Lenze ECS series Operating Instructions Manual

EDBCSXS064

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Operating Instructions

ECS



ECSESxxx / ECSDSxxx / ECSCSxxx

Axis module ˘ "Speed & Torque"



2 EDBCSXS064 EN 4.0

Please read these instructions before you start working!

Follow the enclosed safety instructions.

This documentation is valid for ECSxS axis modules, application software (A−SW) "Speed & Torque", as

of version:



ECS x S xxx C 4 x xxx XX xx xx

Device type 

ATTENTION

L ´appareil est sous tension

pendant 180s après la coupure

de la tension réseau

WARNING

Device is live up to 180s

after removing

mains voltage



Design

E = standard panel−mounted unit, IP20

D = push−through technique (thermally separated)

C = cold−plate technique

Application

S = "Speed and Torque"

Peak current

004 = 4 A

008 = 8 A

016 = 16 A

032 = 32 A

048 = 48 A

064 = 64 A

Fieldbus interface

C = MotionBus/system bus (CAN)

Voltage class

4 = 400 V/500 V

Technical version

B = standard

V = coated

I = for IT systems, uncoated

K= for IT systems, coated

Variant

042 = Motion CiA402

Hardware version

1A or higher

Operating software version (B−SW)

8.0 or higher

0Fig. 0Tab. 0

No part of this documentation may be reproduced or made accessible to third parties without written consent by Lenze Automa-

tion GmbH.

All information given in this documentation has been selected carefully and complies with the hardware and software described.

Nevertheless, discrepancies cannot be ruled out. We do not take any responsibility or liability for any damage that may occur. Ne-

cessary corrections will be included in subsequent editions.

 3

EDBCSXS064 EN 4.0

ECSEA_003A



4 EDBCSXS064 EN 4.0

Scope of supply

Position Description Quantity

A ECSS... axis module 1

Accessory kit with fixing material corresponding to the design ():

l"E" − standard panel−mounted unit

l"D" − push−through technique

l"C" − cold−plate technique

1

Mounting Instructions 1

Drilling jig 1

Functional earth conductor (only ECSDS...) 1

Note!

The ECSZA000X0B connector set must be ordered separately.

Connections and interfaces

Position Description Detailed

information

X23 Connections

lDC−bus voltage

lPE

 55

BLEDs: Status and fault display

X1 Automation interface (AIF) for

lCommunication module

lOperating module (keypad XT)

 80

 163

x2 PE connection of AIF

X3 Analog input configuration  70

X4 CAN connection

lMotionBus (CAN) / for ECSxA: System bus (CAN)

lInterface to the master control

 81

X14 CAN−AUXconnection

lSystem bus (CAN)

lPC interface/HMI for parameter setting and diagnostics

X6 Connections

lLow−voltage supply

lDigital inputs and outputs

lAnalog input

l"Safe torque off" (formerly "safe standstill")

 65

 69

 70

 71

S1 DIP switch

lCAN node address

lCAN baud rate

 169

X7 Resolver connection  87

X8 Encoder connection

lIncremental encoder (TTL encoder)

lSin/cos encoder

 88

X25 Brake control connection  62

X24 Motor connection  61

Status displays

LED Operating state Check

Red Green

Off On Controller enabled, no fault

Off Blinking Controller inhibited (CINH), switch−on inhibit Code C0183

Blinking Off Fault/error (TRIP) active Code C0168/1

Blinking On Warning/FAIL−QSP active Code C0168/1

Contents i

 5

EDBCSXS064 EN 4.0

1 Preface and general information 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 About these Operating Instructions 12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.1 Terminology used 13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.2 Code descriptions 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.3 Signal types and scaling 15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Features of the ECSxS axis module 16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Scope of supply 17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 Legal regulations 18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Safety instructions 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 General safety and application notes for Lenze controllers 19 . . . . . . . . . . . . . . . . . .

2.2 Thermal motor monitoring 23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1 Forced ventilated or naturally ventilated motors 24 . . . . . . . . . . . . . . . . . . .

2.2.2 Self−ventilated motors 25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Residual hazards 27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 Safety instructions for the installation according to UL 29 . . . . . . . . . . . . . . . . . . . . .

2.5 Notes used 30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Technical data 31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 General data and operating conditions 31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Rated data 33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Current characteristics 35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.1 Increased continuous current depending on the control factor 35 . . . . . . .

3.3.2 Device protection by current derating 38 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Mechanical installation 39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Important notes 39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 Mounting with fixing rails (standard installation) 40 . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Dimensions 40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2 Mounting steps 41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Mounting with thermal separation (push−through technique) 42 . . . . . . . . . . . . . . .

4.3.1 Dimensions 43 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.2 Mounting steps 45 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 Mounting in cold−plate design 46 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 Dimensions 47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.2 Mounting steps 48 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contentsi

 6 EDBCSXS064 EN 4.0

5 Electrical installation 49 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Installation according to EMC (installation of a CE−typical drive system) 49 . . . . . . .

5.2 Power terminals 52 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.1 Connection to the DC bus (+UG, −UG) 55 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.2 Connection plan for mimimum wiring with

internal brake resistor 57 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.3 Connection plan for mimimum wiring with

external brake resistor 59 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.4 Motor connection 61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.5 Motor holding brake connection 62 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2.6 Connection of an ECSxK... capacitor module (optional) 64 . . . . . . . . . . . . . .

5.3 Control terminals 65 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1 Digital inputs and outputs 69 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.2 Analog input 70 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.3 Safe torque off 71 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 Automation interface (AIF) 80 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 Wiring of system bus (CAN) 81 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6 Wiring of the feedback system 86 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.1 Resolver connection 87 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.2 Encoder connection 88 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6.3 Digital frequency input/output (encoder simulation) 91 . . . . . . . . . . . . . . .

6 Commissioning 93 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 Before you start 93 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 Commissioning steps (overview) 94 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Carrying out basic settings with GDC 95 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4 Loading the Lenze setting 97 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5 Setting of mains data 98 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5.1 Selecting the function of the charging current limitation 98 . . . . . . . . . . . .

6.5.2 Setting the voltage thresholds 99 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.6 Entry of motor data for Lenze motors 100 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.7 Holding brake configuration 102 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.8 Setting of the feedback system for position and speed control 103 . . . . . . . . . . . . . . .

6.8.1 Resolver as position and speed encoder 104 . . . . . . . . . . . . . . . . . . . . . . . . . .

6.8.2 TTL/SinCos encoder as position and speed encoder 106 . . . . . . . . . . . . . . . . .

6.8.3 TTL/SinCos encoder as position encoder and resolver

as speed encoder 109 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.8.4 Absolute value encoder as position and speed encoder 113 . . . . . . . . . . . . .

6.8.5 Absolute value encoder as position encoder and resolver

as speed encoder 117 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents i

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EDBCSXS064 EN 4.0

6.9 Configuring the digital inputs and outputs 121 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.9.1 Setting the polarity 121 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.9.2 Setting the direction of rotation 121 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.9.3 Change of the terminal assignment 122 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.10 Selecting the operating mode/control structure 126 . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.10.1 Speed control with setpoint via analog input 127 . . . . . . . . . . . . . . . . . . . . . .

6.10.2 Speed control with setpoint via AIF 130 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.10.3 Speed control with setpoint via MotionBus (CAN) 132 . . . . . . . . . . . . . . . . . .

6.10.4 Torque control with setpoint via analog input 134 . . . . . . . . . . . . . . . . . . . . .

6.10.5 Torque control with setpoint via AIF 137 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.10.6 Torque control with setpoint via MotionBus (CAN) 139 . . . . . . . . . . . . . . . . .

6.11 Entry of machine parameters 141 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.12 Setpoint selection 142 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.13 Controller enable (CINH = 0) 143 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.14 Quick stop (QSP) 144 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.15 Operation with motors from other manufacturers 145 . . . . . . . . . . . . . . . . . . . . . . . . .

6.15.1 Entering motor data manually 145 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.15.2 Checking the direction of rotation of the motor feedback system 148 . . . . .

6.15.3 Adjusting current controller 149 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.15.4 Effecting rotor position adjustment 151 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.16 Optimising the drive behaviour after start 154 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.16.1 Speed controller adjustment 154 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.16.2 Adjustment of field controller and field weakening controller 157 . . . . . . . .

6.16.3 Resolver adjustment 160 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contentsi

 8 EDBCSXS064 EN 4.0

7 Parameter setting 161 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 General information 161 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2 Parameter setting with "Global Drive Control" (GDC) 162 . . . . . . . . . . . . . . . . . . . . . . .

7.3 Parameter setting with the XT EMZ9371BC keypad 163 . . . . . . . . . . . . . . . . . . . . . . . .

7.3.1 Connecting the keypad 163 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.2 Description of the display elements 164 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.3 Description of the function keys 166 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.4 Changing and saving parameters 167 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8 Configuration 168 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1 Configuring MotionBus/system bus (CAN) 169 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.1 Setting CAN node address and baud rate 169 . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.2 Individual addressing 173 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.3 Defining boot−up master in the drive system 175 . . . . . . . . . . . . . . . . . . . . . .

8.1.4 Setting of boot−up time/cycle time 176 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.5 Executing a reset node 178 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.6 Axis synchronisation (CAN synchronisation) 179 . . . . . . . . . . . . . . . . . . . . . .

8.1.7 Monitoring of the synchronisation (sync time slot) 181 . . . . . . . . . . . . . . . . .

8.1.8 Axis synchronisation via CAN 182 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.9 Axis synchronisation via terminal X6/DI1 183 . . . . . . . . . . . . . . . . . . . . . . . . .

8.2 Node guarding 184 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3 CAN management 186 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4 Diagnostics codes 187 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4.1 CAN bus status (C0359) 187 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4.2 CAN telegram counter (C0360) 188 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4.3 CAN bus load (C0361) 189 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.5 Remote parameterisation (gateway function) 190 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents i

 9

EDBCSXS064 EN 4.0

9 Monitoring functions 192 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.1 Fault responses 193 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2 Overview of monitoring functions 194 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3 Configuring monitoring functions 198 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3.1 Monitoring times for process data input objects 198 . . . . . . . . . . . . . . . . . . .

9.3.2 Time−out monitoring for activated remote parameterisation 200 . . . . . . . .

9.3.3 Short circuit monitoring (OC1) 201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3.4 Earth fault monitoring (OC2) 201 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3.5 Motor temperature monitoring (OH3, OH7) 202 . . . . . . . . . . . . . . . . . . . . . . .

9.3.6 Heatsink temperature monitoring (OH, OH4) 204 . . . . . . . . . . . . . . . . . . . . . .

9.3.7 Monitoring of internal device temperature (OH1, OH5) 205 . . . . . . . . . . . . .

9.3.8 Function monitoring of thermal sensors (H10, H11) 206 . . . . . . . . . . . . . . . .

9.3.9 Current load of controller (I x t monitoring: OC5, OC7) 207 . . . . . . . . . . . . . .

9.3.10 Current load of motor (I2 x t monitoring: OC6, OC8) 210 . . . . . . . . . . . . . . . .

9.3.11 DC−bus voltage monitoring (OU, LU) 214 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3.12 Voltage supply monitoring − control electronics (U15) 217 . . . . . . . . . . . . . .

9.3.13 Motor phase failure monitoring (LP1) 217 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3.14 Monitoring of the resolver cable (Sd2) 218 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3.15 Motor temperature sensor monitoring (Sd6) 219 . . . . . . . . . . . . . . . . . . . . . .

9.3.16 Monitoring of the absolute value encoder initialisation (Sd7) 220 . . . . . . . .

9.3.17 Sin/cos signal monitoring (Sd8) 221 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3.18 Monitoring of the speed system deviation (nErr) 222 . . . . . . . . . . . . . . . . . . .

9.3.19 Monitoring of max. system speed (NMAX) 223 . . . . . . . . . . . . . . . . . . . . . . . .

9.3.20 Monitoring of the rotor position adjustment (PL) 224 . . . . . . . . . . . . . . . . . .

10 Diagnostics 225 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.1 Diagnostics with Global Drive Control (GDC) 225 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2 Diagnostics with Global Drive Oscilloscope (GDO) 226 . . . . . . . . . . . . . . . . . . . . . . . . .

10.2.1 GDO buttons 227 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.3 Diagnostics with the XT EMZ9371BC keypad 228 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4 Diagnostics with PCAN−View 229 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4.1 Monitoring of telegram traffic on the CAN bus 229 . . . . . . . . . . . . . . . . . . . .

10.4.2 Setting all CAN nodes to the "Operational" status 231 . . . . . . . . . . . . . . . . . .

Contentsi

 10 EDBCSXS064 EN 4.0

11 Troubleshooting and fault elimination 232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.1 Fault analysis 232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.1.1 Fault analysis via the LED display 232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.1.2 Fault analysis with keypad XT EMZ9371BC 232 . . . . . . . . . . . . . . . . . . . . . . . .

11.1.3 Fault analysis with the history buffer 233 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.1.4 Fault analysis via LECOM status words (C0150/C0155) 235 . . . . . . . . . . . . .

11.2 Malfunction of the drive 237 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.3 Fault messages 238 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.3.1 Causes and remedies 238 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.3.2 Reset fault messages (TRIP−RESET) 246 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12 Function library 247 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.1 AIF (Automation interface management) 247 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2 AIF1In 248 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.3 AIF1Out 251 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.4 AIF2In 256 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.5 AIF2Out 258 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.6 AIF3In 261 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.7 AIF3Out 263 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.8 AIn1 266 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.9 CAN (CAN management) 267 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.10 CANSync (CAN bus synchronisation) 270 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.11 CAN1In 273 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.12 CAN1Out 276 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.13 CAN2In 282 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.14 CAN2Out 285 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.15 CAN3In 288 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.16 CAN3Out 291 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.17 DCTRL 294 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.17.1 Quick stop (QSP) 297 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.17.2 Operation inhibit (DISABLE) 297 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.17.3 Controller inhibit (CINH) 297 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.17.4 Setting TRIP (TRIP−SET) 298 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.17.5 Resetting TRIP (TRIP−RESET) 298 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.17.6 Axis module status 299 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.18 DFIN (master frequency input) 301 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.19 DFOUT (master frequency output) 304 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.20 DigIn (freely assignable digital inputs) 307 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.21 DigOut (freely assignable digital outputs) 308 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents i

 11

EDBCSXS064 EN 4.0

12.22 FCODE (free codes) 309 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.23 FIXED (output of constant signals) 312 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.24 InNeg 313 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.25 OutNeg 315 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.26 SYS 317 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.27 Speed (speed control) 318 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.27.1 Changing the direction of rotation 325 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.27.2 Setpoint processing 326 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.27.3 Setting of motor control 332 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.27.4 Holding brake control 340 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.28 Torque (torque control) 343 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.28.1 Torque control with speed limitation 349 . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.28.2 Changing the direction of rotation 350 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.28.3 Setpoint processing 351 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.28.4 Setting of motor control 354 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.28.5 Holding brake control 360 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13 Appendix 363 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.1 Code table 363 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2 Selection lists for signal linking 428 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.1 List of the digital signal sources 428 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.2 List of the analog signal sources 437 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.2.3 List of the phase signal sources 440 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.3 General information about the system bus (CAN) 441 . . . . . . . . . . . . . . . . . . . . . . . . . .

13.4 Communication with MotionBus/system bus (CAN) 442 . . . . . . . . . . . . . . . . . . . . . . .

13.4.1 Structure of the CAN data telegram 442 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.4.2 Communication phases of the CAN network (NMT) 444 . . . . . . . . . . . . . . . .

13.4.3 Process data transfer 447 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.4.4 Parameter data transfer 454 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.4.5 Addressing of the parameter and process data objects 460 . . . . . . . . . . . . . .

13.5 Overview of accessories 462 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.5.1 Connector sets 462 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.5.2 Shield mounting kit 462 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.5.3 Components for operation and communication 463 . . . . . . . . . . . . . . . . . . .

13.5.4 Brake resistor 464 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.5.5 Mains fuses 466 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.5.6 Mains chokes 467 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13.5.7 RFI filters 468 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14 Index 469 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Preface and general information

About these Operating Instructions

1



12 EDBCSXS064 EN 4.0

1 Preface and general information

1.1 About these Operating Instructions

These Operating Instructions will assist you in connecting and commissioning the ECSxS...

axis modules.

They contain safety instructions which must be observed!

All persons working on and with the ECSxS... axis modules must have the Operating

Instructions available and must observe the information and notes relevant for their work.

The Operating Instructions must always be in a complete and perfectly readable state.

Preface and general information

About these Operating Instructions

Terminology used

1

 13

EDBCSXS064 EN 4.0

1.1.1 Terminology used

Term In the following text used for

Power supply module ECSxE... power supply module

ECSxE...

Capacitor module ECSxK... capacitor module

ECSxK...

Axis module

Controller

Standard device

Axis module of the ECS series

lECSxS... − "Speed and Torque"

lECSxP... − "Posi and Shaft"

lECSxM... − "Motion"

lECSxA... − "Application"

ECSxS...

ECSxP...

ECSxM...

ECSxA ...

Drive system ECS drive system consisting of:

lECSxE... power supply module

lAxis module ECSxS... / ECSxP... / ECSxM... / ECSxA...

lECSxK series capacitor module (optional)

lfurther Lenze drive components (accessories)

24 V supply

Low−voltage supply

Voltage supply

lof the control card, voltage range 20 ... 30 V DC (±0 V)

lof the "safe torque off" function (formerly "safe standstill"), voltage range

18 ... 30 V DC (±0 V)

lof the motor holding brake, voltage range 23 ... 30 V DC (±0 V)

AIF Automation InterFace

System bus (CAN) Lenze standard bus system based on CANopen for

lcommunication with a higher−level host system (PLC) or further controllers.

lparameter setting and diagnostics.

MotionBus (CAN) The "MotionBus (CAN)" term expresses the functionality of the CAN interface X4 in

case of ECSxS/P/M... axis modules, where communication takes place using a

higher−level host system (PLC) or further controllers exclusively via the X4 interface.

Interface X14 (CAN−AUX) is exclusively used for parameter setting and diagnostics.

DDS Drive PLC Developer Studio

(Lenze software for PLC programming acc. to IEC 61131)

GDC Global Drive Control

(Lenze software for parameter setting and diagnostics)

GDO Global Drive Oscilloscope

(additional diagnostic tool of the GDC)

Cxxxx Code Cxxxx (e.g. C0351)

Parameters which serve to parameterise or monitor the controller.

Cxxxx/y Subcode y of code Cxxxx (e. g. C0470/3 = subcode 3 of code C0470)

Xk/y Terminal y on terminal strip Xk (e.g. X6/B+ = terminal B+ on terminal strip X6)

Preface and general information

About these Operating Instructions

Code descriptions

1



14 EDBCSXS064 EN 4.0

1.1.2 Code descriptions

Lenze codes are described in the form of tables with the following structure:

Column Abbreviation Meaning

No. Cxxxx Code no. Cxxxx

1Subcode 1 of Cxxxx

2Subcode 2 of Cxxxx

Cxxxx Changed input value of the code or subcode is accepted after pressing

.

[Cxxxx] Changed input value of the code or subcode is accepted after pressing

 when the controller is inhibited.

Name LCD display of the keypad XT EMZ9371BC

Lenze/{Appl.} xLenze setting:

lValue at the time of delivery or after loading the Lenze setting using

C0002.

{xxx...} Different application initialisation value

lValue at the time of delivery

lAfter loading the Lenze setting using C0002, the application

initialisation value is overwritten with the Lenze setting.

lThe application initialisation values can be restored by loading the

application software with "Global Drive Loader" (GDL).

àThe "Important" column contains further information

Selection 1 {%} 99 minimum value {unit}maximum value

IMPORTANT Short code description

Example

Code Possible settings IMPORTANT

No. Designation Lenze/

{Appl.}

Selection

C0003 Par save 0Non−volatile saving of parameter

set

0No response

1Save parameter set

C1192 Selection of resistance

characteristic for PTC

1Char.: OHM 1000

{0}

0 {1 W} 30000 PTC characteristic:

resistance R1 at T1

2Char.: OHM 2225 PTC characteristic:

resistance R2 at T2

Preface and general information

About these Operating Instructions

Signal types and scaling

1

 15

EDBCSXS064 EN 4.0

1.1.3 Signal types and scaling

A signal type can be assigned to most inputs and outputs of the Lenze function

blocks/system blocks. The following signal types are distinguished:

ƒdigital and analog signals

ƒposition and speed signals

The identifier of the corresponding input/output variable has an ending (starting with an

underscore). It indicates the signal type.

Signal Ending Memory Scaling

(external size º internal size)

Type Symbol

Analog _a (analog) 16 Bit1 100 % º 16384

Digital _b (binary) 1 bit 0 º FALSE; 1 º TRUE

Angular

difference or

speed (rot.)

_v (velocity) 16 Bit1 15000 rpm º 16384

lAngular difference/speed ref. to 1 ms

lNormalisation example:

1 motor revolution +65536 [inc]

Variable value (..._v) +15000

60000 [ms] @65536 [inc] +16384 ƪinc

msƫ

Speed (on motor side) +15000 [rpm] +15000

60 [s]

Angle or position _p (position) 32 Bit 1 motor revolution º 65536



High Word Low Word 031



 Direction (0 º clockwise rotation; 1 º counter−clockwise rotation)

 No. of motor revolutions (0 ... 32767)

 Angle or position (0 ... 65535)

Due to their scaling, analog signals have an asymmetrical resolution range

(−200 % ... +199.99 %):

External: −200 % −100 % 0 % +100 % +199.99 %

Internal: −32768 −16384 0 +16384 +32767

Preface and general information

Features of the ECSxS

1

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16 EDBCSXS064 EN 4.0

1.2 Features of the ECSxS axis module

ƒSafety function "safe torque off" (formerly "safe standstill")

ƒSpeed control/torque control with the subfunctions:

– Selectable direction of rotation

– Setpoint conditioning

– Motor control

– Brake control

– Monitoring functions

ƒThe functions are described as function blocks (FB) according to IEC 61131−3 (see

chapter "12 Function library" ( 247)).

ƒSelectable control interfaces (via code C3005):

– Automation interface (AIF)

– CAN (PDO1 (sync−based), PDO2, PDO3)

ƒDouble CAN ON BORD

–MotionBus (CAN):

Interface X4 "CAN" (PDO1, Sync−based) for communicating with a higher−level

host system (PLC) or further controllers.

–System bus (CAN):

Interface X14 "CAN−AUX" for parameter setting and diagnostics

ƒAutomation interface (AIF)

– Connection to other fieldbus systems with Lenze communication modules

(e.g. EMF2133IB PROFIBUS−DP)

– Connection of the XT EMZ9371BC keypad for parameter setting and diagnostics

ƒSupported feedback systems:

– Resolver with and without position storage

– Encoder (incremental encoder (TTL encoder), sin/cos encoder)

ƒCommissioning, parameter setting and diagnostics with the Lenze parameter

setting and operating program "Global Drive Control" (GDC) or the XT EMZ9371BC

keypad

Preface and general information

Scope of supply

1

 17

EDBCSXS064 EN 4.0

1.3 Scope of supply

The scope of supply of the ECSxS... axis module includes:

ƒStandard device

ƒAccessory kit with fixings according to the design:

– "E" − panel−mounted device

– "D" − push−through technique

– "C" − cold−plate technique

ƒMounting Instructions

ƒDrilling jig

ƒFunctional earth conductor (only ECSDS...)

Accessories

The appendix includes information on the following accessories: ( 462).

ƒConnector sets for

– power supply modules: ECSZE000X0B

– capacitor modules: ECSZK000X0B

– axis modules: ECSZA000X0B

ƒECSZS000X0B001 shield mounting kit (EMC accessories)

ƒComponents for operation and communication

ƒBrake resistors

ƒMains fuses

ƒMains chokes

ƒRFI filters

Tip!

Information and auxiliary devices related to the Lenze products can be found

in the download area at

http://www.Lenze.com

Preface and general information

Legal regulations

1



18 EDBCSXS064 EN 4.0

1.4 Legal regulations

Identification Nameplate CE designation Manufacturer

Lenze controllers are

unambiguously designated by the

contents of the nameplate.

Conforms to the EC Low−Voltage

Directive

Lenze Automation GmbH

Grünstraße 36

D−40667 Meerbusch

Application as

directed

ECSxS... axis modules

lmust only be operated under the conditions prescribed in these Instructions.

lare components

– for open and closed loop control of variable speed drives with PM synchronous motors and asynchronous

motors.

– for installation into a machine

– for assembly with other components to form a machine.

lare electrical equipment for the installation in control cabinets or similar closed operating areas.

lcomply with the protective requirements of the EC Low−Voltage Directive.

lare not machines for the purpose of the EC Machinery Directive.

lare not to be used as domestic appliances, but for industrial purposes only.

Drive systems with ECSxS... axis modules

lcomply with the EC Directive "Electromagnetic compatibility" if they are installed according to the guidelines

of CE−typical drive systems.

lcan be used

– at public and non−public mains.

– in industrial premises.

lThe user is responsible for the compliance of his application with the EC directives.

Any other use shall be deemed inappropriate!

Liability lThe information, data and notes in these Instructions met the state of the art at the time of printing. Claims

on modifications referring to axis modules and components which have already been supplied cannot be

derived from the information, illustrations and descriptions given in these Instructions.

lThe specifications, processes, and circuitry described in these Instructions are for guidance only and must be

adapted to your own specific application. Lenze does not take responsibility for the suitability of the process

and circuit proposals.

lLenze does not accept any liability for damages and failures caused by:

– Disregarding the Operating Instructions

– Unauthorised modifications to the axis module

– Operating errors

– Improper working on and with the axis module

Warranty lTerms of warranty: See terms of sales and delivery of Lenze Drive Systems GmbH.

lWarranty claims must be made to Lenze immediately after detecting the deficiency or fault.

lThe warranty is void in all cases where liability claims cannot be made.

Safety instructions

General safety and application notes for Lenze controllers

2

 19

EDBCSXS064 EN 4.0

2 Safety instructions

2.1 General safety and application notes for Lenze controllers

(in accordance with Low−Voltage Directive 2006/95/EC)

For your personal safety

Disregarding the following safety measures can lead to severe injury to persons and

damage to material assets:

ƒOnly use the product as directed.

ƒNever commission the product in the event of visible damage.

ƒNever commission the product before assembly has been completed.

ƒDo not carry out any technical changes on the product.

ƒOnly use the accessories approved for the product.

ƒOnly use original spare parts from Lenze.

ƒObserve all regulations for the prevention of accidents, directives and laws

applicable on site.

ƒTransport, installation, commissioning and maintenance work must only be carried

out by qualified personnel.

– Observe IEC 364 and CENELEC HD 384 or DIN VDE 0100 and IEC report 664 or

DIN VDE 0110 and all national regulations for the prevention of accidents.

– According to this basic safety information, qualified, skilled personnel are persons

who are familiar with the assembly, installation, commissioning, and operation of

the product and who have the qualifications necessary for their occupation.

ƒObserve all specifications in this documentation.

– This is the condition for safe and trouble−free operation and the achievement of

the specified product features.

– The procedural notes and circuit details described in this documentation are only

proposals. It is up to the user to check whether they can be transferred to the

particular applications. Lenze Automation GmbH does not accept any liability for

the suitability of the procedures and circuit proposals described.

ƒDepending on their degree of protection, some parts of the Lenze controllers

(frequency inverters, servo inverters, DC speed controllers) and their accessory

components can be live, moving and rotating during operation. Surfaces can be hot.

– Non−authorised removal of the required cover, inappropriate use, incorrect

installation or operation, creates the risk of severe injury to persons or damage to

material assets.

– For more information, please see the documentation.

ƒHigh amounts of energy are produced in the controller. Therefore it is required to

wear personal protective equipment (body protection, headgear, eye protection, ear

protection, hand guard).

Safety instructions

General safety and application notes for Lenze controllers

2



20 EDBCSXS064 EN 4.0

Application as directed

Controllers are components which are designed for installation in electrical systems or

machines. They are not to be used as domestic appliances, but only for industrial purposes

according to EN 61000−3−2.

When controllers are installed into machines, commissioning (i.e. starting of the operation

as directed) is prohibited until it is proven that the machine complies with the regulations

of the EC Directive 2006/42/EC (Machinery Directive); EN 60204 must be observed.

Commissioning (i.e. starting of the operation as directed) is only allowed when there is

compliance with the EMC Directive (2004/108/EC).

The controllers meet the requirements of the Low−Voltage Directive 2006/95/EC. The

harmonised standard EN 61800−5−1 applies to the controllers.

The technical data and supply conditions can be obtained from the nameplate and the

documentation. They must be strictly observed.

Warning: Controllers are products which can be installed in drive systems of category C2

according to EN 61800−3. These products can cause radio interferences in residential areas.

In this case, special measures can be necessary.

Transport, storage

Please observe the notes on transport, storage, and appropriate handling.

Observe the climatic conditions according to the technical data.

Installation

The controllers must be installed and cooled according to the instructions given in the

corresponding documentation.

The ambient air must not exceed degree of pollution 2 according to EN 61800−5−1.

Ensure proper handling and avoid excessive mechanical stress. Do not bend any

components and do not change any insulation distances during transport or handling. Do

not touch any electronic components and contacts.

Controllers contain electrostatic sensitive devices which can easily be damaged by

inappropriate handling. Do not damage or destroy any electrical components since this

might endanger your health!

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