value Unit
C00646 PolePosId min.mov. cur. amp. 100 %
C00647 PolePosId min.mov. cur.rise rate 100 %
C00648 PolePosId min.mov. gain Vp 0
C00649 PolePosId min.mov. reset time Tn 62.5 ms
C00650 PolePosId min.mov. max.perm.mov. 20 °
The current amplitude can be adjusted proportionally in C00646.
– For large machines and high mass inertia values or for linear direct drives, the current
amplitude usually has to be increased.
– The Lenze setting "100 %" corresponds to the smaller of the two following values:
25 % ⋅ 2 ⋅ Rated device current
or
25 % ⋅ 2 ⋅ Rated motor current
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Stop!
If there is no temperature monitoring in the motor and/or the I2xt motor
monitoring and the maximum current monitoring are not parameterised
correctly, the motor may be permanently damaged when the current amplitude
is set too high (e.g. to the maximum value)!
Motor monitoring (I2xt) ( 224)
Maximum current monitoring ( 235)
Note!
If the current amplitude is set to 400 % in C00646 >, the device utilisation (Ixt)
monitoring and/or one of the motor monitoring functions may respond and
cause the abort of the pole position identification.
The rate of the current rise for the pole position identification can be adjusted
proportionally in C00647. The Lenze setting "100 %" corresponds to the fixed rise rate
setting of the software versions < V4.0.
The P component of the PI controller for the pole position identification can be adjusted
in C00648. With the Lenze setting "0", the PI controller continues to work as an I
controller (as in the previous software versions).
The I component of the PI controller for the pole position identification can be adjusted
in C00649. Please observe the following notes:
– The variable Position.dnActualMotorPos can be used to monitor the deviation of the
position from the start position with the Oscilloscope function in the »Engineer«.
– In order to be able to compensate a position deviation faster, first the reset time in
C00649 should be reduced. If this does not result in the desired behaviour, the
proportional gain can be increased in C00648.
– Ensure that the position control does not get unstable. We therefore recommend to
use an I controller.
The pole position identification comprises a monitoring function for the follow-up
control. If a movement greater than the permissible movement set in C00650 is
detected by the encoder system:
– the pole position identification procedure is aborted.
– the response parameterised in C00640 (Lenze setting: "Fault") is activated.
– the error message "Pole position identification cancelled" is entered into the logbook
of the controller.
In order to detect a non-permissible blocking of the machine, a positive and negative
test angle relative to the current position are defined after the identification. The
machine must align itself to these two test angles within a tolerance of 25 %. The size
of the test angle corresponds to the max. permissible movement set in C00650.
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Adjusting motor and controller to each other
5.3.4 Optimising the switching performance of the inverter
Note!
Only required for servo control if the motor parameters are to be defined by a
motor from a third-party manufacturer!
Always required for sensorless vector control and open loop V/f control!
• An optimum drive performance can only be achieved with the sensorless
operating modes if the voltage errors in the inverter are compensated as
exactly as possible.
An inverter generates a pulse-width-modulated, three-phase voltage system. Due to the
design of the inverter, current-dependent and switching frequency-dependent losses
inside of the inverter falsify the voltage that is output. As the voltage that is output is not
measured, the losses have to be compensated by a suitable feedforward control. This
compensation is based on an inverter error characteristic.
Among other things, the inverter error characteristic depends on the length of the motor
cable and at least has to be individually determined once for the connected motor by
means of the device command "Calculate inv. characteristic". For an automatic
determination of the motor parameters, this ensures that the current has a sinusoidal
form.
Danger!
This procedure may only be carried out during commissioning, not during
operation!
• During the procedure the motor is energised so that:
– it cannot be excluded that the connected mechanical components may
move!
– the windings heat up.
If you repeat the procedure, ensure that the motor is not thermally
overloaded (particularly if no temperature feedback is used).
For software versions lower than V4.0 the following applies:
• If the automatic brake operation is used, ensure that no basic function is
requested or that the application is stopped before this procedure is called.
Otherwise the applied holding brake could be released!
• For positioning applications you have to observe that the absolute position
and the home position will get lost when this procedure is called. The loss of
the home position is not signalled to the application. The following sequence
has to be observed for positioning applications: 1.) Execute identification
2.) Save parameter set 3.) Restart controller 4.) Execute homing
procedure.
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Note!
For devices of the types 6 + 7 the Ixt monitoring may be activated during the
inverter error characteristic is determined.
Remedy: Only start identification at a device utilisation (C00066) of 0 % and/or
reduce rated motor current (C00088) and reset it to the original value after the
identification.
How to determine the inverter error characteristic:
1. If the controller is enabled, inhibit the controller, e. g. with the device command
C00002 = "41: Inhibit controller".
2. Execute device command C00002 = "71: Calculate inv. error characteristic".
The procedure starts with controller enable, if
• no other identification is active,
• no error has occurred, and
• no test mode is activated.
If one of the above conditions is not met, the procedure is cancelled and the
corresponding device command status is indicated under C00003.
Note:
By means of controller inhibit, the started procedure can be cancelled anytime, if
required. Characteristic values that have already been determined in this case are
rejected.
For detailed information about the procedure, please see the following section
"Sequence".
Tip!
For controller enable all sources for controller inhibit must be reset. In C00158 the
sources for controller inhibit are displayed in a bit-coded manner.
The status of the device command activated under C00002 is indicated under
C00003.
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Sequence
If all conditions are met, the motor is energised with a maximum direct current
corresponding to the lower of the following two values:
2 ⋅ Rated device current
or
2 ⋅ 1.8 ⋅ Rated motor current
Ideally, the first value should be reached, the second value is to ensure that the load on
the machine is not too high during this test.
During the procedure, the motor current rises up to the specified maximum value and falls
back to "0" to repeat the cycle with a negative current sign.
The maximum value is reached four times.
The switching frequency is set to rated switching frequency and after the procedure, it
is reset to the original value.
– If the switching frequency should be changed later during operation, the
characteristic will be adapted to the current switching frequency.
After successful completion...
...the controller is inhibited automatically and the detected characteristic is set in the
controller.
For a permanent acceptance of the characteristic, the parameter set must be saved
afterwards (C00002 = "11: Save start parameters").
With the device command C00002 = "42: Enable controller" the controller inhibit set
automatically during the procedure can be deactivated again.
Tip!
The inverter error characteristic must only be detected again if the controller,
motor, or motor cable has changed e.g. due to an exchange.
If an error occurs
If an error occurs during the procedure or the pulse inhibit gets active (e.g. due to short-
time undervoltage), the procedure is terminated with controller inhibit and the detected
characteristic is not considered.
Tip!
From software version V4.0: If it is not possible to determine the so-called "Inverter
error characteristic", or if the results of the determination are incorrect, the device
command C00002 = "70: Load Lenze inverter characteristic" can be used to load a
characteristic typical for the device. Load Lenze inverter characteristic ( 77)
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5.3.5 Determining the motor parameters
Note!
Only required for servo control if the motor parameters are to be defined by a
motor from a third-party manufacturer!
Always required for sensorless vector control!
• An optimum drive performance can only be achieved with the sensorless
vector control if the motor parameters correspond to the real motor as
exactly as possible.
To control an electrical machine, the motor parameters must be known.
The motor parameters for Lenze motors are known and are already set accordingly by
selecting them from the »Engineer« motor catalogue or reading out the ENP.
The device command "Determine motor parameters" is used to automatically
determine the motor parameters for a third-party motor that are listed in the following
table – if they are not known:
Parameter Information ASM SM
C00079 Mutual motor inductance ;
C00082 Motor rotor resistance ;
C00084 Motor stator resistance ; ;
C00085 Motor stator leakage induct. ; ;
C00091 Motor - cosine phi ;
C00092 Motor magnetising current ;
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Danger!
This procedure may only be carried out during commissioning, not during
operation!
• During the procedure the motor is energised so that:
– it cannot be excluded that the connected mechanical components may
move!
– the windings heat up.
If you repeat the procedure, ensure that the motor is not thermally
overloaded (particularly if no temperature feedback is used).
For software versions lower than V4.0 the following applies:
• If the automatic brake operation is used, ensure that no basic function is
requested or that the application is stopped before this procedure is called.
Otherwise the applied holding brake could be released!
• For positioning applications you have to observe that the absolute position
and the home position will get lost when this procedure is called. The loss of
the home position is not signalled to the application. The following sequence
has to be observed for positioning applications: 1.) Execute identification
2.) Save parameter set 3.) Restart controller 4.) Execute homing
procedure.
Requirements
For the automatic determination of the motor parameters it is required that first the
switching performance of the inverter has been optimised successfully, to ensure that
the current has a sinusoidal form. Optimising the switching performance of the
inverter ( 143)
The motor parameters listed in the following table are excluded from the automatic
determination and must be adapted to the motor used (see motor nameplate) before
the determination.
Parameter Information
C00081 Rated motor power
C00084 Motor stator resistance
(Default setting is used as starting value for the automatic determination.)
C00087 Rated motor speed
C00088 Rated motor current
(The current amount for the procedure is derived from this specification)
C00089 Rated motor frequency
C00090 Rated motor voltage
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Note!
For devices of the types 9 + 10 (from 132 kW) the automatic determination of
the motor parameters may fail and a corresponding status display is output.
Remedy: Parameterise the motor parameters manually by means of the
manufacturer's data sheet.
How to determine the motor parameters:
1. If the controller is enabled, inhibit the controller, e. g. with the device command
C00002 = "41: Inhibit controller".
2. Execute device command C00002 = "72: Determine motor parameters".
The procedure starts with controller enable, if
• no other identification is active,
• no error has occurred, and
• no test mode is activated.
If one of the above conditions is not met, the procedure is cancelled and the
corresponding device command status is indicated under C00003.
Note:
By means of controller inhibit, the started procedure can be cancelled anytime, if
required, without altering the codes for the motor parameters.
For detailed information about the procedure, please see the following section
"Sequence".
Tip!
For controller enable all sources for controller inhibit must be reset. In C00158 the
sources for controller inhibit are displayed in a bit-coded manner.
The status of the device command activated under C00002 is indicated under
C00003.
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Sequence
If all conditions are met, the impedance of the controlled system is determined for approx.
30 different frequencies. These values are used to determine the electrical machine
parameters by means of a mathematical procedure.
Since the procedure starts with very low frequencies and always considers several
complete periods, the whole process takes approx. 3 minutes.
During the procedure, the motor is energised with a current, the r.m.s. value of which
corresponds to the lower of the following two values:
Rated device current
or
1
--- ⋅ Rated motor current
2
After the parameters have been extracted from the impedance, they are checked for
consistency with the required rated values. If an inconsistent parameter set is detected, is
this an indication of faulty rated values on the nameplate.
Note!
During the procedure, the motor should not rotate.
With synchronous machines, this cannot always be ensured. Although the
current flow is produced in the torque-neutral axis, asymmetries in the machine
lead to a rotation of the rotor.
• In such a case, the measurement would be useless and would have to be
repeated.
• As a remedy, we recommend to use a holding brake.
With asynchronous machines, slight rotations might possibly occur. Their
influence on the measurements is, however, not worth mentioning.
• In case of uncertainties, the measurement should be repeated several times
to check if the results for the stator resistance, the leakage inductance of the
stator and the rotor resistance differ widely. This should not be the case.
• The magnetising inductance and the cos(ϕ) values are not that important for
the diagnostics, because they are strongly non-linear.
After successful completion...
...controller inhibit is set automatically and the motor data determined are set in the
corresponding codes.
For a permanent acceptance of the settings, the parameter set must be saved
(C00002 = "11: Save start parameters").
With the device command C00002 = "42: Enable controller" the controller inhibit set
automatically during the procedure can be deactivated again.
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If an error occurs
If an error occurs during the procedure or the pulse inhibit gets active (e.g. due to short-
time undervoltage), the procedure is terminated with controller inhibit without changing
the codes for the motor parameters.
Display and manual adjustment of motor data
In the »Engineer« you can have an equivalent circuit diagram with the motor parameters
displayed by clicking on the Further motor data... button on the Application parameters in
the dialog level OverviewMotorMotor:
The representation of the equivalent circuit diagram depends on the motor control
selected (C00006).
The motor stator resistance (C00084) and motor stator leakage inductance (C00085)
can be altered directly via the input fields in the equivalent circuit diagram.
The motor magnetising current (C00092) is displayed as comparison value to the motor
current (C00054).
– The motor magnetising current must especially be observed in case of a no-load
operation, both at standstill and with rated speed.
– The motor magnetising current is directly calculated from the rated motor current
(C00088) and the motor power factor (C00091).
The mutual motor inductance can be indirectly adapted via the parameter Lh
adjustment (C02861) in the range of 50 ... 200 %. The mutual motor inductance
evaluated in percent is shown in C00079.
The motor rotor resistance can be indirectly adapted via the parameter Rr adjustment
(C02860) in the range of 50 ... 200 %. The motor rotor resistance evaluated in percent is
shown in C00082.
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Servo control (SC)
5.4 Servo control (SC)
In the Lenze setting the servo control for synchronous motors is selected in C00006.
After the motor and controller are optimally adjusted to each other, no more basic settings
are required for servo control.
Tip!
How to optimise the control behaviour and adjust it to the concrete application is
described in the chapter "Optimise control mode". ( 152)
From software version V2.0 the parameterisable additional function "Field
weakening for synchronous machines" is provided for the servo control. ( 215)
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Servo control (SC)
5.4.1 Optimise control mode
The "optimisation steps" given in the following table serve to further optimise the control
behaviour of the servo control and adjust it to the concrete application.
Detailed information on the individual steps can be found in the following
subchapters.
Optimisation steps
1. Optimise current controller. ( 153)
• The current controller should always be optimised if a motor of a third-party manufacturer with
unknown motor data is used!
Parameterise selected technology application in the »Engineer« and load it into the controller.
• See description for the corresponding technology application.
• During operation (with setpoint selection) further steps can be carried out to optimise the motor control:
2. Optimising the speed controller. ( 156)
• Via running a typical speed profile and recording the ramp response of the speed controller with the
oscilloscope.
3. If the speed controller optimisation did not achieve the intended result:
Set current setpoint filter (band-stop filter). ( 159)
• In order to suppress or damp (mechanical) resonant frequencies, two current setpoint filters are
integrated in the speed control loop of the controller which are switched off in the default setting but
can be parameterised accordingly, if required.
Then readjust the speed controller: Optimising the speed controller. ( 156)
4. Optimising phase controller. ( 162)
• Via running a typical speed profile and recording the ramp response of the phase controller with the
oscilloscope.
5. Optimise response to setpoint changes. ( 163)
• Via running a typical speed profile and recording the inputs and outputs of the speed controller with the
oscilloscope.
6. Setting the field weakening for asynchronous machines. ( 165)
• By means of traversing a speed profile 0 ↔ nmax and recording the speed, flow, and D-current setpoints/
actual values with the oscilloscope.
7. Save »Engineer« project.
Tip!
To run a typical speed profile for optimising the motor control, you can also use the
basic function "manual jog" with suitably adapted manual jog parameters if this
basic function is supported by the technology application selected. Manual jog
( 398)
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9400 HighLine | Parameter setting & configuration
Motor interface
Servo control (SC)
5.4.1.1 Optimise current controller
Note!
The current controller should always be optimised if a motor of a third-party
manufacturer with unknown motor data is used!
An optimisation of the current controller is useful, as the two controller parameters gain
(C00075) and reset time (C00076) depend on the maximum current required and the
switching frequency set.
For this purpose, the controller parameters only need to be adapted once at a fixed
switching frequency.
We recommend to select a switching frequency
as low as possible if the controller is to be operated frequently at the maximum current
limit.
of 8 kHz (up to and including model 7) or 4 kHz (from model 8 onwards) if the
maximum current limit will not be reached or will only be reached rarely.
The controller parameters are then automatically adapted to the other switching
frequencies.
In a test mode you can select current setpoint step-changes and optimise the setting of
both control parameters by evaluating the step responses.
The starting values for gain and reset time can be calculated with the following
formula:
Stator leakage inductance
Gain = -------------------------------------------------------------------
340 μs
Stator leakage inductance
Reset time = -------------------------------------------------------------------
Stator resistance
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Motor interface
Servo control (SC)
How to optimise the current controller in the test mode:
1. If the controller is enabled, inhibit the controller, e. g. with the device command
C00002 = "41: Inhibit controller".
2. Set a fixed switching frequency using C00018. Observe the above mentioned
recommendations.
3. Activate one of the two following optimisation modes for the current controller:
• C00398 = "3: Current controller optimisation mode":
After controller enable, the motor is supplied with current as long as the
controller is enabled.
• From software version V7.0:
C00398 = "4: Current controller optimisation mode pulse":
The motor is supplied with voltage for 50 ms after controller enable. Due to this
time limit, the load of the machine is reduced. Afterwards, the controller is
inhibited automatically.
4. Select the effective value of the current setpoint step change under C00022.
• The peak value of the measurable motor current will be 1.41 times higher.
5. Enable the controller for a short time and measure the step response of the motor
current in the motor phases using the oscilloscope and clamp-on ammeters or
record the field-oriented direct-axis current using the Oscilloscope function in the
»Engineer«. ( 590)
• Variable of the motor control to be recorded:
Current.dnActualDirectCurrent (field-oriented direct-axis current)
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9400 HighLine | Parameter setting & configuration
Motor interface
Servo control (SC)
6. Evaluate the step response:
Vp < Vp opt. Vp = Vp opt. Vp > Vp opt.
I I I
Tn < Tn opt.
t t t
I I I
Tn = Tn opt.
t t t
I I I
Tn > Tn opt.
t t t
7. Change the gain Vp under C00075 and the reset time Tn under C00076.
8. Repeat steps 4 ... 6 until the optimum step response of the motor current is
reached.
• In the optimised state the current rise time typically is 0.5 ... 1 ms.
• If the adjustment results are not satisfactory, the decoupling network can be
additionally activated via the setting C00074 = "1". After this, repeat the steps
2 ... 6.
• In case of MCS, satisfying results may only be achieved with a current-
dependent correction of the current controller parameters based on the
saturation behaviour of the motor stator leakage inductance. For this purpose,
it is required to use a motor with an electronic nameplate (ENP) or to set the
saturation characteristic manually. Correction of the stator leakage
inductance... ( 210)
9. After the optimisation has been completed, deactivate the test mode again
(C00398 = "0: Test mode deactivated").
10. Save parameter set (C00002 = "11: Save start parameters").
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Motor interface
Servo control (SC)
5.4.1.2 Optimising the speed controller
The speed controller is designed as PID controller.
Gain setting
The proportional gain Vp is selected under C00070:
1. Select the speed setpoint.
2. Increase C00070 until the drive becomes unstable (observe motor noises).
3. Reduce C00070 until the drive becomes stable again.
4. Reduce C00070 to approx. half the value.
Reset time setting
The reset time is selected under C00071:
1. Reduce C00071 until the drive becomes unstable (observe motor noises).
2. Increase C00071 until the drive is stable again.
3. Increase C00071 to approx. double the value.
Rate time setting
The rate time Td is selected under C00072:
Increase C00072 during operation until an optimum control behaviour is reached.
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9400 HighLine | Parameter setting & configuration
Motor interface
Servo control (SC)
Using the ramp response for setting the speed controller
When operation of the mechanics at the stability limit is not possible, the ramp response
can be used to set the speed controller. The proceeding is similar to optimising the current
controller.
Stop!
If the controller parameters are preset unfavourably, the control can tend to
heavy overshoots up to instability!
• Following and speed errors can adopt very high values.
• For sensitive mechanical systems, the corresponding monitoring systems
have to be activated.
How to optimise the speed controller setting by means of the ramp response:
1. Run a typical speed profile and record the ramp response of the speed with the
Oscilloscope. ( 590)
• Motor control variables to be recorded:
Speed.dnSpeedSetpoint (speed setpoint)
Speed.dnActualMotorSpeed (actual speed value)
2. Evaluate the ramp response:
Vp < Vp opt. Vp = Vp opt. Vp > Vp opt.
n n n
Tn < Tn opt.
t t t
n n n
Tn = Tn opt.
t t t
n n n
Tn > Tn opt.
t t t
• Solid line = ramp response (actual speed value)
• Dash line = speed setpoint
3. Change the gain Vp under C00070 and the reset time Tn under C00071.
4. Repeat steps 1 ... 3 until the optimum ramp response is reached.
5. Save parameter set (C00002 = "11").
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9400 HighLine | Parameter setting & configuration
Motor interface
Servo control (SC)
Setting of actual speed filter
In order to maximise the dynamics of the speed control loop, the actual speed filter should
be operated with a time constant as low as possible (C00497). The lower the time constant
the higher the gain of the speed controller. Since actual value filters have the task to
dampen measuring errors or interference components, it must be found a compromise
between filter task and the resulting delay.
If a Lenze motor is selected from the motor catalogue, a time constant is automatically
preset in C00497 which serves to operate the motor even with a faulty detection (e.g. in
case of a bad shield connection).
When using EMC-compliant systems or high-quality encoders, you can reduce the preset
time constant considerably. For this purpose, the running noise of the motor can be used
for setting C00497 at constant speed.
If this is not possible, e.g. due to a too loud environment or because the motor is too far
away, the noise of the actual speed value or the setpoint torque value can be used for
evaluation by means of the Oscilloscope. Please observe that the speed controller gain Vp
(C00070) in is used for the torque setpoint.
Dynamics of the actual value detection
Another element which influences the maximally achievable control dynamics, is the
dynamics of the actual value detection itself. In case of optical encoders, the time delay by
the actual value detection does not need to be considered. This does not apply to resolvers.
The resolver evaluation of the controller is adapted to the resolver types mounted in Lenze
motors and offers a good compromise between the dynamic performance and
interference suppression. If the resolver is used as a speed feedback system, the dynamic
performance of the resolver evaluation determines, among other things, the maximum
speed controller gain by means of which stable operation is possible.
From software version V5.0 onwards, it is possible to increase the dynamics of the resolver
evaluation in C00417 in an EMC-compliant system (with low interference) without a
quality loss in the speed signal.
Adaptation of the resolver evaluation dynamics ( 252)
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9400 HighLine | Parameter setting & configuration
Motor interface
Servo control (SC)
5.4.1.3 Set current setpoint filter (band-stop filter)
Due to the high dynamic performance or the high limit frequency of the closed current
control loop, mechanical natural frequencies can be excited, which can result in resonance
and thus cause the speed control loop to become unstable.
In order to suppress or damp these resonant frequencies, two current setpoint filters are
integrated in the speed control loop of the controller, which need to be parameterised. In
the Lenze setting, these filters are switched off:
Filter 1 Filter 2
C00270/1 Frequency [Hz] C00270/2 Frequency [Hz]
C00271/1 Width [Hz] C00271/2 Width [Hz]
C00272/1 Depth [dB] C00272/2 Depth [dB]
m m*
m = Output of the jerk limitation
[5-2] Optional current setpoint filters (filter cascade) in the speed control loop
Overview of parameters for current setpoint filter
Parameter Information Lenze setting
Value Unit
C00270/1 Freq. - current setpoint filter 1 200.0 Hz
C00270/2 Freq. - current setpoint filter 2 400.0 Hz
C00271/1 Width current setp. filter 1 20.0 Hz
C00271/2 Width current setp. filter 2 40.0 Hz
C00272/1 Depth current setp. filter 1 0 DB
C00272/2 Depth current setp. filter 2 0 DB
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Motor interface
Servo control (SC)
Use of the current setpoint filters depending on the resonant frequency
Stop!
If the filter parameters are set incorrectly, the impaired closed-loop control can
respond with too large overshoots and cause the controller to become unstable,
e.g. if the filter width is set to a value more than twice as large as the filter
frequency.
After setting the filter parameters, the drive behaviour during stop and quick
stop (QSP, Fail-QSP) must be checked. If impairments exist,
• the still running drive must either be coasted down by activating the
controller inhibit or immediately be brought to a standstill via a brake.
• the speed controller must afterwards be optimised again.
• the test procedure must be repeated.
2 1 0
f
1
f fgrenz_DRZ
2 grenz_DRZ
Normal and intended use of the current setpoint filter
Use of the current setpoint filter is only partially suitable
The current setpoint filter should not be used
[5-3] Use of the current setpoint filter depending on the resonant frequency
Resonant frequencies ≥ flimit_SPEED = 70 Hz ... 110 Hz
This filter is suitable for use with resonant frequencies in the range around or above the
limit frequency of the speed controller.
Resonant frequencies < flimit_SPEED
Please follow the Lenze recommendation and select suitable speed profiles, S-ramp or S-
rounding, for avoiding resonances.
Setting of the current setpoint filter
Since the frequency response of the speed controlled system is only rarely known to such
an extent that the current setpoint filters can be adjusted to the controlled system in the
run-up, the following example describes an experimental procedure for setting the current
setpoint filters:
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9400 HighLine | Parameter setting & configuration
Motor interface
Servo control (SC)
How to set the current setpoint filters:
1. Adjust the current control loop.
2. Go to C00071 and adapt the reset time of the speed controller to the filter time
constant of the speed filter (C00497) and the equivalent time constant of the
current control loop: C00071 = 16 * (C00497 + 200 μs)
Note: The setting of C00071 incorporates the equivalent time constant of the
current control loop. The indicated 200 μs are typical in a power range of up to
20 kW. Beyond it, higher time constants may occur.
3. Slowly increase the proportional gain in C00070 until the speed control loop starts
to become unstable (acoustic determination or measuring of the motor current).
4. Measure the oscillation frequency using an oscilloscope (observe current or speed).
5. Set the measured oscillation frequency in C00270/1 as filter frequency.
6. Set "50%" of the filter frequency in C00271/1 as filter width.
• Example: Filter frequency = 200 Hz filter width = 100 Hz.
7. Set "40 dB" in C00272/1 as filter depth.
• If the filter depth is set to "0 dB" (default setting), the filter is not active.
8. Further increase the proportional gain in C00070 until the speed control loop starts
to become unstable again.
• If the oscillation frequency has changed now, readjust the filter frequency by
trimming. The use of a second filter is ineffective here.
• If the oscillation frequency remains the same, readjust the filter depth and/or
the filter width by trimming (the first reduces the amplitude, the second lets the
phase rotate faster).
• Repeat step 8 until the desired behaviour or the limit of a sensible speed
controller gain has been reached.
9. Save parameter set (C00002 = "11: Save start parameters").
Note!
Readjust the speed controller after setting the current setpoint filter.
Optimising the speed controller. ( 156)
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Motor interface
Servo control (SC)
5.4.1.4 Optimising phase controller
How to optimise the phase controller setting by means of the ramp response:
1. Run a typical speed profile and record the ramp response of the phase controller
with the Oscilloscope. ( 590)
• Motor control variables to be recorded:
Speed.dnSpeedSetpoint (speed setpoint)
Speed.dnActualMotorSpeed (actual speed value)
Speed.dnOutputPosCtrl (phase controller output)
Position.dnEncounteringError (following error)
2. Adjust the gain Vp of the phase controller under C00254 and repeat oscilloscope
recording until the intended following error behaviour is reached and the motor
runs sufficiently smoothly during the constant travel phase.
3. Save parameter set (C00002 = "11: Save start parameters").
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9400 HighLine | Parameter setting & configuration
Motor interface
Servo control (SC)
5.4.1.5 Optimise response to setpoint changes
Setting the load moment of inertia under C00273/2 does not always provide the optimum
torque feedforward control. Depending on the application, an adjustment of the setting
under C00273/2 may be necessary to optimise the response to position/speed setpoint
changes by means of the torque feedforward control.
Without feedforward control: C00273/2 set too low:
n, M n, M
t t
C00273/2 set too high: Optimum feedforward control:
n, M n, M
t t
n Speed setpoint (Speed.dnSpeedSetpoint signal)
o Actual speed value (Speed.dnActualMotorSpeed signal)
p Speed controller output (Torque.dnOutputSpeedCtrl signal)
q Torque feedforward control (Torque.dnTotalTorqueAdd signal)
[5-4] Typical signal characteristics for different settings of the load moment of inertia
Apart from the load moment of inertia, effects can be compensated with C00273/2, which
in the closed speed control loop are identified by the speed controller. These for example
include the friction torques.
Below you will find a description of a procedure for optimising the feedforward control
behaviour starting from the system's moment of inertia.
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9400 HighLine | Parameter setting & configuration
Motor interface
Servo control (SC)
How to optimise the torque feedforward control:
1. Run a typical speed profile and record the inputs and outputs of the speed
controller with the Oscilloscope. ( 590)
• Motor control variables to be recorded:
Speed.dnSpeedSetpoint (speed setpoint)
Speed.dnActualMotorSpeed (actual speed value)
Torque.dnOutputSpeedCtrl (speed controller output)
Torque.dnTotalTorqueAdd (torque feedforward control)
• Application variable to be recorded (if available):
L_LdMonitFollowError1.dnFollowErrorIn_p (following error)
It is essential for optimising the response to setpoint changes to monitor the speed
controller output (Torque.dnOutputSpeedCtrl) and the torque feedforward control
(Torque.dnTotalTorqueAdd). The effect of the feedforward control can also be
observed in the following error.
2. Select the signal source required for the torque setpoint (feedforward control path)
under C00276.
3. Estimate the load moment of inertia and set it under C00273/2 with regard to the
motor end (i.e. considering the gearbox factors).
4. Repeat the oscilloscope recording (see step 1).
Now the oscillogram should show that part of the required torque is generated by
the feedforward control (Torque.dnTotalTorqueAdd) and the speed controller
output signal (Torque.dnOutputSpeedCtrl) should be correspondingly smaller. The
resulting following error decreases.
5. Change the setting under C00273/2 and repeat the oscilloscope recording until the
intended response to setpoint changes is reached.
• The optimisation could aim at the speed controller being completely relieved
(see signal characteristics in Fig. [5-4]).
6. Save parameter set (C00002 = "11: Save start parameters").
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9400 HighLine | Parameter setting & configuration
Motor interface
Servo control (SC)
5.4.1.6 Setting the field weakening for asynchronous machines
For the following setting instructions it is assumed that the drive has been adjusted in the
base speed range (inverter error characteristic, motor parameters, current controller, speed
controller, current setpoint filter, angle controller, torque feedforward control) and is
running satisfactorily to the rated motor speed.
How to set the field weakening for an asynchronous machine:
1. Set the desired maximum speed (with field weakening) in C00011.
2. Carry out the following basic setting for the controller parameters for third-party
motors:
• Field controller gain (C00077) = 1 / (2 * C00082 * 500 μs)
• Field controller reset time (C00078) = motor rotor time constant (C00083)
• Field weakening controller gain (C00577) = 0 [Vs/V]
• Field weakening controller reset time (C00578)
= 4 ms / (0.3 … 1.0 * 60) * C00059 * 2π * C00011 [rpm] * s
(with factor 0.3 … 1.0 for motor with rated power of 400 kW … 0.4 kW)
Optimising the static behaviour in the field weakening range:
3. By means of speed ramp (acceleration time several seconds), slowly accelerate to
the field weakening range up to maximum speed (C00011),and decelerate to
speed 0 again and record the signal characteristic using the Oscilloscope (see
example oscillogram [5-5]).
• From the entry into the field weakening range, the flow setpoint (output of the
field weakening controller) should decrease with 1/n. Influences of the DC-bus
voltage may be seen in the flow setpoint. The signal characteristic should
preferably be "smooth".
• From the entry into the field weakening range, the D-current setpoint (output
of the field controller) should always decrease with 1/n. In the signal
characteristic no heavy vibrations may occur.
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9400 HighLine | Parameter setting & configuration
Motor interface
Servo control (SC)
Optimising the dynamic behaviour in the field weakening range:
4. Adapt the dynamic performance to the behaviour required for the machine
application.
5. Repeat the recording of the speed characteristic and record the small signal range
in the field weakening range (n1 ↔ n2).
• If the flow setpoint is adapted to the speed too slowly, increase the dynamic
performance of the field weakening controller: reduce the reset time (C00578)
in small steps, the gain (C00577) should remain set to 0 [Vs/V] for most
machines.
• If the flow setpoint in the field weakening range falls "too early" with 1/n2
(stability limit of the machine reached), the leakage inductance of the motor
(C00085) may be reduced a bit.
• If the actual flow value follows the flow setpoint too slowly, increase the
dynamic performance of the field controller: increase gain (C00077), reduce
reset time (C00078).
• If the actual D-current value does not correspond enough to the D-current
setpoint, the dynamic performance of the current controller has to be adapted.
Optimise current controller ( 153)
• If the motor speed does not feature the desired characteristic, the speed
controller has to be readjusted with maximum speed in the field weakening
range. Optimising the speed controller ( 156)
Checking the motor parameters:
6. Carry out dynamic measurement in the range -nMax ↔ +nMax and record the
motor speed using the Oscilloscope.
• The objective is a preferably linear speed characteristic.
• In particular check the ranges around the rated motor speed and speed 0 and, if
required, improve them by adjusting RR (C02860) or LH (C02861)!
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Servo control (SC)
Example oscillogram
Ch Variable of the motor control Unit 1/div Offset Position
1 Speed.dnActualMotorSpeed (current speed) rpm 1k 0 -4
2 Voltage.dnActualMotorVoltage (current motor voltage) V 100 0 -5
3 Torque.dnActualMotorTorque (current motor torque) Nm 500m 0 0
4 Speed.dnSpeedSetpoint (speed setpoint) rpm 1k 0 -4
5 Common.dnFluxSet (flux setpoint) % 20 0 -5
6 Common.dnActualFlux (actual flux value) % 20 0 -5
7 Current.dnDirectCurrentSet (D-current setpoint) A 1 0 0
8 Current.dnActualDirectCurrent (actual D-current value) A 1 0 0
[5-5] Example oscillogram
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Motor interface
Servo control (SC)
5.4.2 Signal flow (servo control for synchronous motor)
MI_bTorqueSetpointLimited
MI_dnTorqueSetpoint_n
C00776 MCTRL_dnInputJerkCtrl
MI_dnTorqueHighLimit_n Max. acceleration change
C00274 Bandwitdh 1 Bandwidth 2 MI_dnFilteredTorqueSetpoint_n
(1) (2) (3) M
Torque setpoint I
C00695
C00270/1 C00270/2
MI_dnTorqueLowLimit_n C00271/1 C00271/2
C00272/1 C00272/2
C02559/1...2
Internal torque limit MI_bCurrentSetpointLimited
Pilot control current controller
C00074
(4) Current controller
(8) (10)
Switching frequency
(5) C00018
Vp C00075
Tn C00076
Actual Q-current C00079
Rotating field frequency
Actual D-current C00091
M
Motor type Coordinate
Magnetising current
C00092
Field
1
(6) Current controller transformation G
current
Voltage limit calculation 0A (7) (9) (11)
0
Vp C00075
C00093 Tn C00076
Fieldweaking
2
a +b
2 MI_dnActualMotorCurrent_n
C00054 Motor current
C00780 MCTRL_dnImotAct
usq (14)
a +b
2 2 MI_dnActualMotorVoltage_n
usd
C00052 Motor voltage
C00783 MCTRL_dwMotorVoltageAct
[5-6] Signal flow - servo control for synchronous motor
See also: Signal flow - encoder evaluation ( 245)
Signal flow - speed follower ( 504)
Signal flow - torque follower ( 510)
Signal flow - position follower ( 497)
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9400 HighLine | Parameter setting & configuration
Motor interface
Servo control (SC)
Internal variables of the motor control (oscilloscope signals)
The red numbers in brackets listed in the signal flow stand for internal variables of the
motor control, which you can record by means of the Oscilloscope for purposes of
diagnostics and documentation. ( 590)
No. Variable of the motor control Meaning
(1) Torque.dnInputNotchFilter1 Torque setpoint at the band-stop filter input 1
(2) Torque.dnInputNotchFilter2 Torque setpoint at the band-stop filter 2 input
(3) Torque.dnFilteredTorqueSetpoint Filtered torque setpoint
(4) Current.dnQuadratureCurrentSet Q current setpoint
(5) Current.dnActualQuadratureCurrent Actual Q current
(6) Current.dnActualDirectCurrent Actual D current
(7) Current.dnDirectCurrentSet D current setpoint
(8) Voltage.dnOutputQuadratureCurrentCtrl Q-output voltage of the current controller
(9) Voltage.dnOutputDirectCurrentCtrl D-output voltage of the current controller
(10) Voltage.dnQuadratureVoltage Q voltage
(11) Voltage.dnDirectVoltage D voltage
(12) -
(13) -
(14) Voltage.dnActualMotorVoltage Current motor voltage
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Servo control (SC)
5.4.3 Signal flow (servo control for asynchronous motor)
MI_bTorqueSetpointLimited
MI_dnTorqueSetpoint_n
C00776 MCTRL_dnInputJerkCtrl
MI_dnTorqueHighLimit_n Max. acceleration change
C00274 Bandwitdh 1 Bandwidth 2 MI_dnFilteredTorqueSetpoint_n
(1) (2) (3) M
Torque setpoint I
C00695
C00270/1 C00270/2
MI_dnTorqueLowLimit_n C00271/1 C00271/2
C00272/1 C00272/2
C02559/1...2
Internal torque limit MI_bCurrentSetpointLimited
Pilot control current controller
C00074
(4) Current controller
(8) (10)
Switching frequency
(5) C00018
Vp C00075
Tn C00076
Actual Q-current C00079
MCTRL_dnFluxAct
Rotating field frequency
Actual D-current C00091
M
C00778 Motor type Coordinate
(12) Field controller (6) Current controller transformation G
(13) (7) (9) (11)
Vp C00077 Vp C00075
Tn C00078 Tn C00076
Filter DC detection Field weakening controller
Voltage limit 2
a +b
2 MI_dnActualMotorCurrent_n
Filter time constant C00280 Vp C00577 C00054 Motor current
Tn C00578 C00780 MCTRL_dnImotAct
usq (14)
2
a +b
2 MI_dnActualMotorVoltage_n
usd
C00052 Motor voltage
C00783 MCTRL_dwMotorVoltageAct
[5-7] Signal flow - servo control for asynchronous motor
See also: Signal flow - encoder evaluation ( 245)
Signal flow - speed follower ( 504)
Signal flow - torque follower ( 510)
Signal flow - position follower ( 497)
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Motor interface
Servo control (SC)
Internal variables of the motor control (oscilloscope signals)
The red numbers in brackets listed in the signal flow stand for internal variables of the
motor control, which you can record by means of the Oscilloscope for purposes of
diagnostics and documentation. ( 590)
No. Variable of the motor control Meaning
(1) Torque.dnInputNotchFilter1 Torque setpoint at the band-stop filter input 1
(2) Torque.dnInputNotchFilter2 Torque setpoint at the band-stop filter 2 input
(3) Torque.dnFilteredTorqueSetpoint Filtered torque setpoint
(4) Current.dnQuadratureCurrentSet Q current setpoint
(5) Current.dnActualQuadratureCurrent Actual Q current
(6) Current.dnActualDirectCurrent Actual D current
(7) Current.dnDirectCurrentSet D current setpoint
(8) Voltage.dnOutputQuadratureCurrentCtrl Q-output voltage of the current controller
(9) Voltage.dnOutputDirectCurrentCtrl D-output voltage of the current controller
(10) Voltage.dnQuadratureVoltage Q voltage
(11) Voltage.dnDirectVoltage D voltage
(12) Common.dnActualFlux Actual flux value
(13) Common.dnFluxSet Flux setpoint
(14) Voltage.dnActualMotorVoltage Current motor voltage
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Motor interface
Sensorless vector control (SLVC)
5.5 Sensorless vector control (SLVC)
This function extension is available from software version V3.0!
If this motor control mode is set in C00006, a considerably higher torque and a lower
current consumption in idle state can be achieved compared to the V/f control mode.
Note!
Observe the following application limits of the sensorless vector control:
• Only approved for power up to 55 kW and horizontal applications (no hoists
or lifting equipment)
• For single drives only
• For asynchronous motors only
• Not suitable for operation in generator mode/braking operation (e. g.
unwinders)
Tip!
For vertical drives/hoists, use the servo control (with feedback), or the V/f control
with activated voltage vector control (VVC), which supports vertical drives/hoists
up to 55 kW.
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Motor interface
Sensorless vector control (SLVC)
5.5.1 Basic settings
After the motor and controller have been optimally adjusted to each other, the "initial
commissioning steps" described in the following table are sufficient for a quick initial
commissioning.
Detailed information on the individual steps can be found in the following
subchapters.
Initial commissioning steps
1. Parameterising speed and torque controller. ( 174)
2. Additional "flying restart" function:
• In the Lenze setting, this parameterisable additional function is activated.
• If the flying restart function is not required, deactivate this function. Flying restart function ( 218)
Only deactivate the flying restart if it is ensured that the drive is always at standstill in the case of controller
enable!
3. Additional "DC-injection braking" function:
• In the Lenze setting, this parameterisable additional function is deactivated.
• If DC-injection braking is required, activate this function. DC-injection braking ( 221)
Tip!
A precise adjustment of the motor parameters for an improved concentricity factor
and stability is described in the chapter "Optimising motor parameters". ( 175)
How to optimise the control behaviour and adjust it to the concrete application is
described in the chapter "Optimise control mode". ( 181)
The parameterisable additional functions are described in the chapter of the same
name "Parameterisable additional functions". ( 209)
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Sensorless vector control (SLVC)
5.5.1.1 Parameterising speed and torque controller
Short overview: Parameters for controller settings
Parameter Information Lenze setting
Value Unit
C00070 Speed controller gain 0.500 Nm/rpm
C00071 Speed controller reset time 24.0 ms
C00987 SLVC: Torque controller gain 0.5000 Hz/A
C00988 SLVC: Torque controller reset time 10.00 ms
Typical controller settings
The following table contains typical guide values concerning the setting of the speed and
torque control for different device types/motor powers:
Device type Motor power Speed controller Torque controller
E94ASx (4-pole standard Gain Reset time Gain Reset time
ASM) C00070 C00071 C00987 C00988
[Nm/rpm] [ms] [Hz/A] [ms]
E0024 0.37 kW 0.0122 50.00 5.0833 10.00
E0034 0.75 kW 0.0138 50.00 3.0500 10.00
E0044 1.50 kW 0.0264 50.00 1.9818 10.00
E0074 3.00 kW 0.0411 50.00 1.1077 10.00
E0134 5.50 kW 0.0674 50.00 0.5965 10.00
E0174 7.50 kW 0.1183 50.00 0.3303 10.00
E0244 11.00 kW 0.1183 50.00 0.3303 10.00
E0324 15.00 kW 0.2244 50.00 0.2368 10.00
E0474 22.00 kW 0.3442 50.00 0.1547 10.00
E0594 30.00 kW 1.1503 50.00 0.1232 10.00
E0864 45.00 kW 1.7400 50.00 0.0817 10.00
E1044 55.00 kW 2.1712 50.00 0.0661 10.00
[5-1] Typical controller settings
The gain for the field current controller (C00985) and the gain for the cross current
controller (C00986) are initially set to "0.00".
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9400 HighLine | Parameter setting & configuration
Motor interface
Sensorless vector control (SLVC)
5.5.2 Optimising motor parameters
Although the motor parameters have been determined before as described in the chapter
"Adjusting motor and controller to each other", an additional optimisation may be required
in the following cases using the adjustment processes described in this chapter:
When the concentricity factor in the lowest speed range is to be improved.
When the stability in the lower speed range is to be improved.
When the rated torque is not reached in the rated point, i. e. at rated speed and rated
current.
When a too high magnetising current is injected in idle state.
General information on the motor parameter adjustment
The motor stator resistance can generally always be adjusted with a passive load since the
motor is stopped when this parameter is set.
An optimisation of the mutual motor inductance, however, is only sensible when the
motor rotates in the medium speed range. In the majority of cases, the no-load operation
is sufficient for this adjustment. In contrast to the rated operation, the no-load operation
is also possible for initial commissioning in many applications.
The motor rotor resistance can only be adjusted exactly if the current motor speed is
available. Thus, for this adjustment only applications are considered where a speed
measurement is possible, even with a manual tachometer. If, under operating conditions
(e.g. at rated load), the motor consumes more than the rated motor current indicated, an
adjustment can also be executed by reducing the mutual motor inductance.
Note!
To execute the adjustment processes described in the following subchapters,
the controller must always be enabled!
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9400 HighLine | Parameter setting & configuration
Motor interface
Sensorless vector control (SLVC)
5.5.2.1 Motor power factor
Together with the rated motor current, the motor power factor (C00091) defines the motor
magnetising current (C00092) and thus the current consumption of the controller in idle
state.
Note!
The following adjustment of the motor power factor should be executed after
the motor parameters have been determined and when the value set in C00091
deviates more than 10 % from the data on the motor nameplate.
If the setting of the motor power factor in C00091 is changed, the setting of the
mutual motor inductance also changes in C00079.
For the adjustment of the motor power factor, first the motor current in idle state at rated
speed is determined in the control type "V/f control". Afterwards the motor power factor is
set in the control type "Sensorless vector control" so that the motor magnetising current
corresponds to the previously determined no-load current.
How to adjust the motor power factor:
1. If the controller is enabled, inhibit the controller, e. g. with the device command
C00002 = "41: Inhibit controller".
2. Select the control type VFCplus: V/f control" in C00006.
3. Select setpoint speed 0 rpm
4. Enable controller.
5. Slowly increase setpoint speed to rated speed (no field weakening) and then keep
it at rated speed constantly.
6. Take down the motor current displayed in C00054.
7. Slowly reduce the setpoint speed to 0 rpm again.
8. Inhibit controller.
9. Go to C00006 and select the "SLVC: Sensorless vector control" again.
10. Set Lh adjustment in C02861 to 100 %.
11. Set the motor power factor (C00091) so that the following applies:
motor magnetising current (C00092) ≈ motor current taken down before.
12. Save parameter set (C00002 = "11: Save start parameters").
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9400 HighLine | Parameter setting & configuration
Motor interface
Sensorless vector control (SLVC)
5.5.2.2 Motor stator resistance
For the adjustment of the motor stator resistance, first the motor current at standstill
(without load of the motor) is compared to the motor magnetising current. Afterwards the
setting of the motor stator resistance is changed step by step until the motor current stably
reaches the motor magnetising current.
How to adjust the motor stator resistance:
1. Select setpoint speed 0 rpm or activate quick stop.
2. Enable controller.
3. Compare the motor current displayed in C00054 with the motor magnetising
current displayed in C00092.
4. Inhibit controller.
5. If motor current > motor magnetising current:
• Reduce the motor stator resistance stepwise in C00084.
If motor current < motor magnetising current:
• Increase the motor stator resistance stepwise in C00084.
6. Repeat steps 2 ... 5 until the following applies: Motor current ≈ motor magnetising
current.
7. Save parameter set (C00002 = "11: Save start parameters").
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Motor interface
Sensorless vector control (SLVC)
5.5.2.3 Mutual motor inductance
Adjustment at rated operation
This adjustment is executed at rated speed and a defined load (e.g. measuring brake)
which serves to define the rated torque. A condition for the adjustment is to know the real
load torque. The motor current is compared to the rated current. At rated load, these two
values should be almost identical.
If an adjustment at rated operation is not possible, alternatively execute the adjustment
at no-load operation (see the following section "Adjustment at no-load operation").
How to adjust the mutual motor inductance at rated operation:
1. Set the maximum current in C00022 to 110 % of the rated motor current (C00088).
2. Select setpoint speed 0 rpm
3. Enable controller.
4. Slowly increase setpoint speed to rated speed (no field weakening) and then keep
it at rated speed constantly.
5. Apply rated load to the motor.
6. Compare the motor current displayed in C00054 with the rated motor current
displayed in C00088.
7. If motor current > rated motor current:
• Reduce the mutual motor inductance stepwise and indirectly via the Lh
adjustment in C02861 until the following applies: motor current ≈ rated motor
current.
If motor current < rated motor current:
• Increase the mutual motor inductance stepwise and indirectly via the Lh
adjustment in C02861 until the following applies: motor current ≈ rated motor
current.
8. Unload the motor again and slowly reduce the setpoint speed to 0 rpm again.
9. Inhibit controller.
10. Save parameter set (C00002 = "11: Save start parameters").
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Sensorless vector control (SLVC)
Adjustment at no-load operation
If an adjustment at rated operation is not possible, alternatively execute the adjustment
at no-load operation.
For the adjustment of the mutual motor inductance in no-load operation, first the motor
current is compared to the motor magnetising current at a setpoint speed of approx. 75 %
of the rated speed (without load of the motor). Afterwards the setting of the mutual motor
inductance is changed step by step until the motor current just, but stably reaches the
motor magnetising current.
How to adjust the mutual motor inductance at no-load operation:
1. Select setpoint speed 0 rpm
2. Enable controller.
3. Slowly increase the setpoint speed to approx. 75 % of the rated speed and keep this
value constant.
• If the controller oscillates, check the speed controller.
4. Compare the motor current displayed in C00054 with the motor magnetising
current displayed in C00092.
5. If motor current > motor magnetising current:
• Reduce the mutual motor inductance stepwise and indirectly via the Lh
adjustment in C02861 (based on 100 %) until the following applies:
motor current < motor magnetising current
If motor current << motor magnetising current:
• Increase the mutual motor inductance stepwise and indirectly via the Lh
adjustment in C02861 (based on 100 %) until the following just applies:
motor current < motor magnetising current
6. Slowly reduce the setpoint speed to 0 rpm again.
7. Inhibit controller.
8. Save parameter set (C00002 = "11: Save start parameters").
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9400 HighLine | Parameter setting & configuration
Motor interface
Sensorless vector control (SLVC)
5.5.2.4 Motor rotor resistance
This adjustment is carried out at a setpoint speed of approx. 75 % of the rated speed and
with a defined load (e. g. measuring brake). The precondition for the adjustment is that the
actual speed is known (e. g. by the use of a manual tachometer). At constant setpoint
speed first the actual speed is measured while the machine is unloaded. Afterwards the
motor is loaded at the same setpoint speed until the rated torque is reached (rated
current). The speed measured should preferably correspond in idle state and at rated
speed.
How to adjust the motor rotor resistance:
1. Select setpoint speed 0 rpm
2. Enable controller.
3. Slowly increase the setpoint speed to approx. 75 % of the rated speed and keep this
value constant.
4. Measure actual speed nIdle (e.g. using a manual tachometer) and take it down.
5. Increase load of the motor until the motor current displayed in C00054
corresponds to the rated current.
6. Measure actual speed nLoad.
7. If nLoad < nIdle:
• Reduce motor rotor resistance stepwise and indirectly via the Rr adjustment in
C02860 until the following applies: nLoad ≈ nIdle.
If nLoad > nIdle:
• Increase motor rotor resistance stepwise and indirectly via the Rr adjustment in
C02860 until the following applies: nLoad ≈ nIdle.
8. Unload the motor again and slowly reduce the setpoint speed to 0 rpm again.
9. Inhibit controller.
10. Save parameter set (C00002 = "11: Save start parameters").
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9400 HighLine | Parameter setting & configuration
Motor interface
Sensorless vector control (SLVC)
5.5.3 Optimise control mode
A manual optimisation of the controller settings may be required for very dynamic
applications and in the field weakening range.
Note!
The processes for optimising the controller settings described in the following
subchapters can only be executed while the drive is rotating and never when
being at standstill!
For all optimisation processes the magnetisation phase has to be completed!
Based on the typical controller settings which are listed in the chapter "Parameterising
speed and torque controller" in table [5-1], first the field feedforward control and the speed
controller are optimised in the base speed range. Afterwards, the torque controller is
optimised in the field weakening range.
For optimisation, a suitable speed ramp must be selected for the drive and the acceleration
must be recorded, e.g. using the Oscilloscope function in the »Engineer«. ( 590)
Short overview: Parameters for controller settings
Parameter Information Lenze setting
Value Unit
C00070 Speed controller gain 0.500 Nm/rpm
C00071 Speed controller reset time 24.0 ms
C00985 SLVC: Field controller gain 0.00
C00986 SLVC: Cross current controller gain 0.00
C00987 SLVC: Torque controller gain 0.5000 Hz/A
C00988 SLVC: Torque controller reset time 10.00 ms
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9400 HighLine | Parameter setting & configuration
Motor interface
Sensorless vector control (SLVC)
5.5.3.1 Optimising field feedforward control
To optimise the field feedforward control, the drive must be accelerated in the base speed
range with slow setpoint ramps (e.g. acceleration time = 5 s) to speed values below the
rated speed and then decelerated again.
If the field current oscillates at the beginning of the acceleration and at the end of the
deceleration (Current.dnActualDirectCurrent), these oscillations can be reduced by
increasing the gain for the field current controller in C00985.
Ch Variable of the motor control Unit 1/div Offset Position
1 Speed.dnSpeedSetpoint (speed setpoint) rpm 0.2k 0 -4
2 Speed.dnActualMotorSpeed (current speed) rpm 0.2k 0 -4
3 Current.dnActualDirectCurrent (actual field current) A 10 0 0
4 Current.dnQuadratureCurrentSet (cross current setpoint) A 10 0 0
5 Current.dnActualQuadratureCurrent (actual cross current) A 10 0 0
[5-8] Oscillogram 1: speed ramp (motor 55 kw) – field controller gain = 0.00
[5-9] Oscillogram 2: speed ramp (motor 55 kw) – field controller gain = 2.00
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9400 HighLine | Parameter setting & configuration
Motor interface
Sensorless vector control (SLVC)
5.5.3.2 Optimising the speed controller
To optimise the speed controller, the drive must be accelerated in the base speed range
with slow setpoint ramps (e.g. acceleration time = 5 s) to speed values below the rated
speed and then decelerated again.
Gain optimisation
The proportional gain Vp is selected under C00070:
1. Increase C00070 until the drive oscillates slightly (see picture [5-10]).
2. Reduce C00070 until the drive runs stable again (see picture [5-11]).
3. Reduce C00070 to approx. half the value.
Optimise the reset time
The reset time is selected under C00071:
1. Reduce C00071 until the drive oscillates slightly.
2. Increase C00071 until the drive is stable again.
3. Increase C00071 to approx. double the value.
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Sensorless vector control (SLVC)
Ch Variable of the motor control Unit 1/div Offset Position
1 Speed.dnSpeedSetpoint (speed setpoint) rpm 0.2k 0 -4
2 Speed.dnActualMotorSpeed (current speed) rpm 0.2k 0 -4
3 Current.dnActualDirectCurrent (actual field current) A 10 0 0
4 Current.dnQuadratureCurrentSet (cross current setpoint) A 10 0 0
5 Current.dnActualQuadratureCurrent (actual cross current) A 10 0 0
[5-10] Oscillogram 1: speed ramp (motor 55 kw) – speed controller gain = 15.49
[5-11] Oscillogram 2: speed ramp (motor 55 kw) – speed controller gain = 7.49
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9400 HighLine | Parameter setting & configuration
Motor interface
Sensorless vector control (SLVC)
Setting of actual speed filter
In order to maximise the dynamics of the speed control loop, the actual speed filter should
be operated with a time constant as low as possible (C00497). The lower the time constant
the higher the gain of the speed controller. Since actual value filters have the task to
dampen measuring errors or interference components, it must be found a compromise
between filter task and the resulting delay.
If a Lenze motor is selected from the motor catalogue, a time constant is automatically
preset in C00497 which serves to operate the motor even with a faulty detection (e.g. in
case of a bad shield connection).
When using EMC-compliant systems or high-quality encoders, you can reduce the preset
time constant considerably. For this purpose, the running noise of the motor can be used
for setting C00497 at constant speed.
If this is not possible, e.g. due to a too loud environment or because the motor is too far
away, the noise of the actual speed value or the setpoint torque value can be used for
evaluation by means of the Oscilloscope. Please observe that the speed controller gain Vp
(C00070) in is used for the torque setpoint.
5.5.3.3 Optimising torque controller
To optimise the torque controller a steep speed ramp is required which reaches into the
field weakening range (e.g. 1.2 * rated speed). For this purpose, the drive must be operated
at its current and voltage limit.
Stop!
Reduce the maximum current in C00022 for this adjustment to approx. 130 % of
the motor magnetising current (C00092) to prevent shocks on the drive!
Note!
If no field weakening operation is required, the adjustment must be executed in
the base speed range.
The gain (C00987) and reset time (C00988) of the torque controller are to be set so that the
actual cross current can preferably follow the cross current setpoint.
If oscillations occur during the cross current (see illustration [5-12]), the gain (C00987)
is to be reduced until the drive is stable again (see illustration [5-13]).
Afterwards the reset time (C00988) can be reduced as long as the drive accelerates in a
stable way.
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9400 HighLine | Parameter setting & configuration
Motor interface
Sensorless vector control (SLVC)
Ch Variable of the motor control Unit 1/div Offset Position
1 Speed.dnSpeedSetpoint (speed setpoint) rpm 0.2k 0 -4
2 Speed.dnActualMotorSpeed (current speed) rpm 0.2k 0 -4
3 Current.dnActualDirectCurrent (actual field current) A 10 0 0
4 Current.dnQuadratureCurrentSet (cross current setpoint) A 10 0 0
5 Current.dnActualQuadratureCurrent (actual cross current) A 10 0 0
[5-12] Oscillogram 1: speed ramp (motor 55 kw) – torque controller gain = 0.0661
[5-13] Oscillogram 2: speed ramp (motor 55 kw) – torque controller gain = 0.0361
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9400 HighLine | Parameter setting & configuration
Motor interface
Sensorless vector control (SLVC)
5.5.3.4 Optimise current controller
Note!
Only required for sensorless vector control if one of the following functions is
used.
• Flying restart function ( 218)
• DC-injection braking ( 221)
In a test mode you can select current setpoint step-changes and optimise the parameter
settings of the current controller (gain and reset time) by evaluating the step responses.
The starting values for gain and reset time can be calculated with the following
formula:
Stator leakage inductance
Gain = -------------------------------------------------------------------
340 μs
Stator leakage inductance
Reset time = -------------------------------------------------------------------
Stator resistance
How to optimise the current controller in the test mode:
1. If the controller is enabled, inhibit the controller, e. g. with the device command
C00002 = "41: Inhibit controller".
2. Activate one of the two following optimisation modes for the current controller:
• C00398 = "3: Current controller optimisation mode":
After controller enable, the motor is supplied with current as long as the
controller is enabled.
• From software version V7.0:
C00398 = "4: Current controller optimisation mode pulse":
The motor is supplied with voltage for 50 ms after controller enable. Due to this
time limit, the load of the machine is reduced. Afterwards, the controller is
inhibited automatically.
3. Select the effective value of the current setpoint step change under C00022.
• The peak value of the measurable motor current will be 1.41 times higher.
4. Enable the controller for a short time and measure the step response of the motor
current in the motor phases using the oscilloscope and clamp-on ammeters or
record the field-oriented direct-axis current using the Oscilloscope function in the
»Engineer«. ( 590)
• Variable of the motor control to be recorded:
Current.dnActualDirectCurrent (field-oriented direct-axis current)
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Sensorless vector control (SLVC)
5. Evaluate the step response:
Vp < Vp opt. Vp = Vp opt. Vp > Vp opt.
I I I
Tn < Tn opt.
t t t
I I I
Tn = Tn opt.
t t t
I I I
Tn > Tn opt.
t t t
6. Change the gain Vp under C00075 and the reset time Tn under C00076.
7. Repeat steps 4 ... 6 until the optimum step response of the motor current is
reached.
• In the optimised state the current rise time typically is 0.5 ... 1 ms.
8. After the optimisation has been completed, deactivate the test mode again
(C00398 = "0: Test mode deactivated").
9. Save parameter set (C00002 = "11: Save start parameters").
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9400 HighLine | Parameter setting & configuration
Motor interface
Sensorless vector control (SLVC)
5.5.4 Signal flow
f(C00022, Pull-out slip limitation) Actual Q-current
(3)
MI_bTorqueSetpointLimited
MI_dnTorqueSetpoint_n
C00776
MI_bCurrentSetpointLimited
Torque controller
MI_dnTorqueHighLimit_n
Feedforward
Torque setpoint M C00986 control C00059 Number of pole pairs
I
C00695 (1) (2)
C00051 Actual speed value
MI_dnTorqueLowLimit_n (4)
C00987 Gain C00497
C02559/1...2 C00988 Reset time Switching frequency
Internal torque limits C00018
Coordinate
Flux model (6) Motor model transformation
Slip calculation
(5) (7) C00079 (8)
C00091
M
(9)
Filter - DC detection Inverter error
characteristic
Voltage limit
(11) Feedforward
Filter time constant C00280 Field weakening C00985 control
Field controller MI_dnActualFlux_n
(12) C00778 MCTRL_dnFluxAct
usq (10) Actual D-current
2
a +b
2 MI_dnActualMotorVoltage_n
usd
C00052 Motor voltage
C00783 MCTRL_dwMotorVoltageAct
(3)
Actual Q-current
2
a +b
2 MI_dnActualMotorCurrent_n
Actual D-current
(10) C00054 Motor current
C00780 MCTRL_dnImotAct
[5-14] Signal flow - sensorless vector control
Internal variables of the motor control (oscilloscope signals)
The red numbers in brackets listed in the signal flow stand for internal variables of the
motor control, which you can record by means of the Oscilloscope for purposes of
diagnostics and documentation. ( 590)
No. Variable of the motor control Meaning
(1) Torque.dnTorqueSetpoint Torque setpoint
(2) Current.dnQuadratureCurrentSet Q current setpoint
(3) Current.dnActualQuadratureCurrent Actual Q current
(4) Speed.dnActualMotorSpeed Actual speed
(5) Common.dnActualFlux Actual flux value
(6) Frequency.dnActualSlipFrequency Actual slip frequency
(7) Frequency.dnActualRotatingFieldFrequency Actual field frequency
(8) Voltage.dnQuadratureVoltage Q voltage
(9) Voltage.dnDirectVoltage D voltage
(10) Voltage.dnActualMotorVoltage Current motor voltage
(11) Current.dnDirectCurrentSet D current setpoint
(12) Current.dnActualDirectCurrent Actual D current
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9400 HighLine | Parameter setting & configuration
Motor interface
V/f control (VFCplus)
5.6 V/f control (VFCplus)
This function extension is available from software version V3.0!
If this motor control mode is set in C00006, the output voltage of the controller follows a
firmly defined characteristic.
Note!
The operation of vertical drives/hoists is only supported up to 55 kW by the V/f
control!
5.6.1 Basic settings
After the motor and controller have been optimally adjusted to each other, the "initial
commissioning steps" described in the following table are sufficient for a simple
characteristic control.
Detailed information on the individual steps can be found in the following
subchapters.
Initial commissioning steps
1. Defining the V/f characteristic. ( 191)
2. Setting the voltage boost. ( 192)
3. Parameterising load adjustment. ( 194)
4. Activating voltage vector control. ( 195)
• The Voltage Vector Control (VCC), which can be activated, serves to provide a torque at low field
frequencies. This task is executed by a current controller the output voltage of which is added to the
voltage from the characteristic.
5. Defining the current limit (Imax controller). ( 196)
6. Additional "flying restart" function:
• In the Lenze setting, this parameterisable additional function is activated.
• If the flying restart function is not required, deactivate this function. Flying restart function ( 218)
Only deactivate the flying restart if it is ensured that the drive is always at standstill in the case of controller
enable!
7. Additional "DC-injection braking" function:
• In the Lenze setting, this parameterisable additional function is deactivated.
• If DC-injection braking is required, activate this function. DC-injection braking ( 221)
Tip!
How to optimise the control behaviour and adjust it to the concrete application is
described in the chapter "Optimise control mode". ( 197)
The parameterisable additional functions are described in the chapter of the same
name "Parameterisable additional functions". ( 209)
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9400 HighLine | Parameter setting & configuration
Motor interface
V/f control (VFCplus)
5.6.1.1 Defining the V/f characteristic
Linear/square-law characteristic
C00950 serves to select the shape of the characteristic to adjust the characteristic to
different load profiles:
Linear characteristic for drives with constant load torque over the speed.
Square-law characteristic for drives with a linear or square-law load torque over the
speed:
– Square-law V/f characteristics are mostly used in centrifugal pump and fan drives.
However, it must be checked in each individual case if your pump or fan drive can be
used in this operating mode!
– If your pump or fan drive is not suitable for operation with a square-law V/f
characteristic, you have to use the linear or user-definable V/f characteristic or the
sensorless vector control instead of the V/f control.
U U
C00090 C00090
0 fsoll 0 fsoll
0 C00951 0 C00951
n C00090: Rated motor voltage
o C00951: V/f base frequency
[5-15] Linear/square-law V/f characteristic
The calculation of the characteristic considers the rated motor voltage (C00090) and
the V/f base frequency (C00951).
Short overview: Parameters for V/f characteristic
Parameter Information Lenze setting
Value Unit
C00950 VFC: V/f characteristic shape Linear (V/f)
C00951 VFC: V/f base frequency 50 Hz
C00952/1...11 VFC: Frequency interpol. point n Free definition of the V/f
characteristic ( 198)
C00953/1...11 VFC: Voltage interpol. point n
C00954/1...11 VFC: Activat. interpol. point n
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9400 HighLine | Parameter setting & configuration
Motor interface
V/f control (VFCplus)
5.6.1.2 Setting the voltage boost
C00960 and the MI_dnBoostSet_n input of the motor interface serve to define a constant,
load independent voltage boost at low speeds (below the V/f rated frequency) or at motor
standstill to optimise the starting performance.
Stop!
If the motor is operated at standstill for a longer time - especially in case of
smaller motors - the motor can be destroyed by overtemperature!
• Connect the thermal contact (NC contact), PTC, or KTY of the motor and
activate the motor temperature monitoring of the controller.
• Operate self-ventilated motors with a blower, if required.
Note!
When device types > BF7 are used, the voltage boost only functions in a
restricted way due to the hardware properties!
Depending on the required starting torque, the voltage boost must be set so that the
required motor current will be available after controller enable (starting current ~ Vmin).
Tip!
The required voltage can be calculated by multiplying the stator resistance by the
rated magnetising current:
U min = R S ⋅ I mN
Optionally, the voltage can be determined empirically by increasing the value for
the voltage boost until the rated magnetising current flows.
Via the input MI_dnBoostSet_n the voltage has to be selected in [%] relating to the
rated motor voltage (C00090).
In C00960, however, the voltage must be set directly in [V].
Only positive voltage values can be selected, negative values are limited to 0 V.
Both selections are added:
C00090
U Boost = MI_dnBoostSet_n ⋅ -------------------- + C00960
100 %
The resulting voltage VBoost is added geometrically to the characteristic voltage:
2 2
U = U Characteristic + U Boost
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9400 HighLine | Parameter setting & configuration
Motor interface
V/f control (VFCplus)
U U
C00090 C00090
UBoost UBoost
0 fsoll 0 fsoll
0 C00951 0 C00951
n C00090: Rated motor voltage
o C00951: V/f base frequency
[5-16] Voltage boost at linear/square-law V/f characteristic
Short overview: Parameters for voltage boost
Parameter Information Lenze setting
Value Unit
C00960 VFC: V/f voltage boost 0 V
Tip!
For magnetising the motor, consider a sufficient time from the controller enable to
the start of the speed ramp function generator.
• The bigger the motor the longer the time required for magnetisation. A motor
with a power of 90 kW requires up to 2 seconds.
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9400 HighLine | Parameter setting & configuration
Motor interface
V/f control (VFCplus)
5.6.1.3 Parameterising load adjustment
C00962 serves to parameterise a load adjustment in [%] proportionally to the rated torque
to obtain a correspondingly "rigid "drive behaviour even after the starting action.
When starting torque = rated torque, a load adjustment of 50 % is suitable for most
applications.
Stop!
If the load adjustment is too high, the motor current may increase in idle state
and the motor may overheat!
The C00961 parameter serves to adjust the characteristic depending on the load at CW and
CCW rotation:
Setting in C00961 Information
0: CW rotation in motor mode/CCW rotation in motor The motor operates in motor mode in both directions.
mode
1: CW rotation in motor mode/CCW rotation in Application example: Hoist without counterweight
generator mode
2: CW rotation in generator mode/CCW rotation in Application example: Dancer-controlled unwinder
motor mode
Short overview: Parameters for load adjustment
Parameter Information Lenze setting
Value Unit
C00961 VFC: Load - cw/ccw-operation CW: mot. / CCW: mot.
C00962 VFC: Load adjustment 20.00 %
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Motor interface
V/f control (VFCplus)
5.6.1.4 Activating voltage vector control
The Voltage Vector Control (VCC), which can be activated, is an alternative to the voltage
boost. The voltage vector control is used if a high starting torque has to be ensured. The
voltage vector control ensures that the motor current required for this purpose is available
in the zero speed range.
Note!
A disadvantage of the voltage vector control is the increased current at low
speeds. This causes higher losses and thus an increased heating of the machine.
The voltage vector control is activated by defining a current setpoint in C00957 and can be
deactivated again by setting "0.0 A".
The voltage vector control is additive to the voltage boost.
Setting the voltage boost ( 192)
When the current setpoint is defined, provide a reserve of 20 % to prevent a motor
stalling caused by sudden additional loads.
Example for starting torque = rated motor torque:
The current setpoint must be parameterised in C00957 to approx. 120 % of the load
current.
Setting of the controller parameters
For the gain (C00958) and the reset time (C00959), accept the values that have been
detected for the current controller gain (C00075) and reset time (C00076) in the test mode.
Optimise current controller ( 202)
Since the voltage vector control controls the current value which has a higher background
noise due to its calculation, the reset time might possibly be increased.
Short overview: Parameters for voltage vector control
Parameter Information Lenze setting
Value Unit
C00957 VFC: VVC current setpoint 0.00 A
C00958 VFC: VVC gain 0.00 V/A
C00959 VFC: VVC reset time 2000.00 ms
Tip!
For controllers with a power > 55 kW we recommend to use the voltage vector
control for horizontal drives for improving the smooth running characteristics.
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9400 HighLine | Parameter setting & configuration
Motor interface
V/f control (VFCplus)
5.6.1.5 Defining the current limit (Imax controller)
The current limit for the Imax controller is defined by the maximum current which must be
set in C00022. If the motor current exceeds the value set in C00022, the Imax controller
gets active.
The Imax controller changes the field frequency so that the motor current does not
exceed the current limit. In motor mode, the frequency is reduced and in generator
mode it is increased.
Gain and reset time of the Imax controller can be parameterised in C00963 and
C00964.
Short overview: Parameters for Imax controller
Parameter Information Lenze setting
Value Unit
C00022 Maximum current 0.00 A
C00963 VFC: Gain - Imax controller 0.001 Hz/A
C00964 VFC: Reset time - Imax controller 100.0 ms
Optimise the Imax controller
If oscillations occur during operation at the current limit, the Imax controller has to be
decelerated:
– Reduce gain (C00963)
– Increase reset time (C00964)
If the Imax controller does not operate fast enough after having exceeded the current
limit, it must be accelerated:
– Increase gain (C00963)
– Reduce reset time (C00964).
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9400 HighLine | Parameter setting & configuration
Motor interface
V/f control (VFCplus)
5.6.2 Optimise control mode
The "optimisation steps" given in the following table serve to further optimise the control
behaviour of the V/f control and adjust it to the concrete application.
Detailed information on the individual steps can be found in the following
subchapters.
Optimisation steps
1. Free definition of the V/f characteristic. ( 198)
• Individual adjustment of the motor magnetisation to the concrete application if linear and square-law
characteristics are not suitable.
2. Parameterising slip compensation. ( 199)
3. Parameterising oscillation damping. ( 200)
4. When the flying restart function is used: Optimise flying restart process. Flying restart function ( 218)
5. Optimise current controller. ( 202)
• Only required if one of the following functions is used:
– Voltage vector control ( 195)
– Flying restart function ( 218)
– DC-injection braking ( 221)
6. Save »Engineer« project.
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197
9400 HighLine | Parameter setting & configuration
Motor interface
V/f control (VFCplus)
5.6.2.1 Free definition of the V/f characteristic
To individually adjust the motor magnetisation to the real application, a user-definable
characteristic can be selected in C00950 if the linear and square-law characteristic are not
suitable.
The interpolation points (voltage/frequency values) of this characteristic are selected
via the 11 subcodes of C00952 and C00953.
If less interpolation points are required, the interpolation points that are not needed
have to be deactivated via the subcodes of C00954.
In the Lenze setting the 11 interpolation points represent a linear characteristic:
U [V]
C00952/1 C00952/11
C00953/1 C00953/11
P1 C00952/2 400 P11
C00953/2
P2 C00952/3 320 P10
C00953/3
P3 240 P9
P4 160 P8
P5 80 P7
P6
-50 -40 -30 -20 -10 0 10 20 30 40 50 f [Hz]
P1 P2 P3 P4 P5 P6 P7 P8 P9 P10 P11
V 400 V 320 V 240 V 160 V 80 V 0V 80 V 160 V 240 V 320 V 400 V
f -50 Hz -40 Hz -30 Hz -20 Hz -10 Hz 0 Hz 10 Hz 20 Hz 30 Hz 40 Hz 50 Hz
[5-17] User-definable characteristic (Lenze setting)
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9400 HighLine | Parameter setting & configuration
Motor interface
V/f control (VFCplus)
5.6.2.2 Parameterising slip compensation
The slip compensation serves to automatically compensate a load-dependent speed loss.
In order that the slip compensation can operate correctly, the rated slip of the motor is
required. This is calculated from the rated frequency (C00089) and the rated speed
(C00087), thus both parameters must be parameterised correctly.
A percentage adjustment of the calculated slip can be made in C00965, e.g. when the
real motor data deviate from the data given on the nameplate. A value of 100 % in
C00965 corresponds to the rated slip of the machine.
The time behaviour of the slip compensation can be parameterised in C00966.
Short overview: Parameters for slip compensation
Parameter Information Lenze setting
Value Unit
C00965 VFC: Gain - slip compensation 0.00 %
C00966 VFC: Time constant - slip compens. 2000 ms
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199
9400 HighLine | Parameter setting & configuration
Motor interface
V/f control (VFCplus)
5.6.2.3 Parameterising oscillation damping
The oscillation damping serves to reduce the oscillations during no-load operation which
are caused by energy oscillating between the mechanical system (mass inertia) and the
electrical system (DC bus). Furthermore, the oscillation damping can also be used to
compensate resonances.
Note!
Observe the following restrictions:
• Oscillations occurring sporadically cannot be damped.
• Damping is possible only for constant oscillations at a steady-state operating
point.
• The oscillation damping is not suitable for oscillations occurring during
dynamic processes (e.g. accelerations or load changes).
Function
The determination of the oscillation is based on the active current. In order to obtain the
alternating component of the active current, this current is differentiated. This signal is
then passed through a PT1 filter.
The base frequency of the PT1 filter has to be set in such a way that the oscillation can
be damped and higher-frequency components are filtered out of the signal. For this
purpose the time constant (C00968) is used.
C00967 serves to parameterise the gain of the oscillation signal. The maximum
amplitude of the frequency change determined by the oscillation damping is set via
C00969.
Oscillation damping is only active if the setpoint speed is greater than 10 rpm and the
DC-bus voltage exceeds a value of 100 V.
In the lower speed range, the oscillation damping may have a negative impact on the
concentricity factor.
– Therefore from software version V5.0 a ramp end frequency can be set in C00970, up
to which the gain of the oscillation damping (C00967) from 10 rpm is slowly
increased with increasing rotational frequency.
C00968 C00969
Actual value
of active current
Set value
of rotating frequency
C00967
C00970
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9400 HighLine | Parameter setting & configuration
Motor interface
V/f control (VFCplus)
Identification of the oscillation
Before the oscillation damping can be parameterised, the oscillation has to be identified.
One way is to examine the motor current while oscillation damping is switched off
(C00967 = 0 %). At steady-state operation, a constant current flows. If the drive oscillates,
these oscillations are also visible on the motor current. It is therefore possible to determine
the frequency and the amplitude of the oscillation from the alternating component of the
motor current. In the following, this alternating component is referred to as "current
oscillation".
Parameter setting
The time constant (C00968) is determined from the reciprocal value of twice the
frequency of the current oscillation:
1
Time constant = --------------------------------------------------------------
2 ⋅ Oscillation frequency
The gain factor (C00967) is calculated with the following formula based on the
relationship between the amplitude of the current oscillation and the maximum device
current:
Current amplitude
Gain = ------------------------------------------------------------------------------------------------------ ⋅ 100 %
2 ⋅ Maximum device current (C00789)
The maximum oscillation frequency (C00969) serves to the absolute limitation of the
oscillation frequency calculated before it is added to the field frequency. It can be
derived from the amplitude of the current oscillation, the rated motor current, and the
slip frequency of the motor connected:
2 ⋅ Amplitude of the current oscillation
Max. frequency = ---------------------------------------------------------------------------------------------------- ⋅ Rated slip frequency
Rated motor current
From software version V5.0: The ramp end frequency (C00970) defines the rotational
frequency from which the gain factor is to have reached its nominal value (C00967).
– The ramp end frequency refers to the rated motor frequency in percent (C00089).
– Below a speed of 10 rpm, the oscillation damping remains deactivated.
– For machines with a power greater than 55 kW a ramp end frequency of 20 % is
recommended.
Short overview: Parameters for oscillation damping
Parameter Information Lenze setting
Value Unit
C00967 VFC: Gain - oscillation damping 20 %
C00968 VFC: Time const. - oscill. damp. 5 ms
C00969 VFC: Limitation - oscillation damping 0.2 Hz
C00970 VFC: Ramp end freq. - oscillation damping 0 %
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9400 HighLine | Parameter setting & configuration
Motor interface
V/f control (VFCplus)
5.6.2.4 Optimise current controller
Note!
Only required if one of the following functions is used:
• Voltage vector control ( 195)
• Flying restart function ( 218)
• DC-injection braking ( 221)
In a test mode you can select current setpoint step-changes and optimise the parameter
settings of the current controller (gain and reset time) by evaluating the step responses.
The starting values for gain and reset time can be calculated with the following
formula:
Stator leakage inductance
Gain = -------------------------------------------------------------------
340 μs
Stator leakage inductance
Reset time = -------------------------------------------------------------------
Stator resistance
How to optimise the current controller in the test mode:
1. If the controller is enabled, inhibit the controller, e. g. with the device command
C00002 = "41: Inhibit controller".
2. Activate one of the two following optimisation modes for the current controller:
• C00398 = "3: Current controller optimisation mode":
After controller enable, the motor is supplied with current as long as the
controller is enabled.
• From software version V7.0:
C00398 = "4: Current controller optimisation mode pulse":
The motor is supplied with voltage for 50 ms after controller enable. Due to this
time limit, the load of the machine is reduced. Afterwards, the controller is
inhibited automatically.
3. Select the effective value of the current setpoint step change under C00022.
• The peak value of the measurable motor current will be 1.41 times higher.
4. Enable the controller for a short time and measure the step response of the motor
current in the motor phases using the oscilloscope and clamp-on ammeters or
record the field-oriented direct-axis current using the Oscilloscope function in the
»Engineer«. ( 590)
• Variable of the motor control to be recorded:
Current.dnActualDirectCurrent (field-oriented direct-axis current)
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9400 HighLine | Parameter setting & configuration
Motor interface
V/f control (VFCplus)
5. Evaluate the step response:
Vp < Vp opt. Vp = Vp opt. Vp > Vp opt.
I I I
Tn < Tn opt.
t t t
I I I
Tn = Tn opt.
t t t
I I I
Tn > Tn opt.
t t t
6. Change the gain Vp under C00075 and the reset time Tn under C00076.
7. Repeat steps 4 ... 6 until the optimum step response of the motor current is
reached.
• In the optimised state the current rise time typically is 0.5 ... 1 ms.
8. After the optimisation has been completed, deactivate the test mode again
(C00398 = "0: Test mode deactivated").
9. If the Imin control is used, both calculated controller parameters can also be used
for the Imin controller:
• C00075 C00958 (Imin controller: gain)
• C00076 C00959 (Imin controller: reset time )
10. Save parameter set (C00002 = "11: Save start parameters").
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9400 HighLine | Parameter setting & configuration
Motor interface
V/f control (VFCplus)
5.6.2.5 Optimise pull-out slip limitation
M = Mmax
1.0
0.9
M = Mmax * n1/n
0.8
0.7
0.6
M2
0.5
0
0.4
M = M2 * n22/n2
0.3
1
0.2
0.1 2
0
2.0
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
3.0
3.1
3.2
3.3
3.4
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1.0
n1 n2
[5-18] Speed/torque curve of the asynchronous motor with two field weakening ranges and
The operating range of an asynchronous motor consists of the voltage control range and
the field weakening range. The field weakening range again is divided into two ranges:
In the first range , the power can be kept constant without causing motor stalling.
The second field weakening range is characterised by the fact that the maximum
permissible stator current (defined via C00022 "Maximum current") is reduced to
prevent motor stalling.
The override point (n2, M2) can be influenced via C00980 ("VFC: Override point of field
weakening"). If the motor stalls in the field weakening range, the override point (n2, M2)
can be adjusted by decreasing C00980 so that motor stalling is avoided.
If the motor does not provide sufficient torque in the field weakening range, C00980 must
be increased.
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9400 HighLine | Parameter setting & configuration
Motor interface
V/f control (VFCplus)
5.6.3 Signal flow
Oscillation damping
Gain C00967 Limitation
Time constant C00968 C00967
Actual Q-current
(3)
Imax controller Speed setpoint C00050
C00963 Gain
C00964 Reset time Slip compensation
Maximum current C00022
Actual motor current C00780 C00965 Gain
(2) C00966 Time constant (5)
fmax = f(C00018, C00059)
fmax fmax fmax
(4)
Speed setpoint (6)
C00050 (1)
Number of pole pairs C00059
Load adjustment 0
1
MI_dnActualMotorFreq_s
2
Characteristic C00784 MCTRL_dnMotorFreqAct
Base frequency C00951 Load
calculation Rated slip
Charact. shape C00950 CW/CCW rotation C00961 Switching frequency
Linear Load adjustment C00962 C00018
characteristic Inverter error
0
(7) characteristic
Square-law 1
characteristic 2
MI_dnBoostSet_n
(8)
2
a +b
2
M
User-definable C00960 Coordinate
characteristic transformation
V/f voltage boost
(9)
Frequency values 1...11 C00952/1...11 MI_dnActualMotorVoltage_n
Voltage values 1...11 C00953/1...11 C00052 Motor voltage
Activat. of interpolat. point 1...11 C00954/1...11
C00783 MCTRL_dwMotorVoltageAct
VVC controller
Motor current C00054
C00957 Current setpoint
C00958 Gain
C00959 Reset time
[5-19] Signal flow - V/f control
Internal variables of the motor control (oscilloscope signals)
The red numbers in brackets listed in the signal flow stand for internal variables of the
motor control, which you can record by means of the Oscilloscope for purposes of
diagnostics and documentation. ( 590)
No. Variable of the motor control Meaning
(1) Speed.dnSpeedSetpoint Speed setpoint
(2) Current.Current.dnActualMotorCurrent Actual motor current
(3) Current.dnActualQuadratureCurrent Actual Q current
(4) Speed.dnActualMotorSpeed Current motor speed
(5) Frequency.dnActualSlipFrequency Actual slip frequency
(6) Frequency.dnActualRotatingFieldFrequency Actual field frequency
(7) Voltage.dnOutputQuadratureVoltage Q voltage
(8) Voltage.dnOutputDirectCurrentCtrl D voltage
(9) Voltage.dnActualMotorVoltage Current motor voltage
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9400 HighLine | Parameter setting & configuration
Motor interface
V/f control (VFCplus)
5.7 V/f control (VFCplus)
This function extension is available from software version V3.0!
Note!
The descriptions in the chapter "V/f control (VFCplus)" also apply to the V/f
control closed loop. ( 190)
When this motor control mode is used, the operation can be continued if the
encoder fails. For this, the encoder monitoring must be parameterised to
"Warning". If the encoder fails, the speed controller is "frozen" so that the slip
correction via the speed controller is maintained.
For the closed loop V/f control, the speed controller (also called "slip regulator") also has to
be parameterised for the speed feedback.
C00971 serves to define the influence of the speed controller in [%] with regard to the
reference speed of the motor (C00011). If the influence is adjusted to the slip expected
under normal operating conditions, the motor cannot accelerate in an uncontrolled
way when the encoder fails.
To activate the speed controller, parameterise the gain (C00972) and the reset time
(C00973).
Short overview: Parameters for speed controller
Parameter Information Lenze setting
Value Unit
C00971 VFC: Influence - speed controller 10.00 %
C00972 VFC: Gain - speed controller 0.000 Hz/rpm
C00973 VFC: Reset time - speed controller 6000.0 ms
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9400 HighLine | Parameter setting & configuration
Motor interface
V/f control (VFCplus)
5.7.1 Signal flow
Oscillation damping
Gain C00967 Limitation
Time constant C00968 C00967
Actual Q-current
(3)
Imax controller Speed setpoint C00050
C00963 Gain
C00964 Reset time
Maximum current C00022
Actual motor current C00780
(2)
fmax = f(C00018, C00059)
fmax fmax fmax fmax
(4)
Speed setpoint (6)
C00050 (1)
Motor reference speed C00011
Motor pole pair number C00059
Number of pole pairs C00059
Feedback influence C00971
Speed controller
C00971 Influence
Number of pole pairs C00059 C00972 Gain
C00973 Reset time
Unfiltered actual speed value
Filter time constant C00497
Actual speed value C00051
MI_dnActualMotorFreq_s
Characteristic C00784 MCTRL_dnMotorFreqAct
Base frequency C00951
calculation
Charact. shape C00950 Switching frequency
Linear C00018
characteristic Inverter error
0
(7) characteristic
Square-law 1
characteristic 2
MI_dnBoostSet_n
(8)
2
a +b
2
M
User-definable C00960 Coordinate
characteristic transformation
V/f voltage boost
(9)
Frequency values 1...11 C00952/1...11 MI_dnActualMotorVoltage_n
Voltage values 1...11 C00953/1...11 C00052 Motor voltage
Activat. of interpolat. point 1...11 C00954/1...11
C00783 MCTRL_dwMotorVoltageAct
VVC controller
Motor current C00054
C00957 Current setpoint
C00958 Gain
C00959 Reset time
[5-20] Signal flow for closed loop V/f control
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9400 HighLine | Parameter setting & configuration
Motor interface
V/f control (VFCplus)
Internal variables of the motor control (oscilloscope signals)
The red numbers in brackets listed in the signal flow stand for internal variables of the
motor control, which you can record by means of the Oscilloscope for purposes of
diagnostics and documentation. ( 590)
No. Variable of the motor control Meaning
(1) Speed.dnSpeedSetpoint Speed setpoint
(2) Current.Current.dnActualMotorCurrent Actual motor current
(3) Current.dnActualQuadratureCurrent Actual Q current
(4) Speed.dnActualMotorSpeed Current motor speed
(6) Frequency.dnActualRotatingFieldFrequency Actual field frequency
(7) Voltage.dnOutputQuadratureVoltage Q voltage
(8) Voltage.dnOutputDirectCurrentCtrl D voltage
(9) Voltage.dnActualMotorVoltage Current motor voltage
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9400 HighLine | Parameter setting & configuration
Motor interface
Parameterisable additional functions
5.8 Parameterisable additional functions
Detailed information on the parameterisable additional functions can be found in the
following subchapters:
Parameterisable additional functions Available from Motor control*
software version SC SLVC VFC
plus
Correction of the stator leakage inductance... ( 210) V1.0 z
Field weakening for synchronous machines ( 215) V2.0 z
Flying restart function ( 218) V3.0 z z
DC-injection braking ( 221) V3.0 z z
* SC = servo control SLVC = sensorless vector control VFCplus = V/f control
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Parameterisable additional functions
5.8.1 Correction of the stator leakage inductance...
...and the current controller parameters by means of the saturation characteristic
Note!
Function only possible for servo control!
The current controller must be adjusted to the electrical characteristics of the motor stator
resistance (C00084) and stator leakage inductance (C00085). In case of modern motors, the
stator leakage inductance changes with the height of the current so that a new current
controller setting is required for each current height.
When the motor is operated with very low and very high currents (e.g. in pick and place
applications), it is not always possible to achieve a satisfactory current controller setting
for all operating points. For this purpose, the correction of the stator leakage inductance
and current controller parameters is now possible via an adjustable saturation
characteristic that can be set in C02853 (17 interpolation points).
The following picture shows a typical saturation characteristic of an MCS motor:
L/Ln
120 %
100 %
80 %
60 %
40 %
20 %
0% I/Imax
0% 10 % 20 % 30 % 40 % 50 % 60 % 70 % 80 % 90 % 100 %
[5-21] Saturation characteristic: Inductance referring to the inductance for rated current
By optimising the current controller with different current setpoints such a
characteristic can be determined "by trial" and set in C02853.
The correction by means of this saturation characteristic can be switched off or on via
C02859.
Note!
The saturation characteristic is not only used for the correction of the current
controller but also influences the current controller feedforward control
(C00074).
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Motor interface
Parameterisable additional functions
Distribution of the interpolation points
The saturation characteristic is defined by 17 interpolation points which are distributed
linearly on the x axis.
Interpolation point 17 represents 100 % of the maximum motor current in the process
(C02855).
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
Vp [V/A]
Tn [ms]
Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]
[5-22] Saturation characteristic: Distribution of the interpolation points
Example for determining the saturation characteristic
Given values:
Rated motor current: 5 A
Maximum motor current: 20 A
Maximum process current: 15 A (must be set later in C00022)
Procedure:
1. Deactivate correction (C02859 = "OFF").
2. Set the maximum current up to which the motor is to be operated in the process in
C02855 (in this example "15 A").
– The value set in C02855 has to be greater or the same as C00022.
3. Adjust the current controller with different current setpoints and take down the
corresponding settings for Vp and Tn.
– The procedure for the adjustment is described in the chapter "Optimise current
controller".
– The current setpoints that are to be set for the respective adjustment in C00022
result from the scaling of the maximum process current to the x axis of the
saturation characteristic.
– The interpolation points which are required to define the saturation characteristic
with a sufficient quality varies from motor to motor and thus has to be determined
individually.
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Parameterisable additional functions
– For this example currents were selected that are part of the interpolation points 5, 9,
13, and 15, and a measurement at rated motor current was carried out:
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
Vp [V/A]
Tn [ms]
Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]
0A 3.75 A 5A 7.5 A 11.25 A 12.38 A 15 A
nRated motor current
o Maximum process current (≡ 100 %)
[5-23] Saturation characteristic: Distribution of the interpolation points
Specifications for adjustment Measured values
Interpolation point Scaling Setting in C00022 Vp [V/A] Tn [ms]
5 0.25 * 15 A = 3.75 A 13 6.5
9 0.5 * 15 A = 7.5 A 8 4
13 0.75 * 15 A = 11.25 A 5 2.5
15 0.875 * 15 A = 12.38 A 4 2
17 1.0 * 15 A = 15 A 3 1.7
Rated motor current = 5A 10 5
4. Create a characteristic based on the values calculated for Vp.
– Here, the values which have not been adjusted must be determined by interpolation
between two values.
– Note: In this example it was assumed that the inductance does not change
considerably below 3.75 A. For this reason the same Vp value resulting from a
measurement with a motor current of 3.75 A was used for all interpolation points
below 3.75 A.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
Vp [V/A]
13
12
11
10
9
8
7
6
5
4
3
2
1
0 Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]
0A 3.75 A 5A 7.5 A 11.25 A 12.38 A 15 A
[5-24] Determined saturation characteristic
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9400 HighLine | Parameter setting & configuration
Motor interface
Parameterisable additional functions
5. Set the gain Vp in C00075 and the reset time Tn in C00076, which have been
determined during the adjustment with rated motor current (in this example "5 A"):
– Set C00075 = "10 V/A".
– Set C00076 = "5 ms".
6. Scale the Vp values on the Y axis of the characteristic to the 100 % Vp setting in C00075:
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
Vp [%]
130 13
120 12
C00075 = "10 V/A" º 100 %
110 11
100 10
90 9
80 8
70 7
60 6
50 5
40 4
30 3
20 2
10 1
0 0 Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]
0A 3.75 A 5A 7.5 A 11.25 A 12.38 A 15 A
[5-25] Scaling of the determined saturation characteristic to the "100 %" setting in C00075
7. Enter the Vp values in percent, which are placed on the interpolation point, in C02853/
1...17:
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17
Vp [%]
130
107
95
87.5
80
72.5
65
57.5
50
45
40
35
30
0 Imax
0 6.25 12.5 18.75 25 31.25 37.5 43.75 50 56.25 62.5 68.75 75 81.25 87.5 93.75 100 [%]
[5-26] Interpolation point values of the saturation characteristic determined
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Parameterisable additional functions
Interpolation Setting Interpolation Setting
point point
1 C02853/1 = 130 % 10 C02853/10 = 72.5 %
2 C02853/2 = 130 % 11 C02853/11 = 65 %
3 C02853/3 = 130 % 12 C02853/12 = 57.5 %
4 C02853/4 = 130 % 13 C02853/13 = 50 %
5 C02853/5 = 130 % 14 C02853/14 = 45 %
6 C02853/6 = 107 % 15 C02853/15 = 40 %
7 C02853/7 = 95 % 16 C02853/16 = 35 %
8 C02853/8 = 87.5 % 17 C02853/17 = 30 %
9 C02853/9 = 80 %
8. Enter the maximum process current ("15 A") in C00022.
9. Switch on the correction (C02859 = "ON").
– When the correction of the stator leakage inductance is switched on, the same
current characteristic should occur, irrespective of the current magnitude.
– Since the current controller gain is corrected actively, the step responses may differ
slightly compared to the previous measurements. In this case C00075 and C00076
must be optimised one last time.
10. Save parameter set (C00002 = "11: Save start parameters").
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Parameterisable additional functions
5.8.2 Field weakening for synchronous machines
This function is available from software version V2.0!
Note!
Function only possible for servo control!
If required, the field weakening mode can be switched on in C00093 for synchronous
machines.
If field weakening is switched on and the DC-bus
Umotor voltage limit is reached, the motor magnetising
current is increased via an internal control loop from
0 A to the maximally effective magnetising current.
The result is that a higher speed can be reached at the
same motor voltage or DC-bus voltage.
n
n Armature control range
o Field weakening range
[5-27] Voltage/speed characteristic with active field weakening
800V
n max = n rated_mot ⋅ --------------------------------------
2 ⋅ U rated_mot
[5-28] Calculation of the maximum speed that can be reached when field weakening is switched on
M [Nm]
60
50
40 0
30
20
1
10
0 n [rpm]
0 1500 3000 4500
Standstill torque
Rated torque
n Characteristic for continuous operation
o Limit characteristic at mains voltage of 400 V without field weakening
p Limit characteristic with field weakening
[5-29] Speed-torque characteristics of a synchronous servo motor with field weakening
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Parameterisable additional functions
The maximally effective motor magnetising current is calculated based on the motor
data set in C00084 to C00091.Then the calculated value is internally limited to 98 % of
the maximum current set in C00022.
When field weakening is switched on, the actually used maximum effective motor
magnetising current is shown in C00092, if field weakening is switched off, "0 A" are
displayed, as before.
Note!
If a Lenze motor is used:
The controller is parameterised automatically so that the field weakening works
optimally and there is no danger to the devices.
Stop!
If a motor of a third-party manufacturer is used:
If pulse inhibit is set in the controller, the DC bus is charged with the voltage
which corresponds to the current speed of the machine.
As higher speeds at an accordingly higher rotor voltage of the motor can be
reached if the field weakening mode is switched on, the DC bus can be charged
with a voltage higher than the set DC-bus voltage vdc-bus and possibly exceed
the maximum permissible voltage of 800 V when pulse inhibit is set and the
motor speed is high!
In order to protect the device, either use a brake chopper, or parameterise the
speed monitoring via C00596 and C00607, so that only a maximum motor speed
is possible that could also be reached with Vdc-bus = 800 V without field
weakening.
Maximum motor speed ( 132)
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Example: Voltage increase in the DC bus at field weakening loss
(For example by an active setting of controller inhibit, or by activation of trouble or fault at
a high motor speed.)
Field weakening Speed n Motor voltage peak value
Switched off 4000 rpm 560 V
5700 rpm 800 V
6000 rpm 840 V
Switched on 6000 rpm 560 V
U If pulse inhibit is set at 6000 rpm and switched-on
840 V
> 800 V
field weakening, the DC bus is charged to over 800 V
(n).
560 V
A speed limitation to 5700 rpm is required, as this
speed generates a DC-bus voltage of 800 V when the
field weakening mode is switched off.
4000 6000 n
[5-30] Example: Possible DC-bus voltage > 800 V at field weakening loss
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Parameterisable additional functions
5.8.3 Flying restart function
This function is available from software version V3.0!
Note!
Function only possible for V/f control or sensorless vector control!
In the case of V/f control or sensorless vector control, the current motor speed is only
provided to the controller if the motor control is active. However, if the controller is
enabled, one cannot always assume that the drive is at standstill. The drive for example
may still coast down, or be further operated by a load. It cannot always be assumed that
fans are at standstill if the controller is enabled, e. g. if the fan impeller is further driven by
an air flow in an undefined direction.
If the flying restart mode is activated in C00990, after controller inhibit is deactivated (or
DC-injection braking is cancelled), a flying restart process is automatically started to
determine the current motor speed if the following conditions are met:
V/f control or sensorless vector control are selected as motor control in C00006.
The position control structure is set to "Phase controller is active" in C02570.
The MI_bFlyingSyncBlocked control input of the motor interface is not assigned or set
to FALSE.
The holding brake, if available, is not applied.
Stop!
If the flying restart function is deactivated and the controller is not enabled at
standstill, the output voltage and output frequency does not match the current
motor speed. High compensation currents may flow!
• The drive is first braked towards 0 Hz and is then accelerated again!
• This may cause the following error messages:
– Controller: Overload during acceleration phases (fault)
– Device utilisation Ixt > C00123 (warning)
– Device utilisation Ixt > 100 % (fault)
– Motor load I2xt > C00127 (warning)
– Motor load I2xt > C00120 (fault)
– Overcurrent detected (fault)
– Overvoltage in DC bus (trouble)
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Motor interface
Parameterisable additional functions
Note!
The flying restart algorithm requires the motor voltage as exact as possible.
Therefore it is absolutely necessary to predetermine the inverter error
characteristic. Optimising the switching performance of the inverter ( 143)
In addition to the exact motor voltage, the stator resistance must also be known
exactly. If the flying restart function should not work as required, slightly adjust
the setting of the stator resistance in C00084.
Sequence
0 A. Initial situation: basic function
Speed follower enabled
"Speed follower" is enabled
t
and active.
1 3 B. The controller is inhibited
CINH
while the drive is not at
t
standstill.
Drive not ready Speed follower active
C. The motor coasts down
t
(torqueless).
Speed setpoint
2 D. The controller inhibit is
Act
ual
spe deactivated again.
ed
t E. The flying restart process
4 starts.
[5-31] Process example: Speed follower is active Controller inhibit Controller enable
Flying restart process
The controller calculates the output frequency required for the momentary speed of the
coasting motor, then connects to the system, and accelerates the motor to the defined
setpoint again.
The flying restart process serves to prevent the motor from decelerating to zero speed
with subsequent acceleration.
The currently detected flying restart speed is provided to the application via the current
motor speed MI_dnActualMotorSpeed_s.
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Parameterisable additional functions
Parameter setting
The flying restart algorithm injects a current into the motor to identify the current
speed. This flying restart current can be parameterised in C00991 in [%] relating to the
rated motor current.
– The higher the current the higher the torque imposed upon the motor.
– If the current is too low, a wrong speed can be detected.
The starting frequency of the flying restart algorithm can be set in C00992.
– If it can be anticipated at which frequency the motor "caught" most frequently in a
flying restart process, this frequency is to be set here.
The integration time of the phase controller is set in C00993.
– The Lenze setting "60 ms" is adapted for machines with a medium power (45 kW).
– A guide value for the integration time can be calculated with the following equation
as a function of the motor power (C00081):
μs
T i = 1.1 ------ ⋅ Motor power (C00081) + 9.4 ms
W
– For accelerating the flying restart process, this guide value can be reduced.
– If the flying restart frequency (Frequency.dnActualRotatingFieldFrequency) oscillates
too much, the integration time has to be increased again.
– A longer integration time increases the time for "catching" the drive.
To avoid starting a flying restart process at short-time controller inhibit, a time can be
set in C00995 for the minimum active controller inhibit time.
– Since a pulse inhibit > 500 ms causes a controller inhibit, this also applies to the pulse
inhibit.
Short overview: Parameters for flying restart process
Parameter Information Lenze setting
Value Unit
C00990 Flying restart: Activation Off
C00991 Flying restart: Current 15 %
C00992 Flying restart: Start frequency 20.0 Hz
C00993 Flying restart: Integration time 60 ms
C00994 Flying restart: Min. deviation 5.00 °
C00995 Flying restart: Delay time 0 ms
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Parameterisable additional functions
5.8.4 DC-injection braking
This function is available from software version V3.0!
Note!
Function only possible for V/f control or sensorless vector control!
DC-injection braking can be divided into three functionalities:
Manual DC-injection braking
Braking can be activated and deactivated via the internal interface QSP_bActivateDCBrake
of the basic function "Quick stop".
Tip!
A detailed description of this functionality can be found in the main chapter "Basic
drive functions", subchapter "Quick stop":
DC-injection braking". ( 395)
DC-injection braking instead of quick stop
If DC-injection braking is activated in C00976 instead of quick stop, DC-injection braking is
executed automatically when quick stop is activated.
Tip!
A detailed description of this functionality can be found in the main chapter "Basic
drive functions", subchapter "Quick stop":
DC-injection braking when quick stop is activated". ( 397)
Automatic DC-injection braking
This functionality is part of the basic function "Brake control".
If mode 22 has been selected for the brake control in C02580, DC-injection braking is
executed automatically if the current speed setpoint falls below the speed threshold set in
C02581.
Tip!
A detailed description of this functionality can be found in the main chapter "Basic
drive functions", subchapter "Brake control":
Mode 22: Automatic DC-injection braking". ( 395)
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Parameterisable additional functions
Short overview: Parameters for DC-injection braking
Parameter Information Lenze setting
Value Unit
C00974 DC brakes: Current 0.00 A
C00975 DC brakes Current for quick stop 0.00 A
C00976 DC brake: Activat. by quick stop Off
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Monitoring
5.9 Monitoring
5.9.1 Signal flow
DI_bOVDetected
const.
DI_bUVDetected
C00173
DC-bus voltage filter C00174
(15)
DC-bus voltage MI_dnActualDCBusVoltage
const. C00053 DC-bus voltage
C00779 MCTRL_dnDCBusVoltage
Error message
"Failure of motor phase"
C00597
C00599
Error message "Earth fault detected"
Error message "Overcurrent detected"
const.
Phase currents
(16) U C00055/1
S
(17) V C00055/2 MCTRL_dnIxtLoad
(18) W C00055/3 C00786 ³1 MI_bMotorOverloadWarning
C00018 const.
Rotating field frequency C00022
Thermal motor model
Actual Q-current MCTRL_dnI2xtLoad
2 2
Actual D-current a +b
C00790
C00128 C00120
C00129
[5-32] Signal flow of motor interface (monitoring)
Internal variables of the motor control (oscilloscope signals)
The red numbers in brackets listed in the signal flow stand for internal variables of the
motor control, which you can record by means of the Oscilloscope for purposes of
diagnostics and documentation. ( 590)
No. Variable of the motor control Meaning
(15) Voltage.dnActualDCBusVoltage Actual DC-bus voltage
(16) Current.dnActualCurrentPhaseU Actual motor current (phase U)
(17) Current.dnActualCurrentPhaseV Actual motor current (phase V)
(18) Current.dnActualCurrentPhaseW Actual motor current (phase W)
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Monitoring
5.9.2 Motor monitoring (I2xt)
The "Servo Drives 9400" are provided with an extended, sensorless thermal I2xt motor
monitoring function which is based on a mathematical model that calculates a thermal
motor utilisation from the detected motor currents.
The calculation considers the speed dependency of the torque (difference between
standstill torque and rated torque).
C00066 indicates the calculated motor utilisation in [%].
If the motor utilisation exceeds the advance warning threshold set n C00127, the error
message "I2t motor overload OC8" is output and the response (default setting:
"Warning") set in C00606 is activated..
If the switch-off threshold set in C00120 is exceeded, the error message "I2t motor
overload OC6" is output and the "Fault" response is activated.
Stop!
The I2xt motor monitoring function is no full motor protection!
Since the motor utilisation calculated in the thermal model gets lost after mains
switching, the following operating states cannot be determined correctly:
• Restart (after mains switching) of a motor that is already very hot.
• Change of the cooling conditions (e.g. cooling air flow interrupted or too
warm).
A full motor protection requires additional measures as e.g. the evaluation of
temperature sensors that are situated directly in the winding of thermal
contacts.
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Monitoring
Structure of the I2xt monitoring
The introduction of a two-component model with two time constants (one for the winding
and the other for the housing/laminated core) serves to display the thermal behaviour of
the motor up to 500% of the rated current:
2
Iact motor 1
Iperm motor (n)
k1
(1 + pt1)
1
k2
(1 + pt2)
n Thermal utilisation of the motor in [%]
[5-33] Structure of the motor monitoring
Parameter Setting
Iact motor Actual motor current -
Iperm motor (n) Permissible motor current (speed-dependent) -
τ1 Therm. time constant coil C00128/1
k1 Percentage of the winding in the final temperature C01195
τ2 Therm. time constant plates C00128/2
k2 Percentage of the steel plates in the final temperature 100 % - C01195
Calculation with only one time constant
With C01195 = "0 %" the time constant for the winding is not considered and the thermal
model is only calculated with the time constant set for the housing/laminated core.
The setting C01195 = "0 %" is reasonable if for example the two time constants are not
known.
The calculation simplified due to this setting corresponds to the calculation in the
previous Lenze devices (e.g. 9300 servo inverter or ECS).
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Speed-dependent evaluation of the motor current
By selecting a characteristic in C01196/1...8 the permissible motor current is evaluated
depending on speed for calculating the thermal motor utilisation.
Parameter Characteristic point
C01196/1 n1/nn Speed = "0" (standstill)
C01196/2 I1/In Permissible motor current at standstill
C01196/3 n2/nn Speed from which the torque must be reduced for self-ventilated motors.
• Below this speed the cooling air flow of the integral fan is not sufficient
anymore.
C01196/4 I2/In Permissible motor current at speed n2 (torque reduction)
C01196/5 n3/nn Rated speed
C01196/6 I3/In Permissible motor current at rated speed
C01196/7 n4/nn Speed above the rated speed (in the field weakening range for asynchronous
motors)
C01196/8 I4/In Permissible motor current at speed n4 (field weakening)
The speed-dependent evaluation can be more or less switched off by setting C01196/
1...8 to "100 %" each. The calculation simplified due to this setting corresponds to the
calculation in previous Lenze devices (e.g. 9300 servo inverter or ECS).
Note!
Self-ventilated standard motors are protected insufficiently at low speeds by
setting C01196/1...8 to "100 %" each.
Servo motors, however, do not have a point from which the torque must be
reduced due to a too low speed.
• When setting the characteristic in C01196/1...8 this point must not be
ignored. Hence, point 2 is to be set ideally to point 1 or point 3.
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Monitoring
5.9.2.1 Example for entry of the characteristic for asynchronous servo motor
Motor type: MDFMARS 090-32
Data from the catalogue:
Rated speed nN: 1410 rpm Setting in C00087
Rated current I: 6.1 A Setting in C00088
Rated torque Mrated: 10.2 Nm
Characteristic of maximum torques (50 Hz, star connection):
M C01196/4 C01196/6
10.2
C01196/2 C01196/8
6.1
4.5
0
0 600 1410 3000 n
C01196/1 C01196/3 C01196/5 C01196/7
[5-34] Torque/speed characteristic for motor type MDFMARS 090-32 from catalogue
Note!
At present, relative current values are still expected for the specification of the
interpolation points in subcodes 2, 4, 6, 8 of C01196. This example, however,
already uses relative torque values, the entry of which shall be possible at a later
date.
Parameter Setting Information
C00128/1 1.0 min Thermal time constant - winding
• Is unknown and is therefore deactivated by setting C01195 = "0 %".
C00128/2 5.0 min Thermal time constant - laminated core/housing
C01195 0% Percentage of the winding in the final temperature.
C01196/1 0% Speed = "0" (standstill)
C01196/2 Permissible motor torque at standstill
Self-ventilated: 60 % = 6.1 Nm / 10.2 Nm * 100 %
Forced-ventilated: 100 % = 10.2 Nm / 10.2 Nm * 100 %
C01196/3 Speed n2 from which the torque must be reduced for self-ventilated motors.
Self-ventilated: 43 % = 600 rpm / 1410 rpm * 100 %
Forced-ventilated: 0% No torque reduction required.
C01196/4 100 % Permissible motor torque at speed n2 (torque reduction)
C01196/5 100 % Rated speed (≡ 1410 rpm)
C01196/6 100 % Permissible motor torque at rated speed (≡ 10.2 Nm)
C01196/7 213 % Speed above the rated speed (in the field weakening range for asynchronous
motors)
= 3000 rpm / 1410 rpm * 100 %
C01196/8 44 % Permissible motor torque at speed n4 (field weakening)
= 4.5 Nm / 10.2 Nm * 100 %
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Monitoring
5.9.2.2 Example for entry of the characteristic for synchronous servo motor
Motor type: MCS 06C60
Data from the catalogue:
Rated speed nrated: 6000 rpm Setting in C00087
Rated current I: 2.4 A Setting in C00088
Rated torque MN: 0.5 Nm (in S1 operation: 0.55 Nm)
Characteristic - maximum torques:
M
1.5
C01196/2 1.0
C01196/4 C01196/6
0.5 C01196/8
0
0 1000 2000 3000 4000 5000 6000 7000 n
C01196/1 C01196/5
C01196/3 C01196/7
[5-35] Torque/speed characteristic for motor type MCS 06C60 from the catalogue
Note!
At present, relative current values are still expected for the specification of the
interpolation points in subcodes 2, 4, 6, 8 of C01196. This example, however,
already uses relative torque values, the entry of which shall be possible at a later
date.
Parameter Setting Information
C00128/1 1.0 min Thermal time constant - winding
C00128/2 14.2 min Thermal time constant - laminated core/housing
C01195 27 % Percentage of the winding in the final temperature.
(Only the laminated core percentage is known.)
C01196/1 0% Speed = "0" (standstill)
C01196/2 160 % Permissible motor torque at standstill
= 0.8 Nm / 0.5 Nm * 100 %
C01196/3 0% Speed n2 from which the torque must be reduced for self-ventilated motors.
C01196/4 160 % Permissible motor torque at speed n2 (torque reduction)
C01196/5 100 % Rated speed (≡ 6000 rpm)
C01196/6 100 % Permissible motor torque at rated speed (≡ 0.5 Nm)
C01196/7 100 % Speed above rated speed
C01196/8 100 % Permissible motor torque at speed n4 (field weakening)
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Motor interface
Monitoring
5.9.3 Motor temperature monitoring
If the winding temperature detected by the motor temperature sensor exceeds the limit
value set in C00121, the response set in C00584 is activated as advance warning.
In the Lenze setting the "Warning" response occurs if the winding temperature exceeds
120 °C.
As soon as the fixed limit value of 150 °C is exceeded, the response set in C00583 is
activated (default setting: "Fault").
If an open circuit is detected in the motor temperature sensor, the response set in
C00594 (default setting: "Fault") is activated.
Note!
By setting C00583 = "0" the monitoring response and the temperature
correction is switched off within the motor control (identification and
parameter correction)
This setting for example is reasonable if no usable winding temperature signal
is available.
Tip!
The winding temperature currently detected by the motor temperature sensor is
displayed in C00063.
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Motor interface
Monitoring
5.9.3.1 Special characteristic for motor temperature sensor
If required, you can select and activate a special characteristic for the motor temperature
sensor.
The specific characteristic is selected on the basis of two interpolation points which are
to be set in C01191 and C01192. Both interpolation points define a line which is
extrapolated to the right and to the left.
The special characteristic is activated by setting C01190 = "1".
In the Lenze setting the special characteristic is defined as follows:
W Interpolation pointn
2225
– C01191/1 = 25°C
– C01192/1 = 1000 Ω
1000
Interpolation pointo
– C01191/2 = 150°C
0 – C01192/2 = 2225 Ω
0 25 150 °C
[5-36] Lenze setting of the special characteristic
Note!
• By selecting a motor from the motor catalogue the parameters C01190,
C01191 and C01192 are overwritten!
• If the controller measures a resistance below 122 Ω, this is interpreted as a
sensor error and a temperature of 255 °C is output.
The following applies from software version V4.0:
Sometimes a short circuit is a desired state (e.g. temperature contact closed below
140 °C). For this purpose, the interpolation point 1 (C01191/1) must be below 122 Ω to
prevent the triggering of sensor errors. In this case the temperature continues to be
calculated.
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9400 HighLine | Parameter setting & configuration
Motor interface
Monitoring
5.9.3.2 Motor temperature monitoring (PTC)
For detecting and monitoring the motor temperature, a PTC thermistor (DIN 44081/
DIN 44082) or a thermal contact (NC contact) can be connected to the terminals X106/T1
and X106/T2.
Stop!
• This monitoring function is only active with line-side power supply of the
controller.
• The controller can only evaluate one PTC thermistor!
Do not connect several PTC thermistors connected in series or in parallel.
• If several motors are operated via one controller, use thermal contacts (NC
contacts) connected in series.
• For full motor protection, you have to install an additional temperature
monitoring system with separate evaluation.
Note!
• In the Lenze setting (C00585 = "1: Fault"), motor temperature monitoring is
activated!
• In the delivery state, a wire jumper is installed between the terminals X106/
T1 and X106/T2.
• Lenze three-phase AC motor are factory-equipped with a thermal contact.
The monitoring function responds at 1.6 kΩ < R < 4 kΩ across terminals X106/T1 and
X106/T2, see functional test below.
If the monitoring function responds:
– the error response set in C00585 is executed (Lenze setting: "Fault").
– the error message "PTC has triggered" (0x0077000f) is entered into the logbook of
the controller.
– the status output MI_bMotorOverloadWarning is set to TRUE.
Setting C00585 = "0: No response" deactivates the monitoring function.
Tip!
For the operation of motors equipped with PTC thermistors or thermostats, we
recommend always to activate the PTC input. This prevents the motor from being
destroyed by overheating.
Functional test
Connect an invariable resistor to the PTC input:
R > 4 kΩ : The fault message must be triggered.
R < 1 kΩ : The fault message must not be triggered.
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9400 HighLine | Parameter setting & configuration
Motor interface
Monitoring
5.9.3.3 Temperature monitoring of a second motor
This function is available from software version V7.0!
From software version V7.0 onwards, two motor temperature sensors can be evaluated
simultaneously via the two encoder inputs X7 and X8 when two motor are used (e.g.
double motor for a storage and retrieval unit). For this purpose, the selection "X7 and X8 in
parallel" must be set as feedback system for the motor temperature in C01193.
In this case, always the higher temperature of the two detected temperatures is
displayed as the current motor temperature on the Diagnostics tab and in C00063.
Moreover, the following display parameters are available from software version V6.0
onwards:
– C01200/1: Motor temperature via X7
– C01200/2: Motor temperature via X8
If one of the two detected temperatures exceeds the limit value set in C00121, the
response set in C00584 is activated as advance warning.
– In the Lenze setting the "Warning" response occurs if one of the two winding
temperature exceeds 120 °C.
As soon as one of the two detected temperatures exceeds the fixed limit value of
150 °C, the response set in C00583 is activated (default setting: "Fault").
If an open circuit is detected in one of the two motor temperature sensors, the response
set in C00594 (default setting: "Fault") is activated.
It is not possible to set different responses for the two temperature monitoring modes.
For the motor model in the controller, the mean value of both detected temperatures
is used.
Related topics:
Brake control Control of two motor holding brakes ( 562)
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Motor interface
Monitoring
5.9.4 Motor phase failure monitoring
5.9.4.1 Monitoring of the individual motor phases during operation
If a current-carrying motor phase (U, V, W) fails during operation, the response set in
C00597 is executed (Lenze setting: "No response") if two conditions are fulfilled:
Condition 1: Monitoring is activated
To safely detect a motor phase failure, a certain motor current must flow for the current
sensor system.
Monitoring will therefore only be activated if, in the case of servo control the setpoint
of the motor current, and in the case of sensorless vector control or V/f control the
actual value motor current (display in C00054) has exceeded a certain current value.
The current value for the activation can be set in C00599 in [%] with regard to the
maximum device current (display in C00789).
Condition 2: A certain commutation angle has been covered
In this case monitoring works according to the principle of checking for each motor phase
that a current flows depending on the commutation angle.
Monitoring responds if a certain commutation angle (approx. 150°) is covered without
the current having exceeded a (non-parameterisable) threshold that depends on the
device power.
Note!
The dependence on the commutation angle also causes a dependence on the
motor type used:
• The commutation angle and the angle at the shaft (number of pole pairs) of
a synchronous machine are proportional. This makes it possible to predict
which shaft angle is maximally covered in case of error.
• There still exists a slip between the commutation angle and the angle at the
shaft of an asynchronous machine. This results in a load dependency which
makes it impossible to predict a maximally covered shaft angle in case of
error.
– Thus, when a hoist is lowered (non-zero speed), it may happen that no
rotating field is applied anymore but a DC current flows. In this case,
condition 2 is not fulfilled anymore.
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9400 HighLine | Parameter setting & configuration
Motor interface
Monitoring
5.9.4.2 Checking the individual motor phases before operation is started
This function is available from software version V5.0!
From software version V5.0 a check via test signal application has been added. It injects a
current into the machine before the actual operation is started, by means of which both a
motor phase failure and the existence of the motor are checked. Only after the check has
been carried out successfully, the actual operation is continued.
The setpoint current amplitude corresponds to the lower of the two following values:
50 % ⋅ 2 ⋅ Rated device current
or
50 % ⋅ 2 ⋅ Rated motor current
The test signal application is activated directly after controller enable if the following
conditions are fulfilled:
– In C00597 a response other than "No response" is set.
– No test mode is activated (C00398 = 0).
– No identification of pole position is active
(by device command C00002 = "51" or "52").
– No identification procedure is active
(by device command C00002 = "71" or "72").
The check actuates the response set in C00597 if one or more motor phase currents
have not reached a certain threshold value within 5 ms after controller enable.
– The threshold value depends on the device power and cannot be parameterised.
– If only one motor phase current does not reach the threshold value, "Motor phase U/
V/W not available" is entered in the logbook.
– If several motor phases do not reach the threshold value, the motor is considered as
not connected, and "Motor not connected" is entered in the logbook.
The check is completed successfully if all three motor phase currents have exceeded the
threshold value. Then the actual operation is continued immediately.
Note!
• As the check is cancelled immediately if all three motor phase currents have
exceeded the threshold value, the setpoint current usually is not achieved.
• In order to be able to achieve the threshold value used for the check, the rated
motor current must at least be 10 % of the maximum device current.
• This monitoring is independent of the further rotation of the commutation
angle.
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9400 HighLine | Parameter setting & configuration
Motor interface
Monitoring
5.9.5 Maximum current monitoring
The ultimate motor current IULT to be parameterised in C00620 is a limit value to protect
the motor from destruction or influence of the rated data.
This limit value must not be travelled cyclically during the drive process.
The maximum current parameterisable in C00022 should have a sufficient distance
from this limit value.
If the instantaneous value of the motor current exceeds the limit value set in C00620,
the response set in C00619 is executed for motor protection (Lenze setting: Fault).
Note!
When you select a Lenze motor from the catalogue and transfer the plant
parameters of the motor to the controller, the setting in C00620 is automatically
adjusted to the selected motor.
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9400 HighLine | Parameter setting & configuration
Motor interface
Internal interfaces | "LS_MotorInterface" system block
5.10 Internal interfaces | "LS_MotorInterface" system block
The LS_MotorInterface system block provides the internal interfaces to the driving
machine, consisting of the phase controller, speed controller, and motor control in the
function block editor.
LS_MotorInterface
MI_dnPosCtrlAdaptLoad_n MI_dwControlMode
MI_dnPosCtrlAdaptMotor_n MI_bMotorOrientationInverse
MI_dnSpeedCtrlAdapt_n MI_dwReferenceSpeed
MI_bResetSpeedCtrlIntegrator MI_dwReferenceTorque
MI_dnTorqueHighLimit_n MI_bLimitationActive
MI_dnTorqueLowLimit_n MI_bPosCtrlLimited
MI_dnFluxSetpoint_n MI_bSpeedSetpointLimited
MI_dnInertiaAdapt_n MI_dnSpeedSetpoint_n
MI_dnBoostSet_n MI_dnSpeedSetpoint_s
MI_bFlyingSyncBlocked MI_bSpeedFollowingError
MI_dnTorqueAdd_n MI_bSpeedCtrlLimited
MI_bTorqueSetpointLimited
M
MI_dnTorqueSetpoint_n
MI_dnFilteredTorqueSetpoint_n
MI_bCurrentSetpointLimited
MI_bMotorOverloadWarning
MI_bSpeedBelowThresholdC19
MI_dnActualMotorCurrent_n
MI_dnActualMotorVoltage_n
MI_dnActualMotorTorque_n
MI_dnActualMotorSpeed_n
MI_dnActualMotorSpeed_s
MI_dnActualMotorPos_p
MI_dnActualDCBusVoltage_n
MI_dnThermalLoadDevice_n
MI_dnThermalLoadMotor_n
MI_dnActualMotorFreq_s
MI_dnActualFlux_n
MI_bFlyingSyncBusy
MI_bClampIsActive
MI_bMagnetisationFinished
Note!
All input and output signals of the motor interface directly refer to the motor!
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Motor interface
Internal interfaces | "LS_MotorInterface" system block
Inputs
Identifier Information/possible settings
DIS code | data type
MI_dnPosCtrlAdaptLoad_n Dynamic change of the proportional gain Vp of the position controller during
C02568/1 | DINT operation
• For software versions lower than V5.0 the following applies:
Internal limitation to 10 ... 200 %
• From software version V5.0 the following applies:
Internal limitation to 0 ... 200 %
MI_dnPosCtrlAdaptMotor_n Dynamic change of the proportional gain Vp of the phase controller during
C02568/2 | DINT operation
• For software versions lower than V5.0 the following applies:
Internal limitation to 10 ... 200 %
• From software version V5.0 the following applies:
Internal limitation to 0 ... 200 %
MI_dnSpeedCtrlAdapt_n Dynamic change of the proportional gain Vp of the speed controller during
C02568/3 | DINT operation
• If the input is assigned, the following applies:
VP = MI_dnSpeedCtrlAdapt_n [%] * C00070
• If the input is not assigned, the following applies:
VP = 100 % * C00070 = C00070
• Internal limitation to 10 ... 200 %
Optimising the speed controller ( 156)
MI_bResetSpeedCtrlIntegrator Reset integral action component in the speed controller
C02569/2 | BOOL
TRUE Integral action component is reset to "0".
MI_dnTorqueHighLimit_n Upper/lower limit value for correcting variable of the speed controller and total
C02568/4 | DINT torque setpoint
MI_dnTorqueLowLimit_n • These two inputs serve to select an external torque limitation.
C02568/5 | DINT – If the motor torque reaches the selected limits, the drive can no longer
follow the speed setpoint!
– If the torque limitation is active, the output MI_bTorqueSetpointLimited is
set to TRUE.
• 100 % ≡ C00057/2
• Only a positive torque is permissible as upper limit value.
• Only a negative torque is permissible as lower limit value.
• The motor mounting position (C02527) defines the assignment to the
limitation inputs of the motor control.
• The internally effective torque limit values are displayed in C02559/1...2.
MI_dnFluxSetpoint_n Setpoint for the field controller
C02568/7 | DINT
MI_dnInertiaAdapt_n Adaptation of the moment of inertia in [%]
C02568/8 | DINT • If input is not assigned = 100 %
• Internal limitation to 0 ... 200 %
MI_dnBoostSet_n Boost voltage
C02568/9 | DINT • 100 % ≡ 1000 V
From V3.0
MI_bFlyingSyncBlocked Block flying restart
C02569/16 | BOOL Flying restart function ( 218)
From V3.0
FALSE Flying restart is executed.
TRUE Flying restart process is blocked.
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Motor interface
Internal interfaces | "LS_MotorInterface" system block
Identifier Information/possible settings
DIS code | data type
MI_dnTorqueAdd_n Additional torque feedforward control value in [%]
C02568/10 | DINT This input serves to provide an additional torque setpoint. In this way, you can
From V8.0
provide an additional torque for the basic functions manual jog, positioning and
homing besides the acceleration feedforward control.
• 100 % = motor reference torque
If the controller is enabled, the torque setpoints at this input have a direct effect
on the drive!
The user has to
• apply the appropriate setpoint for every state of the drive.
• avoid setpoint step-changes.
- 200 %
+ 200 %
Outputs
Identifier Value/meaning
DIS code | data type
MI_dwControlMode Active control structure of the motor control
DWORD • Displayed value is bit-coded:
Bit 1 Position control without feedback, external following error
calculation
Bit 2 Position control with encoder on the motor side
Bit 3 Position control with encoder on the load side
Bit 4 Speed control
Bit 5 Torque control
MI_bMotorOrientationInverse Parameterised motor mounting position
BOOL
FALSE Motor mounting position in the same direction, setpoints are
not defined.
TRUE Motor mounting position in the opposite direction, setpoints are
reversed.
MI_dwReferenceSpeed Parameterised motor reference speed (C00011) in [rpm]
DWORD
MI_dwReferenceTorque Reachable motor torque with Imax_device (C00022) in [mNm]
DWORD • 1000 mNm ≡ 1 Nm
• Display in C00057/2 in [Nm]
MI_bLimitationActive Status signal "Internal limitation active"
C02569/3 | BOOL • Group signal for all limitation messages.
TRUE One of the internal limitations is active.
MI_bPosCtrlLimited Status signal "Phase/position controller at the limit"
C02569/4 | BOOL
TRUE The limitation of the phase and/or position controller is active.
MI_bSpeedSetPointLimited Status signal "Resulting speed setpoint at the limit"
C02569/5 | BOOL
TRUE The resulting speed setpoint is limited to the limit values
parameterised in C00909/1 and C00909/2.
MI_dnSpeedSetpoint_n Current speed setpoint from position control and speed feedforward control or
DINT direct setpoint selection in [%]
• After limitation by the upper speed limit value (C00909/1) and lower speed
limit value (C00909/2).
• 100 % ≡ Motor reference speed (C00011)
MI_dnSpeedSetpoint_s Current speed setpoint from position control and speed feedforward control or
DINT direct setpoint selection in [rpm]
• After limitation by the upper speed limit value (C00909/1) and lower speed
limit value (C00909/2).
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Motor interface
Internal interfaces | "LS_MotorInterface" system block
Identifier Value/meaning
DIS code | data type
MI_bSpeedFollowingError Status signal "Impermissible speed control deviation"
C02569/10 | BOOL
TRUE Speed control deviation is higher than the window set in
C00576.
MI_bSpeedCtrlLimited Status signal "Speed controller at the limit"
C02569/6 | BOOL
TRUE The speed controller limitation is active.
MI_bTorqueSetpointLimited Status signal "Total torque setpoint at the limit"
C02569/7 | BOOL
TRUE The total torque setpoint is limited.
MI_dnTorqueSetpoint_n Current torque setpoint from speed control and torque feedforward control or
DINT direct setpoint selection
• After limitation by MI_dnTorqueLimit_n.
• 100 % ≡ C00057/2
MI_dnFilteredTorqueSetpoint_n Filtered torque setpoint (after jerk limitation and band-stop filter)
DINT • 100 % ≡ C00057/2
MI_bCurrentSetpointLimited Status signal "Setpoint for current controller at the limit"
C02569/8 | BOOL
TRUE The setpoint for the current controller is limited to Imax_device
(C00022).
MI_bMotorOverloadWarning Status signal "Motor overload"
C02569/11 | BOOL • Group signal for warning signals from temperature monitoring (KTY, PTC,
thermal switch) or I2xt monitoring.
TRUE One of the monitoring modes for motor overload protection is
active.
MI_bSpeedBelowThresholdC19 Status signal "Standstill reached"
C02569/9 | BOOL
TRUE The current speed is below the threshold set in C00019.
MI_dnActualMotorCurrent_n Actual motor current
DINT • 100 % ≡ Imax_device (C00789)
• Display in C00780 in [A]
MI_dnActualMotorVoltage_n Current motor voltage
DINT • 100 % ≡ 1000 V
• Display in C00783 in [V]
MI_dnActualMotorTorque_n Current motor torque
DINT • 100 % ≡ C00057/2
• Display in C00774 in [Nm]
MI_dnActualMotorSpeed_n Current speed of the motor shaft in [%]
DINT • 100 % ≡ Motor reference speed (C00011)
MI_dnActualMotorSpeed_s Current speed of the motor shaft in [rpm]
DINT • Display under C00772
MI_dnActualMotorPos_p Current position of the motor shaft in [increments]
DINT • Display under C00770
MI_dnActualDCBusVoltage_n Actual DC-bus voltage
DINT • 100 % ≡ 1000 V
MI_dnThermalLoadDevice_n Thermal device utilisation in [%]
DINT • Current result of the Ixt calculation.
• Display in C00064
Monitoring of the device utilisation ( 116)
MI_dnThermalLoadMotor_n Thermal motor utilisation in [%]
DINT • Current result of the I2xt calculation.
• Display in C00066
Motor monitoring (I2xt) ( 224)
MI_dnActualMotorFreq_s Current motor frequency in [Hz]
DINT The motor frequency corresponds to the field frequency [Hz].
From V3.0
Field frequency [Hz] = motor speed × number of motor pole pairs
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Motor interface
Internal interfaces | "LS_MotorInterface" system block
Identifier Value/meaning
DIS code | data type
MI_dnActualFlux_n Actual flux value
DINT
From V3.0
MI_bFlyingSyncBusy Status signal "Flying restart is active"
C02569/13 | BOOL Flying restart function ( 218)
From V3.0
TRUE Flying restart is executed.
MI_bClampIsActive Status signal "Clamping is active"
C02569/14 | BOOL
From V3.0 TRUE Clamping is active.
MI_bMagnetisationFinished Status signal "Motor magnetisation is completed"
C02569/15 | BOOL
From V3.0 TRUE Motor magnetisation is completed.
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9400 HighLine | Parameter setting & configuration
Encoder evaluation
6 Encoder evaluation
This chapter contains information on how to use feedback systems for the motor control.
Danger!
If the encoder/resolver is used as motor encoder:
In case of error, safe operation of the motor is no longer guaranteed!
When servo control is used:
• For the (open circuit) monitoring of the encoder/resolver for reasons of safety
always the "Fault" response (Lenze setting) should be set!
When V/f control is used:
• For this type of motor control, the drive basically is to coast down after an
encoder failure and may not stop, therefore the "Warning" response is to be
set for the (open circuit) monitoring in this case!
Parameters for the (open circuit) monitoring:
• C00580: Response to open circuit of encoder
• C00586: Response to open circuit of resolver
• C00601: Response to communication error of encoder
Note!
The encoder position is stored safe against mains failure in the memory module
and is therefore known to the drive control even after the mains has been
switched.
With regard to their position resolution, higher-level applications are based on
the resolution of the encoder which is activated for position control.
Behaviour of the home position after mains switching
If the home position/information is also to be available after mains switching,
the setting C02652 = "1: Received" is required.
• Another condition for keeping the home position/information after mains
switching is the compliance with the maximum permissible angle of rotation
of the encoder, which can be set in C02653.
• When resolvers or single-turn absolute value encoders are used and the
mains is switched off (24 V supply off), the encoder may only be moved by ½
revolution since otherwise the home position will get lost due to the
ambiguity of the encoder information.
See also: Parameterise motor encoder ( 134)
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9400 HighLine | Parameter setting & configuration
Encoder evaluation
Internal interfaces | "LS_Feedback" system block
6.1 Internal interfaces | "LS_Feedback" system block
The LS_Feedback system block provides the internal interfaces for the basic function
"Encoder evaluation" in the function block editor.
LS_Feedback
FDB_dnPosOffset_p FDB_dnActualPos_p
FDB_dnActPosIn_p FDB_dnActualSpeed_s
FDB_dnPosFollowingError_p
FDB_dnSetPos_p
FDB_dnSetSpeed_s
FDB_bResolverError
G E R
FDB_bSinCosSignalError
FDB_bEncoderComError
FDB_dnSetAcc_x
Inputs
Identifier Information/possible settings
Data type
FDB_dnPosOffset_p Offset for position setpoint and actual position in [increments]
DINT
FDB_dnActPosIn_p External actual position in [increments]
DINT • For the selection of an external actual position with a corresponding position
control.
Use of an external position encoder ( 244)
Outputs
Identifier Value/meaning
DIS code | data type
FDB_dnActualPos_p Current position of the position encoder in [increments]
DINT
FDB_dnActualSpeed_s Current speed of the position encoder in [rpm]
DINT
FDB_dnPosFollowingError_p Current following error in [increments]
DINT
FDB_dnSetPos_p Set position calculated by active basic drive function in [increments]
DINT • Considering the motor mounting position.
• In the case of an active speed or torque control (instead of position control) the
actual position (FDB_dnActualPos_p) is shown at this output.
FDB_dnSetSpeed_s Setpoint speed calculated by active basic drive function in [rpm]
DINT • Considering the motor mounting position.
FDB_bResolverError Status signal "Resolver error"
C02579/1 | BOOL
TRUE A resolver error (e.g. open circuit) has occurred.
FDB_bSinCosSignalError Status signal "sine/cosine encoder error"
C02579/2 | BOOL
TRUE A sine/cosine encoder error has occurred.
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9400 HighLine | Parameter setting & configuration
Encoder evaluation
Internal interfaces | "LS_Feedback" system block
Identifier Value/meaning
DIS code | data type
FDB_bEncoderComError Status signal "Encoder communication error"
C02579/3 | BOOL
TRUE An encoder communication error has occurred.
FDB_dnSetAcc_x Setpoint acceleration calculated by active basic function
DINT • Considering the motor mounting position.
From V7.0
• For the basic functions Stop, Manual jog, Homing and Positioning, the internal
acceleration resulting from the profile generation is output.
• For the basic functions Quick stop, Position follower and Speed follower, the
acceleration from the differentiated setpoint speed is determined. C02562 serves
to filter the determined acceleration.
• With an active torque control or in a non-controlled operation (function states
"Controller not ready" and "Error"), the value "0" is output.
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9400 HighLine | Parameter setting & configuration
Encoder evaluation
Internal interfaces | "LS_Feedback" system block
6.1.1 Use of an external position encoder
The FDB_dnActPosIn_p input serves to evaluate an external encoder (CAN, SSI, Profibus) for
the position control.
Via this input, a current actual position of an external encoder in [increments] can be
directly transferred to the encoder evaluation.
How to activate the use of the external actual position:
On the Application parameters
tab in the dialog level Overview Drive interface Machine parameters:
1. Select the "Position controller active" setting in the Position control structure list
field (C02570), so that the position encoder is evaluated.
2. Set "From application" in the Position encoder selection list field (C00490).
Note!
• Encoder inversion and offset selection FDB_dnPositionOffset_p also affect the
external actual position.
• If the use of the external actual position preset via FDB_dnActPosIn_p is
activated, the "Home position known" status
(HM_bHomePosAvailable = TRUE) is automatically set and homing with the
basic function "Homing" cannot be activated anymore.
• If the traversing range (C02528) is set to "Modulo", the external actual
position also has to be defined as modulo (0 … cycle-1).
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9400 HighLine | Parameter setting & configuration
Encoder evaluation
Signal flow
6.2 Signal flow
FDB_dnPosOffset_p
FDB_dnActPosIn_p C02527
0 Signals for setpoint follower
C02570
1
Offset for position
1
FDB_dnActualPos_p
C00490 2
C02529 10
(1)
C00771 Actual position value
0 4
(2)
1
<4 Motor position
C00770
(3)
Motor speed
C00051
C00497 C00772
Position evaluation Position evaluation MI_dnActualMotorPos_p
Position encoder Motor encoder MI_dnActualMotorSpeed_n
MI_dnActualMotorSpeed_s
C02527
0
C02570
1
1
FDB_dnActualSpeed_s
C00490 2
C02529 10
0 4
C00596
<4
1
C00490 C00495 C00579
Position
10 4 3 2 1 0
Encoder interface 3 2 1 0
Motor FDB_dnPosFollowingError_p
encoder encoder
Motion FDB_dnSetPos_p*
Control FDB_dnSetSpeed_s*
(4) (5)
G G E R FDB_bResolverError
Encoder module Encoder module Encoder X8 Resolver X7 FDB_bSinCosSignalError
in MXI2 in MXI1 FDB_bEncoderComError
MI_... = output signals of the motor interface. Internal interfaces | "LS_MotorInterface" system block ( 236)
* Set position and setpoint speed are calculated from the basic function that is currently active.
[6-1] Signal flow - encoder evaluation
Internal variables of the motor control (oscilloscope signals)
The red numbers in brackets listed in the signal flow stand for internal variables of the
motor control, which you can record by means of the Oscilloscope for purposes of
diagnostics and documentation. ( 590)
No. Variable of the motor control Meaning
(1) Position.dnActualLoadPos Actual position
(2) Position.dnActualMotorPos Current motor position
(3) Speed.dnActualMotorSpeed Current motor speed
(4) Speed.dnActualEncoderSpeed Current encoder speed
(5) Speed.dnActualResolverSpeed Current resolver speed
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9400 HighLine | Parameter setting & configuration
Encoder evaluation
Parameter setting
6.3 Parameter setting
Short overview of parameters for the encoder evaluation:
Parameter Information Lenze setting
Value Unit
C00058/1 Pole position resolver -90.0 °
C00058/2 Rotor displ. angle encoder 0.0 °
C00058/3 Pole position module 0.0 °
C00080 Resolver - number of pole pairs 1
C00416 Resolver error correction 0
C00417 Dynamics of the resolver evaluation 100 %
C00418 Activate resolver error compensation Deactivated
C00420 Encoder - number of increments 512
C00421 Encoder voltage 5.0 V
C00422 Encoder type Incremental encoder (TTL signal)
C00423 SSI encoder: Bit rate 400 kbps
C00424 SSI encoder: Data word length 25 Bit
C00427 TTL encoder signal evaluation 4x evaluation (A, B)
C00435/1...8 SSI encoder: Partword starting position 0
C00436/1 SSI encoder: partword length (partword 1) 31
C00436/2...8 SSI encoder: partword length (partwords 2...8) 0
C00437/1...8 SSI encoder: partword coding Binary coded
C00490 Position encoder selection Motor encoder
C00495 Motor encoder selection Resolver X7
C00497 Speed act. val. time const. 2.0 ms
C00579 Resp. to speed monitoring Off
C00580 Resp. to encoder open circuit Fault
C00586 Resp. to resolver open circuit Fault
C00601 Resp. to encoder fault Fault
C00621 Resp. to angular drift of encoder No response
C02527 Motor mounting direction Motor rotating CW
C02529 Position encoder mounting direction Encoder rotating CW
C02570 Position control structure Phase controller is active
C02572 Speed setpoint (enc. eval.) - Unit/s
C02573 Position setpoint (enc. eval.) - Unit
C02574 Actual speed (encoder eval.) - Unit/s
C02575 Actual position (enc. eval.) - Unit
C02576 Following error - Unit
C02577 External actual position - Unit
C02578 Offset actual pos. value/setp. - Unit
C02760 Activate Encoder Deactivated
C02761 Resolution Multiturn - Rev
C02762 Encoder position - Steps.
C02763 Encoder position - Rev
C02764 Encoderspeed - rpm
Highlighted in grey = display parameter
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9400 HighLine | Parameter setting & configuration
Encoder evaluation
Parameter setting
Parameter Information Lenze setting
Value Unit
C02765 ENC_bError -
C02862/1 Resolver: Cos gain 100 %
C02862/1 Resolver: Sin gain 100 %
C02863 Resolver: Angle correction 0
Highlighted in grey = display parameter
How to get to the dialog for setting the encoder evaluation parameters:
1. Go to the Project view of the »Engineer« and select the 9400 HighLine controller.
2. Select the Application parameters tab from the Workspace.
3. Click the button All basic functions in the Overview dialog level.
4. Click the button Encoder evaluation in the dialog level Overview All basic
functions.
Parameterisation dialog in the »Engineer«
See also: Parameterise motor encoder ( 134)
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9400 HighLine | Parameter setting & configuration
Encoder evaluation
Parameter setting
6.3.1 Controller configuration
The device interfaces for the encoder on the motor side and, if available, on the load side
are directly assigned to the corresponding control according to the structure of the position
control selected (C02570):
Phase control (Lenze setting) Position control
Cycle time: 250 μs Application-dependent
Dead time: Smaller dead time in the actual value Same dead time for position setpoint and
channel actual position
Use: In positioning technology and single-axis In multi-axis applications or if a position
applications or if only one encoder is used. encoder is used in addition to the motor
encoder.
If only an encoder on the motor side is available, this "motor encoder" provides the
actual value signals for the phase/position control and the speed control.
– In this case both the angle control and the position control can be selected.
– When selecting the position control, make sure that the position encoder selection
"10: Motor encoder (C00495)" is set in C00490. With this selection, the mounting
position and the resulting gearbox factor are already considered.
– The motor encoder supports the secondary servo control irrespective of the use for
position and speed control (commutation).
If an additional encoder is available on the load side, this "position encoder" only
supports the position control and C02570 accordingly has to be set to "Position
controller active", so that the position encoder is evaluated.
– The used position encoder must be set in C00490.
– The position encoder mounting direction must be set in C02529.
– The starting position of the position encoder can be set via the basic function
"Homing".
Note!
When the basic function "Quick stop" is activated, the controller configuration is
always switched over to angle control internally, irrespective of the setting in
C02570.
• If the basic function "Quick stop" is to be used, the gain of the phase controller
(C00254) must also be set correctly for the "Position control" controller
configuration.
For the technology applications for the interconnection via the "Electrical shaft",
the controller configuration is set to position control in the default setting.
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Encoder evaluation
Parameter setting
From software version V7.0 onwards, the selection "3: Position controller active" is
available in C02570.
In contrast to the already existing selection "2: Position controller active (<= FW V5.xx)",
this selection considers the gearbox factor.
Further explanations on this can be obtained from the following table:
C02570 = 2: Position controller active (<= FW V5.xx) C02570 = 3: Position controller active
When the separate position encoder at the output end is When the separate position encoder at the output end is
used, the reference speed to the tool is assumed. This used, the reference speed is referred to the motor. Thus,
causes the acceleration and deceleration times not to all acceleration and deceleration times are calculated
refer to the motor but to the encoder. with regard to the reference speed at the motor.
In order to re-establish the motor reference, the desired
acceleration time of the corresponding function must be
multiplied by the resulting gearbox factor.
Example:
• Motor reference speed (C00011) = 3000 rpm
• Resulting gearbox factor = 10
• Acceleration time = 1 s
With 10 % setpoint selection:
• Motor speed = 100 % (3000 rpm) • Motor speed = 10 % (300 rpm)
• Tool speed = 300 rpm • Tool speed = 30 rpm
• Acceleration time up to 10 % setpoint selection • Acceleration time up to 10 % setpoint selection
(100 % motor speed) = 0.1 s (10 % motor speed) = 0.1 s
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Parameter setting
6.3.2 System with motor encoder
No encoder is installed on the load side. The motor position (angle of rotation) and motor
speed are detected via the motor encoder selected in C00495 and are converted with
regard to the load side.
M M
n Motor encoder
[6-2] Schematic diagram - feedback with position encoder = motor encoder
The actual position and actual speed values on the machine side result from the conversion
via the gearbox factor on the motor side (C02520/C02521) and the feed constant
(C02524).
See also: Gearbox ratio ( 38)
Feed constant ( 43)
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9400 HighLine | Parameter setting & configuration
Encoder evaluation
Parameter setting
6.3.3 System with motor encoder and position encoder
The optional position encoder is used as a feedback for the position control and transmits
the position of slide or drive roll to the controller.
M M
n Motor encoder
o Position encoder
p Gearbox ratio for position encoder
[6-3] Schematic diagram - feedback with separate position encoder
In this case, the actual position and actual speed values on the machine side result from
the conversion of the position encoder position via the resulting gearbox factor (ratio of
the motor speed to the position encoder speed; display in C02531/3) and the feed constant
(C02524).
How to activate the use of a separate position encoder:
On the Application parameters
tab in the dialog level Overview Drive interface Machine parameters:
1. Select the "Position controller active" setting in the Position control structure list
field (C02570), so that the position encoder is evaluated.
2. Select the position encoder available in the Position encoder selection list field
(C00490).
3. Select the gearbox ratio of the position encoder (ratio of load speed to encoder
speed) as a quotient (numerator/denominator) which results from the resulting
teeth number:
• Enter numerator in the input field Gearbox fact. num.: Pos. enc. (C02522).
• Enter denominator in the input field Gearbox fact. denom.: Pos. enc. (C02523).
4. If required, adapt the position encoder mounting direction via the Position encoder
mounting direction list field (C02529). The position encoder mounting direction is
preset to "Encoder rotating CW".
Tip!
In C02531/2 the gearbox factor is displayed in decimal format.
Important reference variables converted to the load side:
• Motor reference speed (C00011) Load reference speed (C02542)
• Reference torque (C00057/2) Load reference torque (C02543)
See also: Feed constant ( 43)
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9400 HighLine | Parameter setting & configuration
Encoder evaluation
Parameter setting
6.3.4 Adaptation of the resolver evaluation dynamics
This function extension is available from software version V5.0 onwards!
The resolver evaluation of the controller is adapted to the resolver types mounted in Lenze
motors and offers a good compromise between the dynamic performance and
interference suppression. If the resolver is used as a speed feedback system, the dynamic
performance of the resolver evaluation determines, among other things, the maximum
speed controller gain by means of which stable operation is possible.
In a system with an EMC-compliant structure (low interference), you can increase the
dynamics of the resolver evaluation in C00417 without a loss in quality in the speed signal.
By increasing C00417, the evaluation gets more dynamic and thus the speed controller
gain Vp (C00070) also increases without leaving the stable operating range.
The acceleration of the evaluation depends on the cable length, the resolver, and the
quality of the electrical shielding. In many cases, a setting of C00417 = 300 % is possible
which can double the speed controller gain. The higher gain in the speed controller may
reduce following errors.
See also: Servo control (SC): Optimising the speed controller ( 156)
Sensorless vector control (SLVC): Optimising the speed controller ( 183)
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Encoder evaluation
Parameter setting
6.3.5 Parameterisation of an unknown Hiperface encoder
This function extension is available from software version V4.0!
Application: A Hiperface encoder is to be used with the controller, the current firmware of
which has not (yet) been stored permanently.
How to parameterise a Hiperface encoder unknown to the controller:
1. Determine the type code of the encoder.
• If the encoder has already been connected and read out, the type code is
indicated in C00413.
• Alternatively, the type code can be obtained from the manufacturer or gathered
from the documentation for the encoder.
2. Set the type code of the encoder in C00414.
• Please observe that the decimal format has to be used for the setting. The type
codes provided by the manufacturer, however, are in the hexadecimal format.
3. If a multi-turn encoder is used, set the number of displayable resolutions in
C00415.
• This value can also be gathered from the documentation for the encoder.
4. Set the number of encoder increments in C00420.
• This step should be the last step because it initiates a new readout of the
encoder.
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Encoder evaluation
Parameter setting
6.3.6 Support of the laser measuring system (DME4000/5000)
This function extension is available from software version V4.0!
From software version V4.0, the laser measuring system (DME4000/5000) is supported.
The laser measuring system provides the opportunity to set the period length on the
encoder.
Note!
Due to its properties, the laser measuring system may not be used as a motor
encoder!
Within the controller the evaluation of optical encoders is dimensioned for rotary-
operating encoders. Code C00420 describes the number of encoder increments per
mechanical motor revolution. In order to be able to correctly evaluate the laser measuring
system, or an optical linear measuring scale in general, a back calculation from a linear
movement to one motor revolution has to be carried out.
Calculation of the number of increments for rotary machines
For rotary machines driving a slide via a spindle or similar, to which the length measuring
system is mounted, the number of encoder increments (C00420) is calculated as follows:
Distance covered on the encoder during one motor revolution
Number of increments = ---------------------------------------------------------------------------------------------------------------------------------------------------------------
Period length of the encoder
Calculation of the number of increments for linear direct drives
If the controller activates a linear direct drive, one mechanical motor revolution is defined
as follows:
One mech. motor revolution = 2 ⋅ length of a pole pitch ⋅ number of pole pairs
The length of a pole pitch describes the distance between the north and south pole at the
linear direct drive. The number of encoder increments (C00420) thus is calculated as
follows:
2 ⋅ length of a pole pitch ⋅ number of pole pairs
Number of increments = -------------------------------------------------------------------------------------------------------------------------
Period length of the encoder
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9400 HighLine | Parameter setting & configuration
Encoder evaluation
Parameter setting
6.3.7 Use of an SSI encoder at X8
This function extension is available from software version V5.0 onwards!
From software version V5.0 all encoders at X8 using the Stegmann SSI protocol are
supported.
Supported bit rates for the SSI communication: 150 ... 1000 kbits
Supported data word widths: 1 ... 31 bits (effectively)
Supported output code of the SSI encoder: Gray or binary
The SSI encoder can be used as position encoder or master encoder with a minimum
cycle time of 1 ms.
The SSI encoder can be supplied with a voltage of up to 12 V and a current of 0.25 A via
X8.
The SSI data words received are provided to the application via the LS_SsiEncoderX8
system block for further processing within the function block editor.
Note!
The LS_SsiEncoderX8 SB is only provided within controllers with a MM3xx or
MM4xx memory module.
How to parameterise the SSI encoder at X8:
1. Set the supply voltage of the SSI encoder used in C00421.
2. Set the selection "4: SSI encoder" as encoder type in C00422.
3. Set the bit rate for SSI communication in C00423.
• In the case of the SSI protocol, the permissible baud rate decreases with an
increasing cable length. Depending on the length of the encoder cable used and
the electromagnetic interference level, a safe bit rate must be set here.
• Lenze setting: 400 kbits (for encoder cables with a length of up to ≈ 50 meters)
4. Set the data word width in C00424, i. e. the number of data bits that is used for the
transmission of a complete SSI data packet.
• Lenze setting: 25 bits (Stegmann multiturn SSI encoder)
5. Optionally: Split the SSI data word received into partwords and connect a data
conversion from Gray into binary code, which may be required (see the following
subchapters).
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9400 HighLine | Parameter setting & configuration
Encoder evaluation
Parameter setting
6.3.7.1 "LS_SsiEncoderX8" system block
The LS_SsiEncoderX8 system block provides the SSI data words received to the application
for further processing in the function block editor.
Note!
• The LS_SsiEncoderX8 SB is only provided within controllers with a MM3xx or
MM4xx memory module.
• If a position is transmitted in the SSI data word, it is output in an unchanged
manner with regard to the position format by the LS_SsiEncoderX8 SB. For a
use of the SSI encoder as position encoder the position has to be converted
into the 9400 format afterwards by means of the L_EsEncoderConv FB.
LS_SsiEncoderX8
S C00424 Dataword length
31 0
SSI Start position Length Coding
SSI_dwDataword_1
dataword Partword 1 C00435/1 C00436/1 C00437/1
SSI_dwDataword_2
Partword 2 C00435/2 C00436/2 C00437/2
SSI_dwDataword_3
Partword 3 C00435/3 C00436/3 C00437/3
Encoder voltage SSI_dwDataword_4
C00421 Partword 4 C00435/4 C00436/4 C00437/4
SSI_dwDataword_5
Partword 5 C00435/5 C00436/5 C00437/5
Encoder type SSI_dwDataword_6
C00422 Partword 6 C00435/6 C00436/6 C00437/6
SSI_dwDataword_7
Partword 7 C00435/7 C00436/7 C00437/7
Bitrate SSI_dwDataword_8
C00423 Partword 8 C00435/8 C00436/8 C00437/8
Outputs
Identifier Value/meaning
Data type
SSI_dwDataword_1 SSI partword 1
DWORD • In the Lenze setting the complete SSI data word received is shown at this output
without a conversion of the data format.
SSI_dwDataword_2 SSI partwords 2 ... 8
... • In the Lenze setting these outputs are deactivated.
SSI_dwDataword_8 Division of the SSI data word into partwords ( 257)
DWORD
Gray-binary conversion
If an SSI encoder with Gray coding is used, a data conversion of Gray-to-binary code can be
connected in C00437/1...8 individually for each output of the LS_SsiEncoderX8 SB, and
thus for each partword.
In the Lenze setting "Binary coded" there is no conversion, i. e. an SSI encoder with
binary coding is expected.
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Encoder evaluation
Parameter setting
6.3.7.2 Division of the SSI data word into partwords
The LS_SsiEncoderX8 SB can be configured so that it splits up the SSI data word received by
the encoder interface into several partwords.
A separation into partwords is reasonable if the SSI data word also contains other data
(like for instance fault or status information) in addition to the position.
The max. 8 possible partwords are fixedly assigned to the outputs SSI_dwDataword_1
... SSI_dwDataword_8.
The partwords are configured via the following parameters:
Parameter Information
C00435/1...8 Starting position for partwords 1 ... 8
In order to be able to display the individual components of the SSI data word received at
different outputs, this code serves to specify the bit position with which the partword for the
respective output starts for the eight possible outputs of the LS_SsiEncoderX8 SB .
Subcode 1 is fixedly assigned to the first output, subcode 2 to the second output, etc.
C00436/1...8 Length of the partwords 1 ... 8
Apart from the position of the first bit, also the bit length of each partword is important for
the separation. A length of zero means that no partword is to be shown at the corresponding
output (output = 0). Here also subcode 1 is fixedly assigned to the first output, subcode 2 to
the second output, etc.
In the Lenze setting the complete SSI data word received is shown at the output
SSI_dwDataword_1:
3DUWZRUG 6WDUWSRVLWLRQ & &
3DUWZRUG /HQJWK & &
66,BGZ'DWDZRUGB n
S = start bit n position information
[6-4] Example 1: Lenze setting
The following example shows the parameterisation required to split up the SSI data
word received into three partwords (here status information, error bit, and position
information):
3DUWZRUG 6WDUWSRVLWLRQ &
3DUWZRUG /HQJWK &
3DUWZRUG 6WDUWSRVLWLRQ &
3DUWZRUG /HQJWK &
3DUWZRUG 6WDUWSRVLWLRQ & &
3DUWZRUG /HQJWK & &
66,BGZ'DWDZRUGB n
66,BGZ'DWDZRUGB o
66,BGZ'DWDZRUGB p
S = start bit n Status information o Error bit p Position information
[6-5] Example 2: Splitting up the SSI data word received into three partwords
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9400 HighLine | Parameter setting & configuration
Encoder evaluation
Parameter setting
6.3.8 Provision of the encoder signal of input X8
This function extension is available from software version V7.0!
The LS_EncoderX8 system block serves to provide the encoder signal of input X8 to the
application, independent of the selected feedback system for the motor encoder and
position encoder.
Application cases:
High-resolution speed encoder as master encoder /value, correcting signal, ...
Absolute value encoder for length measurements
Display of the absolute encoder value without considering an offset
Note!
For SSL encoders, the LS_SsiEncoderX8 system block must be used. Use of an
SSI encoder at X8 ( 255)
6.3.8.1 System block "LS_EncoderX8"
The LS_EncoderX8 system block provides the input X8 to the application in the function
block editor.
LS_EncoderX8
ENC_dnEncoderOut1
ENC_dnEncoderOut2
ENC_dnActualSpeed_s
ENC_bError
G E R
Outputs
Identifier Value/meaning
DIS code | data type
ENC_dnEncoderOut1 Display of the current encoder position (steps) within one revolution
C02762 |DINT • 1 revolution ≡ 232 bits
Note:
In order to convert the encoder information/position into a position_p in the
internal measuring system, connect both outputs ENC_dnEncoderOut1 and
ENC_dnEncoderOut2 with the inputs dnEncoderIn and dnEncoderIn2 of the
FB L_EsEncoderConv. A storage with mains failure protection of the position signal
is also processed via this FB.
ENC_dnEncoderOut2 Display of all revolutions of the encoder (only with Multiturn)
C02763 |DINT • After the max. presentable revolutions have been reached, the value jumps back
to "0".
• C02761 shows the max. presentable revolutions of the MultiTurn encoder
(encoder-dependent).
• In case of SingleTurn, the value "0" is always output.
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9400 HighLine | Parameter setting & configuration
Encoder evaluation
Parameter setting
Identifier Value/meaning
DIS code | data type
ENC_dnActualSpeed_s Current encoder speed in [rpm]
C02764 | DINT
ENC_bError Status signal "Encoder error"
C02765 | BOOL
TRUE An encoder error has occurred.
6.3.8.2 Activate evaluation
C02760 serves to activate the evaluation of the encoder signal of input X8.
When the evaluation is activated, the encoder parameterised in C00422 is read in.
– At the same time, the monitoring functions are active. If no encoder is available, the
corresponding monitoring functions are triggered.
When the evaluation is deactivated, the outputs of the system block are reset.
– Monitoring is deactivated depending on the position encoder selection (C00490) and
the motor encoder selection (C00495).
Monitoring
The monitoring functions depend on the encoder type selected inC00422 and do not differ
from the existing monitoring functions:
Open circuit of encoder (response: C00580)
Encoder angular drift monitoring ( 263)
Encoder communication error (FDB_bEncoderComError; response: C00601)
Sine/cosine encoder error (FDB_bSinCosSignalError)
Group signal for errors as process date (ENC_bError)
Conditioning of the encoder signal
The encoder signal is conditioned to a position (including a storage with mains failure
protection) within the application using the FB L_EsEncoderConv:
– Interconnection of the ENC_dnEncoderOut1 output signal with the dnEncoderIn
input of the FB L_EsEncoderConv.
– Interconnection of the ENC_dnEncoderOut2 output signal with the dnEncoderIn2
input of the FB L_EsEncoderConv.
– Additional parameter setting of the FB L_EsEncoderConv:
Mode selection: Cxxxxx = 1
Number of revolutions transmitted from C02761
– The (optional) reconstruction of the position after mains switching is also made by
the FB L_EsEncoderConv.
In contrast, the conditioning of the encoder signal to a speed is directly made in the
LS_EncoderX8 system block.
– The current encoder speed is provided at the ENC_dnActualSpeed_s output in [rpm]
(display parameter: C02764).
TouchProbe function is not supported (continues to be only available for motor and
position encoders).
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9400 HighLine | Parameter setting & configuration
Encoder evaluation
Parameter setting
If the encoder at X8 is simultaneously used as motor or position encoder, the "raw
value" of the encoder is continued to be output.
Display parameters
Parameter Information Lenze setting
Value Unit
C02761 Resolution Multiturn - Rev
C02762 Encoder position: Steps within one revolution - Steps
C02763 Encoderrev: Number of revolutions - Rev
C02764 Encoderspeed - rpm
C02765 Encoder error -
Highlighted in grey = display parameter
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9400 HighLine | Parameter setting & configuration
Encoder evaluation
Parameter setting
6.3.9 Resolver error compensation
This function extension is available from software version V7.0!
Resolver errors typically occur in form of the 1st and 2nd harmonic. They have two different
causes:
1. The inductances of the sine and cosine track of the resolver have slightly different
values.
2. The sine and cosine track do not magnetise orthogonally to each other.
The resolver error which is based on cause 1 can be corrected by adapting the gains of the
digital/analog converters which feed the resolver tracks. In the Lenze setting, the gains for
both resolver tracks are preset identically.
A resolver error based on cause 2, can be compensated by a slight correction of the angle
which serves to feed the two resolver tracks relatively to each other.
By executing the device command C00002 = "59: Resolver error identification", the gain of
the digital/analog converter for feeding the resolver and the angle which serves to feed the
two resolver tracks relatively to each other are corrected so that the resolver error is
minimised.
A precondition for the execution of the device command is that the machine is in
speed-controlled operation (servo control). The speed amount during the identification
must be constant and higher than 500 rpm.
After the resolver error identification has been executed successfully, the resolver error
compensation is activated automatically (C00418 = "1: Activated"). Now the resolver
operates with the following resolver error parameters which have been identified
during the procedure:
Parameter Information Lenze setting
Value Unit
C02862/1 Resolver: Cos gain 100 %
C02862/1 Resolver: Sin gain 100 %
C02863 Resolver: Angle correction 0
The detected gain can take values between 0 ...100 %.
– With a setting of 0 %, the gain of the corresponding resolver track is only 95 % of the
default setting.
– With a sensible resolver error compensation only one of the two gains is adapted.
The other remains at 100 %.
For a permanent acceptance of the identified resolver error parameters, the parameter
set must be saved (C00002 = "11: Save start parameters").
When the resolver error compensation is deactivated (C00418 = "0: Deactivated"), the
resolver operates with the Lenze setting again. The identified resolver error parameters
remain stored.
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9400 HighLine | Parameter setting & configuration
Encoder evaluation
Parameter setting
The resolver error identification can fail due to the following:
Wrong control mode is active (no servo control)
Error or fault is active
Another identification is active
The speed is too low (< 500 rpm)
Time-out while the algorithm is processed
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9400 HighLine | Parameter setting & configuration
Encoder evaluation
Parameter setting
6.3.10 Encoder angular drift monitoring
The optional encoder angular drift monitoring monitors a potential deviation between the
actual encoder angle and the angle calculated by the counting of increments in the
encoder evaluation.
The encoder angular drift monitoring is activated by parameterising an error
response that is not "0: No response" in C00621.
If a deviation greater than 45° (electrical) is detected while monitoring is activated:
The error message "Encoder monitoring: pulse deviation detected" is entered in the
logbook of the controller.
The error response parameterised in C00621 is triggered.
The "Reference known" status of the basic drive function "Homing" is reset (provided
that this status was set before).
Tip!
A deviation can for instance occur by incorrect parameter setting of the encoder
increments, by additional increments due to EMC interferences, or by an EMC-
related loss of increments.
The encoder angular drift monitoring is implemented for encoders with and without
absolute information by two different principles which are explained in detail in the
following subchapters.
6.3.10.1 Angular drift monitoring for encoders without absolute information
When an encoder without absolute information is used, the number of increments
between two zero pulses (one revolution) is monitored. This value must equal the encoder
increments set in C00420.
Note!
After mains switching, the monitoring function is only active after the second
zero pulse, since the first difference in increments to be used can only be
calculated with the second and first zero pulse.
When the motor (and thus the encoder) is replaced, an angular drift error is likely
to occur within the first revolution after the encoder error is acknowledged,
since the monitoring function cannot recognise that the encoder has been
replaced.
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9400 HighLine | Parameter setting & configuration
Encoder evaluation
Parameter setting
6.3.10.2 Angular drift monitoring for encoders with absolute information
When an encoder with absolute information is used, cyclic communication with the
encoder takes place and the angle is read out digitally. This angle is compared with the
angle from the encoder evaluation.
Note!
If monitoring is deactivated (C00621 ="0: No response"), there is no cyclic
communication with the encoder, and therefore no communication errors with
the encoder can occur.
If monitoring is activated, it is only carried out for speeds below 100 rpm due to
runtimes for communication .
• If increments get lost at higher speeds, this deviation can only be detected if
the speed is below 100 rpm for at least 80 ms.
After every detected angular drift error of the encoder, the position is
automatically read out again and this angle is written into the encoder
evaluation. This makes it possible to acknowledge the error. When synchronous
machines are used, the pole position is corrected again simultaneously.
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9400 HighLine | Parameter setting & configuration
Braking operation
7 Braking operation
The 9400 HighLine controller as a single-axis controller (Single Drive) is provided with an
integrated brake transistor.
The required brake resistor must be connected externally (see Mounting Instructions/
Hardware Manual).
The rated values for the internal brake transistor are given in the Hardware Manual in
the "Rated data" chapter.
Stop!
If the brake resistor actually connected is smaller than the brake transistor
parameterised, the brake chopper can be destroyed!
The brake resistor can be overloaded thermally. Carry out protective measures
suitable for the installation, e.g.:
• Parameterisation of an error response in C00574 and evaluation of the
parameterised error message within the application or within the machine
control. I2t utilisation - brake resistor ( 269)
• External wiring using the temperature contact on the brake resistor (e.g.
interruption of the supply via mains contactor and activation of the
mechanical brakes).
Note!
The brake chopper control is also guaranteed if, for example, the application
stands still or the 24-V supply is not connected and the controller is only fed by
the DC bus.
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9400 HighLine | Parameter setting & configuration
Braking operation
Parameter setting
7.1 Parameter setting
Short overview: Parameters for braking operation
Parameter Information Lenze setting
Value Unit
C00129 Brake resistor value 180.0 Ohm
C00130 Rated power of brake resistor 5600 W
C00131 Rated heat quantity of brake resistor 485 kWs
C00133 Ref.: Brake chopper utilisation Minimum resistance (C00134)
C00134 Min. brake resistance - Ohm
C00137 Brake transistor utilisation - %
C00138 Brake resistor utilisation - %
C00173 Mains voltage 400/415 V
C00181 Reduced brake chopper threshold 0 V
C00569 Resp. brake trans. ixt > C00570 Warning
C00570 Warning thres. brake transistor 90 %
C00571 Resp. brake res. i2t > C00572 Warning
C00572 Warning thres. brake resistor 90 %
C00573 Resp. to brake transistor overload No response
C00574 Resp. to overtemp. brake resist. No response
C00600 Resp. to DC bus overvoltage Trouble
Highlighted in grey = display parameter
7.1.1 Setting the voltage threshold for braking operation
The voltage threshold for the braking operation is set via C00173 (mains voltage) and
C00181 (reduced brake chopper threshold). If the brake chopper threshold in the DC bus is
exceeded, the brake transistor is switched on.
Mains voltage selected in C00173 Effective brake chopper threshold
230 V 390 V - value in C00181 (0 ... 100 V)
400/415 V 725 V - value in C00181 (0 ... 100 V)
460/480 V 765 V - value in C00181 (0 ... 100 V)
500 V 790 V - value in C00181 (0 ... 100 V)
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9400 HighLine | Parameter setting & configuration
Braking operation
Monitoring
7.2 Monitoring
7.2.1 Overcurrent protection
The brake chopper hardware is monitored with regard to overcurrent (short circuit or earth
fault).
Note!
The monitoring with regard to overcurrent can only be triggered if a braking
current is actually available. It is not possible to carry out a test in idle state
(without connected brake resistor).
If monitoring responds:
– The brake chopper is switched off immediately.
– The "Fault" response is activated.
– The "Brake transistor: overcurrent" error message is entered into the logbook of the
controller.
Note!
The error can only be acknowledged after 2 seconds at the earliest to resume the
braking operation.
Tip!
In addition to the overcurrent protection the controller is provided with two
further monitoring functions for the braking operation, which are also activated if
no brake resistor is connected at all (testing mode for checking the
parameterisation):
Ixt utilisation - brake transistor ( 268)
I2t utilisation - brake resistor ( 269)
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9400 HighLine | Parameter setting & configuration
Braking operation
Monitoring
7.2.2 Ixt utilisation - brake transistor
The controller is provided with a monitoring function for the Ixt utilisation of the internal
brake transistor.
Note!
The braking operation will never be switched off by this monitoring function.
C00569
UDC_act C00133
IBr = Logbook entry "Brake chopper: Ixt > C00570"
C00134 0
IBr Ixt C00570
UDC_act 1 C00137
IBr = Logbook entry "Brake transistor: Ixt overload"
C00129 TOn = 1 = f(duty cycle, RBr)
TOff = 0 100 % C00573
[7-1] Signal flow of Ixt utilisation - brake chopper
Monitoring is based on a mathematical model which calculates the braking current
from the current DC-bus voltage and the brake resistance parameterised.
– Hence, monitoring can be activated although no brake resistor is connected and can
therefore also be used for a testing mode to check the parameterisation.
During the calculation the thermal utilisation of the brake transistor is taken into
consideration by the use of an accordingly adapted time constant.
In C00133 it can be selected whether the minimum brake resistance (display inC00134)
which depends on the network setting in C00173) or the brake resistor value
parameterised in C00129 is to be used as a reference for calculating the utilisation.
C00137 displays the calculated utilisation of the brake transistor in [%].
– A 100 % utilisation corresponds to the continuous braking power which is provided
by the integrated brake chopper at a DC-bus voltage of 790 V (or 390 V at a mains
voltage of 230 V).
– The maximum braking power (assuming that the utilisation starts at 0 %) can be
provided for a time period depending on the device.
– The calculated utilisation is provided as oscilloscope signal
Common.dnIxtBrakeChopper to check the braking operation while the system is
running
(scaling: 230 ≡ 100 %).
If the utilisation exceeds the advance warning threshold set in C00570, "Brake chopper:
Ixt > C00570" is entered in the logbook and the response set in C00569 (default setting:
"Warning") is activated.
When the utilisation reaches the limit value (100 %):
– The activation of the brake chopper is reset to the permanently permissible mark-to
space ratio (taking the parameterised brake resistance into consideration). (The
brake chopper is activated with 4 kHz, which means that it can be switched on/off at
minimum intervals of 250 μs.)
– The response set in C00573 (default setting: "No response") is activated with the
corresponding effects on the state machine and the inverter.
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9400 HighLine | Parameter setting & configuration
Braking operation
Monitoring
Note!
If the DC-bus voltage exceeds the overvoltage threshold due to a too high
braking energy, the monitoring function for overvoltage in the DC bus responds.
DC bus overvoltage ( 271)
7.2.3 I2t utilisation - brake resistor
The controller is provided with a monitoring function of the I2t utilisation of the brake
resistor which is proportional to the converted braking power.
Note!
The braking operation will never be switched off by this monitoring function.
Temperature model C00571
Logbook entry "Brake resistor: I2t > C00572"
UDC_act IBr I2t
IBr = C00572
C00129 C00129 C00138
C00130
C00131 Logbook entry "Brake resistor: I2t overload"
TOn = 1
TOff = 0 100 % C00574
[7-2] Signal flow - I2t utilisation - brake resistor
The monitoring function is based on the mathematical model which calculates the
braking current from the current DC-bus voltage and the brake resistance
parameterised in C00129.
– Hence, monitoring can be activated although no brake resistor is connected and can
therefore also be used for a testing mode to check the parameterisation.
The calculation considers the thermal utilisation of the brake resistor based on the
following parameters:
– Resistance value (C00129)
– Continuous power (C00130)
– Thermal capacity (C00131)
C00138 displays the calculated utilisation of the brake resistor in [%].
– A 100 % utilisation corresponds to the continuous power of the brake resistor which
results at the maximum permissible temperature limit of the brake resistor.
– The calculated utilisation is provided as oscilloscope signal
Common.dnI2tBrakeResistor to check the braking operation while the system is
running
(scaling: 230 ≡ 100 %).
If the utilisation exceeds the advance warning threshold set in C00572, "Brake resistor:
I2t > C00572" is entered in the logbook and the response set in C00571 (default setting:
"Warning") is activated.
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9400 HighLine | Parameter setting & configuration
Braking operation
Monitoring
When the utilisation reaches the limit value (100 %):
– The response set in C00574 (default setting: "No response") is activated with the
corresponding effects on the state machine and the inverter.
– Only applies to software versions lower than V3.0:
The activation of the brake chopper is reset to the permanently permissible mark-to
space ratio (taking the parameterised brake resistance into consideration). (The
brake chopper is activated with 4 kHz, which means that it can be switched on/off at
minimum intervals of 250 μs.)
Stop!
The brake resistor can be overloaded thermally. Carry out protective measures
suitable for the installation, e.g.:
• Parameterisation of an error response in C00574 and evaluation of the
parameterised error message within the application or within the machine
control.
• External wiring using the temperature contact on the brake resistor (e.g.
interruption of the supply via mains contactor and activation of the
mechanical brakes).
Note!
If the system is dimensioned correctly, this monitoring should not respond. If
individual rated data of the actually connected brake resistor are not known,
they have to be determined "empirically".
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9400 HighLine | Parameter setting & configuration
Braking operation
Monitoring
7.2.4 DC bus overvoltage
If, due to a too high braking energy, the DC-bus voltage exceeds the overvoltage threshold
which results from the mains voltage setting in C00173, the "Overvoltage in the DC bus"
error message is output and the response set in C00600 is activated (default setting:
"Trouble").
Note!
For hoist applications, the "Fault" response should be selected in C00600 (in
combination with an emergency stop via mechanical brakes).
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9400 HighLine | Parameter setting & configuration
I/O terminals
8 I/O terminals
This chapter provides information about options for parameter setting and configuration
of the controller input and output terminals.
Tip!
Information on wiring the terminals can be found in the Mounting Instructions for
the controller!
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9400 HighLine | Parameter setting & configuration
I/O terminals
Overview
8.1 Overview
Front view Terminal assignment Information
X2 "State bus" monitoring function ( 283)
SB 24E GE
X3 Analog inputs ( 274)
A2- A2+ A1R A1- A1- A1+ AO2 AO1 GA
Analog outputs ( 277)
X4 Digital outputs ( 281)
DO4 DO3 DO2 DO1 24O GO
X5 Digital inputs ( 279)
DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI
Touch probe detection ( 285)
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9400 HighLine | Parameter setting & configuration
I/O terminals
Analog inputs
8.2 Analog inputs
The controller has two analog inputs that can be used to detect differential voltage signals
in the range of ±10 V, e.g. analog speed setpoint selections or the voltage signals of an
external sensor (temperature, pressure, etc.).
Optionally, analog input 1 can also be used to detect current setpoints.
8.2.1 Terminal assignment/electrical data
X3
A2- A2+ A1R A1- A1- A1+
Terminal Use Electrical data
X3/A1- Differential voltage input 1 Level: -10 V ... +10 V
X3/A1+ (no jumper between A1R and A1- Resolution: 11 bits + sign
Scaling: When C00034 = "0":
±10 V ≡ ±230
Conversion rate: 1 kHz
Current input Level: -20 mA ... +20 mA
(jumper between A1R and A1-) Resolution: 10 bits + sign
Scaling: When C00034 = "1":
-20 mA ... -4 mA = -230 ... 0
+4 mA ... +20 mA = 0 ... 230
When C00034 = "2":
±20 mA ≡ ±230
Conversion rate: 1 kHz
X3/A2- Differential voltage input 2 Level: -10 V ... +10 V
X3/A2+ Resolution: 11 bits + sign
Scaling: ±10 V ≡ ±230
Conversion rate: 1 kHz
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9400 HighLine | Parameter setting & configuration
I/O terminals
Analog inputs
8.2.2 Parameter setting
Short overview of parameters for the analog inputs:
Parameter Information
C00034 Config. analog input 1
C00598 Resp. to open circuit AIN1
C02730/1 Analog input 1: Gain
C02730/2 Analog input 2: Gain
C02731/1 Analog input 1: Offset
C02731/2 Analog input 2: Offset
C02732/1 Analog input 1: Dead band
C02732/2 Analog input 2: Dead band
C02800/1 Analog input 1: Input signal (-16384 ≡ -100 %, 16383 ≡ 100 %)
C02800/2 Analog input 2: Input signal (-16384 ≡ -100 %, 16383 ≡ 100 %)
Highlighted in grey = display parameter
8.2.3 Reconfiguring analog input 1 into current input
By means of the following two steps, analog input 1 can be reconfigured into a current
input:
1. Bridge the terminals A1R and A1- at terminal strip X3 by means of wiring.
2. Select the corresponding current loop under C00034.
Tip!
Like this you can implement a 4 ...20 mA current loop, e.g. for speed setpoint
selection.
Open-circuit monitoring
Under C00598 you can set an error response to open circuit for the 4 ...20 mA current loop.
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9400 HighLine | Parameter setting & configuration
I/O terminals
Analog inputs
8.2.4 "LS_AnalogInput" system block
The LS_AnalogInput system block displays the analog inputs in the function block editor.
LS_AnalogInput
X3 C02800/1
A2- A2+ A1R A1- A1- A1+
C02731/1 C02730/1 C02732/1
AIN1_dnIn_n
250
C02731/2 C02730/2 C02732/2
AIN2_dnIn_n
C02800/2 AIN1_bCurrentError
Output Value/meaning
Data type
AIN1_dnIn_n Analog input 1
DINT • Scaling:
±230 ≡ ±10 V for use as a voltage input
±230 ≡ ±20 mA for use as a current input
AIN2_dnIn_n Analog input 2
DINT • Scaling: ±230 ≡ ±10 V
AIN1_bCurrentError Status signal "Current input error"
BOOL • Only when analog input 1 is used as current input.
• Application: Monitoring of the 4 ...20 mA circuit with regard to cable break.
TRUE |IAIN1| < 2 mA
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9400 HighLine | Parameter setting & configuration
I/O terminals
Analog outputs
8.3 Analog outputs
The controller has two analog outputs that can be used to output internal analog signals
as voltage signals, e.g. for the control of analog indicating instruments or as a setpoint for
slave drives.
Note!
Initialisation behaviour:
• After mains switching until the application is started, the analog outputs
remain on 0 V.
Exceptional behaviour:
• In the case of a critical exception within the application (e. g. reset), the
analog outputs are set to 0 V.
8.3.1 Terminal assignment/electrical data
X3
AO2 AO1 GA
Terminal Use Electrical data
X3/AO1 Voltage output 1 Level: -10 V ... +10 V
(max. 2 mA)
Resolution: 11 bits + sign
Scaling: ±230 ≡ ±10 V
Conversion rate: 1 kHz
X3/AO2 Voltage output 2 Level: -10 V ... +10 V
(max. 2 mA)
Resolution: 11 bits + sign
Scaling: ±230 ≡ ±10 V
Conversion rate: 1 kHz
X3/GA Reference potential (analog ground)
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9400 HighLine | Parameter setting & configuration
I/O terminals
Analog outputs
8.3.2 Parameter setting
Short overview of parameters for the analog outputs:
Parameter Information
C02733/1 Analog output 1: Gain
C02733/2 Analog output 2: Gain
C02734/1 Analog output 1: Offset
C02734/2 Analog output 2: Offset
C02801/1 Analog output 1: Output signal
C02801/2 Analog output 2: Output signal
Highlighted in grey = display parameter
8.3.3 "LS_AnalogOutput" system block
In the function block editor the LS_AnalogOutput system block provides the interface to
the analog outputs.
LS_AnalogOutput
X3
AO2 AO1 GA
C02734/1 C02733/1 C02801/1
AOUT1_dnOut_n
C02734/2 C02733/2
AOUT2_dnOut_n
C02801/2
Input Information/possible settings
Data type
AOUT1_dnOut_n Analog output 1
DINT • Scaling: ±230 ≡ ±10 V
AOUT2_dnOut_n Analog output 2
DINT • Scaling: ±230 ≡ ±10 V
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9400 HighLine | Parameter setting & configuration
I/O terminals
Digital inputs
8.4 Digital inputs
The controller is provided with eight freely configurable digital inputs.
All digital inputs can be used for touch probe. Touch probe detection ( 285)
The control input RFR of terminal strip X5 for controller enable is fixedly connected to
the device control.
8.4.1 Terminal assignment/electrical data
X5
DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI
Terminal Use Electrical data
X5/DI1 Digital input 1 ... 8 LOW level: 0 ... +5 V
HIGH level: +15 ... +30 V
X5/DI8
Input current: 8 mA per input
(at 24 V)
External-voltage Max. ±30 V
protection:
Conversion rate: 1 kHz
X5/RFR Controller enable See digital inputs
X5/GI Reference potential (digital ground)
8.4.2 Parameter setting
Short overview of parameters for the digital inputs:
Parameter Information
C00114 Digital input x - terminal pol.
C00443 Status: Digital inputs
C02803 Status word: Digital inputs
C02830 Digital inputs: Delay time
Highlighted in grey = display parameter
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9400 HighLine | Parameter setting & configuration
I/O terminals
Digital inputs
8.4.3 "LS_DigitalInput" system block
The LS_DigitalInput system block displays the digital inputs and the status of the state bus
in the function block editor.
LS_DigitalInput
DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI X5 DriveInterface
DIGIN_bCInh
1
DIGIN_bIn1
DIGIN_bIn2
DIGIN_bIn3
C00114/1...8
DIGIN_bIn4
0
1 DIGIN_bIn5
1
DIGIN_bIn6
C00443/1...8
DIGIN_bIn7
DIGIN_bIn8
X2
SB 24E GE
CONTROL
DIGIN_bStateBusIn
Output Value/meaning
DIS code | data type
DIGIN_bCInh Status signal "Controller inhibit"
C00443/9 | BOOL • The control input RFR (X5/pin 9) for setting/deactivating controller inhibit is
fixedly connected to the device control (DCTRL) via an inverter.
TRUE Controller inhibit active
DIGIN_bIn1 Digital input 1 ... 8
C00443/1 | BOOL
...
DIGIN_bIn8
C00443/8 | BOOL
DIGIN_bStateBusIn State bus status
C00443/12 | BOOL "State bus" monitoring function ( 283)
TRUE A node connected to the state bus has set the state bus to LOW level
and the "Error" state has been set.
• The "Error" state is also set if a node connected to the state bus is
not supplied with voltage.
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I/O terminals
Digital outputs
8.5 Digital outputs
The controller is provided with four freely configurable digital outputs.
Note!
Initialisation behaviour:
• After mains switching until the application is started, the digital outputs
remain on FALSE.
Exceptional behaviour:
• In the case of a critical exception within the application (e. g. reset), the digital
outputs are set to FALSE, taking the terminal polarity parameterised in
C00118 into consideration.
8.5.1 Terminal assignment/electrical data
X4
DO4 DO3 DO2 DO1 24O GO
Terminal Use Electrical data
X4/DO1 Digital output 1 ... 4 LOW level: 0 ... +5 V
... HIGH level: +15 ... +30 V
X4/DO4
Output current: Max. 50 mA per output (external
resistance > 480 Ω at 24 V)
Conversion rate: 1 kHz
X4/24O External 24 V voltage supply for the digital outputs
X4/GO Reference potential (digital ground)
8.5.2 Parameter setting
Short overview of parameters for the digital outputs:
Parameter Information
C00118 Digital output x - terminal pol.
C00444 Status: Digital outputs
C02802 Status word: Digital outputs
Highlighted in grey = display parameter
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Digital outputs
8.5.3 "LS_DigitalOutput" system block
In the function block editor the LS_DigitalOutput system block provides the interface to
the digital outputs, the state bus, and the yellow user LED at the front of the controller.
LS_DigitalOutput X4
DO4 DO3 DO2 DO1 24O GO
DIGOUT_bOut1
C00118/1...4
DIGOUT_bOut2
0
DIGOUT_bOut3 1 1
DIGOUT_bOut4
C00444/1...4
X2
SB 24E GE
DIGOUT_bStateBusOut
CONTROL
DIGOUT_bUserLED
User LED
Input Information/possible settings
DIS code | data type
DIGOUT_bOut1 Digital output 1 ... 4
C00444/1 | BOOL
...
DIGOUT_bOut4
C00444/4 | BOOL
DIGOUT_bStateBusOut Setting the state bus to the "Error" state
C00444/18 | BOOL "State bus" monitoring function ( 283)
TRUE The state bus is set to LOW level, all nodes connected to the state bus
start their pre-programmed response.
DIGOUT_bUserLED Control of yellow user LED on the front of the controller
C00444/9 | BOOL
TRUE LED on
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I/O terminals
"State bus" monitoring function
8.6 "State bus" monitoring function
The state bus is a bus system that is solely designed for Lenze controllers, via which up to
20 controllers can be connected to each other, and by means of which the function of a
"release cord" can be simulated:
SB 24E GE
SB 24E GE
SB 24E GE
X2 X2 X2
X2/SB = State bus In/Out (reference potential GE)
[8-1] Schematic diagram: Networking via state bus
The state bus only knows the states "OK" and "Error".
The state bus is a bus with multi-master capability, i.e. each node connected to the
state bus can set the state bus to the "Error" state by setting it to LOW level.
In the "Error" status, all nodes start their adjustable response, e.g. synchronised braking
of the drive system.
The "Error" state is also set if a node connected to the state bus is not supplied with
voltage.
Note!
Exceptional behaviour:
• In the case of a critical exception within the application (e. g. reset), the
"release cord" is not triggered, the state bus remains in the "OK" status.
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I/O terminals
"State bus" monitoring function
8.6.1 Detecting the current state
Via the output DIGIN_bStateBusIn of the LS_DigitalInput system block, the current status
of the state bus can be queried. In case of error the output DIGIN_bStateBusIn is set to
TRUE.
LS_DigitalInput
X2
SB 24E GE
CONTROL
DIGIN_bStateBusIn
8.6.2 Setting the state bus to the "Error" state
If the input DIGOUT_bStateBusOut of the LS_DigitalOutput system block is set to TRUE, the
state bus is set to "Error" and all connected nodes start their pre-programmed response.
LS_DigitalOutput
X2
SB 24E GE
CONTROL
DIGOUT_bStateBusOut
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9400 HighLine | Parameter setting & configuration
I/O terminals
Touch probe detection
8.7 Touch probe detection
A "Touch probe" is an event which can for instance be actuated in an edge-controlled
manner via a digital input to detect an actual value (that changes quickly) at the time of
activation and to process it further within the program afterwards.
Overview of the touch probe channels
For the touch probe detection 12 touch probe channels are provided, which can be
configured independently of each other:
Touch probe channel Activating event System block
1 Edge change at digital input 1 LS_TouchProbe1...8 ( 288)
2 Edge change at digital input 2
3 Edge change at digital input 3
4 Edge change at digital input 4
5 Edge change at digital input 5
6 Edge change at digital input 6
7 Edge change at digital input 7
8 Edge change at digital input 8
9 Motor encoder zero pulse LS_TouchProbeMotor ( 289)
10 Position encoder zero pulse LS_TouchProbeLoad ( 289)
11 DFIN zero pulse LS_TouchProbeDFIN
12 DFOUT zero pulse LS_TouchProbeDFOUT
Each touch probe channel is assigned to a system block which provides the application
with a scaled time stamp.
The time stamp refers to the sampling time of the encoder signals and outputs the
difference with regard to the touch probe event.
Further processing of the touch probe
For further processing of the touch probe event the time stamp is to be transmitted to an
instance of the L_SdTouchProbe FB:
LS_TouchProbex L_SdTouchProbe
TPx_dnTouchProbeTimeLag dnActPos_p dnTpPos_p
TPx_bTouchProbeReceived dnTpTimeLag dnTpPosDiff_p
TP
TPx_bTouchProbeLost bTpReceived
TPx_bNegativeEdge AxisData
DI_AxisData
[8-2] Transfer of the time stamp to the L_SdTouchProbe FB
The L_SdTouchProbe FB takes over the interpolation of the input signal on the basis of
the time stamp and outputs the interpolated value and the difference to the last input
signal.
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I/O terminals
Touch probe detection
8.7.1 Actual value interpolation (principle)
If a touch probe is detected, the (remaining) time until the following task cycle is
determined and from this a time stamp is generated. On the basis of this time stamp,
the L_SdTouchProbe FB can then carry out a linear interpolation between the two actual
position interpolation points; the result is the precise actual position at the time of the
physical touch probe event.
Task cycle Task cycle Task cycle
Data Data Data
processing Application processing Application processing Application
t
Position
Touch probe received p2
p1
t1
0
t
n Actual position point 1
o Actual position point 2
Residual time (dnTouchProbeTimeLag)
[8-3] Actual value determination through linear interpolation (principle)
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I/O terminals
Touch probe detection
8.7.2 Dead time compensation
For dead time compensation during the detection of the touch probe event, it is possible to
select a delay time (Touch probe delay) in C02810 for each touch probe channel, which will
be considered in the touch probe calculation.
Task cycle Task cycle Task cycle
Data Data Data
processing Application processing Application processing Application
t
Position
Touch probe received
0 1 2
t
Delay time
Mechanical event: Switch is closed
Electrical event: Closed switch contact is registered
• Can for example be delayed by flying times of the mechanical contact or filter.
Value and position determination for the real (mechanical) event, the determined values are transferred to
the application
n Delay time (dead time) between mechanical and electrical event
• This dead time can be compensated by a corresponding setting in C02810.
o Time considered by touch probe calculation
• If more than one task cycle has elapsed, the two actual position values are searched within a history
buffer, between which the physical event has taken place.
[8-4] Dead time compensation (principle)
The filtering of the digital inputs has an impact on the electrical detection of the touch
probe, i. e. the delay time for the digital inputs set in C02830 has to be taken into
consideration within the delay time C02810.
For the optional digital frequency input/output the setting of the delay times is
effected via separate parameters:
– C13021 or C14021: TP delay time - digital frequency input.
– C13061 or C14061: TP delay time - digital frequency output.
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I/O terminals
Touch probe detection
8.7.3 "LS_TouchProbe1...8" system block
In the function block editor the LS_TouchProbe1 ... LS_TouchProbe8 system blocks display
the touch probe channels 1 ... 8 which are assigned to the digital inputs DI1 ... DI8.
LS_TouchProbex
TPx_bEnablePosEdge TPx_dnTouchProbeTimeLag
TPx_bEnableNegEdge TPx_bTouchProbeReceived
TP TPx_bTouchProbeLost
TPx_bNegativeEdge
x = 1 ... 8
Input Value/meaning
Data type
TPx_bEnablePosEdge Enable response to positive edge
BOOL Note:
• If several positive edges occur within the basic cycle time (HighLine: 1 ms), only
the first positive edge initiates the touch probe event and no status signal "touch
probe(s) lost" is generated.
TRUE A touch probe event is activated by a positive edge at the digital
input DIx.
TPx_bEnableNegEdge Enable response to negative edge
BOOL Note:
• If several negative edges occur within the basic cycle time (HighLine: 1 ms), only
the first negative edge initiates the touch probe event.
• If a positive and negative edge occur within the basic cycle time (1 ms), and if the
response to both edges is enabled, only the positive edge initiates the touch
probe event.
• In both cases no status signal "touch probe(s) lost" is generated.
TRUE A touch probe event is activated by a negative edge at the digital
input DIx.
Output Value/meaning
Data type
TPx_dnTouchProbeTimeLag Scaled time stamp for further processing of the touch probe event with the
DINT L_SdTouchProbe FB.
• 1 ms ≡ 20 bits
TPx_bTouchProbeReceived Status signal "Touch probe detected"
BOOL • State is only set for one task cycle.
TRUE Touch probe event has been activated.
TPx_bTouchProbeLost Status signal "Touch probe(s) lost"
BOOL • State is only set for one task cycle.
TRUE More than one touch probe event was actuated within the task
runtime. The time stamp that is output only refers to the first touch
probe event.
TPx_bNegativeEdge Status signal "Negative edge detected"
BOOL • State is only set for one task cycle.
TRUE A negative edge has been detected at the digital input DIx.
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9400 HighLine | Parameter setting & configuration
I/O terminals
Touch probe detection
8.7.4 "LS_TouchProbeMotor" system block
In the function block editor the LS_TouchProbeMotor system block represents the touch
probe channel that is assigned to the motor encoder zero pulse.
LS_TouchProbeMotor
TPM_dnTouchProbeTimeLag
TPM_bTouchProbeReceived
TP TPM_bTouchProbeLost
Output Value/meaning
Data type
TPM_dnTouchProbeTimeLag Scaled time stamp for further processing of the touch probe event with the
DINT L_SdTouchProbe FB.
TPM_bTouchProbeReceived Status signal "Touch probe detected"
BOOL • State is only set for one task cycle.
TRUE Touch probe event has been activated.
TPM_bTouchProbeLost Status signal "Touch probe(s) lost"
BOOL • State is only set for one task cycle.
TRUE More than one touch probe event was actuated within the task
runtime and therefore could not be detected anymore.
8.7.5 "LS_TouchProbeLoad" system block
In the function block editor the LS_TouchProbeLoad system block represents the touch
probe channel that is assigned to the position encoder zero pulse.
LS_TouchProbeLoad
TPL_dnTouchProbeTimeLag
TPL_bTouchProbeReceived
TP TPL_bTouchProbeLost
Output Value/meaning
Data type
TPL_dnTouchProbeTimeLag Scaled time stamp for further processing of the touch probe event with the
DINT L_SdTouchProbe FB.
TPL_bTouchProbeReceived Status signal "Touch probe detected"
BOOL • State is only set for one task cycle.
TRUE Touch probe event has been activated.
TPL_bTouchProbeLost Status signal "Touch probe(s) lost"
BOOL • State is only set for one task cycle.
TRUE More than one touch probe event was actuated within the task
runtime and therefore could not be detected anymore.
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Configure exception handling of the outputs
8.8 Configure exception handling of the outputs
From »Engineer« version 2.10 onwards, the function block editor for the controller can also
be used to configure the behaviour of the analog and digital outputs and that of the brake
control and the output ports after a task overflow in order to adapt it to the respective
application.
How to configure the exception handling:
1. Go to the Project view of the »Engineer« and select the 9400 HighLine controller.
2. Change to the FB-Editor tab in the Workspace.
3. Click on the icon in the FB editor toolbar to open the Configure exception
handling dialog box:
• On the FB TaskOverrun tab the behaviour of the controller outputs and that of
the output ports defined in the application in the case of a task overflow can be
configured.
• On the FB System Events tab, the behaviour of the outputs of the drive
controller and the application is only displayed and cannot be configured.
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I/O terminals
Configure exception handling of the outputs
4. Carry out the desired configuration.
• Each output can be configured individually. A free value can be set for the
analog outputs (-200.00 ... 200.00 %).
• If you select an output port in the "Ports" area on the right, all application
variables for this output port are shown in the table below. In the "Value"
column a value can be set for each application variable to which it is to be set if
an event occurs can be specified.
• If a value has been set for at least one application variable, the status
"Exceptional behaviour parameterised" is shown for the corresponding output
port.
• If the Restore standard settings button is clicked, the default setting for task
overflow is restored. In this case, all output terminals would be set to LOW level
or 0 V in the event of a task overflow and the output ports would retain their last
value.
5. Click OK to accept the configuration and close the dialog box.
Danger!
In case a task overflow occurs, the brake can be configured to "open". This setting
should be used with caution as the brake is then forcibly opened and does not
close even if the drive controller is inhibited!
Note!
• To render the changes effective within the controller, the project has to be
updated, and the changed application has to be transferred to the controller.
• During the reset or download of an application, all output signals are set to
LOW level or 0 V for a short time (the state bus, in contrast, is set to HIGH level
due to hardware inversion).
See also: Behaviour after task overflow ( 114)
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"CAN on board" system bus
9 "CAN on board" system bus
The controller is provided with an implemented CANopen system bus interface ("CAN on
board") via which, for instance, process data and parameter values can be exchanged
between the nodes. In addition, the interface enables the connection of further modules,
such as distributed terminals, operator and input devices ("HMIs") or external controls and
host systems.
The interface transfers CAN objects following the CANopen communication profile
CANopen (CiA DS301, version 4.02) developed by the umbrella organisation of CiA (CAN in
Automation) in conformity with the CAL (CAN Application Layer).
Tip!
• The parameters relevant for the CANopen system bus interface are assigned to
different subcategories in the parameter list in the »Engineer« and in the
keypad in the CAN category.
• Information on CAN communication modules and CANopen system bus
interfaces of other Lenze devices can be found in the Lenze library in the "CAN"
communication manual.
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9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
General information
9.1 General information
For many years the system bus (CAN) based on the CANopen communication profile has
been integrated in Lenze controllers. Due to the lower number of data objects available,
the functionality and compatibility of the old system bus are lower as compared with
CANopen. For parameter setting, two parameter data channels are always available to the
user while CANopen provides only one active parameter data channel (along with the
possibility to establish further channels).
The system bus (CANopen) of the Servo Drives 9400 has been developed from the system
bus (CAN) of the controller of the 9300 series with the following properties:
Full compatibility according to CANopen DS301 V4.02.
Support of the NMT master/slave function "Node Guarding" (DS301 V4.02).
Support of the NMT slave function "Heartbeat" (DS301 V4.02).
There are no restrictions regarding the selection of the node addresses.
Number of parameterisable server and client SDO channels:
– max. 10 channels with 1 ... 8 bytes
Number of parameterisable PDO channels:
– max. 4 Transmit-PDOs (TPDOs) with 1 ... 8 bytes
– max. 4 Receive-PDOs (RPDOs) with 1 ... 8 bytes
All PDO channels are functionally equivalent.
Monitoring of the RPDOs for data reception
Telegram counters for SDOs and PDOs
Bus status diagnostics
Boot-up telegram generation
Emergency telegram generation
Reset node telegram generation (with master configuration).
Sync telegram generation and response to sync telegrams:
– Transmit/receive data
– Synchronisation of the device-internal time base
Abort codes
All "CAN on board" functions can be parameterised via codes.
Object directory (all mandatory functions, optional functions, indexes)
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"CAN on board" system bus
General information
9.1.1 General data and operating conditions
Field Values
Communication profile CANopen (DS301 V4.02)
Communication medium DIN ISO 11898
Network topology Line closed on both sides (e.g. termination by Sub-D plug, type EWZ0046)
Adjustable node addresses 1 ... 127
• Adjustable via DIP switch on the memory module (exception: memory
module MM1xx) or via code C00350.
Max. number of nodes 127
Baud rate 10, 20, 50, 125, 250, 500, 800, 1000 kbit/s or automatic recognition
• Adjustable via DIP switch on the memory module (exception: memory
module MM1xx) or via code C00351.
Process data • max. 4 TPDOs with 1 ... 8 bytes
• max. 4 RPDOs with 1 ... 8 bytes
Parameter data Max. 10 client and server SDO channels with 1 ... 8 bytes
Transfer mode for TPDOs • With change of data
• Time-controlled, 1 to x ms
• After the reception of 1 to 240 sync telegrams
9.1.2 Supported protocols
Category Protocol
Standard PDO protocols PDO write
PDO read
SDO protocols SDO download
SDO download initiate
SDO download segment
SDO upload
SDO upload initiate
SDO upload segment
SDO abort transfer
SDO block download
SDO block download initiate
SDO block download end
SDO block upload
SDO block upload initiate
SDO block upload end
NMT protocols Start remote node (master and slave)
Stop remote node (slave)
Enter pre-operational (slave)
Reset node (slave and local device)
Reset communication (slave)
Monitoring protocols Node guarding (master and slave)
Heartbeat (heartbeat producer and heartbeat consumer)
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"CAN on board" system bus
General information
9.1.3 Communication time
The communication time is the time between the start of a request and the arrival of the
corresponding response.
Tip!
The communication times in the CAN network depend on the
• processing time in the device
• telegram run time (baud rate / telegram length)
• bus load (especially if the bus is loaded with PDOs and SDOs at a low baud rate.)
Servo Drives 9400 processing time
Parameter data and process data are independent of each other.
Parameter data:
– For controller-internal parameters: approx. 30 ms ± 20 ms tolerance (typically)
– For some codes the processing time can be longer.
Process data are transported in real time.
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"CAN on board" system bus
Possible settings by DIP switch
9.2 Possible settings by DIP switch
The DIP switches on the front of the memory serve to set the baud rate and the node
address.
O
N d c b a 64 32 16 8 4 2 1
Baud CAN Address
[9-1] DIP switch
9.2.1 Setting the node address
The node address can be set via code C00350 or with the DIP switches 1 to 64.
The labelling on the housing corresponds to the values of the individual DIP switches
for determining the node address.
Valid address range: 1 … 127
Note!
• The addresses of the nodes must differ from each other.
• All twelve DIP switches = OFF (Lenze setting):
– At switching on, the settings under code C00350 (node address) and
C00351 (baud rate) will become active.
• Switch the voltage supply of the basic device off and then on again to activate
altered settings.
Example: Setting of the node address 23
DIP switch 64 32 16 8 4 2 1
Switch position OFF OFF ON OFF ON ON ON
Value 0 0 16 0 4 2 1
Node address = Sum of the values = 16 + 4 + 2 + 1 = 23
Tip!
The node address resulting from the setting of the DIP switches at the last mains
switching is displayed in C00349/1.
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9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Possible settings by DIP switch
9.2.2 Setting the baud rate
The baud rate can be set via code C00351 or with the DIP switches a to d:
Switch positions Baud rate
d c b a
OFF ON ON OFF 10 kbps
OFF ON OFF ON 20 kbps
OFF OFF ON ON 50 kbps
OFF OFF ON OFF 125 kbps
OFF OFF OFF ON 250 kbps
OFF OFF OFF OFF 500 kbps
ON ON ON OFF 800 kbps
OFF ON OFF OFF 1 Mbps
OFF ON ON ON Automatic recognition
Note!
Switch the voltage supply of the basic device off and then on again to activate
altered settings.
Tip!
The baud rate resulting from the setting of the DIP switches at the last mains
switching is displayed in C00349/2.
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9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
LED status displays for the system bus
9.3 LED status displays for the system bus
Both upper LEDs LEDs "CAN-RUN" and "CAN-ERR" on the front of the controller inform
about the CANopen state and report CANopen errors.
CAN-RUN CAN-ERR
[9-2] LED status displays CAN-RUN and CAN-ERR
The meaning can be obtained from the following table:
LED status display Meaning
CAN-RUN CAN-ERR CANopen state CANopen error
Only CAN-ERR is on - Bus off
CAN-RUN and CAN-ERR jitter Automatic detection of the baud rate is active.
CAN-RUN is blinking every 0.2 seconds | CAN-ERR is off Pre-operational -
CAN-RUN is blinking every 0.2 seconds | CAN-ERR 1 x blinking, 1 Warning limit reached
s off
CAN-RUN is blinking every 0.2 seconds | CAN-ERR 2 x blinking, 1 Node guard event
s off
Only CAN-RUN is on Operational -
CAN-RUN on | CAN-ERR 1 x blinking, 1 s off Warning limit reached
CAN-RUN on | CAN-ERR 2 x blinking, 1 s off Node guard event
CAN-RUN on | CAN-ERR 3 x blinking, 1 s off Sync message error
CAN-RUN is blinking every 1 second | CAN-ERR is off Stopped -
CAN-RUN is blinking every 1 second | CAN-ERR 1 x blinking, 1 s off Warning limit reached
CAN-RUN is blinking every 1 second | CAN-ERR 2 x blinking, 1 s off Node guard event
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9400 HighLine | Parameter setting & configuration
"CAN on board" system bus Structure of the CAN data telegram
9.4 Structure of the CAN data telegram
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[9-3] Basic structure of the CAN telegram
The identifier and the user data are described in detail in the following subchapters. The other signals refer
to the transfer characteristics of the CAN telegram that are not described in this documentation.
9.4.1 Identifier
The principle of the CAN communication is based on a message-oriented data exchange
between a transmitter and many receivers. All nodes can transmit and receive quasi-
simultaneously.
The identifier, also called "COB-ID" (Communication Object Identifier), is used to control
which node is to receive a transmitted message. In addition to the addressing, the
identifier contains information on the priority of the message and the type of the user
data.
The identifier consists of a so-called basic identifier and the node address of the node to be
addressed:
Identifier (COB-ID) = basic identifier + node address (node ID)
Exception: For process data, heartbeat and emergency objects as well as network
management and syn telegrams, the identifier is assigned freely by the user (either
manually or automatically be the network configurator) or is firmly allocated.
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9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Structure of the CAN data telegram
Node address (node ID)
For purposes of definite identification, a node address, also referred to as "node ID", in the
valid address range (1 ... 127) is to be assigned to each node within the system bus
network.
A node address may not be assigned more than once within a network.
The own node address can be configured via the DIP switch of the memory module
(exception: MM1xx memory module) or via code C00350. Setting the node address
( 296)
Identifier assignment
The system bus is message-oriented and not node-oriented. Each message has a definite
identification, the identifier. In the case of CANopen, a node-orientation is achieved by the
fact that for each message there is only one transmitter.
The basic identifiers for network management (NMT) and Sync as well as the basic SDO
channel (SDO1) are specified in the CANopen protocol and cannot be changed.
The basic identifiers of the PDOs are preset in the Lenze setting according to the
"Predefined Connection Set" of DS301 V4.02 and can be changed via parameters/
indexes, if required. Identifiers of the process data objects ( 307)
Object Direction Basic identifier
from the device to the device dec hex
Network management (NMT) 0 0
Sync 128 80
Emergency z 128 80
PDO1 TPDO1 z 384 180
(Process data channel 1) RPDO1 z 512 200
PDO2 TPDO2 z 640 280
(Process data channel 2) RPDO2 z 768 300
PDO3 TPDO3 z 896 380
(Process data channel 3) RPDO3 z 1024 400
PDO4 TPDO4 z 1152 480
(Process data channel 4) RPDO4 z 1280 500
SDO1 z 1408 580
(Basic SDO channel) z 1536 600
SDO2 ... SDO10 z 1472 5C0
(Parameter data channel 2 ... 10) z 1600 640
Node guarding, heartbeat z 1792 700
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9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Structure of the CAN data telegram
9.4.2 User data
All nodes communicate with each other by exchanging data telegrams via the system bus.
The user data area of the CAN telegram either contains network management data,
parameter data, or process data:
Network management data
(NMT data)
Control information on start, stop, reset, etc. of communication to certain or all nodes
of the CAN network.
Process data
(PDOs – Process Data Objects)
Process data are transferred via the process data channel.
The controller can be controlled using process data.
Process data are not saved in the controller.
Process data are transferred between the host and the nodes to ensure a continuous
exchange of current input and output data.
Process data usually are unscaled/scalable raw data
Process data are, for instance, setpoints and actual values.
Parameter data
(SDOs – Service Data Objects)
Parameter data are the CANopen indexes or, in case of Lenze devices, the codes.
Parameters are, for instance, used for one-off plant setting during commissioning or
when the material is changed on a production machine.
Parameter data are transmitted as SDOs via the parameter data channel. They are
acknowledged by the receiver, i.e. the sender gets a feedback about the transmission
being successful or not.
The parameter data channel enables access to all Lenze codes and CANopen indexes.
Parameter changes are automatically saved in the controller until the mains is
switched.
In general, the parameter transfer is not time-critical.
Parameter data are, for instance, operating parameters, diagnostic information and
motor data.
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"CAN on board" system bus
Communication phases/network management
9.5 Communication phases/network management
Regarding communication via the system bus, the drive distinguishes between the
following states:
Status Explanation
"Initialisation" After power-up, initialisation is executed.
(Initialisation) • During this phase, the drive does not take part in the data transfer.
• All CAN-relevant parameters are written with their standard values
again.
• After initialisation has been completed, the controller is automatically set
to the "pre-operational" status.
"Pre-operational" Parameter data can be received, process data is ignored.
(before being ready for operation)
"Operational" Parameter data and process data can be received!
(ready for operation)
"Stopped" Only network management telegrams can be received.
(Stopped)
Communication object Initialisation Pre-operational Operational Stopped
PDO z
SDO z z
Sync z z
Emergency z z
Boot up z
Network management (NMT) z z z
Tip!
In every state, the initialisation can be re-executed partly or completely by
transmitting appropriate network management telegrams.
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9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Communication phases/network management
9.5.1 State transitions
,QLWLDOLVDWLRQ
3UH2SHUDWLRQDO
6WRSSHG
2SHUDWLRQDO
[9-4] NMT state transitions in the CAN network
Transition NMT command State after Effect on process or parameter data after state change
change
(1) - Initialisation Initialisation starts automatically when the mains is
switched on.
• During initialisation, the controller does not take part in
the data transfer.
• After initialisation has been completed, the node sends a
boot-up message with an individual identifier and
automatically changes to the "pre-operational" status.
(2) - Pre-operational In this phase, the master determines the way in which the
node(s) takes/take part in the communication.
From here, the states are changed over by the master for the entire network.
• A target address contained in the NMT command specifies the receiver(s).
• If the 9400 controller has been configured as CAN master, the state automatically changes to
"Operational" after the waiting time has expired (C00378) and the NMT command 0x0100
("Start Remote Node") is sent to all nodes.
• Data can only be exchanged via process data objects if the state is "Operational".
(3), (6) 0x01 xx Operational Network management, sync and emergency telegrams as
Start Remote Node well as process data (PDO) and parameter data (SDO) are
active.
Optional: When the state is changed, event and time-
controlled process data (PDOs) will be sent once.
(4), (7) 0x80 xx Pre-operational Network management, sync and emergency telegrams as
Enter Pre-Operational well as parameter data (SDO) are active.
(5), (8) 0x02 xx Stopped Only network management telegrams can be received.
Stop Remote Node
(9), (10), (11) 0x81 xx Initialisation Initialisation of all CAN-relevant parameters (CiA DS 301)
Reset node with the saved values.
(12), (13), (14) 0x82 xx Initialisation of all CAN-relevant parameters (CiA DS 301)
Reset communication with the saved values.
Meaning of the node address in the NMT command:
• xx = 0x00: With this assignment, all nodes are addressed by the telegram (Broadcast telegram).
The state can be changed for all nodes at the same time.
• xx = Node-ID: If a node address is indicated, the state will only be changed for the node
addressed.
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"CAN on board" system bus
Communication phases/network management
9.5.2 Network management telegram (NMT)
The telegram for the network management contains the identifier "0" and the command
included in the user data, which consists of the command byte and the node address.
,GHQWLILHU 8VHUGDWD %\WH
&2%,' FRPPDQG QRGH
VSHFLILHU DGGUHVV
%LW %LW %LW %LW FV QRGH,' %LW %LW %LW %LW %LW
[9-5] Network management telegram for changing the communication phases
Command specifier (cs) NMT command
dec hex
1 0x01 Start Remote Node
2 0x02 Stop Remote Node
128 0x80 Enter Pre-Operational
129 0x81 Reset node
130 0x82 Reset communication
The communication phases are changed over by a node, the CAN master, for the entire
network. The CAN master can also be a controller. Parameterising the controller as CAN
master ( 305)
Example:
Data can only be exchanged via the process data objects in the "Operational" state. To
change all nodes on the bus from "Pre-Operational" to "Operational" via the CAN master,
the following identifiers and user data must be set as follows in the transmit telegram:
Identifier: 0x00 (network management)
User data: 0x0100 (NMT command "Start Remote Node" to all nodes)
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"CAN on board" system bus
Communication phases/network management
9.5.3 Parameterising the controller as CAN master
If the initialisation of the system bus and the connected status change from "Pre-
operational" to" Operational' is not carried out by a higher-level host system, the controller
can be defined to be a "quasi" master to take over this task.
The controller is configured as CAN master in C00352.
As a CAN master, the controller sets " all nodes on the bus (broadcast telegram) to the
"Operational" communication status using the "Start Remote Node" NMT telegram.
Only this communication status enables a data exchange via the process data objects.
In C00378, you can set a delay time which must elapse after power-up before the
controller applies the "Start Remote Node" NMT telegram to the bus.
Parameter Information Lenze setting
Value Unit
C00352 CAN slave/master Slave
C00378 CAN delay boot-up - operational 3000 ms
Note!
Changing the master/slave operation in C00352 will only be effective
• by repeated mains switching of the controller
or
• by sending the NMT telegram "Reset Node" or "Reset Communication" to the
controller.
As an alternative to the "Reset Node" NMT telegram, the device command
C00002 = "91: CAN on board: Reset Node" can be used to reinitialise the CAN-
specific device parameters.
Tip!
The master functionality is only required for the initialisation phase of the drive
system.
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"CAN on board" system bus
Process data transfer
9.6 Process data transfer
[9-6] PDO data transfer from / to the higher-level host system
For the transfer of process data, four separated process data channels (PDO1 ... PDO4) are
available.
Definitions
Process data telegrams between the host and the devices are distinguished as follows:
– Process data telegrams to the device (RPDO)
– Process data telegrams from the device (TPDO)
The CANopen process data objects are designated as seen from the node's view:
– Receive PDO (RPDOx): process data object received by a node
– Transmit PDO (TPDOx): process data object transmitted by a node
Note!
Data can only be exchanged via the process data objects if the state is
"Operational".
Communication phases/network management ( 302)
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Process data transfer
9.6.1 Identifiers of the process data objects
The identifiers for the process data objects PDO1 ... PDO4 in the Lenze setting result from
the basic identifier and the node address set in C00350.
Identifier (COB-ID) = basic identifier + node address (node ID)
The basic identifiers of the PDOs are preset in the Lenze setting according to the
"Predefined Connection Set" of DS301 V4.02.
The identifiers for the PDOs can be set individually via the Lenze codes and CANopen
indexes listed in the following table. Thus, you can also set an identifier independent of
the node address for certain PDOs.
Process data object Basic identifier Individual setting
dec hex Lenze code CANopen index
PDO1
RPDO1 512 0x200 C00321/1 I-1400/1
TPDO1 384 0x180 C00320/1 I-1800/1
PDO2
RPDO2 768 0x300 C00321/2 I-1401/1
TPDO2 640 0x280 C00320/2 I-1801/1
PDO3
RPDO3 1024 0x400 C00321/3 I-1402/1
TPDO3 896 0x380 C00320/3 I-1802/1
PDO4
RPDO4 1280 0x500 C00321/4 I-1403/1
TPDO4 1152 0x480 C00320/4 I-1803/1
Note!
After the node address (C00350) has changed and a subsequent CAN reset node,
the identifiers which result from the corresponding basic identifiers and the set
node address are automatically set again in the subcodes of C00320 and
C00321.
Tip!
The "Predefined Connection Set" can be re-established anytime using the following
device commands (C00002):
• "93: CAN on board: Pred.Connect.Set" for CAN on board
• "94: CAN module: Pred.Connect.Set" for E94AYCCA communication module
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Process data transfer
9.6.2 Transmission type
The process data objects are transmitted in an event-controlled or time-controlled way.
Event-controlled: The PDO is sent if a special device-internal event has occurred, for
instance, when the data contents of the TPDO have changed or when a transmission
cycle time has elapsed.
Synchronous: A TPDO (or RPDO) is transmitted (or received) after the device has
received a sync telegram (with identifier 0x80).
Cyclically: The PDOs are transmitted in fixed time intervals after the transmission cycle
time has elapsed.
The table shows that combinations of logic operations (AND, OR) are also possible between
the different transmission modes:
Transmission type PDO transmission Logic operation
cyclic synchronous event-controlled
0 z z AND
1 ... 240 z -
254, 255 z z OR
Transmission type Description
0 The PDO is transmitted at every sync in an event-controlled manner (e. g. by means of a bit
change within the PDO).
1 ... 240 SYNC (with response)
• Selection n = 1: The PDO is transmitted with every sync.
• Selection 1 < n ≤ 240: The PDO is transmitted with every n-th sync.
254, 255 Event-controlled (with mask) with cyclic overlay
If this value is entered, the PDO transmission is event-controlled or cyclic.
(Note: The values "254" and "255" have the same meaning).
For cyclic overlay, a cycle time must be set for the respective PDO. In this case, cyclic
transmission takes place in addition to event-controlled transmission (e.g. through a bit
change in the PDO).
The communication parameters (as e.g. transmission mode and cycle time) can be freely
adjusted for any PDO and independent of the settings of other PDOs:
Parameter Information Lenze setting
Value Unit
C00322/1...4 CAN TPDOx Tx mode 254
C00323/1...4 CAN RPDOx Rx mode 254
C00324/1...4 CAN TPDOx delay time 0 1/10 ms
C00356/1...4 CAN TPDOx cycle time 0 ms
Tip!
The setting can also be made via the following CANopen projects:
• I-1400 ... I-1403: Communication parameters for RPDO1 ... RPDO4
• I-1800 ... I-1803: Communication parameters for TPDO1 ... TPDO4
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"CAN on board" system bus
Process data transfer
9.6.3 Masking of the TPDOs for event control
For TPDO1 ... TPDO4, a mask can be parameterised for every byte. In case of the event-
controlled transmission of a PDO, only the masked bits are used for the event control.
Mask "0x0" means that no bit of the corresponding byte actuates the transmission.
Mask "0xff" means that every bit of the corresponding byte can actuate the
transmission.
Short overview: Parameters for masking the TPDOs
Parameter Information Lenze setting
C00311/1...8 CAN TPDO1 mask byte x 0x00
C00312/1...8 CAN TPDO2 mask byte x 0x00
C00313/1...8 CAN TPDO3 mask byte x 0x00
C00314/1...8 CAN TPDO4 mask byte x 0x00
9.6.4 Monitoring of the RPDOs for data reception
For RPDO1 ... RPDO4 each, a monitoring time can be parameterised within which the RPDO
must arrive. If the RPDO is not received within the monitoring time or not with the
configured sync, the response parameterised for each RPDO takes place.
Short overview: Parameters for monitoring the RPDOs
Parameter Information Lenze setting
Value Unit
C00357/1...4 CAN RPDOx monitoring time 3000 ms
C00591/1...4 Resp. to CAN-RPDOx error No response
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Process data transfer
9.6.5 Synchronisation of PDOs via sync telegram
In case of cyclic transmission, one or several PDOs are transmitted/received at fixed time
intervals. For synchronising the cyclic process data, an additional special telegram, the sync
telegram, is used.
The sync telegram is the trigger point for the transmission of process data from the
frequency inverters to the master and for the acceptance of process data from the
master by the slaves.
For sync-controlled process data processing, the sync telegram must be generated
accordingly.
The response to a sync telegram is determined by the transmission type selected.
Transmission type ( 308)
General procedure
SYNC
SYNC
0 1 2
n Sync cycle time (C01121)
[9-7] Sync telegram
A. After the sync telegram has been received, the slaves send the synchronous process
data to the master (TPDOs). The master reads them as process input data.
B. When the sending process has been completed, the slaves (RPDOs) receive the process
output data (from the master).
– All other telegrams (e.g. parameters or the event-controlled process data) are
accepted acyclically by the slaves after the transmission has been completed
successfully.
– The acyclic data are not shown in illustration [9-7] They must be considered when
the cycle time is dimensioned.
C. The data in the slave is accepted with the next sync telegram if the Rx mode is set to
1 ... 240. When the Rx mode is set to 254 or 255 the data is accepted in the next device
cycle independent of the sync telegram.
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"CAN on board" system bus
Process data transfer
9.6.5.1 Parameter setting
Short overview: Parameters for synchronisation via sync telegram
Parameter Information Lenze setting Assignment
Value Unit Sync Sync
master slave
C00367 CAN SYNC Rx identifier 128 z
C00368 CAN SYNC Tx identifier 128 z
C00369/1 CAN sync transmission cycle time 0 ms z
C01120 Sync source Off z
C01121 Sync cycle time 1000 μs z
C01122 Sync phase position 400 μs z
C01123 Sync tolerance 0 μs z
C01124 Sync PLL increment 109 ns z
C01130 Sync application cycle 1000 μs z
Sync source
C01120 is used to select the source of the synchronisation signals. Only one source can
synchronise the node.
Sync cycle time
Time with which the internal phase-locking loop (PLL) visualises the synchronisation
signals. The time must be set in C01121 in accordance with the cycle of the synchronisation
source selected in C01120.
Note!
If the synchronisation takes place via the system bus, it is reasonable to only
enter integer multiples of 1000 μs in C01121.
Example: For the system bus, the distance between two synchronisation signals is set to
2 ms. If the system bus is to be used as synchronisation source, a sync cycle time of 2000 μs
must be set in C01121.
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Process data transfer
Sync phase position
The phase position defines the zero point of time for the application relating to the
synchronisation signal (bus cycle). Since PDO processing is integrated in the system part of
the application, the instant of the PDO acceptance also changes if the phase position is
changed.
If 0 is set, the application is started together with the synchronisation signal.
If a value > 0 is set, the application starts by the set time interval before the
synchronisation signal arrives (the phase position acts negatively).
Example: If the phase position is set to 400 μs, the system part of the application starts
400 μs before the synchronisation signal arrives.
Note!
From software version V3.0:
The effect of the sync phase position can be affected by the application cycle set
in C01130. For the Lenze setting of C01130 the behaviour remains as before.
Sync tolerance
Time slot for monitoring the synchronisation signal via the system block LS_SyncInput.
System block "LS_SyncInput" ( 365)
If the last synchronisation signal amounted to approx. the expected value within this
time slot, the SYNC_bSyncInsideWindow output of the LS_SyncInput system block is set
to TRUE.
This setting does not affect the synchronisation process.
Sync PLL increment
If the cycle times of the synchronisation signal and the phase-locking loop (PLL) differ from
each other, the setting in C01124 defines the increment with which the phase-locking loop
can be reset.
The recommended reset time for the system bus as synchronisation source with regard
to occurring deviations is 109 ns (Lenze setting).
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Process data transfer
Sync application cycle
This parameter influences the effect of the sync phase position (C01122) with regard to the
instant of acceptance of the synchronous PDOs by the application or the instant of
transmission of the synchronous PDOs to the system bus.
The following applies to software versions lower than V3.0:
The sync application cycle is permanently set to 1000 μs.
The resulting PDO delay can be calculated with the following formula taking into
consideration an internal processing time of 150 s: PDO delay= (sync cycle time - sync
phase position + 150 μs) modulo 1000
The following applies from software version V3.0:
The sync application cycle can be set in C01130. The set value is automatically rounded
down to full 1000 μs.
The resulting PDO delay can be calculated with the following formula taking into
consideration an internal processing time of 150 s: PDO delay= (sync cycle time - sync
phase position + 150 μs) modulo C01130
Note!
If the sync application cycle in C01130 is set higher than the sync cycle time
(C01121), the behaviour is undefined. The same applies if the sync phase
position (C01122) is set higher than the sync cycle time (C01121).
Usually, no synchronous PDOs are then applied to the system bus anymore.
9.6.5.2 Effect of C01130 on the sync phase position
Example 1:
SYNC
SYNC
150 µs 150 µs
1 0 1 0 1
n-1 n n+1 n+2
n Sync cycle time (C01121) = 2000 μs
Sync phase position (C01122) = 0 μs
Sync application cycle (C01130) = 1000 μs
Instant of acceptance/transmission of synchronous PDOs
Inactive instant of acceptance
n Device cycle
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Process data transfer
Example 2:
SYNC
SYNC
0 1 0 1 0
n-1 n n+1 n+2 n+3
n Sync cycle time (C01121) = 2000 μs
o Sync phase position (C01122) = 400 μs
Sync application cycle (C01130) = 1000 μs
p PDO delay = (C01121 - C01122 + 150 μs) modulo C01130 = 750 μs
Instant of acceptance/transmission of synchronous PDOs
Inactive instant of acceptance
n Device cycle
Example 3:
SYNC
SYNC
1 0 1 0 1
n-1 n n+1 n+2 n+3
n Sync cycle time (C01121) = 2000 μs
o Sync phase position (C01122) = 400 μs
Sync application cycle (C01130) = 2000 μs
p PDO delay = (C01121 - C01122 + 150 μs) modulo C01130 = 1750 μs
Instant of acceptance/transmission of synchronous PDOs
Inactive instant of acceptance
n Device cycle
Example 4:
SYNC
SYNC
0 1 0 1 0
n n+1 n+2 n+3 n+4
n Sync cycle time (C01121) = 2000 μs
o Sync phase position (C01122) = 1400 μs
Sync application cycle (C01130) = 1000 μs
p PDO delay = (C01121 - C01122 + 150 μs) modulo C01130 = 750 μs
Instant of acceptance/transmission of synchronous PDOs
Inactive instant of acceptance
n Device cycle
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9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Parameter data transfer
9.7 Parameter data transfer
[9-8] Parameter data transfer via available parameter data channels
Parameters are values stored in codes on Lenze controllers.
Ten separate parameter data channels are available for parameter setting, enabling the
simultaneous connection of several devices for configuration.
Parameter data are transmitted via the system bus as SDOs ("Service Data Objects") and
acknowledged by the receiver. The SDO enables read and write access to the object
directory. Indexes (e.g. I-1000) ensure access to parameters and functions included in the
object directory. To transfer SDOs, the information contained in the user data must comply
with the CAN-SDO protocol.
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Parameter data transfer
9.7.1 Identifiers of the parameter data objects
The identifiers for the parameter data objects SDO1 ... SDO10 in the Lenze setting result
from the basic identifier and the node address set in C00350.
Identifier (COB-ID) = basic identifier + node address (node ID)
The basic identifiers of the SDOs are preset in the Lenze setting according to the
"Predefined Connection Set" of DS301 V4.02.
Parameter data object Direction Basic identifier
from the device to the device dec hex
SDO1 z 1408 580
(Parameter data channel 1) z 1536 600
SDO2 ... 10 z z Deactivated
(Parameter data channel 2 ... 10)
Node guarding, heartbeat z 1792 700
Boot up z 1792 700
Note!
Please observe that the parameter data channels 2 ... 10 are deactivated in the
Lenze setting.
The procedure for activating these parameter data channels is explained in the
description of parameters C00372 and C00373 and the description for the
implemented CAN object I-1201. Example ( 353)
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Parameter data transfer
9.7.2 User data
Structure of the user data of the parameter data telegram
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte Low word High word
Low byte High byte Low byte High byte
Note!
User data are displayed in the Motorola format.
Examples for a parameter data telegram ( 323)
The following subchapters describe the user data in detail.
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Parameter data transfer
9.7.2.1 Command
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte Low word High word
Low byte High byte Low byte High byte
The following commands can be transmitted or received for writing and reading the
parameters:
Command 1st byte Data length Information
hex dec
Write request 0x23 35 4 byte Writing a parameter to the controller.
0x2B 43 2 bytes
0x2F 47 1 byte
0x21 33 Block
Write response 0x60 96 4 byte Acknowledgement by the controller regarding a write
request.
Read request 0x40 64 4 byte Reading a parameter from the controller.
Read response 0x43 67 4 byte Response from the controller to a read request with the
current parameter value.
0x4B 75 2 bytes
0x4F 79 1 byte
0x41 65 Block
Error response 0x80 128 4 byte Response from the controller when the read/write request
could not be executed correctly. Error messages ( 321)
In detail, the command byte contains the following information:
Command 1st byte
Command specifier (cs) Toggle (t) Length* e s
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Write request 0 0 1 0 0/1 0/1 1 1
Write response 0 1 1 0 0 0 0 0
Read request 0 1 0 0 0 0 0 0
Read response 0 1 0 0 0/1 0/1 1 1
Error response 1 0 0 0 0 0 0 0
*Bit coding of the length: 00 = 4 bytes, 01 = 3 bytes, 10 = 2 bytes, 11 = 1 bytes
e: expedited (shortened block service)
s: segmented (normal block service)
Tip!
Further commands are defined in the CANopen specification DS301, V4.02 (e. g.
segmented transfer).
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9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Parameter data transfer
9.7.2.2 Addressing through index and subindex
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte Low word High word
Low byte High byte Low byte High byte
A parameter (Lenze code) is addressed is addressed according to the following formula:
Index = 24575 - (Lenze code number)
Example
The parameter C00011 (motor reference speed) is to be addressed.
Calculation:
Index:
– Decimal: 24575 - 11 = 24564
– Hexadecimal: 0x5FFF - 0xB = 0x5FF4
Subindex: 0x00 (subindex 0, since the parameter has no subcodes.)
Entries:
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
0xF4 0x5F 0x00
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Parameter data transfer
9.7.2.3 Data 1 ... data 4
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
Low byte High byte Low word High word
Low byte High byte Low byte High byte
A maximum of 4 bytes is available for parameter value entries. The bytes are assigned as
follows, depending on the data format:
5th byte 6th byte 7th byte 8th byte
Parameter value (1 byte) 0x00 0x00 0x00
Parameter value (2 bytes) 0x00 0x00
Low byte High byte
Parameter value (4 bytes)
Low word High word
Low byte High byte Low byte High byte
Note!
The table of attributes contains a scaling factor for all Lenze parameters in the
"factor" column. The scaling factor is important for the transfer of parameter
values which are shown with one or several decimal positions in the parameter
list.
When the scaling factor is > 1, the value must be multiplied by the scaling factor
before being transmitted to be able to transmit the value as an integer. On the
SDO client side, the integer must by divided by the scaling factor again to obtain
the original value with decimal positions.
Example
For a code with the scaling factor "100" and the data format U32 the value "123.45" is to
be transmitted.
Calculation:
Value to be transmitted = scaling factor x value
Data (1 ... 4) = 100 x 123.45 = 12345 (0x00 00 30 39)
Entries:
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
0x39 0x30 0x00 0x00
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9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Parameter data transfer
9.7.2.4 Error messages
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Error code
0x80 Low byte High byte Low word High word
(128) Low byte High byte Low byte High byte
In case of an error, the addressed node generates a telegram with the "Error Response"
(0x80) command.
The telegram contains the index and subindex of the code in which an error has
occurred.
Bytes 5 ... 8 contain the error code.
– The error codes are standardised acc. to DS301, V4.02.
– The representation of the error codes is reversed to the read direction (see the
following example).
Example
Representation of the error codes "0x06 04 00 41" in the bytes 5 ... 8:
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Error code
0x41 0x00 0x04 0x06
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Parameter data transfer
Meaning of the error codes
Error code Explanation
0x0503 0000 Toggle bit not changed.
0x0504 0000 SDO protocol expired.
0x0504 0001 Invalid or unknown client/server command specifier.
0x0504 0002 Invalid block size (block mode only).
0x0504 0003 Invalid processing number (block mode only).
0x0504 0004 CRC error (block mode only).
0x0504 0005 Memory does not suffice.
0x0601 0000 Object access not supported.
0x0601 0001 Attempted read access to a writable only object.
0x0601 0002 Attempted write access to a readable only object.
0x0602 0000 Object not listed in object directory.
0x0604 0041 Object not mapped to PDO.
0x0604 0042 Number and length of objects to be transferred longer than PDO.
0x0604 0043 General parameter incompatibility.
0x0604 0047 General internal device incompatibility.
0x0606 0000 Access denied because of hardware error.
0x0607 0010 Unsuitable data type (unsuitable service parameter length).
0x0607 0012 Unsuitable data type (service parameter length exceeded).
0x0607 0013 Unsuitable data type (service parameter length too short).
0x0609 0011 Subindex does not exist.
0x0609 0030 Parameter value range exceeded.
0x0609 0031 Parameter values too high.
0x0609 0032 Parameter values too low.
0x0609 0036 Maximum value falls below minimum value.
0x0800 0000 General error.
0x0800 0020 Data cannot be transferred or saved for application.
0x0800 0021 Data cannot be transferred or saved for application due to local control.
0x0800 0022 Data cannot be transferred or saved for application due to current device status.
0x0800 0023 Dynamic generation of object directory failed or no object directory available (e.g. object
directory generated from file, generation not possible because of a file error).
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"CAN on board" system bus
Parameter data transfer
9.7.3 Examples for a parameter data telegram
9.7.3.1 Reading parameters
Task: The heatsink temperature of 43 °C (code C00061, data format INTEGER32, scaling
factor 1) is to be read from the controller with node address 5.
Telegram to drive
Identifier User data
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
0x0605 0x40 0xC2 0x5F 0x00 0x00 0x00 0x00 0x00
Explanations of the telegram to the drive
Identifier = 1536 + node address = 1536 + 5 = 1541 = 0x0605
(1536 = basic identifier SDO1 to the controller)
Command = 0x40 = "Read Request" (read request of a parameter from the controller)
Index = 24575 - code number = 24575 - 61 = 24514 = 0x5FC2
Subindex = 0 (code C00061 has no subcodes)
Response telegram from drive (if data has been transmitted correctly)
Identifier User data
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
0x0585 0x43 0xC2 0x5F 0x00 0x2B 0x00 0x00 0x00
Explanations of the telegram from the drive
Identifier = 1408 + node address = 1408 + 5 = 1413 = 0x0585
(1408 = basic identifier SDO1 from the controller)
Command = 0x43 = "Read Response" (response to read request with current value)
Index as in telegram to the drive
Subindex
Data 1 ... 4 = 0x0000002B = 43 [°C]
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Parameter data transfer
9.7.3.2 Writing parameters
Task: The rated current of the connected motor with Irated = 10.2 A (code C00088) is to be
entered in the controller.
Telegram to drive
Identifier User data
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
0x0602 0x23 0xA7 0x5F 0x00 0x66 0x00 0x03 0x00
Explanations of the telegram to the drive
Identifier = 1536 + node address = 1536 + 2 = 1538 = 0x0602
(1536 = basic identifier SDO1 to the controller)
Command = 0x23 = "Write Request" (write request of a parameter to the controller)
Index = 24575 - code number = 24575 - 88 = 24487 = 0x5FA7
Subindex = 0 (code C00088 has no subcodes)
Data 1 ... 4 = 10,2 x 10 = 102 = 0x00030066
(Value for motor current, data type U32; display factor 1/10)
Response telegram from drive (if data has been transmitted correctly)
Identifier User data
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
0x0582 0x60 0xA7 0x5F 0x00 0x00 0x00 0x00 0x00
Explanations of the telegram from the drive
Identifier = 1408 + node address = 1408 + 2 = 1410 = 0x0582
(1408 = basic identifier SDO1 from the controller)
Command = 0x60 = "Write Response" (acknowledgement of the write access from the controller)
Index as in telegram to the drive
Subindex
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9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Parameter data transfer
9.7.3.3 Reading block parameters
Task: The firmware version (code C00099) is to be read from the parameter set of the
controller with the node address "12". The firmware version has a length of 11 ASCII
characters which are transmitted as block parameters. Within the user data, the data
width from the 2nd to the 8th byte is assigned per block.
Telegram 1 to the drive: read request
Identifier User data
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
0x060C 0x40 0x9C 0x5F 0x00 0x00 0x00 0x00 0x00
Explanations of the telegram to the drive
Identifier = 1536 + node address = 1536 + 12 = 1548 = 0x060C
(1536 = basic identifier SDO1 to the controller)
Command = 0x40 = "Read Request" (read request of a parameter from the controller)
Index = 24575 - code number = 24575 - 99 = 24476 = 0x5F9C
Subindex = 0 (code C00099 has no subcodes)
Response telegram 1 from the drive: Data of the block length (11 characters)
Identifier User data
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
0x058C 0x41 0x9C 0x5F 0x00 0x0B 0x00 0x00 0x00
Explanations of the telegram from the drive
Identifier = 1408 + node address = 1408 + 12 = 1420 = 0x058C
(1408 = basic identifier SDO1 from the controller)
Command = 0x41 = "Read Response" (response is a block telegram)
Index as in telegram to the drive
Subindex
Data 1 ... 4 = 0x0000000B = data length of 11 characters in ASCI format
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Parameter data transfer
Telegram 2 to the drive: Request of the 1st data block
Identifier User data
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7
0x060C 0x60 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Explanations of the telegram to the drive
Command = 0x60 = "Read Segment Request" (request: read data block)
• Bit 4 = 0 (toggle bit)
Influence of the toggle bit to the request command
The individual blocks are toggled successively, i.e. first the request with command "0x60" is
effected (= 0110*0000bin), then command "0x70" (= 0111*0000bin), then "0x60" again, etc.
* Toggle bit
Response telegram 2 from the drive: Send 1st data block
Identifier User data
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7
0x058C 0x00 0x30 0x31 0x2E 0x30 0x30 0x2E 0x30
0asc 1asc .asc 0asc 0asc .asc 0asc
Explanations of the telegram to the drive
Command = 0x00 = 00000000bin
• Bit 4 = 0 (toggle bit)
Influence of the toggle bit to the transmission command
• The first response of the controller in the command byte is "0x0000*0000bin" if bytes 2 ... 8
are completely assigned with data and further telegrams are following.
• The second response of the controller in the command byte is "0x0001*0000bin" if
bytes 2 ... 8 are completely assigned with data and further telegrams are following, etc.
* Toggle bit
Data 1 ... 7 = "01.00.0" (ASCII representation)
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"CAN on board" system bus
Parameter data transfer
Telegram 3 to the drive: Request of the 2nd data block
Identifier User data
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7
0x060C 0x70 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Explanations of the telegram 3 to the drive
Command = 0x70 = "Read Segment Request" (request: read data block)
• Bit 4 = 1 (toggle bit)
Response telegram 3 from the drive: Send 2nd data block with end identifier
Identifier User data
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7
0x058C 0x17 0x30 0x2E 0x30 0x30 0x00 0x00 0x00
0asc .asc 0asc 0asc - - -
Explanations of the telegram 3 from the drive
Command = 0x17 = 00010111bin:
• Bit 0 = 1 (end of transmission)
• Bit 1 ... bit 3 = 011bin (3 bytes do not contain any data)
• Bit 4 = 1 (toggle bit)
Influence of the end bit and the residual data length on the transmission command
• The end of transmission is reported by the set end bit 0.
• By means of bit 1 ... 3, the number of bytes which do not contain data anymore is announced.
* Toggle bit
Data 1 ... 7 = "0.00" (ASCII representation)
The result of the data block transfer is: "01.00.00.00"
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Diagnostics
9.8 Diagnostics
The display parameters listed in the following table serve to request current information
on the system bus for diagnostic purposes, e.g. using the keypad, via a bus system, or using
the »Engineer« (when an online connection has been established to the controller).
The »Engineer« parameter list and the keypad contain these parameters in the
category CAN CAN management.
A detailed description of these parameters can be found in the chapter "Parameter
reference". ( 705)
Parameter Display
C00345 CAN error
C00359 CAN status
C00360/1 CAN stuffing bit error counter
C00360/2 CAN format error counter
C00360/3 CAN acknow. error counter
C00360/4 CAN bit 1 error counter
C00360/5 CAN bit 0 error counter
C00360/6 CAN CRC error counter
C00360/7 CAN Tx telegram counter
C00360/8 CAN Rx telegram counter
C00361/1 CAN bus load: Current node load in Tx direction
C00361/2 CAN bus load: Current node load in Rx direction
C00361/3 CAN bus load: Current node load of faulty telegrams
C00361/4 CAN bus load: Node peak load in Tx direction
C00361/5 CAN bus load: Node peak load in Rx direction
C00361/6 CAN bus load: Node peak load of faulty telegrams
C00390 CAN Error Register (DS301V402)
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"CAN on board" system bus
Monitoring
9.9 Monitoring
9.9.1 Node guarding protocol
In a CAN network, the node guarding protocol serves to monitor the connection between
the NMT master and the NMT slave(s). If the controller was parameterised as NMT master,
it can monitor up to 32 NMT slaves.
General procedure
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t: Toggle bit
s: NMT slave status (4: Stopped, 5: Operational, 127: Pre-Operational)
[9-9] Node guarding protocol
1. The NMT master within cyclic time intervals sends a data telegram to the NMT slave,
which is referred to as "Remote Transmission Request" (RTR).
2. The NMT slave then returns a response telegram ("Response") to the NMT master.
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Monitoring
9.9.1.1 Telegram structure
RTR telegram
The RTR telegram from the NMT master has the following identifiers:
Identifier (COB-ID) = 1792 + node address of the NMT slave
The RTR telegram does not contain any user data.
The RTR bit in the arbitration field of the RTR telegram is set to the valency LOW
(dominant level).
Response telegram
The response telegram from the requested NMT slave has the same identifier as the
RTR telegram received by the NMT master.
The user data (1 byte) contains the NMT slave status and the toggle bit (see the
following description).
NMT slave state (s)
NMT slave status Data
Communication status Decimal value (t) NMT slave state (s)
(s)
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Stopped 4 0/1 0 0 0 0 1 0 0
Operational 5 0/1 0 0 0 0 1 0 1
Pre-operational 127 0/1 1 1 1 1 1 1 1
Toggle bit (t)
The toggle bit (t) in the response telegram has the value "0" when the node guarding
protocol is activated for the first time.
The toggle bit (t) must change its value with each response.
Note!
The toggle bit is monitored by the NMT master.
If a telegram is received with a toggle bit value that has not changed compared
to the previously received telegram, it will be treated as if it were not received,
i.e. the monitoring time is not reset and elapses further.
The toggle bit can only be reset to the value "0" by the "Reset Communication"
telegram of the NMT master.
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9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Monitoring
9.9.1.2 Parameter setting
Short overview of parameters for the "Node Guarding" monitoring function:
Parameter Information Lenze setting Assignment
Value Unit Master Slave
C00382 CAN guard time 0 ms z
C00383 CAN Life Time Factor 0 z
C00386/1...32 CAN node guarding 0x00000000 z
C00387 CAN Node Guarding Activity - z
C00388/1...32 CAN node guarding status - z
C00612/1...32 Resp. to CAN node guarding error No response z
C00614 Resp. to CAN life guarding error No response z
C00625 CAN behaviour in case of fault Pre-operational state z z
Highlighted in grey = display parameter
Guard time
The time interval with which the NMT master transmits the RTR telegram is the "Guard
Time".
For each NMT slave to be monitored an individual time interval can be set.
The RTR telegram prompts the NMT slave to send its current status.
Node life time
The "Node Life Time" is the product of the "Guard Time" and the "Life Time Factor":
Node Life Time = Guard Time x Life Time Factor
"Life time factor" and "Guard time" have to be known to the NMT master. For this, the
values from the NMT slave are read at each reboot, or defined values are sent to the
NMT slave at each reboot.
It is possible to select a different "node life time" for each NMT slave to be monitored.
OK status
The status of the connection is ok (OK status) if within the "Node life time"
the NMT slave has received an RTR telegram from the NMT master and
the NMT master has received a correct response from the requested NMT slave.
In the OK status the monitoring times for the NMT master and the NMT slave are reset and
the node guarding protocol is continued.
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Monitoring
Life guarding event
The "Life Guarding Event" is triggered in the NMT slave if this has not received an RTR
telegram from the NMT master within the "Node Life Time":
In the Lenze setting, the NMT slave changes from the "Operational" communication
status into the "Pre-Operational" communication status.
– C00625 or the I-1029 object serve to set a status change.
An emergency telegram with the emergency error code 0x8130 is transmitted to the
NMT master.
The response parameterised in C00614 takes place (Lenze setting: "No response").
Note!
The "Life Guarding Event" can only be triggered in the NMT slave if at least one
RTR telegram has been received successfully from the NMT master.
Node guarding event
The "Node Guarding Event" is triggered in the NMT master if this has not received any
response to its RTR telegram from the requested NMT slave within the "Node Life Time" or
the toggle bit in the response telegram has not changed within the "Node Life Time".
In the Lenze setting, the NMT master changes from the "Operational" communication
status into the "Pre-Operational" communication status.
– C00625 or the I-1029 object serve to set a status change.
The response parameterised in C00612/1...32 takes place (Lenze setting: "No
response"). The response in the NMT master can be set individually for each monitored
node.
Note!
The "Node Guarding Event" can only be triggered in the NMT master if at least
one response has been received successfully from the requested NMT slave.
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"CAN on board" system bus
Monitoring
9.9.1.3 Commissioning example
Task
A 9400 controller configured as NMT master (node 1) is to monitor another 9400 controller
(node 2).
The node guarding telegram is to be transmitted from the NMT master to the NMT
slave in intervals of 1 s:
– Guard time = 1000 ms
The node life time is to amount to 5 seconds:
– Node life time = guard time (1000 ms) x life time factor (5)
If an error occurs, an error response is to be activated both in the NMT master and the
NMT slave.
Parameter setting of the NMT master (node 1)
1. Set heartbeat producer time (C00381) to 0 ms to deactivate the heartbeat monitoring
(node guarding and heartbeat must not be used simultaneously in a CANopen device).
2. Configure controller as NMT master: Set C00352 = "1: Master".
3. Set guard time (C00382) to 0 ms (slave parameter).
4. Set life time factor (C00383) to 0 (slave parameter).
5. Configure monitoring for the node guarding in C00386.
– The value to be entered into a free subcode (1 ... 32) is "0x050203E8".
It consists of the following:
Bit 31 ... bit 24 Bit 23 ... bit 16 Bit 15 ... bit 0
Life time factor Node address of slave Guard time
0x05 0x02 1000 [ms] = 0x03E8
6. Go to C00612/1...32 and set the response required for the monitoring functions
parameterised in C00386/1...32 which are to take place in case of a "Node Guarding
Event" in the NMT master.
Tip!
• C00387 displays the activity of every monitoring function parameterised in
C00386/1...32 in a bit-coded form.
• C00388/1...32 displays the node guarding status of the monitored NMT slaves.
• C00625 serves to set which status change is to occur in the NMT master in case
of a "Node Guarding Event".
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Monitoring
Parameterise NMT slave (node 2)
1. Accept the settings made in the NMT master in C00386 of the life time factor and the
guard time for the NMTslave:
– Set guard time (C00382) to 1000 ms.
– Set life time factor (C00383) to 5.
2. Go to C00614 and set the response required in case of a "Life Guarding Event" in the
NMT slave.
Tip!
C00625 serves to set which status change is to occur in case of a "Life Guarding
Event" in the NMT slave.
Node guarding telegrams
Remote Transmission Request:
The RTR telegram from the NMT master has the following identifiers:
Identifier (COB-ID) = 1792 + node address of slave = 1792 + 2 = 1794 = 0x702
Remote Transmission Response:
The response telegram from the NMT slave has the same identifier and the
"Operational" NMT status in the user data (s = 5). Telegram structure ( 330)
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9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Monitoring
9.9.2 Heartbeat protocol
The heartbeat protocol can be used optionally to the node guarding protocol for
monitoring nodes within a CAN network. Unlike the node guarding, this monitoring does
not require a polling by means of an RTR telegram (Remote Transmission Request) from
the NMT master.
Note!
Heartbeat and node guarding protocols must not be used simultaneously in a
CANopen device. If the heartbeat producer time is set > 0 ms, the heartbeat
protocol is used.
General procedure
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s: Status of the producer (0: Boot-up, 4: Stopped, 5: Operational, 127: Pre-Operational)
[9-10] Heartbeat protocol
1. A heartbeat producer cyclically sends a heartbeat telegram to one or several heartbeat
consumers.
2. One or several consumers monitor the regular arrival of the heartbeat telegram.
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Monitoring
9.9.2.1 Telegram structure
The heartbeat telegram from the producer has the following identifier:
Identifier (COB-ID) = 1792 + node address of the producer
The user data (1 byte) contain the status (s) of the producer:
Heartbeat producer status Data
Communication status Decimal value (r) Producer status (s)
(s)
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Boot up 0 0 0 0 0 0 0 0 0
Stopped 4 0 0 0 0 0 1 0 0
Operational 5 0 0 0 0 0 1 0 1
Pre-operational 127 0 1 1 1 1 1 1 1
9.9.2.2 Parameter setting
Short overview of the parameters for the "Heartbeat" monitoring function:
Parameter Information Lenze setting Assignment
Value Unit Consumer Producer
C00346 CAN heartbeat activity - z
C00347/1...32 CAN heartbeat status - z
C00381 CAN heartbeat producer time 0 ms z
C00385/1...32 CAN heartbeat consumer time 0x00000000 z
C00613/1...32 Resp. to CAN heartbeat error No response z
C00625 CAN behaviour in case of fault Pre-operational state z z
Highlighted in grey = display parameter
Heartbeat producer time
Time interval for the transmission of the heartbeat telegram to one or several consumers.
Can be parameterised in C00381 or via the object I-1017. The parameterised time is
rounded down to an integer multiple of 5 ms.
The heartbeat telegram is automatically transmitted as soon as a time > 0 ms is set.
Note!
Heartbeat and node guarding protocols must not be used simultaneously in a
CANopen device. If the heartbeat producer time is set > 0 ms, the heartbeat
protocol is used.
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"CAN on board" system bus
Monitoring
Heartbeat consumer time
Monitoring time for the node (producer) to be monitored.
Can be parameterised in C00385/1...32 or via the object I-1016.
The parameterised time is rounded down to an integer multiple of 5 ms and must have
a higher value than the heartbeat producer time of the node to be monitored.
A consumer can monitor up to 32 producers.
Heartbeat event
The "Heartbeat Event" is triggered in the consumer if this has not received a heartbeat
telegram from the producer within the "Heartbeat Consumer Time":
In the Lenze setting, the consumer changes from the "Operational" communication
status into the "Pre-Operational" communication status.
– C00625 or the I-1029 object serve to set a status change.
An emergency telegram with the emergency error code 0x8130 is transmitted to the
NMT master.
The response parameterised in C00613/1...32 for the corresponding producer takes
place (Lenze setting: "No response").
Note!
The heartbeat monitoring starts when the first heartbeat telegram of a
monitored producer has been successfully received and the "pre-operational"
NMT status has been assumed.
The boot-up telegram counts as the first heartbeat telegram!
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Monitoring
9.9.2.3 Commissioning example
Task
A 9400 controller (node 2) configured as a heartbeat consumer is to monitor another 9400
controller (Heartbeat Producer; node 1).
The heartbeat producer is to transmit every 10 seconds a heartbeat telegram to the
heartbeat consumer.
The heartbeat consumer monitors the arrival of the heartbeat telegram. In case of an
error, a response is to take place.
Parameter setting of the heartbeat producer (node 1)
1. Set heartbeat producer time (C00381) to 10 ms.
Parameter setting of the heartbeat consumer (node 2)
1. Configure monitoring for the heartbeat in C00385.
– Note: The heartbeat consumer time must be higher than the heartbeat producer
time set in C00381 for the node to be monitored.
– The value to be entered into a free subcode (1 ... 32) is "0x0001000F". It consists of
the following:
Bit 31 ... bit 24 Bit 23 ... bit 16 Bit 15 ... bit 0
Reserved Node address Heartbeat consumer time
of the producer (integer multiple of 5 ms)
0x00 0x01 15 [ms] = 0x000F
2. Go to C00613/1...32 and set the response required for the monitoring functions
parameterised in C00385/1...32 which are to take place in case of a "Heartbeat Event"
in the consumer.
Tip!
• C00346 displays the activity of every monitoring function parameterised in
C00385/1...32 in a bit-coded form.
• C00347/1...32 displays the node guarding status of the monitored NMT slaves.
• C00625 serves to set which status change is to occur in case of a "Heartbeat
Event".
Heartbeat telegram
The heartbeat telegram from the producer has the following identifier:
Identifier (COB-ID) = 1792 + node address of the producer = 1792 + 1 = 1793 = 0x701
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9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Monitoring
9.9.3 Emergency telegram
If the error status changes due to the occurrence or elimination of an internal device error,
an emergency telegram with the following structure is sent once to the NMT master:
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Emergency error code Error register Manufacturer-specific error message
Low byte High byte I-1001 0x00 Low word High word
(reserved) Low byte High byte Low byte High byte
See table below • With emergency error code 0x1000: Lenze error number
(displayed value in C00168)
• With all other emergency error codes, the value "0" is entered
here.
Emergency error code Error register Cause
0x0000 0xxx One of several errors eliminated
0x00 Single error eliminated (afterwards no more errors)
0x1000 0x01 Generic error
• In the standard device, an error has occurred with the error
response "Fault", "Trouble", "Quick stop by trouble", "Warning",
"Warning locked" or "System fault".
• Error message is the Lenze error number (C00168).
• For error cause see fault error description (C00166).
0x3100 0x01 Supply voltage of standard device faulty or failed
0x8100 0x11 Communication error (warning)
0x8130 0x11 Life guarding error or heartbeat error
0x8150 0x11 Collision of identifiers (COB-IDs): An identifier parameterised for
reception is also used for transmission.
0x8210 0x11 PDO length is shorter than the expected PDO length
0x8220 0x11 PDO length is longer than the expected PDO length
0x8700 0x11 Monitoring of the sync telegram
Example
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Emergency error code Error register Manufacturer-specific error message
0x00 0x10 0x01 0x00 0x1b 0x00 0x7b 0x00
Generic error (reserved) Lenze error message 0x007b001b: Encoder wire
breakage. Error messages of the operating system
Corresponding "error-free" message: value
"0x00000000"
Tip!
A detailed description can be gathered from the CAN specification DS301, V4.02.
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Implemented CANopen objects
9.10 Implemented CANopen objects
Lenze devices can both be parameterised with Lenze codes and manufacturer-
independent "CANopen objects". A completely CANopen compliant communication can
only be achieved by using CANopen objects for parameter setting. The CANopen objects
described in this chapter are defined in the CAN specification DS301 V4.02.
Many CANopen objects can be mapped on Lenze codes. The following table lists the related
Lenze codes in the column "Relationship to Lenze codes".
Note!
Some of the terms used here derive from the CANopen protocol.
Overview of the CANopen indexes and their relationship to Lenze codes
CANopen object Relationship to Lenze
code
Index Subindex Name
I-1000 0 Device type -
I-1001 0 Error register C00390
I-1003 Pre-defined error field
0 Number of errors -
1 ... 10 Standard error field -
I-1005 0 COB-ID SYNC message C00367
C00368
I-1006 0 Communication cycle period C00369
I-100C 0 Guard time C00382
I-100D 0 Life time factor C00383
I-1010 Store parameters
0 Highest subindex supported -
1 Save all parameters -
I-1011 Restore default parameters
0 Highest subindex supported -
1 restore all default parameters -
I-1014 0 COB-ID EMCY C00391
I-1015 0 Inhibit time EMCY C00392
I-1016 Consumer heartbeat time
0 Highest subindex supported -
1 ... 32 Consumer heartbeat time C00385/1...32
I-1017 0 Producer heartbeat time C00381
I-1018 Identity object
0 Highest subindex supported -
1 Vendor ID -
2 Product code -
3 Revision number -
4 Serial number -
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Implemented CANopen objects
CANopen object Relationship to Lenze
code
Index Subindex Name
I-1029 Error behaviour
0 Highest subindex supported -
1 Communication error C00625
I-1200 SDO1 server parameter
0 Highest subindex supported -
1 COB-ID client −> server (rx) C00372/1
2 COB-ID server −> client (tx) C00373/1
I-1201 SDO2 ... SDO10 server parameter
... 0 Highest subindex supported -
I-1209
1 COB-ID client −> server (rx) C00372/2...10
2 COB-ID server −> client (tx) C00373/2...10
3 Node-ID of the SDO client -
I-1400 RPDO1 ... RPDO4 communication parameter
... 0 Highest subindex supported -
I-1403
1 COB-ID used by RPDO C00321/1...4
2 Transmission type C00323/1...4
3 Inhibit time -
4 Compatibility entry -
5 Event timer -
I-1600 RPDO1 ... RPDO4 mapping parameter
... 0 Number of mapped application objects in PDO -
I-1603
1 ... 8 Application object 1 ... 8 -
I-1800 TPDO1 ... TDDO4 communication parameter
... 0 Highest subindex supported -
I-1803
1 COB-ID used by TPDO C00320/1...4
2 Transmission type C00322/1...4
3 Inhibit time C00324/1...4
4 Reserved -
5 Event timer C00356/1...4
I-1A00 TPDO1 ... TDDO4 mapping parameter
... 0 Number of mapped application objects in PDO -
I-1A03
1 ... 8 Application object 1 ... 8 -
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I-1000
Index Name:
I-1000 Device type
Subindex Default setting Display area (min. value | unit | max. value) Access Data type
0: Device type 0 0 4294967295 ro U32
The CANopen index I-1000 specifies the profile for this device. Furthermore, additional
information defined in the device profile itself can be stored here.
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
High word Low word
High byte Low byte High byte Low byte
Additional information Device profile number
[9-1] Data telegram assignment
I-1001
Index: Name:
I-1001 Error register
Subindex Default setting Display area (min. value | unit | max. value) Access Data type
0: Error register - 0 255 ro U8
Error register
This object is related to the Lenze code C00390.
The error status in the data byte (U8) is bit coded (see the following table). Currently
only bit 0 and bit 4 in the data byte contain the corresponding information.
Bit Meaning if bit is set:
Bit 0 Generic error
Bit 1 Current error (not used)
Bit 2 Voltage error (not used)
Bit 3 Temperature error (not used)
Bit 4 Communication error
Bit 5 Device profile spec. error (not used)
Bit 6 Reserved
Bit 7 Manufacturer-specific error (not used)
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Implemented CANopen objects
I-1003
Index: Name:
I-1003 Pre-defined error field
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Number of errors 0 0 255 rw U8
1 ... 10: Standard error field - 0 4294967295 ro U32
Error history
This object indicates that an error has occurred in the module and in the standard device.
Subindex Meaning
0 Number of the error messages stored
1 ... 10 Display of the error list
The error messages (U32) consist of a 16-bit error code and a 16-bit manufacturer-
specific information field.
Note!
The values in the "standard error field" under subindexes 1 ... 10 will be deleted
if the subindex "number of recorded errors" is overwritten with the value "0".
Emergency Cause Entry in the error
error code register
(I-1001)
0x0000 One of several errors eliminated 0xxx
Elimination of an individual error 0x00
(afterwards error-free state)
0x1000 Standard device is in error status (error response "Trouble", 0x01
"Message", "Warning", "Fault", "Quick stop by trouble" or "System
fault")
0x3100 Supply voltage of standard device faulty or failed 0x01
0x8100 Communication error (warning) 0x11
0x8130 Life guard error or heartbeat error 0x11
0x8150 Collision of COB-IDs: an ID parameterised for reception also is used 0x11
for transmission.
0x8210 PDO length is shorter than the expected PDO length 0x11
0x8220 PDO length is longer than the expected PDO length 0x11
0x8700 Monitoring of the sync telegram 0x11
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Implemented CANopen objects
I-1005
Index: Name:
I-1005 COB-ID SYNC message
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: COB-ID SYNC message 0x0000 0080 0 4294967295 rw U32
or
0x8000 0080
This object serves to activate the creation of sync telegrams and write the value of the
identifier.
This object is related to the Lenze codes C00367 and C00368.
Creating sync telegrams
To create sync telegrams, the bit 30 (see below) must be set to "1". The interval of the sync
telegrams can be set with the object I-1006.
Writing identifiers
To receive PDOs, the value 0x80 must be entered in the 11-bit identifier in the Lenze setting
(and according to the CANopen specification) . This means that all modules are by default
set to the same sync telegram.
If sync telegrams are only to be received from specific communication modules, their
identifiers can be entered with a value of up to and including 0x07FF.
The identifier may only be changed if the communication module does not transmit a
sync telegram (bit 30 = "0").
How to change the identifier:
– Deactivate identifier (set bit 30 to "0").
– Change identifier.
– Activate identifier (set bit 30 to "1").
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
X 0/1 Extended identifier* 11-bit identifier
* The extended identifier is not supported - bit 11 ... bit 29 must be set to "0".
[9-2] Data telegram assignment
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Implemented CANopen objects
I-1006
Index: Name:
I-1006 Communication cycle period
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Communication cycle period 0 μs 0 μs 65535000 rw U32
Setting the sync telegram cycle time.
A cycle time can be defined with the entry "1000" or an integer multiple of it.
With "0 μs" (Lenze setting), no sync telegrams are created.
This object is related to the Lenze code C00369.
I-100C
Index: Name:
I-100C Guard time
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Guard time 0 ms 0 ms 65535 rw U16
Monitoring time for node guarding. Node guarding protocol ( 329)
Time within the NMT slave expects the RTRs from the NMTmaster.
The "Node Life Time" is the product from "Guard Time" and "Life Time Factor":
Node Life Time = Guard Time (I-100C) x Life Time Factor (I-100D)
The "Life Guarding Event" occurs in the NMT slave if this has not been triggered from
the NMT master trough an RTR within the "Node Life Time".
With "0 ms" (Lenze setting) monitoring is not supported by the slave.
This object is related to the Lenze code C00382.
I-100D
Index: Name:
I-100D Life time factor
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Life time factor 0 0 255 rw U8
Life Time Factor for node guarding. Node guarding protocol ( 329)
The "Node Life Time" is the product from "Guard Time" and "Life Time Factor":
Node Life Time = Guard Time (I-100C) x Life Time Factor (I-100D)
The "Life Guarding Event" occurs in the NMT slave if this has not been triggered from
the NMT master trough an RTR within the "Node Life Time".
With "0" (Lenze setting) monitoring is not supported by the slave.
This object is related to the Lenze code C00383.
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I-1010
Index: Name:
I-1010 Store parameters
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 1 - (only read access) ro U32
1: Save all parameters - 0 4294967295 rw U32
Save parameters with mains failure protection.
Corresponds to the device command C00002 = "11: Save start parameters".
This command serves to save the current parameter settings of the active application
with mains failure protection in the memory module of the controller.
Subindex Meaning
Read Write
0 Max. supported subindex: 1 -
(a write attempt triggers the error
message 0x06010002.)
1 Reading memory functions of all Save parameters with mains failure
parameters. protection.
Read subindex 1
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 ... bit 2 Bit 1 Bit 0
0 0/1 0/1
[9-3] Assignment of the data telegram (read access)
Bit Meaning
Bit 0 0 No saving of parameters on command.
1 Saving of parameters on command (Lenze).
Bit 1 0 No automatic saving of parameters (Lenze).
1 Automatic saving of parameters.
Write subindex 1
In addition to the index and subindex, the telegram data must also include the "save"
signature (ASCII characters; ISO 8859) so that the parameters are stored.
A response according to the DS301 V4.02 specification occurs while writing with a
wrong identifier.
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
"e" = 0x65 "v" = 0x76 "a" = 0x61 "s" = 0x73
[9-4] Assignment of the data telegram (write access)
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Implemented CANopen objects
I-1011
Index: Name:
I-1011 Restore default parameters
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 1 - (only read access) ro U32
1: restore all default parameters - 0 4294967295 rw U32
Load Lenze setting.
Corresponds to the device command C00002 = "0: Load Lenze setting".
This command serves to reset the parameters of the active application to the Lenze
setting which is stored in the firmware.
Subindex Meaning
Read Write
0 Max. supported subindex: 1 -
(a write attempt triggers the error
message 0x06010002.)
1 Loading of all parameters possible. Load Lenze setting.
Read subindex 1
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 ... bit 1 Bit 0
0 0/1
[9-5] Assignment of the data telegram (read )
Bit Setting
Bit 0 0 Parameters cannot be loaded.
1 Parameters can be loaded (Lenze).
Write subindex 1
In addition to the index and subindex, the telegram data must include the "load" signature
(ASCII characters; ISO 8859) so that the Lenze setting can be loaded.
A response according to the DS301 V4.02 specification occurs while writing with a
wrong identifier.
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
"d" = 0x64 "a" = 0x61 "o" = 0x6F "l" = 0x6C
[9-6] Assignment of the data telegram (write)
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Implemented CANopen objects
I-1014
Index: Name:
I-1014 COB-ID EMCY
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: COB-ID EMCY 0x80+Node-ID 0 4294967295 rw U32
If a communication error or an internal error of the communication module or the
controller occurs or is acknowledged (e. g. "trouble"), an error message is sent via the
system bus. For each error, the telegram is interrupted once. By means of bit 31 this
function can be activated or deactivated.
This object is related to the Lenze code C00391.
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0/1 0 Extended identifier* 11-bit identifier
* The extended identifier is not supported - bit 11 ... bit 29 must be set to "0".
[9-7] Data telegram assignment
Bit Setting
Bit 31 0 Emergency object valid.
1 Emergency object invalid.
Note!
The identifier can only be changed in the "Emergency object invalid" status (bit
31 = 1).
I-1015
Index: Name:
I-1015 Inhibit time EMCY
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: inhibit time EMCY 0 0 0.1 ms 65535 rw U32
Time which must elapse after an error message (I-1014) has been transmitted before
further error messages can be sent via the bus.
The entered value multiplied by "0.1" gives the delay time in [ms]. The values are
automatically rounded up to whole values in [ms].
This object is related to the Lenze code C00392.
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Implemented CANopen objects
I-1016
Index: Name:
I-1016 Consumer heartbeat time
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 32 - (only read access) ro U32
1 ... 32: consumer heartbeat time 0 0 4294967295 rw U32
Monitoring time for the nodes 1 ... 32 to be monitored via heartbeat. Heartbeat protocol
( 335)
The parameterised time is rounded down to an integer multiple of 5 ms and must have
a higher value than the heartbeat producer time of the node to be monitored.
Subindex Meaning Lenze code
0 Number of nodes to be monitored
1 ... 32 Node-ID and heartbeat time of the node 1 ... 32 to be C00385/1...32
monitored
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 ... bit 24 Bit 23 ... bit 16 Bit 15 ... bit 0
0 Node ID Heartbeat time
(reserved) in [ms]
[9-8] Data telegram assignment
I-1017
Index: Name:
I-1017 Producer heartbeat time
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: Producer heartbeat time 0 0 ms 65535 rw U32
Time interval for the transmission of the heartbeat telegram to one or several
consumers. Heartbeat protocol ( 335)
The parameterised time is rounded down to an integer multiple of 5 ms.
The heartbeat telegram is transmitted automatically as soon as a time > 0 ms is set.
The monitoring function "Node Guarding" is deactivated in this case.
This object is related to the Lenze code C00381.
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Implemented CANopen objects
I-1018
Index: Name:
I-1018 Identity object
Subindex Default setting Display area (min. value | unit | max. value) Access Data type
0: highest subindex supported see below 0 4294967295 ro U32
1: Vendor ID
2: Product code
3: Revision number
4: Serial number
Subindex Meaning
1 Manufacturer identification number
• The identification number allocated to Lenze by the "CAN in Automation e. V."
organisation is "0x0000003B".
2 Product code
0x94001 9400 StateLine
0x94002 9400 HighLine / ServoPLC
0x94004 9400 regenerative power supply module
3 Main version and subversion of the firmware
4 Serial number
I-1029
Index: Name:
I-1029 Error behaviour
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 1 - (only read access) ro U8
1: Communication error 0 0 2 rw U8
This object serves to set the communication status to which the controller is to change
after a bus off, a node/life guarding event or a heartbeat event.
Subindex Meaning Lenze code
1 Status change after bus off, node/life guarding event or C00625
heartbeat event:
0 State change from "Operational" to "Pre-
operational"
1 No state change
2 State change to "Stopped"
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"CAN on board" system bus
Implemented CANopen objects
I-1200
Index: Name:
I-1200 SDO1 server parameter
Subindex Default setting Display area (min. value | unit | max. value) Access Data type
0: highest subindex supported 2 2 2 ro U8
1: COB-ID client -> server (Rx) Node ID + 0x600 0 4294967295 ro U32
2: COB-ID server -> client (Tx) Node ID + 0x580 0 4294967295 ro U32
Identifier for the SDO server channel 1 (basic SDO channel).
The basic SDO channel can neither be changed nor deactivated according to
DS301 V4.02.
Subindex Meaning
1 Receive identifier specification
• For SDO server channel 1: node address (C00350) + 0x600
2 Send identifier specification
• For SDO server channel 1: node address (C00350) + 0x580
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0 0 Extended identifier* 11-bit identifier
* The extended identifier is not supported - bit 11 ... bit 29 must be set to "0".
[9-9] Data telegram assignment
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351
9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Implemented CANopen objects
I-1201
Index: Name:
I-1201 SDO2 server parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 3 - (only read access) ro U8
1: COB-ID client -> server (Rx) 0x80000000 0 4294967295 rw U32
2: COB-ID server -> client (Tx) 0x80000000 0 4294967295 rw U32
3: Node-ID of the SDO client 1 ... 127 - (only read access) ro U32
Setting of the identifiers for the SDO server channel 2.
The server SDO parameter is only valid if the bit 31 is set to "0" for both transmission
directions (subindex 1 and 2).
In the Lenze setting, the SDO server channels 2 ... 10 are deactivated (bit 31 = "1").
The identifier may only be changed if the SDO is invalid (bit 31 = "1").
Subindex Meaning
1 Receive identifier specification
2 Send identifier specification
3 Node address of the client
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0/1 0 Extended identifier* 11-bit identifier
* The extended identifier is not supported - bit 11 ... bit 29 must be set to "0".
[9-10] Data telegram assignment
Bit Setting
Bit 31 0 SDO valid.
1 SDO invalid.
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Implemented CANopen objects
Example
The parameter data channel 2 of the controller with the node address 4 is to be activated.
For this purpose, the bit 31 in the subindexes 1 and 2 of the object I-1201 must be set
to the value "0" (≡ "SDO valid").
Both "Write request" commands must be transmitted from the master to the nodes via
the basic SDO channel.
Calculation of the identifiers
Identifier (COB-ID) = basic identifier + node address (node ID)
Basic identifier SDO2 from the master to the drive: 1600 (0x640)
identifier = 0x640 + 0x4 = 0x644
Basic identifier SDO2 from the drive to the master: 1472 (0x5C0)
identifier = 0x5C0 + 0x4 = 0x5C4
Resulting data (data 1 ... data 4)
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0 0 Extended identifier = 0 11-bit identifier = 0x644
0x00 0x00 0x06 0x44
[9-11] Data telegram assignment for subindices 1
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0 0 Extended identifier = 0 11-bit identifier = 0x5C4
0x00 0x00 0x05 0xC4
[9-12] Data telegram assignment for subindices 2
Assignment of the user data
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
0x23 0x01 0x12 0x01 0x44 0x06 0x00 0x00
[9-13] Assignment of the user data for writing the subindex 1
1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte
Command Index Subindex Data 1 Data 2 Data 3 Data 4
0x23 0x01 0x12 0x02 0xC4 0x05 0x00 0x00
[9-14] Assignment of the user data for writing the subindex 2
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353
9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Implemented CANopen objects
I-1202
Index: Name:
I-1202 SDO3 server parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 3 - (only read access) ro U8
1: COB-ID client -> server (Rx) 0x80000000 0 4294967295 rw U32
2: COB-ID server -> client (Tx) 0x80000000 0 4294967295 rw U32
3: Node-ID of the SDO client 1 ... 127 - (only read access) ro U32
Setting of the identifiers for the SDO server channel 3. For description see object I-1201.
I-1203
Index: Name:
I-1203 SDO4 server parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 3 - (only read access) ro U8
1: COB-ID client -> server (Rx) 0x80000000 0 4294967295 rw U32
2: COB-ID server -> client (Tx) 0x80000000 0 4294967295 rw U32
3: Node-ID of the SDO client 1 ... 127 - (only read access) ro U32
Setting of the identifiers for the SDO server channel 4. For description see object I-1201.
I-1204
Index: Name:
I-1204 SDO5 server parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 3 - (only read access) ro U8
1: COB-ID client -> server (Rx) 0x80000000 0 4294967295 rw U32
2: COB-ID server -> client (Tx) 0x80000000 0 4294967295 rw U32
3: Node-ID of the SDO client 1 ... 127 - (only read access) ro U32
Setting of the identifiers for the SDO server channel 5. For description see object I-1201.
I-1205
Index: Name:
I-1205 SDO6 server parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 3 - (only read access) ro U8
1: COB-ID client -> server (Rx) 0x80000000 0 4294967295 rw U32
2: COB-ID server -> client (Tx) 0x80000000 0 4294967295 rw U32
3: Node-ID of the SDO client 1 ... 127 - (only read access) ro U32
Setting of the identifiers for the SDO server channel 6. For description see object I-1201.
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Implemented CANopen objects
I-1206
Index: Name:
I-1206 SDO7 server parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 3 - (only read access) ro U8
1: COB-ID client -> server (Rx) 0x80000000 0 4294967295 rw U32
2: COB-ID server -> client (Tx) 0x80000000 0 4294967295 rw U32
3: Node-ID of the SDO client 1 ... 127 - (only read access) ro U32
Setting of the identifiers for the SDO server channel 7. For description see object I-1201.
I-1207
Index: Name:
I-1207 SDO8 server parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 3 - (only read access) ro U8
1: COB-ID client -> server (Rx) 0x80000000 0 4294967295 rw U32
2: COB-ID server -> client (Tx) 0x80000000 0 4294967295 rw U32
3: Node-ID of the SDO client 1 ... 127 - (only read access) ro U32
Setting of the identifiers for the SDO server channel 8. For description see object I-1201.
I-1208
Index: Name:
I-1208 SDO9 server parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 3 - (only read access) ro U8
1: COB-ID client -> server (Rx) 0x80000000 0 4294967295 rw U32
2: COB-ID server -> client (Tx) 0x80000000 0 4294967295 rw U32
3: Node-ID of the SDO client 1 ... 127 - (only read access) ro U32
Setting of the identifiers for the SDO server channel 9. For description see object I-1201.
I-1209
Index: Name:
I-1209 SDO10 server parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 3 - (only read access) ro U8
1: COB-ID client -> server (Rx) 0x80000000 0 4294967295 rw U32
2: COB-ID server -> client (Tx) 0x80000000 0 4294967295 rw U32
3: Node-ID of the SDO client 1 ... 127 - (only read access) ro U32
Setting of the identifiers for the SDO server channel 10. For description see object I-1201.
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355
9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Implemented CANopen objects
I-1400
Index: Name:
I-1400 RPDO1 communication parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 5 - (only read access) ro U8
1: COB-ID used by RPDO 0x200 + node ID 0 4294967295 rw U32
2: transmission type 254 0 255 rw U8
3: inhibit time - - (for RPDOs unused) rw U16
4: compatibility entry - - (reserved, write or read access results in error rw U8
message 0x06090011)
5: event timer - - (for RPDOs unused) rw U16
Communication parameter for the reception of process data via RPDO1
Subindex Meaning Lenze code
1 Identifier RPDO1 C00321/1
• The basic setting is according to the "Predefined
Connection Set": Identifier = 0x200 + node ID
2 RPDO Transmission type according to DS301 V4.02 C00323/1
Transmission type ( 308)
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0/1 0/1 Extended identifier* 11-bit identifier
* The extended identifier is not supported - bit 11 ... bit 29 must be set to "0".
[9-15] Data telegram assignment
Bit Setting
Bit 30 0 RTR to this PDO possible (cannot be set).
1 RTR to this PDO not possible (Lenze).
Bit 31 0 PDO active.
1 PDO inactive.
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Implemented CANopen objects
I-1401
Index: Name:
I-1401 RPDO2 communication parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 5 - (only read access) ro U8
1: COB-ID used by RPDO 0x300 + node ID 0 4294967295 rw U32
2: transmission type 254 0 255 rw U8
3: inhibit time - - (for RPDOs unused) rw U16
4: compatibility entry - - (reserved, write or read access results in error rw U8
message 0x06090011)
5: event timer - - (for RPDOs unused) rw U16
Communication parameter for the reception of process data via RPDO2
Subindex Meaning Lenze code
1 Identifier RPDO2 C00321/2
• The basic setting is according to the "Predefined
Connection Set": Identifier = 0x300 + node ID
2 RPDO Transmission type according to DS301 V4.02 C00323/2
Transmission type ( 308)
For assignment of the data telegram see object I-1400.
I-1402
Index: Name:
I-1402 RPDO3 communication parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 5 - (only read access) ro U8
1: COB-ID used by RPDO 0x400 + node ID 0 4294967295 rw U32
2: transmission type 254 0 255 rw U8
3: inhibit time - - (for RPDOs unused) rw U16
4: compatibility entry - - (reserved, write or read access results in error rw U8
message 0x06090011)
5: event timer - - (for RPDOs unused) rw U16
Communication parameter for the reception of process data via RPDO3
Subindex Meaning Lenze code
1 Identifier RPDO3 C00321/3
• The basic setting is according to the "Predefined
Connection Set": Identifier = 0x400 + node ID
2 RPDO Transmission type according to DS301 V4.02 C00323/3
Transmission type ( 308)
For assignment of the data telegram see object I-1400.
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357
9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Implemented CANopen objects
I-1403
Index: Name:
I-1403 RPDO4 communication parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 5 - (only read access) ro U8
1: COB-ID used by RPDO 0x500 + node ID 0 4294967295 rw U32
2: transmission type 254 0 255 rw U8
3: inhibit time - - (for RPDOs unused) rw U16
4: compatibility entry - - (reserved, write or read access results in error rw U8
message 0x06090011)
5: event timer - - (for RPDOs unused) rw U16
Communication parameter for the reception of process data via RPDO4
Subindex Meaning Lenze code
1 Identifier RPDO4 C00321/4
• The basic setting is according to the "Predefined
Connection Set": Identifier = 0x500 + node ID
2 RPDO Transmission type according to DS301 V4.02 C00323/4
Transmission type ( 308)
For assignment of the data telegram see object I-1400.
I-1600
Index: Name:
I-1600 RPDO1 mapping parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: number of mapped application 0 0 8 rw U8
objects in PDO
1 ... 8: application object 1 ... 8 0 0 4294967295 rw U32
The object I-1600 serves to receive parameter data as RPDO1.
Subindex Meaning
0 Number of mapped objects
1 ... 8 Mapping entries 1 ... 8 for RPDO1
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 ... bit 16 Bit 15 ... bit 8 Bit 7 ... bit 0
Index Subindex Length
[9-16] Data telegram assignment
IEC 61131 process data words are mapped. Only whole bytes can be mapped (the
granularity of the mapping entries is one byte).
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Implemented CANopen objects
I-1601
Index: Name:
I-1601 RPDO2 mapping parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: number of mapped application 0 0 8 rw U8
objects in PDO
1 ... 8: application object 1 ... 8 0 0 4294967295 rw U32
The object I-1601 serves to receive parameter data as RPDO2.
Subindex Meaning
0 Number of mapped objects
1 ... 8 Mapping entries 1 ... 8 for RPDO2
For assignment of the data telegram see object I-1600.
I-1602
Index: Name:
I-1602 RPDO3 mapping parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: number of mapped application 0 0 8 rw U8
objects in PDO
1 ... 8: application object 1 ... 8 0 0 4294967295 rw U32
The object I-1602 serves to receive parameter data as RPDO3.
Subindex Meaning
0 Number of mapped objects
1 ... 8 Mapping entries 1 ... 8 for RPDO3
For assignment of the data telegram see object I-1600.
I-1603
Index: Name:
I-1603 RPDO4 mapping parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: number of mapped application 0 0 8 rw U8
objects in PDO
1 ... 8: application object 1 ... 8 0 0 4294967295 rw U32
The object I-1603 serves to receive parameter data as RPDO4.
Subindex Meaning
0 Number of mapped objects
1 ... 8 Mapping entries 1 ... 8 for RPDO4
For assignment of the data telegram see object I-1600.
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359
9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Implemented CANopen objects
I-1800
Index: Name:
I-1800 TPDO1 communication parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 5 - (only read access) ro U8
1: COB-ID used by TPDO 0x180 + node ID 0 4294967295 rw U32
2: transmission type 254 0 255 rw U8
3: inhibit time 0 ms 0 0.1 ms 65535 rw U16
4: reserved - - (reserved, write or read access results in error rw U8
message 0x06090011)
5: event timer 0 ms 0 ms 65535 rw U16
Communication parameter for the transmission of process data via TPDO1
Subindex Meaning Lenze code
1 Identifier TPDO1 C00320/1
• The basic setting is according to the "Predefined
Connection Set": Identifier = 0x180 + node ID
2 TPDO transmission type according to DS301 V4.02 C00322/1
Transmission type ( 308)
3 Minimum time between the transmission of two equal C00324/1
TPDOs (see DS301, V4.02).
5 Cycle time with which the PDOs are transmitted with the C00356/1
transmission type "254".
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0
0/1 0/1 Extended identifier* 11-bit identifier
* The extended identifier is not supported - bit 11 ... bit 29 must be set to "0".
[9-17] Data telegram assignment
Bit Setting
Bit 30 0 RTR to this PDO possible (Lenze).
1 RTR to this PDO not possible (cannot be set).
Bit 31 0 PDO active.
1 PDO inactive.
How to change the identifier:
1. Deactivate identifier (set bit 31 to "1").
2. Change identifier.
3. Activate identifier (set bit 31 to "0").
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Implemented CANopen objects
Subindex 3 - inhibit time
The delay time can only be changed if the PDO is inactive (subindex 1, bit 31 = 1). The
entered value multiplied by 0.1 results in the delay time in [ms]. The calculated delay time
is always rounded down to an inter value.
Example:
Entered value: 26
Calculated time = 26 * 0.1 [ms] = 2.6 [ms] delay time = 2 [ms}
I-1801
Index: Name:
I-1801 TPDO2 communication parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 5 - (only read access) ro U8
1: COB-ID used by TPDO 0x280 + node ID 0 4294967295 rw U32
2: transmission type 254 0 255 rw U8
3: inhibit time 0 ms 0 0.1 ms 65535 rw U16
4: reserved - - (reserved, write or read access results in error rw U8
message 0x06090011)
5: event timer 0 ms 0 ms 65535 rw U16
Communication parameter for the transmission of process data via TPDO2
Subindex Meaning Lenze code
1 Identifier TPDO2 C00320/2
• The basic setting is according to the "Predefined
Connection Set": Identifier = 0x280 + node ID
2 TPDO transmission type according to DS301 V4.02 C00322/2
Transmission type ( 308)
3 Minimum time between the transmission of two equal C00324/2
TPDOs (see DS301, V4.02).
5 Cycle time with which the PDOs are transmitted with the C00356/2
transmission type "254".
For assignment of the data telegram see object I-1800.
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361
9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Implemented CANopen objects
I-1802
Index: Name:
I-1802 TPDO3 communication parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 5 - (only read access) ro U8
1: COB-ID used by TPDO 0x380 + node ID 0 4294967295 rw U32
2: transmission type 254 0 255 rw U8
3: inhibit time 0 ms 0 0.1 ms 65535 rw U16
4: reserved - - (reserved, write or read access results in error rw U8
message 0x06090011)
5: event timer 0 ms 0 ms 65535 rw U16
Communication parameter for the transmission of process data via TPDO3
Subindex Meaning Lenze code
1 Identifier TPDO3 C00320/3
• The basic setting is according to the "Predefined
Connection Set": Identifier = 0x380 + node ID
2 TPDO transmission type according to DS301 V4.02 C00322/3
Transmission type ( 308)
3 Minimum time between the transmission of two equal C00324/3
TPDOs (see DS301, V4.02).
5 Cycle time with which the PDOs are transmitted with the C00356/3
transmission type "254".
For assignment of the data telegram see object I-1800.
I-1803
Index: Name:
I-1803 TPDO4 communication parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: highest subindex supported 5 - (only read access) ro U8
1: COB-ID used by TPDO 0x480 + node ID 0 4294967295 rw U32
2: transmission type 254 0 255 rw U8
3: inhibit time 0 ms 0 0.1 ms 65535 rw U16
4: reserved - - (reserved, write or read access results in error rw U8
message 0x06090011)
5: event timer 0 ms 0 ms 65535 rw U16
Communication parameter for the transmission of process data via TPDO4
Subindex Meaning Lenze code
1 Identifier TPDO4 C00320/4
• The basic setting is according to the "Predefined
Connection Set": Identifier = 0x480 + node ID
2 TPDO transmission type according to DS301 V4.02 C00322/4
Transmission type ( 308)
3 Minimum time between the transmission of two equal C00324/4
TPDOs (see DS301, V4.02).
5 Cycle time with which the PDOs are transmitted with the C00356/4
transmission type "254".
For assignment of the data telegram see object I-1800.
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Implemented CANopen objects
I-1A00
Index: Name:
I-1A00 TPDO1 mapping parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: number of mapped application 0 0 8 rw U8
objects in PDO
1 ... 8: application object 1 ... 8 0 0 4294967295 rw U32
The object I-1A00 serves to transmit parameter data as TPDO1.
Subindex Meaning
0 Number of mapped objects
1 ... 8 Mapping entry 1 ... 8 for TPDO1
8th byte 7th byte 6th byte 5th byte
Data 4 Data 3 Data 2 Data 1
Bit 31 ... bit 16 Bit 15 ... bit 8 Bit 7 ... bit 0
Index Subindex Length
[9-18] Data telegram assignment
IEC 61131 process data words are mapped. Only whole bytes can be mapped (the
granularity of the mapping entries is one byte).
I-1A01
Index: Name:
I-1A01 TPDO2 mapping parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: number of mapped application 0 0 8 rw U8
objects in PDO
1 ... 8: application object 1 ... 8 0 0 4294967295 rw U32
The object I-1A01 serves to transmit parameter data as TPDO2.
Subindex Meaning
0 Number of mapped objects
1 ... 8 Mapping entries 1 ... 8 for RPDO2
For assignment of the data telegram see object I-1A00.
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363
9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
Implemented CANopen objects
I-1A02
Index: Name:
I-1A02 TPDO3 mapping parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: number of mapped application 0 0 8 rw U8
objects in PDO
1 ... 8: application object 1 ... 8 0 0 4294967295 rw U32
The object I-1A02 serves to transmit parameter data as TPDO3.
Subindex Meaning
0 Number of mapped objects
1 ... 8 Mapping entries 1 ... 8 for RPDO4
For assignment of the data telegram see object I-1A00.
I-1A03
Index: Name:
I-1A03 TPDO4 mapping parameter
Subindex Default setting Setting range (min. value | unit | max. value) Access Data type
0: number of mapped application 0 0 8 rw U8
objects in PDO
1 ... 8: application object 1 ... 8 0 0 4294967295 rw U32
The object I-1A03 serves to transmit parameter data as TPDO4.
Subindex Meaning
0 Number of mapped objects
1 ... 8 Mapping entries 1 ... 8 for TPDO4
For assignment of the data telegram see object I-1A00.
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
System block "LS_SyncInput"
9.11 System block "LS_SyncInput"
The LS_SyncInput system block provides status information in the function block editor
about the sync telegram received via the system block.
LS_SyncInput
SYNC_wSyncCycleTime
SYNC SYNC SYNC_wSource
SYNC_nSyncDeviation
SYNC_bSyncInsideWindow
SYNC_bSyncSignalReceived
Outputs
Identifier Value/meaning
Data type
SYNC_wSyncCycleTime Sync cycle time in [μs]
WORD • Time with which the internal phase-locking loop (PLL) visualises the
synchronisation signals. The time must be set in C01121 in accordance with the
cycle of the synchronisation source selected in C01120.
SYNC_wSource Synchronisation source selected in C01120:
WORD
0 Off
1 CAN on board
2 CAN module
4 Module in MXI1
5 Module in MXI2
6 Digital input 1
7 Digital input 2
8 Digital input 3
9 Digital input 4
10 Digital input 5
11 Digital input 6
12 Digital input 7
13 Digital input 8
SYNC_nSyncDeviation Deviation of the synchronisation signal in [increments]
INT • ±16000 increments ≡ ±1 ms
SYNC_bSyncInsideWindow Status signal "Synchronisation signal within time slot"
BOOL Note!
If you use this signal in the application, observe the change in behaviour from
software version V7.= onwards described in the following subchapter! Behaviour
of the status signal bSyncInsideWindow ( 366)
TRUE The last synchronisation signal has been around the expected value
within the time slot parameterised in C01123.
SYNC_bSyncSignalReceived Status signal "Receive synchronisation signal"
BOOL
TRUE Synchronisation signal has been received.
Synchronisation of PDOs via sync telegram ( 310)
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9400 HighLine | Parameter setting & configuration
"CAN on board" system bus
System block "LS_SyncInput"
9.11.1 Behaviour of the status signal bSyncInsideWindow
C01123 serves to set a time slot for monitoring the synchronisation signal. If the
synchronisation signal received via the bus is in this time slot (around the expected time of
the synchronisation signal), the bSyncInsideWindow output is set to TRUE.
Up to and including software version V6.0 the following applies:
Due to an error in the implementation, the phase position set in C01122 is included in the
calculation of the time slot. The time slot effective for monitoring around the expected
time of the synchronisation signal is thus increased by the amount of the set phase
position.
Example:
Sync phase position (C01122) = 400 μs
Sync tolerance (C01123) = 20 μs
The time slot for monitoring has a size of 420 μs!
The following applies from software version V7.0 onwards:
The faulty inclusion of the phase position set in C01122 into the calculation of the time slot
has been removed. The time slot for monitoring the synchronisation signal only
corresponds to the sync tolerance set in C01123.
Example:
Sync phase position (C01122) = 400 μs
Sync tolerance (C01123) = 20 μs
The time slot for monitoring has a size of 20 μs!
Feedbacks and their remedies
If the bSyncInsideWindow status signal is used in existing systems, this remedy reduces the
monitoring window by the amount of the phase position if it is non-zero. This may cause
an unwanted activation of the monitoring of the synchronisation signal programmed by
the user.
Remedy: When the syn tolerance is increased (C01123) by the amount of the phase
position set in C01122, the compatible state is restored.
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9400 HighLine | Parameter setting & configuration
Safety engineering
10 Safety engineering
The controller can be equipped with a safety module. The individual safety module types
have a different range of functions to optimally meet different requirements.
"Integrated safety technology" stands for user-related safety functions that are applicable
to the protection of persons working with machines and the machine protection.
The motion functions are furthermore executed by the controller. The safety modules
monitor the reliable compliance with limit values and provide safe inputs and outputs. If
limit values are exceeded, the safety modules start control functions for the fault scenario
in accordance with EN 60204-1 directly in the controller.
The safety functions are suitable for applications according to IEC 61508, SIL 3 and,
depending on the module, meet the requirements of EN 954, part 1, up to control
category 4.
Note!
For detailed information about the integrated safety technology, please see the
manual for the safety module.
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9400 HighLine | Parameter setting & configuration
Safety engineering
Integration into the application
10.1 Integration into the application
If a safety function is requested, the safety engineering activates a corresponding safe
monitoring function. The standstill function, however, is only executed directly if the "Safe
torque off" function (STO) is activated. For the other safety functions, an action of the
controller is required, which is safely monitored. The implementation of the corresponding
action (e.g. braking, braking to standstill, holding of the standstill position) must be carried
out by the application.
System block "LS_SafetyModuleInterface"
For the transmission of the control and status information from the safety module to the
application, the LS_SafetyModuleInterface system block is provided in the function block
editor of the »Engineer«. ( 370)
System block "LS_Limiter"/basic function "Limiter"
Furthermore the LS_Limiter system block which contains the basic function "Limiter" is
provided in the function block editor for the connection of safety engineering to the
application. ( 513)
For one thing, the basic function "Limiter" provides a parameterisation interface in the
»Engineer« for a comfortable setting of limit positions, limited speeds, and limit values,
and for another it enables the drive to be braked specifically after request through the
safety module.
General procedure
1. Activation of the safety function on the safety module (e. g. SS1 - safe stop 1).
Monitoring starts.
2. The safety module informs the controller via a control word that the safety function
has been activated.
3. The application evaluates the control word and starts the required motion sequence
(e.g. braking).
Note!
If communication to the controller is interrupted, e.g. by switching off the
controller, the safety module responds as follows:
• Fault stop with STO is activated.
• "Warning" error message is transmitted.
• The LED "ME" is blinking.
The required fault acknowledgement (AIE) is possible via terminal or safety bus.
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9400 HighLine | Parameter setting & configuration
Safety engineering
Selecting the required safety module
10.2 Selecting the required safety module
The safety module expected by the application and the controller is selected in C00214.
In the »Engineer« this setting is carried out automatically by assigning the device
modules to the controller, i.e. the »Engineer« automatically sets C00214 according to
the safety module selected.
If the safety module selected in C00214 does not correspond to the safety module type
connected, an error will be activated.
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9400 HighLine | Parameter setting & configuration
Safety engineering
System block "LS_SafetyModuleInterface"
10.3 System block "LS_SafetyModuleInterface"
The LS_SafetyModuleInterface system block is the interface to the safety module in the
function block editor.
LS_SafetyModuleInterface
SMI_dnState
SMI_dnIoState
SMI_dwControl
SMI_bPowerStageEnable
SMI_byModuleId
Safety module
Outputs
Identifier Value/meaning
Data type
SMI_dnState Bit coded status information from the safety module
DINT Status information ( 371)
SMI_dnIoState Bit coded I/O status information from the safety module
DINT I/O status information ( 372)
SMI_dwControl Bit coded control information from the safety module
DWORD Control information ( 373)
SMI_bPowerStageEnable Status signal "Inverter enable"
BOOL
TRUE Inverter is enabled by the safety module.
SMI_byModuleId ID of the safety module available in the controller
BYTE
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9400 HighLine | Parameter setting & configuration
Safety engineering
System block "LS_SafetyModuleInterface"
10.3.1 Status information
Via the bit-coded status signal SMI_dnState of the LS_SafetyModuleInterface SB, the
SM3xx safety module transmits the status of safety functions to the application.
Which bits are supported depends on the safety module used.
Bit coding of the status signal SMI_dnState
Bit Name Meaning
0 STO "Safe torque off (STO)" function is active.
• The drive is safely switched to torqueless operation.
3 EC_STO Error stop category 0: "Safe torque off (STO)" function is active.
4 EC_SS1 Error stop category 1: "Safe stop 1 (SS1)" function is active.
5 EC_SS2 Error stop category 2: "Safe stop 2 (SS2)" function is active.
8 SLS1 monitored Safely limited speed 1 is activated and complied with.
9 SLS2 monitored Safely limited speed 2 is activated and complied with.
10 SLS3 monitored Safely limited speed 3 is activated and complied with.
11 SLS4 monitored Safely limited speed 4 is activated and complied with.
12 SDIpos monitored Safe positive direction of rotation (SDIpos) is activated and complied with.
13 SDIneg monitored Safe negative direction of rotation (SDIneg) is activated and complied with.
14 Fault active SM3xx safety module has the error status (trouble or warning).
Bits not listed are reserved for future extensions!
Tip!
For decoding the status signal into individual boolean status signals, simply
connect the output SMI_dnState to the L_DevSMStateDecoder FB which is
available in the function library from V2.0.
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9400 HighLine | Parameter setting & configuration
Safety engineering
System block "LS_SafetyModuleInterface"
10.3.2 I/O status information
Via the bit coded status signal SMI_dnIoState of the LS_SafetyModuleInterface SB, the
SM3xx safety module transmits the status of the safe inputs and outputs to the
application.
Which bits are supported depends on the safety module used.
Bit coding of the SMI_dnIoState status signal
Bit Name Meaning
0 SD-In1 Sensor input 1 in ON state.
1 SD-In2 Sensor input 2 in ON state.
2 SD-In3 Sensor input 3 in ON state.
3 SD-In4 Sensor input 4 in ON state.
5 AIS Restart acknowledgement via terminal effected (negative edge: 1Ì0).
6 AIE Error acknowledgement via terminal effected (negative edge: 1Ì0).
8 PS_AIS Restart acknowledgement via safety bus effected (positive edge: 0Ê1)
9 PS_AIE Error acknowledgement via safety bus effected (positive edge: 0Ê1)
12 SD-Out1 Safe output 1 (feedback output) in the ON state.
Bits not listed are reserved for future extensions!
Tip!
For decoding the status signal into individual boolean status signals, simply
connect the output SMI_dnIoState to the L_DevSMStateDecoderIO FB which is
available in the function library from V2.0.
372 L
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9400 HighLine | Parameter setting & configuration
Safety engineering
System block "LS_SafetyModuleInterface"
10.3.3 Control information
Via the bit coded control signal SMI_dwControl of the LS_SafetyModuleInterface SB, the
SM3xx safety module transmits information on safety functions requested, or on active
safety functions to the application.
Several safety functions can be requested/active at the same time.
Which bits are supported depends on the safety module used.
Note!
The corresponding actions (e.g. braking, braking to standstill, holding of the
standstill position) must be executed by the application, e.g. via the basic
function "Limiter". ( 513)
• To integrate the basic function "Limiter", the output SMI_dwControl is to be
connected to the input LIM_dwControl of the LS_Limiter system block.
Bit coding of the control signal SMI_dwControl
Bit Name Meaning
1 SS1 active "Safe stop 1 (SS1)" function is active.
• After the parameterised stopping time has elapsed, bit 0 of the status signal
SMI_dnState (STO active) is set.
2 SS2 active "Safe stop 2 (SS2)" function is active.
• After the parameterised stopping time has elapsed, bit 16 (SOS monitored) is set.
3 SLS1 active "Safely limited speed 1 (SLS1)" function is active.
• After the parameterised braking time has elapsed, bit 8 of the status signal
SMI_dnState (SLS1 monitored) is additionally set.
4 SLS2 active "Safely limited speed 2 (SLS2)" function is active.
• After the parameterised braking time has elapsed, bit 9 of the status signal
SMI_dnState (SLS2 monitored) is additionally set.
5 SLS3 active "Safely limited speed 3 (SLS3)" function is active.
• After the parameterised braking time has elapsed, bit 10 of the status signal
SMI_dnState (SLS3 monitored) is additionally set.
6 SLS4 active "Safely limited speed 4 (SLS4)" function is active.
• After the parameterised braking time has elapsed, bit 11 of the status signal
SMI_dnState (SLS4 monitored) is additionally set.
7 SDIpos active "Safe positive direction of rotation (SDIpos)" function is active.
8 SDIneg active "Safe negative direction of rotation (SDIneg)" function is active.
9 ES active "Confirm button (ES)" function for motion functions in special operation is active.
10 SLI active "Safely limited increment (SLI)" function is active.
11 OMS active "Operation mode selector (OMS)" function for special operation is active.
12 SLP1 active "Safely-limited position 1 (SLP1)" function is active.
13 SLP2 active "Safely-limited position 2 (SLP2)" function is active.
14 SLP3 active "Safely-limited position 3 (SLP3)" function is active.
15 SLP4 active "Safely-limited position 4 (SLP4)" function is active.
Bits not listed are reserved for future extensions!
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9400 HighLine | Parameter setting & configuration
Safety engineering
System block "LS_SafetyModuleInterface"
Bit coding of the control signal SMI_dwControl
Bit Name Meaning
16 SOS active "Safe operating stop (SOS)" function is active.
• The safe operating stop is monitored.
• The function becomes active after the "Safe stop 2 (SS2)" function has been
executed.
23 SSE active Emergency stop function (SSE) is active.
• At the end of the function, bit 1 (SS1 active) or bit 0 of the status signal
SMI_dnState (STO active) is set according to the emergency stop function
parameterised.
Bits not listed are reserved for future extensions!
Tip!
For decoding the control signal into individual boolean control signals, simply
connect the output SMI_dwControl to the L_DevSMControlDecoder FB which is
available in the function library from V2.0.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
11 Basic drive functions
In this chapter the basic (drive) functions of the "Servo Drives 9400" are described, to which
the active application can access via defined, internal interfaces, and which can be carried
out in the following way, depending on the controller type (StateLine or HighLine) and the
Motion Control licence available:
Parameter setting by means of »Engineer« or keypad
In each licence level the basic functions can be parameterised in the
»Engineer« via a corresponding dialog or alternatively via the keypad.
In the case of the 9400 StateLine (licence level Motion Control StateLevel),
the interconnection of the internal interfaces is defined by the technology
application selected.
Configuration in the »Engineer« function block editor
The »Engineer« additionally provides the graphic function block editor for
the 9400 HighLine which can be used to reconfigure and extend the
application interconnection by individual functions using the function
library.
Programming according to IEC 61131-3 in the »PLC Designer«*
For the 9400 HighLine with the licence level Motion Control PLC the basic
functions are also provided as separate system blocks in the »PLC Designer«,
which, if required, can be integrated in the control configuration, and which
then can be accessed from the IEC 61131-3 program via the corresponding
system variables.
* In preparation!
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Basic drive functions
General information
11.1 General information
11.1.1 Internal state machine
The execution of the different basic functions is internally controlled by a state machine
which can adopt the following "function states":
Controller not ready Initialisation Error
Drive has no torque Drive does nothing, Drive does nothing
(no error). basic functions are being due to an error.
initialised.
3 1 2
Manual jog active Drive in standstill Position follower active
On operator input request, Drive holds position. Drive continuously follows
the drive travels at a position setpoint.
constant speed.
6 9
Homing active Drive is stopped Speed follower active
Drive travels to home Drive stops as defined. Drive continuously follows
target position. a speed setpoint.
7 5 10
Positioning active Quick stop active Torque follower active
Drive executes Drive stops as defined Drive continuously follows
a positioning command. and holds the position. a torque setpoint.
8 4 11
Optional limitation Optional additional braking
by basic Limiter function. by basic Brake control
function.
x = Priority
[11-1] Function states of the state machine "Basic functions"
The state machine ensures that:
one basic function at a time adopts the control of the drive.
only the basic function with the highest priority (= smallest number) is executed if
several basic functions are activated at the same time. Priorities ( 381)
the drive always has a defined state both in case of error and in normal operation.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
General information
Note!
The basic functions "Limiter" and "Brake control" run autonomously, but are able
to control the state machine to a certain function state, if required.
The function states are not to be confused with the device states ("Operation",
"Fault active", "Device is switched on", etc.) of the controller. Device states
( 105)
From software version V7.0 onwards, the basic functions "Manual jog, encoderless" and
"Pole position identification" are additionally available for the setting-up operation. Both
basic functions can only be requested when the controller is inhibited and with the
"Controller not ready" function state:
Controller not ready
Controller enable
requested
Manual jog yes Manual jog
open loop open loop
requested?
no
yes Pole position yes Pole position
Pole position
identification identification
unknown?
requested?
no no
Standstill
[11-2] Sequence diagram for basic functions "Manual jog, encoderless" and "Pole position identification"
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Basic drive functions
General information
11.1.2 Function states
Tip!
In C02530 the currently active function state is displayed.
State "Initialisation"
If the controller has completed the device initialisation, the function state "Initialisation" is
passed through automatically.
In the "Initialisation" function state, the process data required for processing the basic
functions are initialised.
The monitoring is not active yet.
The basic functions are not yet processed (e.g. brake control) and cannot yet be
parameterised or activated either.
If the initialisation of the basic functions is completed and no fault is available, a
change-over to the basic state "Drive at standstill" is automatically effected.
State "Controller not ready"
In this function state the pulse inhibit is set in the controller, which means that the power
output stages are high-resistance and the drive cannot be controlled.
State "Manual jog encoderless active"
From software version V7.0 onwards, the drive can be controlled without feedback
(encoderless) in this function state, e.g. for a setting-up operation or in the event of service
when the feedback system fails. Manual jog, encoderless ( 410)
State "Identification of pole position active"
From software version V7.0 onwards, an identification of pole position can be executed in
this function state in order to detect the pole position for the motor encoder that is
currently activated in C00495. Pole position identification ( 581)
State "Drive at standstill"
This "basic state" is automatically adopted if no other state is active.
The setpoints for speed and acceleration are set to "0".
The drive is position-controlled.
No error has occurred and quick stop is not active.
Every basic function can be activated out of this state.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
General information
State "Drive is stopped"
This function state is automatically passed through when a basic function is deactivated.
If the drive is not yet in the standstill state, it is decelerated to standstill via a
parameterisable deceleration ramp.
If a basic function is activated during the "stopping" process, this basic function takes
over the control of the drive from the current speed on and the function state "Drive is
stopped" is abandoned.
If the drive is at standstill, a change-over to the basic state "Drive at standstill" is
automatically effected.
State "Manual jog active"
In this function state the drive can be traversed manually to the right or left direction of
rotation ("Inching mode"). Manual jog ( 398)
If the home position is known to the controller, the software limit positions set and a
potentially connected travel range limit switch are monitored.
"Retracting" from an activated travel range limit switch is also possible.
State "Homing active"
In this function state the home position and the machine measuring system for the drive
can be determined. Homing ( 419)
The home position can be specified by an active homing or by reference setting.
A redetermination of the home position is only required in case of recommissioning or
in case of service (e.g. when drive components are exchanged) or after travel
commands have been executed which reset the reference.
State "Positioning active"
In this function state all positioning types (absolute, relative, modulo, continuous, touch
probe etc.) can be executed. Positioning ( 482)
In the position-controlled mode, the drive executes a time-controlled point-to-point
setpoint generation based on the defined motion profile.
State "Setpoint follower active"
In this function state the drive directly follows the defined setpoint.
The setpoint can be optionally defined as speed, torque, or position via three separate
basic functions:
– Speed follower ( 502)
– Torque follower ( 508)
– Position follower ( 494)
State "Quick stop active"
This function state is active if quick stop has been activated by the user. Quick stop ( 391)
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Basic drive functions
General information
The drive is brought to standstill within the deceleration time parameterised,
irrespective of the setpoint defined.
If the quick stop is cancelled again by the user, a change-over to a setpoint-generating
basic function (e. g. "Speed follower") is effected, if requested.
Note!
For the encoderless motor control types (from software version V3.0) the
following applies:
The "Quick stop active" function state is also activated when DC-injection
braking is executed.
Tip!
Quick stop can also be set as error response for many monitoring functions ("quick
stop by trouble"). Detailed information can be found in the chapter "Diagnostics &
fault analysis".
The source from which the quick stop was activated is shown in a bit coded manner
in C00159.
"Fault" state
This function state is active if a fault has occurred and the controller is in the "Fault active"
or "Quick stop by trouble active" device state.
The function state can only be abandoned by acknowledging the error if the error is
removed.
11.1.3 Interrupting/replacing states
An active function state cannot be interrupted or replaced by the activation of another
function state. However, the following exceptions apply:
The "Initialisation" state replaces all other states.
The "Fault" state can replace all other states except "Initialisation".
The "Controller not ready" state can replace all other states except "Error" and
"Initialisation".
The "Quick stop active" state can replace all other states except "Initialisation", "Error"
and "Controller not ready".
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9400 HighLine | Parameter setting & configuration
Basic drive functions
General information
11.1.4 Priorities
The function states are assigned to priorities so that, if several basic functions are activated
at the same time, it is always changed to the function state with the highest priority:
Priority Function state Executable basic function
1 Initialisation -
2 Fault -
3 Controller is not ready -
4 Quick stop active Quick stop ( 391)
5 Manual jog active Manual jog ( 398)
6 Homing active Homing ( 419)
7 Positioning active Positioning ( 482)
8 Setpoint follower (position) active Position follower ( 494)
9 Setpoint follower (speed) active Speed follower ( 502)
10 Setpoint follower (torque) active Torque follower ( 508)
10 Brake check Brake control ( 528)
12 Drive is stopped Stop ( 387)
13 Manual control open loop active Manual jog, encoderless ( 410)
14 Pole position identification active Pole position identification ( 581)
1 ≡ highest priority; 14≡ lowest priority
Note!
The basic state "Drive at standstill" is automatically adopted if no other state is
active.
11.1.5 Requesting control via a basic function
Enable input "bEnable"
The basic functions "Manual jog", "Homing" and "Positioning" and the three setpoint
followers each possess an bEnable enable input, via which the control of the corresponding
basic function can be requested.
If no other basic function and no error status is active, a change-over to the
corresponding function state is effected, and the basic function can be controlled now.
If several enable inputs are set to TRUE at the same time, the change-over to the
function state is effected with the highest priority.
Status outputs "bEnabled", "bActive" and "bDone"
If the basic function is enabled, the bEnabled status output of the basic function is set to
TRUE and the corresponding drive motion can be started via the control inputs of the basic
function.
If the basic function is currently carrying out a drive movement, this is shown by a TRUE
signal at the status output bActive.
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Basic drive functions
General information
The basic functions "Speed follower", "Torque follower", and "Position follower" are
only provided with the status output bEnabled, as the drive directly follows the setpoint
selection after being enabled.
The basic functions "Homing" and "Positioning" are furthermore provided with a status
output bDone showing that the drive movement started (Homing or positioning) has
been completed.
Priority Basic function Status outputs
bEnabled bActive bDone
1 Manual jog ; ;
2 Homing ; ; ;
3 Positioning ; ; ;
4 Speed follower ;
5 Torque follower ;
6 Position follower ;
Re-deactivating the enable of a basic function
When the bEnable enable input of the active basic function is reset to FALSE, the control
inputs of the basic function are inhibited and the status outputs bEnabled, bActive and
bDone are reset to FALSE.
If the drive is not at standstill, it is brought to standstill within the deceleration time for
Stop if no other basic function takes over the control of the drive. Here a change-over
from the active function state via the function state "Drive is stopped" back to the basic
state "Drive at standstill" is effected.
When the enable input of another basic function is set to TRUE, this basic function
adopts the control of the drive immediately.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
General information
11.1.6 Start acceleration/acceleration reduction when the basic function changes
In order to make the transitions during the changeover between the single basic functions
as jerk-free as possible, i.e. preventing acceleration steps, the current setpoint acceleration
is used as starting value for the new basic function (see the following table).
to
Position, speed Manual jog Homing Positioning Error/controller Stop Quick stop*
or torque not ready
follower
from
Position follower 0 A A A 0 A 0
Speed follower 0 A A A 0 A 0
Torque follower 0 0 0 0 0 0 0
Manual jog 0 - B B 0 B 0
Homing 0 B - B 0 B 0
Positioning 0 B B - 0 B 0
Error/controller 0 0 0 0 - 0 0
not ready
Stop 0 B B B 0 - 0
Quick stop* 0 A A A 0 A -
Legend:
0 The start acceleration is defined with "0", thus no acceleration reduction is required.
A • Acceleration value is generated from the differentiation and filtering (C02562) of the active
setpoint speed.
• Jerk = Maximum value from transition jerk (defined via C02545) and jerk of the "new" profile
data.
B • Acceleration value is taken from the setpoint generator (e.g. profile generator).
• Jerk = maximum value from the jerk of the "old" and "new" profile data.
* Also quick stop by trouble
Reduction of the start acceleration
Depending on the acceleration and S-ramp time parameterised in the basic function, the
start acceleration is reduced.
The following applies for software versions lower than V7.0:
The start acceleration is always reduced with the jerk of the new basic function.
Setting the S-ramp time ( 385)
Note!
Very low jerks cause very high speeds!
See also the following chapter "Setting the S-ramp time". ( 385)
Since this behaviour is mostly not wanted or expected, the acceleration is
reduced from software version V7.0 as described in the following section.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
General information
The following applies from software version V7.0 onwards:
The start acceleration is reduced with the maximum jerk of the old or new basic
function.
Transition of a profile-generating to a profile-generating basic function
The corresponding jerk results from the profile data:
Profile acceleration/deceleration
Jerk = -------------------------------------------------------------------------------------
Verschliffzeit
Transition of a non-profile-generating to a profile-generating basic function
The jerk of the profile-generating basic function results from the profile data:
Profile acceleration/deceleration
Jerk = -------------------------------------------------------------------------------------
Verschliffzeit
Since a non-profile-generating basic function has no defined jerk, a "transition jerk" is
used which results from the reference acceleration and the reference S-ramp time
parameterised in C02545.
Bezugsacceleration C00011 / 1 ms
Transition jerk = ---------------------------------------------------------- = -------------------------------------
Bezugsverschliffzeit C02545
With a Lenze setting C02545 = 0.001 s, a maximum jerk occurs, i.g. the start
acceleration is reduced in one cycle (1 ms).
The setting C02545 = 0.000 s results in a compatible behaviour lower than V7.0.
Tip!
Profile-generating basic functions are:
"Stop", "Manual jog", "Homing", "Positioning"
Non-profile-generating basic functions are:
"Quick stop", "Position follower", "Speed follower", "Torque follower"
384 L
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9400 HighLine | Parameter setting & configuration
Basic drive functions
General information
11.1.7 Setting the S-ramp time
For path planning, various basic functions serve to build up or reduce the acceleration
linearly. The motion profile causes less structural vibrations and the gearboxes are
protected.
The smoothening (jerk) is calculated via the S-ramp time and the maximum acceleration
permitted in the profile:
maximum acceleration
Jerk = ------------------------------------------------------------
S-ramp time
[11-3] Formula for calculating the jerk for acceleration and deceleration phases
S-ramp times can be set in the given parameters for the following basic functions:
Basic function Parameter for S-ramp time
Stop C02611
Quick stop C00106
Manual jog C02624
Homing C02648
Positioning The S-ramp time is selected via FB L_PosPositionerTable or FB L_PosProfileTable.
Stop!
When it is switched to another basic function, the start acceleration is reduced
with the jerk of the new basic function. A small jerk causes very high speeds!
Remedy: Avoid unnecessarily long S-ramp times. Set the profile parameters of
the different basic functions so that the jerk is roughly the same for all basic
functions.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
General information
Examples
20
Pos. [rev] Pos
Pos0
10
Pos
end
0
500
Speed [rpm]
Vel
Vel
0
0
Velend
Vel
min,max
-500
1000
Acc. [rpm/s]
Acc
0 Accmin,max
-1000
0 500 1000 1500 2000 2500 3000
Time [ms]
[11-4] Example 1: Point-to-point positioning from standstill without start acceleration
100
Pos [rev]
Pos
Pos
50 0
Pos
end
0
2000
Speed [rpm]
Vel
1000 Vel0
Vel
end
0 Vel
min,max
-1000
2000
Acc. [rpm/s]
1000
Acc
Acc
min,max
0
-1000
0 2000 4000 6000 8000 10000 12000 14000
Time [ms]
[11-5] Example 2: Point-to-point positioning from standstill with start acceleration
In the example 2, the slow reduction of the start acceleration results in very high speeds!
386 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Basic drive functions
Stop
11.2 Stop
The standard stop (in the following called "stop") of the drive will be automatically
activated by the internal state machine if a basic function is deactivated and the drive is
not yet at standstill.
The drive is braked to standstill via a parameterisable deceleration ramp.
– While the drive is braked to standstill, the state machine is in the "Drive is stopped"
function state.
– If meanwhile another basic function is activated, this basic function takes over the
control of the drive from the current speed on and the function state "Drive is
stopped" is abandoned.
– If the drive is at standstill, a change-over to the basic state "Drive at standstill" is
automatically effected.
An acceleration phase active at the time of activating the stopping process is
considered by the standard stop, i.e. the current acceleration is first led to "0" with the
parameterised S-ramp time before the real deceleration process starts.
If the controller is enabled while the shaft is coasting (controller inhibit and pulse
inhibit are deactivated), the drive is braked from the current speed to standstill.
Stop!
The basic functions "Speed follower", "Torque follower", and "Position follower"
do not take over the control of the from the current speed, but immediately with
the setpoint defined, which may cause a jerk!
Note!
• As the stop function takes into account the acceleration active at the moment
of activation, the deceleration of the stop function should always be set
greater than the deceleration of the active process in order to avoid a possible
overshoot.
• If the stop function is activated while the basic function "Torque follower" or
the states "Controller inhibited" or "Error" are active, the drive is braked to
standstill starting from the current speed and without taking into account
the current acceleration.
Start acceleration/acceleration reduction when the basic function changes
( 383)
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Stop
11.2.1 Internal interfaces | "LS_Stop" system block
The LS_Stop system block provides the internal interfaces for the basic function "Stop" in
the function block editor.
LS_Stop
STP_dnState
Activate stopping
(internal status machine) STP_bStopActive
n
Note!
Ensure that the system block is called in a cyclic application task.
Basically, projects which only contain an unsolicited task and no cyclic task are
not permissible!
Outputs
Identifier Value/meaning
DIS code | data type
STP_dnState Status (bit coded)
C02616 | DINT • When the basic function is not active, all bits are set to "0".
• Bits which are not listed are not assigned with a status (always "0").
Bit 1 Drive is braked to standstill.
• The internal state machine is in the "Drive is stopped" function
state.
Bit 2 Drive is at standstill.
• The internal state machine is in the "Drive at standstill" function
state.
Bit 3 Deceleration phase is active.
Bit 5 CCW rotation is active.
STP_bStopActive Status signal "Stop is active"
C02617 | BOOL
TRUE The drive is braked to standstill or is at standstill.
• The internal state machine is in the "Drive is stopped" or "Drive at
standstill" function state.
388 L
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Stop
11.2.2 Parameter setting
Parameterisation dialog in the »Engineer«: Tab Application parameter Dialog level
Overview All basic functions Stop
Short overview of parameters for standard stop :
Parameter Information
C02610 Deceleration time for stop
C02611 S-ramp time for stop
C02612 Ref. for decel. time of stop
Parameter setting of stop
n C02610 The deceleration time for stop set in
C00011 C02610 refers to a speed variation
from the motor reference speed
(C00011) to standstill, i. e. the
deceleration is constant.
t
[11-6] Deceleration time referred to the motor reference speed
n C02610 When C02612 is set = "1", the
C00011 deceleration time refers to the current
speed, i. e. the braking time is constant.
[11-7] Deceleration time referred to the current speed
n C02610 + C02611 By entering an S-ramp time in C02611,
C00011 the deceleration ramp can be set in an
C02612 = 0 S-shaped manner for purposes of jerk
limitation; the total time until
standstill is then extended by the S-
t ramp time set. Setting the S-ramp
n
time ( 385)
C00011
Braking time at motor reference speed
C02612 = 1
or C02612 = "1":
C02610 [s] + C02611 [s]
t
[11-8] S-shaped deceleration ramp through selection of a relative S-ramp time
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Stop
11.2.3 Behaviour of the function (example)
In the following example the enable of manual jog is deactivated during an active manual
jog. Then the drive is braked to standstill within the deceleration time n set for stop.
State ManualJog Stopping Standstill ManualJog
t
MAN_bJogPositive
TRUE
FALSE
t
MAN_bEnable
TRUE
FALSE
t
STP_bStopActive
TRUE
FALSE
t
n C02610: Deceleration time for stop function
o C02622: Manual jog: Acceleration
p C02623: Manual jog: Deceleration
[11-9] Example: Stop with reaching standstill
If the basic function "Manual Jog" is reactivated within the deceleration time n, this basic
function takes over the control of the drive from the current speed and the function state
"Drive is stopped" is abandoned immediately:
Stopping
State ManualJog ManualJog
t
MAN_bJogPositive
TRUE
FALSE
t
MAN_bEnable
TRUE
FALSE
t
STP_bStopActive
TRUE
FALSE
t
n C02610: Deceleration time for stop function
o C02622: Manual jog: Acceleration
p C02623: Manual jog: Deceleration
[11-10] Example: Stop without reaching standstill
390 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Basic drive functions
Quick stop
11.3 Quick stop
In contrast to Stop, the purpose of quick stop (QSP) is a stop in case of error. If quick stop is
activated, the drive is brought to standstill within the deceleration time set irrespective of
the setpoint that is preselected.
Note!
Through this, superimposed controls (e.g. synchronous or position control) may
produce following errors. If several drives execute a coordinated motion, the
quick stop function should only be used for the motion master (master drive) in
order to maintain the coordination.
When the basic function is activated, a start acceleration is considered. Start
acceleration/acceleration reduction when the basic function changes ( 383)
Tip!
Quick stop can also be set as error response for many monitoring functions ("quick
stop by trouble"). Detailed information can be found in the chapter "Diagnostics &
fault analysis". ( 611)
The source from which the quick stop was activated is shown in a bit coded manner
in C00159.
11.3.1 Internal interfaces | "LS_Quickstop" system block"
The LS_Quickstop system block provides the internal interfaces for the basic function
"Stop" in the function block editor.
LS_Quickstop
QSP_bActivate1 QSP_bActive
QSP_bActivate2 ³1 n
QSP_bActivate3
t
STOP
QSP_bActivateDCBrake
Note!
Ensure that the system block is called in a cyclic application task.
Basically, projects which only contain an unsolicited task and no cyclic task are
not permissible!
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Quick stop
Inputs
Identifier Information/possible settings
DIS code | data type
QSP_bActivate1 Activate quick stop
C02619/1 | BOOL • The three inputs are linked via a logic OR gate.
QSP_bActivate2
C02619/2 | BOOL TRUE If one of the three inputs is set to TRUE, a change-over to the "Quick
QSP_bActivate3 stop active" function state is effected and the drive is brought to
C02619/3 | BOOL standstill within the deceleration time set for quick stop.
TRUEÌFALSE If all three inputs are reset to FALSE, a change-over to a setpoint-
generating basic function (e. g. "Speed follower") via the "Drive is
stopped" function state is effected.
QSP_bActivateDCBrake Activate DC-injection braking. ( 395)
C02619/5 | BOOL • Only possible if V/f control or sensorless vector control is selected as motor
From V3.0
control type in C00006!
• This input has a higher priority than the three inputs QSP_bActivate1 ... 3.
TRUE A change-over to the "Quick stop active" function state is effected
and the drive is decelerated with the braking current set in C00974.
TRUEÌFALSE DC-injection braking is activated again.
• If flying restart is activated in C00990, a flying restart process is
automatically started to determine the current motor speed.
Outputs
Identifier Value/meaning
DIS code | data type
QSP_bActive Status signal "Quick stop by application active"
C02619/4 | BOOL • QSP_bActive is not set to TRUE if quick stop has been activated by another source,
e. g. via device command or as an error response ("Quick stop by trouble").
TRUE Quick stop has been requested via one of the three inputs
QSP_bActivate1 ... 3 and is active.
- or -
DC-injection braking has been requested via QSP_bActivateDCBrake
and is active (only for motor control mode without encoder).
11.3.2 Parameter setting
Parameterisation dialog in the »Engineer«: Tab Application parameter Dialog level
Overview All basic functions Quick stop
Short overview of the parameters for quick stop:
Parameter Information
C00105 Quick stop decel. time
C00106 Quick stop S-ramp time
C00107 Reference for quick stop deceleration time
392 L
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Quick stop
Parameter setting of quick stop
n C00105 The deceleration time for the quick
C00011 stop function set in C00105 refers to a
speed variation from the motor
reference speed (C00011) to standstill.
t
bActivate1...3
TRUE
FALSE
t
[11-11] Deceleration time referred to the motor reference speed
n C00105 When C00107 is set = "1", the
C00011 deceleration time refers to the current
speed.
[11-12] Deceleration time referred to the current speed
C00105 × C00106 By entering a relative S-ramp time in
C00106, the deceleration ramp can be
C00105 +
n 100 %
C00011 set in an S-shaped manner for
C00107 = 0 purposes of jerk limitation; the total
time until standstill is then extended
by the S-ramp time set. Setting the S-
t ramp time ( 385)
n
C00011
Braking time at motor reference speed
C00107 = 1
or C00107 = "1":
C00105 ⋅ C00106 [%]
C00105 + ------------------------------------------------------
100 %
t
[11-13] S-shaped deceleration ramp through selection of a relative S-ramp time
Tip!
After reaching standstill, the standstill position can be maintained while a torque
is applied.
• For this purpose, select the phase controller gain in C00254 > "0".
• With C00254 > "0" the phase control is automatically activated after the
standstill is reached.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Quick stop
11.3.3 Activating/deactivating quick stop
For activation/deactivation of quick stop by the application, the three inputs
QSP_bActivate1...3 are provided. ( 391)
The three control inputs are linked via a logic OR gate, i.e. in order to activate quick stop,
only one of the three inputs must be set to TRUE. To deactivate quick stop, though, all
three inputs must be reset to FALSE.
The control inputs can be linked with terminals (digital inputs) and/or process data in
the function block editor.
Note!
In the standard technology applications the control input QSP_bActivate1 is
linked with the digital input DI1 in the Lenze setting.
Further options for activating quick stop
Via device command "Activate quick stop" (C00002 = "45"), e.g. via a corresponding
SDO of a higher-level control, an HMI or the »Engineer«.
Via the key at the keypad, unless the Lenze setting of C00469 (assignment of the
key) has been changed.
Through the response "quick stop by trouble" parameterised for monitoring.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Quick stop
11.3.4 DC-injection braking
This function extension is available from software version V3.0!
Note!
DC-injection braking is only possible if V/f control or sensorless vector control is
selected as motor control type in C00006!
Activate DC-injection braking
To activate DC-injection braking through the application, the bActivateDCBrake control
input must be set to TRUE.
A change-over to the "Quick stop active" function state is effected and DC-injection
braking with the braking current set in C00974 is carried out.
Flying restart process after cancelling DC injection braking
If the flying restart mode is activated in C00990 and DC-injection braking is cancelled, a
flying restart process is automatically started to determine the current motor speed if the
following conditions are met:
V/f control or sensorless vector control are selected as motor control in C00006.
The position control structure is set to "Phase controller is active" in C02570.
The MI_bFlyingSyncBlocked control input of the motor interface is not assigned or set
to FALSE.
The holding brake, if available, is not applied.
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395
9400 HighLine | Parameter setting & configuration
Basic drive functions
Quick stop
11.3.4.1 DC-injection braking and flying restart process
0
Enable speed follower
t
bActivateDCBrake
TRUE
1 3
FALSE
t
Quick stop active Speed follower active
t
Speed setpoint
Act
2
ual
spe
ed
t
4
DC brake active
DC brake current
t
n C00974: Braking current
[11-14] Process example: speed follower is active QSP_bActivateDCBrake is active speed follower is active
A. Initial situation: basic function "Speed follower" is enabled and active.
B. QSP_bActivateDCBrake control input is set to TRUE through the application to activate
DC-injection braking.
C. DC-injection braking is executed with the braking current set in C00974.
D. QSP_bActivateDCBrake control input is reset to FALSE through the application to
deactivate DC-injection braking.
E. The flying restart process starts, i.e. the controller calculates the output frequency
required for the momentary motor speed, then connects to the system, and accelerates
the motor to the defined setpoint again.
396 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Basic drive functions
Quick stop
11.3.4.2 DC-injection braking when quick stop is activated
If DC-injection braking is activated in C00976 instead of quick stop, DC-injection braking is
executed automatically when quick stop is activated.
After activating quick stop, a change-over to the "Quick stop active" function state is
effected, and for the quick stop deceleration time set in C00105 a DC-injection braking
process with the braking current set in C00975 is carried out.
After this time has elapsed, a change-over to the braking current parameterised in
C00974 is carried out and DC-injection braking is continued with this braking current.
The DC-injection braking in this case is also carried out when the "Quick stop by
trouble" error response is actuated; however, instead of the "Quick stop active"
function state, the "Fault" function state is active, and the controller is in the "Quick
stop by trouble active" device state.
Enable speed follower
t
Quick stop active Speed follower active
t
Speed setpoint
0 1
t
DC brake active
DC brake current
t
Actual speed value
Actual speed value if the quick stop braking current is parameterised too low (C00975)
n C00105: Quick stop decel. time
o C00975: Quick stop braking current
p C00974: Braking current
[11-15] Process example: speed follower is active quick stop activation speed follower is active
Note!
The quick stop braking current in C00975 has to be set so that the drive can be
decelerated from the maximum operating speed to standstill within the
deceleration time for quick stop set in C00105!
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397
9400 HighLine | Parameter setting & configuration
Basic drive functions
Manual jog
11.4 Manual jog
The basic function "Manual jog" serves to traverse the drive manually, e.g. to clean or
exchange the tool.
Optionally a change-over to a second speed can be carried out during the traversing
process.
"Retracting" from activated (travel range) limit switches is also supported, then
traversing can automatically only be carried out in the corresponding retracting
direction.
Danger!
During manual jog operations, specially assigned profile parameters are
effective. If these parameters are not set correctly, the drive may execute
uncontrolled movements!
Stop!
In manual mode a travel range monitoring via limit switches and software limit
positions is carried out via the basic function "Limiter". ( 513)
If no limit switches are connected and no software limit positions are set, and
the reference is not known, the drive can travel into a mechanical barrier during
manual mode and machine parts can be destroyed or damaged!
Note!
For manual jog setpoint speeds greater than 30000 rpm are not possible. The
speeds defined for these basic function are internally limited to 30000 rpm.
When the basic function is activated, a start acceleration is considered. Start
acceleration/acceleration reduction when the basic function changes ( 383)
For the encoderless motor control types (from software version V3.0) the
following applies:
If no position controller has been selected for position control in case of V/f
control or sensorless vector control (C02570 = "1: Phase controller is active"), the
manual jog is only executed via the speed profile resulting from the manual jog
parameters.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Manual jog
11.4.1 Internal interfaces | "LS_ManualJog" system block"
The LS_ManualJog system block provides the internal interfaces for the basic function
"Manual jog" in the function block editor.
LS_ManualJog
MAN_bEnable MAN_dnState
MAN_bJogPositive n MAN_bEnabled
MAN_bJogNegative MAN_bActive
MAN_bActivateJogSpeed2 t
MAN_bReleaseLimitSwitch
MAN_dnSpeedOverride_n ç è
MAN_bStepMode
MAN_bIntermediateStopMode
MAN_FBData
Note!
Ensure that the system block is called in a cyclic application task.
Basically, projects which only contain an unsolicited task and no cyclic task are
not permissible!
Inputs
Identifier Information/possible settings
DIS code | data type
MAN_bEnable Requesting control via the basic function
C02639/1 | BOOL
TRUE If no other basic function is active, a change-over to the "Manual jog
active" function state is effected and manual jog can be carried out
via the control inputs.
TRUEÌFALSE Active manual jog is stopped, i. e. a change-over from the active
"Manual jog active" function state via the "Drive is stopped" function
state back to the basic state "Drive at standstill" is carried out.
MAN_bJogPositive Manual jog in positive/negative direction ( 405)
C02639/2 | BOOL
MAN_bJogNegative
C02639/3 | BOOL
MAN_bActivateJogSpeed2 Change-over to speed 2 for manual jog
C02639/4 | BOOL
FALSE Speed 1 (C02620) active.
TRUE Speed 2 (C02621) active.
MAN_bReleaseLimitSwitch Retracting of an activated limit switch
C02639/5 | BOOL
TRUE Retracting of the accordingly operated limit switch in the
corresponding retracting direction until the limit switch is cleared
again (no longer operated) and the drive is within the software limit
positions again.
Afterwards the drive is braked to standstill with the deceleration set
unless the control input MAN_bJogPositive or MAN_bJogNegative is
activated for the corresponding retracting direction.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Manual jog
Identifier Information/possible settings
DIS code | data type
MAN_dnSpeedOverride_n Value of speed override
C02637 | DINT • Percentage multiplier for the currently active speed (C02620 or C02621).
From V5.0
• In the case of active manual jog, the speed override is always active and does not
have to be activated separately.
• Changes are accepted in each cycle.
• 230 ≡ 100 % of the speed parameterised in C02620 or C02621.
• For values ≤ 1 % the status bit 19 is set.
• Values ≤ 0 % are set to 0 % internally and lead to the standstill of the drive.
MAN_bStepMode Manual jog with step limitation ( 406)
C02639/8 | BOOL • Only possible if the "Manual jog with intermediate stop" mode is not active.
From V5.0
TRUE Manual jog with step limitation active.
MAN_ Manual jog with intermediate stop ( 407)
bIntermediateStopMode • This mode has a higher priority than the "Manual jog with step limitation" mode.
C02639/9 | BOOL
From V5.0 TRUE Manual jog with intermediate stop active.
MAN_FBData Interface for the transfer of the function block instance data for determining the
positions for intermediate stop
From V5.0
• Connect this input to the output FBData of the function block instance of type
L_PosPositionerTable or L_PosProfileTable.
400 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Basic drive functions
Manual jog
Outputs
Identifier Value/meaning
DIS code | data type
MAN_dnState Status (bit coded)
C02638 | DINT • When the basic function is not enabled, all bits are set to "0".
• Bits which are not listed are not assigned with a status (always "0").
Bit 1 Manual jog is active.
Bit 2 Manual jog is completed.
Bit 3 Acceleration/deceleration phase is active.
Bit 5 CCW rotation is active.
Bit 15 Fault in basic function active (group signal).
Bit 16 Stop by simultaneous selection of negative direction and retraction
of limit switch.
Bit 17 Stop by simultaneous selection of positive and negative direction.
Bit 18 Stop by simultaneous selection of positive direction and retraction of
limit switch.
Bit 19 Speed override ≤1 %
• This status is only available from software version V5.0.
Bit 20 Speed 2 (C02621) active.
Bit 21 Speed 1 (C02620) active.
Bit 22 Stop by selection of positive direction and simultaneous activation
of the positive software limit position or the positive limit switch.
Bit 23 Stop by selection of negative direction and simultaneous activation
of the negative software limit position or the negative limit switch.
Bit 24 General abort process (ramp down of the speed setpoint)
• Takes place e.g. when a manual direction initiator is released or
due to an impermissible state (see bit 16, 17, 18, 22, 23).
Bit 25 Stopping is active.
• Basic function enabled for the first time but no manual jog has
been requested/is active yet or current speed is higher than the
manual jog speed.
Bit 26 Home position is not known.
• This status is only available from software version V5.0.
Bit 27 No intermediate stop position available.
• This status is only available from software version V5.0.
Bit 30 Profile generation error.
MAN_bEnabled Status signal "Basic function is enabled"
C02639/6 | BOOL
TRUE Manual jog via the control inputs is possible.
• The MAN_bEnable enable input is set to TRUE and the controller
is in the "Manual jog active" function state.
MAN_bActive Status signal "Basic function is active"
C02639/7 | BOOL
TRUE Manual jog is active (the drive axis is moving).
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Manual jog
11.4.2 Parameter setting
Parameterisation dialog in the »Engineer«: Tab Application parameters Dialog level
Overview All basic functions Manual jog
Short overview of the parameters for manual jog:
Parameter Information
C02620 Manual jog: Speed 1
C02621 Manual jog: Speed 2
C02622 Manual jog: Acceleration
C02623 Manual jog: Deceleration
C02624 Manual jog: S-ramp time
C02625 Manual jog: Step distance
C02626/1...16 Manual jog: Index stop position
C02627/1...16 Manual jog: Selected stop position
Highlighted in grey = display parameter
11.4.2.1 Smooth start and quick stop of the drive
n Different values for acceleration
and deceleration can be set in
C02622/C02623 in order to
implement a smooth start and a
quick stop of the drive.
t
By entering a relative S-ramp time
bJogPositive
TRUE in C02624 both ramps can be set in
S-shape for jerk reduction. Setting
FALSE
t the S-ramp time ( 385)
n C02620: Manual jog: Speed 1
o C02622: Manual jog: Acceleration
p C02623: Manual jog: Deceleration
q C02624: Manual jog: S-ramp time
[11-16] Example: Smooth start and quick stop
Tip!
A quick deceleration (C02623) reduces the time from letting go of the "Jog key" to
the actual stop of the drive, so that the drive can thus be better positioned "by eye"
and the desired stop position is not overtravelled.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Manual jog
11.4.2.2 Second speed
n By setting the input
MAN_bActivateJogSpeed2 to TRUE,
a change-over to a second speed
(C02621) can be carried out during
the traversing process.
t
bJogPositive
TRUE
FALSE
t
bActivateJogSpeed2
TRUE
FALSE
t
n C02620: Manual jog: Speed 1
o C02621: Manual jog: Speed 2
[11-17] Example: Change-over to second speed
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Manual jog
11.4.3 Executing manual jog
Requirements
The controller is in the "Operation" device state.
The basic function "manual jog" is part of the active application.
No other basic function is active.
Activation
To request the control via the basic function, the MAN_bEnable enable input in the
application must be set to TRUE.
If no other basic function is active, a change-over to the "Manual jog active" function
state is effected and manual jog can be carried out via the control inputs.
A successful change to the function state "Manual jog active" is displayed by a TRUE
signal at the MAN_bEnabled status output.
Deactivation
If the MAN_bEnable enable input is reset to FALSE, an active manual jog is reset, i.e. the
control inputs for manual jog are inhibited and the drive is braked to standstill within the
deceleration time for Stop. ( 387)
The status output MAN_bEnabled is reset to FALSE and a change-over from the active
"Manual jog active" function state via the "Drive is stopped" function state back to the
basic state "Drive at standstill" is carried out.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Manual jog
11.4.3.1 Manual jog in positive/negative direction
In the "Manual jog active" function state the drive can be traversed manually according to
the following truth table via the control inputs:
MAN_bJogNegative MAN_bJogPositive MAN_bActivateJogSpeed2 Function
FALSE FALSE - Stop
• The drive is braked to standstill with the
deceleration set.
FALSE TRUE FALSE Manual jog
• In positive direction
• Using speed 1 (C02620)
TRUE Manual jog
• In positive direction
• Using speed 2 (C02621)
TRUE FALSE FALSE Manual jog
• In negative direction
• Using speed 1 (C02620)
TRUE Manual jog
• In negative direction
• Using speed 2 (C02621)
TRUE TRUE - When both inputs are set to TRUE at the
same time:
• The drive is braked to standstill with the
deceleration set.
If not both inputs are set to TRUE at the same
time:
• The drive continues to traverse in the
direction that was selected first.
Note!
In the standard technology applications "Actuating drive – speed" and
"Actuating drive – torque", in the Lenze setting the control inputs are linked to
the following digital inputs:
• DI6: Activate manual mode
• DI7: Manual jog in positive direction
• DI8: Manual jog in negative direction
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Manual jog
11.4.3.2 Manual jog with step limitation
This function extension is available from software version V5.0 onwards!
This mode can be activated via the control input MAN_bStepMode.
In the "Manual jog with step limitation" mode the drive traverses by the "step distance"
parameterised in C02625 if a direction is requested via the control inputs
MAN_bJogPositive/MAN_bJogNegative. After traversing this distance, the drive stops.
A new positive edge for the routing request causes a restart of the function or a reset
of the distance counter, even if the drive is not at standstill yet.
If the routing request is reset before the distance is reached, the drive stops
immediately (with the deceleration set).
Note!
The two modes "Manual jog with step limitation" and "Manual jog with
intermediate stop" cannot be active at the same time.
If there is a simultaneous request via the control inputs MAN_bStepMode and
MAN_bIntermediateStopMode, only the "Manual jog with intermediate stop"
mode is active. Manual jog with intermediate stop ( 407)
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Manual jog
11.4.3.3 Manual jog with intermediate stop
This function extension is available from software version V5.0 onwards!
This mode can be activated via the control input MAN_bIntermediateStopMode.
In the "Manual jog with intermediate stop" mode, in the case of a routing request via the
control inputs MAN_bJogPositive/MAN_bJogNegative the drive traverses to the defined
"Intermediate stop position" that is next in the corresponding direction.
MAN_bJogNegative MAN_bJogPositive Function
FALSE TRUE Drive traverses from the current position to the next target in
positive direction of the intermediate positions defined.
TRUE FALSE Drive traverses from the current position to the next target in
negative direction of the intermediate positions defined.
The drive stops on the intermediate position that is approached.
If the routing request is reset before the intermediate position is reached, the drive
stops immediately (with the deceleration set).
After the drive has stopped on the intermediate position, it can only continue after a
new positive edge for the routing request.
If the drive is in the outmost intermediate position defined and a new routing request
is effected, the drive stops.
Note!
Requirements for manual jog with intermediate stop:
• The home position is known (otherwise status bit 26 is set).
• At least one intermediate stop position is defined (otherwise status bit 27 is
set).
Selection of the intermediate stop positions
The max. 16 intermediate stop positions are selected/defined via a function block instance
of type L_PosPositionerTable or L_PosProfileTable.
For the transfer of the intermediate stop positions the output FBData of the respective
function block instance is to be connected to the input MAN_FBData of
the LS_ManualJog SB.
The positions defined by the function block instance, which are to be used as
intermediate stop positions are selected via C02626/1...16.
– In connection with a function block instance of type L_PosPositionerTable:
In C02626/x the index [1...75] of the table position in the VTPOS table has to be
specified, which contains the intermediate stop position x that is to be used.
– In connection with a function block instance of type L_PosProfileTable:
In C02626/x the index [1...4] of the profile data set has to be specified, which
contains the intermediate stop position x that is to be used.
The positions selected are shown in C02627/1...16.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Manual jog
11.4.3.4 Manual jog to limit position
Note!
Detailed information on travel range monitoring via limit switches and software
limit positions can be found in the description of the basic function "Limiter".
( 513)
Manual jog to software limit position
If the reference is known and the
software limit positions are set, a
positioning to the corresponding
software limit position is carried
n out, if manual jog was not exited
manually before by resetting
MAN_bJogNegative or
MAN_bJogPositive.
The drive brakes with the
t
deceleration set (C02623) to the
bJogPositive
TRUE position of the corresponding
software limit position.
FALSE
t
n Positive software limit position
[11-18] Example: Manual jog to positive software limit position
Manual jog to hardware limit position (limit switch)
When a limit switch is approached
during manual jog, the drive is
braked to standstill within the
deceleration time set for the quick
n stop function.
t
bJogPositive
TRUE
FALSE
t
n Positive limit switch
o Deceleration ramp of the quick stop function
[11-19] Example: Manual jog to positive limit switch
See also: Software limit positions ( 519)
Hardware limit positions (limit switch) ( 522)
408 L
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Manual jog
11.4.3.5 Retracting of an activated limit switch
By setting MAN_bReleaseLimitSwitch to TRUE, retracting from an operated limit switch is
possible. The traversing process in the corresponding retracting direction is carried out
until the limit switch is no longer activated.
If, while retracting, a direction is selected additionally via the control inputs
MAN_bJogPositive or MAN_bJogNegative towards the retracting direction, the travel is
continued even after the limit switch has been abandoned until MAN_bJogPositive or
MAN_bJogNegative are reset to FALSE.
If the direction opposite to the retracting direction is preselected instead, the drive
stops, and a corresponding status is shown via the status output MAN_dnState.
Note!
Retracting from a limit switch is only possible if it is still activated, i. e. if the
corresponding limit switch input of the limiter is still activated. Therefore ensure
that if a limit switch is approached, its trigger mechanics is not "overtravelled",
for instance by a too great mass or drive, so that by this the limit switch is no
longer activated.
Tip!
An activated limit switch can also be exited again by manual jog in the retracting
direction via the control input MAN_bJogPositive or MAN_bJogNegative.
See also: Hardware limit positions (limit switch) ( 522)
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Manual jog, encoderless
11.5 Manual jog, encoderless
This function extension is available from software version V7.0!
In various applications where drives are operated with feedback in the production process,
it may be required to execute a controlled operation without feedback of position values
and speed and torque values derived from the position values as well.
For initial commissioning and test of the system hardware.
(Control cabinet function, connection system, test of trailing cables)
In case of feedback failure in order to move the drive/machine to a service position
afterwards.
The U and I rotation test modes implemented in the motor control of the drive controller
make it possible for the user to move the drive in a controlled manner. In the case of an
asynchronous motor, a load-dependent speed is adopted. A synchronous motor rotates
with a predefined field frequency provided the motor can generate the necessary load
torque.
The basic function "Manual jog, encoderless" described in this chapter is available together
with the corresponding Engineer dialogs for controlled manual jogging on the basis of the
I rotation test mode.
Note!
The activation and control of the basic function "Manual jog encoderless" can
either be executed via process data (system block inputs or code accesses (e.g.
via keypad).
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Manual jog, encoderless
11.5.1 Internal interfaces | "LS_ManualJogOpenLoop" system block
The LS_ManualJogOpenLoop system block provides the internal interfaces for the basic
function "Manual jog encoderless" in the function block editor.
LS_ManualJogOpenLoop
MOL_bEnable MOL_dnState
MOL_bJogPositive MOL_bEnabled
MOL_bJogNegative MOL_bActive
MOL_bActivateDataBit1
ç è MOL_bDone
MOL_bActivateDataBit2
Note!
Ensure that the system block is called in a cyclic application task.
Basically, projects which only contain an unsolicited task and no cyclic task are
not permissible!
Inputs
Identifier Information/possible settings
DIS code | data type
MOL_bEnable Requesting control via the basic function.
C02781/1 | BOOL • Request is also possible via C02770/1.
TRUE If no other basic function is active, it is changed to the "Manual jog
encoderless active" and the drive can be traversed in a controlled
way via the control inputs.
TRUEÌFALSE Active controlled traversing is stopped, i.e. a change-over from the
active "Manual jog encoderless active" function state back to the
"Controller not ready" basic state is effected.
MOL_bJogPositive Manual jog open loop in positive/negative direction ( 418)
C02781/2 | BOOL • Control is also possible via C02770/2 and C02770/3.
MOL_bJogNegative
C02781/3 | BOOL
MOL_bActivateDataBit1 Selection of the profile parameter set ( 418)
C02781/4 | BOOL • Selection is also possible via C02770/4 and C02770/5.
MOL_bActivateDataBit2
C02781/5 | BOOL
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Manual jog, encoderless
Outputs
Identifier Value/meaning
DIS code | data type
Mol_dnState Status (bit coded)
C02780 | DINT • When the basic function is not enabled, all bits are set to "0".
• Bits which are not listed are not assigned with a status (always "0").
Bit 1 Manual jog open loop active.
Bit 2 Profile executed.
MOL_bEnabled Status signal "Basic function is enabled"
C02781/6 | BOOL
TRUE Controlled traversing via the control inputs is possible.
• The MOL_bEnable enable input is set to TRUE and the controller is
in the "Manual jog open loop active" function state.
MOL_bActive Status signal "Basic function is active"
C02781/7 | BOOL
TRUE Controlled traversing is active (the drive axis moves according to the
defined profile).
MOL_bDone Status signal "Max. activation time reached"
C02781/8 | BOOL • The status signal indicates that the respective parameterised max. activation
time has been reached.
• The counter of the max. activation time is reset every time there is a TRUE-FALSE
edge at MOL_bJogPositive/MOL_bJogNegative.
• The setpoint frequency and therefore the rotating field at the motor terminals is
generated within the acceleration time parameterised in C02774/1...4 for the
selected profile and the drive movement starts accordingly.
• At the instant of "Max. activation time reached", the drive is still moving and
ramping down within the deceleration time parameterised in C02775/1...4 for
the selected profile is initiated.
TRUE Controlled manual jogging is active
• The max. activation time parameterised for the selected profile in
C02776/1...4 has expired.
• MOL_bJogPositive or MOL_bJogNegative is TRUE
• The setpoint frequency still corresponds to the setpoint
frequency parameterised in C02771/1...4 for the selected profile.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Manual jog, encoderless
11.5.2 Parameter setting
Parameterisation dialog in the »Engineer«: Tab Application parameters Dialog level
Overview All basic functions Manual jog open loop
Short overview of the parameters for manual jog open loop:
Parameter Information Lenze setting
Value Unit
C02770/1 EnableManualMode 0: Deactivate
C02770/2 JogPositive 0: Deactivate
C02770/3 JogNegative 0: Deactivate
C02770/4 SelectTab1 0: Deactivate
C02770/5 SelectTab2 0: Deactivate
C02771/1...4 Frequency 1.0 Hz
• Field frequency fd with which the current vector
rotates.
C02772/1...4 Starting angle 0.0 °
C02773/1...4 Current 10.00 %
• R.m.s. value of the current vector which is injected
with the parameterised frequency/starting angle.
• 100 % ≡ Imax_device (C00022)
C02774/1...4 Acceleration time 1.000 s
C02775/1...4 Deceleration time 1.000 s
C02776/1...4 Duration (max. activation time) 1.000 s
C02779 Mol_SetpointCurrent - A
C02780 Mol_dnState -
C02781 ManualJogOpenLoop: Dig. signals -
Highlighted in grey = display parameter
Stop!
At the frequency fd = 0 Hz, the r.m.s. value increases to 141 % of the current
parameterised in C02773/x. As a result, the connected motor can be destroyed!
Remedy: Activation of a derating curve in i2xt monitoring or limitation of the
parameterised current in C02773/x to 71 % of the rated motor current. Motor
monitoring (I2xt) ( 224)
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Manual jog, encoderless
11.5.2.1 Necessary basic parameter settings
Before encoderless manual jogging is performed, the following basic parameter settings
must be made:
1. Optimisation of the current controller in the case of non-Lenze motors or motors that
are not included in the »Engineer« motor catalogue. Optimise current controller
( 187)
2. Parameterisation of motor monitoring corresponding to the existing motor with the
monitoring response "Fault". Motor monitoring (I2xt) ( 224)
– This function is especially important for monitoring the permissible r.m.s. current
load on motors at fd = 0 Hz.
3. Activation of maximum current monitoring with the monitoring response "Fault" in
the case of non-Lenze motors or motor that are not included in the »Engineer« motor
catalogue. Maximum current monitoring ( 235)
4. Activation of motor temperature monitoring via PTC and/or KTY. Motor temperature
monitoring ( 229)
11.5.2.2 Profile parameters
For controlled traversing, four different profiles (profile parameter sets) can be
parameterised:
Setpoint Profile parameter set Profile parameter set Profile parameter set Profile parameter set
1 2 3 4
Frequency C02771/1 C02771/2 C02771/3 C02771/4
Starting angle C02772/1 C02772/2 C02772/3 C02772/4
Current C02773/1 C02773/2 C02773/3 C02773/4
Acceleration time C02774/1 C02774/2 C02774/3 C02774/4
Deceleration time C02775/1 C02775/2 C02775/3 C02775/4
Duration time C02776/1 C02776/2 C02776/3 C02776/4
The profile parameter set to be used is selected via the control inputs
MOL_bActivateDataBit1 and MOL_bActivateDataBit2 or alternatively via the parameters
C02770/4 and C02770/5.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Manual jog, encoderless
11.5.3 Executing manual jog open loop
Requirements
The basic parameter settings described in chapter [11.5.2.1] are made. Necessary
basic parameter settings ( 414)
The controller inhibit is active.
The controller has the "Controller not ready" function state.
The basic function "Manual jog open loop" is part of the active application.
No other basic function is active.
Activation
In order to request the control via the basic function, the MOL_bEnable enable input in the
application must be set to TRUE or C02770/1 to "1".
If no other basic function is active, it is changed to the "Manual jog open loop active"
function state and a controlled traversing can take place via the control inputs or by
writing C02770/2...5.
A successful change to the function state "Manual jog open loop active" is displayed by
a TRUE signal at the MOL_bEnabled status output.
Stop!
If a quick stop is requested with the "Manual jog, encoderless" function active,
ramping-down of the setpoint frequency occurs with a fixed deceleration time
t = 0 s.
• The thus generated braking effect at the drive is not comparable with the
braking effect in the controlled motor mode!
• Under certain conditions, this can also lead to vibrations in the drive.
The user must select suitable setpoint frequencies to reduce the speeds of the
machine to a minimum so that shutdown by means of the basic "Quick stop"
function can be ensured in the case of encoderless manual jogging as well.
Deactivation
Note!
The controller must be inhibited before the basic function is deactivated!
Otherwise, the consequence is unsteady drive behaviour via the function state
"Controller not ready" into the basic "Stop" function.
If the enable input MOL_bEnable is reset to FALSE, active manual jogging is stopped
according to the following different cases that are distinguished.
Case 1: If MOL_bEnable is reset to FALSE and the drive controller is still enabled, the
function state "Manual jog encoderless, active" is exited and the basic "Stop" function is
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Manual jog, encoderless
activated. A changeover is then made back the basic state "Drive at a standstill" via the
function state "Drive is being stopped".
CINH
MOL_bEnable t
MOL_bSelectTab1 t
MOL_bSelectTab2
MOL_bJogNegative t
MOL_bJogPositive t
IMotor IPS2 t
IPS1 IPS1
fd_Motor t
fd_PS1 t
fd_PS2
CINH = controller inhibit
[11-20] Signal characteristic, case 1: MOL_bEnable is reset to FALSE while the drive controller is still enabled
In line with the motor control selected in C00006, additional basic conditions are
necessary in order to avoid unsteady drive behaviour:
– C00006 = "1: SC: Servo control sync. motor":
Parameterised and connected motor encoder as well as a correct pole position in
C00058/x
- or -
activation of the basic "Pole position identification" function and its monitoring in
C02785 (Lenze recommendation).
– C00006 = "2: SC: Servo control async. motor":
Parameterised and connected motor encoder.
416 L
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Manual jog, encoderless
Case 2: If MOL_bEnable is reset to FALSE and the controller inhibit has been set at least at
the same time, a changeover takes place from the function state "Manual jog encoderless
active" to the function state "Drive controller not ready":
CINH
MOL_bEnable t
MOL_bSelectTab1 t
MOL_bSelectTab2
MOL_bJogNegative t
MOL_bJogPositive t
IMotor IPS2 t
IPS1 IPS1
fd_Motor t
fd_PS1 t
fd_PS2
CINH = controller inhibit
n Setting of the controller inhibit not permissible here!
[11-21] Signal characteristic, case 2: MOL_bEnable is reset to FALSE and the controller inhibit is set at least at the same time
With this signal sequence, drives can be operated for which the function of the motor
encoder and/or the pole position do not exist.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Manual jog, encoderless
11.5.3.1 Selection of the profile parameter set
For a controlled traversing, four different profiles can be parameterised. The profile
parameter set to be used is selected via the control inputs given in the following truth
table:
MOL_bActivateData MOL_bActivateData Selected profile parameter set
Bit2 Bit1
C02770/5 C02770/4
FALSE FALSE Profile parameter set 1
FALSE TRUE Profile parameter set 2
TRUE FALSE Profile parameter set 3
TRUE TRUE Profile parameter set 4
Note!
The four profile parameter sets may only be processed sequentially, i.e. a
selected profile parameter set must be completed with fd = 0 Hz before another
profile parameter set can be activated.
• See signal characteristic (Fig. [11-20]) in the previous chapter. ( 416)
• Lenze recommends to control the basic function in accordance with this
signal characteristic.
11.5.3.2 Manual jog open loop in positive/negative direction
In the "Manual jog open loop active" function state the drive can be traversed manually via
the control inputs given in the following truth table:
MOL_bJogNegative MOL_bJogPositive Function
C02770/3 C02770/2
FALSE FALSE Stop
• The drive is braked to standstill with the deceleration time in
(C02775/x) set for the selected profile.
FALSE TRUE Controlled traversing in positive direction
• The drive is led to the setpoint frequency with the acceleration
time (C02774/x) set for the selected profile (C02771/x).
TRUE FALSE Controlled traversing in negative direction
• The drive is led to the setpoint frequency with the acceleration
time (C02774/x) set for the selected profile (C02771/x).
TRUE TRUE When both inputs are set to TRUE at the same time:
• The drive is braked to standstill with the deceleration time in
(C02775/x) set for the selected profile.
If not both inputs are set to TRUE at the same time:
• The drive continues to traverse in the direction that was selected
first.
x = number (1...4) of the selected profile parameter set
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
11.6 Homing
With the basic function "Homing" the measuring system of the machine is transmitted to
the controller within the travel range that is physically possible.
The reference (e.g. zero position of the drive axis in the machine measuring system) can
be defined by reference search or reference setting.
In case of reference search, the drive travels according to the defined homing mode to
detect the reference in the measuring system independently.
– In the reference point, the home position parameterised in C02642 is set as the
current position. Afterwards, an absolute positioning to the target position
parameterised in C02643 takes place (if C02641 = "0").
If the reference is set in the homing mode "100: Set reference directly" or via the control
input HM_bLoadHomePos, the drive can also be referenced manually if the motor is at
standstill. The measuring system is set by means of the home position parameterised
in C02642 or applied at the input HM_dnHomePos_p.
Danger!
During homing operations, specially assigned profile parameters are effective. If
these parameters are not set correctly, the drive may execute uncontrolled
movements!
Note!
Normally homing is only required once during commissioning of systems for
which the machine cycle can be represented in the display area of the encoder,
e. g. if multiturn absolute value encoders or singleturn absolute value encoders/
resolvers are used during the machine cycle on one motor revolution.
• The encoder position is stored safe against mains failure in the memory
module and is therefore known to the drive control even after the mains has
been switched. Behaviour of the home position after mains switching
( 424)
• A renewed reference setting is only required in case of a renewed
commissioning or in case of service (e.g. when drive components are
exchanged).
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Note!
For homing, setpoint speeds greater than 30000 rpm are not possible. The
speeds defined for these basic function are internally limited to 30000 rpm.
When the basic function is activated, a start acceleration is considered. Start
acceleration/acceleration reduction when the basic function changes ( 383)
For the encoderless motor control types (from software version V3.0) the
following applies:
The basic function "Homing" can only be activated for V/f control or sensorless
vector control if the position controller has been selected for the position control
(C02570 = "2: position controller active").
• The homing modes 14 & 15 are not permissible for the V/f control. If the
selection is impermissible, the error message "Homing mode not allowed" is
output.
For the encoderless motor control types (from software version V5.0) the
following applies:
If the V/f control or sensorless vector control is selected, the basic function
"Homing" can be activated, irrespective of the use of the position controller.
• If no position controller has been selected for the position control in case of
V/f control or sensorless vector control (C02570 = "1: Phase controller is
active"), homing is only carried out via the speed profile resulting from the
homing parameters. Because of this, the target positions set will only
"roughly" be reached.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
11.6.1 Internal interfaces | "LS_Homing" system block
The LS_Homing system block provides the internal interfaces for the basic function
"Homing" in the function block editor.
LS_Homing
HM_bEnable HM_dnState
HM_bActivateHoming HM_bEnabled
HM_bHomingMark HM_bActive
HM_bLoadHomePos HM_bDone
HM_dnHomePos_p HM_bHomePosAvailable
HM_bResetHomePos -100 0 100 200
HM_dnSpeedOverride_n
Note!
Ensure that the system block is called in a cyclic application task.
Basically, projects which only contain an unsolicited task and no cyclic task are
not permissible!
Inputs
Identifier Information/possible settings
DIS code | data type
HM_bEnable Requesting control via the basic function.
C02659/1 | BOOL
TRUE If no other basic function is active, a change-over to the "Homing
active" function state is effected and homing can be carried out via
the control inputs.
TRUEÌFALSE An active reference search is stopped, i. e. a change-over from the
active "Homing active" function state via the "Drive is stopped"
function state back to the basic state "Drive at standstill" is carried
out.
HM_bActivateHoming Starting homing/directly setting reference
C02659/2 | BOOL
TRUE Reference search is started in the homing mode selected (C02640).
In the homing mode "100: Set reference directly" no reference search
is started, but the home position set in C02642 is directly accepted.
TRUEÌFALSE Active reference search is completed/cancelled.
HM_bHomingMark Input for reference switch
C02659/3 | BOOL
TRUE Reference switch is activated.
HM_bLoadHomePos Loading home position
C02659/4 | BOOL
FALSEÊTRUE The position applied to input HM_dnHomePos_p is accepted as
home position.
HM_dnHomePos_p Home position in [increments] for acceptance with HM_bLoadHomePos
C02658 | DINT
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Identifier Information/possible settings
DIS code | data type
HM_bResetHomePos Resetting the status "Reference known"
C02659/5 | BOOL
FALSEÊTRUE The internal status "Reference known" is reset.
• The status outputs HM_bDone and HM_bHomePosAvailable are
reset to FALSE.
HM_dnSpeedOverride_n Value of speed override
C02655 | DINT • Percentage multiplier for the currently active speed (C02644 or C02646).
From V5.0
• In the case of active homing, the speed override is always active and does not
have to be activated separately.
• Changes are accepted in each cycle.
• 230 ≡ 100 % of the speed parameterised in C02644 or C02646.
• For values ≤ 1 % the status bit 19 is set.
• Values ≤ 0 % are set to 0 % internally and lead to the standstill of the drive.
Outputs
Identifier Value/meaning
DIS code | data type
HM_dnState Status (bit coded)
C02657 | DINT • When the basic function is not enabled, all bits are set to "0".
• Bits which are not listed are not assigned with a status (always "0").
Bit 1 Reference search is active.
Bit 2 Reference search is completed.
Bit 3 Acceleration/deceleration phase is active.
Bit 5 CCW rotation is active.
Bit 7 Reference known.
Bit 15 Fault in basic function active (group signal).
Bit 16 Pre-switch-off (reference switch) has been detected.
Bit 17 Touch probe/zero pulse has been detected.
Bit 19 Speed override ≤1 %
• This status is only available from software version V5.0.
Bit 21 Profile data are limited by basic function "Limiter".
Bit 22 Traversing direction is inhibited by basic function "Limiter".
Bit 23 Abort by basic function "Limiter".
Bit 25 Stopping is active.
• Basic function is enabled for the first time but no referencing has
been requested / is active yet or speed ≠ 0.
Bit 30 Profile generation error.
HM_bEnabled Status signal "Basic function is enabled"
C02659/6 | BOOL
TRUE Homing via the control inputs is possible.
• The HM_bEnable enable input is set to TRUE and the controller is
in the "Homing active" function state.
HM_bActive Status signal "Basic function is active"
C02659/7 | BOOL
TRUE Reference search is active (the drive axis is moving).
HM_bDone Status signal "Basic function is ready"
C02659/8 | BOOL
TRUE Reference search is completed.
• Output is reset to FALSE when input HM_bActivateHoming is
reset to FALSE.
HM_bHomePosAvailable Status signal "Reference is known"
C02659/9 | BOOL
TRUE The drive knows the home position.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
11.6.2 Parameter setting
Parameterisation dialog in the »Engineer«: Tab Application parameters Dialog level
Overview All basic functions Homing
Short overview of the parameters for homing:
Parameter Information
C02528 Traversing range
C02640 Homing mode
C02641 Action after detect Home position
C02642 Home position
C02643 Homing: Target position
C02644 Homing: Speed 1
C02645 Homing: Acceleration 1
C02646 Homing: Speed 2
C02647 Homing: Acceleration 2
C02648 Homing: S-ramp time
C02649 Homing: Torque limit
C02650 Homing: Blocking time
C02651 Homing: TP configuration
C02652 Ref. pos. after mains switching
C02653 Max. rot. ang. aft. mns. swtch.
C02656 Actual position (homing)
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
11.6.2.1 Behaviour of the home position after mains switching
If the home position/information is also to be available after mains switching, the setting
C02652 = "1: Received" is required.
Another condition for keeping the home position/information after mains switching is the
compliance with the maximum permissible angle of rotation of the encoder.
The maximally permissible angle of rotation can be set in C02653 in angular degree [°]
with regard to the encoder shaft (360° ≡ one encoder shaft rotation).
Note!
Due to the internal numerical format and the resolution of one encoder
revolution according to C00100, the position may not be reconstructed over the
complete encoder range!
• The possible number of revolutions can be calculated as follows:
Number of revolutions = 2(31 - C00100)
• Example: For a standard multiturn absolute value encoder with an absolute
display area of 4096 revolutions (±2048), a maximum position resolution of
20 bits per revolution can be used!
When resolvers or single-turn absolute value encoders are used and the mains is
switched off (24 V supply off), the encoder may only be moved by ½ revolution
since otherwise the home position will get lost due to the ambiguity of the
encoder information.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
11.6.2.2 Homing mode
The zero position, also called reference, can be defined by a reference search or reference
setting:
In case of a reference search the drive travels according to a defined mode to detect the
reference independently.
In case of reference setting the reference is manually set when the drive has stopped.
Tip!
A reference search is mainly used in the case of continuously running systems, or if
the traversing range or machine cycle of the drive cannot be represented in the
display area of the encoder, e. g. if incremental encoders are used at the motor, or
singleturn absolute value encoders or resolvers are used at the gearbox.
A reference is mainly set in systems/machines that bear the risk of collisions, or
every time no homing can be executed (e.g. in case of a cross cutter having material
in the machine).
For reference setting, select the homing mode "100" in C02640.
For a reference search the homing modes 0"..."15" are provided in C02640.
– For process descriptions see the chapter "Overview of the Lenze homing modes".
( 430)
– From software version V3.0 according to the DS402 device profile, additionally the
homing modes 1001"..."1035" are provided in C02640. Process descriptions for these
homing modes can be found in the chapter "Overview of DS402 homing modes".
( 430)
Note!
Profile data set change-over
For the reference search, two profile data sets with different speeds and
accelerations can be parameterised. In this way, the homing time can be reduced
and at the same time the accuracy can be increased.
Profile data set change-over ( 427)
The process descriptions in the following chapters provide information on the
time the change-over to the profile data set 2 takes place in the corresponding
homing mode.
Overview of the Lenze homing modes ( 430)
Overview of DS402 homing modes ( 445)
If the speed 2 (C02646) is set to "0" (Lenze setting), no change-over to the profile
data set 2 takes place and the reference search and positioning to the target
position is only executed with the profile parameters of the profile data set 1.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Note!
Drive behaviour after setting the reference
From software version V4.0 onwards, C02641 serves to parameterise the drive
behaviour after setting the home position.
Drive behaviour after setting the home position ( 426)
In the Lenze setting (C02641 = "0"), the drive traverses to the absolute target
position set in C02643 similarly to the behaviour known from the previous
versions.
11.6.2.3 Home position & target position
When the home position is set during the reference search, the position detected in the
machine measuring system corresponds to the value set in C02642.
For software versions lower than V4.0 the following applies:
Afterwards the drive travels to the target position set in C02643.
The following applies from software version V4.0:
The subsequent drive behaviour is determined by the mode parameterised in C02641.
See the below chapter "Drive behaviour after setting the home position".
11.6.2.4 Drive behaviour after setting the home position
This function extension is available from software version V4.0!
C02641 can be used to select the drive behaviour after setting the home position.
Selection "0: Move absolute on Target position"
After setting the home position (C02642), the drive moves to the absolute target position
set in C02643.
This selection is the Lenze setting and corresponds to the behaviour known from the
previous versions.
Selection "1: Move relative by Target position"
After setting the home position (C02642), the drive moves relatively by the target position
set in C02643.
Selection "2: Stop immediately"
After setting the home position (C02642), the drive stops immediately.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
11.6.2.5 Profile data set change-over
For the reference search two profile data sets can be parameterised to reduce the homing
time and increase the accuracy:
Profile data set 1 Profile data set 2
C02644 Speed 1 C02646 Speed 2
C02645 Acceleration 1 C02647 Acceleration 2
(and deceleration 1) (and deceleration 2)
C02648 S-ramp time C02648 S-ramp time
(identical in both profile data sets) (identical in both profile data sets)
Setting the S-ramp time ( 385) Setting the S-ramp time ( 385)
With the profile data set 1 first the limit switch/reference switch (depending on the
mode selected) is quickly approached.
After reversing on the limit switch/reference switch, the slower – but more accurate –
approach of the encoder zero pulse/touch probe sensor and the positioning to the
target position (C02643) are effected with profile data set 2.
Note!
The change-over to profile data set 2 is only effected if speed 2 (C02646) is set >
"0"!
In the Lenze setting (C02646 = "0") no change-over to the profile data set 2 takes
place and the reference search and positioning to the target position is only
executed with the profile parameters of the profile data set 1.
The process descriptions of the homing modes provide information about when
the change-over to profile data set 2 takes place in the respective homing mode.
Overview of the Lenze homing modes ( 430)
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
n Example: Procedure of mode 2:
A. Movement in positive direction
t with profile data set 1.
B. Reversing to positive travel range
limit switch.
bActivate 0
TRUE C. Positive edge at
FALSE
t
HM_bHomingMark activates
bLimitSwitchPos 1 profile data set 2 for the further
TRUE reference search.
FALSE
t D. Negative edge at
bHomingMark 23 HM_bHomingMark enables home
TRUE
position detection.
FALSE
E. The following positive edge of the
t
TP/MP 4
TRUE encoder zero pulse (MP) sets the
FALSE
reference.
t
bBusy 5 F. Drive has reached defined target
TRUE position.
FALSE
t
bHomePosAvailable
TRUE
FALSE
t
bDone
TRUE
FALSE
t
n C02644: Speed 1
o C02646: Speed 2
p C02645: Acceleration 1 (and deceleration 1)
q C02647: Acceleration 2 (and deceleration 2)
r C02648: S-ramp time
s C02643: Target position
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
11.6.2.6 Homing to end stop
By selecting the homing modes 14 & 15, homing to end stop can be executed as follows:
1. The drive travels with reduced torque in positive direction (mode 14) or negative
direction (mode 15).
2. When the drive hits an end stop so that the torque limit set in C02649 is exceeded for
the blocking time defined in C02650, the reference is set.
– If a reference offset is set, traversing takes place around this offset in a correctly
signed manner.
Mode 14: positive direction to torque limit ( 443)
Mode 15: negative direction to torque limit ( 443)
11.6.2.7 Connection of reference switch
For the homing modes with reference switch, the HM_bHomingMark control input must
be connected to the digital input which is connected to the reference switch.
11.6.2.8 Touch probe interface configuration
The touch probe channel to be used for homing with touch probe detection in the
»Engineer« is selected on the Application parameters tab in the dialog level Overview All
basic functions Homing TP interface.
The setting carried out in this parameterisation dialog directly affects the setting of
C02651 ("Homing: TP configuration") and vice versa.
For directly setting C02651 (e. g. by means of the keypad) the corresponding decimal
values are listed for all configuration options in the following table:
Selection Touch probe response
Touch probe channel Positive edge Negative edge Both edges
Digital input 1 1 2 3
Digital input 2 4 8 12
Digital input 3 16 32 48
Digital input 4 64 128 192
Digital input 5 256 512 768
Digital input 6 1024 2048 3072
Digital input 7 4096 8192 12288
Digital input 8 16384 32768 49152
Motor encoder zero pulse 65536
Position encoder zero pulse 262144
Example: For selecting the touch probe channel "Digital input 1" and a response only to
a negative edge, the decimal value "2" has to be set in C02651.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
11.6.3 Overview of the Lenze homing modes
In the following subchapters the procedures of homing modes 0 ... 15 are described, which
can be selected in C02640.
Homing mode Evaluated signals/sensors
C02640 Touch probe sensor/ Travel range limit switch Reference switch at
encoder zero pulse HM_bHomingMark
Negative limit switch Positive limit switch
0 ; ;
1 ; ;
2 ; ; ;
3 ; ; ;
4 ; ;
5 ; ;
8 ;
9 ;
10 ; ;
11 ; ;
12 ;
13 ;
14 Positive direction of rotation to torque limit.
15 Negative direction of rotation to torque limit.
100 Set home position directly
The switches/sensors are evaluated via the following internal interfaces:
Switch/sensor Internal interface for digital input signal
Touch probe sensor DIGIN_bIn1 ... DIGIN_bIn8
• Alternatively the motor encoder or position encoder zero pulse
can be evaluated.
Touch probe interface configuration ( 429)
Positive travel range limit switch LIM_bLimitSwitchPositive (basic function "Limiter")
Negative travel range limit switch LIM_bLimitSwitchNegative (basic function "Limiter")
Reference switch HM_bHomingMark (basic function "Homing")
Note!
Profile data set change-over
For the reference search, two profile data sets with different speeds and
accelerations can be parameterised. In this way, the homing time can be reduced
and at the same time the accuracy can be increased.
Profile data set change-over ( 427)
The following process descriptions give information about the time the change-
over to the profile data set 2 takes place in the corresponding homing mode.
If the speed 2 (C02646) is set to "0" (Lenze setting), no change-over to the profile
data set 2 takes place and the reference search and positioning to the target
position is only executed with the profile parameters of the profile data set 1.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Note!
Drive behaviour after setting the reference
From software version V4.0 onwards, C02641 serves to parameterise the drive
behaviour after setting the home position.
Drive behaviour after setting the home position ( 426)
In the Lenze setting (C02641 = "0"), the drive traverses to the absolute target
position set in C02643 similarly to the behaviour known from the previous
versions.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 0: pos. direction - via home mark - to TP
1
Touch probe/zero pulse
Reference switch
Procedure:
1. Movement in positive direction with profile data set 1.
2. Positive edge at HM_bHomingMark activates profile data set 2 for the further
reference search.
3. Negative edge at HM_bHomingMark enables home position detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1: neg. direction - via home mark - to TP
1
Touch probe/zero pulse
Reference switch
Procedure:
1. Movement in negative direction with profile data set 1.
2. Positive edge at HM_bHomingMark activates profile data set 2 for the further
reference search.
3. Negative edge at HM_bHomingMark enables home position detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 2: pos. direction - reversing to limit switch - via home mark - to TP
2
Touch probe/zero pulse
Reference switch
Positive travel range limit switch
Procedure:
1. Movement in positive direction with profile data set 1.
2. Reversing to positive travel range limit switch.
3. Positive edge at HM_bHomingMark activates profile data set 2 for the further
reference search.
4. Negative edge at HM_bHomingMark enables home position detection.
5. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
6. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 3: neg. direction - reversing to limit switch - via home mark - to TP
2
Touch probe/zero pulse
Reference switch
Negative travel range limit switch
Procedure:
1. Movement in negative direction with profile data set 1.
2. Reversing to negative travel range limit switch.
3. Positive edge at HM_bHomingMark activates profile data set 2 for the further
reference search.
4. Negative edge at HM_bHomingMark enables home position detection.
5. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
6. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 4: pos. direction - reversing to home mark - to TP
1
2
1
Touch probe/zero pulse
Reference switch
Procedures:
Case 1: Axis has not yet activated the reference switch:
1. Movement in positive direction with profile data set 1.
2. Reversing with positive edge at HM_bHomingMark and simultaneous activation of the
profile data set 2 for further reference search.
3. Negative edge at HM_bHomingMark enables home position detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis already stands on the reference switch:
1. Movement in negative direction with profile data set 2.
2. Negative edge at HM_bHomingMark enables home position detection.
3. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 5: neg. direction - reversing to home mark - to TP
1
2
1
Touch probe/zero pulse
Reference switch
Procedures:
Case 1: Axis has not yet activated the reference switch:
1. Movement in negative direction with profile data set 1.
2. Reversing with positive edge at HM_bHomingMark and simultaneous activation of the
profile data set 2 for further reference search.
3. Negative edge at HM_bHomingMark enables home position detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis already stands on the reference switch:
1. Movement in positive direction with profile data set 2.
2. Negative edge at HM_bHomingMark enables home position detection.
3. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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437
9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 8: positive direction to touch probe
0
Touch probe/zero pulse
Procedure:
1. Movement in positive direction with profile data set 1.
2. The following positive edge of the touch probe sensor sets the reference.
3. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Mode 9: negative direction to touch probe
0
Touch probe/zero pulse
Procedure:
1. Movement in negative direction with profile data set 1.
2. The following positive edge of the touch probe sensor sets the reference.
3. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 10: pos. direction - reversing to limit switch - to TP
1
Touch probe/zero pulse
Positive travel range limit switch
Procedure:
1. Movement in positive direction with profile data set 1.
2. Reversing with positive edge of the positive travel range limit switch and simultaneous
activation of the profile data set 2 for further reference search.
3. The following positive edge of the touch probe sensor sets the reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Note!
The touch probe detection is already activated after reversing to the travel range
limit switch, i.e. the home position may be set to the travel range limit switch.
• We therefore recommend to set a target position (C02643) unequal to the
home position (C02642), in order to reenable the activated limit switch.
Otherwise, the positioning process to the target position may be aborted by
the basic function "Limiter" (see status signal HM_dnState).
• If the touch probe detection is to be activated after the travel range limit
switch has been left, we recommend to use the DS402 homing methods 1 or
2. Overview of DS402 homing modes ( 445)
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 11: neg. direction - reversing to limit switch - to TP
1
Touch probe/zero pulse
Negative travel range limit switch
Procedure:
1. Movement in negative direction with profile data set 1.
2. Reversing with positive edge of the negative travel range limit switch and
simultaneous activation of the profile data set 2 for further reference search.
3. The following positive edge of the touch probe sensor sets the reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Note!
The touch probe detection is already activated after reversing to the travel range
limit switch, i.e. the home position may be set to the travel range limit switch.
• We therefore recommend to set a target position (C02643) unequal to the
home position (C02642), in order to reenable the activated limit switch.
Otherwise, the positioning process to the target position may be aborted by
the basic function "Limiter" (see status signal HM_dnState).
• If the touch probe detection is to be activated after the travel range limit
switch has been left, we recommend to use the DS402 homing methods 1 or
2. Overview of DS402 homing modes ( 445)
440 L
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 12: positive direction to limit switch
0
Positive travel range limit switch
Procedure:
1. Movement in positive direction with profile data set 1.
2. Positive edge of the travel range limit switch sets the reference.
3. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Note!
The load mechanics is able to leave the travel range limit switch. It is then
travelled back to the home position which has been set with the positive edge of
the travel range limit switch.
• The mechanics may possibly stop on an activated limit switch.
• Therefore it is recommended to set a target position (C02643) that is unequal
to the home position (C02642) to release the activated limit switch again.
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441
9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 13: negative direction to limit switch
0
Negative travel range limit switch
Procedure:
1. Movement in negative direction with profile data set 1.
2. Positive edge of the travel range limit switch sets the reference.
3. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Note!
The load mechanics is able to leave the travel range limit switch. It is then
travelled back to the home position which has been set with the positive edge of
the travel range limit switch.
• The mechanics may possibly stop on an activated limit switch.
• Therefore it is recommended to set a target position (C02643) that is unequal
to the home position (C02642) to release the activated limit switch again.
442 L
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 14: positive direction to torque limit
Procedure:
1. Movement in positive direction with reduced torque and profile data set 1.
2. The reference is set if the two following conditions for the time set in C02650 are
fulfilled at the same time:
– The current speed is lower than the threshold for standstill detection set in C00019.
– Current torque is greater than the torque limit set in C02649 ("Homing to end stop").
3. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Mode 15: negative direction to torque limit
Procedure:
1. Movement in negative direction with reduced torque and profile data set 1.
2. The reference is set if the two following conditions for the time set in C02650 are
fulfilled at the same time:
– The current speed is lower than the threshold for standstill detection set in C00019.
– Current torque is greater than the torque limit set in C02649 ("Homing to end stop").
3. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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443
9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 100: Set reference directly
During the drive is at standstill, the measuring system is set by means of the home position
parameterised in C02642.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
11.6.4 Overview of DS402 homing modes
This function extension is available from software version V3.0!
In addition to the homing modes described in the previous subchapter "Overview of the
Lenze homing modes", from software version V3.0 also the homing modes described in the
following can be selected for a homing in C02640, according to the DS402 device profile.
DS402 Evaluated signals/sensors
homing method Touch probe sensor/ Travel range limit switch Reference switch at
encoder zero pulse HM_bHomingMark
Negative limit switch Positive limit switch
01 ; ;
02 ; ;
03 ; ;
04 ; ;
05 ; ;
06 ; ;
07 ; ; ;
08 ; ; ;
09 ; ; ;
10 ; ; ;
11 ; ; ;
12 ; ; ;
13 ; ; ;
14 ; ; ;
15 Reserved: no homing is executed.
16 Reserved: no homing is executed.
17 ;
18 ;
19 ;
20 ;
21 ;
22 ;
23 ; ;
24 ; ;
25 ; ;
26 ; ;
27 ; ;
28 ; ;
29 ; ;
30 ; ;
31 Reserved: no homing is executed.
32 Reserved: no homing is executed.
33 ;
34 ;
35 Direct reference setting.
The switches/sensors are evaluated via the following internal interfaces:
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Switch/sensor Internal interface for digital input signal
Touch probe sensor DIGIN_bIn1 ... DIGIN_bIn8
• Alternatively the motor encoder or position encoder zero pulse
can be evaluated.
Touch probe interface configuration ( 429)
Positive travel range limit switch LIM_bLimitSwitchPositive (basic function "Limiter")
Negative travel range limit switch LIM_bLimitSwitchNegative (basic function "Limiter")
Reference switch HM_bHomingMark (basic function "Homing")
Note!
Profile data set change-over
For the reference search, two profile data sets with different speeds and
accelerations can be parameterised. In this way, the homing time can be reduced
and at the same time the accuracy can be increased.
Profile data set change-over ( 427)
The following process descriptions give information about the time the change-
over to the profile data set 2 takes place in the corresponding homing mode.
If the speed 2 (C02646) is set to "0" (Lenze setting), no change-over to the profile
data set 2 takes place and the reference search and positioning to the target
position is only executed with the profile parameters of the profile data set 1.
Note!
Drive behaviour after setting the reference
From software version V4.0 onwards, C02641 serves to parameterise the drive
behaviour after setting the home position.
Drive behaviour after setting the home position ( 426)
In the Lenze setting (C02641 = "0"), the drive traverses to the absolute target
position set in C02643 similarly to the behaviour known from the previous
versions.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1001: DS402 homing method 01
1
Touch probe/zero pulse
Negative travel range limit switch
Procedure:
1. Movement in negative direction with profile data set 1.
2. Reversing to negative travel range limit switch and change to profile data set 2.
3. Negative edge of the travel range limit switch activates touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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447
9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1002: DS402 homing method 02
1
Touch probe/zero pulse
Positive travel range limit switch
Procedure:
1. Movement in positive direction with profile data set 1.
2. Reversing to positive travel range limit switch and change to profile data set 2.
3. Negative edge of the travel range limit switch activates touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1003: DS402 homing method 03
1
2
1
Touch probe/zero pulse
Reference switch
Procedures:
Case 1: Axis has not yet activated the reference switch:
1. Movement in positive direction with profile data set 1.
2. Reversing with positive edge of the reference switch and change to profile data set 2.
3. Negative edge of the reference switch activates touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis already stands on the reference switch:
1. Movement in negative direction with profile data set 2.
2. Negative edge of the reference switch activates touch probe detection.
3. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1004: DS402 homing method 04
1
Touch probe/zero pulse
Reference switch
Procedures:
Case 1: Axis has not yet activated the reference switch:
1. Movement in positive direction with profile data set 1.
2. Positive edge of the reference switch activates touch probe detection and change to
profile data set 2.
3. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis already stands on the reference switch:
1. Movement in negative direction with profile data set 2.
2. Reversing with negative edge of the reference switch.
3. Positive edge of the reference switch activates touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1005: DS402 homing method 05
1
2
1
Touch probe/zero pulse
Reference switch
Procedures:
Case 1: Axis has not yet activated the reference switch:
1. Movement in negative direction with profile data set 1.
2. Reversing with positive edge of the reference switch and change to profile data set 2.
3. Negative edge of the reference switch activates touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis already stands on the reference switch:
1. Movement in positive direction with profile data set 2.
2. Negative edge of the reference switch activates touch probe detection.
3. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1006: DS402 homing method 06
1
Touch probe/zero pulse
Reference switch
Procedures:
Case 1: Axis has not yet activated the reference switch:
1. Movement in negative direction with profile data set 1.
2. Positive edge of the reference switch activates touch probe detection and change to
profile data set 2.
3. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis already stands on the reference switch:
1. Movement in positive direction with profile data set 2.
2. Reversing with negative edge of the reference switch.
3. Positive edge of the reference switch activates touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1007: DS402 homing method 07
2
3
2
Touch probe/zero pulse
Reference switch
Positive travel range limit switch
Procedures:
Case 1: Axis does not activate the reference switch while moving towards the limit switch:
1. Movement in positive direction with profile data set 1.
2. Reversing to positive travel range limit switch.
3. Positive edge of the reference switch activates profile data set 2.
4. Negative edge of the reference switch activates touch probe detection.
5. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
6. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis first activates the reference switch while moving towards the limit switch:
1. Movement in positive direction with profile data set 1.
2. Reversing with positive edge of the reference switch and change to profile data set 2.
3. Negative edge of the reference switch activates touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Case 3: Axis already stands on the reference switch:
1. Movement in negative direction with profile data set 2.
2. Negative edge of the reference switch activates touch probe detection.
3. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Mode 1008: DS402 homing method 08
1
2
2
Touch probe/zero pulse
Reference switch
Positive travel range limit switch
Procedures:
Case 1: Axis does not activate the reference switch while moving towards the limit switch:
1. Movement in positive direction with profile data set 1.
2. Reversing to positive travel range limit switch.
3. Positive edge of the reference switch activates profile data set 2.
4. Reversing with negative edge of the reference switch.
5. Positive edge of the reference switch activates touch probe detection.
6. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
7. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Case 2: Axis first activates the reference switch while moving towards the limit switch:
1. Movement in positive direction with profile data set 1.
2. Positive edge of the reference switch activates touch probe detection and change to
profile data set 2.
3. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 3: Axis already stands on the reference switch:
1. Movement in negative direction with profile data set 2.
2. Reversing with negative edge of the reference switch.
3. Positive edge of the reference switch activates touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Mode 1009: DS402 homing method 09
2
Touch probe/zero pulse
Reference switch
Positive travel range limit switch
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Procedures:
Case 1: Axis does not activate the reference switch while moving towards the limit switch:
1. Movement in positive direction with profile data set 1.
2. Reversing to positive travel range limit switch.
3. Positive edge of the reference switch activates touch probe detection and change to
profile data set 2.
4. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis first activates the reference switch while moving towards the limit switch:
1. Movement in positive direction with profile data set 1.
2. Positive edge of the reference switch activates profile data set 2.
3. Reversing with negative edge of the reference switch.
4. Positive edge of the reference switch activates touch probe detection.
5. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
6. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 3: Axis already stands on the reference switch:
1. Movement in positive direction with profile data set 2.
2. Reversing with negative edge of the reference switch.
3. Positive edge of the reference switch activates touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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Homing
Mode 1010: DS402 homing method 10
1
2
3
2
Touch probe/zero pulse
Reference switch
Positive travel range limit switch
Procedures:
Case 1: Axis does not activate the reference switch while moving towards the limit switch:
1. Movement in positive direction with profile data set 1.
2. Reversing to positive travel range limit switch.
3. Reversing with positive edge of the reference switch and change to profile data set 2.
4. Negative edge of the reference switch activates touch probe detection.
5. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
6. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis first activates the reference switch while moving towards the limit switch:
1. Movement in positive direction with profile data set 1.
2. Negative edge of the reference switch activates touch probe detection.
3. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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457
9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Case 3: Axis already stands on the reference switch:
1. Movement in positive direction with profile data set 2.
2. Negative edge of the reference switch activates touch probe detection.
3. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Mode 1011: DS402 homing method 11
2
3
2
Touch probe/zero pulse
Reference switch
Negative travel range limit switch
Procedures:
Case 1: Axis does not activate the reference switch while moving towards the limit switch:
1. Movement in negative direction with profile data set 1.
2. Reversing to negative travel range limit switch.
3. Positive edge of the reference switch activates profile data set 2.
4. Negative edge of the reference switch activates touch probe detection.
5. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
6. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Case 2: Axis first activates the reference switch while moving towards the limit switch:
1. Movement in negative direction with profile data set 1.
2. Reversing with positive edge of the reference switch and change to profile data set 2.
3. Negative edge of the reference switch activates touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 3: Axis already stands on the reference switch:
1. Movement in positive direction with profile data set 2.
2. Negative edge of the reference switch activates touch probe detection.
3. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Mode 1012: DS402 homing method 12
1
2
2
Touch probe/zero pulse
Reference switch
Negative travel range limit switch
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Procedures:
Case 1: Axis does not activate the reference switch while moving towards the limit switch:
1. Movement in negative direction with profile data set 1.
2. Reversing to negative travel range limit switch.
3. Positive edge of the reference switch activates profile data set 2.
4. Reversing with negative edge of the reference switch.
5. Positive edge of the reference switch activates touch probe detection.
6. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
7. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis first activates the reference switch while moving towards the limit switch:
1. Movement in negative direction with profile data set 1.
2. Positive edge of the reference switch activates touch probe detection and change to
profile data set 2.
3. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 3: Axis already stands on the reference switch:
1. Movement in positive direction with profile data set 2.
2. Reversing with negative edge of the reference switch.
3. Positive edge of the reference switch activates touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1013: DS402 homing method 13
2
Touch probe/zero pulse
Reference switch
Negative travel range limit switch
Procedures:
Case 1: Axis does not activate the reference switch while moving towards the limit switch:
1. Movement in negative direction with profile data set 1.
2. Reversing to negative travel range limit switch.
3. Positive edge of the reference switch activates touch probe detection and change to
profile data set 2.
4. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis first activates the reference switch while moving towards the limit switch:
1. Movement in negative direction with profile data set 1.
2. Positive edge of the reference switch activates profile data set 2.
3. Reversing with negative edge of the reference switch.
4. Positive edge of the reference switch activates touch probe detection.
5. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
6. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Case 3: Axis already stands on the reference switch:
1. Movement in negative direction with profile data set 2.
2. Reversing with negative edge of the reference switch.
3. Positive edge of the reference switch activates touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Mode 1014: DS402 homing method 14
1
2
3
2
Touch probe/zero pulse
Reference switch
Negative travel range limit switch
Procedures:
Case 1: Axis does not activate the reference switch while moving towards the limit switch:
1. Movement in negative direction with profile data set 1.
2. Reversing to negative travel range limit switch.
3. Reversing with positive edge of the reference switch and change to profile data set 2.
4. Negative edge of the reference switch activates touch probe detection.
5. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
6. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Case 2: Axis first activates the reference switch while moving towards the limit switch:
1. Movement in negative direction with profile data set 1.
2. Positive edge of the reference switch activates profile data set 2.
3. Negative edge of the reference switch activates touch probe detection.
4. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 3: Axis already stands on the reference switch:
1. Movement in negative direction with profile data set 2.
2. Negative edge of the reference switch activates touch probe detection.
3. The following positive edge of the encoder zero pulse/touch probe sensor sets the
reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Mode 1015: DS402 homing method 15
Reserved: no homing is executed.
Mode 1016: DS402 homing method 16
Reserved: no homing is executed.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1017: DS402 homing method 17
0
Negative travel range limit switch
Procedure:
1. Movement in negative direction with profile data set 1.
2. Reversing to negative travel range limit switch and change to profile data set 2.
3. The following negative edge of the travel range limit switch sets the reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Mode 1018: DS402 homing method 18
0
Positive travel range limit switch
Procedure:
1. Movement in positive direction with profile data set 1.
2. Reversing to positive travel range limit switch and change to profile data set 2.
3. The following negative edge of the travel range limit switch sets the reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1019: DS402 homing method 19
1
2
0
Reference switch
Procedures:
Case 1: Axis has not yet activated the reference switch:
1. Movement in positive direction with profile data set 1.
2. Reversing with positive edge of the reference switch and change to profile data set 2.
3. The following negative edge of the reference switch sets the reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis already stands on the reference switch:
1. Movement in negative direction with profile data set 2.
2. The following negative edge of the reference switch sets the reference.
3. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
EDS94AxHExxxx EN 7.0 - 04/2010 L
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1020: DS402 homing method 20
0
Reference switch
Procedures:
Case 1: Axis has not yet activated the reference switch:
1. Movement in positive direction with profile data set 1.
2. The following positive edge of the reference switch sets the reference.
3. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis already stands on the reference switch:
1. Movement in negative direction with profile data set 2.
2. Reversing with negative edge of the reference switch.
3. The following positive edge of the reference switch sets the reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1021: DS402 homing method 21
1
2
0
Reference switch
Procedures:
Case 1: Axis has not yet activated the reference switch:
1. Movement in negative direction with profile data set 1.
2. Reversing with positive edge of the reference switch and change to profile data set 2.
3. The following negative edge of the reference switch sets the reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis already stands on the reference switch:
1. Movement in positive direction with profile data set 2.
2. The following negative edge of the reference switch sets the reference.
3. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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467
9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1022: DS402 homing method 22
0
Reference switch
Procedures:
Case 1: Axis has not yet activated the reference switch:
1. Movement in negative direction with profile data set 1.
2. The following positive edge of the reference switch sets the reference.
3. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis already stands on the reference switch:
1. Movement in positive direction with profile data set 2.
2. Reversing with negative edge of the reference switch.
3. The following positive edge of the reference switch sets the reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1023: DS402 homing method 23
2
3
1
Reference switch
Positive travel range limit switch
Procedures:
Case 1: Axis does not activate the reference switch while moving towards the limit switch:
1. Movement in positive direction with profile data set 1.
2. Reversing to positive travel range limit switch.
3. Positive edge of the reference switch activates profile data set 2.
4. The following negative edge of the reference switch sets the reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis first activates the reference switch while moving towards the limit switch:
1. Movement in positive direction with profile data set 1.
2. Reversing with positive edge of the reference switch and change to profile data set 2.
3. The following negative edge of the reference switch sets the reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 3: Axis already stands on the reference switch:
1. Movement in negative direction with profile data set 2.
2. The following negative edge of the reference switch sets the reference.
3. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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469
9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1024: DS402 homing method 24
1
2
1
Reference switch
Positive travel range limit switch
Procedures:
Case 1: Axis does not activate the reference switch while moving towards the limit switch:
1. Movement in positive direction with profile data set 1.
2. Reversing to positive travel range limit switch.
3. Positive edge of the reference switch activates profile data set 2.
4. Reversing with negative edge of the reference switch.
5. The following positive edge of the reference switch sets the reference.
6. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis first activates the reference switch while moving towards the limit switch:
1. Movement in positive direction with profile data set 1.
2. The following positive edge of the reference switch sets the reference.
3. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 3: Axis already stands on the reference switch:
1. Movement in negative direction with profile data set 2.
2. Reversing with negative edge of the reference switch.
3. The following positive edge of the reference switch sets the reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1025: DS402 homing method 25
1
Reference switch
Positive travel range limit switch
Procedures:
Case 1: Axis does not activate the reference switch while moving towards the limit switch:
1. Movement in positive direction with profile data set 1.
2. Reversing to positive travel range limit switch.
3. The following positive edge of the reference switch sets the reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis first activates the reference switch while moving towards the limit switch:
1. Movement in positive direction with profile data set 1.
2. The following positive edge of the reference switch sets the reference.
3. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 3: Axis already stands on the reference switch:
1. Movement in positive direction with profile data set 2.
2. Reversing with negative edge of the reference switch.
3. The following positive edge of the reference switch sets the reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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471
9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1026: DS402 homing method 26
1
2
3
1
Reference switch
Positive travel range limit switch
Procedures:
Case 1: Axis does not activate the reference switch while moving towards the limit switch:
1. Movement in positive direction with profile data set 1.
2. Reversing to positive travel range limit switch.
3. Reversing with positive edge of the reference switch and change to profile data set 2.
4. The following negative edge of the reference switch sets the reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis first activates the reference switch while moving towards the limit switch:
1. Movement in positive direction with profile data set 1.
2. Positive edge of the reference switch activates profile data set 2.
3. The following negative edge of the reference switch sets the reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 3: Axis already stands on the reference switch:
1. Movement in positive direction with profile data set 2.
2. The following negative edge of the reference switch sets the reference.
3. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1027: DS402 homing method 27
2
3
1
Reference switch
Negative travel range limit switch
Procedures:
Case 1: Axis does not activate the reference switch while moving towards the limit switch:
1. Movement in negative direction with profile data set 1.
2. Reversing to negative travel range limit switch.
3. Positive edge of the reference switch activates profile data set 2.
4. The following negative edge of the reference switch sets the reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis first activates the reference switch while moving towards the limit switch:
1. Movement in negative direction with profile data set 1.
2. Reversing with positive edge of the reference switch and change to profile data set 2.
3. The following negative edge of the reference switch sets the reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 3: Axis already stands on the reference switch:
1. Movement in positive direction with profile data set 2.
2. The following negative edge of the reference switch sets the reference.
3. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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473
9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1028: DS402 homing method 28
1
2
1
Reference switch
Negative travel range limit switch
Procedures:
Case 1: Axis does not activate the reference switch while moving towards the limit switch:
1. Movement in negative direction with profile data set 1.
2. Reversing to negative travel range limit switch.
3. Positive edge of the reference switch activates profile data set 2.
4. Reversing with negative edge of the reference switch.
5. The following positive edge of the reference switch sets the reference.
6. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis first activates the reference switch while moving towards the limit switch:
1. Movement in negative direction with profile data set 1.
2. The following positive edge of the reference switch sets the reference.
3. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 3: Axis already stands on the reference switch:
1. Movement in positive direction with profile data set 2.
2. Reversing with negative edge of the reference switch.
3. The following positive edge of the reference switch sets the reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1029: DS402 homing method 29
1
Reference switch
Negative travel range limit switch
Procedures:
Case 1: Axis does not activate the reference switch while moving towards the limit switch:
1. Movement in negative direction with profile data set 1.
2. Reversing to negative travel range limit switch.
3. The following positive edge of the reference switch sets the reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis first activates the reference switch while moving towards the limit switch:
1. Movement in negative direction with profile data set 1.
2. Positive edge of the reference switch activates profile data set 2.
3. Reversing with negative edge of the reference switch.
4. The following positive edge of the reference switch sets the reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 3: Axis already stands on the reference switch:
1. Movement in negative direction with profile data set 2.
2. Reversing with negative edge of the reference switch.
3. The following positive edge of the reference switch sets the reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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475
9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1030: DS402 homing method 30
1
2
3
1
Reference switch
Negative travel range limit switch
Procedures:
Case 1: Axis does not activate the reference switch while moving towards the limit switch:
1. Movement in negative direction with profile data set 1.
2. Reversing to negative travel range limit switch.
3. Reversing with positive edge of the reference switch and change to profile data set 2.
4. The following negative edge of the reference switch sets the reference.
5. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 2: Axis first activates the reference switch while moving towards the limit switch:
1. Movement in negative direction with profile data set 1.
2. Positive edge of the reference switch activates profile data set 2.
3. The following negative edge of the reference switch sets the reference.
4. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Case 3: Axis already stands on the reference switch:
1. Movement in negative direction with profile data set 2.
2. The following negative edge of the reference switch sets the reference.
3. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1031: DS402 homing method 31
Reserved: no homing is executed.
Mode 1032: DS402 homing method 32
Reserved: no homing is executed.
Mode 1033: DS402 homing method 33
0
Touch probe/zero pulse
Procedure:
1. Movement in negative direction with profile data set 1 and activation of the touch
probe detection.
2. The following positive edge of the touch probe sensor sets the reference.
3. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
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477
9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
Mode 1034: DS402 homing method 34
0
Touch probe/zero pulse
Procedure:
1. Movement in positive direction with profile data set 1 and activation of the touch
probe detection.
2. The following positive edge of the touch probe sensor sets the reference.
3. Absolute positioning to target position (C02643) with profile data set 2
(if C02641 = "0").
Mode 1035: DS402 homing method 35
Direct reference setting.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
11.6.5 Execute homing
Requirements
The controller is in the "Operation" device state.
The basic function "Homing" is part of the active application.
No other basic function is active.
Activation
To request the control via the basic function, the HM_bEnable enable input in the
application must be set to TRUE.
If no other basic function is active, a change-over to the "Homing active" function state
is effected and homing can be carried out via the control inputs.
A successful change to the "Homing active" function state is displayed by a TRUE signal
at the HM_bEnabled status output.
Deactivation
When the HM_bEnable enable input is reset to FALSE, an active homing is stopped, i.e. the
control inputs for homing are inhibited and the drive is braked to standstill within the
deceleration time for stop.
The status output HM_bEnabled is reset to FALSE and a change-over from the active
"Homing active" function state via the "Drive is stopped" function state back to the
basic state "Drive at standstill" is carried out.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
11.6.5.1 Starting reference search/setting the reference directly
By setting the HM_bActivateHoming control input to TRUE, the reference search in the
selected homing mode is started.
During reference search, the HM_bActive status output is set to TRUE.
By setting the status output HM_bHomePosAvailable to TRUE, it is already signalised
during the reference search that the home position has been found. Depending on the
homing mode selected, the drive traverses further on to the target position set in
C02643.
When the reference search is completed, the HM_bActive status output is reset to
FALSE and the HM_bDone status output is set to TRUE.
Note!
In the homing mode "100: Set reference directly" no reference search is started,
but the home position set in C02642 is directly accepted.
11.6.5.2 Loading home position via input
By setting the control input HM_bLoadHomePos to TRUE, the "Tool position" that is
pending at input HM_dnHomePos_p is manually accepted as home position during the
drive is at standstill. This is also possible if the controller is inhibited.
The HM_bDone status output is set to TRUE for one cycle.
The HM_bHomePosAvailable status output is set to TRUE.
Note!
For the encoderless motor control types (from software version V3.0) the
following applies:
If V/f control or sensorless vector control has been selected, this function is only
effective if the position controller has been selected for the position control
(C02570 = "2: position controller active").
For the encoderless motor control types (from software version V5.0) the
following applies:
If the V/f control or sensorless vector control is selected, this function can be
activated irrespective of the use of the position controller.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Homing
11.6.5.3 Resetting home position
By setting the control input HM_bResetHomePos to TRUE, the "Home position known"
status can be reset.
The status outputs HM_bDone and HM_bHomePosAvailable are reset to FALSE.
Note!
For the encoderless motor control types (from software version V3.0) the
following applies:
If V/f control or sensorless vector control has been selected, this function is only
effective if the position controller has also been selected for the position control
(C02570 = "2: position controller active").
For the encoderless motor control types (from software version V5.0) the
following applies:
If the V/f control or sensorless vector control is selected, this function can be
activated irrespective of the use of the position controller.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Positioning
11.7 Positioning
The basic function "Positioning" provides the functions for executing the (travel) profiles
and supports an "override" of speed and acceleration.
A profile describes a motion request which can be implemented by this basic function
into a rotary motion.
A profile is described via the following profile parameters: Mode (type of positioning),
position, speed, acceleration, deceleration, S-ramp time, final speed, standard
sequence profile, TP sequence profile, TP window starting and end position and touch
probe signal source(s).
Note!
For positioning, setpoint speeds greater than 30000 rpm are not possible. The
speeds defined for these basic function are internally limited to 30000 rpm.
If the basic function is activated for a speed greater than 30000 rpm (e. g. if the
basic function "Speed follower" is replaced), the internal limitation of the speed
setpoint causes a speed step.
When the basic function is activated, a start acceleration is considered. Start
acceleration/acceleration reduction when the basic function changes ( 383)
For the encoderless motor control types (from software version V3.0) the
following applies:
If no position controller has been selected for the position control in case of V/f
control or sensorless vector control (C02570 = "1: Phase controller is active"),
positioning is only executed via the speed profile resulting from the profile
parameters. Because of this, the target positions set will only "roughly" be
reached.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Positioning
11.7.1 Internal interfaces | "LS_Positioner" system block
The LS_Positioner system block provides the internal interfaces for the basic function
"Positioning" in the function block editor.
LS_Positioner
POS_bEnable POS_dnState
POS_bStart POS_bEnabled
n
POS_bAbort POS_bActive
POS_bRestart POS_bDone
t
POS_ProfileData POS_bInTarget
POS_bEnableOverride POS_bActPosInTarget
POS_dnSpeedOverride_n POS_bDriveInTarget
POS_dnAccOverride_n POS_dnSetPos_p
POS_dnDecOverride_n POS_dnProfileTarget_p
POS_bDisableTP POS_dnProfileSpeed_s
POS_dwActualProfileNumber
POS_dnSetPosRelative_p
POS_dnActPosRelative_p
Note!
Ensure that the system block is called in a cyclic application task.
Basically, projects which only contain an unsolicited task and no cyclic task are
not permissible!
Inputs
Identifier Information/possible settings
DIS code | data type
POS_bEnable Requesting control via the basic function
C02679/1 | BOOL
TRUE If no other basic function is active, a change-over to the "Positioning
active" function state is effected and positioning can be carried out
via the control inputs.
TRUEÌFALSE Active positioning is stopped, i. e. a change-over from the active
"Positioning active" function state via the "Drive is stopped" function
state back to the basic state "Drive at standstill" is carried out.
POS_bStart Starting positioning
C02679/2 | BOOL
FALSEÊTRUE The profile POS_ProfileData is executed.
FALSEÊTRUE "Restart"
(once again) • During an active positioning process, another profile can be
specified via the input POS_ProfileData which is executed after
restart.
• Distances of a relative positioning that have already been covered
are not taken into consideration.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Positioning
Identifier Information/possible settings
DIS code | data type
POS_bAbort Aborting or interrupting positioning
C02679/3 | BOOL
FALSEÊTRUE The current profile is not completed but braked to standstill with the
deceleration defined in the profile data.
TRUE A restart via POS_bStart or the continuation of an interrupted
positioning via POS_bRestart is inhibited.
FALSE A restart via POS_bStart or the continuation of an interrupted
positioning via POS_bRestart is possible again.
• If the restart signal POS_bRestart is already effected during the
deceleration phase, positioning is continued immediately.
POS_bRestart Continue interrupted positioning
C02679/4 | BOOL • Only possible if POS_bAbort has been reset from TRUE to FALSE.
TRUE The positioning interrupted before via POS_bAbort is completed.
• Distances of a relative positioning that have already been covered
are taken into consideration.
FALSEÊTRUE "Restart"
(once again) • During an active positioning process, another profile can be
specified via the input POS_ProfileData which is executed after
restart.
• Distances of a relative positioning that have already been covered
are taken into consideration.
POS_ProfileData Pointer to the profile to be executed in internal units (increments)
• A profile linkage results from the fact that a pointer to the sequence profile is
contained within the profile.
POS_bEnableOverride Activating override
C02679/5 | BOOL
TRUE Override of the speed, acceleration, and deceleration is active.
POS_dnSpeedOverride_n Value of speed override
C02677/1 | DINT • Percentage multiplier for the current profile parameter "Speed".
• Changes are accepted in each cycle.
• 230 ≡ 100 % of the speed defined in the profile.
• For values ≤ 1 % the status bit 18 is set.
• Values ≤ 0 % are set to 0 % internally and lead to the standstill of the drive.
POS_dnAccOverride_n Value for acceleration override
C02677/2 | DINT • Percentage multiplier for the current profile parameter "Acceleration".
• Changes are accepted in each cycle.
• 230 ≡ 100 % of the acceleration defined in the profile.
• For values ≤ 1 % the status bit 19 is set.
• Values ≤ 0 % are internally set to 0 % ("no acceleration").
POS_dnDecOverride_n Value for deceleration override
C02677/3 | DINT • Percentage multiplier for the current profile parameter "Deceleration".
From V5.0
• Changes are accepted in each cycle.
• 230 ≡ 100 % of the acceleration defined in the profile.
• For values ≤ 1 % the status bit 19 is set.
• Values ≤ 0 % are internally set to 0 % ("no deceleration").
POS_bDisableTP Deactivating touch probe positioning
C02679/6 | BOOL
TRUE Detected touch probes are ignored. There is no automatic change-
over to the TP sequence profile defined in the profile data.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Positioning
Outputs
Identifier Value/meaning
DIS code | data type
POS_dnState Status (bit coded)
C02675 | DINT • When the basic function is not enabled, all bits are set to "0".
• Bits which are not listed are not assigned with a status (always "0").
Bit 1 Positioning is active.
Bit 2 Positioning is completed (all profiles have been executed).
Bit 3 Acceleration/deceleration phase is active.
Bit 4 Actual position in the target
• The actual position value of the drive has reached the target of
the last profile to be traversed within the tolerance window set in
C02670.
Bit 5 CCW rotation is active.
Bit 6 Set position reached (in case of sequence profiles the drive continues
to travel).
Bit 10 Zero crossing in the positioning mode "modulo".
Bit 11 Positioning cannot be continued.
Bit 12 Drive in the target (actual position and set position in the target).
• This status is available from software version V5.0.
Bit 15 Fault in basic function active (group signal).
Bit 16 Positioning is aborted.
Bit 17 Reversing phase is active.
Bit 18 Speed override ≤1 %
Bit 19 Acceleration or deceleration override ≤ 1 %
Bit 20 Position is limited by basic function "Limiter".
Bit 21 Profile data are limited by basic function "Limiter".
Bit 22 Direction is inhibited by basic function "Limiter".
Bit 23 Abort by basic function "Limiter".
Bit 24 Home position is not known.
Bit 25 Stopping is active.
• Basic function is enabled for the first time but no positioning has
been requested / is active yet.
Bit 26 Cycle is not known.
Bit 27 Invalid positioning mode.
Bit 28 Invalid change of the positioning mode.
Bit 29 Profile data are not plausible or incorrect.
Bit 30 Profile generation error.
POS_bEnabled Status signal "Basic function is enabled"
C02679/7 | BOOL
TRUE Positioning via the control inputs is possible.
• The POS_bEnable enable input is set to TRUE and the controller is
in the "Positioning active" function state.
POS_bActive Status signal "Basic function is active"
C02679/8 | BOOL
TRUE Positioning is active (the drive axis is moving).
POS_bDone Status signal "Basic function is ready"
C02679/9 | BOOL
TRUE Positioning is completed.
• The profile is executed and no sequence profile is defined.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Positioning
Identifier Value/meaning
DIS code | data type
POS_bInTarget Status signal "Setpoint has reached target position"
C02679/10 | BOOL
FALSE Positioning is still active or has been aborted.
TRUE The current position setpoint has reached the target position.
POS_bActPosInTarget Status signal "Actual position in the target"
C02679/11 | BOOL • In case of sequence profiles: the target position of the last profile to be traversed.
Actual value-based evaluation "Target position reached" ( 488)
FALSE Positioning is still active or has been aborted.
TRUE The current actual position value of the drive has reached the target
of the last profile to be traversed within the tolerance window set in
C02670.
POS_bDriveInTarget Status signal "Drive in the target"
C02679/12 | BOOL • In case of sequence profiles: the target position of the last profile to be traversed.
From V5.0
• The status is also output if the basic function "Positioning" is deactivated.
Actual value- and setpoint-based evaluation "Drive in the target" ( 489)
FALSE Positioning is still active or has been aborted.
FALSEÊTRUE The current actual position value of the drive has reached the target
position within the profile to be traversed last within the tolerance
window set in C02671. At this time, the current position setpoint has
already reached the target position.
• In the case of positioning processes with sequence profiles, the
output is only set to TRUE after the last profile to be traversed.
TRUEÌFALSE The current actual position value of the drive has exited the
tolerance and hysteresis window set in C02671 and C02672 again
after a positioning process has been completed.
FALSEÊTRUE If C02673 = "1", a modulo evaluation is carried out in all cycles (Lenze
(once again) setting):
• The output is set to TRUE again if the current actual position value
of the drive enters the tolerance and hysteresis window in an
optional modulo cycle again.
If C02673 = "0", a modulo evaluation is only carried out in the
modulo cycle of the target setpoint:
• The output is set to TRUE again if the current actual position value
of the drive enters the tolerance and hysteresis window in the
same modulo cycle again.
POS_dnSetPos_p Current position setpoint in [increments]
C02678/1 | DINT • Reference point is the home position.
POS_dnProfileTarget_p Target position of the current profile in [increments]
C02678/2 | DINT • Reference point is the home position.
POS_dnProfileSpeed_s Current setpoint speed of the current profile as speed in [rpm]
C02676 | DINT • Taking a speed override into consideration.
POS_ Profile number (1 .... 100) of the current profile
dwActualProfileNumber
C02674 | DWORD
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Positioning
Identifier Value/meaning
DIS code | data type
POS_dnSetPosRelative_p Current relative position setpoint of the current positioning in [increments]
C02678/3 | DINT • The value is also output if the basic function "Positioning" is deactivated.
From V5.0
• Reference point is the starting position of the current profile.
• After a positioning process has been completed, the output keeps the last relative
value of the setpoint profile.
• The output is reset when a new positioning is started, or when the home position
is set.
POS_dnActPosRelative_p Current relative actual position value of the current positioning in [increments]
C02678/4 | DINT • The value is also output if the basic function "Positioning" is deactivated.
From V5.0
• Reference point is the starting position of the current profile.
• The output follows the current position even if the basic function "Positioning" is
no longer active.
• The output is reset when a new positioning is started, or when the home position
is set.
11.7.1.1 Possibilities for the selection of the profile
For specifying as well as storing and managing (travel) profiles, the following function
blocks are available:
Function block Function
L_PosPositionerTable ...serves to store and manage up to 100 (travel) profiles and to "Teach"
positions, speeds, accelerations/decelerations and S-ramp times.
• A further important task of this FB is the conversion of the table values
according to the preselected scaling in the LS_DriveInterface SB.
L_PosProfileTable ...serves to store and manage up to four (travel) profiles and allows the
"teaching" of target positions.
• In contrast to the FB L_PosPositionerTable this FB does not use any
variable tables but the data of the profile parameters are entered directly
into the assigned codes.
• The position at the input dnExtPos_p is used as target position as a
further specific feature for the selection of profile no. 1.
L_PosProfileInterface ...provides a profile data set for the LS_Positioner SB.
Related topics:
Setting the S-ramp time ( 385)
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Basic drive functions
Positioning
11.7.2 Parameter setting
Setting parameters is not required for the basic function "Positioning".
After activating the function, the profile is executed which has been transferred from
the application to the basic function via the input POS_ProfileData.
For profiles with touch probe positioning mode (residual path positioning) touch probe
is detected implicitly.
Related topics:
Setting the S-ramp time ( 385)
11.7.2.1 Actual value-based evaluation "Target position reached"
An actual value-based evaluation on whether the drive has reached the target position can
be carried out by means of the output POS_bActPosInTarget and parameterisation of
C02670.
The output POS_bActPosInTarget is set to TRUE if the current actual position value of
the drive has reached the target position of the profile to be traversed last within the
tolerance window set in C02670.
– Hence, for sequence profiles the evaluation is only valid for the target position of the
last profile.
If C02670 is set to "0" (Lenze setting), the evaluation is setpoint-based and the signal at
the POS_bActPosInTarget output corresponds to the POS_bDone signal.
Tip!
In many cases the signal POS_bActPosInTarget only has to be evaluated if the
setpoint has also reached the target position. This can for instance be
implemented in the function block editor by a logic "AND" operation with the
signal POS_bDone.
From software version V5.0 it is displayed whether the set position and the actual
position are in the target via the output POS_bDriveInTarget. Actual value- and
setpoint-based evaluation "Drive in the target" ( 489)
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Basic drive functions
Positioning
11.7.2.2 Actual value- and setpoint-based evaluation "Drive in the target"
This function extension is available from software version V5.0 onwards!
An actual value- and setpoint-based evaluation on whether the drive is in the target can be
carried out by means of the output POS_bDriveInTarget and parameterisation of C02671,
C02672, and C02673.
The output POS_bDriveInTarget is set to TRUE if the current actual position value of the
drive has reached the target position of the profile to be traversed last within the
tolerance window set in C02671.
– At this time, the current setpoint value has already reached the target position, i. e.
the actual position and set position are in the target.
– In the case of positioning processes with sequence profiles, the output is only set to
TRUE after the last profile to be traversed.
The output POS_bDriveInTarget is reset to FALSE if the current actual position value of
the drive has exited the tolerance and hysteresis window set in C02671 and C02672
again after a positioning process has been completed.
How the modulo evaluation is to be carried out if the actual position value enters the
tolerance and hysteresis window again can be set in C02673:
– Modulo evaluation in all cycles (Lenze setting):
The output POS_bDriveInTarget is set to TRUE again if the current actual position
value of the drive enters the tolerance window again in an optional modulo cycle.
– Modulo evaluation only in the modulo cycle of the target setpoint:
The output POS_bDriveInTarget is set to TRUE again if the current actual position
value of the drive enters the tolerance window again in the same modulo cycle.
A new FALSEÊTRUE edge at the output POS_bDriveInTarget after a positioning process
has been completed can for instance occur when the basic function is deactivated
afterwards, and if the drive axis is skewed so that the tolerance and hysteresis window
is exited and then the tolerance range is entered again.
Short overview of the parameters for the actual value- and setpoint-based evaluation:
Parameter Information Lenze setting
Value Unit
C02671 Tolerance for target position 2.0000 Unit
C02672 Hysteresis for target position 1.0000 Unit
C02673 Activate DriveInTarget Modulo All cycles
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Positioning
11.7.3 Carrying out positioning
Requirements
The controller is in the "Operation" device state.
The basic function "Positioning" is part of the active application.
No other basic function is active.
Activation
To request the control via the basic function, the POS_bEnable enable input in the
application must be set to TRUE.
If no other basic function is active, a change-over to the "Positioning active" function
state is effected and positioning can be carried out via the control inputs.
A successful change to the function state "Positioning active" is displayed by a TRUE
signal at the POS_bEnabled status output.
Deactivation
When the POS_bEnable enable input is reset to FALSE, an active positioning is stopped, i.e.
the control inputs for positioning are inhibited and the drive is braked to standstill within
the deceleration time for stop.
The status output POS_bEnabled is reset to FALSE and a change-over from the active
"Positioning active" function state via the "Drive is stopped" function state back to the
basic state "Drive at standstill" is carried out.
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Basic drive functions
Positioning
11.7.3.1 Starting positioning
By setting the control input POS_bStart to TRUE, the positioning process is started.
The (travel) profile that has been transferred to the basic function via the input
POS_ProfileData is traversed.
11.7.3.2 Aborting/interrupting positioning
By setting the control input POS_bAbort to TRUE, the active positioning can be aborted or
interrupted.
The current profile is not completed but braked to standstill with the deceleration
defined in the profile data.
If the control input POS_bAbort remains on TRUE, a restart or the continuation of an
interrupted positioning is inhibited.
After resetting the control input POS_bAbort to FALSE, a restart or the continuation of
an interrupted positioning process is possible again.
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Basic drive functions
Positioning
11.7.3.3 Continue interrupted positioning
By setting the control input POS_bRestart to TRUE, an interrupted positioning process can
be continued if the control input POS_bAbort has been reset to FALSE before.
Distances of a relative positioning that have already been covered are taken into
consideration.
If the continuation of a positioning process via the input POS_bRestart is not possible,
this is displayed via bit 11 of the status output POS_dnState.
The following applies to software versions lower than V3.0:
If during an active or cancelled positioning process a change-over to the states "Quick
stop active", "Drive is stopped", or "Drive at standstill" is effected, it is also possible to
continue a positioning process via POS_bRestart, taking the distance that has already
been covered into consideration.
The following applies from software version V3.0:
If during an active or cancelled positioning process a change-over is effected (e. g. by
activating a quick stop or inhibiting the controller), it is also possible to continue a
positioning process via POS_bRestart, taking the distance that has already been
covered into consideration.
However, after a homing has been carried out again, or after the following machine
parameters have been changed, a continuation of an interrupted positioning process
via the control input POS_bRestart is no longer possible:
– Encoder resolution (C00100)
– Position encoder selection (C00490), motor encoder selection (C00495)
– Gearbox factors (C02520, C02521, C02522, C02523)
– Feed constant (C02524)
– Motor mounting direction (C02527), position encoder mounting direction (C02529)
– Traversing range (C02528)
– Cycle (C02536) for modulo traversing range
– Position control structure (C02570)
492 L
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Positioning
11.7.3.4 Activating override
"Override" is the change of profile parameters and their acceptance during the positioning
process.
When the input POS_bEnableOverride is set to TRUE, a speed and acceleration override
occurs according to the override values applied to the inputs POS_dnSpeedOverride_n
and POS_dnAccOverride_n.
– The override values represent percentage multipliers with regard to the current
profile parameters for speed and acceleration.
– For override values ≤ 1 % a status bit is set.
– Override values ≤ 0 % are internally set to 0 %.
– Changes of the override values are accepted in each cycle.
Note!
The online change of speed and acceleration is effective from the profile start to
the beginning of the deceleration phase. Thus, the deceleration phase cannot be
changed via an override!
• If the override value for speed is 0 %, the drive is braked to standstill.
• If the override for the acceleration is 0 %, there is no acceleration.
From software version V5.0 also a deceleration override via the input
POS_dnDecOverride_n can be carried out if the input POS_bEnableOverride is set to
TRUE.
The deceleration override is effective:
– During the deceleration phase of a profile
– During an abort process
– In the case of a speed change-over from a high to a low speed within a profile (e. g. if
the speed override is used)
Note!
If the override value for deceleration is 0 %, there is no deceleration, i. e. the drive
does not come to a standstill!
If the input POS_bEnableOverride is reset to FALSE again, the speeds, accelerations, and
decelerations are run again, which have been defined via the profile parameters. There
is an immediate acceleration from the override speed to the speed set in the profile.
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Position follower
11.8 Position follower
This basic function is used as setpoint interface for position-controlled drives.
The specified position setpoint can either refer to the encoder on the motor side or to
the (position) encoder used additionally to detect the machine position. The selection
of the encoder configuration serves to adapt the internal control structure accordingly.
Instead of a position setpoint alternatively also a speed setpoint can be specified by an
according selection in C02680; the set position is then calculated by the integration of
the speed setpoint on the basis of the current actual position (relative positioning).
If the direction of rotation of the motor has to be inverted due to the mounting position
of the motor or the gearbox ratio available, the use of the control signals can be
accordingly changed over by means of parameterisation.
The speed feedforward control can also be executed with the position setpoint by a
corresponding selection in C02681. Then, the speed is calculated by differentiation of
the position setpoint.
Stop!
If a limit switch is approached by means of the basic function "Position follower"
and by this a fault with the "Quick stop by trouble" response is activated, always
a set/actual adjustment of the position has to be carried out before the fault is
acknowledged, as otherwise an uncontrolled motor movement may result after
the fault is acknowledged!
Hardware limit positions (limit switch) ( 522)
Note!
When the basic function is activated, a start acceleration is considered. Start
acceleration/acceleration reduction when the basic function changes ( 383)
For the encoderless motor control types (from software version V3.0) the
following applies:
The basic function "Position follower" can only be activated for V/f control or
sensorless vector control if the position controller has been selected for the
position control (C02570 = "2: position controller active").
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Position follower
11.8.1 Internal interfaces | "LS_PositionFollower" system block
The LS_PositionFollower system block provides the internal interfaces for the basic
function "Position follower" in the function block editor.
LS_PositionFollower
PF_bEnable PF_bEnabled
PF_dnPositionSet_p
PF_dnSpeedAdd1_s Position
setpoint
PF_dnSpeedAdd2_n
PF_dnAccAdd_x
M
PF_dnTorqueAdd_n
Note!
Ensure that the system block is called in a cyclic application task.
Basically, projects which only contain an unsolicited task and no cyclic task are
not permissible!
Inputs
Identifier Information/possible settings
DIS code | data type
PF_bEnable Requesting control via the basic function
C02689/1 | BOOL
TRUE If no other basic function is active, a change-over to the "Position
follower active" function state is carried out, and the setpoints
defined are accepted.
TRUEÌFALSE If no other basic function takes over the control of the drive, the drive
is brought to standstill, i. e. a change-over from the active function
state "Position follower active" via the "Drive is stopped" function
state back to the basic state "Drive at standstill" is carried out.
PF_dnPositionSet_p Position setpoint in [increments]
C02688/1 | DINT
PF_dnSpeedAdd1_s Speed feedforward control value in [rpm]
C02686 | DINT
PF_dnSpeedAdd2_n Additional speed setpoint in [%]
C02687/1 | DINT • 100 % ≡ Motor reference speed (C00011)
PF_dnAccAdd_x Motor acceleration
C02685 | DINT • For calculating the acceleration torque (for setting C00276 = "0").
• Selection as speed variation/time in [rpm/s]
PF_dnTorqueAdd_n Additive torque feedforward control value in [%]
C02687/2 | DINT • 100 % ≡ motor reference torque (display in C00057/2).
Outputs
Identifier Value/meaning
DIS code | data type
PF_bEnabled Status signal "Basic function is enabled"
C02689/2 | BOOL
TRUE The defined setpoints are accepted.
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Basic drive functions
Position follower
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11.8.2 Signal flow
497
Position follower
Basic drive functions
9400 HighLine | Parameter setting & configuration
C02527
MI_dnTorqueHighLimit_n 0 C02559/1
C02568/4 0
1
0
PF_dnTorqueAdd_n
1
0
PF_dnAccAdd_x i
C02531/3 1
C00273 C00276
MI_dnInertiaAdapt_n C02550/3
C02568/8 0
0
PF_dnSpeedAdd2_n 1
(1)
C02681 C00273 2 Interpolator
1
3
0
PF_dnSpeedAdd1_s 0
i
1
C02531/3 1 0
C00273
L
Interpolator
Position controller C02556 1
C02553 C00275
1
0 0 C00273
i
(3) C02531/3 1
2 C02550/2 MI_dnSpeedSetpoint_n
Speed controller C00050/1
FDB_dnActualPos_p C02570 C00070 Vp
C02570 C00909/1
C00909/2 C00071 Tn
1 Interpolator Phase controller C00072 Td
0
(4) (6) (7) (8) (2)
i 1
MI_dnTorqueSetpoint_n
0
C02531/3 1 C00776
PF_dnPositionSet_p (5) C00254 0 2 (9)
MI_bTorqueSetpointLimited
C02680 C02550/1
MI_bPosCtrlLimited MI_bSpeedCtrlLimited
0 0 MI_dnPosCtrlAdaptMotor_n MI_bSpeedSetpointLimited
MI_dnTorqueLowLimit_n
C02568/5
MI_dnPosCtrlAdaptLoad_n
1 C02559/2
FDB_dnPosOffset_p MI_bResetSpeedCtrlIntegrator
MI_bPosCtrlIntegratorOn MI_dnSpeedCtrlAdapt_n
Actual position value Motor position Motor speed
Encoder evaluation Encoder evaluation Encoder evaluation
EDS94AxHExxxx EN 7.0 - 04/2010
C00770 C00772
n...q Signals from Signal flow - encoder evaluation ( 245) FDB_... = input/output signals of the Encoder evaluation ( 241)
MI_... = input/output signals of the Motor interface ( 123)
[11-1] Signal flow - position follower
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Position follower
Internal variables of the motor control (oscilloscope signals)
The red numbers in brackets listed in the signal flow stand for internal variables of the
motor control, which you can record by means of the Oscilloscope for purposes of
diagnostics and documentation. ( 590)
No. Variable of the motor control Meaning
(1) Torque.dnTotalTorqueAdd Additive torque feedforward control value
(2) Torque.dnTorqueSetpoint Torque setpoint
(3) Position.dnActualLoadPos Actual position
(4) Position.dnPositionSetpoint Position setpoint
(5) Position.dnActualMotorPos Current motor position
(6) Position.dnContouringError Following error
(7) Speed.dnOutputPosCtrl Output signal - phase controller
(8) Speed.dnSpeedSetpoint Speed setpoint
(9) Speed.dnActualMotorSpeed Current motor speed
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Position follower
11.8.3 Parameter setting
Parameterisation dialog in the »Engineer«: Tab Application parameters Dialog level
Overview All basic functions Position follower
Short overview of the parameters for the position follower:
Parameter Information
C00050/1 Speed setpoint 1 [rpm]
C00070 Speed controller gain
C00071 Speed controller reset time
C00072 Speed controller rate time
C00273/1 Motor moment of inertia
C00273/2 Load moment of inertia
C00275 Signal source - speed setpoint
C00276 Signal source - torque setpoint
C00909/1 Upper speed limit value
C00909/2 Lower speed limit value
C02520 Gearbox factor numerator: Motor
C02521 Gearbox factor denom.: Motor
C02522 Gearbox factor num.: Pos. enc.
C02523 Gearbox fac. denom.: Pos. enc.
C02527 Motor mounting direction
C02550/1 Position setpoint interpolat.
C02550/2 Speed setpoint interpolat.
C02550/3 Torque setpoint interpolat.
C02553 Position controller gain
C02554 Position controller reset time
C02555 D component position controller
C02559 Internal torque limit
C02680 Source position setpoint
C02681 Source add. speed
Highlighted in grey = display parameter
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Position follower
11.8.3.1 Setpoint interpolation
When the setpoint interpolation is activated, the motor control creates intermediate
values to "smoothly" follow the setpoints which may be transferred from a slower task.
C02550/1 = "1": The motor control follows the position setpoint in interpolated steps.
C02550/2 = "1": The motor control follows the speed setpoint in interpolated steps.
C02550/3 = "1": The motor control follows the torque setpoint in interpolated steps.
11.8.3.2 Inversion of the direction of rotation
Depending on the motor mounting position, if required, the direction of rotation can be
inverted:
C02527 = "0": Clockwise rotating motor ≡ positive machine direction.
C02527 = "1": Counter-clockwise rotating motor ≡ positive machine direction.
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Basic drive functions
Position follower
11.8.4 Activating setpoint interface
Requirements
The controller is in the "Operation" device state.
The basic function "Position follower" is part of the active application.
No other basic function is active.
Activation
To request the control via the basic function, the PF_bEnable enable input in the
application must be set to TRUE.
If no other basic function is active, a change-over to the "Position follower active"
function state is carried out. Setpoints can now be defined via the corresponding
inputs. Signal flow
A successful change to the "Position follower active" function state is displayed by a
TRUE signal at the status output PF_bEnabled.
Stop!
The basic function does not take over the control of the drive from the current
speed, but immediately with the setpoint defined, which may cause a jerk!
Deactivation
When the PF_bEnable enable input is reset to FALSE, the setpoint inputs are inhibited. If the
drive is not at standstill, it is braked to standstill within the deceleration time set for stop
unless another basic function takes over the control of the drive.
The status output PF_bEnabled is reset to FALSE and a change-over from the active
"Position follower active" function state via the "Drive is stopped" function state back
to the basic state "Drive at standstill" is carried out.
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Basic drive functions
Speed follower
11.9 Speed follower
This basic function is used as setpoint interface for speed-controlled drives.
The motor control is switched over automatically to speed control with torque
limitation.
If the direction of rotation of the motor has to be inverted due to the mounting position
of the motor or the gearbox ratio available, the use of the control signals can be
accordingly changed over by means of parameterisation.
Note!
When the basic function is activated, a start acceleration is considered. Start
acceleration/acceleration reduction when the basic function changes ( 383)
11.9.1 Internal interfaces | "LS_SpeedFollower" system block
The LS_SpeedFollower system block provides the internal interfaces for the basic function
"Speed follower" in the function block editor.
LS_SpeedFollower
SF_bEnable SF_bEnabled
SF_dnSpeedSet_n
Speed
SF_dnSpeedAdd_s setpoint
SF_dnAccAdd_x M
SF_dnTorqueAdd_n
Note!
Ensure that the system block is called in a cyclic application task.
Basically, projects which only contain an unsolicited task and no cyclic task are
not permissible!
Inputs
Identifier Information/possible settings
DIS code | data type
SF_bEnable Requesting control via the basic function
C02695/1 | BOOL
TRUE If no other basic function is active, a change-over to the "Speed
follower active" function state is carried out, and the setpoints
defined are accepted.
TRUEÌFALSE If no other basic function takes over the control of the drive, the drive
is brought to standstill, i. e. a change-over from the active function
state "Speed follower active" via the "Drive is stopped" function state
back to the basic state "Drive at standstill" is carried out.
502 L
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Speed follower
Identifier Information/possible settings
DIS code | data type
SF_dnSpeedSet_n Speed setpoint in [%]
C02694/1 | DINT • 100 % ≡ Motor reference speed (C00011)
SF_dnSpeedAdd_s Additive speed setpoint in [rpm]
C02693 | DINT • Without position control function.
SF_dnAccAdd_x Motor acceleration
C02692 | DINT • For calculating the acceleration torque (for setting C00276 = "0").
• Selection as speed variation/time in [rpm/s]
SF_dnTorqueAdd_n Additive torque feedforward control value in [%]
C02694/2 | DINT • 100 % ≡ motor reference torque (display in C00057/2).
Outputs
Identifier Value/meaning
DIS code | data type
SF_bEnabled Status signal "Basic function is enabled"
C02695/2 | BOOL
TRUE The defined setpoints are accepted.
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Basic drive functions
Speed follower
11.9.2 Signal flow
C02527
MI_dnTorqueHighLimit_n 0 C02559/1
C02568/4 0
1
MI_dnInertiaAdapt_n
C02568/8
0
SF_dnTorqueAdd_n
1 C00276 C02550/3
0
C00273
0
SF_dnAccAdd_x i C00692 1
(1)
C02531/3 1 2 Interpolator
C00273 3
C00273
MI_dnSpeedSetpoint_n
C02550/2 C00909/1 C00050/1
C00909/2
Speed Controller
SF_dnSpeedSet_n 0
(3) (4) (2)
MI_dnTorqueSetpoint_n
1
(5) C00776
Interpolator C00070 Vp
0
C00071 Tn MI_bTorqueSetpointLimited
SF_dnSpeedAdd_s i C00072 Td
MI_bSpeedCtrlLimited
C02531/3 1 Motor speed MI_bSpeedSetpointLimited
Encoder evaluation
C00576 MI_bSpeedFollowingError
C00772 C00579
0 0
MI_dnTorqueLowLimit_n
C02568/5
1 C02559/2 MI_dnSpeedCtrlAdapt_n
MI_bResetSpeedCtrlIntegrator
p Signal from Signal flow - encoder evaluation ( 245)
MI_... = input/output signals of the Motor interface ( 123)
[11-2] Signal flow - speed follower
Internal variables of the motor control (oscilloscope signals)
The red numbers in brackets listed in the signal flow stand for internal variables of the
motor control, which you can record by means of the Oscilloscope for purposes of
diagnostics and documentation. ( 590)
No. Variable of the motor control Meaning
(1) Torque.dnTotalTorqueAdd Additive torque feedforward control value
(2) Torque.dnTorqueSetpoint Torque setpoint
(3) Speed.dnTotalSpeedAdd Additive speed setpoint
(4) Speed.dnSpeedSetpoint Speed setpoint
(5) Speed.dnActualMotorSpeed Current motor speed
504 L
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Speed follower
11.9.3 Parameter setting
Parameterisation dialog in the »Engineer«: Tab Application parameters Dialog level
Overview All basic functions Speed follower
Short overview of the parameters for the speed follower:
Parameter Information
C00050/1 Speed setpoint 1
C00070 Speed controller gain
C00071 Speed controller reset time
C00072 Speed controller rate time
C00273/1 Motor moment of inertia
C00273/2 Load moment of inertia
C00276 Signal source - torque setpoint
C00576 Speed monitoring window
C00579 Resp. to speed monitoring
C00909/1 Upper speed limit value
C00909/2 Lower speed limit value
C02520 Gearbox factor numerator: Motor
C02521 Gearbox factor denom.: Motor
C02522 Gearbox factor num.: Pos. enc.
C02523 Gearbox fac. denom.: Pos. enc.
C02527 Motor mounting direction
C02531/3 Effective gearbox factor (dec.)
C02550/2 Speed setpoint interpolat.
C02550/3 Torque setpoint interpolat.
C02570 Position control structure
C02559 Internal torque limit
Highlighted in grey = display parameter
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Speed follower
11.9.3.1 Setpoint interpolation
When the setpoint interpolation is activated, the motor control creates intermediate
values to "smoothly" follow the speed and/or torque setpoints which may be transferred
from a slower task.
C02550/2 = "1": The motor control follows the speed setpoint in interpolated steps.
C02550/3 = "1": The motor control follows the torque setpoint in interpolated steps.
11.9.3.2 Inversion of the direction of rotation
Depending on the motor mounting position, if required, the direction of rotation can be
inverted:
C02527 = "0": Clockwise rotating motor ≡ positive machine direction.
C02527 = "1": Counter-clockwise rotating motor ≡ positive machine direction.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Speed follower
11.9.4 Activating setpoint interface
Requirements
The controller is in the "Operation" device state.
The basic function "Speed follower" is part of the active application.
No other basic function is active.
Activation
To request the control via the basic function, the SF_bEnable enable input in the
application must be set to TRUE.
If no other basic function is active, a change-over to the "Speed follower active"
function state is carried out, and the motor control is automatically switched over to
speed control with torque limitation. Setpoints can now be defined via the
corresponding inputs. Signal flow
A successful change to the function state "Speed follower active" is displayed by a TRUE
signal at the SF_bEnabled status output.
Stop!
The basic function does not take over the control of the drive from the current
speed, but immediately with the setpoint defined, which may cause a jerk!
Deactivation
When the SF_bEnable enable input is reset to FALSE, the setpoint inputs are inhibited. If the
drive is not at standstill, it is braked to standstill within the deceleration time set for stop
unless another basic function takes over the control of the drive.
The status output SF_bEnabled is reset to FALSE and a change-over from the active
"Speed follower active" function state via the "Drive is stopped" function state back to
the basic state "Drive at standstill" is carried out.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Torque follower
11.10 Torque follower
This basic function is used as setpoint interface for torque-controlled drives.
The motor control is switched over automatically to torque control with speed
limitation.
If the direction of rotation of the motor has to be inverted due to the mounting position
of the motor or the gearbox ratio available, the use of the control signals can be
accordingly changed over by means of parameterisation.
A stable speed limitation requires a minimum difference of the speed limit values of 50
rpm. If the defined speed limit values fall below this minimum difference, the internal
lower speed limit value is lowered accordingly. The upper speed limit value remains
unchanged. Signal flow - torque follower ( 510)
Note!
When the basic function is activated, a start acceleration is considered. Start
acceleration/acceleration reduction when the basic function changes ( 383)
For the encoderless motor control types (from software version V3.0) the
following applies:
The basic function "Torque follower" cannot be activated when the V/f control
has been selected.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Torque follower
11.10.1 Internal interfaces | "LS_TorqueFollower" system block
The LS_TorqueFollower system block provides the internal interfaces for the basic function
"Torque follower" in the function block editor.
LS_TorqueFollower
TF_bEnable TF_bEnabled
TF_dnTorqueSet_n Torque
setpoint
TF_dnSpeedHighLimit_n
TF_dnSpeedLowLimit_n
M
Note!
Ensure that the system block is called in a cyclic application task.
Basically, projects which only contain an unsolicited task and no cyclic task are
not permissible!
Inputs
Identifier Information/possible settings
DIS code | data type
TF_bEnable Requesting control via the basic function
C02699/1 | BOOL
TRUE If no other basic function is active, a change-over to the "Torque
follower active" function state is carried out, and the setpoints
defined are accepted.
TRUEÌFALSE If no other basic function takes over the control of the drive, the drive
is brought to standstill, i. e. a change-over from the active function
state "Torque follower active" via the "Drive is stopped" function
state back to the basic state "Drive at standstill" is carried out.
TF_dnTorqueSet_n Torque setpoint in [%]
C02698/1 | DINT • 100 % ≡ motor reference torque (display in C00057/2).
TF_dnSpeedHighLimit_n Upper speed limit value in [%] for speed limitation
C02698/2 | DINT • For positive direction of motion.
• 100 % ≡ Motor reference speed (C00011).
• Negative values are limited internally to the value "0".
TF_dnSpeedLowLimit_n Lower speed limit value in [%] for speed limitation
C02698/3 | DINT • For negative direction of motion.
• 100 % ≡ Motor reference speed (C00011).
• Positive values are limited internally to the value "0".
Outputs
Identifier Value/meaning
DIS code | data type
TF_bEnabled Status signal "Basic function is enabled"
C02699/2 | BOOL
TRUE The defined setpoints are accepted.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Torque follower
11.10.2 Signal flow
C02527
MI_dnTorqueHighLimit_n 0 C02559/1
C02568/4 0
1 C00909/1
C02550/2 C00909/2 C00070 Vp
Interpolator C00071 Tn
0
TF_dnSpeedHighLimit_n (1) Speed controller 1
0
C02698/2 1 LS_MotorInterface
50 rpm C02550/3 MI_bSpeedSetpointLimited
Interpolator C02569/5
0
TF_dnTorqueSet_n
MI_dnTorqueSetpoint_n
C02698/1 1 C00696
C02550/2 C00776
0 0
Interpolator MI_bTorqueSetpointLimited
TF_dnSpeedLowLimit_n
C02569/7
C02598/3 1 Speed controller 2
C00909/1 (2) C00070 Vp
C00909/2 C00071 Tn
0 0
MI_dnTorqueLowLimit_n MI_dnSpeedCtrlAdapt_n
C02568/5
C02559/2
1
Motor speed
Encoder evaluation
C00772
p Signal from Signal flow - encoder evaluation ( 245)
MI_... = input/output signals of the Motor interface ( 123)
[11-3] Signal flow - torque follower
Internal variables of the motor control (oscilloscope signals)
The red numbers in brackets listed in the signal flow stand for internal variables of the
motor control, which you can record by means of the Oscilloscope for purposes of
diagnostics and documentation. ( 590)
No. Variable of the motor control Meaning
(1) Speed.dnSpeedSetpoint Speed setpoint
(2) Speed.dnActualMotorSpeed Current motor speed
510 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Basic drive functions
Torque follower
11.10.3 Parameter setting
Parameterisation dialog in the »Engineer«: Tab Application parameters Dialog level
Overview All basic functions Torque follower
Short overview of the parameters for the torque follower:
Parameter Information
C00050/1 Speed setpoint 1
C00050/2 Speed setpoint 2
C00070 Speed controller gain
C00071 Speed controller reset time
C00909/1 Upper speed limit value
C00909/2 Lower speed limit value
C02527 Motor mounting direction
C02550/2 Speed setpoint interpolat.
C02550/3 Torque setpoint interpolat.
C02559 Internal torque limit
Highlighted in grey = display parameter
11.10.3.1 Setpoint interpolation
When the setpoint interpolation is activated, the motor control creates intermediate
values to "smoothly" follow the speed and/or torque setpoints which may be transferred
from a slower task.
C02550/2 = "1": The motor control follows the speed setpoint in interpolated steps.
C02550/3 = "1": The motor control follows the torque setpoint in interpolated steps.
11.10.3.2 Inversion of the direction of rotation
Depending on the motor mounting position, if required, the direction of rotation can be
inverted:
C02527 = "0": Clockwise rotating motor ≡ positive machine direction.
C02527 = "1": Counter-clockwise rotating motor ≡ positive machine direction.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Torque follower
11.10.4 Activating setpoint interface
Requirements
The controller is in the "Operation" device state.
The basic function "Torque follower" is part of the active application.
No other basic function is active.
Activation
To request the control via the basic function, the TF_bEnable enable input in the
application must be set to TRUE.
If no other basic function is active, a change-over to the "Torque follower active"
function state is carried out, and the motor control is automatically switched over to
torque control with speed limitation. Setpoints can now be defined via the
corresponding inputs. Signal flow
A successful change to the function state "Torque follower active" is displayed by a
TRUE signal at the TF_bEnabled status output.
Stop!
The basic function does not take over the control of the drive from the current
speed, but immediately with the setpoint defined, which may cause a jerk!
Deactivation
When the TF_bEnable enable input is reset to FALSE, the setpoint inputs are inhibited. If the
drive is not at standstill, it is braked to standstill within the deceleration time set for stop
unless another basic function takes over the control of the drive.
The status output TF_bEnabled is reset to FALSE and a change-over from the active
"Torque follower active" function state via the "Drive is stopped" function state back to
the basic state "Drive at standstill" is carried out.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Limiter
11.11 Limiter
The basic function "Limiter" monitors the travel range limits via limit switches and
parameterised software limit positions and can lead the drive to defined limit ranges when
being requested accordingly by the safety module.
Danger!
The safety is exclusively ensured by the safety module!
When the request for the safety function is cancelled, the drive restarts
automatically.
Ensure by external measures that the drive only starts after a confirmation
(EN 60204).
Note!
In order to make it possible for the basic function "Limiter" to lead the drive to
the limit ranges defined after a corresponding request by the safety module,
before the limits set for the safety module have been reached and it shuts down
the drive, the limits for the basic function "Limiter" have to be set lower than the
limits of the safety module!
See also: Safety engineering ( 367)
11.11.1 Internal interfaces | "LS_Limiter" system block
The LS_Limiter system block provides the internal interfaces for the basic function
"Limiter" in the function block editor.
LS_Limiter
LIM_dwControl LIM_dnState
n
LIM_bLimitSwitchPositive LIM_bLimitationActive
LIM_bLimitSwitchNegative
LIM_bActivateLimitedSpeed1
t
Note!
Ensure that the system block is called in a cyclic application task.
Basically, projects which only contain an unsolicited task and no cyclic task are
not permissible!
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Limiter
Inputs
Identifier Information/possible settings
DIS code | data type
LIM_dwControl Interface to the safety module (bit coded)
C02717 | DWORD • For a simple connection of the safety module to the application, the transmission
of the currently valid safety requirement(s) is effected via this bit coded control
signal.
• It is also possible to make several requirements at the same time via the control
signal, e.g. manual jog with limited increment and limited speed 2.
• Bits not listed are reserved for future extensions!
Bit 0 Switched-off torque: request controller inhibit.
• This bit is no longer supported by the control signal of the
LS_SafetyModuleInterface system block.
Bit 1 Stop 1: request quick stop with subsequent controller inhibit.
Bit 2 Stop 2: request quick stop.
• If the automatic brake operation is activated, the brake remains
open at standstill.
Bit 3 Request limited speed 1.
• Change of the traversing profile according to the parameters set
for the limited speed 1 (C02708/1, C02710/1, C02711/1).
• Only effective for the basic functions "Manual jog", "Homing" and
"Positioning".
Bit 4 Request limited speed 2.
• Change of the traversing profile according to the parameters set
for the limited speed 2 (C02708/2, C02710/2, C02711/2).
• Only effective for the basic functions "Manual jog", "Homing" and
"Positioning".
Bit 5 Request limited speed 3.
• Change of the traversing profile according to the parameters set
for the limited speed 3 (C02708/3, C02710/3, C02711/3).
• Only effective for the basic functions "Manual jog", "Homing" and
"Positioning".
Bit 6 Request limited speed 4.
• Change of the traversing profile according to the parameters set
for the limited speed 4 (C02708/4, C02710/4, C02711/4).
• Only effective for the basic functions "Manual jog", "Homing" and
"Positioning".
Bit 7 Only permit positive direction of rotation.
• Only effective for the basic functions "Manual jog", "Homing" and
"Positioning".
Bit 8 Only permit negative direction of rotation.
• Only effective for the basic functions "Manual jog", "Homing" and
"Positioning".
Bit 10 Limited increment
• Activate maximum distance set in C02713 as limited increment
for the basic function "Manual jog".
Bit 12 Defined limit positions
• Activate software limit positions set in C02701/1 and C02701/2.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Limiter
Identifier Information/possible settings
DIS code | data type
LIM_bLimitSwitchPositive Input for positive travel range limit switch
C02719/1 | BOOL
TRUE Limit switch is activated.
LIM_bLimitSwitchNegative Input for negative travel range limit switch
C02719/2 | BOOL
TRUE Limit switch is activated.
LIM_bActivateLimitedSpeed Request limited speed 1
1 • If a setpoint follower is active, no limitation takes place, but an exceeding of the
C02719/3 | BOOL limit values is displayed via the output LIM_dnState.
TRUE Request limited speed 1.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Limiter
Outputs
Identifier Value/meaning
DIS code | data type
LIM_dnState Status word (bit coded)
C02718 | DINT • Bits which are not listed are not assigned with a status (always "0").
Bit 0 Controller inhibit is initiated.
(Safe torque off is requested;
bit 0 of the LIM_dwControl control signal is set to "1".)
Bit 1 Quick stop is initiated.
(Safe stop 1 is requested;
bit 1 of the LIM_dwControl control signal is set to "1".)
Bit 2 Quick stop is initiated.
(Safe stop 2 is requested;
bit 2 of the LIM_dwControl control signal is set to "1".)
Bit 3 Profile change due to speed limitation.
(Limited speed 1 is requested;
bit 3 of the LIM_dwControl control signal is set to "1".)
Bit 4 Profile change due to speed limitation.
(Limited speed 2 is requested;
bit 4 of the LIM_dwControl control signal is set to "1".)
Bit 5 Profile change due to speed limitation.
(Limited speed 3 is requested;
bit 5 of the LIM_dwControl control signal is set to "1".)
Bit 6 Profile change due to speed limitation.
(Limited speed 4 is requested;
bit 6 of the LIM_dwControl control signal is set to "1".)
Bit 7 Only positive direction of rotation is permissible.
• When the direction of rotation is negative while requesting "Only
positive direction of rotation", the drive is braked to standstill.
Bit 8 Only negative direction of rotation is permissible.
• When the direction of rotation is positive while requesting "Only
negative direction of rotation", the drive is braked to standstill.
Bit 10 Increment in manual jog mode is limited.
Bit 12 Limitation of the set position is active.
Bit 16 Positive limit switch inhibits travel in positive direction.
Bit 17 Negative limit switch inhibits travel in negative direction.
Bit 18 Positive software limit position inhibits travel in positive direction.
Bit 19 Negative software limit position inhibits travel in negative direction.
Bit 20 Limitation of speed is active.
Bit 21 Limitation of acceleration is active.
Bit 22 Limitation of deceleration is active.
Bit 23 Limitation of jerk is active (S-ramp time is increased).
LIM_bLimitationActive Status signal "Limitation is active" (group signal)
C02715 | BOOL
TRUE A limitation is active.
516 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Basic drive functions
Limiter
11.11.1.1 Interface to the safety module
For the simple connection of the safety module to the application, the transmission of the
currently valid safety requirement(s) is effected in the form of a bit coded control signal via
the following interface:
LS_SafetyModuleInterface LS_Limiter
SMI_dwControl LIM_dwControl
[11-4] Interface to connect the safety module to the basic function "Limiter"
It is also possible to make several requirements at the same time via the control signal,
e.g. manual jog with limited increment and limited speed 2.
If no safety module is connected, the control signal can also be generated by means of
a converter block (FB L_DevSMControlEncoder).
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Limiter
11.11.2 Parameter setting
Parameterisation dialog in the »Engineer«: Tab Application parameters Dialog level
Overview All basic functions Limiter
Short overview of the parameters for the limiter:
Parameter Information
C02700 Software limits pos. effective
C02701/1 Positive software limit position
C02701/2 Negative software limit position
C02702 Limitations effective
C02703 Max. speed
C02704 Max. speed [rpm]
C02705 Max. acceleration
C02706 Min. S-ramp time
C02707 Permissible direction of rotation
C02708/1...4 Limited speed 1 .... 4
C02709/1...4 Limited speed 1 .... 4 (display in [rpm])
C02710/1...4 Dec. limited speed 1 .... 4
C02711/1...4 S-ramp time limited speed 1 .... 4
C02712/1...4 Dec. time limited speed 1 .... 4
C02713 Max. distance manual jog
C02714 Max. dist. manual control (display in [increments])
C02715 Limitation active (status display)
C02716/1 Resp. to rotation limitation
C02716/2 Resp. to SW lim. pos. exceeded
C02716/3 Resp. to max. value exceeded
C02720 Observation software limit positions
Highlighted in grey = display parameter
Note!
The safety module has its own parameters.
Relevant to the basic function "Limiter" are the parameters of the safety
modules for setting "Limited direction of rotation", "Speed with time limit" and
"Limited increment (position)".
However, several other parameters of the safety module have no significance for
the basic function "Limiter", e. g. the parameters for the configuration of the
inputs of the safety module.
518 L
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Limiter
11.11.2.1 Software limit positions
The parameterisable software limit positions serve to limit the travel range.
Note!
Software limit positions are only evaluated and monitored if the drive knows the
home position and the software limit positions are active (C02700 = "1").
• When the traversing range is limited (C02528 = "1") and the software limit
positions are not active, the range is limited by the software to the internal
value range that can be maximally displayed (±231 increments).
• For the "Modulo" traversing range (C02528 = "2") the software limit positions
are generally not effective.
• If the error response that can be set in C02716/2 is deactivated or is only set
to "Warning" or "Information", the software limit positions are not effective
in an active manner for the basic functions "Speed follower", "Torque
follower", and "Position follower"!
From software version V4.0 onwards, the triggering behaviour of the software
limit position monitoring can be parameterised in C02720.
• If you want to maintain the device behaviour known from the previous
versions, select "1: Based on set and actual value" in C02720.
Triggering behaviour of software limit position monitoring ( 521)
The positive software limit position is set in C02701/1, and the negative software limit
position is set in C02701/2.
If the software limit positions are effective, travel commands the result of which would
be that the permissible travel range would be exited can no longer be executed:
ü
C02701/2 C02701/1
n C02701/2: Negative software limit position
o C02701/1: Positive software limit position
p Travel command possible
q Travel command not possible since the target position is outside the permissible traversing range.
[11-5] Example: Traversing range limitation by software limit position
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Limiter
If the drive is already beyond the permissible travel range and the software limit
positions are switched effectively, only travel commands resulting in the traversing of
the drive back to the permissible travel range can be executed:
C02701/2 C02701/1
ü
dnState
Bit 4
1
n C02701/2: Negative software limit position
o C02701/1: Positive software limit position
p Traversing in "retracting direction" is possible
q Traversing opposite to the "Retracting direction" is not possible
[11-6] Example: Permissible traversing direction for effective software limit positions
If the software limit positions are active and a software limit position is "overtravelled":
– The error response "quick stop by trouble" is carried out in the Lenze setting, i.e. the
drive is braked to standstill within the deceleration time set for the quick stop
function irrespective of the setpoint selection. The error response can be
parameterised in C02716/2.
– The fault message "Pos. SW limit switch overtravelled" or "Neg. SW limit
overtravelled" is entered in the logbook of the controller.
– A corresponding status is output via the LIM_dnState output.
– Depending on the error response parameterised, the drive can only be traversed
after the fault has been acknowledged.
See also: Manual jog to limit position ( 408)
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Limiter
11.11.2.2 Triggering behaviour of software limit position monitoring
This function extension is available from software version V4.0!
C02720 can be used to select the triggering behaviour of the software limit position
monitoring of non-positon-controlled basic functions:
Selection "0: Based on set value"
From software version V4.0 onwards, this is the Lenze setting:
If the basic functions "Speed follower" and "Torque follower" are used, the monitoring
responds if the drive is outside the software limit positions and a command to travel in
the "forbidden" direction is given (depending on the speed setpoint of the application).
For all other non-position-controlled basic functions, the monitoring does not respond
if a software limit position is exceeded.
Selection "1: Based on set and actual value"
This selection corresponds to the behaviour known from the previous versions (software
versions < V4.0):
For all non-position-controlled basic functions, the monitoring responds if the actual
position exceeds a software limit position.
– The monitoring also responds in the function states "Controller not ready" and
"Error". This may cause the monitoring to trigger permanently if the drive traverses
to a software limit position and controller inhibit is set subsequently because the
actual position slightly changes around the software limit position.
If the basic functions "Speed follower" and "Torque follower" are used, the monitoring
also responds if the drive is outside the software limit positions and a command to
travel in the "forbidden" direction is given (depending on the speed setpoint of the
application).
Note!
If the position-controlled basic functions "Manual jog", "Positioning" and
"Position follower" are used, the monitoring responds independently of the
triggering behaviour parameterised in C02720 if one of the following cases
occurs:
• The setpoint position exceeds a software limit position.
• A travel command is given which would cause the drive to leave the
permissible travel range.
• The drive is outside the software limit positions and a command to travel in
the "forbidden" direction is given.
If the software limit position monitoring is triggered, the error response
parameterised in C02716/2 is carried out.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Limiter
11.11.2.3 Hardware limit positions (limit switch)
Monitoring of the travel range limit by means of limit switches is effected via the inputs
LIM_bLimitSwitchPositive and LIM_bLimitSwitchNegative of the LS_Limiter SB.
The two inputs respond to the TRUE state and are to be connected to the corresponding
digital inputs to which the limit switches are connected:
X5
DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI
LS_DigitalInput LS_Limiter
DIGIN_bIn3 LIM_bLimitSwitchPositive
DIGIN_bIn4 LIM_bLimitSwitchNegative
[11-7] Example: Connection of the travel range limit switches to the digital inputs DI3 & DI4
If the limit switches are connected to decentralised terminals, the two inputs
LIM_bLimitSwitchPositive and LIM_bLimitSwitchNegative can be connected to the
decentralised terminal via a bus system (e. g. system bus).
Note!
If the digital inputs used for the connection of the limit switches are to be
designed in a fail-safe manner (activation at LOW level), you simply change the
terminal polarity of the corresponding digital inputs in C00114.
If one of the two monitoring inputs is set to TRUE:
– The error response "quick stop by trouble" is carried out, i.e. the drive is braked to
standstill within the deceleration time set for the quick stop function irrespective of
the setpoint selection.
– The fault message "Pos. SW limit switch has tripped" or "Neg. SW limit has tripped"
is entered in the logbook of the controller.
– A corresponding status is output via the LIM_dnState output.
– The drive can only be traversed again after the error has been acknowledged.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Limiter
Stop!
If a limit switch is approached by means of the basic function Position follower
and by this a fault with the "Quick stop by trouble" response is activated, always
a set/actual adjustment of the position has to be carried out before the fault is
acknowledged, as otherwise an uncontrolled motor movement may result after
the fault is acknowledged!
Tip!
An activated limit switch can be retracted using the function "Retracting the limit
switch". Retracting of an activated limit switch ( 409)
See also: Manual jog to limit position ( 408)
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Limiter
11.11.2.4 Limitations
Limit values for the basic functions "Manual jog", "Homing" and "Positioning" can be set via
the following parameters:
Parameter Information
C02703 Max. speed
• Max. permissible speed that can be driven by the system.
• This parameter depends, among other things, on the max. motor speed.
C02705 Max. acceleration
• Max. permissible acceleration or deceleration for positioning processes.
• This parameter depends, among other things, on the motor torque and moment of
inertia of the entire mechanics which is driven during the positioning process.
C02706 Min. S-ramp time
The parameters depend on the mechanics (e.g. the tool used).
Usually the parameters must be changed when a tool is exchanged, e.g. by means of a
recipe management of a superimposed control or via an HMI ("Human Machine
Interface").
Note!
In order that the set limit values are effective, "1" must be selected in C02702.
• Irrespective of this setting, basically, the speed setpoint is limited to the
motor reference speed (C00011)!
The limitations are not effective for the basic functions "Speed follower",
"Torque follower" and "Position follower"!
• In case of these basic functions only speed and acceleration are monitored.
• If the limit values for speed and acceleration are exceeded, the response
parameterised in C02716/3 is activated (Lenze setting: no response).
• Background: In the case of technology applications which are synchronised
via an electrical shaft, the setpoint followers may not be limited, since
synchronism would be lost by this. A possible consequence would be a
collision of tools.
If the limit values are switched effectively and a limit value that is set is exceeded:
– The setpoints of the active basic function ("Manual jog", "Homing" or "Positioning")
are changed (limited).
– The response parameterised in C02716/3 (Lenze setting: "No response") is activated.
– A corresponding error message is entered into the logbook of the controller.
– A corresponding status is output via the LIM_dnState output.
– The display parameter "Limitation active" (C02715) is set to "1: Activated".
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Limiter
11.11.2.5 Permissible direction of rotation
Via C02707, or alternatively via the input LIM_dwControl (generally by the control word of
the safety module) the permissible direction of rotation for the basic functions "Manual
jog", "Homing", and "Positioning" can be restricted.
Note!
The restriction of the permissible direction of rotation is not actively effective for
the basic functions "Speed follower", "Torque follower" and "Position follower"!
• Only the response parameterised in C02716/1 is executed.
(Lenze setting: "No response")
If the permissible direction of rotation is restricted and a travel command in the
inhibited direction of rotation is requested:
– The movement of the active basic function ("Manual jog", "Homing" or "Positioning")
is cancelled.
– The response parameterised in C02716/1 (Lenze setting: "No response") is activated.
– The fault message "Pos. direction of rotation was limited" or "Neg. direction of
rotation was limited" is entered in the logbook of the controller.
– A corresponding status is output via the LIM_dnState output.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Limiter
11.11.2.6 Limited speed
"Limited speeds" for the basic functions "Manual jog", "Homing" and "Positioning" can be
set via the following parameters:
Parameter Information
C02708/1...4 Limited speed 1 .... 4
C02710/1...4 Dec. limited speed 1 .... 4
C02711/1...4 S-ramp time limited speed 1 .... 4
C02712/1...4 Dec. time limited speed 1 .... 4
Note!
The limited speeds are not effective for the basic functions "Speed follower",
"Torque follower" and Position follower"!
The request "Limited speed 1 ... 4" is effected via the input LIM_dwControl, generally by
the control word of the safety module. If no safety module is available, the control word
for the input LIM_dwControl can also be generated by means of an inverter.
By means of the input LIM_bActivateLimitedSpeed1 additionally the request of "Limited
speed 1" can be effected, e. g. via a digital input that is connected to this input.
If a limited speed is requested and the current speed exceeds the limited speed:
– The setpoints of the active basic function ("Manual jog", "Homing" or "Positioning")
are changed (limited).
– The response parameterised in C02716/3 (Lenze setting: "No response") is activated.
– The error message "Speed has been limited" is entered into the logbook of the
controller.
– A corresponding status is output via the LIM_dnState output.
– The display parameter "Limitation active" (C02715) is set to "1: Activated".
Process example: "Manual jog"
1. Manual jog in positive direction is active and the manual speed is greater than the
"Limited speed 1" set.
2. Via the control word of the safety module the "Limited speed 1" is requested.
3. The drive is decelerated to the "Limited speed 1" with the deceleration and S-ramp time
set for the "Limited speed 1".
4. At the same time, a corresponding status is output via the LIM_dnState output.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Limiter
Priorisation of the limited speeds
The following applies to software versions lower than V3.0:
If several limited speeds are requested at the same time, the parameters of the limited
speed with the lowest number are used, i.e. the "Limited speed 1" has the highest
priority.
The following applies from software version V3.0:
If several limited speeds are requested at the same time, the lowest speed with the
greatest deceleration and the lowest S-ramp time is approached from the parameters
of the requested limited speeds.
11.11.2.7 Limited increment for manual jog
Via C02713 the maximum permissible distance (limited increment) for the basic function
"Manual jog" can be set.
The request "Limited increment" is effected via the input LIM_dwControl, generally by
the control word of the safety module. If no safety module is available, the control word
for the input LIM_dwControl can also be generated by means of an inverter.
In C02714 the maximum permissible distance in [increments] is displayed.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
11.12 Brake control
This basic function is used for a wear free control and monitoring of a motor holding brake
which in the simplest case is connected to the optionally available motor holding brake
control module. Alternatively, the motor holding brake can be controlled via a digital
output and monitored via a digital input.
Intended use
Motor holding brakes are used to hold axes in the case of controller inhibit or pulse inhibit
and in the "Mains OFF" system state. This is not only important for vertical axes, but for
instance also for horizontal axes for which an uncontrolled movement can bring about
diverse problems.
Examples:
Loss of the reference information after mains OFF and coasting of the drive.
Collision with other moving machine parts.
Danger!
Please bear in mind that the motor holding brake is an important element of the
safety concept of the entire machine. Thus maintain this system component
with special care!
Stop!
Motor holding brakes at Lenze motors are not designed for braking during
operation. The increased wear resulting from braking during operation may lead
to an early destruction of the motor holding brake!
Please observe the notes in the hardware manual for mounting and electrical
installation of the motor holding brake!
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
Note!
For the operation with motor holding brake control module:
• For single-axis controllers (Single Drive) the control (release) of the motor
holding brake is only possible if both the DC-bus voltage and a 24-V supply
voltage are available for the motor brake control!
• For multi-axis controllers (Multi Drive) the motor holding brake can also be
released without a DC-bus voltage.
For the encoderless motor control types (from software version V3.0) the
following applies:
The operation of vertical drives/hoists is
• only supported up to 55 kW by the V/f control!
• not supported by the sensorless vector control!
When the V/f control or sensorless vector control are selected, standstill
monitoring is always switched off.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
11.12.1 Internal interfaces | "LS_Brake" system block
The LS_Brake system block provides the internal interfaces for the basic function "Brake
control" in the function block editor.
LS_Brake
BRK_bReleaseBrake BRK_dnState
BRK_bStartingTorque2 BRK_bReleaseBrakeOut
BRK_bDisableStop BRK_bBrakeReleased
BRK_dnTorqueAdd_n BRK_bError
BRK_bBrakeApplied BRK_bCInhActive
BRK_bBrakeTest
BRK_bBrakeGrindIn
Note!
Ensure that the system block is called in a cyclic application task.
Basically, projects which only contain an unsolicited task and no cyclic task are
not permissible!
Inputs
Identifier Information/possible settings
DIS code | data type
BRK_bReleaseBrake Opening/closing the brake in connection with the selected operating mode
C02609/1 | BOOL
FALSE Close the brake.
• In automatic operation the internal brake logic takes over the
control of the brake.
TRUE Release brake.
• In automatic operation the internal brake logic is deactivated and
the brake is released. This controller inhibit that may be set by the
brake control is deactivated again.
BRK_bStartingTorque2 Selection of the torque feedforward control value
C02609/2 | BOOL • For the general use of the parameterisable starting torque as a feedforward
control value, the setting C02588 = 0 is required.
Torque feedforward control ( 543)
FALSE Starting torque 1 (C02586) is active.
TRUE Starting torque 2 (C02587) is active.
BRK_bDisableStop Prevent the brake from being applied in automatic operation
C02609/10 | BOOL • By this the drive remains position-controlled in the function states "Quick stop
active", "Drive is stopped", and "Drive at standstill".
• The input has no effect when the controller is inhibited.
TRUE The application of the brake in automatic operation is prevented.
BRK_dnTorqueAdd_n Additive torque value in [%] for torque feedforward control during start
C02608 | DINT • 100 % ≡ C00057/2
Torque feedforward control ( 543)
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
Identifier Information/possible settings
DIS code | data type
BRK_bBrakeApplied Input for status detection via switching contact at the brake
C02609/3 | BOOL • Activation of the input by setting C02583 = 1.
Signal configuration ( 534)
FALSE Status "Brake is released".
TRUE Status "Brake is applied".
BRK_bBrakeTest Start/abort of the brake test
C02609/4 | BOOL Carrying out brake test ( 560)
TRUE Carry out brake test
TRUEÌFALSE Abort brake test (deactivate mode).
BRK_bBrakeGrindIn Start/abort of the brake grinding process
C02609/5 | BOOL Grinding the brake ( 558)
TRUE Brake grinding.
TRUEÌFALSE Abort grinding process (deactivate mode).
Outputs
Identifier Value/meaning
DIS code | data type
BRK_dnState Status (bit coded)
C02607 | DINT • Bits which are not listed are not assigned with a status (always "0").
Bit 1 Brake control is active.
Bit 4 Motor holding brake control module is used.
Bit 8 Brake status (internal status signal).
Bit 9 Torque feedforward control is active.
Bit 10 Controller inhibit by brake is active or set.
Bit 15 Fault is active (collective message).
Bit 16 State "Grinding the brake".
Bit 17 State "Brake test".
Bit 18 State "Direct control".
Bit 19 State "Automatic control".
Bit 20 Error: External feedback.
Bit 21 Error: Position drift when brake is applied/checked.
Bit 22 Error: Monitoring of motor holding brake control module
Bit 23 Information: Brake activation via waiting time.
Bit 24 Information: Brake grinding process completed.
Bit 25 Information: Brake test completed.
Bit 26 Fault: Feedforward control torque could not be established within
one second.
Bit 27 Information: Current speed has fallen below the threshold for brake
activation set in C02581.
BRK_bReleaseBrakeOut Control signal for triggering an external brake/status signal for control state
C02609/6 | BOOL
FALSE Close the brake.
TRUE Release brake.
BRK_bBrakeReleased Status signal of the brake control considering the closing and opening time of the
C02609/7 | BOOL brake
FALSE Brake is applied (after the brake closing time has elapsed).
TRUE Brake is released (after the brake opening time has elapsed).
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
Identifier Value/meaning
DIS code | data type
BRK_bError Status signal "Brake error"
C02609/8 | BOOL
TRUE An error has been detected.
BRK_bCInhActive Status signal "Controller inhibit"
C02609/9 | BOOL
TRUE Controller inhibit has been set by brake control.
11.12.2 Parameter setting
Danger!
For the correct function of the brake control the different delay times in the
following parameters have to be set correctly!
If the delay times are set incorrectly, a faulty control of the motor holding brake
may be caused!
Parameterisation dialog in the »Engineer«: Tab Application parameters Dialog level
Overview All basic functions Brake control
Short overview of parameters for brake control:
Parameter Information
C02580 Operating mode brake
C02581 Threshold - brake activation
C02582 Brake resp. to pulse inhibit
C02583 Status input monitoring
C02585 Brake control polarity
C02586 Starting torque 1
C02587 Starting torque 2
C02588 Source of starting torque
C02589 Brake closing time
C02590 Brake opening time
C02591 Waiting time - status monitoring
C02593 Waiting time - brake activation
C02594 Test torque
C02595 Permissible angle of rotation
C02596 Grinding speed
C02597 Accel./decel. time - grinding
C02598 Grinding ON time
C02599 Grinding OFF time
C02600 Acceleration time feedf. control
C02601 Ref. for accel. time of brake
C02602 Source for feedf. control brake
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
Parameter Information
C02603 Threshold 1 for opening brake
C02604 Threshold 2 for opening brake
11.12.2.1 Operating mode
Various operating modes are available in C02580 for different applications and tasks:
Mode 0: Brake control is switched off ( 548)
Mode 1/11: Direct control of the brake ( 549)
– Without a specific logic or automatic system, can for instance be used to carry out a
simple check on whether the brake switches correctly.
Mode 2/12: Automatic control of the brake ( 550)
– The normal mode for the control of mech. holding brakes with and without holding
torque precontrol.
Function extension from software version V3.0:
Mode 22: Automatic DC-injection braking ( 555)
– DC-injection braking for V/f control and sensorless vector control.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
11.12.2.2 Signal configuration
The signal configuration of the control and status signals for the brake logic and
monitoring function is executed via the parameters shown in the following signal flow.
The design of the motor holding brake control module (here: E94AZHA0051) enables the
external control of the holding brake via an additional 3-pole terminal (X121).
BRK_bReleaseBrake BRK_bReleaseBrakeOut
Brake logic
?
0 0
BRK_bBrakeApplied Monitoring
1 1
Control Control
DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI Motor Brake Control DO4 DO3 DO2 DO1 24O GO
E94AZHA0051
Digital I/O Digital I/O
Feedback
X107
0
2
X121
Feedback 3
1 K_BRK
M
n C02583: Status input monitoring
o C02585: Brake control polarity (for motor holding brake control module)
Feedback by "Motor holding brake control status""
Feedback by "Brake function test"
Brake control via motor holding brake control module (here: E94AZHA0051)
Brake control via contactor at digital output
[11-8] Signal configuration of the control and status signal with the motor holding brake control module E94AZHA0051
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
The motor holding brake control module E94AZHX0051 does not include an additional 3-
pole terminal for the external control of the holding brake.
BRK_bReleaseBrake BRK_bReleaseBrakeOut
Brake logic
0 0
BRK_bBrakeApplied Monitoring
1 1
Feedback Control
0 Control
DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 RFR GI Motor Brake Control DO4 DO3 DO2 DO1 24O GO
E94AZHX0051
Digital I/O Digital I/O
Feedback X107
1
2 3
K_BRK
M
n C02583: Status input monitoring
o C02585: Brake control polarity (for motor holding brake control module)
Feedback by "Motor holding brake control status""
Feedback by "Brake function test"
Control of the brake via motor holding brake control module (here: E94AZHX0051)
Brake control via contactor at digital output
[11-9] Signal configuration of the control and status signal with the motor holding brake control module E84AZHX0051
Note!
If an electrically holding (self-releasing) motor holding brake is to be controlled
instead of an electrically releasing (self-holding) motor holding brake, the
corresponding control and status signals must be inverted!
Please observe the notes in the hardware manual for mounting and electrical
installation of the motor holding brake!
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
Status monitoring by "Motor holding brake control module status"
(See signal path in fig. [11-8])
Indirect status detection of the brake function.
Monitoring of the motor holding brake control module and the electrical brake circuit.
Status monitoring by "Brake function test"
(See signal path in fig. [11-8])
Direct function test of the complete brake circuit by microswitches at the brake.
Wear control of the brake rotor.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
11.12.2.3 Standstill monitoring
After the brake closing time and the waiting time for the status monitoring have elapsed,
the standstill monitoring becomes active, i. e. the holding position is noted and compared
to the permissible angle of rotation set in C02595 (Lenze setting: 5°) when the brake is
applied.
If the stop position of the motor axis
Stopping/Standstill
t
has changed by more than the
permissible angle of rotation set in
CINH Controller enabled
C02595, although the brake is
t
engaged:
j
0
– The error message "Motor brake:
Angular drift with closed brake too
high" is entered into the logbook.
t
1 – "Quick stop by trouble" is activated
as error response to avoid a further
BRK_bError
rotation/acceleration of the drive.
t
Normal behaviour – The error output BRK_bError is set to
Error behaviour TRUE for one task cycle.
n C02591: Waiting time - status monit. – The status "position drift when
o C02595: Permissible angle of rotation
CINH = controller inhibit brake is applied" is displayed at the
BRK_dnState status output via bit 21
for one task cycle.
[11-10] Automatic monitoring of the holding position
Note!
The standstill monitoring can be switched off by the setting C02595 = "0°".
For the encoderless motor control types (from software version V3.0) the
following applies:
If the V/f control or the sensorless vector control is selected, the standstill
monitoring is generally switched off, irrespective of the setting in C02595.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
11.12.2.4 Brake activation in automatic operation
Brake activation through N < Nmin
If the motor speed falls below the
Stopping
threshold for brake activation set in
t
C02581, the function "Close brake" is
activated in the automatic operation
Standstill (mode 2/12).
t
Here only the absolute value of the
n motor speed is considered, the
direction of rotation remains
0 1 unconsidered.
t
In manual operation (mode 1/11)
C02581 has no function.
BRK_bReleaseBrakeOut
t
Speed setpoint
Actual speed value
n C02581: Brake activation threshold
[11-11] Process of brake activation through N < Nmin
Tip!
The value in C02581 should be set to approx. 5 ... 20 % of the maximum speed to
minimise the wear of the brake and also provide for an optimum braking
behaviour by a low grinding of the brake.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
Brake activation through time-out
If a waiting time for the brake activation > 0 s is set in C02593, the time monitoring is
active, i. e. the brake at the latest is activated for application after the waiting time has
elapsed, even if the actual speed value is still above the threshold for the brake activation
set in C02581.
Note!
In the Lenze setting the time monitoring is not active (C02593 = "0 s").
The waiting time starts to elapse if the
Stopping
speed setpoint has reached the
t
threshold for the brake activation.
Standstill
If the speed setpoint is still above the
t
threshold after the waiting time has
elapsed:
n – The brake is automatically triggered
to close in automatic operation
0 1 (mode 2/12).
t
– The "brake activation via waiting
time" status is displayed at the
BRK_bReleaseBrakeOut BRK_dnState status output via bit
t 23.
Speed setpoint
– The information "Motor brake:
Actual speed value
n C02581: Brake activation threshold Automatically activated after
o C02593: Waiting time for brake activation waiting time has elapsed" is entered
in the logbook.
[11-12] Process of brake activation through time-out
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
11.12.2.5 Brake time response
Application and opening time
Danger!
A wrong setting of the closing and opening time can cause a wrong activation of
the motor holding brake!
• When the closing time is set too low, the controller is inhibited and the drive
gets torqueless before the motor holding brake is closed completely.
Every mechanical motor holding brake
Stopping/Standstill
has a construction-conditioned
t
application and opening time which
BRK_bReleaseBrakeOut has to be taken into consideration by
t the brake control and which for this
purpose has to be set in C02589 and in
I BRK C02590.
The information on the application
t
and opening time of a Lenze-motor
holding brake can be found in the
corresponding Operating Instructions
CINH in the chapter "Technical data".
t
n C02589: Brake closing time If the application and opening times
o C02590: Brake opening time are set too great, this may be not
CINH = controller inhibit critical with regard to safety, but
causes unnecessary long delays in the
case of cyclic braking processes.
[11-13] Example: Definition of the closing and opening time of the PM brake
Tip!
The application and opening times do not only vary between the brake types, but
they also depend on the basic conditions in the system, like for instance:
• Parameters of the hardware (cable length, temperature, supply voltage etc.)
• Contact elements used (motor holding brake control module or contactor at the
digital output)
• Type of overvoltage limitation/suppressor circuit
For purposes of optimisation, the response times should be determined by
measurement for each case.
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
Motor magnetising time (only for asynchronous motor)
For an asynchronous motor first the
Stopping/Standstill
magnetic field required for the holding
t
torque is generated after controller
inhibit has been deactivated (in the
BRK_bReleaseBrakeOut
t case of a synchronous motor it is
already available).
I BRK
The brake is only released if the actual
torque has reached 90 % of the
t
feedforward control torque.
CINH
t
n Motor magnetising time
CINH = controller inhibit
[11-14] Example: Consideration of the motor magnetising time in case of a PM brake
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
Waiting time for status monitoring
Every time the brake status changes, the waiting time set in C02591 is awaited after the
brake opening or brake closing time has elapsed, before the monitoring of the motor
holding brake control module and the status input BRK_bBrakeApplied (if activated via
C02583) and the standstill monitoring function are switched active again.
During the "Closing the brake" process, a mechanical contact must signal the "brake
closed" state after the waiting time has elapsed.
During the "Releasing the brake" process, a mechanical contact must signal the "brake
released" state after the waiting time has elapsed.
Tip!
The additional waiting time is based on the fact that during the state change of the
brake also state changes with regard to the monitored signals within the brake
logic can occur, e. g. by bouncing the microswitch on the brake, or activation of the
short circuit threshold within the motor holding brake control module due to
discharge current peaks when the brake voltage is switched on. These state
changes result in the activation of the monitoring function, although no stationary
fault is pending.
The waiting time in C02591 must be
Stopping/Standstill
set so that bouncing of a feedback
t
contact and the transient response of
BRK_bReleaseBrakeOut the brake current monitoring will be
t suppressed completely.
I BRK
If no corresponding feedback takes
place after the waiting time has
elapsed:
t – The error output BRK_bError is set to
TRUE until the next trigger attempt
starts.
0
t – The error response "Quick stop by
trouble" is activated.
1 – The error message "Brake status
error" is entered into the logbook.
t
Brake status (with bouncing or transient response)
Active status monitoring
n C02589: Brake closing time
o C02590: Brake opening time
p C02591: Waiting time - status monit.
[11-15] Definition of the waiting time for status monitoring
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
11.12.2.6 Torque feedforward control
In automatic operation (mode 2/12) the brake control offers the possibility of
precontrolling the required torque of the drive when the brake is released.
Note!
The torque is precontrolled for one second. During this time, the actual torque
must have reached 90 % of the set torque, otherwise a fault is tripped!
The torque feedforward control is also supported for the V/f control (from
software version V3.0) .
Via C02588 first the basic selection on whether a parameterised starting torque or the
torque memorised during the last application process is to be used for the feedforward
control.
Feedforward control with parameterised starting torque
BRK_bStartingTorque2 When C02588 = 0, a change-over
Speed controller between two starting torques is
C02586 0
C02588 = 0 possible via input
0 BRK_bStartingTorque2:
C02587 1
CTRL
– BRK_bStartingTorque2 = FALSE:
1
S&H
Starting torque 1 (C02586) is used.
n C02586: Starting torque 1
o C02587: Starting torque 2 – BRK_bStartingTorque2 = TRUE:
p C02588: Source of starting torque Starting torque 2 (C02587) is used.
[11-16] Feedforward control with parameterised starting torque
Application example:
A hoist drive is to be operated with different loads. Unfortunately we do not know when
the load is available, but the starting direction (lifting or lowering) is known.
In a no-load condition, the hoist drive needs a torque of 10 Nm. For holding the
maximum load it needs a torque of 50 Nm.
The change-over between lifting and lowering at start-up is done via the input
BRK_bStartingTorque2.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
To ensure the correct direction at start-up, the speed controller is loaded with the
following starting torques:
Lifting Lowering
Starting torque: C02586 = 50 Nm C02587 = 10 Nm
This results in the following behaviour depending on load and direction:
Lifting Lowering
Behaviour at max. load: Optimum behaviour Start-up a bit fast, but correct direction
(non-critical).
Behaviour without load: Start-up a bit fast, but correct direction Optimum behaviour
(non-critical).
Feedforward control with memorised torque
Speed controller
When C02588 = 1, the starting torque
C02588 = 1 is the setpoint which has been
automatically memorised during the
0
0
1
CTRL last closing process (falling below the
S&H 1
speed threshold set in C02581).
p C02588: Source of starting torque
[11-17] Feedforward control with parameterised starting torque
Note!
The greater the threshold for the brake activation set in C02581, the greater the
dynamic portion (e. g. the speed-dependent friction torque) in the memorised
torque.
For the specific case that the load is altered while the motor holding brake is
closed, a correction value for the torque feedforward control can be defined via
the input BRK_dnTorqueAdd_n that is added to the memorised torque.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
Further torque feedforward control options
Speed controller Via the input BRK_dnTorqueAdd_n an
additional feedforward control value
0
can be defined.
CTRL
1
BRK_dnTorqueAdd_n
[11-18] Feedforward control with parameterised starting torque
Application example:
In the case of a hoist drive, the load is always known. For an optimum behaviour a torque
proportional to the load and additionally 10 Nm as a constant feedforward control value
should be loaded into the speed controller.
As a constant feedforward control value the starting torque 1 is used
(C02586 ="10 Nm", C02588 = "0", and BRK_bStartingTorque2 = FALSE).
Via the input BRK_dnTorqueAdd_n the torque is specified proportional to the load.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
11.12.2.7 Torque feedforward control via ramp function
This function extension is available from software version V3.0!
The brake control additionally offers the possibility of establishing the required torque of
the drive when the brake is released via a parameterisable ramp function.
Settings
1. Go to C02600 and set the acceleration time for the feedforward control.
2. Go to C02601 and select the reference for the acceleration time:
– Selection "0: Motor reference value":
The acceleration time refers to the generation of the motor reference torque
(C00057/2), i.e. the acceleration is constant.
– Selection "1: Starting current value":
The acceleration time refers to the torque requested, i. e. the acceleration time is
constant.
Sequence
0
Enable speed follower
t
Torque
1
t
2
BRK_bReleaseBrakeOut
t
3
Speed follower active
t
Speed
t
Request of basic function "Speed follower" open brake
Torque is generated up to the setpoint via ramp function
Brake is triggered for being opened
After brake opening time has elapsed, the basic function "Speed follower" is activated
n C02590: Brake opening time
[11-19] Sequence of torque feedforward control via ramp function
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
11.12.2.8 Speed feedforward control via ramp function for V/f control
This function extension is available from software version V3.0!
For the V/f control there is the possibility of carrying out a feedforward control by means
of a speed which is generated via a parameterisable ramp.
Note!
The operation of vertical drives/hoists is only supported up to 55 kW by the V/f
control!
Settings:
1. Go to C02602 and set the selection "1: Speed" as source for the feedforward control.
2. Go to C02603 to set the speed threshold from which on the brake is to be opened.
– C02604 can be used to parameterise a second speed threshold which can be
activated by setting BRK_bStartingTorque2 to TRUE.
3. Go to C02600 and set the acceleration time for the feedforward control.
4. Go to C02601 and set the reference for the acceleration time
(0: Motor reference value, 1: Starting current value).
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
11.12.3 Mode 0: Brake control is switched off
If the mode 0 is selected in C02580, the brake control is switched off.
If a motor holding brake control module is available, it will not be triggered.
The brake monitoring function is not active.
A potential fault reported by the brake control is reset automatically.
The output signals of the system block LS_Brake are reset:
– BRK_dnState = 0
– BRK_bReleaseBrakeOut = FALSE
– BRK_bBrakeReleased = FALSE
– BRK_bError = FALSE
Note!
In the Lenze setting the mode 0 is preset to reach a safe state after mains
connection.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
11.12.4 Mode 1/11: Direct control of the brake
If the mode 1 or 11 has been selected in C02580, the brake is directly controlled via the
input BRK_bReleaseBrake.
Tip!
Mode 1/11 can be used to easily check if the brake switches correctly.
By the selection of the mode it is also defined in which way the brake is to be controlled:
– Mode 1: Direct brake control via a motor holding brake control module.
– Mode 11: Direct brake control via a digital output.
Note!
The digital outputs are not suitable for the "direct" control of a motor holding
brake!
• The digital output used must be connected to a relay or power contactor
which switches the brake supply.
• If a power contactor is used, the response and release time of the contactor
contact is also added to the response and release time of the brake.
For the operation with motor holding brake control module:
• For single-axis controllers (Single Drive) the control (release) of the motor
holding brake is only possible if both the DC-bus voltage and a 24-V supply
voltage are available for the motor brake control!
• For multi-axis controllers (Multi Drive) the motor holding brake can also be
released without a DC-bus voltage.
Setting the pulse inhibit or controller inhibit does not influence the output signal.
After the brake has been activated and the brake closing time has elapsed, the
controller inhibit is set automatically by the basic function "brake control".
For the operation with a motor holding brake control module (mode 1) the desired
polarity for controlling the brake can be set in C02585.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
11.12.5 Mode 2/12: Automatic control of the brake
If mode 2 or mode 12 is selected in C02580, the brake is controlled automatically, i. e. if
another basic function is activated, which results in a traversing of the drive, the brake is
automatically opened and operation is enabled. If the corresponding basic function is
deactivated again, the drive is stopped via the basic function "Stop" and the brake is
automatically closed again if the speed setpoint and the actual speed value are below the
speed threshold set in C02581.
Tip!
The mode 2/12 is the common mode for brake control.
In this mode, the BRK_bReleaseBrake input should be set permanently to FALSE
unless a manual release is required.
If BRK_bReleaseBrake = TRUE, the brake is released permanently and the automatic
control cannot close the brake.
By the selection of the mode it is also defined in which way the brake is to be controlled:
– Mode 2: Current monitoring active, brake is automatically controlled via motor
holding brake control module.
– Mode 12: Current monitoring deactivated, brake is controlled via digital output. If a
motor holding brake control module is installed, this will also be controlled.
Note!
The digital outputs are not suitable for the "direct" control of a motor holding
brake!
• The digital output used must be connected to a relay or power contactor
which switches the brake supply.
• If a power contactor is used, the response and release time of the contactor
contact is also added to the response and release time of the brake.
For the operation with motor holding brake control module:
• For single-axis controllers (Single Drive) the control (release) of the motor
holding brake is only possible if both the DC-bus voltage and a 24-V supply
voltage are available for the motor brake control!
• For multi-axis controllers (Multi Drive) the motor holding brake can also be
released without a DC-bus voltage.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
The brake is also activated automatically if a quick stop is activated in the drive, e.g. via
the basic function "Quick stop" or as a response to a fault and also in case of a controller
inhibit and pulse inhibit. Behaviour at pulse inhibit ( 551)
By setting the input BRK_bDisableStop to TRUE, an application of the brake at standstill
or during quick stop can be avoided; by this the drive remains position-controlled.
After the brake has been activated automatically and the brake closing time has
elapsed, the controller inhibit is set automatically by the basic function "brake control".
For the operation with a motor holding brake control module (in mode 2) the desired
polarity for controlling the brake can be set in C02585.
11.12.5.1 Behaviour at pulse inhibit
In case of pulse inhibit the brake is applied. This occurs according to the parameter setting
in C02582 either immediately (default setting) or delayed when the threshold set for brake
activation is fallen below, which can be selected to protect the brake if high centrifugal
masses occur.
Note!
Setting the pulse inhibit results causes the motor to coast down in a load-
controlled manner until pulse enable is carried out again.
Pulse inhibit can be set in the enabled controller, e.g. due to a DC overvoltage, DC
undervoltage or the "Safe torque off" request.
Stop!
Before setting the parameters of C02582 it is important to assess the energy
conditions of the machine.
The amount of energy stored in the machine can exceed the permissible
switching energy of a motor holding brake at the time of pulse inhibit and can
thus destroy the brake when being applied!
Activate the brake in any case
When C02582 = "0", the brake is immediately triggered to close to prevent the mechanics
from being damaged.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
Only activate the brake below the threshold set for brake activation
When C02582 = "1", the brake remains released until the threshold set in C02581 for brake
activation has been reached to protect the brake from excessive wear.
Braking is exclusively executed by the friction of the load mechanics.
Only when the motor speed has reached the threshold for brake activation, the brake
will be closed.
Stop!
Do not set the threshold for brake activation in C02581 too high to protect the
motor holding brake from wear!
Note!
For the encoderless motor control types (from software version V3.0) the
following applies:
If V/f control without encoder or sensorless vector control is selected, there is no
speed information for the controller in the case of pulse inhibit, therefore the
threshold set in C02581 for the brake activation is not effective in this case.
In order to avoid that the motor holding brake is closed in case of pulse inhibit, a
waiting time for the brake activation can be parameterised in C02593. In case of
pulse inhibit, the motor holding brake is then only triggered to close after this
application time has elapsed. Brake activation in automatic operation ( 538)
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
11.12.5.2 Process when brake is released
The following process occurs when a basic function is requested which causes the drive to
traverse:
1. The controller inhibit is deactivated.
2. A magnetic field is created in the motor required for the holding torque (is already
available in synchronous machines).
3. The feedforward control torque is loaded into the speed controller.
4. If the actual torque has reached 90 % of the feedforward control torque:
– The output BRK_bReleaseBrakeOut is set to TRUE for releasing the brake.
– Monitoring of the motor holding brake control module is deactivated temporarily.
– Monitoring of the status input is deactivated temporarily (if switched active via
C02583).
– The brake opening time starts to elapse.
5. After the brake opening time has elapsed:
– The output BRK_bBrakeReleased is set to TRUE.
– The requested basic function is enabled.
6. After the additional waiting time set for the status monitoring in C02591 has elapsed:
– Monitoring of the motor holding brake control module is active again.
– Monitoring of the status input is active again (if switched active via C02583).
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
11.12.5.3 Process when brake is closed
The following process occurs if the enable of the requested basic function for traversing
the drive is deactivated again:
1. The drive is brought to standstill via the basic function "Stop", or, where required, also
via the basic function "Quick stop".
2. When speed setpoint and actual speed value have fallen below the speed threshold set
in C02581:
– The output BRK_bReleaseBrakeOut is set to FALSE for closing the brake.
– The current torque is saved, so that, if necessary, it can be used for feedforward
control during the next start.
– Monitoring of the motor holding brake control module is deactivated temporarily.
– Monitoring of the status input is deactivated temporarily (if switched active via
C02583).
– The brake closing time starts to elapse.
3. After the brake closing time has elapsed and the corresponding state change of the
status signal:
– The output BRK_bBrakeReleased is reset to FALSE.
– The controller inhibit is activated.
4. After the additional waiting time set for the status monitoring in C02591 has elapsed:
– Monitoring of the motor holding brake control module is active again.
– Monitoring of the status input is active again (if switched active via C02583).
– Standstill monitoring is activated. Standstill monitoring ( 537)
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
11.12.6 Mode 22: Automatic DC-injection braking
This function extension is available from software version V3.0!
Note!
Automatic DC-injection braking is only possible if V/f control or sensorless vector
control is selected as motor control type in C00006!
If mode 22 has been selected in C02580, DC-injection braking is executed automatically if
the current speed setpoint falls below the speed threshold set in C02581.
The automatic is only effective in the function states "Drive is stopped", "Drive at
standstill", "Quick stop active", and "Fault".
DC-injection braking is executed for the brake closing time set in C02589 with the
braking current set in C00974.
After the brake closing time has elapsed, the controller inhibit is set automatically by
the basic function "brake control".
Danger!
If the braking current is set too low, or the application time is too short,
controller inhibit is set and the drive becomes torqueless before being
completely braked to standstill by means of DC-injection braking!
Enable speed follower
t
Stopping active Speed follower active
t
Speed setpoint
t
DC brake active
CINH
t
n C02581: Brake activation threshold
o C02589: Brake closing time
[11-20] Example 1: Speed follower active stopping active (stopping time > brake closing time) speed follower active
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
If a basic function is requested again before the brake closing time has elapsed, DC-
injection braking is interrupted and - if activated in C00990 – the flying restart process
is started and the basic function is activated:
Enable speed follower
t
Stopping active Speed follower active
t
Speed setpoint
t
DC brake active
t
n C02581: Brake activation threshold
o C02589: Brake closing time
p C00990: Flying restart (activated here)
[11-21] Example 2: Speed follower active stopping active (stopping time > brake closing time) speed follower active
Automatic DC-injection braking when quick stop is activated
DC-injection braking is activated automatically if a quick stop is triggered in the drive, e.g.
via the basic function "Quick stop" or as a response to an error.
A change-over to the "Quick stop active" function state is effected, and for the quick
stop deceleration time set in C00105 a DC-injection braking process with the braking
current set in C00975 is carried out.
After this time has elapsed, a change-over to the braking current parameterised in
C00974 is carried out and DC-injection braking is continued with this braking current.
After the brake closing time set in C02589 has also elapsed, the basic function "Brake
control" automatically sets controller inhibit.
The DC-injection braking in this case is also carried out when the "Quick stop by
trouble" error response is actuated; however, instead of the "Quick stop active"
function state, the "Fault" function state is active, and the controller is in the "Quick
stop by trouble active" device state.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
Enable speed follower
t
Quick stop active Speed follower active
t
Speed setpoint
0 1
t
DC brake active
DC brake current
t
CINH
t
Actual speed value
Actual speed value if the quick stop braking current is parameterised too low (C00975)
n C00105: Quick stop decel. time
o C02589: Brake closing time
p C00975: Quick stop braking current
q C00974: Braking current
[11-22] Process example: speed follower is active quick stop activation speed follower is active
Note!
The quick stop braking current in C00975 has to be set so that the drive can be
decelerated from the maximum operating speed to standstill within the
deceleration time for quick stop set in C00105!
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
11.12.7 Grinding the brake
This function may be required after the brake has been replaced. The holding torque
specified in the data sheet is only reached if the friction partners are ground in after
mounting.
Stop!
If this function is activated, the drive is automatically accelerated to the grinding
speed parameterised in C02596.
• The axis must move freely without driving against the travel range
limitations.
• The maximally permissible friction energy of the brake must not be exceeded
(observe the specifications of the manufacturer)!
2π –1
W total [ J ] ∼ M K [ Nm ] ⋅ ------ ⋅ N [ min ] ⋅ t total [ s ]
60
[11-23] Formula for estimating the friction energy during grinding process
Requirements
In order to be able to activate the grinding of the brake, the following conditions must be
fulfilled:
The grinding speed in C02596 is set higher than 0 rpm.
The brake is activated, i.e. the "brake closing time" (C02589) and the "waiting time for
status monitoring" (C02591) are elapsed.
No other source for controller inhibit is active so that the controller inhibit can be
deactivated by the brake control.
Note!
When grinding the brake, ensure that the motor shaft can be kept at speed
against the closed holding brake.
• For this purpose, make sure that the maximum torque of the motor control
(C00057/2) is higher than the holding torque of the brake.
558 L
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
Sequence
If all requirements mentioned before have been met, the grinding process can be started
by setting the input BRK_bBrakeGrindIn to TRUE.
After the grinding speed has been
BRK_bBrakeGrindIn
reached, the friction partners in the
t
brake are ground by a pulse-type
CINH control.
t
After the brake has been closed and
n
opened ten times, the direction of
rotation changes and grinding in the
opposite direction is carried out.
t By resetting the input
BRK_bBrakeGrindIn to FALSE the
grinding process can be aborted.
10 x 10 x
t
n C02596: Grinding speed
o C02597: Acc./dec. time - grinding
p C02598: Grinding ON time
q C02599: Grinding OFF time
CINH = controller inhibit
[11-24] Sequence of the grinding operation
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
11.12.8 Carrying out brake test
This function can be used to check the holding torque of the brake.
Tip!
You can carry out this test in regular intervals, e. g. to detect a defect or wear of the
brake at an early stage.
Note!
Due to possible deviations in the torque generation, the test of the holding
torque cannot determine the holding torque exactly!
• The generated motor torque can deviate up to ±15 % from the default value
depending on temperature.
Requirements
In order to be able to activate the brake test, the following requirements have to be met:
The test torque in C02594 is set higher than 0 Nm.
The permissible angle of rotation is set greater 0° in C02595, thus standstill monitoring
is active. Standstill monitoring ( 537)
The brake is activated, i.e. the "brake closing time" (C02589) and the "waiting time for
status monitoring" (C02591) are elapsed.
No other source for controller inhibit is active so that the controller inhibit can be
deactivated by the brake control.
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Basic drive functions
Brake control
Sequence
If all requirements mentioned before have been met, the brake test can be started by
setting the input BRK_bBrakeTest to TRUE.
The specified test torque is created via
BRK_bBrakeTest
a ramp generator with an acceleration
t
time of 1 s and held max. 4 s.
CINH – By this the motor shaft tries to
t rotate while the brake is applied.
M
0 By resetting the input BRK_bBrakeTest
to FALSE the brake test can be aborted.
1
t
1s max. 4 s
j
t
BRK_bError
t
Normal behaviour
Error behaviour
n C02594: Test torque
o C02595: Permissible angle of rotation
CINH = controller inhibit
[11-25] Sequence of the brake test
Error behaviour
If during the brake test the stop position of the motor axis has changed by more than the
permissible angle of rotation set in C02595, although the brake is engaged:
The brake test is cancelled immediately and "Quick stop by trouble" is activated as error
response to avoid a further rotation/acceleration of the drive.
The error message "Motor brake: Angular drift with closed brake too high" is entered
into the logbook.
The status "position drift when brake is applied" is displayed at the BRK_dnState status
output via bit 21 and the status "brake error" is displayed via bit 15.
The BRK_bError output is set to TRUE for one task cycle.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Brake control
11.12.9 Control of two motor holding brakes
The technical implementation is based on the control of an external relay by a digital
output. The relay contact then switches an external 24-V supply for both motor holding
brakes:
Digital I/O 24 V DC
DO4 DO3 DO2 DO1 24O GO
BRK_bReleaseBrakeOut Control
Brake logic
K_BRK
M
[11-26] Interconnection example for controlling two motor holding brakes
Tip!
From software version V7.0 onwards, two motor temperature sensors can be
evaluated simultaneously via the two encoder inputs X7 and X8 when two motor
are used (e.g. double motor for a storage and retrieval unit).
Temperature monitoring of a second motor ( 232)
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Cam data management
11.13 Cam data management
This function extension is available from software version V3.0!
The basic function "Cam data management" provides different functions for the
systemwide management of the cam data available in the memory module for a cam
application.
Cam data are motion profiles/characteristics, cam tracks, and position marks.
The cam data required can either be created using the »Cam Editor« and transmitted
to the controller by means of the »Engineer«, or they can be directly entered via the
parameters of this basic drive function if cam data have already been downloaded.
Note!
For the use of cam data in the controller, the licence level Motion Control
TopLevel is required!
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Cam data management
11.13.1 "Online" tab for cam data management
After an interconnection has been created via the electrical shaft, it is shown in the Project
view with the axes assigned:
If you select the axis representing the 9400 HighLine controller under the electrical shaft,
the Online tab for cam data management is provided in the Workspace:
Information
Cam data-able
• This property is set automatically for the controller if the controller supports cam data (licence level
Motion Control TopLevel required).
• Note: The checkmark must not be removed, as otherwise the assignment to the cam data is lost!
Cam data status
• The first green LED for instance is lit if the cam data file in the project is active.
• When an online connection to the controller has been established, also the status of the cam data
available in the controller is shown.
Display of the current memory distribution for the cam data. Memory distribution ( 565)
Configuration of the access protection for the cam data. Access protection ( 566)
Possibility for quickly updating the cam data in the controller (without having to transfer the complete
application). Regenerating the cam data file and transferring it to the controller ( 568)
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Cam data management
11.13.1.1 Memory distribution
From software version V5.0 there are three different storage modes for the distribution of
the cam data memory in the controller. The specification of the storage mode is effected
automatically by the »Engineer« when the cam data file is generated.
Note!
For controllers with a software version lower than V5.0 the memory distribution
always corresponds to storage mode 1 (see following table), i. e. the max. size of
the cam data file is limited to 256 kBytes.
Storage modes 2 and 3 automatically provide a greater memory for an extensive
amount of cam data, however, in return certain functions are no longer
supported (e. g. changing cam data via parameterisation).
Memory distribution of the cam data Display in Storage mode
[bytes]
1 2* 3*
Memory module - 262144 bytes 524288 bytes 1048576 bytes
(256 kBytes) (512 kBytes) (1024 kBytes)
Internal RAM for quick download C02901/1 262144 bytes 0 bytes 0 bytes
(256 kBytes)
Internal RAM for online change C02901/2 131072 bytes 262144 bytes 0 bytes
(128 kBytes) (256 kBytes)
Internal RAM for cam data C02901/3 131072 bytes 262144 bytes 524288 bytes
(128 kBytes) (256 kBytes) (512 kBytes)
* Only from software version V5.0
Functions supported Storage mode
1 2* 3*
Changing cam data via parameterisation z
Quick download to the RAM z
Online change z z
Device command "Load cam data" z z z
Device command "Save cam data" z
Device command "Calculate cam data" z z z
Device command "Calculate cam data checksum" z
* Only from software version V5.0
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Cam data management
11.13.1.2 Access protection
If required, the cam data can be protected against unauthorised or unintentional change
by means of a three-stage access protection concept:
Step 1: Access protection deactivated
There is no access protection for the upload/download of new cam data and the
change of cam data via parameters.
Step 2: Access protection via user password
The user password must be entered for the upload/download of new cam data and the
change of password-protected cam data via parameters.
Step 3: Linking the cam data to the serial number of the memory module
The user password must be entered for the upload/download of new cam data and the
change of password-protected cam data via parameters.
In addition, the serial number of the memory module must comply with the serial
number given in the »Engineer« for the cam data.
Note!
The settings for the access protection are firmly defined for the existing cam
data and cannot be changed.
For a change of the settings the cam data have to be updated in the »Engineer«
and then transferred to the controller. These two actions can be carried out on
the Online tab via the buttons Generate cam data file and Transfer cam data to
the device.
Regenerating the cam data file and transferring it to the controller ( 568)
How to define a password for the cam data:
1. Click the lower Password button (for new password).
• The Change password dialog box appears:
2. Enter desired user password.
3. Click OK to accept the entry and close the dialog box.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Cam data management
How to change an existing password:
1. Click upper Password button (for existing password).
2. Enter the existing user password in the Change password dialog box.
3. Click OK to accept the entry and close the dialog box.
4. Click the lower Password button (for new password).
5. Enter the new user password in the Change password dialog box.
6. Click OK to accept the entry and close the dialog box.
Tip!
An existing access protection via user password can be cancelled again by carrying
out the steps described before for changing the password and simply leaving blank
the input field for the new password.
How to link the cam data to the serial number of the memory module:
Go to the Serial number input field and enter the serial number of the memory
module.
• When an online connection to the controller has been established, you can read
out the serial number of the memory module in the controller by clicking the
Read from device button.
Tip!
The linkage of the cam data to the serial number of the memory module can be
cancelled again by carrying out the steps described before and simply leaving blank
the Serial number input field.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Cam data management
11.13.1.3 Regenerating the cam data file and transferring it to the controller
If you transfer the parameter set or the application from the »Engineer« to the controller,
the cam data are also transferred automatically to the controller.
To only regenerate the cam data file and transferring it to the controller, after the cam data
have been changed in the »Cam Manager« or the settings have been changed for access
protection, carry out the following steps:
How to update the cam data:
1. Click on the Generate cam data file button on the Online tab to regenerate the cam
data file for the controller.
• The cam data status shown and the information with regard to the memory
distribution on the Online tab are updated. The green LED behind "In the
project" is lit now, which means that the cam data file in the project is active:
When an online connection has been established to the controller:
2. To transmit the cam data to the controller, click the Download cam data button.
• The new/altered cam data are accepted in the controller according to the online
change mode set. Online change mode ( 573)
• The green LED behind "In the memory module" is now lit as well, which means
that the cam data file in the memory module is also active:
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Cam data management
11.13.2 Internal interfaces | "LS_CamInterface" system block
The LS_CamInterface system block provides the internal interfaces for cam data
management in the function block editor.
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Inputs
Identifier Information/possible settings
DIS code | data type
CAM_dnProductNumber Product number
DINT • The basic function manages the product number for all cam FBs within the
application.
• The product number is displayed in the »Cam Manager« in squared brackets after
the product name.
• If the product number is to be defined via parameter instead, a corresponding
user code must be created in the application and connected with this input.
• The highest product number to be created is shown in C02908.
CAM_bActivateProduct Activate product
BOOL • The change-over to another product is caused by an event which is generated
from the application.
TRUE The product with the product number at input
CAM_dnProductNumber is activated.
CAM_bActivateNewData Reload cam data from the backup memory (controlled acceptance)
BOOL • Only possible if the online change mode "10: Manual Activation" is set in C02905.
• If the online change mode "16: Automatic activation with CINH" (Lenze setting)
or "15: Automatic activation" is set in C02905, the new cam data are accepted
immediately after a download and this input has no function.
• The current status of the data acceptance is shown in C02906.
TRUE Reload cam data from the backup memory.
Outputs
Identifier Value/meaning
DIS code | data type
CAM_dnActiveProduct Product number of the currently active product
C02909 | DINT
CAM_bDownloadBusy Status signal "Download/data change active"
BOOL • The current status of the data acceptance is shown in C02906.
TRUE Currently the cam data in the RAM of the controller are changed.
• For instance, due to parameter set transfer, device command
C00002 = "501: Load cam data" or change of the cam data via
parameters.
TRUEÌFALSE Download/data change completed.
• In order to detect if the download/ the data change has been
completed correctly, the CAM_bError error output should also be
evaluated.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Cam data management
Identifier Value/meaning
DIS code | data type
CAM_bNewDataAvailable Status signal "New cam data available"
BOOL
TRUE The internal recalculation of the new/changed cam data is
completed and the cam data are ready for acceptance.
• The time when the new/altered cam data are accepted depends
on the online change mode set in C02905. Online change mode
( 573)
• In the Lenze setting the new/altered cam data are accepted
automatically as soon as the controller inhibit is set within the
controller.
• If the online change mode "15: Automatic activation" is set in
C02905, the new/changed cam data are accepted immediately
after the internal recalculation and the TRUE signal is only
pending for one task cycle.
TRUEÌFALSE The new/changed cam data have been accepted.
CAM_bError "Fault" status signal"
BOOL
TRUE An error has occurred (group signal).
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Cam data management
11.13.3 Parameter setting
Short overview of the parameters for cam data management:
Parameter Information Effective in storage mode
1 2* 3*
C00198 Axis number z z z
C02900 User Password z z z
C02901 Cam storage capacity z z z
C02902 Time stamp of cam data z z z
C02903 GUID cam data z z z
C02905 Online change mode z z
C02906 Online change status z z z
C02908 Number of products z z z
C02909 Active Product z z z
C02910 Product Name z z z
C02911 Product Choice z z z
C02912 Number of products z
C02919 Number of curve tracks z
C02920 Cam Track Choice z z z
C02921 Cam Track Type z
C02922 Number of Cam Data Points z
C02923 Cam Data Point Choice z z z
C02924 Change Cam Data Point X z
C02925 Change Cam Data Point Y z
C02926 Change Cam Data Point M z
C02927 Auto Inc Cam Data Points z z z
C02939 Number of Cont Tracks z
C02940 Cont Track Choice z z z
C02941 Cont Type z z z
C02942 Number of Cont Data Points z
C02943 Cont Data Point Choice z z z
C02944 Cont Pos X0 z
C02945 Cont Pos X1 z
C02946 Cont Time z
C02959 Number of Position Tracks z
C02960 Pos Track Choice z z z
C02962 Number of Pos Data Points z
C02963 Pos Data Point Choice z z z
C02964 Change Pos Data Point X z
C02965 Change Pos Data Point Y z
Highlighted in grey = display parameter
* Storage modes 2 and 3 are only available from software version V5.0. Parameters that are not effective are set to zero.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Cam data management
11.13.3.1 Password entry
If a password has been defined for the cam data in the »Engineer«, the defined user
password must be entered once to execute the following actions:
Download of new cam data during operation
Entry of the existing password in the »Engineer«.
Change of the cam data via parameter setting
Entry of the existing password in C02900.
Loading/saving of the cam data
entry of the existing password in C02900.
Note!
From software version V4.0 onwards, you do not need to enter a possibly
existing user password (C02900) if you want to save the cam data.
Tip!
The access protection for the cam data can be configured on the Online tab.
"Online" tab for cam data management ( 564)
Validity
The user password entered in C02900 is maintained until the next download, mains
switching, or until reset by the user (logout).
You can "log out" deliberately by entering an invalid password into C02900.
Behaviour in case of invalid entry
If the user password is entered incorrectly three times, the cam data are blocked. A correct
entry resets the number of the failed attempts.
To remove the blocking of the cam data, there are two possibilities:
A. Resetting the parameters to the Lenze setting via device command C00002 = "0: Load
Lenze setting".
– When the Lenze setting is loaded, the cam data are deleted.
– Afterwards the cam data can be transferred to the device again.
B. Transfer complete application to the device again.
– The application available and the cam data are deleted and all data are transferred
to the device again.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Cam data management
11.13.3.2 Online change mode
During running operation, new cam data can be downloaded from the »Engineer« to the
controller if the controller is in storage mode 1 or 2.
If the cam data are provided with an access protection, the user password has to be
entered first. Access protection ( 566)
The time when the new/altered cam data are accepted depends on the online change
mode set in C02905.
Note!
If the controller is in storage mode 3, the "Online change" function is
deactivated:
• The online change mode set in C02905 is ineffective.
• In C02906 the status "999: Online change deactivated" is displayed.
• For the download of new cam data, controller inhibit is required.
• The cam data are accepted immediately after download.
Memory distribution ( 565)
Mode 16: Automatic activation with CINH
In the Lenze setting, the online change mode "Automatic activation with CINH" is set in
C02905, i.e. the new cam data are accepted automatically as soon as the controller is
inhibited.
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[11-27] Online change mode "Automatic activation with CINH"
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Cam data management
Mode 15: Automatic activation
In the online change mode "Automatic activation", the new cam data are accepted directly
after the internal recalculation of the data from the application unit [unit] into the internal
unit [increments] has been completed.
The controller does not need to be inhibited for acceptance.
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[11-28] Online change mode "Automatic activation"
Mode 10: Manual activation
In the online change mode "Manual activation", the new cam data are accepted when the
CAM_bActivateNewData control input is set to TRUE.
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[11-29] Online change mode "Manual activation"
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Cam data management
11.13.3.3 Changing cam data via parameterisation
If required, the cam data (motion profiles/characteristics, cams, and position markers) can
be changed via corresponding parameters if the controller is in storage mode 1.
If the cam data are provided with an access protection, the user password has to be
entered in C02900 first. Access protection ( 566)
From software version V4.0 onwards, the time stamp of the cam data is updated if the
cam data are changed by parameter setting. This enables, for instance, the »Engineer»
to recognise that the cam data of the »Engineer« project and those of the controller
differ.
Note!
If the controller is in storage mode 2 or 3, the cam data cannot be changed via
parameterisation. All parameters for change are ineffective and set to zero.
Memory distribution ( 565)
If the cam data of the controller have been changed by parameter setting, the
C00002 = "504: Calculate Cam Checksum" device command has to be executed
afterwards. Calculate cam data checksum ( 100)
Then the cam data can be converted into the internal format with the "503:
Calculate Cam Data" device command or saved on the memory module in a
powerfail-proof manner with the "502: Save Cam Data" device command.
Calculate cam data ( 99) / Save cam data ( 97)
From software version V4.0 onwards, the changed cam data and the parameters
can be saved together on the memory module in a powerfail-proof manner with
the C00002 = "11: Save start parameters" device command. Save start
parameters ( 56)
How to change an interpolation point in a curve (motion profile or characteristic):
1. Go to C02911 and set the product number of the product to be edited.
2. Go to C02920 and set the track number of the curve track to be edited.
Tip!
In C02921 the curve type, and in C02922 the number of interpolation points of the
curve selected is shown.
3. Set the interpolation point to be edited in C02923.
4. Change the desired parameters of the selected grid point:
• C02924: x position
• C02925: y position
• C02926: Torque feedforward control value
(only in case of a motion profile with feedforward control.)
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Cam data management
Tip!
C02927 serves to activate a grid point auto increment if several successive grid
points are to be changed.
• When the grid point auto increment is activated, it is automatically
incremented to the next grid point every time the y position is written into
C02925 so that the specification of the grid point to be changed in C02923 is
only required once.
How to change several successive grid points (auto increment):
1. Go to C02911 and set the product number of the product to be edited.
2. Go to C02920 and set the track number of the curve track to be edited.
Tip!
In C02921 the curve type, and in C02922 the number of interpolation points of the
curve selected is shown.
3. Set selection "1: Activate" in C02927 to activate the grid point auto increment.
4. Set the grid point from which on the grid point auto increment is to be started in
C02923.
5. Set the following parameters for the grid point set in C02923 in the given order:
• C02924: x position
• C02926: Torque feedforward control value
(only in case of a motion profile with feedforward control.)
• C02925: y position
After the y position is written into C02925 it is automatically incremented to the
next grid point.
6. Set the parameters for the next grid point in the same order:
• C02924: x position
• C02926: Torque feedforward control value
(only in case of a motion profile with feedforward control.)
• C02925: y position
7. Repeat step 4 until all grid points are changed.
Note: Do not change more grid points then available (depending on the start grid
point). Changing a non-available grid point causes an error message!
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Cam data management
How to change a cam:
1. Go to C02911 and set the product number of the product to be edited.
2. Go to C02940 and set the track number of the cam track to be edited.
Tip!
The cam type is displayed in C02941 and the number of cams of the selected cam
data is displayed in C02942.
3. Go to C02943 and set the cam to be edited.
4. Change the desired parameters of the selected cam:
• C02944: Cam position X0
• C02945: Cam position X1
• C02946: Cont Time (for position/time cams)
How to change a position mark:
1. Go to C02911 and set the product number of the product to be edited.
2. Go to C02960 and set the track number of the position track to be edited.
Tip!
In C02962 the number of the position marks of the position data selected is shown.
3. Set the position mark to be edited in C02963.
4. Change the desired parameters of the selected position mark:
• C02964: x position
• C02965: y position
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Basic drive functions
Cam data management
11.13.4 Product/track change-over
Product change-over
The change-over to another product number is effected for all cam FBs within the
application via the basic function "Cam data management".
The change-over is effected via the input CAM_bActivateProduct on the basis of an
event that is generated from the application.
By setting the input CAM_bActivateProduct to TRUE, the product is activated with the
product number at input CAM_dnProductNumber.
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Activate product change-over
[11-30] Principle: Product change-over
Track change-over
The change-over to another curve track, cam track, or position track, however, is
individually effected via the input dnTrackNumber at the respective cam function block.
For the two FBs L_CamProfiler and L_CamContactor it can be parameterised whether
the track change-over is to be effected in the next zero crossing of the x axis or
immediately (Lenze setting: in the next zero crossing).
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Track number of the curve track
Track number of the cam track
Track number of the position track
[11-31] Principle: Track change-over
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Cam data management
11.13.5 Invalid cam data due to changed machine parameters
This function extension is available from software version V4.0!
If one or more machine parameters affecting the internal scaling of the cam data are
changed, the message "Cam Data: Invalidated due to change of mechanical data" (error
number 0x00b80034) is entered into the logbook and the error response "Warning" occurs.
The cam data are no longer valid and have to be recalculated.
The warning is automatically reset if the C00002 = "503: Calculate Cam Data" device
command is executed. Calculate cam data ( 99)
Machine parameters affecting the internal scaling of the cam data:
Parameter Information
C00006 Selection of the motor control
C00100 Resolution of an encoder revolution
C02520 / C02521 Gearbox factor - motor (if motor = reference source)
C02522 / C02523 Gearbox factor - position encoder (if position encoder = reference source)
C02524 Feed constant
C02570 Position control structure
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Cam data management
11.13.6 Behaviour after mains switching
After mains switching, the cam data are loaded from the memory module into the
controller between loading and start of the application.
Note!
During the initialisation no check of the user password takes place, but a check
of the serial number of the memory module is carried out, if this access
protection has been activated by the user in the »Cam Designer«. If the serial
number specified and the serial number of the memory module do not match,
the cam data are not loaded.
• The "Cam data: serial number" error message is entered in the logbook.
• The "Warning locked" error response occurs.
If a download of cam data that was carried out before mains switching was not
completed correctly, the previous cam data – if available – are loaded by the
memory module.
• The "Cam data restored" error message is entered into the logbook.
• The "Fault" error response occurs.
• After the error is reset (acknowledged), operation with the previous cam data
is possible.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Pole position identification
11.14 Pole position identification
This function extension is available from software version V7.0!
The device commands "Identify pole position (360°)" and "Identify pole position (min.
motion)" serve to execute an identification of pole position to detect the pole position to
the motor encoder currently activated in C00495.
From software version V7.0 onwards, the identification of pole position is additionally
available as a basic function in the form of the LS_PolePositionIdentification system block.
Note!
An identification of pole position is only required:
• For servo control with synchronous motor of a third-party manufacturer.
• For servo control with synchronous motor and use of incremental encoders
(TTL or sin/cos encoders as well as multi-pole-pair resolvers).
• After changes of the motor feedback system, e.g. encoder exchange.
Detailed information on the identification of pole position can be found in the
subchapter "Pole position identification" for the motor interface. ( 136)
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9400 HighLine | Parameter setting & configuration
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Pole position identification
11.14.1 Internal interfaces | System block "LS_PolePositionIdentification"
The LS_PolePositionIdentification system block provides the internal interfaces for the
basic function "identification of pole position" in the function block editor.
LS_PolePositionIdentification
PPI_bEnable PPI_dnState
PPI_bStart PPI_bEnabled
N S
PPI_bLoadPolePosition PPI_bActive
S N
PPI_dnPolePosition PPI_bDone
N S
PPI_bResetPolePosition PPI_bError
S N
PPI_bPolePositionAvailable
Note!
Ensure that the system block is called in a cyclic application task.
Basically, projects which only contain an unsolicited task and no cyclic task are
not permissible!
Inputs
Identifier Information/possible settings
DIS code | data type
PPI_bEnable Requesting control via the basic function.
C02789/1 | BOOL
TRUE If no other basic function is active, a change-over to the
"Identification of pole position active" function state is effected and
an identification of pole position can be carried out via the control
inputs.
TRUEÌFALSE An active identification of pole position is stopped, i.e. a change-over
from the active "Identification of pole position active" function state
back to the "Controller not ready" basic state is effected.
PPI_bStart Start pole position identification
C02789/2 | BOOL
FALSEÊTRUE Pole position identification is started in the mode selected in
C02786.
PPI_bLoadPolePosition Start pole position identification
C02789/3 | BOOL
FALSEÊTRUE The pole position angle applied at PPI_dnPolePosition is accepted in
C00058/x.
• The subcode to be described of C00058 depends on the motor
encoder selected in C00495.
PPI_dnPolePosition Pole position angle in [°] with one decimal position
C02788 | DINT • Value range: -179.9 ... +179.9 °
PPI_bResetPolePosition Reset "Pole position known" status
C02789/4 | BOOL
FALSEÊTRUE The status outputs PPI_bDone and PPI_bPolePositionAvailable are
reset to FALSE.
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Pole position identification
Outputs
Identifier Value/meaning
DIS code | data type
Ppi_dnState Status (bit coded)
C02787 | DINT • When the basic function is not enabled, all bits are set to "0".
• Bits which are not listed are not assigned with a status (always "0").
Bit 1 Pole position identification active.
Bit 2 Pole position identification completed.
Bit 14 Pole position known.
Bit 15 An error has occurred (group signal).
PPI_bEnabled Status signal "Basic function is enabled"
C02789/5 | BOOL
TRUE Pole position identification vie the control inputs is possible.
• The PPI_bEnable enable input is set to TRUE and the controller is
in the "Pole position identification active" function state.
PPI_bActive Status signal "Basic function is active"
C02789/6 | BOOL
TRUE Pole position identification is active.
• Output is reset to FALSE if the PPI_bStart is reset to FALSE, the
controller enable is deactivated or an error has occurred.
PPI_bDone Status signal "Basic function is ready"
C02789/7 | BOOL
TRUE Pole position identification is completed.
• Output is reset to FALSE when input PPI_bStart is reset to FALSE.
PPI_bError "Fault" status signal"
C02789/8 | BOOL
TRUE An error has occurred (group signal).
PPI_bPolePositionAvailable Status signal "Pole position is known"
BOOL
TRUE The drive knows the pole position.
• The value written into C00058/x corresponds to the pole position
(x depends on the motor encoder selected in C00422).
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Pole position identification
11.14.2 Parameter setting
Parameterisation dialog in the »Engineer«: Tab Application parameters Dialog level
Overview All basic functions Pole position identification
Short overview of parameters for pole position identification:
Parameter Information
C02785 Activation of PPI
C02786 Mode of PPI
C02787 Ppi_dnState
C02788 PolePosition Setpoint
C02789 PolePositionIdentification: Dig. signals
Highlighted in grey = display parameter
11.14.3 Execute pole position identification
Requirements
The controller inhibit is active.
The controller has the "Controller not ready" function state.
The basic function "Pole position identification" is part of the active application.
No other basic function is active.
Activate basic function
To request the control via the basic function, the PPI_bEnable enable input in the
application must be set to TRUE.
If no other basic function is active, a change-over to the "Identification of pole position
active" function state is effected and an identification of pole position can be carried
out via the control inputs.
A successful change to the function state "Pole position identification" is displayed by
a TRUE signal at the PPI_bEnabled status output.
Start pole position identification
Danger!
The machine must not be braked or blocked during the pole position identification!
For this reason, the pole position identification is not permitted for hanging loads!
During the pole position identification the rotor aligns itself. The motor shaft
moves by max. one electrical revolution which causes the corresponding
movement of the connected mechanical components!
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Pole position identification
Stop!
Check the correct parameterisation of the max. motor current monitoring
(C00619 and C00620) before carrying out the pole position identification to
prevent the motor from being permanently damaged.
By setting the PPI_bStart control input to TRUE, the pole position identification is started in
the mode selected in C02786.
The procedure starts with controller enable, if
– a synchronous machine is selected,
– no other identification is active,
– no error has occurred, and
– no test mode is activated.
If one of the above conditions is not met, the procedure is cancelled and the
corresponding device command status is indicated via PPI_dnState.
Note!
Detailed information on the identification of pole position can be found in the
subchapter "Pole position identification" for the motor interface. ( 136)
Deactivation
When the PPI_bEnable enable input is reset to FALSE, an active pole position identification
is stopped.
If the pole position identification is aborted, no change is made in C00058/x.
The PPI_bEnabled status output is reset to FALSE and a change-over from the active
"Pole position identification active" function state back to the basic "Controller not
ready" state is carried out.
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Basic drive functions
Pole position identification
11.14.4 Signal characteristics
PPI_bEnable
PPI_bStart t
PPI_bLoadPolePosition t
PPI_bResetPolePosition
PPI_dnState t
0 2 16388 16384
PPI_bEnabled t
PPI_bActive t
PPI_bDone t
PPI_bPolePositionAvailable t
C00058/x t
[11-32] Signal characteristic 1: Normal procedure of the pole position identification
PPI_bEnable
PPI_bStart t
PPI_bLoadPolePosition t
PPI_dnPolePosition t
90°
PPI_bResetPolePosition t
PPI_dnState t
16384
PPI_bEnabled t
PPI_bActive t
PPI_bDone t
PPI_bPolePositionAvailable t
C00058/x t
90°
t
n Time - writing parameters
[11-33] Signal characteristic 2: Load pole position
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Pole position identification
PPI_bEnable
PPI_bStart t
PPI_bLoadPolePosition t
PPI_dnPolePosition t
PPI_bResetPolePosition t
PPI_dnState t
16384
PPI_bEnabled t
PPI_bActive t
PPI_bDone t
PPI_bPolePositionAvailable t
C00058/x t
-90°
t
[11-34] Signal characteristic 3: Reset pole position
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9400 HighLine | Parameter setting & configuration
Basic drive functions
Pole position identification
11.14.5 Impacts of parameter changes on the signal PPI_bPolePositionAvailable
Changing the type of motor control (C00006)
Initial situation 1 Parameter change Impact
• PPI_bPolePositionAvailable = TRUE In C00006 another motor control is PPI_bPolePositionAvailable remains
• Motor control (C00006) = "1: SC: set. on TRUE since the signal is irrelevant
Servo control sync. motor" for an asynchronous motor.
Initial situation 2 Parameter change Impact
• PPI_bPolePositionAvailable = TRUE In C00006, the motor control "1: SC: PPI_bPolePositionAvailable is reset to
• Motor control (C00006) = Servo control sync. motor" is set. FALSE since the signal is relevant for a
– "2: SC: Servo control async. synchronous motor and apparently a
motor" or new motor has been selected.
– "4: SLVC: Sensorless vector
control" or
– "6: VFCplus: V/f control" or
– "7: VFCplus: V/f control"
Changing relevant motor data
Initial situation Parameter change Impact
PPI_bPolePositionAvailable = TRUE One of the following parameters is PPI_bPolePositionAvailable is reset to
changed: FALSE since it is assumed that the
• Rated motor speed (C00087) connected motor has been changed.
• Rated motor frequency (C00089)
• Rated motor voltage (C00090)
Changing relevant encoder data
Initial situation Parameter change Impact
PPI_bPolePositionAvailable = TRUE One of the following parameters is PPI_bPolePositionAvailable is reset to
changed: FALSE.
• Resolver - number of pole pairs
(C00080)
• Encoder - number of increments
(C00420)
• Encoder type (C00422)
• TTL encoder signal evaluation
(C00427)
• Motor encoder selection (C00495)
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Basic drive functions
Pole position identification
Behaviour after mains ON
Initial situation 1 Behaviour after mains ON
• PPI_bPolePositionAvailable = TRUE PPI_bPolePositionAvailable is only reset to FALSE if:
• Motor control (C00006) = "1: SC: Servo control sync. • Motor encoder selection (C00495) = "0: Resolver to
motor" X7"
• Resolver - number of pole pairs (C00080) > 1 AND
• number of motor pole pairs are (C00059) no integer
multiple of the number of resolver pole pairs
(C00080).
Examples:
MSC motor The PPI_bPolePositionAvailable output is not reset to
Motor - number of pole pairs = 4 FALSE.
Resolver - number of pole pairs = 1
Kuka motor
Motor - number of pole pairs = 4
Resolver - number of pole pairs = 4
Torque motor
Motor - number of pole pairs = 12
Resolver - number of pole pairs = 6
Initial situation 2 Behaviour after mains ON
• PPI_bPolePositionAvailable = TRUE PPI_bPolePositionAvailable is reset to FALSE.
• Motor control (C00006) = "1: SC: Servo control sync.
motor"
• Encoder type (C00422) =
– "0: Incremental encoder (TTL signal)" or
– "1: Sine/Cosine encoder"
• Motor encoder selection (C00495) = "1: Encoder to
X8"
Behaviour after encoder error
Initial situation Behaviour after encoder error
• PPI_bPolePositionAvailable = TRUE PPI_bPolePositionAvailable is reset to FALSE.
• Motor control (C00006) = "1: SC: Servo control sync.
motor"
• Encoder type (C00422) =
– "0: Incremental encoder (TTL signal)" or
– "1: Sine/Cosine encoder" or
• Motor encoder selection (C00495) = "1: Encoder to
X8"
Behaviour after resolver error
Initial situation Behaviour after resolver error
• PPI_bPolePositionAvailable = TRUE PPI_bPolePositionAvailable is reset to FALSE.
• Motor control (C00006) = "1: SC: Servo control sync.
motor"
• The number of motor pole pairs are (C00059no
integer multiple of the number of resolver pole pairs
(C00080).
• Motor encoder selection (C00495) = "0: Resolver to
X7"
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Oscilloscope
Technical data
12 Oscilloscope
The oscilloscope function integrated in the controller can be used as support for
commissioning, maintenance, and troubleshooting.
Typical applications
Graphical representation of any measured values (e.g. speed setpoint, actual speed,
and torque)
Detection of process values without additional measuring instruments (e.g.
oscilloscope, voltmeter, and ammeter)
Convenient documentation for fine tuning of control circuits or parameter changes of
the controller
Documentation of production quality in the context of product liability and quality
assurance
Special features
Recording and saving measured values in the controller
Measuring on eight independent channels at the same time
Measuring fast and slow signals by adjustable sample rate
Triggering on channel, variable, or error message
Detecting measured values before and after a trigger event (pre-/post-trigger)
Graphical representation and evaluation of measured values on a PC
Cursor and zoom function for the measurement analysis
Saving & loading of oscilloscope configurations
Exporting measured values via the clipboard for further processing
12.1 Technical data
Servo Drives 9400
Memory depth Max. 16384 measured values, depending on the number of channels and the size of
the variables to be recorded.
Memory capacity 32768 bytes
Data width of a channel 1 ... 4 bytes, corresponding to the size of the variables to be recorded
Number of channels 1 ... 8
Trigger level Corresponding to the value range of the variable to be triggered
Trigger selection Immediate triggering, rising/falling edge, signal change
Trigger delay -100 % ... +400 %
Trigger source Channels 1 ... 8, any variable or error message
Max. time base 8 channels 32 bits each ≡ 26 hours
Max. recording time 8 channels 32 bits each ≡ 10 days
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Oscilloscope
Functional description
12.2 Functional description
With an online connection to the controller, use the oscilloscope user interface of the
»Engineer« to set the trigger condition and the sample rate and select the variables to be
recorded.
When the measurement is started, the set parameters are transferred to the controller and
checked. If invalid settings are found, the oscilloscope sends an error. Otherwise, the
measurement is started.
With an online connection, the measured controller data are transferred to the »Engineer«
and graphically represented on the oscilloscope user interface as soon as the measurement
has been completed.
Recording variable values
The operating system scans the oscilloscope in fixed 1 ms-cycles, i.e. the oscilloscope can
record variable values with a sample rate of max. 1 kHz.
Recording system variable values of the internal motor control
Unlike the variables declared in the application, the system variables of the internal motor
control (MCTRL) can also be recorded with a sample rate higher than 1 kHz.
Note!
In the servo operating modes, recordings with a time-based resolution of 31.25
μs and 125 μs are not possible!
In comparison to all other variable values, the system variables of the internal
motor control have a cycle offset of 2 ... 3 ms!
For recording with sample rates of 1 kHz, up to three measured values are
missing at the left and right edges of the oscilloscope screen. This can only be
noticed for very small time-based deflections ≤ 1 ms / div. The missing
measured values are system-dependent and caused by oversampling.
Recording I/O variable values referring to a task
When selecting the variables to be measured, it is possible to indicate a task reference for
the variables. If the behaviour of a certain task is to be examined, you can indicate the task
reference to exactly record the values valid for the task run-time.
The variable values are recorded during the process output image generation of the
task.
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Oscilloscope
User interface
12.3 User interface
How to go to the oscilloscope user interface:
1. Select the controller in the Project view.
2. Select the Oscilloscope tab from the Workspace.
The oscilloscope user interface contains the following control and function elements:
Oscilloscope toolbar Trigger/cursor settings
Data record selection Horizontal settings
Oscillograph Recording settings
Vertical settings Comment
Status bar
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Oscilloscope
User interface
12.3.1 Oscilloscope toolbar
Icon Function
Loading/importing a data record ( 605)
Close data record ( 606)
Saving/exporting a data record ( 604)
Copying a data record to the clipboard ( 607)
Deleting a data record in the project ( 606)
Print oscillogram
Activate zoom function
Adjusting the representation ( 600)
Activate automatic scaling function
Adjusting the representation ( 600)
Comment data record ( 603)
12.3.2 Oscillograph
The oscillograph is used to visualise data records.
Use the zoom and the automatic scaling function to adjust the representation.
The measured data represented in the form of interpolated curves can be optionally
shown and hidden, represented in any colour or overlaid with the signal characteristics
of other variables recorded.
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Oscilloscope
User interface
12.3.3 Vertical settings
Use the Vertical list field to configure the variables to be recorded.
Simply click into a field to alter the corresponding setting.
Column Name Meaning
1 - Curve colour for representation in the oscillograph
2 Ch Channel number
3 On On/off
4 Inv Inversion on/off
5 Variable Selection of variable to be recorded
6 Unit Scaling
7 1/div Vertical scale factor
8 Offset Offset value
• The offset value depends on the scale factor and is marked by a dotted
line in curve colour at the left edge of the oscillograph.
9 Position Position value
• The position value is independent of the scale factor and is marked by a
line at the left edge of the oscillograph.
12.3.4 Status bar
The status messages are displayed in the status bar.
12.3.5 Trigger/cursor settings
Trigger
If the Trigger button has been pressed, the input fields for configuring the trigger condition
are shown. Selecting the trigger condition ( 598)
Cursor
If the Cursor tab has been pressed instead, you can use a vertical measuring line to read
individual measured values of a selectable channel in the oscilloscope. Using a second
vertical measuring line, it is possible to indicate the difference between two measured
values. Reading individual measured values ( 601)
Group box Meaning
Channel Channel selection
Value Display of the value measured at the position of the active measuring line
Difference Display of the difference between the values measured at the two measuring lines
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9400 HighLine | Parameter setting & configuration
Oscilloscope
User interface
12.3.6 Horizontal settings
Use the Horizontal group box to select the time base and the horizontal position.
Selecting the recording time/sample rate ( 597)
Input field Meaning
Time base [1/Div] Selection of time base
• The current time base setting multiplied by ten results in the recording time.
• Change the time base to stretch or compress measurements that have already been
completed.
Position Selection of the horizontal display position
• The position value can be directly entered into the input field or selected using the arrow
buttons.
• When the arrow buttons are used and the <Ctrl> key is pressed, you can increase the step
size to accelerate the shift.
12.3.7 Recording settings
Use the Recording group box to select the sample rate and start recording.
Since the measured data memory has a limited capacity, a compromise must be found
between the sample rate and the recording time that results from the time base
setting. Selecting the recording time/sample rate ( 597)
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9400 HighLine | Parameter setting & configuration
Oscilloscope
Operation
12.4 Operation
This chapter describes step-by-step how to record the signal characteristics of controller
variables and represent, analyse, document and process them in the oscilloscope.
Note!
In the oscilloscope, settings can only be selected and recording can only be
started, when the controller is connected online.
12.4.1 Selecting the variables to be recorded
The oscilloscope supports up to eight channels, i.e. max. eight variables can be recorded in
a data record. Use the Vertical group box to select the variables.
How to select a variable for recording:
1. Go to the Variable column in the Vertical group box and double-click the yellow
field to open the Select variable dialog box.
2. Select the variable to be recorded from the list field.
3. Click OK.
• The dialog box is closed and the selection is accepted.
4. Repeat steps 1 ... 3 to select up to seven more variables to be recorded.
Of course, it is possible at any time to change or delete a selection later.
How to change a selection:
1. Go to the Vertical group box and double-click the variable to be changed in the
Variable column.
2. Select a new variable in the Select variable dialog box.
3. Click OK.
• The dialog box is closed and the selection is accepted.
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Oscilloscope
Operation
How to delete a selection:
1. Go to the Vertical group box and double-click the variable to be removed in the
Variable column.
2. Click Delete channel in the Select variable dialog box.
• The dialog box is closed and the selection is deleted.
12.4.2 Selecting the recording time/sample rate
How to select the recording time and the sample rate:
1. Go to the Horizontal group box and select the desired time base from the Time
base list field.
• The current time base setting multiplied by ten results in the recording time.
• Since the measured data memory of the controller has a limited capacity,
usually a compromise is made between sample rate and recording time.
2. Enter the desired sampling rate in [ms] in the Sampling rate input field of the
Recording group field.
• By pressing the button behind the Sampling rate input field, you open the
Sampling rate dialog box where you can also select the option Increased
sampling rate:
Note!
When the option Increased sampling rate is selected, only integer multiples of 1/
(sampling rate in ms) are detected by the system.
• Since a complete representation in the oscillograph requires (10 * 1/(sample
rate in ms) * (horizontal resolution in ms/div)) + 1 measured values, but due
to system-dependent reasons only integer multiples of (1 / (sample rate in
ms)) can be recorded, 1 to 3 measured values may be missing at the left or
right edges of the oscillograph. The displayed curve then ends before the end
or starts after the start of the oscillograph. The curve is not compressed or
extended.
• The curve that is recorded is not extended or compressed.
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Oscilloscope
Operation
12.4.3 Selecting the trigger condition
The trigger condition serves to define the starting time of recording in the controller. The
oscilloscope provides various trigger conditions by means of which recording of the
measured values can be controlled.
If the cursor display is activated, press the Trigger button to show the input fields
for configuring the trigger condition.
Setting Function
Source Selection of trigger source:
Variable The oscilloscope triggers on any variable of the PLC program.
• Unlike triggering on a channel, triggering on a variable requires no recording channel.
Channel The oscilloscope triggers on a channel configured in the Vertical table.
System event Triggering is started on occurrence of a selectable controller event (e.g. TRIP, trouble or
warning).
• Select a negative trigger delay to record signals prior to occurrence of the event.
Force trigger No trigger condition, recording starts immediately after the start.
Trigger value Value from which on triggering is activated.
• The trigger level is not effective for triggering on Boolean variables.
Delay Delay between recording and trigger event.
Pre-trigger Select a negative delay time to detect signals prior to the trigger event.
Trigger event
Trigger level
Trigger
delay
(negative)
• In the oscillograph, the trigger time is marked by a dotted line.
• When triggering on occurrence of an event, it is thus possible to detect the values that
have caused the event.
Post-trigger Select a positive delay time to detect signals occurring a certain time after the trigger event.
Trigger event
Trigger level
Trigger
delay
(positive)
Edge If the trigger source is a channel or a variable, you can choose between the following trigger
modes:
Positive edge For triggering on a BOOL variable:
• Trigger activation requires a FALSE-TRUE transition.
For triggering on a different variable:
• For trigger activation, the selected trigger value must be exceeded.
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Oscilloscope
Operation
Setting Function
Negative edge For triggering on a BOOL variable:
• Trigger activation requires a TRUE-FALSE transition.
For triggering on a different variable:
• For trigger activation, the selected trigger value must be fallen below.
Change For triggering on a BOOL variable:
• Trigger activation requires a state change.
For triggering on a different variable:
• For trigger activation, the current value must be different than the last value.
12.4.4 Starting recording
Click Start to start recording.
To obtain a maximum sampling rate when recording the variable values, the data are first
stored in the measured data memory of the controller and then transferred as a data
record to the PC.
The current recording status is displayed in the status bar.
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9400 HighLine | Parameter setting & configuration
Oscilloscope
Operation
12.4.5 Adjusting the representation
After the variable values have been recorded and the online data record has been
transferred to the PC, the data record is visualised in the oscillograph. If required, the
representation can now be adjusted by using the zoom or the automatic scaling function.
Tip!
From the »Engineer» V2.10 onwards, a scrollbar will appear below the time axis as
soon as the complete measurement does is not displayed anymore in the
oscillograph.
The scrollbar serves to move the visible cutout horizontally. The labelling of the
time axis and the position display are automatically updated when the cutout is
moved.
Zoom function
Go to the oscilloscope toolbar and click the icon to activate the zoom function.
Zoom function Procedure
Zoom selection Hold down the left mouse button and draw the oscilloscope section to be
zoomed:
• The selection is shown with a frame.
• When the left mouse button is released, the selection is zoomed in the
oscilloscope.
Horizontal/vertical Hold down the left and right mouse button and move the mouse pointer on the
shift of selection horizontal scale to the left or right or on the vertical scale to the top or bottom
to shift the selection accordingly.
• With a three-button mouse, you can use the mouse button in the middle.
Horizontal stretching Hold down the left mouse button and move the mouse pointer on the horizontal
scale to the left to stretch the shown selection from the right edge.
• Moving the mouse pointer in opposite direction continuously reduces the
stretching.
Hold down the right mouse button and move the mouse pointer on the
horizontal scale to the right to stretch the shown selection from the left edge.
• Moving the mouse pointer in opposite direction continuously reduces the
stretching.
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Oscilloscope
Operation
Zoom function Procedure
Vertical stretching Hold down the left mouse button and move the mouse pointer on the vertical
scale to the bottom to stretch the shown selection from the top.
• Moving the mouse pointer in opposite direction continuously reduces the
stretching.
Hold down the right mouse button and move the mouse pointer on the vertical
scale to the top to stretch the shown selection from the bottom.
• Moving the mouse pointer in opposite direction continuously reduces the
stretching.
Return to original Click the right mouse button in the oscillograph to return step by step to the
representation original representation.
Automatic scaling function
Use the automatic scaling function to automatically scale and reposition the
representation of selectable signal characteristics in the oscillograph and reset the offset
to "0".
How to carry out automatic scaling:
1. Go to the oscilloscope toolbar and click the icon to activate the automatic
scaling function.
2. Select the channels/variables for automatic scaling in the Select variable dialog
box.
3. Click OK.
• The dialog box is closed and the selected channels/variables are scaled
automatically.
12.4.6 Reading individual measured values
In addition to the zoom and scaling function, the oscilloscope offers a "cursor function"
that can be used to display individual measured values of a selectable channel or the
difference between two measured values.
If the Cursor button has been pressed, the cursor function is active and two movable
vertical measuring lines are shown in the oscillograph.
How to use the cursor function:
1. Press the Cursor button.
2. Select the channel for which individual measured values are to be indicated from
the Channel list field.
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9400 HighLine | Parameter setting & configuration
Oscilloscope
Operation
3. Hold down the left mouse button and drag the red vertical measuring line to the
desired position.
• The active measuring line is represented by a continuous line, the inactive
measuring line is represented by a dotted line.
• If you position the mouse pointer over the inactive measuring line, the
measuring line automatically becomes active.
• The value measured at the position of the active measuring line is indicated in
the Value group box.
• The difference between the values measured at the two measuring lines is
indicated in the Difference group box.
12.4.7 Compare peak values
This function is available from the »Engineer« V2.10 onwards!
Several values displayed in the oscillograph can be compared by means of a horizontal
measurement line.
The horizontal measurement line is displayed if the Cursor button is pressed.
The measurement line is automatically generated based on the current cursor position
and thus cannot be moved separately.
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9400 HighLine | Parameter setting & configuration
Oscilloscope
Data records
12.5 Data records
If several data records are loaded in the oscilloscope at the same time, the data record to
be displayed is selected via the Data record list field. There are three types of data records:
Online data record
The online data record is the only data record which serves to establish a connection to the
target system. When the online data record has established the connection completely, it
can communicate with the target system.
In the Data record list field the online data record is marked with a prefixed asterisk (*).
Offline data record
The offline data record is a data record already stored in the project and loaded in the
oscilloscope again, or a data record imported from a file.
Merge data record
The merge data record is automatically available in the Data record list field if two or more
data records are loaded in the oscilloscope at the same time.
In the merge data record, several characteristics from the currently loaded data records
can overlaid, e.g. to compare signal characteristics from different recordings. Overlay
function ( 607)
12.5.1 Comment data record
This function is available from the »Engineer« V2.10 onwards!
You can add a comment to the selected data record.
The comment is saved together with the data record, both when saving in a file and in
a project.
If you select a data record for loading in the Load data record dialog box that contains a
comment, this comment is shown in the dialog box.
How to add a comment to the selected data record:
Option 1: Enter the comment directly into the Comment text field.
Option 2: Go to the Data logger toolbar and click the symbol to open the
Comment dialog box for entering the comment.
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9400 HighLine | Parameter setting & configuration
Oscilloscope
Data records
12.5.2 Saving/exporting a data record
After the variables to be recorded have been selected and the required settings have been
entered, you can save the configuration and recording, if already executed, for future use
in the project or export them to a file.
Note!
The reuse of a saved configuration is only reasonable for controllers of the same
type, as otherwise due to a scaling of the oscilloscope channels that is not
adapted, incorrect values are displayed!
How to save the data record in the project:
1. Click on the icon in the Oscilloscope toolbar.
• The Save data record dialog box appears.
2. Enter a name in the Name of the data record to be stored input field.
3. Click Filing in the project.
• The dialog box is closed and the current data record is filed in the project.
Note!
The data record is only saved if the entire project is saved!
How to export the data record to a file:
1. Click on the icon in the Oscilloscope toolbar.
• The Save data record dialog box appears.
2. Enter a name in the Name of the data record to be stored input field.
3. Click the Export to file button.
4. Specify the data record to be stored and the filing folder in the Save as dialog box.
5. Click Save.
• The dialog box is closed and the current data record is saved.
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9400 HighLine | Parameter setting & configuration
Oscilloscope
Data records
12.5.3 Loading/importing a data record
Configurations/data records already stored can be reloaded into the oscilloscope any time,
e.g. for the overlay function.
Note!
The reuse of a saved configuration is only reasonable for controllers of the same
type, as otherwise due to a scaling of the oscilloscope channels that is not
adapted, incorrect values are displayed!
How to load a data record from the project:
1. Click on the icon in the Oscilloscope toolbar.
• The Load data record dialog box appears.
2. Select the data record to be loaded from the Data record list field.
3. If the data record is to be used as configuration, select the option as
configuration....
4. Click Open.
• The dialog box is closed and the selected data record or the configuration is
loaded.
• If the configuration to be loaded contains variables that are no longer available
in the controller, these variables are automatically removed from the
configuration.
How to import a data record from a file:
1. Click on the icon in the Oscilloscope toolbar.
• The Load data record dialog box appears.
2. Select the option from a file.
3. Click the Search... button.
4. Select the file to be imported within the desktop environment from the Open
dialog box.
5. If the data record is to be used as configuration, select the option as
configuration....
6. Click Open.
• The dialog box is closed and the selected data record or the configuration is
imported.
• If the configuration to be loaded contains variables that are no longer available
in the controller, these variables are automatically removed from the
configuration.
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9400 HighLine | Parameter setting & configuration
Oscilloscope
Data records
12.5.4 Close data record
This function is available from the »Engineer« V2.10 onwards!
You can close an open offline data record at any time.
After a data record is closed, it is not available anymore in the Data record list field. The
oscilloscope changes automatically to the display of the next offline data record in the
list field.
If the closed data record was included in the MERGE data record, its channels will be
removed from the MERGE data record.
If all offline data records have been closed, the oscilloscope changes to the online data
record if the device is currently online. Otherwise no data record will be displayed.
Go to the Oscilloscope toolbar and click the symbol to close the currently
displayed offline data record.
12.5.5 Deleting a data record in the project
How to delete the currently displayed offline data record:
1. Click on the icon in the Oscilloscope toolbar.
• You will be prompted to confirm if the data record should really be deleted.
2. Confirm the prompt with Yes to delete the data record.
• The data record is closed and then deleted in the project.
• After a data record is closed, it is not available anymore in the Data record list
field. The oscilloscope changes automatically to the display of the next offline
data record in the list field.
• If the closed data record was included in the MERGE data record, its channels
will be removed from the MERGE data record.
• If all offline data records have been deleted, the oscilloscope changes to the
online data record if the device is currently online. Otherwise no data record will
be displayed.
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9400 HighLine | Parameter setting & configuration
Oscilloscope
Data records
12.5.6 Overlay function
The overlay function serves to lay several characteristics from the currently loaded data
records on top of each other, e.g. to compare signal characteristics from different
recordings.
If two or more data records are loaded in the oscilloscope, e.g. an online data record and
a data record saved before in the project, a "merge" data record is automatically
provided in the Data record list field.
If the merge data record is selected, the desired characteristics to be overlaid or
compared can be selected from the loaded data records in the Vertical channel settings
group field.
If an online data record is used in the merge data record, an update is carried out in the
merge data record in case of a renewed recording.
Removing variables from an offline or online data record causes the characteristics in
the merge data record to be deleted.
12.5.7 Copying a data record to the clipboard
For documentation purposes, it is possible to copy the measured data of a data record as a
table or, alternatively, the oscilloscope user interface as a picture, to the clipboard for use
in other programs.
How to copy measured data or a picture of the user interface to the clipboard:
1. Click on the icon in the Oscilloscope toolbar.
• The Clipboard dialog box appears.
2. Select Curve points if the measured data are to be copied to the clipboard as a
table, or select Screenshot if the oscilloscope user interface is to be copied to the
clipboard as a picture.
3. Click OK.
• The dialog box is closed and the selected option is copied to the clipboard.
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Oscilloscope
Variables of the motor control (oscilloscope signals)
12.6 Variables of the motor control (oscilloscope signals)
The system variables of the internal motor control listed in the following table can be
recorded with the oscilloscope for diagnostic and documentation purposes.
Note!
In comparison to all other variable values, the system variables of the internal
motor control have a cycle offset of 2 ... 3 ms!
Tip!
The exact position of a variable in the motor control can be obtained from the
corresponding signal flow.
Variable of the motor control Meaning
Signal flow - servo control for synchronous motor ( 168)
Signal flow - servo control for asynchronous motor ( 170)
Common.dnActualFlux Actual flux value
Common.dnFluxSet Flux setpoint
Current.dnActualCurrentPhaseU Actual motor current (phase U)
Current.dnActualCurrentPhaseV Actual motor current (phase V)
Current.dnActualCurrentPhaseW Actual motor current (phase W)
Current.dnActualDirectCurrent Actual D current
Current.dnActualQuadratureCurrent Actual Q current
Current.dnDirectCurrentSet D current setpoint
Current.dnQuadratureCurrentSet Q current setpoint
Torque.dnActualMotorTorque Actual torque
Torque.dnFilteredTorqueSetpoint Filtered torque setpoint
Torque.dnInputNotchFilter1 Torque setpoint at the band-stop filter input 1
Torque.dnInputNotchFilter2 Torque setpoint at the band-stop filter 2 input
Voltage.dnActualDCBusVoltage Actual DC-bus voltage
Voltage.dnActualMotorVoltage Current motor voltage
Voltage.dnOutputQuadratureCurrentCtrl Q-output voltage of the current controller
Voltage.dnOutputDirectCurrentCtrl D-output voltage of the current controller
Voltage.dnDirectVoltage D voltage
Voltage.dnQuadratureVoltage Q voltage
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9400 HighLine | Parameter setting & configuration
Oscilloscope
Variables of the motor control (oscilloscope signals)
Variable of the motor control Meaning
Signal flow - sensorless vector control ( 189)
Common.dnActualFlux Actual flux value
Current.dnActualDirectCurrent Actual D current
Current.dnActualQuadratureCurrent Actual Q current
Current.dnDirectCurrentSet D current setpoint
Current.dnQuadratureCurrentSet Q current setpoint
Frequency.dnActualRotatingFieldFrequency Actual field frequency
Frequency.dnActualSlipFrequency Actual slip frequency
Speed.dnActualMotorSpeed Actual speed
Torque.dnTorqueSetpoint Torque setpoint
Voltage.dnActualMotorVoltage Current motor voltage
Voltage.dnDirectVoltage D voltage
Voltage.dnQuadratureVoltage Q voltage
Signal flow - V/f control ( 205)
Signal flow for closed loop V/f control ( 207)
Current.Current.dnActualMotorCurrent Actual motor current
Current.dnActualQuadratureCurrent Actual Q current
Frequency.dnActualRotatingFieldFrequency Actual field frequency
Frequency.dnActualSlipFrequency Actual slip frequency
Speed.dnActualMotorSpeed Current motor speed
Speed.dnSpeedSetpoint Speed setpoint
Voltage.dnActualMotorVoltage Current motor voltage
Voltage.dnOutputDirectCurrentCtrl D voltage
Voltage.dnOutputQuadratureVoltage Q voltage
Signal flow - encoder evaluation ( 245)
Position.dnActualLoadPos Actual position
Position.dnActualMotorPos Current motor position
Speed.dnActualEncoderSpeed Current encoder speed
Speed.dnActualMotorSpeed Current motor speed
Speed.dnActualResolverSpeed Current resolver speed
Signal flow - position follower ( 497)
Position.dnActualLoadPos Actual position
Position.dnActualMotorPos Current motor position
Position.dnContouringError Following error
Position.dnPositionSetpoint Position setpoint
Speed.dnActualMotorSpeed Current motor speed
Speed.dnOutputPosCtrl Output signal - phase controller
Speed.dnSpeedSetpoint Speed setpoint
Torque.dnTorqueSetpoint Torque setpoint
Torque.dnTotalTorqueAdd Additive torque feedforward control value
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9400 HighLine | Parameter setting & configuration
Oscilloscope
Variables of the motor control (oscilloscope signals)
Variable of the motor control Meaning
Signal flow - speed follower ( 504)
Speed.dnActualMotorSpeed Current motor speed
Speed.dnSpeedSetpoint Speed setpoint
Speed.dnTotalSpeedAdd Additive speed setpoint
Torque.dnTorqueSetpoint Torque setpoint
Torque.dnTotalTorqueAdd Additive torque feedforward control value
Signal flow - torque follower ( 510)
Speed.dnActualMotorSpeed Current motor speed
Speed.dnSpeedSetpoint Speed setpoint
610 L
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9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
LED status displays
13 Diagnostics & fault analysis
13.1 LED status displays
You can quickly receive notes on some operating states via the LED display:
CAN-RUN CAN-ERR
DRIVE READY DRIVE ERROR
24 V USER
[13-1] LED display on the front panel of the controller
Labelling Colour Description
CAN-RUN Green CAN bus is OK LED status displays for
the system bus ( 298)
CAN-ERR Red CAN bus error
DRIVE READY Green Standard device is ready for operation LED status displays for
the device state ( 612)
DRIVE ERROR Red Warning/Trouble/Fault
24 V Green 24 V supply voltage is OK
USER Yellow Message parameterised by the application
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Diagnostics & fault analysis
LED status displays
13.1.1 LED status displays for the device state
The control of the two LEDs "DRIVE READY" and "DRIVE ERROR" in the middle of the
controller's front panel depends on the device state. Device states ( 105)
DRIVE READY DRIVE ERROR
[13-2] LED status displays DRIVE READY and DRIVE ERROR
The meaning can be obtained from the following table:
DRIVE READY DRIVE ERROR Meaning
OFF OFF "Initialisation active" state
OFF "Safe torque off active" state
Observe LED of the safety module!
OFF "Device is ready to switch on" state
OFF "Device is switched on" state
OFF "Operation" state
"Warning active" state or "Warning locked active" state
The controller is ready to switch on, switched on or operation is
enabled, and a warning is present.
"Quick stop by trouble active" state
OFF "Trouble active" state
OFF "Fault active" state
OFF "System fault active" state
Legend
Meaning of the symbols used to describe the LED states:
LED flashes once approx. every three seconds (slow flash)
LED flashes once approx. every 1.25 seconds ( flash)
LED flashes twice approx. every 1.25 seconds (double flash)
LED blinks every second
LED is permanently on
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9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Drive diagnostics with the »Engineer«
13.2 Drive diagnostics with the »Engineer«
When an online connection to the controller has been established, you can carry out a
diagnostics of the connected controller by means of the »Engineer« and have important
actual states of the controller displayed in a concise visualisation:
Button Function
Show details on the current error.
Show all active sources for controller inhibit.
Show all active sources for quick stop.
Reset error Acknowledge error message (if the error cause is eliminated).
Logbook... Show Logbook of the controller. ( 616)
How to carry out a drive diagnostics by means of the »Engineer«:
1. Select the 9400 HighLine controller to be diagnosed in the Project view.
2. Click the icon or select the command OnlineGo online to build up an online
connection with the controller.
3. Select the Diagnostics tab.
• With an online connection, the Diagnostics tab displays current status
information about the controller.
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Diagnostics & fault analysis
Drive diagnostics via keypad/bus system
13.3 Drive diagnostics via keypad/bus system
Keypad display of the controller status
If the keypad on the front of the controller is connected
to the diagnostic interface X6, the status of the
controller is shown via different icons on the LCD
display in the area n.
Icon Meaning Note
Controller is ready for operation.
Controller is enabled.
Application in the controller is stopped.
Quick stop active
Controller is inhibited. The power outputs are inhibited.
Controller is ready to switch on.
Speed controller 1 at the limit. The drive is torque-controlled.
Set current limit has been exceeded in motor
or generator mode.
Pulse inhibit active The power outputs are inhibited.
System fault active
Fault active
Trouble active
Quick stop by trouble active
Warning active
Display parameters
Via the parameters listed in the following tables current states and actual values of the
controller can be queried for diagnostic purposes, e.g. by using the keypad, a bus system,
or the »Engineer« (when an online connection to the controller has been established).
These parameters are listed in the »Engineer« parameter list and the keypad in the
Diagnostics category.
A detailed description of these parameters can be found in the chapter "Parameter
reference". ( 705)
Parameter Display
C00183 Device state
C00166 Error description
C00168 Error number
C00051 Actual speed [rpm]
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9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Drive diagnostics via keypad/bus system
Parameter Display
C00052 Motor voltage
C00054 Motor current
C00057/1 Maximum torque
C00057/2 Motor reference torque
C00059 Motor - number of pole pairs
C00060 Rotor position
C00061 Heatsink temperature
C00062 Temperature inside the controller
C00063 Motor temperature
C00064 Device utilisation (Ixt) during the last 180 seconds
C00065 Ext. 24-V voltage
C00066 Thermal motor load (I2xt)
C00068 Capacitor temperature
C00069 CPU temperature
C00178 Time during which the controller was enabled (elapsed-hour meter)
C00179 Time during which the mains was switched on (power-on time meter)
C00186 ENP: Identified motor type
Identification data
The parameters listed in the following table, which in the »Engineer« parameter list and in
the keypad are classified in the category Identification Controller, serve to display the
identification data of the controller:
Parameter Display
C00099 Firmware version
C00200 Firmware product type
C00201 Firmware compilation date
C00203/1...9 HW product types
C00204/1...9 HW serial numbers
C00205/1...6 HW descriptions
C00206/1...6 HW manufacturing data
C00208/1...6 HW manufacturer
C00209/1...6 HW countries of origin
C00210/1...6 HW versions
C02113 Program name
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9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Logbook
13.4 Logbook
The integrated logbook function of the controller chronologically logs important events
within the system and thus plays an important role for troubleshooting or controller
diagnostics.
Events that can be logged
The following events can be logged in the logbook:
Error messages of the operating system ( 623)
Error messages generated by the application
Controller enable
Starting / stopping the application
Loading/saving of parameter sets, loading of the Lenze setting
Transmitting an application or firmware to the controller
Switching the controller on/off
Formatting the file system
Tip!
Use a parameterisable filter to exclude certain events from logbook entry.
Filtering logbook entries ( 617)
Information saved
For each event, the following information is saved in the logbook:
Type of response (e.g. trouble, warning, or information) to the event
Event
Value of power-on time meter
Date/time (for memory module with real-time clock)
Module that activated the event (A = application; S = system).
Memory depth
The number of possible logbook entries depends on the memory module used:
MM1xx, MM2xx: 7 entries
MM3xx, MM4xx: 439 entries
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9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Logbook
13.4.1 Functional description
The structure of the logbook corresponds to a ring buffer structure:
As long as free logbook memory is available, the entry is
placed in the next free position within the memory ().
Q
Q
Q[ If all memory units are assigned, the oldest entry () is
Q deleted for a new entry.
Q The latest entries always remain available.
Q
[13-3] Ring buffer structure
13.4.2 Filtering logbook entries
The logbook enters new entries in the ring buffer after they have passed through a
parameterisable filter. By means of this filter you can exclude events with a specific error
response (trouble, warning, information, etc.) from being entered in the logbook.
Note!
Basically, events with the set response "None" are not entered in the logbook.
The filter is parameterised in C00169 by means of a bit mask. A set bit inhibits the entry of
the corresponding event in the logbook.
From software version V5.0 the option that identical consecutive entries ("Multiple
entries") into the logbook are suppressed can be additionally activated via bit 0. Then
only the time stamp of the last (latest) entry and the number of times the same event
has occurred successively are saved.
Bit Filter Lenze setting
0 No multiple entries 0 ≡ filter inactive
1 Fault 0 ≡ filter inactive
2 Trouble 0 ≡ filter inactive
3 Quick stop by trouble 0 ≡ filter inactive
4 Warning locked 0 ≡ filter inactive
5 Warning 0 ≡ filter inactive
6 Information 0 ≡ filter inactive
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9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Logbook
13.4.3 Reading out logbook entries
When an online connection has been established, the existing logbook entries can simply
be displayed in the »Engineer«. Alternatively, the logbook entries can also be read out via
the corresponding parameters (e.g. using the keypad).
How to display logbook entries in the »Engineer«:
1. Go to the Project view and select the 9400 HighLine controller the logbook entries
of which are to be read out.
2. Click the icon or select the command OnlineGo online to build up an online
connection with the controller.
3. Select the Diagnostics tab from the Workspace.
4. Click Logbook.
• The Logbook dialog box appears:
• You can filter the entries displayed systematically by selecting or defining filter
criteria.
• Click Delete to delete an entry from the logbook.
5. Click Previous to close the Logbook dialog box.
Tip!
• The Export... button serves to export the logbook entries into a file. Export
logbook entries into a file ( 619)
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9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Logbook
13.4.4 Export logbook entries into a file
How to export logbook entries into a file:
1. Click Export... in the Logbook dialog box.
• The Export logbook dialog box is displayed.
2. Specify the folder, file name, and file type for the file.
3. Click Save to export the logbook entries into the given file.
• Hidden logbook entries are not exported, i.e., the specified filter criteria will also
be considered during the export.
• The logbook entries are written into the file in the form of a list separated by
semicolons.
Example
Type;event;error number;number;power-on time meter;internal clock;module
Fault;motor:overtemperature;611778563;1;16243:36:56;01.01.1970 00:00;temperature monitoring
Fault;motor:thermal detector is defective;611778572;1;16243:36:56;01.01.1970 00:00;temperature
monitoring
Fault;resolver: open circuit;612040728;1;16243:36:55;01.01.1970 00:00;motor control
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9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Monitoring
13.5 Monitoring
The controller is provided with different monitoring functions that protect the drive
against impermissible operating conditions.
If a monitoring function responds,
– an entry is made into the Logbook of the controller,
– the response (quick stop by trouble, warning, fault, etc.) selected for this monitoring
function is activated,
– the state of the internal device control changes according to the response selected,
controller inhibit is set, and the "DRIVE ERROR" LED on the front of the controller goes
on:
Response Logbook entry Display under Pulse inhibit Controller inhibit Acknowledgeme LED
C00168 nt required "DRIVE ERROR"
None OFF
Information ; OFF
Warning ; ;
Warning locked ; ; ;
Quick stop by ; ; ;
trouble
Trouble ; ; ; ;
(after 0.5 s)
Fault ; ; ; ; ;
System fault ; ; ; ; Mains
switching
is required!
Danger!
If the automatic restart is enabled (C00142 = "1: Enabled"), the drive can restart
automatically from the "Trouble" and "Safe torque off" device states when the
trouble or requirement for "Safe torque off active" is no longer available!
Automatic restart after mains connection/trouble... ( 112)
See also: Device states ( 105)
LED status displays for the device state ( 612)
620 L
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9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Monitoring
13.5.1 Setting the error response
If a monitoring function responds, the response set for this monitoring function (quick stop
by trouble, warning, fault, etc.) is triggered.
For many monitoring functions the response can be individually configured via
parameters:
Tip!
The fault messages for which the response can be set can be gathered from the
table in the chapter "Short overview (A-Z)". ( 628)
Warning thresholds
Some of the monitoring functions are activated if a defined warning threshold (e.g.
temperature) has been exceeded.
The corresponding preset threshold values can be changed via the following
parameters:
Parameter Information
C00120 Motor overload protection (I²xt)
C00121 Motor temp. warning threshold
C00122 Heatsink temp. warn. threshold
C00123 Device utilisation warning threshold
C00126 CPU temp. warning threshold
C00127 Mot. overload warning threshold
C00128 Thermal time constant of motor
C00174 Undervoltage (LU) threshold
C00570 Warning thres. brake transistor
C00572 Warning thres. brake resistor
C00576 Speed monitoring tolerance
C00596 Threshold max. speed reached
C00599 Motor phase failure threshold
C00620 Max. motor current threshold
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9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Maloperation of the drive
13.6 Maloperation of the drive
The motor does not rotate.
Cause Remedy
DC-bus voltage is too low. Check mains voltage.
Controller is inhibited. Deactivate controller inhibit (can be set by several
sources).
Motor holding brake is not released. Release motor holding brake.
Quick stop active. Deactivate quick stop.
Setpoint = 0 Select setpoint.
With a positive speed setpoint selection, the motor rotates counter-clockwise instead of
clockwise (when looking at the motor shaft).
Cause Remedy
Feedback system is not connected in correct phase Connect feedback system in correct phase relation.
relation.
The maximum current (C00022) flows and the motor does not rotate according to the
defined speed setpoint.
Cause Remedy
Two motor phases are interchanged, i.e. an anti- Carry out the following steps for verification:
clockwise rotating field is applied to the motor. 1. Ensure that the motor shaft is not blocked and can
rotate freely without damaging the system.
2. Activate the "U-rotation test mode" for the motor
control (C00398 = "1").
– In this test mode a voltage phasor with the
frequency set in C00399/1 and the amplitude from
the linear characteristic of rated voltage and rated
frequency is applied to the machine, which
corresponds to a clockwise rotating field.
– Danger!
When the test mode is active, the parameterisable
error response "Quick stop by trouble" has no effect!
If the test mode is active and a monitoring function
responds with this error response, no quick stop is
executed but the motor continues to rotate with the
frequency set for the test mode!
3. Increase the frequency step by step for the test mode
in C00399/1 until the motor shaft starts to rotate.
– If the motor shaft does not rotate, check the
electrical connection.
4. While the motor shaft is rotating, check whether it
rotates clockwise when looking at the A end shield. If
not, two motor phases are interchanged.
5. Additionally check whether the actual speed value
shown in C00051 is positive and whether it
corresponds to the defined frequency, taking the
number of pole pairs of the machine into
consideration (C00059). If this is not the case, the
connection and the parameter setting of the
feedback system are to be checked.
6. Deactivate the test mode for the motor control again
(C00398 = "0").
622 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
13.7 Error messages of the operating system
This chapter describes all error messages of the controller operating system and possible
causes & remedies.
Tip!
Each error message is also saved in the logbook in chronological order. Logbook
( 616)
13.7.1 Structure of the error number (bit coding)
If an error occurs in the controller, a 32-bit value will be saved in decimal format in the
internal history buffer (C00168), which contains the following information:
Response
0 1 2 3 Instance ID
Bit 31 29 28 26 25 16 15 0
Module ID
Error ID
[13-4] Structure of the error number
Tip!
If you go to the Diagnostics tab and click the button to the right of the Error
description display parameter, you will be shown all details on the current error in
a separate dialog box.
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Diagnostics & fault analysis
Error messages of the operating system
13.7.1.1 Response
Bit 31 29 28 26 25 16 15 0
Bit 31 Bit 30 Bit 29 Response
0 0 0 0: No response
0 0 1 1: Fault
0 1 0 2: Trouble
0 1 1 3: Quick stop by trouble
1 0 0 4: Warning locked
1 0 1 5: Warning
1 1 0 6: Information
1 1 1 7: System fault
The state of the internal device control changes according to the selected response to an
error, controller inhibit is set, and the "DRIVE ERROR" LED on the front of the controller goes
on:
Response Logbook entry Display under Pulse inhibit Controller inhibit Acknowledgeme LED
C00168 nt required "DRIVE ERROR"
None OFF
Information ; OFF
Warning ; ;
Warning locked ; ; ;
Quick stop by ; ; ;
trouble
Trouble ; ; ; ;
(after 0.5 s)
Fault ; ; ; ; ;
System fault ; ; ; ; Mains
switching
is required!
13.7.1.2 Instance ID
Bit 31 29 28 26 25 16 15 0
The instance ID is dynamically assigned by the operating system.
Bit 28 Bit 27 Bit 26 Meaning
0 0 0 Instance ID 0
0 0 1 Instance ID 1
0 1 0 Instance ID 2
0 1 1 Instance ID 3
1 0 0 Instance ID 4
1 0 1 Instance ID 5
624 L
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9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Bit 28 Bit 27 Bit 26 Meaning
1 1 0 Instance ID 6
1 1 1 Instance ID 7
13.7.1.3 Module ID
Bit 31 29 28 26 25 16 15 0
Use the module ID to identify the module in which the error has occurred.
Module ID Module
hex decimal
0x0065 101 Logbook module
0x0068 104 Module identification
0x0069 105 Error check of the program memory during runtime
0x006a 106 Runtime environment for IEC 61131-3 programs
0x006e 110 Supply voltage monitoring
0x006f 111 24-V supply voltage monitoring
0x0072 114 Service register
0x0075 117 Device control
0x0077 119 Temperature monitoring
0x0078 120 Analog signal monitoring
0x0079 121 Motor data interface
0x007a 122 Processing of digital inputs/outputs
0x007b 123 Motor control
0x007c 124 Device command module (C00002)
0x007d 125 Processing of analog inputs/outputs
0x007f 127 Interface to the intelligent communication module
0x0083 131 "CAN on board": CAN-Dispatcher
0x0084 132 "CAN on board": CAN-NMT-Handler
0x0085 133 "CAN on board": CAN-Emergency-Handler
0x0086 134 "CAN on board": CAN-NMT-Master
0x0087 135 "CAN on board": CAN-PDO-Handler
0x0088 136 "CAN on board": CAN-SDO-Server
0x0089 137 "CAN on board": CAN-SDO-Client
0x008c 140 Application project manager
0x008e 142 Communication interface for internal communication
0x0090 144 Parameter manager
0x0091 145 Lenze runtime system
0x0092 146 Interface for safety module
0x0093 147 Sync signal generation
0x0099 153 Extension module - digital frequency in MXI1
0x009d 157 CAN module in MXI1: CAN-Dispatcher
0x009e 158 CAN module in MXI1: CAN-NMT-Handler
0x009f 159 CAN module in MXI1: CAN-Emergency-Handler
0x00a0 160 CAN module in MXI1: CAN-NMT-Master
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9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Module ID Module
hex decimal
0x00a1 161 CAN module in MXI1: CAN-PDO-Handler
0x00a2 162 CAN module in MXI1: CAN-SDO-Server
0x00a3 163 CAN module in MXI1: CAN-SDO-Client
0x00aa 170 Extension module - digital frequency in MXI2
0x00ac 172 CAN module in MXI2: CAN-Dispatcher
0x00ad 173 CAN module in MXI2: CAN-NMT-Handler
0x00ae 174 CAN module in MXI2: CAN-Emergency-Handler
0x00af 175 CAN module in MXI2: CAN-NMT-Master
0x00b0 176 CAN module in MXI2: CAN-PDO-Handler
0x00b1 177 CAN module in MXI2: CAN-SDO-Server
0x00b2 178 CAN module in MXI2: CAN-SDO-Client
0x00b8 184 Basic drive functions
0x00c8 200 Intelligent communication module
0x012f 303 Safety module SM300/SM301
13.7.1.4 Error ID
Bit 31 29 28 26 25 16 15 0
16-bit value (0 ... 65535dec) for error identification.
13.7.1.5 Example for bit coding of the error number
C00168 displays the error number "1148911631".
This decimal value corresponds to the following bit sequence:
Bit 31 29 28 26 25 16 15 0
01000100011110110000000000001111
Assignment Information Meaning in the example
Response 2: Trouble
010
Instance ID 1: Instance ID 1
001
Module ID Module ID 123 (0x007b): Motor control
0001111011
Error ID Error ID 15 (0x000f) for motor control:
0000000000001111 Undervoltage in the DC bus
Error number "1148911631" thus means:
The "DC-bus undervoltage" error with the response "Trouble" occurred in the "motor
control" module with the instance ID 1.
626 L
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9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
13.7.2 Reset of error message
An error message with the response "Fault", "Quick stop by trouble", or "Warning locked"
must be reset (acknowledged) explicitly after the cause of error has been eliminated.
To reset (acknowledge) a pending error message, execute the device command
C00002 = "43: Reset error".
Tip!
When an online connection to the controller has been established, use the
Diagnostics tab of the »Engineer« and click Reset error to reset a pending error
message.
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9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
13.7.3 Short overview (A-Z)
The following table contains all error messages of the controller operating system in
alphabetical order with the preset error response and - if available – the parameter for
setting the error response.
Tip!
If you click on the cross-reference in the first column, you get to the detailed
description of the corresponding error response in the following chapter "Cause &
possible remedies". ( 636)
Note!
Error message "Unknown error"
If the "Unknown error xxxx" error message is indicated in the logbook or in
C00166, the reason for the missing plain text is that the error texts required have
not been downloaded to the controller during the application download.
• This, for instance, is the case if a device module plugged into the controller
has not been included in the Engineer project.
• Remedy: Include the device module, recompile and download the project.
Error number Error message Response Adjustable in
hex dec (Lenze setting)
0x0090000c 9437196 Disconnection in the case of par. storage -
0x007b001a 8060954 Absolute value encoder: Communication error Fault -
0x006a0000 6946816 General error in the application Fault -
0x007d0000 8192000 Analog input 1: master current < 4 mA Fault C00598
0x00750001 7667713 Controller enabled Information -
0x00750003 7667715 Controller in STO state Information -
0x007b0047 8060999 Controller: Clamp operation Information -
0x00750005 7667717 Controller: Pulse inhibit is active Information -
0x007b0035 8060981 Controller: Overload during acceleration phases Fault -
0x006a0004 6946820 ApplicationTask: Overflow Fault C02111
0x006a0013 6946835 Application has started Information -
0x006a000e 6946830 Application has stopped Information -
0x006a0014 6946836 Application has stopped Information -
0x008c000c 9175052 Application and device are incompatible Fault -
0x006a0010 6946832 Faulty application parameter Fault -
0x007b003f 8060991 A mains phase has failed Fault -
0x007b002d 8060973 Failure of motor phase U No response C00597
0x007b002e 8060974 Failure of motor phase V No response C00597
0x007b002f 8060975 Failure of motor phase W No response C00597
0x00b8000c 12058636 Acceleration has been limited Information C02716/3
0x00910012 9502738 Block function in wrong MEC task Fault -
0x006a000f 6946831 Breakpoint reached Information -
0x007b0040 8060992 Brake chopper: Ixt > C00570 Warning C00569
0x007b001c 8060956 Brake transistor: Ixt overload No response C00573
0x007b0021 8060961 Brake transistor: Overcurrent Fault -
628 L
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9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Error number Error message Response Adjustable in
hex dec (Lenze setting)
0x007b0041 8060993 Brake resistor: I2t > C00572 Warning C00571
0x007b001d 8060957 Brake resistor: I²xt overload Information -
0x00b80014 12058644 Cam Data is corrupted Warning locked -
0x00b80016 12058646 Cam Data locked due to wrong password Warning locked -
0x00b80017 12058647 Cam Data locked due to wrong security key Warning locked -
0x00b80015 12058645 Cam Data restored Fault -
0x00b80013 12058643 Cam data: Serial number MM does not match Warning locked -
0x00b80034 12058676 Cam Data: Invalidated (due to change of mechanical data) Warning -
0x00b80035 12058677 Cam Data: Invalid product number Information -
0x00870008 8847368 CAN on board PDO manager: Faulty configuration Warning locked -
0x00870000 8847360 CAN on board RPDO1: Telegram not received or faulty No response C00591/1
0x00870001 8847361 CAN on board RPDO2: Telegram not received or faulty No response C00591/2
0x00870002 8847362 CAN on board RPDO3: Telegram not received or faulty No response C00591/3
0x00870003 8847363 CAN on board RPDO4: Telegram not received or faulty No response C00591/4
0x00890000 8978432 CAN on board SDO client: Faulty configuration Warning locked -
0x00880000 8912896 CAN on board SDO server: Faulty configuration Warning locked -
0x00830002 8585218 CAN on board: Basic configuration invalid Warning locked -
0x00830000 8585216 CAN on board: Bus off No response C00595
0x00850000 8716288 CAN on board: Faulty emergency configuration Warning locked -
0x00840000 8650752 CAN on board: Heartbeat error index 1 ... 32 No response C00613/1...32
0x00840020 8650784 CAN on board: Lifeguarding error No response C00614
0x00860020 8781856 CAN on board: Faulty NMT master configuration Warning locked -
0x00840021 8650785 CAN on board: Faulty NMT slave configuration Warning locked -
0x00860000 8781824 CAN on board: Node guarding error 1 ... 32 No response C00612/1...32
0x00830001 8585217 CAN on board: Invalid node address 0 Warning -
0x00a10008 10551304 CAN module (MXI1) PDO manager: Faulty configuration Warning locked -
0x00a10000 10551296 CAN module (MXI1) RPDO1: Telegram not received or faulty No response C13591/1
0x00a10001 10551297 CAN module (MXI1) RPDO2: Telegram not received or faulty No response C13591/2
0x00a10002 10551298 CAN module (MXI1) RPDO3: Telegram not received or faulty No response C13591/3
0x00a10003 10551299 CAN module (MXI1) RPDO4: Telegram not received or faulty No response C13591/4
0x00a10004 10551300 CAN module (MXI1) RPDO5: Telegram not received or faulty No response C13591/5
0x00a10005 10551301 CAN module (MXI1) RPDO6: Telegram not received or faulty No response C13591/6
0x00a10006 10551302 CAN module (MXI1) RPDO7: Telegram not received or faulty No response C13591/7
0x00a10007 10551303 CAN module (MXI1) RPDO8: Telegram not received or faulty No response C13591/8
0x00a30000 10682368 CAN module (MXI1) SDO client: Faulty configuration Warning locked -
0x00a20000 10616832 CAN module (MXI1) SDO server: Faulty configuration Warning locked -
0x009d0000 10289152 CAN module (MXI1): Bus off Information C13595
0x009f0000 10420224 Can module (MXI1): Faulty emergency configuration Warning locked -
0x009e0021 10354721 CAN module (MXI1): Faulty NMT slave configuration Warning locked -
0x009d0002 10289154 CAN module (MXI1): Basic configuration invalid Warning locked -
0x009e0000 10354688 CAN module (MXI1): Heartbeat error index 1 ... 32 No response C13613/1...32
0x009e0020 10354720 CAN module (MXI1): Lifeguarding error No response C13614
0x00a00020 10485792 CAN module (MXI1): Faulty NMT master configuration Warning locked -
0x00a00000 10485760 CAN module (MXI1): Node guarding error 1 ... 32 No response C13612/1...32
0x009d0001 10289153 CAN module (MXI1): Invalid node address 0 Warning -
0x00b00008 11534344 CAN module (MXI2) PDO manager: Faulty configuration Warning locked -
0x00b00000 11534336 CAN module (MXI2) RPDO1: Telegram not received or faulty No response C14591/1
0x00b00001 11534337 CAN module (MXI2) RPDO2: Telegram not received or faulty No response C14591/2
0x00b00002 11534338 CAN module (MXI2) RPDO3: Telegram not received or faulty No response C14591/3
0x00b00003 11534339 CAN module (MXI2) RPDO4: Telegram not received or faulty No response C14591/4
0x00b00004 11534340 CAN module (MXI2) RPDO5: Telegram not received or faulty No response C14591/5
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9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Error number Error message Response Adjustable in
hex dec (Lenze setting)
0x00b00005 11534341 CAN module (MXI2) RPDO6: Telegram not received or faulty No response C14591/6
0x00b00006 11534342 CAN module (MXI2) RPDO7: Telegram not received or faulty No response C14591/7
0x00b00007 11534343 CAN module (MXI2) RPDO8: Telegram not received or faulty No response C14591/8
0x00b20000 11665408 CAN module (MXI2) SDO client: Faulty configuration Warning locked -
0x00b10000 11599872 CAN module (MXI2) SDO server: Faulty configuration Warning locked -
0x00ac0000 11272192 CAN module (MXI2): Bus off Information C14595
0x00ae0000 11403264 Can module (MXI2): Faulty emergency configuration Warning locked -
0x00ac0002 11272194 CAN module (MXI2): Basic configuration invalid Warning locked -
0x00ad0000 11337728 CAN module (MXI2): Heartbeat error index 1 ... 32 No response C14613/1...32
0x00ad0020 11337760 CAN module (MXI2): Lifeguarding error No response C14614
0x00af0020 11468832 CAN module (MXI2): Faulty NMT master configuration Warning locked -
0x00ad0021 11337761 CAN module (MXI2): Faulty NMT slave configuration Warning locked -
0x00af0000 11468800 CAN module (MXI2): Node guarding error 1 ... 32 No response C14612/1...32
0x00ac0001 11272193 CAN module (MXI2): Invalid node address 0 Warning -
0x00900008 9437192 Code number duplicated Warning locked -
0x00690000 6881280 Code refresh System fault -
0x008c001a 9175066 ConnectTable active Information -
0x00770008 7798792 CPU: Temperature > C00126 No response C00589
0x0077000e 7798798 CPU: Thermal detector is defective Fault C00588
0x00770009 7798793 CPU: Overtemperature Warning -
0x008c0002 9175042 File DeviceCFG.dat is defective Fault -
0x008c0005 9175045 File DeviceCFG.dat is missing Fault -
0x008c0008 9175048 File DeviceCFG.dat is invalid Fault -
0x008c0001 9175041 File ProjectList.dat is defective Fault -
0x008c0004 9175044 File ProjectList.dat is missing Fault -
0x008c0007 9175047 File ProjectList.dat is invalid Fault -
0x008c0000 9175040 File ProjectSelection.dat is defective Fault -
0x008c0003 9175043 File ProjectSelection.dat is missing Fault -
0x008c0006 9175046 File ProjectSelection.dat is invalid Fault -
0x00990003 10027011 DFIN (MXI1): Signal error enable/lamp control Warning C13041
0x00990000 10027008 DFIN (MXI1): Track error A-/A Fault C13040
0x00990001 10027009 DFIN (MXI1): Track error B-/B Fault C13040
0x00990002 10027010 DFIN (MXI1): Track error Z-/Z Fault C13040
0x00990004 10027012 DFIN (MXI1): Supply cannot be corrected anymore Warning C13042
0x00aa0003 11141123 DFIN (MXI2): Signal error enable/lamp control Warning C14041
0x00aa0000 11141120 DFIN (MXI2): Track error A-/A Fault C14040
0x00aa0001 11141121 DFIN (MXI2): Track error B-/B Fault C14040
0x00aa0002 11141122 DFIN (MXI2): Track error Z-/Z Fault C14040
0x00aa0004 11141124 DFIN (MXI2): Supply cannot be corrected anymore Warning C14042
0x00990005 10027013 DFOUT (MXI1): Maximum frequency reached Warning C13080
0x00aa0005 11141125 DFOUT (MXI2): Maximum frequency reached Warning C14080
0x006a0011 6946833 Division by zero Fault -
0x006a0001 6946817 Faulty program download Fault -
0x007b0012 8060946 Actual speed value outside tolerance (C00576) No response C00579
0x00680022 6815778 Real-time clock is defective Warning locked -
0x00680024 6815780 Real-time clock: No battery, time lost Warning locked -
0x00680023 6815779 Real-time clock: Change battery Warning locked -
0x007b0039 8060985 Electronic nameplate: Data outside parameter limits Information -
0x007b0030 8060976 Electronic nameplate: Data loaded Information -
0x0078000a 7864330 Electronic nameplate: Data are incompatible Information -
0x007b0032 8060978 Electronic nameplate: Encoder protocol unknown Information -
630 L
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9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Error number Error message Response Adjustable in
hex dec (Lenze setting)
0x007b0033 8060979 Electronic nameplate: Encoder signal unknown Information -
0x0068001b 6815771 Electronic nameplate: Communication error Warning -
0x007b0031 8060977 Electronic nameplate: Not found Information -
0x0068001d 6815773 Electronic nameplate: Checksum error Warning -
0x007b001b 8060955 Encoder: Open circuit Fault C00580
0x007b002c 8060972 EnDat encoder: Battery empty Information -
0x007b004f 8061007 EnDat encoder: Command error Information -
0x007b0026 8060966 EnDat encoder: Lamp error Information -
0x007b0050 8061008 EnDat encoder: Initial position error Information -
0x007b0028 8060968 EnDat encoder: Position error Information -
0x007b0027 8060967 EnDat encoder: Signal error Information -
0x007b0029 8060969 EnDat encoder: Overvoltage Information -
0x007b002b 8060971 EnDat encoder: Overcurrent Information -
0x007b004e 8061006 EnDat encoder: Transmission error Information -
0x007b002a 8060970 EnDat encoder: Undervoltage Information -
0x007b0011 8060945 Earth fault detected Fault -
0x008c000b 9175051 Required license missing Fault -
0x00750000 7667712 External error Fault C00581
0x00680013 6815763 Incorrect safety module System fault -
0x00680012 6815762 Incorrect memory module System fault -
0x006a0002 6946818 Error during the update of inputs and outputs Fault -
0x006a0017 6946839 Error in control configuration System fault -
0x00910011 9502737 Error during initialisation System fault -
0x0068001e 6815774 Firmware incompatible to control card System fault -
0x0068001a 6815770 Firmware has been changed Information -
0x007b004d 8061005 Encoder: Timeout error -
0x007b003e 8060990 Encoder monitoring: Pulse deviation detected No response C00621
0x00780001 7864321 Device utilisation Ixt > 100 % Fault -
0x00780000 7864320 Device utilisation Ixt > C00123 Warning C00604
0x00790000 7929856 Incorrect device command transfer System fault -
0x00770011 7798801 Inside the device: Fan is defective Fault C00611
0x0077000b 7798795 Inside the device: Thermal detector is defective Fault C00588
0x00b8000b 12058635 Speed has been limited Information C02716/3
0x00910003 9502723 Heartbeat not periodic System fault -
0x007b003b 8060987 Hiperface encoder: Command error Information -
0x007b003c 8060988 Hiperface encoder: Unknown encoder Information -
0x007b003d 8060989 Hiperface encoder: Initial position error Information -
0x007b003a 8060986 Hiperface encoder: Transmission error Information -
0x006a0006 6946822 IdleTask: Overflow Fault -
0x00b8001a 12058650 Int. overflow C02620 (manual jog: Speed 1) Fault -
0x00b8001b 12058651 Int. overflow C02621 (manual jog: Speed 2) Fault -
0x00b8001c 12058652 Int. overflow C02622 (manual jog: Acc.) Fault -
0x00b8001d 12058653 Int. overflow C02623 (manual jog: Dec.) Fault -
0x00b8002d 12058669 Int. overflow C02642 (home position) Fault -
0x00b8002e 12058670 Int. overflow C02643 (homing: Target position) Fault -
0x00b8002f 12058671 Int. overflow C02644 (homing: Speed 1) Fault -
0x00b80030 12058672 Int. overflow C02645 (homing: Acceleration 1) Fault -
0x00b80031 12058673 Int. overflow C02646 (homing: Speed 2) Fault -
0x00b80032 12058674 Int. overflow C02647 (homing: Acceleration 2) Fault -
0x00b80033 12058675 Int. overflow C02670 (positioner: Tol. for target position) Fault -
0x00b80020 12058656 Int. overflow C02701/1 (positive software limit pos.) Fault -
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631
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Error number Error message Response Adjustable in
hex dec (Lenze setting)
0x00b80021 12058657 Int. overflow C02701/2 (negative software limit pos.) Fault -
0x00b80022 12058658 Int. overflow C02703 (maximum speed) Fault -
0x00b80023 12058659 Int. overflow C02705 (maximum acceleration) Fault -
0x00b80028 12058664 Int. overflow C02708/1 (decel. limited speed 1) Fault -
0x00b80024 12058660 Int. overflow C02708/1 (limited speed 1) Fault -
0x00b80029 12058665 Int. overflow C02708/2 (decel. limited speed 2) Fault -
0x00b80025 12058661 Int. overflow C02708/2 (limited speed 2) Fault -
0x00b8002a 12058666 Int. overflow C02708/3 (decel. limited speed 3) Fault -
0x00b80026 12058662 Int. overflow C02708/3 (limited speed 3) Fault -
0x00b8002b 12058667 Int. overflow C02708/4 (decel. limited speed 4) Fault -
0x00b80027 12058663 Int. overflow C02708/4 (limited speed 4) Fault -
0x00b8002c 12058668 Int. overflow C02713 (max. dist. manual control) Fault -
0x00690009 6881289 Internal error (event mechanism) System fault -
0x0069000a 6881290 Internal error (event mechanism) System fault -
0x00690002 6881282 Internal error (LDS instance data) System fault -
0x00690003 6881283 Internal error (LDS tasks) System fault -
0x0069000d 6881293 Internal error (file system lifetime) Warning -
0x00690007 6881287 Internal error (message queue) System fault -
0x00690006 6881286 Internal error (message memory) System fault -
0x00690008 6881288 Internal error (name database) System fault -
0x0069000b 6881291 Internal error (semaphores) System fault -
0x0069000c 6881292 Internal error (semaphores) System fault -
0x00690001 6881281 Internal error (memory area - logbook) System fault -
0x00690004 6881284 Internal error (memory blocks) System fault -
0x00690005 6881285 Internal error (task queue) System fault -
0x00910004 9502724 Internal error: See C00180 System fault -
0x00910005 9502725 Internal error: See C00180 System fault -
0x00910006 9502726 Internal error: See C00180 System fault -
0x00910008 9502728 Internal error: See C00180 Fault -
0x00910009 9502729 Internal error: See C00180 Fault -
0x007b0034 8060980 Internal communication error (DMA) System fault -
0x007b0014 8060948 Internal communication error (host MCTRL) System fault -
0x007b0036 8060982 Internal communication error (MCTRL host) System fault -
0x00910002 9502722 No heartbeat signal detected System fault -
0x0090000a 9437194 No parameters for module in MXI1 Fault C00615/2
0x0090000b 9437195 No parameters for module in MXI2 Fault C00615/3
0x00680019 6815769 Combination MXI1/MXI2 not possible System fault -
0x0068001f 6815775 Combination of memory module/device not possible System fault -
0x00680020 6815776 Combination of module in MXI1/device not possible System fault -
0x00680021 6815777 Combination of module in MXI2/device not possible System fault -
0x007f0003 8323075 Communication with module in MXI1 interrupted Information -
0x007f0004 8323076 Communication with module in MXI2 interrupted Information -
0x00920001 9568257 Communication with safety module interrupted Information -
0x007f0002 8323074 Communication error between device and device module No response C01501
0x0091000e 9502734 Communication task: Standstill > 3 s Fault -
0x00770010 7798800 Heatsink: Fan is defective Fault C00610
0x00770000 7798784 Heatsink: Temperature > C00122 Warning C00582
0x0077000a 7798794 Heatsink: Thermal detector is defective Fault C00588
0x00770001 7798785 Heatsink: Overtemperature Fault -
0x007b0023 8060963 Load encoder: Module selected in C00490 is not available Fault -
0x006a000d 6946829 Run-time error Fault -
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Error number Error message Response Adjustable in
hex dec (Lenze setting)
0x0068000f 6815759 Power section incompatible System fault -
0x00680001 6815745 Power section is defective System fault -
0x00680009 6815753 Power section is defective System fault -
0x007b0042 8060994 Power section is defective System fault -
0x00680014 6815764 Power section has been changed Information or warning locked if -
the hardware type has also
changed.
0x00900001 9437185 Lenze setting loaded Information -
0x00900004 9437188 Loading of Lenze setting failed Fault -
0x00720000 7471104 Read error service register Fault -
0x00650001 6619137 Logbook: Reset (read error) Information -
0x00650002 6619138 Logbook: Reset (version error) Information -
0x00650000 6619136 Logbook: Overflow Information -
0x00b80010 12058640 Maximum speed exceeded Information C02716/3
0x00b80011 12058641 Maximum acceleration exceeded Information C02716/3
0x007b004c 8061004 Motor disconnected No response C00597
0x007b0007 8060935 Motor: rated current < rated magnetising current Information -
0x007b0002 8060930 Motor: Calculated mutual inductance unrealistic Information -
0x007b000a 8060938 Motor: Calculated mutual inductance unrealistic Information -
0x007b0001 8060929 Motor: Calculated motor impedance unrealistic Information -
0x007b000c 8060940 Motor: Calculated rotor time constant unrealistic Information -
0x007b0019 8060953 Motor: Calculated leakage inductance unrealistic Information -
0x007b000b 8060939 Motor: Calculated e.m.f. factor unrealistic Information -
0x007b000d 8060941 Motor: Calculated flux factor unrealistic Information -
0x007b0009 8060937 Motor: Calculated rotor resistance unrealistic Information -
0x007b0020 8060960 Motor: Actual speed value > C00596 Fault C00607
0x007b0006 8060934 Motor: Device current too low for rated magnetisation Information -
0x007b0004 8060932 Motor: Phase resistance too high Information -
0x0077000f 7798799 Motor: PTC has triggered No response C00585
0x007b001e 8060958 Motor: Actual current value > C00620 Fault C00619
0x00770002 7798786 Motor: Temperature > C00121 Warning C00584
0x0077000c 7798796 Motor: Thermal detector is defective Fault C00594
0x00770003 7798787 Motor: Overtemperature Fault C00583
0x00780003 7864323 Motor load I²xt > C00120 Fault -
0x00780002 7864322 Motor load I²xt > C00127 Warning C00606
0x00b80004 12058628 Motor brake: Autom. activated after waiting time has elapsed Information -
0x00b80005 12058629 Motor brake: Status monitoring error Quick stop by trouble -
0x00b80003 12058627 Motor brake: Angular drift with closed brake too high Quick stop by trouble -
0x007b0003 8060931 Motor data are inconsistent Information -
0x007b0017 8060951 Motor data are inconsistent Information -
0x007b0024 8060964 Motor encoder: Module selected in C00495 is not available Fault -
0x007b0038 8060984 Motor parameter identification cancelled Fault -
0x007b0013 8060947 Motor control: Task overflow System fault -
0x007b0025 8060965 Motor temperature: Module selected in C01193 is not available Fault -
0x008c0017 9175063 MXI1: CAN module is missing or incompatible Fault C00615/2
0x008c0011 9175057 MXI1: Ethernet module is missing or incompatible Fault C00615/2
0x00680010 6815760 MXI1: Wrong module System fault -
0x008c0015 9175061 MXI1: ICM module is missing or incompatible Fault C00615/2
0x008c0013 9175059 MXI1: Digital frequency module is missing or incompatible Fault C00615/2
0x008c000d 9175053 MXI1: Module is missing or incompatible Fault -
0x0068000a 6815754 MXI1: Module is defective or missing Fault -
0x00680004 6815748 MXI1: Module changed during operation Warning locked -
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633
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Error number Error message Response Adjustable in
hex dec (Lenze setting)
0x00680015 6815765 MXI1: Module has been changed Information or warning locked if -
the hardware type has also
changed.
0x008c000f 9175055 MXI1: PROFIBUS module is missing or incompatible Fault C00615/2
0x008c0018 9175064 MXI2: CAN module is missing or incompatible Fault C00615/3
0x008c0012 9175058 MXI2: Ethernet module is missing or incompatible Fault C00615/3
0x00680011 6815761 MXI2: Wrong module System fault -
0x008c0016 9175062 MXI2: ICM module is missing or incompatible Fault C00615/3
0x008c0014 9175060 MXI2: Digital frequency module is missing or incompatible Fault C00615/3
0x008c000e 9175054 MXI2: Module is missing or incompatible Fault -
0x0068000b 6815755 MXI2: Module is defective or missing System fault -
0x00680005 6815749 MXI2: Module changed during operation Warning locked -
0x00680016 6815766 MXI2: Module has been changed Information or warning locked if -
the hardware type has also
changed.
0x008c0010 9175056 MXI2: PROFIBUS module is missing or incompatible Fault C00615/3
0x00b8000a 12058634 Negative direction of rotation limited Information C02716/1
0x00b80002 12058626 Negative limit switch has triggered Quick stop by trouble -
0x00b80008 12058632 Negative software limit switch overtravelled Quick stop by trouble C02716/2
0x00910001 9502721 Mains voltage is switched off Information -
0x00910000 9502720 Mains voltage is switched on Information -
0x006a0003 6946819 New applications loaded Information -
0x00900006 9437190 Saving of parameters failed Fault -
0x00900000 9437184 Parameter set faulty Fault -
0x00900003 9437187 Parameter set loaded Information -
0x00900002 9437186 Parameter set saved Information -
0x00900005 9437189 Parameter set restored Fault -
0x00900009 9437193 Parameter set: Type of standard device has been changed Information -
0x00900007 9437191 Parameter set: Version conflict Fault -
0x006a0015 6946837 PDO mapping (MXI1): Faulty configuration Fault -
0x006a0016 6946838 PDO mapping (MXI2): Faulty configuration Fault -
0x007b004a 8061002 Pole position identification cancelled Fault C00640
0x00910010 9502736 Position value faulty Fault -
0x00b8000f 12058639 Position target outside the software limit positions Quick stop by trouble C02716/2
0x00b80009 12058633 Positive direction of rotation limited Information C02716/1
0x00b80001 12058625 Positive limit switch has triggered Quick stop by trouble -
0x00b80007 12058631 Positive software limit switch overtravelled Quick stop by trouble C02716/2
0x008c0009 9175049 Project not loaded Fault -
0x008c000a 9175050 Project not available Fault -
0x00b80019 12058649 Homing mode not allowed Fault -
0x007b001f 8060959 Resolver: Calculated acceleration unrealistic Information -
0x007b0018 8060952 Resolver: Open circuit Fault -
0x006a001a 6946842 Retain memory of the application faulty -
0x00b8000e 12058638 Jerk has been limited Information C02716/3
0x00680003 6815747 Safety module is defective or missing System fault -
0x0068000d 6815757 Safety module is defective or missing System fault -
0x00680007 6815751 Safety module has been removed System fault -
0x00680018 6815768 Safety module has been changed Information or warning locked if -
the hardware type has also
changed.
0x00920000 9568256 Safety module: Incompatible with setting in C00214 System fault -
0x00650003 6619139 Memory module is missing Information -
0x00680002 6815746 Memory module is defective or missing Fault -
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Error number Error message Response Adjustable in
hex dec (Lenze setting)
0x0068000c 6815756 Memory module is defective or missing System fault -
0x00680006 6815750 Memory module has been removed System fault -
0x00680017 6815767 Memory module has been changed Information or warning locked if -
the hardware type has also
changed.
0x0068001c 6815772 Memory module: Faulty file system Fault -
0x007c0000 8126464 Memory module: File system has been formatted Information -
0x007c0001 8126465 Memory module: File system has been restored Information -
0x00b80000 12058624 PLC configuration invalid Fault -
0x007d0001 8192001 PLC configuration invalid Fault -
0x007b0037 8060983 PLC configuration invalid Fault -
0x00750006 7667718 PLC configuration invalid Fault -
0x0068000e 6815758 Control card incompatible System fault -
0x00680000 6815744 Control card is defective System fault -
0x00680008 6815752 Control card is defective System fault -
0x00780008 7864328 Control card is defective (UB18 neg.) System fault -
0x00780004 7864324 Control card is defective (UB24) System fault -
0x00780006 7864326 Control card is defective (UB8) System fault -
0x00780007 7864327 Control card is defective (VCC15 neg.) System fault -
0x00780005 7864325 Control card is defective (VCC15) System fault -
0x00780009 7864329 Control card is defective (VCC5) System fault -
0x006f0000 7274496 Control card: Supply voltage (24 V DC) too low Trouble -
0x0091000a 9502730 System task 1: Task overflow System fault -
0x0091000b 9502731 System task 2: Task overflow Information -
0x0091000c 9502732 System task 3: Task overflow System fault -
0x0091000d 9502733 System task: Task overflow Fault -
0x00b80012 12058642 Time-out torque feedforward control brake Quick stop by trouble -
0x007b0010 8060944 Overcurrent detected Fault -
0x006a0005 6946821 UserTask: Overflow Fault C02111
0x00790002 7929858 Violation of time slice Fault -
0x00b8000d 12058637 Deceleration has been limited Information C02716/3
0x006a0012 6946834 Pointer access in impermissible memory area Fault -
0x00790001 7929857 Time error - controller interface System fault -
0x0077000d 7798797 DC-bus capacitor: Thermal detector is defective Fault C00588
0x007b000e 8060942 DC-bus overvoltage Trouble C00600
0x007b000f 8060943 DC-bus undervoltage Trouble -
0x0091000f 9502735 Cyclic task: Standstill > 60 s Information -
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635
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
13.7.4 Cause & possible remedies
This chapter contains all error messages of the controller operating system in numerical
order of the error number with detailed information on the response to the error message
and information on the cause & possible remedies.
Tip!
A list of all error messages of the controller operating system in alphabetical order
can be found in the previous chapter "Short overview (A-Z)". ( 628)
Note!
Error message "Unknown error"
If the "Unknown error xxxx" error message is indicated in the logbook or in
C00166, the reason for the missing plain text is that the error texts required have
not been downloaded to the controller during the application download.
• This, for instance, is the case if a device module plugged into the controller
has not been included in the Engineer project.
• Remedy: Include the device module, recompile and download the project.
Logbook: Overflow [0x00650000]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Too many events/faults have occurred in a very short Check whether application generates too many error
time. It was therefore not possible to list all of them in messages.
the logbook.
Logbook: Reset (read error) [0x00650001]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
The logbook has been reset due to a read error.. - (is irreversible)
Logbook: Reset (version error) [0x00650002]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
The logbook has been reset due to a version conflict. - (is irreversible)
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Memory module is missing [0x00650003]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Memory module is defective or not available. Use a different memory module.
Control card is defect [0x00680000]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Operating system could not identify the control card. Mains switching
• Please contact Lenze if the error occurs again.
Power section is defect [0x00680001]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Operating system could not identify the power section. Mains switching
• Please contact Lenze if the error occurs again.
Memory module is defect or missing [0x00680002]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Operating system could not identify the memory Mains switching
module. • If the error occurs again: Switch off the controller,
remove memory module and plug in again, switch on
the controller again.
• If the error still occurs: Switch off controller and use a
different memory module.
Safety module is defect or missing [0x00680003]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Operating system could not identify the safety module. Mains switching
• If the error occurs again: Switch off the controller,
remove safety module and plug in again, switch on
the controller again.
• If the error still occurs: Switch off controller and use a
different safety module.
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637
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
MXI1: Module changed during operation [0x00680004]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
It was tried to plug an extension module into module slot Plug in valid module and switch on mains.
MXI1, which is not "Hot-plug"-able. • Through mains switching, the system accepts
modules without "hot plug" capability in the
following switch-on phase.
MXI2: Module changed during operation [0x00680005]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
It was tried to plug an extension module into module slot Plug in valid module and switch on mains.
MXI2, which is not "Hot-plug"-able. • Through mains switching, the system accepts
modules without "hot plug" capability in the
following switch-on phase.
Memory module has been removed [0x00680006]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
You have tried to remove or change the memory module Switch off the controller, plug in memory module and
during operation. switch on the controller again.
• If the error occurs again, the memory module is
defective and must be replaced.
Safety module has been removed [0x00680007]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
You have tried to remove or change the safety module Switch off the controller, plug in safety module and
during operation. switch on the controller again.
• If the error occurs again, the safety module is
defective and must be replaced.
Control card is defect [0x00680008]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Operating system could not identify the control card. Please contact Lenze.
Power section is defect [0x00680009]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Operating system could not identify the power section. Please contact Lenze.
638 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
MXI1: Module is defect or missing [0x0068000a]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Operating system could not identify the extension • Use a different extension module.
module in module slot MXI1. • Please contact Lenze.
MXI2: Module is defect or missing [0x0068000b]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Operating system could not identify the extension • Use a different extension module.
module in module slot MXI2. • Please contact Lenze.
Memory module is defect or missing [0x0068000c]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Operating system could not identify the memory • Use a different memory module.
module. • Please contact Lenze.
Safety module is defect or missing [0x0068000d]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Operating system could not identify the safety module. • Use a different safety module.
• Please contact Lenze.
Control card incompatible [0x0068000e]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
The control card is not supported by the operating Please contact Lenze.
system.
Power section incompatible [0x0068000f]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
The power section is not supported by the operating Please contact Lenze.
system.
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639
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
MXI1: Wrong module [0x00680010]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
The extension module in module slot MXI1 is not • Use a different module.
supported by the operating system. • Please contact Lenze.
MXI2: Wrong module [0x00680011]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
The extension module in module slot MXI2 is not • Use a different module.
supported by the operating system. • Please contact Lenze.
Incorrect memory module [0x00680012]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
The memory module is not supported by the operating • Use a different module.
system. • Please contact Lenze.
Incorrect safety module [0x00680013]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
The safety module is not supported by the operating • Use a different module.
system. • Please contact Lenze.
Power section was changed [0x00680014]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning : Information
Cause Remedy
The power section has been changed since the last mains (Only information or warning locked if the hardware
switching. type has also changed.)
MXI1: Module has been changed [0x00680015]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning : Information
Cause Remedy
The extension module in module slot MXI1 has been (Only information or warning locked if the hardware
changed since the last mains switching. type has also changed.)
640 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
MXI2: Module has been changed [0x00680016]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning : Information
Cause Remedy
The extension module in module slot MXI2 has been (Only information or warning locked if the hardware
changed since the last mains switching. type has also changed.)
Memory module has been changed [0x00680017]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning : Information
Cause Remedy
The memory module has been changed since the last (Only information or warning locked if the hardware
mains switching. type has also changed.)
Safety module has been changed [0x00680018]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning : Information
Cause Remedy
The safety module has been changed since the last (Only information or warning locked if the hardware
mains switching. type has also changed.)
Combination MXI1/MXI2 not possible [0x00680019]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Extension modules which are not supported in this Create permitted module combination.
combination are plugged into module slots MXI1 &
MXI2.
Firmware has been changed [0x0068001a]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
The firmware of the operating system has been updated. - (Information only)
Electronic nameplate: Communication error [0x0068001b]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause Remedy
Communication with the electronic nameplate is Check correct connection of the encoder cable.
interrupted, the data could not be read.
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641
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Memory module: Faulty file system [0x0068001c]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Memory module is plugged in incorrectly or is defective. • Plug in the memory module correctly.
• Exchange defective memory module.
Electronic nameplate: Checksum error [0x0068001d]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause Remedy
The checksum of the electronic nameplate is defective. Please contact Lenze.
Firmware is incompatible with control card [0x0068001e]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Firmware is not compatible with the hardware. Import the compatible firmware.
Combination memory module/device not possible [0x0068001f]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
The memory module used is not supported by the Plug in supported module and switch the mains.
controller according to the license model. • The 9400 HighLine supports the MM220 (licence:
Motion Control HighLevel) and MM330 memory
modules (licence: Motion Control TopLevel).
Combination of module in MXI1/device not possible [0x00680020]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
The extension module in module slot MXI1 is not • Remove the extension module and switch the mains.
supported by the controller. • Plug in supported extension module and switch the
mains.
Combination of module in MXI2/device not possible [0x00680021]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
The extension module in module slot MXI2 is not • Remove the extension module and switch the mains.
supported by the controller. • Plug in supported extension module and switch the
mains.
642 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Real-time clock is defective [0x00680022]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
Device error: The clock integrated in the MM440 memory • Replace memory module.
module is defective. • Please contact Lenze.
Real-time clock: Change battery [0x00680023]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
The battery in the clock integrated in the MM440 Replace memory module.
memory module is low. The clock is expected to fail soon.
Real-time clock: Battery empty, time lost [0x00680024]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
The battery integrated in the clock in the MM440 • If the memory module is used for the first time,
memory module is empty. The clock has been reset to its restart the controller to initialise the memory
initial value (01.01.1970 - 00:00:00 o'clock). module.
• If the problem occurs again, replace the memory
module.
Code refresh [0x00690000]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Serious device error or component failure. Switch the controller off and then on again.
• Please contact Lenze if the problem occurs again.
Internal error (memory area - logbook) [0x00690001]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Serious device error or component failure. Switch the controller off and then on again.
• Please contact Lenze if the problem occurs again.
Internal error (LDS instance data) [0x00690002]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Serious device error or component failure. Switch the controller off and then on again.
• Please contact Lenze if the problem occurs again.
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643
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Internal error (LDS tasks) [0x00690003]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Serious device error or component failure. Switch the controller off and then on again.
• Please contact Lenze if the problem occurs again.
Internal error (storage blocks) [0x00690004]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Serious device error or component failure. Switch the controller off and then on again.
• Please contact Lenze if the problem occurs again.
Internal error (task queue) [0x00690005]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Serious device error or component failure. Switch the controller off and then on again.
• Please contact Lenze if the problem occurs again.
Internal error (message memory) [0x00690006]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Serious device error or component failure. Switch the controller off and then on again.
• Please contact Lenze if the problem occurs again.
Internal error (message queue) [0x00690007]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Serious device error or component failure. Switch the controller off and then on again.
• Please contact Lenze if the problem occurs again.
Internal error (name data base) [0x00690008]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Serious device error or component failure. Switch the controller off and then on again.
• Please contact Lenze if the problem occurs again.
644 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Internal error (event mechanism) [0x00690009]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Serious device error or component failure. Switch the controller off and then on again.
• Please contact Lenze if the problem occurs again.
Internal error (event mechanism) [0x0069000a]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Serious device error or component failure. Switch the controller off and then on again.
• Please contact Lenze if the problem occurs again.
Internal error (semaphores) [0x0069000b]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Serious device error or component failure. Switch the controller off and then on again.
• Please contact Lenze if the problem occurs again.
Internal error (semaphores) [0x0069000c]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Serious device error or component failure. Switch the controller off and then on again.
• Please contact Lenze if the problem occurs again.
Internal error (file system lifetime) [0x0069000d]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause Remedy
The maximum number of permissible writing cycles has Replace memory module, otherwise data may get lost.
been reached for the memory module.
General error in the application [0x006a0000]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
General application error. Mains switching. Transmit the application to the
controller again.
• Please contact Lenze if the problem occurs again.
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645
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Faulty program download [0x006a0001]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Faulty transmission of the application to the controller Repeat transmission.
(checksum error).
Fault during the update of the inputs and outputs [0x006a0002]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error Mains switching. Transmit the application to the
controller again.
• Please contact Lenze if the problem occurs again.
New application loaded [0x006a0003]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Application has been changed by transmission from the - (Information only)
Engineer or loading from the memory module.
ApplicationTask: Overflow [0x006a0004]
Response (Lenze setting printed in bold) Setting: C02111 (; Adjustable response)
None System fault : Fault Trouble ; Quick stop by trouble Warning locked Warning Information
Cause Remedy
Program runtime in Application task is too high. Reduce program runtime by means of:
• Omitting functions (e.g. by reducing the number of
active FBs).
• Optimisation of functions to the calculating time.
UserTask: Overflow [0x006a0005]
Response (Lenze setting printed in bold) Setting: C02111 (; Adjustable response)
None System fault : Fault Trouble ; Quick stop by trouble Warning locked Warning Information
Cause Remedy
Program runtime in user task is too high. Reduce program runtime by means of:
• Omitting functions (e.g. by reducing the number of
active FBs).
• Optimisation of functions to the calculating time.
646 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
IdleTask: Overflow [0x006a0006]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Program runtime in idle task is too high. Reduce program runtime by means of:
• Omitting functions (e.g. by reducing the number of
active FBs).
• Optimisation of functions to the calculating time.
Runtime error [0x006a000d]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
A runtime error has occurred in the application. The Remove runtime error in the application and retransfer
application processing has been interrupted. application to controller.
Application has stopped [0x006a000e]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
The application has been stopped using the device Restart application with device command C00002="31".
command C00002="32". All user tasks are stopped.
Breakpoint reached [0x006a000f]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
The application has reached a set breakpoint and the Delete breakpoint and restart application.
user task with the breakpoint has stopped.
Faulty application parameter [0x006a0010]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
An invalid parameter description is available. Transmit application and parameter set to the controller
again.
Division by zero [0x006a0011]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
An impermissible division by zero occurred in the Replace application.
application. The division has been intercepted and the
divisor was replaced by the value "1".
EDS94AxHExxxx EN 7.0 - 04/2010 L
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647
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Pointer access in impermissible memory area [0x006a0012]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
An invalid pointer access to a protected area occurred in Replace application.
the application.
Application has started [0x006a0013]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
The application in the controller has been started. - (Information only)
Application has stopped [0x006a0014]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
The application in the controller has been stopped. - (Information only)
PDO mapping (MXI1): Faulty configuration [0x006a0015]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
CANopen communication module in MXI1: Incorrectly • Integrate suitable communication module for
configured process data mapping. module slot MXI1 in the Engineer project.
• The corresponding PDO channel is not installed, e. g. • Check the configuration of the network. Then
because no communication module was selected for recompile the project and transmit it to the controller.
module slot MXI1 in the Engineer project.
• The communication module selected for module slot
MXI1 in the Engineer project does not support PDO
mapping.
• The mapping information downloaded to the
controller is faulty.
PDO mapping (MXI2): Faulty configuration [0x006a0016]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
CANopen communication module in MXI2: Incorrectly • Integrate suitable communication module for
configured process data mapping. module slot MXI2 in the Engineer project.
• The corresponding PDO channel is not installed, e. g. • Check the configuration of the network. Then
because no communication module was selected for recompile the project and transmit it to the controller.
module slot MXI2 in the Engineer project.
• The communication module selected for module slot
MXI2 in the Engineer project does not support PDO
mapping.
• The mapping information downloaded to the
controller is faulty.
648 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Fault in the control configuration [0x006a0017]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
An invalid control configuration has occurred. Load a different application.
Retain memory of the application faulty [0x006a001a]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Control card: Supply voltage (24 V DC) too low [0x006f0000]
Response (Lenze setting printed in bold)
None System fault Fault : Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
External 24 V supply voltage of the control card is lower Check external supply voltage.
than 18 V. • If the external supply voltage is available and the
error message does not disappear, please contact
Lenze.
Read error service register [0x00720000]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
During reading or writing the service register a fault has Mains switching
occurred. • Please contact Lenze if the problem occurs again.
External error [0x00750000]
Response (Lenze setting printed in bold) Setting: C00581 (; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
The drive interface has activated the error message • Check external device to be monitored.
"External error". • Check assignment of the input DI_bSetExternError in
• The input DI_bSetExternError of the system block the application.
LS_DriveInterface has been set to TRUE.
Controller enabled [0x00750001]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
The controller is enabled and has the "Operation" state. - (Information only)
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649
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Controller in STO state [0x00750003]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
The controller has received the "Safe torque off (STO)" - (Information only)
request by the safety module and is now in the "Safe
torque off active" device state.
Controller: Pulse inhibit is active [0x00750005]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
The pulse inhibit is active in the controller. - (Information only)
PLC configuration invalid [0x00750006]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
An invalid control configuration has occurred. Load a different application.
Heatsink: Temperature > C00122 [0x00770000]
Response (Lenze setting printed in bold) Setting: C00582 (; Adjustable response)
; None System fault ; Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause Remedy
Heatsink temperature higher than variable temperature • Check control cabinet temperature.
limit (C00122). • Clean filter.
• Ambient controller temperature too high. • Clean controller.
• Dirty fan or ventilation slots. • Set a higher value under C00122.
• Value set under C00122 is too low.
Heatsink: Overtemperature [0x00770001]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Heatsink temperature higher than fixed temperature • Check control cabinet temperature.
limit (90 °C). • Clean filter.
• Ambient controller temperature too high. • Clean controller.
• Dirty fan or ventilation slots.
650 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Motor: Temperature > C00121 [0x00770002]
Response (Lenze setting printed in bold) Setting: C00584 (; Adjustable response)
; None System fault ; Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause Remedy
Motor temperature higher than variable temperature • Check drive dimensioning.
limit (C00121). • Connect PTC or switch off monitoring (C00584="0").
• Motor too hot due to impermissibly high currents or • Set a higher value under C00121.
frequent and too long acceleration processes.
• No PTC connected.
• Value set under C00121 is too low.
Motor: Overtemperature [0x00770003]
Response (Lenze setting printed in bold) Setting: C00583 (; Adjustable response)
; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause Remedy
Motor temperature higher than fixed temperature limit • Check drive dimensioning.
(150 °C). • Connect PTC or switch off monitoring (C00583="0").
• Motor too hot due to impermissibly high currents or
frequent and too long acceleration processes.
• No PTC connected.
CPU: Temperature > C00126 [0x00770008]
Response (Lenze setting printed in bold) Setting: C00589 (; Adjustable response)
: None System fault ; Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause Remedy
CPU temperature higher than variable temperature limit • Check control cabinet temperature.
(C00126). • Clean filter.
• Ambient controller temperature too high. • Clean controller.
• Dirty fan or ventilation slots. • Set a higher value under C00126.
• Value set under C00126 is too low.
CPU: Overtemperature [0x00770009]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause Remedy
CPU temperature higher than fixed limit temperature • Check control cabinet temperature.
(85 °C). • Clean filter.
• Ambient controller temperature too high. • Clean controller.
• Dirty fan or ventilation slots.
Heatsink: Thermal detector is defect [0x0077000a]
Response (Lenze setting printed in bold) Setting: C00588 (; Adjustable response)
; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause Remedy
Encoder for heatsink temperature supplies undefined Check control cabinet temperature, maybe it is too low.
values.
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651
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Inside the device: Thermal detector is defective [0x0077000b]
Response (Lenze setting printed in bold) Setting: C00588 (; Adjustable response)
; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause Remedy
Encoder for interior temperature supplies undefined Check control cabinet temperature, maybe it is too low.
values.
Motor: Thermal detector is defect [0x0077000c]
Response (Lenze setting printed in bold) Setting: C00594 (; Adjustable response)
; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause Remedy
The signals of the connected encoder for the motor • Check contacts of the encoder cable at the motor and
temperature detection (resolver at X7 or encoder at X8) controller.
are outside the defined operating range of the detection. • Check selection of the motor temperature sensor in
C01190 and make sure that it complies with the
assembly in the motor.
• Possibly switch off temperature sensor monitoring
(C00594="0").
• If a PTC is in the motor, activate the monitoring of the
PTC temperature in C00585 instead.
DC-bus capacitor: Thermal detector is defect [0x0077000d]
Response (Lenze setting printed in bold) Setting: C00588 (; Adjustable response)
; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause Remedy
Encoder for capacitor temperature supplies undefined Check control cabinet temperature, maybe it is too low.
values.
CPU: Thermal detector is defect [0x0077000e]
Response (Lenze setting printed in bold) Setting: C00588 (; Adjustable response)
; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause Remedy
Encoder for CPU temperature supplies undefined values. Check control cabinet temperature, maybe it is too low.
Motor: PTC has triggered [0x0077000f]
Response (Lenze setting printed in bold) Setting: C00585 (; Adjustable response)
: None System fault ; Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause Remedy
The motor temperature detected via the terminals T1/T2 • Check drive dimensioning.
is too high. • Connect PTC or thermal contact to terminals T1/T2.
• Motor is too hot due to an increased effective current • If a motor without integrated temperature
that results from operation with too high/too monitoring is used, switch off the monitoring
frequent acceleration processes. function (C00585="0").
• Motor too hot due to increased ambient conditions.
• Motor too hot due to lacking cooling in the case of
self-ventilation and continuous operation with
speeds lower than the rated speed.
• Terminals T1/T2 are not assigned.
• Open circuit of the supply cables for terminals T1/T2.
652 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Heatsink: Fan is defect [0x00770010]
Response (Lenze setting printed in bold) Setting: C00610 (; Adjustable response)
; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause Remedy
Speed of heatsink fan too low, e.g. due to dirt. Check/clean fan.
Inside the device: Fan is defective [0x00770011]
Response (Lenze setting printed in bold) Setting: C00611 (; Adjustable response)
; None System fault : Fault Trouble Quick stop by trouble Warning locked ; Warning Information
Cause Remedy
Speed of internal fan is too low, e.g. due to dirt. Check/clean fan.
Device utilisation > C00123 [0x00780000]
Response (Lenze setting printed in bold) Setting: C00604 (; Adjustable response)
; None System fault ; Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause Remedy
Frequent and too long acceleration processes with Check drive dimensioning.
overcurrent > C00123.
Device utilisation Ixt > 100 % [0x00780001]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Frequent and too long acceleration processes with Check drive dimensioning.
overcurrent.
Motor load I²xt > C00127 [0x00780002]
Response (Lenze setting printed in bold) Setting: C00606 (; Adjustable response)
; None System fault ; Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause Remedy
Motor is thermally overloaded, e.g. due to: • Check drive dimensioning.
• impermissible continuous current • Check setting under C00127.
• frequent or too long acceleration processes
Motor load I²xt > C00120 [0x00780003]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Motor is thermally overloaded, e.g. due to: • Check drive dimensioning.
• impermissible continuous current • Check setting under C00120.
• frequent or too long acceleration processes
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653
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Control card is defect (UB24) [0x00780004]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Device error Please contact Lenze.
Control card is defect (VCC15) [0x00780005]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Device error Please contact Lenze.
Control card is defect (UB8) [0x00780006]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Device error Please contact Lenze.
Control card is defect (VCC15 neg.) [0x00780007]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Device error Please contact Lenze.
Control card is defect (UB18 neg.) [0x00780008]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Device error Please contact Lenze.
Control card is defect (VCC5) [0x00780009]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Device error Please contact Lenze.
Electronic nameplate: Data are incompatible [0x0078000a]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
The connected motor with feedback is not supported by Check drive dimensioning.
the controller firmware.
654 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Device command transferred incorrectly [0x00790000]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error If the error occurs frequently, please contact Lenze.
Time error - controller interface [0x00790001]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error If the error occurs frequently, please contact Lenze.
Violation of time slice [0x00790002]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error If the error occurs frequently, please contact Lenze.
Motor: Calculated motor impedance unrealistic [0x007b0001]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Faulty motor parameterisation. Check motor parameters.
Motor: Calculated mutual inductance unrealistic [0x007b0002]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Faulty motor parameterisation. Check motor parameters.
Motor data are inconsistent [0x007b0003]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Faulty motor parameterisation. Check motor parameters.
Motor: Phase resistance too high [0x007b0004]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Faulty motor parameterisation. Check motor parameters.
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655
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Motor: Device current too low for rated magnetisation [0x007b0006]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Controller current is too low for rated magnetisation, i.e. Check drive dimensioning.
the controller cannot energise the motor sufficiently.
Motor: Rated current < rated magnetising current [0x007b0007]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Faulty motor parameterisation. Check motor parameters and setting of C00022.
Motor: Calculated rotor resistance unrealistic [0x007b0009]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Faulty motor parameterisation. Check motor parameters.
Motor: Calculated mutual inductance unrealistic [0x007b000a]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Faulty motor parameterisation. Check motor parameters.
Motor: Calculated e. m. f. factor unrealistic [0x007b000b]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Faulty motor parameterisation. Check motor parameters.
Motor: Calculated rotor time constant unrealistic [0x007b000c]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Faulty motor parameterisation. Check motor parameters.
Motor: Calculated flux factor unrealistic [0x007b000d]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Faulty motor parameterisation. Check motor parameters.
656 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
DC bus overvoltage [0x007b000e]
Response (Lenze setting printed in bold) Setting: C00600 (; Adjustable response)
None System fault ; Fault : Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Due to a too high braking energy, the DC-bus voltage • Use brake resistor or regenerative module.
exceeds the overvoltage threshold which results from • Check setting under C00173.
the mains voltage setting in C00173.
DC bus undervoltage [0x007b000f]
Response (Lenze setting printed in bold)
None System fault Fault : Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
DC bus voltage is lower than the undervoltage threshold • Check mains voltage.
resulting from the mains setting under C00173. • Check setting under C00173.
Overcurrent detected [0x007b0010]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
• Short circuit/earth fault in motor cable. • Check motor cable.
• Excessive capacitive charging current in the motor • Use motor cable that is shorter or has a lower
cable. capacitance.
Earth fault detected [0x007b0011]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
• Earth fault in motor cable. • Check motor cable.
• Excessive capacitive charging current in the motor • Use motor cable that is shorter or has a lower
cable. capacitance.
Actual speed value outside the tolerance (C00576) [0x007b0012]
Response (Lenze setting printed in bold) Setting: C00579 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause Remedy
Difference between actual and setpoint speed is too big. • Increase speed tolerance margin under C00576.
• Check drive dimensioning.
Motor control: Task overflow [0x007b0013]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error (motor control). Please contact Lenze.
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657
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Internal communication error (host MCTRL) [0x007b0014]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error (motor control). Please contact Lenze.
Motor data are inconsistent [0x007b0017]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Faulty motor parameterisation. Check motor parameters.
Resolver: Open circuit [0x007b0018]
Response (Lenze setting printed in bold)
None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause Remedy
• Resolver cable interrupted. • Check resolver cable.
• Resolver defective. • Check resolver.
• Switch off the monitoring function (C00586="3") if no
resolver is used.
Motor: Calculated leakage inductance unrealistic [0x007b0019]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Faulty motor parameterisation. Check motor parameters.
Absolute value encoder: Communication error [0x007b001a]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Absolute value encoder does not send any data or a • Check supply cable.
digital readout has been activated while the machine is • Check encoder.
coasting down. • Check voltage supply (C00421).
658 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Encoder: Open circuit [0x007b001b]
Response (Lenze setting printed in bold) Setting: C00580 (; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause Remedy
• Encoder cable interrupted. • Check encoder cable.
• Encoder defective. • Check encoder.
• Faulty parameter setting of the encoder. • Check parameter setting (C00422).
• Interruption of the light path of laser measuring • Switch off the monitoring function (C00580="3") if no
systems. encoder is used.
• Insufficient reflection of the light of laser measuring • Correct the light path (for laser measuring systems).
systems. • Improve the reflection (for laser measuring systems).
Note:
The encoder open-circuit monitoring for incremental
encoders (C00422 = "0: Incremental encoder (TTL
signal)") requires a signal amplitude > 3.5 V!
If the signal amplitude is lower than 3.0 V, the error
response parameterised in C00580 is triggered.
Brake transistor: Ixt overload [0x007b001c]
Response (Lenze setting printed in bold) Setting: C00573 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause Remedy
Too frequent and too long braking operations. Check drive dimensioning.
Brake resistor: I²xt overload [0x007b001d]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Too frequent and too long braking operations. • Check drive dimensioning.
• Check parameter setting (C00129, C00130, C00131).
Motor: Actual current value > C00620 [0x007b001e]
Response (Lenze setting printed in bold) Setting: C00619 (; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause Remedy
The instantaneous value of the motor current has • Set a higher value in C00620.
exceeded the value set in C00620. • Reduce maximum current (C00022).
• Change response (C00619).
Resolver: Calculated acceleration unrealistic [0x007b001f]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Resolver evaluation faulty (implausible acceleration at Check structure.
the resolver).
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659
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Motor: Actual speed value > C00596 [0x007b0020]
Response (Lenze setting printed in bold) Setting: C00607 (; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause Remedy
Threshold for speed monitoring set in C00596 has been Check drive dimensioning.
exceeded.
Brake transistor: Overcurrent [0x007b0021]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Brake chopper short circuit/earth fault detected. Check brake chopper cable and brake resistor.
Position encoder: Module selected in C00490 not available [0x007b0023]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
The position encode selected under C00490 has not been • Check position encoder.
recognised. • Check parameter setting (C00490).
Motor encoder: Module selected in C00495 not available [0x007b0024]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
The motor encoder selected under C00495 has not been • Check motor encoder.
recognised. • Check parameter setting (C00495).
Motor temperature: Module selected in C01193 not available [0x007b0025]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
The module for temperature feedback selected in • Check feedback module.
C01193 has not been recognised. • Check parameter setting (C01193).
EnDat encoder: Lamp error [0x007b0026]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
EnDat encoder defective. Check EnDat encoder.
660 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
EnDat encoder: Signal error [0x007b0027]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
EnDat encoder defective. Check EnDat encoder.
EnDat encoder: Position error [0x007b0028]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
EnDat encoder defective. Check EnDat encoder.
EnDat encoder: Overvoltage [0x007b0029]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
EnDat encoder defective. Check EnDat encoder.
EnDat encoder: Undervoltage [0x007b002a]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
EnDat encoder defective. Check EnDat encoder.
EnDat encoder: Overcurrent [0x007b002b]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
EnDat encoder defective. Check EnDat encoder.
EnDat encoder: Battery empty [0x007b002c]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
EnDat encoder defective. Check EnDat encoder.
Failure of motor phase U [0x007b002d]
Response (Lenze setting printed in bold) Setting: C00597 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause Remedy
U phase interruption of motor cable. • Check cabling between the controller and motor.
• Check parameter setting (C00599).
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661
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Failure of motor phase V [0x007b002e]
Response (Lenze setting printed in bold) Setting: C00597 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause Remedy
V phase interruption of the motor cable. • Check cabling between the controller and motor.
• Check parameter setting (C00599).
Failure of motor phase W [0x007b002f]
Response (Lenze setting printed in bold) Setting: C00597 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause Remedy
W phase interruption of the motor cable. • Check cabling between the controller and motor.
• Check parameter setting (C00599).
Electronic nameplate: Data loaded [0x007b0030]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
New electronic nameplate (ENP) has been found. - (Information only)
Electronic nameplate: Not found [0x007b0031]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Electronic nameplate (ENP) is not available. - (Information only)
Electronic nameplate: Encoder protocol unknown [0x007b0032]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
The connected motor with feedback is not supported by Check drive dimensioning.
the controller firmware.
Electronic nameplate: Encoder signal unknown [0x007b0033]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
The connected motor with feedback is not supported by Check drive dimensioning.
the controller firmware.
662 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Internal communication error (DMA) [0x007b0034]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error. Please contact Lenze.
Controller: Overload during acceleration phases [0x007b0035]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Frequent or too long acceleration processes. • Check drive dimensioning.
• Reduce steepness of acceleration ramps.
Internal communication error (MCTRL host) [0x007b0036]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error. Please contact Lenze.
PLC configuration invalid [0x007b0037]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
An invalid control configuration has occurred. Load a different application.
Motor parameter identification was cancelled [0x007b0038]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
The motor current during identification was too high. • The motor must not move during identification.
• Check motor parameters.
Electronic nameplate: Data outside the parameter limits [0x007b0039]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
The motor parameters of the electronic nameplate are Please contact Lenze.
outside of the limit values of the controller and therefore
cannot be accepted.
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663
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Hiperface encoder: Transmission error [0x007b003a]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
• Encoder signal interferences (EMC). • Check encoder cable, if required, use shorter encoder
• Encoder cable interrupted. cable.
• Encoder defective. • Check encoder.
• Faulty parameter setting of the encoder. • Check parameter setting (C00420, C00421, C00422).
Note: This information is always supplied together with
the "I/O error - encoder communication" error message
and is entered in the logbook even if the encoder
monitoring is deactivated (C00580).
Hiperface encoder: Command error [0x007b003b]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
• Encoder signal interferences (EMC). • Check encoder cable, if required, use shorter encoder
• Encoder cable interrupted. cable.
• Encoder defective. • Check encoder.
• Faulty parameter setting of the encoder. • Check parameter setting (C00420, C00421, C00422).
Note: This information is always supplied together with
the "I/O error - encoder communication" error message
and is entered in the logbook even if the encoder
monitoring is deactivated (C00580).
Hiperface encoder: Unknown encoder [0x007b003c]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Encoder is not supported by the controller firmware. • Exchange encoder for known type.
• From software version V4.0: Parameterise the
unknown encoder with the codes C00414 (type code)
and C00415 (number of revolutions).
Hiperface encoder: Position initialisation error [0x007b003d]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
A digital readout of the absolute encoder is only possible Prevent coasting of the machine while the absolute
at standstill. encoder is read out.
The readout is activated by the following actions:
• Mains switching
• Change of C00420, C00422 and C00427
• To "Absolute value encoder: Communication error"
• To "Encoder: Open circuit"
Note: This information is always supplied together with
the "I/O error - encoder communication" error message
and is entered in the logbook even if the encoder
monitoring is deactivated (C00580).
664 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Encoder monitoring: Pulse deviation detected [0x007b003e]
Response (Lenze setting printed in bold) Setting: C00621 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause Remedy
• Encoder signal interferences (EMC). • Check encoder cable, if required, use shorter encoder
• Encoder cable interrupted. cable.
• Encoder defective. • Check encoder.
• Faulty parameter setting of the encoder. • Check parameter setting (C00422).
• Possibly switch off monitoring (C00621).
Failure of a mains phase [0x007b003f]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Missing mains phase. Check mains connection.
Note: This monitoring is only available for devices
≥ 75 kW (type 8S and bigger).
Brake chopper: Ixt > C00570 [0x007b0040]
Response (Lenze setting printed in bold) Setting: C00569 (; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked : Warning Information
Cause Remedy
Frequent and too long braking. • Check drive dimensioning.
• Check setting in C00570.
Brake resistor: I2t > C00572 [0x007b0041]
Response (Lenze setting printed in bold) Setting: C00571 (; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked : Warning Information
Cause Remedy
Frequent and too long braking. • Check drive dimensioning.
• Check setting in C00572.
• Check settings for brake resistor (C00129, C00130,
C00131).
Power section is defect [0x007b0042]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Device error Mains switching
• Please contact Lenze if the problem occurs again.
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665
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Controller: Clamp operation [0x007b0047]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Actual motor current is higher than the maximum device • Increase speed setpoint ramps.
current (C00789). • Optimise Imax controller.
Pole position recognition cancelled [0x007b004a]
Response (Lenze setting printed in bold) Setting: C00640 (; Adjustable response)
; None System fault : Fault Trouble Quick stop by trouble ; Warning locked Warning Information
Cause Remedy
From software version V4.0 • Check whether all requirements for an identification
An error occurred during the pole position identification. of the pole position are fulfilled.
The pole position identification could not be completed • Ensure that the machine is not braked or blocked
successfully. during the pole position identification.
• Repeat the pole position identification.
Motor switched off [0x007b004c]
Response (Lenze setting printed in bold) Setting: C00597 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause Remedy
From software version V5.0 Check cabling between the controller and motor.
Interruption of several motor cable phases.
Encoder: Time-out error [0x007b004d]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
EnDat encoder: Transmission error [0x007b004e]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
• Encoder signal interferences (EMC). • Check encoder cable, if required, use shorter encoder
• Encoder cable interrupted. cable.
• Encoder defective. • Check encoder.
• Faulty parameter setting of the encoder. • Check parameter setting (C00420, C00421, C00422).
Note: This information is always supplied together with
the "I/O error - encoder communication" error message
and is entered in the logbook even if the encoder
monitoring is deactivated (C00580).
666 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
EnDat encoder: Command error [0x007b004f]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
• Encoder signal interferences (EMC). • Check encoder cable, if required, use shorter encoder
• Encoder cable interrupted. cable.
• Encoder defective. • Check encoder.
• Faulty parameter setting of the encoder. • Check parameter setting (C00420, C00421, C00422).
Note: This information is always supplied together with
the "I/O error - encoder communication" error message
and is entered in the logbook even if the encoder
monitoring is deactivated (C00580).
EnDat encoder: Position initialisation error [0x007b0050]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
A digital readout of the absolute encoder is only possible Prevent coasting of the machine while the absolute
at standstill. encoder is read out.
The readout is activated by the following actions:
• Mains switching
• Change of C00420, C00422 and C00427
• To "Absolute value encoder: Communication error"
• To "Encoder: Open circuit"
Note: This information is always supplied together with
the "I/O error - encoder communication" error message
and is entered in the logbook even if the encoder
monitoring is deactivated (C00580).
Memory module: File system has been formatted [0x007c0000]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
File system of the memory module has been formatted. - (Information only)
Memory module: File system has been restored [0x007c0001]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
File system of the memory module has been restored. - (Information only)
Analog input 1: Master current < 4 mA [0x007d0000]
Response (Lenze setting printed in bold) Setting: C00598 (; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
Master current is in the impermissible range -4 ... +4 mA, Remove cable break.
e. g. due to a cable break or a defective master current
value encoder.
• Only for parameterisation as master current input
(see C00034).
EDS94AxHExxxx EN 7.0 - 04/2010 L
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667
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
PLC configuration invalid [0x007d0001]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
An invalid control configuration has occurred. Load a different application.
Communication error between device and device module [0x007f0002]
Response (Lenze setting printed in bold) Setting: C01501 (; Adjustable response)
: None System fault ; Fault Trouble ; Quick stop by trouble ; Warning locked ; Warning Information
Cause Remedy
Communication between the controller and extension • Remove EMC fault.
module is interrupted, e.g. due to disturbances in the • Switch off the controller, plug in module correctly and
ambience (EMC), defective hardware, or loose contact. switch on the controller again.
• This monitoring is designed for safe process data • Switch the mains or restart controller.
communication. • Exchange module/controller.
• Please contact Lenze if the problem occurs again.
Communication with module in MXI1 interrupted [0x007f0003]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Communication between the controller and the • Switch off controller, plug module correctly in module
extension module in module slot MXI1 cannot be slot MXI1, switch on controller again.
established. • If the problem occurs again, replace the module.
Communication with module in MXI2 interrupted [0x007f0004]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Communication between the controller and the • Switch off controller, plug module correctly in module
extension module in module slot MXI2 cannot be slot MXI2, switch on controller again.
established. • If the problem occurs again, replace the module.
CAN on board: Bus off [0x00830000]
Response (Lenze setting printed in bold) Setting: C00595 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CAN on board: "Bus-Off" state • Remove fault (e.g. EMC).
• Too many faulty telegrams received. • Remove loose contact, screw down adapter.
• Defective cable (e.g. loose contact). • Assign different node IDs.
• Two nodes with the same ID.
668 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
CAN on board: Invalid node address 0 [0x00830001]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause Remedy
CAN on board: initialisation error • Set a non-zero node address by means of the DIP
• The hardware allocation of the node address was switches and then switch mains.
selected via DIP switches, and the DIP switches of the • Activation of the software allocation of the node
node address are all on zero. number by switching over DIP switch 2, then switch
Note: Instead of the impermissible node address 0, node mains.
address 1 is used.
CAN on board: Basic configuration invalid [0x00830002]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CAN on board: configuration error • Repeat download
• Faulty download of an Engineer or PLC Designer • Correct CAN settings in the project and regenerate
project project.
• Invalid CAN settings according to DS301V402 in the
Engineer or PLC Designer.
CAN on board: Heartbeat error index 1 ... 32 [0x00840000 ... 0x0084001f]
Response (Lenze setting printed in bold) Setting: C00613/1...32 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CAN on board: Cyclic node monitoring • Reactivate CAN node by mains switching, restart of
• Node station has not received a heartbeat telegram the controller (C00002="11000") or CAN reset node.
from node 1 ... 32 within the defined time. • Select a different heartbeat producer monitoring
time or switch off monitoring and reset locked error
status, if necessary.
Tip: Save the current parameter set before mains
switching and restart of the controller (C00002="11").
CAN on board: Lifeguarding error [0x00840020]
Response (Lenze setting printed in bold) Setting: C00614 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CAN on board: Cyclic node monitoring Select a different Lifeguarding monitoring time or switch
• Slave response: Maximum time between two node off monitoring.
guarding telegrams (remote transmission request
telegram) from the master has been exceeded.
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669
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
CAN on board: Faulty NMT slave configuration [0x00840021]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CAN on board: A configuration error has occurred in the • Repeat download
network management of the CAN slave. • Correct CAN settings in the project and regenerate
• Faulty download of an Engineer or PLC Designer project.
project
• Invalid CAN settings according to DS301V402 in the
Engineer or PLC Designer.
• Incorrect parameterisation of node guarding or
heartbeat.
CAN on board: Faulty emergency configuration [0x00850000]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CAN on board: CAN emergency configuration is faulty. • Repeat download
• Faulty download of an Engineer or PLC Designer • Correct CAN settings in the project and regenerate
project project.
• Invalid CAN emergency settings according to
DS301V402 in the Engineer or PLC Designer.
CAN on board: Node guarding error 1 ... 32 [0x00860000 ... 0x0086001f]
Response (Lenze setting printed in bold) Setting: C00612/1...32 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CAN on board: Cyclic node monitoring • Reactivate CAN node by mains switching, restart of
• CAN master has not received a response to a node the controller (C00002="11000") or CAN reset node.
guarding telegram (remote transmission request • Select a different node guarding monitoring time or
telegram) from node 1 ... 32 within the defined time. switch off monitoring.
• Reset potentially caught error status.
Tip: Save the current parameter set before mains
switching and restart of the controller (C00002="11").
CAN on board: Faulty NMT master configuration [0x00860020]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CAN on board: A configuration error has occurred in the • Repeat download
network management of the CAN master. • Correct CAN settings in the project and regenerate
• Faulty download of an Engineer or PLC Designer project.
project.
• Invalid CAN master settings according to DS301V402
and DS405 in the Engineer or PLC Designer.
• Incorrect parameterisation of node guarding or
heartbeat.
670 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
CAN on board RPDO1: Telegram not received or faulty [0x00870000]
Response (Lenze setting printed in bold) Setting: C00591/1 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CAN on board: CAN-IN 1 error • Set correct telegram length for CAN master
• Incorrect PDO telegram length. (transmitter).
• Transmission error. • Eliminate trouble in the environment (e. g. EMC).
• Time monitoring of the PDOs has tripped. • Select a different time monitoring or switch off time
monitoring.
CAN on board RPDO2: Telegram not received or faulty [0x00870001]
Response (Lenze setting printed in bold) Setting: C00591/2 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CAN on board: CAN-IN 2 error • Set correct telegram length for CAN master
• Incorrect PDO telegram length. (transmitter).
• Transmission error. • Eliminate trouble in the environment (e. g. EMC).
• Time monitoring of the PDOs has tripped. • Select a different time monitoring or switch off time
monitoring.
CAN on board RPDO3: Telegram not received or faulty [0x00870002]
Response (Lenze setting printed in bold) Setting: C00591/3 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CAN on board: CAN-IN 3 error • Set correct telegram length for CAN master
• Incorrect PDO telegram length. (transmitter).
• Transmission error. • Eliminate trouble in the environment (e. g. EMC).
• Time monitoring of the PDOs has tripped. • Select a different time monitoring or switch off time
monitoring.
CAN on board RPDO4: Telegram not received or faulty [0x00870003]
Response (Lenze setting printed in bold) Setting: C00591/4 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CAN on board: CAN-IN 4 error • Set correct telegram length for CAN master
• Incorrect PDO telegram length. (transmitter).
• Transmission error. • Eliminate trouble in the environment (e. g. EMC).
• Time monitoring of the PDOs has tripped. • Select a different time monitoring or switch off time
monitoring.
CAN on board PDO manager: Faulty configuration [0x00870008]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CAN on board: CAN-PDO configuration error • Repeat download.
• Faulty project download. • Correct CAN settings in the project and regenerate
• Invalid CAN settings according to DS301V402 in the project.
Engineer or PLC Designer.
• Mapping variables have incorrect CANopen indices
according to DS405.
EDS94AxHExxxx EN 7.0 - 04/2010 L
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671
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
CAN on board SDO server: Faulty configuration [0x00880000]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CAN on board: A configuration error has occurred in the • Repeat download.
CAN SDO server. • Correct CAN settings in the project and regenerate
• Faulty project download. project.
• Invalid SDO server settings according to DS301V402
in the Engineer or PLC Designer.
CAN on board SDO client: Faulty configuration [0x00890000]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CAN on board: A configuration error has occurred in the • Repeat download
CAN SDO client. • Correct CAN settings in the project and regenerate
• Faulty project download. project.
• Invalid SDO client settings according to DS301V402 in
the Engineer or PLC Designer.
File ProjectSelection.dat defect [0x008c0000]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error Reformat memory module (C00002="1030") and repeat
project download.
File ProjectList.dat defect [0x008c0001]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error Reformat memory module (C00002="1030") and repeat
project download.
File DeviceCFG.dat defect [0x008c0002]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error Reformat memory module (C00002="1030") and repeat
project download.
File ProjectSelection.dat is missing [0x008c0003]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error Reformat memory module (C00002="1030") and repeat
project download.
672 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
File ProjectList.dat is missing [0x008c0004]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error Reformat memory module (C00002="1030") and repeat
project download.
File DeviceCFG.dat is missing [0x008c0005]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error Reformat memory module (C00002="1030") and repeat
project download.
File ProjectSelection.dat invalid [0x008c0006]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error Reformat memory module (C00002="1030") and repeat
project download.
File ProjectList.dat invalid [0x008c0007]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error Reformat memory module (C00002="1030") and repeat
project download.
File DeviceCFG.dat invalid [0x008c0008]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error Reformat memory module (C00002="1030") and repeat
project download.
Project is not loaded [0x008c0009]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Application could not be loaded because of a file error. Load new or different application.
EDS94AxHExxxx EN 7.0 - 04/2010 L
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673
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Project is not available [0x008c000a]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Application not available. • Download application with the Engineer
• Switch off controller and use a different memory
module with an existing application.
Required licence missing [0x008c000b]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Memory module could not be initialised. Two possibilities:
• Use the Engineer to download and activate an
application suitable for the memory module.
• Switch off controller and use memory module
suitable for the application.
Application and device are incompatible [0x008c000c]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Application is incompatible with the controller. • Download of an application suitable for the controller
using the Engineer.
• Switch off controller and use a different memory
module with suitable application.
MXI1: Module is missing or incompatible [0x008c000d]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Extension module in module slot MXI1 is incompatible Use extension module supported by the application.
with the application.
MXI2: Module is missing or incompatible [0x008c000e]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Extension module in module slot MXI2 is incompatible Use extension module supported by the application.
with the application.
MXI1: PROFIBUS module is missing or incompatible [0x008c000f]
Response (Lenze setting printed in bold) Setting: C00615/2 (; Adjustable response)
; None System fault : Fault Trouble ; Quick stop by trouble ; Warning locked Warning ; Information
Cause Remedy
E94AYCPM communication module (PROFIBUS) in Use communication module supported by the
module slot MXI1 is incompatible with the application. application.
674 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
MXI2: PROFIBUS module is missing or incompatible [0x008c0010]
Response (Lenze setting printed in bold) Setting: C00615/3 (; Adjustable response)
; None System fault : Fault Trouble ; Quick stop by trouble ; Warning locked Warning ; Information
Cause Remedy
E94AYCPM communication module (PROFIBUS) in Use communication module supported by the
module slot MXI2 is incompatible with the application. application.
MXI1: Ethernet module is missing or incompatible [0x008c0011]
Response (Lenze setting printed in bold) Setting: C00615/2 (; Adjustable response)
; None System fault : Fault Trouble ; Quick stop by trouble ; Warning locked Warning ; Information
Cause Remedy
E94AYCEN communication module (Ethernet) in module Use communication module supported by the
slot MXI1 is incompatible with the application. application.
MXI2: Ethernet module is missing or incompatible [0x008c0012]
Response (Lenze setting printed in bold) Setting: C00615/3 (; Adjustable response)
; None System fault : Fault Trouble ; Quick stop by trouble ; Warning locked Warning ; Information
Cause Remedy
E94AYCEN communication module (Ethernet) in module Use communication module supported by the
slot MXI2 is incompatible with the application. application.
MXI1: Digital frequency module is missing or incompatible [0x008c0013]
Response (Lenze setting printed in bold) Setting: C00615/2 (; Adjustable response)
; None System fault : Fault Trouble ; Quick stop by trouble ; Warning locked Warning ; Information
Cause Remedy
Digital frequency extension module in module slot MXI1 Use extension module supported by the application.
is incompatible with the application.
MXI2: Digital frequency module is missing or incompatible [0x008c0014]
Response (Lenze setting printed in bold) Setting: C00615/3 (; Adjustable response)
; None System fault : Fault Trouble ; Quick stop by trouble ; Warning locked Warning ; Information
Cause Remedy
Digital frequency extension module in module slot MXI2 Use extension module supported by the application.
is incompatible with the application.
MXI1: ICM module is missing or incompatible [0x008c0015]
Response (Lenze setting printed in bold) Setting: C00615/2 (; Adjustable response)
; None System fault : Fault Trouble ; Quick stop by trouble ; Warning locked Warning ; Information
Cause Remedy
ICM extension module in module slot MXI1 is Use extension module supported by the application.
incompatible with the application.
EDS94AxHExxxx EN 7.0 - 04/2010 L
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675
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
MXI2: ICM module is missing or incompatible [0x008c0016]
Response (Lenze setting printed in bold) Setting: C00615/3 (; Adjustable response)
; None System fault : Fault Trouble ; Quick stop by trouble ; Warning locked Warning ; Information
Cause Remedy
ICM extension module in module slot MXI2 is Use extension module supported by the application.
incompatible with the application.
MXI1: CAN module is missing or incompatible [0x008c0017]
Response (Lenze setting printed in bold) Setting: C00615/2 (; Adjustable response)
; None System fault : Fault Trouble ; Quick stop by trouble ; Warning locked Warning ; Information
Cause Remedy
CANopen communication module in module slot MXI1 is Use communication module supported by the
incompatible with the application. application.
MXI2: CAN module is missing or incompatible [0x008c0018]
Response (Lenze setting printed in bold) Setting: C00615/3 (; Adjustable response)
; None System fault : Fault Trouble ; Quick stop by trouble ; Warning locked Warning ; Information
Cause Remedy
CANopen communication module in module slot MXI2 is Use communication module supported by the
incompatible with the application. application.
ConnectTable active [0x008c001a]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
The application is provided with a so-called connection - (Information only)
table, i. e. connections can be altered "online" in the
function block editor without having to carry out a new
complete download.
Parameter set faulty [0x00900000]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Parameter set is invalid. Transfer parameter set from Engineer to the controller
and save with C00002="11".
Lenze setting loaded [0x00900001]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Lenze setting has been loaded. - (Information only)
676 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Parameter set saved [0x00900002]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Parameter set has been saved. - (Information only)
Parameter set loaded [0x00900003]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Parameter set has been loaded. - (Information only)
Loading of Lenze setting failed [0x00900004]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Lenze setting of a parameter is not within the valid Eliminate error in the application and retransfer
limits. application to controller.
Parameter set restored [0x00900005]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
An error has occurred while loading the selected Transfer parameter set from Engineer to the controller
parameter set. and save with C00002="11".
Saving of parameters failed [0x00900006]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
An error has occurred while saving the current Use a different memory module.
parameter set.
Parameter set: Version conflict [0x00900007]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
The parameter set version on the memory module is not Transfer parameter set from Engineer to the controller
compatible with the firmware of the controller. and save with C00002="11".
EDS94AxHExxxx EN 7.0 - 04/2010 L
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677
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Code number duplicated [0x00900008]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
Code number of the operating system has been assigned Eliminate error in the application and retransfer
to the application. application to controller.
Parameter set: Type of standard device has been changed [0x00900009]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
The firmware has loaded a parameter set the type code Load a suitable parameter set.
of which does not correspond to the type code of the
controller.
No parameters for module in MXI1 [0x0090000a]
Response (Lenze setting printed in bold) Setting: C00615/2 (; Adjustable response)
; None System fault : Fault Trouble ; Quick stop by trouble ; Warning locked Warning ; Information
Cause Remedy
The parameter set contains no parameters for the Integrate the module inserted in MXI1 into the Engineer
module inserted in MXI1. project and then retransmit the parameter set to the
controller.
No parameters for module in MXI2 [0x0090000b]
Response (Lenze setting printed in bold) Setting: C00615/3 (; Adjustable response)
; None System fault : Fault Trouble ; Quick stop by trouble ; Warning locked Warning ; Information
Cause Remedy
The parameter set contains no parameters for the Integrate the module inserted in MXI2 into the Engineer
module inserted in MXI2. project and then retransmit the parameter set to the
controller.
Disconnection in the case of par. storage [0x0090000c]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Mains voltage is switched on [0x00910000]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Mains voltage has been switched on. - (Information only)
678 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Mains voltage is switched off [0x00910001]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
Mains voltage has been switched off. - (Information only)
No heartbeat signal detected [0x00910002]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error If the error occurs frequently, please contact Lenze.
Heartbeat not periodic [0x00910003]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error If the error occurs frequently, please contact Lenze.
Internal error: See C00180 [0x00910004]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error If the error occurs frequently, please contact Lenze.
Internal error: See C00180 [0x00910005]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error Please contact Lenze.
Internal error: See C00180 [0x00910006]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Divisor of division was "0". Replace application.
Internal error: See C00180 [0x00910008]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error If the error occurs frequently, please contact Lenze.
EDS94AxHExxxx EN 7.0 - 04/2010 L
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679
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Internal error: See C00180 [0x00910009]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error If the error occurs frequently, please contact Lenze.
System task 1: Task overflow [0x0091000a]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
System overload. Please contact Lenze.
System task 2: Task overflow [0x0091000b]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
System overload. Please contact Lenze.
System task 3: Task overflow [0x0091000c]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
System overload. Please contact Lenze.
System task: Task overflow [0x0091000d]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
System overload. Please contact Lenze.
Communication task: Standstill > 3 s [0x0091000e]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
System overload or communication task crash. Reduce system load.
• This is possible in the application or data transfer of
the communication interfaces.
680 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Cyclic task: Standstill > 60 s [0x0091000f]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
System overload or CRC check task crash. Reduce system load.
• This is possible in the application or data transfer of
the communication interfaces.
Position value faulty [0x00910010]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error If the error occurs frequently, please contact Lenze.
Error during initialisation [0x00910011]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error If the error occurs frequently, please contact Lenze.
Block function in wrong MEC task [0x00910012]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
Internal error If the error occurs frequently, please contact Lenze.
Safety module: Incompatible with setting in C00214 [0x00920000]
Response (Lenze setting printed in bold)
None : System fault Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
The controller has detected a safety module which does Change setting underC00214 or use a suitable safety
not match the setting under C00214. module.
• Afterwards mains switching is required.
Communication with safety module interrupted [0x00920001]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
It is not possible to establish communication between • Switch off the controller, plug in safety module
the controller and safety module. correctly and switch on the controller again.
• If the problem occurs again, replace the safety
module.
EDS94AxHExxxx EN 7.0 - 04/2010 L
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681
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
DFIN (MXI1): Track error A-/A [0x00990000]
Response (Lenze setting printed in bold) Setting: C13040 (; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
Digital frequency extension module in MXI1: • Check signal cable for track A.
Interruption (open circuit) of the signal cable for track A. • Check encoder.
DFIN (MXI1): Track error B-/B [0x00990001]
Response (Lenze setting printed in bold) Setting: C13040 (; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
Digital frequency extension module in MXI1: • Check signal cable for track B.
Interruption (open circuit) of the signal cable for track B. • Check encoder.
DFIN (MXI1): Track error Z-/Z [0x00990002]
Response (Lenze setting printed in bold) Setting: C13040 (; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
Digital frequency extension module in MXI1: • Check signal cable for track Z.
Interruption (open circuit) of the signal cable for track Z. • Check encoder.
DFIN (MXI1): Signal error enable/lamp control [0x00990003]
Response (Lenze setting printed in bold) Setting: C13041 (; Adjustable response)
; None System fault ;; Fault ; Trouble ; Quick stop by trouble ; Warning locked : Warning Information
Cause Remedy
Digital frequency extension module in MXI1: • Check signal cable for "Enable" signal.
Interruption (open circuit) of the signal cable for the • Check encoder.
"Enable" signal or no "Enable" signal available.
DFIN (MXI1): Supply cannot be corrected anymore [0x00990004]
Response (Lenze setting printed in bold) Setting: C13042 (; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked : Warning ; Information
Cause Remedy
Digital frequency extension module in MXI1: The Check encoder.
encoder voltage controlled by the digital frequency input
has reached the voltage limit.
DFOUT (MXI1): Maximum frequency reached [0x00990005]
Response (Lenze setting printed in bold) Setting: C13080 (; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked : Warning ; Information
Cause Remedy
Digital frequency extension module in MXI1: Limit Check limit value set.
frequency at the digital frequency output reached.
• The digital frequency has reached the limit value set
in C013053.
682 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
CAN module (MXI1): Bus off [0x009d0000]
Response (Lenze setting printed in bold) Setting: C13595 (; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning : Information
Cause Remedy
CANopen communication module in MXI1: "Bus-off" • Remove fault (e.g. EMC).
state • Remove loose contact, screw down adapter.
• Too many faulty telegrams received. • Assign different node IDs.
• Defective cable (e.g. loose contact).
• Two nodes with the same ID.
CAN module (MXI1): Invalid node address 0 [0x009d0001]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause Remedy
CANopen communication module in MXI1: Initialisation • Set a non-zero node address by means of the DIP
error switches and then switch mains.
• The hardware allocation of the node address was • Activation of the software allocation of the node
selected via DIP switches, and the DIP switches of the number by switching over DIP switch 2, then switch
node address are all on zero. mains.
Note: Instead of the impermissible node address 0, node
address 1 is used.
CAN module (MXI1): Basic configuration invalid [0x009d0002]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CANopen communication module in MXI1: • Repeat download
Configuration error • Correct CAN settings in the project and regenerate
• Faulty download of an Engineer or PLC Designer project.
project
• Invalid CAN settings according to DS301V402 in the
Engineer or PLC Designer.
CAN module (MXI1): Heartbeat error index 1 ... 32 [0x009e0000 ... 0x009e001f]
Response (Lenze setting printed in bold) Setting: C13613/1...32 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI1: Cyclic node • Reactivate CAN node by mains switching, restart of
monitoring the controller (C00002="11000") or CAN reset node.
• Node station has not received a heartbeat telegram • Select a different heartbeat producer monitoring
from node 1 ... 32 within the defined time. time or switch off monitoring and reset locked error
status, if necessary.
Tip: Save the current parameter set before mains
switching and restart of the controller (C00002="11").
EDS94AxHExxxx EN 7.0 - 04/2010 L
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683
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
CAN module (MXI1): Lifeguarding error [0x009e0020]
Response (Lenze setting printed in bold) Setting: C13614 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI1: Cyclic node Select a different Lifeguarding monitoring time or switch
monitoring off monitoring.
• Slave response: Maximum time between two node
guarding telegrams (remote transmission request
telegram) from the master has been exceeded.
CAN module (MXI1): Faulty NMT slave configuration [0x009e0021]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CANopen communication module in MXI1: A • Repeat download
configuration error has occurred in the network • Correct CAN settings in the project and regenerate
management of the CAN slave. project.
• Faulty download of an Engineer or PLC Designer
project
• Invalid CAN settings according to DS301V402 in the
Engineer or PLC Designer.
• Incorrect parameterisation of node guarding or
heartbeat.
CAN module (MXI1): Faulty emergency configuration [0x009f0000]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CANopen communication module in MXI1: CAN • Repeat download
emergency configuration is faulty. • Correct CAN settings in the project and regenerate
• Faulty download of an Engineer or PLC Designer project.
project
• Invalid CAN emergency settings according to
DS301V402 in the Engineer or PLC Designer.
CAN module (MXI1): Node guarding error 1 ... 32 [0x00a00000 ... 0x00a0001f]
Response (Lenze setting printed in bold) Setting: C13612/1...32 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI1: Cyclic node • Reactivate CAN node by mains switching, restart of
monitoring the controller (C00002="11000") or CAN reset node.
• CAN master has not received a response to a node • Select a different node guarding monitoring time or
guarding telegram (remote transmission request switch off monitoring.
telegram) from node 1 ... 32 within the defined time. • Reset potentially caught error status.
Tip: Save the current parameter set before mains
switching and restart of the controller (C00002="11").
684 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
CAN module (MXI1): Faulty NMT master configuration [0x00a00020]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CANopen communication module in MXI1: A • Repeat download
configuration error has occurred in the network • Correct CAN settings in the project and regenerate
management of the CAN master. project.
• Faulty download of an Engineer or PLC Designer
project.
• Invalid CAN master settings according to DS301V402
and DS405 in the Engineer or PLC Designer.
• Incorrect parameterisation of node guarding or
heartbeat.
CAN module (MXI1) RPDO1: Telegram not received or faulty [0x00a10000]
Response (Lenze setting printed in bold) Setting: C13591/1 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI1: CAN-IN 1 • Set correct telegram length for CAN master
error (transmitter).
• Incorrect PDO telegram length. • Eliminate trouble in the environment (e. g. EMC).
• Transmission error. • Select a different time monitoring or switch off time
• Time monitoring of the PDOs has tripped. monitoring.
CAN module (MXI1) RPDO2: Telegram not received or faulty [0x00a10001]
Response (Lenze setting printed in bold) Setting: C13591/2 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI1: CAN-IN 2 • Set correct telegram length for CAN master
error (transmitter).
• Incorrect PDO telegram length. • Eliminate trouble in the environment (e. g. EMC).
• Transmission error. • Select a different time monitoring or switch off time
• Time monitoring of the PDOs has tripped. monitoring.
CAN module (MXI1) RPDO3: Telegram not received or faulty [0x00a10002]
Response (Lenze setting printed in bold) Setting: C13591/3 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI1: CAN-IN 3 • Set correct telegram length for CAN master
error (transmitter).
• Incorrect PDO telegram length. • Eliminate trouble in the environment (e. g. EMC).
• Transmission error. • Select a different time monitoring or switch off time
• Time monitoring of the PDOs has tripped. monitoring.
EDS94AxHExxxx EN 7.0 - 04/2010 L
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685
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
CAN module (MXI1) RPDO4: Telegram not received or faulty [0x00a10003]
Response (Lenze setting printed in bold) Setting: C13591/4 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI1: CAN-IN 4 • Set correct telegram length for CAN master
error (transmitter).
• Incorrect PDO telegram length. • Eliminate trouble in the environment (e. g. EMC).
• Transmission error. • Select a different time monitoring or switch off time
• Time monitoring of the PDOs has tripped. monitoring.
CAN module (MXI1) RPDO5: Telegram not received or faulty [0x00a10004]
Response (Lenze setting printed in bold) Setting: C13591/5 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI1: CAN-IN 5 • Set correct telegram length for CAN master
error (transmitter).
• Incorrect PDO telegram length. • Eliminate trouble in the environment (e. g. EMC).
• Transmission error. • Select a different time monitoring or switch off time
• Time monitoring of the PDOs has tripped. monitoring.
CAN module (MXI1) RPDO6: Telegram not received or faulty [0x00a10005]
Response (Lenze setting printed in bold) Setting: C13591/6 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI1: CAN-IN 6 • Set correct telegram length for CAN master
error (transmitter).
• Incorrect PDO telegram length. • Eliminate trouble in the environment (e. g. EMC).
• Transmission error. • Select a different time monitoring or switch off time
• Time monitoring of the PDOs has tripped. monitoring.
CAN module (MXI1) RPDO7: Telegram not received or faulty [0x00a10006]
Response (Lenze setting printed in bold) Setting: C13591/7 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI1: CAN-IN 7 • Set correct telegram length for CAN master
error (transmitter).
• Incorrect PDO telegram length. • Eliminate trouble in the environment (e. g. EMC).
• Transmission error. • Select a different time monitoring or switch off time
• Time monitoring of the PDOs has tripped. monitoring.
CAN module (MXI1) RPDO8: Telegram not received or faulty [0x00a10007]
Response (Lenze setting printed in bold) Setting: C13591/8 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI1: CAN-IN 8 • Set correct telegram length for CAN master
error (transmitter).
• Incorrect PDO telegram length. • Eliminate trouble in the environment (e. g. EMC).
• Transmission error. • Select a different time monitoring or switch off time
• Time monitoring of the PDOs has tripped. monitoring.
686 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
CAN module (MXI1) PDO manager: Faulty configuration [0x00a10008]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CANopen communication module in MXI1: CAN-PDO • Repeat download.
configuration error • Correct CAN settings in the project and regenerate
• Faulty project download. project.
• Invalid CAN settings according to DS301V402 in the
Engineer or PLC Designer.
• Mapping variables have incorrect CANopen indices
according to DS405.
CAN module (MXI1) SDO server: Faulty configuration [0x00a20000]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CANopen communication module in MXI1: In the CAN • Repeat download.
SDO server a configuration error has occurred. • Correct CAN settings in the project and regenerate
• Faulty project download. project.
• Invalid SDO server settings according to DS301V402
in the Engineer or PLC Designer.
CAN module (MXI1) SDO client: Faulty configuration [0x00a30000]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CANopen communication module in MXI1: In the CAN • Repeat download
SDO client a configuration error has occurred. • Correct CAN settings in the project and regenerate
• Faulty project download. project.
• Invalid SDO client settings according to DS301V402 in
the Engineer or PLC Designer.
DFIN (MXI2): Track error A-/A [0x00aa0000]
Response (Lenze setting printed in bold) Setting: C14040 (; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
Digital frequency extension module in MXI2: • Check signal cable for track A.
Interruption (open circuit) of the signal cable for track A. • Check encoder.
DFIN (MXI2): Track error B-/B [0x00aa0001]
Response (Lenze setting printed in bold) Setting: C14040 (; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
Digital frequency extension module in MXI2: • Check signal cable for track B.
Interruption (open circuit) of the signal cable for track B. • Check encoder.
EDS94AxHExxxx EN 7.0 - 04/2010 L
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687
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
DFIN (MXI2): Track error Z-/Z [0x00aa0002]
Response (Lenze setting printed in bold) Setting: C14040 (; Adjustable response)
; None System fault : Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
Digital frequency extension module in MXI2: • Check signal cable for track Z.
Interruption (open circuit) of the signal cable for track Z. • Check encoder.
DFIN (MXI2): Signal error enable/lamp control [0x00aa0003]
Response (Lenze setting printed in bold) Setting: C14041 (; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked : Warning ; Information
Cause Remedy
Digital frequency extension module in MXI2: • Check signal cable for "Enable" signal.
Interruption (open circuit) of the signal cable for the • Check encoder.
"Enable" signal or no "Enable" signal available.
DFIN (MXI2): Supply cannot be corrected anymore [0x00aa0004]
Response (Lenze setting printed in bold) Setting: C14042 (; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked : Warning ; Information
Cause Remedy
Digital frequency extension module in MXI2: The Check encoder.
encoder voltage controlled by the digital frequency input
has reached the voltage limit.
DFOUT (MXI2): Maximum frequency reached [0x00aa0005]
Response (Lenze setting printed in bold) Setting: C14080 (; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked : Warning ; Information
Cause Remedy
Digital frequency extension module in MXI2: Limit Check limit value set.
frequency at the digital frequency output reached.
• The digital frequency has reached the limit value set
in C014053.
CAN module (MXI2): Bus off [0x00ac0000]
Response (Lenze setting printed in bold) Setting: C14595 (; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning : Information
Cause Remedy
CANopen communication module in MXI2: "Bus-off" • Remove fault (e.g. EMC).
state • Remove loose contact, screw down adapter.
• Too many faulty telegrams received. • Assign different node IDs.
• Defective cable (e.g. loose contact).
• Two nodes with the same ID.
688 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
CAN module (MXI2): Invalid node address 0 [0x00ac0001]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause Remedy
CANopen communication module in MXI2: Initialisation • Set a non-zero node address by means of the DIP
error switches and then switch mains.
• The hardware allocation of the node address was • Activation of the software allocation of the node
selected via DIP switches, and the DIP switches of the number by switching over DIP switch 2, then switch
node address are all on zero. mains.
Note: Instead of the impermissible node address 0, node
address 1 is used.
CAN module (MXI2): Basic configuration invalid [0x00ac0002]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CANopen communication module in MXI2: • Repeat download
Configuration error • Correct CAN settings in the project and regenerate
• Faulty download of an Engineer or PLC Designer project.
project
• Invalid CAN settings according to DS301V402 in the
Engineer or PLC Designer.
CAN module (MXI2): Heartbeat error index 1 ... 32 [0x00ad0000 ... 0x00ad001f]
Response (Lenze setting printed in bold) Setting: C14613/1...32 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI2: Cyclic node • Reactivate CAN node by mains switching, restart of
monitoring the controller (C00002="11000") or CAN reset node.
• Node station has not received a heartbeat telegram • Select a different heartbeat producer monitoring
from node 1 ... 32 within the defined time. time or switch off monitoring and reset locked error
status, if necessary.
Tip: Save the current parameter set before mains
switching and restart of the controller (C00002="11").
CAN module (MXI2): Lifeguarding error [0x00ad0020]
Response (Lenze setting printed in bold) Setting: C14614 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI2: Cyclic node Select a different Lifeguarding monitoring time or switch
monitoring off monitoring.
• Slave response: Maximum time between two node
guarding telegrams (remote transmission request
telegram) from the master has been exceeded.
EDS94AxHExxxx EN 7.0 - 04/2010 L
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689
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
CAN module (MXI2): Faulty NMT slave configuration [0x00ad0021]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CANopen communication module in MXI2: A • Repeat download
configuration error has occurred in the network • Correct CAN settings in the project and regenerate
management of the CAN slave. project.
• Faulty download of an Engineer or PLC Designer
project
• Invalid CAN settings according to DS301V402 in the
Engineer or PLC Designer.
• Incorrect parameterisation of node guarding or
heartbeat.
CAN module (MXI2): Faulty emergency configuration [0x00ae0000]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CANopen communication module in MXI2: CAN • Repeat download
emergency configuration is faulty. • Correct CAN settings in the project and regenerate
• Faulty download of an Engineer or PLC Designer project.
project
• Invalid CAN emergency settings according to
DS301V402 in the Engineer or PLC Designer.
CAN module (MXI2): Node guarding error 1 ... 32 [0x00af0000 ... 0x00a0001f]
Response (Lenze setting printed in bold) Setting: C14612/1...32 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI2: Cyclic node • Reactivate CAN node by mains switching, restart of
monitoring the controller (C00002="11000") or CAN reset node.
• CAN master has not received a response to a node • Select a different node guarding monitoring time or
guarding telegram (remote transmission request switch off monitoring.
telegram) from node 1 ... 32 within the defined time. • Reset potentially caught error status.
Tip: Save the current parameter set before mains
switching and restart of the controller (C00002="11").
CAN module (MXI2): Faulty NMT master configuration [0x00af0020]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CANopen communication module in MXI2: A • Repeat download
configuration error has occurred in the network • Correct CAN settings in the project and regenerate
management of the CAN master. project.
• Faulty download of an Engineer or PLC Designer
project.
• Invalid CAN master settings according to DS301V402
and DS405 in the Engineer or PLC Designer.
• Incorrect parameterisation of node guarding or
heartbeat.
690 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
CAN module (MXI2) RPDO1: Telegram not received or faulty [0x00b00000]
Response (Lenze setting printed in bold) Setting: C14591/1 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI2: CAN-IN 1 • Set correct telegram length for CAN master
error (transmitter).
• Incorrect PDO telegram length. • Eliminate trouble in the environment (e. g. EMC).
• Transmission error. • Select a different time monitoring or switch off time
• Time monitoring of the PDOs has tripped. monitoring.
CAN module (MXI2) RPDO2: Telegram not received or faulty [0x00b00001]
Response (Lenze setting printed in bold) Setting: C14591/2 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI2: CAN-IN 2 • Set correct telegram length for CAN master
error (transmitter).
• Incorrect PDO telegram length. • Eliminate trouble in the environment (e. g. EMC).
• Transmission error. • Select a different time monitoring or switch off time
• Time monitoring of the PDOs has tripped. monitoring.
CAN module (MXI2) RPDO3: Telegram not received or faulty [0x00b00002]
Response (Lenze setting printed in bold) Setting: C14591/3 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI2: CAN-IN 3 • Set correct telegram length for CAN master
error (transmitter).
• Incorrect PDO telegram length. • Eliminate trouble in the environment (e. g. EMC).
• Transmission error. • Select a different time monitoring or switch off time
• Time monitoring of the PDOs has tripped. monitoring.
CAN module (MXI2) RPDO4: Telegram not received or faulty [0x00b00003]
Response (Lenze setting printed in bold) Setting: C14591/4 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI2: CAN-IN 4 • Set correct telegram length for CAN master
error (transmitter).
• Incorrect PDO telegram length. • Eliminate trouble in the environment (e. g. EMC).
• Transmission error. • Select a different time monitoring or switch off time
• Time monitoring of the PDOs has tripped. monitoring.
CAN module (MXI2) RPDO5: Telegram not received or faulty [0x00b00004]
Response (Lenze setting printed in bold) Setting: C14591/5 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI2: CAN-IN 5 • Set correct telegram length for CAN master
error (transmitter).
• Incorrect PDO telegram length. • Eliminate trouble in the environment (e. g. EMC).
• Transmission error. • Select a different time monitoring or switch off time
• Time monitoring of the PDOs has tripped. monitoring.
EDS94AxHExxxx EN 7.0 - 04/2010 L
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691
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
CAN module (MXI2) RPDO6: Telegram not received or faulty [0x00b00005]
Response (Lenze setting printed in bold) Setting: C14591/6 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI2: CAN-IN 6 • Set correct telegram length for CAN master
error (transmitter).
• Incorrect PDO telegram length. • Eliminate trouble in the environment (e. g. EMC).
• Transmission error. • Select a different time monitoring or switch off time
• Time monitoring of the PDOs has tripped. monitoring.
CAN module (MXI2) RPDO7: Telegram not received or faulty [0x00b00006]
Response (Lenze setting printed in bold) Setting: C14591/7 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI2: CAN-IN 7 • Set correct telegram length for CAN master
error (transmitter).
• Incorrect PDO telegram length. • Eliminate trouble in the environment (e. g. EMC).
• Transmission error. • Select a different time monitoring or switch off time
• Time monitoring of the PDOs has tripped. monitoring.
CAN module (MXI2) RPDO8: Telegram not received or faulty [0x00b00007]
Response (Lenze setting printed in bold) Setting: C14591/8 (; Adjustable response)
: None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
CANopen communication module in MXI2: CAN-IN 8 • Set correct telegram length for CAN master
error (transmitter).
• Incorrect PDO telegram length. • Eliminate trouble in the environment (e. g. EMC).
• Transmission error. • Select a different time monitoring or switch off time
• Time monitoring of the PDOs has tripped. monitoring.
CAN module (MXI2) PDO manager: Faulty configuration [0x00b00008]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CANopen communication module in MXI2: CAN-PDO • Repeat download.
configuration error • Correct CAN settings in the project and regenerate
• Faulty project download. project.
• Invalid CAN settings according to DS301V402 in the
Engineer or PLC Designer.
• Mapping variables have incorrect CANopen indices
according to DS405.
692 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
CAN module (MXI2) SDO server: Faulty configuration [0x00b10000]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CANopen communication module in MXI2: In the CAN • Repeat download.
SDO server a configuration error has occurred. • Correct CAN settings in the project and regenerate
• Faulty project download. project.
• Invalid SDO server settings according to DS301V402
in the Engineer or PLC Designer.
CAN module (MXI2) SDO client: Faulty configuration [0x00b20000]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
CANopen communication module in MXI2: In the CAN • Repeat download
SDO client a configuration error has occurred. • Correct CAN settings in the project and regenerate
• Faulty project download. project.
• Invalid SDO client settings according to DS301V402 in
the Engineer or PLC Designer.
PLC configuration invalid [0x00b80000]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
An invalid control configuration has occurred. Load a different application.
Positive limit switch has triggered [0x00b80001]
Response (Lenze setting printed in bold)
None System fault Fault Trouble : Quick stop by trouble Warning locked Warning Information
Cause Remedy
The travel range limit switch in positive traversing Reset error message and retract limit switch.
direction has tripped.
Negative limit switch has triggered [0x00b80002]
Response (Lenze setting printed in bold)
None System fault Fault Trouble : Quick stop by trouble Warning locked Warning Information
Cause Remedy
The travel range limit switch in negative traversing Reset error message and retract limit switch.
direction has tripped.
EDS94AxHExxxx EN 7.0 - 04/2010 L
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693
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Motor brake: Angular drift with closed brake too high [0x00b80003]
Response (Lenze setting printed in bold)
None System fault Fault Trouble : Quick stop by trouble Warning locked Warning Information
Cause Remedy
The stop position of the motor axis has changed by more • Deactivate standstill monitoring (C02595 = 0).
than the permissible angle of rotation set in C02595, • Increase waiting time for status monitoring (C02591).
although the brake is engaged. The standstill monitoring only starts after this
waiting time has elapsed.
• Increase brake closing time (C02589) since during the
brake closing time the standstill monitoring is not
active.
• Reduce threshold for brake activation (C02581).
Motor brake: Automatically activated after waiting time has elapsed [0x00b80004]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
This time monitoring will only be active if the speed • Increase waiting time for brake activation (C02593).
setpoint has reached the threshold for brake activation • Reduce threshold for brake activation (C02581).
(C02581).
If the actual speed value does not reach/fall below the
threshold set in C02581within the parameterised
waiting time for brake activation ( C02593), the brake
will be closed due to time-out.
Motor brake: Status monitoring error [0x00b80005]
Response (Lenze setting printed in bold)
None System fault Fault Trouble : Quick stop by trouble Warning locked Warning Information
Cause Remedy
Faulty external feedback of the brake status to the brake • Check brake configuration with regard to the control
control. selection in C02580.
• Check setting for status input monitoring in C02583.
When monitoring is active, the input bBrakeApplied
must be triggered correctly (bBrakeApplied =
bBrakeReleased).
• Check voltage supply of the brake module.
Positive software limit switch overtravelled [0x00b80007]
Response (Lenze setting printed in bold) Setting: C02716/2 (; Adjustable response)
; None System fault ; Fault ; Trouble : Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
The positive software limit position parameterised in • Position within the software limit positions.
C02702/2 has been overtravelled. • Increase permissible traversing range (change setting
of the software limit positions).
• Deactivate monitoring of the software limit positions
by the basic function "Limiter".
694 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Negative software limit switch overtravelled [0x00b80008]
Response (Lenze setting printed in bold) Setting: C02716/2 (; Adjustable response)
; None System fault ; Fault ; Trouble : Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
The negative software limit position parameterised in • Position within the software limit positions.
C02702/1 has been overtravelled. • Increase permissible traversing range (change setting
of the software limit positions).
• Deactivate monitoring of the software limit positions
by the basic function "Limiter".
Positive direction of rotation limited [0x00b80009]
Response (Lenze setting printed in bold) Setting: C02716/1 (; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning : Information
Cause Remedy
Due to the setting of C02707 it was tried to traverse in • Only traverse in permissible (negative) direction of
the impermissible positive direction of rotation. rotation.
• Change setting of the permissible direction of
rotation (C02707).
Negative direction of rotation limited [0x00b8000a]
Response (Lenze setting printed in bold) Setting: C02716/1 (; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning : Information
Cause Remedy
Due to the setting of C02707 it was tried to traverse in • Only traverse in permissible (positive) direction of
the impermissible negative direction of rotation. rotation.
• Change setting of the permissible direction of
rotation (C02707).
Speed has been limited [0x00b8000b]
Response (Lenze setting printed in bold) Setting: C02716/3 (; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning : Information
Cause Remedy
• The requested profile speed is higher than the • Reduce speed of the traversing profile of the basic
maximum speed set in C02703 and has been limited function (manual jog, homing, or positioning).
to this speed. • Increase maximum speed (C02703).
• The required profile speed cannot be achieved with • Deactivate monitoring of the limit values by the basic
the motor reference speed set in C00011. function "Limiter".
• Set motor reference speed correctly (C00011).
Acceleration has been limited [0x00b8000c]
Response (Lenze setting printed in bold) Setting: C02716/3 (; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning : Information
Cause Remedy
The requested profile acceleration is higher than the • Reduce acceleration of the traversing profile of the
maximum acceleration set in C02705 and has been basic function (manual jog, homing, or positioning).
limited to this acceleration. • Increase maximum acceleration (C02705).
• Deactivate monitoring of the limit values by the basic
function "Limiter".
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695
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Deceleration has been limited [0x00b8000d]
Response (Lenze setting printed in bold) Setting: C02716/3 (; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning : Information
Cause Remedy
The requested profile deceleration is higher than the • Reduce acceleration of the traversing profile of the
maximum acceleration set in C02705 and has been basic function (manual jog, homing, or positioning).
limited to this acceleration. • Increase maximum acceleration (C02705).
• Deactivate monitoring of the limit values by the basic
function "Limiter".
Jerk has been limited [0x00b8000e]
Response (Lenze setting printed in bold) Setting: C02716/3 (; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning : Information
Cause Remedy
The requested S-ramp time is lower than the minimum • Increase S-ramp time of the traversing profile of the
S-ramp time set in C02706 and has been limited to this S- basic function (manual jog, homing, or positioning).
ramp time. • Reduce minimum S-ramp time (C02706).
• Deactivate monitoring of the limit values by the basic
function "Limiter".
Position target outside the software limit positions [0x00b8000f]
Response (Lenze setting printed in bold) Setting: C02716/2 (; Adjustable response)
; None System fault ; Fault ; Trouble : Quick stop by trouble ; Warning locked ; Warning ; Information
Cause Remedy
It was tried to position to a target outside the software • Select position target inside the software limit
limit positions. positions.
• Increase permissible traversing range (change setting
of the software limit positions).
• Deactivate monitoring of the software limit positions
by the basic function "Limiter".
Maximum speed exceeded [0x00b80010]
Response (Lenze setting printed in bold) Setting: C02716/3 (; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning : Information
Cause Remedy
The max. speed parameterised in C02703 has been • Reduce speed.
exceeded. • Increase maximum speed (C02703).
• Deactivate monitoring of the limit values by the basic
function "Limiter".
Maximum acceleration exceeded [0x00b80011]
Response (Lenze setting printed in bold) Setting: C02716/3 (; Adjustable response)
; None System fault ; Fault ; Trouble ; Quick stop by trouble ; Warning locked ; Warning : Information
Cause Remedy
The max. acceleration parameterised in C02705 has • Reduce acceleration.
been exceeded. • Increase maximum acceleration (C02705).
• Deactivate monitoring of the limit values by the basic
function "Limiter".
696 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Time-out torque feedforward control - brake [0x00b80012]
Response (Lenze setting printed in bold)
None System fault Fault Trouble : Quick stop by trouble Warning locked Warning Information
Cause Remedy
After 1 second the actual torque has not yet reached 90 Check settings for torque feedforward control.
% of the precontrolled setpoint torque for releasing the • Possibly the maximum current (C00022) is not
brake. sufficient for the required torque feedforward
control.
Cam data: Serial number MM does not match [0x00b80013]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
The cam data are provided with an access protection of Check and, if required, correct the serial number entered
level 3 (linkage to the memory module), and the serial in the »Cam Designer«. Afterwards redownload the cam
number contained in the cam data does not correspond data.
to the serial number of the memory module.
Cam data are corrupted [0x00b80014]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
Checksum error during reading the file, or the password Redownload cam data.
was manipulated.
Cam data restored [0x00b80015]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
The last download of the cam data was faulty or has not • Redownload cam data.
been completed successfully. • Save cam data within the controller in the memory
The previous cam data – if available – have been module via device command C00002 = "502: Save
downloaded from the backup file. cam data".
Cam data locked due to incorrect password [0x00b80016]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
The cam data were locked since the user password was Reset parameters to the Lenze setting via device
entered incorrectly for three times. command C00002 = "0: Load Lenze setting". Then
The cam data were not loaded. download cam data again.
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697
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Cam data locked due to incorrect safety key [0x00b80017]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble : Warning locked Warning Information
Cause Remedy
The cam data were not loaded because the safety key is Reset parameters to the Lenze setting via device
damaged. command C00002 = "0: Load Lenze setting". Then
The password in the cam data or the serial number of the download cam data again.
memory module has been manipulated.
Homing mode not allowed [0x00b80019]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 Select another homing mode in C02640.
The homing mode selected in C02640 is not supported in
the motor control type selected in C00006.
Int. overflow C02620 (manual jog: Speed 1) [0x00b8001a]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02620.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
Int. overflow C02621 (manual jog: Speed 2) [0x00b8001b]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02621.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
698 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Int. overflow C02622 (manual jog: Acceleration) [0x00b8001c]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02622.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
Int. overflow C02623 (manual jog: Deceleration) [0x00b8001d]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02623.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
Int. overflow C02701/1 (positive software limit position) [0x00b80020]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02701/1.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
Int. overflow C02701/2 (negative software limit position) [0x00b80021]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02701/2.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
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699
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Int. overflow C02703 (maximum speed) [0x00b80022]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02703.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
Int. overflow C02705 (maximum acceleration) [0x00b80023]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02705.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
Int. overflow C02708/1 (limited speed 1) [0x00b80024]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02708/1.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
Int. overflow C02708/2 (limited speed 2) [0x00b80025]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02708/2.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
700 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Int. overflow C02708/3 (limited speed 3) [0x00b80026]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02708/3.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
Int. overflow C02708/4 (limited speed 4) [0x00b80027]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02708/4.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
Int. overflow C02708/1 (decel. limited speed 1) [0x00b80028]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02710/1.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
Int. overflow C02708/2 (decel. limited speed 2) [0x00b80029]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02710/2.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
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701
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Int. overflow C02708/3 (decel.limited speed 3) [0x00b8002a]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02710/3.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
Int. overflow C02708/4 (decel. limited speed 4) [0x00b8002b]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02710/4.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
Int. overflow C02713 (max. dist. manual control) [0x00b8002c]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02713.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
Int. overflow C02642 (home position) [0x00b8002d]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02642.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
702 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Int. overflow C02643 (homing: Target position) [0x00b8002e]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02643.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
Int. overflow C02644 (homing: Speed 1) [0x00b8002f]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02644.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
Int. overflow C02645 (homing: Acceleration 1) [0x00b80030]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02645.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
Int. overflow C02646 (homing: Speed 2) [0x00b80031]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02646.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
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703
9400 HighLine | Parameter setting & configuration
Diagnostics & fault analysis
Error messages of the operating system
Int. overflow C02647 (homing: Acceleration 2) [0x00b80032]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02647.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
Int. overflow C02670 (positioner: Tol. for target position) [0x00b80033]
Response (Lenze setting printed in bold)
None System fault : Fault Trouble Quick stop by trouble Warning locked Warning Information
Cause Remedy
From software version V3.0 • Check machine parameters and adapt them if
Due to a subsequent change of the machine parameters required.
for gearbox ratio, feed constant, or resolution of an • Change setting in C02670.
encoder revolution, the value set in the parameter
cannot be displayed in the internal unit. See chapter
"Max. position, speed, and acceleration that can be
displayed internally".
Cam data: Invalidated due to change of mechanical data [0x00b80034]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked : Warning Information
Cause Remedy
From software version V4.0 Execute device command C00002 = "503: Calculate Cam
One or several machine parameters have been changed Data". This automatically resets the warning.
that have an influence on the internal scaling of the Cam
data. The Cam data has to be recalculated. See chapter
"Invalid Cam data due to changed machine parameters".
Cam data: invalid product number [0x00b80035]
Response (Lenze setting printed in bold)
None System fault Fault Trouble Quick stop by trouble Warning locked Warning : Information
Cause Remedy
From software version V5.0 Check number of products.
A product number has been created in the system block • The product number must be higher than 0 and lower
LS_CamInterface which is not in the range of product than the value displayed in C02908.
number of the downloaded cam data. • C02908 displays the highest product number +1 of
the cam data currently being processed.
704 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
14 Parameter reference
All parameters for controller parameter setting or monitoring are stored under "codes".
The codes are numbered and designated by a "C" in front of the code, e.g. "C00002".
For the sake of clarity, some codes contain "subcodes" for saving parameters. This
Manual uses a slash "/" as a separator between code and subcode, e.g. C00118/3".
Parameters available in the controller only from a certain software version are marked
accordingly ("From software version Vx.x").
The parameter descriptions are based on the software version V07.00.12
Tip!
For quick reference of a parameter with a certain name simply use the index of the
online documentation. The index always contains the corresponding code in
parentheses behind the name.
For general information on how to read and change parameters please see the
online documentation for the »Engineer«.
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705
9400 HighLine | Parameter setting & configuration
Parameter reference
Structure of the parameter descriptions
14.1 Structure of the parameter descriptions
Each parameter is described in the Parameter list in the form of a table which consists of
the following three areas:
Table header
The table header contains the following general notes:
Parameter number (Cxxxxx)
Parameter name (display text in the »Engineer» and keypad)
Data type
Decimal and hexadecimal parameter index for access via bus systems
Table contents
The table contains further general explanations & notes on the parameter and the possible
settings the representation of which depends on the parameter type:
Parameters with read-only access
Parameters with write access
Table footer
The table footer contains the Parameter attributes.
14.1.1 Data type
The following data types are available for parameters:
Data type Meaning
INTEGER_8 8-bit value with sign
INTEGER_16 16-bit value with sign
INTEGER_32 32-bit value with sign
INTEGER_64 64-bit value with sign
UNSIGNED_8 8-bit value without sign
UNSIGNED_16 16-bit value without sign
UNSIGNED_32 32-bit value without sign
UNSIGNED_64 64-bit value without sign
FLOATING_POINT 32-bit floating point number
VISIBLE_STRING String of characters of printable characters
OCTET_STRING String of characters of any characters
BITFIELD_8 8-bit value bit-coded
BITFIELD_16 16-bit value bit-coded
BITFIELD_32 32-bit value bit-coded
706 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Structure of the parameter descriptions
14.1.2 Parameters with read-only access
Parameters for which the "write access" attribute has not been set can only be read and not
be changed by the user.
Description structure
Parameter | Name: Data type: _______
Cxxxxx | _____________ Index: _______
Description
Display range (min. value | unit | max. value)
; Read access Write access CINH PLC STOP No transfer
Representation in the »Engineer«
The »Engineer« displays these parameters with a grey background or, with an online
connection, with a pale-yellow background:
14.1.3 Parameters with write access
Only parameters with a check mark (;) in front of the "write access" attribute can be
changed by the user. The Lenze setting for these parameters is printed in bold.
The settings are either selected by means of a selection list or through direct value
entry.
Values outside the valid setting range are represented in red in the »Engineer«.
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707
9400 HighLine | Parameter setting & configuration
Parameter reference
Structure of the parameter descriptions
14.1.3.1 Parameters with setting range
Description structure
Parameter | Name: Data type: _______
Cxxxxx | _____________ Index: _______
Description
Setting range (min. value | unit | max. value) Lenze setting
; Read access ; Write access CINH PLC STOP No transfer
Parameter setting in the »Engineer«
In the »Engineer«, parameters are set by entering the desired value into the input field:
14.1.3.2 Parameters with selection list
Description structure
Parameter | Name: Data type: _______
Cxxxxx | _____________ Index: _______
Description
Selection list (Lenze setting printed in bold)
1
2
3
; Read access ; Write access CINH PLC STOP No transfer
Parameter setting in the »Engineer«
In the »Engineer«, a list field is used for parameter setting:
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Structure of the parameter descriptions
14.1.3.3 Parameters with a bit coded setting
Description structure
Parameter | Name: Data type: _______
Cxxxxx | _____________ Index: _______
Description
Value is bit-coded:
Bit 0
...
Bit 31
; Read access ; Write access CINH PLC STOP No transfer
Parameter setting in the »Engineer«
The »Engineer« uses a dialog box for parameter setting in which the individual bits can be
set or reset. Alternatively, the value can be entered as a decimal or hexadecimal value:
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9400 HighLine | Parameter setting & configuration
Parameter reference
Structure of the parameter descriptions
14.1.3.4 Parameters with subcodes
Description structure
Parameter | Name: Data type: _______
Cxxxxx | _____________ Index: _______
Description
Setting range (min. value | unit | max. value)
Subcodes Lenze setting
Cxxxxx/1
Cxxxxx/2
Cxxxxx/3
Cxxxxx/4
; Read access ; Write access CINH PLC STOP No transfer
Parameter setting in the »Engineer«
The »Engineer« parameter list itemises all subcodes separately. The parameters are set as
described in the previous chapters.
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9400 HighLine | Parameter setting & configuration
Parameter reference
Structure of the parameter descriptions
14.1.4 Parameter attributes
Description structure
The table footer contains the parameter attributes:
; Read access ; Write access CINH PLC STOP No transfer
Meaning of the attributes
Attribute Meaning
; Read access Read access to parameter possible.
; Write access Write access to parameter possible.
• Please also observe the following attributes:
; CINH Parameter value can only be changed when the
controller is inhibited.
; PLC STOP Parameter value can only be changed when the
application is stopped.
; No transfer The parameter is not transferred to the regenerative power supply module when the
command Download parameter set is executed.
Scaling factor
The "scaling factor" is important for the parameter access via a bus system:
Read value (via bus system) = Scaling factor ⋅ Indicated value (Engineer)
14.1.5 Abbreviations used in parameter & selection texts
Since the character length of the parameter and selection texts is limited, the following
abbreviations are used:
Abbreviation Meaning
CAN module CANopen communication module (type E94AYCCA)
ENP Electronic nameplate
Ethernet module Ethernet communication module (type E94AYCEN)
MXI1 Module eXtension Interface 1 - module slot for extension 1
MXI2 Module eXtension Interface 2 - module slot for extension 2
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9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list
14.2 Parameter list
This chapter describes all parameters of the operating system in numerically ascending
order.
Note!
The parameter descriptions are based on the software version V05.
C00002
Parameter | Name: Data type: UNSIGNED_32
C00002 | Device commands Index: 24573d = 5FFDh
Device commands
• C00003 shows the status of the last executed device command.
• Under C00150 you can query the current status of the device control.
Note:
Before switching off the supply voltage after a device command has been executed, check the successful execution
of the device command via the status display in C00003!
The meaning of the status display in C00003 can be obtained from the subchapter for the corresponding device
command in chapter "Device commands".
Selection list (Lenze setting printed in bold) Information
0 Load Lenze setting Resets parameters to Lenze setting.
• Only possible when the application has stopped and
the controller is inhibited.
1 Load start parameters Loads parameters from the memory module.
• Only possible when the application has stopped and
the controller is inhibited.
2 ENP: Load plant data Reads plant data from the electronic motor nameplate.
• Only possible when the application has stopped and
the controller is inhibited.
5 Activate application Activates the application selected under C00005.
• Whether the application is also started, depends on
the auto-start setting selected.
• Only possible when the application has stopped.
7 Save selected application Selects the active application as start application.
11 Save start parameters Saves parameters fail-safe in the memory module.
20 Delete logbook Deletes all logbook entries.
21 Archive log file Exports logbook entries to file.
31 Start application
32 Stop application
33 Reset program Carries out a reset.
• All variables are reset to their initialisation value.
• The situation corresponds to the start of a new
program loaded into the control (cold start).
34 Delete program Carries out a reset (source).
• All variables are reset to their initialisation value.
• The application program is deleted and the controller
is reset to its original state.
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9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list
Parameter | Name: Data type: UNSIGNED_32
C00002 | Device commands Index: 24573d = 5FFDh
35 Restart program Carries out a reset (warm start).
• All variables except the RETAIN variables are reset to
their initialisation value.
• The situation corresponds to a power failure or
switching the controller off/on (warm start) while the
program is running.
36 Reset runtime measurement Runtime measurement
41 Inhibit controller
42 Enable controller
43 Reset error
45 Activate quick stop Basic function "Quick stop"
46 Reset quick stop Basic function "Quick stop"
47 Internal command 47 For Lenze service only
48 Internal command 48 For Lenze service only
51 Identify pole position (360°) Executes identification of pole position.
• The function can only be activated when the
controller is inhibited.
• After this, the execution of the command starts
automatically when the controller is enabled.
• During the pole position identification, the motor
makes one electrical revolution. This leads to a
mechanical rotation of the motor shaft.
• The determined pole position is indicated under code
C00058.
Pole position identification
52 Identify pole position (min. motion) Executes identification of pole position.
• The function can only be activated when the
controller is inhibited.
• After this, the execution of the command starts
automatically when the controller is enabled.
• During the pole position identification, the rotor
aligns itself. This is compensated by a position
control.
• The determined pole position is indicated under code
C00058.
Pole position identification
59 Resolver error identification From software version V7.0
Execute resolver error identification.
Resolver error compensation
70 Load Lenze inverter charac. From software version V4.0
Load type-dependent inverter error characteristic.
• For the case that the determination of the inverter
error characteristic with the device command "71:
Determine inverter characteristic" was not possible or
has supplied incorrect results.
• The function can only be activated when the
controller is inhibited.
71 Calculate inv. characteristic Determines inverter error characteristic.
• The function can only be activated when the
controller is inhibited.
• After this, the execution of the command starts
automatically when the controller is enabled.
Optimise the switching performance of the inverter
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9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list
Parameter | Name: Data type: UNSIGNED_32
C00002 | Device commands Index: 24573d = 5FFDh
72 Set motor parameters Determines motor parameters automatically.
• The function can only be activated when the
controller is inhibited.
• After this, the execution of the command starts
automatically when the controller is enabled.
Determine the motor parameters
77 Calculate current controller From software version V5.0
parameters Calculates the gain and reset time of the current
controller.
• Usually not required for a Lenze motor.
• The device command is no identification procedure
for determining the current controller parameters!
Calculate current controller parameters
78 Calculate speed controller From software version V5.0
parameters Calculates the gain, reset, and rate time of the speed
controller.
• The device command is no identification procedure
for determining the speed controller parameters!
Calculate speed controller parameters
91 CAN on-board: Reset node Reinitialises the "CAN on-board" interface.
• Required when the baud rate, node address or
identifiers are changed.
"CAN on board" system bus
92 CAN module: Reset node Reinitialises CANopen interface of the CANopen
communication module.
• Required when the baud rate, node address or
identifiers are changed.
93 CAN on-board: Pred.Connect.Set Sets basic identifier for the "CAN on board" interface
according to the "Predefined Connection Set"
(DS301 V4.02).
"CAN on board" system bus
94 CAN module: Pred.Connect.Set Sets basic identifier for the CANopen interface of the
CANopen communication module according to the
Predefined Connection Set" (DS301 V4.02).
95 CAN on-board: Identify node Detects nodes connected to the "CAN on board"
interface.
• The result of the CAN bus scan is displayed in C00393.
"CAN on board" system bus
96 CAN module: Identify node Detects the nodes connected to the CANopen interface
of the CANopen communication module.
• The result of the CAN bus scan is displayed in C13393
(for MXI1) or C14393 (for MXI2).
101 Unbind/bind Ethernet module MXI1 Reinitialises the Ethernet interface of the Ethernet
communication module in module slot MXI1.
• Required when a new setting for an IP or gateway
address is to be accepted without mains switching.
102 Unbind/bind Ethernet module MXI2 Reinitialises the Ethernet interface of the Ethernet
communication module in module slot MXI2
• Required when a new setting for an IP or gateway
address is to be accepted without mains switching.
201 Activate parameter set 1 Loads parameter set 1 from the memory module.
• Only possible when the application has stopped and
the controller is inhibited.
202 Activate parameter set 2 Loads parameter set 2 from the memory module.
• Only possible when the application has stopped and
the controller is inhibited.
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9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list
Parameter | Name: Data type: UNSIGNED_32
C00002 | Device commands Index: 24573d = 5FFDh
203 Activate parameter set 3 Loads parameter set 3 from the memory module.
• Only possible when the application has stopped and
the controller is inhibited.
204 Activate parameter set 4 Loads parameter set 4 from the memory module.
• Only possible when the application has stopped and
the controller is inhibited.
301 Archive parameter set 1 Saves the current parameter set as parameter set 1 in the
memory module.
302 Archive parameter set 2 Saves the current parameter set as parameter set 2 in the
memory module.
303 Archive parameter set 3 Saves the current parameter set as parameter set 3 in the
memory module.
304 Archive parameter set 4 Saves the current parameter set as parameter set 4 in the
memory module.
401 Internal command 401 For Lenze service only
501 Load Cam Data From software version V3.0
Reloads cam data from the memory module into the
controller.
• Only possible when the application has stopped and
the controller is inhibited.
• If the cam data are provided with an access
protection, the user password has to be entered in
C02900 first.
Basic function "Cam data management"
502 Save Cam Data From software version V3.0
Saves the cam data available in the main memory of the
controller in the memory module with mains failure
protection.
• If the cam data are provided with an access
protection, the user password has to be entered in
C02900 first.
Basic function "Cam data management"
503 Calculate Cam Data From software version V3.0
Converts the cam data available in the main memory of
the controller into the internal format and provides them
to the application.
Basic function "Cam data management"
504 Calculate Cam Checksum From software version V3.0
Recalculates the checksum of the cam data available in
the main memory of the controller.
• Required if the cam data in the main memory of the
controller have been changed via parameters.
Basic function "Cam data management"
730 Internal command 730 For Lenze service only
731 Internal command 731 For Lenze service only
732 Internal command 732 For Lenze service only
733 Internal command 733 For Lenze service only
800 Internal command 800 For Lenze service only
810 Internal command 810
811 Internal command 811
812 Internal command 812
1001 Internal command 1001 For Lenze service only
1020 Internal command 1020 For Lenze service only
1021 Export parameters to file For Lenze service only
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9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00003
Parameter | Name: Data type: UNSIGNED_32
C00002 | Device commands Index: 24573d = 5FFDh
1030 Format file system Formats file system of the memory module.
1040 Restore file system Restores file system of the memory module (low level
formatting).
• The low level formatting of the file system by the user
is only intended for the exceptional case when the
standard formatting is not possible anymore, e.g. due
to damaged internal management information.
10000 Prepare firmware update Sets the controller to the firmware update mode.
11000 Restart controller Restarts controller via parameter setting.
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 1
C00003
Parameter | Name: Data type: UNSIGNED_32
C00003 | Device command status Index: 24572d = 5FFCh
Display of the number/status of the device command last executed (C00002).
• The number of the command is situated in the upper 16 bits (for the meaning of the number see code C00002).
• The result of the command stands in the lower 16 bits.
Note:
Before switching off the supply voltage after a device command has been executed, check the successful execution
of the device command via the status display in C00003!
The meaning of the status display in C00003 can be obtained from the subchapter for the corresponding device
command in chapter "Device commands".
Display range (min. value | unit | max. value)
0 4294967295
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
Status Meaning Controller command
0 Device command executed successfully 0: Load Lenze setting
1 General fault
34050 Device command in process
39424 CAN fault
... ...
39679 CAN fault
65536 Device command executed successfully 1: Load start parameters
65537 General fault
99371 Fault while reading the parameter set partition
99374 No memory module available
99586 Device command in process
104960 CAN fault
... ...
105215 CAN fault
131072 Device command executed successfully 2: ENP: Load plant data
131073 General fault
165122 Device command in process
327680 Device command executed successfully 5: Activate application
327681 General fault
361730 Device command in process
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9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00003
Status Meaning Controller command
458752 Device command executed successfully 7: Save selected application
458753 General fault
492802 Device command in process
720896 Device command executed successfully 11: Save start parameters
720897 General fault
754718 Fault while writing into a file
754734 No memory module available
754946 Device command in process
761857 Access to file has been denied since the file is already
accessed from another position
761861 I/O fault when accessing the file system
761868 RAM is full
761869 Access authorisation denied
761884 No free memory on the memory module
1310720 Device command executed successfully 20: Delete logbook
1310721 General fault
1344770 Device command in process
1376256 Device command executed successfully 21: Archive logbook
1376257 General fault
1410306 Device command in process
2031616 Device command executed successfully 31: Start application
2031617 General fault
2065666 Device command in process
2097152 Device command executed successfully 32: Stop application
2097153 General fault
2131202 Device command in process
2162688 Device command executed successfully 33: Reset program
2162689 General fault
2196738 Device command in process
2228224 Device command executed successfully 34: Delete program
2228225 General fault
2262274 Device command in process
2293760 Device command executed successfully 35: Restart program
2293761 General fault
2327810 Device command in process
2359296 Device command executed successfully 36: Reset runtime measurement
2359297 General fault
2393346 Device command in process
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9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00003
Status Meaning Controller command
3342336 Device command executed successfully 51: Identify pole position (360°)
3342337 General fault
3376386 Device command in process
3382023 Pole position identification cannot be executed because
of wrong motor type (asynchronous motor).
3382024 Pole position identification has been aborted
3382025 Pole position identification cannot be executed because
another identification is already active.
3382026 Identification of pole position cannot be executed
because U-rotation or I-rotation test mode is active.
3382027 Identification of pole position cannot be executed
because current controller optimisation mode is active.
3382033 Pole position identification cannot be executed because
the motor is blocked (e.g. by a mechanical brake), a
motor phase is not connected, or a phase shifter is in the
motor cable.
3382047 Pole position identification cannot be executed because
an error or trouble is active.
3382065 Pole position identification cannot be executed because
either the entire motor or a motor phase is not
From software version
V3.0
connected.
3407872 Device command executed successfully 52: Identify pole position (min.
motion)
3407873 General fault
3441922 Device command in process
3447559 Pole position identification cannot be executed because
of wrong motor type (asynchronous motor).
3447560 Pole position identification has been aborted
3447561 Pole position identification cannot be executed because
another identification is already active.
3447562 Identification of pole position cannot be executed
because U-rotation or I-rotation test mode is active.
3447563 Identification of pole position cannot be executed
because current controller optimisation mode is active.
3447569 Pole position identification cannot be executed because
the motor is blocked (e.g. by a mechanical brake), a
From software version
V4.0
motor phase is not connected, or a phase shifter is in the
motor cable.
3447583 Pole position identification cannot be executed because
an error or trouble is active.
3447597 Identification of pole position cannot be executed
because the rotor has moved too strongly.
3447601 Pole position identification cannot be executed because
either the entire motor or a motor phase is not
From software version
V3.0
connected.
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9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00003
Status Meaning Controller command
3900674 Device command in process 59: Resolver error identification
3866624 Device command executed successfully
3866625 General fault
3906358 Resolver error identification cannot be executed since
the wrong control type is active (no servo control).
3906359 Resolver error identification cannot be executed since an
error or trouble is active.
3906360 Resolver error identification cannot be executed because
another identification is already active.
3906361 Resolver error identification cannot be executed because
of too small speed (< 500 rpm).
4587520 Device command executed successfully 70: Load Lenze inverter characteristic
4587521 General fault
4621570 Device command in process
4653056 Device command executed successfully 71: Calculate inv. characteristic
4653057 General fault
4687106 Device command in process
4692754 The calculation of the inverter characteristic cannot be
started since the current controller test mode is active.
4692755 The calculation of the inverter characteristic cannot be
started since the V/f test mode is active.
4692756 The calculation of the inverter characteristic cannot be
started since the pole position identification is active.
4692757 Calculation of the inverter characteristic has been
aborted.
4692758 Calculation of the inverter characteristic has been
interrupted by error.
4692789 The detected inverter error characteristic exceeds
internal limits. This situation can for instance occur if the
From software version
V5.0
motor power is very much lower than the device power.
4718592 Device command executed successfully 72: Determine motor parameters
4718593 General fault
4752642 Device command in process
4758290 Motor identification cannot be started since the current
controller test mode is active.
4758291 Motor identification cannot be started since the V/f test
mode is active.
4758292 Motor identification cannot be started because pole
position identification is active.
4758293 Motor identification has been aborted.
4758294 Motor identification has been aborted by fault.
4758332 Motor identification aborted due to inconsistent motor
parameters.
From software version
V7.0
5046272 Device command executed successfully 77: Calculate current controller
parameters
5046273 General fault
5080322 Device command in process
5086002 At least one calculated value is beyond the valid setting
range.
5086003 Stator resistance (C00084) too small (zero).
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9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00003
Status Meaning Controller command
5111808 Device command executed successfully 78: Calculate speed controller
parameters
5111809 General fault
5145858 Device command in process
5151540 At least one calculated value is beyond the valid setting
range.
5963776 Device command executed successfully 91: CAN on board: Reset node
5963777 General fault
5997826 Device command in process
6003200 CAN fault
... ...
6003455 CAN fault
6029312 Device command executed successfully 92: CAN module: Reset node
6029313 General fault
6063362 Device command in process
6068736 CAN fault
... ...
6068991 CAN fault
6094848 Device command executed successfully 93: CAN on board: Pred.Connect.Set
6094849 General fault
6128898 Device command in process
6160384 Device command executed successfully 94: CAN module: Pred.Connect.Set
6160385 General fault
6194434 Device command in process
6225920 Device command executed successfully 95: CAN on board: Identify node
6225921 General fault
6259970 Device command in process
6291456 Device command executed successfully 96: CAN module: Identify node
6291457 General fault
6325506 Device command in process
6619136 Device command executed successfully 101: Ethernet module MXI2 unbind/
bind
6619137 General fault
6653186 Device command in process
6684672 Device command executed successfully 102: Ethernet module MXI2 unbind/
bind
6684673 General fault
6718722 Device command in process
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9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00003
Status Meaning Controller command
13172731 General fault 201: Activate parameter set 1
13172736 Device command executed successfully
13206532 File could not be opened.
13206557 Fault while reading out of a file.
13206558 Fault while writing into a file.
13206559 Invalid file type.
13206560 Unexpected file end.
13206562 Checksum error
13206786 Device command in process
13212160 CAN fault
... ...
13212415 CAN fault
13213697 Access to file has been denied since the file is already
accessed from another position
13213701 I/O fault when accessing the file system
13213708 RAM is full
13213709 Access authorisation denied
13213724 No free memory on the memory module
13238272 Device command executed successfully 202: Activate parameter set 2
13238273 General fault
13272068 File could not be opened.
13272093 Fault while reading out of a file.
13272094 Fault while writing into a file.
13272095 Invalid file type.
13272096 Unexpected file end.
13272098 Checksum error
13272322 Device command in process
13277696 CAN fault
... ...
13277951 CAN fault
13279233 Access to file has been denied since the file is already
accessed from another position
13279237 I/O fault when accessing the file system
13279244 RAM is full
13279245 Access authorisation denied
13279260 No free memory on the memory module
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721
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00003
Status Meaning Controller command
13303808 Device command executed successfully 203: Activate parameter set 3
13303809 General fault
13337604 File could not be opened.
13337629 Fault while reading out of a file.
13337630 Fault while writing into a file.
13337631 Invalid file type.
13337632 Unexpected file end.
13337634 Checksum error
13337858 Device command in process
13343232 CAN fault
... ...
13343487 CAN fault
13344769 Access to file has been denied since the file is already
accessed from another position
13344773 I/O fault when accessing the file system
13344780 RAM is full
13344781 Access authorisation denied
13344796 No free memory on the memory module
13369344 Device command executed successfully 204: Activate parameter set 4
13369345 General fault
13403140 File could not be opened.
13403165 Fault while reading out of a file.
13403166 Fault while writing into a file.
13403167 Invalid file type.
13403168 Unexpected file end.
13403170 Checksum error
13403394 Device command in process
13408768 CAN fault
... ...
13409023 CAN fault
13410305 Access to file has been denied since the file is already
accessed from another position
13410309 I/O fault when accessing the file system
13410316 RAM is full
13410317 Access authorisation denied
13410332 No free memory on the memory module
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9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00003
Status Meaning Controller command
19726336 Device command executed successfully 301: Archive parameter set 1
19726337 General fault
19760132 File could not be opened.
19760157 Fault while reading out of a file.
19760158 Fault while writing into a file.
19760160 Unexpected file end.
19760386 Device command in process
19767297 Access to file has been denied since the file is already
accessed from another position
19767301 I/O fault when accessing the file system
19767308 RAM is full
19767309 Access authorisation denied
19767324 No free memory on the memory module
19791872 Device command executed successfully 302: Archive parameter set 2
19791873 General fault
19825668 File could not be opened.
19825693 Fault while reading out of a file.
19825694 Fault while writing into a file.
19825696 Unexpected file end.
19825922 Device command in process
19832833 Access to file has been denied since the file is already
accessed from another position
19832837 I/O fault when accessing the file system
19832844 RAM is full
19832845 Access authorisation denied
19832860 No free memory on the memory module
19857408 Device command executed successfully 303: Archive parameter set 3
19857409 General fault
19891204 File could not be opened.
19891229 Fault while reading out of a file.
19891230 Fault while writing into a file.
19891232 Unexpected file end.
19891458 Device command in process
19898369 Access to file has been denied since the file is already
accessed from another position
19898373 I/O fault when accessing the file system
19898380 RAM is full
19898381 Access authorisation denied
19898396 No free memory on the memory module
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9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00003
Status Meaning Controller command
19922944 Device command executed successfully 304: Archive parameter set 4
19922945 General fault
19956740 File could not be opened.
19956765 Fault while reading out of a file.
19956766 Fault while writing into a file.
19956768 Unexpected file end.
19956994 Device command in process
19963905 Access to file has been denied since the file is already
accessed from another position
19963909 I/O fault when accessing the file system
19963916 RAM is full
19963917 Access authorisation denied
19963932 No free memory on the memory module
32833536 Device command executed successfully 501: Load cam data
32833537 General fault
32867586 Device command in process
32875521 No cam data available on the memory module
32875523 Loading of the cam data failed
32875525 Checksum error
32875542 Wrong password entered
32875545 The cam functionality is deactivated
32899072 Device command executed successfully 502: Save cam data
32899073 General fault
32933122 Device command in process
32941057 No cam data to be saved are available in the RAM of the
controller
32941060 Saving of the cam data failed
32941078 Wrong password entered
32941081 The cam functionality is deactivated
32964608 Device command executed successfully 503: Calculate cam data
32964609 General fault
32998658 Device command in process
33006617 The cam functionality is deactivated
33030144 Device command executed successfully 504: Calculate cam data checksum
33030145 General fault
33064194 Device command in process
33072153 The cam functionality is deactivated
67502080 Device command executed successfully 1030: Format file system
67502081 General fault
67536130 Device command in process
655360000 Device command executed successfully 10000: Prepare firmware update
655360001 General fault
655394050 Device command in process
720896001 General fault 11000: Restart controller
720930050 Device command in process
724 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00004
C00004
Parameter | Name: Data type: UNSIGNED_32
C00004 | Service password Index: 24571d = 5FFBh
Service code to unlock protected device commands (C00002).
Setting range (min. value | unit | max. value) Lenze setting
0 4294967295 0
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 1
C00005
Parameter | Name: Data type: INTEGER_32
C00005 | Application selection Index: 24570d = 5FFAh
Application selection
• Use the device command C00002="5" to activate the selected application.
Setting range (min. value | unit | max. value) Lenze setting
-1 16 0
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 1
C00006
Parameter | Name: Data type: UNSIGNED_32
C00006 | Select motor control Index: 24569d = 5FF9h
Motor interface
Selection list (Lenze setting printed in bold) Information
1 SC: Servo control sync. motor For synchronous motors with speed sensor
Servo control
2 SC: Servo control async. motor For asynchronous motors with speed sensor
Servo control
4 SLVC: Sensorless vector control From software version V3.0
Sensorless vector control
6 VFCplus: V/f control open loop From software version V3.0
V/f control
7 VFCplus: V/f control closed loop From software version V3.0
V/f control closed loop
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C00007
Parameter | Name: Data type: INTEGER_32
C00007 | Active application Index: 24568d = 5FF8h
Display range (min. value | unit | max. value)
-2147483648 2147483647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00008
Parameter | Name: Data type: UNSIGNED_32
C00008 | Progress of device command Index: 24567d = 5FF7h
From software version V7.0
Display range (min. value | unit | max. value)
0 4294967295
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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725
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00011
C00011
Parameter | Name: Data type: UNSIGNED_32
C00011 | Motor reference speed Index: 24564d = 5FF4h
For parameter setting via interface: In case of bigger changes, only change the setting in one step when the
controller is inhibited!
Setting range (min. value | unit | max. value) Lenze setting
50 rpm 50000 3000 rpm
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00018
Parameter | Name: Data type: UNSIGNED_32
C00018 | Chopper frequency Index: 24557d = 5FEDh
Selection list (Lenze setting printed in bold) Information
2 1 kHz fixed/drive-optimised Note:
3 2 kHz fixed/drive-optimised • The maximum output frequency of the controller is
limited to 1/8 of the switching frequency selected
4 4 kHz fixed/drive-optimised here!
5 8 kHz fixed/drive-optimised • The switching frequencies that can be selected
depend on the device type (see Hardware Manual,
8 2 kHz var./drive-optimised chapter "Rated data").
9 4 kHz var./drive-optimised • In the case of an offline parameter setting or when
exchanging the memory module between different
10 8 kHz var./drive-optimised Servo Drives 9400 HighLine device types, always
11 16 kHz var./drive-optimised check the setting of this parameter and adapt it, if
required, to prevent a parameter error after the
parameter set download or module change!
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00019
Parameter | Name: Data type: UNSIGNED_32
C00019 | Threshold - standstill recognition Index: 24556d = 5FECh
Setting range (min. value | unit | max. value) Lenze setting
0 rpm 450 5 rpm
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00022
Parameter | Name: Data type: UNSIGNED_32
C00022 | Maximum current Index: 24553d = 5FE9h
Note:
• To avoid that the motor starts unintentionally without adjusting the plant data, the maximum current in the
Lenze setting is set to "0 A"!
• The upper limit value is the maximum device current (see display in C00789).
• In the case of an offline parameter setting or when exchanging the memory module between different 9400
HighLine device types, always check the setting of this parameter and adapt it, if required, to prevent a
parameter error after the parameter set download or module change!
• Also check the threshold set for the maximum motor current monitoring (C00620).
Setting range (min. value | unit | max. value) Lenze setting
0.00 A 21474836.47 0.00 A
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C00034
Parameter | Name: Data type: UNSIGNED_32
C00034 | Config. analog input 1 Index: 24541d = 5FDDh
Selection list (Lenze setting printed in bold)
0 -10 ... +10 V
1 -20...-4 mA, +4...+20 mA
2 -20 ... +20 mA
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
726 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00050
C00050
Parameter | Name: Data type: INTEGER_32
C00050 | Speed setpoint [rpm] Index: 24525d = 5FCDh
Display range (min. value | unit | max. value)
-480000 rpm 480000
Subcodes Information
C00050/1 Speed setpoint 1 [rpm]
C00050/2 Speed setpoint 2 [rpm]
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00051
Parameter | Name: Data type: INTEGER_32
C00051 | Actual speed [rpm] Index: 24524d = 5FCCh
Display range (min. value | unit | max. value)
-480000 rpm 480000
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00052
Parameter | Name: Data type: UNSIGNED_32
C00052 | Motor voltage Index: 24523d = 5FCBh
Display range (min. value | unit | max. value)
0 V 2147483647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00053
Parameter | Name: Data type: UNSIGNED_32
C00053 | DC-bus voltage Index: 24522d = 5FCAh
Display range (min. value | unit | max. value)
0 V 2147483647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00054
Parameter | Name: Data type: UNSIGNED_32
C00054 | Motor current Index: 24521d = 5FC9h
Display range (min. value | unit | max. value)
0.00 A 500.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00055
Parameter | Name: Data type: INTEGER_32
C00055 | Phase currents Index: 24520d = 5FC8h
Display range (min. value | unit | max. value)
-500.00 A 500.00
Subcodes Information
C00055/1 Phase zero system
C00055/2 Phase U
C00055/3 Phase V
C00055/4 Phase W
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
EDS94AxHExxxx EN 7.0 - 04/2010 L
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727
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00056
C00056
Parameter | Name: Data type: INTEGER_32
C00056 | Torque setpoint Index: 24519d = 5FC7h
Display range (min. value | unit | max. value)
-21474836.47 Nm 21474836.47
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00057
Parameter | Name: Data type: UNSIGNED_32
C00057 | Torque Index: 24518d = 5FC6h
Display range (min. value | unit | max. value)
0.000 Nm 2147483.647
Subcodes Information
C00057/1 Maximum torque
• With regard to the selected motor and the max. short-
time output current of the device.
C00057/2 Motor reference torque
• Torque at maximum current (C00022).
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1000
C00058
Parameter | Name: Data type: INTEGER_32
C00058 | Pole position Index: 24517d = 5FC5h
Setting range (min. value | unit | max. value)
-179.9 ° 179.9
Subcodes Lenze setting Information
C00058/1 -90.0 ° Pole position resolver
C00058/2 0.0 ° Pole position encoder
C00058/3 0.0 ° Pole position module
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
C00059
Parameter | Name: Data type: UNSIGNED_32
C00059 | Motor - number of pole pairs Index: 24516d = 5FC4h
Display range (min. value | unit | max. value)
0 200
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00060
Parameter | Name: Data type: INTEGER_32
C00060 | Rotor position Index: 24515d = 5FC3h
Display range (min. value | unit | max. value)
0 2047
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00061
Parameter | Name: Data type: INTEGER_32
C00061 | Heatsink temperature Index: 24514d = 5FC2h
Display range (min. value | unit | max. value)
-200 °C 200
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
728 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00062
C00062
Parameter | Name: Data type: INTEGER_32
C00062 | Temperature inside the controller Index: 24513d = 5FC1h
Display range (min. value | unit | max. value)
-200 °C 200
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00063
Parameter | Name: Data type: INTEGER_32
C00063 | Motor temperature Index: 24512d = 5FC0h
Motor temperature monitoring
Display range (min. value | unit | max. value)
-200 °C 200
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00064
Parameter | Name: Data type: UNSIGNED_32
C00064 | Device utilisation (Ixt) Index: 24511d = 5FBFh
Device utilisation during the last 180 seconds
• C00064 > 100 % activates error (OC5).
• Error reset only possible if C00064 < 95 %.
Display range (min. value | unit | max. value)
0 % 250
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00065
Parameter | Name: Data type: INTEGER_32
C00065 | Ext. 24-V voltage Index: 24510d = 5FBEh
Display range (min. value | unit | max. value)
0.0 V 1000.0
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10
C00066
Parameter | Name: Data type: UNSIGNED_32
C00066 | Thermal motor load (I²xt) Index: 24509d = 5FBDh
A 100 % load corresponds to a permanently flowing rated motor current
Display range (min. value | unit | max. value)
0 % 250
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00068
Parameter | Name: Data type: INTEGER_32
C00068 | Capacitor temperature Index: 24507d = 5FBBh
Display range (min. value | unit | max. value)
-200 °C 200
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00069
Parameter | Name: Data type: INTEGER_32
C00069 | CPU temperature Index: 24506d = 5FBAh
Display range (min. value | unit | max. value)
-200 °C 200
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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729
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00070
C00070
Parameter | Name: Data type: UNSIGNED_32
C00070 | Speed controller gain Index: 24505d = 5FB9h
Setting range (min. value | unit | max. value) Lenze setting
0.00000 Nm/rpm 20000.00000 0.00044 Nm/rpm
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100000
C00071
Parameter | Name: Data type: UNSIGNED_32
C00071 | Speed contr. reset time Index: 24504d = 5FB8h
Setting range (min. value | unit | max. value) Lenze setting
1.0 ms 6000.0 14.4 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
C00072
Parameter | Name: Data type: UNSIGNED_32
C00072 | Speed contr.D component Index: 24503d = 5FB7h
Setting range (min. value | unit | max. value) Lenze setting
0.00 ms 3.00 0.00 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C00074
Parameter | Name: Data type: UNSIGNED_8
C00074 | Feedfwd. ctrl. - current contr. Index: 24501d = 5FB5h
Selection list (Lenze setting printed in bold)
0 Deactivate feedfwd. ctrl
1 Activate feedfwd. ctrl
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00075
Parameter | Name: Data type: UNSIGNED_32
C00075 | Current controller gain Index: 24500d = 5FB4h
Setting range (min. value | unit | max. value) Lenze setting
0.00 V/A 750.00 105.00 V/A
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C00076
Parameter | Name: Data type: UNSIGNED_32
C00076 | Current contr. reset time Index: 24499d = 5FB3h
Setting range (min. value | unit | max. value) Lenze setting
0.01 ms 2000.00 2.00 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C00077
Parameter | Name: Data type: UNSIGNED_32
C00077 | Field controller gain Index: 24498d = 5FB2h
Setting range (min. value | unit | max. value) Lenze setting
0.00 A/Vs 50000.00 165.84 A/Vs
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C00078
Parameter | Name: Data type: UNSIGNED_32
C00078 | Field contr. reset time Index: 24497d = 5FB1h
Setting range (min. value | unit | max. value) Lenze setting
1.0 ms 6000.0 15.1 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
730 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00079
C00079
Parameter | Name: Data type: UNSIGNED_32
C00079 | Motor - mutual inductance Index: 24496d = 5FB0h
Display range (min. value | unit | max. value)
0.0 mH 214748364.7
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10
C00080
Parameter | Name: Data type: UNSIGNED_32
C00080 | Resolver - number of pole pairs Index: 24495d = 5FAFh
Setting range (min. value | unit | max. value) Lenze setting
1 10 1
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C00081
Parameter | Name: Data type: UNSIGNED_32
C00081 | Rated motor power Index: 24494d = 5FAEh
Setting range (min. value | unit | max. value) Lenze setting
0.01 kW 500.00 0.25 kW
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 100
C00082
Parameter | Name: Data type: UNSIGNED_32
C00082 | Motor - rotor resistance Index: 24493d = 5FADh
Display range (min. value | unit | max. value)
0.0000 Ohm 214748.3647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
C00083
Parameter | Name: Data type: UNSIGNED_32
C00083 | Motor - rotor time constant Index: 24492d = 5FACh
Display range (min. value | unit | max. value)
0.00 ms 21474836.47
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00084
Parameter | Name: Data type: UNSIGNED_32
C00084 | Motor stator resistance Index: 24491d = 5FABh
Setting range (min. value | unit | max. value) Lenze setting
0.0000 Ohm 125.0000 18.2200 Ohm
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 10000
C00085
Parameter | Name: Data type: UNSIGNED_32
C00085 | Motor stator leakage induct. Index: 24490d = 5FAAh
Setting range (min. value | unit | max. value) Lenze setting
0.000 mH 500.000 51.000 mH
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1000
C00087
Parameter | Name: Data type: UNSIGNED_32
C00087 | Rated motor speed Index: 24488d = 5FA8h
Setting range (min. value | unit | max. value) Lenze setting
50 rpm 50000 4050 rpm
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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731
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00088
C00088
Parameter | Name: Data type: UNSIGNED_32
C00088 | Rated motor current Index: 24487d = 5FA7h
Setting range (min. value | unit | max. value) Lenze setting
0.01 A 1500.00 1.30 A
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 100
C00089
Parameter | Name: Data type: UNSIGNED_32
C00089 | Rated motor frequency Index: 24486d = 5FA6h
Setting range (min. value | unit | max. value) Lenze setting
0.1 Hz 1000.0 270.0 Hz
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 10
C00090
Parameter | Name: Data type: UNSIGNED_32
C00090 | Rated motor voltage Index: 24485d = 5FA5h
Setting range (min. value | unit | max. value) Lenze setting
50 V 15000 225 V
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C00091
Parameter | Name: Data type: UNSIGNED_32
C00091 | Motor - cosine phi Index: 24484d = 5FA4h
Setting range (min. value | unit | max. value) Lenze setting
0.50 1.00 0.80
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 100
C00092
Parameter | Name: Data type: UNSIGNED_32
C00092 | Motor - magnetising current Index: 24483d = 5FA3h
Display range (min. value | unit | max. value)
0.00 A 500.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00093
Parameter | Name: Data type: UNSIGNED_32
C00093 | Field weakening for SM Index: 24482d = 5FA2h
From software version V2.0
Field weakening for synchronous machines
Selection list (Lenze setting printed in bold)
0 Field weakening for SM off
1 Field weakening for SM on
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00099
Parameter | Name: Data type: VISIBLE_STRING
C00099 | Firmware version Index: 24476d = 5F9Ch
Format: "xx.xx.xx.xx" (main version, subversion, release version, build number)
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
732 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00100
C00100
Parameter | Name: Data type: UNSIGNED_32
C00100 | Resol. of an encoder revolution Index: 24475d = 5F9Bh
Setting range (min. value | unit | max. value) Lenze setting
10 24 16
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C00105
Parameter | Name: Data type: UNSIGNED_32
C00105 | Quick stop decel. time Index: 24470d = 5F96h
Time between quick stop activation and standstill plus relative S-ramp time (C00106).
Basic function "Quick stop"
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 999.999 0.000 s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1000
C00106
Parameter | Name: Data type: UNSIGNED_32
C00106 | Quick stop S-ramp time Index: 24469d = 5F95h
S-ramp time in [%] relating to the deceleration time set under C00105.
Basic function "Quick stop"
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 100.00 0.00 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C00107
Parameter | Name: Data type: UNSIGNED_8
C00107 | Ref. for quick stop dec. time Index: 24468d = 5F94h
Reference for the deceleration time set in C00105.
Basic function "Quick stop"
Selection list (Lenze setting printed in bold)
0 Motor reference speed (C00011)
1 Current speed
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00114
Parameter | Name: Data type: UNSIGNED_8
C00114 | Dig. input x: Terminal polarity Index: 24461d = 5F8Dh
"0" = positive logic (HIGH level = TRUE, LOW level = FALSE)
"1" = negative logic (HIGH level = FALSE, LOW level = TRUE)
Setting range (min. value | unit | max. value)
0 1
Subcodes Lenze setting Information
C00114/1 0 Terminal polarity - digital input 1 ... 8
C00114/...
C00114/8
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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733
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00118
C00118
Parameter | Name: Data type: UNSIGNED_8
C00118 | Dig. output. x: Terminal polarity Index: 24457d = 5F89h
"0" ≡ positive logic (TRUE ≡ HIGH level, FALSE ≡ LOW level)
"1" ≡ negative logic (FALSE ≡ HIGH level, TRUE ≡ LOW level)
Setting range (min. value | unit | max. value)
0 1
Subcodes Lenze setting Information
C00118/1 0 Terminal polarity - digital output 1 ... 4
C00118/...
C00118/4
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00120
Parameter | Name: Data type: UNSIGNED_32
C00120 | Mot. overload protection (I²xt) Index: 24455d = 5F87h
Threshold for I2 x t disconnection
• Disconnection is carried out if the thermal motor load (C00066) is higher than the set threshold.
• A 100 % thermal motor load corresponds to a permanently flowing rated motor current
Setting range (min. value | unit | max. value) Lenze setting
0 % 200 105 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00121
Parameter | Name: Data type: UNSIGNED_32
C00121 | Motor temp. warning threshold Index: 24454d = 5F86h
Temperature threshold for motor temperature advance warning
• The response to reaching the threshold can be selected in C00584.
Motor temperature monitoring
Setting range (min. value | unit | max. value) Lenze setting
0 °C 150 120 °C
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00122
Parameter | Name: Data type: UNSIGNED_32
C00122 | Heatsink temp. warn. threshold Index: 24453d = 5F85h
Temperature threshold for heatsink temperature advance warning
• The response to reaching the threshold can be selected in C00582.
Setting range (min. value | unit | max. value) Lenze setting
0 °C 85 85 °C
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00123
Parameter | Name: Data type: UNSIGNED_32
C00123 | Warning threshold device util. Index: 24452d = 5F84h
Adjustable threshold for I x t advance warning
• The advance warning is sent if the device utilisation (C00064) is higher than the set threshold.
• The response to reaching the threshold can be selected in C00604.
Setting range (min. value | unit | max. value) Lenze setting
0 % 100 90 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
734 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00126
C00126
Parameter | Name: Data type: UNSIGNED_32
C00126 | CPU temp. warning threshold Index: 24449d = 5F81h
Temperature threshold for advance warning of CPU temperature on the control card
• The response to reaching the threshold can be selected in C00589.
Setting range (min. value | unit | max. value) Lenze setting
0 °C 85 70 °C
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00127
Parameter | Name: Data type: UNSIGNED_32
C00127 | Mot. overload warning threshold Index: 24448d = 5F80h
Adjustable threshold for I2 x t advance warning
• The advance warning is sent if the thermal motor load (C00066) is higher than the set threshold.
• The response to reaching the threshold can be selected in C00606.
Setting range (min. value | unit | max. value) Lenze setting
0 % 200 100 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00128
Parameter | Name: Data type: UNSIGNED_32
C00128 | Therm. motor time constant Index: 24447d = 5F7Fh
Setting range (min. value | unit | max. value)
0.1 min 600.0
Subcodes Lenze setting Information
C00128/1 1.0 min Therm. time constant coil
C00128/2 5.0 min Therm. time constant plates
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
C00129
Parameter | Name: Data type: INTEGER_32
C00129 | Brake resistor value Index: 24446d = 5F7Eh
Required for monitoring of the brake resistor temperature.
Braking operation
Setting range (min. value | unit | max. value) Lenze setting
0.0 Ohm 500.0 180.0 Ohm
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
C00130
Parameter | Name: Data type: INTEGER_32
C00130 | Rated power of brake resistor Index: 24445d = 5F7Dh
Required for monitoring of the brake resistor temperature.
Braking operation
Setting range (min. value | unit | max. value) Lenze setting
0 W 800000 5600 W
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00131
Parameter | Name: Data type: INTEGER_32
C00131 - Rated quantity of heat for brake res. Index: 24444d = 5F7Ch
Required for monitoring of the brake resistor temperature.
Braking operation
Setting range (min. value | unit | max. value) Lenze setting
0 kWs 100000 485 kWs
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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735
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00132
C00132
Parameter | Name: Data type: INTEGER_32
C00132 | Service code Index: 24443d = 5F7Bh
This code is used internally by the controller and must not be overwritten by the user!
C00133
Parameter | Name: Data type: UNSIGNED_8
C00133 | Ref.: Brake chopper utilisation Index: 24442d = 5F7Ah
From software version V1.5
Braking operation
Selection list (Lenze setting printed in bold) Information
0 Minimum resistance (C00134) C00134
1 Resistance in C00129 C00129
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00134
Parameter | Name: Data type: INTEGER_32
C00134 | Minimum brake resistance Index: 24441d = 5F79h
From software version V1.5
Braking operation
Display range (min. value | unit | max. value)
0.0 Ohm 500.0
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10
C00137
Parameter | Name: Data type: INTEGER_32
C00137 | Brake transistor utilisation Index: 24438d = 5F76h
From software version V1.5
Braking operation
Display range (min. value | unit | max. value)
0 % 250
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00138
Parameter | Name: Data type: INTEGER_32
C00138 | Brake resistor utilisation Index: 24437d = 5F75h
From software version V1.5
Braking operation
Display range (min. value | unit | max. value)
0 % 250
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00142
Parameter | Name: Data type: UNSIGNED_32
C00142 | Autom. restart after mains ON Index: 24433d = 5F71h
Starting performance of the controller after mains connection and reset of "Trouble", "Fault" or "safe torque off
active".
Danger!
If the automatic restart is enabled (C00142 = "1: Enabled"), the drive can restart automatically from the "Trouble"
and "Safe torque off" device states when the trouble or requirement for "Safe torque off active" is no longer
available!
Automatic restart after mains connection
Selection list (Lenze setting printed in bold)
0 Inhibited
1 Enabled
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
736 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00150
C00150
Parameter | Name: Data type: BITFIELD_16
C00150 | Status word device control 1 Index: 24425d = 5F69h
Status word 1 of the drive interface
Display area
0x0000 0xFFFF
Value is bit-coded: Information
Bit 0 Reserved For the meaning of bits 8 ... 11 see chapter "Device
states".
Bit 1 Pulse inhibit active
Bit 2 Reserved
Bit 3 Reserved
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Actual speed value = 0
Bit 7 Controller inhibit active
Bit 8 Device state - Bit 1
Bit 9 Device state - Bit 2
Bit 10 Device state - Bit 3
Bit 11 Device state - Bit 4
Bit 12 Warning active
Bit 13 Trouble active
Bit 14 Reserved
Bit 15 Reserved
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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737
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00155
C00155
Parameter | Name: Data type: BITFIELD_16
C00155 | Status word device control 2 Index: 24420d = 5F64h
Status word 2 of the drive interface
Display area
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Error status active
Bit 1 Torque limit reached
Bit 2 Current limit reached
Bit 3 Reserved
Bit 4 Drive switched on/in operation
Bit 5 Drive ready for operation
Bit 6 Fault active
Bit 7 Drive initialisation
Bit 8 Motor CCW rotation active
Bit 9 Quick stop by trouble active
Bit 10 Safe torque off active
Bit 11 Application active
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Quick stop active
Bit 15 Reserved
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00156
Parameter | Name: Data type: UNSIGNED_32
C00156 | Status/Control word MCTRL Index: 24419d = 5F63h
Status and control word of the motor interface
Display range (min. value | unit | max. value)
0 4294967295
Subcodes Information
C00156/1 Status word motor control
C00156/2 Control word motor control
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
738 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00158
C00158
Parameter | Name: Data type: BITFIELD_16
C00158 | Controller inhibit by (source) Index: 24417d = 5F61h
Display area
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Terminal
Bit 1 Reserved
Bit 2 Reserved
Bit 3 Reserved
Bit 4 Application
Bit 5 Controller command
Bit 6 Error response
Bit 7 Internal PLC
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Operating system
Bit 11 Identification program
Bit 12 Brake
Bit 13 Limiter
Bit 14 PPI
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00159
Parameter | Name: Data type: BITFIELD_16
C00159 | Quick stop by (source) Index: 24416d = 5F60h
Display area
0x0000 0xFFFF
Value is bit-coded:
Bit 0 Reserved
Bit 1 Reserved
Bit 2 Reserved
Bit 3 Reserved
Bit 4 Application
Bit 5 Controller command
Bit 6 Error response
Bit 7 Internal PLC
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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739
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00162
C00162
Parameter | Name: Data type: UNSIGNED_32
C00162 | Masked Error number Index: 24413d = 5F5Dh
From software version V5.0
Display of the individual components of the error number shown in C00168.
Display range (min. value | unit | max. value)
0 4294967295
Subcodes Information
C00162/1 Module ID + error number
• As described in the chapter "Error messages".
C00162/2 Instance number
C00162/3 Error response
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00166
Parameter | Name: Data type: VISIBLE_STRING
C00166 | Error description Index: 24409d = 5F59h
Error description for error number indicated in C00168
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00167
Parameter | Name: Data type: VISIBLE_STRING
C00167 | Service code Index: 24408d = 5F58h
This code is used internally by the controller and must not be overwritten by the user!
C00168
Parameter | Name: Data type: UNSIGNED_32
C00168 | Error number Index: 24407d = 5F57h
Display of the error number of the first error with highest priority
Display range (min. value | unit | max. value)
0 4294967295
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00169
Parameter | Name: Data type: BITFIELD_32
C00169 | Logbook - event filter Index: 24406d = 5F56h
Bit coded word for filtering system events (trouble, warning, information)
• A set filter bit inhibits entry of the corresponding event into the logbook.
• From software version V5.0 the option that identical consecutive entries ("Multiple entries") into the logbook are
suppressed can be additionally activated via bit 0. Then only the time stamp of the last (latest) entry and the
number of times the same event has occurred successively are saved.
Logbook
Setting range Lenze setting
0x00000000 0xFFFFFFFF 0x00000001 (decimal: 1)
Value is bit-coded: (; = bit set) Information
Bit 0 ; No multiple entries Bits not listed are reserved for future extensions!
Bit 1 Fault
Bit 2 Trouble
Bit 3 Quick stop by trouble
Bit 4 Warning locked
Bit 5 Warning
Bit 6 Information
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
740 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00171
C00171
Parameter | Name: Data type: UNSIGNED_32
C00171 | Service code Index: 24404d = 5F54h
This code is used internally by the controller and must not be overwritten by the user!
C00173
Parameter | Name: Data type: UNSIGNED_8
C00173 | Mains voltage Index: 24402d = 5F52h
Adjustment of the DC bus voltage thresholds
• Check during commissioning and adapt, if necessary.
• All drive components connected via the DC bus must have the same thresholds.
• For selection 0 ... 3, the undervoltage threshold is firmly defined depending on the device type (see "Rated data"
chapter in the Hardware Manual).
Note: Altering this setting also has an impact on the permissible device utilisation!
In the chapter "Rated data" of the hardware manual the device types and their permissible device utilisation at a
certain mains voltage and switching frequency are specified.
Selection list (Lenze setting printed in bold) Information
0 230 V Operation on 230 V mains
• Undervoltage threshold is firmly defined.
• Overvoltage threshold = 400 V
• Brake chopper threshold = 390 V
1 400/415 V Operation on 400 V mains/415 V mains
• Undervoltage threshold is firmly defined.
• Overvoltage threshold = 800 V
• Brake chopper threshold = 725 V
2 460/480 V Operation on 460 V mains/480 V mains
• Undervoltage threshold is firmly defined.
• Overvoltage threshold = 800 V
• Brake chopper threshold = 765 V
3 500 V Operation on 500 V mains
• Undervoltage threshold is firmly defined.
• Overvoltage threshold = 800 V
• Brake chopper threshold = 790 V
4 230 V, LU configurable Operation on 230 V mains
• Undervoltage threshold is defined in C00174.
• Overvoltage threshold = 400 V
• Brake chopper threshold = 390 V
5 400/415 V, LU configurable Operation on 400 V mains/415 V mains
• Undervoltage threshold is defined in C00174.
• Overvoltage threshold = 800 V
• Brake chopper threshold = 725 V
6 460/480 V, LU configurable Operation on 460 V mains/480 V mains
• Undervoltage threshold is defined in C00174.
• Overvoltage threshold = 800 V
• Brake chopper threshold = 765 V
7 500 V, LU configurable Operation on 500 V mains
• Undervoltage threshold is defined in C00174.
• Overvoltage threshold = 800 V
• Brake chopper threshold = 790 V
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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741
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00174
C00174
Parameter | Name: Data type: UNSIGNED_32
C00174 | Undervoltage (LU) threshold Index: 24401d = 5F51h
When C00173 = 4 ... 7, the undervoltage threshold (LU) can be freely selected.
Note:
The minimum adjustable undervoltage threshold depends on the device type:
• Single-axis controller (Single Drive) up to and including BF7: 210 V
• Single-axis controller (Single Drive) from BF8s: 400 V
• Multi-axis controller (Multi Drive): 15 V
In the case of an offline parameter setting or when exchanging the memory module between different 9400
HighLine device types, always check the setting of this parameter and adapt it, if required, to prevent a parameter
error after the parameter set download or module change!
Setting range (min. value | unit | max. value) Lenze setting
15 V 400 285 V
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00175
Parameter | Name: Data type: UNSIGNED_32
C00175 | Service code Index: 24400d = 5F50h
This code is used internally by the controller and must not be overwritten by the user!
C00176
Parameter | Name: Data type: UNSIGNED_32
C00176 | Service code Index: 24399d = 5F4Fh
This code is used internally by the controller and must not be overwritten by the user!
C00177
Parameter | Name: Data type: UNSIGNED_32
C00177 | Service code Index: 24398d = 5F4Eh
This code is used internally by the controller and must not be overwritten by the user!
C00178
Parameter | Name: Data type: UNSIGNED_32
C00178 | Elapsed hour meter Index: 24397d = 5F4Dh
Display range (min. value | unit | max. value)
0 s 4294967295
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00179
Parameter | Name: Data type: UNSIGNED_32
C00179 | Power-on time meter Index: 24396d = 5F4Ch
Display range (min. value | unit | max. value)
0 s 4294967295
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00180
Parameter | Name: Data type: VISIBLE_STRING
C00180 | Service code Index: 24395d = 5F4Bh
For Lenze service only
; Read access ; Write access CINH PLC STOP ; No transfer
742 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00181
C00181
Parameter | Name: Data type: UNSIGNED_32
C00181 | Red. brake chopper threshold Index: 24394d = 5F4Ah
Braking operation
Setting range (min. value | unit | max. value) Lenze setting
0 V 100 0 V
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00183
Parameter | Name: Data type: UNSIGNED_32
C00183 | Device state Index: 24392d = 5F48h
Display of the device state for diagnostic purposes
Selection list (display only)
0 Operation
1 Operation/Warning active
2 Operation/warning locked act.
3 Operation/Quick stop active
4 Operation/Application stopped
10 Initialisation active
20 System fault active
90 Drive switched on
91 Drive is switched on/QSP trouble
101 Safe torque off active
102 Fault active
104 Trouble active
141 Drive ready to start --> C00142
151 Quick stop by trouble active
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00185
Parameter | Name: Data type: UNSIGNED_32
C00185 | Mains recov. detect. threshold Index: 24390d = 5F46h
This code must not be written to by the user!
Setting range (min. value | unit | max. value) Lenze setting
0 % 100 90 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00186
Parameter | Name: Data type: VISIBLE_STRING
C00186 | ENP: Identified motor type Index: 24389d = 5F45h
Motor type read from the electronic nameplate (ENP)
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00187
Parameter | Name: Data type: VISIBLE_STRING
C00187 | ENP: Identified serial number Index: 24388d = 5F44h
Serial number read from the electronic nameplate (ENP)
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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743
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00188
C00188
Parameter | Name: Data type: UNSIGNED_8
C00188 | ENP: Status Index: 24387d = 5F43h
Selection list (display only)
0 No ENP found
1 ENP data loaded
2 Known ENP found
3 ENP found but not read
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00198
Parameter | Name: Data type: UNSIGNED_32
C00198 | Service code Index: 24377d = 5F39h
This code is used internally by the controller and must not be overwritten by the user!
C00199
Parameter | Name: Data type: VISIBLE_STRING
C00199 | Device name Index: 24376d = 5F38h
Device name to be defined by the user (e.g. "Cross cutter" or "hoist axis 1") with max. 128 characters
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00200
Parameter | Name: Data type: VISIBLE_STRING
C00200 | Firmware product type Index: 24375d = 5F37h
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00201
Parameter | Name: Data type: VISIBLE_STRING
C00201 | Firmware - compiling date Index: 24374d = 5F36h
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00202
Parameter | Name: Data type: UNSIGNED_32
C00202 | Autom. ENP data transfer Index: 24373d = 5F35h
From software version V1.5
Selection list (Lenze setting printed in bold)
0 Off
1 ON
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00203
Parameter | Name: Data type: VISIBLE_STRING
C00203 | HW product types Index: 24372d = 5F34h
Subcodes Information
C00203/1 Type: Control card
C00203/2 Type: Power section
C00203/3 Type: Module in MXI1
C00203/4 Type: Module in MXI2
C00203/5 Type: Memory module
C00203/6 Type: Safety module
C00203/7 Type: Standard device
C00203/8 Type: Complete device
C00203/9 Type: ENP
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
744 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00204
C00204
Parameter | Name: Data type: VISIBLE_STRING
C00204 | HW serial numbers Index: 24371d = 5F33h
Subcodes Information
C00204/1 Serial no.: Control card
C00204/2 Serial no.: Power section
C00204/3 Serial no.: Module in MXI1
C00204/4 Serial no.: Module in MXI2
C00204/5 Serial no.: Memory module
C00204/6 Serial no.: Safety module
C00204/7 Serial no.: Standard device
C00204/8 Serial no.: Complete device
C00204/9 Serial no.: ENP
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00205
Parameter | Name: Data type: VISIBLE_STRING
C00205 | HW descriptions Index: 24370d = 5F32h
Subcodes Information
C00205/1 Info: Control card
C00205/2 Info: Power section
C00205/3 Info: Module in MXI1
C00205/4 Info: Module in MXI2
C00205/5 Info: Memory module
C00205/6 Info: Safety module
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00206
Parameter | Name: Data type: VISIBLE_STRING
C00206 | HW manufacturing data Index: 24369d = 5F31h
Subcodes Information
C00206/1 Date: Control card
C00206/2 Date: Power section
C00206/3 Date: Module in MXI1
C00206/4 Date: Module in MXI2
C00206/5 Date: Memory module
C00206/6 Date: Safety module
C00206/7 Date: Standard device
C00206/8 Date: Complete device
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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745
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00208
C00208
Parameter | Name: Data type: VISIBLE_STRING
C00208 | HW manufacturer Index: 24367d = 5F2Fh
Subcodes Information
C00208/1 Manufacturer: Control card
C00208/2 Manufacturer: Power section
C00208/3 Manufacturer: Module in MXI1
C00208/4 Manufacturer: Module in MXI2
C00208/5 Manufacturer: Memory module
C00208/6 Manufacturer: Safety module
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00209
Parameter | Name: Data type: VISIBLE_STRING
C00209 | HW countries of origin Index: 24366d = 5F2Eh
Subcodes Information
C00209/1 Country: Control card
C00209/2 Country: Power section
C00209/3 Country: Module in MXI1
C00209/4 Country: Module in MXI2
C00209/5 Country: Memory module
C00209/6 Country: Safety module
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00210
Parameter | Name: Data type: VISIBLE_STRING
C00210 | HW versions Index: 24365d = 5F2Dh
Subcodes Information
C00210/1 HW version: Control card
C00210/2 HW version: Power section
C00210/3 HW version: Module in MXI1
C00210/4 HW version: Module in MXI2
C00210/5 HW version: Memory module
C00210/6 HW version: Safety module
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00211
Parameter | Name: Data type: VISIBLE_STRING
C00211 | Application: Version Index: 24364d = 5F2Ch
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00212
Parameter | Name: Data type: VISIBLE_STRING
C00212 | Application: Type code Index: 24363d = 5F2Bh
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00213
Parameter | Name: Data type: VISIBLE_STRING
C00213 | Application: Compiler date Index: 24362d = 5F2Ah
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
746 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00214
C00214
Parameter | Name: Data type: UNSIGNED_8
C00214 | Required safety module Index: 24361d = 5F29h
Setting of the expected safety module
• If a different safety module is detected, a fault (trouble) will be activated. The fault can only be reset by mains
switching.
Selection list (Lenze setting printed in bold)
1 SM0
2 SM100
4 SM300
5 SM301
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C00217
Parameter | Name: Data type: UNSIGNED_32
C00217 | Parameter error information Index: 24358d = 5F26h
This code is used internally by the controller and must not be overwritten by the user!
C00218
Parameter | Name: Data type: UNSIGNED_32
C00218 | Application: ID number Index: 24357d = 5F25h
Display range (min. value | unit | max. value)
0 0
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00219
Parameter | Name: Data type: UNSIGNED_32
C00219 | CAN/EPL device type Index: 24356d = 5F24h
This code is used internally by the controller and must not be overwritten by the user!
C00225
Parameter | Name: Data type: UNSIGNED_32
C00225 | Check configuration Index: 24350d = 5F1Eh
This code is used internally by the controller and must not be overwritten by the user!
C00227
Parameter | Name: Data type: UNSIGNED_32
C00227 | Behaviour due to change of parameter set Index: 24348d = 5F1Ch
From software version V5.0
By selecting "1" in the corresponding subcode a module plugged into module slot MXI1 or MXI2 can be excepted
from the parameter set changeover via the device command "Activate parameter set n".
• By this the parameter set changeover, in particular for active modules, is carried out much more quickly.
• An exception from the parameter set changeover for instance is reasonable if different parameter sets are used
(e. g. for different tools within the machine), but if the parameters are always the same for the module (e. g.
communication parameters).
Selection list (Lenze setting printed in bold)
0 Included
1 Excluded
Subcodes Lenze setting Information
C00227/1 0: Included Change of parameter set: MXI1
C00227/2 0: Included Change of parameter set: MXI2
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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747
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00254
C00254
Parameter | Name: Data type: UNSIGNED_32
C00254 | Phase controller gain Index: 24321d = 5F01h
Setting range (min. value | unit | max. value) Lenze setting
0.00 1/s 1000.00 20.00 1/s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C00270
Parameter | Name: Data type: UNSIGNED_32
C00270 | Freq. - current setpoint filter Index: 24305d = 5EF1h
Set current setpoint filter (band-stop filter)
Setting range (min. value | unit | max. value)
1.0 Hz 1000.0
Subcodes Lenze setting Information
C00270/1 200.0 Hz Freq. - current setp. filter 1
C00270/2 400.0 Hz Freq. - current setp. filter 2
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
C00271
Parameter | Name: Data type: UNSIGNED_32
C00271 | Width - current setp. filter Index: 24304d = 5EF0h
Set current setpoint filter (band-stop filter)
Setting range (min. value | unit | max. value)
0.0 Hz 500.0
Subcodes Lenze setting Information
C00271/1 20.0 Hz Width current setp. filter 1
C00271/2 40.0 Hz Width current setp. filter 2
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
C00272
Parameter | Name: Data type: UNSIGNED_32
C00272 | Depth - current setp. filter Index: 24303d = 5EEFh
The setting "0 dB" deactivates the current setpoint filter.
Set current setpoint filter (band-stop filter)
Setting range (min. value | unit | max. value)
0 db 100
Subcodes Lenze setting Information
C00272/1 0 db Depth current setp. filter 1
C00272/2 0 db Depth current setp. filter 2
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00273
Parameter | Name: Data type: UNSIGNED_32
C00273 | Moment of inertia Index: 24302d = 5EEEh
Note:
The load moment of inertia must be set with regard to the motor end (i.e. considering the gearbox factors).
Setting range (min. value | unit | max. value)
0.00 kg cm² 20000000.00
Subcodes Lenze setting Information
C00273/1 0.14 kg cm² Motor moment of inertia
C00273/2 0.00 kg cm² Load moment of inertia
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
748 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00274
C00274
Parameter | Name: Data type: UNSIGNED_32
C00274 | Max. acceleration change Index: 24301d = 5EEDh
Setting range (min. value | unit | max. value) Lenze setting
0.0 %/ms 400.0 400.0 %/ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
C00275
Parameter | Name: Data type: UNSIGNED_16
C00275 | Signal source - speed setpoint Index: 24300d = 5EECh
Selection list (Lenze setting printed in bold)
0 SpeedAdd signal
1 Differentiated PosSet signal
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00276
Parameter | Name: Data type: UNSIGNED_16
C00276 | Signal source - torque setpoint Index: 24299d = 5EEBh
Selection list (Lenze setting printed in bold) Information
0 TorqueAdd/AccAdd signal
1 Differentiated SpeedSet signal
2 2x diff. PosSet signal
3 Differentiated SpeedAdd signal From software version V5.0
This alternative selection to the differentiated SpeedSet
signal is recommended if the position controller works
with a high gain.
By the position controller also troubles within to the
actual position value are detected and like this reach the
speed setpoint. In the following differentiation of the
feedforward control, these troubles in particular in the
case of high position controller gains result in a very
unsettled torque feedforward control value. By means of
this selection the problem can be avoided, because then
only the trouble-free speed feedforward control value is
differentiated.
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00280
Parameter | Name: Data type: UNSIGNED_32
C00280 | Filter time const. DC detection Index: 24295d = 5EE7h
Setting range (min. value | unit | max. value) Lenze setting
1.0 ms 1000.0 25.0 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
EDS94AxHExxxx EN 7.0 - 04/2010 L
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749
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00281
C00281
Parameter | Name: Data type: UNSIGNED_8
C00281 | Filter for PWM adjustment Index: 24294d = 5EE6h
From software version V7.0
The output voltage of the inverter is generated from the DC-bus voltage by a pulse width modulation (PWM). The
product from the DC-bus voltage and the control factor of the PWM corresponds to the height of the output voltage.
If the DC-bus voltage changes due to mains fluctuations or load changes, the control factor of the PWM must be
adapted if the output voltage is to remain constant. This correction is carried out in the control software by
measuring the DC-bus voltage. In order that no response takes place to faults in the DC-bus voltage measurement,
a filter can be activated for the measured signal via this parameter.
• The filter time constant is selected so that a quick correction can be carried out even under bad EMC conditions.
• A disadvantage of this filter is that the responses to real flickers on the DC-bus voltage are too slow. In
positioning tasks, this may cause an extreme increase of the following error.
• Under good EMC conditions, this filter is not required (Lenze setting).
• For devices > BF7 the filter is ineffective.
Selection list (Lenze setting printed in bold)
0 Deactivated
1 Activated
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00308
Parameter | Name: Data type: UNSIGNED_16
C00308 | Service code Index: 24267d = 5ECBh
This code is used internally by the controller and must not be overwritten by the user!
C00309
Parameter | Name: Data type: UNSIGNED_32
C00309 | Service code Index: 24266d = 5ECAh
This code is used internally by the controller and must not be overwritten by the user!
C00310
Parameter | Name: Data type: UNSIGNED_8
C00310 | Service code Index: 24265d = 5EC9h
This code is used internally by the controller and must not be overwritten by the user!
C00311
Parameter | Name: Data type: BITFIELD_8
C00311 | CAN TPDO1 mask byte x Index: 24264d = 5EC8h
A mask can be parameterised for each byte of the TPDO1 in the assigned subcode.
• In case of an event-controlled PDO transmission, only the masked bits will be considered for event control.
• Mask "0x0" means that no bit of the corresponding byte actuates the transmission.
• Mask "0xff" means that every bit of the corresponding byte can actuate the transmission.
"CAN on board" system bus
Setting range
0x00 0xFF
Value is bit-coded:
Bit 0 Mask bit 0
... ...
Bit 7 Mask bit 7
Subcodes Lenze setting Information
C00311/1 0x00 Mask for byte 1 ... byte 8 of TPDO1
C00311/...
C00311/8
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
750 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00312
C00312
Parameter | Name: Data type: BITFIELD_8
C00312 | CAN TPDO2 mask byte x Index: 24263d = 5EC7h
A mask can be parameterised for each byte of the TPDO2 in the assigned subcode.
• In case of an event-controlled PDO transmission, only the masked bits will be considered for event control.
• Mask "0x0" means that no bit of the corresponding byte actuates the transmission.
• Mask "0xff" means that every bit of the corresponding byte can actuate the transmission.
"CAN on board" system bus
Setting range
0x00 0xFF
Value is bit-coded:
Bit 0 Mask bit 0
... ...
Bit 7 Mask bit 7
Subcodes Lenze setting Information
C00312/1 0x00 Mask for byte 1 ... byte 8 of TPDO2
C00312/...
C00312/8
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00313
Parameter | Name: Data type: BITFIELD_8
C00313 | CAN TPDO3 mask byte x Index: 24262d = 5EC6h
A mask can be parameterised for each byte of the TPDO3 in the assigned subcode.
• In case of an event-controlled PDO transmission, only the masked bits will be considered for event control.
• Mask "0x0" means that no bit of the corresponding byte actuates the transmission.
• Mask "0xff" means that every bit of the corresponding byte can actuate the transmission.
"CAN on board" system bus
Setting range
0x00 0xFF
Value is bit-coded:
Bit 0 Mask bit 0
... ...
Bit 7 Mask bit 7
Subcodes Lenze setting Information
C00313/1 0x00 Mask for byte 1 ... byte 8 of TPDO3
C00313/...
C00313/8
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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751
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00314
C00314
Parameter | Name: Data type: BITFIELD_8
C00314 | CAN TPDO4 mask byte x Index: 24261d = 5EC5h
A mask can be parameterised for each byte of the TPDO4 in the assigned subcode.
• In case of an event-controlled PDO transmission, only the masked bits will be considered for event control.
• Mask "0x0" means that no bit of the corresponding byte actuates the transmission.
• Mask "0xff" means that every bit of the corresponding byte can actuate the transmission.
"CAN on board" system bus
Setting range
0x00 0xFF
Value is bit-coded:
Bit 0 Mask bit 0
... ...
Bit 7 Mask bit 7
Subcodes Lenze setting Information
C00314/1 0x00 Mask for byte 1 ... byte 8 of TPDO4
C00314/...
C00314/8
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00320
Parameter | Name: Data type: BITFIELD_32
C00320 | CAN TPDOx identifier Index: 24255d = 5EBFh
Identifier for TPDO1 ... TPDO4
• If bit 31 is set (0x8nnnnnnn), the TPDO is deactivated.
• The basic setting is according to the "Predefined Connection Set".
• Mapping of the CANopen objects I-1800/1 ... I-1803/1 (see DS301 V4.02).
"CAN on board" system bus
Setting range
0x00000000 0xFFFFFFFF
Value is bit-coded: Information
Bit 0 COB-ID bit 0 • Bit 0 ... 10: COB-ID
... ... • Bit 11 ... 30: Reserved
• Bit 31: PDO invalid
Bit 31 PDO invalid
Subcodes Lenze setting Information
C00320/1 0x00000181 Identifier TPDO1
• After a node address change and CAN reset node, the
value 0x180 + node address will be set by default.
C00320/2 0x00000281 Identifier TPDO2
• After a node address change and CAN reset node, the
value 0x280 + node address will be set by default.
C00320/3 0x00000381 Identifier TPDO3
• After a node address change and CAN reset node, the
value 0x380 + node address will be set by default.
C00320/4 0x00000481 Identifier TPDO4
• After a node address change and CAN reset node, the
value 0x480 + node address will be set by default.
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
752 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00321
C00321
Parameter | Name: Data type: BITFIELD_32
C00321 | CAN RPDOx identifier Index: 24254d = 5EBEh
Identifier for RPDO1 ... RPDO4
• If bit 31 is set (0x8nnnnnnn), the RPDO is deactivated.
• The basic setting is according to the "Predefined Connection Set".
• Mapping of the CANopen objects I-1400/1 ... I-1403/1 (see DS301 V4.02).
"CAN on board" system bus
Setting range
0x00000000 0xFFFFFFFF
Value is bit-coded: Information
Bit 0 COB-ID bit 0 • Bit 0 ... 10: COB-ID
... ... • Bit 11 ... 30: Reserved
• Bit 31: PDO invalid
Bit 31 PDO invalid
Subcodes Lenze setting Information
C00321/1 0x00000201 Identifier RPDO1
• After a node address change and CAN reset node, the
value 0x200 + node address will be set by default.
C00321/2 0x00000301 Identifier RPDO2
• After a node address change and CAN reset node, the
value 0x300 + node address will be set by default.
C00321/3 0x00000401 Identifier RPDO3
• After a node address change and CAN reset node, the
value 0x400 + node address will be set by default.
C00321/4 0x00000501 Identifier RPDO4
• After a node address change and CAN reset node, the
value 0x500 + node address will be set by default.
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00322
Parameter | Name: Data type: UNSIGNED_8
C00322 | CAN TPDOx Tx mode Index: 24253d = 5EBDh
TPDO transmission type according to DS301 V4.02
• Types 0 (acyclic sync), 1-240 (cyclic sync), 254 (event-controlled manufacturer-specific), 255 (event-controlled
device-profile-specific) are supported.
• The basic PDO setting is "254" (event-controlled).
• Mapping of the CANopen objects I-1800/2 ... I-1803/2 (see DS301 V4.02).
"CAN on board" system bus
Setting range (min. value | unit | max. value)
0 255
Subcodes Lenze setting Information
C00322/1 254 Transmission mode for TPDO1 ... TPDO4
C00322/...
C00322/4
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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753
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00323
C00323
Parameter | Name: Data type: UNSIGNED_8
C00323 | CAN RPDOx Rx mode Index: 24252d = 5EBCh
RPDO Transmission type according to DS301 V4.02
• For the RPDO serves as monitoring setting in the case of sync-controlled PDOs.
• Types 0 (acyclic sync), 1-240 (cyclic sync), 254 (event-controlled manufacturer-specific), 255 (event-controlled
device-profile-specific) are supported.
• The basic PDO setting is "254" (event-controlled).
• Mapping of the CANopen objects I-1400/2 ... I-1403/2 (see DS301 V4.02).
"CAN on board" system bus
Setting range (min. value | unit | max. value)
0 255
Subcodes Lenze setting Information
C00323/1 254 Transmission mode for RPDO1 ... RPDO4
C00323/...
C00323/4
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00324
Parameter | Name: Data type: UNSIGNED_16
C00324 | CAN TPDOx delay time Index: 24251d = 5EBBh
TPDO inhibit time according to DS301 V4.02
• Minimum time between the transmission of two identical TPDOs.
• The delay time is entered in 1/10 ms and automatically rounded to full milliseconds by the code.
• Mapping of the CANopen objects I-1800/3 ... I-1803/3 (see DS301 V4.02).
"CAN on board" system bus
Setting range (min. value | unit | max. value)
0 1/10 ms 65535
Subcodes Lenze setting Information
C00324/1 0 1/10 ms Delay time for TPDO1 ... TPDO4
C00324/...
C00324/4
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00325
Parameter | Name: Data type: UNSIGNED_8
C00325 | Service code Index: 24250d = 5EBAh
This code is used internally by the controller and must not be overwritten by the user!
C00326
Parameter | Name: Data type: UNSIGNED_8
C00326 | Service code Index: 24249d = 5EB9h
This code is used internally by the controller and must not be overwritten by the user!
C00327
Parameter | Name: Data type: BITFIELD_32
C00327 | Service code Index: 24248d = 5EB8h
This code is used internally by the controller and must not be overwritten by the user!
C00328
Parameter | Name: Data type: BITFIELD_32
C00328 | Service code Index: 24247d = 5EB7h
This code is used internally by the controller and must not be overwritten by the user!
754 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00329
C00329
Parameter | Name: Data type: BITFIELD_32
C00329 | Service code Index: 24246d = 5EB6h
This code is used internally by the controller and must not be overwritten by the user!
C00330
Parameter | Name: Data type: BITFIELD_32
C00330 | Service code Index: 24245d = 5EB5h
This code is used internally by the controller and must not be overwritten by the user!
C00335
Parameter | Name: Data type: BITFIELD_32
C00335 | Service code Index: 24240d = 5EB0h
This code is used internally by the controller and must not be overwritten by the user!
C00336
Parameter | Name: Data type: BITFIELD_32
C00336 | Service code Index: 24239d = 5EAFh
This code is used internally by the controller and must not be overwritten by the user!
C00337
Parameter | Name: Data type: BITFIELD_32
C00337 | Service code Index: 24238d = 5EAEh
This code is used internally by the controller and must not be overwritten by the user!
C00338
Parameter | Name: Data type: BITFIELD_32
C00338 | Service code Index: 24237d = 5EADh
This code is used internally by the controller and must not be overwritten by the user!
C00343
Parameter | Name: Data type: UNSIGNED_32
C00343 | CAN TPDO counter Index: 24232d = 5EA8h
Display range (min. value | unit | max. value)
0 4294967295
Subcodes Information
C00343/1 From software version V1.5
C00343/... Counter for TPDO1 ... TPDO4
"CAN on board" system bus
C00343/4
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00344
Parameter | Name: Data type: UNSIGNED_32
C00344 | CAN RPDO counter Index: 24231d = 5EA7h
Display range (min. value | unit | max. value)
0 4294967295
Subcodes Information
C00344/1 From software version V1.5
C00344/... Counter for RPDO1 ... RPDO4
"CAN on board" system bus
C00344/4
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
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755
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00345
C00345
Parameter | Name: Data type: UNSIGNED_8
C00345 | CAN error Index: 24230d = 5EA6h
"CAN on board" system bus
Selection list (display only)
0 No error
1 Guard Event
2 Warning
3 Bus off
4 Sync telegram error
6 CAN controller overflow
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00346
Parameter | Name: Data type: BITFIELD_32
C00346 | CAN heartbeat activity Index: 24229d = 5EA5h
"CAN on board" system bus: heartbeat protocol
Display area
0x00000000 0xFFFFFFFF
Value is bit-coded:
Bit 0 Heartbeat node 1
... ...
Bit 31 Heartbeat node 32
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00347
Parameter | Name: Data type: UNSIGNED_8
C00347 | CAN heartbeat status Index: 24228d = 5EA4h
"CAN on board" system bus: heartbeat protocol
Selection list (display only)
0 Unknown
4 Stopped
5 Operational
127 Pre-operational
Subcodes Information
C00347/1 Status node 1 ... 32
C00347/...
C00347/32
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00348
Parameter | Name: Data type: UNSIGNED_8
C00348 | CAN status DIP switch Index: 24227d = 5EA3h
• "1" means that the CAN DIP switch has been identified after mains switching and a valid baud rate and node
address have been set.
• "0" means that no CAN DIP switch or no valid setting has been identified or the setting has been overwritten by
writing to code C00350 or C00351.
"CAN on board" system bus
Selection list (display only) Information
0 Setting not accepted
1 Setting accepted
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
756 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00349
C00349
Parameter | Name: Data type: UNSIGNED_8
C00349 | CAN setting of DIP switch Index: 24226d = 5EA2h
Setting of the CAN DIP switch at the last mains connection
"CAN on board" system bus
Display range (min. value | unit | max. value)
0 255
Subcodes Information
C00349/1 Node address
C00349/2 Baud rate:
0: 500 kbps
1: 250 kbps
2: 125 kbps
3: 50 kbps
4: 1 Mbps
5: 20 kbps
6: 10 kbit/s
14: 800 kbps
255: Automatic recognition
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00350
Parameter | Name: Data type: UNSIGNED_8
C00350 | CAN node address Index: 24225d = 5EA1h
• A change of the node address only gets active after a CAN reset node.
• The basic server channel RX/TX is automatically provided by the node address (C00372 and C00373; subcode 1).
• Overwriting the value deactivates a possibly existing node address selection entered by means of hardware.
"CAN on board" system bus
Setting range (min. value | unit | max. value) Lenze setting
1 127 1
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
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757
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00351
C00351
Parameter | Name: Data type: UNSIGNED_8
C00351 | CAN baud rate Index: 24224d = 5EA0h
• A change of the baud rate only gets active after a CAN reset node.
• Overwriting the value deactivates a possibly existing node address selection entered by means of hardware.
"CAN on board" system bus
Selection list (Lenze setting printed in bold)
0 500 kbps
1 250 kbps
2 125 kbps
3 50 kbps
4 1 Mbps
5 20 kbps
6 10 kbps
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 800 kbps
15 Reserved
255 Automatic recognition
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00352
Parameter | Name: Data type: UNSIGNED_8
C00352 | CAN slave/master Index: 24223d = 5E9Fh
If "1" is entered and saved, the drive will start as CAN master after mains switching.
"CAN on board" system bus
Selection list (Lenze setting printed in bold)
0 Slave
1 Master
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00356
Parameter | Name: Data type: UNSIGNED_16
C00356 | CAN TPDOx cycle time Index: 24219d = 5E9Bh
TPDO event time according to DS301 V4.02
• If the value is entered that is not "0", the TPDO is transmitted without further consideration of the transport type
after the set time has elapsed.
• Mapping of the CANopen objects I-1800/5 ... I-1803/5 (see DS301 V4.02).
"CAN on board" system bus
Setting range (min. value | unit | max. value)
0 ms 65535
Subcodes Lenze setting Information
C00356/1 0 ms Cycle time for TPDO1 ... TPDO4
C00356/...
C00356/4
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
758 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00357
C00357
Parameter | Name: Data type: UNSIGNED_16
C00357 | CAN RPDOx monitoring time Index: 24218d = 5E9Ah
Mapping of the RPDO event time (see DS301 V4.02)
• If a value is entered that is not "0", the RPDO is expected after the time set has elapsed.
• If the RPDO is not received within this time, a parameterisable error message can be activated.
"CAN on board" system bus
Setting range (min. value | unit | max. value)
0 ms 65535
Subcodes Lenze setting Information
C00357/1 3000 ms Monitoring time for RPDO1 ... RPDO4
C00357/...
C00357/4
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00359
Parameter | Name: Data type: UNSIGNED_8
C00359 | CAN status Index: 24216d = 5E98h
"CAN on board" system bus
Selection list (display only)
0 Operational
1 Pre-operational
4 Boot up
5 Stopped
7 Reset
8 Initialisation
9 Unknown
10 Baud rate autom. detected
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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759
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00360
C00360
Parameter | Name: Data type: UNSIGNED_16
C00360 | CAN telegram and error counter Index: 24215d = 5E97h
• After mains connection all counters start with "0".
• After the maximum value has been reached, counting restarts with "0".
"CAN on board" system bus
Display range (min. value | unit | max. value)
0 65535
Subcodes Information
C00360/1 Stuffing bit error counter
• More than five identical bits have been detected.
C00360/2 Format error counter
• CAN frame has not been observed.
C00360/3 Acknowledge error counter
• No device has acknowledged the telegram.
C00360/4 Bit1 error counter
• "1" should be sent after bus arbitration, but "0" was
read.
C00360/5 Bit0 error counter
• "0" should be sent after bus arbitration, but "1" was
read.
C00360/6 CRC error counter
• Checksum check has indicated an error.
C00360/7 Tx telegram counter
• Correctly received telegrams.
C00360/8 Rx telegram counters
• Correctly transmitted telegrams.
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00361
Parameter | Name: Data type: UNSIGNED_32
C00361 | CAN bus load Index: 24214d = 5E96h
The display of the node peak load (subcodes 4 ... 6) is reset by repeated mains switching or via the "Reset node"
device command (C00002).
"CAN on board" system bus
Display range (min. value | unit | max. value)
0 % 100
Subcodes Information
C00361/1 Current node load in Tx direction
C00361/2 Current node load in Rx direction
C00361/3 Current node load through faulty telegrams
C00361/4 Maximum node load in Tx direction
C00361/5 Maximum node load in Rx direction
C00361/6 Maximum node load through faulty telegrams
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
760 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00367
C00367
Parameter | Name: Data type: UNSIGNED_32
C00367 | CAN SYNC Rx identifier Index: 24208d = 5E90h
Identifier with which the sync slave is to receive sync telegrams.
• Mapping of the CANopen object I-1005 (see DS301 V4.02).
"CAN on board" system bus: sync telegram
Setting range (min. value | unit | max. value) Lenze setting
0 2047 128
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00368
Parameter | Name: Data type: UNSIGNED_32
C00368 | CAN SYNC Tx identifier Index: 24207d = 5E8Fh
Identifier with which the sync master is to send sync telegrams.
• Mapping of the CANopen object I-1005 (see DS301 V4.02).
"CAN on board" system bus: sync telegram
Setting range (min. value | unit | max. value) Lenze setting
0 2047 128
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00369
Parameter | Name: Data type: UNSIGNED_16
C00369 | CAN SYNC transmit cycle time Index: 24206d = 5E8Eh
Cycle within which the sync master is to send sync telegrams.
• With "0 ms" (Lenze setting), no sync telegrams are created.
• Mapping of the CANopen object I-1006 (see DS301 V4.02).
"CAN on board" system bus: sync telegram
Setting range (min. value | unit | max. value)
0 ms 65535
Subcodes Lenze setting Information
C00369/1 0 ms Transmission cycle time for CAN on board
C00369/2 0 ms Transmission cycle time for CAN module in MXI1/MXI2
C00369/3 0 ms - (no meaning)
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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761
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00372
C00372
Parameter | Name: Data type: BITFIELD_32
C00372 | CAN SDO server Rx identifier Index: 24203d = 5E8Bh
Identifier which serves to reach the assigned SDO server.
• If bit 31 is set (0x8nnnnnnn), the corresponding SDO server is deactivated.
• Mapping of the CANopen objects I-1200/1 ... I-1209/1 (see DS301 V4.02).
"CAN on board" system bus
Setting range
0x00000000 0xFFFFFFFF
Value is bit-coded: Information
Bit 0 COB-ID bit 0 • Bit 0 ... 10: COB-ID
... ... • Bit 11 ... 30: Reserved
• Bit 31: SDO invalid
Bit 31 SDO invalid
Subcodes Lenze setting Information
C00372/1 0x00000601 SDO server channel 1 RX
• Subcode 1 contains the basic SDO channel which can
neither be changed nor deactivated, according to
DS301 V4.02. Writing to the subcode has no effect.
• The value under subcode 1 results from the node
address (C00350) + 0x600.
C00372/2 0x80000000 SDO server channel 2 RX
C00372/3 0x80000000 SDO server channel 3 RX
C00372/4 0x80000000 SDO server channel 4 RX
C00372/5 0x80000000 SDO server channel 5 RX
C00372/6 0x80000000 SDO server channel 6 RX
C00372/7 0x80000000 SDO server channel 7 RX
C00372/8 0x80000000 SDO server channel 8 RX
C00372/9 0x80000000 SDO server channel 9 RX
C00372/10 0x80000000 SDO server channel 10 RX
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
762 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00373
C00373
Parameter | Name: Data type: BITFIELD_32
C00373 | CAN SDO server Tx identifier Index: 24202d = 5E8Ah
Identifier with which the assigned SDO server is able to transmit.
• If bit 31 is set (0x8nnnnnnn), the corresponding SDO server is deactivated.
• Mapping of the CANopen objects I-1200/2 ... I-1209/2 (see DS301 V4.02).
"CAN on board" system bus
Setting range
0x00000000 0xFFFFFFFF
Value is bit-coded: Information
Bit 0 COB-ID bit 0 • Bit 0 ... 10: COB-ID
... ... • Bit 11 ... 30: Reserved
• Bit 31: SDO invalid
Bit 31 SDO invalid
Subcodes Lenze setting Information
C00373/1 0x00000581 SDO server channel 1 TX
• Subcode 1 contains the basic SDO channel which can
neither be changed nor deactivated, according to
DS301 V4.02. Writing to the subcode has no effect.
• The value under subcode 1 results from the node
address (C00350) + 0x580.
C00373/2 0x80000000 SDO server channel 2 TX
C00373/3 0x80000000 SDO server channel 3 TX
C00373/4 0x80000000 SDO server channel 4 TX
C00373/5 0x80000000 SDO server channel 5 TX
C00373/6 0x80000000 SDO server channel 6 TX
C00373/7 0x80000000 SDO server channel 7 TX
C00373/8 0x80000000 SDO server channel 8 TX
C00373/9 0x80000000 SDO server channel 9 TX
C00373/10 0x80000000 SDO server channel 10 TX
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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763
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00374
C00374
Parameter | Name: Data type: UNSIGNED_8
C00374 | CAN SDO client node address Index: 24201d = 5E89h
Node address of the client assigned to this server (see DS301 V4.02).
"CAN on board" system bus
Setting range (min. value | unit | max. value)
1 127
Subcodes Lenze setting Information
C00374/1 1 SDO server channel 1 remote client node address
• Subcode 1 contains the basic SDO channel which,
according to DS301 V4.02, does not feature this entry.
Writing to the subcode has no effect.
• The value of subindex 1 results in 0.
C00374/2 1 SDO server channel 2 remote client node address
C00374/3 1 SDO server channel 3 remote client node address
C00374/4 1 SDO server channel 4 remote client node address
C00374/5 1 SDO server channel 5 remote client node address
C00374/6 1 SDO server channel 6 remote client node address
C00374/7 1 SDO server channel 7 remote client node address
C00374/8 1 SDO server channel 8 remote client node address
C00374/9 1 SDO server channel 9 remote client node address
C00374/10 1 SDO server channel 10 remote client node address
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00375
Parameter | Name: Data type: BITFIELD_32
C00375 | CAN SDO client Rx identifier Index: 24200d = 5E88h
Identifier which serves to reach the assigned SDO client.
• If bit 31 is set (0x8nnnnnnn), the corresponding SDO client channel is deactivated (see DS301 V4.02).
• The client channels need not be parameterised right now. Their functionality will only be required when using
the gateway services.
"CAN on board" system bus
Setting range
0x00000000 0xFFFFFFFF
Value is bit-coded: Information
Bit 0 COB-ID bit 0 • Bit 0 ... 10: COB-ID
... ... • Bit 11 ... 30: Reserved
• Bit 31: SDO invalid
Bit 31 SDO invalid
Subcodes Lenze setting Information
C00375/1 0x80000000 SDO client channel 1 RX ... 10 RX
C00375/...
C00375/10
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
764 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00376
C00376
Parameter | Name: Data type: BITFIELD_32
C00376 | CAN SDO client Tx identifier Index: 24199d = 5E87h
Identifier with which the assigned SDO client is able to transmit.
• If bit 31 is set (0x8nnnnnnn), the corresponding SDO client channel is deactivated (see DS301 V4.02).
• The client channels need not be parameterised right now. Their functionality will only be required when using
the gateway services.
"CAN on board" system bus
Setting range
0x00000000 0xFFFFFFFF
Value is bit-coded: Information
Bit 0 COB-ID bit 0 • Bit 0 ... 10: COB-ID
... ... • Bit 11 ... 30: Reserved
• Bit 31: SDO invalid
Bit 31 SDO invalid
Subcodes Lenze setting Information
C00376/1 0x80000000 SDO client channel 1 TX ... 10 TX
C00376/...
C00376/10
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00377
Parameter | Name: Data type: UNSIGNED_8
C00377 | CAN SDO server node address Index: 24198d = 5E86h
Node address of the server with which the SDO client communicates via the selected client channel.
• The client functionality need not be activated.
• The entry is required so that the CAN-SDO client channel can be activated (see DS301 V4.02).
"CAN on board" system bus
Setting range (min. value | unit | max. value)
1 127
Subcodes Lenze setting Information
C00377/1 1 Remote server node address for SDO client channel 1 ...
10
C00377/...
C00377/10
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00378
Parameter | Name: Data type: UNSIGNED_16
C00378 | CAN delay boot-up - Operational Index: 24197d = 5E85h
Time that has to elapse after mains switching before the CAN NMT master places the "Start Remote Node" telegram
to the bus.
• This time is only used if the master bit is activated (C00352) and after mains switching.
"CAN on board" system bus
Setting range (min. value | unit | max. value) Lenze setting
0 ms 65535 3000 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00379
Parameter | Name: Data type: UNSIGNED_8
C00379 | Service code Index: 24196d = 5E84h
This code is used internally by the controller and must not be overwritten by the user!
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765
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00381
C00381
Parameter | Name: Data type: UNSIGNED_16
C00381 | CAN Heartbeat Producer Time Index: 24194d = 5E82h
Time interval for the transmission of the heartbeat telegram to one or several consumers.
• The parameterised time is rounded down to an integer multiple of 5 ms.
• The heartbeat telegram is transmitted automatically as soon as a time > 0 ms is set. The monitoring function
"Node Guarding" is deactivated in this case.
• Mapping of the CANopen object I-1017 (see DS301 V4.02).
"CAN on board" system bus: heartbeat protocol
Setting range (min. value | unit | max. value) Lenze setting
0 ms 65535 0 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00382
Parameter | Name: Data type: UNSIGNED_16
C00382 | CAN Guard Time Index: 24193d = 5E81h
After the set guard time multiplied by the life time factor (C00383), a node guarding telegram must have been
received.
• Mapping of the CANopen object I-100C (see DS301 V4.02).
"CAN on board" system bus: node guarding protocol
Setting range (min. value | unit | max. value) Lenze setting
0 ms 65535 0 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00383
Parameter | Name: Data type: UNSIGNED_8
C00383 | CAN Life Time Factor Index: 24192d = 5E80h
The life time factor multiplied by the guard time (C00382) results in the time in which a node guarding telegram
must have been received.
• Mapping of the CANopen object I-100D (see DS301 V4.02).
"CAN on board" system bus: node guarding protocol
Setting range (min. value | unit | max. value) Lenze setting
0 255 0
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
766 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00385
C00385
Parameter | Name: Data type: BITFIELD_32
C00385 | CAN Heartbeat Consumer Time Index: 24190d = 5E7Eh
The 32 subcodes represent the nodes to be monitored by means of heartbeat.
• Each subcode entry contains the expected "heartbeat" time and the node ID (node address) from which the
heartbeat telegram is expected in the form of a bit code.
• The parameterised time is rounded down to an integer multiple of 5 ms and must have a higher value than the
heartbeat producer time of the node to be monitored.
• The response to a missing heartbeat telegram can be parameterised in C00613.
• Mapping of the CANopen object I-1016 (see DS301 V4.02).
"CAN on board" system bus: heartbeat protocol
Setting range
0x00000000 0xFFFFFFFF
Value is bit-coded: Information
Bit 0 Heartbeat time bit 0 • Bit 0 ... 15: Heartbeat time
... ... • Bit 16 ... 23: Node address
• Bit 24 ... 31: Reserved
Bit 31 Reserved
Subcodes Lenze setting Information
C00385/1 0x00000000 Monitoring entry 1 ... 32
C00385/...
C00385/32
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00386
Parameter | Name: Data type: BITFIELD_32
C00386 | CAN Node Guarding Index: 24189d = 5E7Dh
The 32 subcodes represent the nodes to be monitored by the master by means of node guarding.
• Each subcode entry contains the guard time, the lifetime factor and the node ID (node address) from which the
heartbeat telegram is expected in the form of a bit code.
• The response to a missing node guarding response can be parameterised in C00612.
"CAN on board" system bus: node guarding protocol
Setting range
0x00000000 0xFFFFFFFF
Value is bit-coded: Information
Bit 0 Guard time bit 0 • Bit 0 ... 15: Guard time
... ... • Bit 16 ... 23: Node address
• Bit 24 ... 31: Lifetime factor
Bit 31 Lifetime factor bit 7
Subcodes Lenze setting Information
C00386/1 0x00000000 Monitoring entry 1 ... 32
C00386/...
C00386/32
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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767
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00387
C00387
Parameter | Name: Data type: BITFIELD_32
C00387 | CAN Node Guarding Activity Index: 24188d = 5E7Ch
"CAN on board" system bus: node guarding protocol
Display area
0x00000000 0xFFFFFFFF
Value is bit-coded:
Bit 0 Node guarding of node 1
... ...
Bit 31 Node guarding of node 32
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00388
Parameter | Name: Data type: UNSIGNED_8
C00388 | CAN node guarding status Index: 24187d = 5E7Bh
"CAN on board" system bus: node guarding protocol
Selection list (display only)
0 Unknown
4 Stopped
5 Operational
127 Pre-operational
Subcodes Information
C00388/1 Status node 1 ... 32
C00388/...
C00388/32
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00390
Parameter | Name: Data type: BITFIELD_8
C00390 | CAN Error Register (DS301V402) Index: 24185d = 5E79h
Mapping of the CANopen object I-1001 (see DS301 V4.02).
"CAN on board" system bus
Display area
0x00 0xFF
Value is bit-coded: Information
Bit 0 Generic error Currently only bit 0 and bit 4 contain the corresponding
information.
Bit 1 Current error (not used)
Bit 2 Voltage error (not used)
Bit 3 Temperature error (not used)
Bit 4 Communication error
Bit 5 Dev. prof. spec. err (not used)
Bit 6 Reserved
Bit 7 Manuf. spec. error (not used)
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
768 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00391
C00391
Parameter | Name: Data type: BITFIELD_32
C00391 | CAN Emergency Object Index: 24184d = 5E78h
Identifier of the emergency telegram
• Setting bit 31 of this code (0x8nnnnnnn) deactivates the generation of emergency telegrams.
• Mapping of the CANopen object I-1014 (see DS301 V4.02).
"CAN on board" system bus
Setting range Lenze setting
0x00000000 0xFFFFFFFF 0x00000081 (decimal: 129)
Value is bit-coded: (; = bit set) Information
Bit 0 ; COB-ID bit 0
Bit 1 COB-ID bit 1
Bit 2 COB-ID bit 2
Bit 3 COB-ID bit 3
Bit 4 COB-ID bit 4
Bit 5 COB-ID bit 5
Bit 6 COB-ID bit 6
Bit 7 ; COB-ID bit 7
Bit 8 COB-ID bit 8
Bit 9 COB-ID bit 9
Bit 10 COB-ID bit 10
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
Bit16 Reserved
Bit 17 Reserved
Bit 18 Reserved
Bit 19 Reserved
Bit 20 Reserved
Bit 21 Reserved
Bit 22 Reserved
Bit 23 Reserved
Bit 24 Reserved
Bit 25 Reserved
Bit 26 Reserved
Bit 27 Reserved
Bit 28 Reserved
Bit 29 Reserved
Bit 30 Reserved
Bit 31 Emergency inactive/active
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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769
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00392
C00392
Parameter | Name: Data type: UNSIGNED_16
C00392 | CAN emergency delay time Index: 24183d = 5E77h
Time which at least has to elapse between two subsequent emergency telegrams.
• Setting "0" deactivates the inhibit time check.
• The inhibit time is entered in 1/10 ms. The code automatically rounds the entries down to the preceding full
millisecond.
• Mapping of the CANopen object I-1015 (see DS301 V4.02).
"CAN on board" system bus
Setting range (min. value | unit | max. value) Lenze setting
0 65535 0
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00393
Parameter | Name: Data type: UNSIGNED_8
C00393 | CAN result - bus scan Index: 24182d = 5E76h
Result of CAN bus scanning (see controller commands under C00002).
• Subcode number 1 ... 128 corresponds to CAN node address 1 ... 128.
"CAN on board" system bus
Display range (min. value | unit | max. value)
0 1
Subcodes Information
C00393/1 Result of CAN bus scanning for CAN node address 1 ...
128
C00393/...
• "1" means that a device with the corresponding node
C00393/128 address has been found.
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00394
Parameter | Name: Data type: UNSIGNED_32
C00394 | CAN predefined error field (DS301V402) Index: 24181d = 5E75h
Display range (min. value | unit | max. value)
0 4294967295
Subcodes Information
C00394/1
C00394/2
C00394/3
C00394/4
C00394/5
C00394/6
C00394/7
C00394/8
C00394/9
C00394/10
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00379
Parameter | Name: Data type: UNSIGNED_32
C00395 | Service code Index: 24180d = 5E74h
This code is used internally by the controller and must not be overwritten by the user!
770 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00396
C00396
Parameter | Name: Data type: UNSIGNED_32
C00396 | Service code Index: 24179d = 5E73h
This code is used internally by the controller and must not be overwritten by the user!
C00397
Parameter | Name: Data type: UNSIGNED_32
C00397 | Service code Index: 24178d = 5E72h
This code is used internally by the controller and must not be overwritten by the user!
C00398
Parameter | Name: Data type: UNSIGNED_32
C00398 | Test mode motor control Index: 24177d = 5E71h
Danger!
When the test mode is activated, the parameterisable error response "Quick stop by trouble" has no effect!
• If the test mode is active and a monitoring function responds with this error response, no quick stop is executed
but the motor continues to rotate with the frequency set for the test mode!
Selection list (Lenze setting printed in bold) Information
0 Test mode deactivated
1 U rotation test mode
2 I rotation test mode
3 Current controller optimisation After controller enable, the motor is supplied with
mode current as long as the controller is enabled.
4 Current controller optimisation From software version V7.0
mode impulse The motor is supplied with voltage for 50 ms after
controller enable. Due to this time limit, the load of the
machine is reduced. Afterwards, the controller is
inhibited automatically.
; Read access ; Write access ; CINH PLC STOP ; No transfer Scaling factor: 1
C00399
Parameter | Name: Data type: INTEGER_32
C00399 | Settings for test mode Index: 24176d = 5E70h
Setting range (min. value | unit | max. value)
-1000.0 Hz/1° 1000.0
Subcodes Lenze setting Information
C00399/1 0.0 Hz/1° Frequency [Hz] for test mode
C00399/2 0.0 Hz/1° Start angle [°] for test mode
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 10
C00413
Parameter | Name: Data type: UNSIGNED_32
C00413 | Hiperface: detected TypeCode Index: 24162d = 5E62h
From software version V4.0
Type code read out of the connected Hiperface encoder
Parameterisation of an unknown Hiperface encoder
Display range (min. value | unit | max. value)
0 255
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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771
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00414
C00414
Parameter | Name: Data type: UNSIGNED_32
C00414 | Hiperface: TypeCode Index: 24161d = 5E61h
From software version V4.0
Setting the type code for a Hiperface encoder unknown to the controller
Parameterisation of an unknown Hiperface encoder
Setting range (min. value | unit | max. value) Lenze setting
0 255 0
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00415
Parameter | Name: Data type: UNSIGNED_32
C00415 | Hiperface: number of rev. Index: 24160d = 5E60h
From software version V4.0
Number of displayable revolutions for a multi-turn encoder
Parameterisation of an unknown Hiperface encoder
Setting range (min. value | unit | max. value) Lenze setting
0 16384 0
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00416
Parameter | Name: Data type: UNSIGNED_32
C00416 | Service code Index: 24159d = 5E5Fh
This code is used internally by the controller and must not be overwritten by the user!
C00417
Parameter | Name: Data type: UNSIGNED_32
C00417 | Dynamic of resolver evaluation Index: 24158d = 5E5Eh
From software version V5.0
The resolver evaluation of the controller is adapted to the resolver types mounted in Lenze motors and offers a good
compromise between the dynamic performance and interference suppression. If the resolver is used as speed
feedback system, among other things the dynamic performance of the resolver evaluation determines the
maximum speed controller gain by means of which stable operation is possible.
In an EMC-compliant system (low interference), you can increase the dynamics of the resolver evaluation via this
parameter without a quality loss in the speed signal. By increasing the setting, the evaluation gets more dynamic
and thus the speed controller gainVp (C00070) also increases without leaving the stable operating range.
The acceleration of the evaluation depends on the cable length, the resolver, and the quality of the electrical
shielding. In many cases, a setting of 300 % is possible which can double the speed controller gain. The higher gain
in the speed controller may reduce following errors.
Setting range (min. value | unit | max. value) Lenze setting
100 % 1000 100 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00418
Parameter | Name: Data type: UNSIGNED_8
C00418 | Activate resolver error compensation Index: 24157d = 5E5Dh
From software version V7.0
Resolver error compensation
Selection list (Lenze setting printed in bold)
0 Deactivated
1 Activated
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
772 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00420
C00420
Parameter | Name: Data type: UNSIGNED_16
C00420 | Encoder - number of increments Index: 24155d = 5E5Bh
Setting range (min. value | unit | max. value) Lenze setting
1 16384 512
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C00421
Parameter | Name: Data type: UNSIGNED_16
C00421 | Encoder voltage Index: 24154d = 5E5Ah
Setting range (min. value | unit | max. value) Lenze setting
5.0 V 12.0 5.0 V
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 10
C00422
Parameter | Name: Data type: UNSIGNED_16
C00422 | Encoder type Index: 24153d = 5E59h
Selection list (Lenze setting printed in bold) Information
0 Incremental encoder (TTL signal)
1 Sin/cos encoder
2 Absolute value encoder (Hiperface)
3 Absolute value encoder (EnDat)
4 SSI encoder From software version V5.0
Use of an SSI encoder at X8
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C00423
Parameter | Name: Data type: UNSIGNED_32
C00423 | SSI encoder: bit rate Index: 24152d = 5E58h
From software version V5.0
Use of an SSI encoder at X8
Setting range (min. value | unit | max. value) Lenze setting
150 kbps 1000 400 kbps
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C00424
Parameter | Name: Data type: UNSIGNED_32
C00424 | SSI encoder: Data word length Index: 24151d = 5E57h
From software version V5.0
Use of an SSI encoder at X8
Setting range (min. value | unit | max. value) Lenze setting
1 Bit 31 25 Bit
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C00427
Parameter | Name: Data type: UNSIGNED_16
C00427 | TTL encoder signal evaluation Index: 24148d = 5E54h
Selection list (Lenze setting printed in bold)
0 4x evaluation (A, B)
1 A:Increments B:Sign
2 Increments A:pos. B:neg.
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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773
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00435
C00435
Parameter | Name: Data type: UNSIGNED_8
C00435 | SSI encoder: partword start position Index: 24140d = 5E4Ch
From software version V5.0
Use of an SSI encoder at X8
Setting range (min. value | unit | max. value)
0 30
Subcodes Lenze setting Information
C00435/1 0 Ssi-enc.: Partword 1 start
C00435/2 0 Ssi-enc.: Partword 2 start
C00435/3 0 Ssi-enc.: Partword 3 start
C00435/4 0 Ssi-enc.: Partword 4 start
C00435/5 0 Ssi-enc.: Partword 5 start
C00435/6 0 Ssi-enc.: Partword 6 start
C00435/7 0 SSI enc.: Partword 7 start
C00435/8 0 Ssi-enc.: Partword 8 start
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00436
Parameter | Name: Data type: UNSIGNED_8
C00436 | SSI encoder: partword length Index: 24139d = 5E4Bh
From software version V5.0
Use of an SSI encoder at X8
Setting range (min. value | unit | max. value)
0 31
Subcodes Lenze setting Information
C00436/1 31 Ssi-enc.: Partword 1 length
C00436/2 0 Ssi-enc.: Partword 2 length
C00436/3 0 Ssi-enc.: Partword 3 length
C00436/4 0 Ssi-enc.: Partword 4 length
C00436/5 0 Ssi-enc.: Partword 5 length
C00436/6 0 Ssi-enc.: Partword 6 length
C00436/7 0 Ssi-enc.: Partword 7 length
C00436/8 0 SSI enc.: Partword 8 length
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
774 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00437
C00437
Parameter | Name: Data type: UNSIGNED_8
C00437 | SSI encoder: partword data coding Index: 24138d = 5E4Ah
From software version V5.0
Use of an SSI encoder at X8
Selection list (Lenze setting printed in bold)
0 binary coded
1 gray coded
Subcodes Lenze setting Information
C00437/1 0: binary coded Ssi-enc.: Partword 1 coding
C00437/2 0: binary coded Ssi-enc.: Partword 2 coding
C00437/3 0: binary coded Ssi-enc.: Partword 3 coding
C00437/4 0: binary coded Ssi-enc.: Partword 4 coding
C00437/5 0: binary coded Ssi-enc.: Partword 5 coding
C00437/6 0: binary coded Ssi-enc.: Partword 6 coding
C00437/7 0: binary coded SSI enc.: Partword 7 coding
C00437/8 0: binary coded Ssi-enc.: Partword 8 coding
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00443
Parameter | Name: Data type: UNSIGNED_8
C00443 | Status: Digital inputs Index: 24132d = 5E44h
Display range (min. value | unit | max. value)
0 1
Subcodes Information
C00443/1 Digital input 1
C00443/2 Digital input 2
C00443/3 Digital input 3
C00443/4 Digital input 4
C00443/5 Digital input 5
C00443/6 Digital input 6
C00443/7 Digital input 7
C00443/8 Digital input 8
C00443/9 Controller inhibit (inversion of input X5/RFR)
C00443/10 Internal signal
C00443/11 Feedback input of holding brake
C00443/12 State bus input
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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775
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00444
C00444
Parameter | Name: Data type: UNSIGNED_8
C00444 | Status: Digital outputs Index: 24131d = 5E43h
Display range (min. value | unit | max. value)
0 1
Subcodes Information
C00444/1 Digital output 1
C00444/2 Digital output 2
C00444/3 Digital output 3
C00444/4 Digital output 4
C00444/5 Internal signal
C00444/6 Internal signal
C00444/7 Internal signal
C00444/8 Internal signal
C00444/9 User LED
C00444/10 Internal signal
C00444/11 Internal signal
C00444/12 Internal signal
C00444/13 Control output of holding brake
C00444/14 Internal signal
C00444/15 Internal signal
C00444/16 Internal signal
C00444/17 Internal signal
C00444/18 State bus output
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00464
Parameter | Name: Data type: UNSIGNED_16
C00464 | Keypad: Mode Index: 24111d = 5E2Fh
From software version V5.0
Definition of the mode in which the keypad attached is to be activated.
• If both
keypad versions (V1.0 and V2.0) are used, the Lenze setting is to be maintained.
• If only the new keypad V2.0 is used, the initialisation time of the keypad can be reduced by changing over to
mode 2. Furthermore mode 2 supports greater future keypad files.
Note: If mode 2 is selected, the keypad V1.0 can no longer be operated on the controller!
Selection list (Lenze setting printed in bold) Information
0 Mode 1 For keypad V1.0 and V2.0
1 Mode 2 Only for keypad V2.0
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00465
Parameter | Name: Data type: UNSIGNED_8
C00465 | Keypad: Welcome screen time-out Index: 24110d = 5E2Eh
Selection list (Lenze setting printed in bold)
0 Never show welcome screen
5 5 min
15 15 min
30 30 min
60 60 min
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
776 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00466
C00466
Parameter | Name: Data type: UNSIGNED_16
C00466 | Keypad: Default parameters Index: 24109d = 5E2Dh
Setting range (min. value | unit | max. value) Lenze setting
0 65535 0
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00467
Parameter | Name: Data type: UNSIGNED_8
C00467 | Keypad: Default welcome screen Index: 24108d = 5E2Ch
Selection list (Lenze setting printed in bold)
0 Main menu
1 Parameter list
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00468
Parameter | Name: Data type: UNSIGNED_8
C00468 | Service code Index: 24107d = 5E2Bh
This code is used internally by the controller and must not be overwritten by the user!
C00469
Parameter | Name: Data type: UNSIGNED_8
C00469 | Keypad: Fct. STOP key Index: 24106d = 5E2Ah
Selection list (Lenze setting printed in bold)
0 No function
1 Inhibit controller
2 Activate quick stop
3 Stop application
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00490
Parameter | Name: Data type: UNSIGNED_16
C00490 | Position encoder selection Index: 24085d = 5E15h
Chapter "Controller configuration" provides you with more information on parameter setting.
Selection list (Lenze setting printed in bold)
0 Resolver on X7
1 Encoder on X8
4 Encoder signal on LS_Feedback
10 Motor encoder (C00495)
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C00494
Parameter | Name: Data type: UNSIGNED_32
C00494 | Motor standstill time constant Index: 24081d = 5E11h
Setting range (min. value | unit | max. value) Lenze setting
0 ms 100000 0 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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777
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00495
C00495
Parameter | Name: Data type: UNSIGNED_16
C00495 | Motor encoder selection Index: 24080d = 5E10h
Selection list (Lenze setting printed in bold)
0 Resolver on X7
1 Encoder on X8
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C00497
Parameter | Name: Data type: UNSIGNED_32
C00497 | Speed act. val. time const. Index: 24078d = 5E0Eh
Time constant for actual speed filter
• In order to maximise the dynamics of the speed control loop, the actual speed filter should be operated with a
time constant as low as possible. The lower the time constant the higher the gain of the speed controller. Since
actual value filters have the task to dampen measuring errors or interference components, it must be found a
compromise between filter task and the resulting delay.
• If a Lenze motor is selected from the motor catalogue, a time constant is automatically preset here which serves
to operate the motor even with a faulty detection (e.g. in case of a bad shield connection).
Servo control (SC): Optimise speed controller
Sensorless vector control (SLVC): Optimise speed controller
Setting range (min. value | unit | max. value) Lenze setting
0.0 ms 50.0 2.0 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
C00512
Parameter | Name: Data type: UNSIGNED_32
C00512 | Service code Index: 24063d = 5DFFh
This code is used internally by the controller and must not be overwritten by the user!
C00513
Parameter | Name: Data type: VISIBLE_STRING
C00513 | Service code Index: 24062d = 5DFEh
This code is used internally by the controller and must not be overwritten by the user!
C00514
Parameter | Name: Data type: UNSIGNED_32
C00514 | Service code Index: 24061d = 5DFDh
This code is used internally by the controller and must not be overwritten by the user!
C00515
Parameter | Name: Data type: UNSIGNED_32
C00515 | Service code Index: 24060d = 5DFCh
This code is used internally by the controller and must not be overwritten by the user!
C00516
Parameter | Name: Data type: UNSIGNED_32
C00516 | Service code Index: 24059d = 5DFBh
This code is used internally by the controller and must not be overwritten by the user!
778 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00569
C00569
Parameter | Name: Data type: UNSIGNED_32
C00569 | Resp. brake trans. Ixt > C00570 Index: 24006d = 5DC6h
From software version V1.5
Response if adjustable warning threshold (C00570) of brake chopper monitoring is reached.
Braking operation
Selection list (Lenze setting printed in bold)
1 Fault
2 Trouble
5 Warning
4 Warning locked
3 Quick stop by trouble
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00570
Parameter | Name: Data type: UNSIGNED_32
C00570 | Warning thres. brake transistor Index: 24005d = 5DC5h
From software version V1.5
Warning threshold for brake chopper monitoring
• The response to reaching the threshold can be selected in C00569.
Braking operation
Setting range (min. value | unit | max. value) Lenze setting
0 % 100 90 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00571
Parameter | Name: Data type: UNSIGNED_32
C00571 | Resp. brake res. i²xt > C00572 Index: 24004d = 5DC4h
From software version V1.5
Response if adjustable warning threshold (C00572) of brake resistor monitoring is reached.
Braking operation
Selection list (Lenze setting printed in bold)
1 Fault
2 Trouble
5 Warning
4 Warning locked
3 Quick stop by trouble
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00572
Parameter | Name: Data type: UNSIGNED_32
C00572 | Warning thres. brake resistor Index: 24003d = 5DC3h
From software version V1.5
Warning threshold for brake resistor monitoring
• The response to reaching the threshold can be selected in C00571.
Braking operation
Setting range (min. value | unit | max. value) Lenze setting
0 % 100 90 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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779
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00573
C00573
Parameter | Name: Data type: UNSIGNED_32
C00573 | Resp. to overload brake trans. Index: 24002d = 5DC2h
Response to activation of brake chopper monitoring
Braking operation
Selection list (Lenze setting printed in bold)
1 Fault
2 Trouble
5 Warning
4 Warning locked
3 Quick stop by trouble
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00574
Parameter | Name: Data type: UNSIGNED_32
C00574 | Resp. to overtemp. brake resist. Index: 24001d = 5DC1h
Response to activation of brake resistor monitoring
Braking operation
Selection list (Lenze setting printed in bold)
1 Fault
2 Trouble
5 Warning
4 Warning locked
3 Quick stop by trouble
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00576
Parameter | Name: Data type: UNSIGNED_32
C00576 | Speed monitoring tolerance Index: 23999d = 5DBFh
Monitoring window for speed control error in [%] of nmax
Setting range (min. value | unit | max. value) Lenze setting
0 % 100 100 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00577
Parameter | Name: Data type: UNSIGNED_32
C00577 | Field weakening controller gain Index: 23998d = 5DBEh
At "0" the P component is deactivated, a pure I-controller is used.
Setting range (min. value | unit | max. value) Lenze setting
0.000 Vs/V 2147483.647 0.000 Vs/V
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1000
C00578
Parameter | Name: Data type: UNSIGNED_32
C00578 | Field weak. contr. reset time Index: 23997d = 5DBDh
At "240000.0 ms" the I component of the field weakening controller is deactivated.
Setting range (min. value | unit | max. value) Lenze setting
1.0 ms 240000.0 2000.0 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
780 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00579
C00579
Parameter | Name: Data type: UNSIGNED_32
C00579 | Resp. to speed monitoring Index: 23996d = 5DBCh
Response to activation of speed monitoring
Selection list (Lenze setting printed in bold)
1 Fault
2 Trouble
5 Warning
4 Warning locked
3 Quick stop by trouble
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00580
Parameter | Name: Data type: UNSIGNED_32
C00580 | Resp. to encoder open circuit Index: 23995d = 5DBBh
Response to open circuit in encoder
Danger!
If the encoder is used as motor encoder:
In the event of an error, a safe operation of the motor cannot be ensured anymore!
For safety reasons, the "Fault" response should always be set for this case!
Selection list (Lenze setting printed in bold)
1 Fault
2 Trouble
5 Warning
4 Warning locked
3 Quick stop by trouble
13 Quick Stop open loop by trouble
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00581
Parameter | Name: Data type: UNSIGNED_32
C00581 | Resp. to external fault Index: 23994d = 5DBAh
Response to an external error
Drive interface
Selection list (Lenze setting printed in bold)
1 Fault
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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781
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00582
C00582
Parameter | Name: Data type: UNSIGNED_32
C00582 | Resp. to heatsink temp. > C00122 Index: 23993d = 5DB9h
Response if heatsink temperature > variable limit temperature (C00122).
Selection list (Lenze setting printed in bold)
1 Fault
5 Warning
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00583
Parameter | Name: Data type: UNSIGNED_32
C00583 | Resp. to motor KTY overtemp. Index: 23992d = 5DB8h
Response if motor temperature > fixed limit temperature.
Motor temperature monitoring
Selection list (Lenze setting printed in bold)
1 Fault
5 Warning
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00584
Parameter | Name: Data type: UNSIGNED_32
C00584 | Resp. to motor temp. > C00121 Index: 23991d = 5DB7h
Response if motor temperature > variable limit temperature (C00121).
Motor temperature monitoring
Selection list (Lenze setting printed in bold)
1 Fault
5 Warning
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00585
Parameter | Name: Data type: UNSIGNED_32
C00585 | Resp. to motor PTC overtemp. Index: 23990d = 5DB6h
Response if motor temperature across PTC input T1/T2 too high.
Selection list (Lenze setting printed in bold)
1 Fault
5 Warning
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
782 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00586
C00586
Parameter | Name: Data type: UNSIGNED_32
C00586 | Resp. to resolver open circuit Index: 23989d = 5DB5h
Response to open circuit in resolver
Danger!
If the resolver is used as motor encoder:
In the event of an error, a safe operation of the motor cannot be ensured anymore!
For safety reasons, the "Fault" response should always be set for this case!
Selection list (Lenze setting printed in bold)
1 Fault
2 Trouble
5 Warning
4 Warning locked
3 Quick stop by trouble
13 Quick Stop open loop by trouble
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00587
Parameter | Name: Data type: BITFIELD_8
C00587 | Fan control status Index: 23988d = 5DB4h
Display area
0x00 0xFF
Value is bit-coded:
Bit 0 Heatsink fan ON
Bit 1 Integral fan ON
Bit 2 Heatsink fan status 1
Bit 3 Heatsink fan status 2
Bit 4 Integral fan status
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00588
Parameter | Name: Data type: UNSIGNED_32
C00588 | Resp. to failure t. sensor drive Index: 23987d = 5DB3h
Response to error/failure of temperature sensor for heatsink temperature/temperature inside the controller
Selection list (Lenze setting printed in bold)
1 Fault
5 Warning
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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783
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00589
C00589
Parameter | Name: Data type: UNSIGNED_32
C00589 | Resp. to CPU temp. > C00126 Index: 23986d = 5DB2h
Response if CPU temperature on the control card > variable limit temperature (C00126).
Selection list (Lenze setting printed in bold)
1 Fault
5 Warning
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00591
Parameter | Name: Data type: UNSIGNED_8
C00591 | Resp. to CAN-RPDOx error Index: 23984d = 5DB0h
Response if the corresponding CAN RPDO has not been received in the configured time or with the configured sync.
"CAN on board" system bus
Selection list (Lenze setting printed in bold)
1 Fault
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
0 No response
Subcodes Lenze setting Information
C00591/1 0: No response Response to non-received RPDO1 ... RPDO4
C00591/...
C00591/4
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00594
Parameter | Name: Data type: UNSIGNED_32
C00594 | Resp. temp. sensor motor X7/X8 Index: 23981d = 5DADh
Response to motor temperature sensor error.
• The response to a too high motor temperature via PTC input T1/T2 can be selected in C00585.
Motor temperature monitoring
Selection list (Lenze setting printed in bold)
1 Fault
5 Warning
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
784 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00595
C00595
Parameter | Name: Data type: UNSIGNED_8
C00595 | Resp. to CAN bus OFF Index: 23980d = 5DACh
Response if CAN node switches to the bus off state.
"CAN on board" system bus
Selection list (Lenze setting printed in bold)
1 Fault
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00596
Parameter | Name: Data type: UNSIGNED_32
C00596 | Threshold max. speed reached Index: 23979d = 5DABh
Threshold for speed monitoring
• The response to reaching the threshold can be selected in C00607.
Setting range (min. value | unit | max. value) Lenze setting
50 rpm 50000 6500 rpm
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00597
Parameter | Name: Data type: UNSIGNED_32
C00597 | Resp. to motor phase failure Index: 23978d = 5DAAh
Response to activation of motor phase failure monitoring
Selection list (Lenze setting printed in bold)
1 Fault
2 Trouble
5 Warning
4 Warning locked
3 Quick stop by trouble
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00598
Parameter | Name: Data type: UNSIGNED_32
C00598 | Resp. to open circuit AIN1 Index: 23977d = 5DA9h
Response if with master current at AIN1 and "LifeZero" mode (±4...±20mA) the current is in the non-permitted range
(-4 ... +4 mA).
Selection list (Lenze setting printed in bold)
1 Fault
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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785
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00599
C00599
Parameter | Name: Data type: INTEGER_32
C00599 | Motor phase failure threshold Index: 23976d = 5DA8h
Current value for activating the Motor phase failure monitoring
• In [%] relating to the maximum device current (display in C00789).
• The response to be triggered by the monitoring can be selected in C00597.
Setting range (min. value | unit | max. value) Lenze setting
1.0 % 10.0 5.0 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
C00600
Parameter | Name: Data type: UNSIGNED_32
C00600 | Resp. to DC bus overvoltage Index: 23975d = 5DA7h
Response to DC bus overvoltage
Braking operation
Selection list (Lenze setting printed in bold)
1 Fault
2 Trouble
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00601
Parameter | Name: Data type: UNSIGNED_32
C00601 | Resp. to encoder comm. error Index: 23974d = 5DA6h
Response to activation of encoder monitoring
• For the use of the encoder as motor encoder: If an error occurs, the safe operation of the motor is no longer
ensured, therefore for safety reasons the "Fault" response should always be set!
Selection list (Lenze setting printed in bold)
1 Fault
2 Trouble
5 Warning
4 Warning locked
3 Quick stop by trouble
13 Quick Stop open loop by trouble
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00604
Parameter | Name: Data type: UNSIGNED_32
C00604 | Resp. to device overload > C00123 Index: 23971d = 5DA3h
Response if adjustable "I x t" warning threshold (C00123) is reached.
Selection list (Lenze setting printed in bold)
1 Fault
5 Warning
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
786 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00606
C00606
Parameter | Name: Data type: UNSIGNED_32
C00606 | Resp. to motor overload > C00127 Index: 23969d = 5DA1h
Response if adjustable "I2 x t" warning threshold (C00127) is reached.
Selection list (Lenze setting printed in bold)
1 Fault
5 Warning
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00607
Parameter | Name: Data type: UNSIGNED_32
C00607 | Resp. to max. speed reached Index: 23968d = 5DA0h
Response if adjustable speed threshold (C00596) is reached.
Selection list (Lenze setting printed in bold)
1 Fault
2 Trouble
5 Warning
4 Warning locked
3 Quick stop by trouble
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00610
Parameter | Name: Data type: UNSIGNED_32
C00610 | Resp. to failure heatsink fan Index: 23965d = 5D9Dh
Response if fan speed of heatsink fan is too low.
Selection list (Lenze setting printed in bold)
1 Fault
5 Warning
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00611
Parameter | Name: Data type: UNSIGNED_32
C00611 | Resp. to failure integral fan Index: 23964d = 5D9Ch
Response if fan speed of internal fan is too low.
Selection list (Lenze setting printed in bold)
1 Fault
5 Warning
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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787
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00612
C00612
Parameter | Name: Data type: UNSIGNED_8
C00612 | Resp. to CAN node guarding error Index: 23963d = 5D9Bh
Response of master if the corresponding node guarding response is not received.
"CAN on board" system bus: node guarding protocol
Selection list (Lenze setting printed in bold)
1 Fault
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
0 No response
Subcodes Lenze setting Information
C00612/1 0: No response Response to non-received telegram for monitoring entry
1 ... 32
C00612/...
C00612/32
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00613
Parameter | Name: Data type: UNSIGNED_8
C00613 | Resp. to CAN heartbeat error Index: 23962d = 5D9Ah
Response if the corresponding heartbeat telegram is not received.
"CAN on board" system bus: heartbeat protocol
Selection list (Lenze setting printed in bold)
1 Fault
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
0 No response
Subcodes Lenze setting Information
C00613/1 0: No response Response to non-received telegram for monitoring entry
1 ... 32
C00613/...
C00613/32
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
788 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00614
C00614
Parameter | Name: Data type: UNSIGNED_8
C00614 | Resp. to CAN life guarding error Index: 23961d = 5D99h
Response of slave if node guarding request is not received.
"CAN on board" system bus: node guarding protocol
Selection list (Lenze setting printed in bold)
1 Fault
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00615
Parameter | Name: Data type: UNSIGNED_32
C00615 | Resp. to imp. device config. Index: 23960d = 5D98h
Selection list
1 Fault
3 Quick stop by trouble
4 Warning locked
6 Information
0 No response
Subcodes Lenze setting Information
C00615/1 0: No response Reserved
C00615/2 1: Fault Resp. to imp. module in MXI1
C00615/3 1: Fault Resp. to imp. module in MXI2
C00615/4 0: No response Reserved
C00615/5 0: No response Reserved
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00618
Parameter | Name: Data type: UNSIGNED_32
C00618 | No. of CRC cycles Index: 23957d = 5D95h
Display range (min. value | unit | max. value)
0 4294967295
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00619
Parameter | Name: Data type: UNSIGNED_32
C00619 | Resp. to motor current > C00620 Index: 23956d = 5D94h
Response if the ultimate motor current I_ult parameterised in C00620 is reached.
Selection list (Lenze setting printed in bold)
1 Fault
2 Trouble
5 Warning
4 Warning locked
3 Quick stop by trouble
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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789
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00620
C00620
Parameter | Name: Data type: UNSIGNED_32
C00620 | Ultimate motor current I_ult Index: 23955d = 5D93h
Limit value to protect the motor from destruction or influence of the rated data.
• This limit value must not be travelled cyclically during the drive process.
• The maximum current parameterisable in C00022 should have a sufficient distance from this limit value.
• If the set limit value is exceeded, the error response parameterised in C00619 is carried out for motor protection.
Setting range (min. value | unit | max. value) Lenze setting
0.0 A 3000.0 3000.0 A
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
C00621
Parameter | Name: Data type: UNSIGNED_32
C00621 | Resp. to encoder pulse deviation Index: 23954d = 5D92h
From software version V1.5
Response to be triggered by angular drift monitoring
Angular drift monitoring
Selection list (Lenze setting printed in bold)
1 Fault
2 Trouble
5 Warning
4 Warning locked
3 Quick stop by trouble
13 Quick Stop open loop by trouble
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00625
Parameter | Name: Data type: UNSIGNED_8
C00625 | CAN behaviour in case of fault Index: 23950d = 5D8Eh
Mapping of the CANopen object I-1029 (see DS301 V4.02).
"CAN on board" system bus
Selection list (Lenze setting printed in bold)
0 Pre-operational state
1 No state change
2 Stopped state
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00635
Parameter | Name: Data type: UNSIGNED_32
C00635 | Resp to new firmw. standard dev. Index: 23940d = 5D84h
Selection list (Lenze setting printed in bold)
1 Fault
6 Information
5 Warning
4 Warning locked
3 Quick stop by trouble
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
790 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00636
C00636
Parameter | Name: Data type: UNSIGNED_32
C00636 | Resp. to new module in MXI1 Index: 23939d = 5D83h
Selection list (Lenze setting printed in bold)
1 Fault
6 Information
5 Warning
4 Warning locked
3 Quick stop by trouble
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00637
Parameter | Name: Data type: UNSIGNED_32
C00637 | Resp. to new module in MXI2 Index: 23938d = 5D82h
Selection list (Lenze setting printed in bold)
1 Fault
6 Information
5 Warning
4 Warning locked
3 Quick stop by trouble
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00640
Parameter | Name: Data type: UNSIGNED_32
C00640 | Resp. to pole pos. id. monit. Index: 23935d = 5D7Fh
From software version V4.0
Error response for abort of the pole position identification
Adjustment of the pole position identification
Selection list (Lenze setting printed in bold)
1 Fault
4 Warning locked
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00641
Parameter | Name: Data type: UNSIGNED_32
C00641 | PLI 360° current amplitude Index: 23934d = 5D7Eh
From software version V4.0
Percentage adjustment of the current amplitude for the pole position identification
Stop!
If there is no temperature monitoring in the motor and/or the I2xt motor monitoring is not parameterised correctly,
the motor may be permanently damaged when the current amplitude is set too high (e.g. to the maximum value)!
Adjustment of the pole position identification
Setting range (min. value | unit | max. value) Lenze setting
1 % 1000 100 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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791
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00642
C00642
Parameter | Name: Data type: UNSIGNED_32
C00642 | PolePosId 360° ramp time Index: 23933d = 5D7Dh
From software version V4.0
Percentage adjustment of the ramp time for the pole position identification
Adjustment of the pole position identification
Setting range (min. value | unit | max. value) Lenze setting
5 % 1000 100 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00643
Parameter | Name: Data type: UNSIGNED_32
C00643 | PLI 360° traversing direction Index: 23932d = 5D7Ch
From software version V4.0
Selection of the traversing direction for the pole position identification
Adjustment of the pole position identification
Selection list (Lenze setting printed in bold)
0 Right rotating field
1 Left rotating field
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00644
Parameter | Name: Data type: INTEGER_32
C00644 | PolePosId 360° fault tol. Index: 23931d = 5D7Bh
From software version V4.0
Fault tolerance for the plausibility check of the pole position identification
Adjustment of the pole position identification
Setting range (min. value | unit | max. value) Lenze setting
-6.0 ° 30.0 0.0 °
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
C00645
Parameter | Name: Data type: UNSIGNED_32
C00645 | PLI 360° absolute current amplitude Index: 23930d = 5D7Ah
From software version V7.0
Adjustment of the pole position identification
Display range (min. value | unit | max. value)
0.00 A 1000.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00646
Parameter | Name: Data type: UNSIGNED_32
C00646 | PLI min.mov. curr. amplitude Index: 23929d = 5D79h
From software version V4.0
Percentage adjustment of the current amplitude for the pole position identification
Stop!
If there is no temperature monitoring in the motor and/or the I2xt motor monitoring is not parameterised correctly,
the motor may be permanently damaged when the current amplitude is set too high (e.g. to the maximum value)!
Adjustment of the pole position identification
Setting range (min. value | unit | max. value) Lenze setting
1 % 1000 100 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
792 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00647
C00647
Parameter | Name: Data type: UNSIGNED_32
C00647 | PolePosId min.mov. cur.rise rate Index: 23928d = 5D78h
From software version V4.0
Percentage adjustment of the rate of current rise for the pole position identification
Adjustment of the pole position identification
Setting range (min. value | unit | max. value) Lenze setting
5 % 1000 100 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00648
Parameter | Name: Data type: UNSIGNED_32
C00648 | PolePosId min.mov. gain Index: 23927d = 5D77h
From software version V4.0
P component of the PI controller for the pole position identification
Adjustment of the pole position identification
Setting range (min. value | unit | max. value) Lenze setting
0.00 10.00 0.00
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C00649
Parameter | Name: Data type: UNSIGNED_32
C00649 | PLI min. mov. reset time Index: 23926d = 5D76h
From software version V4.0
I component of the PI controller for the pole position identification
Adjustment of the pole position identification
Setting range (min. value | unit | max. value) Lenze setting
0.01 ms 6000.00 62.50 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C00650
Parameter | Name: Data type: INTEGER_32
C00650 | PolePosId min.mov. max.perm.mov. Index: 23925d = 5D75h
From software version V4.0
Max. movement permitted during the pole position identification
Adjustment of the pole position identification
Setting range (min. value | unit | max. value) Lenze setting
1 ° 90 20 °
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00651
Parameter | Name: Data type: UNSIGNED_32
C00651 | PLI min. motion absolute cur. amp. Index: 23924d = 5D74h
From software version V7.0
Adjustment of the pole position identification
Display range (min. value | unit | max. value)
0.00 A 1000.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00691
Parameter | Name: Data type: INTEGER_32
C00691 | Total speed setpoint Index: 23884d = 5D4Ch
Display range (min. value | unit | max. value)
-200.00 % 200.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
EDS94AxHExxxx EN 7.0 - 04/2010 L
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793
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00692
C00692
Parameter | Name: Data type: INTEGER_32
C00692 | Speed setpoint [%] Index: 23883d = 5D4Bh
Display range (min. value | unit | max. value)
-200.00 % 200.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00693
Parameter | Name: Data type: INTEGER_32
C00693 | Actual speed [%] Index: 23882d = 5D4Ah
Display range (min. value | unit | max. value)
-200.00 % 200.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00694
Parameter | Name: Data type: INTEGER_32
C00694 | Speed controller output Index: 23881d = 5D49h
Display range (min. value | unit | max. value)
-200.00 % 200.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00695
Parameter | Name: Data type: INTEGER_32
C00695 | Total torque setpoint Index: 23880d = 5D48h
Display range (min. value | unit | max. value)
-200.00 % 200.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00696
Parameter | Name: Data type: INTEGER_32
C00696 | Torque setpoint [%] Index: 23879d = 5D47h
Display range (min. value | unit | max. value)
-200.00 % 200.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00697
Parameter | Name: Data type: INTEGER_32
C00697 | Filtered torque setpoint Index: 23878d = 5D46h
Display range (min. value | unit | max. value)
-200.00 % 200.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00698
Parameter | Name: Data type: INTEGER_32
C00698 | Actual torque [%] Index: 23877d = 5D45h
Display range (min. value | unit | max. value)
-200.00 % 200.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00730
Parameter | Name: Data type: INTEGER_32
C00730 | GDO general parameters Index: 23845d = 5D25h
This code is used internally by the controller and must not be overwritten by the user!
794 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00731
C00731
Parameter | Name: Data type: INTEGER_32
C00731 | GDO channel 1/trigger 1 Index: 23844d = 5D24h
This code is used internally by the controller and must not be overwritten by the user!
C00732
Parameter | Name: Data type: INTEGER_32
C00732 | GDO channel 2/trigger 2 Index: 23843d = 5D23h
This code is used internally by the controller and must not be overwritten by the user!
C00733
Parameter | Name: Data type: INTEGER_32
C00733 | GDO channel 3 Index: 23842d = 5D22h
This code is used internally by the controller and must not be overwritten by the user!
C00734
Parameter | Name: Data type: INTEGER_32
C00734 | GDO channel 4 Index: 23841d = 5D21h
This code is used internally by the controller and must not be overwritten by the user!
C00735
Parameter | Name: Data type: INTEGER_32
C00735 | GDO channel 5 Index: 23840d = 5D20h
This code is used internally by the controller and must not be overwritten by the user!
C00736
Parameter | Name: Data type: INTEGER_32
C00736 | GDO channel 6 Index: 23839d = 5D1Fh
This code is used internally by the controller and must not be overwritten by the user!
C00737
Parameter | Name: Data type: INTEGER_32
C00737 | GDO channel 7 Index: 23838d = 5D1Eh
This code is used internally by the controller and must not be overwritten by the user!
C00738
Parameter | Name: Data type: INTEGER_32
C00738 | GDO channel 8 Index: 23837d = 5D1Dh
This code is used internally by the controller and must not be overwritten by the user!
C00739
Parameter | Name: Data type: INTEGER_32
C00739 | GDO status information Index: 23836d = 5D1Ch
This code is used internally by the controller and must not be overwritten by the user!
C00770
Parameter | Name: Data type: UNSIGNED_32
C00770 | MCTRL_dnMotorPosAct Index: 23805d = 5CFDh
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0 Incr. 4294967295
Subcodes Information
C00770/1 Low word
C00770/2 High word
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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795
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00771
C00771
Parameter | Name: Data type: UNSIGNED_32
C00771 | MCTRL_dnLoadPosAct Index: 23804d = 5CFCh
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0 Incr. 4294967295
Subcodes Information
C00771/1 Low word
C00771/2 High word
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00772
Parameter | Name: Data type: INTEGER_32
C00772 | MCTRL_dnMotorSpeedAct Index: 23803d = 5CFBh
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000 rpm 480000
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00773
Parameter | Name: Data type: INTEGER_32
C00773 | MCTRL_dnLoadSpeedAct Index: 23802d = 5CFAh
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000 rpm 480000
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00774
Parameter | Name: Data type: INTEGER_32
C00774 | MCTRL_dnTorqueAct Index: 23801d = 5CF9h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-21474836.47 Nm 21474836.47
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00775
Parameter | Name: Data type: INTEGER_32
C00775 | MCTRL_dnOutputSpeedCtrl Index: 23800d = 5CF8h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-21474836.47 Nm 21474836.47
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00776
Parameter | Name: Data type: INTEGER_32
C00776 | MCTRL_dnInputJerkCtrl Index: 23799d = 5CF7h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-21474836.47 Nm 21474836.47
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
796 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00777
C00777
Parameter | Name: Data type: INTEGER_32
C00777 | MCTRL_dnInputTorqueCtrl Index: 23798d = 5CF6h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-21474836.47 Nm 21474836.47
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00778
Parameter | Name: Data type: INTEGER_32
C00778 | MCTRL_dnFluxAct Index: 23797d = 5CF5h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00 % 200.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00779
Parameter | Name: Data type: INTEGER_32
C00779 | MCTRL_dnDCBusVoltage Index: 23796d = 5CF4h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0 V 1000
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00780
Parameter | Name: Data type: INTEGER_32
C00780 | MCTRL_dnImotAct Index: 23795d = 5CF3h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-500.00 A 500.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00781
Parameter | Name: Data type: UNSIGNED_32
C00781 | MCTRL_dwMaxMotorSpeed Index: 23794d = 5CF2h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0 rpm 480000
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00782
Parameter | Name: Data type: UNSIGNED_32
C00782 | MCTRL_dwMaxMotorTorque Index: 23793d = 5CF1h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0.000 Nm 2147483.647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1000
EDS94AxHExxxx EN 7.0 - 04/2010 L
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797
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00783
C00783
Parameter | Name: Data type: UNSIGNED_32
C00783 | MCTRL_dwMotorVoltageAct Index: 23792d = 5CF0h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0 V 2000
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00784
Parameter | Name: Data type: INTEGER_32
C00784 | MCTRL_dnMotorFreqAct Index: 23791d = 5CEFh
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-800.0 Hz 800.0
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10
C00786
Parameter | Name: Data type: INTEGER_32
C00786 | MCTRL_dnIxtLoad Index: 23789d = 5CEDh
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00 % 200.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00787
Parameter | Name: Data type: INTEGER_32
C00787 | MCTRL_dnFlyingSpeedAct Index: 23788d = 5CECh
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000 rpm 480000
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00788
Parameter | Name: Data type: INTEGER_32
C00788 | MCTRL_dwMaxEffMotorTorque Index: 23787d = 5CEBh
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0.000 Nm 2147483.647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1000
C00789
Parameter | Name: Data type: INTEGER_32
C00789 | MCTRL_dwMaxDeviceCurrent Index: 23786d = 5CEAh
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0.00 A 21474836.47
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
798 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00790
C00790
Parameter | Name: Data type: INTEGER_32
C00790 | MCTRL_dnI2xtLoad Index: 23785d = 5CE9h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00 % 200.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00791
Parameter | Name: Data type: INTEGER_32
C00791 | MCTRL_dnDeltaMotorPos_p Index: 23784d = 5CE8h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-2147483647 Incr. 2147483647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00792
Parameter | Name: Data type: INTEGER_32
C00792 | MCTRL_dnOutputPosCtrlMotor_s Index: 23783d = 5CE7h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200 % 200
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00800
Parameter | Name: Data type: UNSIGNED_32
C00800 | MCTRL_dnPosSet Index: 23775d = 5CDFh
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0 Incr. 4294967295
Subcodes Information
C00800/1 Low word
C00800/2 High word
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00802
Parameter | Name: Data type: INTEGER_32
C00802 | MCTRL_dnSpeedAdd Index: 23773d = 5CDDh
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000 rpm 480000
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00803
Parameter | Name: Data type: INTEGER_32
C00803 | MCTRL_dnTorqueAdd Index: 23772d = 5CDCh
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-2147483.647 Nm 2147483.647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1000
EDS94AxHExxxx EN 7.0 - 04/2010 L
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799
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00804
C00804
Parameter | Name: Data type: INTEGER_32
C00804 | MCTRL_dnAccelerationAdd Index: 23771d = 5CDBh
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-2147483.647 1/s² 2147483.647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1000
C00805
Parameter | Name: Data type: INTEGER_32
C00805 | MCTRL_dnSpeedLowLimit Index: 23770d = 5CDAh
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000 rpm 480000
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00806
Parameter | Name: Data type: INTEGER_32
C00806 | MCTRL_dnTorqueLowLimit Index: 23769d = 5CD9h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-21474836.47 Nm 21474836.47
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00807
Parameter | Name: Data type: INTEGER_32
C00807 | MCTRL_dnTorqueHighLimit Index: 23768d = 5CD8h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-21474836.47 Nm 21474836.47
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00808
Parameter | Name: Data type: INTEGER_32
C00808 | MCTRL_dnPosCtrlOutLimit Index: 23767d = 5CD7h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000 rpm 480000
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00809
Parameter | Name: Data type: INTEGER_32
C00809 | MCTRL_dnTorqueCtrlAdapt Index: 23766d = 5CD6h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00 % 200.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
800 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00810
C00810
Parameter | Name: Data type: INTEGER_32
C00810 | MCTRL_dnSpeedCtrlAdapt Index: 23765d = 5CD5h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00 % 200.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00811
Parameter | Name: Data type: INTEGER_32
C00811 | MCTRL_dnPosCtrlAdapt Index: 23764d = 5CD4h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00 % 200.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00812
Parameter | Name: Data type: UNSIGNED_32
C00812 | MCTRL_dnMotorPosRefValue Index: 23763d = 5CD3h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0 Incr. 4294967295
Subcodes Information
C00812/1 Low word
C00812/2 High word
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00813
Parameter | Name: Data type: UNSIGNED_32
C00813 | MCTRL_dnLoadPosRefValue Index: 23762d = 5CD2h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
0 Incr. 4294967295
Subcodes Information
C00813/1 Low word
C00813/2 High word
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00814
Parameter | Name: Data type: INTEGER_32
C00814 | MCTRL_dnBoost Index: 23761d = 5CD1h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-1000 V 1000
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00815
Parameter | Name: Data type: INTEGER_32
C00815 | MCTRL_dnSpeedCtrlIntegrator Index: 23760d = 5CD0h
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-2147483.647 Nm 2147483.647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1000
EDS94AxHExxxx EN 7.0 - 04/2010 L
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801
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00816
C00816
Parameter | Name: Data type: INTEGER_32
C00816 | MCTRL_dnFieldWeak Index: 23759d = 5CCFh
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00 % 200.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00817
Parameter | Name: Data type: INTEGER_32
C00817 | MCTRL_dnSpeedSet_s Index: 23758d = 5CCEh
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-480000 rpm 480000
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00818
Parameter | Name: Data type: INTEGER_32
C00818 | MCTRL_dnMvorAdapt Index: 23757d = 5CCDh
From software version V1.5
Internal motor control (MCTRL) signal
Display range (min. value | unit | max. value)
-200.00 % 200.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C00854
Parameter | Name: Data type: UNSIGNED_32
C00854 | ID status Index: 23721d = 5CA9h
From software version V3.0
Display range (min. value | unit | max. value)
0 100
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C00878
Parameter | Name: Data type: UNSIGNED_8
C00878 | Status DCTRL control input Index: 23697d = 5C91h
Display range (min. value | unit | max. value)
0 1
Subcodes Information
C00878/1 Status of control inputs
C00878/...
C00878/5
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
802 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00909
C00909
Parameter | Name: Data type: INTEGER_16
C00909 | Speed limitation Index: 23666d = 5C72h
Speed limitation for speed setpoint
• For the upper speed limit value only positive values are permissible (0.0 % ... 175.0 %).
• For the lower speed limit value only negative values are permissible (-175.0 % ... 0.0 %).
Setting range (min. value | unit | max. value)
-175.0 % 175.0
Subcodes Lenze setting Information
C00909/1 175.0 % Upper speed limit value
C00909/2 -175.0 % Lower speed limit value
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
C00950
Parameter | Name: Data type: UNSIGNED_32
C00950 | VFC: V/f characteristic shape Index: 23625d = 5C49h
From software version V3.0
V/f control
Selection list (Lenze setting printed in bold)
0 Linear (V/f)
1 Quadratic (V/f²)
2 Curve
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00951
Parameter | Name: Data type: INTEGER_32
C00951 | VFC: V/f base frequency Index: 23624d = 5C48h
From software version V3.0
V/f control
Setting range (min. value | unit | max. value) Lenze setting
1 Hz 5000 50 Hz
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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803
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00952
C00952
Parameter | Name: Data type: INTEGER_32
C00952 | VFC: Frequency interpol. point n Index: 23623d = 5C47h
From software version V3.0
V/f control
Setting range (min. value | unit | max. value)
-5000 Hz 5000
Subcodes Lenze setting Information
C00952/1 -50 Hz
C00952/2 -40 Hz
C00952/3 -30 Hz
C00952/4 -20 Hz
C00952/5 -10 Hz
C00952/6 0 Hz
C00952/7 10 Hz
C00952/8 20 Hz
C00952/9 30 Hz
C00952/10 40 Hz
C00952/11 50 Hz
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C00953
Parameter | Name: Data type: INTEGER_32
C00953 | VFC: Voltage interpol. point n Index: 23622d = 5C46h
From software version V3.0
V/f control
Setting range (min. value | unit | max. value)
0.00 V 1000.00
Subcodes Lenze setting Information
C00953/1 400.00 V
C00953/2 320.00 V
C00953/3 240.00 V
C00953/4 160.00 V
C00953/5 80.00 V
C00953/6 0.00 V
C00953/7 80.00 V
C00953/8 160.00 V
C00953/9 240.00 V
C00953/10 320.00 V
C00953/11 400.00 V
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 100
804 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00954
C00954
Parameter | Name: Data type: UNSIGNED_32
C00954 | VFC: Activat. interpol. point n Index: 23621d = 5C45h
From software version V3.0
V/f control
Selection list
0 Off
1 ON
Subcodes Lenze setting Information
C00954/1 1: ON
C00954/2 1: ON
C00954/3 1: ON
C00954/4 1: ON
C00954/5 1: ON
C00954/6 1: ON
C00954/7 1: ON
C00954/8 1: ON
C00954/9 1: ON
C00954/10 1: ON
C00954/11 1: ON
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C00955
Parameter | Name: Data type: UNSIGNED_32
C00955 | VFC: Vmax reduction Index: 23620d = 5C44h
From software version V3.0
V/f control
Setting range (min. value | unit | max. value) Lenze setting
0 V 500 0 V
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00957
Parameter | Name: Data type: INTEGER_32
C00957 | VFC: VVC current setpoint Index: 23618d = 5C42h
From software version V3.0
V/f control
Setting range (min. value | unit | max. value) Lenze setting
0.00 A 1500.00 0.00 A
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C00958
Parameter | Name: Data type: UNSIGNED_32
C00958 | VFC: VVC gain Index: 23617d = 5C41h
From software version V3.0
V/f control
Setting range (min. value | unit | max. value) Lenze setting
0.00 V/A 750.00 0.00 V/A
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
EDS94AxHExxxx EN 7.0 - 04/2010 L
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805
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00959
C00959
Parameter | Name: Data type: UNSIGNED_32
C00959 | VFC: VVC reset time Index: 23616d = 5C40h
From software version V3.0
V/f control
Setting range (min. value | unit | max. value) Lenze setting
0.01 ms 2000.00 2000.00 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C00960
Parameter | Name: Data type: INTEGER_32
C00960 | VFC: V/f voltage boost Index: 23615d = 5C3Fh
From software version V3.0
V/f control
Setting range (min. value | unit | max. value) Lenze setting
0 V 1000 0 V
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00961
Parameter | Name: Data type: UNSIGNED_32
C00961 | VFC: Load - cw/ccw-operation Index: 23614d = 5C3Eh
From software version V3.0
V/f control
Selection list (Lenze setting printed in bold)
0 CW: mot. / CCW: mot.
1 CW: mot. / CCW: regen.
2 CW: regen. / CCW: mot.
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C00962
Parameter | Name: Data type: UNSIGNED_32
C00962 | VFC: Load adjustment Index: 23613d = 5C3Dh
From software version V3.0
V/f control
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 200.00 20.00 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C00963
Parameter | Name: Data type: UNSIGNED_32
C00963 | VFC: Gain - Imax controller Index: 23612d = 5C3Ch
From software version V3.0
V/f control
Setting range (min. value | unit | max. value) Lenze setting
0.000 Hz/A 1000.000 0.001 Hz/A
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1000
C00964
Parameter | Name: Data type: UNSIGNED_32
C00964 | VFC: Reset time - Imax contr. Index: 23611d = 5C3Bh
From software version V3.0
V/f control
Setting range (min. value | unit | max. value) Lenze setting
1.0 ms 2000.0 100.0 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
806 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00965
C00965
Parameter | Name: Data type: INTEGER_32
C00965 | VFC: Gain - slip compensation Index: 23610d = 5C3Ah
From software version V3.0
V/f control
Setting range (min. value | unit | max. value) Lenze setting
-200.00 % 200.00 0.00 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C00966
Parameter | Name: Data type: UNSIGNED_32
C00966 | VFC: Time const. - slip compens. Index: 23609d = 5C39h
From software version V3.0
V/f control
Setting range (min. value | unit | max. value) Lenze setting
1 ms 6000 2000 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00967
Parameter | Name: Data type: INTEGER_32
C00967 | VFC: Gain - oscillation damping Index: 23608d = 5C38h
From software version V3.0
V/f control
Setting range (min. value | unit | max. value) Lenze setting
-100 % 100 20 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00968
Parameter | Name: Data type: INTEGER_32
C00968 | VFC: Time const. - oscill. damp. Index: 23607d = 5C37h
From software version V3.0
V/f control
Setting range (min. value | unit | max. value) Lenze setting
1 ms 600 5 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00969
Parameter | Name: Data type: INTEGER_32
C00969 | VFC: Limitation - oscill. damp. Index: 23606d = 5C36h
From software version V3.0
V/f control
Setting range (min. value | unit | max. value) Lenze setting
0.1 Hz 20.0 0.2 Hz
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
C00970
Parameter | Name: Data type: INTEGER_32
C00970 | VFC: ramp-end frequ. - oscill. damp. Index: 23605d = 5C35h
From software version V5.0
V/f control
Setting range (min. value | unit | max. value) Lenze setting
0 % 100 0 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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807
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00971
C00971
Parameter | Name: Data type: UNSIGNED_32
C00971 | VFC: Influence - speed controller Index: 23604d = 5C34h
From software version V3.0
V/f control
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 100.00 10.00 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C00972
Parameter | Name: Data type: UNSIGNED_32
C00972 | VFC: Gain - speed controller Index: 23603d = 5C33h
From software version V3.0
V/f control
Setting range (min. value | unit | max. value) Lenze setting
0.000 Hz/rpm 1000.000 0.000 Hz/rpm
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1000
C00973
Parameter | Name: Data type: UNSIGNED_32
C00973 | VFC: Reset time - speed contr. Index: 23602d = 5C32h
From software version V3.0
V/f control
Setting range (min. value | unit | max. value) Lenze setting
1.0 ms 6000.0 6000.0 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
C00974
Parameter | Name: Data type: INTEGER_32
C00974 | DC brake: Current Index: 23601d = 5C31h
From software version V3.0
DC-injection braking
Setting range (min. value | unit | max. value) Lenze setting
0.00 A 500.00 0.00 A
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C00975
Parameter | Name: Data type: INTEGER_32
C00975 | DC brake: Current for quick stop Index: 23600d = 5C30h
From software version V3.0
DC-injection braking
Setting range (min. value | unit | max. value) Lenze setting
0.00 A 500.00 0.00 A
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C00976
Parameter | Name: Data type: UNSIGNED_32
C00976 | DC brake: Activat. by quick stop Index: 23599d = 5C2Fh
From software version V3.0
DC-injection braking
Selection list (Lenze setting printed in bold)
0 Off
1 ON
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
808 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00977
C00977
Parameter | Name: Data type: UNSIGNED_32
C00977 | Min. inh-time aft. overvolt Index: 23598d = 5C2Eh
From software version V3.0
V/f control
Setting range (min. value | unit | max. value) Lenze setting
1 ms 10000 500 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00980
Parameter | Name: Data type: INTEGER_32
C00980 | VFC: Override point of field weakening Index: 23595d = 5C2Bh
Setting range (min. value | unit | max. value) Lenze setting
-500 Hz 500 0 Hz
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00985
Parameter | Name: Data type: UNSIGNED_32
C00985 | SLVC: Gain - flux controller Index: 23590d = 5C26h
From software version V3.0
Sensorless vector control
Setting range (min. value | unit | max. value) Lenze setting
0.00 21474836.47 0.00
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C00986
Parameter | Name: Data type: UNSIGNED_32
C00986 | SLVC: Gain - cross curr. contr. Index: 23589d = 5C25h
From software version V3.0
Sensorless vector control
Setting range (min. value | unit | max. value) Lenze setting
0.00 21474836.47 0.00
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C00987
Parameter | Name: Data type: UNSIGNED_32
C00987 | SLVC: Gain - torque controller Index: 23588d = 5C24h
From software version V3.0
Sensorless vector control
Setting range (min. value | unit | max. value) Lenze setting
0.0000 Hz/A 1000.0000 0.5000 Hz/A
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
C00988
Parameter | Name: Data type: UNSIGNED_32
C00988 | SLVC: Reset time - torque contr. Index: 23587d = 5C23h
From software version V3.0
Sensorless vector control
Setting range (min. value | unit | max. value) Lenze setting
0.01 ms 2000.00 10.00 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
EDS94AxHExxxx EN 7.0 - 04/2010 L
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809
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00989
C00989
Parameter | Name: Data type: UNSIGNED_32
C00989 | SLVC: Time const.- Para. adj. Index: 23586d = 5C22h
From software version V3.0
Sensorless vector control
Setting range (min. value | unit | max. value)
0 ms 20000
Subcodes Lenze setting Information
C00989/1 20000 ms SLVC: Time const.- Para.Rs adj.
C00989/2 20000 ms SLVC: Time const.- Para.Lh adj.
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00990
Parameter | Name: Data type: UNSIGNED_32
C00990 | Flying restart: Activation Index: 23585d = 5C21h
From software version V8.0
Shifting the override point for field weakening
• In the VFCplus operating mode the pull-out protection function or the maximally permissible current in the field
weakening range can be adapted.
Flying restart function
From software version V3.0
Note!
Only deactivate the flying restart for the V/f control or sensorless vector control if it is ensured that the drive is
always at standstill in the case of controller enable!
Flying restart function
Selection list (Lenze setting printed in bold)
0 Off
1 ON
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00991
Parameter | Name: Data type: INTEGER_32
C00991 | Flying restart: Current Index: 23584d = 5C20h
From software version V3.0
Flying restart function
Setting range (min. value | unit | max. value) Lenze setting
0 % 100 15 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00992
Parameter | Name: Data type: INTEGER_32
C00992 | Flying restart: Start frequency Index: 23583d = 5C1Fh
From software version V3.0
Flying restart function
Setting range (min. value | unit | max. value) Lenze setting
-600.0 Hz 600.0 20.0 Hz
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
810 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C00993
C00993
Parameter | Name: Data type: UNSIGNED_32
C00993 | Flying restart: Integration time Index: 23582d = 5C1Eh
From software version V3.0
Flying restart function
Setting range (min. value | unit | max. value) Lenze setting
1 ms 6000 60 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00994
Parameter | Name: Data type: UNSIGNED_32
C00994 | Flying restart: Min. deviation Index: 23581d = 5C1Dh
From software version V3.0
Flying restart function
Setting range (min. value | unit | max. value) Lenze setting
0.00 ° 90.00 5.00 °
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C00995
Parameter | Name: Data type: UNSIGNED_32
C00995 | Flying restart: Delay time Index: 23580d = 5C1Ch
From software version V3.0
Flying restart function
Setting range (min. value | unit | max. value) Lenze setting
0 ms 10000 0 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C00998
Parameter | Name: Data type: INTEGER_32
C00998 | VFC: Frequency setpoint Index: 23577d = 5C19h
From software version V3.0
V/f control
Display range (min. value | unit | max. value)
-800.0 Hz 800.0
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10
EDS94AxHExxxx EN 7.0 - 04/2010 L
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811
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C01120
C01120
Parameter | Name: Data type: UNSIGNED_8
C01120 | Sync source Index: 23455d = 5B9Fh
Selection of the source for the synchronisation signals.
• The drive can only be synchronised by one source.
Note:
Set the selection "2: CAN module" for the communication module CANopen (E94AYCCA).
"CAN on board" system bus: sync telegram
Selection list (Lenze setting printed in bold)
0 Off
1 CAN on board
2 CAN module
4 Module in MXI1
5 Module in MXI2
6 Digital input 1
7 Digital input 2
8 Digital input 3
9 Digital input 4
10 Digital input 5
11 Digital input 6
12 Digital input 7
13 Digital input 8
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C01121
Parameter | Name: Data type: UNSIGNED_32
C01121 | Sync cycle time Index: 23454d = 5B9Eh
Time interval at which the phase control loop (PLL) in the controller expects the synchronisation signals.
• The time interval set must correspond to the cycle of the synchronisation source.
Note: For synchronisation via the system bus (CANopen), only integer multiples of 1000 μs should be set.
Example: For the system bus, the interval between two synchronisation signals is set to 2 ms. If the system bus is to
be used as the synchronisation source, a synchronisation cycle of 2000 μs must be set in C01121.
"CAN on board" system bus: sync telegram
Setting range (min. value | unit | max. value) Lenze setting
250 μs 20000 1000 μs
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C01122
Parameter | Name: Data type: UNSIGNED_32
C01122 | Sync phase position Index: 23453d = 5B9Dh
The phase position defines the zero point of time for the application relating to the synchronisation signal (bus
cycle). Since PDO processing is integrated in the system part of the application, the instant of the PDO acceptance
also changes if the phase position is changed.
• If 0 is set, the application is started together with the synchronisation signal.
• If a value > 0 is set, the application starts by the set time interval before the synchronisation signal arrives (the
phase position acts negatively).
Example: If the phase position is set to 400 μs, the system part of the application starts 400 μs before the
synchronisation signal arrives.
From software version V3.0:
The effect of the sync phase position can be affected by the application cycle set in C01130. For the Lenze setting of
C01130 the behaviour remains as before.
"CAN on board" system bus: sync telegram
Setting range (min. value | unit | max. value) Lenze setting
0 μs 64000 400 μs
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
812 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C01123
C01123
Parameter | Name: Data type: UNSIGNED_32
C01123 | Sync tolerance Index: 23452d = 5B9Ch
Time slot for monitoring the synchronisation signal via the LS_SyncInput system block
• If the last synchronisation signal amounted to approx. the expected value within this time slot, the
SYNC_bSyncInsideWindow output of the LS_SyncInput system block is set to TRUE.
• This setting does not affect the synchronisation process.
"CAN on board" system bus: sync telegram
Setting range (min. value | unit | max. value) Lenze setting
0 μs 1000 0 μs
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C01124
Parameter | Name: Data type: UNSIGNED_8
C01124 | Sync-PLL increment Index: 23451d = 5B9Bh
When the cycle times of the synchronisation signal and the phase control loop (PLL) differ, this setting defines the
increment to be used to readjust the phase control loop.
• If the system bus (CANopen) is used as the synchronisation source, the recommended value is 109 ns.
"CAN on board" system bus: sync telegram
Selection list (Lenze setting printed in bold)
1 7 ns
2 15 ns
3 23 ns
4 31 ns
5 39 ns
6 46 ns
7 54 ns
8 62 ns
9 70 ns
10 78 ns
11 85 ns
12 93 ns
13 101 ns
14 109 ns
15 117 ns
16 125 ns
17 132 ns
18 140 ns
19 148 ns
20 156 ns
21 164 ns
22 171 ns
23 179 ns
24 187 ns
25 195 ns
26 203 ns
27 210 ns
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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813
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C01125
C01125
Parameter | Name: Data type: UNSIGNED_32
C01125 | Service code Index: 23450d = 5B9Ah
This code is used internally by the controller and must not be overwritten by the user!
C01126
Parameter | Name: Data type: UNSIGNED_32
C01126 | Service code Index: 23449d = 5B99h
This code is used internally by the controller and must not be overwritten by the user!
C01127
Parameter | Name: Data type: UNSIGNED_32
C01127 | Service code Index: 23448d = 5B98h
This code is used internally by the controller and must not be overwritten by the user!
C01128
Parameter | Name: Data type: UNSIGNED_32
C01128 | Service code Index: 23447d = 5B97h
This code is used internally by the controller and must not be overwritten by the user!
C01129
Parameter | Name: Data type: UNSIGNED_32
C01129 | Service code Index: 23446d = 5B96h
This code is used internally by the controller and must not be overwritten by the user!
C01130
Parameter | Name: Data type: UNSIGNED_16
C01130 | CAN SYNC application cycle Index: 23445d = 5B95h
From software version V3.0
This parameter affects the effect of the sync phase position (C01122) regarding the instant of acceptance of the
synchronous PDOs in the application and the instant of transmission of the synchronous PDOs on the system bus
(CANopen).
• The resulting PDO delay can be calculated with the following formula taking into account an internal processing
time of 150 μs: PDO delay = (C01121 - C01122 + 150 μs) modulo C01130
• For the Lenze setting, the behaviour remains as before, the sync phase position (C01122) is always calculated
modulo 1000.
• The set value is automatically rounded down to multiples of 1000 μs.
Effect of C01130 on the sync phase position
Note: Setting the application cycle to a higher value than the sync cycle time (C01121) results in undefined
behaviour. The same applies if the value set for the sync phase position (C01122) is higher than the sync cycle time
(C01121). In this case, the drive usually cannot send synchronous PDOs on the system bus anymore.
"CAN on board" system bus: sync telegram
Setting range (min. value | unit | max. value) Lenze setting
1000 μs 65000 1000 μs
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C01190
Parameter | Name: Data type: UNSIGNED_32
C01190 | Motor thermal sensor Index: 23385d = 5B59h
Motor temperature monitoring
Selection list (Lenze setting printed in bold) Information
0 KTY83-110 Lenze standard KTY83-110 (MDSKX, MCS06)
1 Spec. characteristic Characteristic defined via C01191 and C01192.
2 KTY83-110 + 2 x PTC Lenze standard KTY83-110 + 2 x PTC 150°C (MCS09-
MCS19)
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
814 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C01191
C01191
Parameter | Name: Data type: UNSIGNED_32
C01191 | Spec. charact.: temperature Index: 23384d = 5B58h
The special thermal sensor characteristic is selected by setting C01190="1"
Motor temperature monitoring
Setting range (min. value | unit | max. value)
0 °C 255
Subcodes Lenze setting Information
C01191/1 25 °C Value 1 for spec. thermal sensor characteristic
C01191/2 150 °C Value 2 for spec. thermal sensor characteristic
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C01192
Parameter | Name: Data type: UNSIGNED_32
C01192 | Spec. characteristic: resistance Index: 23383d = 5B57h
The special thermal sensor characteristic is selected by setting C01190="1"
Motor temperature monitoring
Setting range (min. value | unit | max. value)
0 Ohm 30000
Subcodes Lenze setting Information
C01192/1 1000 Ohm Value 1 for spec. thermal sensor characteristic
C01192/2 2225 Ohm Value 2 for spec. thermal sensor characteristic
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C01193
Parameter | Name: Data type: UNSIGNED_16
C01193 | Motor temp. feedback system Index: 23382d = 5B56h
Selection of feedback system for motor temperature detection.
Motor temperature monitoring
Selection list (Lenze setting printed in bold)
0 Speed feedback
1 X7 (Input Resolver)
2 X8 (Input Encoder)
3 Reserved
4 Reserved
5 X7 and X8 parallel
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C01194
Parameter | Name: Data type: INTEGER_32
C01194 | Motor operating temperature Index: 23381d = 5B55h
Setting range (min. value | unit | max. value) Lenze setting
1 °C 200 140 °C
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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815
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C01195
C01195
Parameter | Name: Data type: UNSIGNED_32
C01195 | Influence winding I²xt mon. Index: 23380d = 5B54h
I2xt motor monitoring: Influence of the winding temperature
• By setting "0 %", the time constant for the winding is not considered and the thermal model is only calculated
with the time constant set for the housing/laminated core.
Setting range (min. value | unit | max. value) Lenze setting
0 % 100 0 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C01196
Parameter | Name: Data type: UNSIGNED_32
C01196 | S1 torque characteristic I²xt mon. Index: 23379d = 5B53h
I2xt motor monitoring: Speed-dependent evaluation of the motor current
• By selecting a characteristic, the permissible motor current is evaluated depending on speed for calculating the
thermal motor utilisation.
Setting range (min. value | unit | max. value)
0 % 600
Subcodes Lenze setting Information
C01196/1 0% S1 torque characteristic n1/nn
C01196/2 100 % S1 torque characteristic I1/In
C01196/3 0% S1 torque characteristic n2/nn
C01196/4 100 % S1 torque characteristic I2/In
C01196/5 100 % S1 torque characteristic n3/nn
C01196/6 100 % S1 torque characteristic I3/In
C01196/7 100 % S1 torque characteristic n4/nn
C01196/8 100 % S1 torque characteristic I4/In
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C01198
Parameter | Name: Data type: UNSIGNED_32
C01198 | Async. motor: Stall protection Index: 23377d = 5B51h
Setting range (min. value | unit | max. value) Lenze setting
0 % 100 0 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C01199
Parameter | Name: Data type: UNSIGNED_32
C01199 | Enhanced Power Index: 23376d = 5B50h
From software version V3.0
Stop!
During operation with increased continuous power, the max. permissible ambient temperature is reduced to 40 °C.
The overload current must be reduced. An overload current of 180 % for 10 s is no longer permissible during
operation with increased continuous power.
Operation with increased continuous power
Selection list (Lenze setting printed in bold)
0 Enhanced Power off
1 Enhanced Power Mode 1 on
2 Enhanced Power Mode 2 on
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
816 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C01200
C01200
Parameter | Name: Data type: INTEGER_32
C01200 | Dual motor temperature Index: 23375d = 5B4Fh
From software version V7.0
Motor temperature monitoring
Motor temperature monitoring of a second motor
Display range (min. value | unit | max. value)
-200 °C 200
Subcodes Information
C01200/1 Motor temperature via X7
C01200/2 Motor temperature via X8
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C01201
Parameter | Name: Data type: UNSIGNED_32
C01201 | Delay time for fan start Index: 23374d = 5B4Eh
Selection list (Lenze setting printed in bold) Information
0 Via power section serial no.
1 500 ms
2 1000 ms
3 1500 ms
4 2000 ms
5 2500 ms
6 3000 ms
7 3500 ms
8 4000 ms
9 4500 ms
10 5000 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C01203
Parameter | Name: Data type: UNSIGNED_16
C01203 | Counter: Brake chopper overload Index: 23372d = 5B4Ch
Display range (min. value | unit | max. value)
0 65535
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C01204
Parameter | Name: Data type: UNSIGNED_16
C01204 | Counter: Ixt overload Index: 23371d = 5B4Bh
Display range (min. value | unit | max. value)
0 65535
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C01205
Parameter | Name: Data type: UNSIGNED_16
C01205 | Counter: DC bus overvoltage Index: 23370d = 5B4Ah
Display range (min. value | unit | max. value)
0 65535
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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817
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C01206
C01206
Parameter | Name: Data type: UNSIGNED_16
C01206 | Counter: Mains switching Index: 23369d = 5B49h
Display range (min. value | unit | max. value)
0 65535
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C01208
Parameter | Name: Data type: UNSIGNED_16
C01208 | Counter: Heatsink overtemp. Index: 23367d = 5B47h
Display range (min. value | unit | max. value)
0 65535
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C01209
Parameter | Name: Data type: UNSIGNED_16
C01209 | Counter: Housing overtemp. Index: 23366d = 5B46h
Display range (min. value | unit | max. value)
0 65535
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C01210
Parameter | Name: Data type: UNSIGNED_8
C01210 | Counter: Internal Index: 23365d = 5B45h
Display range (min. value | unit | max. value)
0 255
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C01211
Parameter | Name: Data type: UNSIGNED_32
C01211 | Service code Index: 23364d = 5B44h
This code is used internally by the controller and must not be overwritten by the user!
C01212
Parameter | Name: Data type: UNSIGNED_16
C01212 | Counter: Power section overload Index: 23363d = 5B43h
Display range (min. value | unit | max. value)
0 65535
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C01213
Parameter | Name: Data type: UNSIGNED_32
C01213 | Service code DataFlash Index: 23362d = 5B42h
This code is used internally by the controller and must not be overwritten by the user!
818 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C01214
C01214
Parameter | Name: Data type: VISIBLE_STRING
C01214 | Internal clock Index: 23361d = 5B41h
Display of the system time of the controller in the format "dd/mm/yyyy hh:mm:ss"
• Time and date are set via C01215.
If the MM440 memory module with real-time clock is plugged into the controller, the internal clock is adjusted to
the real-time clock every time the mains is switched on and every 24 hours at 0:00 o'clock.
• The daily adjustment is executed on a low-priority level. This is why it may take some seconds until the adjusted
time is displayed.
• During the adjustment process, status information of the real-time clock is also queried and entered into the
logbook.
Note:
If a memory module without real-time clock is plugged into the controller, the internal clock is initialised with
"01.01.1970 00:00:00" every time the mains is switched on.
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C01215
Parameter | Name: Data type: UNSIGNED_16
C01215 | Set time and date Index: 23360d = 5B40h
From software version V1.5
Setting of the system time of the controller displayed in C01214.
• If the MM440 memory module with real-time clock is plugged into the controller, the real-time clock is set
simultaneously.
Set time and date.
• Before writing to a subcode for the first time, the current time information according to the internal clock is
displayed in the subcodes.
• When a value has been written into a subcode, the displays in the subcodes freeze to the last values.
• The new system time set is only accepted after a value has been written into each subcode at least once.
• After the new system time has been accepted, the display in the subcodes is updated according to the internal
clock.
Note:
If a memory module without real-time clock is plugged into the controller, the internal clock is initialised with
"01.01.1970 00:00:00" every time the mains is switched on.
Setting range (min. value | unit | max. value)
0 65535
Subcodes Lenze setting Information
C01215/1 0 Seconds
C01215/2 0 Minutes
C01215/3 0 Hours
C01215/4 1 Day
C01215/5 1 Month
C01215/6 1970 Year
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 1
C01217
Parameter | Name: Data type: VISIBLE_STRING
C01217 | Service code Index: 23358d = 5B3Eh
This code is used internally by the controller and must not be overwritten by the user!
C01218
Parameter | Name: Data type: UNSIGNED_32
C01218 | Service code Index: 23357d = 5B3Dh
This code is used internally by the controller and must not be overwritten by the user!
EDS94AxHExxxx EN 7.0 - 04/2010 L
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819
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C01220
C01220
Parameter | Name: Data type: UNSIGNED_32
C01220 | MEC history: RAM address Index: 23355d = 5B3Bh
This code is used internally by the controller and must not be overwritten by the user!
C01221
Parameter | Name: Data type: UNSIGNED_32
C01221 | MEC history: RAM value Index: 23354d = 5B3Ah
This code is used internally by the controller and must not be overwritten by the user!
C01222
Parameter | Name: Data type: UNSIGNED_32
C01222 | MEC history: Flash value Index: 23353d = 5B39h
This code is used internally by the controller and must not be overwritten by the user!
C01223
Parameter | Name: Data type: UNSIGNED_32
C01223 | MEC history: Error number Index: 23352d = 5B38h
This code is used internally by the controller and must not be overwritten by the user!
C01230
Parameter | Name: Data type: UNSIGNED_8
C01230 | Resp. to communication task overflow Index: 23345d = 5B31h
Selection list (Lenze setting printed in bold) Information
1 Fault
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
0 No response
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C01501
Parameter | Name: Data type: UNSIGNED_32
C01501 | Resp. to comm. error with MXI1 Index: 23074d = 5A22h
Response to communication error between "intelligent" module in module slot 1 and basic device
Selection list (Lenze setting printed in bold)
0 No response
1 Fault
3 Quick stop by trouble
4 Warning locked
5 Warning
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
820 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C01502
C01502
Parameter | Name: Data type: UNSIGNED_32
C01502 | Resp. to comm. error with MXI2 Index: 23073d = 5A21h
Response to communication error between "intelligent" module in module slot 2 and standard device
Selection list (Lenze setting printed in bold)
0 No response
1 Fault
3 Quick stop by trouble
4 Warning locked
5 Warning
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C01510
Parameter | Name: Data type: VISIBLE_STRING
C01510 | Ethernet IP address client x Index: 23065d = 5A19h
Display of the three possible server channels
• If a client is connected via one of these server channels, the IP address and the port of the client will be indicated
in the form of "xxx.xxx.xxx.xxx : yyyy".
• If no client is connected via the server channel, "---.---.---.--- : ----" will be indicated.
Subcodes Information
C01510/1 Server channel 1 ... 3
C01510/...
C01510/3
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C01511
Parameter | Name: Data type: UNSIGNED_8
C01511 | Ethernet status client x Index: 23064d = 5A18h
Status of the three possible server channels
Selection list (display only)
0 Not connected
1 Connected
2 Stop
3 Unknown status
Subcodes Information
C01511/1 State of server channels 1 ... 3
C01511/...
C01511/3
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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821
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C01902
C01902
Parameter | Name: Data type: UNSIGNED_32
C01902 | Diagnostics X6: Max. baud rate Index: 22673d = 5891h
Maximum permissible baud rate of the standard device after determination of the baud rate at the diagnostic
interface X6
• Communication starts with the default standard device baud rate of 19200 baud.
Selection list (Lenze setting printed in bold)
9600 9600 baud
19200 19.200 baud
38400 38.400 baud
57600 57.600 baud
115200 115.200 baud
230400 230.400 baud
375000 375.000 baud
750000 750.000 baud
1500000 1.500.000 baud
3000000 3.000.000 baud
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C01903
Parameter | Name: Data type: UNSIGNED_32
C01903 | Diagnostics X6: Change baud rate Index: 22672d = 5890h
New determination of the baud rate at the diagnostic interface X6
Selection list (Lenze setting printed in bold)
1 Set a higher baud rate
0 Ignore changes
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 1
C01905
Parameter | Name: Data type: UNSIGNED_32
C01905 | Diagnostics X6: Curr. baud rate Index: 22670d = 588Eh
Current baud rate at diagnostics interface X6
Display range (min. value | unit | max. value)
0 3000000
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02104
Parameter | Name: Data type: UNSIGNED_32
C02104 | Program auto-start Index: 22471d = 57C7h
Selection list (Lenze setting printed in bold)
0 Off
1 Autom. after mains connection
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02108
Parameter | Name: Data type: UNSIGNED_8
C02108 | Program status Index: 22467d = 57C3h
Selection list (display only)
1 Program stopped
0 Program is running
2 Program stopped at breakpoint
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
822 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02109
C02109
Parameter | Name: Data type: UNSIGNED_16
C02109 | Program runtime Index: 22466d = 57C2h
Display range (min. value | unit | max. value)
0 μs 65535
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02110
Parameter | Name: Data type: UNSIGNED_32
C02110 | User code memory load Index: 22465d = 57C1h
From software version V2.0
Display range (min. value | unit | max. value)
0 % 100
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02111
Parameter | Name: Data type: UNSIGNED_8
C02111 | Resp. to task overflow Index: 22464d = 57C0h
From software version V5.0
Response to a task overflow in the application or user task.
Selection list (Lenze setting printed in bold)
1 Fault
3 Quick stop by trouble
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02113
Parameter | Name: Data type: VISIBLE_STRING
C02113 | Program name Index: 22462d = 57BEh
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02121
Parameter | Name: Data type: UNSIGNED_32
C02121 | Runtime ApplicationTask Index: 22454d = 57B6h
Runtime measurement
Display range (min. value | unit | max. value)
0 μs 3600000000
Subcodes Information
C02121/1 Curr. runtime ApplicationTask
C02121/2 Max. runtime ApplicationTask
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02122
Parameter | Name: Data type: UNSIGNED_32
C02122 | Runtime UserTask Index: 22453d = 57B5h
Runtime measurement
Display range (min. value | unit | max. value)
0 μs 3600000000
Subcodes Information
C02122/1 Curr. runtime UserTask
C02122/2 Max. runtime UserTask
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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823
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02123
C02123
Parameter | Name: Data type: UNSIGNED_32
C02123 | Runtime IdleTask Index: 22452d = 57B4h
Runtime measurement
Display range (min. value | unit | max. value)
0 μs 3600000000
Subcodes Information
C02123/1 Curr. runtime IdleTask
C02123/2 Max. runtime IdleTask
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02520
Parameter | Name: Data type: INTEGER_32
C02520 | Gearbox factor numerator: Motor Index: 22055d = 5627h
Drive interface
Setting range (min. value | unit | max. value) Lenze setting
1 2147483647 1
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C02521
Parameter | Name: Data type: INTEGER_32
C02521 | Gearbox factor denom.: Motor Index: 22054d = 5626h
Drive interface
Setting range (min. value | unit | max. value) Lenze setting
1 2147483647 1
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C02522
Parameter | Name: Data type: INTEGER_32
C02522 | Gearbox factor num.: Pos. enc. Index: 22053d = 5625h
Drive interface
Setting range (min. value | unit | max. value) Lenze setting
1 2147483647 1
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C02523
Parameter | Name: Data type: INTEGER_32
C02523 | Gearbox fac. denom.: Pos. enc. Index: 22052d = 5624h
Drive interface
Setting range (min. value | unit | max. value) Lenze setting
1 2147483647 1
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C02524
Parameter | Name: Data type: UNSIGNED_32
C02524 | Feed constant Index: 22051d = 5623h
Drive interface
Setting range (min. value | unit | max. value) Lenze setting
0.0001 Unit/rev. 214748.3647 360.0000 Unit/rev.
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 10000
824 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02525
C02525
Parameter | Name: Data type: UNSIGNED_32
C02525 | Unit Index: 22050d = 5622h
Drive interface
Selection list (Lenze setting printed in bold) Information
0 User-defined The text entered in C02526 is displayed for the unit.
1 Incr.
2 μm
3 mm
4 m
5 inch
6 yard
7 °
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02526
Parameter | Name: Data type: VISIBLE_STRING
C02526 | User-defined unit Index: 22049d = 5621h
User-defined unit which is displayed when C02525="0" is selected.
Drive interface
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02527
Parameter | Name: Data type: UNSIGNED_32
C02527 | Motor mounting direction Index: 22048d = 5620h
Drive interface
Selection list (Lenze setting printed in bold)
0 Motor rotating CW
1 Motor rotating CCW
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C02528
Parameter | Name: Data type: UNSIGNED_32
C02528 | Traversing range Index: 22047d = 561Fh
Drive interface
Selection list (Lenze setting printed in bold)
0 Unlimited
1 Limited
2 Modulo
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C02529
Parameter | Name: Data type: UNSIGNED_32
C02529 | Position encoder mounting dir. Index: 22046d = 561Eh
Drive interface
Selection list (Lenze setting printed in bold)
0 Encoder rotating CW
1 Encoder rotating CCW
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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825
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02530
C02530
Parameter | Name: Data type: INTEGER_32
C02530 | Active function state Index: 22045d = 561Dh
Displays the basic drive function that currently controls the drive.
Basic drive functions: Internal state machine
Selection list (display only)
0 Program stopped
1 Initial/boot state active
2 Torque follower active
3 Speed follower active
4 Position follower active
5 Setpoint follower active
6 Positioning active
7 Homing active
8 Manual jog active
9 Brake test active
10 Drive at standstill
11 Drive is stopped
12 Quick stop active
13 Reserve 1
14 Controller is not ready
15 Initialisation
16 Fault
17 Manual control open loop active
18 Pole position identification active
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02531
Parameter | Name: Data type: UNSIGNED_32
C02531 | Gearbox factors (decimal) Index: 22044d = 561Ch
Note: In subcode 3 the effective gearbox factor resulting form the motor and the load is displayed if a separate
position encoder is configured and the position control is activated (C02570="2"). For a different encoder
configuration (without a separate position encoder) the value "1" is shown in subcode 3.
Drive interface
Display range (min. value | unit | max. value)
0.000 2147483.647
Subcodes Information
C02531/1 Motor gearbox factor (dec.)
C02531/2 Pos. enc. gearbox factor (dec.)
C02531/3 Effective gearbox factor (dec.)
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1000
C02532
Parameter | Name: Data type: UNSIGNED_32
C02532 | Resolution of a unit Index: 22043d = 561Bh
Drive interface
Display range (min. value | unit | max. value)
0 Incr./unit 2147483647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
826 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02533
C02533
Parameter | Name: Data type: UNSIGNED_32
C02533 | Time unit Index: 22042d = 561Ah
Drive interface
Selection list (display only)
2 s
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02534
Parameter | Name: Data type: VISIBLE_STRING
C02534 | Used time unit Index: 22041d = 5619h
Display of the time unit as a character string
Drive interface
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02535
Parameter | Name: Data type: VISIBLE_STRING
C02535 | Used unit Index: 22040d = 5618h
Display of the unit set in C02525 and C02526 as a character string
Drive interface
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02536
Parameter | Name: Data type: UNSIGNED_32
C02536 | Cycle Index: 22039d = 5617h
Drive interface
Setting range (min. value | unit | max. value) Lenze setting
0.0000 Unit 214748.3647 360.0000 Unit
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 10000
C02537
Parameter | Name: Data type: VISIBLE_STRING
C02537 | Speed unit Index: 22038d = 5616h
Drive interface
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02538
Parameter | Name: Data type: VISIBLE_STRING
C02538 | Acceleration unit Index: 22037d = 5615h
Drive interface
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02539
Parameter | Name: Data type: INTEGER_32
C02539 | Max. presentable position Index: 22036d = 5614h
Drive interface
Display range (min. value | unit | max. value)
-214748.3647 Unit 214748.3647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
EDS94AxHExxxx EN 7.0 - 04/2010 L
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827
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02540
C02540
Parameter | Name: Data type: INTEGER_32
C02540 | Max. presentable speed Index: 22035d = 5613h
Drive interface
Display range (min. value | unit | max. value)
-214748.3647 Unit/s 214748.3647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
C02541
Parameter | Name: Data type: INTEGER_32
C02541 | Max. presentable acceleration Index: 22034d = 5612h
Drive interface
Display range (min. value | unit | max. value)
-214748.3647 Unit/s² 214748.3647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
C02542
Parameter | Name: Data type: UNSIGNED_32
C02542 | Load reference speed Index: 22033d = 5611h
Drive interface
Display range (min. value | unit | max. value)
0.000 rpm 4294967.295
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1000
C02543
Parameter | Name: Data type: UNSIGNED_32
C02543 | Load reference torque Index: 22032d = 5610h
Drive interface
Display range (min. value | unit | max. value)
0.000 Nm 4294967.295
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1000
C02544
Parameter | Name: Data type: INTEGER_32
C02544 | Reference speed Index: 22031d = 560Fh
From software version V1.5
Drive interface
Display range (min. value | unit | max. value)
-214748.3647 Unit/s 214748.3647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
C02545
Parameter | Name: Data type: UNSIGNED_32
C02545 | Reference S-ramp time Index: 22030d = 560Eh
From software version V7.0
Drive interface
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 2147483.647 0.001 s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1000
828 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02547
C02547
Parameter | Name: Data type: INTEGER_32
C02547 | DI_dnState Index: 22028d = 560Ch
Bit coded status of the drive interface.
Display range (min. value | unit | max. value)
-2147483648 2147483647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02548
Parameter | Name: Data type: UNSIGNED_32
C02548 | DI_bErrors Index: 22027d = 560Bh
Display of the digital error signals of the drive interface.
Selection list (display only)
0 FALSE
1 TRUE
Subcodes Information
C02548/1 DI_bResetError1
C02548/2 DI_bResetError2
C02548/3 DI_bResetError3
C02548/4 DI_bSetExternError
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02549
Parameter | Name: Data type: UNSIGNED_32
C02549 | Drive interface: Signals Index: 22026d = 560Ah
Display of the digital signals of the drive interface.
Selection list (display only)
0 FALSE
1 TRUE
Subcodes Information
C02549/1 DI_bSetCInh
C02549/2 Reserved
C02549/3 Reserved
C02549/4 DI_bSwitchOn
C02549/5 Reserved
C02549/6 DI_bReady
C02549/7 DI_bFailActive
C02549/8 DI_bImpActive
C02549/9 DI_bCinhActive
C02549/10 DI_bWarningActive
C02549/11 DI_bUVDetected
C02549/12 DI_bOVDetected
C02549/13 DI_bMainSupplyOk
C02549/14 DI_bReadyToSwitchOn
C02549/15 DI_bOperationEnabled
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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829
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02550
C02550
Parameter | Name: Data type: UNSIGNED_32
C02550 | Setpoint interpolation Index: 22025d = 5609h
Motor interface
Selection list
0 Off
1 ON
Subcodes Lenze setting Information
C02550/1 1: ON Position setpoint interpolat.
C02550/2 1: ON Speed setpoint interpolat.
C02550/3 1: ON Torque setpoint interpolat.
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02552
Parameter | Name: Data type: INTEGER_32
C02552 | Position setpoint (mctrl) Index: 22023d = 5607h
Motor interface
Display range (min. value | unit | max. value)
-214748.3647 Unit 214748.3647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
C02553
Parameter | Name: Data type: UNSIGNED_32
C02553 | Position controller gain Index: 22022d = 5606h
Motor interface
Setting range (min. value | unit | max. value) Lenze setting
0.00 1/s 1000.00 20.00 1/s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C02554
Parameter | Name: Data type: UNSIGNED_32
C02554 | Position controller reset time Index: 22021d = 5605h
Motor interface
Setting range (min. value | unit | max. value) Lenze setting
0.001 s 60.000 60.000 s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1000
C02555
Parameter | Name: Data type: UNSIGNED_32
C02555 | D component position controller Index: 22020d = 5604h
Motor interface
Setting range (min. value | unit | max. value) Lenze setting
0.000 100.000 0.000
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1000
C02556
Parameter | Name: Data type: INTEGER_32
C02556 | Pos. contr. limitation Index: 22019d = 5603h
Motor interface
Setting range (min. value | unit | max. value) Lenze setting
0.0000 Unit/s 214748.3647 214748.3647 Unit/s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
830 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02557
C02557
Parameter | Name: Data type: INTEGER_32
C02557 | Phase controller output Index: 22018d = 5602h
Motor interface
Display range (min. value | unit | max. value)
-214748.3647 Unit/s 214748.3647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
C02558
Parameter | Name: Data type: INTEGER_32
C02558 | Pos. contr. output Index: 22017d = 5601h
Motor interface
Display range (min. value | unit | max. value)
-214748.3647 Unit/s 214748.3647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
C02559
Parameter | Name: Data type: INTEGER_32
C02559 | Internal torque limits Index: 22016d = 5600h
Motor interface
Display range (min. value | unit | max. value)
-200.00 % 200.00
Subcodes Information
C02559/1 Upper int. torque limit
C02559/2 Lower int. torque limit
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C02560
Parameter | Name: Data type: UNSIGNED_32
C02560 | Messages - motor interface Index: 22015d = 55FFh
Motor interface
Display range (min. value | unit | max. value)
0 4294967295
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02561
Parameter | Name: Data type: INTEGER_32
C02561 | Speed feedforw. control gain Index: 22014d = 55FEh
From software version V1.5
Percentage reduction of the speed feedforward control of the profile generator
• Required in some applications if a 100 % speed feedforward control causes overshoots.
• Only effective for the basic functions "Positioning", "Homing" and "Manual jog".
Motor interface
Setting range (min. value | unit | max. value) Lenze setting
50.00 % 100.00 100.00 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
EDS94AxHExxxx EN 7.0 - 04/2010 L
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831
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02562
C02562
Parameter | Name: Data type: UNSIGNED_32
C02562 | Filter time constant Index: 22013d = 55FDh
From software version V7.0
Motor interface
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 60.000 0.002 s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1000
C02567
Parameter | Name: Data type: UNSIGNED_32
C02567 | Control mode Index: 22008d = 55F8h
Motor interface
Selection list (display only)
0 Position control
1 Speed control
2 Torque control
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02568
Parameter | Name: Data type: INTEGER_32
C02568 | Motor interface: % signals Index: 22007d = 55F7h
Display of the scaled signals of the motor interface.
Display range (min. value | unit | max. value)
-200.00 % 200.00
Subcodes Information
C02568/1 MI_dnPosCtrlAdaptLoad_n
C02568/2 MI_dnPosCtrlAdaptMotor_n
C02568/3 MI_dnSpeedCtrlAdapt_n
C02568/4 MI_dnTorqueHighLimit_n
C02568/5 MI_dnTorqueLowLimit_n
C02568/6 MI_dnTorqueCtrlAdapt_n
C02568/7 MI_dnFluxSetpoint_n
C02568/8 MI_dnInertiaAdapt_n
C02568/9 MI_dnBoostSet_n
C02568/10 MI_dnTorqueAdd_n
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
832 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02569
C02569
Parameter | Name: Data type: UNSIGNED_32
C02569 | Motor interface.: Dig. signals Index: 22006d = 55F6h
Display of the digital signals of the motor interface.
Selection list (display only)
0 FALSE
1 TRUE
Subcodes Information
C02569/1 Reserved
C02569/2 MI_bResetSpeedCtrlIntegrator
C02569/3 MI_bLimitationActive
C02569/4 MI_bPosCtrlLimited
C02569/5 MI_bSpeedSetPointLimited
C02569/6 MI_bSpeedCtrlLimited
C02569/7 MI_bTorqueSetpointLimited
C02569/8 MI_bCurrentSetpointLimited
C02569/9 MI_bSpeedBelowC19
C02569/10 MI_bSpeedFollowingError
C02569/11 MI_bMotorOverloadWarning
C02569/12 MI_bMotorOrientationInverse
C02569/13 MI_bFlyingSyncBusy
C02569/14 MI_bClampIsActive
C02569/15 MI_bMagnetisationFinished
C02569/16 MI_bFlyingSyncBlocked
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02570
Parameter | Name: Data type: UNSIGNED_32
C02570 | Position control structure Index: 22005d = 55F5h
Chapter "Controller configuration" provides you with more information on parameter setting.
Encoder evaluation
Selection list (Lenze setting printed in bold) Information
1 Phase controller is active Motor encoder selection is effected in C00495.
2 Position controller active (<= FW Position controller selection is effected in C00490.
V5.xx)
3 Position controller is active Position controller selection is effected in C00490.
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C02571
Parameter | Name: Data type: UNSIGNED_32
C02571 | Source - actual position Index: 22004d = 55F4h
This code is used internally by the controller and must not be overwritten by the user!
C02572
Parameter | Name: Data type: INTEGER_32
C02572 | Speed setpoint (enc. eval.) Index: 22003d = 55F3h
Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647 Unit/s 214748.3647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
EDS94AxHExxxx EN 7.0 - 04/2010 L
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833
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02573
C02573
Parameter | Name: Data type: INTEGER_32
C02573 | Position setpoint (enc. eval.) Index: 22002d = 55F2h
Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647 Unit 214748.3647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
C02574
Parameter | Name: Data type: INTEGER_32
C02574 | Actual speed (enc. eval.) Index: 22001d = 55F1h
Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647 Unit/s 214748.3647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
C02575
Parameter | Name: Data type: INTEGER_32
C02575 | Actual position (enc. eval.) Index: 22000d = 55F0h
Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647 Unit 214748.3647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
C02576
Parameter | Name: Data type: INTEGER_32
C02576 | Following error Index: 21999d = 55EFh
Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647 Unit 214748.3647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
C02577
Parameter | Name: Data type: INTEGER_32
C02577 | External actual position Index: 21998d = 55EEh
Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647 Unit 214748.3647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
C02578
Parameter | Name: Data type: INTEGER_32
C02578 | Offset actual pos. value/setp. Index: 21997d = 55EDh
Encoder evaluation
Display range (min. value | unit | max. value)
-214748.3647 Unit 214748.3647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
834 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02579
C02579
Parameter | Name: Data type: UNSIGNED_32
C02579 | Encoder eval.: Dig. signals Index: 21996d = 55ECh
Display of the digital signals of the encoder evaluation.
Selection list (display only)
0 FALSE
1 TRUE
Subcodes Information
C02579/1 FDB_bResolverError
C02579/2 FDB_bSinCosSignalError
C02579/3 FDB_bEncoderComError
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02580
Parameter | Name: Data type: UNSIGNED_32
C02580 | Operating mode brake Index: 21995d = 55EBh
Basic function "Brake control"
Selection list (Lenze setting printed in bold)
0 Brake control off
1 Directly with brake module
2 Autom. with brake module
11 Directly - external switching
12 Autom. - external switching
22 Autom. - DC brake
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C02581
Parameter | Name: Data type: INTEGER_32
C02581 | Threshold - brake activation Index: 21994d = 55EAh
Basic function "Brake control"
Setting range (min. value | unit | max. value) Lenze setting
0 rpm 50000 50 rpm
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02582
Parameter | Name: Data type: UNSIGNED_32
C02582 | Brake resp. to pulse inhibit Index: 21993d = 55E9h
Basic function "Brake control"
Selection list (Lenze setting printed in bold)
0 Activate the brake immediately
1 Activate brake at n < nmin
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02583
Parameter | Name: Data type: UNSIGNED_32
C02583 | Status input monitoring Index: 21992d = 55E8h
Basic function "Brake control"
Selection list (Lenze setting printed in bold)
0 Not active
1 Active
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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835
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02585
C02585
Parameter | Name: Data type: UNSIGNED_32
C02585 | Brake control polarity Index: 21990d = 55E6h
Basic function "Brake control"
Selection list (Lenze setting printed in bold)
0 Not inverted
1 Inverted
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02586
Parameter | Name: Data type: INTEGER_32
C02586 | Starting torque 1 Index: 21989d = 55E5h
Basic function "Brake control"
Setting range (min. value | unit | max. value) Lenze setting
-21474836.47 Nm 21474836.47 0.00 Nm
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C02587
Parameter | Name: Data type: INTEGER_32
C02587 | Starting torque 2 Index: 21988d = 55E4h
Basic function "Brake control"
Setting range (min. value | unit | max. value) Lenze setting
-21474836.47 Nm 21474836.47 0.00 Nm
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C02588
Parameter | Name: Data type: UNSIGNED_32
C02588 | Source of starting torque Index: 21987d = 55E3h
Basic function "Brake control"
Selection list (Lenze setting printed in bold)
0 Starting torque 1/2
1 Stopping value
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02589
Parameter | Name: Data type: UNSIGNED_32
C02589 | Brake closing time Index: 21986d = 55E2h
Basic function "Brake control"
Setting range (min. value | unit | max. value) Lenze setting
0 ms 60000 100 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02590
Parameter | Name: Data type: UNSIGNED_32
C02590 | Brake opening time Index: 21985d = 55E1h
Basic function "Brake control"
Setting range (min. value | unit | max. value) Lenze setting
0 ms 60000 100 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
836 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02591
C02591
Parameter | Name: Data type: UNSIGNED_32
C02591 | Waiting time - state monitoring Index: 21984d = 55E0h
Basic function "Brake control"
Setting range (min. value | unit | max. value) Lenze setting
0 ms 60000 100 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02593
Parameter | Name: Data type: UNSIGNED_32
C02593 | Waiting time - brake activation Index: 21982d = 55DEh
Basic function "Brake control"
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 1000.000 0.000 s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1000
C02594
Parameter | Name: Data type: INTEGER_32
C02594 | Test torque Index: 21981d = 55DDh
Basic function "Brake control"
Setting range (min. value | unit | max. value) Lenze setting
-21474836.47 Nm 21474836.47 0.00 Nm
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C02595
Parameter | Name: Data type: INTEGER_32
C02595 | Permissible angle of rotation Index: 21980d = 55DCh
Basic function "Brake control"
Setting range (min. value | unit | max. value) Lenze setting
0 ° 360 5 °
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02596
Parameter | Name: Data type: INTEGER_32
C02596 | Grinding speed Index: 21979d = 55DBh
Basic function "Brake control"
Setting range (min. value | unit | max. value) Lenze setting
0 rpm 300 100 rpm
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02597
Parameter | Name: Data type: UNSIGNED_32
C02597 | Accel./decel. time - grinding Index: 21978d = 55DAh
Basic function "Brake control"
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 60.000 1.000 s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1000
EDS94AxHExxxx EN 7.0 - 04/2010 L
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837
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02598
C02598
Parameter | Name: Data type: UNSIGNED_32
C02598 | Grinding ON time Index: 21977d = 55D9h
Basic function "Brake control"
Setting range (min. value | unit | max. value) Lenze setting
0.2 s 2.0 0.5 s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
C02599
Parameter | Name: Data type: UNSIGNED_32
C02599 | Grinding OFF time Index: 21976d = 55D8h
Basic function "Brake control"
Setting range (min. value | unit | max. value) Lenze setting
0.2 s 2.0 0.5 s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
C02600
Parameter | Name: Data type: UNSIGNED_32
C02600 | Acceleration time feedf. control Index: 21975d = 55D7h
From software version V3.0
Basic function "Brake control"
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 1000.000 0.000 s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1000
C02601
Parameter | Name: Data type: UNSIGNED_32
C02601 | Ref. for Accel. time of brake Index: 21974d = 55D6h
From software version V3.0
Basic function "Brake control"
Selection list (Lenze setting printed in bold)
0 Motor reference value
1 Current starting value
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02602
Parameter | Name: Data type: UNSIGNED_32
C02602 | Source for feedf. control brake Index: 21973d = 55D5h
From software version V3.0
Basic function "Brake control"
Selection list (Lenze setting printed in bold)
0 Torque
1 Speed
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02603
Parameter | Name: Data type: INTEGER_32
C02603 | Threshold 1 for opening brake Index: 21972d = 55D4h
From software version V3.0
Basic function "Brake control"
Setting range (min. value | unit | max. value) Lenze setting
-50000 rpm 50000 0 rpm
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
838 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02604
C02604
Parameter | Name: Data type: INTEGER_32
C02604 | Threshold 2 for opening brake Index: 21971d = 55D3h
From software version V3.0
Basic function "Brake control"
Setting range (min. value | unit | max. value) Lenze setting
-50000 rpm 50000 0 rpm
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02607
Parameter | Name: Data type: INTEGER_32
C02607 | BRK_dnState Index: 21968d = 55D0h
Bit coded status of the basic function "Brake control".
Display range (min. value | unit | max. value)
-2147483648 2147483647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02608
Parameter | Name: Data type: INTEGER_32
C02608 | BRK_dnTorqueAdd_n Index: 21967d = 55CFh
Display of the additive torque value of the basic function "brake control".
Display range (min. value | unit | max. value)
-200.00 % 200.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C02609
Parameter | Name: Data type: UNSIGNED_32
C02609 | Brake control: Dig. signals Index: 21966d = 55CEh
Display of the digital signals of the basic function "brake control".
Selection list (display only)
0 FALSE
1 TRUE
Subcodes Information
C02609/1 BRK_bReleaseBrake
C02609/2 BRK_bStartingTorque2
C02609/3 BRK_bBrakeApplied
C02609/4 BRK_bBrakeTest
C02609/5 BRK_bBrakeGrindIn
C02609/6 BRK_bReleaseBrakeOut
C02609/7 BRK_bBrakeReleased
C02609/8 BRK_bError
C02609/9 BRK_bCInhActive
C02609/10 BRK_bDisableStop
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02610
Parameter | Name: Data type: UNSIGNED_32
C02610 | Deceleration time for stop Index: 21965d = 55CDh
Basic function "Stop"
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 1000.000 1.000 s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1000
EDS94AxHExxxx EN 7.0 - 04/2010 L
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839
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02611
C02611
Parameter | Name: Data type: UNSIGNED_32
C02611 | S-ramp time for stop Index: 21964d = 55CCh
Basic function "Stop"
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 10.000 0.100 s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1000
C02612
Parameter | Name: Data type: UNSIGNED_32
C02612 | Ref. for decel. time of stop Index: 21963d = 55CBh
Basic function "Stop"
Selection list (Lenze setting printed in bold)
0 Motor reference speed (C00011)
1 Current speed
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02616
Parameter | Name: Data type: INTEGER_32
C02616 | STP_dnState Index: 21959d = 55C7h
Bit coded status of the basic function "Stop".
Display range (min. value | unit | max. value)
-2147483648 2147483647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02617
Parameter | Name: Data type: UNSIGNED_32
C02617 | STP_bStopActive Index: 21958d = 55C6h
Status of the basic function "Stop".
Selection list (display only)
0 Normal stop not active
1 Normal stop active
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02619
Parameter | Name: Data type: UNSIGNED_32
C02619 | Quick stop: Dig. signals Index: 21956d = 55C4h
Display of the digital signals of the basic function "Quick stop".
Selection list (display only)
0 FALSE
1 TRUE
Subcodes Information
C02619/1 QSP_bActivate1
C02619/2 QSP_bActivate2
C02619/3 QSP_bActivate3
C02619/4 QSP_bActive
C02619/5 QSP_bActivateDCBrake
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
840 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02620
C02620
Parameter | Name: Data type: INTEGER_32
C02620 | Manual jog: Speed 1 Index: 21955d = 55C3h
Basic function "Manual jog"
Setting range (min. value | unit | max. value) Lenze setting
0.0000 Unit/s 214748.3647 360.0000 Unit/s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
C02621
Parameter | Name: Data type: INTEGER_32
C02621 | Manual jog: Speed 2 Index: 21954d = 55C2h
Basic function "Manual jog"
Setting range (min. value | unit | max. value) Lenze setting
0.0000 Unit/s 214748.3647 720.0000 Unit/s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
C02622
Parameter | Name: Data type: INTEGER_32
C02622 | Manual jog: Acceleration Index: 21953d = 55C1h
Basic function "Manual jog"
Setting range (min. value | unit | max. value) Lenze setting
0.0000 Unit/s² 214748.3647 360.0000 Unit/s²
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
C02623
Parameter | Name: Data type: INTEGER_32
C02623 | Manual jog: Deceleration Index: 21952d = 55C0h
Basic function "Manual jog"
Setting range (min. value | unit | max. value) Lenze setting
0.0000 Unit/s² 214748.3647 1440.0000 Unit/s²
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
C02624
Parameter | Name: Data type: UNSIGNED_32
C02624 | Manual jog: S-ramp time Index: 21951d = 55BFh
Basic function "Manual jog"
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 10.000 0.100 s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1000
C02625
Parameter | Name: Data type: INTEGER_32
C02625 | Manual jog: Step size Index: 21950d = 55BEh
From software version V5.0
Step distance for "Manual jog with step limitation" mode.
Basic function "Manual jog"
Setting range (min. value | unit | max. value) Lenze setting
0.0000 Unit 214748.3647 360.0000 Unit
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
EDS94AxHExxxx EN 7.0 - 04/2010 L
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841
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02626
C02626
Parameter | Name: Data type: INTEGER_32
C02626 | Manual jog:Index Stop position Index: 21949d = 55BDh
From software version V5.0
Selection of the breakpoint positions for "Manual jog with breakpoint" mode.
• In connection with a function block instance of type L_PosPositionerTable:
The index [1...75] of the table position in the VTPOS table has to be specified, which contains the intermediate
stop position x that is to be used.
• In connection with a function block instance of type L_PosProfileTable:
The index [1...4] of the profile data set in the VTPOS table has to be specified, which contains the intermediate
stop position x that is to be used.
Basic function "Manual jog"
Setting range (min. value | unit | max. value)
0 75
Subcodes Lenze setting Information
C02626/1 0 Index of the breakpoint positions 1 ... 16
C02626/...
C02626/16
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02627
Parameter | Name: Data type: INTEGER_32
C02627 | Manual jog:Selected Stop position Index: 21948d = 55BCh
From software version V5.0
Display of the breakpoint positions selected via C02626/1...16 for "Manual jog with breakpoints".
Basic function "Manual jog"
Display range (min. value | unit | max. value)
-214748.3648 Unit 214748.3647
Subcodes Information
C02627/1 Breakpoint position 1 ... 16
C02627/...
C02627/16
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
C02637
Parameter | Name: Data type: INTEGER_32
C02637 | MAN_dnSpeedOverride_n Index: 21938d = 55B2h
From software version V5.0
Display of the speed override for the basic function "Manual jog".
Display range (min. value | unit | max. value)
-200.00 % 200.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C02638
Parameter | Name: Data type: INTEGER_32
C02638 | Manual jog: Status Index: 21937d = 55B1h
Status of the basic function "Manual jog".
Display range (min. value | unit | max. value)
0 8
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
842 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02639
C02639
Parameter | Name: Data type: UNSIGNED_32
C02639 | Manual jog: Dig. signals Index: 21936d = 55B0h
Display of the digital signals of the basic function "Manual jog".
Selection list (display only)
0 FALSE
1 TRUE
Subcodes Information
C02639/1 MAN_bEnable
C02639/2 MAN_bJogPositive
C02639/3 MAN_bJogNegative
C02639/4 MAN_bActivateJogSpeed2
C02639/5 MAN_bReleaseLimitSwitch
C02639/6 MAN_bEnabled
C02639/7 MAN_bActive
C02639/8 MAN_bStepMode
C02639/9 MAN_bIntermediateStopMode
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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843
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02640
C02640
844 L EDS94AxHExxxx EN 7.0 - 04/2010
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9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02640
EDS94AxHExxxx EN 7.0 - 04/2010 L
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845
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02640
Parameter | Name: Data type: UNSIGNED_32
C02640 | Homing mode Index: 21935d = 55AFh
Selection of the way homing is to be carried out.
Basic function "Homing"
Selection list (Lenze setting printed in bold) Information
0 cw_Rn_TP Positive direction - via home mark - to TP
Process description
1 ccw_Rn_TP Negative direction - via home mark - to TP
Process description
2 cw_Lp_ccw_Rn_TP Pos. direction - reversing to limit switch - via home mark
- to TP
Process description
3 ccw_Ln_cw_Rn_TP Neg. direction - reversing to limit switch - via home mark
- to TP
Process description
4 cw_Rp_ccw_Rn_TP Pos. direction - reversing to home mark - to TP
Process description
5 ccw_Rp_cw_Rn_TP Neg. direction - reversing to home mark - to TP
Process description
8 cw_TP Positive direction to touch probe
Process description
9 ccw_TP Negative direction to touch probe
Process description
10 cw_Lp_ccw_TP Pos. direction - reversing to limit switch - to TP
Process description
11 ccw_Ln_cw_TP Neg. direction - reversing to limit switch - to TP
Process description
12 cw_Lp Positive direction to limit switch
Process description
13 ccw_Ln Negative direction to limit switch
Process description
14 cw_Trq_Lim Positive direction to torque limit
Process description
15 ccw_Trq_Lim Negative direction to torque limit
Process description
100 Set home pos. directly Set home pos. directly
Process description
1001 DS402 homing method 01 From software version V3.0 also the homing methods in
accordance with DS402 are provided.
Overview of DS402 homing modes
846 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02641
Parameter | Name: Data type: UNSIGNED_32
C02640 | Homing mode Index: 21935d = 55AFh
1002 DS402 homing method 02
1003 DS402 homing method 03
1004 DS402 homing method 04
1005 DS402 homing method 05
1006 DS402 homing method 06
1007 DS402 homing method 07
1008 DS402 homing method 08
1009 DS402 homing method 09
1010 DS402 homing method 10
1011 DS402 homing method 11
1012 DS402 homing method 12
1013 DS402 homing method 13
1014 DS402 homing method 14
1015 DS402 homing method 15
1016 DS402 homing method 16
1017 DS402 homing method 17
1018 DS402 homing method 18
1019 DS402 homing method 19
1020 DS402 homing method 20
1021 DS402 homing method 21
1022 DS402 homing method 22
1023 DS402 homing method 23
1024 DS402 homing method 24
1025 DS402 homing method 25
1026 DS402 homing method 26
1027 DS402 homing method 27
1028 DS402 homing method 28
1029 DS402 homing method 29
1030 DS402 homing method 30
1031 DS402 homing method 31
1032 DS402 homing method 32
1033 DS402 homing method 33
1034 DS402 homing method 34
1035 DS402 homing method 35
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02641
Parameter | Name: Data type: UNSIGNED_32
C02641 | Action after detect Home position Index: 21934d = 55AEh
From software version V4.0
Basic function "Homing"
Selection list (Lenze setting printed in bold)
0 Move absolute on target position
1 Move relative by Target position
2 Stop immediately
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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847
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02642
C02642
Parameter | Name: Data type: INTEGER_32
C02642 | Home position Index: 21933d = 55ADh
Basic function "Homing"
Setting range (min. value | unit | max. value) Lenze setting
-214748.3647 Unit 214748.3647 0.0000 Unit
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
C02643
Parameter | Name: Data type: INTEGER_32
C02643 | Homing: Target position Index: 21932d = 55ACh
Basic function "Homing"
Setting range (min. value | unit | max. value) Lenze setting
-214748.3647 Unit 214748.3647 0.0000 Unit
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
C02644
Parameter | Name: Data type: INTEGER_32
C02644 | Homing: Speed 1 Index: 21931d = 55ABh
Basic function "Homing"
Setting range (min. value | unit | max. value) Lenze setting
0.0000 Unit/s 214748.3647 360.0000 Unit/s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
C02645
Parameter | Name: Data type: INTEGER_32
C02645 | Homing: Acceleration 1 Index: 21930d = 55AAh
Basic function "Homing"
Setting range (min. value | unit | max. value) Lenze setting
0.0000 Unit/s² 214748.3647 720.0000 Unit/s²
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
C02646
Parameter | Name: Data type: INTEGER_32
C02646 | Homing: Speed 2 Index: 21929d = 55A9h
Basic function "Homing"
Setting range (min. value | unit | max. value) Lenze setting
0.0000 Unit/s 214748.3647 0.0000 Unit/s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
C02647
Parameter | Name: Data type: INTEGER_32
C02647 | Homing: Acceleration 2 Index: 21928d = 55A8h
Basic function "Homing"
Setting range (min. value | unit | max. value) Lenze setting
0.0000 Unit/s² 214748.3647 360.0000 Unit/s²
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
848 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02648
C02648
Parameter | Name: Data type: INTEGER_32
C02648 | Homing: S-ramp time Index: 21927d = 55A7h
Basic function "Homing"
Setting range (min. value | unit | max. value) Lenze setting
0 ms 10000 100 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02649
Parameter | Name: Data type: INTEGER_32
C02649 | Homing: Torque limit Index: 21926d = 55A6h
Basic function "Homing"
Setting range (min. value | unit | max. value) Lenze setting
0.00 % 200.00 10.00 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C02650
Parameter | Name: Data type: UNSIGNED_32
C02650 | Homing: Blocking time Index: 21925d = 55A5h
Basic function "Homing"
Setting range (min. value | unit | max. value) Lenze setting
0.000 s 120.000 1.000 s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1000
C02651
Parameter | Name: Data type: UNSIGNED_32
C02651 | Homing: TP configuration Index: 21924d = 55A4h
Basic function "Homing"
Setting range (min. value | unit | max. value) Lenze setting
0 4294967295 16
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02652
Parameter | Name: Data type: UNSIGNED_32
C02652 | Ref. pos. after mains switching Index: 21923d = 55A3h
Basic function "Homing"
Selection list (Lenze setting printed in bold)
0 Delete
1 Retain
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02653
Parameter | Name: Data type: INTEGER_32
C02653 | Max. rot. ang. aft. mns. swtch. Index: 21922d = 55A2h
Basic function "Homing"
Setting range (min. value | unit | max. value) Lenze setting
0 ° 1000000 180 °
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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849
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02655
C02655
Parameter | Name: Data type: INTEGER_32
C02655 | HM_dnSpeedOverride_n Index: 21920d = 55A0h
From software version V5.0
Display of the speed override for the basic function "Homing".
Display range (min. value | unit | max. value)
-200.00 % 200.00
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C02656
Parameter | Name: Data type: INTEGER_32
C02656 | Actual position (homing) Index: 21919d = 559Fh
Basic function "Homing"
Display range (min. value | unit | max. value)
-214748.3647 Unit 214748.3647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
C02657
Parameter | Name: Data type: INTEGER_32
C02657 | HM_dnState Index: 21918d = 559Eh
Bit coded status of the basic function "Homing".
Display range (min. value | unit | max. value)
-2147483648 2147483647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02658
Parameter | Name: Data type: INTEGER_32
C02658 | HM_dnHomePos_p Index: 21917d = 559Dh
Display of the HM_dnHomePos_p input signal of the basic function "Homing".
Display range (min. value | unit | max. value)
-214748.3647 214748.3647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
C02659
Parameter | Name: Data type: UNSIGNED_32
C02659 | Homing: Dig. signals Index: 21916d = 559Ch
Display of the digital signals of the basic function "Homing".
Selection list (display only)
0 FALSE
1 TRUE
Subcodes Information
C02659/1 HM_bEnable
C02659/2 HM_bActivateHoming
C02659/3 HM_bHomingMark
C02659/4 HM_bLoadHomePos
C02659/5 HM_bResetHomePos
C02659/6 HM_bEnabled
C02659/7 HM_bActive
C02659/8 HM_bDone
C02659/9 HM_bHomePosAvailable
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
850 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02670
C02670
Parameter | Name: Data type: INTEGER_32
C02670 | Tolerance for POS_bActPosInTarget Index: 21905d = 5591h
From software version V1.5
Tolerance window for actual value-based evaluation "Target position reached"
(Output POS_bActPosInTarget)
Basic function "Positioning"
Setting range (min. value | unit | max. value) Lenze setting
0.0000 Unit 214748.3647 0.0000 Unit
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
C02671
Parameter | Name: Data type: INTEGER_32
C02671 | Tolerance for POS_bDriveInTarget Index: 21904d = 5590h
From software version V5.0
Tolerance window for actual value and setpoint-based evaluation "Drive in the target"
(Output POS_bDriveInTarget)
Basic function "Positioning"
Setting range (min. value | unit | max. value) Lenze setting
0.0001 Unit 214748.3647 2.0000 Unit
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
C02672
Parameter | Name: Data type: INTEGER_32
C02672 | Hysteresis for POS_bDriveInTarget Index: 21903d = 558Fh
From software version V5.0
Hysteresis window for actual value and setpoint-based evaluation "Drive in the target"
(Output POS_bDriveInTarget)
Basic function "Positioning"
Setting range (min. value | unit | max. value) Lenze setting
0.0000 Unit 214748.3647 1.0000 Unit
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
C02673
Parameter | Name: Data type: UNSIGNED_32
C02673 | Activate DriveInTarget Modulo Index: 21902d = 558Eh
From software version V5.0
For actual value and setpoint-based evaluation "Drive in target" (output POS_bDriveInTarget):
Definition how the modulo evaluation is to be carried out if the actual position value enters the tolerance and
hysteresis window again.
Basic function "Positioning"
Selection list (Lenze setting printed in bold)
0 Only setpoint Cycle
1 All cycles
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02674
Parameter | Name: Data type: UNSIGNED_32
C02674 | POS_dwActualProfileNumber Index: 21901d = 558Dh
Current profile of the basic function "Positioning".
Display range (min. value | unit | max. value)
0 1000
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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851
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02675
C02675
Parameter | Name: Data type: INTEGER_32
C02675 | POS_dnState Index: 21900d = 558Ch
Bit coded status of the basic function "Positioning".
Display range (min. value | unit | max. value)
-2147483648 2147483647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02676
Parameter | Name: Data type: INTEGER_32
C02676 | POS_dnProfileSpeed_s Index: 21899d = 558Bh
Display of the max. speed of the current profile of the basic function "Positioning".
Display range (min. value | unit | max. value)
-214748.3647 214748.3647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
C02677
Parameter | Name: Data type: INTEGER_32
C02677 | Positioning: % signals Index: 21898d = 558Ah
Display of the scaled signals of the basic function "Positioning".
Display range (min. value | unit | max. value)
-200.00 % 200.00
Subcodes Information
C02677/1 POS_dnSpeedOverride_n
C02677/2 POS_dnAccOverride_n
C02677/3 POS_dnDecOverride_n
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C02678
Parameter | Name: Data type: INTEGER_32
C02678 | Positioning: Pos. signals Index: 21897d = 5589h
Display of the position signals of the basic function "Positioning".
Display range (min. value | unit | max. value)
-214748.3647 Unit 214748.3647
Subcodes Information
C02678/1 POS_dnSetPos_p
C02678/2 POS_dnProfileTarget_p
C02678/3 POS_dnActPosRelative_p
C02678/4 POS_dnSetPosRelative_p
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
852 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02679
C02679
Parameter | Name: Data type: UNSIGNED_32
C02679 | Positioning: Dig. signals Index: 21896d = 5588h
Display of the digital signals of the basic function "Positioning".
Selection list (display only)
0 FALSE
1 TRUE
Subcodes Information
C02679/1 POS_bEnable
C02679/2 POS_bStart
C02679/3 POS_bAbort
C02679/4 POS_bRestart
C02679/5 POS_bEnableOverride
C02679/6 POS_bDisableTP
C02679/7 POS_bEnabled
C02679/8 POS_bActive
C02679/9 POS_bDone
C02679/10 POS_bInTarget
C02679/11 POS_bActPosInTarget
C02679/12 POS_bDriveInTarget
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02680
Parameter | Name: Data type: UNSIGNED_32
C02680 | Source position setpoint Index: 21895d = 5587h
Basic function "Positioning"
Selection list (Lenze setting printed in bold)
0 Position setpoint input
1 From add. speed
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02681
Parameter | Name: Data type: UNSIGNED_32
C02681 | Source add. speed Index: 21894d = 5586h
Basic function "Positioning"
Selection list (Lenze setting printed in bold)
0 Add. speed input
1 From position setpoint
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02685
Parameter | Name: Data type: INTEGER_32
C02685 | PF_dnMotorAcc_x Index: 21890d = 5582h
Display of the motor acceleration of the basic function "Position follower".
Display range (min. value | unit | max. value)
-7680000.0 7680000.0
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10
EDS94AxHExxxx EN 7.0 - 04/2010 L
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853
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02686
C02686
Parameter | Name: Data type: INTEGER_32
C02686 | PF_dnSpeedAdd1_s Index: 21889d = 5581h
Display of the speed feedforward control value of the basic function "Position follower".
Display range (min. value | unit | max. value)
-480000.0 rpm 480000.0
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10
C02687
Parameter | Name: Data type: INTEGER_32
C02687 | Position follower: % signals Index: 21888d = 5580h
Display of the scaled signals of the basic function "Position follower".
Display range (min. value | unit | max. value)
-200.00 % 200.00
Subcodes Information
C02687/1 PF_dnSpeedAdd2_n
C02687/2 PF_dnTorqueAdd_n
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C02688
Parameter | Name: Data type: INTEGER_32
C02688 | PF_dnPositionSet_p Index: 21887d = 557Fh
Display of the position signals of the basic function "Position follower".
Display range (min. value | unit | max. value)
-214748.3648 Revolution 214748.3647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10000
C02689
Parameter | Name: Data type: UNSIGNED_32
C02689 | Position follower: Dig. signals Index: 21886d = 557Eh
Display of the digital signals of the basic function "Position follower".
Selection list (display only)
0 FALSE
1 TRUE
Subcodes Information
C02689/1 PF_bEnable
C02689/2 PF_bEnabled
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02692
Parameter | Name: Data type: INTEGER_32
C02692 | SF_dnMotorAcc_x Index: 21883d = 557Bh
Display of the motor acceleration of the basic function "Speed follower".
Display range (min. value | unit | max. value)
-7680000.0 7680000.0
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10
854 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02693
C02693
Parameter | Name: Data type: INTEGER_32
C02693 | SF_dnSpeedAdd_s Index: 21882d = 557Ah
Display of the additive speed setpoint of the basic function "Speed follower".
Display range (min. value | unit | max. value)
-480000.0 rpm 480000.0
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10
C02694
Parameter | Name: Data type: INTEGER_32
C02694 | Speed follower: % signals Index: 21881d = 5579h
Display of the scaled signals of the basic function "Speed follower".
Display range (min. value | unit | max. value)
-200.00 % 200.00
Subcodes Information
C02694/1 SF_dnSpeedSet_n
C02694/2 SF_dnTorqueAdd_n
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
C02695
Parameter | Name: Data type: UNSIGNED_32
C02695 | Speed follower: Dig. signals Index: 21880d = 5578h
Display of the digital signals of the basic function "Speed follower".
Selection list (display only)
0 FALSE
1 TRUE
Subcodes Information
C02695/1 SF_bEnable
C02695/2 SF_bEnabled
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02698
Parameter | Name: Data type: INTEGER_32
C02698 | Torque follower: % signals Index: 21877d = 5575h
Display of the scaled signals of the basic function "Torque follower".
Display range (min. value | unit | max. value)
-200.00 % 200.00
Subcodes Information
C02698/1 TF_TorqueSet_n
C02698/2 TF_dnSpeedHighLimit_n
C02698/3 TF_dnSpeedLowLimit_n
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
EDS94AxHExxxx EN 7.0 - 04/2010 L
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855
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02699
C02699
Parameter | Name: Data type: UNSIGNED_32
C02699 | Torque follower: Dig. signals Index: 21876d = 5574h
Display of the digital signals of the basic function "Torque follower".
Selection list (display only)
0 FALSE
1 TRUE
Subcodes Information
C02699/1 TF_bEnable
C02699/2 TF_bEnabled
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02700
Parameter | Name: Data type: UNSIGNED_32
C02700 | Software limits pos. effective Index: 21875d = 5573h
Basic function "Limiter"
Selection list (Lenze setting printed in bold)
0 Deactivated
1 Activated
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02701
Parameter | Name: Data type: INTEGER_32
C02701 | Software limit positions Index: 21874d = 5572h
Basic function "Limiter"
Setting range (min. value | unit | max. value)
-214748.3647 Unit 214748.3647
Subcodes Lenze setting Information
C02701/1 0.0000 Unit Positive software limit position
C02701/2 0.0000 Unit Negative software limit position
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
C02702
Parameter | Name: Data type: UNSIGNED_32
C02702 | Limitations effective Index: 21873d = 5571h
Basic function "Limiter"
Selection list (Lenze setting printed in bold)
0 Deactivated
1 Activated
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02703
Parameter | Name: Data type: INTEGER_32
C02703 | Max. speed Index: 21872d = 5570h
Basic function "Limiter"
Setting range (min. value | unit | max. value) Lenze setting
0.0000 Unit/s 214748.3647 3600.0000 Unit/s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
856 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02704
C02704
Parameter | Name: Data type: INTEGER_32
C02704 | Max. speed [rpm] Index: 21871d = 556Fh
Basic function "Limiter"
Display range (min. value | unit | max. value)
0.0 rpm 214748364.7
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10
C02705
Parameter | Name: Data type: INTEGER_32
C02705 | Max. acceleration Index: 21870d = 556Eh
Basic function "Limiter"
Setting range (min. value | unit | max. value) Lenze setting
0.0000 Unit/s² 214748.3647 3600.0000 Unit/s²
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
C02706
Parameter | Name: Data type: UNSIGNED_32
C02706 | Min. S-ramp time Index: 21869d = 556Dh
Basic function "Limiter"
Setting range (min. value | unit | max. value) Lenze setting
0 ms 10000 100 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02707
Parameter | Name: Data type: UNSIGNED_32
C02707 | Permissible direction of rot. Index: 21868d = 556Ch
Basic function "Limiter"
Selection list (Lenze setting printed in bold)
0 Positive and negative
1 Positive only
2 Negative only
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02708
Parameter | Name: Data type: INTEGER_32
C02708 | Limited speed Index: 21867d = 556Bh
Basic function "Limiter"
Setting range (min. value | unit | max. value)
0.0000 Unit/s 214748.3647
Subcodes Lenze setting Information
C02708/1 3600.0000 Unit/s Limited speed 1 ... 4
C02708/2 7200.0000 Unit/s
C02708/3 14400.0000 Unit/s
C02708/4 28800.0000 Unit/s
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
EDS94AxHExxxx EN 7.0 - 04/2010 L
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857
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02709
C02709
Parameter | Name: Data type: INTEGER_32
C02709 | Limited speed [rpm] Index: 21866d = 556Ah
Basic function "Limiter"
Display range (min. value | unit | max. value)
0.0 rpm 214748364.7
Subcodes Information
C02709/1 Limited speed 1 ... 4
C02709/2
C02709/3
C02709/4
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10
C02710
Parameter | Name: Data type: UNSIGNED_32
C02710 | Delay lim. speed Index: 21865d = 5569h
Basic function "Limiter"
Setting range (min. value | unit | max. value)
0.0000 Unit/s² 214748.3647
Subcodes Lenze setting Information
C02710/1 0.0100 Unit/s² Delays for limited speed 1 ... 4
C02710/2 0.0100 Unit/s²
C02710/3 0.0100 Unit/s²
C02710/4 0.0100 Unit/s²
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
C02711
Parameter | Name: Data type: UNSIGNED_32
C02711 | S-ramp time lim. speed Index: 21864d = 5568h
Basic function "Limiter"
Setting range (min. value | unit | max. value)
0 ms 10000
Subcodes Lenze setting Information
C02711/1 100 ms S-ramp times for limited speed 1 ... 4
C02711/2 100 ms
C02711/3 100 ms
C02711/4 100 ms
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02712
Parameter | Name: Data type: UNSIGNED_32
C02712 | Decel. time lim. speed Index: 21863d = 5567h
Basic function "Limiter"
Display range (min. value | unit | max. value)
0 ms 10000
Subcodes Information
C02712/1 Deceleration times for limited speed 1 ... 4
C02712/2
C02712/3
C02712/4
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
858 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02713
C02713
Parameter | Name: Data type: UNSIGNED_32
C02713 | Max. dist. manual control Index: 21862d = 5566h
Basic function "Limiter"
Setting range (min. value | unit | max. value) Lenze setting
0.0000 Unit 214748.3647 360.0000 Unit
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10000
C02714
Parameter | Name: Data type: UNSIGNED_32
C02714 | Max. dist. manual jog [inc.] Index: 21861d = 5565h
Basic function "Limiter"
Display range (min. value | unit | max. value)
0 Incr. 2147483647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02715
Parameter | Name: Data type: UNSIGNED_32
C02715 | Limitation active Index: 21860d = 5564h
Basic function "Limiter"
Selection list (display only)
0 Deactivated
1 Activated
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02716
Parameter | Name: Data type: UNSIGNED_32
C02716 | Resp. to limitation Index: 21859d = 5563h
Basic function "Limiter"
Selection list
1 Fault
2 Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6 Information
0 No response
Subcodes Lenze setting Information
C02716/1 6: Information Resp. to rotation limitation
C02716/2 3: Quick stop by trouble Resp. to SW lim. pos. exceeded
C02716/3 6: Information Resp. to max. value exceeded
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02717
Parameter | Name: Data type: UNSIGNED_32
C02717 | LIM_dwControl Index: 21858d = 5562h
Bit coded control word of the basic function "Limiter".
Display range (min. value | unit | max. value)
0 4294967295
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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859
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02718
C02718
Parameter | Name: Data type: INTEGER_32
C02718 | LIM_dnState Index: 21857d = 5561h
Status of the basic function "Limiter".
Display range (min. value | unit | max. value)
0 1
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02719
Parameter | Name: Data type: UNSIGNED_32
C02719 | Limiter: Dig. signals Index: 21856d = 5560h
Display of the digital input signals of the basic function "Limiter".
Selection list (display only)
0 FALSE
1 TRUE
Subcodes Information
C02719/1 LIM_bLimitSwitchPositive
C02719/2 LIM_bLimitSwitchNegative
C02719/3 LIM_bActivateLimitedSpeed1
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02720
Parameter | Name: Data type: UNSIGNED_32
C02720 | observation software limit positions Index: 21855d = 555Fh
From software version V4.0
Basic function "Limiter"
Selection list (Lenze setting printed in bold)
0 Based on set value
1 Based on set and actual value
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02730
Parameter | Name: Data type: INTEGER_32
C02730 | Analog inputs: Gain Index: 21845d = 5555h
Setting range (min. value | unit | max. value)
-200.00 % 200.00
Subcodes Lenze setting Information
C02730/1 100.00 % Gain - analog input 1
C02730/2 100.00 % Analog input 2: Gain
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C02731
Parameter | Name: Data type: INTEGER_32
C02731 | Analog inputs: Offset Index: 21844d = 5554h
Setting range (min. value | unit | max. value)
-200.00 % 200.00
Subcodes Lenze setting Information
C02731/1 0.00 % Offset - analog input 1
C02731/2 0.00 % Analog input 2: Offset
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
860 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02732
C02732
Parameter | Name: Data type: INTEGER_32
C02732 | Analog inputs: Dead band Index: 21843d = 5553h
Setting range (min. value | unit | max. value)
0.00 % 100.00
Subcodes Lenze setting Information
C02732/1 0.00 % Dead band - analog input 1
C02732/2 0.00 % Analog input 2: Dead band
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C02733
Parameter | Name: Data type: INTEGER_32
C02733 | Analog outputs: Gain Index: 21842d = 5552h
Setting range (min. value | unit | max. value)
-200.00 % 200.00
Subcodes Lenze setting Information
C02733/1 100.00 % Gain - analog output 1
C02733/2 100.00 % Analog output 2: Gain
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C02734
Parameter | Name: Data type: INTEGER_32
C02734 | Analog outputs: Offset Index: 21841d = 5551h
Setting range (min. value | unit | max. value)
-200.00 % 200.00
Subcodes Lenze setting Information
C02734/1 0.00 % Offset - analog output 1
C02734/2 0.00 % Analog output 2: Offset
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C02760
Parameter | Name: Data type: UNSIGNED_32
C02760 | Activate encoder Index: 21815d = 5537h
From software version V7.0
Encoder evaluation: Provision of the encoder signal of input X8
Selection list (Lenze setting printed in bold)
0 Deactivated
1 Activated
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02761
Parameter | Name: Data type: UNSIGNED_32
C02761 | Multiturn resolution Index: 21814d = 5536h
From software version V7.0
Encoder evaluation: Provision of the encoder signal of input X8
Display range (min. value | unit | max. value)
0 Rev 2147483647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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861
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02762
C02762
Parameter | Name: Data type: INTEGER_32
C02762 | Encoderpos Index: 21813d = 5535h
From software version V7.0
Encoder evaluation: Provision of the encoder signal of input X8
Display range (min. value | unit | max. value)
-2147483647 Steps 2147483647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02763
Parameter | Name: Data type: INTEGER_32
C02763 | Encoderrev Index: 21812d = 5534h
From software version V7.0
Encoder evaluation: Provision of the encoder signal of input X8
Display range (min. value | unit | max. value)
-2147483647 Steps 2147483647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02764
Parameter | Name: Data type: INTEGER_32
C02764 | Encoderspeed Index: 21811d = 5533h
From software version V7.0
Encoder evaluation: Provision of the encoder signal of input X8
Display range (min. value | unit | max. value)
-214748364.7 rpm 214748364.7
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10
C02765
Parameter | Name: Data type: UNSIGNED_32
C02765 | Enc_bError Index: 21810d = 5532h
From software version V7.0
Encoder evaluation: Provision of the encoder signal of input X8
Selection list (display only)
0 FALSE
1 TRUE
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02770
Parameter | Name: Data type: UNSIGNED_32
C02770 | Operating mode Index: 21805d = 552Dh
From software version V7.0
Basic function "Manual jog open loop"
Selection list (Lenze setting printed in bold)
0 Deactivate
1 Activate
Subcodes Lenze setting Information
C02770/1 0: Deactivate EnableManualMode
C02770/2 0: Deactivate JogPositive
C02770/3 0: Deactivate JogNegative
C02770/4 0: Deactivate SelectTab1
C02770/5 0: Deactivate SelectTab2
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
862 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02771
C02771
Parameter | Name: Data type: INTEGER_32
C02771 | Frequency Index: 21804d = 552Ch
From software version V7.0
Basic function "Manual jog open loop"
Setting range (min. value | unit | max. value)
0.0 Hz 1000.0
Subcodes Lenze setting Information
C02771/1 1.0 Hz Frequency 1
C02771/2 1.0 Hz Frequency 2
C02771/3 1.0 Hz Frequency 3
C02771/4 1.0 Hz Frequency 4
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
C02772
Parameter | Name: Data type: INTEGER_32
C02772 | Starting angle Index: 21803d = 552Bh
From software version V7.0
Basic function "Manual jog open loop"
Setting range (min. value | unit | max. value)
-180.0 ° 180.0
Subcodes Lenze setting Information
C02772/1 0.0 ° Startangle 1
C02772/2 0.0 ° Startangle 2
C02772/3 0.0 ° Startangle 3
C02772/4 0.0 ° Startangle 4
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 10
C02773
Parameter | Name: Data type: INTEGER_32
C02773 | Current Index: 21802d = 552Ah
From software version V7.0
100 % ½ Imax_device (C00022)
Basic function "Manual jog open loop"
Setting range (min. value | unit | max. value)
0.00 % 100.00
Subcodes Lenze setting Information
C02773/1 10.00 % Current 1
C02773/2 10.00 % Current 2
C02773/3 10.00 % Current 3
C02773/4 10.00 % Current 4
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
EDS94AxHExxxx EN 7.0 - 04/2010 L
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863
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02774
C02774
Parameter | Name: Data type: INTEGER_32
C02774 | Acceleration time Index: 21801d = 5529h
From software version V7.0
Basic function "Manual jog open loop"
Setting range (min. value | unit | max. value)
0.001 s 2147483.647
Subcodes Lenze setting Information
C02774/1 1.000 s Acceleration time 1
C02774/2 1.000 s Acceleration time 2
C02774/3 1.000 s Acceleration time 3
C02774/4 1.000 s Acceleration time 4
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1000
C02775
Parameter | Name: Data type: INTEGER_32
C02775 | Deceleration time Index: 21800d = 5528h
From software version V7.0
Basic function "Manual jog open loop"
Setting range (min. value | unit | max. value)
0.001 s 2147483.647
Subcodes Lenze setting Information
C02775/1 1.000 s Deceleration time 1
C02775/2 1.000 s Deceleration time 2
C02775/3 1.000 s Deceleration time 3
C02775/4 1.000 s Deceleration time 4
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1000
C02776
Parameter | Name: Data type: INTEGER_32
C02776 | Time Index: 21799d = 5527h
From software version V7.0
Basic function "Manual jog open loop"
Setting range (min. value | unit | max. value)
0.001 s 2147483.647
Subcodes Lenze setting Information
C02776/1 1.000 s Max. activation time 1
C02776/2 1.000 s Max. activation time 2
C02776/3 1.000 s Max. activation time 3
C02776/4 1.000 s Max. activation time 4
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1000
C02779
Parameter | Name: Data type: UNSIGNED_32
C02779 | MOL_SetpointCurrent Index: 21796d = 5524h
From software version V7.0
Maximum current of the selected profile parameter set.
Basic function "Manual jog open loop"
Display range (min. value | unit | max. value)
0.00 A 42949672.95
; Read access Write access CINH PLC STOP No transfer Scaling factor: 100
864 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02780
C02780
Parameter | Name: Data type: INTEGER_32
C02780 | MOL_dnState Index: 21795d = 5523h
From software version V7.0
Status of the basic function "Manual jog open loop".
Display range (min. value | unit | max. value)
-2147483648 2147483647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02781
Parameter | Name: Data type: UNSIGNED_32
C02781 | ManualJogOpenLoop: Dig. signals Index: 21794d = 5522h
From software version V7.0
Display of the digital signals of the basic function "Manual jog open loop".
Selection list (display only)
0 FALSE
1 TRUE
Subcodes Information
C02781/1 MOL_bEnable
C02781/2 MOL_bJogPositive
C02781/3 MOL_bJogNegative
C02781/4 MOL_bSelectTab1
C02781/5 MOL_bSelectTab2
C02781/6 MOL_bEnabled
C02781/7 MOL_bActive
C02781/8 MOL_bDone
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02785
Parameter | Name: Data type: UNSIGNED_32
C02785 | PPI activation Index: 21790d = 551Eh
From software version V7.0
Basic function "pole position identification"
Selection list (Lenze setting printed in bold)
0 PPI disabled
1 PPI active
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02786
Parameter | Name: Data type: UNSIGNED_32
C02786 | PPI mode Index: 21789d = 551Dh
From software version V7.0
Basic function "pole position identification"
Selection list (Lenze setting printed in bold)
0 360°
1 <20°
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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865
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02787
C02787
Parameter | Name: Data type: INTEGER_32
C02787 | PPI_dnState Index: 21788d = 551Ch
From software version V7.0
Status of the basic function "pole position identification".
Display range (min. value | unit | max. value)
-2147483648 2147483647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02788
Parameter | Name: Data type: INTEGER_32
C02788 | PolePosition setpoint Index: 21787d = 551Bh
From software version V7.0
Basic function "pole position identification"
Display range (min. value | unit | max. value)
-214748364.8 ° 214748364.7
; Read access Write access CINH PLC STOP No transfer Scaling factor: 10
C02789
Parameter | Name: Data type: UNSIGNED_32
C02789 | PolePositionIdentification: Dig. signals Index: 21786d = 551Ah
From software version V7.0
Display of the digital signals of the basic function "pole position identification".
Selection list (display only)
0 FALSE
1 TRUE
Subcodes Information
C02789/1 PPI_bEnable
C02789/2 PPI_bStart
C02789/3 PPI_bLoadPolePosition
C02789/4 PPI_bResetPolePosition
C02789/5 PPI_bEnabled
C02789/6 PPI_bActive
C02789/7 PPI_bDone
C02789/8 PPI_bError
C02789/9 PPI_bPolePositionAvailable
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02800
Parameter | Name: Data type: INTEGER_16
C02800 | Analog input x: Input signal Index: 21775d = 550Fh
Scaling: -16384 ≡ -100 %, +16383 ≡ +100 %
Display range (min. value | unit | max. value)
-16384 16383
Subcodes Information
C02800/1 Input signal - analog input 1
C02800/2 Analog input 2: Input signal
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
866 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02801
C02801
Parameter | Name: Data type: INTEGER_16
C02801 | Analog output x: Output signal Index: 21774d = 550Eh
Scaling: -16384 ≡ -100 %, +16383 ≡ +100 %
Display range (min. value | unit | max. value)
-16384 16383
Subcodes Information
C02801/1 Output signal - analog output 1
C02801/2 Analog output 2: Output signal
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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867
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02802
C02802
Parameter | Name: Data type: BITFIELD_32
C02802 | Status word: Digital outputs Index: 21773d = 550Dh
Display of the hexadecimal value of the digital outputs
• Important: All digital levels are indicated without considering the level logic. Internal signals are displayed as
well.
Display area
0x00000000 0xFFFFFFFF
Value is bit-coded:
Bit 0 Dig. output. 1: Terminal state
Bit 1 Dig. output. 2: Terminal state
Bit 2 Dig. output. 3: Terminal state
Bit 3 Dig. output. 4: Terminal state
Bit 4 Reserved
Bit 5 Reserved
Bit 6 Reserved
Bit 7 Reserved
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
Bit16 Reserved
Bit 17 Reserved
Bit 18 Reserved
Bit 19 Reserved
Bit 20 Reserved
Bit 21 Reserved
Bit 22 Reserved
Bit 23 Reserved
Bit 24 Reserved
Bit 25 Reserved
Bit 26 Reserved
Bit 27 Reserved
Bit 28 Reserved
Bit 29 Reserved
Bit 30 Reserved
Bit 31 Reserved
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
868 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02803
C02803
Parameter | Name: Data type: BITFIELD_32
C02803 | Status word: Digital inputs Index: 21772d = 550Ch
Display of the hexadecimal value of the digital inputs
• Important: All digital levels are indicated without considering the level logic. Internal signals are displayed as
well.
Display area
0x00000000 0xFFFFFFFF
Value is bit-coded:
Bit 0 Dig. input. 1: Terminal state
Bit 1 Dig. input. 2: Terminal state
Bit 2 Dig. input. 3: Terminal state
Bit 3 Dig. input. 4: Terminal state
Bit 4 Dig. input. 5: Terminal state
Bit 5 Dig. input. 6: Terminal state
Bit 6 Dig. input. 7: Terminal state
Bit 7 Dig. input. 8: Terminal state
Bit 8 Reserved
Bit 9 Reserved
Bit 10 Reserved
Bit 11 Reserved
Bit 12 Reserved
Bit 13 Reserved
Bit 14 Reserved
Bit 15 Reserved
Bit16 Reserved
Bit 17 Reserved
Bit 18 Reserved
Bit 19 Reserved
Bit 20 Reserved
Bit 21 Reserved
Bit 22 Reserved
Bit 23 Reserved
Bit 24 Reserved
Bit 25 Reserved
Bit 26 Reserved
Bit 27 Reserved
Bit 28 Reserved
Bit 29 Reserved
Bit 30 Reserved
Bit 31 Reserved
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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869
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02810
C02810
Parameter | Name: Data type: UNSIGNED_32
C02810 | Touch probe x: Delay time Index: 21765d = 5505h
The delay time set will be considered when the position is determined at the time of touch probe and will be used
to compensate for dead times, if necessary.
• Please observe the setting of the input filter for the digital inputs (C02830).
Setting range (min. value | unit | max. value)
0 μs 7000
Subcodes Lenze setting Information
C02810/1 0 μs TP1 (DI1): Delay time
C02810/2 0 μs TP2 (DI2):Delay time
C02810/3 0 μs TP3 (DI3):Delay time
C02810/4 0 μs TP4 (DI4):Delay time
C02810/5 0 μs TP5 (DI5):Delay time
C02810/6 0 μs TP6 (DI6): Delay time
C02810/7 0 μs TP7 (DI7): Delay time
C02810/8 0 μs TP8 (DI8): Delay time
C02810/9 0 μs TPM (motor encoder): Delay time
C02810/10 0 μs TPL (pos. encoder): Delay time
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02830
Parameter | Name: Data type: UNSIGNED_8
C02830 | Digital inputs: Delay time Index: 21745d = 54F1h
Input filter for digital inputs
• Can be used to filter out "spikes" at the digital inputs, if necessary.
• Each digital input is assigned to a subcode.
• Since the filter is a "counting" filter, the indicated times are only approximate values.
Selection list (Lenze setting printed in bold) Information
0 2 μs Filter time
1 4 μs
2 8 μs
3 16 μs
4 32 μs
5 64 μs
6 128 μs
7 256 μs
8 512 μs
9 1024 μs
10 2048 μs
11 4096 μs
12 8192 μs
13 16384 μs
14 32768 μs
Subcodes Lenze setting Information
C02830/1 0: 2 μs Setting for digital input 1 ... 8
C02830/...
C02830/8
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
870 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02850
C02850
Parameter | Name: Data type: UNSIGNED_32
C02850 | Service code Index: 21725d = 54DDh
This code is used internally by the controller and must not be overwritten by the user!
C02851
Parameter | Name: Data type: UNSIGNED_32
C02851 | Service code Index: 21724d = 54DCh
This code is used internally by the controller and must not be overwritten by the user!
C02852
Parameter | Name: Data type: UNSIGNED_16
C02852 | Service code Index: 21723d = 54DBh
This code is used internally by the controller and must not be overwritten by the user!
C02853
Parameter | Name: Data type: UNSIGNED_16
C02853 | Lss sat. characteristic Index: 21722d = 54DAh
Setting range (min. value | unit | max. value)
0 % 400
Subcodes Lenze setting Information
C02853/1 100 % Saturation characteristic to correct the leakage
inductance and the current controller parameters.
C02853/2 100 %
• The saturation characteristic is defined by 17
C02853/3 100 % interpolation points which are distributed linearly on
the x axis.
C02853/4 100 %
• Interpolation point 17 represents 100 % of the
C02853/5 100 % maximum motor current in the process (C02855).
C02853/6 100 % • The values to be entered in the subcodes represent
the y values of the interpolation points 1 ... 17.
C02853/7 100 % Correction of the leakage inductance via saturation
C02853/8 100 % characteristic
C02853/9 100 %
C02853/10 100 %
C02853/11 100 %
C02853/12 100 %
C02853/13 100 %
C02853/14 100 %
C02853/15 100 %
C02853/16 100 %
C02853/17 100 %
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C02854
Parameter | Name: Data type: UNSIGNED_32
C02854 | Service code Index: 21721d = 54D9h
This code is used internally by the controller and must not be overwritten by the user!
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871
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02855
C02855
Parameter | Name: Data type: UNSIGNED_32
C02855 | Imax f. Lss sat. characteristic Index: 21720d = 54D8h
Maximum motor current in the process
• Defines the interpolation point 17 of the saturation characteristic set in C02853.
Correction of the leakage inductance via saturation characteristic
Setting range (min. value | unit | max. value) Lenze setting
0.0 A 6000.0 5.4 A
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 10
C02856
Parameter | Name: Data type: VISIBLE_STRING
C02856 | Service code Index: 21719d = 54D7h
This code is used internally by the controller and must not be overwritten by the user!
C02857
Parameter | Name: Data type: VISIBLE_STRING
C02857 | Service code Index: 21718d = 54D6h
This code is used internally by the controller and must not be overwritten by the user!
C02858
Parameter | Name: Data type: UNSIGNED_8
C02858 | Electronic nameplate status Index: 21717d = 54D5h
This code is used internally by the controller and must not be overwritten by the user!
C02859
Parameter | Name: Data type: UNSIGNED_8
C02859 | Activate Lss sat. char. Index: 21716d = 54D4h
Correction of the leakage inductance via saturation characteristic
Selection list (Lenze setting printed in bold)
0 Off
1 ON
; Read access ; Write access ; CINH PLC STOP No transfer Scaling factor: 1
C02860
Parameter | Name: Data type: UNSIGNED_32
C02860 | Rr adjustment Index: 21715d = 54D3h
Setting range (min. value | unit | max. value) Lenze setting
50.00 % 200.00 100.00 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C02861
Parameter | Name: Data type: UNSIGNED_32
C02861 | Lh adjustment Index: 21714d = 54D2h
Setting range (min. value | unit | max. value) Lenze setting
50.00 % 200.00 100.00 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
872 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02862
C02862
Parameter | Name: Data type: UNSIGNED_16
C02862 | Service code Index: 21713d = 54D1h
From software version V7.0
Resolver error compensation
Setting range (min. value | unit | max. value)
0 100
Subcodes Lenze setting Information
C02862/1 100 Gain of cosine track
C02862/2 100 Gain of sine track
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02863
Parameter | Name: Data type: INTEGER_16
C02863 | Service code Index: 21712d = 54D0h
From software version V7.0
Resolver error compensation
Setting range (min. value | unit | max. value) Lenze setting
-100 100 0
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02864
Parameter | Name: Data type: INTEGER_32
C02864 | Service code Index: 21711d = 54CFh
Display range (min. value | unit | max. value)
-2147483647 2147483647
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02865
Parameter | Name: Data type: UNSIGNED_32
C02865 | Adaptation of Ur Index: 21710d = 54CEh
Setting range (min. value | unit | max. value) Lenze setting
50.00 % 200.00 100.00 %
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 100
C02866
Parameter | Name: Data type: UNSIGNED_8
C02866 | Curr. control par. of C75 C76 Index: 21709d = 54CDh
This code is used internally by the controller and must not be overwritten by the user!
C02900
Parameter | Name: Data type: VISIBLE_STRING
C02900 | User Password Index: 21675d = 54ABh
From software version V3.0
If the cam data are provided with a user password, the defined user password must be entered once to execute the
following actions:
• Changing the cam data via parameter setting
• Loading/saving the cam data
Validity
The user password entered is maintained until the next download, mains switching, or until reset by the user
(logout).
• You can "logout" deliberately by entering an invalid password.
Basic function "Cam data management"
; Read access ; Write access CINH PLC STOP ; No transfer
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873
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02901
C02901
Parameter | Name: Data type: UNSIGNED_32
C02901 | CamMemory Index: 21674d = 54AAh
From software version V5.0
Basic function "Cam data management": Memory mapping
Display range (min. value | unit | max. value)
0 4294967295
Subcodes Information
C02901/1 Size of the memory for quick download to RAM
C02901/2 Size of the memory for "Online change"
C02901/3 Size of the memory from which the cam data are
processed.
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02902
Parameter | Name: Data type: UNSIGNED_32
C02902 | Timestamp Index: 21673d = 54A9h
From software version V3.0
Basic function "Cam data management"
Display range (min. value | unit | max. value)
0 4294967295
Subcodes Information
C02902/1 Time stamp of the cam data in the controller
C02902/2 Time stamp of the cam data which are currently being
processed in the controller.
C02902/3 Time stamp of the cam data in the controller which have
already been converted into the internal format.
C02902/4 Time stamp of the cam data in the memory module
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02903
Parameter | Name: Data type: OCTET_STRING
C02903 | GUID Index: 21672d = 54A8h
From software version V3.0
Basic function "Cam data management"
Display range (min. value | unit | max. value)
Subcodes Information
C02903/1 GUID of the cam data in the controller
C02903/2 GUID of the cam data which are currently being
processed in the controller.
C02903/3 GUID of the cam data in the controller which have
already been converted into the internal format.
C02903/4 GUID of the cam data in the memory module
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
874 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02905
C02905
Parameter | Name: Data type: UNSIGNED_32
C02905 | Online Change Mode Index: 21670d = 54A6h
From software version V3.0
Basic function "Cam data management": Online change mode
Selection list (Lenze setting printed in bold)
10 Manual activation
15 Automatic activation
16 Automatic activation with controller
inhibit
; Read access ; Write access CINH PLC STOP No transfer Scaling factor: 1
C02906
Parameter | Name: Data type: UNSIGNED_32
C02906 | Online Change State Index: 21669d = 54A5h
From software version V3.0
Basic function "Cam data management": Online change mode
Selection list (display only)
0 Ready
5 Initialisation
7 Saving is active
8 Loading is active
11 Waiting for controlled acceptance
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02908
Parameter | Name: Data type: UNSIGNED_32
C02908 | Product Count Index: 21667d = 54A3h
From software version V3.0
Display of the highest product number +1 of the cam data currently being processed
Basic function "Cam data management"
Display range (min. value | unit | max. value)
0 0
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02909
Parameter | Name: Data type: UNSIGNED_32
C02909 | Active Product Index: 21666d = 54A2h
From software version V3.0
Display of the product number of the active product of the cam data currently being processed
Basic function "Cam data management"
Display range (min. value | unit | max. value)
0 0
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02910
Parameter | Name: Data type: VISIBLE_STRING
C02910 | Product Name Index: 21665d = 54A1h
From software version V3.0
Basic function "Cam data management"
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
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875
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02911
C02911
Parameter | Name: Data type: UNSIGNED_32
C02911 | Product Choice Index: 21664d = 54A0h
From software version V3.0
Changing cam data via parameterisation
Setting range (min. value | unit | max. value) Lenze setting
0 47 0
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 1
C02912
Parameter | Name: Data type: UNSIGNED_32
C02912 | Number Of Products Index: 21663d = 549Fh
From software version V3.0
Changing cam data via parameterisation
Display range (min. value | unit | max. value)
0 65536
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02919
Parameter | Name: Data type: UNSIGNED_32
C02919 | Number Of Cam Tracks Index: 21656d = 5498h
From software version V3.0
Changing cam data via parameterisation
Display range (min. value | unit | max. value)
0 65535
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02920
Parameter | Name: Data type: UNSIGNED_32
C02920 | Cam Track Choice Index: 21655d = 5497h
From software version V3.0
Changing cam data via parameterisation
Setting range (min. value | unit | max. value) Lenze setting
0 65535 0
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 1
C02921
Parameter | Name: Data type: UNSIGNED_32
C02921 | Cam Track Type Index: 21654d = 5496h
From software version V3.0
Changing cam data via parameterisation
Selection list (display only)
1 Linear
5 Spline
11 LinearPC
15 SplinePC
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
876 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list | C02922
C02922
Parameter | Name: Data type: UNSIGNED_32
C02922 | Number Of Cam Data Points Index: 21653d = 5495h
From software version V3.0
Changing cam data via parameterisation
Display range (min. value | unit | max. value)
0 65535
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02923
Parameter | Name: Data type: UNSIGNED_32
C02923 | Cam Data Point Choice Index: 21652d = 5494h
From software version V3.0
Changing cam data via parameterisation
Setting range (min. value | unit | max. value) Lenze setting
0 65535 0
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 1
C02924
Parameter | Name: Data type: INTEGER_32
C02924 | Change Cam Data Point X Index: 21651d = 5493h
From software version V3.0
Changing cam data via parameterisation
Setting range (min. value | unit | max. value) Lenze setting
-214748.3647 Unit 214748.3647 0.0000 Unit
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 10000
C02925
Parameter | Name: Data type: INTEGER_32
C02925 | Change Cam Data Point Y Index: 21650d = 5492h
From software version V3.0
Changing cam data via parameterisation
Setting range (min. value | unit | max. value) Lenze setting
-214748.3647 Unit 214748.3647 0.0000 Unit
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 10000
C02926
Parameter | Name: Data type: INTEGER_32
C02926 | Change Cam Data Point M Index: 21649d = 5491h
From software version V3.0
Changing cam data via parameterisation
Setting range (min. value | unit | max. value) Lenze setting
-200.00 % 200.00 0.00 %
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 100
C02927
Parameter | Name: Data type: UNSIGNED_32
C02927 | Auto Inc Cam Data Points Index: 21648d = 5490h
From software version V3.0
Changing cam data via parameterisation
Selection list (Lenze setting printed in bold)
0 Deactivate
1 Activate
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 1
EDS94AxHExxxx EN 7.0 - 04/2010 L
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877
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list
C02939
Parameter | Name: Data type: UNSIGNED_32
C02939 | Number Of Cont Tracks Index: 21636d = 5484h
From software version V3.0
Changing cam data via parameterisation
Display range (min. value | unit | max. value)
0 65535
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02940
Parameter | Name: Data type: UNSIGNED_32
C02940 | Cont Track Choice Index: 21635d = 5483h
From software version V3.0
Changing cam data via parameterisation
Setting range (min. value | unit | max. value) Lenze setting
0 65535 0
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 1
C02941
Parameter | Name: Data type: UNSIGNED_32
C02941 | Cont Type Index: 21634d = 5482h
From software version V3.0
Changing cam data via parameterisation
Selection list (display only)
1 Pos. position cam
2 Neg. position cam
3 Bidirect. position cam
11 Pos. time cam
12 Neg. time cam
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02942
Parameter | Name: Data type: UNSIGNED_32
C02942 | Number Of Cont Data Points Index: 21633d = 5481h
From software version V3.0
Changing cam data via parameterisation
Display range (min. value | unit | max. value)
0 65535
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02943
Parameter | Name: Data type: UNSIGNED_32
C02943 | Cont Data Point Choice Index: 21632d = 5480h
From software version V3.0
Changing cam data via parameterisation
Setting range (min. value | unit | max. value) Lenze setting
0 65535 0
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 1
878 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list
C02944
Parameter | Name: Data type: INTEGER_32
C02944 | Cont Pos X0 Index: 21631d = 547Fh
From software version V3.0
Changing cam data via parameterisation
Setting range (min. value | unit | max. value) Lenze setting
-214748.3647 Unit 214748.3647 0.0000 Unit
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 10000
C02945
Parameter | Name: Data type: INTEGER_32
C02945 | Cont Pos X1 Index: 21630d = 547Eh
From software version V3.0
Changing cam data via parameterisation
Setting range (min. value | unit | max. value) Lenze setting
-214748.3647 Unit 214748.3647 0.0000 Unit
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 10000
C02946
Parameter | Name: Data type: UNSIGNED_32
C02946 | Cont Time Index: 21629d = 547Dh
From software version V3.0
Changing cam data via parameterisation
Setting range (min. value | unit | max. value) Lenze setting
0.0000 ms 214748.3647 0.0000 ms
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 10000
C02959
Parameter | Name: Data type: UNSIGNED_32
C02959 | Number of Pos Tracks Index: 21616d = 5470h
From software version V3.0
Changing cam data via parameterisation
Display range (min. value | unit | max. value)
0 65535
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
C02960
Parameter | Name: Data type: UNSIGNED_32
C02960 | Pos Track Choice Index: 21615d = 546Fh
From software version V3.0
Changing cam data via parameterisation
Setting range (min. value | unit | max. value) Lenze setting
0 65535 0
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 1
C02962
Parameter | Name: Data type: UNSIGNED_32
C02962 | Number of Pos Data Points Index: 21613d = 546Dh
From software version V3.0
Changing cam data via parameterisation
Display range (min. value | unit | max. value)
0 65535
; Read access Write access CINH PLC STOP No transfer Scaling factor: 1
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879
9400 HighLine | Parameter setting & configuration
Parameter reference
Parameter list
C02963
Parameter | Name: Data type: UNSIGNED_32
C02963 | Pos Data Point Choice Index: 21612d = 546Ch
From software version V3.0
Changing cam data via parameterisation
Setting range (min. value | unit | max. value) Lenze setting
0 65535 0
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 1
C02964
Parameter | Name: Data type: INTEGER_32
C02964 | Change Pos Data Point X Index: 21611d = 546Bh
From software version V3.0
Changing cam data via parameterisation
Setting range (min. value | unit | max. value) Lenze setting
-214748.3647 Unit 214748.3647 0.0000 Unit
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 10000
C02965
Parameter | Name: Data type: INTEGER_32
C02965 | Change Pos Data Point Y Index: 21610d = 546Ah
From software version V3.0
Changing cam data via parameterisation
Setting range (min. value | unit | max. value) Lenze setting
-214748.3647 Unit 214748.3647 0.0000 Unit
; Read access ; Write access CINH PLC STOP ; No transfer Scaling factor: 10000
C02996
Parameter | Name: Data type: UNSIGNED_32
C02996 | Service code Index: 21579d = 544Bh
This code is used internally by the controller and must not be overwritten by the user!
C02997
Parameter | Name: Data type: UNSIGNED_32
C02997 | Service code Index: 21578d = 544Ah
This code is used internally by the controller and must not be overwritten by the user!
C02998
Parameter | Name: Data type: UNSIGNED_32
C02998 | Service code Index: 21577d = 5449h
This code is used internally by the controller and must not be overwritten by the user!
C02999
Parameter | Name: Data type: UNSIGNED_32
C02999 | Service code Index: 21576d = 5448h
This code is used internally by the controller and must not be overwritten by the user!
880 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Attribute table
14.3 Attribute table
The Attribute table contains information required for communicating with the controller
via parameters.
How to read the table of attributes:
Column Meaning Entry
Code Parameter designation Cxxxxx
Name Short parameter text (display text) Text
Index dec Index under which the parameter is addressed. 24575 - Lenze code number Only required for access via bus
The subindex of array variables corresponds to the system.
hex Lenze subcode number. 5FFFh - Lenze code number
Data DS Data structure E Single variable
(only one parameter element)
A Array variable
(several parameter elements)
DA Number of array elements (subcodes) Number
DT Data type BITFIELD_8 1 byte bit-coded
BITFIELD_16 2 bytes bit-coded
BITFIELD_32 4 bytes bit-coded
INTEGER_8 1 byte with sign
INTEGER_16 2 bytes with sign
INTEGER_32 4 bytes with sign
UNSIGNED_8 1 byte without sign
UNSIGNED_16 2 bytes without sign
UNSIGNED_32 4 bytes without sign
VISIBLE_STRING ASCII string
Factor Factor for data transmission via bus system, Factor 1 ≡ no decimal positions
depending on the number of decimal positions 10 ≡ 1 decimal position
100 ≡ 2 decimal positions
1000 ≡ 3 decimal positions
Access R Read access ; Reading allowed
W Write access ; Writing allowed
CINH Controller inhibit required ; Writing only possible when controller is inhibited
Attribute table
Code Name Index Data Access
dec hex DS DA DT Factor R W CINH
C00002 Device commands 24573 5FFD E 1 UNSIGNED_32 1 ; ;
C00003 Device command status 24572 5FFC E 1 UNSIGNED_32 1 ;
C00004 Service password 24571 5FFB E 1 UNSIGNED_32 1 ; ;
C00005 Application selection 24570 5FFA E 1 INTEGER_32 1 ; ;
C00006 Select motor control 24569 5FF9 E 1 UNSIGNED_32 1 ; ; ;
C00007 Active application 24568 5FF8 E 1 INTEGER_32 1 ;
C00008 Device command progress 24567 5FF7 E 1 UNSIGNED_32 1 ;
C00011 Motor reference speed 24564 5FF4 E 1 UNSIGNED_32 1 ; ;
C00018 Switching frequency 24557 5FED E 1 UNSIGNED_32 1 ; ;
C00019 Threshold - standstill recognition 24556 5FEC E 1 UNSIGNED_32 1 ; ;
C00022 Maximum current 24553 5FE9 E 1 UNSIGNED_32 100 ; ;
C00034 Config. analog input 1 24541 5FDD E 1 UNSIGNED_32 1 ; ;
C00050 Speed setpoint [rpm] 24525 5FCD A 2 INTEGER_32 1 ;
C00051 Actual speed [rpm] 24524 5FCC E 1 INTEGER_32 1 ;
C00052 Motor voltage 24523 5FCB E 1 UNSIGNED_32 1 ;
EDS94AxHExxxx EN 7.0 - 04/2010 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
881
9400 HighLine | Parameter setting & configuration
Parameter reference
Attribute table
Code Name Index Data Access
dec hex DS DA DT Factor R W CINH
C00053 DC-bus voltage 24522 5FCA E 1 UNSIGNED_32 1 ;
C00054 Motor current 24521 5FC9 E 1 UNSIGNED_32 100 ;
C00055 Phase currents 24520 5FC8 A 4 INTEGER_32 100 ;
C00056 Torque setpoint 24519 5FC7 E 1 INTEGER_32 100 ;
C00057 Torque 24518 5FC6 A 2 UNSIGNED_32 1000 ;
C00058 Pole position 24517 5FC5 A 3 INTEGER_32 10 ; ;
C00059 Motor - number of pole pairs 24516 5FC4 E 1 UNSIGNED_32 1 ;
C00060 Rotor position 24515 5FC3 E 1 INTEGER_32 1 ;
C00061 Heatsink temperature 24514 5FC2 E 1 INTEGER_32 1 ;
C00062 Temperature inside the controller 24513 5FC1 E 1 INTEGER_32 1 ;
C00063 Motor temperature 24512 5FC0 E 1 INTEGER_32 1 ;
C00064 Device utilisation (Ixt) 24511 5FBF E 1 UNSIGNED_32 1 ;
C00065 Ext. 24-V voltage 24510 5FBE E 1 INTEGER_32 10 ;
C00066 Thermal motor load (I²xt) 24509 5FBD E 1 UNSIGNED_32 1 ;
C00068 Capacitor temperature 24507 5FBB E 1 INTEGER_32 1 ;
C00069 CPU temperature 24506 5FBA E 1 INTEGER_32 1 ;
C00070 Speed controller gain 24505 5FB9 E 1 UNSIGNED_32 100000 ; ;
C00071 Speed controller reset time 24504 5FB8 E 1 UNSIGNED_32 10 ; ;
C00072 Speed controller rate time 24503 5FB7 E 1 UNSIGNED_32 100 ; ;
C00074 Feedfwd. ctrl. - current contr. 24501 5FB5 E 1 UNSIGNED_8 1 ; ;
C00075 Current controller gain 24500 5FB4 E 1 UNSIGNED_32 100 ; ;
C00076 Current contr. reset time 24499 5FB3 E 1 UNSIGNED_32 100 ; ;
C00077 Field controller gain 24498 5FB2 E 1 UNSIGNED_32 100 ; ;
C00078 Field contr. reset time 24497 5FB1 E 1 UNSIGNED_32 10 ; ;
C00079 Mutual motor inductance 24496 5FB0 E 1 UNSIGNED_32 10 ;
C00080 Resolver - number of pole pairs 24495 5FAF E 1 UNSIGNED_32 1 ; ; ;
C00081 Rated motor power 24494 5FAE E 1 UNSIGNED_32 100 ; ; ;
C00082 Motor rotor resistance 24493 5FAD E 1 UNSIGNED_32 10000 ;
C00083 Motor - rotor time constant 24492 5FAC E 1 UNSIGNED_32 100 ;
C00084 Motor stator resistance 24491 5FAB E 1 UNSIGNED_32 10000 ; ; ;
C00085 Motor stator leakage induct. 24490 5FAA E 1 UNSIGNED_32 1000 ; ; ;
C00087 Rated motor speed 24488 5FA8 E 1 UNSIGNED_32 1 ; ; ;
C00088 Rated motor current 24487 5FA7 E 1 UNSIGNED_32 100 ; ; ;
C00089 Rated motor frequency 24486 5FA6 E 1 UNSIGNED_32 10 ; ; ;
C00090 Rated motor voltage 24485 5FA5 E 1 UNSIGNED_32 1 ; ; ;
C00091 Motor - cosine phi 24484 5FA4 E 1 UNSIGNED_32 100 ; ; ;
C00092 Motor magnetising current 24483 5FA3 E 1 UNSIGNED_32 100 ;
C00093 Field weakening for SM 24482 5FA2 E 1 UNSIGNED_32 1 ; ;
C00099 Firmware version 24476 5F9C E 1 VISIBLE_STRING 1 ;
C00100 Resol. of an encoder revolution 24475 5F9B E 1 UNSIGNED_32 1 ; ; ;
C00105 Quick stop decel. time 24470 5F96 E 1 UNSIGNED_32 1000 ; ;
C00106 Quick stop S-ramp time 24469 5F95 E 1 UNSIGNED_32 100 ; ;
C00107 Ref. for quick stop dec. time 24468 5F94 E 1 UNSIGNED_8 1 ; ;
C00114 Digital inp. x - terminal pol. 24461 5F8D A 8 UNSIGNED_8 1 ; ;
C00118 Dig. output x: terminal pol. 24457 5F89 A 4 UNSIGNED_8 1 ; ;
C00120 Motor overload protection (I²xt) 24455 5F87 E 1 UNSIGNED_32 1 ; ;
C00121 Motor temp. warning threshold 24454 5F86 E 1 UNSIGNED_32 1 ; ;
C00122 Heatsink temp. warn. threshold 24453 5F85 E 1 UNSIGNED_32 1 ; ;
C00123 Warning threshold device util. 24452 5F84 E 1 UNSIGNED_32 1 ; ;
C00126 CPU temp. warning threshold 24449 5F81 E 1 UNSIGNED_32 1 ; ;
C00127 Mot. overload warning threshold 24448 5F80 E 1 UNSIGNED_32 1 ; ;
882 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Attribute table
Code Name Index Data Access
dec hex DS DA DT Factor R W CINH
C00128 Therm. motor time constant 24447 5F7F A 2 UNSIGNED_32 10 ; ;
C00129 Brake resistor value 24446 5F7E E 1 INTEGER_32 10 ; ;
C00130 Rated power of brake resistor 24445 5F7D E 1 INTEGER_32 1 ; ;
C00131 Rated quantity of heat for brake res. 24444 5F7C E 1 INTEGER_32 1 ; ;
C00133 Ref.: Brake chopper utilisation 24442 5F7A E 1 UNSIGNED_8 1 ; ;
C00134 Min. brake resistance 24441 5F79 E 1 INTEGER_32 10 ;
C00137 Brake transistor utilisation 24438 5F76 E 1 INTEGER_32 1 ;
C00138 Brake resistor utilisation 24437 5F75 E 1 INTEGER_32 1 ;
C00142 Autom. restart after mains ON 24433 5F71 E 1 UNSIGNED_32 1 ; ;
C00150 Status word device control 1 24425 5F69 E 1 BITFIELD_16 1 ;
C00155 Status word device control 2 24420 5F64 E 1 BITFIELD_16 1 ;
C00156 Status/Control word MCTRL 24419 5F63 A 2 UNSIGNED_32 1 ;
C00158 Controller inhibit by (source) 24417 5F61 E 1 BITFIELD_16 1 ;
C00159 Quick stop by (source) 24416 5F60 E 1 BITFIELD_16 1 ;
C00162 Masked error number 24413 5F5D A 3 UNSIGNED_32 1 ;
C00166 Error description 24409 5F59 E 1 VISIBLE_STRING 1 ;
C00168 Error number 24407 5F57 E 1 UNSIGNED_32 1 ;
C00169 Logbook event filter 24406 5F56 E 1 BITFIELD_32 1 ; ;
C00173 Mains voltage 24402 5F52 E 1 UNSIGNED_8 1 ; ;
C00174 Undervoltage (LU) threshold 24401 5F51 E 1 UNSIGNED_32 1 ; ;
C00178 Elapsed-hour meter 24397 5F4D E 1 UNSIGNED_32 1 ;
C00179 Power-on time meter 24396 5F4C E 1 UNSIGNED_32 1 ;
C00180 Service code 24395 5F4B E 1 VISIBLE_STRING ; ;
C00181 Red. brake chopper threshold 24394 5F4A E 1 UNSIGNED_32 1 ; ;
C00183 Device state 24392 5F48 E 1 UNSIGNED_32 1 ;
C00185 Mains recov. detect. threshold 24390 5F46 E 1 UNSIGNED_32 1 ; ;
C00186 ENP: Identified motor type 24389 5F45 E 1 VISIBLE_STRING 1 ;
C00187 ENP: Identified serial number 24388 5F44 E 1 VISIBLE_STRING 1 ;
C00188 ENP: Status 24387 5F43 E 1 UNSIGNED_8 1 ;
C00199 Device name 24376 5F38 E 1 VISIBLE_STRING 1 ; ;
C00200 Firmware product type 24375 5F37 E 1 VISIBLE_STRING 1 ;
C00201 Firmware compilation date 24374 5F36 E 1 VISIBLE_STRING 1 ;
C00202 Autom. ENP data transfer 24373 5F35 E 1 UNSIGNED_32 1 ; ;
C00203 HW product types 24372 5F34 A 9 VISIBLE_STRING 1 ;
C00204 HW serial numbers 24371 5F33 A 9 VISIBLE_STRING 1 ;
C00205 HW descriptions 24370 5F32 A 6 VISIBLE_STRING 1 ;
C00206 HW manufacturing data 24369 5F31 A 8 VISIBLE_STRING 1 ;
C00208 HW manufacturer 24367 5F2F A 6 VISIBLE_STRING 1 ;
C00209 HW countries of origin 24366 5F2E A 6 VISIBLE_STRING 1 ;
C00210 HW versions 24365 5F2D A 6 VISIBLE_STRING 1 ;
C00211 Application: Version 24364 5F2C E 1 VISIBLE_STRING 1 ;
C00212 Application: Type code 24363 5F2B E 1 VISIBLE_STRING 1 ;
C00213 Application: compilation date 24362 5F2A E 1 VISIBLE_STRING 1 ;
C00214 Required safety module 24361 5F29 E 1 UNSIGNED_8 1 ; ; ;
C00218 Application: ID number 24357 5F25 E 1 UNSIGNED_32 1 ;
C00227 Behav. at parameter set changeover 24348 5F1C A 2 UNSIGNED_32 1 ; ;
C00254 Phase controller gain 24321 5F01 E 1 UNSIGNED_32 100 ; ;
C00270 Freq. - current setpoint filter 24305 5EF1 A 2 UNSIGNED_32 10 ; ;
C00271 Width - current setp. filter 24304 5EF0 A 2 UNSIGNED_32 10 ; ;
C00272 Depth - current setp. filter 24303 5EEF A 2 UNSIGNED_32 1 ; ;
C00273 Moment of inertia 24302 5EEE A 2 UNSIGNED_32 100 ; ;
EDS94AxHExxxx EN 7.0 - 04/2010 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
883
9400 HighLine | Parameter setting & configuration
Parameter reference
Attribute table
Code Name Index Data Access
dec hex DS DA DT Factor R W CINH
C00274 Max. acceleration change 24301 5EED E 1 UNSIGNED_32 10 ; ;
C00275 Signal source - speed setpoint 24300 5EEC E 1 UNSIGNED_16 1 ; ;
C00276 Signal source - torque setpoint 24299 5EEB E 1 UNSIGNED_16 1 ; ;
C00280 Filter time const. DC detection 24295 5EE7 E 1 UNSIGNED_32 10 ; ;
C00281 Filter for PWM adjustment 24294 5EE6 E 1 UNSIGNED_8 1 ; ;
C00311 CAN TPDO1 mask byte x 24264 5EC8 A 8 BITFIELD_8 1 ; ;
C00312 CAN TPDO2 mask byte x 24263 5EC7 A 8 BITFIELD_8 1 ; ;
C00313 CAN TPDO3 mask byte x 24262 5EC6 A 8 BITFIELD_8 1 ; ;
C00314 CAN TPDO4 mask byte x 24261 5EC5 A 8 BITFIELD_8 1 ; ;
C00320 CAN TPDOx identifier 24255 5EBF A 4 BITFIELD_32 1 ; ;
C00321 CAN RPDOx identifier 24254 5EBE A 4 BITFIELD_32 1 ; ;
C00322 CAN TPDOx Tx mode 24253 5EBD A 4 UNSIGNED_8 1 ; ;
C00323 CAN RPDOx Rx mode 24252 5EBC A 4 UNSIGNED_8 1 ; ;
C00324 CAN TPDOx delay time 24251 5EBB A 4 UNSIGNED_16 1 ; ;
C00343 CAN TPDO counter 24232 5EA8 A 4 UNSIGNED_32 1 ;
C00344 CAN RPDO counter 24231 5EA7 A 4 UNSIGNED_32 1 ;
C00345 CAN error 24230 5EA6 E 1 UNSIGNED_8 1 ;
C00346 CAN heartbeat activity 24229 5EA5 E 1 BITFIELD_32 1 ;
C00347 CAN heartbeat status 24228 5EA4 A 32 UNSIGNED_8 1 ;
C00348 CAN status DIP switch 24227 5EA3 E 1 UNSIGNED_8 1 ;
C00349 CAN setting of DIP switch 24226 5EA2 A 2 UNSIGNED_8 1 ;
C00350 CAN node address 24225 5EA1 E 1 UNSIGNED_8 1 ; ;
C00351 CAN baud rate 24224 5EA0 E 1 UNSIGNED_8 1 ; ;
C00352 CAN slave/master 24223 5E9F E 1 UNSIGNED_8 1 ; ;
C00356 CAN TPDOx cycle time 24219 5E9B A 4 UNSIGNED_16 1 ; ;
C00357 CAN RPDOx monitoring time 24218 5E9A A 4 UNSIGNED_16 1 ; ;
C00359 CAN status 24216 5E98 E 1 UNSIGNED_8 1 ;
C00360 CAN telegram and error counter 24215 5E97 A 8 UNSIGNED_16 1 ;
C00361 CAN bus load 24214 5E96 A 6 UNSIGNED_32 1 ;
C00367 CAN SYNC Rx identifier 24208 5E90 E 1 UNSIGNED_32 1 ; ;
C00368 CAN SYNC Tx identifier 24207 5E8F E 1 UNSIGNED_32 1 ; ;
C00369 CAN sync transmission cycle time 24206 5E8E A 3 UNSIGNED_16 1 ; ;
C00372 CAN SDO server Rx identifier 24203 5E8B A 10 BITFIELD_32 1 ; ;
C00373 CAN SDO server Tx identifier 24202 5E8A A 10 BITFIELD_32 1 ; ;
C00374 CAN SDO client node address 24201 5E89 A 10 UNSIGNED_8 1 ; ;
C00375 CAN SDO client Rx identifier 24200 5E88 A 10 BITFIELD_32 1 ; ;
C00376 CAN SDO client Tx identifier 24199 5E87 A 10 BITFIELD_32 1 ; ;
C00377 CAN SDO server node address 24198 5E86 A 10 UNSIGNED_8 1 ; ;
C00378 CAN delay boot-up - operational 24197 5E85 E 1 UNSIGNED_16 1 ; ;
C00381 CAN Heartbeat Producer Time 24194 5E82 E 1 UNSIGNED_16 1 ; ;
C00382 CAN guard time 24193 5E81 E 1 UNSIGNED_16 1 ; ;
C00383 CAN Life Time Factor 24192 5E80 E 1 UNSIGNED_8 1 ; ;
C00385 CAN Heartbeat Consumer Time 24190 5E7E A 32 BITFIELD_32 1 ; ;
C00386 CAN Node Guarding 24189 5E7D A 32 BITFIELD_32 1 ; ;
C00387 CAN Node Guarding Activity 24188 5E7C E 1 BITFIELD_32 1 ;
C00388 CAN node guarding status 24187 5E7B A 32 UNSIGNED_8 1 ;
C00390 CAN Error Register (DS301V402) 24185 5E79 E 1 BITFIELD_8 1 ;
C00391 CAN Emergency Object 24184 5E78 E 1 BITFIELD_32 1 ; ;
C00392 CAN emergency delay time 24183 5E77 E 1 UNSIGNED_16 1 ; ;
C00393 CAN result - bus scan 24182 5E76 A 128 UNSIGNED_8 1 ;
884 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Attribute table
Code Name Index Data Access
dec hex DS DA DT Factor R W CINH
C00394 CAN Predefined Error Field 24181 5E75 A 10 UNSIGNED_32 1 ;
(DS301V402)
C00398 Test mode motor control 24177 5E71 E 1 UNSIGNED_32 1 ; ; ;
C00399 Settings for test mode 24176 5E70 A 2 INTEGER_32 10 ; ;
C00413 Hiperface: detected TypeCode 24162 5E62 E 1 UNSIGNED_32 1 ;
C00414 Hiperface: TypeCode 24161 5E61 E 1 UNSIGNED_32 1 ; ;
C00415 Hiperface: number of rev. 24160 5E60 E 1 UNSIGNED_32 1 ; ;
C00417 Dynamic of resolver evaluation 24158 5E5E E 1 UNSIGNED_32 1 ; ;
C00418 Activate resolver error compensation 24157 5E5D E 1 UNSIGNED_8 1 ; ;
C00420 Encoder - number of increments 24155 5E5B E 1 UNSIGNED_16 1 ; ; ;
C00421 Encoder voltage 24154 5E5A E 1 UNSIGNED_16 10 ; ; ;
C00422 Encoder type 24153 5E59 E 1 UNSIGNED_16 1 ; ; ;
C00423 SSI encoder: Bit rate 24152 5E58 E 1 UNSIGNED_32 1 ; ; ;
C00424 Ssi-encoder: Data word length 24151 5E57 E 1 UNSIGNED_32 1 ; ; ;
C00427 TTL encoder signal evaluation 24148 5E54 E 1 UNSIGNED_16 1 ; ; ;
C00435 SSI encoder: Partword starting 24140 5E4C A 8 UNSIGNED_8 1 ; ;
position
C00436 SSI encoder: Partword length 24139 5E4B A 8 UNSIGNED_8 1 ; ;
C00437 SSI encoder: Partword data coding 24138 5E4A A 8 UNSIGNED_8 1 ; ;
C00443 Status: Digital inputs 24132 5E44 A 12 UNSIGNED_8 1 ;
C00444 Status: Digital outputs 24131 5E43 A 18 UNSIGNED_8 1 ;
C00464 Keypad: Mode 24111 5E2F E 1 UNSIGNED_16 1 ; ;
C00465 Keypad: Welcome screen time-out 24110 5E2E E 1 UNSIGNED_8 1 ; ;
C00466 Keypad: Default parameters 24109 5E2D E 1 UNSIGNED_16 1 ; ;
C00467 Keypad: Default welcome screen 24108 5E2C E 1 UNSIGNED_8 1 ; ;
C00469 Keypad: Fct. STOP key 24106 5E2A E 1 UNSIGNED_8 1 ; ;
C00490 Position encoder selection 24085 5E15 E 1 UNSIGNED_16 1 ; ; ;
C00494 Motor standstill time constant 24081 5E11 E 1 UNSIGNED_32 1 ; ;
C00495 Motor encoder selection 24080 5E10 E 1 UNSIGNED_16 1 ; ; ;
C00497 Act. speed value time constant 24078 5E0E E 1 UNSIGNED_32 10 ; ;
C00569 Resp. brake trans. Ixt > C00570 24006 5DC6 E 1 UNSIGNED_32 1 ; ;
C00570 Warning thres. brake transistor 24005 5DC5 E 1 UNSIGNED_32 1 ; ;
C00571 Resp. brake res. i²xt > C00572 24004 5DC4 E 1 UNSIGNED_32 1 ; ;
C00572 Warning thres. brake resistor 24003 5DC3 E 1 UNSIGNED_32 1 ; ;
C00573 Resp. to overload brake trans. 24002 5DC2 E 1 UNSIGNED_32 1 ; ;
C00574 Resp. to overtemp. brake resist. 24001 5DC1 E 1 UNSIGNED_32 1 ; ;
C00576 Speed monitoring tolerance 23999 5DBF E 1 UNSIGNED_32 1 ; ;
C00577 Field weakening controller gain 23998 5DBE E 1 UNSIGNED_32 1000 ; ;
C00578 Field weak. contr. reset time 23997 5DBD E 1 UNSIGNED_32 10 ; ;
C00579 Resp. to speed monitoring 23996 5DBC E 1 UNSIGNED_32 1 ; ;
C00580 Resp. to encoder open circuit 23995 5DBB E 1 UNSIGNED_32 1 ; ;
C00581 Resp. to external fault 23994 5DBA E 1 UNSIGNED_32 1 ; ;
C00582 Resp. to heatsink temp. > C00122 23993 5DB9 E 1 UNSIGNED_32 1 ; ;
C00583 Resp. to motor KTY overtemp. 23992 5DB8 E 1 UNSIGNED_32 1 ; ;
C00584 Resp. to motor temp. > C00121 23991 5DB7 E 1 UNSIGNED_32 1 ; ;
C00585 Resp. to motor PTC overtemp. 23990 5DB6 E 1 UNSIGNED_32 1 ; ;
C00586 Resp. to resolver open circuit 23989 5DB5 E 1 UNSIGNED_32 1 ; ;
C00587 Fan control status 23988 5DB4 E 1 BITFIELD_8 1 ;
C00588 Resp. to failure t. sensor drive 23987 5DB3 E 1 UNSIGNED_32 1 ; ;
C00589 Resp. to CPU temp > C00126 23986 5DB2 E 1 UNSIGNED_32 1 ; ;
C00591 Resp. to CAN-RPDOx error 23984 5DB0 A 4 UNSIGNED_8 1 ; ;
EDS94AxHExxxx EN 7.0 - 04/2010 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
885
9400 HighLine | Parameter setting & configuration
Parameter reference
Attribute table
Code Name Index Data Access
dec hex DS DA DT Factor R W CINH
C00594 Reaktion Resp. temp. sensor motor 23981 5DAD E 1 UNSIGNED_32 1 ; ;
X7/X8
C00595 Resp. to CAN bus OFF 23980 5DAC E 1 UNSIGNED_8 1 ; ;
C00596 Threshold max. speed reached 23979 5DAB E 1 UNSIGNED_32 1 ; ;
C00597 Resp. to motor phase failure 23978 5DAA E 1 UNSIGNED_32 1 ; ;
C00598 Resp. to open circuit AIN1 23977 5DA9 E 1 UNSIGNED_32 1 ; ;
C00599 Motor phase failure threshold 23976 5DA8 E 1 INTEGER_32 10 ; ;
C00600 Resp. to DC bus overvoltage 23975 5DA7 E 1 UNSIGNED_32 1 ; ;
C00601 Resp. to encoder comm. error 23974 5DA6 E 1 UNSIGNED_32 1 ; ;
C00604 Resp. to device overload > C00123 23971 5DA3 E 1 UNSIGNED_32 1 ; ;
C00606 Resp. to motor overload > C00127 23969 5DA1 E 1 UNSIGNED_32 1 ; ;
C00607 Resp. to max. speed reached 23968 5DA0 E 1 UNSIGNED_32 1 ; ;
C00610 Resp. to failure heatsink fan 23965 5D9D E 1 UNSIGNED_32 1 ; ;
C00611 Resp. to failure integral fan 23964 5D9C E 1 UNSIGNED_32 1 ; ;
C00612 Resp. to CAN node guarding error 23963 5D9B A 32 UNSIGNED_8 1 ; ;
C00613 Resp. to CAN heartbeat error 23962 5D9A A 32 UNSIGNED_8 1 ; ;
C00614 Resp. to CAN life guarding error 23961 5D99 E 1 UNSIGNED_8 1 ; ;
C00615 Resp. to imp. device config. 23960 5D98 A 5 UNSIGNED_32 1 ; ;
C00618 No. of CRC cycles 23957 5D95 E 1 UNSIGNED_32 1 ;
C00619 Resp. to motor current > C00620 23956 5D94 E 1 UNSIGNED_32 1 ; ;
C00620 Ultimate motor current I_ult 23955 5D93 E 1 UNSIGNED_32 10 ; ;
C00621 Resp. to encoder pulse deviation 23954 5D92 E 1 UNSIGNED_32 1 ; ;
C00625 CAN behaviour in case of fault 23950 5D8E E 1 UNSIGNED_8 1 ; ;
C00635 Resp to new firmw. standard dev. 23940 5D84 E 1 UNSIGNED_32 1 ; ;
C00636 Resp. to new module in MXI1 23939 5D83 E 1 UNSIGNED_32 1 ; ;
C00637 Resp. to new module in MXI2 23938 5D82 E 1 UNSIGNED_32 1 ; ;
C00640 Resp. to pole pos. id. monit. 23935 5D7F E 1 UNSIGNED_32 1 ; ;
C00641 PolePosId 360° current amp. 23934 5D7E E 1 UNSIGNED_32 1 ; ;
C00642 PolePosId 360° ramp time 23933 5D7D E 1 UNSIGNED_32 1 ; ;
C00643 PolePosId 360° travel dir. 23932 5D7C E 1 UNSIGNED_32 1 ; ;
C00644 PolePosId 360° fault tol. 23931 5D7B E 1 INTEGER_32 10 ; ;
C00645 PolePosId 360° absolute cur. amp. 23930 5D7A E 1 UNSIGNED_32 100 ;
C00646 PolePosId min.mov. cur. amp. 23929 5D79 E 1 UNSIGNED_32 1 ; ;
C00647 PolePosId min.mov. cur.rise rate 23928 5D78 E 1 UNSIGNED_32 1 ; ;
C00648 PolePosId min.mov. gain 23927 5D77 E 1 UNSIGNED_32 100 ; ;
C00649 PLI min. mov. reset time 23926 5D76 E 1 UNSIGNED_32 100 ; ;
C00650 PolePosId min.mov. max.perm.mov. 23925 5D75 E 1 INTEGER_32 1 ; ;
C00651 PolePosId min.mov. absolute cur. amp. 23924 5D74 E 1 UNSIGNED_32 100 ;
C00691 Total speed setpoint 23884 5D4C E 1 INTEGER_32 100 ;
C00692 Speed setpoint [%] 23883 5D4B E 1 INTEGER_32 100 ;
C00693 Actual speed [%] 23882 5D4A E 1 INTEGER_32 100 ;
C00694 Speed controller output 23881 5D49 E 1 INTEGER_32 100 ;
C00695 Total torque setpoint 23880 5D48 E 1 INTEGER_32 100 ;
C00696 Torque setpoint [%] 23879 5D47 E 1 INTEGER_32 100 ;
C00697 Filtered torque setpoint 23878 5D46 E 1 INTEGER_32 100 ;
C00698 Actual torque [%] 23877 5D45 E 1 INTEGER_32 100 ;
C00770 MCTRL_dnMotorPosAct 23805 5CFD A 2 UNSIGNED_32 1 ;
C00771 MCTRL_dnLoadPosAct 23804 5CFC A 2 UNSIGNED_32 1 ;
C00772 MCTRL_dnMotorSpeedAct 23803 5CFB E 1 INTEGER_32 1 ;
C00773 MCTRL_dnLoadSpeedAct 23802 5CFA E 1 INTEGER_32 1 ;
C00774 MCTRL_dnTorqueAct 23801 5CF9 E 1 INTEGER_32 100 ;
886 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Attribute table
Code Name Index Data Access
dec hex DS DA DT Factor R W CINH
C00775 MCTRL_dnOutputSpeedCtrl 23800 5CF8 E 1 INTEGER_32 100 ;
C00776 MCTRL_dnInputJerkCtrl 23799 5CF7 E 1 INTEGER_32 100 ;
C00777 MCTRL_dnInputTorqueCtrl 23798 5CF6 E 1 INTEGER_32 100 ;
C00778 MCTRL_dnFluxAct 23797 5CF5 E 1 INTEGER_32 100 ;
C00779 MCTRL_dnDCBusVoltage 23796 5CF4 E 1 INTEGER_32 1 ;
C00780 MCTRL_dnImotAct 23795 5CF3 E 1 INTEGER_32 100 ;
C00781 MCTRL_dwMaxMotorSpeed 23794 5CF2 E 1 UNSIGNED_32 1 ;
C00782 MCTRL_dwMaxMotorTorque 23793 5CF1 E 1 UNSIGNED_32 1000 ;
C00783 MCTRL_dwMotorVoltageAct 23792 5CF0 E 1 UNSIGNED_32 1 ;
C00784 MCTRL_dnMotorFreqAct 23791 5CEF E 1 INTEGER_32 10 ;
C00786 MCTRL_dnIxtLoad 23789 5CED E 1 INTEGER_32 100 ;
C00787 MCTRL_dnFlyingSpeedAct 23788 5CEC E 1 INTEGER_32 1 ;
C00788 MCTRL_dwMaxEffMotorTorque 23787 5CEB E 1 INTEGER_32 1000 ;
C00789 MCTRL_dwMaxDeviceCurrent 23786 5CEA E 1 INTEGER_32 100 ;
C00790 MCTRL_dnI2xtLoad 23785 5CE9 E 1 INTEGER_32 100 ;
C00791 MCTRL_dnDeltaMotorPos_p 23784 5CE8 E 1 INTEGER_32 1 ;
C00792 MCTRL_dnOutputPosCtrlMotor_s 23783 5CE7 E 1 INTEGER_32 1 ;
C00800 MCTRL_dnPosSet 23775 5CDF A 2 UNSIGNED_32 1 ;
C00802 MCTRL_dnSpeedAdd 23773 5CDD E 1 INTEGER_32 1 ;
C00803 MCTRL_dnTorqueAdd 23772 5CDC E 1 INTEGER_32 1000 ;
C00804 MCTRL_dnAccelerationAdd 23771 5CDB E 1 INTEGER_32 1000 ;
C00805 MCTRL_dnSpeedLowLimit 23770 5CDA E 1 INTEGER_32 1 ;
C00806 MCTRL_dnTorqueLowLimit 23769 5CD9 E 1 INTEGER_32 100 ;
C00807 MCTRL_dnTorqueHighLimit 23768 5CD8 E 1 INTEGER_32 100 ;
C00808 MCTRL_dnPosCtrlOutLimit 23767 5CD7 E 1 INTEGER_32 1 ;
C00809 MCTRL_dnTorqueCtrlAdapt 23766 5CD6 E 1 INTEGER_32 100 ;
C00810 MCTRL_dnSpeedCtrlAdapt 23765 5CD5 E 1 INTEGER_32 100 ;
C00811 MCTRL_dnPosCtrlAdapt 23764 5CD4 E 1 INTEGER_32 100 ;
C00812 MCTRL_dnMotorPosRefValue 23763 5CD3 A 2 UNSIGNED_32 1 ;
C00813 MCTRL_dnLoadPosRefValue 23762 5CD2 A 2 UNSIGNED_32 1 ;
C00814 MCTRL_dnBoost 23761 5CD1 E 1 INTEGER_32 1 ;
C00815 MCTRL_dnSpeedCtrlIntegrator 23760 5CD0 E 1 INTEGER_32 1000 ;
C00816 MCTRL_dnFieldWeak 23759 5CCF E 1 INTEGER_32 100 ;
C00817 MCTRL_dnSpeedSet_s 23758 5CCE E 1 INTEGER_32 1 ;
C00818 MCTRL_dnMvorAdapt 23757 5CCD E 1 INTEGER_32 100 ;
C00854 ID status 23721 5CA9 E 1 UNSIGNED_32 1 ;
C00878 Status DCTRL control input 23697 5C91 A 5 UNSIGNED_8 1 ;
C00909 Speed limitation 23666 5C72 A 2 INTEGER_16 10 ; ;
C00950 VFC: V/f characteristic shape 23625 5C49 E 1 UNSIGNED_32 1 ; ;
C00951 VFC: V/f base frequency 23624 5C48 E 1 INTEGER_32 1 ; ;
C00952 VFC: Frequency interpol. point n 23623 5C47 A 11 INTEGER_32 1 ; ; ;
C00953 VFC: Voltage interpol. point n 23622 5C46 A 11 INTEGER_32 100 ; ; ;
C00954 VFC: Activat. interpol. point n 23621 5C45 A 11 UNSIGNED_32 1 ; ; ;
C00955 VFC: Vmax reduction 23620 5C44 E 1 UNSIGNED_32 1 ; ;
C00957 VFC: VVC current setpoint 23618 5C42 E 1 INTEGER_32 100 ; ;
C00958 VFC: VVC gain 23617 5C41 E 1 UNSIGNED_32 100 ; ;
C00959 VFC: VVC reset time 23616 5C40 E 1 UNSIGNED_32 100 ; ;
C00960 VFC: V/f voltage boost 23615 5C3F E 1 INTEGER_32 1 ; ;
C00961 VFC: Load - cw/ccw-operation 23614 5C3E E 1 UNSIGNED_32 1 ; ; ;
C00962 VFC: Load adjustment 23613 5C3D E 1 UNSIGNED_32 100 ; ;
C00963 VFC: Gain - Imax controller 23612 5C3C E 1 UNSIGNED_32 1000 ; ;
EDS94AxHExxxx EN 7.0 - 04/2010 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
887
9400 HighLine | Parameter setting & configuration
Parameter reference
Attribute table
Code Name Index Data Access
dec hex DS DA DT Factor R W CINH
C00964 VFC: Reset time - Imax controller 23611 5C3B E 1 UNSIGNED_32 10 ; ;
C00965 VFC: Gain - slip compensation 23610 5C3A E 1 INTEGER_32 100 ; ;
C00966 VFC: Time const. - slip compens. 23609 5C39 E 1 UNSIGNED_32 1 ; ;
C00967 VFC: Gain - oscillation damping 23608 5C38 E 1 INTEGER_32 1 ; ;
C00968 VFC: Time const. - oscill. damp. 23607 5C37 E 1 INTEGER_32 1 ; ;
C00969 VFC: Limitation - oscill. damp. 23606 5C36 E 1 INTEGER_32 10 ; ;
C00970 VFC: ramp-end frequ. - oscill. damp. 23605 5C35 E 1 INTEGER_32 1 ; ;
C00971 VFC: Influence - speed controller 23604 5C34 E 1 UNSIGNED_32 100 ; ;
C00972 VFC: Gain - speed controller 23603 5C33 E 1 UNSIGNED_32 1000 ; ;
C00973 VFC: Reset time - speed contr. 23602 5C32 E 1 UNSIGNED_32 10 ; ;
C00974 DC brake: Current 23601 5C31 E 1 INTEGER_32 100 ; ;
C00975 DC brake: Current for quick stop 23600 5C30 E 1 INTEGER_32 100 ; ;
C00976 DC brake: Activat. by quick stop 23599 5C2F E 1 UNSIGNED_32 1 ; ;
C00977 Min. inh-time aft. overvolt. 23598 5C2E E 1 UNSIGNED_32 1 ; ;
C00980 VFC: Override point of field weakening 23595 5C2B E 1 INTEGER_32 1 ; ;
C00985 SLVC: Gain - flux controller 23590 5C26 E 1 UNSIGNED_32 100 ; ;
C00986 SLVC: Gain - cross curr. contr. 23589 5C25 E 1 UNSIGNED_32 100 ; ;
C00987 SLVC: Gain - torque controller 23588 5C24 E 1 UNSIGNED_32 10000 ; ;
C00988 SLVC: Torque controller reset time 23587 5C23 E 1 UNSIGNED_32 100 ; ;
C00989 SLVC: Time const.- Para. adj. 23586 5C22 A 2 UNSIGNED_32 1 ; ;
C00990 Flying restart: Activation 23585 5C21 E 1 UNSIGNED_32 1 ; ;
C00991 Flying restart: Current 23584 5C20 E 1 INTEGER_32 1 ; ;
C00992 Flying restart: Start frequency 23583 5C1F E 1 INTEGER_32 10 ; ;
C00993 Flying restart: Integration time 23582 5C1E E 1 UNSIGNED_32 1 ; ;
C00994 Flying restart: Min. deviation 23581 5C1D E 1 UNSIGNED_32 100 ; ;
C00995 Flying restart: Delay time 23580 5C1C E 1 UNSIGNED_32 1 ; ;
C00998 VFC: Frequency setpoint 23577 5C19 E 1 INTEGER_32 10 ;
C01120 Sync source 23455 5B9F E 1 UNSIGNED_8 1 ; ;
C01121 Sync cycle time 23454 5B9E E 1 UNSIGNED_32 1 ; ;
C01122 Sync phase position 23453 5B9D E 1 UNSIGNED_32 1 ; ;
C01123 Sync tolerance 23452 5B9C E 1 UNSIGNED_32 1 ; ;
C01124 Sync-PLL increment 23451 5B9B E 1 UNSIGNED_8 1 ; ;
C01130 CAN SYNC application cycle 23445 5B95 E 1 UNSIGNED_16 1 ; ;
C01190 Motor thermal sensor 23385 5B59 E 1 UNSIGNED_32 1 ; ;
C01191 Spec. characteristic: temperature 23384 5B58 A 2 UNSIGNED_32 1 ; ;
C01192 Spec. characteristic: resistance 23383 5B57 A 2 UNSIGNED_32 1 ; ;
C01193 Motor temp. feedback system 23382 5B56 E 1 UNSIGNED_16 1 ; ; ;
C01194 Motor operating temperature 23381 5B55 E 1 INTEGER_32 1 ; ;
C01195 Influence winding I²xt mon. 23380 5B54 E 1 UNSIGNED_32 1 ; ;
C01196 S1 torque characteristic I²xt mon. 23379 5B53 A 8 UNSIGNED_32 1 ; ;
C01198 Async. motor: Stall protection 23377 5B51 E 1 UNSIGNED_32 1 ; ;
C01199 Enhanced power 23376 5B50 E 1 UNSIGNED_32 1 ; ; ;
C01200 Dual motor temperature 23375 5B4F A 2 INTEGER_32 1 ;
C01201 Delay time for fan start 23374 5B4E E 1 UNSIGNED_32 1 ; ;
C01203 Counter: Brake chopper overload 23372 5B4C E 1 UNSIGNED_16 1 ;
C01204 Counter: Ixt overload 23371 5B4B E 1 UNSIGNED_16 1 ;
C01205 Counter: DC bus overvoltage 23370 5B4A E 1 UNSIGNED_16 1 ;
C01206 Counter: Mains switching 23369 5B49 E 1 UNSIGNED_16 1 ;
C01208 Counter: Heatsink overtemp. 23367 5B47 E 1 UNSIGNED_16 1 ;
C01209 Counter: Housing overtemp. 23366 5B46 E 1 UNSIGNED_16 1 ;
C01210 Counter: internal 23365 5B45 E 1 UNSIGNED_8 1 ;
888 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Attribute table
Code Name Index Data Access
dec hex DS DA DT Factor R W CINH
C01212 Counter: Power section overload 23363 5B43 E 1 UNSIGNED_16 1 ;
C01214 Internal clock 23361 5B41 E 1 VISIBLE_STRING 1 ;
C01215 Set time and date 23360 5B40 A 6 UNSIGNED_16 1 ; ;
C01230 Resp. to communication task overflow 23345 5B31 E 1 UNSIGNED_8 1 ; ;
C01501 Resp. to comm. error with MXI1 23074 5A22 E 1 UNSIGNED_32 1 ; ;
C01502 Resp. to comm. error with MXI2 23073 5A21 E 1 UNSIGNED_32 1 ; ;
C01510 Ethernet IP address client x 23065 5A19 A 3 VISIBLE_STRING 1 ;
C01511 Ethernet status client x 23064 5A18 A 3 UNSIGNED_8 1 ;
C01902 Diagnostics X6: Max. baud rate 22673 5891 E 1 UNSIGNED_32 1 ; ;
C01903 Diagnostics X6: Change baud rate 22672 5890 E 1 UNSIGNED_32 1 ; ;
C01905 Diagnostics X6: Curr. baud rate 22670 588E E 1 UNSIGNED_32 1 ;
C02104 Program auto-start 22471 57C7 E 1 UNSIGNED_32 1 ; ;
C02108 Program status 22467 57C3 E 1 UNSIGNED_8 1 ;
C02109 Program runtime 22466 57C2 E 1 UNSIGNED_16 1 ;
C02110 User code: Memory utilisation 22465 57C1 E 1 UNSIGNED_32 1 ;
C02111 Resp. to task overflow 22464 57C0 E 1 UNSIGNED_8 1 ; ;
C02113 Program name 22462 57BE E 1 VISIBLE_STRING 1 ;
C02121 Runtime ApplicationTask 22454 57B6 A 2 UNSIGNED_32 1 ;
C02122 Runtime UserTask 22453 57B5 A 2 UNSIGNED_32 1 ;
C02123 Runtime IdleTask 22452 57B4 A 2 UNSIGNED_32 1 ;
C02520 Gearbox factor numerator: Motor 22055 5627 E 1 INTEGER_32 1 ; ; ;
C02521 Gearbox factor denom.: Motor 22054 5626 E 1 INTEGER_32 1 ; ; ;
C02522 Gearbox factor num.: Pos. enc. 22053 5625 E 1 INTEGER_32 1 ; ; ;
C02523 Gearbox fac. denom.: Pos. enc. 22052 5624 E 1 INTEGER_32 1 ; ; ;
C02524 Feed constant 22051 5623 E 1 UNSIGNED_32 10000 ; ; ;
C02525 Unit 22050 5622 E 1 UNSIGNED_32 1 ; ;
C02526 User-defined unit 22049 5621 E 1 VISIBLE_STRING 1 ; ;
C02527 Motor mounting direction 22048 5620 E 1 UNSIGNED_32 1 ; ; ;
C02528 Traversing range 22047 561F E 1 UNSIGNED_32 1 ; ; ;
C02529 Position encoder mounting dir. 22046 561E E 1 UNSIGNED_32 1 ; ; ;
C02530 Active function state 22045 561D E 1 INTEGER_32 1 ;
C02531 Gearbox factors (decimal) 22044 561C A 3 UNSIGNED_32 1000 ;
C02532 Resolution of a unit 22043 561B E 1 UNSIGNED_32 1 ;
C02533 Time unit 22042 561A E 1 UNSIGNED_32 1 ;
C02534 Used time unit 22041 5619 E 1 VISIBLE_STRING 1 ;
C02535 Used unit 22040 5618 E 1 VISIBLE_STRING 1 ;
C02536 Cycle 22039 5617 E 1 UNSIGNED_32 10000 ; ; ;
C02537 Speed unit 22038 5616 E 1 VISIBLE_STRING 1 ;
C02538 Acceleration unit 22037 5615 E 1 VISIBLE_STRING 1 ;
C02539 Max. presentable position 22036 5614 E 1 INTEGER_32 10000 ;
C02540 Max. presentable speed 22035 5613 E 1 INTEGER_32 10000 ;
C02541 Max. presentable acceleration 22034 5612 E 1 INTEGER_32 10000 ;
C02542 Load reference speed 22033 5611 E 1 UNSIGNED_32 1000 ;
C02543 Load reference torque 22032 5610 E 1 UNSIGNED_32 1000 ;
C02544 Reference speed 22031 560F E 1 INTEGER_32 10000 ;
C02545 Reference Jerktime 22030 560E E 1 UNSIGNED_32 1000 ; ;
C02547 DI_dnState 22028 560C E 1 INTEGER_32 1 ;
C02548 DI_bErrors 22027 560B A 4 UNSIGNED_32 1 ;
C02549 Drive interface: Signals 22026 560A A 15 UNSIGNED_32 1 ;
C02550 Setpoint interpolation 22025 5609 A 3 UNSIGNED_32 1 ; ;
C02552 Position setpoint (motor interface) 22023 5607 E 1 INTEGER_32 10000 ;
EDS94AxHExxxx EN 7.0 - 04/2010 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
889
9400 HighLine | Parameter setting & configuration
Parameter reference
Attribute table
Code Name Index Data Access
dec hex DS DA DT Factor R W CINH
C02553 Position controller gain 22022 5606 E 1 UNSIGNED_32 100 ; ;
C02554 Position controller reset time 22021 5605 E 1 UNSIGNED_32 1000 ; ;
C02555 D component position controller 22020 5604 E 1 UNSIGNED_32 1000 ; ;
C02556 Pos. contr. limitation 22019 5603 E 1 INTEGER_32 10000 ; ;
C02557 Phase controller output 22018 5602 E 1 INTEGER_32 10000 ;
C02558 Pos. contr. output 22017 5601 E 1 INTEGER_32 10000 ;
C02559 Internal torque limits 22016 5600 A 2 INTEGER_32 100 ;
C02560 Messages - motor interface 22015 55FF E 1 UNSIGNED_32 1 ;
C02561 Speed feedforw. control gain 22014 55FE E 1 INTEGER_32 100 ; ;
C02562 Filter time constant 22013 55FD E 1 UNSIGNED_32 1000 ; ;
C02567 Control mode 22008 55F8 E 1 UNSIGNED_32 1 ;
C02568 Motor interface: % signals 22007 55F7 A 10 INTEGER_32 100 ;
C02569 Motor interface.: Dig. signals 22006 55F6 A 16 UNSIGNED_32 1 ;
C02570 Position control structure 22005 55F5 E 1 UNSIGNED_32 1 ; ; ;
C02572 Speed setpoint (enc. eval.) 22003 55F3 E 1 INTEGER_32 10000 ;
C02573 Position setpoint (enc. eval.) 22002 55F2 E 1 INTEGER_32 10000 ;
C02574 Actual speed (enc. eval.) 22001 55F1 E 1 INTEGER_32 10000 ;
C02575 Actual position (enc. eval.) 22000 55F0 E 1 INTEGER_32 10000 ;
C02576 Following error 21999 55EF E 1 INTEGER_32 10000 ;
C02577 External actual position 21998 55EE E 1 INTEGER_32 10000 ;
C02578 Offset actual pos. value/setp. 21997 55ED E 1 INTEGER_32 10000 ;
C02579 Encoder eval.: Dig. signals 21996 55EC A 3 UNSIGNED_32 1 ;
C02580 Operating mode brake 21995 55EB E 1 UNSIGNED_32 1 ; ; ;
C02581 Threshold - brake activation 21994 55EA E 1 INTEGER_32 1 ; ;
C02582 Brake resp. to pulse inhibit 21993 55E9 E 1 UNSIGNED_32 1 ; ;
C02583 Status input monitoring 21992 55E8 E 1 UNSIGNED_32 1 ; ;
C02585 Brake control polarity 21990 55E6 E 1 UNSIGNED_32 1 ; ;
C02586 Starting torque 1 21989 55E5 E 1 INTEGER_32 100 ; ;
C02587 Starting torque 2 21988 55E4 E 1 INTEGER_32 100 ; ;
C02588 Source of starting torque 21987 55E3 E 1 UNSIGNED_32 1 ; ;
C02589 Brake closing time 21986 55E2 E 1 UNSIGNED_32 1 ; ;
C02590 Brake opening time 21985 55E1 E 1 UNSIGNED_32 1 ; ;
C02591 Waiting time - status monitoring 21984 55E0 E 1 UNSIGNED_32 1 ; ;
C02593 Waiting time - brake activation 21982 55DE E 1 UNSIGNED_32 1000 ; ;
C02594 Test torque 21981 55DD E 1 INTEGER_32 100 ; ;
C02595 Permissible angle of rotation 21980 55DC E 1 INTEGER_32 1 ; ;
C02596 Grinding speed 21979 55 db E 1 INTEGER_32 1 ; ;
C02597 Accel./decel. time - grinding 21978 55DA E 1 UNSIGNED_32 1000 ; ;
C02598 Grinding ON time 21977 55D9 E 1 UNSIGNED_32 10 ; ;
C02599 Grinding OFF time 21976 55D8 E 1 UNSIGNED_32 10 ; ;
C02600 Acceleration time feedf. control 21975 55D7 E 1 UNSIGNED_32 1000 ; ;
C02601 Ref. for Accel. time of brake 21974 55D6 E 1 UNSIGNED_32 1 ; ;
C02602 Source for feedf. control brake 21973 55D5 E 1 UNSIGNED_32 1 ; ;
C02603 Threshold 1 for opening brake 21972 55D4 E 1 INTEGER_32 1 ; ;
C02604 Threshold 2 for opening brake 21971 55D3 E 1 INTEGER_32 1 ; ;
C02607 BRK_dnState 21968 55D0 E 1 INTEGER_32 1 ;
C02608 BRK_dnTorqueAdd_n 21967 55CF E 1 INTEGER_32 100 ;
C02609 Brake control: Dig. signals 21966 55CE A 10 UNSIGNED_32 1 ;
C02610 Deceleration time for stop 21965 55CD E 1 UNSIGNED_32 1000 ; ;
C02611 S-ramp time for stop 21964 55CC E 1 UNSIGNED_32 1000 ; ;
C02612 Ref. for decel. time of stop 21963 55CB E 1 UNSIGNED_32 1 ; ;
890 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Attribute table
Code Name Index Data Access
dec hex DS DA DT Factor R W CINH
C02616 STP_dnState 21959 55C7 E 1 INTEGER_32 1 ;
C02617 STP_bStopActive 21958 55C6 E 1 UNSIGNED_32 1 ;
C02619 Quick stop: Dig. signals 21956 55C4 A 5 UNSIGNED_32 1 ;
C02620 Manual jog: Speed 1 21955 55C3 E 1 INTEGER_32 10000 ; ;
C02621 Manual jog: Speed 2 21954 55C2 E 1 INTEGER_32 10000 ; ;
C02622 Manual jog: Acceleration 21953 55C1 E 1 INTEGER_32 10000 ; ;
C02623 Manual jog: Deceleration 21952 55C0 E 1 INTEGER_32 10000 ; ;
C02624 Manual jog: S-ramp time 21951 55BF E 1 UNSIGNED_32 1000 ; ;
C02625 Manual jog: Step size 21950 55BE E 1 INTEGER_32 10000 ; ;
C02626 Manual jog: Index stop position 21949 55BD A 16 INTEGER_32 1 ; ;
C02627 Manual jog: Selected stop position 21948 55BC A 16 INTEGER_32 10000 ;
C02637 MAN_dnSpeedOverride_n 21938 55B2 E 1 INTEGER_32 100 ;
C02638 Manual jog: Status 21937 55B1 E 1 INTEGER_32 1 ;
C02639 Manual jog: Dig. signals 21936 55B0 A 9 UNSIGNED_32 1 ;
C02640 Homing mode 21935 55AF E 1 UNSIGNED_32 1 ; ;
C02641 Action after detect home position 21934 55AE E 1 UNSIGNED_32 1 ; ;
C02642 Home position 21933 55AD E 1 INTEGER_32 10000 ; ;
C02643 Homing: Target position 21932 55AC E 1 INTEGER_32 10000 ; ;
C02644 Homing: Speed 1 21931 55AB E 1 INTEGER_32 10000 ; ;
C02645 Homing: Acceleration 1 21930 55AA E 1 INTEGER_32 10000 ; ;
C02646 Homing: Speed 2 21929 55A9 E 1 INTEGER_32 10000 ; ;
C02647 Homing: Acceleration 2 21928 55A8 E 1 INTEGER_32 10000 ; ;
C02648 Homing: S-ramp time 21927 55A7 E 1 INTEGER_32 1 ; ;
C02649 Homing: Torque limit 21926 55A6 E 1 INTEGER_32 100 ; ;
C02650 Homing: Blocking time 21925 55A5 E 1 UNSIGNED_32 1000 ; ;
C02651 Homing: TP configuration 21924 55A4 E 1 UNSIGNED_32 1 ; ;
C02652 Ref. pos. after mains switching 21923 55A3 E 1 UNSIGNED_32 1 ; ;
C02653 Max. rot. ang. aft. mns. swtch. 21922 55A2 E 1 INTEGER_32 1 ; ;
C02655 HM_dnSpeedOverride_n 21920 55A0 E 1 INTEGER_32 100 ;
C02656 Actual position (homing) 21919 559F E 1 INTEGER_32 10000 ;
C02657 HM_dnState 21918 559E E 1 INTEGER_32 1 ;
C02658 HM_dnHomePos_p 21917 559D E 1 INTEGER_32 10000 ;
C02659 Homing: Dig. signals 21916 559C A 9 UNSIGNED_32 1 ;
C02670 Tolerance for POS_bActPosInTarget 21905 5591 E 1 INTEGER_32 10000 ; ;
C02671 Tolerance for POS_bDriveInTarget 21904 5590 E 1 INTEGER_32 10000 ; ;
C02672 Hysteresis for POS_bDriveInTarget 21903 558F E 1 INTEGER_32 10000 ; ;
C02673 Activate DriveInTarget Modulo 21902 558E E 1 UNSIGNED_32 1 ; ;
C02674 POS_dwActualProfileNumber 21901 558D E 1 UNSIGNED_32 1 ;
C02675 POS_dnState 21900 558C E 1 INTEGER_32 1 ;
C02676 POS_dnProfileSpeed_s 21899 558B E 1 INTEGER_32 10000 ;
C02677 Positioning: % signals 21898 558A A 3 INTEGER_32 100 ;
C02678 Positioning: Pos. signals 21897 5589 A 4 INTEGER_32 10000 ;
C02679 Positioning: Dig. signals 21896 5588 A 12 UNSIGNED_32 1 ;
C02680 Source position setpoint 21895 5587 E 1 UNSIGNED_32 1 ; ;
C02681 Source add. speed 21894 5586 E 1 UNSIGNED_32 1 ; ;
C02685 PF_dnMotorAcc_x 21890 5582 E 1 INTEGER_32 10 ;
C02686 PF_dnSpeedAdd1_s 21889 5581 E 1 INTEGER_32 10 ;
C02687 Position follower: % signals 21888 5580 A 2 INTEGER_32 100 ;
C02688 PF_dnPositionSet_p 21887 557F E 1 INTEGER_32 10000 ;
C02689 Position follower: Dig. signals 21886 557E A 2 UNSIGNED_32 1 ;
C02692 SF_dnMotorAcc_x 21883 557B E 1 INTEGER_32 10 ;
EDS94AxHExxxx EN 7.0 - 04/2010 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
891
9400 HighLine | Parameter setting & configuration
Parameter reference
Attribute table
Code Name Index Data Access
dec hex DS DA DT Factor R W CINH
C02693 SF_dnSpeedAdd_s 21882 557A E 1 INTEGER_32 10 ;
C02694 Speed follower: % signals 21881 5579 A 2 INTEGER_32 100 ;
C02695 Speed follower: Dig. signals 21880 5578 A 2 UNSIGNED_32 1 ;
C02698 Torque follower: % signals 21877 5575 A 3 INTEGER_32 100 ;
C02699 Torque follower: Dig. signals 21876 5574 A 2 UNSIGNED_32 1 ;
C02700 Software limits pos. effective 21875 5573 E 1 UNSIGNED_32 1 ; ;
C02701 Software limit positions 21874 5572 A 2 INTEGER_32 10000 ; ;
C02702 Limitations effective 21873 5571 E 1 UNSIGNED_32 1 ; ;
C02703 Max. speed 21872 5570 E 1 INTEGER_32 10000 ; ;
C02704 Max. speed [rpm] 21871 556F E 1 INTEGER_32 10 ;
C02705 Max. acceleration 21870 556E E 1 INTEGER_32 10000 ; ;
C02706 Min. S-ramp time 21869 556D E 1 UNSIGNED_32 1 ; ;
C02707 Permissible direction of rot. 21868 556C E 1 UNSIGNED_32 1 ; ;
C02708 Limited speed 21867 556B A 4 INTEGER_32 10000 ; ;
C02709 Limited speed [rpm] 21866 556 A A 4 INTEGER_32 10 ;
C02710 Delay lim. speed 21865 5569 A 4 UNSIGNED_32 10000 ; ;
C02711 S-ramp time lim. speed 21864 5568 A 4 UNSIGNED_32 1 ; ;
C02712 Decel. time lim. speed 21863 5567 A 4 UNSIGNED_32 1 ;
C02713 Max. dist. manual control 21862 5566 E 1 UNSIGNED_32 10000 ; ;
C02714 Max. dist. manual jog [inc.] 21861 5565 E 1 UNSIGNED_32 1 ;
C02715 Limitation active 21860 5564 E 1 UNSIGNED_32 1 ;
C02716 Resp. to limitation 21859 5563 A 3 UNSIGNED_32 1 ; ;
C02717 LIM_dwControl 21858 5562 E 1 UNSIGNED_32 1 ;
C02718 LIM_dnState 21857 5561 E 1 INTEGER_32 1 ;
C02719 Limiter: Dig. signals 21856 5560 A 3 UNSIGNED_32 1 ;
C02720 Software limit position monitoring 21855 555F E 1 UNSIGNED_32 1 ; ;
C02730 Analog inputs: Gain 21845 5555 A 2 INTEGER_32 100 ; ;
C02731 Analog inputs: Offset 21844 5554 A 2 INTEGER_32 100 ; ;
C02732 Analog inputs: Dead band 21843 5553 A 2 INTEGER_32 100 ; ;
C02733 Analog outputs: Gain 21842 5552 A 2 INTEGER_32 100 ; ;
C02734 Analog outputs: Offset 21841 5551 A 2 INTEGER_32 100 ; ;
C02760 Activate Encoder 21815 5537 E 1 UNSIGNED_32 1 ; ;
C02761 Resolution Multiturn 21814 5536 E 1 UNSIGNED_32 1 ;
C02762 Encoder position 21813 5535 E 1 INTEGER_32 1 ;
C02763 Encoder revolution 21812 5534 E 1 INTEGER_32 1 ;
C02764 Encoderspeed 21811 5533 E 1 INTEGER_32 10 ;
C02765 ENC_bError 21810 5532 E 1 UNSIGNED_32 1 ;
C02770 Mode of operation 21805 552D A 5 UNSIGNED_32 1 ; ;
C02771 Frequency 21804 552C A 4 INTEGER_32 10 ; ;
C02772 Start angle 21803 552B A 4 INTEGER_32 10 ; ;
C02773 Current 21802 552A A 4 INTEGER_32 100 ; ;
C02774 Acceleration time 21801 5529 A 4 INTEGER_32 1000 ; ;
C02775 Deceleration time 21800 5528 A 4 INTEGER_32 1000 ; ;
C02776 Duration time 21799 5527 A 4 INTEGER_32 1000 ; ;
C02779 Mol_SetpointCurrent 21796 5524 E 1 UNSIGNED_32 100 ;
C02780 Mol_dnState 21795 5523 E 1 INTEGER_32 1 ;
C02781 ManualJogOpenLoop: Dig. signals 21794 5522 A 8 UNSIGNED_32 1 ;
C02785 Activation of PPI 21790 551E E 1 UNSIGNED_32 1 ; ;
C02786 Mode of PPI 21789 551D E 1 UNSIGNED_32 1 ; ;
C02787 Ppi_dnState 21788 551C E 1 INTEGER_32 1 ;
C02788 PolePosition Setpoint 21787 551B E 1 INTEGER_32 10 ;
892 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Parameter reference
Attribute table
Code Name Index Data Access
dec hex DS DA DT Factor R W CINH
C02789 PolePositionIdentification: Dig. signals 21786 551A A 9 UNSIGNED_32 1 ;
C02800 Analog input x: Input signal 21775 550F A 2 INTEGER_16 1 ;
C02801 Analog output x: Output signal 21774 550E A 2 INTEGER_16 1 ;
C02802 Status word: Digital outputs 21773 550D E 1 BITFIELD_32 1 ;
C02803 Status word: Digital inputs 21772 550C E 1 BITFIELD_32 1 ;
C02810 Touch probe x: Delay time 21765 5505 A 10 UNSIGNED_32 1 ; ;
C02830 Digital inputs: Delay time 21745 54F1 A 8 UNSIGNED_8 1 ; ;
C02853 Lss sat. characteristic 21722 54DA A 17 UNSIGNED_16 1 ; ; ;
C02855 Imax f. Lss sat. characteristic 21720 54D8 E 1 UNSIGNED_32 10 ; ; ;
C02859 Activate Lss sat. char. 21716 54D4 E 1 UNSIGNED_8 1 ; ; ;
C02860 Rr adjustment 21715 54D3 E 1 UNSIGNED_32 100 ; ;
C02861 Lh adjustment 21714 54D2 E 1 UNSIGNED_32 100 ; ;
C02862 Service code 21713 54D1 A 2 UNSIGNED_16 1 ; ;
C02863 Service code 21712 54D0 E 1 INTEGER_16 1 ; ;
C02864 Service code 21711 54CF E 1 INTEGER_32 1 ;
C02865 Adaptation of Ur 21710 54CE E 1 UNSIGNED_32 100 ; ;
C02900 User Password 21675 54AB E 1 VISIBLE_STRING ; ;
C02901 CamMemory 21674 54AA A 3 UNSIGNED_32 1 ;
C02902 Time stamp of cam data 21673 54A9 A 4 UNSIGNED_32 1 ;
C02903 GUID cam data 21672 54A8 A 4 OCTET_STRING 1 ;
C02905 Online Change Mode 21670 54A6 E 1 UNSIGNED_32 1 ; ;
C02906 Online change status 21669 54A5 E 1 UNSIGNED_32 1 ;
C02908 Number Of Products 21667 54A3 E 1 UNSIGNED_32 1 ;
C02909 Active Product 21666 54A2 E 1 UNSIGNED_32 1 ;
C02910 Product Name 21665 54A1 E 1 VISIBLE_STRING 1 ;
C02911 Product Choice 21664 54A0 E 1 UNSIGNED_32 1 ; ;
C02912 Number Of Products 21663 549F E 1 UNSIGNED_32 1 ;
C02919 Number of curve tracks 21656 5498 E 1 UNSIGNED_32 1 ;
C02920 Cam Track Choice 21655 5497 E 1 UNSIGNED_32 1 ; ;
C02921 Cam Track Type 21654 5496 E 1 UNSIGNED_32 1 ;
C02922 Number of Cam Data Points 21653 5495 E 1 UNSIGNED_32 1 ;
C02923 Cam Data Point Choice 21652 5494 E 1 UNSIGNED_32 1 ; ;
C02924 Change Cam Data Point X 21651 5493 E 1 INTEGER_32 10000 ; ;
C02925 Change Cam Data Point Y 21650 5492 E 1 INTEGER_32 10000 ; ;
C02926 Change Cam Data Point M 21649 5491 E 1 INTEGER_32 100 ; ;
C02927 Auto Inc Cam Data Points 21648 5490 E 1 UNSIGNED_32 1 ; ;
C02939 Number of Cont Tracks 21636 5484 E 1 UNSIGNED_32 1 ;
C02940 Cont Track Choice 21635 5483 E 1 UNSIGNED_32 1 ; ;
C02941 Cont Type 21634 5482 E 1 UNSIGNED_32 1 ;
C02942 Number of Cont Data Points 21633 5481 E 1 UNSIGNED_32 1 ;
C02943 Cont Data Point Choice 21632 5480 E 1 UNSIGNED_32 1 ; ;
C02944 Cont Pos X0 21631 547F E 1 INTEGER_32 10000 ; ;
C02945 Cont Pos X1 21630 547E E 1 INTEGER_32 10000 ; ;
C02946 Cont Time 21629 547D E 1 UNSIGNED_32 10000 ; ;
C02959 Number of Position Tracks 21616 5470 E 1 UNSIGNED_32 1 ;
C02960 Pos Track Choice 21615 546F E 1 UNSIGNED_32 1 ; ;
C02962 Number of Pos Data Points 21613 546D E 1 UNSIGNED_32 1 ;
C02963 Pos Data Point Choice 21612 546C E 1 UNSIGNED_32 1 ; ;
C02964 Change Pos Data Point X 21611 546B E 1 INTEGER_32 10000 ; ;
C02965 Change Pos Data Point Y 21610 546A E 1 INTEGER_32 10000 ; ;
EDS94AxHExxxx EN 7.0 - 04/2010 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
893
9400 HighLine | Parameter setting & configuration
Index
15 Index
Symbols Angular drift monitoring (encoder) 263
"CAN on board" system bus 292 Application
"Online" tab 564 Compiler date (C00213) 746
ID number (C00218) 747
Figures Type code (C00212) 746
Version (C00211) 746
100 % (error message) 653
Application and device are incompatible (error
3 s (error message) 680
message) 674
4 mA (error message) 667
Application has started (error message) 648
60 s (error message) 681
Application is stopped (error message) 647, 648
Application notes 21
A
Application selection (C00005) 725
Absolute value encoder
Application unit 40
Communication error (error message) 658
ApplicationTask
Accel./decel. time - grinding (C02597) 837
Overflow (error message) 646
Acceleration has been limited (error message) 695
Async. motor
Acceleration reduction 383
Stall protection (C01198) 816
Acceleration time (C02774) 864
Asynchronous machine in the field weakening range
Acceleration time feedf. control (C02600) 838 165
Acceleration unit (C02538) 827 Attribute table 881
Access protection 566 Auto Inc Cam Data Points 576
Action after detect Home position (C02641) 847 Auto Inc Cam Data Points (C02927) 877
Activate DriveInTarget Modulo (C02673) 851 Auto increment CAM grid points 576
Activate encoder (C02760) 861 Autom. ENP data transfer (C00202) 744
Activate Lss sat. char. (C02859) 872 Autom. restart after mains ON (C00142) 736
Activate resolver error compensation (C00418) 772 Automatic restart 112
Active application (C00007) 725 Automatic switching frequency reduction 115
Active function state (C02530) 826
Active Product (C02909) 875 B
Actual position (enc. eval.) (C02575) 834 Band-stop filter 159
Actual position (homing) (C02656) 850 Basic drive functions 375
Actual speed (enc. eval.) (C02574) 834 Basic function "Limiter" 368
Actual speed [%] (C00693) 794 Basic functions 375
Actual speed [rpm] (C00051) 727 Behaviour after task overflow 114, 290
Actual speed filter 158, 185 Behaviour due to change of parameter set (C00227)
Actual speed value outside the tolerance (C00576) 747
(error message) 657 Behaviour of the outputs after a system event 290
Actual torque [%] (C00698) 794 Block function in wrong MEC task (error message) 681
Actual value detection 158 Brake chopper 265, 268
Adaptation of Ur (C02865) 873 Ixt > 665
Analog input 1 Brake chopper monitoring 268
Master current < 667 Brake chopper utilisation 268
Analog input x Brake closing time (C02589) 836
Input signal (C02800) 866 Brake control 528
Analog inputs 274 Dig. signals (C02609) 839
Dead band (C02732) 861 Brake control polarity (C02585) 836
Gain (C02730) 860 Brake opening time (C02590) 836
Offset (C02731) 860
Brake resistor 269
Analog output x I²xt overload (error message) 659
Output signal (C02801) 867 I2t > 665
Analog outputs 277 Brake resistor monitoring 269
Gain (C02733) 861
Brake resistor utilisation 269
Offset (C02734) 861
Brake resistor utilisation (C00138) 736
894 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Index
Brake resistor value (C00129) 735 C1196 816
Brake resp. to pulse inhibit (C02582) 835 C1198 816
Brake transistor 265 C1199 816
Ixt overload (error message) 659 C120 734
Overcurrent (error message) 660 C1200 817
Brake transistor utilisation (C00137) 736 C1201 817
Braking operation 265 C1203 817
Breakpoint reached (error message) 647 C1204 817
BRK_dnState (C02607) 839 C1205 817
BRK_dnTorqueAdd_n (C02608) 839 C1206 818
C1208 818
C C1209 818
C00120 (error message) 653 C121 734
C00121 (C00584) 782 C1210 818
C00121 (error message) 651 C1211 818
C00122 (C00582) 782 C1212 818
C00122 (error message) 650 C1213 818
C00123 (C00604) 786 C1214 819
C00123 (error message) 653 C1215 819
C00126 (C00589) 784 C1217 819
C00126 (error message) 651 C1218 819
C00127 (C00606) 787 C122 734
C00127 (error message) 653 C1220 820
C00570 (C00569) 779 C1221 820
C00570 (error message) 665 C1222 820
C00572 (C00571) 779 C1223 820
C00572 (error message) 665 C123 734
C00596 (error message) 660 C1230 820
C00620 (C00619) 789 C126 735
C00620 (error message) 659 C127 735
C100 733 C128 735
C105 733 C129 735
C106 733 C130 735
C107 733 C131 735
C11 726 C132 736
C1120 812 C133 736
C1121 812 C134 736
C1122 812 C137 736
C1123 813 C138 736
C1124 813 C142 736
C1125 814 C150 737
C1126 814 C1501 820
C1127 814 C1502 821
C1128 814 C1510 821
C1129 814 C1511 821
C1130 814 C155 738
C114 733 C156 738
C118 734 C158 739
C1190 814 C159 739
C1191 815 C162 740
C1192 815 C166 740
C1193 815 C167 740
C1194 815 C168 740
C1195 816
EDS94AxHExxxx EN 7.0 - 04/2010 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
895
9400 HighLine | Parameter setting & configuration
Index
C169 740 C2520 824
C171 741 C2521 824
C173 741 C2522 824
C174 742 C2523 824
C175 742 C2524 824
C176 742 C2525 825
C177 742 C2526 825
C178 742 C2527 825
C179 742 C2528 825
C18 726 C2529 825
C180 742 C2530 826
C181 743 C2531 826
C183 743 C2532 826
C185 743 C2533 827
C186 743 C2534 827
C187 743 C2535 827
C188 744 C2536 827
C19 726 C2537 827
C1902 822 C2538 827
C1903 822 C2539 827
C1905 822 C254 748
C198 744 C2540 828
C199 744 C2541 828
C2 712 C2542 828
C200 744 C2543 828
C201 744 C2544 828
C202 744 C2545 828
C203 744 C2547 829
C204 745 C2548 829
C205 745 C2549 829
C206 745 C2550 830
C208 746 C2552 830
C209 746 C2553 830
C210 746 C2554 830
C2104 822 C2555 830
C2108 822 C2556 830
C2109 823 C2557 831
C211 746 C2558 831
C2110 823 C2559 831
C2111 823 C2560 831
C2113 823 C2561 831
C212 746 C2562 832
C2121 823 C2567 832
C2122 823 C2568 832
C2123 824 C2569 833
C213 746 C2570 833
C214 747 C2571 833
C217 747 C2572 833
C218 747 C2573 834
C219 747 C2574 834
C22 726 C2575 834
C225 747 C2576 834
C227 747 C2577 834
896 L EDS94AxHExxxx EN 7.0 - 04/2010
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
9400 HighLine | Parameter setting & configuration
Index
C2578 834 C2648 849
C2579 835 C2649 849
C2580 835 C2650 849
C2581 835 C2651 849
C2582 835 C2652 849
C2583 835 C2653 849
C2585 836 C2655 850
C2586 836 C2656 850
C2587 836 C2657 850
C2588 836 C2658 850
C2589 836 C2659 850
C2590 836 C2670 851
C2591 837 C2671 851
C2593 837 C2672 851
C2594 837 C2673 851
C2595 837 C2674 851
C2596 837 C2675 852
C2597 837 C2676 852
C2598 838 C2677 852
C2599 838 C2678 852
C2600 838 C2679 853
C2601 838 C2680 853
C2602 838 C2681 853
C2603 838 C2685 853
C2604 839 C2686 854
C2607 839 C2687 854
C2608 839 C2688 854
C2609 839 C2689 854
C2610 839 C2692 854
C2611 840 C2693 855
C2612 840 C2694 855
C2616 840 C2695 855
C2617 840 C2698 855
C2619 840 C2699 856
C2620 841 C270 748
C2621 841 C2700 856
C2622 841 C2701 856
C2623 841 C2702 856
C2624 841 C2703 856
C2625 841 C2704 857
C2626 842 C2705 857
C2627 842 C2706 857
C2637 842 C2707 857
C2638 842 C2708 857
C2639 843 C2709 858
C2640 846 C271 748
C2641 847 C2710 858
C2642 848 C2711 858
C2643 848 C2712 858
C2644 848 C2713 859
C2645 848 C2714 859
C2646 848 C2715 859
C2647 848 C2716 859
EDS94AxHExxxx EN 7.0 - 04/2010 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
897
9400 HighLine | Parameter setting & configuration
Index
C2717 859 C2860 872
C2718 860 C2861 872
C2719 860 C2862 873
C272 748 C2863 873
C2720 860 C2864 873
C273 748 C2865 873
C2730 860 C2866 873
C2731 860 C2900 873
C2732 861 C2901 874
C2733 861 C2902 874
C2734 861 C2903 874
C274 749 C2905 875
C275 749 C2906 875
C276 749 C2908 875
C2760 861 C2909 875
C2761 861 C2910 875
C2762 862 C2911 876
C2763 862 C2912 876
C2764 862 C2919 876
C2765 862 C2920 876
C2770 862 C2921 876
C2771 863 C2922 877
C2772 863 C2923 877
C2773 863 C2924 877
C2774 864 C2925 877
C2775 864 C2926 877
C2776 864 C2927 877
C2779 864 C2939 878
C2780 865 C2940 878
C2781 865 C2941 878
C2785 865 C2942 878
C2786 865 C2943 878
C2787 866 C2944 879
C2788 866 C2945 879
C2789 866 C2946 879
C280 749 C2959 879
C2800 866 C2960 879
C2801 867 C2962 879
C2802 868 C2963 880
C2803 869 C2964 880
C281 750 C2965 880
C2810 870 C2996 880
C2830 870 C2997 880
C2850 871 C2998 880
C2851 871 C2999 880
C2852 871 C3 716
C2853 871 C308 750
C2854 871 C309 750
C2855 872 C310 750
C2856 872 C311 750
C2857 872 C312 751
C2858 872 C313 751
C2859 872 C314 752
898 L EDS94AxHExxxx EN 7.0 - 04/2010
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
9400 HighLine | Parameter setting & configuration
Index
C320 752 C394 770
C321 753 C395 770
C322 753 C396 771
C323 754 C397 771
C324 754 C398 771
C325 754 C399 771
C326 754 C4 725
C327 754 C413 771
C328 754 C414 772
C329 755 C415 772
C330 755 C416 772
C335 755 C417 772
C336 755 C418 772
C337 755 C420 773
C338 755 C421 773
C34 726 C422 773
C343 755 C423 773
C344 755 C424 773
C345 756 C427 773
C346 756 C435 774
C347 756 C436 774
C348 756 C437 775
C349 757 C443 775
C350 757 C444 776
C351 758 C464 776
C352 758 C465 776
C356 758 C466 777
C357 759 C467 777
C359 759 C468 777
C360 760 C469 777
C361 760 C490 777
C367 761 C494 777
C368 761 C495 778
C369 761 C497 778
C372 762 C5 725
C373 763 C50 727
C374 764 C51 727
C375 764 C512 778
C376 765 C513 778
C377 765 C514 778
C378 765 C515 778
C379 765 C516 778
C381 766 C52 727
C382 766 C53 727
C383 766 C54 727
C385 767 C55 727
C386 767 C56 728
C387 768 C569 779
C388 768 C57 728
C390 768 C570 779
C391 769 C571 779
C392 770 C572 779
C393 770 C573 780
EDS94AxHExxxx EN 7.0 - 04/2010 L
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899
9400 HighLine | Parameter setting & configuration
Index
C574 780 C644 792
C576 780 C645 792
C577 780 C646 792
C578 780 C647 793
C579 781 C648 793
C58 728 C649 793
C580 781 C65 729
C581 781 C650 793
C582 782 C651 793
C583 782 C66 729
C584 782 C68 729
C585 782 C69 729
C586 783 C691 793
C587 783 C692 794
C588 783 C693 794
C589 784 C694 794
C59 728 C695 794
C591 784 C696 794
C594 784 C697 794
C595 785 C698 794
C596 785 C7 725
C597 785 C70 730
C598 785 C71 730
C599 786 C72 730
C6 725 C730 794
C60 728 C731 795
C600 786 C732 795
C601 786 C733 795
C604 786 C734 795
C606 787 C735 795
C607 787 C736 795
C61 728 C737 795
C610 787 C738 795
C611 787 C739 795
C612 788 C74 730
C613 788 C75 730
C614 789 C76 730
C615 789 C77 730
C618 789 C770 795
C619 789 C771 796
C62 729 C772 796
C620 790 C773 796
C621 790 C774 796
C625 790 C775 796
C63 729 C776 796
C635 790 C777 797
C636 791 C778 797
C637 791 C779 797
C64 729 C78 730
C640 791 C780 797
C641 791 C781 797
C642 792 C782 797
C643 792 C783 798
900 L EDS94AxHExxxx EN 7.0 - 04/2010
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
9400 HighLine | Parameter setting & configuration
Index
C784 798 C960 806
C786 798 C961 806
C787 798 C962 806
C788 798 C963 806
C789 798 C964 806
C79 731 C965 807
C790 799 C966 807
C791 799 C967 807
C792 799 C968 807
C8 725 C969 807
C80 731 C970 807
C800 799 C971 808
C802 799 C972 808
C803 799 C973 808
C804 800 C974 808
C805 800 C975 808
C806 800 C976 808
C807 800 C977 809
C808 800 C980 809
C809 800 C985 809
C81 731 C986 809
C810 801 C987 809
C811 801 C988 809
C812 801 C989 810
C813 801 C99 732
C814 801 C990 810
C815 801 C991 810
C816 802 C992 810
C817 802 C993 811
C818 802 C994 811
C82 731 C995 811
C83 731 C998 811
C84 731 Cam data
C85 731 Invalid product number (error message) 704
C854 802 Invalidated due to change of mechanical data (error
C87 731 message) 704
Serial number MM does not match (error message)
C878 802
697
C88 732
Cam data are corrupted (error message) 697
C89 732
Cam data locked due to incorrect password (error
C90 732 message) 697
C909 803 Cam data locked due to incorrect safety key (error
C91 732 message) 698
C92 732 Cam data management 563
C93 732 Cam Data Point Choice (C02923) 877
C950 803 Cam data restored (error message) 697
C951 803 Cam Track Choice (C02920) 876
C952 804 Cam Track Type (C02921) 876
C953 804 CamMemory (C02901) 874
C954 805 CAN baud rate (C00351) 758
C955 805 CAN baud rate setting 297
C957 805 CAN behaviour in case of fault (C00625) 790
C958 805 CAN bus load (C00361) 760
C959 806 CAN delay boot-up - Operational (C00378) 765
EDS94AxHExxxx EN 7.0 - 04/2010 L
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901
9400 HighLine | Parameter setting & configuration
Index
CAN emergency delay time (C00392) 770 CAN module (MXI2) PDO manager
CAN Emergency Object (C00391) 769 Faulty configuration (error message) 692
CAN error (C00345) 756 CAN module (MXI2) RPDO1
CAN Error Register (DS301V402) (C00390) 768 Telegram not received or faulty (error message) 691
CAN Guard Time (C00382) 766 CAN module (MXI2) RPDO2
CAN heartbeat activity (C00346) 756 Telegram not received or faulty (error message) 691
CAN Heartbeat Consumer Time (C00385) 767 CAN module (MXI2) RPDO3
CAN Heartbeat Producer Time (C00381) 766 Telegram not received or faulty (error message) 691
CAN heartbeat status (C00347) 756 CAN module (MXI2) RPDO4
Telegram not received or faulty (error message) 691
CAN Life Time Factor (C00383) 766
CAN module (MXI2) RPDO5
CAN module (MXI1)
Telegram not received or faulty (error message) 691
Basic configuration invalid (error message) 683
Bus off (error message) 683 CAN module (MXI2) RPDO6
Faulty emergency configuration (error message) Telegram not received or faulty (error message) 692
684 CAN module (MXI2) RPDO7
Faulty NMT master configuration (error message) Telegram not received or faulty (error message) 692
685 CAN module (MXI2) RPDO8
Faulty NMT slave configuration (error message) 684 Telegram not received or faulty (error message) 692
Heartbeat error index 1 ... 32 (error message) 683 CAN module (MXI2) SDO client
Invalid node address 0 (error message) 683 Faulty configuration (error message) 693
Lifeguarding error (error message) 684 CAN module (MXI2) SDO server
Node guarding error 1 ... 32 (error message) 684 Faulty configuration (error message) 693
CAN module (MXI1) PDO manager CAN node address (C00350) 757
Faulty configuration (error message) 687 CAN node address setting 296
CAN module (MXI1) RPDO1 CAN Node Guarding (C00386) 767
Telegram not received or faulty (error message) 685 CAN Node Guarding Activity (C00387) 768
CAN module (MXI1) RPDO2 CAN node guarding status (C00388) 768
Telegram not received or faulty (error message) 685
CAN on board 292
CAN module (MXI1) RPDO3 Basic configuration invalid (error message) 669
Telegram not received or faulty (error message) 685 Bus off (error message) 668
CAN module (MXI1) RPDO4 Faulty emergency configuration (error message)
Telegram not received or faulty (error message) 686 670
CAN module (MXI1) RPDO5 Faulty NMT master configuration (error message)
Telegram not received or faulty (error message) 686 670
CAN module (MXI1) RPDO6 Faulty NMT slave configuration (error message) 670
Telegram not received or faulty (error message) 686 Heartbeat error index 1 ... 32 (error message) 669
CAN module (MXI1) RPDO7 Invalid node address 0 (error message) 669
Telegram not received or faulty (error message) 686 Lifeguarding guarding error (error message) 669
CAN module (MXI1) RPDO8 Node guarding error 1 ... 32 (error message) 670
Telegram not received or faulty (error message) 686 CAN on board PDO manager
CAN module (MXI1) SDO client Faulty configuration (error message) 671
Faulty configuration (error message) 687 CAN on board RPDO1
CAN module (MXI1) SDO server Telegram not received or faulty (error message) 671
Faulty configuration (error message) 687 CAN on board RPDO2
CAN module (MXI2) Telegram not received or faulty (error message) 671
Basic configuration invalid (error message) 689 CAN on board RPDO3
Bus off (error message) 688 Telegram not received or faulty (error message) 671
Faulty emergency configuration (error message) CAN on board RPDO4
690 Telegram not received or faulty (error message) 671
Faulty NMT master configuration (error message) CAN on board SDO client
690 Faulty configuration (error message) 672
Faulty NMT slave configuration (error message) 690 CAN on board SDO server
Heartbeat error index 1 ... 32 (error message) 689 Faulty configuration (error message) 672
Invalid node address 0 (error message) 689 CAN predefined error field (DS301V402) (C00394) 770
Lifeguarding error (error message) 689
CAN result - bus scan (C00393) 770
Node guarding error 1 ... 32 (error message) 690
CAN RPDO counter (C00344) 755
902 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Index
CAN RPDOx identifier (C00321) 753 module (error message) 668
CAN RPDOx monitoring time (C00357) 759 Communication task
CAN RPDOx Rx mode (C00323) 754 Standstill > 680
CAN SDO client node address (C00374) 764 Communication with module in MXI1 interrupted
CAN SDO client Rx identifier (C00375) 764 (error message) 668
CAN SDO client Tx identifier (C00376) 765 Communication with module in MXI2 interrupted
(error message) 668
CAN SDO server node address (C00377) 765
Communication with safety module interrupted (error
CAN SDO server Rx identifier (C00372) 762
message) 681
CAN SDO server Tx identifier (C00373) 763
Config. analog input 1 (C00034) 726
CAN setting of DIP switch (C00349) 757
Configure exception handling 290
CAN slave/master (C00352) 758
ConnectTable active (error message) 676
CAN status (C00359) 759
Consumer heartbeat time (I-1016) 349
CAN status DIP switch (C00348) 756
Cont Data Point Choice (C02943) 878
CAN SYNC application cycle (C01130) 814
Cont Pos X0 (C02944) 879
CAN SYNC Rx identifier (C00367) 761
Cont Pos X1 (C02945) 879
CAN SYNC transmit cycle time (C00369) 761
Cont Time (C02946) 879
CAN SYNC Tx identifier (C00368) 761
Cont Track Choice (C02940) 878
CAN telegram and error counter (C00360) 760
Cont Type (C02941) 878
CAN TPDO counter (C00343) 755
Control card
CAN TPDO1 mask byte x (C00311) 750
Supply voltage (24 V DC) too low (error message)
CAN TPDO2 mask byte x (C00312) 751 649
CAN TPDO3 mask byte x (C00313) 751 Control card is defect (error message) 637, 638
CAN TPDO4 mask byte x (C00314) 752 Control card is defect (UB18 neg.) (error message) 654
CAN TPDOx cycle time (C00356) 758 Control card is defect (UB24) (error message) 654
CAN TPDOx delay time (C00324) 754 Control card is defect (UB8) (error message) 654
CAN TPDOx identifier (C00320) 752 Control card is defect (VCC15 neg.) (error message)
CAN TPDOx Tx mode (C00322) 753 654
CAN/EPL device type (C219) 747 Control card is defect (VCC15) (error message) 654
Capacitor temperature (C00068) 729 Control card is defect (VCC5) (error message) 654
Change Cam Data Point M (C02926) 877 Control card is incompatible (error message) 639
Change Cam Data Point X (C02924) 877 Control mode (C02567) 832
Change Cam Data Point Y (C02925) 877 Control of two motor brakes 562
Change of the basic function 383 Controlled operation (without feedback) 410
Change Pos Data Point X (C02964) 880 Controller
Change Pos Data Point Y (C02965) 880 Clamp operation (error message) 666
Changing cam data via parameterisation 575 Overload during acceleration phases (error
Check configuration (C225) 747 message) 663
Pulse inhibit is active (error message) 650
Chopper frequency (C00018) 726
Controller enabled (error message) 649
Clock 819
Controller in STO state (error message) 650
COB-ID 299
Controller inhibit by (source) (C00158) 739
COB-ID EMCY (I-1014) 348
Correction of the leakage inductance 210
COB-ID SYNC message (I-1005) 344
Counter
Code number duplicated (error message) 678
Brake chopper overload (C01203) 817
Code refresh (error message) 643
DC bus overvoltage (C01205) 817
Combination memory module/device not possible
Heatsink overtemp. (C01208) 818
(error message) 642
Housing overtemp. (C01209) 818
Combination MXI1/MXI2 not possible (error message)
Internal (C01210) 818
641
Ixt overload (C01204) 817
Combination of module in MXI1/device not possible
Mains switching (C01206) 818
(error message) 642
Power section overload (C01212) 818
Combination of module in MXI2/device not possible
CPU
(error message) 642
Overtemperature (error message) 651
Communication cycle period (I-1006) 345
Temperature > 651
Communication error between device and device
Thermal detector is defect (error message) 652
EDS94AxHExxxx EN 7.0 - 04/2010 L
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903
9400 HighLine | Parameter setting & configuration
Index
CPU temp. warning threshold (C00126) 735 Signal error enable/lamp control (error message)
CPU temperature (C00069) 729 688
Curr. control par. of C75 C76 (C2866) 873 Supply cannot be corrected anymore (error
message) 688
Current (C02773) 863
Track error A-/A (error message) 687
Current contr. reset time (C00076) 730
Track error B-/B (error message) 687
Current controller gain (C00075) 730
Track error Z-/Z (error message) 688
Current setpoint filter 159
DFOUT (MXI1)
Cycle (C02536) 827 Maximum frequency reached (error message) 682
Cyclic task DFOUT (MXI2)
Standstill > 681 Maximum frequency reached (error message) 688
DI_bErrors (C02548) 829
D DI_dnState (C02547) 829
D component position controller (C02555) 830
Diagnostics X6
Data type 706 Change baud rate (C01903) 822
Date 819 Curr. baud rate (C01905) 822
DC brake Max. baud rate (C01902) 822
Activat. by quick stop (C00976) 808 Dig. input x
Current (C00974) 808 Terminal polarity (C00114) 733
Current for quick stop (C00975) 808 Dig. output x
DC bus overvoltage (error message) 657 Terminal polarity (C00118) 734
DC bus undervoltage (error message) 657 Digital inputs 279
DC-bus capacitor Delay time (C02830) 870
Thermal detector is defect (error message) 652 Digital outputs 281
DC-bus voltage (C00053) 727 DIP switches of the memory module 296
DC-injection braking 221, 395 Disconnection in the case of par. storage (error
Decel. time lim. speed (C02712) 858 message) 678
Deceleration has been limited (error message) 696 Distribution cam data memory 565
Deceleration time (C02775) 864 Division by zero (error message) 647
Deceleration time for stop (C02610) 839 Double motor 232, 562
Delay lim. speed (C02710) 858 Drive interface 35
Delay time for fan start (C01201) 817 Signals (C02549) 829
Depth - current setp. filter (C00272) 748 Drive-based safety 367
Device command status (C00003) 716 DRIVE-ERROR LED 106, 612
Device command transferred incorrectly (error DRIVE-READY LED 106, 612
message) 655 Dual motor temperature (C01200) 817
Device commands (C00002) 712 Dynamic of resolver evaluation (C00417) 772
Device commands, commands Dynamics of the actual value detection 158
See device commands, C2 (device command), C3
(device command status) 49 E
Device name (C00199) 744 Earth fault detected (error message) 657
Device state (C00183) 743 Elapsed hour meter (C00178) 742
Device states 105 Electronic cam 563
Device type (I-1000) 342 Electronic nameplate
Device utilisation (Ixt) (C00064) 729 Checksum error (error message) 642
Device utilisation Ixt > 653 Communication error (error message) 641
DFIN (MXI1) Data are incompatible (error message) 654
Signal error enable/lamp control (error message) Data loaded (error message) 662
682 Data outside the parameter limits (error message)
Supply cannot be corrected anymore (error 663
message) 682 Encoder protocol unknown (error message) 662
Track error A-/A (error message) 682 Encoder signal unknown (error message) 662
Track error B-/B (error message) 682 Not found (error message) 662
Track error Z-/Z (error message) 682 Electronic nameplate status (C2858) 872
DFIN (MXI2) E-mail to Lenze 919
Emergency telegram 339
904 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Index
EN 60204-1 367 0x0068000a 639
EN 954 367 0x0068000b 639
ENC_bError (C02765) 862 0x0068000c 639
Encoder 0x0068000d 639
Open circuit (error message) 659 0x0068000e 639
Time-out error (error message) 666 0x0068000f 639
Encoder - number of increments (C00420) 773 0x00680010 640
0x00680011 640
Encoder angular drift monitoring 263
0x00680012 640
Encoder evaluation 241
0x00680013 640
Dig. signals (C02579) 835
0x00680014 640
Encoder monitoring
0x00680015 640
Pulse deviation detected (error message) 665
0x00680016 641
Encoder revolution (C02763) 862 0x00680017 641
Encoder signal X8 258 0x00680018 641
Encoder type (C00422) 773 0x00680019 641
Encoder voltage (C00421) 773 0x0068001a 641
Encoderrev (C02762) 862 0x0068001b 641
Encoderspeed (C02764) 862 0x0068001c 642
EnDat encoder 0x0068001d 642
Battery empty (error message) 661 0x0068001e 642
Command error (error message) 667 0x0068001f 642
Lamp error (error message) 660 0x00680020 642
Overcurrent (error message) 661 0x00680021 642
Overvoltage (error message) 661 0x00680022 643
Position error (error message) 661 0x00680023 643
Position initialisation error (error message) 667 0x00680024 643
Signal error (error message) 661 0x00690000 643
Transmission error (error message) 666 0x00690001 643
Undervoltage (error message) 661 0x00690002 643
Enhanced Power (C01199) 816 0x00690003 644
0x00690004 644
ENP
0x00690005 644
Identified motor type (C00186) 743
0x00690006 644
Identified serial number (C00187) 743
0x00690007 644
Status (C00188) 744
0x00690008 644
Error behaviour (I-1029) 350
0x00690009 645
Error description (C00166) 740
0x0069000a 645
Error during initialisation (error message) 681 0x0069000b 645
Error message "Unknown error" 628, 636 0x0069000c 645
Error messages 623 0x0069000d 645
Error messages (short overview) 628 0x006a0000 645
Error messages (system bus) 321 0x006a0001 646
Error number 623 0x006a0002 646
0x00650000 636 0x006a0003 646
0x00650001 636 0x006a0004 646
0x00650002 636 0x006a0005 646
0x00650003 637 0x006a0006 647
0x00680000 637 0x006a000d 647
0x00680001 637 0x006a000e 647
0x00680002 637 0x006a000f 647
0x00680003 637 0x006a0010 647
0x00680004 638 0x006a0011 647
0x00680005 638 0x006a0012 648
0x00680006 638 0x006a0013 648
0x00680007 638 0x006a0014 648
0x00680008 638 0x006a0015 648
0x00680009 638 0x006a0016 648
EDS94AxHExxxx EN 7.0 - 04/2010 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
905
9400 HighLine | Parameter setting & configuration
Index
0x006a0017 649 0x007b001a 658
0x006a001a 649 0x007b001b 659
0x006f0000 649 0x007b001c 659
0x00720000 649 0x007b001d 659
0x00750000 649 0x007b001e 659
0x00750001 649 0x007b001f 659
0x00750003 650 0x007b0020 660
0x00750005 650 0x007b0021 660
0x00750006 650 0x007b0023 660
0x00770000 650 0x007b0024 660
0x00770001 650 0x007b0025 660
0x00770002 651 0x007b0026 660
0x00770003 651 0x007b0027 661
0x00770008 651 0x007b0028 661
0x00770009 651 0x007b0029 661
0x0077000a 651 0x007b002a 661
0x0077000b 652 0x007b002b 661
0x0077000c 652 0x007b002c 661
0x0077000d 652 0x007b002d 661
0x0077000e 652 0x007b002e 662
0x0077000f 652 0x007b002f 662
0x00770010 653 0x007b0030 662
0x00770011 653 0x007b0031 662
0x00780000 653 0x007b0032 662
0x00780001 653 0x007b0033 662
0x00780002 653 0x007b0034 663
0x00780003 653 0x007b0035 663
0x00780004 654 0x007b0036 663
0x00780005 654 0x007b0037 663
0x00780006 654 0x007b0038 663
0x00780007 654 0x007b0039 663
0x00780008 654 0x007b003a 664
0x00780009 654 0x007b003b 664
0x0078000a 654 0x007b003c 664
0x00790000 655 0x007b003d 664
0x00790001 655 0x007b003e 665
0x00790002 655 0x007b003f 665
0x007b0001 655 0x007b0040 665
0x007b0002 655 0x007b0041 665
0x007b0003 655 0x007b0042 665
0x007b0004 655 0x007b0047 666
0x007b0006 656 0x007b004a 666
0x007b0007 656 0x007b004c 666
0x007b0009 656 0x007b004d 666
0x007b000a 656 0x007b004e 666
0x007b000b 656 0x007b004f 667
0x007b000c 656 0x007b0050 667
0x007b000d 656 0x007c0000 667
0x007b000e 657 0x007c0001 667
0x007b000f 657 0x007d0000 667
0x007b0010 657 0x007d0001 668
0x007b0011 657 0x007f0002 668
0x007b0012 657 0x007f0003 668
0x007b0013 657 0x007f0004 668
0x007b0014 658 0x00830000 668
0x007b0017 658 0x00830001 669
0x007b0018 658 0x00830002 669
0x007b0019 658 0x00840000 669
906 L EDS94AxHExxxx EN 7.0 - 04/2010
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9400 HighLine | Parameter setting & configuration
Index
0x00840020 669 0x00910008 679
0x00840021 670 0x00910009 680
0x00850000 670 0x0091000a 680
0x00860000 670 0x0091000b 680
0x00860020 670 0x0091000c 680
0x00870000 671 0x0091000d 680
0x00870001 671 0x0091000e 680
0x00870002 671 0x0091000f 681
0x00870003 671 0x00910010 681
0x00870008 671 0x00910011 681
0x00880000 672 0x00910012 681
0x00890000 672 0x00920000 681
0x008c0000 672 0x00920001 681
0x008c0001 672 0x00990000 682
0x008c0002 672 0x00990001 682
0x008c0003 672 0x00990002 682
0x008c0004 673 0x00990003 682
0x008c0005 673 0x00990004 682
0x008c0006 673 0x00990005 682
0x008c0007 673 0x009d0000 683
0x008c0008 673 0x009d0001 683
0x008c0009 673 0x009d0002 683
0x008c000a 674 0x009e0000 683
0x008c000b 674 0x009e0020 684
0x008c000c 674 0x009e0021 684
0x008c000d 674 0x009f0000 684
0x008c000e 674 0x00a00000 684
0x008c000f 674 0x00a00020 685
0x008c0010 675 0x00a10000 685
0x008c0011 675 0x00a10001 685
0x008c0012 675 0x00a10002 685
0x008c0013 675 0x00a10003 686
0x008c0014 675 0x00a10004 686
0x008c0015 675 0x00a10005 686
0x008c0016 676 0x00a10006 686
0x008c0017 676 0x00a10007 686
0x008c0018 676 0x00a10008 687
0x008c001a 676 0x00a20000 687
0x00900000 676 0x00a30000 687
0x00900001 676 0x00aa0000 687
0x00900002 677 0x00aa0001 687
0x00900003 677 0x00aa0002 688
0x00900004 677 0x00aa0003 688
0x00900005 677 0x00aa0004 688
0x00900006 677 0x00aa0005 688
0x00900007 677 0x00ac0000 688
0x00900008 678 0x00ac0001 689
0x00900009 678 0x00ac0002 689
0x0090000a 678 0x00ad0000 689
0x0090000b 678 0x00ad0020 689
0x0090000c 678 0x00ad0021 690
0x00910000 678 0x00ae0000 690
0x00910001 679 0x00af0000 690
0x00910002 679 0x00af0020 690
0x00910003 679 0x00b00000 691
0x00910004 679 0x00b00001 691
0x00910005 679 0x00b00002 691
0x00910006 679 0x00b00003 691
EDS94AxHExxxx EN 7.0 - 04/2010 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
907
9400 HighLine | Parameter setting & configuration
Index
0x00b00004 691 Error register (I-1001) 342
0x00b00005 692 Ethernet IP address client x (C01510) 821
0x00b00006 692 Ethernet status client x (C01511) 821
0x00b00007 692 Exceptional behaviour 114
0x00b00008 692 Export logbook entries 619
0x00b10000 693
Ext. 24-V voltage (C00065) 729
0x00b20000 693
External actual position (C02577) 834
0x00b80000 693
External error (error message) 649
0x00b80001 693
0x00b80002 693
0x00b80003 694
F
0x00b80004 694 Failure of a mains phase (error message) 665
0x00b80005 694 Failure of motor phase U (error message) 661
0x00b80007 694 Failure of motor phase V (error message) 662
0x00b80008 695 Failure of motor phase W (error message) 662
0x00b80009 695 Fan control status (C00587) 783
0x00b8000a 695 Fault during the update of inputs and outputs (error
0x00b8000b 695 message) 646
0x00b8000c 695 Fault in the control configuration (error message) 649
0x00b8000d 696 Faulty application parameter (error message) 647
0x00b8000e 696
Faulty program download (error message) 646
0x00b8000f 696
Feed constant (C02524) 824
0x00b80010 696
Feedback 39
0x00b80011 696
0x00b80012 697 Feedback to Lenze 919
0x00b80013 697 Feedforward control of torque 163
0x00b80014 697 Feedfwd. ctrl. - current contr. (C00074) 730
0x00b80015 697 Field contr. reset time (C00078) 730
0x00b80016 697 Field controller gain (C00077) 730
0x00b80017 698 Field weak. contr. reset time (C00578) 780
0x00b80019 698 Field weakening controller gain (C00577) 780
0x00b8001a 698 Field weakening for SM (C00093) 732
0x00b8001b 698 Field weakening for synchronous machines 215
0x00b8001c 699
File DeviceCFG.dat defect (error message) 672
0x00b8001d 699
File DeviceCFG.dat invalid (error message) 673
0x00b80020 699
File DeviceCFG.dat is missing (error message) 673
0x00b80021 699
0x00b80022 700 File ProjectList.dat defect (error message) 672
0x00b80023 700 File ProjectList.dat invalid (error message) 673
0x00b80024 700 File ProjectList.dat is missing (error message) 673
0x00b80025 700 File ProjectSelection.dat defect (error message) 672
0x00b80026 701 File ProjectSelection.dat invalid (error message) 673
0x00b80027 701 File ProjectSelection.dat is missing (error message)
0x00b80028 701 672
0x00b80029 701 Filter for PWM adjustment (C00281) 750
0x00b8002a 702 Filter time const. DC detection (C00280) 749
0x00b8002b 702 Filter time constant (C02562) 832
0x00b8002c 702
Filtered torque setpoint (C00697) 794
0x00b8002d 702
Firmware - compiling date (C00201) 744
0x00b8002e 703
Firmware has been changed (error message) 641
0x00b8002f 703
0x00b80030 703 Firmware is incompatible with control card (error
message) 642
0x00b80031 703
0x00b80032 704 Firmware product type (C00200) 744
0x00b80033 704 Firmware version (C00099) 732
0x00b80034 704 Flying restart
0x00b80035 704 Activation (C00990) 810
Error number (C00168) 740 Current (C00991) 810
908 L EDS94AxHExxxx EN 7.0 - 04/2010
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
9400 HighLine | Parameter setting & configuration
Index
Delay time (C00995) 811 Transmission error (error message) 664
Integration time (C00993) 811 Unknown encoder (error message) 664
Min. deviation (C00994) 811 HM_dnHomePos_p (C02658) 850
Start frequency (C00992) 810 HM_dnSpeedOverride_n (C02655) 850
Flying restart function 218 HM_dnState (C02657) 850
Following error (C02576) 834 Holding brake 528
Freq. - current setpoint filter (C00270) 748 Home position (C02642) 848
Frequency (C02771) 863 Homing 419
Acceleration 1 (C02645) 848
G Acceleration 2 (C02647) 848
GDO channel 1/trigger 1 (C731) 795 Blocking time (C02650) 849
GDO channel 2/trigger 2 (C732) 795 Dig. signals (C02659) 850
GDO channel 3 (C733) 795 Speed 1 (C02644) 848
GDO channel 4 (C734) 795 Speed 2 (C02646) 848
GDO channel 5 (C735) 795 S-ramp time (C02648) 849
Target position (C02643) 848
GDO channel 6 (C736) 795
Torque limit (C02649) 849
GDO channel 7 (C737) 795
TP configuration (C02651) 849
GDO channel 8 (C738) 795
Homing mode (C02640) 846
GDO general parameters (C730) 794
Homing mode not allowed (error message) 698
GDO status information (C739) 795
HW countries of origin (C00209) 746
Gearbox fac. denom.
HW descriptions (C00205) 745
Pos. enc. (C02523) 824
HW manufacturer (C00208) 746
Gearbox factor denom.
HW manufacturing data (C00206) 745
Motor (C02521) 824
HW product types (C00203) 744
Gearbox factor num.
Pos. enc. (C02522) 824 HW serial numbers (C00204) 745
Gearbox factor numerator HW versions (C00210) 746
Motor (C02520) 824 Hysteresis for POS_bDriveInTarget (C02672) 851
Gearbox factors (decimal) (C02531) 826
General error in the application (error message) 645
I
Grinding OFF time (C02599) 838 I-1000 342
Grinding ON time (C02598) 838 I-1001 342
Grinding speed (C02596) 837 I-1003 343
Guard time 331 I-1005 344
Guard time (I-100C) 345 I-1006 345
GUID (C02903) 874 I-100C 345
I-100D 345
H I-1010 346
Hardware limit positions 522 I-1011 347
Heartbeat not periodic (error message) 679 I-1014 348
Heartbeat protocol 335 I-1015 348
Heatsink I-1016 349
Fan is defect (error message) 653 I-1017 349
Overtemperature (error message) 650 I-1018 350
Temperature > 650 I-1029 350
Thermal detector is defect (error message) 651 I-1200 351
Heatsink temp. warn. threshold (C00122) 734 I-1201 352
Heatsink temperature (C00061) 728 I-1202 354
Hiperface I-1203 354
detected TypeCode (C00413) 771 I-1204 354
number of rev. (C00415) 772 I-1205 354
TypeCode (C00414) 772 I-1206 355
Hiperface encoder I-1207 355
Command error (error message) 664
I-1208 355
Position initialisation error (error message) 664
EDS94AxHExxxx EN 7.0 - 04/2010 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
909
9400 HighLine | Parameter setting & configuration
Index
I-1209 355 Acceleration 2) (error message) 704
I-1400 356 Int. overflow C02670 (positioner
I-1401 357 Tol. for target position) (error message) 704
I-1402 357 Int. overflow C02701/1 (positive software limit
I-1403 358 position) (error message) 699
I-1600 358 Int. overflow C02701/2 (negative software limit
position) (error message) 699
I-1601 359
Int. overflow C02703 (maximum speed) (error
I-1602 359
message) 700
I-1603 359
Int. overflow C02705 (maximum acceleration) (error
I-1800 360 message) 700
I-1801 361 Int. overflow C02708/1 (decel. limited speed 1) (error
I-1802 362 message) 701
I-1803 362 Int. overflow C02708/1 (limited speed 1) (error
I-1A00 363 message) 700
I-1A01 363 Int. overflow C02708/2 (decel. limited speed 2) (error
I-1A02 364 message) 701
I-1A03 364 Int. overflow C02708/2 (limited speed 2) (error
message) 700
ID status (C00854) 802
Int. overflow C02708/3 (decel. limited speed 3) (error
Identifier (CAN) 299
message) 702
Identity object (I-1018) 350
Int. overflow C02708/3 (limited speed 3) (error
IdleTask message) 701
Overflow (error message) 647
Int. overflow C02708/4 (decel. limited speed 4) (error
IEC 61508 367 message) 702
Imax f. Lss sat. characteristic (C02855) 872 Int. overflow C02708/4 (limited speed 4) (error
Inching mode 398 message) 701
Incorrect memory module (error message) 640 Int. overflow C02713 (max. dist. manual control) (error
Incorrect safety module (error message) 640 message) 702
Increased continuous power 117 Internal clock (C01214) 819
Influence winding I²xt mon. (C01195) 816 Internal communication error (DMA) (error message)
Inhibit time EMCY (I-1015) 348 663
Inside the device Internal communication error (host MCTRL) (error
Fan is defect (error message) 653 message) 658
Thermal detector is defective (error message) 652 Internal communication error (MCTRL host) (error
message) 663
Instant of PDO acceptance 313
Internal error
Instant of PDO transmission 313
See C00180 (error message) 679, 680
Int. overflow C02620 (manual jog
Internal error (event mechanism) (error message) 645
Speed 1) (error message) 698
Internal error (file system lifetime) (error message)
Int. overflow C02621 (manual jog
645
Speed 2) (error message) 698
Internal error (LDS instance data) (error message) 643
Int. overflow C02622 (manual jog
Internal error (LDS tasks) (error message) 644
acceleration) (error message) 699
Internal error (memory area - logbook) (error message)
Int. overflow C02623 (manual jog
643
deceleration) (error message) 699
Internal error (message memory) (error message) 644
Int. overflow C02642 (home position) (error message)
702 Internal error (message queue) (error message) 644
Int. overflow C02643 (homing Internal error (name data base) (error message) 644
Target position) (error message) 703 Internal error (semaphores) (error message) 645
Int. overflow C02644 (homing Internal error (storage blocks) (error message) 644
Speed 1) (error message) 703 Internal error (task queue) (error message) 644
Int. overflow C02645 (homing Internal torque limits (C02559) 831
Acceleration 1) (error message) 703
Int. overflow C02646 (homing J
Speed 2) (error message) 703 Jerk 383, 385
Int. overflow C02647 (homing Jerk has been limited (error message) 696
910 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Index
K LS_PositionFollower 495
Keypad LS_quick stop 391
Default parameters (C00466) 777 LS_SafetyModuleInterface 370
Default welcome screen (C00467) 777 LS_SpeedFollower 502
Fct. STOP key (C00469) 777 LS_SsiEncoderX8 256
Mode (C00464) 776 LS_Stop 388
Welcome screen time-out (C00465) 776 LS_SyncInput 365
Keypad LCD display 614 LS_TorqueFollower 509
LS_TouchProbe1 288
L LS_TouchProbe2 288
Layout of the safety information 21 LS_TouchProbe3 288
Layout of the safety instructions 21 LS_TouchProbe4 288
LCD display (keypad) 614 LS_TouchProbe5 288
LED status displays 611 LS_TouchProbe6 288
LED status displays for the system bus 298 LS_TouchProbe7 288
Lenze setting loaded (error message) 676 LS_TouchProbe8 288
Lh adjustment (C02861) 872 LS_TouchProbeLoad 289
Life guarding event 332 LS_TouchProbeMotor 289
Life time factor (I-100D) 345 Lss sat. characteristic (C02853) 871
LIM_dnState (C02718) 860
LIM_dwControl (C02717) 859 M
Limit position 519, 522 Machine parameters 36
Triggering behaviour 521 Mains connection 112
Limit switches 522 Mains recov. detect. threshold (C00185) 743
Limitation active (C02715) 859 Mains voltage (C00173) 741
Limitations effective (C02702) 856 Mains voltage is switched off (error message) 679
Limited speed (C02708) 857 Mains voltage is switched on (error message) 678
Limited speed [rpm] (C02709) 858 MAN_dnSpeedOverride_n (C02637) 842
Limiter 368, 513 Manual jog 398
Dig. signals (C02719) 860 Acceleration (C02622) 841
Load reference speed (C02542) 828 Deceleration (C02623) 841
Load reference torque (C02543) 828 Dig. signals (C02639) 843
Loading of Lenze setting failed (error message) 677 Index Stop position (C02626) 842
Logbook 616 Selected Stop position (C02627) 842
Overflow (error message) 636 Speed 1 (C02620) 841
Reset (read error) (error message) 636 Speed 2 (C02621) 841
Reset (version error) (error message) 636 S-ramp time (C02624) 841
Logbook - event filter (C00169) 740 Status (C02638) 842
LS_AnalogInput 276 Step size (C02625) 841
LS_AnalogOutput 278 Manual jog to software limit position 408
LS_Brake 530 Manual jog, encoderless 410
LS_CamInterface 569 ManualJogOpenLoop
LS_DigitalInput 280 Dig. signals (C02781) 865
LS_DigitalOutput 282 Masked Error number (C00162) 740
LS_DriveInterface 118 Master functionality (CAN) 305
LS_EncoderX8 258 Max. acceleration (C02705) 857
LS_Feedback 242 Max. acceleration change (C00274) 749
LS_Homing 421 Max. dist. manual control (C02713) 859
LS_Limiter 513 Max. dist. manual jog [Incr.] (C02714) 859
LS_ManualJog 399 Max. presentable acceleration (C02541) 828
LS_ManualJogOpenLoop 411 Max. presentable position (C02539) 827
LS_MotorInterface 236 Max. presentable speed (C02540) 828
LS_PolePositionIdentification 582 Max. rot. ang. aft. mns. swtch. (C02653) 849
LS_Positioner 483 Max. speed (C02703) 856
EDS94AxHExxxx EN 7.0 - 04/2010 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
911
9400 HighLine | Parameter setting & configuration
Index
Max. speed [rpm] (C02704) 857 File system has been formatted (error message) 667
Maximum acceleration exceeded (error message) 696 File system has been restored (error message) 667
Maximum current 133 Memory module has been changed (error message)
Maximum current (C00022) 726 641
Maximum current monitoring 235 Memory module has been removed (error message)
638
Maximum speed exceeded (error message) 696
Memory module is defect or missing (error message)
MCTRL_dnAccelerationAdd (C00804) 800
637, 639
MCTRL_dnBoost (C00814) 801
Memory module is missing (error message) 637
MCTRL_dnDCBusVoltage (C00779) 797
Messages - motor interface (C02560) 831
MCTRL_dnDeltaMotorPos_p (C00791) 799
Min. S-ramp time (C02706) 857
MCTRL_dnFieldWeak (C00816) 802
Minimum brake resistance (C00134) 736
MCTRL_dnFluxAct (C00778) 797
MM440 819
MCTRL_dnFlyingSpeedAct (C00787) 798
Modulation modes 115
MCTRL_dnI2xtLoad (C00790) 799
MOL_dnState (C02780) 865
MCTRL_dnImotAct (C00780) 797
MOL_SetpointCurrent (C02779) 864
MCTRL_dnInputJerkCtrl (C00776) 796
Moment of inertia (C00273) 748
MCTRL_dnInputTorqueCtrl (C00777) 797
Monitoring 620
MCTRL_dnIxtLoad (C00786) 798
Monitoring of limit positions 519
MCTRL_dnLoadPosAct (C00771) 796
Mot. overload protection (I²xt) (C00120) 734
MCTRL_dnLoadPosRefValue (C00813) 801
Mot. overload warning threshold (C00127) 735
MCTRL_dnLoadSpeedAct (C00773) 796
Motor
MCTRL_dnMotorFreqAct (C00784) 798
Actual current value > 659
MCTRL_dnMotorPosAct (C00770) 795 Actual speed value > 660
MCTRL_dnMotorPosRefValue (C00812) 801 Calculated e.m.f. factor unrealistic (error message)
MCTRL_dnMotorSpeedAct (C00772) 796 656
MCTRL_dnMvorAdapt (C00818) 802 Calculated flux factor unrealistic (error message)
MCTRL_dnOutputPosCtrlMotor_s (C00792) 799 656
MCTRL_dnOutputSpeedCtrl (C00775) 796 Calculated leakage inductance unrealistic (error
message) 658
MCTRL_dnPosCtrlAdapt (C00811) 801
Calculated motor impedance unrealistic (error
MCTRL_dnPosCtrlOutLimit (C00808) 800 message) 655
MCTRL_dnPosSet (C00800) 799 Calculated mutual inductance unrealistic (error
MCTRL_dnSpeedAdd (C00802) 799 message) 655, 656
MCTRL_dnSpeedCtrlAdapt (C00810) 801 Calculated rotor resistance unrealistic (error
MCTRL_dnSpeedCtrlIntegrator (C00815) 801 message) 656
MCTRL_dnSpeedLowLimit (C00805) 800 Calculated rotor time constant unrealistic (error
message) 656
MCTRL_dnSpeedSet_s (C00817) 802
Device current too low for rated magnetisation
MCTRL_dnTorqueAct (C00774) 796
(error message) 656
MCTRL_dnTorqueAdd (C00803) 799 Overtemperature (error message) 651
MCTRL_dnTorqueCtrlAdapt (C00809) 800 Phase resistance too high (error message) 655
MCTRL_dnTorqueHighLimit (C00807) 800 PTC has triggered (error message) 652
MCTRL_dnTorqueLowLimit (C00806) 800 Rated current < 656
MCTRL_dwMaxDeviceCurrent (C00789) 798 Temperature > 651
MCTRL_dwMaxEffMotorTorque (C00788) 798 Thermal detector is defect (error message) 652
MCTRL_dwMaxMotorSpeed (C00781) 797 Motor - cosine phi (C00091) 732
MCTRL_dwMaxMotorTorque (C00782) 797 Motor - magnetising current (C00092) 732
MCTRL_dwMotorVoltageAct (C00783) 798 Motor - mutual inductance (C00079) 731
MEC history Motor - number of pole pairs (C00059) 728
Error number (C1223) 820 Motor - rotor resistance (C00082) 731
Flash value (C1222) 820 Motor - rotor time constant (C00083) 731
RAM address (C1220) 820 Motor brake
RAM value (C1221) 820 Angular drift with closed brake too high (error
Memory distribution for cam data 565 message) 694
Memory module Motor brake
Faulty file system (error message) 642 Autom. activated after waiting time has elapsed
912 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Index
(error message) 694 PROFIBUS module is missing or incompatible (error
Status monitoring error (error message) 694 message) 674
Motor control Wrong module (error message) 640
Task overflow (error message) 657 MXI2
Motor current (C00054) 727 CAN module is missing or incompatible (error
Motor data are inconsistent (error message) 655, 658 message) 676
Digital frequency module is missing or incompatible
Motor encoder 250
(error message) 675
Module selected in C00495 not available (error
Ethernet module is missing or incompatible (error
message) 660
message) 675
Motor encoder selection (C00495) 778
ICM module is missing or incompatible (error
Motor holding brake 528 message) 676
Motor holding brake control module 528 Module changed during operation (error message)
Motor interface 123 638
% signals (C02568) 832 Module has been changed (error message) 641
Dig. signals (C02569) 833 Module is defect or missing (error message) 639
Motor load I²xt > 653 Module is missing or incompatible (error message)
Motor mounting direction (C02527) 825 674
PROFIBUS module is missing or incompatible (error
Motor operating temperature (C01194) 815
message) 675
Motor parameter identification was cancelled (error
Wrong module (error message) 640
message) 663
Motor phase failure 233
N
Motor phase failure monitoring 233
Negative direction of rotation limited (error message)
Motor phase failure threshold (C00599) 786 695
Motor protection 133, 235 Negative limit switch has triggered (error message)
Motor reference speed 133 693
Motor reference speed (C00011) 726 Negative software limit switch overtravelled (error
Motor speed 133 message) 695
Motor standstill time constant (C00494) 777 Network management telegram (NMT) 304
Motor stator leakage induct. (C00085) 731 New application loaded (error message) 646
Motor stator resistance (C00084) 731 NMT (network management) 304
Motor switched off (error message) 666 No heartbeat signal detected (error message) 679
Motor temp. feedback system (C01193) 815 No parameters for module in MXI1 (error message)
Motor temp. warning threshold (C00121) 734 678
Motor temperature No parameters for module in MXI2 (error message)
Module selected in C01193 not available (error 678
message) 660 No. of CRC cycles (C00618) 789
Motor temperature (C00063) 729 Node address 300
Motor temperature monitoring (PTC) 231 Node guarding event 332
Motor thermal sensor (C01190) 814 Node guarding protocol 329
Motor voltage (C00052) 727 Node ID 300
Multiturn resolution (C02761) 861 Node life time 331
MXI1 Number Of Cam Data Points (C02922) 877
CAN module is missing or incompatible (error Number Of Cam Tracks (C02919) 876
message) 676 Number Of Cont Data Points (C02942) 878
Digital frequency module is missing or incompatible Number Of Cont Tracks (C02939) 878
(error message) 675
Number of Pos Data Points (C02962) 879
Ethernet module is missing or incompatible (error
Number of Pos Tracks (C02959) 879
message) 675
ICM module is missing or incompatible (error Number Of Products (C02912) 876
message) 675
Module changed during operation (error message) O
638 observation software limit positions (C02720) 860
Module has been changed (error message) 640 Offset actual pos. value/setp. (C02578) 834
Module is defect or missing (error message) 639 Online change mode 573
Module is missing or incompatible (error message) Online Change Mode (C02905) 875
674
EDS94AxHExxxx EN 7.0 - 04/2010 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
913
9400 HighLine | Parameter setting & configuration
Index
Online Change State (C02906) 875 PolePosId min.mov. max.perm.mov. (C00650) 793
Operating mode (C02770) 862 PolePosition setpoint (C02788) 866
Operating mode brake (C02580) 835 PolePositionIdentification
Operation with increased continuous power 117 Dig. signals (C02789) 866
Optimise response to setpoint changes 163 Pos Data Point Choice (C02963) 880
Overcurrent detected (error message) 657 Pos Track Choice (C02960) 879
Overload 117 Pos. contr. limitation (C02556) 830
Pos. contr. output (C02558) 831
P POS_dnProfileSpeed_s (C02676) 852
Parameter error information (C217) 747 POS_dnState (C02675) 852
Parameter set POS_dwActualProfileNumber (C02674) 851
Type of standard device has been changed (error Position control structure (C02570) 833
message) 678 Position controller gain (C02553) 830
Version conflict (error message) 677 Position controller reset time (C02554) 830
Parameter set faulty (error message) 676 Position encoder 251
Parameter set loaded (error message) 677 Module selected in C00490 not available (error
Parameter set restored (error message) 677 message) 660
Parameter set saved (error message) 677 Position encoder mounting dir. (C02529) 825
Parameter set switching 91 Position encoder selection (C00490) 777
Parameter sets 91 Position follower 494
Password entry 572 % signals (C02687) 854
Password for cam data 566 Dig. signals (C02689) 854
PDO delay 313 Position setpoint (enc. eval.) (C02573) 834
PDO mapping (MXI1) Position setpoint (mctrl) (C02552) 830
Faulty configuration (error message) 648 Position target outside the software limit positions
PDO mapping (MXI2) (error message) 696
Faulty configuration (error message) 648 Position value faulty (error message) 681
Permissible angle of rotation (C02595) 837 Positioning 482
Permissible direction of rot. (C02707) 857 % signals (C02677) 852
PF_dnMotorAcc_x (C02685) 853 Dig. signals (C02679) 853
PF_dnPositionSet_p (C02688) 854 Pos. signals (C02678) 852
PF_dnSpeedAdd1_s (C02686) 854 Positive direction of rotation limited (error message)
695
Phase controller gain (C00254) 748
Positive limit switch has triggered (error message) 693
Phase controller output (C02557) 831
Positive software limit switch overtravelled (error
Phase currents (C00055) 727
message) 694
Plant parameters 132
Power section incompatible (error message) 639
PLC configuration invalid (error message) 650, 663,
Power section is defect (error message) 637, 638, 665
668, 693
Power section was changed (error message) 640
PLI 360° absolute current amplitude (C00645) 792
Power-on time meter (C00179) 742
PLI 360° current amplitude (C00641) 791
PPI activation (C02785) 865
PLI 360° traversing direction (C00643) 792
PPI mode (C02786) 865
PLI min. motion absolute cur. amp. (C00651) 793
PPI_dnState (C02787) 866
PLI min. mov. reset time (C00649) 793
Pre-defined error field (I-1003) 343
PLI min.mov. curr. amplitude (C00646) 792
Producer heartbeat time (I-1017) 349
Pointer access in impermissible memory area (error
message) 648 Product change-over 578
Pole position (C00058) 728 Product Choice (C02911) 876
Pole position identification 72, 74, 581 Product Count (C02908) 875
Pole position recognition cancelled (error message) Product Name (C02910) 875
666 Profile data 563
PolePosId 360° fault tol. (C00644) 792 Program auto-start (C02104) 822
PolePosId 360° ramp time (C00642) 792 Program name (C02113) 823
PolePosId min.mov. cur.rise rate (C00647) 793 Program runtime (C02109) 823
PolePosId min.mov. gain (C00648) 793 Program status (C02108) 822
Progress of device command (C00008) 725
914 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Index
Project is not available (error message) 674 Resp. to CAN heartbeat error (C00613) 788
Project is not loaded (error message) 673 Resp. to CAN life guarding error (C00614) 789
PTC 231 Resp. to CAN node guarding error (C00612) 788
Resp. to CAN-RPDOx error (C00591) 784
Q Resp. to comm. error with MXI1 (C01501) 820
QSP 391 Resp. to comm. error with MXI2 (C01502) 821
Quick stop 391 Resp. to communication task overflow (C01230) 820
Dig. signals (C02619) 840 Resp. to CPU temp. > 784
Quick stop by (source) (C00159) 739 Resp. to DC bus overvoltage (C00600) 786
Quick stop decel. time (C00105) 733 Resp. to device overload > 786
Quick stop S-ramp time (C00106) 733 Resp. to encoder comm. error (C00601) 786
Resp. to encoder open circuit (C00580) 781
R Resp. to encoder pulse deviation (C00621) 790
Rated magnetising current (error message) 656 Resp. to external fault (C00581) 781
Rated motor current (C00088) 732 Resp. to failure heatsink fan (C00610) 787
Rated motor current. See rated motor current Resp. to failure integral fan (C00611) 787
Rated motor frequency (C00089) 732 Resp. to failure t. sensor drive (C00588) 783
Rated motor power (C00081) 731 Resp. to heatsink temp. > 782
Rated motor speed (C00087) 731 Resp. to imp. device config. (C00615) 789
Rated motor voltage (C00090) 732 Resp. to limitation (C02716) 859
Rated power of brake resistor (C00130) 735 Resp. to max. speed reached (C00607) 787
Rated quantity of heat for brake res. (C00131) 735 Resp. to motor current > 789
Read error service register (error message) 649 Resp. to motor KTY overtemp. (C00583) 782
Real-time clock 819 Resp. to motor overload > 787
Battery empty, time lost (error message) 643 Resp. to motor phase failure (C00597) 785
Change battery (error message) 643
Resp. to motor PTC overtemp. (C00585) 782
Real-time clock is defective (error message) 643
Resp. to motor temp. > 782
Red. brake chopper threshold (C00181) 743
Resp. to new module in MXI1 (C00636) 791
Ref.
Resp. to new module in MXI2 (C00637) 791
Brake chopper utilisation (C00133) 736
Resp. to open circuit AIN1 (C00598) 785
Ref. for Accel. time of brake (C02601) 838
Resp. to overload brake trans. (C00573) 780
Ref. for decel. time of stop (C02612) 840
Resp. to overtemp. brake resist. (C00574) 780
Ref. for quick stop dec. time (C00107) 733
Resp. to pole pos. id. monit. (C00640) 791
Ref. pos. after mains switching (C02652) 849
Resp. to resolver open circuit (C00586) 783
Reference search 425
Resp. to speed monitoring (C00579) 781
Reference setting 425
Resp. to task overflow (C02111) 823
Reference speed (C02544) 828
Restart 112
Reference S-ramp time (C02545) 828
Restore default parameters (I-1011) 347
Required licence missing (error message) 674
Retain memory of the application faulty (error
Required safety module (C00214) 747 message) 649
Reset of error message 122, 627 Retract limit switch 409
Resol. of an encoder revolution (C00100) 733 Rotor position (C00060) 728
Resolution of a unit (C02532) 826 RPDO1 communication parameter (I-1400) 356
Resolver RPDO1 mapping parameter (I-1600) 358
Calculated acceleration unrealistic (error message)
RPDO2 communication parameter (I-1401) 357
659
RPDO2 mapping parameter (I-1601) 359
Open circuit (error message) 658
RPDO3 communication parameter (I-1402) 357
Resolver - number of pole pairs (C00080) 731
RPDO3 mapping parameter (I-1602) 359
Resolver error compensation 261
RPDO4 communication parameter (I-1403) 358
Resp to new firmw. standard dev. (C00635) 790
RPDO4 mapping parameter (I-1603) 359
Resp. brake res. i²xt > 779
Rr adjustment (C02860) 872
Resp. brake trans. Ixt > 779
Runtime ApplicationTask (C02121) 823
Resp. temp. sensor motor X7/X8 (C00594) 784
Runtime error (error message) 647
Resp. to CAN bus OFF (C00595) 785
EDS94AxHExxxx EN 7.0 - 04/2010 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
915
9400 HighLine | Parameter setting & configuration
Index
Runtime IdleTask (C02123) 824 Service code (C2854) 871
Runtime measurement 65 Service code (C2856) 872
Runtime UserTask (C02122) 823 Service code (C2857) 872
Service code (C2996) 880
S Service code (C2997) 880
S1 torque characteristic I²xt mon. (C01196) 816 Service code (C2998) 880
Safety engineering 367 Service code (C2999) 880
Safety instructions 21 Service code (C308) 750
Safety module 367 Service code (C309) 750
Incompatible with setting in C00214 (error Service code (C310) 750
message) 681 Service code (C325) 754
Interface 373, 517
Service code (C326) 754
Safety module has been changed (error message) 641
Service code (C327) 754
Safety module has been removed (error message) 638
Service code (C328) 754
Safety module is defect or missing (error message)
Service code (C329) 755
637, 639
Service code (C330) 755
Saturation characteristic 210
Service code (C335) 755
Saving of parameters failed (error message) 677
Service code (C336) 755
Scaling of physical quantities 28
Service code (C337) 755
SDO1 server parameter (I-1200) 351
Service code (C338) 755
SDO10 server parameter (I-1209) 355
Service code (C379) 765
SDO2 server parameter (I-1201) 352
Service code (C395) 770
SDO3 server parameter (I-1202) 354
Service code (C396) 771
SDO4 server parameter (I-1203) 354
Service code (C397) 771
SDO5 server parameter (I-1204) 354
Service code (C416) 772
SDO6 server parameter (I-1205) 354
Service code (C468) 777
SDO7 server parameter (I-1206) 355
Service code (C512) 778
SDO8 server parameter (I-1207) 355
Service code (C513) 778
SDO9 server parameter (I-1208) 355
Service code (C514) 778
Select motor control 129
Service code (C515) 778
Select motor control (C00006) 725
Service code (C516) 778
Sensorless vector control (SLVC) 172
Service code DataFlash (C1213) 818
Service code (C00180) 742
Service password (C00004) 725
Service code (C02862) 873
Servo control (SC) 151
Service code (C02863) 873
Set time and date (C01215) 819
Service code (C02864) 873
Setpoint interpolation (C02550) 830
Service code (C1125) 814
Setting of actual speed filter 158, 185
Service code (C1126) 814
Setting the baud rate for CAN 297
Service code (C1127) 814
Setting the error response 621
Service code (C1128) 814
Setting the field weakening for asynchronous
Service code (C1129) 814
machines 165
Service code (C1211) 818
Setting the node address for CAN 296
Service code (C1217) 819
Setting the S-ramp time 385
Service code (C1218) 819
Settings for test mode (C00399) 771
Service code (C132) 736
SF_dnMotorAcc_x (C02692) 854
Service code (C167) 740
SF_dnSpeedAdd_s (C02693) 855
Service code (C171) 741
Short overview of error messages 628
Service code (C175) 742
Signal flow
Service code (C176) 742 Encoder evaluation 245
Service code (C177) 742 Monitoring 223
Service code (C198) 744 Position follower 497
Service code (C2850) 871 Sensorless vector control 189
Service code (C2851) 871 Servo control for asynchronous motor 170
Service code (C2852) 871 Servo control for synchronous motor 168
916 L
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EDS94AxHExxxx EN 7.0 - 04/2010
9400 HighLine | Parameter setting & configuration
Index
Speed follower 504 Digital inputs (C00443) 775
Torque follower 510 Digital outputs (C00444) 776
V/f control 205 Status DCTRL control input (C00878) 802
V/f control closed loop 207 Status displays 611
Signal source - speed setpoint (C00275) 749 Status input monitoring (C02583) 835
Signal source - torque setpoint (C00276) 749 Status word
SLVC Digital inputs (C02803) 869
Gain - cross curr. contr. (C00986) 809 Digital outputs (C02802) 868
Gain - flux controller (C00985) 809 Status word device control 1 (C00150) 737
Gain - torque controller (C00987) 809 Status word device control 2 (C00155) 738
Reset time - torque contr. (C00988) 809 Status/Control word MCTRL (C00156) 738
Time const.- Para. adj. (C00989) 810
Stop 387
Software limit positions 519
Store parameters (I-1010) 346
Triggering behaviour 521
STP_bStopActive (C02617) 840
Software limit positions (C02701) 856
STP_dnState (C02616) 840
Software limits pos. effective (C02700) 856
Switching frequency reduction 116
Source - actual position (C2571) 833
Sync cycle time (C01121) 812
Source add. speed (C02681) 853
Sync phase position 313
Source for feedf. control brake (C02602) 838
Sync phase position (C01122) 812
Source of starting torque (C02588) 836
Sync source (C01120) 812
Source position setpoint (C02680) 853
Sync telegram 310
Spec. characteristic
Sync tolerance (C01123) 813
resistance (C01192) 815
Synchronisation of PDOs 310
temperature (C01191) 815
Sync-PLL increment (C01124) 813
Speed act. val. time const. (C00497) 778
System block "LS_Limiter" 368
Speed contr. reset time (C00071) 730
System block "LS_SafetyModuleInterface" 368
Speed contr.D component (C00072) 730
System event 290
Speed controller gain (C00070) 730
System fault messages 623
Speed controller output (C00694) 794
System task
Speed feedforw. control gain (C02561) 831
Task overflow (error message) 680
Speed follower 502
System task 1
% signals (C02694) 855
Task overflow (error message) 680
Dig. signals (C02695) 855
System task 2
Speed has been limited (error message) 695
Task overflow (error message) 680
Speed limitation (C00909) 803
System task 3
Speed monitoring tolerance (C00576) 780
Task overflow (error message) 680
Speed setpoint (enc. eval.) (C02572) 833
Speed setpoint [%] (C00692) 794 T
Speed setpoint [rpm] (C00050) 727
Task overflow 114, 290
Speed unit (C02537) 827
Task runtimes 65
S-ramp time for stop (C02611) 840
Temperature inside the controller (C00062) 729
S-ramp time lim. speed (C02711) 858
Temperature monitoring of a second motor 232
SSI encoder 255
Test mode motor control (C00398) 771
bit rate (C00423) 773
Test torque (C02594) 837
data word length (C00424) 773
Therm. motor time constant (C00128) 735
partword data coding (C00437) 775
partword length (C00436) 774 Thermal motor load (I²xt) (C00066) 729
partword start position (C00435) 774 Threshold - brake activation (C02581) 835
Start acceleration 383 Threshold - standstill recognition (C00019) 726
Starting angle (C02772) 863 Threshold 1 for opening brake (C02603) 838
Starting performance 112 Threshold 2 for opening brake (C02604) 839
Starting torque 1 (C02586) 836 Threshold max. speed reached (C00596) 785
Starting torque 2 (C02587) 836 Time 819
State bus 283 Time (C02776) 864
Status Time constant of actual speed filter 158, 185
EDS94AxHExxxx EN 7.0 - 04/2010 L
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917
9400 HighLine | Parameter setting & configuration
Index
Time error - controller interface (error message) 655 Frequency interpol. point n (C00952) 804
Time unit (C02533) 827 Frequency setpoint (C00998) 811
Time-out torque feedforward control - brake (error Gain - Imax controller (C00963) 806
message) 697 Gain - oscillation damping (C00967) 807
Timestamp (C02902) 874 Gain - slip compensation (C00965) 807
Tolerance for POS_bActPosInTarget (C02670) 851 Gain - speed controller (C00972) 808
Tolerance for POS_bDriveInTarget (C02671) 851 Influence - speed controller (C00971) 808
Limitation - oscill. damp. (C00969) 807
Torque (C00057) 728
Load - cw/ccw-operation (C00961) 806
Torque feedforward control 163
Load adjustment (C00962) 806
Torque follower 508
min. inh-time aft. overvolt. (C00977) 809
% signals (C02698) 855
Override point of field weakening (C00980) 809
Dig. signals (C02699) 856
ramp-end frequ. - oscill. damp. (C00970) 807
Torque setpoint (C00056) 728 Reset time - Imax contr. (C00964) 806
Torque setpoint [%] (C00696) 794 Reset time - speed contr. (C00973) 808
Total speed setpoint (C00691) 793 Time const. - oscill. damp. (C00968) 807
Total torque setpoint (C00695) 794 Time const. - slip compens. (C00966) 807
Touch probe detection 285 V/f base frequency (C00951) 803
Touch probe x V/f characteristic shape (C00950) 803
Delay time (C02810) 870 V/f voltage boost (C00960) 806
TPDO1 communication parameter (I-1800) 360 Vmax reduction (C00955) 805
TPDO1 mapping parameter (I-1A00) 363 Voltage interpol. point n (C00953) 804
VVC current setpoint (C00957) 805
TPDO2 communication parameter (I-1801) 361
VVC gain (C00958) 805
TPDO2 mapping parameter (I-1A01) 363
VVC reset time (C00959) 806
TPDO3 communication parameter (I-1802) 362
VFCplus 206
TPDO3 mapping parameter (I-1A02) 364
Violation of time slice (error message) 655
TPDO4 communication parameter (I-1803) 362
TPDO4 mapping parameter (I-1A03) 364 W
Track change-over 578
Waiting time - brake activation (C02593) 837
Travel range monitoring 513
Waiting time - state monitoring (C02591) 837
Traversing range (C02528) 825
Warning thres. brake resistor (C00572) 779
TTL encoder signal evaluation (C00427) 773
Warning thres. brake transistor (C00570) 779
Warning threshold device util. (C00123) 734
U
Width - current setp. filter (C00271) 748
Ultimate motor current I_ult 133, 235
Ultimate motor current I_ult (C00620) 790 X
Undervoltage (LU) threshold (C00174) 742
X8 (encoder signal) 258
Unit 40
Unit (C02525) 825
Unknown error (error message) 628, 636
Update cam data 568
Used time unit (C02534) 827
Used unit (C02535) 827
User code
Memory load (C02110) 823
User Password (C02900) 873
User-defined unit (C02526) 825
UserTask
Overflow (error message) 646
V
V/f control (VFCplus) 190
V/f control closed loop (VFCplus) 206
VFC
Activat. interpol. point n (C00954) 805
918 L
Buy: www.ValinOnline.com | Phone 844-385-3099 | Email: CustomerService@valin.com
EDS94AxHExxxx EN 7.0 - 04/2010
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