Lenze 931K Manual de usuario

KHB 13.0004−EN.Bò*Ä.Bò*äCommunication ManualServo Drives 930 l931EPx, 931KPxPROFIBUS−DP

Technical dataCommunication3 l 10KHB 13.0004−EN 2.13 Technical data3.1 CommunicationField ValuesCommunication profile(DIN 19245 part 1 and part

Electrical installationWiring4 l 11KHB 13.0004−EN 2.14 Electrical installation4.1 WiringBasic wiring of the PROFIBUS£ 1200 m931x 931x 931xX4.

Electrical installationWiring4 l 12KHB 13.0004−EN 2.1 Number of bus stationsM123SS S S SRR2133PFB004Segment Master (M) Slave (S) Repeater (R)1

Electrical installationWiring4 l 13KHB 13.0004−EN 2.1 Baud ratesBaud rate [kbps] Length of the transmission cable [m]9.6 ... 93.75 1200187.5

Electrical installationAssignment of the interfaces931E servo inverter4 l 14KHB 13.0004−EN 2.1 4.2 Assignment of the interfaces4.2.1 931E servo

PROFIBUS communicationThe data telegramStructure of the receive message5 l 15KHB 13.0004−EN 2.15 PROFIBUS communication5.1 The data telegramT

PROFIBUS communicationThe data telegramStructure of the response message5 l 16KHB 13.0004−EN 2.15.1.2 Structure of the response messageADR = 1

PROFIBUS communicationThe data telegramStructure of the receive and response message with PKW mechanism5 l 17KHB 13.0004−EN 2.1Response messa

PROFIBUS communicationConsistent parameter dataStructure of the receive and response message with PKW mechanism5 l 18KHB 13.0004−EN 2.15.2 Cons

CommissioningImportant notes6 l 19KHB 13.0004−EN 2.16 Commissioning 6.1 Important notesBefore you switch on the controller for the first tim

l 2KHB 13.0004−EN 2.10Fig. 0Tab. 0

CommissioningSettings on the controller (slave)6 l 20KHB 13.0004−EN 2.16.3 Settings on the controller (slave)) Note!The controller parameters a

CommissioningSettings on the controller (slave)Node address setting6 l 21KHB 13.0004−EN 2.16.3.1 Node address settingSelecting the node addr

CommissioningSettings on the controller (slave)Node address setting6 l 22KHB 13.0004−EN 2.1 Selecting the node address via the digital inputs D

CommissioningSettings on the controller (slave)Node address setting6 l 23KHB 13.0004−EN 2.1931E_237. Click on the OK button.) Note!The dialo

CommissioningSettings on the controller (slave)Definition of parameter numbers (PNU) in the telegram editor6 l 24KHB 13.0004−EN 2.1 6.3.2 Defin

CommissioningSettings on the controller (slave)Definition of parameter numbers (PNU) in the telegram editor6 l 25KHB 13.0004−EN 2.1) Note!ƒ

CommissioningSettings on the controller (slave)Definition of parameter numbers (PNU) in the telegram editor6 l 26KHB 13.0004−EN 2.1 931E_0255.

CommissioningControl system configuration6 l 27KHB 13.0004−EN 2.1 6.4 Control system configuration The control system must be configured be

Commissioning"Speed control" modeDescription6 l 28KHB 13.0004−EN 2.16.5 "Speed control" mode6.5.1 DescriptionThe following

Commissioning"Speed control" modeCommissioning with PROFIdrive6 l 29KHB 13.0004−EN 2.1 6.5.2 Commissioning with PROFIdrive) Note!ƒ

Contents i l 3KHB 13.0004−EN 2.11 About this documentation 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Commissioning"Positioning" modePNUs for parameter setting6 l 30KHB 13.0004−EN 2.1 6.5.3 PNUs for parameter settingPNU NamePossible se

Commissioning"Positioning" modeSetting of homing6 l 31KHB 13.0004−EN 2.16.6.1 Setting of homingHomingstatus word 1(PNU 968.0 Bit 1

Commissioning"Positioning" modePositioning6 l 32KHB 13.0004−EN 2.16.6.2 Positioningacceleration positioning (PNU 1001.3)decelerationa

Commissioning"Positioning" modePositioning6 l 33KHB 13.0004−EN 2.1 Adjustmentƒ Simple travel task– Select position data set (0  6

Commissioning"Positioning" modePositioning6 l 34KHB 13.0004−EN 2.1Transfer of travel task1tBit 101t1tBit 41tBit 51tBit 61tBit 91tBit

Commissioning"Positioning" modeStatic position data sets6 l 35KHB 13.0004−EN 2.1 6.6.3 Static position data setsThe settings (posi

Commissioning"Positioning" modeDynamic position data set6 l 36KHB 13.0004−EN 2.16.6.4 Dynamic position data setIf the application req

Commissioning"Positioning" modeCommissioning with PROFIdrive6 l 37KHB 13.0004−EN 2.16.6.5 Commissioning with PROFIdrive) Note!ƒ Th

Commissioning"Positioning" modePNUs for parameter setting6 l 38KHB 13.0004−EN 2.1 6.6.6 PNUs for parameter settingPNU NamePossible se

Commissioning"Positioning" modePNUs for parameter setting6 l 39KHB 13.0004−EN 2.1CharacteristicsPossible settingsNamePNUDescriptio

Contentsi l 4KHB 13.0004−EN 2.16.7 Actual values 40 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CommissioningActual valuesActual position6 l 40KHB 13.0004−EN 2.1 6.7 Actual values6.7.1 Actual positionƒ Reading the actual position.Due to th

CommissioningActual valuesDigital outputs6 l 41KHB 13.0004−EN 2.1 6.7.4 Digital outputsƒ States of the digital outputs.PNU Name Possible set

CommissioningActual valuesMotor data6 l 42KHB 13.0004−EN 2.1 6.7.6 Motor dataƒ Via PNU 1290.1 (iit Ratio Motor) you can read out the actual uti

Parameter settingPhysical units7 l 43KHB 13.0004−EN 2.17 Parameter setting7.1 Physical units) Note!Application−specific parameters depend on

Parameter settingPhysical units7 l 44KHB 13.0004−EN 2.1 UEUAx1x2931e_415Fig. 8 Gearbox factorsUEInput−end speedUAOutput−end speedx1Position_uni

Parameter settingGlobal parametersSaving of parameter set7 l 45KHB 13.0004−EN 2.1 7.2 Global parameters7.2.1 Saving of parameter setƒ Saving

Parameter settingGlobal parametersMotor data7 l 46KHB 13.0004−EN 2.1 7.2.3 Motor dataƒ Via PNU 1290.0 (iit Time Motor) you can set the duration

Parameter setting"Speed control" modeSpeed setpoint7 l 47KHB 13.0004−EN 2.1 7.3 "Speed control" mode7.3.1 Speed setpoint

Parameter setting"Speed control" modeAcceleration value7 l 48KHB 13.0004−EN 2.1 7.3.2 Acceleration value ƒ Parameterising the acceler

Parameter setting"Positioning" modeSelection of position data set for parameter setting7 l 49KHB 13.0004−EN 2.1 7.4 "Position

Contents i l 5KHB 13.0004−EN 2.19 Troubleshooting and fault elimination 61 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Parameter setting"Positioning" modePosition data set at starting of positioning7 l 50KHB 13.0004−EN 2.1 7.4.3 Position data set at st

Parameter setting"Positioning" modeHoming modes7 l 51KHB 13.0004−EN 2.1 7.4.5 Homing modesƒ Selection of the homing method.A detai

Parameter setting"Positioning" modeHoming offset7 l 52KHB 13.0004−EN 2.1 7.4.6 Homing offsetƒ Defining the distance between the home

Parameter settingError managementSetting of responses7 l 53KHB 13.0004−EN 2.1 7.5 Error management 7.5.1 Setting of responsesƒ Selection of

Device controlImportant notes8 l 54KHB 13.0004−EN 2.18 Device control8.1 Important notes} Danger!Uncontrolled motor movements can occurIf the p

Device control"Speed control" modeControl word 18 l 55KHB 13.0004−EN 2.18.2 "Speed control" mode8.2.1 Control word 1Contr

Device control"Speed control" modeStatus word 18 l 56KHB 13.0004−EN 2.18.2.2 Status word 1Status word 1 in "speed control"

Device control"Positioning" modeControl word 18 l 57KHB 13.0004−EN 2.18.3 "Positioning" mode8.3.1 Control word 1Control w

Device control"Positioning" modeStatus word 18 l 58KHB 13.0004−EN 2.18.3.2 Status word 1Status word 1 in "positioning" mode

Device controlState diagramStatus word 18 l 59KHB 13.0004−EN 2.18.4 State diagramPower on(1)(2)(8)(7) (9)(3)(6) (12)(5)(10)(11)(4)S1: SWITCHI

About this documentationDocument history1 l 6KHB 13.0004−EN 2.11 About this documentationContentsThis documentation contains descriptions for P

Device controlState diagramStatus word 18 l 60KHB 13.0004−EN 2.1Commands and state transitions of the controllerControl word 1Command Bit 3 Bit

Troubleshooting and fault eliminationFault elimination9 l 61KHB 13.0004−EN 2.19 Troubleshooting and fault elimination 9.1 Fault elimination F

Troubleshooting and fault eliminationTable of error messages9 l 62KHB 13.0004−EN 2.19.4 Table of error messagesHow to read the tableResponse Sy

Troubleshooting and fault eliminationTable of error messages9 l 63KHB 13.0004−EN 2.1ErrornumberMeaning ActivationtimeResponseCause RemedyA H

Troubleshooting and fault eliminationTable of error messages9 l 64KHB 13.0004−EN 2.1RemedyCauseResponseActivationtimeMeaningErrornumberRemedyCa

Troubleshooting and fault eliminationTable of error messages9 l 65KHB 13.0004−EN 2.1RemedyCauseResponseActivationtimeMeaningErrornumberRemedy

AppendixTable of parameter numbers (PNU)10 l 66KHB 13.0004−EN 2.110 Appendix10.1 Table of parameter numbers (PNU)ƒ The PNUs are numerically sor

AppendixTable of parameter numbers (PNU)10 l 67KHB 13.0004−EN 2.1CharacteristicsPossible settingsNamePNUDescriptionSelectionLenzeNamePNU1000

AppendixTable of parameter numbers (PNU)10 l 68KHB 13.0004−EN 2.1CharacteristicsPossible settingsNamePNUDescriptionSelectionLenzeNamePNU1011 Ac

AppendixTable of parameter numbers (PNU)10 l 69KHB 13.0004−EN 2.1CharacteristicsPossible settingsNamePNUDescriptionSelectionLenzeNamePNU1022C

About this documentationConventions used1 l 7KHB 13.0004−EN 2.1Your opinion is important to us!These instructions were created to the best of

AppendixTable of parameter numbers (PNU)10 l 70KHB 13.0004−EN 2.1CharacteristicsPossible settingsNamePNUDescriptionSelectionLenzeNamePNU1051 0

AppendixTable of parameter numbers (PNU)10 l 71KHB 13.0004−EN 2.1CharacteristicsPossible settingsNamePNUDescriptionSelectionLenzeNamePNU1150D

AppendixTable of parameter numbers (PNU)10 l 72KHB 13.0004−EN 2.1CharacteristicsPossible settingsNamePNUDescriptionSelectionLenzeNamePNU1290Mot

AppendixTable of parameter numbers (PNU)10 l 73KHB 13.0004−EN 2.1CharacteristicsPossible settingsNamePNUDescriptionSelectionLenzeNamePNU2000

Index11 l74KHB 13.0004−EN 2.111 IndexAActual position, 40 Actual speed value, 40 Actual value of effective current, 40 BBasic wiring of the

Index 11 l75KHB 13.0004−EN 2.1RReceive message, structure, 15 Response message, structure, 16 SSafety instructions− definition, 8 − layout

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About this documentationNotes used1 l 8KHB 13.0004−EN 2.1 1.3 Notes usedThe following pictographs and signal words are used in this documentati

Product descriptionProduct features2 l 9KHB 13.0004−EN 2.12 Product description2.1 Product featuresƒ Support of the PROFIBUS−DP−V0 communicat