Post on 11-Jan-2016
9300 servo: Commissioning, operation, maintenance
1
Welcometo the
- Customer seminar
Servo inverter 9300:
Commissioning, operation, maintenance
As of: September 5, 2002
Global Drive
9300 servo: Commissioning, operation, maintenance
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Theproduct range
Global Drive
9300 servo: Commissioning, operation, maintenance
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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
9300 servo: Commissioning, operation, maintenance
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Positioning
Functionality
Servo inverter9300
Mid-Performance
High-Performance
Frequency inverter (without feedback)
Servo (with feedback)
Frequency inverter9300 vector
Frequency inverter8200 vector
1 Introduction
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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
9300 servo: Commissioning, operation, maintenance
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Application example I: 9300 servo
1.2 Application
9300 servo: Commissioning, operation, maintenance
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Application example II: 9300 servo (POS and CAM)
1.2 Application
9300 servo: Commissioning, operation, maintenance
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Application example III: 9300 servo (Register)
1.2 Application
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Application example VI: frequency inverter 9300 (Vector)
1.2 Application
9300 servo: Commissioning, operation, maintenance
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2 Commissioning of the 9300 servo according
to the operating instructions
2.1 The operating instruction as commissioning help
2.2 System structure
2.3 Before initial switch on ...
2.4 Communication technology
2.5 Software “Global Drive Control”
2.6 Step-by-step commissioning “Speed control”
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Contents of the operating instruction I
Table of contents Installation
Preface and general information Commissioning
Safety information Operation
Technical data Parameter setting
2.1 The operating instruction as commissioning help
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Configuration
Troubleshooting and fault elimination
Maintenance
Appendix
Contents of the operating instruction II
2.1 The operating instruction as commissioning help
9300 servo: Commissioning, operation, maintenance
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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
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... the wiring must be checked:
• Power connection
• Motor connection
• Feedback system
• Control terminals
Final covers must be mounted!
2.3 Before initial switch on ...
9300 servo: Commissioning, operation, maintenance
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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
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Find drive
2.5 The Global Drive Control software (GDC)
9300 servo: Commissioning, operation, maintenance
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Dialog Short commissioning
2.5 The Global Drive Control software (GDC)
9300 servo: Commissioning, operation, maintenance
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Parameter menu Short setup - Speed control:
2.5 The Global Drive Control software (GDC)
Monitorfenster
Parametermenü
Statuszeile
Codestellen
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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
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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
2.6 Step-by-step commissioning
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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.
2.6 Step-by-step commissioning
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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
2.6 Step-by-step commissioning
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Data saving in controller: C0003 = “1”
Data saving on hard disk
Pull down menu: Drive parametersWrite all parameter sets to file ...
2.6 Step-by-step commissioning
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Step-by-step commissioning
Study the operating instruction
Structure the drive system
Switch on the drive system
Motor starts running
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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 ...
3.6 Step-by-step commissioning
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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
3.1 Before initial switch on ...
9300 servo: Commissioning, operation, maintenance
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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
3.1 Before initial switch on ...
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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 ...
3.6 Step-by-step commissioning
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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
3.2 System structure
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9300 servo connection
3.2 System structure
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Motor connection
3.2 System structure
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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
3.2 System structure
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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
3.2 System structure
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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
3.2 System structure
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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
3.2 System structure
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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
Check drive dimensioning
No PTC connected Connect PTC or switch off monitoring (C0583=3)
OH7 1) Motor temperature is higher than the value set under C0121
Motor too hot because of excessive current or frequent and too long acceleration
Check drive dimensioning
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
Motor too hot because of excessive current or frequent and too long acceleration
Check drive dimensioning
Terminals T1, T2 are not assigned Connect PTC or thermostat or switch off monitoring (C0585=3)
1) Temperature detection through resolver or incremental encoder
3.2 System structure
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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
3.2 System structure
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+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
3.2 System structure
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2
3
456789
+KTY
-KTY
KTY
X8 9 pol. Sub-D Buchse
Cable length max. 50 m
1
93XX
B
A
Vcc
GND
Z
A
B
Z
CW rotation
A
B
A
B
Z
Z
Feedback II - TTL - encoder
3.2 System structure
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23456789
+KTY
-KTY
KTY
X8 9 pol. Sub-D Buchse
Cable length max. 50 m
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
3.2 System structure
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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
3.2 System structure
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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
3.2 System structure
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• 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
3.2 System structure
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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
3.2 System structure
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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 ...
3.6 Step-by-step commissioning
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3.3 Communication components
• Fieldbus module2111IB InterBus
• Fieldbus module2133IB Profibus
• Communication module2102IB LECOM A/B/LI
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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
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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
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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
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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 ...
3.6 Step-by-step commissioning
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Terminal monitor (digital)
3.4 GDC
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Terminal monitor (analog)
3.4 GDC
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Dialog Diagnostics
3.4 GDC
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Monitor window in default setting
3.4 GDC
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Setting of the monitor window
3.4 GDC
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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
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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
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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
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Signal flow to Configuration 1000, Speed control:
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Diagnostics with the function block editor
3.4 GDC
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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 ...
3.6 Step-by-step commissioning
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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
3.5 Initial switch on ...
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• 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
3.5 Initial switch on ...
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
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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
3.5 Initial switch on ...
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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 ...
3.6 Step-by-step commissioning
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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
3.6 Step-by-step commissioning
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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
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... 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, ...
3.6 Step-by-step commissioning
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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
3.6 Step-by-step commissioning
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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:
3.6 Step-by-step commissioning
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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
3.6 Step-by-step commissioning
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• 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
3.6 Step-by-step commissioning
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Parameter menu motor adjustment and input assistant for motor data
3.6 Step-by-step commissioning
Start button for theinput assistant for motor data
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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
3.6 Step-by-step commissioning
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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
3.6 Step-by-step commissioning
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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
3.6 Step-by-step commissioning
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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
3.6 Step-by-step commissioning
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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
3.6 Step-by-step commissioning
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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
3.6 Step-by-step commissioning
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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)
3.6 Step-by-step commissioning
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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
3.6 Step-by-step commissioning
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Data saving on the hard disk
Pull down menu: Drive parametersWrite all parameter sets to file ...
3.6 Step-by-step commissioning
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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
3.6 Step-by-step commissioning
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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
9300 servo: Commissioning, operation, maintenance
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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
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• 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
4 Operation and maintenance
9300 servo: Commissioning, operation, maintenance
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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)
4 Operation and maintenance
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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
9300 servo: Commissioning, operation, maintenance
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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
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Overview - menu assistance for keypad
Mainmenu
Submenu
Codelevel
Para-meterlevel
Operationlevel
PRG
PRG
Switch on
PRG
5.1 Feature, Display and keyboard
9300 servo: Commissioning, operation, maintenance
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MmaxRDY IMP Imax Fail
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.
5.2 Use and Handling
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MmaxRDY IMP Imax Fail
Menu
Short setup
MmaxRDY IMP Imax Fail
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
5.2 Use and Handling
9300 servo: Commissioning, operation, maintenance
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MmaxRDY IMP Imax Fail
Menu
Speed mode
Short setup
Code levelSub menu
MmaxRDY IMP Imax Fail
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
5.2 Use and Handling
9300 servo: Commissioning, operation, maintenance
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Code level
MmaxRDY IMP Imax Fail
Code 0011 00
1250 rpm
Nmax
MmaxRDY IMP Imax Fail
Para0011 00
1500 rpm
Nmax
PRG
Parameter level
• Change of the code selectedC0011 = Nmax
Setting the parameter in a Code
5.2 Use and Handling
9300 servo: Commissioning, operation, maintenance
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MmaxRDY IMP Imax Fail
Para0011 00
1500 rpm
NmaxSHIFTSHIFTPRGPRG
Parameter level
MmaxRDY IMP Imax Fail
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
5.2 Use and Handling
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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
9300 servo: Commissioning, operation, maintenance
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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
9300 servo: Commissioning, operation, maintenance
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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
5.5 Saving function of the keypad
PRG
SHIFT PRG
9300 servo: Commissioning, operation, maintenance
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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
5.5 Saving function of the keypad
PRG
9300 servo: Commissioning, operation, maintenance
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6 Controller settings and optimisation
6.1 Control
6.2 The oscilloscope function of Global Drive Control software
7 Exercises, questions
7.1 Master frequency coupling
7.2 Torque control
8 Feedback
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Principle drawing: Open control
Reference variable
EnergyControlledsystem
Actuator
6.1 Control
9300 servo: Commissioning, operation, maintenance
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Example open control: Frequency inverter
Set frequency
Motor
V / f
M
6.1 Control
9300 servo: Commissioning, operation, maintenance
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Principle drawing: control circuit (close loop)
Ref. variable W
Controlledsystem
W - X
Measuring point
Controlledvariable X
Actuator
-
Controller
Energy
+
Correctingvariable
6.1 Control
9300 servo: Commissioning, operation, maintenance
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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
9300 servo: Commissioning, operation, maintenance
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Speed setpoint
Motor
M
Systemdeviation
Speed controller
R
Resolver
Actualspeed
Vectorcontrol
PWM
Principle drawing of 9300 servo inverter
-+ nset - nact
6.1 Control
9300 servo: Commissioning, operation, maintenance
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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
9300 servo: Commissioning, operation, maintenance
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Overshootof the speed controller
(50 %/DIV)
6.1 Control
K1K2
T
10 ms 80 ms
MCTRL-NACT actual speedMCTRL-MACT actual torque
9300 servo: Commissioning, operation, maintenance
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Transient condition without I - Component(P - controlled only)
(50 %/DIV)
6.1 Control
K1K2
T
10 ms 100 ms
MCTRL-NACT actual speedMCTRL-MACT actual torque
9300 servo: Commissioning, operation, maintenance
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Transient conditionPI-controlled
(50 %/DIV)
6.1 Control
K1K2
T
15 ms 105 ms
MCTRL-NACT actual speedMCTRL-MACT actual torque
9300 servo: Commissioning, operation, maintenance
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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
9300 servo: Commissioning, operation, maintenance
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
9300 servo: Commissioning, operation, maintenance
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Oscilloscope function window
6.2 OSZ of GDC
9300 servo: Commissioning, operation, maintenance
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
9300 servo: Commissioning, operation, maintenance
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Oscilloscope control
6.2 OSZ of GDC
9300 servo: Commissioning, operation, maintenance
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
9300 servo: Commissioning, operation, maintenance
147
Optimisedtransient response
MDSKS-36-13Vp = 5Ti = 10 ms
6.2 OSZ of GDC
K1K2
T
10 ms 100 ms
MCTRL-NACT actual speedMCTRL-MACT actual torque
9300 servo: Commissioning, operation, maintenance
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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
9300 servo: Commissioning, operation, maintenance
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
9300 servo: Commissioning, operation, maintenance
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
9300 servo: Commissioning, operation, maintenance
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
9300 servo: Commissioning, operation, maintenance
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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
9300 servo: Commissioning, operation, maintenance
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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
saving in the controller
7.1 DF bus
9300 servo: Commissioning, operation, maintenance
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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
9300 servo: Commissioning, operation, maintenance
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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
9300 servo: Commissioning, operation, maintenance
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
9300 servo: Commissioning, operation, maintenance
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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
9300 servo: Commissioning, operation, maintenance
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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
saving in the controller
7.2 Torque control
9300 servo: Commissioning, operation, maintenance
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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
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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
9300 servo: Commissioning, operation, maintenance
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8. Feedback
9300 servo: Commissioning, operation, maintenance
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