9300 servo: Commissioning, operation, maintenance
Global Drive
Welcome
to the
- Customer seminar
Servo inverter 9300:
Commissioning, operation, maintenance
As of: September 5, 2002
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9300 servo: Commissioning, operation, maintenance
Global Drive
The
product range
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9300 servo: Commissioning, operation, maintenance
General view of topics
Structure
1.
Introduction
2.
Short commissioning of the 9300 servo according to the operating
instructions
3.
Background information on commissioning
4.
Operation an Maintenance of the 9300 servo
5.
Use of the 9371 BB keypad
6.
Controller settings and optimisation
7.
Exercises, questions
8.
Feedback
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9300 servo: Commissioning, operation, maintenance
1 Introduction
Positioning
Functionality
HighPerformance
Servo inverter
9300
Frequency inverter
9300 vector
MidPerformance
Frequency inverter
8200 vector
Frequency inverter
(without feedback)
Servo
(with feedback)
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9300 servo: Commissioning, operation, maintenance
1.1 System overview: Global Drive family
Group drive
Single drive
Mains fuses
RFI filter
Mains choke
System bus (CAN)
Recommendations
Mains fuses
Decentralised
Mains choke
RFI filter
inputs/outputs
.......
Position
Controller
Servo
PLC
with
CAN
Automation
interface
ON
Lenze
IN
OUT
BUS DRIVE
S1
Lenze
INTERBUS S
Lenze
OFF
IN
LECOM LI
Global Drive
24V DC
OUT
59 39
24V DC
+-
2102
Keypad
Lenze
Global Drive
Control
LECOM-LI
Lenze
LECOM A/B
24V DC
59 39
RS 485
71 72
88 89
RS 232
2102
Regenerative power supply
R
Asynchronous servo motor
LECOM A/B
Axis
2111
InterBus-S
Lenze 2131
Profibus
Axis
R
AC - Standard Asynchronous motor
Chopper
module
Brake
resistor
R
Synchronous servo motor
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9300 servo: Commissioning, operation, maintenance
1.2 Application
Application example I: 9300 servo
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9300 servo: Commissioning, operation, maintenance
1.2 Application
Application example II: 9300 servo (POS and CAM)
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9300 servo: Commissioning, operation, maintenance
1.2 Application
Application example III: 9300 servo (Register)
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9300 servo: Commissioning, operation, maintenance
1.2 Application
Application example VI: frequency inverter 9300 (Vector)
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9300 servo: Commissioning, operation, maintenance
2
Commissioning of the 9300 servo according
to the operating instructions
2.1
The operating instruction as commissioning help
2.2
System structure
2.3
Before initial switch on ...
2.4
Communication technology
2.5
Software “Global Drive Control”
2.6
Step-by-step commissioning “Speed control”
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9300 servo: Commissioning, operation, maintenance
2.1 The operating instruction as commissioning help
Contents of the operating instruction I
Table of contents
Preface and general information
Safety information
Technical data
Installation
Commissioning
Operation
Parameter setting
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9300 servo: Commissioning, operation, maintenance
2.1 The operating instruction as commissioning help
Contents of the operating instruction II
Configuration
Troubleshooting and fault elimination
Maintenance
Appendix
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9300 servo: Commissioning, operation, maintenance
2.2 Structure of the drive system
Main switch
L1
L2
L3
N
PE
Cable protection
fuse
OFF
ON
Mains contactor K1
K1
 RB
Mains choke
L
K1
F1 F2
L1 L2 L3
PE
+UG -UG
93XX
-UG +UG PE
9352
X5
X6
U V W
PE
X7
1 2
+
=
-
3 4
PE
RFR
28 E1 E2 E3 E4E5
R
39 A1 A2 A3 A4 59
RB1 RB2
L
K1
M

Motor

RB
R
QSP
 RB
TRIP-SET
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9300 servo: Commissioning, operation, maintenance
2.3 Before initial switch on ...
... the wiring must be checked:
•
Power connection
•
Motor connection
•
Feedback system
•
Control terminals
Final covers must be mounted!
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9300 servo: Commissioning, operation, maintenance
2.4 Communication technology
Communication module
Parameter setting/operating Keypad
software (optionally)
(optionally)
PE
RDY
IM P Im ax M m ax
Fa il
Field bus module
(optionally)
plugable
plugable
12 50 rp m
M CTR L - N - A CT
LON
InterBus
InterBus-Loop
DeviceNet-CANopen
PROFIBUS-DP
Basic unit
LECOM-A/B
(RS232/485)
System bus (CAN)
(integrated)
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9300 servo: Commissioning, operation, maintenance
2.5 The Global Drive Control software (GDC)
Find drive
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9300 servo: Commissioning, operation, maintenance
2.5 The Global Drive Control software (GDC)
Dialog Short commissioning
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9300 servo: Commissioning, operation, maintenance
2.5 The Global Drive Control software (GDC)
Parameter menu Short setup - Speed control:
Parametermenü
Codestellen
Monitorfenster
Statuszeile
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9300 servo: Commissioning, operation, maintenance
2.6 Step-by-step commissioning
Most important setting “Speed control” I
Code
Value
Note
• Mains voltage, motor type
C0173
1
C0086
108
UG-Limit (mains voltage 400 V)
Lenze motor type
• Maximum motor current
C0022
1.35 A
Imax
• Controller configuration
C0005
1000
C0025
10
Configuration “Speed control”
Feedback system Resolver
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9300 servo: Commissioning, operation, maintenance
2.6 Step-by-step commissioning
Most important setting “Speed control” II
Code
Value
Note
• Speed setpoint settings
C0011
2000 rpm
C0012
5s
C0013
5s
C0105
1s
max. speed
acceleration time 0 rpm  C0011
deceleration time C0011  0 rpm
QSP - deceleration time (quick stop)
• Application parameters
C0070
5
C0071
20 ms
Vp of the speed controller
Tn of the speed controller
• All parameter saving
C0003
1
mains-fail save
saving in the controller
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9300 servo: Commissioning, operation, maintenance
2.6 Step-by-step commissioning
Most important setting “Speed control” III
• Digital input assignment
(High = Switch “above” on the control box)
DIGIN1 = CW rotation (QSP)
 High
DIGIN2 = CCW rotation (QSP)
 Low
DIGIN3 = JOG - speed setpoint  Low
DIGIN4 = TRIP Set
 High
DIGIN5 = TRIP Reset
 Low
• Controller enable
After the parameter are entered and the suppressor circuits (emergency
off, limit switch, ...) are ensured,
terminal 28 = RFR = High.
• Setpoint selection
The controller expects the speed setpoint at terminal X6/1,2
as ± 10 V DC signal.
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9300 servo: Commissioning, operation, maintenance
2.6 Step-by-step commissioning
Parameter management between GDC and controller
PC
Global Drive Control
Read parameter sets
from file
Transfer via LECOM A/B
or system bus
Controller
F7 Load parameter from controller
93XX
RAM
F5 Write parameter to controller
X5
X6
X7
Disk
RAM
Write parameter sets
in file
C0003 = 1 ... 4
save
parameter set
C0002 = 1 ... 4
load
parameter set
X8
X9
X10
EEPROM
mains-fail save
saving
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9300 servo: Commissioning, operation, maintenance
2.6 Step-by-step commissioning
Data saving on hard disk
Pull down menu: Drive parameters
Write all parameter sets to file ...
Data saving in controller: C0003 = “1”
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9300 servo: Commissioning, operation, maintenance
Step-by-step commissioning
Study the operating instruction
Structure the drive system
Switch on the drive system
Motor starts running
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9300 servo: Commissioning, operation, maintenance
3
Background information on commissioning
of the 9300 servo - inverter
3.1
Before initial switch on (wiring)
3.2
System structure (controller, motor, feedback)
3.3
Communication components
3.4
Global Drive Control software as diagnostics tool
3.5
Initial switch on ...
3.6
Step-by-step commissioning
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9300 servo: Commissioning, operation, maintenance
3.1 Before initial switch on ...
Main switch
L1
L2
L3
N
PE
Cable protection
fuse
OFF
ON
Mains contactor K1
K1
 RB
Mains choke
L
K1
F1 F2
L1 L2 L3
PE
+UG -UG
93XX
-UG +UG PE
9352
X5
X6
U V W
PE
X7
1 2
+
=
-
3 4
PE
RFR
28 E1 E2 E3 E4E5
R
39 A1 A2 A3 A4 59
RB1 RB2
L
K1
M

RB
R
QSP
 RB
TRIP-SET
Motor
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9300 servo: Commissioning, operation, maintenance
3.1 Before initial switch on ...
Typical wiring faults
Fault/reason
Motor connection:
2 phases connected
1 phase open
phases confused
Feedback:
Interruption
+ Resolver
+ Incremental feeder
Faulty rotor position
adjustment at
synchronous motor
Effects
ASM: motor stand still, C0056 = 100 % (Mmax)
SM: motor can run, no torque
ASM: C0056 = 100% (Mmax) => OC5-TRIP, slow drifting
(see on display)
SM: no reaction to setpoint, motor can run up to fmax
+ SD2-TRIP
+ C0056 = 100 % (Mmax) => OC5-TRIP, slow drifting, no
speed display
+ current flow in idle running
+ wrong torque characteristic
ASM: Asynchronous motor
SM: Synchronous motor
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9300 servo: Commissioning, operation, maintenance
3
Background information on commissioning
of the 9300 servo - inverter
3.1
Before initial switch on (wiring)
3.2
System structure (controller, motor, feedback)
3.3
Communication components
3.4
Global Drive Control software as diagnostics tool
3.5
Initial switch on ...
3.6
Step-by-step commissioning
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9300 servo: Commissioning, operation, maintenance
3.2 System structure
9300 controller view
Screen sheet
Mains connection
L1 L2
Mains connection and
DC connection
L3 +UG-UG
Resolver input X7
PE
PE
RDY
IMP Imax Mmax
1
Fail
5
1250rpm
MCTRL - N - ACT
AIF-interface for
9371BB operating unit
alternatively
Fieldbus module:
Interbus-S, Profibus,
LECOM
5
Encoder input X8
1
5
Dig. frequency input X9
System bus (CAN) X4
Screen connection
59 ST2 ST1A4 A3 A2 A1
63 7 4 3
62 7 2 1
39 E5 E4 E3 E2 E1 28
GND
LO HI
1
1
Digital inputs/outputs X5
T1 T2
Analog inputs/outputs X6
Dig. frequency /
Encoder output X10
5
U V W
PE
Screen sheet
Control connections
Thermal contact connection
Motor connection
Screen sheet
Motor cables
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9300 servo: Commissioning, operation, maintenance
3.2 System structure
9300 servo connection
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9300 servo: Commissioning, operation, maintenance
3.2 System structure
Motor connection
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9300 servo: Commissioning, operation, maintenance
3.2 System structure
Power stage of the DC-bus inverter
+ UG
L1
Switch-on protection
DC-bus
capacitor
L2
+
-
L3
.
.
.
Three-phase
AC motor
U
V
W
3~
M
- UG
Uncontrolled
rectifier
DC-bus
Three-phase
inverter
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9300 servo: Commissioning, operation, maintenance
3.2 System structure
Pulse width modulation, sine-wave emulation (PWM)
Voltage V
t on = Switch on time
t off = Switch off time
Time t
t off
t on
The effective voltage height results from the ratio between switch on and
switch off time.
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9300 servo: Commissioning, operation, maintenance
3.2 System structure
Controller monitoring: Fault messages I
Display Fault
CCr
System fault
Cause
Strong interference on control cables
Ground or earth loops in the wiring
H10
Sensor of heat sink temperature detection
indicates indefinite values
A current-carrying motor phase has failed
The current limit is set too low
This monitoring is not suitable for:
- Synchronous servo motors
- For field frequencies > 480 Hz
Short-circuit
Excessive capacitive charging current of the
motor cable
One of the motor phases has earth contact
Exessive capacitive charging current of the
motor cable
Frequent and too long acceleration processes
with overcurrent
Permanent overload with IMotor > 1,05 x INX
LP1
Sensor fault: heat
sink temperature
Motor phase failure
OC1
Short-circuit
OC2
Earth fault
OC5
I x t - overload
Remedy
Screen control cables, PE-wiring (see
operating instructions chapter 4.3 "Installation
of a CE-typical drive system")
Contact Lenze
Check motor, check cable
Set a higher current limit under C0599
Deactivate monitoring with C0597=3
Find out cause for short circuit, check cable
Use motor cable which is shorter or of lower
capacitance
Check motor, check cable
Use motor cable which is shorter or of lower
capacitance
Check drive dimensioning
Tip: see Operating Instruction chapter 9.3 “Troubleshooting and fault elimination”
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9300 servo: Commissioning, operation, maintenance
3.2 System structure
Controller monitoring: Fault messages II
Display Fault
OH
Heat sink temperature is
higher than the value set
in the controller
OH4
Heat sink temperature is
higher than the value set
under C0122
OU
Overvoltage
PRO
PR1
PR2
PR3
PR4
Parameter set error
Cause
Ambient temperature Ta > 40°C or
50°C
Heat sink very dirty
Incorrent mounting position
Ambient temperature Ta > 40°C or
50°C
Heat sink very dirty
Incorrent mounting position
Value set under C0121 was too low
Exessive braking energy (DC bus
voltage higher than the value set
under C0173)
Fault when reading a parameter set
Remedy
Allow controller to cool and ensure
better ventilation, check ambient
temperature in the control cabinet
Clean heat sink
Change mounting position
Allow controller to cool and ensure
better ventilation, check ambient
temperature in the control cabinet
Clean heat sink
Change mounting position
Enter higher value
Use brake module or energy
recovery module
Set the desired parameters and
save under C0003
Caution: The factory setting is loaded For PRO the supply voltage must be
automatically
switched off additionally
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9300 servo: Commissioning, operation, maintenance
3.2 System structure
Motor monitoring: Fault messages
Display Fault
1)
Motor temperature is
OH3
higher than the value
set in the controller
Cause
Remedy
Motor too hot because of excessive current or Check drive dimensioning
frequent and too long acceleration
No PTC connected
OH7
1)
Motor temperature is
higher than the value
set under C0121
Connect PTC or switch off monitoring
(C0583=3)
Motor too hot because of excessive current or Check drive dimensioning
frequent and too long acceleration
No PTC connected
OH8
PTC at terminals T1,
T2 indicates motor
overheat
Connect PTC or switch off monitoring
(C0584=3)
Value set under C0121 was too low
Enter higher value
Motor too hot because of excessive current or Check drive dimensioning
frequent and too long acceleration
Terminals T1, T2 are not assigned
Connect PTC or thermostat or switch off
monitoring (C0585=3)
1) Temperature detection through resolver or incremental encoder
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9300 servo: Commissioning, operation, maintenance
3.2 System structure
Features of the motor series
Standard AC motors
Servo motors
asynchronous
asynchronous
synchronous
DxRA..
MDxKA..
MDxQA..
MDxKS..
8200/9300ES+EV
9300ES + EV
8200/9300ES+EV
only 9300ES
medium
high
very high
very high
high
medium
low
low
0.25 ... 38 kW
0.8 ... 20.3 kW
10.6 ... 60.1 kW
0.25 ... 5.9 kW
Efficiency rage
good
good
good
very good
Inertia of masses
high
medium
low
low
medium
medium
medium
low
Frequency inverter
Power density
Weight
Power range
Motor current
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9300 servo: Commissioning, operation, maintenance
3.2 System structure
Feedback I - Resolver
SIN
COS
0
360°
93XX
Cable length max. 50 m
X7
Resolver
+REF
-REF
+COS
-COS
+SIN
-SIN
+KTY
-KTY
1
2
3
4
5
6
7
8
9
9 pol. Sub-D
Stift
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9300 servo: Commissioning, operation, maintenance
3.2 System structure
CW rotation
Feedback II - TTL - encoder
A
A
B
B
Z
Z
Cable length max. 50 m
B
B
A
A
Vcc
GND
Z
Z
+KTY
-KTY
93XX
X8
1
2
3
4
5
6
7
8
9
9 pol. Sub-D
Buchse
KTY
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9300 servo: Commissioning, operation, maintenance
3.2 System structure
Feedback III - SinCos - encoder
CW rotation
SIN
RefSIN
= 2,5V
0,5V
COS
RefCOS
0,5V
= 2,5V
Cable length max. 50 m
RefSIN
SIN
RefCOS
COS
Vcc
GND
-RS485
+RS485
+KTY
-KTY
93XX
X8
1
2
3
4
5
6
7
8
9
9 pol. Sub-D
Buchse
KTY
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9300 servo: Commissioning, operation, maintenance
3.2 System structure
Feedback monitoring: Fault messages
Display Fault
Cause
Sd2
Resolver fault Resolver cable interrupted
Sd6
Sd7
Remedy
Check resolver cable for open
circuit
Check resolver
switch
off monitoring
(C0586 =
Sensor fault Encoder of the motor temperature or
Check
supply
cable for firm
detection at X7 or X8 indicates
connection Switch off monitoring
undefined values
with C0594 = 3 if necessary
Encoder fault Absolute encoder with RS 485
Check supply cable
interface does not transmit data
Check encoder
Check voltage supply C0421
No Stegmann encoder connected
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9300 servo: Commissioning, operation, maintenance
3.2 System structure
Brake module 9351
9351
PE
UG+ UG-
Brake chopper 9352
T2
T1
9352
PE
UG+ UG-
R1
R2
Rb
Control stage
LEDs
gn ye
Switch
Control stage
LEDs
gn ye
Switch
S12
3
E1 E2 A1 A2
Synchronisation interface
S12
3
E1 E2 A1 A2
Synchronisation interface
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9300 servo: Commissioning, operation, maintenance
3.2 System structure
Threshold setting
•
•
•
Disconnect the controller from the supply voltage and wait for 3 minutes
until the capacitors of the DC-bus are discharged
Remove the control terminal cover (bottom) from the brake unit
Set switches S1 and S2 as indicated in the table
Mains voltage [Veff]
Threshold [V]
Switch position S1
Switch position S2
•
230
375
OFF
OFF
400 .... 460
725
ON
OFF
Factory setting
480
765
ON
ON
Fasten the terminal cover
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9300 servo: Commissioning, operation, maintenance
3.2 System structure
9340 regenerative power supply unit
L1 L2 L3
PE
UG+ UG-
934x
u z -det.
Mains
transformer
Control stage
i z-det.
Monitorings
LEDs
gn rt
Fan
Temperature detection
=
_
E1 39 A1 A2 59
+
24V
Mains failure
General fault
Enable regenerative operation
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9300 servo: Commissioning, operation, maintenance
3
Background information on commissioning
of the 9300 servo - inverter
3.1
Before initial switch on (wiring)
3.2
System structure (controller, motor, feedback)
3.3
Communication components
3.4
Global Drive Control software as diagnostics tool
3.5
Initial switch on ...
3.6
Step-by-step commissioning
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9300 servo: Commissioning, operation, maintenance
3.3 Communication components
•
Fieldbus module
2133IB Profibus
•
Fieldbus module
2111IB InterBus
•
Communication module
2102IB LECOM A/B/LI
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9300 servo: Commissioning, operation, maintenance
3.3 Communication
•
System bus (CAN) in controller 9300 integrated
expand the functionality of the controller 9300
Field of application:
 Data transfer from controller to the other
 Parameter preselection
 Connection of decentralised terminals
 Connection with keypads, external control units and
host systems
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9300 servo: Commissioning, operation, maintenance
3.3 Communication
93xx
120 Ohm
Description
X4 GND
X4 LO
X4 HI
GND
E1 28
A2 A1
E1 28
GND
LO HI
X4
LO HI
X4
System bus connection
(X4 CAN)
A2 A1
93xx
120 Ohm
Input/output
Explanation
Reference potential CAN-Bus

 with internal series resistance
100  max. current load 30 mA
Input/output CAN-Bus Low
Input/output CAN-Bus High
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9300 servo: Commissioning, operation, maintenance
3.3 Communication
Installation tip to system bus
The terminal X6/7 should be electrically
connected to the front screen sheet (see
picture) to avoid interference when
transferring via the system bus.
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9300 servo: Commissioning, operation, maintenance
3
Background information on commissioning
of the 9300 servo - inverter
3.1
Before initial switch on (wiring)
3.2
System structure (controller, motor, feedback)
3.3
Communication components
3.4
Global Drive Control software as diagnostics tool
3.5
Initial switch on ...
3.6
Step-by-step commissioning
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9300 servo: Commissioning, operation, maintenance
3.4 GDC
Terminal monitor (digital)
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9300 servo: Commissioning, operation, maintenance
3.4 GDC
Terminal monitor (analog)
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9300 servo: Commissioning, operation, maintenance
3.4 GDC
Dialog Diagnostics
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9300 servo: Commissioning, operation, maintenance
3.4 GDC
Monitor window in default setting
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9300 servo: Commissioning, operation, maintenance
3.4 GDC
Setting of the monitor window
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9300 servo: Commissioning, operation, maintenance
3.4 GDC
Exercise: Setting of the monitor window
Please set the following:
•
C0060 = Rotor position
•
C0053 = DC-bus voltage
•
Display range 0 ... 2047
•
Display range 0 ... 800 V
•
Actualisation = 1 s
•
Actualisation = 1 s
•
Display = last value
•
Display = average value
•
Monitor = History
•
Monitor = Text
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9300 servo: Commissioning, operation, maintenance
3.4 GDC
Function block elements
Name of the Parameterinput
code
C0600
ARIT2-IN1
C0601/1
C0602/1
Input symbol
C0601/2
ARIT2-IN2
Name of the
function block
x
+ - *
y
/ x/(1-y)
ARIT2
±200%
ARIT2-OUT
Output symbol
C0602/2
Configuration
Code(s)
Display
Code(s)
Function
Name of the
output
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9300 servo: Commissioning, operation, maintenance
3.4 GDC
Speed control (Configuration C0005 = 1000)
X9
X10
DFIN
actual
speed
C0425
C0012 C0220
C0013 C0221
C039/1
C0190
C0034
X6
setpoint conditioning
1
2
main setpoint
3
4
additional
setpoint
NSET
AIN1
_
+
* /
C039/1
AIN2
X5
A1
A2
A3
A4
X5
controller enable 28
E1
CW rot. - QSP
E2
CCW rot. - QSP
E3
JOG-setpoint
E4
TRIP - set
E5
TRIP - reset
DIGIN
C0105
C0011
C0006
C0022
X6
AOUT1
62
actual
speed
63
motor
torque
CMP1
X7 or X8
feedback
system
C0017
C0025
C0070
C0071
C0072
C0075
C0076
C0086
TRIP
Qmin
RDY
Mmax
AOUT2
C0018
71
Signal flow to Configuration 1000, Speed control:
9300 servo: Commissioning, operation, maintenance
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9300 servo: Commissioning, operation, maintenance
3.4 GDC
Diagnostics with the function block editor
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9300 servo: Commissioning, operation, maintenance
3
Background information on commissioning
of the 9300 servo - inverter
3.1
Before initial switch on (wiring)
3.2
System structure (controller, motor, feedback)
3.3
Communication components
3.4
Global Drive Control software as diagnostics tool
3.5
Initial switch on ...
3.6
Step-by-step commissioning
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9300 servo: Commissioning, operation, maintenance
3.5 Initial switch on ...
LEDs for status indication at the controller
Two LEDs at the controller front indicate the controller status
LED green
LED red
Cause
Control
off
off
no power or electronic supply
on
off
Controler enabled, no fault
flashing
off
Inhibit controller
C0183; pos. C0168/1
off
flashing
Fail
C0168/1
on
flashing
W arning, Fail-QSP
C0168/1
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9300 servo: Commissioning, operation, maintenance
3.5 Initial switch on ...
Communication GDC with controller
•
LECOM A/B:
Fault
Cause
Green LED (ready of operation) is off
Contact problems AIF
wrong interface has been selected
wrong baud rate has been set
Inspite of search no communication possible
wrong unit address has been set
interrupt processing for COM is deactive
(Windows - system features)
•
•
System bus (CAN):
We recommend to separate/to stick the GDC connection “OFFLINE”, otherwise
the the CAN interface in the unit can fail (If that happens, switch the unit off and
on again).
CAN interface 2173 at parallel port (LPT):
The required CAN driver is only loaded when you connected the CAN interface
at the parallel and PS-2 port before switching-on the PC (If that happens, start
the PC again).
76
9300 servo: Commissioning, operation, maintenance
3.5 Initial switch on ...
Messages typical after switch on
Fault
Cause
EEr-TRIP
Input assignment not correct
LU
Power connection is missing,
DC 24 V is OK
OC5-TRIP
Permanent overload
or
phases confused
77
9300 servo: Commissioning, operation, maintenance
3
Background information on commissioning
of the 9300 servo - inverter
3.1
Before initial switch on (wiring)
3.2
System structure (controller, motor, feedback)
3.3
Communication components
3.4
Global Drive Control software as diagnostics tool
3.5
Initial switch on ...
3.6
Step-by-step commissioning
78
9300 servo: Commissioning, operation, maintenance
3.6 Step-by-step commissioning
Mains voltage and DC-bus voltage ranges
Mains voltage
Operation
range
Selection no.
Switch on/off
Switch on/off
C0173
threshold OU
threshold LU
< 400 V
with/without braking unit
0
770 / 755 V
285 / 430 V
400 V
with/without braking unit
1
770 / 755 V
285 / 430 V
400 ... 460 V
with/without braking unit
2
770 / 755 V
328 / 473 V
480 V
without braking unit
3
770 / 755 V
342 / 487 V
480 V
with braking unit
4
800 / 785 V
342 / 487 V
Note:
The service life of controller not adapted will be shorter!
79
9300 servo: Commissioning, operation, maintenance
3.6 Step-by-step commissioning
Motor adjustments
C0086 = motor selection =>
*) following adjust to machine
**) no influence with feedback
system
C0006 = Motor type
C0022 = Imax limit current
C0070 = P-gain speed controller *)
C0071 = Ti-time speed controller *)
C0075 = P-gain current controller
C0076 = Ti-time current controller
C0081 = Rated motor power
C0084 = Stator resistance **)
C0085 = Leakage inductance **)
C0087 = Rated speed
C0088 = Rated current
C0089 = Rated frequency
C0090 = Rated voltage
C0091 = cos phi
80
9300 servo: Commissioning, operation, maintenance
3.6 Step-by-step commissioning
If a motor is not listed under C0086, ...
... enter the parameters of the previous page manually or use the input
assistant for motor data
.
If the nameplate does not indicate all information required:
•
see the motor catalogues
•
contact the manufacturer
•
calculation of data required
81
9300 servo: Commissioning, operation, maintenance
3.6 Step-by-step commissioning
Formulas required for the calculation:
Pel = U x I x cos  x
3
P electrical
Pm = M x 
Pm = M x 2 x 
P loss
n [ rpm ]
P mechanical
s
60 min
No. of pole pairs p =
f
Notes for synchronous motors:
p, n, f must be integers
n
Nm
=
Pm
1W=1
s
Pel
82
9300 servo: Commissioning, operation, maintenance
3.6 Step-by-step commissioning
For asynchronous motors:
Rated speed < synchronous speed
Rule of thumb:
nn ~ nsyn x 0.96
Tip:
Differentiation between synchronous and asynchronous motors:
•
Short circuit motor phase, rotate motor shaft
•
with synchronous motors, the rotor torque is noticeable
83
9300 servo: Commissioning, operation, maintenance
3.6 Step-by-step commissioning
Example: Synchronous motor in cross connection
P = 2,0 kW, I = 4,2 A, M = 5,7 Nm, fN = 170 Hz, U = 330 V
P x 60
n=
s
min
=
Mx2x
170
f x 60
p=
=
n [rpm]
n=
2,0 kW x 60
f
p
5,7 Nm x 2 x 
1
s
3350
min
=
= 3350,729 rpm
s
x 60
1
min = 3,04477
p=3
min
170
s
x 60
s
min
s
1
s
x 60
min
= 3400 rpm
3
84
9300 servo: Commissioning, operation, maintenance
3.6 Step-by-step commissioning
Procedure for motor data setting
•
•
select a similar motor in the Lenze motor list (criteria: type, connection,
power)
enter the motor parameters
for synchronous motor only:
• copy the values from C0060 in the monitor window
•
•
activate the rotor adjustment and enable the controller
(read back C0095 by pressing F6)
inhibit the controller after the rotor has been adjusted
Attention please!
save all parameter with C0003 = 1
85
9300 servo: Commissioning, operation, maintenance
3.6 Step-by-step commissioning
Parameter menu motor adjustment and input assistant for motor data
Start button for the
input assistant for motor data
86
9300 servo: Commissioning, operation, maintenance
3.6 Step-by-step commissioning
Testing feedback systems / Rotor position adjustment I
Both, the rotor phase and angle, can be adjusted automatically:
•
•
The rotor phase and angle set are displayed in C0058.
The automatic adjustment is activated with C0095 = 1 (when controller is
inhibited). The adjustment is carried out with the next controller enable.
Note:
• C0058 and C0095 are parameter setting codes. Copy the code using F6 to
ensure that the correct value is being used.
•
Adjust the rotor when no mechanical load is applied.
87
9300 servo: Commissioning, operation, maintenance
3.6 Step-by-step commissioning
Testing feedback systems / Rotor position adjustment II
Rotor position adjustment:
•
inhibit controller
•
ensure that no mechanical load is applied
•
C0095 = 1
activates rotor position adjustment
•
controller enable
starts rotor position adjustment
•
motor rotates in CW direction (in steps)
•
when the revolution is completed, motor stops
•
when pressing F6 C0095 = 0 will be displayed
•
inhibit the controller
•
with pressing F6 read the rotor angle under C0058
•
save the actual parameter set under C0003
88
9300 servo: Commissioning, operation, maintenance
3.6 Step-by-step commissioning
Testing feedback systems / Rotor position adjustment III
Note on rotor position adjustment:
•
if the motor does not rotate one revolution, frated or nrated are set incorrectly
•
if the motor rotates in CCW direction, the motor phases must be connected the
other way round
•
if the motor rotates in CW direction but C0060 counts downwards, the feedback
system is connected incorrectly
Tip for rotor position adjustment:
•
a revolution is clearly shown under C0060 (rotor position) in the monitor display
(history)
89
9300 servo: Commissioning, operation, maintenance
3.6 Step-by-step commissioning
Maximum current and acceleration mode
The acceleration functionality is available for the sizes
9321 ... 9324
•
Activation under code C0022:
Normal operation
Acceleration mode
C0022  1,5 · INx
2 · INx  C0022 > 1,5 · INx
•
C0022 can be adjusted when RFR = 1 (Controller enable)
•
The operation mode can only be changed when RFR = 0 (Controller inhibit)
Note:
The controller power will be reduced to 70 % of the rated power when the
acceleration mode is activated.
91
9300 servo: Commissioning, operation, maintenance
3.6 Step-by-step commissioning
Basic configuration under C0005
1XX empty, all internal Links will be delated
1XXX Speed control
4XXX Torque control with speed limitation
5XXX Master for dig. frequency coupling
6XXX Slave at dig. frequency bus
7XXX Slave at dig. frequency cascade
0 Common = configuration does not comply to standard
X = wildcards
92
9300 servo: Commissioning, operation, maintenance
3.6 Step-by-step commissioning
Predefined unit control and additional function under C0005
last digit indicates the predefined unit control:
•
XXX0:
digital, analog I/Os
•
XXX1:
RS232, RS485 or optical fibre
•
XXX3:
Fieldbus (InterBus, Profibus, ...)
•
XXX5:
System bus (CAN)
last but one digit = voltage supply for the control terminals
•
XX0X:
external supply voltage (e.g. 24 V SPS)
•
XX1X:
internal supply voltage via X5/A1 and X6/63
2. digit = additional function
•
X1XX:
Brake control
•
X9XX:
with quick stop the drive group will be decelerate
to speed zero in a phase controlled mode
93
9300 servo: Commissioning, operation, maintenance
3.6 Step-by-step commissioning
Definition of ramp time (Tir and Tif)
RFG
output [ % ]
Tir = tir
100 %
w2 - w1
Tif = tif
100 %
w2 - w1
100 %
w2
w1
0
tir
tif
Tir
Tif
t
94
9300 servo: Commissioning, operation, maintenance
3.6 Step-by-step commissioning
Parameter management between GDC and controller
PC
Global Drive Control
Read parameter sets
from file
Transfer via LECOM A/B
or system bus
Controller
F7 Load parameter from controller
93XX
RAM
F5 Write parameter to controller
X5
X6
X7
Disk
RAM
Write parameter sets
in file
C0003 = 1 ... 4
save
parameter set
C0002 = 1 ... 4
load
parameter set
X8
X9
X10
EEPROM
mains-fail save
saving
95
9300 servo: Commissioning, operation, maintenance
3.6 Step-by-step commissioning
Data saving on the hard disk
Pull down menu: Drive parameters
Write all parameter sets to file ...
96
9300 servo: Commissioning, operation, maintenance
3.6 Step-by-step commissioning
Data saving in the unit
C0003 = “1”
Note:
•
If you need one parameter set only, save the changes permanently in parameter
set 1, since the controller loads parameter set 1 automatically when being
switched on.
•
The variants positioning controller and cam profiler provide parameter set 1 ‘only’
97
9300 servo: Commissioning, operation, maintenance
4
Operation and maintenance of the 9300 servo
With cyclic switch on and off of the supply voltage the input current limit of
the controller can be exceeded (L1, L2, L3 or ± UG).
Switching on the motor side is
• OCx-TRIP possible
• rate switch gears for VDCmax = 800 V or ensure that
switching is not possible when the controller is enabled.
99
9300 servo: Commissioning, operation, maintenance
4 Operation and maintenance
Example:
Delay of controller enable when switching the motor cable
9300
K2
X5
term.28
term.59
K2
K1
K1
K2
M
3~
Auxiliary
relay
K1
Motor
100
9300 servo: Commissioning, operation, maintenance
4 Operation and maintenance
Controller protection through current derating
•
•
Applies to 9326 to 9332 controllers ( 11 kW)
with field frequencies < 5 Hz the controller limit the max. permissible output
current automatically
IMotor
Operation at 8 kHz
I0x
1,5 x I08
k Heatsink temperature
Irx Rated current at
U, V, W depends
on chopper frequency
1,25 x I08
Operation at 16 kHz
I08
IN16 = Threshold to
8 kHz when C0018 = 0
I016
0
5
fd
fd Field frequency
at output U, V, W
I0x Max. standstill current
when field
frequency = 0 Hz
[ Hz]
101
9300 servo: Commissioning, operation, maintenance
4 Operation and maintenance
Storage
Form up the DC-bus capacitors according to the storage conditions (ambient
temperature):
• Storage < 55 °C
all 2 years
• Storage  55 °C
all 9 months
By this, you can reduce the risk, that the electrolyte will be destroyed due to the
missing self-healing process in case of sudden voltage switch on.
Form up:
Connect a slow increasing voltage, e.g. via a variable transformer or with by means
of a RC-load circuit (for details see 8230 Operation Instructions)
102
9300 servo: Commissioning, operation, maintenance
5
Use of the 9371 BB keypad
5.1
Features, display and keyboard
5.2
Use and Handling
5.3
Step-by-step commissioning of the speed mode about the keypad
5.4
Example:
Change of the controllers acceleration time
5.5
Saving function of the keypad
103
9300 servo: Commissioning, operation, maintenance
5.1 Feature, Display and keyboard
Keypad elements
Status messages
Type of parameter
acceptance
Active level
RDY
SHPRG
IMP
Imax
Menu
Code
Para
Mmax
0000
Fail
00
Code number
Subcode number
1250 rpm
MCTRL-NACT
Parameter
Cursor
Keys
Text
105
9300 servo: Commissioning, operation, maintenance
5.1 Feature, Display and keyboard
Overview - menu assistance for keypad
Switch on
Main
menu
Sub
menu
Code
level
PRG
Parameter
level
PRG
Operation
level
PRG
108
9300 servo: Commissioning, operation, maintenance
5.2 Use and Handling
Call the main menu after attach/ switch on
• User-Menu
1. Switch on
• Code list
• Load / Store
• Diagnostic
• Short setup
• Main FB
• ...
4x
RDY
IMP
Imax
Main menu
Mmax
Fail
Code
level
Menu
Operation
level
3.
User-Menu
2.
PRG
111
9300 servo: Commissioning, operation, maintenance
5.2 Use and Handling
Handling in the selection menu I
Main menu
RDY
IMP
Imax
Mmax
Sub menu
Fail
RDY
Menu
IMP
Imax
Mmax
Fail
Menu
Short setup
Short setup
Speed mode
Sub menus in “Short setup”:
•
•
•
•
Speed mode
Torque mode
DF master
DF slave bus
• DF slave cas
• User Menu CFG
112
9300 servo: Commissioning, operation, maintenance
5.2 Use and Handling
Handling in the selection menu II
Sub menu
RDY
IMP
Imax
Mmax
Code level
Fail
RDY
IMP
Imax
Menu
Code
Mmax
0011
Short setup
1250 rpm
Speed mode
Nmax
Fail
00
Code level contents “Speed mode”:
•
•
•
•
•
•
C0003 Par save
C0173 UG limit
C0086 Mot type
C0022 Imax current
C0025 Feedback type
C0005 Signal CFG
•
•
•
•
•
•
C0011 Nmax
C0012 Tir (acc)
C0013 Tif (dec)
C0105 QSP Tif
C0070 Vp speed-CTRL
C0071 Tn speed-CTRL
113
9300 servo: Commissioning, operation, maintenance
5.2 Use and Handling
Setting the parameter in a Code
Code level
RDY
IMP
Imax
Code
Mmax
0011
Parameter level
Fail
RDY
00
PRG
IMP
Imax
Para
Mmax
0011
1250 rpm
1500 rpm
Nmax
Nmax
Fail
00
• Change of the code selected
C0011 = Nmax
114
9300 servo: Commissioning, operation, maintenance
5.2 Use and Handling
Parameter setting
Parameter level
RDY
IMP
Imax
Mmax
Operation level
Fail
RDY
IMP
Imax
Mmax
Fail
PRG
SHPRG
Para
0011
1500 rpm
Nmax
00
0051
or
SHIFT
PRG
0
00
rpm
LU message
PRG
Code level
• 1st + 2nd line:
actual speed from C0051
• 3rd line:
Parameter according to C0004,
when controller status C0183 = “OK”
115
9300 servo: Commissioning, operation, maintenance
5.4 Example: Change of acceleration Tir
Example 9371BB - Change of acceleration Tir (C0012) I
(see also chapter 3.6, Definite of ramp time)
Go to the “SHORT-SETUP” menu in the main menu level
Starting point: Menu level
or
Selection of the corresponding menu item
go to the submenu level
or starting point: Code level
go to the menu level
or
Selection of the corresponding menu item
go to the submenu level
124
9300 servo: Commissioning, operation, maintenance
5
Use of the 9371 BB keypad
5.1
Features, display and keyboard
5.2
Use and Handling
5.3
Step-by-step commissioning of the speed mode about the keypad
5.4
Example:
Change of the controllers acceleration time
5.5
Saving function of the keypad
127
9300 servo: Commissioning, operation, maintenance
5.5 Saving function of the keypad
Copying of parameter sets from the controller to the keypad
• Attach the keypad to the controller.
• Change to the code level using the arrow keys or PRG (“Code” is displayed).
• Use
or
to select C0003.
• Use PRG to go to the parameter level. “Para” is displayed.
• Select parameter 1 ... 4 and acknowledge with SHIFT + PRG to save the
changes made last in the corresponding parameter set (PS1 ... PS4).
• Inhibit the controller with X5/28 = LOW
• Select parameter 11 under C0003 and acknowledge with SHIFT + PRG .
“RDY” is off. “BUSY” is on.
All parameter sets (PS1 ... PS4) are copied to the keypad.
Copying is completed when “BUSY” is off (after approx. 1 minute).
128
9300 servo: Commissioning, operation, maintenance
5.5 Saving function of the keypad
Loading parameter sets from the keypad to the controller
• Attach the keypad to the second controller.
• Inhibit the controller with X5/28 = LOW
• Leave the operation level using PRG and go to the code level (“Code” is
displayed)
• Using the arrow keys to go to the menu “Load / Store” and back to the code level.
• Use
or
to select C0002.
• Use PRG to go to the parameter level. “Para” is displayed.
• Select parameter 20 and acknowledge with SHIFT + PRG to copy all
parameter sets from the keypad to the second controller and save them.
“RDY” is off. “BUSY” is on.
All parameter sets (PS1 ... PS4) are copied to the controller and saved.
Copying and saving is completed when “BUSY” is off.
129
9300 servo: Commissioning, operation, maintenance
6
Controller settings and optimisation
6.1
Control
6.2
The oscilloscope function of Global Drive Control software
7
Exercises, questions
7.1
Master frequency coupling
7.2
Torque control
8
Feedback
131
9300 servo: Commissioning, operation, maintenance
6.1 Control
Principle drawing: Open control
Reference variable
Controlled
system
Energy
Actuator
132
9300 servo: Commissioning, operation, maintenance
6.1 Control
Example open control: Frequency inverter
Set frequency
V/ f
M
Motor
133
9300 servo: Commissioning, operation, maintenance
6.1 Control
Principle drawing: control circuit (close loop)
Ref. variable W
W-X
Controller
Correcting
variable
+
Controlled
variable X
Controlled
system
Measuring point
Energy
Actuator
134
9300 servo: Commissioning, operation, maintenance
6.1 Control
Principle drawing: Frequency inverter with feedback
Speed setpoint
System deviation
nset - nact
+
-
Speed controller
Actual speed
R
M
3~
Resolver
Motor
Vector
control
PWM
135
9300 servo: Commissioning, operation, maintenance
6.1 Control
Principle drawing of 9300 servo inverter
Speed
setpoint
System
deviation
Vector
control
nset - nact
+
PWM
Speed controller
Actual
speed
R
M
Resolver
Motor
136
9300 servo: Commissioning, operation, maintenance
6.1 Control
Controller settings
•
OK = send parameter
and close window
•
Accept = send parameter
and window remains opened
•
Cancel = operation is cancelled and close window
•
Help = information to the parameter (see code table)
137
9300 servo: Commissioning, operation, maintenance
6.1 Control
Overshoot
of the speed controller
(50 %/DIV)
MCTRL-NACT  actual speed
MCTRL-MACT  actual torque
138
9300 servo: Commissioning, operation, maintenance
6.1 Control
Transient condition
without I - Component
(P - controlled only)
(50 %/DIV)
MCTRL-NACT  actual speed
MCTRL-MACT  actual torque
139
9300 servo: Commissioning, operation, maintenance
6.1 Control
Transient condition
PI-controlled
(50 %/DIV)
MCTRL-NACT  actual speed
MCTRL-MACT  actual torque
140
9300 servo: Commissioning, operation, maintenance
6
Controller settings and optimisation
6.1
Control
6.2
The oscilloscope function of Global Drive Control software
7
Exercises, questions
7.1
Master frequency coupling
7.2
Torque control
8
Feedback
141
9300 servo: Commissioning, operation, maintenance
6.2 OSZ of GDC
Starting the oscilloscope function
Start button for the
oscilloscope function
The oscilloscope function is a function block (OSZ) in the drive and only active after
you have inserted it in the function block table.
142
9300 servo: Commissioning, operation, maintenance
6.2 OSZ of GDC
Oscilloscope function window
143
9300 servo: Commissioning, operation, maintenance
6.2 OSZ of GDC
Question to be considered for measuring
•
What signal is to be measured?
•
Which signal activates the trigger?
- which trigger level?
- which trigger point on the time axis?
•
How long does the measurement take and which resolution is required?
144
9300 servo: Commissioning, operation, maintenance
6.2 OSZ of GDC
Oscilloscope control
145
9300 servo: Commissioning, operation, maintenance
6.2 OSZ of GDC
Exercise:
Optimisation of the speed controller with the oscilloscope
Measuring channel 1: Actual speed (MCTRL-NACT)
Measuring channel 2: Torque (MCTRL-MSET2)
C0012 + C0013 = 0 s
C0011 = 3000 rpm
Find out the setting for:
•
C0070 Vpn
•
C0071 Tnn
a) with a smooth transient response
b) with a ‚hard‘ transient response during standstill
146
9300 servo: Commissioning, operation, maintenance
6.2 OSZ of GDC
Optimised
transient response
MDSKS-36-13
Vp = 5
Ti = 10 ms
MCTRL-NACT  actual speed
MCTRL-MACT  actual torque
147
9300 servo: Commissioning, operation, maintenance
6
Controller settings and optimisation
6.1
Control
6.2
The oscilloscope function of Global Drive Control software
7
Exercises, questions
7.1
Master frequency coupling
7.2
Torque control
8
Feedback
149
9300 servo: Commissioning, operation, maintenance
7.1 DF bus
Exercise: Digital frequency bus
Two controller shout driven about a master frequency
• with synchronous angle or
• with a fixed speed ration (modify about gear factor).
Parameterise the both drives as digital frequency - slave - line.
Resolver
R
Resolver
Drive 1:
Master (with Slave 0)
R
9300 servo
X7
Drive 2:
Slave 1
9300 servo
X7
SVI
Factor
, n-Ctrl.
X6/1, 2
analog
speed setpoint ± 10 V
X10
Encoder
output
, n-Ctrl.
X9
Encoder
input
What could you see, when the gear factor in the slave drive is 1/2 or 2/1?
150
9300 servo: Commissioning, operation, maintenance
7.1 DF bus
Digital frequency bus (Configuration C0005 = 6000)
DFOUT
X10
MCTRL
DFSET
C0032
X9
Motor control
REF
Dig. frequency processing
DFIN
*
N-controller
+
Vector control
U
I
C0033
PHI-ACT
PHI-controller
Principle of the most important function blocks of the configuration digital
frequency bus.
151
9300 servo: Commissioning, operation, maintenance
7.1 DF bus
Digital frequency master (Configuration C0005 = 5000)
NSET
X6
Setpoint processing
AIN1
1
2
_
+
* /
C039/1
DFOUT
X10
MCTRL
DFSET
C0032
Motor control
REF
Dig.frequency processing
*
N-controller
+
Vector control
U
I
C0033
PHI-ACT
PHI-controller
Principle of the most important function blocks of the configuration digital
frequency master.
152
9300 servo: Commissioning, operation, maintenance
7.1 DF bus
Most important settings I - digital frequency bus
Code
Value
Note
• Mains voltage, motor type, maximum current, feedback system
(apply to both controller)
C0173
1
UG-Limit (mains voltage 400 V)
C0086
108
Lenze motor type
C0022
1.35 A
Imax
C0025
10
Feedback system resolver
• Drive 1 (Master)
C0005
5000
C0011
2000 rpm
C0012
2s
C0013
2s
C0105
1s
C0030
2048 Inc.
Configuration: Digital frequency master
max. speed
acceleration time 0 rpm  C0011
deceleration time C0011  0 rpm
QSP - deceleration time (quick stop)
DFOUT encoder constant to the slave
153
9300 servo: Commissioning, operation, maintenance
7.1 DF bus
Most important settings II - digital frequency bus
Code
Value
• Drive 2 (Slave)
C0005
6000
C0011
2200 rpm
C0032
1
C0033
1
C0425
2048 Inc.
Note
Configuration: Digital frequency bus
max. speed
gearbox factor numerator
gearbox factor denominator
DFIN encoder constant to the master
• Application parameter (both controller)
C0070
5
Vp of speed controller
C0071
20 ms
Tn of speed controller
C0254
0.4
Gain of the phase controller
• save parameter (both controller)
C0003
1
mains-fail save
saving in the controller
154
9300 servo: Commissioning, operation, maintenance
7.1 DF bus
Most important settings II - digital frequency bus
• Input assignment
DIGIN1 = CW rotation (QSP)
DIGIN2 = reference label
DIGIN3 = starting homing
DIGIN4 = TRIP Set
DIGIN5 = TRIP Reset
 High
 Low
 Low
 High
 Low
• Controller enable
After the parameter are entered and the suppressor circuits (emergency
off, limit switch, ...) are ensured
terminal 28 = RFR = High
• Setpoint selection
The Master drive expects the speed setpoint at terminal X6/1,2
as ± 10 V DC signal. You can vary the speed ratio between master and
slave about C0032 (numerator) and C0033 (denominator).
155
9300 servo: Commissioning, operation, maintenance
6
Controller settings and optimisation
6.1
Control
6.2
The oscilloscope function of Global Drive Control software
7
Exercises, questions
7.1
Master frequency coupling
7.2
Torque control
8
Feedback
157
9300 servo: Commissioning, operation, maintenance
7.2 Torque control
Exercise Torque control
The drive receives a torque setpoint via the second analog input.
Parameterise the drive as torque control with speed limitation
(C0005 = 4000).
(Configuration is included in the Operating Instructions, chapter 11.2.2)
158
9300 servo: Commissioning, operation, maintenance
7.2 Torque control
Most important settings I - torque control
Code
Value
Note
• Mains voltage, motor type
C0173
1
C0086
108
UG-Limit (mains voltage 400 V)
Lenze motor type
• Maximum motor current
C0022
0.5 A
Imax
• Controller configuration
C0005
4000
C0025
10
torque control
Feedback system resolver
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9300 servo: Commissioning, operation, maintenance
7.2 Torque control
Most important settings II - torque control
Code
Value
Note
• Speed setpoint settings
C0011
2000 rpm
C0012
2s
C0013
2s
C0105
1s
max. speed
acceleration time 0 rpm  C0011
deceleration time C0011  0 rpm
QSP deceleration time
• Speed limitation
C0472/4
- 70 % nmax
lower speed limit
• Application parameter
C0070
5
C0071
20 ms
Vp of speed controller
Tn of speed controller
• save parameter
C0003
1
mains-fail save
saving in the controller
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9300 servo: Commissioning, operation, maintenance
7.2 Torque control
Most important settings III - torque control
• Input assignment
DIGIN1 = CW rotation (QSP)
DIGIN2 = CCW rotation (QSP)
DIGIN3 = JOG - fix speed
DIGIN4 = TRIP Set
DIGIN5 = TRIP Reset
 High
 Low
 Low
 High
 Low
• Controller enable
After the parameter are entered and the suppressor circuits (emergency
off, limit switch, ...) are ensured
terminal 28 = RFR = High.
• Setpoint selection
The controller expects the speed setpoint at terminal X6/3 and 4 as ±10 V
DC signal. On terminal X6/1 and 2 is the upper speed limitation as ±10 V
DC signal.
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9300 servo: Commissioning, operation, maintenance
6
Controller settings and optimisation
6.1
Control
6.2
The oscilloscope function of Global Drive Control software
7
Exercises, questions
7.1
Master frequency coupling
7.2
Torque control
8
Feedback
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9300 servo: Commissioning, operation, maintenance
8.
Feedback
We would like to meet your expectations with our customer seminars
and the organisation and presentation of other training's and events.
Therefore, we kindly ask you to fill in our Feedback Questionnaire.
If you have more ideas or comments, please contact:
Uwe Begemann
Phone: 00 49 51 54/82 - 25 33
Fax: 00 49 51 54/ 82 - 25 11
email: begemann@lenze.de
New: Information on our customer seminars can also be found in the
internet: www.lenze.com
(path:
Service
Customer seminars)
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9300 servo: Commissioning, operation, maintenance
Thank you
very much for
your attention!
Have a good trip home!
165