Lenze 931W Manual de usuario

K-HB 13.0001-EN.1kjÄ.1kjäCommunication ManualServo Drives 930 fluxxtorque931M/WPROFIBUS-DPL-force Drives

Safety instructionsPersons responsible for safety210K-HB 13.0001-EN 2.12 Safety instructions2.1 Persons responsible for safetyOperatorAn operator is

Safety instructionsGeneral safety instructions211K-HB 13.0001-EN 2.12.2 General safety instructionsƒ These safety information are not claimed to be c

Safety instructionsDefinition of notes used212K-HB 13.0001-EN 2.12.3 Definition of notes usedThe following signal words and symbols are used in this

Technical dataGeneral data and operating conditions313K-HB 13.0001-EN 2.13 Technical data3.1 General data and operating conditionsGeneral dataArea Va

Electrical installation414K-HB 13.0001-EN 2.14 Electrical installationStructure of a PROFIBUS-DP network with RS485 cabling without repeater33312220m

Electrical installation 415K-HB 13.0001-EN 2.1Number of bus stationsM123SS S S SRR2133PFB004Segment Master (M) Slave (S) Repeater (R)1 123130--2 - 30

Electrical installation416K-HB 13.0001-EN 2.1Baud rate / length of the bus cableBaud rate [kbit/s] Length [m]9.6 - 93.75 1200187.5 1000500 4001500 20

Electrical installationElectrical connection of the servo inverter with the PROFIBUS master417K-HB 13.0001-EN 2.14.1 Electrical connection of the ser

CommissioningBefore switching on518K-HB 13.0001-EN 2.15 Commissioning5.1 Before switching on Stop!Before you switch on the basic unit for the first

CommissioningActivation of PROFIBUS at the servo inverter5 19K-HB 13.0001-EN 2.1The Lenzestandard RS232 connecting cableis plugged in between the inv

2K-HB 13.0001-EN 2.1This documentation is valid for 931M/W servo inverters.Document historyMaterial No. Version Description.1kj 2.1 10/2006 TD14 Firs

CommissioningActivation of PROFIBUS at the servo inverter520K-HB 13.0001-EN 2.1931mPro_003This prevents a simultaneous access to the bus system and t

CommissioningActivation of PROFIBUS at the servo inverter5 21K-HB 13.0001-EN 2.1Operating mode Access RestrictionsOnline level 1 Observing the drive

CommissioningPROFIBUS settings in the operating program522K-HB 13.0001-EN 2.15.3 PROFIBUS settings in the operating programmêçÑáÄìë amIn the operatin

CommissioningPROFIBUS settings in the operating program5 23K-HB 13.0001-EN 2.1931mPro_006The operating program also offers the option to display furt

CommissioningPROFIBUS settings in the operating program524K-HB 13.0001-EN 2.1In addition to the display functions, it is possible to set other action

CommissioningPROFIBUS communicationGSE file for PROFIBUS connection5 25K-HB 13.0001-EN 2.15.4 PROFIBUS communication5.4.1 GSE file for PROFIBUS conne

CommissioningPROFIBUS communicationStructure of communication channel526K-HB 13.0001-EN 2.15.4.3 Structure of communication channelGenerally,onlycomm

Control word / status wordGeneral information627K-HB 13.0001-EN 2.16 Control word and status word (Profidrive state machine)6.1 General informationTh

Control word / status wordControl word628K-HB 13.0001-EN 2.16.2 Control wordThe meaning of the single bits of the control word partly depends on the

Control word / status wordControl word629K-HB 13.0001-EN 2.1Bit Value Significance Meaning01ON Condition for the S3 status ”Ready for operation”: In

Contents i 3K-HB 13.0001-EN 2.11Preface 6...1.1 Introduction 6...

Control word / status wordControl word630K-HB 13.0001-EN 2.1Bit Value Significance Meaning41Switched-on rampgeneratorThe ramp generator which prevent

Control word / status wordThe status word (ZSW)631K-HB 13.0001-EN 2.16.3 The status word (ZSW)The current status of the drive is output in the status

Control word / status wordThe status word (ZSW)632K-HB 13.0001-EN 2.1Bit Value Significance Meaning81Setpoint inside atolerance marginThe setpoint is

Control word / status wordTheProfidrivestatemachineState machine and general state diagram633K-HB 13.0001-EN 2.16.4 The Profidrive state machine6.4.1

Control word / status wordTheProfidrivestatemachineState machine and general state diagram634K-HB 13.0001-EN 2.1S5: Switching-offS1:Switch-oninhibitB

Control word / status wordTheProfidrivestatemachineState machine and general state diagram635K-HB 13.0001-EN 2.1StatusBit 6 Bit 5 Bit 3 Bit 2 Bit 1 B

Control word / status wordTheProfidrivestatemachineExample: State machine for speed operation636K-HB 13.0001-EN 2.16.4.2 Example: State machine for s

Control word / status wordTheProfidrivestatemachineExample: State machine for speed operation637K-HB 13.0001-EN 2.1Status S3: Ready for operation Sta

Control word / status wordTheProfidrivestatemachineState diagram for positioning638K-HB 13.0001-EN 2.16.4.3 State diagram for positioningFig. 2 shows

Control word / status wordTheProfidrivestatemachineState diagram for positioning639K-HB 13.0001-EN 2.1 Stop!In case of a jogging mode (JOG1 and JOG2

Contentsi4K-HB 13.0001-EN 2.17 Parameter channel (PCV mechanism) 41...7.1 Access authorisation 41...

Control word / status wordTheProfidrivestatemachineState diagram for speed control640K-HB 13.0001-EN 2.16.4.4 State diagram for speed controlFig. 3 s

Parameter channel (PCV mechanism)Access authorisation741K-HB 13.0001-EN 2.17 Parameter channel (PCV mechanism)Certain drive functions are further acc

Parameter channel (PCV mechanism)Structure of the parameter characteristic valueStructure of parameter identification (PKE)742K-HB 13.0001-EN 2.17.2

Parameter channel (PCV mechanism)Job and response processingJob identification (master -> slave)743K-HB 13.0001-EN 2.17.3 Job and response process

Parameter channel (PCV mechanism)Job and response processingResponse identification (slave -> master)744K-HB 13.0001-EN 2.17.3.2 Response identifi

Parameter channel (PCV mechanism)Job and response processingError numbers at response745K-HB 13.0001-EN 2.17.3.3 Error numbers at responseError numbe

Parameter channel (PCV mechanism)Job and response processingExamples of PCV mechanism746K-HB 13.0001-EN 2.17.3.4 Examples of PCV mechanismExample 1:

Parameter channel (PCV mechanism)Job and response processingExamples of PCV mechanism747K-HB 13.0001-EN 2.1Example 2: Reading the set speedTo read th

Parameter channel (PCV mechanism)Job and response processingExamples of PCV mechanism748K-HB 13.0001-EN 2.1Example 3: Change of the set speedTo chang

Parameter channel (PCV mechanism)Job and response processingExamples of PCV mechanism749K-HB 13.0001-EN 2.1Example 4: ReversalTo change the direction

Contents i 5K-HB 13.0001-EN 2.18.10 Data type - service parameters (PNU 105) 66...8.11 Data type - PROFIBUS parameters (

Parameter channel (PCV mechanism)Job and response processingTransfer of PPO with PROFIBUS-DP750K-HB 13.0001-EN 2.17.3.5 Transfer of PPO with PROFIBUS

Parameter numbersExplanation of the parameter numbersNode address (PNU 918)851K-HB 13.0001-EN 2.18 Parameter numbersParameter numbers defined in the

Parameter numbersExplanation of the parameter numbersParameter change rights (PNU 927)852K-HB 13.0001-EN 2.18.1.2 Parameter change rights (PNU 927)PN

Parameter numbersExplanation of the parameter numbersSelector switch - control word bit 8 (PNU 931)853K-HB 13.0001-EN 2.18.1.5 Selector switch - cont

Parameter numbersExplanation of the parameter numbersSelector switch - control word bit 9 (PNU 932)854K-HB 13.0001-EN 2.18.1.6 Selector switch - cont

Parameter numbersExplanation of the parameter numbersSelector switch - status word bit 8 (PNU 938)855K-HB 13.0001-EN 2.18.1.9 Selector switch - statu

Parameter numbersExplanation of the parameter numbersSelector switch - status word bit 11 (PNU 939)856K-HB 13.0001-EN 2.1DescriptionMeaningSelection0

Parameter numbersExplanation of the parameter numbersSelector switch - status word bit 13 (PNU 941)857K-HB 13.0001-EN 2.18.1.12 Selector switch - sta

Parameter numbersDevice-specific parameter numbersFault number (PNU 947)858K-HB 13.0001-EN 2.18.2 Device-specific parameter numbers8.2.1 Data type -

Parameter numbersDevice-specific parameter numbersLoad parameter set (PNU 970)859K-HB 13.0001-EN 2.18.2.3 Load parameter set (PNU 970)PNU Subindex De

PrefaceIntroduction16K-HB 13.0001-EN 2.11Preface1.1 IntroductionThe competitive situation in the mechanical and system engineering sector requires ne

Parameter numbersOverview of the device-specific active parameters860K-HB 13.0001-EN 2.18.3 Overview of the device-specific active parametersPNU Subi

Parameter numbersData type - travel data record (PNU 1 to 100)861K-HB 13.0001-EN 2.18.5 Data type - travel data record (PNU 1 to 100)PNU Subindex Des

Parameter numbersData type - reference parameter (PNU 101)862K-HB 13.0001-EN 2.18.6 Data type - reference parameter (PNU 101)PNU Subindex Description

Parameter numbersData type - IO settings (PNU 102)863K-HB 13.0001-EN 2.18.7 Data type - IO settings (PNU 102)PNU Subindex DescriptionPossible setting

Parameter numbersData type - IO settings (PNU 102)864K-HB 13.0001-EN 2.1PNU Subindex DescriptionPossible settingsData typeLenze Selection102 1 ”Quick

Parameter numbersData type - control parameters (PNU 103)865K-HB 13.0001-EN 2.18.8 Data type - control parameters (PNU 103)PNU Subindex DescriptionPo

Parameter numbersData type - service parameters (PNU 105)866K-HB 13.0001-EN 2.18.10 Data type - service parameters (PNU 105)PNU Subindex DescriptionP

Parameter numbersData type - PROFIBUS parameters (PNU 106)867K-HB 13.0001-EN 2.18.11 Data type - PROFIBUS parameters (PNU 106)PNU Subindex Descriptio

Parameter numbersData type status (PNU 1000)868K-HB 13.0001-EN 2.18.12 Data type status (PNU 1000)PNU Subindex DescriptionPossible settingsData typeL

Parameter numbersData type status (PNU 1000)869K-HB 13.0001-EN 2.1PNU Subindex DescriptionPossible settingsData typeLenze Selection11Warning word: DC

PrefaceComparison of industrial fieldbus systems1 7K-HB 13.0001-EN 2.11.2 Comparison of industrial fieldbus systemsCAN /CANopenDeviceNet Profibus DP

Parameter numbersData type status (PNU 1000)870K-HB 13.0001-EN 2.1PNU Subindex DescriptionPossible settingsData typeLenze Selection15Additional box i

Parameter numbersData type info (PNU 1001)871K-HB 13.0001-EN 2.18.13 Data type info (PNU 1001)The object 1001 serves to carry out a confirmation prom

Parameter numbersOverview of all PNUs872K-HB 13.0001-EN 2.18.15 Overview of all PNUsPNU Subindex DescriptionPossible settingsData typeLenze Selection

Parameter numbersOverview of all PNUs873K-HB 13.0001-EN 2.1PNU Subindex DescriptionPossible settingsData typeLenze Selection108Jogging setpoint 2 Arr

Parameter numbersOverview of all PNUs874K-HB 13.0001-EN 2.1PNU Subindex DescriptionPossible settingsData typeLenze Selection104System parameter Array

Parameter numbersOverview of all PNUs875K-HB 13.0001-EN 2.1PNU Subindex DescriptionPossible settingsData typeLenze Selection106PROFIBUS parameters Ar

Troubleshooting and fault elimination976K-HB 13.0001-EN 2.19 Troubleshooting and fault eliminationError message Cause RemedySystem parameter The dire

AppendixData formats1077K-HB 13.0001-EN 2.110 Appendix10.1 Data formatsInformation area Data type1 bit Bool8bits Byte, Char16 bits Word,INT,DATE32 bi

AppendixGSE file1078K-HB 13.0001-EN 2.1MaxTsdr_9.6 = 60; max. response time at 9.6kBMaxTsdr_19.2 = 60; max. response time at 19.2kBMaxTsdr_93.75 = 60

AppendixGSE file1079K-HB 13.0001-EN 2.1Unit_Diag_Bit(7) = ”Fault - drive deenergised”Unit_Diag_Bit(8) = ”Driving record error”Unit_Diag_Bit(9) = ”Err

PrefaceAbout this Communication Manual18K-HB 13.0001-EN 2.11.3 About this Commu nication ManualTarget groupThis Manual is intended for all persons wh

Index1180K-HB 13.0001-EN 2.111 IndexAAccess authorisation, 41Activation of Profibus, 18Ambient conditions, climatic, 13Application as directed, 9CCab

Index 1181K-HB 13.0001-EN 2.1PParameter change rights (PNU 927), 52Parameter numbers, 51PCV mechanism, 41Personnel, qualified, 10Pollution, 13Profibu

Notes82K-HB 13.0001-EN 2.1

Notes 83K-HB 13.0001-EN 2.1

Lenze GmbH & Co KG KleinantriebeHans-Lenze-Straße 1D-32699 ExtertalGermanyK-HB 13.0001-EN2.1© 10/2006TD14+49 (0) 51 54 82-0 Service00 80 00 24

PrefaceLegal regulations1 9K-HB 13.0001-EN 2.11.4 Legal regulationsLabellingNameplate CE identification ManufacturerLenze drive controllers are defin