Lenze 931E/K Small Drives Control Manual de usuario

SW−HB 13.0002−EN.CN3Ä.CN3äSoftware ManualServo Drives 930 l931E/KSmall Drives Control

Safety instructions2 l 10SW−HB 13.0002−EN 4.12 Safety instructionsPlease observe the following safety instructions when you want to commission

Homing6 l 100SW−HB 13.0002−EN 4.1 ) Note!With homing modes 1 and 2, ensure that the zero mark or the index pulse ofthe encoder will not coincid

Homing 6 l 101SW−HB 13.0002−EN 4.1Modes 33 and 34: Homing to zero pulseWith modes 33 and 34, the direction of homing is negative or positive.

Homing6 l 102SW−HB 13.0002−EN 4.1Mode −2: Positive limit stop with zero pulse evaluation With this mode, the drive traverses in positive direct

HomingParameterisation of homing6 l 103SW−HB 13.0002−EN 4.1Mode −18: Homing to the positive limit stopWith this mode, the drive traverses in

HomingParameterisation of homing6 l 104SW−HB 13.0002−EN 4.1SettingsUse the Mode field to select the homing mode. With homing, the motor will ro

HomingParameterisation of homing6 l 105SW−HB 13.0002−EN 4.1Driving profileHere you can enter the speeds and accelerations for the following a

Digital outputs and analog inputs and outputsDigital outputs DOUT1, DOUT27 l 106SW−HB 13.0002−EN 4.17 Digital outputs and analog inputs and out

Digital outputs and analog inputs and outputsDigital outputs DOUT1, DOUT27 l 107SW−HB 13.0002−EN 4.1SettingsSelect the menu Parameters W I/Os

Digital outputs and analog inputs and outputsDigital outputs DOUT1, DOUT27 l 108SW−HB 13.0002−EN 4.1Following errorƒ Following error:Tolerance

Digital outputs and analog inputs and outputsDigital outputs DOUT1, DOUT27 l 109SW−HB 13.0002−EN 4.1Destinationƒ Angle/distance:Tolerance mar

InstallationValidity information3 l 11SW−HB 13.0002−EN 4.13 Installation3.1 Validity informationThe »Small Drives Control« program is used to

Digital outputs and analog inputs and outputsHolding brake DOUT37 l 110SW−HB 13.0002−EN 4.1 7.2 Holding brake DOUT3If your motor is equipped wi

Digital outputs and analog inputs and outputsHolding brake DOUT37 l 111SW−HB 13.0002−EN 4.1tFtAttttt931E_117Fig. 27 Time behaviour of the hol

Digital outputs and analog inputs and outputsAnalog inputs AIN7 l 112SW−HB 13.0002−EN 4.1 7.3 Analog inputs AINThe 931E servo positioning contr

Digital outputs and analog inputs and outputsAnalog inputs AIN7 l 113SW−HB 13.0002−EN 4.1 U931E_118Fig. 28 Safe zero0 Setpoint1 Safe zero) No

Digital outputs and analog inputs and outputsAnalog outputs AMON7 l 114SW−HB 13.0002−EN 4.1 7.4 Analog outputs AMONThe 931E servo positioning c

Oszilloskop 8 l 115SW−HB 13.0002−EN 4.18 Using the oscilloscope functionUsing the oscilloscope function of the parameterisation program, you

OszilloskopOscilloscope settings8 l 116SW−HB 13.0002−EN 4.1 8.1 Oscilloscope settings931e_270The Oscilloscope Settings window includes four tab

OszilloskopOscilloscope settings8 l 117SW−HB 13.0002−EN 4.1CH1 and CH2The oscilloscope has two channels. In the CH1 and CH2 tab, you can sele

OszilloskopOscilloscope settings8 l 118SW−HB 13.0002−EN 4.1TriggerIn the Trigger tab, you can select the trigger source from the selection list

OszilloskopOscilloscope window8 l 119SW−HB 13.0002−EN 4.1 8.2 Oscilloscope window931e_272The oscilloscope is equipped with the following butt

User interfaceBuilding up serial communication4 l 12SW−HB 13.0002−EN 4.14 User interface4.1 Building up serial communicationFor correct communi

OszilloskopOscilloscope window8 l 120SW−HB 13.0002−EN 4.1Further buttons and checkboxes:931e_364ƒ Cursor buttonThese buttons and checkboxes are

Troubleshooting and fault eliminationError monitorings in the 931E/KOvercurrent and short−circuit monitoring9 l 121SW−HB 13.0002−EN 4.19 Trou

Troubleshooting and fault eliminationError monitorings in the 931E/KMonitoring the DC−bus voltage9 l 122SW−HB 13.0002−EN 4.19.1.2 Monitoring th

Troubleshooting and fault eliminationError monitorings in the 931E/KMonitoring the motor9 l 123SW−HB 13.0002−EN 4.19.1.5 Monitoring the motor

Troubleshooting and fault eliminationError monitorings in the 931E/KOther internal monitoring functions9 l 124SW−HB 13.0002−EN 4.19.1.7 Other i

Troubleshooting and fault eliminationError message9 l 125SW−HB 13.0002−EN 4.19.2 Error messageThe following table gives you an overview of th

Troubleshooting and fault eliminationError message9 l 126SW−HB 13.0002−EN 4.1Error No. CAN errorcodeMeaning ActivationtimeResponseCause RemedyA

Troubleshooting and fault eliminationError message9 l 127SW−HB 13.0002−EN 4.1RemedyCauseResponseActivationtimeMeaningCAN errorcodeError No. R

Troubleshooting and fault eliminationError message9 l 128SW−HB 13.0002−EN 4.1RemedyCauseResponseActivationtimeMeaningCAN errorcodeError No. Rem

Troubleshooting and fault eliminationError message9 l 129SW−HB 13.0002−EN 4.1RemedyCauseResponseActivationtimeMeaningCAN errorcodeError No. R

User interfaceBuilding up serial communication4 l 13SW−HB 13.0002−EN 4.1 ƒ Retry with old parameters (COM3, 9600 Baud):To solve the access co

Troubleshooting and fault elimination9 l 130SW−HB 13.0002−EN 4.1) Note!ƒ The 931E/K servo positioning controller internally manages error numbe

Troubleshooting and fault eliminationError window9 l 131SW−HB 13.0002−EN 4.1 9.3 Error windowThe error window is a permanent window of the pa

Troubleshooting and fault eliminationError management9 l 132SW−HB 13.0002−EN 4.1 9.4 Error management The error management window and the error

AppendixParameterisation of outside motorsMotor data10 l 133SW−HB 13.0002−EN 4.110 Appendix10.1 Parameterisation of outside motors10.1.1 Moto

AppendixParameterisation of outside motorsMotor data10 l 134SW−HB 13.0002−EN 4.1 ( Stop!Please observe that the entries for maximum current and

AppendixParameterisation of outside motorsAngle encoder10 l 135SW−HB 13.0002−EN 4.1 10.1.2 Angle encoderThe 931E/K servo positioning controll

AppendixParameterisation of outside motorsAngle encoder10 l 136SW−HB 13.0002−EN 4.1magnetic symmetry axis of the winding of phase 1ƒ Phase sequ

AppendixParameterisation of outside motorsAngle encoder10 l 137SW−HB 13.0002−EN 4.1 The following message will appear, if the motor identific

AppendixParameterisation of outside motorsAngle encoder10 l 138SW−HB 13.0002−EN 4.1the motor e.m.f. because the speed determined via the feedba

AppendixParameterisation of outside motorsMotor temperature monitoring10 l 139SW−HB 13.0002−EN 4.1 10.1.3 Motor temperature monitoringIf your

User interfaceStarting SDC / user interfaceStandard buttons4 l 14SW−HB 13.0002−EN 4.14.2 Starting SDC / user interface4.2.1 Standard buttonsIf

AppendixParameterisation of outside motorsSelecting the safety parameters10 l 140SW−HB 13.0002−EN 4.1 10.1.4 Selecting the safety parametersIn

AppendixParameterisation of outside motorsLimit switch settings10 l 141SW−HB 13.0002−EN 4.1 10.1.5 Limit switch settingsThe 931E/K servo posi

AppendixParameterisation of outside motorsPower stage10 l 142SW−HB 13.0002−EN 4.1 10.1.6 Power stageWith the menu Parameters W Device parameter

AppendixParameterisation of outside motorsDC−bus monitoring10 l 143SW−HB 13.0002−EN 4.1 10.1.7 DC−bus monitoringIn special applications, e.g.

AppendixParameterisation of outside motorsCurrent controller10 l 144SW−HB 13.0002−EN 4.1 10.1.8 Current controllerSelect the menu Parameters W

AppendixParameterisation of outside motorsCurrent controller10 l 145SW−HB 13.0002−EN 4.1Fig. 29 Step response of the current controller

AppendixParameterisation of outside motorsSetting and optimising the position controller10 l 146SW−HB 13.0002−EN 4.110.1.9 Setting and optimisi

AppendixParameterisation of outside motorsSetting and optimising the position controller10 l 147SW−HB 13.0002−EN 4.1 Optimising the position

AppendixParameterisation of outside motorsGeneral configuration settings10 l 148SW−HB 13.0002−EN 4.1 10.1.10 General configuration settingsThe

AppendixParameterisation of outside motorsDisplay unit settings10 l 149SW−HB 13.0002−EN 4.1 10.1.11 Display unit settingsSelect the menu Opti

User interfaceStarting SDC / user interfaceNumerical input fields4 l 15SW−HB 13.0002−EN 4.14.2.2 Numerical input fieldsThe control windows of

AppendixParameterisation of outside motorsDisplay unit settings10 l 150SW−HB 13.0002−EN 4.1 ) Note!The settings of the display units are select

AppendixParameterisation of outside motorsDisplay unit settings10 l 151SW−HB 13.0002−EN 4.1Direct inputUse the Direct input tab to configure

AppendixParameterisation of outside motorsUser−defined display unit settings10 l 152SW−HB 13.0002−EN 4.110.1.12 User−defined display unit setti

AppendixParameterisation of outside motorsUser−defined display unit settings10 l 153SW−HB 13.0002−EN 4.1Decimal placesFurthermore, you can se

AppendixParameterisation of outside motorsDirect entry of distance, speed and acceleration units10 l 154SW−HB 13.0002−EN 4.110.1.13 Direct entr

AppendixParameterisation of outside motorsDefining the input limits10 l 155SW−HB 13.0002−EN 4.110.1.14 Defining the input limitsSelect Option

AppendixCommunication interfacesControl via CAN bus10 l 156SW−HB 13.0002−EN 4.1 10.2 Communication interfaces10.2.1 Control via CAN busFunction

AppendixCommunication interfacesControl via CAN bus10 l 157SW−HB 13.0002−EN 4.1Processing of CAN messagesThe 931E/K servo positioning control

AppendixCommunication interfacesControl via CAN bus10 l 158SW−HB 13.0002−EN 4.1CANopen communication parameter settingsSelect the menu Paramete

AppendixCommunication interfacesControl via the serial interface10 l 159SW−HB 13.0002−EN 4.110.2.2 Control via the serial interfaceFunctions

User interfaceStarting SDC / user interfaceDisplay of setpoints and actual values4 l 16SW−HB 13.0002−EN 4.14.2.4 Display of setpoints and actua

AppendixCommunication interfacesControl via the serial interface10 l 160SW−HB 13.0002−EN 4.1Setting the RS232 communication parametersSelect th

AppendixCommunication interfacesControl via the serial interface10 l 161SW−HB 13.0002−EN 4.1Transfer windowThe Transfer window is used to sen

AppendixCommunication interfacesControl via the technology interface10 l 162SW−HB 13.0002−EN 4.1Communication window for RS232 transferAfter se

AppendixSerial communication protocol10 l 163SW−HB 13.0002−EN 4.1 10.3 Serial communication protocolThe 931E/K servo positioning controller a

AppendixSerial communication protocol10 l 164SW−HB 13.0002−EN 4.1Command Response DescriptionBAUDbbbb OK! Set baud rateBOOT? SERVICE / APPLICAT

AppendixCommunication object list10 l 165SW−HB 13.0002−EN 4.1 10.4 Communication object listThis chapter lists the communication objects used

AppendixCommunication object list10 l 166SW−HB 13.0002−EN 4.1ScalingMeaningNameNo.0034 seqc_brake_lock_time Delay time for locking the holding

AppendixCommunication object list10 l 167SW−HB 13.0002−EN 4.1ScalingMeaningNameNo.0087 ioh_aout_range Value range of analog monitor (maximum)

AppendixCommunication object list10 l 168SW−HB 13.0002−EN 4.1ScalingMeaningNameNo.00CA currc_i_ref_profi Setpoint torque − Profi Base unit curr

AppendixCommunication object list10 l 169SW−HB 13.0002−EN 4.1ScalingMeaningNameNo.00F8 ssel_enab_off_ramp_dec Brake acceleration for quick st

User interfaceStarting SDC / user interfaceStandard control windows4 l 17SW−HB 13.0002−EN 4.14.2.5 Standard control windowsWith online parame

AppendixCommunication object list10 l 170SW−HB 13.0002−EN 4.1ScalingMeaningNameNo.012A posi_bus0_a_dec_jerkfree Jerk−free components during dec

AppendixCommunication object listBase units10 l 171SW−HB 13.0002−EN 4.1ScalingMeaningNameNo.0162 osc_samples Number of samples Number of samp

AppendixCommunication object listBit assignment of command word / status word / error word10 l 172SW−HB 13.0002−EN 4.110.4.2 Bit assignment of

AppendixCommunication object listBit assignment of command word / status word / error word10 l 173SW−HB 13.0002−EN 4.1Status word (rs232_stat

AppendixCommunication object listBit assignment of command word / status word / error word10 l 174SW−HB 13.0002−EN 4.1Error word (low) (errh_er

AppendixCommunication object listBit assignment of command word / status word / error word10 l 175SW−HB 13.0002−EN 4.1Error word (high) (errh

AppendixTiming charts10 l 176SW−HB 13.0002−EN 4.1 10.5 Timing chartsThe following diagrams show some typical 931E/K servo positioning controlle

AppendixTiming chartsSwitch−on sequence10 l 177SW−HB 13.0002−EN 4.110.5.1 Switch−on sequencet1t2t3t4t5t6t7ttttttt931E_121Fig. 31 Switch−on se

AppendixTiming chartsSwitch−on sequence10 l 178SW−HB 13.0002−EN 4.1 ƒ t1 ≈ 500 msecBoot−program processing and start of applicationƒ t2 > 1.

AppendixTiming chartsPositioning / target reached10 l 179SW−HB 13.0002−EN 4.1 10.5.2 Positioning / target reachedt1t2t3t4t5tttttt931E_122Fig.

User interfaceStarting SDC / user interfaceCommunication via communication objects4 l 18SW−HB 13.0002−EN 4.14.2.7 Communication via communicati

AppendixTiming chartsSpeed message10 l 180SW−HB 13.0002−EN 4.110.5.3 Speed messaget1t2nttt1t2931E_123Fig. 33 Speed message0 Setpoint speed 1 Ac

AppendixTiming chartsLimit switches10 l 181SW−HB 13.0002−EN 4.110.5.5 Limit switchest1t2t4tttt3931E_125Fig. 35 Limit switch0 Limit switch act

AppendixParameter set managementGeneral information10 l 182SW−HB 13.0002−EN 4.1 10.6 Parameter set management10.6.1 General informationFor trou

AppendixParameter set managementLoading and saving of parameter sets10 l 183SW−HB 13.0002−EN 4.1 The current parameter set of the 931E/K serv

AppendixParameter set managementPrinting parameter sets10 l 184SW−HB 13.0002−EN 4.110.6.3 Printing parameter setsSelect the menu items File W P

AppendixParameter set managementPrinting parameter sets10 l 185SW−HB 13.0002−EN 4.1Additional informationIn this menu, the user can enter add

AppendixOffline parameterisation10 l 186SW−HB 13.0002−EN 4.1 10.7 Offline parameterisationThe toolbar below the menu bar indicates if offline o

AppendixOffline parameterisation10 l 187SW−HB 13.0002−EN 4.1differs from the behaviour during the online parameterisation:ƒ Certain menus (e.

AppendixInfo window10 l 188SW−HB 13.0002−EN 4.1 10.8 Info windowSelect Info W Info to display general information about the SDC parameterisatio

AppendixQuick access via toolbar10 l 189SW−HB 13.0002−EN 4.1 10.9 Quick access via toolbarSome functions of the parameterisation program can

CommissioningImportant notes5 l 19SW−HB 13.0002−EN 4.15 Commissioning 5.1 Important notesBefore switching on the supply voltage for the 931E

AppendixFirmware download to the 931E/K / firmware updateFirmware download10 l 190SW−HB 13.0002−EN 4.1 10.10 Firmware download to the 931E/K /

AppendixFirmware download to the 931E/K / firmware updateFirmware download10 l 191SW−HB 13.0002−EN 4.1931e_3481. Select the firmware to be lo

AppendixFirmware download to the 931E/K / firmware updateFirmware download10 l 192SW−HB 13.0002−EN 4.1In general, the error is due to a communi

Index 11 l193SW−HB 13.0002−EN 4.111 IndexAActual speed filter, 34 Actual values− Actual value window, 17 − of the servo, 16 Alt+F4, 18 An

Index11 l194SW−HB 13.0002−EN 4.1Homing mode, 98 − current position, 103 − negative limit stop, 102 − Negative limit stop with zero pulse eva

Index 11 l195SW−HB 13.0002−EN 4.1Speed control, 21 Speed controller, manual setting, 34 Speed limitation, 140 Start signal, digital inputs

Notes! l196SW−HB 13.0002−EN 4.1

Notes ! l197SW−HB 13.0002−EN 4.1

Q© 08/2010FLenze Drives GmbHPostfach 10 13 52D−31763 HamelnGermanyService Lenze Service GmbHBreslauer Straße 3D−32699 ExtertalGermany(+49(0)5154/ 8

l 2SW−HB 13.0002−EN 4.1The information given in this documentation is valid for servo inverters of the 931 series.Document historyMaterial num

CommissioningImportant notesDefault parameter set (931E)5 l 20SW−HB 13.0002−EN 4.1 5.1.1 Default parameter set (931E)In the delivery state of t

CommissioningSpeed controlFunctions available5 l 21SW−HB 13.0002−EN 4.1 5.2 Speed control5.2.1 Functions availableThe speed control has the

CommissioningSpeed controlFunctions available5 l 22SW−HB 13.0002−EN 4.123e+jq23e-jqU PhaseUUPhaseVUPhaseWIPhaseUI PhaseVIdset point = 0PI idle

CommissioningSpeed controlFunctions available5 l 23SW−HB 13.0002−EN 4.1current control circuit and a higher−level speed control circuit. The

CommissioningSpeed controlCommissioning steps5 l 24SW−HB 13.0002−EN 4.1 5.2.2 Commissioning stepsCommissioning steps Comments1. Use a serial ca

CommissioningSpeed controlSelecting a motor from the motor database (only 931E)5 l 25SW−HB 13.0002−EN 4.1 5.2.3 Selecting a motor from the m

CommissioningSpeed controlActivating the operating mode5 l 26SW−HB 13.0002−EN 4.1 5.2.4 Activating the operating modeFor speed control, configu

CommissioningSpeed controlSetpoint selection via setpoint selectors5 l 27SW−HB 13.0002−EN 4.1 5.2.6 Setpoint selection via setpoint selector

CommissioningSpeed controlSetpoint selection via setpoint selectors5 l 28SW−HB 13.0002−EN 4.1 Setpoint selection via the analog inputThe 931E/K

CommissioningSpeed controlSetpoint selection via setpoint selectors5 l 29SW−HB 13.0002−EN 4.1 U931E_118Fig. 1 Safe zero0 Setpoint1 Safe zero

Contents i l 3SW−HB 13.0002−EN 4.11 Preface and general information 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CommissioningSpeed controlSetpoint selection via setpoint selectors5 l 30SW−HB 13.0002−EN 4.1 Setpoint rampThe setpoint management includes a r

CommissioningSpeed controlSetpoint selection via setpoint selectors5 l 31SW−HB 13.0002−EN 4.1Speed931e_218You can separately select ramps fo

CommissioningSpeed controlSetpoint selection via setpoint selectors5 l 32SW−HB 13.0002−EN 4.1 Setpoint selection via RS232If one of the setpoin

CommissioningSpeed controlSetpoint selection via setpoint selectors5 l 33SW−HB 13.0002−EN 4.1Torque limitationAs already mentioned, with spe

CommissioningSpeed controlOptimising the speed controller5 l 34SW−HB 13.0002−EN 4.1 5.2.7 Optimising the speed controllerTo optimise the speed

CommissioningSpeed controlOptimisation strategies5 l 35SW−HB 13.0002−EN 4.1( Stop!Excessive speed jumps may damage or destroy your system /

CommissioningSpeed controlOptimisation strategies5 l 36SW−HB 13.0002−EN 4.1For speed controller adjustment, increase the gain until vibrations

CommissioningSpeed controlSetting the controller enable logic5 l 37SW−HB 13.0002−EN 4.1 5.2.8 Setting the controller enable logicSelect the

CommissioningSpeed controlMaking the controller ready for operation5 l 38SW−HB 13.0002−EN 4.1 5.2.9 Making the controller ready for operationAf

CommissioningTorque controlFunctions available5 l 39SW−HB 13.0002−EN 4.1 5.3 Torque control5.3.1 Functions availableThe torque control has t

Contentsi l 4SW−HB 13.0002−EN 4.15.3 Torque control 39 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CommissioningTorque controlFunctions available5 l 40SW−HB 13.0002−EN 4.1 23e+jq23e-jqUPhaseUUPhaseVUPhaseWIPhaseUIPhaseVIdset point = 0PI idle

CommissioningTorque controlCommissioning steps5 l 41SW−HB 13.0002−EN 4.1 5.3.2 Commissioning stepsCommissioning steps Comments1. Use a seria

CommissioningTorque controlSelecting a motor from the motor database (only 931E)5 l 42SW−HB 13.0002−EN 4.1 5.3.3 Selecting a motor from the mot

CommissioningTorque controlActivating the operating mode5 l 43SW−HB 13.0002−EN 4.1 5.3.4 Activating the operating modeFor torque control, co

CommissioningTorque controlInput configuration5 l 44SW−HB 13.0002−EN 4.15.3.5 Input configurationSelect the menu Parameters W I/Os W Digital in

CommissioningTorque controlSetpoint selection via setpoint selectors5 l 45SW−HB 13.0002−EN 4.1 5.3.6 Setpoint selection via setpoint selecto

CommissioningTorque controlSetpoint selection via setpoint selectors5 l 46SW−HB 13.0002−EN 4.1Torque control931e_228 ) Note!If an analog input

CommissioningTorque controlSetpoint selection via setpoint selectors5 l 47SW−HB 13.0002−EN 4.1 Setpoint selection via the analog inputThe 93

CommissioningTorque controlSetpoint selection via setpoint selectors5 l 48SW−HB 13.0002−EN 4.1 U931E_118Fig. 3 Safe zero0 Setpoint1 Safe zero)

CommissioningTorque controlSetpoint selection via setpoint selectors5 l 49SW−HB 13.0002−EN 4.1 Setpoint selection via RS232If one of the set

Contents i l 5SW−HB 13.0002−EN 4.16 Homing 98 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CommissioningTorque controlSetpoint selection via setpoint selectors5 l 50SW−HB 13.0002−EN 4.1Torque limitationAs already mentioned, with torqu

CommissioningTorque controlSetting the controller enable logic5 l 51SW−HB 13.0002−EN 4.1 5.3.7 Setting the controller enable logicSelect the

CommissioningTorque controlMaking the controller ready for operation5 l 52SW−HB 13.0002−EN 4.1 5.3.8 Making the controller ready for operationA

CommissioningPositioning modeFunctions available5 l 53SW−HB 13.0002−EN 4.1 5.4 Positioning mode) Note!You can skip this chapter, if you are

CommissioningPositioning modeFunctions available5 l 54SW−HB 13.0002−EN 4.1 +-POS931E_101Fig. 4 Block diagram: Positioning control0 Positioning

CommissioningPositioning modeFunctions available5 l 55SW−HB 13.0002−EN 4.1 ) Note!Unlike many competitive products, the 931E/K servo positio

CommissioningPositioning modeCommissioning steps5 l 56SW−HB 13.0002−EN 4.1 5.4.2 Commissioning stepsCommissioning steps Comments1. Use a serial

CommissioningPositioning modeSelecting a motor from the motor database (only 931E)5 l 57SW−HB 13.0002−EN 4.1 5.4.3 Selecting a motor from th

CommissioningPositioning modeActivating the operating mode5 l 58SW−HB 13.0002−EN 4.1 5.4.4 Activating the operating modeFor homing or positioni

CommissioningPositioning modeGlobal positioning settings5 l 59SW−HB 13.0002−EN 4.1 5.4.6 Global positioning settingsSelect Parameters W Posi

Contentsi l 6SW−HB 13.0002−EN 4.110 Appendix 133 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CommissioningPositioning modeTarget parameterisation5 l 60SW−HB 13.0002−EN 4.1 5.4.7 Target parameterisation64 position sets can be parameteris

CommissioningPositioning modeTarget parameterisation5 l 61SW−HB 13.0002−EN 4.1position will be calculated from the current setpoint position

CommissioningPositioning modeTarget parameterisation5 l 62SW−HB 13.0002−EN 4.1 Traversing profile931e_238Use the Destination field to enter the

CommissioningPositioning modeTarget parameterisation5 l 63SW−HB 13.0002−EN 4.1Time−optimal positioning Positioning with jerk limitationFig.

CommissioningPositioning modeSetting the controller enable logic5 l 64SW−HB 13.0002−EN 4.1 5.4.8 Setting the controller enable logicSelect the

CommissioningPositioning modeApproaching targets5 l 65SW−HB 13.0002−EN 4.1 5.4.9 Approaching targetsThere are different ways to select desti

CommissioningPositioning modeSetting digital outputs5 l 66SW−HB 13.0002−EN 4.1Input Function DescriptionDIN9 Controller enable With a rising ed

CommissioningCourse programFunctions available5 l 67SW−HB 13.0002−EN 4.1 5.5 Course program) Note!You can skip this chapter, if you are only

CommissioningCourse programCommissioning steps5 l 68SW−HB 13.0002−EN 4.1 5.5.2 Commissioning stepsCommissioning steps Comments1. Use a serial c

CommissioningCourse programSelecting a motor from the motor database (only 931E)5 l 69SW−HB 13.0002−EN 4.1 5.5.3 Selecting a motor from the

Preface and general informationAbout this Manual1 l 7SW−HB 13.0002−EN 4.11 Preface and general information With the »Small Drives Control« pa

CommissioningCourse programActivating the operating mode5 l 70SW−HB 13.0002−EN 4.1 5.5.4 Activating the operating modeFor selecting the course

CommissioningCourse programInput configuration5 l 71SW−HB 13.0002−EN 4.15.5.5 Input configurationIn the menu Parameters W I/Os W Digital inp

CommissioningCourse programInput configuration5 l 72SW−HB 13.0002−EN 4.1DIN: Function: Explanation:DIN 0 NEXT 2 Rising edge: Continue with next

CommissioningCourse programGlobal positioning settings5 l 73SW−HB 13.0002−EN 4.1 5.5.6 Global positioning settingsSelect Parameters W Positi

CommissioningCourse programTarget parameterisation5 l 74SW−HB 13.0002−EN 4.1 5.5.7 Target parameterisation64 position sets can be parameterised

CommissioningCourse programTarget parameterisation5 l 75SW−HB 13.0002−EN 4.1position will be calculated from the current setpoint position.I

CommissioningCourse programTarget parameterisation5 l 76SW−HB 13.0002−EN 4.1 Traversing profile931e_238Use the Destination field to enter the t

CommissioningCourse programTarget parameterisation5 l 77SW−HB 13.0002−EN 4.1Time−optimal positioning Positioning with jerk limitationFig. 6

CommissioningCourse programCreating the course programs5 l 78SW−HB 13.0002−EN 4.1 5.5.8 Creating the course programsSelect Parameters W Positio

CommissioningCourse programCreating the course programs5 l 79SW−HB 13.0002−EN 4.1 You can select between the following basic course program

Preface and general informationTerminology used1 l 8SW−HB 13.0002−EN 4.1ContentsThe Product Manual shall ensure safe operation of the »Small Dr

CommissioningCourse programCreating the course programs5 l 80SW−HB 13.0002−EN 4.1signal is evaluated, the following actions will follow:ƒ The c

CommissioningCourse programType of command − Position branch5 l 81SW−HB 13.0002−EN 4.1 5.5.9 Type of command − Position branch931e_250Depend

CommissioningCourse programType of command − Position branch5 l 82SW−HB 13.0002−EN 4.1If neither Evaluate NEXT1 nor Evaluate NEXT2 is set, the

CommissioningCourse programType of command − Branch (Line)5 l 83SW−HB 13.0002−EN 4.1 5.5.10 Type of command − Branch (Line)931e_252Depending

CommissioningCourse programType of command − Branch (Line)5 l 84SW−HB 13.0002−EN 4.1positioning (10), the course program changes to the followi

CommissioningCourse programType of command − Level test5 l 85SW−HB 13.0002−EN 4.1 5.5.11 Type of command − Level test931e_254Depending on th

CommissioningCourse programType of command − Level test5 l 86SW−HB 13.0002−EN 4.1t1t2t3t4t5t6931E_116Fig. 12 Time chart − level test Program s

CommissioningCourse programType of command − End of Program5 l 87SW−HB 13.0002−EN 4.1 5.5.12 Type of command − End of Program931e_256The cur

CommissioningCourse programSetting the controller enable logic5 l 88SW−HB 13.0002−EN 4.1 5.5.13 Setting the controller enable logicSelect the c

CommissioningCourse programDebugging the course program5 l 89SW−HB 13.0002−EN 4.1 5.5.14 Debugging the course programIf you change to debug

Preface and general informationNotes used1 l 9SW−HB 13.0002−EN 4.1 1.3 Notes usedThe following pictographs and signal words are used in this

CommissioningCourse programApplication examples5 l 90SW−HB 13.0002−EN 4.1 5.5.15 Application examplesThe following examples will give you an id

CommissioningCourse programApplication examples5 l 91SW−HB 13.0002−EN 4.1 Linear linkage of positions with digital output settingPositions 1

CommissioningCourse programApplication examples5 l 92SW−HB 13.0002−EN 4.1 Setting and querying of digital inputs and outputs; never−ending loop

CommissioningExtending the function of the digital inputs by Jogging & Teaching (only 931K)Application examples5 l 93SW−HB 13.0002−EN 4.

CommissioningExtending the function of the digital inputs by Jogging & Teaching (only 931K)Teaching positions5 l 94SW−HB 13.0002−EN 4.1 5.6

CommissioningExtending the function of the digital inputs by Jogging & Teaching (only 931K)Teaching positions5 l 95SW−HB 13.0002−EN 4.1

CommissioningIncremental encoder emulation via DOUT1 and DOUT2Teaching positions5 l 96SW−HB 13.0002−EN 4.1 5.7 Incremental encoder emulation vi

CommissioningIncremental encoder emulation via DOUT1 and DOUT2Teaching positions5 l 97SW−HB 13.0002−EN 4.1ƒ Number of increments: You can se

Homing6 l 98SW−HB 13.0002−EN 4.16 HomingIn most applications in which the 931E/K servo positioning controller is used in positioningmode, a zer

Homing 6 l 99SW−HB 13.0002−EN 4.1Mode 1: Negative limit switch with zero pulse evaluationWith this mode, the drive traverses at search speed