Lenze TA i900 Owner's manual

Inverter

i950 cabinet servo inverter

Firmware V_1_3_7

"CiA 402 advanced" technology applicaon

Commissioning | EN

Contents

1About this document 14

1.1 Document descripon 14

1.2 Further documents 14

1.3 Notaons and convenons 15

2Safety instrucons 16

2.1 Basic safety instrucons 16

2.2 Applicaon as directed 17

2.3 Handling 17

2.4 Residual hazards 18

3Product informaon 20

3.1 Features 20

3.2 Idencaon of the products 26

3.2.1 Product codes 26

3.2.2 Nameplates 27

3.3 License informaon 28

4Commissioning 29

4.1 Important notes 29

4.2 Operang interfaces 30

4.2.1 Engineering tool »EASY Starter« 31

4.2.1.1 Generate a connecon between inverter and »EASY Starter« 32

4.3 General informaon on parameter seng 33

4.3.1 Addressing of the parameters 33

4.3.2 Structure of the parameter descripons 33

4.3.3 Parameter overview lists 33

4.3.4 Favorites 34

4.3.4.1 Conguring the "Favorites" 34

4.4 Commissioning steps 37

4.4.1 Seng and transferring safety parameters 38

4.5 Saving the parameter sengs 40

4.5.1 Save parameter sengs with »EASY Starter« 40

5Basic seng 41

5.1 Technology Applicaon 41

5.2 Device name 41

5.3 Mains voltage 42

5.4 Funcon assignment of the inputs and outputs (default seng) 42

5.5 Motor data 43

5.5.1 Select motor from motor catalog 44

5.5.2 Manual seng of the motor data 46

5.6 Motor control mode 50

Contents

3

6 Technology applicaon (TA) basic sengs 51

6.1 Kinemac sengs 51

6.1.1 Mass inera (load/motor) 51

6.1.2 Torque feedforward control 51

6.1.3 Motor/encoder mounng direcon 51

6.1.4 Motor/encoder gearbox rao 52

6.1.5 Motor/encoder feed constant 53

6.2 Moon sengs 54

6.2.1 Quick stop 54

6.2.2 Condioning of the encoder signal 54

6.2.3 Control modes 55

6.2.4 Homing 56

6.2.4.1 Homing modes 58

6.2.4.2 Digital input for reference switch 66

6.2.4.3 Motor/encoder behaviour aer mains switching 67

6.2.5 Limitaons 67

6.2.5.1 Torque limits 67

6.2.5.2 Maximum values for travel proles 68

6.2.5.3 Hardware limit switches 69

6.2.5.4 Safety limits 71

6.2.6 Status signals 72

6.3 Dening control sources 75

6.3.1 Source of quick stop 75

6.3.2 Source of error reset 76

6.3.3 Source of digital output 1 76

6.3.4 UMCLN_SGG_001443 77

7Conguring the "CiA 402 advanced" TA 78

7.1 UMCLN_SGG_001440 82

7.2 Signal ow 84

Contents

4

8Congure posion control 85

8.1 Basic seng 86

8.1.1 Following error detecon and in-posion detecon 87

8.1.2 Interpolaon 88

8.2 Operang mode "CiA 402 cyclic sync posion mode (csp)" 90

8.2.1 Default mapping 90

8.2.2 Signal ow 91

8.2.3 Control commands and status informaon 93

8.3 Process input data (CiA 402 objects) 93

8.4 Process output data (CiA 402 objects) 94

8.5 Monitoring the posion error 94

8.6 Posion detecon with touch probe (TP) 95

8.6.1 Default mapping 95

8.6.2 General mode of operaon 96

8.6.3 Filtering of the touch probe signal 96

8.6.4 Compensaon of runme delays 97

8.6.5 Touch probe control word 98

8.6.6 Touch probe status word 99

8.6.7 Extension for the digital inputs DI3 and DI4 100

8.6.8 Detected me stamp and posions 100

8.7 Setpoint diagnoscs 101

9Congure speed control 102

9.1 Basic seng 102

9.2 Operang mode "CiA 402 velocity mode (vl)" 103

9.2.1 Default mapping 103

9.2.2 Signal ow (servo control) 104

9.2.3 Signal ow (V/f characterisc control) 106

9.2.4 Setpoint factor 108

9.2.5 Dimension factor 108

9.3 Operang mode "CiA 402 cyclic sync velocity mode (csv)" 109

9.3.1 Default mapping 109

9.3.2 Signal ow (servo control) 110

9.3.3 Signal ow (V/f characterisc control) 112

9.3.4 Control commands and status informaon 114

9.4 Process input data (CiA 402 objects) 114

9.5 Process output data (CiA 402 objects) 115

9.6 Monitoring the speed deviaon 115

10 Conguring the torque control 116

10.1 Basic seng 117

10.1.1 Torque limits 118

10.1.2 Speed limitaon 119

10.2 Operang mode "CiA 402 cyclic sync torque mode (cst)" 120

10.2.1 Default mapping 120

10.2.2 Signal ow 121

10.2.3 Control commands and status informaon 123

10.3 Process input data (CiA 402 objects) 123

10.4 Process output data (CiA 402 objects) 123

10.5 Setpoint diagnoscs 123

Contents

5

11 Conguring the feedback system 124

11.1 Congure feedback system for motor control 125

11.1.1 General sengs 126

11.1.2 Resolver sengs 128

11.1.2.1 Resolver error compensaon 129

11.1.3 Encoder sengs 132

11.1.3.1 SinCos encoder 132

11.1.3.2 SinCos absolute value encoder with HIPERFACE® protocol 133

11.1.3.3 SSI encoder 135

11.1.3.4 One cable technology (OCT) via HIPERFACE DSL® 138

11.1.3.5 Evaluaon of the signal quality 139

11.1.4 Detecon of changed sengs of the feedback system 140

11.1.5 Diagnoscs 140

11.2 Second feedback system for the techology applicaon 141

11.2.1 General sengs 141

11.2.2 Resolver sengs 142

11.2.2.1 Resolver error compensaon 144

11.2.3 Encoder sengs 147

11.2.3.1 SinCos encoder 147

11.2.3.2 SinCos absolute value encoder with HIPERFACE® protocol 148

11.2.3.3 SSI encoder 150

11.2.3.4 Evaluaon of the signal quality 153

11.2.4 Detecon of changed sengs of the feedback system 154

11.2.5 Diagnoscs 154

11.3 Encoder: Evaluaon of safely speed and posion 155

11.4 Synchronous motor: Pole posion idencaon (PPI) 156

11.4.1 Monitoring the pole posion idencaon 157

11.4.2 Pole posion idencaon (PPI) 360° 158

11.4.3 Pole posion idencaon (PPI) with minimum movement 163

11.4.4 Pole posion idencaon (PPI) without movement 166

11.5 Cable check 169

Contents

6

12 Conguring the motor control 173

12.1 Servo control for synchronous motor (SC-PSM) 174

12.1.1 Required commissioning steps 174

12.2 Servo control for asynchronous motor (SC-ASM) 175

12.2.1 Required commissioning steps 175

12.3 Sensorless control for synchronous motor (SL-PSM) 175

12.3.1 Required commissioning steps 175

12.4 V/f characterisc control for asynchronous motor (VFC open loop) 176

12.4.1 Required commissioning steps 176

12.4.2 Basic seng 177

12.4.3 Dene V/f characterisc shape 178

12.4.3.1 Linear V/f characterisc 178

12.4.3.2 Square-law V/f characterisc 178

12.4.3.3 User-denable V/f characterisc 179

12.4.4 Acvate voltage vector control (Imin controller) 179

12.4.5 Set voltage boost 181

12.4.6 Set load adjustment 182

12.4.7 Set slip compensaon 182

12.4.8 Set oscillaon damping 183

12.4.9 Opmising the stalling behaviour 184

12.4.10 Flying restart circuit 185

12.5 Parameterisable motor funcons 188

12.5.1 DC braking 188

12.5.2 Short-circuit braking 189

12.5.3 Holding brake control 190

12.5.3.1 Basic seng 191

12.5.3.2 Brake holding load 193

12.5.3.3 Torque feedforward control 193

12.5.3.4 Manual brake control 194

12.5.3.5 Reducon of brake supply voltage 194

12.6 Opons for opmizing the control loops 195

12.6.1 Automac motor idencaon (energized) 195

12.6.2 Tuning of the motor and the speed controller 196

12.6.3 Inverter characterisc 198

12.6.3.1 Compensang for inverter inuence 199

12.6.3.2 Extended sengs for idencaon 200

12.6.3.3 Load standard inverter characterisc 201

12.6.4 Motor equivalent circuit diagram data 201

12.6.5 Motor control sengs 203

12.6.5.1 Speed controller 203

12.6.5.2 Current controller 206

12.6.5.3 ASM eld controller 209

12.6.5.4 ASM eld weakening controller 210

12.6.5.5 ASM eld weakening controller (extended) 210

12.6.5.6 PSM eld weakening controller 211

12.6.5.7 Imax controller 212

12.6.5.8 Flying restart controller 212

12.6.5.9 Posion controller 213

Contents

7

12.7 Fine adjustment of the motor model 214

12.7.1 Correcon of the stator leakage inductance (Lss)... 215

12.7.2 Synchronous motor (SM): Compensate temperature and current inuences 220

12.7.3 Asynchronous motor (ASM): Idenfying Lh saturaon characterisc 221

12.7.4 Esmate opmum magnesing current 223

12.8 Parameterise lter elements in the setpoint path 224

12.8.1 Jerk limitaon 224

12.8.2 Notch lter (band-stop lter) 225

12.9 Motor protecon 228

12.9.1 Motor overload monitoring (i²xt) 228

12.9.1.1 Parameters for the thermal model 230

12.9.1.2 Speed-dependent evaluaon of the motor current 232

12.9.1.3 UL 508-compliant motor overload monitoring 235

12.9.2 Motor temperature monitoring 236

12.9.2.1 Individual characterisc for motor temperature sensor 238

12.9.3 Overcurrent monitoring 238

12.9.4 Motor phase failure detecon 239

12.9.5 Motor speed monitoring 240

12.10 Frequency and speed limitaons 241

12.11 Tesng the motor control 242

12.11.1 General sengs for test modes 242

12.11.2 Manual "tension/frequency" test mode 244

12.11.3 Manual "current/frequency" test mode 245

12.11.4 Manual "current pulse" test mode 246

13 I/O extensions and control connecons 248

13.1 Congure digital inputs 248

13.2 Congure analog inputs 251

13.2.1 Analog input 1 251

13.3 Congure digital outputs 253

13.3.1 Digital output 1 253

13.3.2 Digital output 2 254

13.3.3 Digital output 3 254

13.3.4 Digital output 4 254

13.3.5 Digital output 5 254

13.3.6 Digital output 6 254

14 Congure engineering port 255

14.1 Basic seng 256

14.2 NTP server addresses 258

14.3 Diagnoscs 258

Contents

8

15 Conguring the network 259

15.1 CiA 402 device prole 260

15.1.1 Supported operang modes 260

15.1.2 Basic seng 261

15.1.3 Process input data 262

15.1.4 Process output data 262

15.1.5 Commands for device state control 263

15.1.5.1 Switch on 265

15.1.5.2 Enable operaon 266

15.1.5.3 Acvate quick stop 267

15.1.5.4 Pulse inhibit 268

15.1.5.5 Reset fault 269

15.1.6 Device states 270

15.1.6.1 Not ready to switch on 272

15.1.6.2 Switch-on inhibited 273

15.1.6.3 Ready to switch on 274

15.1.6.4 Switched on 275

15.1.6.5 Operaon enabled 276

15.1.6.6 Quick stop acve 277

15.1.6.7 Fault reacon acve 278

15.1.6.8 Trouble 279

15.2 onboard EtherCAT 280

15.2.1 Commissioning 281

15.2.2 Basic seng and opons 282

15.2.3 Process data transfer 283

15.2.3.1 Process output data 284

15.2.3.2 Process input data 284

15.2.4 Monitoring 285

15.2.5 Diagnoscs 286

15.2.5.1 LED status displays 286

15.2.5.2 Informaon on the network 286

15.2.5.3 Device idencaon 288

Contents

9

15.3 EtherCAT 290

15.3.1 Commissioning 291

15.3.2 Basic seng and opons 292

15.3.2.1 Synchronisaon with "distributed clocks" (DC) 292

15.3.2.2 Parameterising addional funcons 293

15.3.3 Process data transfer 298

15.3.3.1 Standard mapping 298

15.3.3.2 Dynamic (free) conguraon 299

15.3.3.3 Further communicaon objects 299

15.3.3.4 Expert sengs 299

15.3.4 Parameter data transfer 300

15.3.5 Monitoring 300

15.3.6 Diagnoscs 301

15.3.6.1 LED status display 301

15.3.6.2 Informaon on the network 301

15.3.6.3 EtherCAT master diagnoscs 303

15.3.6.4 Error history buer 312

15.3.6.5 Device idencaon 312

15.3.7 EoE communicaon 313

15.4 PROFINET 314

15.4.1 Commissioning 316

15.4.1.1 Sengs in the »EASY Starter« 316

15.4.1.2 Restarng or stopping the communicaon 317

15.4.1.3 Sengs in the Siemens »TIA Portal« 318

15.4.1.4 Device descripon le 318

15.4.1.5 Establishing a connecon to the »EASY Starter« via PROFINET 319

15.4.2 Basic seng and opons 319

15.4.2.1 Staon name and IP conguraon 319

15.4.2.2 Suppress diagnosc messages to the IO controller 321

15.4.3 Process data transfer 321

15.4.4 Parameter data transfer 322

15.4.5 Monitoring 323

15.4.6 Diagnoscs 324

15.4.6.1 LED status display 324

15.4.6.2 Informaon on the network 324

15.4.7 PROFIsafe 326

15.4.8 PROFIenergy 327

15.4.8.1 Supported commands 327

15.4.8.2 Supported measured values 327

Contents

10

16 Device funcons 328

16.1 Opcal device idencaon 328

16.2 Reset parameters to default 329

16.3 Saving/loading the parameter sengs 330

16.4 Enabling the device 332

16.5 Restart device 332

16.6 Start/stop applicaon 333

16.7 Restarng Extended Safety 333

16.8 Export logbook 334

16.9 Delete logbook les 334

16.10 Acvate loaded applicaon 335

16.11 Uploading the applicaon 335

16.12 Inverter control word 336

16.13 Access protecon 336

16.13.1 Brand protecon 336

16.14 Switching frequency changeover 337

16.15 Device overload monitoring (ixt) 338

16.16 Heatsink temperature monitoring 339

16.17 Update device rmware 339

16.17.1 Firmware download with »EASY Starter (rmware loader)« 339

16.17.1.1 Download via Ethernet connecon 339

17 Addional funcons 340

17.1 Brake energy management 340

17.1.1 Use of a brake resistor 340

17.2 Manual jog parameters 342

17.3 Mains failure control 343

17.4 Oscilloscope funcon 344

Contents

11

18 Safety funcons 353

18.1 General informaon and basics 354

18.1.1 Safety address 354

18.1.2 Stop funcons 354

18.1.3 Priorisaon 355

18.1.4 Restart 355

18.2 Safe torque o (STO) 356

18.3 Safe stop emergency (SSE) 358

18.4 Safe stop 1 (SS1) 359

18.5 Safe stop 2 (SS2) 362

18.6 Ramp monitoring 364

18.7 Safe operang stop (SOS) 366

18.8 Safe maximum speed (SMS) 368

18.9 Safely-limited speed (SLS) 369

18.10 Safe speed monitor (SSM) 375

18.11 Safely-limited increment (SLI) 376

18.12 Safe direcon (SDI) 378

18.13 Safely-limited posion (SLP) 381

18.14 Posion-dependent safe speed (PDSS) 384

18.15 Safe homing (SHom) 387

18.15.1 Mini-homing 391

18.15.2 Slip compensaon 392

18.16 Safe cam (SCA) 394

18.17 Operaon mode selector (OMS) 396

18.18 Repair mode selector (RMS) 399

18.19 Enable switch (ES) 402

18.20 STO cascading (CAS) 403

18.21 Safe brake control (SBC) 404

18.22 Safe Mung (MUT) 407

18.23 Safe network interfaces 409

18.23.1 PROFIsafe connecon 410

18.23.2 FSoE connecon 412

18.24 Connecon to the applicaons 415

18.24.1 Safe inputs 415

18.24.2 Safe output 416

18.24.3 Control signals 416

18.24.4 Status signals 419

18.25 Safe parameter seng 424

18.25.1 Safety address 424

18.25.2 Parameter set informaon 424

18.26 Response mes 425

18.27 Diagnoscs 428

18.27.1 LED status display 428

18.27.1.1 LED status during parameter set transfer 429

18.27.2 Event history 430

18.27.3 Diagnosc parameters 431

Contents

12

19 Diagnoscs and fault eliminaon 432

19.1 LED status display 432

19.2 Logbook 433

19.3 Diagnosc parameters 435

19.3.1 Inverter diagnoscs 437

19.3.2 Motor diagnoscs 440

19.3.3 Network diagnoscs 441

19.3.4 I/O diagnoscs 443

19.3.4.1 Digital inputs and outputs 443

19.3.4.2 Analog inputs and outputs 444

19.3.5 Diagnoscs of the applicaon 445

19.3.6 Service life diagnoscs 445

19.3.7 Device idencaon 445

19.4 Error handling 447

19.4.1 Error types 447

19.4.1.1 Timeout for error response 447

19.4.2 Error conguraon 447

19.4.3 Error reset 448

19.5 Error codes, causes and remedies 449

19.5.1 Error code overview 449

19.5.2 Extended Safety - Parameter set plausibility errors 466

20 Technical data 469

21 Appendix 470

21.1 Parameter aribute list 470

21.2 Glossary 501

Contents

13

1 About this document

WARNING!

Read this documentaon carefully before starng any work.

▶Please observe the safety instrucons!

1.1 Document descripon

This documentaon is valid up to rmware version:

Firmware version Soware data version Date

V_1_3_7 V_1_3_7_001 2019-06-07

1.2 Further documents

For certain tasks, informaon is available in further documents.

Document Contents/topics

Planning manual Basic informaon on project planning and ordering the product

Mounng and switch-on instrucons Basic informaon on mounng and inial switch-on of the product

More informaon

For certain tasks, informaon is available in other media.

Medium Contents/topics

Engineering Tools For commissioning

AKB arcles Addional technical informaon for users in the Applicaon Knowledge Base

CAD data Download in dierent formats from the EASY Product Finder

EPLAN macros Project planning, documentaon and management of projects for EPLAN P8.

Device descripons Standardized les for network conguraon

Informaon and tools with regard to the Lenze products can be found on the

Internet:

www.Lenze.com à Downloads

About this document

Document descripon

14

1.3 Notaons and convenons

Convenons are used in this document to disnguish between dierent types of informaon.

Numeric notaon

Decimal separator Point Generally shown as a decimal point.

Example: 1 234.56

Warnings

UL Warnings UL Are used in English and French.

UR warnings UR

Text

Engineering Tools " " Soware

Example: "Engineer", "EASY Starter"

Icons

Page reference ¶Reference to another page with addional informaon.

Example: ¶ 16 = see page 16

Documentaon reference ,Reference to other documentaon with addional informaon.

Example: , EDKxxx = see documentaon EDKxxx

Layout of the safety instrucons

DANGER!

Indicates an extremely hazardous situaon. Failure to comply with this instrucon will result

in severe irreparable injury and even death.

WARNING!

Indicates an extremely hazardous situaon. Failure to comply with this instrucon may result

in severe irreparable injury and even death.

CAUTION!

Indicates a hazardous situaon. Failure to comply with this instrucon may result in slight to

medium injury.

NOTICE

Indicates a material hazard. Failure to comply with this instrucon may result in material

damage.

About this document

Notaons and convenons

15

2 Safety instrucons

Disregarding the following basic safety measures and safety informaon may lead to severe

personal injury and damage to property!

Observe all specicaons of the corresponding documentaon supplied. This is the

precondion for safe and trouble-free operaon and for obtaining the product features

specied.

Please observe the specic safety informaon in the other secons!

2.1 Basic safety instrucons

DANGER!

Danger to life due to electrical voltage!

The product's power connecons can sll be carrying voltage when the mains supply has been

switched o.

Possible consequences: Death, severe injury, or burns

▶Do not touch the power connecons immediately.

▶Take note of the corresponding warning plates on the product.

▶Check power terminals for isolaon from supply.

DANGER!

Dangerous electrical voltage

Possible consequences: Death or severe injuries from electric shock

▶Any work on the device must only be carried out in a deenergized state.

▶Aer switching o the mains voltage, observe the signs on the product.

Personnel

Only qualied and skilled personnel are allowed to work with the product. IEC 60364 and/or

CENELEC HD 384 dene the qualicaons of these persons as follows:

•They are familiar with the installaon, mounng, commissioning, and operaon of the

product.

•They possess the appropriate qualicaons for their tasks.

•They are familiar with all regulaons for the prevenon of accidents, direcves, and laws

applicable at the locaon and are able to apply them.

Process engineering

The procedural notes and circuit details described are only proposals. It is up to the user to

check whether they can be adapted to the parcular applicaons. Lenze does not take any

responsibility for the suitability of the procedures and circuit proposals described.

Device protecon

•The maximum test voltage for insulaon tests between a control potenal of 24 V and PE

must not exceed 110 V DC (EN 61800−5−1).

Safety instrucons

Basic safety instrucons

16

2.2 Applicaon as directed

•The product serves as a component for the control of three-phase AC motors and servo

motors.

•The product must only be actuated with motors that are suitable for the operaon with

inverters.

•The product is not a household appliance, but is only designed as electrical equipment for

commercial or professional use in terms of EN 61000−3−2.

•The product is exclusively suitable for installaon in control cabinets or similarly closed

operang areas.

•The product must only be operated under the operang condions prescribed in this

documentaon.

•The product meets the protecon requirements of 2014/35/EU: Low-Voltage Direcve.

•The product is not a machine in terms of 2006/42/EC: Machinery Direcve. With the

excepon of all funconal safety funcons.

•Commissioning or starng the operaon as directed of a machine with the product is not

permied unl it has been ensured that the machine meets the regulaons of the EC

Direcve 2006/42/EC: Machinery Direcve; observe EN 60204−1.

•Commissioning or starng operaon as directed is only permissible if the EMC Direcve

2014/30/EU is complied with.

•As the product may cause EMC interferences in residenal areas, the operator is

responsible for taking interference suppression measures.

2.3 Handling

•Connect/disconnect all pluggable terminals only in de-energized condion.

•Only remove the product from the installaon in the de-energized state.

Safety instrucons

Applicaon as directed

17

2.4 Residual hazards

Product

Observe the warning labels on the product!

DANGER!

Danger to life due to electrical voltage!

The product's power connecons can sll be carrying voltage when the mains supply has been

switched o.

Possible consequences: Death, severe injury, or burns

▶Do not touch the power connecons immediately.

▶Take note of the corresponding warning plates on the product.

▶Check power terminals for isolaon from supply.

Electrostac sensive devices:

Before working on the product, the sta must ensure to be free of electrostac charge!

WARNING!

Dangerous electrical voltage

Device error causes an overvoltage in the system.

▶For a voltage supply with DC 24 V (± 20 %), use only a safely separated power supply unit

according to the valid SELV/PELV requirements.

Motor protecon

With some sengs of the inverter, the connected motor can be overheated.

•E. g. by longer operaon of self-venlated motors at low speed.

•E. g. by longer operaon of DC-injecon braking.

Dangerous electrical voltage:

Before working on the product, make sure there is no voltage applied to the power terminals!

Aer mains disconnecon, the power terminals will sll carry the hazardous electrical voltage for the me given next to the

symbol!

High leakage current:

Carry out xed installaon and PE connecon in compliance with:

EN 61800−5−1 / EN 60204−1

Protecon of the machine/system

Drives can reach dangerous overspeeds.

•E. g. by seng high output frequencies in connecon with motors and machines not

suitable for this purpose.

•The inverters do not provide protecon against such operang condions. For this

purpose, use addional components.

Switch contactors in the motor cable only if the controller is inhibited.

•Switching while the inverter is enabled is only permissible if no monitoring funcons are

acvated.

Hot surface:

Use personal protecve equipment or wait unl the device has cooled down!

Motor

If there is a short circuit of two power transistors, a residual movement of up to 180°/number

of pole pairs can occur at the motor! (e. g. 4-pole motor: residual movement max. 180°/2 =

90°).

Safety instrucons

Residual hazards

18

NOTICE

High input voltage at the device.

Destrucon of the device.

▶Observe maximum permissible input voltage.

▶Fuse device at the input against too high input voltage.

NOTICE

Short circuit at the device due to electrostac discharge.

Destrucon of the device.

▶The personnel must be free of electrostac charge prior to working on the device.

Degree of protecon - protecon of persons and device protecon

•Informaon applies to the mounted and ready-for-use state.

•Informaon does not apply to the wire range of the terminals.

-Terminals that are not wired have low protecon against physical contact.

-Terminals for large cable cross-secons have lower classes of protecon, e. g. from

15 kW IP10 only.

Safety instrucons

Residual hazards

19

3 Product informaon

3.1 Features

Power range 0.37 kW ... 4 kW

X83

X82

S82

X101

PE connection

Option

DC bus

Brake resistor

Motor connection

X105

PTC input

X109

Motor holding brake

24-V-supply

X107

Motor holding brake

X106

IT screw

Commissioning, diagnostics

Engineering port

X16

Control terminal

X3

Basic Safety STO

X1

onboard EtherCAT OUT

X237

onboard EtherCAT IN

X236

Network status LEDs

Control electronics

24-V-supply

X5

IT screw

X100 Mains connection

Option

Shielding of motor

connection

PE connection

B

A

Load encoder or master encoder

Option

Motor encoder

Option

SD card

Inverter status LEDs

Network

Option

X2x7

Network

Option

X2x6

Shielding of control connections

Option

Shielding of motor

connection

Motor encoder

HIPERFACE DSL® (OCT)

Extended Safety

Option

Status LEDs

Product informaon

Features

20

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