Lenze S94P01B2 Manual de usuario

S929PositionServo with RS-232 Users Manual

S94P01B28Technical Data2.3 Operating ModesTorque Reference ± 10 VDC 16-bit; scalable Torque Range 100:1 Current-Loop Bandwidth Up to 1.5 kHz*V

S94P01B29Technical Data2.6 Power RatingsType(1)Output kVA at Rated Output Current (8kHz)(1)Leakage Current (3)Power Loss at RatedOutput Current (8kHz

S94P01B210Technical Data2.8 Clearance for Cooling Air Circulation>25mm>3mm>25mm

S94P01B211Installation3 InstallationPerform the minimum system connection. Please refer to section 6.1 for minimum connection requirements

S94P01B212InstallationUL INSTALLATION INFORMATION• Suitable for use on a circuit capable of delivering not more than 200,000 rms symmetrical amper

S94P01B213InstallationEMCCompliance with EN 61800-3/A11 This is a product of the restricted sales distribution class according to IEC 61800-3. In a do

S94P01B214InstallationNOTEThe ground connection from the filter must be wired to solid earth ground, not machine ground.If the end-user i

S94P01B215Interface4 InterfaceThe standard PositionServo 940 drive contains seven connectors: four quick-connect terminal blocks, one SCSI connector

S94P01B216InterfaceP7 PIN ASSIGNMENTS (OUTPUT POWER)Pin Terminal Function1 T1 Thermistor (PTC) Input2 T2 Thermistor (PTC) Input3 U Motor Power Out4 V

S94P01B217InterfacePin Name Function10 BB- Buffered Encoder Output: Channel B- (1) 11 BZ+ Buffered Encoder Output: Channel Z+ (1)12 BZ- Buffered Encod

Copyright ©2005 by AC Technology Corporation.All rights reserved. No part of this manual may be reproduced or transmitted in any form wi

S94P01B218InterfaceThe PositionServo 940 buffers encoder feedback from P4 to P3. Encoder Feedback channel A on P4, for example, is Buffered Enco

S94P01B219Interface4.1.5 P5 - 24 VDC Back-up Power InputP5 is a 2-pin quick-connect terminal block that can be used with an external 24 VDC (500mA) p

S94P01B220InterfaceNote 3 - Digital Input A3The ENABLE pin (IN_A3, P3.29) must be wired through a switch or an output on a front-end contro

S94P01B221InterfaceP11 PIN ASSIGNMENTS (Resolver Feedback)Pin Name Function1 Ref +Resolver reference connection2 Ref -3 N/C No Connection4 Cos+Resolve

S94P01B222Interface4.2 Digital I/O Details4.2.1 Step & Direction / Master Encoder Inputs (P3, pins 1-4)You can connect a master encoder with qua

S94P01B223Interface4.2.2 Digital OutputsThere are a total of five digital outputs (“OUT1” - “OUT4” and “RDY”) available on the PositionServo 940 drive

S94P01B224Interface4.2.3 Digital InputsIN_Ax, IN_Bx, IN_Cx (P3.26-30, P3.31-35, P3.36-40)The PositionServo 940 Drive has 12 optically isolate

S94P01B225Interface4.3 Analog I/O Details4.3.1 Analog Reference InputAIN+, AIN1- (P3.24 and P3.25)The analog reference input can accept up to a ±10V

S94P01B226Interface4.4 Communication Interfaces4.4.1 RS232 Interface (standard)Programming and diagnostics of the 940 drive is done over t

S94P01B227Interface4.4.4 MODBUS RTU SupportAs a default, the RS232 and RS485 interfaces are configured to support MotionView program operations. In a

S94P01B21Contents1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51.1 About These

S94P01B228Interface4.5.3 Motor Set-upOnce you are connected to the PostionServo 940 via MotionView a “Parameter Tree” will appear in the “Parameter T

S94P01B229Interface4.6 Using a Custom MotorYou can load a custom motor from a file or you can create a new custom motor.•Tocreateacustommotorcl

S94P01B230Interface4.6.2 AutophasingThe Autophasing feature determines important motor parameters when using a motor that is not in MotionView’s data

S94P01B231Interface4.6.3.1 Electrical ConstantsMotor Torque Constant (Kt)Enter the value and select proper units from the drop-down list.NOTERound t

S94P01B232InterfaceNominal Bus Voltage (Vbus)The Nominal Bus Voltage can be calculated by multiplying the Nominal AC mains voltage supplie

S94P01B233InterfaceHalls OrderEach hall signal is in phase with one of the three phase-phase voltages from the motor windings. Hall order number d

S94P01B234Interface4. The phases that correspond to the Vrs Vst Vtr voltages are Hall B then Hall C then Hall A or Halls number 2 then 3 then 1. Refe

S94P01B235Parameters5 ParametersPositionServo 940 series drives are configured through one of the interfaces: RS232, RS485 or Ethernet. The drives

S94P01B236Parameters5.1.3 EPM FaultIf the EPM fails during operation or the EPM is removed from the EPM Port the drive will generate a fault and will

S94P01B237Parameters5.3.1.3 Position ModeIn this mode the drive reference is a pulse-train applied to P3.1-4 terminals, if the paramete

S94P01B22Contents5 Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355.1 Parameter Stora

S94P01B238Parameters5.3.7 ACCEL/DECEL Limits (Velocity Mode Only)The ACCEL setting determines the time the motor takes to ramp to a higher spee

S94P01B239Parameters5.3.14 Regen Duty CycleThis parameter sets the maximum duty cycle for the brake (regen) resistor. This parameter can

S94P01B240Parameters5.3.19 Group IDRefer to the Programmer’s manual for details. This parameter is only needed for operations over an Eth

S94P01B241Parameters5.5.2 Analog Output Current Scale (Volt / amps)Applies scaling to all functions representing CURRENT values.5.5.3 Analog Output

S94P01B242Parameters5.6.2 Hard Limit Switch ActionDigital inputs IN_A1-IN_A2 can be used as limit switches if their function is set to “Fault” or “S

S94P01B243Parameters5.9 Compensation5.9.1 Velocity P-gain (Proportional)Proportional gain adjusts the system’s overall response to a velocity error.

S94P01B244Parameters5.9.7 Gain Scaling WindowSets the total velocity loop gain multiplier (2n) where n is the velocity regulation window. If, during

S94P01B245Operation6 OperationThis section offers guidance on configuring the PositionServo drive for operations in torque, velocity or position

S94P01B246OperationTo configure drive:1. Ensure that the control is properly installed and mounted. Refer to Section 3 for installation instructions.2

S94P01B247Operation6.3 Position Mode Operation (gearing)In position mode the drive will follow the master reference signals at the P3. 1-4 inputs. Th

S94P01B23Contents5.9 Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .435.9.1 Veloc

S94P01B248Operation6.5 Enabling the PositionServoRegardless of the selected operating mode, the PositionServo must be enabled before it can operate.

S94P01B249OperationWARNING!During both the Velocity and Position tuning procedures the PositionServo drive will perform rotation (motion) of the mo

S94P01B250Operation4) Compile and Download Indexer Program to DriveIn the [Indexer program] folder in MotionView, select [Compile and Load with Sourc

S94P01B251OperationGain Scaling set OKMotor Velocity resembles Commanded Velocity. Motor Velocity is reasonably close with a slight overshoot.Gain Sca

S94P01B252OperationStep 2: Fine Tuning the Velocity P-GainSlowly alter the Velocity P-Gain (increase and decrease) and observe the motor velocity wave

S94P01B253OperationI-Gain set OKNo error between Commanded steady state velocity and Actual steady state velocity with excellent stability.I-Gain set

S94P01B254OperationGood Current TraceUniform current pulses during accel/deceleration and stable current during steady state velocity.Instability in D

S94P01B255Operation2) Importing the Position Tuning ProgramBefore importing the Position Tuning Program, the example programs must be installed from

S94P01B256Operation5) Oscilloscope SettingsOpen the [Tools] folder]in MotionView and select the [Oscilloscope] tool. Click the [Set on Top] box to pl

S94P01B257OperationIncreased Position P-GainShows improvement to the maximum error and the final positioning accuracyAt some point while increasing the

S94P01B24Safety InformationAll safety information given in these Operating Instruction has a similar layout:Signal Word! (Characteristics the severity

S94P01B258OperationStep 3: Setting the Position I-Gain and Position I-Gain LimitThe objective here is to minimize the position error during steady sta

S94P01B259Operation8) Setting the Position Error LimitsLook at the position error waveform on the oscilloscope. Note the maximum time that position e

S94P01B260Reference7 Quick Start ReferenceThis section provides instructions for External Control, Minimum Connections and Parameter Settin

S94P01B261ReferenceOptional Parameter Settings:These parameters may require setting depending on the control system implemented.Folder / Sub-Folder Pa

S94P01B262ReferenceMandatory Parameter Settings:These parameters are required to be set prior to running the drive.Folder/Sub-Folder Parameter Name De

S94P01B263Reference7.3 Quick Start - External Positioning ModeMandatory Signals:These signals are required in order to achieve motion from the motor.

S94P01B264ReferenceMandatory Parameter Settings:These parameters are required to be set prior to running the drive.Folder / Sub-Folder Parameter Name

S94P01B265Diagnostics8 Diagnostics8.1 DisplayThe PositionServo 940 drives are equipped with a diagnostic LED display and 3 push buttons to select di

S94P01B266Diagnostics8.2 LEDsThe PositionServo has five diagnostic LEDs mounted on the periphery of the front panel display as shown in th

S94P01B267DiagnosticsFault Code (Display)Fault DescriptionF_19Arithmetic ErrorRegister overflowStatement executed within the Indexer Program results in

S94P01B25Introduction1 IntroductionThe PositionServo line of advanced general purpose servo drives utilizes the latest technology in pow

S94P01B268Diagnostics8.3.2 Fault EventWhen drive encounters any fault, the following events occur:• Drive is disabled• Internal status is set to “F

S94P01B269DiagnosticsProblemReady LED is on but motor does not runSuggested SolutionIf in Torque or Velocity mode:Reference voltage input signal is no

S94P01B270Notes

S94P01B271Notes

S94P01B272Notes

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S94P01B26Introduction1.2 Scope of SupplyScope of Supply Important•1Model940ServotypeE94P...•1UsersManual(English)•1MotionViewCDROMi

S94P01B27Technical Data2 Technical Data2.1 Electrical CharacteristicsSingle-Phase ModelsType Mains Voltage (1)1~ Mains Current (doubler)1~ Mains Cur