9300 servo: commissioning, operation, maintenance 1 welcome to the - customer seminar servo inverter...

9300 servo: Commissioning, operation, maintenance

1

Welcometo the

- Customer seminar

Servo inverter 9300:

Commissioning, operation, maintenance

As of: September 5, 2002

Global Drive


2

Theproduct range

Global Drive


3

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

General view of topics


7

Positioning

Functionality

Servo inverter9300

Mid-Performance

High-Performance

Frequency inverter (without feedback)

Servo (with feedback)

Frequency inverter9300 vector

Frequency inverter8200 vector

1 Introduction


9

1.1 System overview: Global Drive family

LenzeLECOM LI

2102

24V DC

59 39

IN OUTON

OFF

S1

LenzeLECOM A/B

2102

24V DC

59 39 71 72 88 89

RS 485

RS 232

Lenze

STOP

SHIFT

PRG

RUN

Global Drive

+ -

BUS DRIVELenzeINTERBUS S

IN

OUT

2111

24V DC

LenzeGlobal DriveControl

LECOM-LI

LECOM A/B

InterBus-S

System bus (CAN)

Profibus

Lenze 2131

AC - Standard Asynchronous motor

RFI filter

Single drive

Regenerative power supply Choppermodule

Brakeresistor

Mains fuses

Mains choke

Mains fuses

Mains choke

Keypad

Automationinterface

Group drive

Asynchronous servo motor Synchronous servo motor

Profibus Axis

Recommendations

Decentralised

inputs/outputs

PLCwithCAN . . . . . . .

Servo

PositionController

R RR

Axis

RFI filter


10

Application example I: 9300 servo

1.2 Application


11

Application example II: 9300 servo (POS and CAM)

1.2 Application


12

Application example III: 9300 servo (Register)

1.2 Application


13

Application example VI: frequency inverter 9300 (Vector)

1.2 Application


15

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”


16

Contents of the operating instruction I

Table of contents Installation

Preface and general information Commissioning

Safety information Operation

Technical data Parameter setting



17

Configuration

Troubleshooting and fault elimination

Maintenance

Appendix

Contents of the operating instruction II



18

2.2 Structure of the drive systemL1L2L3

PE

M

L

K1Mains contactor

Main switch

R

X7

Motor

Cable protectionfuse

Mains choke

X5X6

RFRLR

QSP

28 E1 E2 E3 E4E5 A1 A2 A3 A4 594321WVU

L3L2L1

39

=+

-

+UG-UG+UG -UG

935293XX

RB

RB2RB1

PEPE

PE PE

K1

K1

RB

N

OFF

ON

K1

RB

F1 F2

TRIP-SET


19

... the wiring must be checked:

• Power connection

• Motor connection

• Feedback system

• Control terminals

Final covers must be mounted!



20

Parameter setting/operatingsoftware (optionally) Field bus module

(optionally)

Keypad (optionally)

Basic unit

PE

RDY IMP Imax Mmax Fail

MCTRL - N - ACT

1250rpm

plugable

InterBus-Loop

LECOM-A/B(RS232/485)

PROFIBUS-DP

System bus (CAN)(integrated)

plugable

Communication module

2.4 Communication technology

DeviceNet-CANopen

InterBus

LON


21

Find drive

2.5 The Global Drive Control software (GDC)


22

Dialog Short commissioning



23

Parameter menu Short setup - Speed control:


Monitorfenster

Parametermenü

Statuszeile

Codestellen


25

Most important setting “Speed control” I

Code Value Note

• Mains voltage, motor typeC0173 1 UG-Limit (mains voltage 400 V)C0086 108 Lenze motor type

• Maximum motor currentC0022 1.35 A Imax

• Controller configurationC0005 1000 Configuration “Speed control”C0025 10 Feedback system Resolver

2.6 Step-by-step commissioning


26

Most important setting “Speed control” II

Code Value Note

• Speed setpoint settingsC0011 2000 rpm max. speedC0012 5 s acceleration time 0 rpm C0011C0013 5 s deceleration time C0011 0 rpmC0105 1 s QSP - deceleration time (quick stop)

• Application parametersC0070 5 Vp of the speed controllerC0071 20 ms Tn of the speed controller

• All parameter savingC0003 1 mains-fail save

saving in the controller



27

Most important setting “Speed control” III

• Digital input assignment(High = Switch “above” on the control box)DIGIN1 = CW rotation (QSP) HighDIGIN2 = CCW rotation (QSP) LowDIGIN3 = JOG - speed setpoint LowDIGIN4 = TRIP Set HighDIGIN5 = TRIP Reset Low

• Controller enableAfter the parameter are entered and the suppressor circuits (emergency off, limit switch, ...) are ensured, terminal 28 = RFR = High.

• Setpoint selectionThe controller expects the speed setpoint at terminal X6/1,2 as ± 10 V DC signal.



28

PCGlobal Drive Control

Controller

Disk RAM

F7 Load parameter from controller

F5 Write parameter to controller

Read parameter sets from file

RAM

Transfer via LECOM A/Bor system bus

EEPROMmains-fail save

saving

C0002 = 1 ... 4load

parameter set

C0003 = 1 ... 4save

parameter set

93XX

X5

X6

X7

X8

X9

X10

Write parameter setsin file

Parameter management between GDC and controller



29

Data saving in controller: C0003 = “1”

Data saving on hard disk

Pull down menu: Drive parametersWrite all parameter sets to file ...



30

Step-by-step commissioning

Study the operating instruction

Structure the drive system

Switch on the drive system

Motor starts running


31

3 Background information on commissioningof 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 ...



32

L1L2L3

PE

M

L

K1Mains contactor

Main switch

R

X7

Motor

Cable protectionfuse

Mains choke

X5X6

RFRLR

QSP

28 E1 E2 E3 E4E5 A1 A2 A3 A4 594321WVU

L3L2L1

39

=+

-

+UG-UG+UG -UG

935293XX

RB

RB2RB1

PEPE

PE PE

K1

K1

RB

N

OFF

ON

K1

RB

F1 F2

TRIP-SET



33

ASM: Asynchronous motor SM: Synchronous motor

Typical wiring faults

Fault/reason EffectsMotor connection:2 phases connected1 phase open

ASM: motor stand still, C0056 = 100 % (Mmax)SM: motor can run, no torque

phases confused ASM: C0056 = 100% (Mmax) => OC5-TRIP, slow drifting (see on display)SM: no reaction to setpoint, motor can run up to fmax

Feedback:Interruption+ Resolver+ Incremental feeder

+ SD2-TRIP+ C0056 = 100 % (Mmax) => OC5-TRIP, slow drifting, no speed display

Faulty rotor position adjustment at synchronous motor

+ current flow in idle running+ wrong torque characteristic



34









35

9300 controller view

PE

RDY IMP Imax Mmax Fail

12

762

34

763

E3E5

39E4

E2E1

28

GNDLO

HI

MCTRL - N - ACT

L1 L2 L3 +UG-UG

1250rpm

PE

A4

ST2

59ST1

A3A2A1

U V W

PE

U V W

T1 T2

1

5

5

1

5

1

1

5

Mains connection andDC connection

AIF-interface for9371BB operating unit alternatively Fieldbus module:Interbus-S, Profibus,LECOM

System bus (CAN) X4

Digital inputs/outputs X5

Screen sheetMains connection

Dig. frequency input X9

Encoder input X8

Resolver input X7

Dig. frequency /Encoder output X10

Motor connection

Screen connection

Screen sheetMotor cables

Screen sheet Control connections

Analog inputs/outputs X6 Thermal contact connection



36

9300 servo connection



37

Motor connection



38

Power stage of the DC-bus inverter

Switch-on protection

Three-phaseAC motor

DC-buscapacitor

+

-

3~M

L1

L2

L3W

V

U

Uncontrolledrectifier

DC-bus Three-phaseinverter

. .

.

- UG

+ UG



39

Pulse width modulation, sine-wave emulation (PWM)

The effective voltage height results from the ratio between switch on and switch off time.

Time t

Voltage V

t off t on

t on = Switch on time

t off = Switch off time



40

Controller monitoring: Fault messages I

Tip: see Operating Instruction chapter 9.3 “Troubleshooting and fault elimination”

Display Fault Cause RemedyCCr System fault Strong interference on control cables

Ground or earth loops in the wiringScreen control cables, PE-wiring (see operating instructions chapter 4.3 "Installation of a CE-typical drive system")

H10 Sensor fault: heat sink temperature

Sensor of heat sink temperature detection indicates indefinite values

Contact Lenze

LP1 Motor phase failure A current-carrying motor phase has failed Check motor, check cableThe current limit is set too low Set a higher current limit under C0599This monitoring is not suitable for: Deactivate monitoring with C0597=3- Synchronous servo motors- For field frequencies > 480 Hz

OC1 Short-circuit Short-circuit Find out cause for short circuit, check cableExcessive capacitive charging current of the motor cable

Use motor cable which is shorter or of lower capacitance

OC2 Earth fault One of the motor phases has earth contact Check motor, check cableExessive capacitive charging current of the motor cable

Use motor cable which is shorter or of lower capacitance

OC5 I x t - overload Frequent and too long acceleration processes with overcurrent

Check drive dimensioning

Permanent overload with IMotor > 1,05 x INX



41

Controller monitoring: Fault messages IIDisplay Fault Cause RemedyOH Heat sink temperature is

higher than the value set in the controller

Ambient temperature Ta > 40°C or 50°C

Allow controller to cool and ensure better ventilation, check ambient temperature in the control cabinet

Heat sink very dirty Clean heat sinkIncorrent mounting position Change mounting position

OH4 Heat sink temperature is higher than the value set under C0122

Ambient temperature Ta > 40°C or 50°C

Allow controller to cool and ensure better ventilation, check ambient temperature in the control cabinet

Heat sink very dirty Clean heat sinkIncorrent mounting position Change mounting positionValue set under C0121 was too low Enter higher value

OU Overvoltage Exessive braking energy (DC bus voltage higher than the value set under C0173)

Use brake module or energy recovery module

PROPR1

Parameter set error Fault when reading a parameter set Set the desired parameters and save under C0003

PR2PR3PR4

Caution: The factory setting is loaded automatically

For PRO the supply voltage must be switched off additionally



42

Motor monitoring: Fault messagesDisplay Fault Cause Remedy

OH3 1) Motor temperature is higher than the value set in the controller

Motor too hot because of excessive current or frequent and too long acceleration


No PTC connected Connect PTC or switch off monitoring (C0583=3)

OH7 1) Motor temperature is higher than the value set under C0121



No PTC connected Connect PTC or switch off monitoring (C0584=3)

Value set under C0121 was too low Enter higher valueOH8 PTC at terminals T1,

T2 indicates motor overheat



Terminals T1, T2 are not assigned Connect PTC or thermostat or switch off monitoring (C0585=3)

1) Temperature detection through resolver or incremental encoder



46

Features of the motor series

Standard AC motors Servo motors

asynchronous asynchronous synchronous

DxRA.. MDxKA.. MDxQA.. MDxKS..

Frequency inverter 8200/9300ES+EV 9300ES + EV 8200/9300ES+EV only 9300ES

Power density medium high very high very high

Weight high medium low low

Power range 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

Motor current medium medium medium low



47

+REF

-REF

+COS

-COS

+SIN

-SIN

Resolver

23456789

+KTY

-KTY

KTY

X7 9 pol. Sub-D Stift

Cable length max. 50 m

1

93XX

Feedback I - Resolver

0 360°

SIN

COS



48

2

3

456789

+KTY

-KTY

KTY

X8 9 pol. Sub-D Buchse


1

93XX

B

A

Vcc

GND

Z

A

B

Z

CW rotation

A

B

A

B

Z

Z

Feedback II - TTL - encoder



49

23456789

+KTY

-KTY

KTY

X8 9 pol. Sub-D Buchse


1

93XX

SIN

RefCOS

Vcc

GND

+RS485

COS

RefSIN

SIN

COS

0,5V

0,5V

RefCOS

RefSIN = 2,5V

= 2,5V

CW rotation

-RS485

Feedback III - SinCos - encoder



50

Feedback monitoring: Fault messages

Display Fault Cause RemedySd2 Resolver fault Resolver cable interrupted Check resolver cable for open

circuitCheck resolveror switch off monitoring (C0586 = Sd6 Sensor fault Encoder of the motor temperature

detection at X7 or X8 indicates undefined values

Check supply cable for firm connection Switch off monitoring with C0594 = 3 if necessary

Sd7 Encoder fault Absolute encoder with RS 485 interface does not transmit data

Check supply cableCheck encoderCheck voltage supply C0421No Stegmann encoder connected



51

9351

Control stage

LEDsgn ye

S12 3

UG-UG+PE T1 T2

E1 E2 A1 A2

Synchronisation interface

Switch

Rb

9352

Control stage

LEDsgn ye

S12 3

UG-UG+PE R1 R2

E1 E2 A1 A2

Synchronisation interface

Switch

Brake module 9351 Brake chopper 9352



52

• 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

• Fasten the terminal cover

Threshold setting

Factory settingMains voltage [Veff] 230 400 .... 460 480Threshold [V] 375 725 765Switch position S1 OFF ON ONSwitch position S2 OFF OFF ON



53

9340 regenerative power supply unit

Monitorings

Control stagei -det.

u -det.

z

z

Fan

LEDs

Mains transformer

Temperature detection

gn rt

934xL1 L2 L3 UG-UG+PE

E1 39 A1 A2 59

_

+

=

24V

Enable regenerative operation

Mains failureGeneral fault



54









55


• Fieldbus module2111IB InterBus

• Fieldbus module2133IB Profibus

• Communication module2102IB LECOM A/B/LI


56

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

• System bus (CAN) in controller 9300 integrated

3.3 Communication


57

E128

GNDLO

HI

A2A1

93xxX4

E128

GNDLO

HI

A2A1

93xxX4

120 Ohm 120 Ohm

System bus connection (X4 CAN)

Description Input/output ExplanationX4 GND Reference potential CAN-Bus

with internal series resistance100 max. current load 30 mA

X4 LO Input/output CAN-Bus LowX4 HI Input/output CAN-Bus High

3.3 Communication


58

The terminal X6/7 should be electrically

connected to the front screen sheet (see

picture) to avoid interference when

transferring via the system bus.

Installation tip to system bus

3.3 Communication


63









64

Terminal monitor (digital)

3.4 GDC


65

Terminal monitor (analog)

3.4 GDC


66

Dialog Diagnostics

3.4 GDC


67

Monitor window in default setting

3.4 GDC


68

Setting of the monitor window

3.4 GDC


69

Please set the following:

• C0060 = Rotor position

• Display range 0 ... 2047

• Actualisation = 1 s

• Display = last value

• Monitor = History

• C0053 = DC-bus voltage

• Display range 0 ... 800 V

• Actualisation = 1 s

• Display = average value

• Monitor = Text

Exercise: Setting of the monitor window

3.4 GDC


70

Function block elements

+ - */ x/(1-y)

C0600

xy

ARIT2

ARIT2-OUTC0602/1±200%

C0602/2

ARIT2-IN1

ARIT2-IN2

C0601/1

C0601/2

Input symbol

ConfigurationCode(s)

DisplayCode(s)

Parameter-code

Name of theoutput

Name of theinput

Function

Name of thefunction block

Output symbol

3.4 GDC


71

Speed control (Configuration C0005 = 1000)

AIN1

AIN2

DIGIN

DFIN

AOUT1

AOUT2

C039/1 * /+ _

NSET

E5

E4

E3

E2

E1

28

4

3

1

2

A1

A2

A3

A4

62

63

X7 or X8

X5

X6

X9 X10

X5

X6

setpoint conditioning

CMP1

C039/1C0013

C0012 C0220

C0221C0190

C0034

C0017

C0105 C0011 C0006 C0022

C0018C0070

C0071

C0072

C0075

C0076

C0086

C0025

C0425

main setpoint

additional setpoint

controller enableCW rot. - QSPCCW rot. - QSPJOG-setpointTRIP - setTRIP - reset

feedbacksystem

motor torque

TRIPQminRDYMmax

actual speed

actual speed

3.4 GDC


72

Signal flow to Configuration 1000, Speed control:


73

Diagnostics with the function block editor

3.4 GDC


74









75

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 Warning, Fail-QSP C0168/1

LEDs for status indication at the controller



76

• LECOM A/B:

• 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).

Communication GDC with controller


Fault Cause

Green LED (ready of operation) is off Contact problems AIF

wrong interface has been selected

wrong baud rate has been set

wrong unit address has been set

interrupt processing for COM is deactive (Windows - system features)

Inspite of search no communication possible


77

Fault Cause

EEr-TRIP Input assignment not correct

LU Power connection is missing,DC 24 V is OK

OC5-TRIP Permanent overloadorphases confused

Messages typical after switch on



78









79

Mains voltage Operation Selection no. Switch on/off Switch on/off

range 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!

Mains voltage and DC-bus voltage ranges



80

C0006 = Motor typeC0022 = Imax limit currentC0070 = P-gain speed controller *)C0071 = Ti-time speed controller *)C0075 = P-gain current controllerC0076 = Ti-time current controllerC0081 = Rated motor powerC0084 = Stator resistance **)C0085 = Leakage inductance **)C0087 = Rated speedC0088 = Rated currentC0089 = Rated frequencyC0090 = Rated voltageC0091 = cos phi

*) following adjust to machine

**) no influence with feedback system

C0086 = motor selection =>

Motor adjustments



81

... 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

If a motor is not listed under C0086, ...



82

Pel = U x I x cos x 3

Pm = M x

Pm = M x 2 x n [ rpm ]

60s

min

No. of pole pairs p = f

n

= Pm

Pel

Formulas required for the calculation:

P electrical

P mechanical

P loss

Notes for synchronous motors:p, n, f must be integers

1 W = 1Nm

s



83

nn ~ nsyn x 0.96

Rated speed < synchronous speed

Rule of thumb:

Tip:

Differentiation between synchronous and asynchronous motors:

• Short circuit motor phase, rotate motor shaft

• with synchronous motors, the rotor torque is noticeable

For asynchronous motors:



84

P = 2,0 kW, I = 4,2 A, M = 5,7 Nm, fN = 170 Hz, U = 330 V

n = P x 60

smin

M x 2 x =

smin

2,0 kW x 60

5,7 Nm x 2 x = 3350,729 rpm

p = f x 60

n [rpm]=

170 1s x 60

s

min

33501

min

= 3,04477 p = 3

n = x 60 f

p=

170 1s x 60

s

min

3 = 3400 rpm

s

min

Example: Synchronous motor in cross connection



85

• 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

Procedure for motor data setting



86

Parameter menu motor adjustment and input assistant for motor data


Start button for theinput assistant for motor data


87

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.

Testing feedback systems / Rotor position adjustment I



88

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

Testing feedback systems / Rotor position adjustment II



89

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)

Testing feedback systems / Rotor position adjustment III



91

The acceleration functionality is available for the sizes

9321 ... 9324

• Activation under code C0022:

Normal operation C0022 1,5 · INx

Acceleration mode 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.

Maximum current and acceleration mode



92

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

Basic configuration under C0005

X = wildcards



93

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

Predefined unit control and additional function under C0005



94

t0

100 %

w2

w1

RFGoutput [ % ]

tir tif

Tir Tif

Tir = tir 100 %w2 - w1

Tif = tif 100 %w2 - w1

Definition of ramp time (Tir and Tif)



95

Parameter management between GDC and controller

PCGlobal Drive Control

Controller

Disk RAM

F7 Load parameter from controller

F5 Write parameter to controller

Read parameter sets from file

RAM

Transfer via LECOM A/Bor system bus

EEPROMmains-fail save

saving

C0002 = 1 ... 4load

parameter set

C0003 = 1 ... 4save

parameter set

93XX

X5

X6

X7

X8

X9

X10

Write parameter setsin file



96

Data saving on the hard disk

Pull down menu: Drive parametersWrite all parameter sets to file ...



97

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’

Data saving in the unit



99

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.

4 Operation and maintenance of the 9300 servo


100

K2

K1

K2 K1

Auxiliary relay

Motor

9300

X5term.28term.59

K2

M3~

K1

Example: Delay of controller enable when switching the motor cable

4 Operation and maintenance


101

• Applies to 9326 to 9332 controllers ( 11 kW)• with field frequencies < 5 Hz the controller limit the max. permissible output

current automatically

fd [ Hz]50

IMotor

I0x

1,25 x I08

I08

I016

1,5 x I08

IN16 = Threshold to 8 kHz when C0018 = 0

Operation at 16 kHz

Operation at 8 kHz

k > 80 °C

k < 40 °C

k = 60 °C

Controller protection through current derating

k Heatsink temperature

Irx Rated current at U, V, W depends on chopper frequency

fd Field frequency at output U, V, W

I0x Max. standstill current when field frequency = 0 Hz



102

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)



103

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


105

Keypad elements

SHIFT

STOP

RUN PRG

MmaxRDY IMP Imax Fail

SHPRG MenuCodePara

0000 00

1250 rpm

MCTRL-NACT

Status messages

Type of parameteracceptance

Active level

Code number

Subcode number

Parameter

Text

Cursor

Keys

5.1 Feature, Display and keyboard


108

Overview - menu assistance for keypad

Mainmenu

Submenu

Codelevel

Para-meterlevel

Operationlevel

PRG

PRG

Switch on

PRG

5.1 Feature, Display and keyboard


111


Menu

User-Menu

Main menu

Call the main menu after attach/ switch on

4x

• User-Menu

• Code list

• Load / Store

• Diagnostic

•

• Main FB

• ...

Short setup

Codelevel

Operationlevel

PRG

Switch on1.

2.

3.



112


Menu

Short setup


Menu

Speed mode

Short setup

Main menu Sub menu

Sub menus in “Short setup”:

• • Torque mode• DF master• DF slave bus

• DF slave cas• User Menu CFG

Speed mode

Handling in the selection menu I



113


Menu

Speed mode

Short setup

Code levelSub menu


Code 0011 00

1250 rpm

Nmax

Code level contents “Speed mode”:

• C0003 Par save• C0173 UG limit• C0086 Mot type• C0022 Imax current• C0025 Feedback type• C0005 Signal CFG

• C0011• C0012 Tir (acc)• C0013 Tif (dec)• C0105 QSP Tif• C0070 Vp speed-CTRL• C0071 Tn speed-CTRL

Nmax

Handling in the selection menu II



114

Code level


Code 0011 00

1250 rpm

Nmax


Para0011 00

1500 rpm

Nmax

PRG

Parameter level

• Change of the code selectedC0011 = Nmax

Setting the parameter in a Code



115


Para0011 00

1500 rpm

NmaxSHIFTSHIFTPRGPRG

Parameter level


0051 00

0 rpm

LU message

Operation level

• 1st + 2nd line:actual speed from C0051

• 3rd line:Parameter according to C0004,when controller status C0183 = “OK”

PRG

Code level

or

PRG

Parameter setting

SHPRGSHPRG



124

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

5.4 Example: Change of acceleration Tir


127

5 Use of the 9371 BB keypad

5.1 Features, display and keyboard


5.3 Step-by-step commissioning of the speed mode about the keypad

5.4 Example:

Change of the controllers acceleration time



128

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 (“Code” is displayed). • Use or to select C0003.

• Use to go to the parameter level. “Para” is displayed.

• Select parameter 1 ... 4 and acknowledge with + 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 + .

“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).

PRG

SHIFT PRG


PRG

SHIFT PRG


129

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 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 to go to the parameter level. “Para” is displayed.

• Select parameter 20 and acknowledge with + 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.

PRG

SHIFT PRG


PRG


131

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


132

Principle drawing: Open control

Reference variable

EnergyControlledsystem

Actuator

6.1 Control


133

Example open control: Frequency inverter

Set frequency

Motor

V / f

M

6.1 Control


134

Principle drawing: control circuit (close loop)

Ref. variable W

Controlledsystem

W - X

Measuring point

Controlledvariable X

Actuator

-

Controller

Energy

+

Correctingvariable

6.1 Control


135

Principle drawing: Frequency inverter with feedback

Speed setpoint

Motor

System deviation

Resolver

Actual speed

- Speed controller

+ nset - nact

Vectorcontrol PWM

R M

3 ~

6.1 Control


136

Speed setpoint

Motor

M

Systemdeviation

Speed controller

R

Resolver

Actualspeed

Vectorcontrol

PWM

Principle drawing of 9300 servo inverter

-+ nset - nact

6.1 Control


137

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)

6.1 Control


138

Overshootof the speed controller

(50 %/DIV)

6.1 Control

K1K2

T

10 ms 80 ms

MCTRL-NACT actual speedMCTRL-MACT actual torque


139

Transient condition without I - Component(P - controlled only)

(50 %/DIV)

6.1 Control

K1K2

T

10 ms 100 ms



140

Transient conditionPI-controlled

(50 %/DIV)

6.1 Control

K1K2

T

15 ms 105 ms



141


6.1 Control




7.2 Torque control

8 Feedback


142

Starting the oscilloscope function Start button for theoscilloscope 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.

6.2 OSZ of GDC


143

Oscilloscope function window

6.2 OSZ of GDC


144

• 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?

Question to be considered for measuring

6.2 OSZ of GDC


145

Oscilloscope control

6.2 OSZ of GDC


146

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

6.2 OSZ of GDC


147

Optimisedtransient response

MDSKS-36-13Vp = 5Ti = 10 ms

6.2 OSZ of GDC

K1K2

T

10 ms 100 ms



149


6.1 Control




7.2 Torque control

8 Feedback


150

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.

What could you see, when the gear factor in the slave drive is 1/2 or 2/1?

7.1 DF bus

analogspeed setpoint ± 10 V

X7

X10X6/1, 2

SVI, n-Ctrl.

Encoderoutput

RResolver Drive 1:Master (with Slave 0)

X7

X9

Factor, n-Ctrl.

RResolver Drive 2:Slave 1

9300 servo 9300 servo

Encoderinput


151

Digital frequency bus (Configuration C0005 = 6000)

Principle of the most important function blocks of the configuration digital frequency bus.

7.1 DF bus

DFSET

*

C0032

C0033

Dig. frequency processing

REF

DFOUTX10

MCTRL

U

I

Vector control

Motor control

PHI-ACT

N-controller

PHI-controller

+

-

DFINX9


152

Digital frequency master (Configuration C0005 = 5000)

Principle of the most important function blocks of the configuration digital frequency master.

7.1 DF bus

DFSET

*

C0032

C0033

Dig.frequency processing

REF

DFOUTX10

MCTRL

U

I

Vector control

Motor control

PHI-ACT

N-controller

PHI-controller

+

-

AIN11

2

X6

C039/1 * /+ _

NSET

Setpoint processing


153

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 typeC0022 1.35 A ImaxC0025 10 Feedback system resolver

• Drive 1 (Master) C0005 5000 Configuration: Digital frequency master C0011 2000 rpm max. speedC0012 2 s acceleration time 0 rpm C0011C0013 2 s deceleration time C0011 0 rpmC0105 1 s QSP - deceleration time (quick stop)C0030 2048 Inc. DFOUT encoder constant to the slave

7.1 DF bus


154

Most important settings II - digital frequency bus

Code Value Note

• Drive 2 (Slave)C0005 6000 Configuration: Digital frequency bus C0011 2200 rpm max. speedC0032 1 gearbox factor numeratorC0033 1 gearbox factor denominatorC0425 2048 Inc. DFIN encoder constant to the master

• Application parameter (both controller)C0070 5 Vp of speed controllerC0071 20 ms Tn of speed controllerC0254 0.4 Gain of the phase controller

• save parameter (both controller)C0003 1 mains-fail save


7.1 DF bus


155

Most important settings II - digital frequency bus

• Input assignmentDIGIN1 = CW rotation (QSP) HighDIGIN2 = reference label LowDIGIN3 = starting homing LowDIGIN4 = TRIP Set HighDIGIN5 = TRIP Reset Low

• Controller enableAfter the parameter are entered and the suppressor circuits (emergency off, limit switch, ...) are ensuredterminal 28 = RFR = High

• Setpoint selectionThe 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).

7.1 DF bus


157


6.1 Control




7.2 Torque control

8 Feedback


158

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)

7.2 Torque control


159

Most important settings I - torque control

Code Value Note

• Mains voltage, motor typeC0173 1 UG-Limit (mains voltage 400 V)C0086 108 Lenze motor type

• Maximum motor currentC0022 0.5 A Imax

• Controller configurationC0005 4000 torque controlC0025 10 Feedback system resolver

7.2 Torque control


160

Most important settings II - torque control

Code Value Note

• Speed setpoint settingsC0011 2000 rpm max. speedC0012 2 s acceleration time 0 rpm C0011C0013 2 s deceleration time C0011 0 rpmC0105 1 s QSP deceleration time

• Speed limitationC0472/4 - 70 % nmax lower speed limit

• Application parameterC0070 5 Vp of speed controllerC0071 20 ms Tn of speed controller

• save parameterC0003 1 mains-fail save


7.2 Torque control


161

Most important settings III - torque control

• Input assignmentDIGIN1 = CW rotation (QSP) HighDIGIN2 = CCW rotation (QSP) LowDIGIN3 = JOG - fix speed LowDIGIN4 = TRIP Set HighDIGIN5 = TRIP Reset Low

• Controller enableAfter the parameter are entered and the suppressor circuits (emergency off, limit switch, ...) are ensuredterminal 28 = RFR = High.

• Setpoint selectionThe 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.

7.2 Torque control


163


6.1 Control




7.2 Torque control

8 Feedback


164

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8. Feedback


165

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9300 servo: commissioning, operation, maintenance 1 welcome to the - customer seminar servo inverter...

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