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8400 BaseLine C Inverter Drives

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L-force Drivesefesotomasyon.com - Lenze

8400 BaseLine C | Software ManualOverview of the technical documentation for Inverter Drives 8400

2 L Firmware 03.00 - DMS EN 1.2 - 11/2009

Overview of the technical documentation for Inverter Drives 8400

Project planning, selecting & ordering Legend:

8400 Hardware Manual Printed documentation

Catalogue Online documentation(PDF/»Engineer« online help)

Mounting & wiring Abbreviations used

MA 8400 BaseLine/8400StateLine/HighLine BA Operating Instructions

MA for communication module KHB Communication Manual

MA for extension module MA Mounting Instructions

MA for safety module SW Software Manual

MA for accessories

Parameter setting

BA keypad

SW 8400 BaseLine C This documentation

SW 8400 BaseLine D

SW 8400 StateLine

SW 8400 HighLine

KHB for communication module

Commissioning of the drive

Commissioning guide

SW 8400 StateLine/HighLine

Chapter "Commissioning"

Chapter "Oscilloscope"

Chapter "Diagnostics & fault analysis"

Networking

KHB for communication medium used

efesotomasyon.com - Lenze

Firmware 03.00 - DMS EN 1.2 - 11/2009 L 3

8400 BaseLine C | Software ManualContents

Contents

1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1.1 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1.2 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1.3 Terminology used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1.4 Definition of notes used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

2 Product description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2.1 Functions of the frequency inverter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2.2 Memory module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2.3 Communicating with the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.3.1 Going online via diagnostic adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.4 Internal Keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

3 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

3.1 Before switching on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

3.2 Parameter setting and diagnosing directly at the controller. . . . . . . . . . . . . . . . . . . . . . . . 23

3.2.1 Menu structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

3.2.2 Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3.2.3 Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

3.3 Test commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

3.3.1 Test commissioning with keypad control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

3.3.2 Test commissioning with terminal control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

3.4 Commissioning of the drive application with the »Engineer« . . . . . . . . . . . . . . . . . . . . . . 33

3.4.1 Observe the safety measures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

3.4.2 Open the »Engineer« . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3.4.3 Load the Lenze setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

3.4.4 Make motor settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

3.4.5 Select control source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

3.4.6 Start program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

3.4.7 Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

3.5 Password protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

3.5.1 Entry of a password not available yet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

3.5.2 Delete or change available password . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

3.5.3 Access password-protected controller without knowing the password. . . . . . 44

3.5.4 Reach password-protected menu level with knowing the password . . . . . . . . 45



4 L Firmware 03.00 - DMS EN 1.2 - 11/2009

4 Drive control (DCTRL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

4.1 Device states. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

4.1.1 "Init" state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

4.1.2 "MotorIdent" status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

4.1.3 "SafeTorqueOff" state. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

4.1.4 "ReadyToSwitchON" state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

4.1.5 "SwitchedON" state. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

4.1.6 "OperationEnabled" state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

4.1.7 Status display "Warning". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

4.1.8 "Trouble" state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

4.1.9 "Fault" state . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

4.2 Controller commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

4.2.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

4.2.2 Overview of device commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

4.2.3 Status display for device command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

4.2.4 Load Lenze setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

4.2.5 Save parameter set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

4.2.6 Load parameter set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

4.3 System block "LS_DriveInterface" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

4.4 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66


4.4.2 Saving of the parameters in the memory module. . . . . . . . . . . . . . . . . . . . . . . . . . 67

4.4.3 Handling of the memory module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

4.4.4 Non-volatile saving of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

4.4.5 Parameter set transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

4.4.6 Parameters for status display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

4.4.7 Set/remove controller inhibit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

4.5 Activate/deactivate quick stop function (QSP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71


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5 Motor control (MCTRL). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

5.1 Selection of the operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

5.1.1 V/f characteristic control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

5.1.1.1 Parameter setting of the V/f characteristic control. . . . . . . . . . . . . . . 79

5.1.1.2 Optimisation of operational performance by slip compensation . . 83

5.1.1.3 Optimisation of the Imax controller setting . . . . . . . . . . . . . . . . . . . . . . 85

5.1.2 Vector control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

5.1.2.1 Sensorless vector control (SLVC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

5.1.3 Automatic motor parameter identification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

5.2 Motor selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

5.2.1 Manual parameter setting of external motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

5.3 Selection of the switching frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

5.4 Definition of current and speed limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

5.4.1 Definition of speed limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

5.4.2 Definition of current limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

5.5 Flying restart function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101


5.6 DC-injection braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

5.6.1 Manual DC-injection braking (DCB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

5.6.2 Automatic DC-injection braking (Auto-DCB). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

5.6.3 Oscillation damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

5.7 Signal flow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

5.8 System block "LS_MotorInterface" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

5.9 Monitoring functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

5.9.1 Motor temperature monitoring with I²xt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

6 I/O terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

6.1 Analog input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

6.1.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

6.1.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

6.1.3 Using the analog input as current input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

6.1.4 System block "LS_AnalogInput". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

6.2 Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120



6.2.3 System block "LS_DigitalInput" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

6.3 Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122



6.3.3 Function block "LS_DigitalOutput". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123



6 L Firmware 03.00 - DMS EN 1.2 - 11/2009

7 System bus "CAN on board" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

7.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

7.2 General data and application conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

7.3 Communication time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

7.4 CAN signalling on the controller front panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

7.5 General information on data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

7.5.1 Structure of the CAN data telegram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

7.5.2 Communication phases of the CAN network (NMT). . . . . . . . . . . . . . . . . . . . . . . . 134

7.5.3 CAN start remote node. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

7.6 Process data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

7.6.1 Available process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

7.6.2 Transmission type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

7.6.3 Cyclic process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

7.6.4 Event-controlled process data objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

7.6.5 Identifiers of the process data objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

7.6.6 Assignment of the process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

7.7 Parameter data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

7.7.1 Identifiers of the parameter data objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

7.7.2 User data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

7.7.3 Parameter data telegram examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

7.8 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

7.8.1 Heartbeat protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

7.8.2 Emergency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

7.8.3 Heartbeat commissioning example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

7.9 Implemented CANopen objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160


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8 Error management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

8.1 Basics on error handling in the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

8.2 Drive diagnostics with the »Engineer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

8.3 Logbook . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

8.3.1 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176

8.3.2 Reading out logbook entries. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

8.4 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178

8.4.1 Setting the error response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

8.4.2 Monitoring of the device utilisation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

8.5 Error messages of the operating system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

8.5.1 Error number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

8.5.1.1 Structure of the error number (bit coding). . . . . . . . . . . . . . . . . . . . . . . 180

8.5.1.2 Error type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

8.5.1.3 Error subject area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

8.5.1.4 Error ID. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

8.5.1.5 Example for bit coding of the error number . . . . . . . . . . . . . . . . . . . . . 181

8.5.2 Reset of error message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

8.5.3 Short overview (A-Z) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183

8.5.4 Cause & possible remedies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

9 Drive Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

9.1 Overview of the software structure of the drive application function. . . . . . . . . . . . . . . 188

9.1.1 Input and output interconnection of the drive application . . . . . . . . . . . . . . . . . 189

9.1.2 Functions of the drive application "Actuating drive - speed" . . . . . . . . . . . . . . . . 190

9.1.3 Pre-assignment of the drive application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192

9.2 Interface description of the drive application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194



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10 Function library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

10.1 Function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

10.1.1 L_NSet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

10.1.1.1 Main setpoint path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

10.1.1.2 JOG setpoints. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

10.1.1.3 Setpoint inversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

10.1.1.4 Ramp function generator for the main setpoint . . . . . . . . . . . . . . . . . 202

10.1.1.5 S-shaped ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202

10.1.2 L_MPot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

10.1.2.1 Activation & control of motor potentiometer. . . . . . . . . . . . . . . . . . . . 205

10.1.2.2 Deactivation of motor potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

10.1.2.3 Save current output value after mains failure . . . . . . . . . . . . . . . . . . . 206

10.1.3 L_PCTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207

10.1.3.1 Control characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210

10.1.3.2 Ramp function generator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

10.1.3.3 Value range of the output signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

10.1.3.4 Evaluation of the output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

10.1.3.5 Deactivation of the process controller. . . . . . . . . . . . . . . . . . . . . . . . . . . 212

10.1.4 L_RLQ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213

10.1.5 LS_DisFree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214

10.1.6 LS_DisFree_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215

10.1.7 LS_DisFree_b . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216

10.1.8 LS_ParFix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217

10.1.9 LS_ParFree_b . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218

10.1.10 LS_ParFree_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219

11 Parameter reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221

11.1 Structure of the parameter descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222

11.1.1 Data type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223

11.1.2 Parameters with read-only access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223

11.1.3 Parameters with write access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224

11.1.3.1 Parameters with setting range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224

11.1.3.2 Parameters with selection list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224

11.1.3.3 Parameters with bit-coded setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225

11.1.3.4 Parameters with subcodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226

11.1.4 Parameter attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226

11.2 Parameter list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228

11.3 Table of attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287

12 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291

Your opinion is important to us. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297


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8400 BaseLine C | Software ManualAbout this documentation

Document history

1 About this documentation

This Software Manual contains information about the parameterisation of the8400 BaseLine C controller using the L-force »Engineer« and the keypad.

The information given in this Software Manual applies to the 8400 BaseLine C frequencyinverter as of the following nameplate data:

Tip!

Current documentation and software updates for Lenze products can be found onthe Internet in the "Services & Downloads" area under

http://www.Lenze.com

1.1 Document history

Danger!

The controller is a source of danger which may lead to death or severe injury of persons.

To protect yourself and others against these dangers, observe the safety instructions before switching on the controller.

Please read the safety instructions provided in the 8400 Mounting Instructions and in the 8400 Hardware Manual. Both documents are supplied with the controller.

Type Type designation Software version Important

8400 BaseLine C E84AVBCExxxxxx0 3.0

Version Description

1.0 04/2009 TD06 First edition

1.1 05/2009 TD06 Error corrections

1.2 11/2009 TD06 Changes compared to previous issue affects the parameters C018, C351, C409 and the drawings [9-2], [9-3]



8400 BaseLine C | Software ManualAbout this documentationConventions used

10 L Firmware 03.00 - DMS EN 1.2 - 11/2009

1.2 Conventions used

This Software Manual uses the following conventions to distinguish between differenttypes of information:

1.3 Terminology used

Type of information Writing Examples/notes

Variable identifier Italics By setting bEnable to TRUE...

Window The Message window... / The Options dialog box...

Control element Bold The OK button... / The Copy command... / The Properties tab... / The Name input field...

Sequence ofmenu commands

If several commands must be used in sequence to carry out a function, then the individual commands are separated by an arrow: Select FileOpen to...

Shortcut <Bold> Press <F1> to open the Online Help.

If a command requires a combination of keys, a "+" is placed between the key symbols: Use <Shift>+<ESC> to...

Hyperlink Underlined A hyperlink is an optically highlighted reference which is activated by a mouse click.

Step-by-step instructions Step-by-step instructions are indicated by a pictograph.

Term Meaning

»Engineer« Lenze PC software which supports you in "engineering" (parameterisation, diagnostics and configuration) throughout the whole life cycle, i.e. from planning to maintenance of the commissioned machine.

Application block Block for a drive application (e.g. actuating drive - speed)A drive application is a drive solution provided with the experiences and know-how of Lenze in which function blocks interconnected to a signal flow form the basis for implementing typical drive tasks.

Code Parameter used for controller parameter setting or monitoring. The term is usually called "index".

Display codes Parameter that displays the current status or value of a system block input/output.

FB Editor Function block editorGraphical interconnection tool which is provided for signal interconnections in the »Engineer« on the FB editor tab and by means of which the applications integrated in the drive can also be reconfigured and extended by individual functions.

Function block A function block can be compared with an integrated circuit that contains a certain control logic and delivers one or several values when being executed. • Each function block has a unique identifier (the instance name) and a

processing number which defines the position at which the function block is calculated during the task cycle.

Lenze setting This setting is the default factory setting of the device.

Port block Block for implementing the process data transfer via a fieldbus

QSP Quick stop

SC Operating mode: Servo Control

SLVC Operating mode: SensorLess Vector Control


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8400 BaseLine C | Software ManualAbout this documentation

Terminology used

Subcode If a code contains several parameters, the individual parameters are stored under "subcodes".This manual uses a slash "/" as a separator between code and subcode (e.g. "C118/3").The term is usually called "subindex".

System block System blocks provide interfaces to basic functions and to the hardware of the controller in the FB editor of the »Engineer« (e.g. to the digital inputs).

VFCplus Operating mode: V/f characteristic control ("Voltage Frequency Control")

Term Meaning


8400 BaseLine C | Software ManualAbout this documentationDefinition of notes used

12 L Firmware 03.00 - DMS EN 1.2 - 11/2009

1.4 Definition of notes used

The following signal words and symbols are used in this Software Manual to indicatedangers and important information:

Safety instructions

Layout of the safety instructions:

Application notes

Pictograph and signal word!

(characterise the type and severity of danger)

Note

(describes the danger and informs how to prevent dangerous situations)

Pictograph Signal word Meaning

Danger! Danger of personal injury through dangerous electrical voltageReference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken.

Danger! Danger of personal injury through a general source of dangerReference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken.

Stop! Danger of property damageReference to a possible danger that may result in property damage if the corresponding measures are not taken.

Pictograph Signal word Meaning

Note! Important note to ensure trouble-free operation

Tip! Useful tip for easy handling


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8400 BaseLine C | Software ManualProduct description

Functions of the frequency inverter

2 Product description

2.1 Functions of the frequency inverter

Memory module for parameter transfer and quick and easy device replacement

Approved for use in balanced supply systems (TN systems)

Wide input voltage range up to 500V (+10%) for a worldwide application without using additional transformers

Approvals CE, UL

High overload capacity up to 200% for generating high breakaway torques and for a fault-tolerant operation

Integrated brake transistor (brake chopper) only available with devices operating at 400 V / 500 V.

Integrated interface for diagnostics via PC with extensive diagnostic options

Integrated protective functions

Adjustable warning levels for a simplified and safe machine maintenance (e.g. motor operating time)

Adjustable password to protect your parameter setting

Saving of all parameters at the push of a button

Relay output

DC connection

Integrated EMC shield connections for control cables


8400 BaseLine C | Software ManualProduct descriptionMemory module

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2.2 Memory module

The memory module is a memory location for the drive parameters of the 8400 BaseLine.The pluggable design especially serves to

restore an application after a device has been exchanged.

duplicate identical drive tasks within the 8400 BaseLine frequency inverter series.

Tip!

For duplication, we recommend to use the optionally available EPM Programmer.

Exchange of the memory module

By default, the memory module is positioned in the EPM slot at the front of the controller(see arrow).

To avoid confusion with other Lenze products, the memory modules of the 8400 BaseLinefrequency inverter series are grey. The exchange of these memory modules among eachother is possible without any problems.

More details on the handling can be found in the 8400 hardware manual which is part ofthe data medium included in the scope of supply.

[2-1] Positioning of the grey memory module at the front of the 8400 BaseLine

Danger!

After switching off the mains, wait three minutes before working on the controller. If you want to remove the memory module, make sure that the controller is deenergised.


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Communicating with the controller

2.3 Communicating with the controller

The following interface can be used to build up communication between PC and controller:

Diagnostic interface X6/Going online via diagnostic adapter

2.3.1 Going online via diagnostic adapter

For the initial commissioning of the controller, you can use, for instance, the diagnosticadapter offered by Lenze:

Note!

Please observe the documentation for the diagnostic adapter!


8400 BaseLine C | Software ManualProduct descriptionCommunicating with the controller

16 L Firmware 03.00 - DMS EN 1.2 - 11/2009

Preconditions:

The diagnostic adapter is connected to diagnostic interface X6 on the controller and to a free USB port on the PC.

The driver required for the diagnostic adapter is installed.

The controller is supplied with mains power via X100.

How to build up an online connection via the diagnostic adapter:

1. Select the 8400 BaseLine controller to which you want to build up an online connection in the Project view of the »Engineer«:

2. Click the icon or select the command OnlineGo online.

• If no online connection has been configured for the selected controller so far, the Device assignment offline devices dialog box will be displayed:

• The dialog box also appears if the online connection is built up via the command OnlineGo online instead of using the toolbar icon.

3. Select the "Diagnostic adapter" entry from the Bus connection list field.

Stop!

If you change parameters in the »Engineer« while the controller is connected online, the changes will be directly accepted by the controller!


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Communicating with the controller

4. Click Find device access path to find the controller in the selected bus system.

• The Address assignment dialog box appears:

5. Select the corresponding controller from the Field devices located list field.

6. Click OK.

• The Address assignment dialog box is closed and the selected Device access path (e.g. "DDCMP:/") is indicated in the Device assignment offline devices dialog box.

7. Click Connect.

• The dialog box is closed and the online connection with the controller is built up.

• When an online connection with the controller exists, this is indicated in the Project view - by a yellow icon and- by the word "ONLINE" in the status bar:


8400 BaseLine C | Software ManualProduct descriptionCommunicating with the controller

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Now you can use the icons and to easily build up and end a connection with thecontroller. The communication settings are only required when communication with acontroller is built up for the first time.

If you want to change the existing configuration, select the command OnlineGo online to open the Device assignment offline devices dialog box and change the settings.

With an online connection, the »Engineer« displays the current parameter settings of the controller with a yellow background colour.

When the background colour changes from yellow to red, the connection with the controller has been interrupted.


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Internal Keypad

2.4 Internal Keypad

Display elements and control panel

Symbol Information Meaning

4-character display with LEDs (A ... F)

A orange Set current/torque limit is reached

B yellow Minus sign for identifying the negative numbers with more than 3 digits.

C yellow User-LED, can be configured via C621/42

D red See Signalling of the LEDs "D" and "E" ( 25)

E green

F yellow Direction of rotation, CCW rotation

Off Rotational direction CW

blinking Commanded direction does not (yet) equal the actual direction - for example during reversing

ESC Escape key back

↵ Enter key Short: Next / confirmation3 seconds: Save all parameters

Navigation key, upwards

Short: Navigation in the menu level and parameter level and parameter editingLong (> 2 seconds): Fast scrolling function

Navigation key, downwards

8888B

ESC

C

DEF

A

1


8400 BaseLine C | Software ManualProduct descriptionInternal Keypad

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8400 BaseLine C | Software ManualCommissioning

Before switching on

3 Commissioning

3.1 Before switching on

In order to prevent injury to persons or damage to material assets, check

before connecting the mains voltage:

– Wiring for completeness, short circuit, and earth fault

– The "emergency stop" function of the entire system

– The motor circuit configuration (star/delta) must be adapted to the output voltage of the controller

– The in-phase connection of the motor

the setting of the most important drive parameters before enabling the controller:

– Is the V/f rated frequency adapted to the motor circuit configuration?

– Are the drive parameters relevant for your application set correctly?

– Is the configuration of the analog and digital inputs and outputs adapted to the wiring?

Danger!

• Continuous operation at low field frequency with rated motor current may lead to thermal overload when self-ventilated machines are used. If required, motor temperature monitoring should be activated with C120

Motor temperature monitoring with I²xt ( 111).

• If an asynchronous motor with the nameplate data 400 V /230 V is delta-connected to a frequency inverter for 400 V mains supply voltage, set code C015 (V/f base frequency) to 87 Hz.


8400 BaseLine C | Software ManualCommissioningBefore switching on

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Tip!

In the Lenze setting, the "linear V/f characteristic" mode is set as motor control. Theparameter settings are preset so that, if the frequency inverter and the 50 Hzasynchronous machine match in terms of power, the controller is immediatelyready for operation without any further parameter setting expense and the motoroperates satisfactorily.

Recommendations for the following application cases:

• If the frequency inverter and the motor differ widely in terms of power, set Imax ( C022) to 2.0 IN(motor).

• If a high starting torque is required set Vmin boost ( C016) in motor idle state so that the rated motor current ( C058) flows at a field frequency of f = 3Hz.

• For noise optimisation set the switching frequency ( C018) to "3" (16 kHzsin var).

• If you need a high torque at low speed we recommend the control mode “vector control".


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Parameter setting and diagnosing directly at the controller

3.2 Parameter setting and diagnosing directly at the controller

Parameter setting

The front of the controller is provided with control elements which serve to access theparameters (also called codes) stored in the controller.

An overview with a corresponding description of the codes can be found in chapter Parameter reference ( 221).

An overview of the menu structure of the internal keypad can be found in chapterMenu structure ( 24).

Diagnosing

The optical display of the internal keypad shows important status information of thecontroller by LEDs. The positions of the coloured LEDs are marked on the housing by letters.

More information on diagnostics options and messages can be found in the chaptersDiagnostics ( 25)

Messages ( 26)

The different states of the controller are described in chapterDevice states ( 48)

Tip!

Extensive parameter settings and configurations should be carried out with the L-force »Engineer«. If you want to use the L-force »Engineer«, the online help and thesoftware documentation for the controller will support you.


8400 BaseLine C | Software ManualCommissioningParameter setting and diagnosing directly at the controller

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3.2.1 Menu structure

Note!

• After switching on the controller, the internal keypad performs a quick self-test. All segments of the display flash for approx. 3 seconds. After that the display switches to the display which indicates the setpoint speed of the motor. The internal keypad is now operational.

• When the password protection is activated and no password is input, only the user menu is freely accessible. All other functions require the correct password.

Menu-0- , Access to all parameters selected by the user under C517.-1- , Access to all drive parameters.-2- , Access to parameters for fast commissioning with terminals.-3- , Access to parameters for fast commissioning with internal keypad.-4- , Access to motor control parameters.-5- , Access to diagnostic parameters.

-0-

� �

�

-1-

PASS

CAL

CAL/Stop

CAl/Err

bF

CL

FCL

Fst

dEC

br

PASS5 sec.

00010000

� �

....

....

� �

....

�

�

....

� �

�

....

��

� �

....

� �

-5-......

-2-

C_ _ _C_ _ _ c_ _ _c_ _ _

Status Password Menu Code Subcode Action


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Parameter setting and diagnosing directly at the controller

3.2.2 Diagnostics

[3-1] Signalling of the LEDs "D" and "E"

Symbol Information Meaning

4-character display with LEDs (A ... F)

A orange Set current/torque limit is reached

B yellow Minus sign for identifying the negative numbers bigger than 4 characters when the rotational direction has been reversed

C yellow User LED, configurable via C621/42, user-defined LED status

D red DRIVE ERROR, see the following table

E green Drive ready (no error occurred), see the following table

F yellow Direction of rotation, CCW rotation

Off Rotational direction CW

blinking Commanded direction is not equal to actual direction - for example during reversing

ESC Escape key Abort

↵ Enter key Confirmation / save parameter

upwards Short pressing: Navigation on menu and parameter level, parameter processing, long pressing (> 2 seconds): Quick scroll function

downwards

LED E = DRV-RDY LED D = DRV-ERR Status

OFF OFF "Init" state

OFF "ReadyToSwitchON" state

OFF "SwitchedON" state

OFF "OperationEnabled" state

Status display "Warning"The controller is ready to switch on, switched on or the operation is enabled and a warning is indicated.

OFF "Trouble" state

OFF "Fault" state

OFF "SystemFault" status

The symbols used to represent the LED states have the following meanings:

LED flashes once approx. every three seconds (slow flash)

LED flashes once approx. every 1.25 seconds ( flash)

LED flashes twice approx. every 1.25 seconds (double flash)

LED blinks every second

LED is permanently on

8888B

ESC

C

DEF

A

1


8400 BaseLine C | Software ManualCommissioningParameter setting and diagnosing directly at the controller

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3.2.3 Messages

The current status of the controller is constituted via

ƒ six coloured LEDs, see Signalling of the LEDs "D" and "E" ( 25)

ƒ messages:

Message Meaning

PASS Password input

CAL blinking Identification is in progress. Operation is not enabled yet.

CAL / Stop alternatively blinking Identification is ready to start

CAL / Err alternatively blinking Identification is not ready to start. Either C088, or C089, or C090 is 0.

bF blinking Identification error. Drive ID stored in EMP does not match the drive ID stored in the controller.

CL constant CL: ClampCurrent limit set in C022 is reached.

FCL constant Fast current limit value (higher than value set in C022) is reached

FSt constant Flying start is in progress

dec constant Deceleration is temporarily suspended because of higher bus voltage

br flashes during the hold time of the DC brake

DC brake is in progress


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 27


Test commissioning

3.3 Test commissioning

Only a few parameters need to be adapted for the drive. Afterwards, the drive applicationcan be immediately controlled via the digital and analog inputs of the controller.

Tip!

For initial commissioning of the frequency inverter, the drive application ispreconfigured with the terminal control in the Lenze setting.

Further parameters can be used to assign the settings of the actual values to otherinterfaces.

Danger!

The controller is a source of danger which may lead to death or severe injury of persons.

To protect yourself and others against these dangers, observe the safety instructions before switching on the controller.

Please read the safety instructions provided in the 8400 Mounting Instructions and in the 8400 Hardware Manual. Both documents are supplied with the controller.

Commissioning step Action

Connect I/Os Enter the I/O connection • C007: Selection from table (-->terminals, 10)

Parameterise application Set speed setpoint • C011: Define reference speed in [rpm] • C012: Set acceleration time in [s] • C013: Set deceleration time in [s] • C105: Set QSP deceleration time in [s] • Further codes, e.g. jog values, TI times, brake management, etc.

Saving and testing Save parameter set ( 60) • Save parameter set 1 (-->C002/7 = 1) • Save all parameter sets (-->C002/11 = 1) • Save all parameter sets at the push of a button • Save all parameter changes automatically with mains failure protection

(---> C141/1)


8400 BaseLine C | Software ManualCommissioningTest commissioning

28 L Firmware 03.00 - DMS EN 1.2 - 11/2009

Target of the "test commissioning"

For test and demonstration purposes, the motor is to start to rotate with as few wiring andsettings as possible in best time.

Keypad control or terminal control

First decide how the controller is to be controlled during test commissioning:

Test commissioning with keypad control ( 29)

Test commissioning with terminal control ( 31)

Tip!

The operation and commissioning of the internal keypad is described in theHardware Manual of the 8400 frequency inverter. The index of the CD attached tothe device as scope of supply contains the Hardware Manual saved as PDF.

A detailed description of how to use the integrated keypad can be found in thismanual in the chapter

Parameter setting and diagnosing directly at the controller ( 23)


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 29


Test commissioning

3.3.1 Test commissioning with keypad control

Commissioning steps

1. Wire the power connections

Make use of the Mounting Instructions supplied with the frequency inverter to wire the power terminals according to the requirements of your device.

2. Wire the control connections

3. If you are sure that the state of the frequency inverter is as delivered from the manufacturer (Lenze setting), you can skip this commissioning step.If not, restore the Lenze setting on the frequency inverter:

[3-2] Setting / resetting the Lenze setting

Digital inputs at terminal X4 Assignment Info

RFR • Controller enableRFR = high

• Error resetHigh → low (edge-controlled)

• Select menu -1- (all parameters) • Press "Enter" key • Set code C002 • Press "Enter" key • Set subcode C001 • Press "Enter" key • Set value "01" • Press "Enter" key

DI1DI2DI3 RFRX4 24EDO1 12I AR A1U GNDDI4

-0-

� �

�

PASS5 sec.

0000

� �

....

....

� �

....

�

�

....

�

....

��

....C002 c001 01

-1-

8888




30 L Firmware 03.00 - DMS EN 1.2 - 11/2009

4. Set keypad control

5. Enable the controller:Set terminal X4/RFR to HIGH potential (X4/12I).

6. Use the keypad to change the motor velocity or the motor speed by selecting different fixed setpoints:

7. Save the settings with mains failure protection by entering the value "1" in code C002, subcode 7.

• Select menu -3- (quick commissioning with integrated keypad) • Press "Enter" key • Set code C007 • Press "Enter" key • Set value "20" • Press "Enter" key

Internal Keypad Code Subcode Motor speed

C728 3 CCW rotation:-199.9 % ..... 0 (from C011)

CW rotation:0 ... +199.9 % (from C011)

C051 - Observe • the actual speed value:

C051 • appearing messages

Diagnostics ( 25)

-0-

� �

�

-1-

PASS5 sec.5 sec.

0000

� �

....

....�

�

�

��

�

�

�

�

....

��

C...

C007

-2-

� �

� �

....

C002

0020-3-

0000


� �

��

C051

C728

199.9

�

�

....

�

�

c003 -199.9


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 31


Test commissioning

3.3.2 Test commissioning with terminal control

Commissioning steps

1. Wire the power connectionsMake use of the Mounting Instructions supplied with the frequency inverter to carry out the power connections correctly and in accordance with the requirements of your device.

2. Wire the control connections

3. If you are sure that the state of the frequency inverter is as delivered from the manufacturer (Lenze setting), you can skip the following step.If not, restore the Lenze setting on the frequency inverter:

[3-3] Setting / resetting the Lenze setting

Wiring of the analog input at X4 Assignment Terminal control

A1U Setpoint selection10 V (= 100 %):1500 rpm (for 4-pole motor)

Interconnection of the digital inputs at X4 Assignment Terminal control

DI1 ... DI4: All active = high

RFR • Controller enable: RFR = high • Error reset:

High → low (edge-controlled)

DI1 DI1: Fixed frequency 1 ... fixed frequency 3, DI2: Fixed frequency 2 ... fixed frequency 3see table [3-1] ( 32)

DI2

DI3 DCB

DI4 Direction of rotation counter-clockwise/clockwise (CCW/CW)

• Select menu -1- (all parameters) • Press "Enter" key • Set code C002 • Press "Enter" key • Set subcode C001 • Press "Enter" key • Set value "01" • Press "Enter" key

DI1DI2DI3DI4 RFRX4 24EDO1 12I AR A1U GND

0 10V��

1k

10k

�

��

�

AR A1U GNDDI1DI2DI3 RFRX4 DO1 12I24E DI4

-0-

� �

�

PASS5 sec.

0000

� �

....

....

� �

....

�

�

....

�

....

��

....C002 c001 01

-1-

8888




32 L Firmware 03.00 - DMS EN 1.2 - 11/2009

4. Enable the controller:Set terminal X4/RFR to HIGH potential (X4/12I).

5. Use the potentiometer to change the motor velocity or the motor speed by selecting different fixed setpoints:

[3-1] Selection of fixed motor speeds via digital input terminals

6. Save the settings with mains failure protection by entering the value "1" in code C002, subcode 7.

DI2 DI1 Motor speed

0 0 Setpoint from potentiometer

0 1 40 % of C011 (reference speed)



Internal Keypad Code Subcode Motor speed

C051 - Observe • the actual speed value:

C051 • appearing messages

Diagnostics ( 25)

-2-

� �

C...

C051 xxxx


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 33


Commissioning of the drive application with the »Engineer«

3.4 Commissioning of the drive application with the »Engineer«

The focus here is to commission a simple system constellation with a few components (seethe illustration below). During the step-by-step instructions, you will get more informationwhich is suitable for commissioning higher requirements.

[3-4] Block diagram for wiring the commissioning example for the drive application

Tip!

Execute the following subchapters step by step.

• Control terminals at plug connector X4:– GND, ground potential for analog and digital signals– AR, reference voltage (10 V) for analog signals– A1U, input 1 for analog signals (slider of the setpoint potentiometer R) – RFR, controller enable (CINH)

• Parameter setting and diagnostic terminal X6:– Communication between PC and controller

VU W X4X6

RFR 12IA1UARGND

M3~

i

RFR

8400 BaseLine

X61

X6

R

X4


8400 BaseLine C | Software ManualCommissioningCommissioning of the drive application with the »Engineer«

34 L Firmware 03.00 - DMS EN 1.2 - 11/2009

When the device is commissioned using the »Engineer«, commissioning is carried out bymeans of dialogs and graphic user interfaces.

[3-5] The "Application parameter" tab as an example of a graphic user interface

3.4.1 Observe the safety measures

Observe all required safety measures before switching on the device. See also Beforeswitching on ( 21) .


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 35



3.4.2 Open the »Engineer«

When the »Engineer« is open, press the function key F1 to access the online help.

1. Execute start-up wizard

Using the start-up wizard and the information contained in the online help you first create a project in the »Engineer«

2. Establish an online connection

You establish a connection to the controller and its connected components, for instance via a diagnostic adapter.

When an online connection between the PC and the device has been established, there will be a colour change of the symbols in the project tree (left arrow) and a corresponding lettering in the lower part of the working area (right arrow). Click on the highlighted symbols on the left:

[3-6] Reference to the online connection in the project tree and the working area

Note!

In the general part of the online help basic operations are described in detail. Please refer to the following chapters and make implementations as required:

• Chapter "Working with projects", e. g. "Creating a new project (select a component from the catalogue)", or "Creating a new project (Start search for connected devices)""

• Chapter "Project structure", e. g. select a motor, if possible, carry out motor identification run

• Chapter "Device functions in the online mode", e. g. "Setting a communication path and going online", establish connection between PC - device



36 L Firmware 03.00 - DMS EN 1.2 - 11/2009

3.4.3 Load the Lenze setting

In order to be able to take a defined state as a basis for this commissioning, you have toload the Lenze setting.

Start the action with C002/1 = 1.

Tip!

How to load the Lenze setting using the »Engineer« is described in chapter LoadLenze setting ( 60).

3.4.4 Make motor settings

Enter the data of your motor into the field marked with the arrow if it is not a power-adapted standard motor:

Note!

After the Lenze setting has been loaded, the "action ready" status is reported with C002/1 = 0.


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 37



3.4.5 Select control source

In this section, the origin of the signal source of the main setpoint is set. The selection ofthe signal source defines how the set technology application is to be controlled. On the"Application parameter" tab, for instance, (or with code C007) the main setpoint can bedefined as constant value via a digital input (terminal control).

The following options are available:

Terminal control

Control via keypad / PC

– Selection 20, keypad

– Selection 21, PC

Control via system bus

– Selection 30, CAN

In the commissioning example, the control source "Terminals 0" (Lenze setting) is selected (see arrow above).

Important parameters

Selection Name DI1 DI2 DI3 DI4

10 Terminal 0 JOG 1/3 JOG 2/3 DCB CCW

12 Terminal 2 JOG 1/3 JOG 2/3 QSP CCW

14 Terminal 11 CCW DCB MPotUp MPotDown

16 Terminal 16 JOG 1/3 JOG 2/3 CwQSP CcwQSP

Parameter INFO

C007 Select control mode

C242 Operating mode, selection for PID controller

C806 Use motor potentiometer yes / no



38 L Firmware 03.00 - DMS EN 1.2 - 11/2009

The device inputs and outputs called system blocks at Lenze are the interface of theapplication towards the peripherals of the controller, e.g. the digital and analog I/Os ("LS_DigitalInput, LS_DigitalOutput, LS_AnalogInput").

This is how you can follow, for instance, the origin of the main setpoint in the »Engineer«.Based on the "Application parameter" tab shown before, select the following path:

Click the "Signal flow" button. The dialog box "Overview --> Signal flow" appears (see below). Here you find the "Analog input 1" button (see marking). By the selection of the signal source (terminal control 0) this input is entered as source of the main setpoint:

[3-7] Signal sources of the TA "Speed closed-loop control", path: "Application parameters" tab --> "Signal flow" button

Click the "Main setpoint" button. A dialog window opens which contains further details on the origin(terminal X4/A1U) and parameter setting (offset, C026 / gain, C027):


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 39



An overview of the inputs and outputs assigned as a function of the control source can befound in a configuration table in the chapter Pre-assignment of the drive application( 192).

The configuration table contains a selection for the most frequently used signals so that aquick commissioning with only a few operator control action is possible. If the describedpre-assignment of the application block is not suitable for the drive task, select code C007= "0" to implement an individual configuration by means of the FB editor.

This allows for easy commissioning of the application, e.g. together with the setpoint boxavailable in the Lenze accessories program.

3.4.6 Start program

RFR = TRUE: Enable controller

The setpoint potentiometer ("R", see graphics [3-4]) serves to vary the speed.



40 L Firmware 03.00 - DMS EN 1.2 - 11/2009

3.4.7 Diagnostics

Why does the motor not rotate?

If, contrary to expectations, the motor does not carry out a movement after the lastcommissioning step, we recommend the following systematic means to find out thereason for this.

1. Check the signal flow for plausible setpoints

2. Check setpoint sources

– Click the "Drive control" button (see illustration) of the "Diagnostics" tab

The view that opens is a complete summary of all control sources which have an influence on the controller:

[3-8] Diagnostics options for drive control

Tip!

This information can also be displayed by the internal keypad. For this call thecodes specified in the header of the table.

Control signals via CAN control word Control sources which set the drive to controller inhibit Control sources which set the drive to quick stop / Diverse status information


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Password protection

3.5 Password protection

The controller offers the option to protect the unauthorised access to the menu level byassigning a password. The following sections describe how to create, change, or delete thepassword protection and how to access the menu level via the password:

Entry of a password not available yet (delivery status) ( 42)

Delete or change available password ( 43)

Access password-protected controller without knowing the password ( 44)

Reach password-protected menu level with knowing the password ( 45)

For this proceed step by step. The graphics shown above contain a program overview andthe required steps.

The meaning of the menus and the related menu levels are described in the chapter Menu structure ( 24).


8400 BaseLine C | Software ManualCommissioningPassword protection

42 L Firmware 03.00 - DMS EN 1.2 - 11/2009

3.5.1 Entry of a password not available yet

This information is required if you want to create the password protection for e.g. acontroller in default status.

[3-9] Enter password and confirm it

[3-10] Save password with mains failure protection

8888

-0-

� �

-1-

PASS

PASS

5 s

0000

� �

....

8888PASS

� ��

� ��

��

C... c...

C094 c007

C002 c001

00


Action Display INFO Graphics

Mains on 00 After the mains has been switched on, "00" is displayed [3-9]

↵ -0- Without password protection you have free access from here to all parameters and menu levels

-1-

↵ C002

C094 Press until C094 appears

↵ 00 00 is blinking, i.e. entry is possible

<8888> Entry of a password from 01 .... 9999

↵ C094 Password confirmed

01

� ��

� ��

��

C... c...

C094 c007

C002 c001

00


Action Display INFO Graphics

C002 Scroll down until C002 has been reached [3-10]

↵ c001 Subcode level reached

C007

↵ 00 00 is blinking

"01" 01 Enter "1", confirm with ↵ , i.e. password is saved with failure protection


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 43


Password protection

3.5.2 Delete or change available password

[3-11] Call available password

-0-

� �

-1-

PASS

0.5 s

0000

8888

� �

00PASS

� ��

� ��

C... c...

C094 c007

C002 c001

8888


Action Display Info Graphics

Mains on 00 [3-11]

↵ ... PASS .... 0000

First PASS appears, then 0000

<8888> Enter password

↵ -0- Ready to delete or change the password

-1-

↵ C002

C094 Press until C094 appears

↵ <8888> Available password is blinking

<8888>0000

New password: Set with orDelete password: Set with to "0000"

↵ C094 Password confirmed

Save Save password with mains failure protection ( 42) [3-10]



44 L Firmware 03.00 - DMS EN 1.2 - 11/2009

3.5.3 Access password-protected controller without knowing the password

The codes of the password-protected controller can only be accessed in a restricted way.The accessible codes can be defined with C517.

[3-12] Limited parameter range without knowing the password

-0-

� �

...

PASS

0.5 s

0000

8888

� �

00PASS

� �

C...

C517

C051


Action Display INFO

Mains on 00

↵ ... PASS .... 0000 First PASS appears, then 0000

↵ <8888> The password cannot be entered correctly since the password is not known or has been entered wrongly.Only those codes appear which have been enabled for the "unauthorised" access. The range of these codes can be defined in the 20 subcodes of C517.The Lenze setting of C517 contains the following codes:C051, C053, C054, C061, C137, C011, C039, C012, C013, C015, C016, C022, C120, C087, C099.


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 45


Password protection

3.5.4 Reach password-protected menu level with knowing the password

[3-13] Reaching the menu level with knowing the password

-0-

� �

...

PASS

0.5 s

0000

8888

� �

00PASS

� �

C...

C002


Action Display INFO

Mains on 00

↵ ... PASS .... 0000 First PASS appears, then 0000

<8888> Enter password

↵ -0- All menu levels can be accessed without any restrictions.



46 L Firmware 03.00 - DMS EN 1.2 - 11/2009


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 47

8400 BaseLine C | Software ManualDrive control (DCTRL)

4 Drive control (DCTRL)

This chapter gives information about the device function "Drive control DCTRL". This devicefunction serves to control the controller into defined states and retrieve status informationvia the system block LS_DriveInterface:

The device displays status information in different ways

– as optical display via front LEDs to signalise the operating status,see chapter

Diagnostics ( 25).

– as text message in the Engineer.

– as process signal at the output of the system block LS_DriveInterface

– as diagnostic parameter

The operating states of the controller are based on the DS402 standard. Device states ( 48)


8400 BaseLine C | Software ManualDrive control (DCTRL)Device states

48 L Firmware 03.00 - DMS EN 1.2 - 11/2009

4.1 Device states

The state machine controls the controller into certain states (see diagram below). Thearrows between the device states indicate the starting and end points of the possible statechanges.

The current device state can be indicated via code C137.

[4-1] Device state machine

Pulse inhibit (grey field)

Can be reached from all states.

"Warning" contradicts the definition of a device state. In fact, it is a message which is to call attention to the device state the warning exists for."Warning" can occur in parallel to other states.

ReadyToSwitchON

3

Init

1

SafeTorqueOff10

SwitchedOn

4OperationEnabled

5

Trouble

7

Fault

8

�

Warning

6Warning

6

MotorIdent2

�

�

Power on


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 49


Device states

4.1.1 "Init" state

In this state

– the controller is immediately after switching on mains power.

– the operating system is initialised.

– all device components (memory module, power section, etc.) are identified.

The inverter is inhibited, i.e. the motor terminals (U, V, W) of the inverter are deenergised.

The digital and analog inputs are not yet evaluated at this time.

The communication interfaces (e.g. diagnostic interface) are not yet working.

The application is not yet processed.

The monitoring functions are not yet active.

The controller cannot be parameterised yet and no controller commands can be executed.

When the power section is identified, it is checked first if it is switched on or if the requiredvoltage is within the tolerance zone. In case of undervoltage in the DC bus, the controllerchanges to the "Trouble" or "Fault" state depending on the configuration.

LED DRIVE READY LED DRIVE ERROR Display in C137

OFF OFF 1: Initialisation active



50 L Firmware 03.00 - DMS EN 1.2 - 11/2009

4.1.2 "MotorIdent" status

8400 frequency inverters are provided with a function for automatic identification ofmotor parameters, see functional description Motor data identification .

The "MotorIdent" device state can only be reached by the "SwitchON" device state andjumps back to it after the action is completed.

The following illustration shows under which conditions the state change is possible orcompleted:

[4-2] Conditions for the state change of the motor identification

While the motor parameters are being identified,

the application remains active

all system interfaces (IOs, bus systems, etc.) remain active

error monitoring remains active

the inverter is controlled independent of the setpoint sources.

Detailed description: Automatic motor parameter identification ( 93)

4.1.3 "SafeTorqueOff" state


OFF MotorIdent

Stop!

During motor parameter identification, the controller does not respond to setpoint changes or control processes, (e.g. speed setpoints, QSP, torque limitations).

ReadyToSwitchON

3

C0002/23 = 1CINH = 1

MotorIdent2

&

Danger!

This state is only possible together with a connected safety module and an existing power section supply.


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 51


Device states

4.1.4 "ReadyToSwitchON" state

This is the device state of the controller after the initialisation is completed!

The bus systems are running and the terminals and encoders are evaluated.

The monitoring modes are active.

The controller can be parameterised.

The application is executable.

Auto-start option C00142 = 1: Auto restart inhibited after power-up

When the auto-start option C00142 = 1 (inhibit when "Mains on", Lenze setting) has been selected, the controller inhibit must always be cancelled after power-up so that the controller can change from the "Device is ready to switch on" to the "Device is switched on":

[4-3] State change when auto restart is inhibited (C00142 = "1")


OFF ReadyToSwitchON

Controller pulses are inhibitedController pulses are enabled

With controller inhibit at power-upWithout controller inhibit at power-up

RFR�

� �

RFR

RFR

RFR

t

t

�

Initialisation Switched on OperationReady to switch on




52 L Firmware 03.00 - DMS EN 1.2 - 11/2009

Auto-start option C00142 = 0: Auto restart is enabled after power-up

The following illustration shows the state changes for the auto-start option C00142 = 0 as a function of the controller inhibit:

[4-4] State change when auto restart is enabled (C00142 = "0")

Tip!

Code C00142 can also be used to configure that the controller inhibits the auto-start function if

• there is a "Trouble" error status or

• a "Fault" error status or

• an undervoltage has been detected

Controller pulses are inhibitedController pulses are enabled

With controller inhibit at power-upWithout controller inhibit at power-up

RFR�

� �

RFR

RFR

RFR

t

t

�


OperationInitialisation Switched onReady to switch on


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 53


Device states

4.1.5 "SwitchedON" state

This is the drive's device state if the DC-bus voltage is applied and the controller is stillinhibited by the user (controller inhibit). The reason for the controller inhibit (CINH) isdisplayed in C00158.

The bus systems are running and the terminals and encoders are evaluated.

The monitoring modes are active.

The application is executable.

When the controller is enabled, the motor generates a torque.

4.1.6 "OperationEnabled" state

In this device state, the motor follows the setpoint defined in the application.

4.1.7 Status display "Warning"

This display may appear in parallel with all device states if a monitoring mode responds forwhich the "Warning" or "Warning locked" error responses have been parameterised.


OFF SwitchedON


OFF OperationEnable


Warning



54 L Firmware 03.00 - DMS EN 1.2 - 11/2009

4.1.8 "Trouble" state

This device state becomes active as soon as a monitoring mode responds for which the"Trouble" error response has been parameterised.

The motor has no torque (is coasting) due to the inhibit of the inverter.

The "Trouble" device state is left automatically as soon as the error cause is eliminated.

Depending on certain conditions, the "Trouble" device state changes to another state:


OFF Trouble

State no. State name Condition(s) for the state change

11 ReadyToSwitchON This state is accepted automatically without evaluating a control bit

12 OperationEnabled Control bit "ControllerInhibit" of all control channels = FALSE& and the message has been cancelled again.

13 SwitchedON Control bit "ControllerInhibit" of a control channel = TRUE& and the message has been cancelled again.

14 TroubleQSP There is an error in the system configured to "TroubleQSP"& and the message has been cancelled again.


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 55


Device states

4.1.9 "Fault" state

This device state becomes active as soon as a monitoring mode responds for which the"Fault" error response has been parameterised.

The motor has no torque (is coasting) due to the inhibit of the inverter.

To exit the device state, "Fail reset" must be set.

After "Fail Reset" has been executed, the state changes to "ReadyToSwitchON".

Tip!

For more information on the error messages, see

Error messages of the operating system ( 180) or

Cause & possible remedies ( 184).


OFF Fault

Note!

If there is an undervoltage in the DC bus (error message "LU") of the frequency inverter, the device changes to the "Trouble" state.

An additionally occurring error with higher priority causes the drive to change to the "Fault" state.

According to the Device state machine ( 48) the device changes to the "ReadyToSwitchOn" state after the error has been acknowledged, although the undervoltage is still available!


8400 BaseLine C | Software ManualDrive control (DCTRL)Controller commands

56 L Firmware 03.00 - DMS EN 1.2 - 11/2009

4.2 Controller commands

4.2.1 General information

The commands in the subcodes of code C002 enable

the direct control of the controller. This comprises e.g. the following subcodes:

– 16, enable controller (CINH)"0" = controller is inhibited by software, "1" = enable via external switch

– 17, quick stop (QSP)"0" = activate QSP via external switch, "1" = activate QSP via software

the management of parameter sets and diagnosis services:

– Parameter set management, e.g. subcode 7, load parameter set 1

– Logbook management

– Error management

– Identification, e.g. motor parameters, inverter characteristic

Regarding the execution of the commands, there are two different groups:

1. Commands with immediate control effect (e.g. quick stop). These commands contain the static status information ON or OFF.

2. Commands with a pure command nature

The subcodes of the second group do not execute the action immediately. However, afterthe command is written, they deliver dynamic status information and thus demonstratethe command progress:

After the activation value (1: On / start) is written, it can be read until the following stateis reported:

"2": Busy and then > (0: Off / ready)

If a problem occurs during the execution of a device command, the returned information is

"4": Action cancelledor

"5": No access


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 57


Controller commands

Certain commands can only be executed if the controller is inhibited, e.g.

Load Lenze setting C002/1

Load parameter set 1, C002/7

Identify motor parameters C002/23

If these commands are executed without the controller being inhibited, the returnedinformation is:

"6": No access controller inhibit

Note!

C003 always displays the last error occurred in the form of an error number, if e.g. a command should fail.

Status display for device command ( 59)



58 L Firmware 03.00 - DMS EN 1.2 - 11/2009

The following subchapters describe the device commands in the controller in detail.

With an online connection, the controller commands can be activated from the »Engineer«by selecting the corresponding command on the Parameters tab under C002. As analternative, the controller commands can be activated via the internal keypad.

Tip!

Many frequently required device commands (e.g. "Save parameters") can beexecuted via the toolbar icons of the »Engineer«.

Stop!

Before switching off the supply voltage after transmitting a device command via C002, use this code to check that the device command has been completed successfully, see C002/7 (save parameter set 1) or chapter Save parameter set ( 60). This particularly applies to device commands used for saving data in the memory module of the device. If the saving process cannot be completed successfully, data inconsistency can occur in the memory module.

Note!

Controller commands that can be executed via the toolbar of the »Engineer« always affect the element currently selected in the Project view including all subelements.

• If no controller, but e.g. a system module is selected in the Project view, the

corresponding device command (e.g. load parameter set ) will be activated in all lower-level controllers having an online connection with the »Engineer«.

For the commands described in the following subsections, the controller must be selected in the Project view.


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 59


Controller commands

4.2.2 Overview of device commands

[4-1] Overview of device commands, "CINH": controller must be inhibited

4.2.3 Status display for device command

For almost all device commands, the status is displayed via C002, e.g. whether the devicecommand has been executed successfully or an error has occurred during the execution. Ifan error has occurred (i.e. C002 provides the value "4": Failed on readback), you can read outthe parameter 3 for detailed error diagnosis. C003 displays the status of the last executeddevice command.

The device commands which support the status display via C002 can be obtained from the table in the previous chapter "Overview of device commands" (see column "Static / command").

The display under C003 remains unchanged if a device command does not support the status display.

Code C002 INFO Static/comman

dSubcode Controller command

1 Load Lenze setting Load Lenze setting ( 60) CINH

2 Load parameter set 1 "Load" means: The data is transferred from the memory module to the device

-

3...6 Reserved -

7 Save parameter set 1 "Save" means: The data is transferred from the device to the memory module

-

8...10 Reserved -

11 Save all parameter sets All data is transferred from the device to the memory module

-

12...15 Reserved -

16 Enable controller Set/remove controller inhibit ( 70) -

17 Activate quick stop Activate/deactivate quick stop function (QSP) ( 71)

-

18 Reserved -

19 Reset error Reset of error message ( 182) -

20 Reserved -

21 Delete logbook Logbook ( 175) CINH

22 Reserved -

23 Identify motor parameters CINH

24 Reserved -

25 Reserved -

26 CAN ResetNode CINH

27...32 Reserved -



60 L Firmware 03.00 - DMS EN 1.2 - 11/2009

4.2.4 Load Lenze setting

This controller command resets the parameter settings to the Lenze setting. All parameterchanges get lost.

Only possible when controller is inhibited.

This controller command has an effect on the settings of the parameters of the operating system and application.

How to load the Lenze setting:

1. Click the icon to set the controller inhibit.

• A confirmation prompt is displayed asking you if the controller should really be inhibited.

2. Confirm confirmation prompt with Yes to continue the action.

3. Execute device command C002/1 = 1: "On / Activate".

4.2.5 Save parameter set

Controller parameter changes made via the »Engineer« or internal keypad will get lostafter mains switching of the controller unless the settings have been explicitly saved withthe corresponding controller command in the memory module of the controller.

You have various opportunities to prevent a data loss by saving the parameter sets in thememory module:

Quick saving at the push of a button

Automatic saving of parameter changes

Manual saving of parameter sets


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Controller commands

Quick saving at the push of a button

This function serves to save all available parameter sets at any time by pushing a button.

Automatic saving of parameter changes

When you activate the automatic saving function with code C141/1, every parameterchange is saved in the memory module. Thus, manual saving of parameter sets is notrequired anymore.

Manual saving of parameter sets

This procedure serves to save either the parameter set 1 or all parameter sets via thesubcodes of code C002.

When C002/7 = "1", the parameter set 1 is saved in the controller.

When C002/11 = "1", all parameter sets are saved in the controller.

How to proceed:

1. Keep the entry button pressed for 3 seconds.

2. When "SAVE" is blinking, your parameter sets are saved with mains failure protection.

3. You can continue your work. "SAVE" will disappear from the display after approximately 2 seconds.

Stop!

Activating this function is not permissible if parameters are changed very frequently (e.g. in case of cyclic writing of parameters via a bus system).

The maximum service life of the memory module amounts to one million writing cycles. Make sure that this value will not be reached.

B

ESC

C

DEF

A

8888

3 sec

SAVE



62 L Firmware 03.00 - DMS EN 1.2 - 11/2009

4.2.6 Load parameter set

Activation of this device command reloads all parameters from the memory module intothe controller. All parameter changes made since the parameter set has been saved lastwill get lost.

Only possible when the controller is inhibited

This device command has an effect on the settings of the parameters of the operating system, application, and module.

How to reload the starting parameters from the memory module:

1. Click the symbol to inhibit the controller and stop the application currently running.

• A confirmation prompt is displayed asking you if the controller should really be inhibited and the application currently running should be stopped.

2. Confirm confirmation prompt with Yes to continue the action.

3. Execute device command C002 / 2 = "1", Load parameter set 1.


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System block "LS_DriveInterface"

4.3 System block "LS_DriveInterface"

The following graphic displays the functions of the LS_DriveInterface system block:

LS_DriveInterface

X5/28

bFailReset

bCInh

bStatus_Bit0

bStatus_Bit2

bStatus_Bit3

bStatus_Bit4

bStatus_Bit5

PowerDisabled

ActSpeedIsZero

ControllerInhibit

StatusCodeBit1

StatusCodeBit2

StatusCodeBit3

StatusCodeBit4

Warning

TroublebStatus_Bit14

bStatus_Bit15

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

Status

C00002 / 16

.........

C00002 / 17C00002 / 19

QSP

Disable

CINH

Fail-RESET

Fail-SET

wStateDetermFailNoLow

wStateDetermFailNoHigh

bInit

bReady

bReadyToSwitchOn

bOperationEnable

bWarning

bTrouble

bFault

bImpIsActive

bCInhIsActive

bCwCcw

bNactCompare

{

{

{

{

{

Bit1

Bit 2

Bit3

Bit14

Bit7

3

1

4 5

7

8

DriveCommands

}C00002/17

C00002/16

C00002/19

10


8400 BaseLine C | Software ManualDrive control (DCTRL)System block "LS_DriveInterface"

64 L Firmware 03.00 - DMS EN 1.2 - 11/2009

Inputs

Outputs

IdentifierDIS code | data type

Value/meaning

bCInhBOOL

Set/remove controller inhibit ( 70)

True The controller is set to the SwitchedON state.

FALSE The controller is set to the OperationEnabled state.

bFailResetBOOL

Reset of error message ( 182)

True The current error is reset.

FALSE The current error is not reset.

bStatus_Bit0bStatus_Bit2bStatus_Bit3bStatus_Bit4bStatus_Bit5bStatus_Bit14bStatus_Bit15

BOOL

Freely assignable bit positions of the controller's status word.You can use these bit positions for returning information to the higher-level control (e.g. IPC).


Value/meaning

wDeviceStatusWordWORD

Status word of the controller.The status word contains all information required for controlling the controller. The process data word is sent to the higher-level control via a port block.

wStateDetermNoLowWORD

Display of the state-determining error (low)

wStateDetermNoHighWORD

Display of the state-determining error (high)

*) all BOOL

TrueState control of the controller is in state:

bInit *) State control of the controller is in state: • Init

bSafeTorqueOff *) State control of the controller is in state: • SafeTorqueOff

bReady *) State control of the controller is in state: • Ready

bReadyToSwitchOn *) State control of the controller is in state: • ReadyToSwitchON

bOperationEnable *) State control of the controller is in state: • OperationEnable

bWarning *) State control of the controller is in state: • Warning

bTrouble *) State control of the controller is in state: • OperationEnable

bFail *) State control of the controller is in state: • Fault

bSystemFail *) State control of the controller is in state: • SystemFail

bImpIsActive Pulse inhibit is active

bCInhIsActive True Controller inhibit is active


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System block "LS_DriveInterface"

Status word output

[4-2] Status word of the controller

[4-3] Extended status word of the controller

bCwCcw True Motor rotates in CCW direction

bNactCompare For open-loop operation: Speed setpoint = comparison value C024For closed-loop operation: Actual speed value = comparison value C024

Bit Function INFO

0 FreeStatusBit0

1 PowerDisabled Inverter control is inhibited (IMP)

2 FreeStatusBit2 Function depends on the application selected

3 FreeStatusBit3

4 FreeStatusBit4

5 FreeStatusBit5

6 ActSpeedIsZero Actual speed = 0

7 ControllerInhibit Controller inhibit is active

8 StatusCodeBit0 Status ID (bit-coded)

9 StatusCodeBit1

10 StatusCodeBit2

11 StatusCodeBit3

12 Warning

13 Trouble

14 FreeStatusBit14 Function depends on the application selected

15 FreeStatusBit15


Value/meaning

Bit Function INFO

0 Fail

1 M_max

2 I_max


8400 BaseLine C | Software ManualDrive control (DCTRL)Parameter setting

66 L Firmware 03.00 - DMS EN 1.2 - 11/2009

4.4 Parameter setting


The controller can be adapted to a specific task by means of parameters. There are differentways to parameterise the controller:

Internal Keypad

Diagnostic interface

Parameter identification

Each parameter has

a parameter number which is unique within a drive system

a parameter text (»Engineer«)

specific attributes

– access type (read, write)

– data type

– limit values

– Lenze setting (factory-set scaling)

Division of the parameters into groups

The parameters are divided into the following function groups:

A. Setting parametersParameters for setting a device function, e.g. acceleration ramp, reference speed, max. motor current

B. Configuration parametersParameters for setting signal flows (signal interconnections) in the device, e.g. connection of the main setpoint to the analog input of the controller

C. Diagnostic parametersParameters for displaying device-internal process variables, e.g. the actual motor voltage or the control word. The diagnostic parameters have the attribute: read only.


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Parameter setting

Changing of parameters

Changing a parameter usually causes an immediate response of the controller.

The exceptions are certain device commands, e.g. C002/1 ("Load default setting") orsettings which might cause a critical state of the drive behaviour, e.g. a change of theactual speed value feedback configuration for closed-loop operation of the motor control.Such parameter changes are only accepted if the controller is inhibited, otherwise an errormessage is generated.

4.4.2 Saving of the parameters in the memory module

All parameters of the drive system are saved in the integrated memory module of thecontroller. This includes the parameters of the controller.

When the device is switched on, all parameters are automatically loaded from the memorymodule into the main memory of the controller.

In the event of a device replacement, the entire parameter data of an axis can be retainedby "taking along" the memory module, so that additional PC or internal keypad operationsare not required.

The controller is provided with one data set for all parameters, i.e. every setting andconfiguration parameter has a value.

Danger!

If you change configuration parameters, please observe that this causes the device-internal signal flow to change immediately which could result in a sudden change of setpoint sources (if, for instance, the signal source for the main setpoint is configured).

This can lead to an undesired behaviour at the motor shaft.



68 L Firmware 03.00 - DMS EN 1.2 - 11/2009

4.4.3 Handling of the memory module

In the delivery state, the Lenze setting of the parameters is stored in the memory module.

The following cases are distinguished regarding the handling:

• Delivery

– All devices are delivered with a plugged-on memory module.

– The memory module is available as a spare part - without any data.

• During operation

– The memory module (EPM) is required for operation.

– Parameter sets can be saved manually.

– Parameter sets can be loaded manually

• Replacement of the controllerIf the controller has to be replaced, observe the versions of the devices. Generally, the following applies:

– Before the data is transferred, the version is checked.

– Parameter sets of devices with V 1.0 can be processed on devices ≥ V 1.0(downward compatibility).

– If the parameter set versions of the two devices are not compatible, an error message (PS02/PS03, see Monitoring ( 178)) is generated.

– Parameters of a higher device version are not supported on devices with a lower version.

Danger!

If the memory module has been removed and the device is switched on, the connector pins are live and thus dangerous since the protection against contact is missing.

Stop!

The memory module must not be plugged in or unplugged during operation.

Note!

• Automatic saving is explicitly not supported because this significantly reduces the service life of the memory module.

• The 8400 BaseLine memory module is not compatible with the 8400 StateLine and 8400 HighLine memory modules.

• If the memory module has been removed, the "PS01" error message appears, see Monitoring ( 178).


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Parameter setting

4.4.4 Non-volatile saving of parameters

To save changed parameters permanently (i.e. safe against mains failure), the devicecommand C002/7 must be called separately. This command copies all parameters from theRAM of the device to the memory module.

This process may take some seconds.

The state of this saving process is indicated by the state of the corresponding devicecommand C002/7.

The device command C002/1 can be used to reset the controller to the Lenze setting of theparameters (delivery state).

4.4.5 Parameter set transfer

The »Engineer« PC program can be used to

save the parameter set to the memory module of the controller ,

read the parameter set from the controller

transfer the parameter set to the controller .

Note!

During the saving process

• Do not switch off the supply voltage.

• Do not pull off the memory module from the device.



70 L Firmware 03.00 - DMS EN 1.2 - 11/2009

4.4.6 Parameters for status display

4.4.7 Set/remove controller inhibit

Setting the controller inhibit inhibits the power stages in the controller and resets thespeed/current controllers of the motor control.

When the controller is inhibited, the status output bCInhActive of the system block LS_DriveInterface is set to TRUE.

The controller can be inhibited by different sources, e.g. via the digital input RFR, the bCInh input of the LS_DriveInterface system block or the "Inhibit controller" device command (C002/16 = "0").

The bit code under C158 shows the source that inhibited the controller.

Parameter INFO

C002 Device command transmission and execution status

C003 Status of last device command

C137 Device state

C150 Status word

C155 Status word 2

C158 Cause of controller inhibit (CINH)

C159 Cause of QSP

C165/1 Status-determining error as numeric text / actual error

C166/1 Error type, status-determining / actual error

C166/2 Subject area, status-determining / actual error

C166/3 Error ID, status-determining / actual error

C168 Status-determining error (display of 32-bit number)

Highlighted in grey = display parameter


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Activate/deactivate quick stop function (QSP)

4.5 Activate/deactivate quick stop function (QSP)

When the quick stop function is activated, it

disconnects the motor control from the selected setpoint and brakes the motor to standstill (nact = 0) along the quick stop ramp (C105).

sets the pulse inhibit (CINH) if the function auto DCB has been activated via C019.

Activation of the quick stop function

The quick stop function can be activated by different signal sources:

Device command C002/17, activate quick stop

Input signal at the LS_MotorInterface system block (motor control) set to TRUE.

Tip!

The cause of a quick stop can be displayed via the parameter C159.


8400 BaseLine C | Software ManualDrive control (DCTRL)Activate/deactivate quick stop function (QSP)

72 L Firmware 03.00 - DMS EN 1.2 - 11/2009


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8400 BaseLine C | Software ManualMotor control (MCTRL)

5 Motor control (MCTRL)

This chapter contains information on parameter setting of the internal motor control ofthe controller, i.e. this chapter describes

Control types and related signal flow diagrams

Motor selection

Parameter setting of the motor

Optimisation of the internal control loops of the motor control.

See also: Parameter setting of the V/f characteristic control ( 79)

Sensorless vector control (SLVC) ( 87)


8400 BaseLine C | Software ManualMotor control (MCTRL)Selection of the operating mode

74 L Firmware 03.00 - DMS EN 1.2 - 11/2009

5.1 Selection of the operating mode

The motor control mode is defined with the selection of the operating mode, see C6:

Two different processes are available, which can be operated as follows regarding thespeed feedback:

V/f characteristic control ( 77)

– Without speed feedback, VFCplus: linear V/f characteristic (C6, value: 6)

– Without speed feedback, VFCplus: square-law V/f characteristic (C6, value: 8)

Sensorless vector control (SLVC) ( 87)

– without speed feedback, sensorless vector control (C006, value: 4)

V/f characteristic control

The V/f characteristic control is an operating mode for standard frequency inverterapplications based on a simple and robust control process. In addition to the operation ofmachines with linear or square-law load torque characteristic (e.g. fan), the control processis also suited for high-inertia systems thanks to the use of the autoboost function. Due tothe low parameterisation effort, easy and fast commissioning can be implemented forsuch applications.


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Selection of the operating mode

Field-oriented vector control

The field-oriented vector control provides better drive properties than the V/fcharacteristic control. These are in particular:

a higher maximum torque over the whole speed range,

a higher speed accuracy,

a higher concentricity factor,

a higher efficiency.

The limitation of the maximum torque in motor and generator mode for speed-actuated operation

Tip!

If you need a high torque without feedback at low speed, we recommend thecontrol mode “vector control".

As shown in the following graphics, the drive systems with vector control have moreadvantages than a system using V/f control.

V/f characteristic control without feedback Vector control without feedback

9300vec092 9300vec095

Operation in motor mode (CW rotation), Operation in generator mode (CCW rotation), Operation in motor mode (CCW rotation), Operation in generator mode (CW rotation)

��

� �

nN

MN

M

-MN

-nN n

��

� �

nN

MN

M

-MN

-nN n



76 L Firmware 03.00 - DMS EN 1.2 - 11/2009

To ease the selection of the operating mode (C006), the following table containsrecommendations and alternatives for standard applications.

Application Recommended Alternatively

Single drives

With constant load Linear V/f characteristic Vector control

With extremely alternating loads Vector control Linear V/f characteristic

With high starting duty Vector control Linear V/f characteristic

With speed control Linear V/f characteristic Linear V/f characteristic

Torque limitation Vector control -

With torque limitation (power control) Linear V/f characteristic Vector control

Three-phase reluctance motor Linear V/f characteristic -

Three-phase sliding rotor motor Linear V/f characteristic -

Three-phase AC motors with permanently assigned frequency/voltage characteristic

Linear V/f characteristic -

Pump and fan drives with quadratic load characteristic Square-law V/f characteristic

Linear V/f characteristic or vector control

Group drives (several motors connected to controller)

Identical motors and loads Linear V/f characteristic -

Different motors and/or alternating loads Linear V/f characteristic -

Simple hoists Linear V/f characteristic -


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5.1.1 V/f characteristic control

The control structure is shown, in simplified form, in the following illustration. For thecomplete representation, see

Signal flow ( 108).

Stop!

• The following must be observed when operating drives with square-law V/f characteristic:

– Please always check whether the corresponding drive is suitable for operation with a quadratic V/f characteristic!

– If your pump or fan drive is not suitable for operation with a quadratic V/f characteristic, either use the V/f characteristic control with linear V/f characteristic or the vector control mode.

• For adjustment, observe the thermal performance of the connected asynchronous motor at low output frequencies.

– Usually, standard asynchronous motors with insulation class B can be operated for a short time with their rated current in the frequency range 0 Hz ≤ f ≤ 25 Hz.

– Contact the motor manufacturer to get the exact setting values for the max. permissible motor current of self-ventilated motors in the lower speed range.

– If you select the quadratic V/f characteristic, we recommend to set a lower Vmin.



78 L Firmware 03.00 - DMS EN 1.2 - 11/2009

In case of the V/f characteristic control, the motor voltage of the inverter is detected bymeans of a linear or square-law characteristic depending on the field frequency or motorspeed to be generated. The voltage follows a preselected characteristic.

[5-1] Principle of a linear and quadratic V/f characteristic

Generally, two different characteristic shapes can be defined:

Linear V/f characteristic for drives with a constantly running and speed-independent load torque

Quadratic characteristic for drives with a load torque increasing quadratically with the speed. Quadratic V/f characteristics are mainly used in centrifugal pumps and fan drives.

8400vec085 / 8400vec086

0 1

0

100 %

N

nn

Umin

Uout

0 1

0

100 %

N

nn

Umin

Uout


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5.1.1.1 Parameter setting of the V/f characteristic control

Overview of the relevant parameters

How to parameterise the V/f characteristic:

1. Select the operating mode " V/f characteristic control" with appropriate characteristic shape C006.

2. When using an asynchronous motor which deviates from the standard motor, having a different rated frequency than 50 Hz (star) / 87 Hz (delta) and a different number of pole pairs than 2:

• Enter nameplate data of the motor (at least rated speed, rated frequency and rated voltage)

3. If required, adapt the base frequency of the V/f characteristic C015

4. If required, rise the V/f characteristic by Vmin C016

See also: Setting the V/f base frequency ( 80)

Setting Vmin boost ( 81)

Parameter INFO

C006 Selection of the operating mode for V/f characteristic control without feedback with • value "6" for linear characteristic or • value "8" for quadratic characteristic

C011 Reference speed

C015 Base frequency

C016 Vmin boost

C018 Switching frequency

C021 Slip compensation

C022 Current limit (in motor mode)

C023 Current limit (in generator mode)

C073 Imax current controller gain

C074 Reset time Imax current controller

C909/1 /2 Maximum positive / negative speed

C910/1 /2 Maximum positive / negative output frequency



80 L Firmware 03.00 - DMS EN 1.2 - 11/2009

Setting the V/f base frequency

The V/f base frequency determines the slope of the V/f characteristic and has considerableinfluence on the current, torque, and power performance of the motor.

– The setting in code C015 applies to all permissible mains voltages.

– Mains fluctuations or fluctuations of the DC-bus voltage (operation in generator mode) do not need to be considered when the code is set. They are automatically compensated by the internal mains voltage compensation of the device.

– Depending on the setting of C015 it may be necessary to adapt the reference speed C011 to be able to run through the whole motor speed range.

– The V/f base frequency is automatically calculated from the data stored in the motor nameplate by the motor parameter identification:

Typical values for the V/f base frequency C015:

• Vfrequency inverter:– Frequency inverter 400 V– Frequency inverter 230 V

• Vratedmot: Rated motor voltage depending on the connection method

• frated: Rated motor frequency

Frequency inverter 400 V Frequency inverter 230 V

Motor voltage [V]

Motor frequency [Hz]

Motor connection

C015 Motor voltage [V]

Motor frequency [Hz]

Motor connection

C015

230 / 400 50 50 Hz 230 50 50 Hz

220 / 380 50 52.6 Hz 220 / 380 50 52.3 Hz

280 / 480 60 50 Hz

400 / 690400

5050

50 Hz

230 / 400280 / 480400

506087

87 Hz

220 / 380 50 90.9 Hz

Note!

4-pole asynchronous motors, which are designed for a rated frequency of f = 50 Hz in star connection, can be operated in delta connection when being constantly excited up to f = 87 Hz.

• Advantages:

– Higher speed-setting range

– 73% higher power output in case of standard motors

• Motor current and motor power increase by the factor .

• The field weakening range starts above 87 Hz.

• Generally, this process can also be used with motors which have different numbers of pole pairs. In case of 2-pole asynchronous motors, the mechanical limit speed must be maintained.

C00015 Hz[ ]UFU V[ ]

UNMot V[ ]-------------------------- fNenn Hz[ ]⋅=

3


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Setting Vmin boost

The Vmin boost C016 of the motor voltage

serves to select a magnetising current required for asynchronous motors independent of the load.

is effective for output frequencies below the V/f base frequency

optimises the torque behaviour of the motor.

The general linear and quadratic V/f characteristics are shown in the followingillustrations. The illustrations show the impacts of the parameters used to adapt thecharacteristic shape.

The maximum motor voltage to be reached depends on the current mains voltage height.

[5-2] Representation of the linear V/f characteristic (on the left) and quadratic V/f characteristic (on the right)

How to adjust the Vmin boost:

1. Operate motor in idle state at approx. 6 % of the rated motor speed.

2. Increase Vmin until the following motor current is reached:

• Motor in short-time operation up to 0.5 nrated

with self-ventilated motors: Imotor ≈ Irated motor

with forced-ventilated motors: Imotor ≈ Irated motor

• Motor in continuous operation up to 0.5 nrated

with self-ventilated motors: Imotor ≈ 0.8 Irated motor

with forced ventilated motors: Imotor ≈ Irated motor

C00015

C00016

C000152

C000162

V [V]out

f [Hz]

V

(100 %)rmot

1/N/PE AC 264 V3/PE AC 550 V

1/N/PE AC 180 V3/PE AC 320 V

C00015

C00016

V [V]out

f [Hz]

V

(100 %)rmot

1/N/PE AC 264 V3/PE AC 550 V

1/N/PE AC 180 V3/PE AC 320 V



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Subsequent optimisation of the V/f characteristic control

The V/f characteristic control is generally ready for service. The options to subsequentlyadapt the V/f characteristic control is to adapt the drive behaviour.

Adaptation of the characteristic

– Each of the three characteristic shapes can be adapted to different load profiles or motors via several parameters, see e.g. C015, base frequency or C016, Vmin boost.

Adaptation of the drive behaviour

– Limitation of the maximum current C022 by a current controller (e.g. to prevent the motor from stalling or to limit to the maximum permissible motor current)

– Adaptation of the field frequency by a load-dependent slip compensation C021 (improved speed accuracy for systems without feedback)

Only the following drive behaviour requires an optimisation of the V/f characteristiccontrol:

Drive behaviour Remedy

Bad smooth running with low speeds, especially in case of operation with long motor cable

Carry out motor identification

Problems in case of high starting duty (great mass inertia)

Adapt Vmin boost C016 • Set the code so that a 0.8 ... 1-fold rated motor current

flows with a controller enabled and 5 ... 10% of the rated speed.

The drive does not follow the speed setpoint. The current controller intervenes in the set field frequency to limit the controller output current to the maximum current (C0022, C0023). Therefore • increase acceleration time / deceleration time C012,

C013 • Consider a sufficient magnetising time of the motor.

Depending on the motor power the magnetising time amounts to 0.1 ... 2 s

• increase permissible maximum current (in motor mode, in generator mode) C022, C023

For operation with C006 = 6:Insufficient speed constancy at high load (setpoint and motor speed are not proportional any more)

• Increase slip compensation C021. Important: unstable drive due to overcompensation!

• If cyclic load impulses (e.g. centrifugal pump) occur, a smooth motor characteristic is achieved by smaller values in C021 (possibly negative values)

Error messages "Peak current limitation clamp" (FCL), controller cannot follow dynamic processes, i.e. acceleration or deceleration times are too short regarding the load conditions

• Increase the gain of the Imax controller C073 • Reduce the integral-action time of the Imax controller

C074 • Increase the acceleration time C012 • Increase the deceleration time C013


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5.1.1.2 Optimisation of operational performance by slip compensation

Under load, the speed of an asynchronous machine decreases. This load-dependent speeddrop is called slip.

The slip can be compensated by setting C021 accordingly.

The slip compensation can be set automatically by entering the value calculated during the motor parameter identification into code C021.

The setting must be made manually when the motor parameter identification cannot be called up.

How to enter the slip compensation automatically:

1. Prepare the motor parameter identification by setting the following data taken from the motor nameplate:

• Rated motor power C081

• Rated motor speed C087

• Rated motor current C088

• Rated motor frequency C089

• Rated motor voltage C090

• Motor cos ϕ C091

2. Carry out the motor parameter identificationAutomatic motor parameter identification ( 93)

Note!

The slip compensation C021 is active in the V/f characteristic control mode and in the vector control mode (C6 = 4, 6, 8).



84 L Firmware 03.00 - DMS EN 1.2 - 11/2009

How to set the slip compensation manually:

1. Calculate the slip compensation from the data of the motor nameplate:

[5-1] Calculation of the slip compensation from the motor data

2. Enter the result in code C021

3. When the drive is running, correct the code C021 until no load-dependent speed drop occurs anymore in the speed range between idle state and maximum load of the motor. The guide value for a correctly set slip compensation is as follows:

• Deviation from the rated motor speed ≤ 1% for the speed range of 10 % ... 100 % of the rated motor speed and loads ≤ rated motor torque.

• Greater deviations are possible in the field weakening range

Tip!

• If C021 is set too high, the drive may become unstable.

• Negative slip (C021 < 0) in conjunction with V/f characteristic control results in "smoother" drive behaviour at heavy load impulses or applications requiring a significant speed drop under load.

s Slip constant C021 [%]

nrsyn Synchronous motor speed [rpm]

nr Rated motor speed according to the motor nameplate [rpm]

fr Rated motor frequency according to the motor nameplate [Hz]

p Number of motor pole pairs (1, 2, 3 ..)

snrsyn nr–

nrsyn------------------------- 100%⋅=

nrsynfr 60⋅

p---------------=


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 85



5.1.1.3 Optimisation of the Imax controller setting



86 L Firmware 03.00 - DMS EN 1.2 - 11/2009

5.1.2 Vector control

Tip!

The complete structure of the vector control is shown in the Signal flow ( 108) .

Stop!

• The connected motor may be maximum one power class lower than the motor assigned to the controller.

• The operation with vector control is only permissible for a single drive.

• The operation with sensorless vector control (SLVC) is not permissible for hoists.

• A stable operation is only possible if one of the following three entries are made:

– Enter the nameplate data and equivalent circuit data of the motor (motor leakage inductance and mutual motor inductance, slip compensation and stator and rotor resistance) manually or

– enter the selected motor via the Lenze motor catalogue or

– enter the motor nameplate data and carry out the motor parameter identification.

• When you enter the motor nameplate data, take into account the phase connection implemented for the motor (star or delta connection). Only enter the data applying to the selected connection type.


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5.1.2.1 Sensorless vector control (SLVC)

The operating mode is based on the improved motor current control according to the LenzeFTC method.

Compared to the V/f characteristic control without feedback you will obtain

a higher maximum torque over the whole speed range,

a higher speed accuracy,

a higher concentricity factor,

a higher efficiency.

the implementation of torque-controlled operation with speed limitation.

The limitation of the maximum torque in motor and generator mode for speed-actuated operation



88 L Firmware 03.00 - DMS EN 1.2 - 11/2009

Speed control with torque limitation

A speed setpoint is selected and the drive system is operated in a speed-controlled manner.

The operational performance can be adapted in the following ways:

Overload limitation in the drive train: The torque is limited via the torque setpoints. Thus, for avoiding an overload in the drive train, nLimMotTorque C728/1 can be used to limit the torque in motor mode and nLimGenTorque C728/2 to limit the torque in generator mode.

Slip compensation:The slip of the machine is derived by means of the slip model. The influencing parameter is the slip compensation C021.

Note!

The codes for determining the torque limit values C728/1 for nLimMotTorque and C728/2 for nLimGenTorque have a setting range of -199.9 % ... 0 ... +199.9 %. To prevent sign problems or an unstable operation, the entered limit values are processed as absolute values.


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 89




Parameter INFO

C006 Selection of the operating mode for V/f characteristic control without feedback with • value "6" for linear characteristic or • value "8" for quadratic characteristic

C011 Reference speed

C018 Switching frequency


C022 Current limit (in motor mode)

C023 Current limit (in generator mode)

C057 Maximum torque

C081 Rated motor power

C084 Motor stator resistance

C085 Motor stator leakage inductance

C087 Rated motor speed

C088 Rated motor current

C089 Rated motor frequency

C090 Rated motor voltage

C091 Motor cosine phi

C092 Mutual motor inductance

C097 Rated motor torque

C909/1 /2 Maximum positive / negative speed

C910/1 /2 Maximum positive / negative output frequency



90 L Firmware 03.00 - DMS EN 1.2 - 11/2009

How to set the sensorless vector control:

1. Set code C6 to the value "4" for selecting the "sensorless vector control (SLVC)" mode.

2. For the motor selection and parameterisation, the equivalent circuit data and the nameplate data are required. Depending on the manufacturer of the motor used, proceed as follows:

• Lenze motorSelect the motor from the »Engineer« catalogue [A]Carry out the motor parameter identification [C]

• External motorEnter the nameplate data of the motor [B] and carry out themotor parameter identification [C] or directly enter nameplate data [D] and known equivalent circuit data C084, C085 , C092 , C095.


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Selection and parameter setting of the motor

A. Select the motor from the »Engineer« motor catalogue. Continue with step [C].

• If the Lenze motor is not listed there, continue with step [B].

• If you use an external motor, continue with [B] and

• then [C] or [D]

B. Prepare the motor parameter identification by setting the following data taken from the motor nameplate:







C. Carry out motor parameter identification C002/23

The following parameters are identified and automatically transmitted to the corresponding codes:

• Motor leakage inductance C085

• Mutual motor inductance C092

• Stator resistance (total resistance from motor cable resistance and stator resistance) C084

D. Enter the nameplate data and the equivalent circuit data of the external motor:







• Stator resistance C084

• Stator inductance C092

• Leakage inductance C085

The field-oriented sensorless vector control is now ready for operation.



92 L Firmware 03.00 - DMS EN 1.2 - 11/2009

Optimisation of the sensorless vector control in case of undesired drive behaviour

Drive behaviour Remedy

Insufficient speed constancy at high load (setpoint and motor speed are not proportional any more)

CAUTION:An overcompensation of the settings mentioned under " Remedy" can result in unstable behaviour!

Via C021 (slip compensation) you can affect the speed stability under high loads: • If nact > nslip, reduce the value in C021 • If nact < nslip, increase the value in C021

Error messages "Short circuit" (OC1) or "Peak current limitation clamp" (FLC) at short acceleration times C012 in proportion to the load (controller cannot follow the dynamic processes).

• Increase the gain of the torque controller C073 • Reduce the integral-action time of the torque

controller C074 • Increase the acceleration time / deceleration time

C012 / C013

Speed variations in no-load operation for speeds > 1/3 rated speed

The oscillation damping minimises speed variations C234

• Drive runs unstable • Setpoint speed and actual speed deviate strongly

Check the equivalent circuit data of the motor and the nameplate data.


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5.1.3 Automatic motor parameter identification

The motor parameter identification serves to determine the motor data, the invertercharacteristic and the effects of the motor cable.


[5-2] Codes for automatic motor parameter identification

Danger!

During the motor parameter identification, the motor is energised via the outputs U, V and W of the controller!

Observe the corresponding safety instructions!

Note!

We strongly recommend to execute the motor parameter identification prior to the initial commissioning of the sensorless vector control.

Parameter Name INFO

C015 V/f base frequency Value measured during the parameter identification or calculated value

C021 Slip compensation Value measured during the parameter identification or calculated value

C081 Nameplate data

C084 Stator resistance Value measured during the parameter identification or calculated value

C085 Leakage inductance Value measured during the parameter identification or calculated value

C087 Rated motor speed Nameplate data

C088 Rated motor current Nameplate data

C089 Rated motor frequency Nameplate data

C090 Rated motor voltage Nameplate data

C091 Motor cos ϕ Nameplate data

C092 Stator inductance Value measured during the parameter identification or calculated value



94 L Firmware 03.00 - DMS EN 1.2 - 11/2009

How to carry out the automatic motor parameter identification:

1. Inhibit the controller (e.g. LOW signal at terminal X4/RFR). Wait until the drive is at standstill.

2. Transfer the nameplate data to the following codes:

• C081, rated motor power

• C087, rated motor speed

• C088 , enter value according to the connection method ( / )

• C089 , enter value according to the connection method ( / )

• C090, enter value according to the connection method ( / )

• C091, motor cos ϕ

3. Start the motor parameter identification with the device command C002/23.

4. Enable the controller (e.g. HIGH signal at terminal X4/RFR). The identification process starts. The progress of the identification can be read out under C2/23. The identification process takes about 30 s. During this time the following steps are executed:

• The motor stator resistance C084 is measured.

• The inverter error characteristic is measured.

• The motor magnetising inductance C092 and the motor stator leakage inductance C085 are calculated from the data entered.

• The V/f base frequency C015 is calculated.

• The slip compensation C021 is calculated.

5. The identification is completed when the value in C002/23 is back to "0".

6. Inhibit the controller (e.g. LOW signal at terminal X4/RFR).

Note!

• The motor parameter identification must be carried out when the motor is cold!

• The load machine may remain connected. Holding brake, if present; may remain in the braking position.

• With an idling motor, a small angular offset may occur at the motor shaft.

• The motor parameter identification may be aborted by unstable drive behaviour (e.g. through a special motor or a great deviation between inverter and motor power).


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Motor selection

5.2 Motor selection

The motor data must be especially parameterised for the field-oriented control. The motordata comprises the parameters of the motor nameplate and the data of the equivalentcircuit diagram of the motor.


[5-3] Codes of the motor nameplate

[5-4] Codes of the equivalent circuit diagram of the motor

Parameter INFO

C081 Rated motor power

C087 Rated motor speed

C088 Rated motor current

C089 Rated motor frequency

C090 Rated motor voltage

C091 Motor cos ϕ

Parameter INFO

C084 Data of the equivalent circuit diagram of the motor


C092 Mutual motor inductance


8400 BaseLine C | Software ManualMotor control (MCTRL)Motor selection

96 L Firmware 03.00 - DMS EN 1.2 - 11/2009

5.2.1 Manual parameter setting of external motors

External motor data can be entered manually if you have the equivalent circuit diagramand nameplate data available.

Tip!

For the improvement of the concentricity factor, we recommend to carry out themotor parameter identification of the external motor first, and then enter the datafor the manual parameterisation.

Improving the concentricity factor includes

• the adjustment of the inverter error characteristic to the drive system and

• the knowledge of the motor cable resistance.

Both factors are determined during the motor parameter identification.


[5-5] Codes for the manual parameterisation of the motor data

Parameter INFO

C015 V/f base frequency


C081 Nameplate data, rated motor power



C087 Nameplate data, rated motor speed

C088 Nameplate data, rated motor current

C089 Nameplate data, rated motor frequency

C090 Nameplate data, rated motor voltage

C091 Nameplate data, motor cos ϕ



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Selection of the switching frequency

5.3 Selection of the switching frequency

The switching frequency of the inverter has an effect on the smooth running performanceand the noise generation in the motor connected, as well as on the power loss in thecontroller.

The lower the switching frequency, the

better the concentricity factor

lower the power loss

higher the noise generation.

Adjustable switching frequencies:

Lowering the switching frequency due to high heatsink temperatures

If the maximally permissible heatsink temperature was exceeded, the drive would beinhibited due to the "Overtemperature" error and the motor would coast without anytorque.

Therefore, the switching frequency in the Lenze setting is lowered to the next smaller valuewhen the heatsink temperature has increased to 5 ° C below the maximum permissibletemperature.

After the heatsink has cooled down, the controller automatically switches to the nexthigher switching frequency up to the switching frequency set.

Lowering the switching frequency can be prevented using code C144. When the maximumpermissible heatsink temperature is reached, "Fault" is set for the respective switchingfrequency and the motor coasts, see code C165.

Note!

Operate the mid-frequency motors exclusively with the switching frequency f = 8 kHzsin or f = 16 kHzsin .

Parameter Values

C018 1: 4 kHz var./drive-optimised

2: 8 kHz var./drive-optimised

3: 16 kHz var./drive-optimised

4: Reserved

5: 2 kHz constant/drive-optimised





8400 BaseLine C | Software ManualMotor control (MCTRL)Selection of the switching frequency

98 L Firmware 03.00 - DMS EN 1.2 - 11/2009

Lowering of the switching frequency depending on the output current

"Variable" switching frequencies can be selected for the controller in C018, where thecontroller automatically lowers the switching frequency depending on the controlleroutput current. The changeover threshold is included in the rated data of the HardwareManual. (The Hardware Manual can be found on the CD supplied with the device.)

When a "fixed" switching frequency is selected, no switching frequency changeover takesplace. In case of fixed frequencies, the controller output current is limited to thepermissible value of the corresponding switching frequency. In case of larger loadimpulses, the overcurrent interruption may be activated, to which the controller respondswith "Fault", see code C165.

Tip!

The Lenze setting "8 kHzvar" ( C018, value "2") is the optimum value for standard applications.

Limiting the maximum output frequency

The maximum output frequency of the controller is not limited depending on theswitching frequency.

For this reason, adapt the maximum output frequency according to our recommendation:

Carry out further measures:

If required, deactivate the switching frequency changeover by the heatsink temperature C144.

If required, ensure that the changeover threshold of the controller output current to the next smaller switching frequency will not be exceeded. If required, select a fixed switching frequency using code C018.

Operation at an ambient temperature of 45°C

The controller is designed so that operation at an ambient temperature of 45° C withoutderating is permissible at a switching frequency of 4 kHz.

Note!

For operation with a switching frequency of 16 kHz,

• the controller output current must not exceed the current limit values given in the technical data. Reduce the output current using the codes C022, C023.

• the Ixt evaluation C064 is considered with the required derating to 0.67 Irated (Irated - rated device current) at switching frequencies of 2, 4 and 8 kHz.

At a switching frequency of 4 kHz, for instance, 125 Hz for the maximum output frequency should not be exceeded.

aximum output frequency1

32------Switching frequenc≤


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Definition of current and speed limits

5.4 Definition of current and speed limits

5.4.1 Definition of speed limits

Limitation of the speed setpoint

The parameter setting of code C00011 means with a speed setpoint of 100 % the drivemust rotate with the given value of the code. The speed setpoint information is given inpercent and refers to the reference speed set in C00011. For the sake of the resolution to beachieved and the connected accuracy, the reference speed should be based on the speedrange required in the prevailing application. Lenze recommendation: Reference speed = 1500 ... 3000 rpm.

Irrespective of the operating mode, there are more limitation options:

Limitation of the max. positive or negative speed C909/1 or /2

Limitation of the max. positive or negative output field frequency C910/1 or /2

Note!

In the torque-controlled operation (bTorqueModeOn = TRUE), the limitation of the speed setpoint has no function! In this case, a permissible speed range can be defined via the speed limitation (nSpeedHighLimit and nSpeedLowLimit).


8400 BaseLine C | Software ManualMotor control (MCTRL)Definition of current and speed limits

100 L Firmware 03.00 - DMS EN 1.2 - 11/2009

5.4.2 Definition of current limits

The 8400 controllers are provided in the various operating modes with functions whichdetermine the dynamic behaviour under load and counteract the exceedance of themaximum current in motor or generator mode.

The max. motor or generator current is limited with the codes C022 or C023.

The current limits must be selected depending on

the permissible maximum motor current

– Recommendation: Imax < 1.5 ... 2.0 I(mot)N

the permissible maximum inverter current

the required motor or generator torque for the application

How to adapt the peak current limitation:

SLVC:

• Reduce slip compensation with C021.

• Reduce nTorqueMotLim C728/1 and nTorqueGenLim C728/2.

Note!

Highly dynamic applications(e.g. low acceleration and deceleration ramp times or greatly fluctuating loads)

The overcurrent disconnection may respond (fault message OC1 or OC11) when the parameterisation of the maximum current in motor mode C022 approximately corresponds to the maximum permissible value of the respective inverter.

Remedy by

• Increase of the acceleration and deceleration ramp time

• Reduction of the maximum current C022 / C023 in motor/generator mode

• Adaptation of the indirect peak current limitation which is implemented depending on the type of operation (for procedure see below)

• Reduction of the reset time of the current limitation controller with C074/1.


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8400 BaseLine C | Software ManualMotor control (MCTRL)Flying restart function

5.5 Flying restart function

The flying restart function works with a simple asynchronous motor model which requiresthe knowledge of the stator resistance RS and the rated motor current. In order that theflying restart function works properly, we recommend to carry out a parameteridentification before using the function. Automatic motor parameter identification( 93)

The flying restart function works safely and reliably for drives with great centrifugalmasses.

Tip!

• When power-adapted standard asynchronous motors are used (rated motor power approximately corresponds to the rated inverter power), a motor parameter identification is not required.

• In connection with the flying restart function, we recommend to read the information given in this manual in the chapter

Automatic DC-injection braking (Auto-DCB) ( 105)


This function serves to activate a mode which is used to "catch" a coasting motor duringoperation without speed feedback. This means that the synchronicity between controllerand motor must be adjusted to achieve a jerk-free transition to the rotating machines inthe instant of connection.

The frequency inverter detects the synchronicity by identifying the synchronous fieldfrequency.

Duration

The "catching" process is completed after approx. 1 ... 2 seconds.


Note!

• Do not use the flying restart function if several motors with different centrifugal masses are connected to a controller.

• After the controller is enabled, the motor can start for a short time or reverse when machines with low friction and low mass inertia are used.

Parameter INFO

C990 Activation of flying restart function

C991 Selection of the flying restart function

C992 Selection of the starting frequency

C994 Current injection for the flying restart process


8400 BaseLine C | Software ManualMotor control (MCTRL)Flying restart function

102 L Firmware 03.00 - DMS EN 1.2 - 11/2009

How to parameterise the flying restart function:

1. Activate flying restart circuit in C990 through "ON".

• Every time the controller is enabled, a synchronisation to the rotating or standing drive is carried out.

When the Lenze setting is used, most applications do not require additional controller settings.

If additional settings are necessary, proceed as follows:

2. Define the search mode for the flying restart circuit in C991:

• we recommend Lenze default setting "5": Last output frequency

We recommend to set a flying restart current of 10 % ... 25 % of the rated motor current.

• During a flying restart process, a current is injected into the motor to identify the speed.

• Reducing the current causes a reduction of the motor torque during the flying restart process. A short-time starting action or reversing of the motor is prevented with low flying restart currents.

• An increase of the current improves the robustness of the flying restart function.


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DC-injection braking

5.6 DC-injection braking

DC-injection braking allows the drive to be quickly braked to a standstill without the needto use an external brake resistor.

The braking current can be defined with code C036.

The maximum braking torque to be generated by the DC braking current is approx. 20 ... 30 % of the rated motor torque. It is lower than that for braking in generator mode with an external brake resistor.

Automatic DC-injection braking (Auto-DCB) improves the starting performance of the motor during operation without speed feedback.


DC-injection braking can be carried out in two ways with different types of activation:

Manual DC-injection braking (DCB) ( 104)

Automatic DC-injection braking (Auto-DCB) ( 105)

Parameter INFO

C019 Auto-DCB: thresholdResponse threshold for activating the DC-injection braking

C036 DCB: CurrentEnter the current in [%]

C106 Auto-DCB: hold time

C107 DCB: hold time

C701/4 See explanations for function block LA_NCtrl


8400 BaseLine C | Software ManualMotor control (MCTRL)DC-injection braking

104 L Firmware 03.00 - DMS EN 1.2 - 11/2009

5.6.1 Manual DC-injection braking (DCB)

The DC-injection braking can be activated manually by assigning a digital input (E1 ... E4)to the DCB function.

For HIGH-active inputs, DC-injection braking is active as long as the signal is at HIGH level.

When the hold time C107 (999.0 s = hold time has no time limit) has expired, the controllersets the pulse inhibit (CINH).


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5.6.2 Automatic DC-injection braking (Auto-DCB)

"Automatic DC-injection braking" (in the following called "Auto-DCB") can be used whenthe drive has to be deenergised at n ≈ 0.

Function

For understanding the "Auto-DCB" function, it is necessary to distinguish between threedifferent types of operation:

1. When the drive is enabled and the speed setpoint falls below the Auto-DCB threshold during operation, a braking current C036 is injected. When the Auto-DCB hold time C106 has expired, the motor is deenergised via the Auto-DCB function, i.e. the controller inhibit (CINH) is set.

2. At the moment of controller enable, the drive is at standstill (n = 0). If the enabled drive is to start up, the speed setpoint passed via the acceleration ramp must exceed the Auto-DCB threshold C019. Below this threshold, the motor will not be energised.

3. At the moment of controller enable, the motor (still) rotates with a speed above the Auto-DCB threshold and the drive is "caught".For more detailed information on the topic see Flying restart function ( 101).

How to set the automatic DC-injection braking

1. Set the hold time in code C106 to t > 0.0 s

• Automatic DC-injection braking is active for the time set.

• A braking current is injected (code C036).

• When the hold time C106 has expired, the controller sets the pulse inhibit.

2. Set the response threshold with C019. This code can be used to set a dead band in the setpoint. If DC-injection braking is not to be active here, C106 must be set to the value "0.0".

Stop!

If the DC-injection braking operation is too long and the braking current or braking voltage is too high, the connected motor may overheat.


8400 BaseLine C | Software ManualMotor control (MCTRL)DC-injection braking

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Explanation of the automatic DC-injection braking function by means of two examples

Example 1

[5-3] Example 1: Signal characteristic for automatic DC-injection braking

Example 2

[5-4] Example 2: Signal characteristic for automatic DC-injection braking

:Speed setpoint :Actual speed value of the motor :Controller output current :Pulse inhibit :DC-injection braking is active

:The motor rotates with the selected speed. The resulting current depends on the load .

:The DC braking current set in C036 is injected.

:When the hold time C106 has expired, the pulse inhibit is set.

�

�

�

�

� �

C0106

C00036

C00019

�

:Speed setpoint :Actual speed value of the motor :Controller output current :Pulse inhibit :DC-injection braking is active

:The motor rotates with the selected speed. The resulting current depends on the load .

:The DC braking current set in C036 is injected.

:The actual speed value of the motor follows the speed setpoint. The resulting current depends on the load.

�

�

�

�

� �

C00036

C00019

�


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5.6.3 Oscillation damping

Undesirable effects in every process are mechanical oscillations which may have anadverse effect on the single system components and/or the production output.

Mechanical oscillations in the form of speed oscillations are suppressed by the oscillationdamping function.

Oscillation damping is successfully used with

unloaded motors (no-load oscillations)

motors with a different rated power than that of the controller, e.g. at operation with high switching frequency and the related power derating.

operation with higher-pole motors

operation with special motors

compensation of resonances in the drive

– Some asynchronous motors can show resonances at an output frequency of approx. 20 ... 40 Hz which cause current and speed variations and thus destabilise the running operation.

How to eliminate speed oscillations:

1. Approach the area where the speed oscillations occur.

2. Reduce the speed oscillations by changing C234 and C235 step by step.

3. These can be indicators for smooth running:

• Constant motor current characteristic

• Reduction of the mechanical oscillations in the bearing seat


8400 BaseLine C | Softw

are Manual

Motor con

trol (MC

TRL)Sign

al flow

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5.7 Signal flow

[5-5] Signal flow - V/f characteristic control without feedback

PWM

fPWM:C00018

0

1

f :C00910max

f :C00015

V :C00016base

min

n :C00909max

n16VoltageAddn16Boost

n16PWMAngleOffset

nEffSpeedSetValue Vsoll

fMod

nMotorVoltage

C00006

nEffCurrentIqnStatorCurrentIs

nLimSpeedSetVal

I :C00022

I :C00023maxMot

maxGen

V :C00073/1pT :C00074/1N

Motor slip model

0

1

nSpeedAdd

bSetQSP

Hz

%

Hz

%

f :C00015

V :C00016base

min

V/f linear

V/f sqare

nMotorFreqActC00059

OutputSpeedCtrl

C00021

C00105

ModulatorSelection ofcharacteristic

Slip compensationI controllermax

Transformationof coordinates

Invertererrorcharacteristic


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are Manual

Motor con

trol (MC

TRL)Sign

al flow

[5-6] Sensorless vector control (speed control)

PWM

nOutputSpeedCtrl

nSpeedHighLimitnSpeedLowLimit

nSpeedCtrlPAdaptbSpeedCtrlPAdapt

nSpeedCtrllAct

nTorqueAdd

n16PWMAngleOffsetn16VoltAdd

nMotorSpeedAct

nReactCurrentId

Modulator

n16MotorFreqAct

C00018

fMod

iqset

iq

idset

Imr

�U�U

fMod

nMotorVoltage

I :C00022max

VP:C00073/2TN:C00074/2

R - C00084

L - C00085

L - C00092

S

h

�

PWM

Modulator

C00018

n :C00909max

nEffSpeedSetValue

0

1

nSpeedAdd

bSetQSP

Hz

%

bLimSpeedCtrlOut

nLimMotTorquenLimGenTorque

0

1

nActualFluxx

0

1

bAutoGSBIsActive

NIAutoGSB

nEffCurrentIq

Hz

Vp: C00985

%

f :C00910maxT :C00074/2

N

A

Nm

T :C00074/2

N

T_Rotor

T :C00074/1

N

T :C00074/2

N

nMotorTorqueAct

C00021

nEffCurrentIq

VP:C00070/1TN:C00071/1

I :C00023max

A

Nm

0

1

bTorqueModeOn

nSpeedCtrllSetbSpeedCtrll

bTorqueModeOn

nInputTorqueControlA

Nm

bLimCurrentSetValue

T :C00074/2

NFlux model

(Calculation of slip)

Motor voltage model

Speedlimitation

Transformationof coordinates

Invertererrorcharacteristic

VsetVsetDirect-axis current controller

Speed controller

Torque control withspeed limitation

Magnetization

Torque controller


8400 BaseLine C | Software ManualMotor control (MCTRL)System block "LS_MotorInterface"

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5.8 System block "LS_MotorInterface"


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Monitoring functions

5.9 Monitoring functions

5.9.1 Motor temperature monitoring with I²xt

The 8400 frequency inverter is provided with a simple, sensorless monitoring for thermal

"I2xt" motor overload of self-ventilated standard motors.

C066 displays the motor utilisation meter I2xt, which shows whether the motor isoverloaded or not.

The permissible overload time of the motor is reached with an overload of C066 = 100 %,

the message "Thermal motor overload, I2xt" (OC6) is output and the response set in C606is initiated (default setting: "warning").

C120 serves to enter the overload threshold for I2xt motor monitoring

Stop!

The I2xt motor monitoring does not provide a full motor protection! Since the motor utilisation calculated in the thermal motor model gets lost after switching the mains, the following operating states cannot be determined correctly:

• Restarting (after mains switching) of a motor that is already very hot.

• Change of the cooling conditions (e.g. cooling air flow interrupted or too warm).

A full motor protection requires additional measures as e.g. the evaluation of temperature sensors that are located directly in the winding or the use of thermal contacts.


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Adjustment

Calculate the overload threshold I2xt:

If you reduce C120 starting from the calculated value, the motor utilisation meter I2xt (C066) will already be counted up before the rated overload threshold has been reached.

If you increase C120 starting from the calculated value, the motor utilisation meter I2xt (C066) will be counted up after the rated overload threshold has been reached.

The motor utilisation meter starts to count up when the apparent motor current (C054) ishigher than the rated motor current (C088).

[5-7] Tripping characteristic of I2xt monitoring

Example: C120 = Ir /IN x 100 %

– C054 = 1.5 x rated motor current

– After approx. 60 seconds, C066 has reached the final value 100 % at output frequencies f > 40 Hz. The controller switches off with the error "Thermal motor

overload, I2xt" (OC6) if C606 is set to "0" (trip).

• Ir • IN

Rated motor current (C088)Rated current of the controller at a switching frequency of f = 8 kHz

f: output frequencyt: release timeIN: Rated controller current at a switching frequency of f = 8 kHzIr : rated motor current (C088)C054: Apparent motor current

C00120Ir

IN----- 100%⋅=

60

180

240

300

360

t [s]

0.50

0

1.0 1.5 2.0 C00054Ir

120

f = 0 Hz

f = 20 Hz

f > 40 Hz

I x 100 %

Ir

N

C00120 <I x 100 %

Ir

N

C00120 =I x 100 %

Ir

N

C00120 >


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Monitoring functions

Tip!

• To prevent the overload threshold of motors with forced ventilation from being triggered too early, deactivate this function.

• The current limits C022 and C023 only have an indirect influence on the I2xt calculation. The settings of C022 and C023, however, serve to prevent the motor from being operated with maximum possible utilisation.


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8400 BaseLine C | Software ManualI/O terminals

6 I/O terminals

This chapter informs about the function and the possible parameter settings of thecontroller's input and output terminals.

The parameters are set in the »Engineer« on the Terminal assignment tab. Here, "analogterminals" and "digital terminals" are distinguished in the Control connections list field:

Analog input ( 116)

Digital inputs ( 120)Digital outputs ( 122)


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6.1 Analog input

The controller has an analog input which serves to detect voltage signals as e.g. an analogspeed setpoint selection or the signal of an external sensor (temperature, pressure, etc.).

The following areas can be parameterised:

0 ... 10 V, C034/1 = 0

0 ... + 5 V, C034/1 = 1, with external load resistor (250 Ω): 0 ... 20 mA

+ 1 ... + 5 V C034/1 = 2, with external load resistor (250 Ω): 4 ... 20 mA

Moreover, current signals in the 0/+4 ... +20 mA range, ("Life Zero" including open-circuitmonitoring) can be detected via a load resistor (250 Ω) connected to the terminals.

Further possible parameter settings of the input signals of

– offset and

– gain

Diagnostics options:

– The monitored input can be queried with a status signal.

– Input and output values of the system block are displayed in the »Engineer« / internal keypad.

Note!

To prevent undefined states, free input terminals of the controller must be assigned as well, e.g. by applying 0 V (GND) to the terminal "X4/A1U" .


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6.1.1 Terminal assignment/electrical data

Terminal Use Electrical data

X4/A1U Voltage input / Current input

Level: • 0 ... + 10 V DC • 0 ... + 5 V DC (0 ... + 20 mA)*)

• 1 ... + 5 V DC (+ 4 ... + 20 mA)*)

Load resistor*): RB = 250 Ω According to the above graphics, a load resistor must be connected to current signals 0/+4 ... 20 mA.

Resolution: 10 Bit (Error: 1 digit ≡ 0.1 %, related to the actual value)

Scaling: When C034 = "0":± 10 V ≡ ± 214 ≡ 16384 ≡ ±100 %

Conversion rate: 1 kHzIn order to filter out short-term interferences from the analog signal characteristic, the analog input value is filtered with a digital lag filter with a time constant equal to 5 ms.

Input resistance > 80 kΩ for VDC250 Ω for mADC

Input voltage in caseof open circuit

Display 0 (U < 0.05 V, absolute)

Sampling frequency(processing cycle)

1 kHz (1 ms)

Accuracy ± 0.1 V

Electric strength ofexternal voltage

± 15 V, permanent

X4/GND GND, reference potential of analog signals

X4 GND

A1U

AR

12I

RFR

DI1

DI2

DI3

DI4

24E

DO1

RB



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6.1.2 Parameter setting

Short overview of the parameters for the analog input:

6.1.3 Using the analog input as current input

The current source must be connected to the X4/GND and X4/A1U plug connector.

Code C034, selection "1" and "2", serves to reconfigure the analog input 1 to a current input if a load resistor of 250 Ω is connected externally in parallel.

Tip!

The selection "2" serves to implement a 4 ...20 mA current loop, e.g. for fault-resistant speed setpoint selection.

Open-circuit monitoring

Use C598/1 to set an open circuit error response for the 4 ...20 mA current loop. This errorresponse is already activated in the Lenze setting!

Minimum and maximum output speed

The speed range required for the application is set via the selection of the output speeds:

The maximum output speed which can be parameterised in code C011 is reached with a speed setpoint selection of 100 %. This value depends on the setpoint source and is considered as the reference speed for all other settings.

The value which can be parameterised in code C010 corresponds to the minimum speed if

– the input of the LS_AnalogInput block is connected to the X4/A1U input terminal (Lenze setting) and

– a voltage of 0 V applies to the X4/A1U input terminal.

Parameter INFO

C010/1 Minimum analog setpointMinimum and maximum output speed ( 118)

C011 Maximum output speed (reference speed)Minimum and maximum output speed ( 118)

C034 Configuration of analog input 1, evaluation of current (with external load resistor) or voltage

C598/1 Resp. to open circuit AIN1

C026/1 Analog input 1: Offset

C027/1 Analog input 1: Gain

C028/1 Analog input 1: Voltage input signal

C029/1 Analog input 1: Current input signal

C033/1 Analog input 1: AIN1_nIn_a



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[6-1] Relation between setpoint and minimum and maximum output speed

6.1.4 System block "LS_AnalogInput"

The system block LS_AnalogInput displays the analog input in the function block editor.

0 V

n

10 V

C011

C010

100 %

OutputData type

Value/meaning

nIn_aC033/1 | INT

Analog input 1 • Scaling:

± 214 ≡ ± 10 V for use as voltage input+ 214 ≡ + 20 mA (+ 5 V) for use as current input (with external load resistor)

bCurrentErrorIn1BOOL

Status signal "Current input error" • Only when analog input 1 is used as current input (with external load resistor). • Application: Cable-breakage monitoring of the 4 ...20 mA circuit.

True |IAIN1| < 4 mA

LS_AnalogInput

nIn_a

bCurrentErrorIn1

0

1

2

C027/1

C010/1

D

C033/1C028/1

C026/1

C034/1

A

X4

GND

A1U

AR


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6.2 Digital inputs

The four terminals DI1 ... DI4 of the plug connector X4 serve to detect digital signals.

Control input RFR serves to enable the controller and is firmly connected to the devicecontrol.



Short overview of parameters for the digital inputs:


X4/DI1..X4/DI4

Digital input 1 ... 4 LOW level: 0 ... 2.5 VDC

HIGH level: + 10 V ... + 30 V DC

Input current: 4 mA per input at 12 V DC(X4 / 12I)

Electric strength ofexternal voltage:

Max. ± 30 V, permanent

Input impedance: 3.3 kΩ

Processing cycle: 1 ms

X4/RFR Controller enable See digital inputs

X4/GND Reference potential (digital ground)

X4

24E

DO1

GND

A1U

AR

12I

RFR

DI1

DI2

DI3

DI4

Parameter INFO

C011 Reference speed of the drive

C114 Inversion of the digital input

C701 Linking of the digital inputs with different functions of the drive application is possible.

C443/1 Status: Terminal level • DI1 ... DI4: Bit 0 ... 3 • CINH: Bit 15

C443/2 Status: Output level • DI1 ... DI4: Bit 0 ... 3 • CINH: Bit 15



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8400 BaseLine C | Software ManualI/O terminalsDigital inputs

6.2.3 System block "LS_DigitalInput"

The system block LS_DigitalInput displays the digital inputs in the function block editor.

A total of four digital inputs DigIn1 ... DigIn4 can be parameterised. For each of theprocessing functions, the terminal function can be inverted with C114. The status can bequeried via code C443 at the input and output of the processing function.

OutputDIS code | data type

Value/meaning

bCInh C443/1 /2 | BOOL

Controller enableNote:In addition, there is a direct and non-configurable connection to the output stages of the frequency inverter.

bIn1C443/1 /2 | BOOL

...

Digital input DI1

bln4C443/1 /2 | BOOL

Digital input DI4

LS_DigitalInput

GND

A1U

AR

12I

RFR

DI1

DI2

DI3

DI4

24E

DO1

X4

bCInh

bIn1 ... bIn4Bit 0 ... 3

Bit 1

Bit 0 ... 3

Bit 1

C443/2C114

0

1

C443/1

C443/1 C443/2C114

0

1


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6.3 Digital outputs

The controller is provided with a parameterisable digital output and a relay output.


Note!

Initialisation behaviour:

• After mains switching up to the start of the application, the digital output remains set to FALSE.

Exception handling:

• In case of a critical exception in the application (e.g. reset), the digital output is set to FALSE considering the functional direction parameterised in C118.

Operating cycle diagnosis

• Code C177/2 serves to evaluate the load of the relay by querying the switching cycles.


X4/DO1 Digital output 1 LOW level: 0 V

HIGH level: +12 ... +30 V (independent of the voltage at X4/24E)

Output current: max. 50 mA (external resistance > 480 Ω at 24 V)

Processing cycle: 1 ms

X4/24E External voltage (24 V DC) to supply the digital output

X4/GND Reference potential (digital ground)

X101/COM Relay output, common contact Potential-free two-way switchAC 250 V / 3 ADC 24 V / 2 A ... 240 V / 0.16 A (with suppressor circuit)Important: The minimum load must not fall below 12 V and 5 mA.

X101/NO Relay output, NC contact

X4

24E

DO1

GND

A1U

AR

12I

RFR

DI1

DI2

DI3

DI4 X101 NO

COM


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8400 BaseLine C | Software ManualI/O terminals

Digital outputs


Short overview of parameters for the digital outputs:

6.3.3 Function block "LS_DigitalOutput"

In the FB editor, the function block LS_DigitalOutput is the interface to the digital outputat the front of the controller.

Parameter Info

C118 Inversion of the output logic

C621/1 Linking the bRelay signal with the drive applicationLenze setting: LA_nCtrl_bDriveFail (50)

C621/2 Linking the bOut1 signal with the drive applicationLenze setting: LA_nCtrl_bDriveReady (51)

C177/2 Status: Switching cycles, output relay

C444/1 Status: Input level • Bit 0: bRelay • Bit 1: bOut1

C444/2 Status: Terminal level • Bit 0: bRelay • Bit 1: bOut1


InputDIS code | data type

Information/possible settings

bOut1C444/1 | BOOL

Digital output 1

bRelayC444/1 | BOOL

Relay output, potential-free make contact

LS_DigitalOutput

bOut1

X101bRelay

C118

0

1

C444/1 C444/2

Bit 0

Bit 1 Bit 1

Bit 0

C444/2C118

0

1

NO

COM

DI3

DI4

24E

DO1

X4

C444/1


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8400 BaseLine C | Software ManualSystem bus "CAN on board"

Features

7 System bus "CAN on board"

The controller has an integrated CANopen system bus interface ("CAN on board") forprocess and parameter data exchange between different devices and the connection ofadditional modules such as distributed terminals, keypads and input devices ("HMIs") aswell as external controls.

In the »Engineer« parameter list and in the keypad, category CAN, you can find the parameters relevant for the CANopen system bus interface classified in different subcategories.

7.1 Features

For many years, the system bus (CAN) based on the CANopen communication profile hasbeen integrated in Lenze inverters. Due to the lower number of data objects available, thefunctionality and compatibility of the previous system bus are lower as compared toCANopen. For parameter setting, two parameter data channels are always available to theuser while CANopen provides only one active parameter channel.

The system bus (CANopen) has the following features:

The system bus (CAN) provides full compatibility with CANopen DS301, V4.02.

The NMT slave function "Heartbeat" (DS301, V4.02) is supported.

2 server SDO channels with 1 to 8 bytes

– Because of the 2 server SDO channels, the address range from 1 to 63 is available.

Number of parameterisable PDO channels:

– Max. 2 transmit PDOs (TPDOs) with 8 bytes

– Max. 2 receive PDOs (RPDOs) with 8 bytes

All PDO channels are functionally equivalent.

Generation of a sync signal

Monitoring of the RPDOs for data reception

Telegram counters for SDOs and PDOs

CAN bus status diagnostics

Note!

Information on CAN communication modules and CANopen system bus interfaces of other Lenze controllers can be found on the Lenze homepage and in the "CAN" communication manual available in the Lenze library.


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Generation of a CAN Operational NMT telegram at master configuration

All "CAN on board" functions can be parameterised via codes.

CANopen-specific functions

Object directory (all mandatory functions, optional functions, indexes)

Boot-up telegram generation

Emergency telegram generation

Abort codes

Heartbeat function

Response to sync telegrams (send/receive data)

Protocols

Standard PDO protocol Write and read

SDO protocols SDO download • "Initiate SDO download" • "Download SDO segment"

SDO upload • "Initiate SDO upload" • "Upload SDO segment"

Abort SDO transfer

NMT protocols Start remote node (master and slave)

Stop remote node (slave)

Enter pre-operational (slave)

Reset node (slave and local device)

Reset communication protocol (slave)

Heartbeat producer protocol

Emergency


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General data and application conditions

7.2 General data and application conditions

7.3 Communication time

Tip!

The communication time is the time between the start of a request and the arrivalof the corresponding response.

The CAN communication times depend on:

• Processing time in the frequency inverter

• Telegram run time (baud rate / telegram length)

• Bus load (especially if the bus is loaded with PDOs and SDOs at a low baud rate)

Processing time in the 8400 frequency inverter

There are no interdependencies between parameter data and process data.

Parameter data:

– Approx. 5 ms (typical)

– For parameters concerning the motor control (e.g. C00011), the processing time may be up to 30 ms.

Process data: 1 ms

Range Values

Communication profile CANopen, DS301 V4.02

Communication medium DIN ISO 11898

Network topology Line terminated at both ends

Adjustable node address 1 ... 63, adjustable via code

Max. number of nodes 63

Baud rate [kbps] • 20 • 50 • 125 • 250 • 500 • 1000adjustable via code

Process data • Max. 2 transmit PDOs (TPDOs) with 8 bytes • Max. 2 receive PDOs (RPDOs) with 8 bytes

Transfer mode for TPDOs • With change of data • Time-controlled, 1 to x ms • After the reception of 1 to 240 sync telegrams


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Activation of the bus terminating resistor

The CAN bus has to be terminated at the first and last physical node each by a resistor (R =120 ) between CAN low and CAN high.Ω

[7-1] Terminations at the beginning and end of the CAN bus

Setting the baud rate

The baud rate is set via code C00351.

The following baud rates are available:

Setting the node address

The node address can be set via code C00350 .

Valid address range: 1 to 63

8400BaseLine C

CH

CL

CG

120

R

CAN

120

R

LO

W

GN

D

I/O

Shie

lds

CH

CL

CG

X1

HIG

H

X13

Parameter Values

C351 0: 500 kbps

1: 250 kbps

2: 125 kbps

3: 50 kbps

4: 1000 kbps

5: 20 kbps

Note!

The addresses of the nodes must differ from each other.


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CAN signalling on the controller front panel

7.4 CAN signalling on the controller front panel

CAN-Run (green): Signals the CANopen status

CAN-Error (red): Signals a CANopen error

Frequency of the display CAN signalling and meaning

Permanently red CAN-Run: -, CAN-Error: bus off

Flashes Automatic detection of baud rate is active

Green blinks every 0.2 s CAN-Run: pre-operational, CAN-Error: -

Green blinks every 0.2 sRed blinks 1 time, 1 s off

CAN-Run: pre-operational, CAN-Error: warning limit reached

Green blinks every 0.2 sRed blinks 2 times, 1 s off

CAN-Run: pre-operational, CAN-Error: node guard event

Permanently green CAN-Run: operational, CAN-Error: -

Permanently greenRed blinks 1 time, 1 s off

CAN-Run: operational, fault: warning limit reached

Permanently greenRed blinks 2 times, 1 s off

CAN-Run: operational, CAN-Error: node guard event

Permanently greenRed blinks 3 times, 1 s off

CAN-Run: operational, CAN-Error: sync message error

Green blinks every 1 s CAN-Run: stopped, CAN-Error: -

Green blinks every 1 sRed blinks 1 time, 1 s off

CAN-Run: stopped, CAN-Error: warning limit reached

Green blinks every 1 sRed blinks 2 times, 1 s off

CAN-Run: stopped, CAN-Error: node guard event

CAN

Status


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7.5 General information on data transfer

All Lenze drive and automation systems are equipped with an integrated system businterface for the networking of control components on field level.

Via the system bus interface, for instance process data and parameter values can beexchanged between the nodes. In addition, the interface enables the connection ofadditional modules such as distributed terminals, keypads and input devices or externalcontrols and host systems.

The system bus interface transfers CAN objects following the CANopen communicationprofile (CiA DS301, version 4.02) developed by the umbrella organisation of CiA (CAN inAutomation) in conformity with the CAL (CAN Application Layer).


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General information on data transfer

7.5.1 Structure of the CAN data telegram

[7-2] Basic structure of the CAN telegram

Tip!

Identifier and user data will be described in detail in the following chapters. The other signals refer to the transfer characteristics of the CAN telegram, which will not be explained in this manual. For more information, please go to the homepage of the CAN user organisation CiA (CAN in Automation) http://www.can-cia.org .

Node address (node ID)

Each node of the system bus network must be assigned to a node address (also called nodeID) within the valid address range (1 to 63) for unambiguous identification.

A node address may not be assigned more than once within a network.

The node address of the drive can be configured via code C00350.

Identifier

The principle of the CAN communication is based on a message-oriented data exchangebetween a transmitter and many receivers. All nodes can transmit and receive quasi-simultaneously.

The identifier, also called COB-ID (Communication Object Identifier), is used to controlwhich node is to receive a sent message. In addition to the addressing, the identifiercontains information on the priority of the message and the type of the user data.

The identifier consists of a basic identifier and the node address of the node to beaddressed:

Identifier (COB-ID) = basic identifier + node address (node ID)

Exception: For process data, heartbeat/emergency objects, NMT telegrams and synctelegrams, the identifier is assigned freely by the user (e.g. manually or automatically viathe network configurator) or it is firmly allocated.

Identifier assignment

The CAN bus system is message-oriented. Each message has an unambiguous identifier.For CANopen, node-oriented transfer is achieved by the fact that there is only onetransmitter for each message.

The identifier assignment is specified in the CANopen protocol.

9400CAN016_de

Start RTR bit

Control field

CRC sequence

CRC delimit. ACK delimit.

ACK slot End

Identifier User data (0 … 8 bytes)

Network managementProcess dataParameter data

1 bit 11 bits 1 bit 6 bits 15 bits 1 bit 1 bit 1 bit 7 bits


http://www.can-cia.org


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In accordance with the CANopen specification, the basic identifier is preset with thefollowing values:

1)Caution: If you set the sync transmit/receive identifier manually, observe the use of the emergency telegram, since it has the same COB-ID.

Object Direction Lenze-Base-ID CANopen-Base-ID

from the drive

to the drive dec hex dec hex

NMT 0 0 0 0

Sync 1) 128 80 128 80

Emergency 1) X 128 80 128 80

PDO1 -->Process data channel 1

TPDO1 X 384 180 384 180

RPDO1 X 512 200 512 200

PDO2 -->Process data channel 2

TPDO2 X 640 280 640 280

RPDO2 X 641 281 768 300

SDO1 -->Parameter data channel 1

TSDO1 X 1408 580 1408 580

RSDO1

X 1536 600 1536 600

SDO2-->Parameter data channel 2

TSDO2

X 1472 5C0 1472 5C0

RSDO2

X 1600 640 1600 640

Heartbeat X X 1792 700 1792 700

Boot-up X 1792 700 1792 700


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User data

The nodes communicate with each other by exchanging data telegrams via the CAN bus.

The user data range of the CAN telegram contains network management data, parameterdata or process data:

Network management data (NMT data)

– Control information on start, stop, reset, etc. of communication to certain or all nodes of the CAN network.

Process data (PDO, Process Data Objects)

– Process data are transferred via the process data channel.

– Process data can be used to control the controller.

– Process data are not saved on the controller, e.g. as parameter sets.

– Process data are transferred between host and controllers to ensure a continuous exchange of current input and output data.

– Process data usually are unscaled/scalable raw data

– Process data are, for instance, setpoints and actual values.

– The exact meaning of the PDO file contents is determined via the function block editor (FB interconnection) in the I/O level of the 8400 frequency inverter or via the PDO mapping.

Parameter data (SDO, Service Data Objects)

– Parameter data are the CANopen indexes or, in case of Lenze devices, the codes.

– Parameters are, for instance, used for one-off plant setting during commissioning or when the material is changed on a production machine.

– Parameter data are transmitted as SDOs via the parameter data channel. They are acknowledged by the receiver, i.e. the transmitter gets a feedback about the transmission being successful or not.

– The parameter data channel enables access to all Lenze codes and CANopen indexes.

– Parameter changes can be saved in the parameter set of the controller.

– In general, the parameter transfer is not time-critical.

– Parameter data are, for instance, operating parameters, diagnostic information and motor data as well as control information on the interconnection of function blocks in the I/O level of the 8400 frequency inverter.



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7.5.2 Communication phases of the CAN network (NMT)

Regarding communication, the drive distinguishes between the following states:

Status Explanation

"Initialisation"(Initialisation)

Initialisation starts when the controller is switched on. In this phase, the drive does not take part in the bus data transfer.Furthermore, it is possible in each NMT status to restart the entire initialisation or parts of it by transferring different telegrams (see "Status transitions"). In this case, all CAN-relevant parameters are overwritten with their default values.After initialisation has been completed, the drive is automatically set to the "pre-operational" status.

"Pre-operational"(before being ready for operation)

The drive can receive parameter data.Process data are ignored.

"Operational"(ready for operation)

The drive can receive parameter data and process data.

"Stopped"(stopped)

Only network management telegrams can be received.

Communication object Initialisation Pre-operational

Operational Stopped

PDO X

SDO X X

Sync X X

Emergency X X

Boot-up X

NMT X X X


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Status transitions

[7-3] Status transitions in the CAN network (NMT)

E82ZAFU004

(3)

(11)

(10)

(9)(8)

(6)

(7)

(5)(4)

(2)

(1)

(13)

(12)

(14)

Initialisation

Pre-Operational

Stopped

Operational

Status transition Command Network status after change

Effects on process and parameter data after status change

(1) - Initialisation Initialisation starts automatically when the mains is switched on.During initialisation, the drive does not take part in the data transfer.After the initialisation is completed, the node sends a boot-up message with an individual identifier and automatically changes to the "pre-operational" status.

(2) - Pre-operational In this phase, the master determines the way in which the controller(s) takes/take part in the communication.

From that moment on, the master changes the states for the whole network. A target address, which is part of the NMT command, specifies the receiver(s). If the 8400 controller has been configured to be a master, the status automatically changes to "operational" after the waiting time (C00356/1) has elapsed, and the NMT command 0x0100 CAN start remote node is sent to all nodes.After another waiting time C00356/4 has elapsed, the controller sends its output process data.

(3), (6) 0x01 xx Operational Network management telegrams, sync, emergency, process data (PDOs) and parameter data (SDOs) are active (corresponds to "start remote node")Optional:When the status is changed, event and time-controlled process data (PDOs) will be sent once.

(4), (7) 0x80 xx Pre-operational Network management telegrams, sync, emergency and parameter data (SDOs) are active (corresponds to "enter pre-operational state")

(5), (8) 0x02 xx Stopped Only network management telegrams can be received.

(9) 0x81 xx Initialisation Initialisation of all CAN-relevant parameters (CiA DS 301) with the stored values (corresponds to "reset node")

(10)

(11)

(12) 0x82 xx Initialisation of all CAN-relevant parameters (CiA DS 301) with the stored values (corresponds to "reset communication")(13)

(14)

xx = 0x00: With this assignment, all devices connected are addressed by the telegram. The status can be changed for all devices at the same time.

xx = node ID: If a node address is indicated, the status will only be changed for the device addressed.



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Network management (NMT)

The network management telegram contains the identifier (always "0") and the command,which is included in the user data and consists of the command byte and the node address:

[7-4] Telegram for changing the communication phases

A node, the network master, changes the communication phases of the entire network.The network master can also be a controller, see CAN start remote node ( 137).

With a delay after mains power-up or the boot-up telegram, a telegram is sent once whichsets the entire drive system to "Operational". The delay time can be set under codeC00356/1 . After another waiting time C00356/4 has elapsed, the controller sends its output processdata.

command specifier

cs

COB-ID = 0

210

Node-IDRequest Indication

NMT-Master NMT-Slave

CS Service

1 Start_Remote_Node

2 Stop_Remote_Node

128 Enter_Preoperational-State

129 Reset_Node

130 Reset_Communication

Note!

A change in master/slave operation will only become effective

• after power-on of the controller

or

• if the NMT telegram reset_node or reset_communication is sent to the controller.

As an alternative to the NMT telegram reset_node, the controller command C00002/26 = 1: "On / Activate" can be used for reinitialising the CAN-specific device parameters.


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7.5.3 CAN start remote node

If the initialisation of the system bus and the associated status change from pre-operational to operational is not effected by a superimposed host system, the controllercan instead be defined to be a "quasi" master to execute this task.

The configuration is carried out via code C352.

By means of the NMT telegram start_remote_node, the controller sets all nodes to the"operational" NMT status (broadcast telegram).

The master function is only required for the initialisation phase of the drive system. Themaster's boot-up time for the initialisation phase can be set under C356/1.

Data can only be exchanged via process data objects if the status is "operational".

A controller designated to be a "master" only responds to the receipt of a reset_nodecommand with a start_remote_node NMT.


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7.6 Process data transfer

PDO data transfer from / to the higher-level host system

Definitions

Process data telegrams between host and drive are distinguished as follows:

– Process data telegrams to the drive (RPDO)

– Process data telegrams from the drive (TPDO)

The CANopen process data objects are designated as seen from the node's view:

– Receive PDO (RPDOx): process data object received by a node

– Transmit PDO (TPDOx): process data object sent by a node

7.6.1 Available process data objects

The following process data objects are available:

2 RPDOs

2 TPDOs


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Process data transfer

7.6.2 Transmission type

Process data objects can be transmitted in an event-controlled or time-controlled manner.The below table shows that it is possible to combine the different methods by means oflogic operations (AND, OR):

Event-controlled

– The PDO is sent when a special device-internal event has occurred, for instance when the data contents of the TPDO have changed or when a transmission cycle time has elapsed

Synchronous transmission

– A TPDO (or RPDO) is transmitted (or received) after the device has received a sync telegram (COB-ID 0x80).

Cyclic transmission

– The cyclic transmission of PDOs takes place when the transmission cycle time has elapsed.

Polled via RTR

– A TPDO is transmitted when another device requests it by means of a data request telegram (RTR remote transmit request). For this purpose, the data requester (e.g. the master) sends the data request telegram with the COB-ID of the TPDO requested to be sent. The receiver recognises the RTR and transmits the corresponding PDO.

The transmission type for each PDO can be selected freely and independently of thesettings for other PDOs:

Code C00322 for TPDOx

Code C00323 for RPDOx

Transmission type PDO transmission Logic combination of different transmission typescyclic synchronous event-controlled

0 X X AND

1...240 X -

254 X X OR

Transmission type Description

0 The PDO is transmitted on an event-controlled basis with every sync (e.g. when a bit change occurs in the PDO).

1...240 SYNC (when the sync is received) • Selection n = 1: The TPDO is transmitted with every SYNC. • Selection 1 < n ≤ 240: The TPDO is transmitted with every nth SYNC. • The RPDOs data are accepted with every sync

241 ... 251 Reserved

254 Event-controlledIf this value is entered, the PDO transmission is event-controlled or cyclic.(Note: The values 254 and 255 have the same meaning).For cyclic overlay, a cycle time must be entered for the respective PDO. In this case, cyclic transmission takes place in addition to event-controlled transmission (e.g. through a bit change in the PDO).



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7.6.3 Cyclic process data objects

With cyclic transmission, one or several PDOs are sent/received at fixed intervals. Thesynchronisation of cyclic process data is described in the following.

Note!

• The transmission type for TPDOs can be set under

– I-180x/2 (CANopen)

– C00322 (code)

• The transmission type for RPDOs can be set under

– I-140x/2 (CANopen)

– C00323 (code)


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Synchronisation of PDOs with sync-controlled transmission

A special telegram, the sync telegram, is used to enable the controllers to read/accept thesynchronous process data.

The sync telegram is the trigger point for the transmission of process data from thecontrollers to the master and for the acceptance of process data from the master by thecontrollers.

For sync-controlled process data processing, the sync telegram must be generatedaccordingly.

[7-5] Sync telegram

1. After the sync telegram has been received, the controllers send the synchronous process data to the master (TPDOs). The master reads them as process input data.

2. When the transmission process has been completed, the controllers receive the process output data from the master (RPDOs). All further telegrams (e.g. parameters or event-controlled process data) are accepted non-cyclically by the controllers when the transmission is completed. The non-cyclic data are not represented in the above illustration. They must be taken into account when dimensioning the cycle time.

3. The data are accepted by the controllers with the following sync telegram.

Tip!

The response to a sync telegram is determined by the selected transmission type.

9400CAN018

1.

TPDOx RPDOx

2. 3. 4.

Cycle time

“Sync” “Sync”



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7.6.4 Event-controlled process data objects

The transmission of PDOs, the transport type of which is set to event-controlled reception/transmission via codes C00322 and C00323, takes place when the event occurs, i.e. whenthere is a change in the user data or when the adjusted time has elapsed.

7.6.5 Identifiers of the process data objects

The C00353 code serves to define whether

• the identifiers of the PDOs are to be assigned according to a CANopen definition or

• the identifiers of the PDOs are to be assigned according to a Lenze definition or

• an individual setting is to be made:

In the Lenze setting, the basic identifiers of the PDOs are preset (see table below).

Identifier = basic identifier + node address

Button Function

C00353/1: "0", COB-ID = C0350 + Lenze-Base-ID

Addresses of CAN-IN1 and CAN-OUT1 are determined by C00350 + Lenze-Base-ID.

C00353/1: "1", COB-ID = C0350 + CANopen-Base-ID

Addresses of CAN-IN1 and CAN-OUT1 are determined by C00350 + CANopen-Base-ID.

C00353/1: "2", COB-ID = individual setting

Address of CAN-IN1 is determined by C00354/1.Address of CAN-OUT1 is determined by C00354/2.

C00353/2: "0", COB-ID = C0350 + Lenze-Base-ID

Addresses of CAN-IN2 and CAN-OUT2 are determined by C00350 + Lenze-Base-ID.

C00353/2: "1", COB-ID = C0350 + CANopen-Base-ID

Addresses of CAN-IN2 and CAN-OUT2 are determined by C00350 + CANopen-Base-ID.

C00353/2: "2", COB-ID = individual setting

Address of CAN-IN2 is determined by C00354/3.Address of CAN-OUT2 is determined by C00354/4.

PDO Basic identifiers (Lenze setting) Basic identifiers (CANopen)

dec hex dec hex

PDO1

RPDO1 512 0x200 512 0x200

TPDO1 384 0x180 384 0x180

PDO2

RPDO2 768 0x300 640 0x280

TPDO2 640 0x280 641 0x281


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7.6.6 Assignment of the process data objects

Port blocks LP_CAN-IN1 and LP_CAN-IN2

[7-6] Port blocks LP_CAN-IN1 ... LP_CAN-IN2

The process data transmitted from the CAN bus to the drive can be processed by amaximum of three process data objects (RPDOs): LP_CAN-IN1 ... LP_CAN-IN2.

The process data object LP_CAN-IN1 provides a total of four words, the first being definedas the control word (wCtrl). The information of the control word is also available for theapplication in a bit-encoded form (bCtrl1_B0 .. bCtrl1_B15).

Except for the designation "control word", the same applies to the two other process dataobjects (LP_CAN-IN2 and LP_CAN-IN2).

LP_CAN-IN1

bCtrl1_B00

bCtrl1_B01

....

....

....

bCtrl1_B14

bCtrl1_B15

wCtrl

wIn2

wIn3

wIn4

LP_CAN-IN2

bCtrl1_B00

bCtrl1_B01

....

....

....

bCtrl1_B14

bCtrl1_B15

wIn1

wIn2

wIn3

wIn4

RPDO Word 1 Word 2 Word 3 Word 4

LP_CAN-IN1 wCtrl or bCtrl1_b0 ... bCtrl1_b15 wIn2 wIn3 wIn4

LP_CAN-IN2 wIn1 or bIn1_b0 .. bIn1_b15



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Port blocks LP_CAN-OUT1 ... LP_CAN-OUT2

[7-7] Port blocks LP_CAN-OUT1 and LP_CAN-OUT2

The process data transmitted from the drive to the CAN bus can be processed by amaximum of three process data objects (TPDOs): LP_CAN-OUT1 ... LP_CAN-OUT2.

The process data object LP_CAN-OUT1 provides a total of four words, the first beingdefined as the status word (wState).

The first process data word of the objects LP_CAN-OUT1 ... LP_CAN-OUT2 results from thelinkage of "wState" or "wOut1" with the binary outputs B00 ... B15 via an OR function.When using the first data word, consider that the data word to be sent via CAN will also beinfluenced by changing its binary outputs.

LP_CAN-Out1

bState1_B00

bState1_B01

....

....

....

bState1_B14

bState1_B15

wState

wOut2

wOut3

wOut4

LP_CAN-Out2

bOut1_B00

bOut1_B01

....

....

....

bOut1_B14

bOut1_B15

wOut1

wOut2

wOut3

wOut4

RPDO Word 1 Word 2 Word 3 Word 4

LP_CAN-OUT1 wState or bState1_b0 ... bState1_b15 wOut2 wOut3 wOut4

LP_CAN-OUT2 wOut1 or bOut1_b0 .. bOut1_b15


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Parameter data transfer

7.7 Parameter data transfer

[7-8] Parameter data transfer via the two available parameter data channels

Parameters are values stored in codes on Lenze controllers.

Two parameter data channels are available for parameter setting, enabling thesimultaneous connection of different devices for configuration purposes.

Parameter data are transmitted via the system bus as SDOs (Service Data Objects) andacknowledged by the receiver. The SDO enables read and write access to all deviceparameters and to the CANopen object directory integrated in the device. Indexes (e.g.0x1000) ensure access to device parameters and functions included in the object directory.To transfer SDOs, the information contained in the user data must comply with the CANSDO protocol.


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7.7.1 Identifiers of the parameter data objects

In the Lenze setting, the basic identifiers of the SDOs are preset according to the"Predefined Connection Set".

The identifiers of the parameter data objects SDO1 and SDO2 result from the basicidentifier and the node address set under code C00350:

Identifier = basic identifier + node address

Object Direction Lenze-Base-ID CANopen-Base-ID

from the drive

to the drive dec hex dec hex

SDO1 (Parameter data channel 1)

TSDO1 X 1408 580 1408 580

RSDO1

X 1536 600 1536 600

SDO2(Parameter data channel 2)

TSDO2

X 1472 5C0 1472 5C0

RSDO2

X 1600 640 1600 640

Heartbeat X X 1792 700 1792 700

Boot-up X 1792 700 1792 700

Note!

Please observe that the parameter data channels 1 and 2 are active in the factory setting.


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7.7.2 User data

Structure of the user data of the parameter data telegram

The following commands can be sent/received for writing and reading the parameters:

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Index Index Subindex Data 1 Data 2 Data 3 Data 4

Low byte High byte Low word High word

Low byte High byte Low byte High byte

Error code

Note!

The user data are presented in the Motorola format.

Parameter data telegram examples ( 152)

Command Meaning

Write request Send parameter to drive

Write response Acknowledgement, controller response to write request

Read request Request to read a parameter from the controller

Read response Response to the read request with current value

Error response The controller signals a communication error



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Command

The command contains the services for writing and reading parameters and informationabout the user data length:

e: expedited (shortened block service)

s: segmented (normal block service)

Tip!

Further commands are defined in the CANopen specification DS301,V4.02 (e.g.segmented transfer)

The following information is contained/must be entered in the command:

"Error Response" command: In the event of an error, the addressed node generates an"error response". The data 1 ... 4 contain the error code (32 bits).

The error codes are standardised acc. to DS301, V4.02.

Addressing of the parameters by means of index and subindex

The parameter or the Lenze code is addressed via these two bytes according to the formula:

Index = 24575 - (Lenze code number)

Example:

The acceleration time (code C00012) is to be addressed. This code has the subindex 0 (nosubindex).

Calculation:

• Index:

– Decimal: 24575 - 12 = 24563

– Hexadecimal: 0x5FFF - 0xC = 0x5FF3

• Subindex: 0x00

Command Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Command specifier (cs) Toggle (t) Length e s

Write request 0 0 1 0 00 = 4 bytes01 = 3 byte10 = 2 byte11 = 1 byte

1 1

Write response 0 1 1 0 0 0

Read request 0 1 0 0 0 0

Read response 0 1 0 0 1 1

Error response 1 0 0 0 0 0 0 0

Command 4 byte data 2 byte data 1 byte data Block

(5th ... 8th byte) 5th and 6th byte 5th byte e s

Write request 0x23 (35) 0x2B (43) 0x2F (47) 0x21 (33)

Write response 0x60 (96) 0x60 (96) 0x60 (96) 0x60 (96)

Read request 0x40 (64) 0x40 (64) 0x40 (64) 0x40 (64)

Read response 0x43 (67) 0x4B (75) 0x4F (79) 0x41 (65)

Error response 0x80 (128) 0x80 (128) 0x80 (128) 0x80 (128)


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Data 1 ... Data 4

Maximally 4 bytes are available for parameter value entries. They are assigned as follows:

Example:

The parameter to be transmitted via the CAN bus has the percent value "123.45" (e.g.C00039/1 "Fixed setpoint JOG1").

Calculation:

Value to be transmitted = scaling factor x value(Engineer)

Data (1 ... 4) = 100 x 123.45 = 12345 (0x30 39)

Structure of the data telegram:

Length of the parameter value depending on the data format

Parameter value(length: 1 byte)

00 00 00

Parameter value (length: 2 bytes) 00 00

Low byte High byte

Parameter value (length: 4 bytes)

Low word High word


Note!

Transmission of parameters with a scaling factor ≠ 1:Such parameters must be multiplied or divided by the scaling factor before or after the CAN data transfer. The conversion must be ensured by the SDO client.

The scaling factor is given in the Parameter list ( 228) .

X


Command Index Index Subindex Data 1 Data 2 Data 3 Data 4

0xD8 0x5F 0x01 0x39 0x30 0x00 0x00



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Error messages

Byte 1:

The entry 0x80 (128) in the command byte indicates that an error has occurred.

Bytes 2 to 4:

These bytes contain the index (bytes 2 and 3) and the subindex (byte 4) of the code, inwhich the error occurred.

Bytes 5 to 8:

The error code is entered in the data bytes 5 to 8. The error code structure is inverse to theread direction.

Example:

Representation of the error code "0x06 04 00 41" in the bytes 5 to 8


Command Index Index Subindex Error code

0x80(128)




Command Index Index Subindex 0x41 0x00 0x04 0x06

0x80(128)




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The following table lists explanations for the error numbers:

Error code Explanation

0x0503 0000 Toggle bit not changed

0x0504 0000 SDO protocol expired

0x0504 0001 Invalid or unknown client/server command specifier

0x0504 0002 Invalid block size (only block mode)

0x0504 0003 Invalid sequence number (only block mode)

0x0504 0004 CRC error (only block mode)

0x0504 0005 Not sufficient memory

0x0601 0000 Object access not supported

0x0601 0001 Attempt to read a write-only object

0x0601 0002 Attempt to write to a read-only object

0x0602 0000 Object not listed in object directory

0x0604 0041 Object not mapped to PDO

0x0604 0042 Number and length of objects to be transferred longer than PDO length.

0x0604 0043 General parameter incompatibility

0x0604 0047 General internal device incompatibility

0x0606 0000 Access denied because of hardware error

0x0607 0010 Unsuitable data type, unsuitable service parameter length

0x0607 0012 Unsuitable data type, service parameter length exceeded

0x0607 0013 Unsuitable data type, service parameter length not long enough

0x0609 0011 Subindex does not exist

0x0609 0030 Parameter value range exceeded

0x0609 0031 Parameter values too high

0x0609 0032 Parameter values too low

0x0609 0036 Maximum value falls below minimum value

0x0800 0000 General error

0x0800 0020 Data cannot be transferred/stored for application.

0x0800 0021 Data cannot be transferred/stored for application due to local control.

0x0800 0022 Data cannot be transferred/stored for application due to current device status.

0x0800 0023 Dynamic generation of object directory failed or no object directory available (e.g. object directory generated from file, generation not possible because of a file error).



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7.7.3 Parameter data telegram examples

Read parameters

The heatsink temperature of the frequency inverter with the node address "5" (43 °C, codeC00061) is to be read.

Identifier calculation

Read request command (request to read a parameter from the controller)

Index calculation

Telegram to drive

Response telegram from drive (if data have been correctly transmitted)

Explanation of the response telegram:

Identifier: SDO1 from controller (=1408) + node address = 1413 (0x585)

Command: Read response to the read request = 0x4B (C00039/1 has a length of 2 bytes)

Index of read request: 0x5FC2

Subindex: 0x00

Data1 to data 4: 0x00 00 00 2B = 43 [°C]

Identifier SDO1 to controller Calculation

1536 + node address 1536 + 5 = 1541 (0x0605)

Command Value

Read request 0x40

Index Calculation

Index = 24575 - code number 24575 - 61 = 24514 (0x5FC2)

Identifier Command Index Index Subindex Data 1 Data 2 Data 3 Data 4

Low byte High byte

0x605 0x40 0xC2 0x5F 0x00 0x00 0x00 0x00 0x00


Low byte High byte

0x585 0x4B 0xC2 0x5F 0x00 0x2B 0x00 0x00 0x00


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Write parameters

Task:

In the controller with the node address 2, the rated current of the connected motor is to beentered with Ir = 10.20 A (code C00088).

Identifier calculation

Write request command (send parameter to drive)

Index calculation

Subindex: 0

Calculation of motor current entry

Telegram to drive

Response telegram from drive (if data have been correctly transmitted)

Explanation of the response telegram:

Identifier:SDO1 from controller (=1408) + node address = 1410 (0x582)

Command:Write response (acknowledgement, response of the controller without data) = 0x60

Index / subindex same as in the request telegram


1536 + node address 1536 + 5 = 1538 (0x0602)

Command Value

Write request 0x23

Index Calculation

Index = 24575 - code number 24575 - 88 = 24487 (0x5FA7)

Data 1 ... 4 Calculation

Value for motor current, (data type U16; display factor 1/100) 10.20 • 100 = 1020 (0x03 FC)


Low byte High byte

0x602 0x2B 0xA7 0x5F 0x00 0xFC 0x03 0x00 0x00


Low byte High byte

0x582 0x60 0xA7 0x5F 0x00 0x00 0x00 0x00 0x00



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Read block parameters

The software version (code C00099) is to be read from the parameter set of the controllerwith node address 12.

The data type of the software version is "visible string", 0-terminated. The content of thecode has a length of 11 ASCII characters (not including the 0-termination) and istransmitted in the form of separate segments (blocks). Within the user data, each blockoccupies a maximum data width of 7 bytes.

The following describes the data transfer step by step:

Read request to the controller

– Identifier

– "Read request" command, requesting of code C00099

1st byte: 40 "read request" (request to read code C00099 from the controller)

2nd/3rd byte: Index high/low byte: 24575 - 99 = 24476 (0x5F9C)

4th byte: Code C00099 has no subindex (entry: 0x00).

Response of the controller

– Identifier

– Response including the block length (11 characters)

1st byte: 41 "read response". The entry 41hex indicates the block telegram.

2nd/3rd byte: see above

5th byte: 0x0B (= 11), data length 11 characters

Tip!

Note: In the following, the toggle bit is marked with an asterisk (*). It is always inthe 4th place.

Influence of the toggle bit on the request command

• The individual blocks are toggled one after another, i.e. the request with command 0x60 (= 0b0110*0000) is executed before command 0x70 (= 0b0111*0000), which then is followed by 0x60 again, etc.


1536 + node address 1536 + 12 = 1548 (0x60C)


Low byte High byte

0x60C 0x40 0x9C 0x5F 0x00 0x00 0x00 0x00 0x00

Identifier SDO1 from controller Calculation

1408 + node address 1408 + 12 = 1420 (0x58C)


Low byte High byte

0x58C 0x41 0x9C 0x5F 0x00 0x0B 0x00 0x00 0x00


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Influence of the toggle bit to the transmission command

• The first response of the controller in the command byte is 0b0000* 0000 if the 7 bytes 2 to 8 are completely filled with data and further telegrams will follow.

• The second response of the controller in the command byte is 0b0001* 0000 if the bytes 2 to 8 are completely filled with data and further telegrams will follow, etc.

Influence of the end bit and residual data length on the transmission command "0b000(0/1)* nnn1"

• The last response of the controller is indicated by setting an "end bit" (bit 0 = 1).

• The three following bits (n) indicate the number of bytes which do not contain any data anymore.

Request of the 1st data block

1st byte: 0x60, "read segment request"

Response: Transmit 1st data block

2nd byte - 8th byte, ASCII format: 01.00.0


Low byte High byte

0x060C 0x60 0x00 0x00 0x00 0x00 0x00 0x00 0x00


Low byte High byte

0x058C 0x00 0x30 0x31 0x2E 0x30 0x30 0x2E 0x30

0asc 1asc .asc 0asc 0asc .asc 0asc



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Request of the 2nd data block

1st byte: 0x70 (toggle)

Response: Transmit 2nd data block with end identifier

Command byte 0x17 (00010111bin ) =>

High nibble: Bit 0 = 1 (toggle bit)

Low nibble: Bit 0 = 1 (end of transmission), Bit 1 - 3 = 011bin (3 bytes do not contain anydata)

The result of the data block transfer is: 01.00.00.00


Low byte High byte

0x060C 0x70 0x00 0x00 0x00 0x00 0x00 0x00 0x00


Low byte High byte

0x058C 0x17 0x30 0x2E 0x30 0x30 0x00 0x00 0x00

0asc .asc 0asc 0asc - - -


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Monitoring

7.8 Monitoring

7.8.1 Heartbeat protocol

E82ZAFU009

The heartbeat producer cyclically sends a heartbeat message to one or several heartbeatconsumers.

The consumers monitor whether the message is received within the "heartbeat consumertime". If this is not the case, an error message, referred to as "heartbeat event", will begenerated.

If the "heartbeat event" occurs, the node changes from the operational state to the pre-operational state (Lenze setting).

The heartbeat monitoring starts when the first heartbeat telegram of a monitored nodehas been successfully received and the pre-operational NMT status has been assumed.

Tip!

Please observe the notes concerning the object I-1017 .

1

1

8

8

. . . .

. . . .

t

t

s

sIndication

HeartbeatEvent

Indication

Indication

Request

Request

Indication

Indication

Indication

NMT-Master NMT-Slave

HeartbeatProducerTime

HeartbeatConsumerTime

t = 0

t = 0

EMERGENCY


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7.8.2 Emergency

"Emergency" is sent once to the master when the error status changes due to theoccurrence or elimination of an internal frequency inverter error.

The emergency telegram sent on the CAN bus has the following structure:

1st/2nd byte: Emergency error code

3rd byte: Error register object I-1001

4th ... 8th byte: Lenze error number (byte 4 = fixed = 0x00) see also Error messages of the operating system ( 180)

All numbers are hexadecimal values

Example:

Byte 1 / 2: 0x00 / 0x10 (generic error)

Byte 3: 0x01 (error register contents)

Byte 4: 0x00 (reserved)

Bytes 5 ... 8: see Error messages of the operating system ( 180)

Corresponding "no errors" message: 0x00000000.

A detailed description can be found in the CAN specification DS301V402.

Emergency error codes Cause Entry in the error register (I-1001)

0000 • One of several errors eliminated xx

• Elimination of one single error (afterwards no more errors)

00

1000 Standard device in TRIP, message, warning, fault, QSP

01

3100 Supply voltage of standard device faulty or failed

01

8100 Communication error (warning) 11

8130 Life guard error or heartbeat error 11


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Monitoring

7.8.3 Heartbeat commissioning example

A heartbeat consumer (8400 frequency inverter, node 2) is to be monitored by an 8400frequency inverter (node 1) used as a heartbeat producer.

The heartbeat producer is to send a heartbeat telegram to the heartbeat consumer every10 ms. The heartbeat consumer monitors the arrival of the heartbeat telegram.

If an error occurs, a response is to be triggered in the frequency inverter.

For this purpose, carry out the following commissioning step:

Set the "heartbeat producer time" (transmission cycle) for node 1 in C00381.

– In this example, a cycle of 10 ms is to be set.

– ID 702: Response message from the producer (node 1) to the consumer (node 2), "operational" (0xT0)

Note!

The boot-up telegram counts as the first heartbeat telegram!


8400 BaseLine C | Software ManualSystem bus "CAN on board"Implemented CANopen objects

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7.9 Implemented CANopen objects

Lenze devices can both be parameterised with Lenze codes and manufacturer-independent "CANopen objects". A completely CANopen-compliant communication canonly be achieved by using CANopen objects for parameter setting. The CANopen objectsdescribed in this manual are defined in the "CiA Draft Standard 301/version 4.02".

Many CANopen objects can be mapped on Lenze codes. In the column Relationship toLenze code", the related Lenze codes are listed.

Overview of CANopen indexes and relationship to Lenze codes

Note!

Some of the terms used here derive from the CANopen protocol.

CANopen object Relationship to Lenze code

Index Subindex Name Code Subcode

I-1000 0 Device type

I-1001 0 Error register

I-1002 0 Manufacturer status register

I-1005 0 Identifier sync message C00367

C00368

I-1006 0 Communication cycle period C00369

I-1008 0 manufacturer device name

I-1009 0 manufacturer hardware version

I-100A 0 manufacturer software version

I-1014 0 COB-ID emergency object

I-1016 0 consumer heartbeat time C00386

I-1017 0 Producer heartbeat time

I-1018 0 Identity object

I-1200 Server SDO1 parameters

0 Number of entries

1 Identifier client −> server (rx)

2 Identifier server −> client (tx)

I-1201 Server SDO2 parameters

0 Number of entries

1 Identifier client −> server (rx)

I-1400 RPDO1 communication parameters

0 Largest subindex supported

1 COB-ID C00355 1

2 Transmission type C00323 1

5 Monitoring time C00357 1


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Implemented CANopen objects

I-1401 RPDO2 communication parameters


1 COB-ID C00355 2


5 Monitoring time C00357 2

I-1600 RPDO1 mapping parameters

0 number of mapped application objects in PDO

1 Object 1

2 Object 2

3 Object 3

4 Object 4

I-1601 RPDO2 mapping parameters


1 Object 1

2 Object 2

3 Object 3

4 Object 4

I-1800 Transmit PDO1 communication parameters


1 COB-ID used by PDO C00355 2


5 TPDO1 event time C00356 5

I-1801 Transmit PDO2 communication parameters


1 COB-ID used by PDO C00355 4


5 TPDO2 event time C00356 2

I-1A00 TPDO1 mapping parameters


1 Object 1

2 Object 2

3 Object 3

4 Object 4

I-1A01 TPDO2 mapping parameters


1 Object 1

2 Object 2

3 Object 3

4 Object 4

CANopen object Relationship to Lenze code

Index Subindex Name Code Subcode



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I-1000

The CANopen index I-1000 specifies the profile for this device. Furthermore, additionalinformation defined in the device profile itself can be stored here.

Bit assignment in the telegram data:

In case of 8400 series frequency inverters, the four bytes contain the following values:

5th and 6th byte: The data content is 0x0000, i.e. no profile definition

7nd byte and 8th byte: The data contents is 0x0000.

The data contents for the 8400 frequency inverter thus is: 0x00 00 00 00

Index

I-1000Name:

Device type

Subindex Default setting Setting range (min. value | unit | max. value) Access Data type

0 - 0 ... 232-1 ro U32

5th byte 6th byte 7th byte 8th byte

LSB Type MSB

Device profile number Additional information


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I-1001

Reading of the error register

Error status for the following bit assignment in the data byte (U8):

Index:

I-1001Name:

Error register


0 - 0 ... 255 ro U8

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Error status

0 0 0 0 0 0 0 0 No error

0 0 0 0 0 0 0 1 Device error message

0 0 0 1 0 0 0 1 Communication error



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I-1005

This object ensures that

sync telegrams can be created for the module

the identifier value can be written.

Creating sync telegrams

Sync telegrams are created by setting bit 30 (see below) to "1".

The time between the sync telegrams can be set using a different object (I-1006).

Writing identifiers

To receive PDOs, the value 0x80 must be entered in the 11-bit identifier in the Lenze setting(and according to CANopen specification) . This means that all modules are by default setto the same sync telegram.

If sync telegrams are only to be received by certain communication modules, theiridentifiers can be entered with values up to and including 0x0FF. The identifier may onlybe changed when the communication module does not send any sync telegrams (bit 30 =0).

Meaning of the bit assignment

Tip!

Also observe the notes concerning the codes

• C00367

• C00368

Index:

I-1005Name:

COB-ID SYNC message


0 0x80 or0x8000 0080

0 ... 232-1 rw U32


31(MSB)

30 29 28 - 11 10 ... 0(LSB)

X 0/1 0 Bit values: 0 11-bit identifier

Bit no. Value Explanation

0 - 10 X 11-bit identifier

(11 - 28)* 0 *) The extended identifier (29 bits) is not supported. Any of these bits must be "0".

29* 0


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I-1006

Setting the sync telegram cycle time.

With the default setting of t=0, no sync telegrams are created.

The cycle time can be entered as "1000" or as an integer multiple of it. The unit of the timeentered is [μs]. The maximum value is 65000000 [μs].

Tip!

Also observe the notes concerning the code

• C00369

I-1017

The heartbeat telegram is automatically sent as soon as a value > 0 is entered in the indexI-1017. The cycle time corresponds to the entered value in [ms].

Node guarding is deactivated if the heartbeat time is active.

I-1018

Subindex 1, vendor ID

The identification number allocated to Lenze by the "Organisation CAN in Automation e.V." can be read out via this object in subindex 1 and is 0x00 00 00 3B.

Subindex 2, product code for

– BaseLine: 84001

– StateLine: 84002

– HighLine: 84003

Subindex 3, main version and subversion of the firmware

Subindex 4, serial number = 0

Index:

I-1006Name:

Communication cycle period


0 0 0 ... 232-1 rw U32

Index:

I-1017Name:

Producer heartbeat time


0 0 0 ... 65535 rw U32

Index:

I-1018Name:

Identity object


0: Number of entries - Specific ro U32

1: Vendor ID

2: Product code

3: Revision number

4: Serial number



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I-1400

Reception of process data

The objects are assigned to the following RPDOs:

I-1400 −−> RPDO1

I-1401 −−> RPDO2

Default setting

[7-1] Default setting for I-1400 ... I-1401

Data telegram assignment

Description of subindex 1

[7-2] I-1400 ... I-1401, subindex 1

Index:

I-1400 ... I-1401Name:

Receive PDO1 ... PDO2 communication parameter


0: Largest subindex supported See Default setting

5 (fixed) ro U8

1: COB-ID used by PDO See Description of subindex 1 rw U32

2: Transmission type - See Description of subindex 2 rw U8

3: Inhibit time - Inhibit time is not used for RPDOs rw U16

4: Compatibility entry - Reserved, read or write access causes an error message (code: 0x0609 0011).

rw U8

5: Event timer - Monitoring time for RPDOs rw U16

Selection Response

0 5 (the largest subindex supported is permanently set to this value)

1 • Index 1400: 0x200 + node ID • Index 1401: 0x300 + node ID


31(MSB)

30 29 28...11 10 0(LSB)

0/1 0/1 0 Bit values: 0 11-bit identifier


0 - 10 0/1 11-bit identifier


29* 0

30 01

RTR to this PDO possible (cannot be set)RTR to this PDO not possible (Lenze)

31 01

0: PDO active1: PDO not active


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[7-3] I-1400 ... I-1401, subindex 2

Tip!

Also observe the notes concerning the code C00323

PDO transmission Transmission type Explanation

cyclic acyclic synchronous

Event-controlled

X X n = 0 When a value n = 0 is entered, the PDO is received with every sync if the contents of the PDO has changed before.

X X n = 1 ... 240 When a value n is entered, this PDO will be accepted with every nth SYNC.

X n = 254 PDO will be accepted immediately.



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I-1600

The objects I-1600 ... I-1601 serve to receive parameter data as RPDO.

The objects are assigned to the following RPDOs:

• I-1600 --> RPDO1

• I-1601 --> RPDO2

Index:

I-1600 ... I-1601Name:

Receive PDO mapping parameter

Subindex Setting range Access Data type

0: Number of mapped application objects in PDO

ro U8

1 ... 4: PDO mapping for the nth application object to be mapped

ro U32

Subindex Name

0 Number of mapped objects

1 RPDOx mapping, entry 1





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I-1800

The CANopen object describes the transmission of process data.

The objects are assigned to the following TPDOs:

• I-1800 --> TPDO1

• I-1801 --> TPDO2

Default setting

[7-4] Default setting for I-1800 ... I-1801

Data telegram assignment

Index:

I-1800 ... I-1801Name:

Transmit PDO communication parameter


0: Largest subindex supported See Default setting

5 (fixed) ro U8

1: COB-ID used by PDO Description of subindex 1 rw U32

2: Transmission type - Description of subindex 2 rw U8

3: Inhibit time - Setting of the minimum delay time between two PDOs rw U8

4: Reserved - Read or write access leads to error message 0x0609 0011 rw U16

5: Event timer - Setting of the cycle time for PDO transmission Description of subindex 5

rw U16

Selection Response

0 5 (the largest subindex supported is permanently set to this value)

1 • Index 1800: 0x180 + node ID • Index 1801: 0x280 + node ID


31(MSB)

30 29 28...11 10 0(LSB)

0/1 0/1 0 Bit values: 0 11-bit identifier



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[7-5] I-1800 ... I-1803, subindex 1


[7-6] I-1800 ... I-1802, subindex 2


For cyclic operation (transmission type 254), the cycle time for sending individual processdata objects on the CAN bus can be set under subindex 5:

Index 1800 / subindex 5: TPDO1

Index 1801 / subindex 5: TPDO2

The entered value corresponds to the time in [ms].

Tip!

Also observe the notes concerning the code C00356


0 - 10 X 11-bit identifier


29* 0

30 0 RTR to this PDO possible (Lenze)

1 RTR to this PDO not possible (cannot be set)

31 0 PDO active

1 PDO not active

PDO transmission Transmission type Explanation

cyclic acyclic synchronous

Event-controlled

X X n = 0 When a value n = 0 is entered, the PDO is transmitted with every sync if the contents of the PDO has changed before.

X X n = 1 ... 240 When a value n is entered, this PDO will be accepted with every nth SYNC.

X n = 254 PDO will be accepted immediately.


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8400 BaseLine C | Software ManualError management

Basics on error handling in the controller

8 Error management

8.1 Basics on error handling in the controller

Many functions are integrated in the controller which detect errors and thus

protect the device against damage or overload, e.g. short circuit detection, Ixt overload detection, overtemperature detection, etc.

detect a maloperation by the user, e.g. memory module missing.

output a warning signal if desired, e.g. if the speed is too high or too low, etc.

Depending on the importance, this error detection in the device responds very fast (e.g.short circuit detection < 1 ms) or in a slower cycle (e.g. temperature monitoring approx.100 ms).

Furthermore, depending on their importance, some device errors can be configured withrespect to their effect on the behaviour of the controller (e.g. for user errors which mayoccur):

All functions provided with an error detection (e.g. the motor control) supply informationto an error handler which is processed every 1 ms and which evaluates all the information.

During this evaluation

the current error is generated

the controller is set to the respective error status (e.g. "fault").

These error data serve to diagnose errors systematically and contain the followinginformation:

1. the error type, e.g. warning

2. the subject area

3. the error identification number within the subject area

Together all types of information form the real error number which is unique in the wholedevice system.

In addition to the control of the device state by the error handler, a logbook functionrecords the errors and their history. Logbook ( 175)


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8.2 Drive diagnostics with the »Engineer«

Tip!

The drive diagnostics with the integrated keypad is described in chapter Diagnostics ( 25).

With an online connection to the controller, you can use the »Engineer« to carry out adiagnostics for the connected controller and get a clear visualisation of importantcontroller states:

The online connection to the »Engineer« can be made via the diagnostic interface X6.

[8-1] "Diagnostics" tab, screenshot for online connection to the frequency inverter

Use the Reset error button to acknowledge an existing error message if the cause of the error has been eliminated.

Use the Logbook button to display the logbook of the controller. For detailed information about the logbook, please see the chapter "Logbook" ( 175) .

The Device state button serves to display the state machine. The current device status is indicated by a field highlighted in blue.

The "Monitoring" button serves to set the monitoring functions (configuration of the error type).


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Drive diagnostics with the »Engineer«

If you click the Drive control button, a table appears providing information on the bit assignment of the following control-relevant words:

– Cause of controller inhibit C158

– Cause of quick stop C159

– Status word C150

– Extended status word C155

Display parameters

The parameters listed in the following tables serve to query current states and actualvalues of the controller for diagnostic purposes, e.g. by using the internal keypad, a bussystem or the »Engineer« (with an online connection to the controller).

These parameters are listed in the »Engineer« parameter list and the internal keypad.

A detailed description of these parameters can be found in chapter "Parameter reference" ( 221).

Identification data

The parameters listed in the following table which are entered in the »Engineer«parameter list and in the internal keypad in the Identification Controller category, serveto display the identification data of the controller:

How to diagnose a drive with the »Engineer«:

1. Select the 8400 BaseLine controller to be diagnosed in the Project view.

2. Click the icon or select the command OnlineGo online to build up an online connection with the controller.

Parameter Display

C051 Actual speed value

C052 Motor voltage

C054 Motor current

C057 Maximum torque

C059 Appl. Nominal frequency C11

C061 Heatsink temperature

C064 Device utilisation (I x t)

C066 Thermal motor load (I2xt)

C168 Status-determining error

C178 Elapsed-hour meter

C179 Power-on time meter

Parameter Display

C093 Power section ID

C099, C100

Firmware version

C200 Firmware product type

C201 Firmware compile date


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3. Select the Diagnostics tab.

• With an online connection, the Diagnostics tab displays current status information about the controller.

[8-2] Device state

[8-3] Drive control


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Logbook

8.3 Logbook

The integrated logbook function of the controller chronologically logs important eventswithin the system and plays an important role for troubleshooting and controllerdiagnostics.

Events that can be logged

The following events can be logged in the logbook:

Error messages generated by the application

Information saved

For each event, the following information is saved in the logbook:

Type of response (e.g. fault, warning ) to the event

Subject area that activated the event (e. g. user).

Event

Value of power-on time meter

Memory depth

Maximum number of logbook entries: 8


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8.3.1 Functional description

The structure of the logbook corresponds to a ring buffer:

[8-4] Ring buffer structure

In the event of a supply voltage failure, the logbook is saved and reloaded automaticallywhen the controller is switched on. This ensures that the error history of the device doesnot get lost. For this reason it is very important to act with caution when deleting thelogbook entries.

Current event

• As long as free logbook memory capacity is available, the entries will be saved at the next free memory location.

• If all memory locations are occupied, the oldest entry will be deleted to save a new entry.

nn-1

n-2

Note!

Events for which the response is set to "None" are not entered into the logbook.


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Logbook

8.3.2 Reading out logbook entries

With an online connection, the existing logbook entries can simply be displayed in the»Engineer«. Alternatively, the logbook entries can also be read via the correspondingparameters (e.g. using the internal keypad).

How to display logbook entries in the »Engineer«:

1. Go to the Project view and select the 8400 BaseLine controller whose logbook entries are to be read.

2. Click the icon or select the command OnlineGo online to build up an online connection with the controller.

3. Select the Diagnostics tab from the Workspace.

4. Click Logbook.

• The Logbook dialog box appears

• Click Delete to delete an entry from the logbook.

• Click Export to export the entries from the logbook into a *.log file.

5. Click Previous to close the Logbook dialog box.

[8-5] Dialog area of the logbook


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8.4 Monitoring

The controller includes different monitoring functions that protect the drive againstimpermissible operating conditions.

If a monitoring function responds,

– an entry will be made into the Logbook of the controller,

– the response (troubleQSP, warning, fault, etc.) selected for the monitoring function will be activated,

– the status of the internal device control changes according to the selected response, controller inhibit is set, and the "DRIVE ERROR" LED on the front of the controller goes on:

Response Logbook entry

Display in C168

Pulse inhibit Controller inhibit

Acknowledgement required

LED "DRV-ERR"

None OFF

Fault

Trouble(after 0.5 s)

Warning locked


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Monitoring

8.4.1 Setting the error response

When a monitoring function responds, the response set for this monitoring function(troubleQSP, warning, fault, etc.) will be activated.

For many monitoring functions the response can be individually parameterised via parameters.

Tip!

The table in chapter " Short overview (A-Z)" contains the error messages forwhich the response can be set ( 183) .

Warning thresholds

Some of the monitoring functions are activated if a defined warning threshold (e.g.temperature) has been exceeded.

The corresponding preset threshold values can be changed via the following parameters:

8.4.2 Monitoring of the device utilisation

In C064, the device utilisation (i x t) over the last 180 seconds is displayed in [%].

If the value displayed in C064 exceeds the warning threshold set in C123, the error message "Device utilisation Ixt > C123" is output and the error response set in C604 occurs (default setting: "Warning").

If the value displayed in C064 exceeds 100 %, the error message "device utilisation Ixt > 100 %" is output and the error response "fault" occurs.

– The error can only be reset if the value displayed in C064 is < 95 % again.

Parameter INFO

C120 Motor overload protection (I²xt)

C123 Device util. warning threshold

C174 Undervoltage (LU) threshold


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8.5 Error messages of the operating system

This chapter describes all error messages of the controller operating system and possiblecauses & remedies.

Tip!

The error messages are also saved in the logbook in chronological order. Logbook( 175)

8.5.1 Error number

8.5.1.1 Structure of the error number (bit coding)

If an error occurs in the controller, the logbook saves a 32-bit value in the error formatwhich contains the following information:

[8-6] Structure of the error number

8.5.1.2 Error type

The error type is dynamically assigned by the operating system.

8.5.1.3 Error subject area

The subject area indicates the internal "function unit" of the controller in which the erroroccurred.

Reserved

Error type

Error subject area

Error ID

��

Bit 16252631 0152930

Bit 29 Bit 28 Bit 27 Bit 26 Meaning

0 0 0 0 0: No response

0 0 0 1 1: Pulse inhibit fault

0 0 1 0 2: Trouble

0 1 0 0 4: Warning locked

Bit 16252631 0152930

Bit 16252631 0152930


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Error messages of the operating system

8.5.1.4 Error ID

16-bit value (0 ... 65535) for error identification.

8.5.1.5 Example for bit coding of the error number

C168 displays the error number "75169803".

This decimal value corresponds to the following bit sequence:

The bit-by-bit representation of the error number (divided into nibbles)0000⏐0100⏐0111⏐1011⏐0000⏐0000⏐0000⏐1011corresponds to the hexadecimal value of "0x47B000B"

The error number "75169803" thus means:In the "Motor management" subject area, an overcurrent has been detected. An "error pulse inhibit" occurred as a response to the error which has to be acknowledged after the error has been eliminated.

Bit 16252631 0152930

Assignment Information Meaning in the example

Reserved Assigned with 0b00

Error type 1: Pulse inhibit fault

Subject area 123: Motor management

Error ID 16: "Short circuit" (OC1)

Bit 16252631 0152930

0 0 0 0 0 1 0 0 0 1 1 1 1 0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1

0 0

0 0 0 1

0 0 0 1 1 1 1 0 1 1

0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1



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8.5.2 Reset of error message

An error message with the response "Fault", "Trouble" or "Warning locked" must beexplicitly reset (acknowledged) after the cause of the error has been eliminated.

Error messages can be reset via

the code C002/19 = "1"

the »Engineer«

the DCTRL input with C701/2 = "1" (terminal "X4/RFR": Low ---> High)

Mains switching (switching off the mains and then on again)

Tip!

With an online connection to the controller, use the Diagnostics tab of the»Engineer« and click Error message reset to reset a pending error message.


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8.5.3 Short overview (A-Z)

The following table contains all error messages of the controller operating system inalphabetical order with the preset error response and - if available – the parameter forsetting the error response.

Tip!

If you click the cross-reference in the last column "Detailed information", you getto the detailed description of the corresponding error message in the followingchapter "Cause & possible remedies" ( 184) .

[8-1] Monitoring

Error message Cross-reference / INFO

An01: AIN1_I < 4 mA An01

df01 ... df10: Internal error Please contact Lenze

dH69: Adjustment data error dH69

ID1: Motor data identification error ID1

LU: DC-bus undervoltage LU

OC1: Power section - short circuit OC1

OC2: Power section - earth fault OC2

OC5: Ixt overload OC5

OC6: I2xt motor overload OC6

OH: Heatsink overtemperature OH

OU: DC-bus overvoltage OU

PS01: No memory module PS01

PS02: Invalid parameter set PS02

PS03: Parameter set of device invalid PS03

PS04: Invalid parameter set PS04

PS31: Parameter set of different power class PS031

US01: User error 1 US01

US02: User error 2 US02



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8.5.4 Cause & possible remedies

This chapter contains all error messages of the controller operating system in numericalorder of the error number with detailed information on the response to the error messageas well as information on the cause & possible remedies.

Tip!

A list of all error messages of the controller operating system in alphabetical ordercan be found in the previous chapter

Short overview (A-Z) ( 183).

Table of the individual errors

Subject area Error no. Error cause Error response

Remedy by the user

No. Name

119 Temperature 7798785 OH: Heatsink overtemperatureThe heatsink temperature is higher than the fixed limit temperature (90 ° C). The ambient temperature of the controller may be too high or the fan or its ventilation slots may be dirty.

1: Error - pulse inhibit ("Fault")

Check control cabinet temperature.Clean air filter of control cabinetClean controller.If required, clean or replace the fanProvide for sufficient cooling of the device.

119 Temperature 7798834 OC5: Ixt overloadThe Ixt overload check has tripped due to 1.) wrong dimensioning of the device with regard to its motor load or 2.) non-compliance with the load cycles

C00604 Regarding 1.) Check and, if required, correct the dimensioning between the device and motor load with regard to technical dataRegarding 2.) Reduce load cycles of the motor. Observe load cycles according to the documentation.

123 Motor management / encoder

8060942 OU: DC-bus overvoltageThe device has detected an overvoltage in the DC bus and an earth fault on the motor side. In order to protect the device hardware, the inverter control is switched off.Depending on the configuration of the auto-start lock function, C00142 serves to set that, if the this error has been tripped, the controller only starts after the controller inhibit is switched.If this error message remains active longer than the time set in C00601, a "Fault" is tripped.

2: Trouble Reduction of the load in generator mode.Use of a brake resistorUse of a regenerative power supply module.Layout of a DC-bus connection.Remove earth fault on the motor side.


8060943 LU: DC-bus undervoltageThe device has detected an undervoltage in the DC bus. The inverter control is switched off since the drive characteristics of the motor control cannot be ensured anymore due to the DC-bus undervoltage. The configuration of the auto-start lock function C00142 serves to set that, after this error has tripped, the controller only starts after the controller inhibit is switched.

2: Trouble Switch on the mains supply or ensure sufficient supply via DC bus. Adapt C00142, if required


8060944 OC1: Power section - short circuitThe device has detected a short circuit of the motor phases. In order to protect the device electronics, the inverter control is switched off. Mostly, faulty motor connections are the reason.If the device is dimensioned inappropriately with regard to the motor load and if the current limitation in the current controller is misadjusted (Imax controller), this error message may occur as well.See also the chapter Motor control - defining current limits


Check of the motor connections and the corresponding plug connector at the device.Compliance with the permissible combinations of device and motor power.Do not set the dynamics of the current limitation controller too high.


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8060945 OC2: Power section - earth faultThe device has detected an earth fault of the motor phases. In order to protect the device electronics, the inverter control is switched off. Mostly, faulty motor connections are the reason.If the sinusoidal filters, motor cable lengths and cable types (capacity of shielding) are misdimensioned, discharge currents to PE may lead to this error message.


Check of the motor connections and the corresponding plug connector at the device.Use of sinusoidal filters, cable lengths and cable types recommended by Lenze.


8061033 OC6: I2xt motor overloadThermal overload of the motor

C00606 Check whether the motor overload threshold I²xt in code C120 is dimensioned correctly.Compliance with load requirements and, if required, correction of dimensioning. With control mode VFCplus:Check of the Vmin boost, see C00016For details see Setting Vmin boost

125 Analog I/O integrated

8192001 An01: AIN1 I < 4 mA C00598/1 Check wiring of the analog input terminal for open circuit.Check minimum current values of the signal sources.

144 Parameter set 9437185 PS01: No memory moduleMemory module is not plugged in.Either the memory module is not available or not correctly engaged in the slot.

5: Warning Plug in the memory module or make sure that it is engaged correctly.

144 Parameter set 9437186 PS02: Invalid parameter setParameter set filing invalid due to a previously incomplete saving of the parameter set (e.g. by voltage failure or pulling out the memory module during the saving process).


Please make sure during the saving process that the voltage supply is kept up and the module remains plugged into the slot.

144 Parameter set 9437187 PS03: Parameter set of device invalidIncompatibility of the parameter set is e.g. caused if the parameter set in the memory module has a higher version than the basic device expects.


When exchanging the memory modules, observe the downward compatibility.

144 Parameter set 9437188 PS04: Invalid parameter setA memory module incompatible for this device has been detected.


If devices are exchanged, the parameter sets of the memory module for the device can be accepted by means of C002/c012 = "1".

144 Parameter set 9437215 PS31: Parameter set of different power classA parameter set of a memory module has been detected with a different power class and motor control SLVC (C006 = 4).


Execute the motor parameter identification (C002/c023 = "1").

400 Device hardware defective

26214505 dH69: Adjustment data errorAdjustment data error - power section


The device must be returned to Lenze.

980 US01: User error 1 64225281 US01: User error 1User error 1 of LS_SetError_1

C00581/1 Defined by the user

981 US02: User error 2 64290817 US02: User error 2User error 2 of LS_SetError_1

C00581/2 Defined by the user

Note!

The errors can be reset approx. 3 seconds after they have occurred.

(Exception for OC1, OC2: reset is possible after approx. 10 sec)

Subject area Error no. Error cause Error response

Remedy by the user

No. Name



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8400 BaseLine C | Software ManualDrive Application

9 Drive Application

The drive application is a drive solution provided with the experiences and know-how ofLenze in which function blocks interconnected to a signal flow form the basis forimplementing typical drive tasks.

Brief description of the drive application features

Configurable input signals for terminal or manual control

Free configuration of output signals

Offset and gain of the main setpoint

Up to 3 fixed setpoints for speed

Adjustable setpoint ramp times

Linear or S-shaped ramp

Manual jog (function depends on the device type)

Quick stop with adjustable ramp time

Motor potentiometer (can be switched on/off)

Load monitoring

This chapter describes the management and details of the drive application of the 8400BaseLine frequency inverter.


8400 BaseLine C | Software ManualDrive ApplicationOverview of the software structure of the drive application function

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9.1 Overview of the software structure of the drive application function

[9-1] Software structure of the application function

The device comes integrated with the drive application ("actuating drive - speed"). Thisdrive application provides the main signal flow for implementing a general or particulardrive task in the form of a signal interconnection of diverse function blocks (applicationlevel).

The drive application is provided with an input interface for connecting the control signalsources (e.g. main setpoint) and an interface for controlling the device outputs.

The control signals and device outputs are connected to the drive application in the I/Olevel.

Within the drive application, the main setpoint path affects the signals for the motorcontrol and the state control of the controller.

Both the control inputs and the control outputs and the entire drive application areprovided with parameters for

Setting / parameter setting of internal functions

Display of actual values

Connection of the FBs in the I/O level

All these parameters can be addressed via the diagnostic interface. The parameters are sete.g. via the internal keypad or diagnostics / user interfaces in the »Engineer«.

STOP

M

M

0

1

n

t

��

8888B

ESC

C

DEF

A

X4

GND

A1U

DI1

DI2

DI3

DI4

X424E

DO1

X101NO

COM

Signalinputs

Motion

Drivecontrol

Motorcontrol

Signaloutputs

Setpointgenerator

ParameterisationParameterisation

Processcontroller


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9.1.1 Input and output interconnection of the drive application

The input and output interconnection, the individual control signals are shown which act on the drive application:

[9-2] Interconnection of the signal sources, marking: analog input 1 as main setpoint

MiscellaneousbUserLED

LS_DisFreewDis1

wDis2

wDis3

wDis4

LS_DisFree_bbDis1

.

.

bDis8

LS_AnalogInput

bCurrentErrorIn1

nIn1_a

LS_ParFree_b

bPar1

.

.

bPar16

LS_ParFixbTrue

nPos100_a

nNeg100_a

nPos199_9_a

nNeg199_9_a

w35535

wDriveCtrl

LS_Keypad

bSetQuickstop

bSetDCBrake

nTorqueMotLim

bSetSpeedCcw

nMainSetValue

bJogSpeed1

bJogSpeed2

LS_ParFree_anPar1_a

nPar2_a

nPar3_a

nPar4_a

LS_DisFree_anDis1_a

nDis2_a

nDis3_a

nDis4_a

LS_DigitalOutputbRelay

LS_DigitalInput

bCInh

bIn1

bIn2

bIn3

bIn4

bDriveReady

bSpeedCcw

bSpeedSetReached

bNActCompare

bImaxActive

LP_CAN-IN1

bIn1_B00

bIn1_B01

....

....

....

bIn1_B14

bIn1_B15

wCtrl

wIn2

wIn3

wIn4

LP_CAN-IN2

bIn2_B00

bIn2_B01

....

....

....

bIn2_B14

bIn2_B15

wIn1

wIn2

wIn3

wIn4

LP_CAN-OUT1

bState1_B00

bState1_B01

....

....

....

bState1_B14

bState1_B15

wState

wOut2

wOut3

wOut4

LP_CAN-OUT2

bOut1_B00

bOut1_B01

....

....

....

bOut1_B14

bOut1_B15

wOut1

wOut2

wOut3

wOut4

bSpeedActEqSet

nOut_a

bUp

bDown

bInAct

nln_a

bEnable

bDown

bRfg0

nPIDVpAdapt_anPIDVpAdapt_a

bNSetInv

nNSet_a

L_PCTRL:nNOut_a

bNSetInv

bPIDInfluenceRampbPIDInfluenceRamp

bPIDIOffbPIDIOff

bSetDCBrake

bSetQuickstop

nNSet_a

nPIDSetValue_anPIDSetValue_a

nTorqueMotLim_a

bSetDCBrake

bRLQCw

bRLQCcw

bFailReset

bSetQuickstop

bCInh

bRFG_0

nTorqueGenLim_a

bJog2

nPIDInfluence_anPIDInfluence_a

bJogSpeed2bJog1

nPIDActValue_anPIDActValue_a

bJogSpeed1

bCInhActive

bDriveReady

wDeviceStateWordwDeviceAuxStateWord

wDetermFailNoLow

wDetermFailNoHigh

VFCplus

nNOut_a

nNOut_a

LS_DriveInterface

bFailReset

bSetError2bSetError2

bCInh

bMPOTDown

bMPOTUp

bMPOTEnable

bMPOTInAct

nMainSetValue_a

bSetSpeedCcw


bStatus_Bit0bStatus_Bit0







wDetermFailNoLow

wDetermFailNoHigh

bDriveReady

wDeviceStateWord

wDeviceAuxStateWord

bDriveFail

bSafeTorqueOffbSafeTorqueOff

bSafetyIsActivebSafetyIsActive

bCInhActive

bSpeedActEqSet

L_NSet

L_PCTRL

L_MPot

nTorqueMotLim_a

nTorqueGenLim_a

bQSPIsActive

bNActCompare

bSpeedCcw

bImaxActive

bActSpeedEqZero

bSpeedActEqSet

bDriveFail

bHeatSinkWarningbHeatSinkWarning

bOVDetectedbOVDetected

bDCBrakeOnbDCBrakeOn

nMotorCurrent_anMotorCurrent_a

nOutputSpeedCtrl_anOutputSpeedCtrl_a

nMotorSpeedAct_anMotorSpeedAct_a

nMotorTorqueAct_anMotorTorqueAct_a

nDCVoltage_anDCVoltage_a

nHeatsinkTemperature_a

bFlyingSyncActive


bFlyingSyncActive

nMotorVoltage_a nMotorVoltage_a

nMotorFreqAct_a nMotorFreqAct_a

bSpeedCcw

bActSpeedEqZero

bQSPIsActive

bNActCompare

bSpeedSetReachedbSpeedSetReached

bImaxActive

RLQ

1

1

LA_NCtrl

wCANDriveControlwCANDriveControl

SpeedSetValue_a

VFCplus:SpeedSetValue_a



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9.1.2 Functions of the drive application "Actuating drive - speed"

Function BaseLine D BaseLine C StateLine C HighLine C

Connection of device I/Os Adjustable via parameter tablesAdditionally configurable via parameters or FB Editor

Signal flow generation Predefined in the deviceSome functions can be switched on and off via parameters

Freely configurable via FB Editor

FB Editor, I/O level - Yes, editable

FB Editor, application level Diagnostics only Yes, editable

Open-loop operationClosed-loop operation

YesNo

YesNo

YesYes

YesYes

Speed setpoint selection via ramp function generator with S-shaped (jerk-free) ramp characteristic

Yes Yes Yes Yes

Number of fixed setpoints 3 3 15 15

Number of ramp times 1 1 15 15

Function for comparing the actual speed with the digital feedback

Yes Yes Yes Yes

Reversal of CW/CCW rotation via digital signal

Yes Yes Yes Yes

Set/reset error Yes Yes Yes Yes

Diagnostics of the digital and analog inputs and outputs

Yes Yes Yes Yes

Configurable connection of control and status signals

Yes Yes Yes Yes

Adjustable load monitoring Yes Yes No Yes

Integrated automatic brake operation Yes, simple speed threshold

Yes, simple speed threshold

Yes, simple speed threshold

Yes, with additional functions

Expandable by signal interconnection Only in the I/O level Only in the I/O level Only in the I/O level Yes

Blocking speeds Yes Yes Yes Yes

Motor potentiometer function Yes Yes Yes Yes

PID process controller Yes Yes Yes Yes

Manual jog No No Yes Yes, two speeds

Automatic load identification and control parameter setting

No No No No


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Selection of the control type

The selection of the control type determines how the drive application of the BaseLine is to be controlled. The following types areavailable:

1. Terminal control (Lenze setting)

2. Control via internal keypad / PC

The device inputs and outputs called system blocks at Lenze are the interfaces between the (internal) drive application and theperipheral inputs and outputs of the controller. The terminals, for instance, are important inputs and outputs for the user. Thefrequency inverter has one analog input and several digital inputs and outputs.

The interconnections between system blocks and the drive application are assigned with code C007. An overview of the signalsaffecting the inputs and outputs of the drive application is provided by the table in chapter Pre-assignment of the drive application( 192). The table shows the interconnections in the Lenze setting.



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9.1.3 Pre-assignment of the drive application

Input connections

Code InputLA_NCtrl:

Code C007, value:

10 (Terminal 0) 12 (Terminal 2) 14 (terminals 11) 16 (terminals 16) 20 (keypad) 21 (PC) 30 (CAN)

C700/1 nMainSetValue_a LS_AnalogInput:nIn1_a (X4/A1U) LS_Keypad:nMainSetValue_a

LS_ParFree_a:nPar1_a LP_CAN-IN1:wIn2

C700/2 nTorqueMotLm_a LS_ParFree_a:nPar3_a LS_Keypad:nTorqueMotLim_a

LS_ParFree_a:nPar3_a LS_ParFree_a:nPar3_a

C700/3 nTorqueGenLm_a LS_ParFree_a:nPar3_a LS_Keypad:nTorqueGenLim_a

LS_ParFree_a:nPar3_a LS_ParFree_a:nPar3_a

C700/5 wCANDriveCtrl LS_ParFix:wDriveCtrl LP_CAN-IN1:wIn1

C700/6 nPIDVpAdapt_a LS_ParFix:nPos100_a

C700/8 nPIDInfluence_a LS_ParFix:nPos100_a

C701/2 bFailReset LS_DigitalInput:bCInh (X4/RFR)

C701/3 bSetQuickstop - LS_DigitalInput:bIn3(X4/DI3)

- - LS_Keypad:bSetQuickstop - LS_DigitalInput:bIn3 (X4/DI3)

C701/4 bSetDCBrake LS_DigitalInput:bIn3 (X4/DI3)

- LS_DigitalInput:bIn2(X4/DI2)

- LS_Keypad:bSetDCBrake LS_ParFree_b:bPar3_a LP_CAN-IN1:bIn1_B11

C701/5 bSetSpeedCcw LS_DigitalInput:bIn4(X4/DI4)

LS_DigitalInput:bIn1(X4/DI1)

- LS_Keypad:bSetSpeedCcw LS_ParFree_b:bPar4_a LP_CAN-IN1:bIn1_B15

C701/6 bJogSpeed1 LS_DigitalInput:bIn1, (X4/DI1) - LS_DigitalInput:bIn1, (X4/DI1)

LS_Keypad:bJogSpeed1 LS_ParFree_b:bPar1_a LP_CAN-IN1:bIn1_B12

C701/7 bJogSpeed2 LS_DigitalInput:bIn2, (X4/DI2) - LS_DigitalInput:bIn2, (X4/DI2)

LS_Keypad:bJogSpeed2 LS_ParFree_b:bPar2_a LP_CAN-IN1:bIn1_B13

C701/8 bMPotUp - - LS_DigitalInput:bIn3(X4/DI3)

- - - -

C701/9 bMPotDown - - LS_DigitalInput:bIn4(X4/DI4)

- - - -

C701/11 bMPotEnable - - LS_ParFix:bTrue - - - -

C701/12 bRFG_0 - - - - - - LP_CAN-IN1:bIn1_B08

C701/15 bPIDInfluenceRamp

LS_ParFix:bTrue

C701/17 bRLQCw LS_ParFix:bTrue LS_ParFix:bTrueLS_DigitalInput:bIn3 (X4/DI3)

LS_ParFix:bTrue

C701/18 bRLQCcw - LS_DigitalInput:bIn4 (X4/DI4)

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Output connections

Code Name Code C007, output LA_NCtrl, value:

10 (Terminal 0) 12 (Terminal 2) 14 (terminals 11) 16 (terminals 16) 20 (keypad) 21 (PC) 30 (CAN)

C620/5 LS_DisFree:wDis1

- - - - LA_NCtrl:wDeviceStateWord -

C620/9 LS_DisFree:nDis1_a

- - - - LA_NCtrl:nMotorSpeedAct_a -

C620/10 LS_DisFree:nDis2_a

- - - - LA_NCtrl:nOutputSpeedCtrl_a -

C620/20 LP_CAN-OUT1:wState

- - - - - - LA_NCtrl:wDeviceStateWord

C620/21 LP_CAN-OUT1:wOut2

- - - - - - LA_NCtrl:nMotorSpeedAct_a

C620/22 LP_CAN-OUT1:wOut3

- - - - - - LA_NCtrl:nOutputSpeedCtrl_a

C621/1 LS_DigitalOutput:bRelay (X101)

LA_NCtrl:bDriveFail

C621/2 LS_DigitalOutput:bOut1 (X4/DO1)

LA_NCtrl:bDriveReady

C621/6 USER-LED LA_NCtrl:bNActCompare

C621/8 LA_NCtrl:bStatusBit2

LA_NCtrl:bImaxActive


LA_NCtrl:bSpeedSetReached


LA_NCtrl:bSpeedActEqSet


LA_NCtrl:bNActCompare


LA_NCtrl:bSpeedCcw


LA_NCtrl:bDriveReady

C621/16 LS_DisFree:bDis1

- LA_NCtrl:bDriveReady -

C621/17 LS_DisFree:bDis2

- LA_NCtrl:bDriveFail -


8400 BaseLine C | Software ManualDrive ApplicationInterface description of the drive application

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9.2 Interface description of the drive application

[9-3] Drive application LA_NCtrl

nOut_a

bUp

bDown

bInAct

nln_a

bEnable

bDown

bRfg0

nPIDVpAdapt_anPIDVpAdapt_a

bNSetInv

nNSet_a

L_PCTRL:nNOut_a

bNSetInv

bPIDInfluenceRampbPIDInfluenceRamp

bPIDIOffbPIDIOff

bSetDCBrake

bSetQuickstop

nNSet_a

nPIDSetValue_anPIDSetValue_a

nTorqueMotLim_a

bSetDCBrake

bRLQCw

bRLQCcw

bFailReset

bSetQuickstop

bCInh

bRFG_0

nTorqueGenLim_a

bJog2

nPIDInfluence_anPIDInfluence_a

bJogSpeed2bJog1

nPIDActValue_anPIDActValue_a

bJogSpeed1

bCInhActive

bDriveReady

wDeviceStateWordwDeviceAuxStateWord

wDetermFailNoLow

wDetermFailNoHigh

VFCplus

nNOut_a

nNOut_a

LS_DriveInterface

bFailReset


bCInh

bMPOTDown

bMPOTUp

bMPOTEnable

bMPOTInAct

nMainSetValue_a

bSetSpeedCcw









wDetermFailNoLow

wDetermFailNoHigh

bDriveReady

wDeviceStateWord

wDeviceAuxStateWord

bDriveFail

bSafeTorqueOffbSafeTorqueOff

bSafetyIsActivebSafetyIsActive

bCInhActive

bSpeedActEqSet

L_NSet

L_PCTRL

L_MPot

nTorqueMotLim_a

nTorqueGenLim_a

bQSPIsActive

bNActCompare

bSpeedCcw

bImaxActive

bActSpeedEqZero

bSpeedActEqSet

bDriveFail

bHeatSinkWarningbHeatSinkWarning

bOVDetectedbOVDetected

bDCBrakeOnbDCBrakeOn

nMotorCurrent_anMotorCurrent_a

nOutputSpeedCtrl_anOutputSpeedCtrl_a

nMotorSpeedAct_anMotorSpeedAct_a

nMotorTorqueAct_anMotorTorqueAct_a

nDCVoltage_anDCVoltage_a


bFlyingSyncActive


bFlyingSyncActive

nMotorVoltage_a nMotorVoltage_a

nMotorFreqAct_a nMotorFreqAct_a

bSpeedCcw

bActSpeedEqZero

bQSPIsActive

bNActCompare

bSpeedSetReachedbSpeedSetReached

bImaxActive

RLQ

1

1

LA_NCtrl

wCANDriveControlwCANDriveControl

SpeedSetValue_a

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Interface description of the drive application

Inputs

Identifier/data type Information/possible settings

bSetQuickstopC701/3

BOOL

The quick stop function is activated via this control signal. TRUE = quick stop is active. Here, the drive ramps down the QSP ramp C0105 to speed = 0 and • keeps the motor at n = 0 if closed loop is active • sets pulse inhibit if Auto-DCB is activated

bRFG_0C701/12

BOOL

When bRFG_0 = TRUE, the setpoint generator leads its currently generated speed value to zero via the ramps parameterised.

nTorqueMotLim_aC700/2

INT

These input signals are directly transferred to the motor control to limit the controller's maximum torque in motor and generator mode.Negative values at these inputs are interpreted as "0" and have the following effects: • Internal limitation of the torque at 199.9% (upper limit) • The drive cannot supply a higher torque in motor mode than set herewith 100%

= Mmax from C057

nTorqueGenLim_aC700/3

INT

These input signals are directly transferred to the motor control to limit the controller's maximum torque in motor and generator mode.Negative values at these inputs are interpreted as "0" and have the following effects: • Internal limitation of the torque 199.9% (lower limit) • The drive cannot supply a higher torque in generator mode than set herewith

100% = Mmax from C057

bSetDCBrakeC701/4

BOOL

The bSetDCBrake control signal brakes the drive to standstill. TRUE = SetDCBrake is active. • Braking current (C036) and hold time (C106 / C107) are adjustable • Braking process: DC-injection braking. Advantage of the DC-injection braking:The DC-injection braking provides the opportunity to influence the braking time by changing the motor current or braking torque.The braking effect stops when the rotor is at standstill.

bSetSpeedCcwC701/5

BOOL

This control signal serves to change over the direction of rotation of the drive to CCW rotation.When the signal is TRUE and the main setpoint is positive, the motor shaft rotates CCW

nMainSetValue_aC700/1

INT

Main setpoint

bJogSpeed1C701/6bJogSpeed2C701/7

BOOL

---> Fixed speedsThese control inputs serve to select fixed setpoints.The JOG setpoints are set relatively in percent [%] of the reference speed C011. The digital control signals bJogSpeed1 and JogSpeed2 serve to switch off the main setpoint and activate the JOG setpoint at the same time. A total of 3 JOG setpoints can be selected.The coding for the enabling of the JOG values is carried out according to the following table: • Main setpoint:

bJogSpeed1 = 0, bJogSpeed2 =0 • JOG 1 (C039/1):



bJogSpeed1 = 1, bJogSpeed2 =1

Acceleration and deceleration times for the main setpoint pathThe main setpoint is led via a ramp function generator. This serves to convert input steps into a ramp.The acceleration and deceleration times refer to a change of the speed from 0 to nmax (0% to 100%). The calculation of the Tir (C012) and Tif (C013) times to be set is described in the NSET function block description.



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bMPOTUpC701/8bMPOTDownC701/9bMPOTInActC701/10bMPOTEnableC701/11

BOOL

---> Motor potentiometer functionThe application is provided with an integrated motor potentiometer. This function can be switched on/off via the parameters C701/11 or C806 = 1.When the function is switched on, the motor potentiometer is connected to the main setpoint path and thus acts as signal source for the main speed setpoint.This setpoint can be ramped up and down by means of the digital control inputs bMPOTUp and bMPOTDown via a parameterisable ramp time (C802, C803).

bCInhC701/1

BOOL

There are several options to inhibit the controller: • Terminal 28 (RFG)

This signal acts fail-safe and always inhibits the controller. FALSE : controller inhibit is active

• Control parameter C2/16.0: controller inhibit is active

• bCinh at the control input of the applicationTRUE: controller inhibit is active

As long as one of these controller inhibit sources is set, the drive remains in the controller inhibited status. The reason for the "controller is inhibited" status can be detected via the C0158 parameter.When controller inhibit is set, the drive loses its torque, the machine is coasting. When the controller inhibit request is reset, the drive synchronises to the actual speed. For this purpose, • an automatic flying restart function of the device is activated, if required (see

parameter C990) • the actual speed from the motor model of the motor control is used for

synchronisation for vector control without feedback.

bFailResetC701/2

BOOL

C701/2A pending error can be reset by a LOW-HIGH edge (Lenze setting, linkage with terminal X4/RFR) of this digital control signal if the cause of the fault has been eliminated.If the fault still exists, the error status remains unchanged.

bSetError1C701/13bSetError2C701/14

BOOL

bStatus_Bit0C621/7bStatus_Bit2C621/8..bStatus_Bit5C621/11

bStatus_Bit14C621/12bStatus_Bit15C621/13

BOOL



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Interface description of the drive application

Outputs


wDriveControlStatusWORD

For detailed description see Status word output ( 65)Application control via a bus system is possible with the 8400 BaseLine C controller.

wCurrentFailNumberWORD

Shows the current error numbers.For a detailed description of the structure of error numbers see

Error number ( 180) .

bDriveReadyWORD

Display: Drive is ready to process setpoints. No error occurred.

bDriveFailBOOL

An error occurred. The error type is as follows: • Fault • Trouble • WarningLocked

bCInhActiveWORD

Display: Controller inhibit is activated

bQSPIsActiveWORD

Display: Quick stop is activated

bSpeedCcwWORD

Display: Direction of motor rotation with respect to actual speed value.TRUE: Motor rotates anti-clockwise (as viewed looking onto the motor shaft)

bSpeedActCompareWORD

TRUE: The actual speed value is lower than the value set in C024.

bImaxActiveWORD

TRUE: The controller operates at the maximum current limit

bSpeedSetReached, bSpeedActEqSet

WORD

• bSpeedSetReachedTRUE: Speed setpoint reached.

• bSpeedSetReachedTRUE: Actual speed value has reached setpoint within one hysteresis band

nMotorCurrent_aWORD

Output of the current motor current

nMotorSpeedSet_a, nMotorSpeedAct_a

WORD

• nMotorSpeedSet_a:resulting total speed setpoint.

• nMotorSpeedAct_a:actual speed value

nMotorTorqueAct_aWORD

Current actual torque value

nDCVoltage_aWORD

Actual DC-bus voltage

nMotorVoltage_aWORD

Currently applied motor voltage



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8400 BaseLine C | Software ManualFunction libraryFunction blocks

10 Function library

10.1 Function blocks

10.1.1 L_NSet

This FB is used for general signal processing of process values and is provided with thefollowing functions:

Ramp function generator with linear ramps for main setpoint path

Setting and holding the ramp function generator

S-shaped ramp (PT1 rounding) of the ramp function generator

Internal limitation of the input signal

3 fixed setpoints (JOG setpoints)

Inputs

Outputs


bRfg0C701/12

BOOL

Leading the main setpoint integrator to 0 within the current Ti times

True The current value of the mains setpoint integrator is led to "0" via the Ti time set.

bNSetInvC701/5

BOOL

Signal inversion for the main setpoint

True Main setpoint signal is inverted.

nNSet_aC039/12

INT

Main setpoint signal • Other signals are also permitted

bJog1 ... bJog2C701/6 ... C701/7

BOOL

Selection inputs for fixed change-over setpoints (JOG setpoints) for the main setpoint • Selection inputs are binary coded.

Identifier/data type Value/meaning

nNOut_aINT

Speed setpoint output signal • 16384 ≡ 100 %

bRfgIEqOBOOL

Status signal "ramp function generator has reached setpoint"

True The ramp function generator has reached the speed setpoint.

DMUX

bRfgStop

bRfg0

bNSetInv

nNSet_a

bJog2CINH

JOG 0...3

bJog1

L_NSet

/1/2/3

1

C134C182

C012C013

bRfgIEq0

�32767

nNOut_a

01 0

3

C039



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Parameter

10.1.1.1 Main setpoint path

The signals in the main setpoint path are limited to a value range of ±32767.

The signal at nNSet_a is first led via the JOG selection function.

A selected JOG value switches the nNSet_a input inactive. Then, the subsequent signal conditioning operates with the JOG value.

Identifier/data typeIndex

Possible settings INFO

dnTirDINT

C012

0.0 s 999.9 Acceleration time - main setpointInitialisation: 0.0 s

dnTifDINT

C013

0.0 s 999.9 Deceleration time Tif for the main setpoint • Initialisation: 0.0 s

C39/[1...3]Array of INT

C039/1..3

-199.9 % 199.9 Fixed setpoints (JOG setpoints) • Initialisation: 0.0 %

bSShapeActiveBOOL

C134

Activates S-shaped ramp function generator characteristic for the main setpoint • The time constant is set using

nTiSShaped. • Initialisation: 0 (deactivated)

0 S-shaped ramp function generator characteristic deactivated

1 S-shaped ramp function generator characteristic activated

nTiSShapedINT

C182

0.0 s 50.0 Ti time of the S-shaped ramp function generator • Initialisation: 20.0 s


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10.1.1.2 JOG setpoints

JOG setpoints are constant values which are stored in the memory under C39/1 ... C39/3.

The JOG setpoints can be called binary-coded using the bJog1 ... bJog2 selection inputs so that 3 options are available.

The main setpoint nNSet_a must be freely defined for bJog1 ... bJog2 = FALSE.

The number of selection inputs to be assigned depends on the number of JOG setpoints required.

10.1.1.3 Setpoint inversion

The output signal of the JOG function is led via an inverter.

The sign of the setpoint changes if bNSetInv is set to TRUE.

UsedMain setpointbJog2 bJog1

FALSE FALSE nNSet_a

FALSE True C39/1

True FALSE C39/2

True True C39/3



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10.1.1.4 Ramp function generator for the main setpoint

Afterwards, the setpoint is led via a ramp function generator with linear characteristic. Theramp function generator transfers setpoint step-changes at the input to a ramp.

[10.1] Acceleration and deceleration times

10.1.1.5 S-shaped ramp

A PT1 element is connected downstream of the linear ramp function generator. Thisarrangement implements an S-shaped ramp for a nearly jerk-free acceleration anddeceleration.

The PT1 element is switched off/on using bSShapeActive.

The time constant is set using nTiSShaped.

w1, w2 = change of the main setpoint as a function of tir or tifRFG-OUT = output of the ramp function generator

RFG-OUT

100 %

w2

w1

t0 %

t ir t ir

Tir Tir

Tir tir100 %

w2 w1–----------------------⋅= Tif tif

100 %w2 w1–----------------------⋅=


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10.1.2 L_MPot

This FB replaces a hardware motor potentiometer and can be used as an alternativesetpoint source which is controlled via two inputs.

The signal is output via a ramp function generator with linear ramps.

The acceleration and deceleration times are set via parameters.

The potentiometer function is selected via the Function parameter.

Inputs

Outputs


bEnableC701/11

BOOL

Change-over of motor potentiometer functionInput bEnable and code C806 bEnableInternal are ORed.

True The motor potentiometer function is active, setpoint can be changed via bUp and bDown. • With a change-over to TRUE, the value applied to nIn_a is

automatically transferred to the motor potentiometer.

FALSE The value applied to nIn_a is output at nOut_a.

nIn_aC700/1

INT

When bEnable = FALSE, the analog input signal nIn_ is switched to the nOut_a output.

bUpC701/8

BOOL

Increase output signal

True The nOut_a output signal runs to its upper limit value (nHighLimit). • If the bDown input is simultaneously set to TRUE, the nOut_a

output signal is not changed.

bDownC701/9

BOOL

Reduce output signal

True The nOut_a output signal runs to its lower limit value (nLowLimit). • If the bUp input is simultaneously set to TRUE, the nOut_a output

signal is not changed.

bInActC701/10

BOOL

Deactivate motor potentiometer function • This input has the highest priority. • When the motor potentiometer is deactivated, the nOut_a output signal follows

the function set with Function.

True Motor potentiometer function is deactivated.


nOut_aINT

Output signal

L_MPot

nOut_a

bUp

bDown

bInAct

dnActRetain dnActRetain

0

1

C806

nln_a

bEnable

C804C805

C800C802

C801C803

CTRL



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Parameter



dnActRetainDINT

Saves the current setpoint

nHighLimitC800

INT

-199.9 % 199.9 Upper limit • Initialisation: 100.0 %

nLowLimitC801

INT

-199.9 % 199.9 Lower limit • Initialisation: -100.0 %

wTirC802

WORD

1 0.1 s 6000 Acceleration time - main setpoint (Tir) • 10 ≡ 1 s • Initialisation: 10 s

wTifC803

WORD

1 0.1 s 6000 Deceleration time Tif • 10 ≡ 1 s • Initialisation: 10 s

FunctionC804

BYTE

Function selection • Initialisation: 0

0 No further action; nOut_a retains its value.

1 The motor potentiometer returns to 0 % with the deceleration time Tif.

2 The motor potentiometer runs to the lower limit value with the deceleration time Tif (nLowLimit)

3 The motor potentiometer output immediately changes to 0 %

Important for the emergency stop function

4 The motor potentiometer output immediately changes to the lower limit value (nLowLimit)

5 The motor potentiometer runs to the upper limit value with the acceleration time Tir (nHighLimit)

byInitFunctionC805

BYTE

Behaviour after mains power-up • Initialisation: 0

0 The output value being output during mains power-off is saved non-volatilely in the internal memory of the controller. It will be reloaded during mains power-on.

1 The lower limit (nLowLimit) is loaded during mains power-up.

2 An output value = 0 % is loaded during mains power-up.


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10.1.2.1 Activation & control of motor potentiometer

When bInAct is set to FALSE, the motor potentiometer is activated.

The currently active function depends on the current output signal nOut_a, the limit values set and the control signals at bUp and bDown.

When the nOut_a output signal is outside the limits set, the output signal runs to the next limit with the Ti times set. This process is independent of the control signals at bUp and bDown.

When the nOut_a output signal is inside the limits set, the output signal changes according to the control signals at bUp and bDown.

[10.2] Example: Control of the motor potentiometer

nOut_a

t

t

TRUE

FALSE

bUp

t

TRUE

FALSE

bDown

nHighLimit

nLowLimit

0

wTir

wTir

wTif

wTir

bUp bDown bInact Function

FALSE FALSE FALSE The nOut_a output signal remains unchanged.

FALSE True The nOut_a output signal runs to its upper limit value (nHighLimit).

True FALSE The nOut_a output signal runs to its lower limit value (nLowLimit).

True True The nOut_a output signal remains unchanged.

- - True The motor potentiometer function is deactivated. The nOut_a output signal responds according to the function selected via Function.



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10.1.2.2 Deactivation of motor potentiometer

When the motor potentiometer is deactivated by setting bInAct to TRUE, the nOut_aoutput signal responds according to the function selected via Function.

[10.3] Example: Deactivation of the motor potentiometer when the function 1, C804 = 1, has been selected

10.1.2.3 Save current output value after mains failure

To save the last actual value at nOut_a after a mains failure, declare a RETAIN variable andcombine this with the FB instance as shown in the following illustration:

This variable always saves the current value at nOut_a. Even in case of mains failure the variable keeps the value.

When the mains is switched on again, the value saved in the variable is read into the FB L_MPOT and processed as starting value.

When the motor potentiometer is deactivated, nOut_a is reduced to 0 % with the deceleration time wTif. If it is activated again, nOut_a is increased again to nLowLimit with the acceleration time wTir.

nOut_a

t

t

TRUE

FALSE

bUp

t

TRUE

FALSE

bDown

nHighLimit

nLowLimit

0

wTir

wTif

wTir

t

TRUE

FALSE

bInAct

wTif

wTif� �

VAR RETAIN

L_MPot

nOut_a

bUp

bDown

bInAct

dnActRetain dnActRetain

0

1

C806

nln_a

bEnable

C804C805

C800C802

C801C803

CTRL

VAR RETAIN


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10.1.3 L_PCTRL

This FB is a PID controller and can be used for various control tasks (e.g. as dancer positioncontroller, tension controller, or pressure controller).

Available function blocks: 1

The FB is provides with the following functions:

Adjustable control algorithm (P, PI, PID)

Ramp function generator for preventing setpoint step-changes at the input

Limitation of the controller output

Factorisation of the output signal

Vp adaptation

Integral action component can be switched off

Inputs


nNSet_aINT

Speed setpoint

nAdapt_aINT

Reduction of the gain (nVp) by the value applied (in %) • Internal limitation to ±32767 • Changes can be done online.Example: When nVp = 2.0 and nVpadapt = 75 % ((75/100) x 16384 = 12288), the gain factor results in: 2.0 x 12288 = 24576

nSet_aINT

Sensor setpoint (process setpoint) in the operating mode nMode = 1 and 3 • Internal limitation to ± 199.9 %Process setpoint in operating mode nMode = 2 • Internal limitation to ± 199.9 %

nAct_aINT

Speed or actual sensor value (actual process value) • Internal limitation to ± 199.9 %

L_PCTRL

bActEqSet

bIOff

nAct_a

bInAct

bEnableInfluenceRamp

nInfluence_a

nOut_a

nNSet_a

nSet_a

nAdapt_a

C00225

C00226

C00227

C00228

C00243

C00244

1

C00245

C00242

0

0

0

2

2

2

1

1

1

3

3

3

C00223TnC00222Vp

C00224Kd



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Outputs

Parameter

bInActBOOL

Deactivate process controller temporarily • Changes can be done online.Note: This input is not connected with the application NCTRL.

True Process controller is deactivated, the internal PID-component is switched off.

bIOffBOOL

Switch off the I-component of the process controller • Changes can be done online.

True I-component of the process controller is switched off

nInfluence_aINT

• Internal limitation to ±32767 • nInfluence_a serves to limit the influencing factor of the PID controller contained

in the FB to a required value (- 199.9 % ... + 199.9 %).

nEnableInfluenceRampINT

True Influencing factor of the PID controller is ramped up to the nInflu_a value.

FALSE Influencing factor of the PID controller is ramped down to "0".


nOut_aINT

Output signal • 16384 ≡ 100 %

bActEqSetINT

Active: Setpoint and actual value are identical, no system deviation available


Possible settings Info

VpINT

C222

0.1 0.1 500 Gain Vp • Initialisation: 1.0

TnINT

C223

20 ms 6000 Reset time Tn • Initialisation: 400 ms

KdINT

C224

0 0.1 5 Differential component Kd • Initialisation: 0.0

MaxLimitDINT

C225

-199.99 % +199.99 Maximum value of the PID operating range • Initialisation: 199.99 %

MinLimitDINT

C226

-199.99 % +199.99 Minimum value of the PID operating range • Initialisation: -199.99 %

Acceleration timeDINT

C227

0.000 s 999.999 Acceleration time for the ramp at the PID output (should be set as steep as possible) • Initialisation: 0.010 s

Deceleration timeDINT

C228

0.000 s 999.999 Deceleration time for the ramp at the PID output • Initialisation: 0.010 s



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Operating modeC242

Value range of the output signal • Initialisation: 0

0 Off The setpoint applied to the input nNSet_a is output without any changes at the output nOut_a.

1 Additive + feedforward control The setpoint is picked off at the input nNSet_a. Simultaneously, the setpoint is added to the output value of the PID-component and then output at nOut_a.

2 PID as a setpoint generator The setpoint is picked off at the input nSet_a. The input nNSet_a is not used. There is no additive linking at the output.

3 PID setpoint from L_NSet_1 The setpoint is picked off at the input nNSet_a. The input nSet_a is not used. There is no additive linking at the output.

Influence acceleration timeC243

0.000 s 999.999 Acceleration time Tir for the influence value • Initialisation: 5 s

Influence deceleration timeC244

0.000 s 999.999 Deceleration time Tif for the influence value • Initialisation: 5 s


Possible settings Info



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10.1.3.1 Control characteristic

The PID algorithm is active in the Lenze setting.

Differential component Kd

The Kd component can be deactivated by setting nKd = 0.0. This makes the controller a PIcontroller (or P controller if the integral action component is switched off as well).

Integral action component

You can switch off the I-component by

setting bIOff to TRUE or

entering Tn = 6000 s (max. value).

The I-component can be switched on and off online.

Reset time Tn

nTn serves to parameterise the reset time.

Gain Vp

The Vp gain is defined via nAdapt_a:

[10.4] Definition of Vp gain via nAdapt_a

The input value is led via a linear characteristic. The slope of the characteristic is defined with nVp (upper limit) and the value "0" (lower limit). The value in nVp applies if the input value is +100 % (100 % = 16384)

Vp

0 100 % nAdapt_a

nVp


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10.1.3.2 Ramp function generator

The PID output is led via a ramp function generator with linear characteristic. This servesto transfer setpoint step-changes at the PID output into a ramp which should be as steepas possible.

[10.5] Acceleration and deceleration times

tir and tif are the desired times for changing between w1 and w2.

The ramps for acceleration and deceleration can be set individually.

– Acceleration time tir with C00227

– Deceleration time tif with C00228

The tir/tif values are converted into the required Ti times according to the following formula:

The ramp function generator is immediately set to "0" by setting bInAct to TRUE.

10.1.3.3 Value range of the output signal

The output signal and thus the operating range of the PID-component can be limited with the parameters nMaxLimit and nMinLmit (- 199.9%...+ 199.9%)

10.1.3.4 Evaluation of the output signal

The limitation is followed by an evaluation of the output signal via nInfluence_a.

This evaluation is activated or suppressed along a ramp via the input bEnableInfluenceRamp. The ramp times are set with the parameters "Influence acceleration time" and "Influence deceleration time" (C00243 / C00244).

w1, w2 = change of the main setpoint as a function of tir and tifRFG-OUT = output of the ramp function generator

RFG-OUT

100 %

w2

w1

t0 %

t ir t if

Tir Tif

Tir tir100 %

w2 w1–----------------------⋅= Tif tif

100 %w2 w1–----------------------⋅=



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10.1.3.5 Deactivation of the process controller

bInAct = TRUE deactivates the process controller. This serves to

– set the PID output = 0,

– set the integral action component = 0,

– set the ramp function generator = 0.

A setpoint executed in mode 1 of the input nNSet_a, however, will still be output.


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10.1.4 L_RLQ

This FB combines the selection of a direction of rotation with the QSP function with wirebreak protection.

Available function blocks: 1

Inputs

Outputs

Function

[10.6] Truth table of the FB L_RLQ, 0 = FALSE, 1 = TRUE


bCwBOOL

Input • TRUE = CW rotation

bCCwBOOL

Input • TRUE = CCW rotation


bQSPBOOL

Output signal for QSP (quick stop)

bCwCcwBOOL

Output signal for CW/CCW rotation • TRUE = CCW rotation

Inputs Outputs Info

bCw bCcw bCwCcw bQSP

True True FALSE True Only if both inputs are applied with a TRUE signal at the moment of switch-on, the outputs have these state!

FALSE FALSE FALSE True If only one of the inputs has the TRUE status, this part of the truth table applies

*) no change of the original status.

True FALSE FALSE FALSE

FALSE True True FALSE

True True *)

bQSP

bCwCCwbCw

bCcW

L_RLQ

Q

Q

1S

1R



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10.1.5 LS_DisFree

This FB serves to display any 16-bit process signal on display codes.

Inputs

Parameter


wDis01 ... wDis04C620/5 ... 8

WORD

Input



C481/1 ... 4 0x0000 0xFFFF General 16-bit signal • Read only

wDis01

wDis02

wDis03

wDis04

C481/1

C481/2

C481/3

C481/4

LS_DisFree


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10.1.6 LS_DisFree_a

This FB serves to display four percentage analog process signals on display codes.

Inputs

Parameter


nDis01_a ... nDis04_aC620/9 ... 12

INT

Input



C482/1 ... 4 - 199.9 % + 199.9 % Process signal • Read only

nDis01

nDis02

nDis03

nDis04

C482/1

C482/2

C482/3

C482/4

LS_DisFree_a



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10.1.7 LS_DisFree_b

This FB serves to display eight boolean process signals on a bit-standardised display code.

Inputs

Parameter


bDis01 ... nDis08C621/16 ... 23

BOOL

Input



C480/1 ... 8 0 1 Process signal • Read only

bDis02

bDis01

bDis03

bDis04

bDis05

bDis06

bDis07

bDis08

C480

C480

C480

C480

C480

C480

C480

C480

Bit 1

Bit 0

Bit 2

Bit 3

Bit 4

Bit 5

Bit 6

Bit 7

LS_DisFree_b


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10.1.8 LS_ParFix

This system block provides the user with fixed values which can be used in theinterconnection for parameterisation purposes.

Outputs

The output values are fixed and can therefore not be parameterised.

bTrue

nPos100_a

nNeg100_a

nPos199_99_a

nPos199_99_a

w65535

LS_ParFix



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10.1.9 LS_ParFree_b

This system block provides 16 digital signals which can be parameterised separately by theuser.

Outputs

Parameter


bPar01 ... bPar16BOOL

Output



C470/1 ... 16 0 "FALSE" signal is output

1 "TRUE" signal is output

bPar01_a

bPar02_a

bPar03_a

bPar04_a

bPar05_a

bPar06_a

bPar07_a

bPar08_a

bPar09_a

bPar10_a

bPar11_a

bPar12_a

bPar13_a

bPar14_a

bPar15_a

bPar16_a

LS_ParFree_b


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10.1.10 LS_ParFree_a

This system block provides 4 analog signal which can be parameterised separately by theuser.

Outputs

Parameter


nPar1_a ... nPar4_aINT

Output



C472/1 ... 4 -199.9 % +199.9

nPar1_a

nPar2_a

nPar3_a

nPar4_a

LS_ParFree_a



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8400 BaseLine C | Software ManualParameter reference

11 Parameter reference

All parameters for controller parameter setting and monitoring are stored in "codes".

The codes are numbered and indicated by the prefix "C" before the code, e.g. "C00002".

For the sake of clarity, some codes contain "subcodes" for saving parameters. This Manual uses a slash "/" as a separator between code and subcode, e.g. C00118/3".

The terms "code" and "subcode" generally correspond to the terms "index" and "subindex" and "parameter" and "subparameter".

In case of the 8400 frequency inverter, the following functions can be carried out via codes:

– Setting of setpoints, e.g. acceleration time.

– Display of actual values, e.g. actual motor current.

– Configuration of signal links, e.g. assignment of the digital input terminals to control inputs of the technology application.

– Configuration of monitoring functions, e.g. selection of the error response and setting of trigger thresholds.

Parameters which are only available in the controller from a certain software versiononwards, are marked with a corresponding note in the parameter description ("fromversion xx.xx.xx").

The parameter descriptions are based on the software version V03.00.00

Tip!

For quick reference of a parameter with a certain name, simply use the index of the online documentation. The index always contains the corresponding code in parentheses after the name.

For general information on how to read and change parameters, please see the online documentation for the »Engineer«.


8400 BaseLine C | Software ManualParameter referenceStructure of the parameter descriptions

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11.1 Structure of the parameter descriptions

Each parameter is described in the Parameter list in the form of a table which consists ofthe following three areas:

Table header

The table header contains the following general information:

Parameter number (Cxxxxx)

Parameter name (display text in »Engineer» and keypad)

Data type

Parameter index in decimal and hexadecimal notation for access via a fieldbus, e.g. system bus (CAN).

Tip!

The parameter index is calculated as follows:

• Index [dec] = 24575 - code

• Index [hex] = 0x5FFF - code

Example for code C00005:

• Index [dec] = 24575 - 5 = 24570

• Index [hex] = 0x5FFF - 0x{5} = 0x5FFA

Table contents

The table contains further general explanations & notes on the parameter and the possiblesettings the representation of which depends on the parameter type:

Parameters with read-only access

Parameters with write access

Table footer

The table footer contains the Parameter attributes.


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Structure of the parameter descriptions

11.1.1 Data type

The following data types are available for parameters:

11.1.2 Parameters with read-only access

Parameters for which the "write access" attribute has not been set can only be read and notbe changed by the user.

Description structure

Representation in the »Engineer«

The »Engineer« displays these parameters with a grey background or, with an onlineconnection, with a pale-yellow background:

Data type Meaning

INTEGER_8 8-bit value with sign




UNSIGNED_8 8-bit value without sign




FLOATING_POINT 32-bit floating point number

VISIBLE_STRING String of digits from printable digits

OCTET_STRING String of digits from any digits

BITFIELD_8 8-bit value, bit-coded



Parameter | Name:

Cxxxxx | _____________Data type: _______

Index: _______

Description

Display range (min. value | unit | max. value)

Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1



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11.1.3 Parameters with write access

Only parameters with a check mark ( ) in front of the "write access" attribute can bechanged by the user. The Lenze setting for these parameters is printed in bold.

The settings are either selected by means of a selection list or through direct value entry.

Values outside the valid setting range are represented in red in the »Engineer«.

11.1.3.1 Parameters with setting range


Parameter setting in the »Engineer«

In the »Engineer«, parameters are set by entering the desired value into the input field:

11.1.3.2 Parameters with selection list


Parameter | Name:

Cxxxxx | _____________Data type: _______

Index: _______

Description

Setting range (min. value | unit | max. value) Lenze setting


Parameter | Name:

Cxxxxx | _____________Data type: _______

Index: _______

Description

Selection list (Lenze setting printed in bold)

1

2

3



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In the »Engineer«, a list field is used for parameter setting:

11.1.3.3 Parameters with bit-coded setting



The »Engineer« uses a dialog box for parameter setting in which the individual bits can beset or reset. Alternatively, the value can be entered as a decimal or hexadecimal value:

Parameter | Name:

Cxxxxx | _____________Data type: _______

Index: _______

Description

Value is bit-coded:

Bit 0

...

Bit 31




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11.1.3.4 Parameters with subcodes



The »Engineer« parameter list displays each subcode individually. They are parameterisedas described in the previous chapters.

11.1.4 Parameter attributes

The table footers contain the parameter attributes:

Parameter | Name:

Cxxxxx | _____________Data type: _______

Index: _______

Description

Setting range (min. value | unit | max. value)

Subcodes Lenze setting

Cxxxxx/1

Cxxxxx/2

Cxxxxx/3

Cxxxxx/4



Attribute Meaning

Read access Read access to parameter possible.

Write access Write access to parameter possible. • Please also observe the following attributes:

CINH Parameter value can only be changed when the controller is inhibited.

PLC STOP Parameter value can only be changed when the application is stopped.

No transfer Parameter is not transferred to controller when the command Download parameter set is executed.

COM Communication-relevant parameter • this parameter is relevant for parameter data transfer via the system bus (CAN)

MOT Parameter of the motor control


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Scaling factor

The "scaling factor" is important for parameter access via a bus system.

Example 1: The value "654" read via a bus system of the parameter C00028/1 (AIN1: inputvoltage) must be divided by the corresponding scaling factor "100" to obtain the realdisplay value "6.54 V".

[11-1] Conversion formula for read access via bus system

Example 2: In order to set the parameter C00012 (acceleration time - main setpoint) to thevalue "123.45 %" via a bus system, the integer value "12345" must be transferred, i.e. thevalue to be set must be multiplied by the corresponding scaling factor "100".

[11-2] Conversion formula for write access via bus system

Signal type Scaling factor Resolution Value range

Analog (scaled) 100 16 bits signed ± 199.99 %

Angular velocity 1 16 bits signed ± 32767 increments/ms

Position in [units] 10000 32 bits signed ± 214748.3647 [units]

Digital (BOOL) 1 8 bits unsigned 0 ≡ FALSE; 1 ≡ TRUE

Time 1000 16 bits unsigned 0 ... 999.000 s

Selection value 1 16 bits unsigned 0...65535

Read value (via bus system)Scaling factor

----------------------------------------------------------------------- Indicated value (Engineer)=

Value to be written (via bus system) Value to be set Scaling factor⋅=


8400 BaseLine C | Software ManualParameter referenceParameter list

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11.2 Parameter list

This chapter describes all parameters of the operating system in numerically ascendingorder.

C00002

Note!

The parameter descriptions are based on the software version V03.00.00.

Parameter | Name:

C00002 | Controller commandsData type: UNSIGNED_8

Index: 24573d = 5FFDh

Note:Before switching off the supply voltage after executing a device command, check the successful execution of the device command by means of the status display in C00003!

Drive control (DCTRL): Device commands

Selection list

0 Off / ready

1 On / start

2 Working

4 Action cancelled

5 No access

6 No access controller inhibit

Subcodes Lenze setting Info

C00002/1 0: Off / ready Load Lenze setting • All parameters are reset to the Lenze setting. • Only possible when controller is inhibited.

C00002/2 0: Off / ready Load parameter set 1

C00002/3 0: Off / ready Reserved




C00002/7 0: Off / ready Save parameter set 1




C00002/11 0: Off / ready Save all parameter sets • All parameter sets are saved in the memory module

with mains failure protection.

C00002/12 0: Off / ready Import EPM data • 0 = inactive • 1 = activates the automatic import of the parameters

from the memory module after the error message "PS04".





Firmware 03.00 - DMS EN 1.2 - 11/2009 L 229


Parameter list

C00002/16 1: On / start Enable controller"1" ≡ Enable controller"0" ≡ Inhibit controller

C00002/17 0: Off / ready Activate quick stop"1" ≡ Activate quick stop"0" ≡ Deactivate quick stop


C00002/19 0: Off / ready Reset error • After the reset of the current error, other errors may

be pending which must be reset as well. • Details on the currently pending error are displayed in

C00166.


C00002/21 0: Off / ready Delete logbook • All entries in the logbook of the controller will be

deleted. • Information about the error history is saved in the

logbook.


C00002/23 0: Off / ready Identify motor parameters • This device command serves to carry out an

automatic identification of the motor parameters. • The device command is only carried out if the

controller is in the Switched On status • In order to identify the motor parameters, the

controller must be enabled after this device command.



C00002/26 0: Off / ready CAN reset node • Reinitialise "CAN on board" interface. • Required if the data transfer rate, node address, or

identifiers are changed.System bus "CAN on board"








Parameter | Name:

C00002 | Controller commandsData type: UNSIGNED_8

Index: 24573d = 5FFDh


8400 BaseLine C | Software ManualParameter referenceParameter list | C00003

230 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00003

C00006

Parameter | Name:

C00003 | Status of last device commandData type: UNSIGNED_8

Index: 24572d = 5FFCh

Status of the device command executed last (C00002).

Note:Before switching off the supply voltage after executing a device command, check the successful execution of the device command by means of this status display!

Drive control (DCTRL): Device commands

Selection list (read only) Info

0 Successful Device command has been executed successfully.

1 Command unknown Device command is implausible or not known in the system.

2 No access Access for required device command is not approved.

3 Time-out Processing of the device command could not be executed within the defined time (time-out).


Parameter | Name:

C00006 | Select motor controlData type: UNSIGNED_8

Index: 24569d = 5FF9h

Selection of motor control type (operating mode)Motor control (MCTRL): Selection of operating mode

Selection list (Lenze setting printed in bold) Info

4 SLVC: Vector control This control type is used for sensorless vector control of an asynchronous motor. • This control mode needs the motor parameters to be

set as exactly as possible!

6 VFCplus: V/f linear This control type is used for open-loop speed control of an asynchronous motor via a linear V/f characteristic and represents the most simple control type. • In order to set the V/f characteristic, the rated

frequency (C00089) and rated voltage (C00090) of the motor must be entered only.

8 VFCplus: V/f quadr This control type is used for open-loop speed control of an asynchronous motor via a square-law V/f characteristic. • In order to set the V/f characteristic, the rated

frequency (C00089) and rated voltage (C00090) of the motor must be entered only.



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Parameter list | C00007

C00007

C00010

Parameter | Name:

C00007 | Select control modeData type: UNSIGNED_16


Configuration of the digital inputs


0 Wiring has changed This display appears if the defined configuration has been reparameterised via the connection parameters.

10 Terminal 0 The technology application is controlled using the digital input terminals of the controller. • DI1 = JOG 1/3 • DI2 = JOG 2/3 • DI3 = DCB • DI4 = R/L

12 Terminal 2 The technology application is controlled using the digital input terminals of the controller. • DI1 = JOG 1/3 • DI2 = JOG 2/3 • DI3 = QSP • DI4 = R/L

14 Terminal 11 The technology application is controlled using the digital input terminals of the controller. • DI1 = R/L • DI2 = DCB • DI3 = MPotUp • DI4 = MPotDown

16 Terminal 16 The technology application is controlled using the digital input terminals of the controller. • DI1 = JOG 1/3 • DI2 = JOG 2/3 • DI3 = R/QSP • DI4 = L/QSP

20 Keypad The technology application is controlled via the keypad: C00728: Setpoint selections C00002: Device commands C00003: Status of last device command Increase speed Reduce speed

21 PC The technology application is controlled using the "Free parameters" of the controller (PC control).

30 CAN The technology application is controlled by CAN-PDOs via the system bus "CAN on board".

System bus "CAN on board"


Parameter | Name:

C00010 | Minimum analog setpointData type: INTEGER_16


From version 03.00.00


0.0 % 100.0


C00010/1 0.0 % Min. analog setpoint




232 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00011

C00012

C00013

C00015

C00016

Parameter | Name:

C00011 | Appl.: Reference speedData type: UNSIGNED_16


Setting of the reference speed • In the controller, all speed-related signals are processed to one reference variable in percent. • Set a reference speed here that corresponds to 100 %.

Note:This is not a maximum limitation!All values in percent in the controller may be in the range of 0 ... 199.99 %.


50 rpm 9999 1500 rpm


Parameter | Name:

C00012 | Accel. time - main setpointData type: UNSIGNED_32


FB L_NSet_1: Acceleration time of the ramp generator for the main speed setpoint


0.0 s 999.9 2.0 s


Parameter | Name:

C00013 | Decel. time - main setpointData type: UNSIGNED_32


FB L_NSet_1: Deceleration time of the ramp generator for the main speed setpoint


0.0 s 999.9 2.0 s


Parameter | Name:

C00015 | VFC: V/f base frequencyData type: UNSIGNED_16


V/f base frequency for VFCplus operating mode • The motor voltage increases linearly with the frequency until the base frequency is reached. From this value on,

the motor voltage remains constant, the speed increases and the maximum torque decreases. • After the motor to be used has been selected from the motor catalogue, the suitable value can be entered

automatically. An automatic detection via the motor parameter identification is possible as well.


7.5 Hz 999.9 50.0 Hz


Parameter | Name:

C00016 | VFC: Vmin boostData type: UNSIGNED_16

Index: 24559d = 5FEFh

Boost of the V/f voltage characteristic within a small speed or frequency range for the VFCplus operating mode • This may increase the starting torque. • After the motor to be used has been selected from the motor catalogue, the suitable value can be entered

automatically. An automatic detection via the motor parameter identification is possible as well.Motor control (MCTRL): Setting Vmin boost


0.0 % 100.0 0.0 %



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Parameter list | C00018 |

C00018 |

C00019

C00021

C00022 |

Parameter | Name:

C00018 | Switching frequencyData type: UNSIGNED_8

Index: 24557d = 5FEDh

Selection of the pulse width modulated switching frequency transferred from the inverter to the motor • When a variable switching frequency is selected, the switching frequency may change as a function of the load

and rotational frequency.


1 4 kHz var./drive-optimised



5 2 kHz constant/drive-optimised




21 8 kHz var/4 kHz min.




Parameter | Name:

C00019 | Auto-DCB: ThresholdData type: UNSIGNED_16

Index: 24556d = 5FECh

Setpoint speed threshold for the automatic DC injection brake • For speed setpoints with values below the thresholds a DC current is injected or the motor is not supplied with

current, depending on the setting.


0 rpm 9999 3 rpm


Parameter | Name:

C00021 | Slip comp.Data type: INTEGER_16Index: 24554d = 5FEAh

Slip compensation for VFCplus and SLVC operating modes • An increase of the slip compensation causes a greater frequency and voltage increase when the machine is

loaded. • After the motor to be used has been selected from the motor catalogue, the suitable value can be entered

automatically. An automatic detection via the motor parameter identification is possible as well.Motor control (MCTRL): Optimising the operational performance by slip compensation


-50.00 % 50.00 0.00 %


Parameter | Name:

C00022 | Imax in motor modeData type: UNSIGNED_16

Index: 24553d = 5FE9h

Maximum current in motor mode for all operating modes


0.00 A 99.99 47.00 A

Read access Write access CINH PLC STOP No Transfer COM MOT Scaling factor: 100



234 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00023

C00024 |

C00026

C00027

C00028 |

Parameter | Name:

C00023 | Imax in generator modeData type: INTEGER_16


Maximum current in generator mode for all operating modes • 100 % ≡ Imax in motor mode (C00022)


0.0 % 100.0 100.0 %


Parameter | Name:

C00024 | Comparison value N_ActData type: INTEGER_16


Threshold for the actual speed comparison • This parameter serves to set a threshold that is compared with the actual speed value. • When the value falls below this threshold, the bNactCompare output of the SB LS_DriveInterface switches to

TRUE. • Switching hysteresis = +1 %


0.0 % 199.9 0.0 %


Parameter | Name:

C00026 | AINx: OffsetData type: INTEGER_16


Offset for analog inputI/O terminals


-199.9 % 199.9


C00026/1 0.0 % AIN1: Offset


Parameter | Name:

C00027 | AINx: GainData type: INTEGER_32


Gain for analog inputI/O terminals


-199.9 % 199.9


C00027/1 100.0 % AIN1: Gain


Parameter | Name:

C00028 | AINx: Input voltageData type: INTEGER_16


Display of the input voltage at the analog inputI/O terminals


-10.0 V 10.0

Subcodes Info

C00028/1 AIN1: Input voltage



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C00029 |

C00033 |

C00034 |

C00036

Parameter | Name:

C00029 | AINx: Input currentData type: INTEGER_16


Display of the input current at the analog input • When the analog input is configured for current measurement (C00034/1 = 1 or 2). • When C00034/1 is set = 2 (4 ... 20 mA), 0 ... 16 mA is displayed.

I/O terminals


0.0 mA 20.0

Subcodes Info

C00029/1 AIN1: Input current


Parameter | Name:

C00033 | AINx: Output valueData type: INTEGER_16Index: 24542d = 5FDEh

Display of the output value in percent of the analog input amplifier • 100 % ≡ 16384 ≡ +10 V / +20 mA

I/O terminals


-199.9 % 199.9

Subcodes Info

C00033/1 AIN1: Output value


Parameter | Name:

C00034 | AINx: ConfigurationData type: UNSIGNED_8

Index: 24541d = 5FDDh

Configuration of the analog input for current or voltage measurementI/O terminals

Selection list Info

0 0...+10 V Input signal is the voltage signal 0 V ... +10 V • 0 V ... +10 V ≡ 0 % ... +100 %

1 0...+5V With external load resistor (250 Ohms):Input signal is the current signal 0 mA ... 20 mA • 0 mA ... 20 mA ≡ 0 % ... +100 %

2 1...+5V (4...20mA) With external load resistor (250 Ohms):Input signal is the current signal 4 mA ... 20 mA • 4 mA ... 20 mA ≡ 0 % ... +100 % • The current loop is monitored for open circuit

(I < 4 mA) by the device .


C00034/1 0: 0...+10 V AIN1: Config.


Parameter | Name:

C00036 | DCB: CurrentData type: INTEGER_16Index: 24539d = 5FDBh

Current value in [%] for DC-injection braking • 100 % ≡ Imax in motor mode (C00022)


0.0 % 150.0 50.0 %



8400 BaseLine C | Software ManualParameter referenceParameter list | C00039 |

236 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00039 |

C00050 |

C00051 |

C00052 |

C00053 |

Parameter | Name:

C00039 | Fixed setpoint x (L_NSet_1 n-Fix)Data type: INTEGER_16Index: 24536d = 5FD8h

FB L_NSet_1: Fixed speed setpoints (Jog values) for the setpoint generator


-199.9 % 199.9


C00039/1 40.0 % Fixed setpoint 1




Parameter | Name:

C00050 | MCTRL: Speed setpointData type: INTEGER_32Index: 24525d = 5FCDh

Display of the speed setpoint at the speed setpoint input of the motor control.


-9999 rpm 9999


Parameter | Name:

C00051 | MCTRL: Actual speed valueData type: INTEGER_32Index: 24524d = 5FCCh

Display of the actual speed value of the motor shaft

Note:The displayed value only corresponds to the real actual speed value of the motor shaft if an encoder is connected to the motor and the evaluation of the feedback signal has been set correctly ("Closed loop" operation).In case of operation without feedback, the signal is calculated from the motor control and thus may not correspond to the real actual speed.


-9999 rpm 9999


Parameter | Name:

C00052 | Motor voltageData type: UNSIGNED_16

Index: 24523d = 5FCBh

Display of the current motor voltage/output voltage of the inverter


0 V 1000


Parameter | Name:

C00053 | DC-bus voltageData type: UNSIGNED_16

Index: 24522d = 5FCAh

Display of the current DC-bus voltage


0 V 1000



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C00054 |

C00056 |

C00057 |

C00058 |

C00059 |

C00061

Parameter | Name:

C00054 | Motor currentData type: UNSIGNED_16

Index: 24521d = 5FC9h

Display of the current motor current /output current of the inverter


0.00 A 300.00


Parameter | Name:

C00056 | TorqueData type: INTEGER_32Index: 24519d = 5FC7h

Display of the current motor torque


-99.00 Nm 99.00

Subcodes Info

C00056/1 Torque setpoint • Only for SLVC operating mode.

C00056/2 Torque actual value • Estimated actual torque for all operating modes.


Parameter | Name:

C00057 | Maximum torqueData type: UNSIGNED_32


Display of the maximum torque to be generated by the motor • The maximum torque to be generated by the motor depends on various factors, e.g. on Imax in motor mode

(C00022) and the motor type used.


0.0 Nm 999.9


Parameter | Name:

C00058 | Output frequencyData type: INTEGER_32Index: 24517d = 5FC5h

Display of the current output frequency


-655.0 Hz 655.0


Parameter | Name:

C00059 | Appl.: Reference frequency C11Data type: UNSIGNED_32


Display of the field frequency which corresponds to the reference speed set in C00011.


0.0 Hz 999.9


Parameter | Name:

C00061 | Heatsink temperatureData type: INTEGER_16Index: 24514d = 5FC2h

Display of the current heatsink temperature


-50 °C 150




238 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00064

C00066

C00073

C00074

C00081

Parameter | Name:

C00064 | Device utilisation (Ixt)Data type: INTEGER_16

Index: 24511d = 5FBFh

Display of the device utilisation Ixt in different time resolutions • If the value displayed here exceeds the threshold set in C00123, the fault message "OC5: Device overload (Ixt)"

is output and the fault response set in C00604 is executed (default setting: "Warning").


0 % 250

Subcodes Info

C00064/1 Device utilisation (Ixt) • Maximum value of the pulse utilisation (C00064/2)

and permanent utilisation (C00064/3).

C00064/2 Device utilisation (Ixt) 15s • Pulse utilisation via the last 15 seconds (only for loads

>160 %).

C00064/3 Device utilisation (Ixt) 3min • Permanent utilisation via the last 3 minutes.


Parameter | Name:

C00066 | Thermal motor load (I²xt)Data type: INTEGER_16Index: 24509d = 5FBDh

Display of the thermal motor load being detected sensorless via a motor model • If the value displayed here exceeds the threshold set in C00120, the fault message "OC6: Device overload (Ixt)"

is output and the fault response set in C00606 is executed (default setting: "Warning").


0 % 200


Parameter | Name:

C00073 | Vp Imax controllerData type: UNSIGNED_16

Index: 24502d = 5FB6h

Gain factor Vp for Imax controller


0.00 16.00 0.25


Parameter | Name:

C00074 | Ti Imax controllerData type: UNSIGNED_16

Index: 24501d = 5FB5h

Reset time Ti for Imax controller


12 ms 9990 65 ms


Parameter | Name:

C00081 | Rated motor powerData type: UNSIGNED_16

Index: 24494d = 5FAEh

This value can be obtained from the motor nameplate. After the motor to be used has been selected from the motor catalogue, the suitable value can be entered automatically.

Note:It is mandatory to give the rated motor power for the field-oriented operating mode (SLVC).


0.00 kW 99.00 11.00 kW



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C00084

C00085

C00087

C00088

C00089

Parameter | Name:

C00084 | Motor stator resistanceData type: UNSIGNED_32

Index: 24491d = 5FABh

After the motor to be used has been selected from the motor catalogue, the suitable value can be entered automatically. An automatic detection via the motor parameter identification is possible as well.


0 mOhm 200000 330 mOhm


Parameter | Name:

C00085 | Motor stator leakage inductanceData type: UNSIGNED_16

Index: 24490d = 5FAAh



0.00 mH 650.00 0.00 mH


Parameter | Name:

C00087 | Rated motor speedData type: UNSIGNED_16

Index: 24488d = 5FA8h


Note:It is mandatory to give the rated motor speed for the field-oriented operating mode (SLVC).


50 rpm 9999 1460 rpm


Parameter | Name:

C00088 | Rated motor currentData type: UNSIGNED_16




0.00 A 99.00 21.00 A


Parameter | Name:

C00089 | Rated motor frequencyData type: UNSIGNED_16



Note:It is mandatory to give the rated motor frequency for the field-oriented operating mode (SLVC).


10 Hz 1000 50 Hz




240 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00090

C00091

C00092

C00093

C00094

C00095

Parameter | Name:

C00090 | Rated motor voltageData type: UNSIGNED_16




0 V 1000 400 V


Parameter | Name:

C00091 | Motor cosine phiData type: UNSIGNED_8




0.40 1.00 0.85


Parameter | Name:

C00092 | Motor magnetizing inductanceData type: UNSIGNED_16




0.0 mH 6500.0 0.0 mH


Parameter | Name:

C00093 | Power section IDData type: UNSIGNED_16


Display of the identification of the detected power section of the frequency inverter


0 65535


Parameter | Name:

C00094 | PasswordData type: INTEGER_32Index: 24481d = 5FA1h

The controller provides the opportunity to protect the menu level from unauthorised access by assigning a password.

Password protection


0 9999 0


Parameter | Name:

C00095 | Motor magnetising currentData type: UNSIGNED_16




0.00 A 99.00



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C00097

C00098

C00099

C00100

C00105

Parameter | Name:

C00097 | Rated motor torqueData type: UNSIGNED_32

Index: 24478d = 5F9Eh

Display of the rated motor torque • The value displayed here is calculated from different parameters, e.g. the maximum current set in C00022.


0.00 Nm 99.00


Parameter | Name:

C00098 | Rated device currentData type: UNSIGNED_16

Index: 24477d = 5F9Dh

Display of the rated inverter current which is defined by the integrated power section.


0.0 A 999.0


Parameter | Name:

C00099 | Firmware versionData type: VISIBLE_STRING

Index: 24476d = 5F9Ch

Display of the firmware version of the device as string

Read access Write access CINH PLC STOP No transfer COM MOT

Parameter | Name:

C00100 | Firmware versionData type: UNSIGNED_8

Index: 24475d = 5F9Bh

Display of the firmware version of the device, divided into subsections.


0 99

Subcodes Info

C00100/1 Firmware version - main version

C00100/2 Firmware version - subversion

C00100/3 Firmware version - release

C00100/4 Firmware version build


Parameter | Name:

C00105 | Deceleration time - quick stopData type: UNSIGNED_32

Index: 24470d = 5F96h

The set deceleration time determines the ramp slope at quick stop • If the output frequency falls below the threshold set in C00019, the DCB DC injection brake is activated.

Note:The S-ramp time set in C00182 is also effective at quick stop!In order to reach the required deceleration time for quick stop, set accordingly less time in this parameter.


0.0 s 999.9 5.0 s




242 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00106

C00107

C00114

Parameter | Name:

C00106 | Auto-DCB: hold timeData type: UNSIGNED_32

Index: 24469d = 5F95h

Hold time of the automatic DC injection brake • The DC injection brake is applied for the time set here if the value falls below the speed setpoint set in C00019.


0.0 s 999.0 0.5 s


Parameter | Name:

C00107 | DCB: hold timeData type: UNSIGNED_32

Index: 24468d = 5F94h

Maximum hold time of the manual DC injection brake • In order to not overload the motor thermally, a time for automatic switch-off of the DC injection brake can be set

here.


0.0 s 999.0 999.0 s


Parameter | Name:

C00114 | DIx inversionData type: UNSIGNED_16


Polarity of the digital inputs • Every digital input of the device can be inverted with regard to polarity via this bit field.

I/O terminals

Setting range (min. hex value | max. hex value) Lenze setting

0x0000 0xFFFF 0x8000 (decimal: 32768)

Value is bit-coded: ( = bit set) Info

Bit 0 DI1 inverted Inversion of digital input 1




Bit 4 Reserved

Bit 5 Reserved

Bit 6 Reserved

Bit 7 Reserved

Bit 8 Reserved

Bit 9 Reserved

Bit 10 Reserved

Bit 11 Reserved

Bit 12 Reserved

Bit 13 Reserved

Bit 14 Reserved

Bit 15 RFR inverted Inversion of digital input CInh (controller inhibit)



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C00118

C00120

C00123

C00134

Parameter | Name:

C00118 | DOx inversionData type: UNSIGNED_8

Index: 24457d = 5F89h

Polarity of the digital outputs • Every digital output of the device can be inverted with regard to polarity via this bit field.

I/O terminals


0x00 0xFF 0x00 (decimal: 0)

Value is bit-coded: ( = bit set) Info

Bit 0 Relay inverted Relay inversion

Bit 1 DO1 inverted Inversion of digital output 1

Bit 2 Reserved

Bit 3 Reserved

Bit 4 Reserved

Bit 5 Reserved

Bit 6 Reserved

Bit 7 Reserved


Parameter | Name:

C00120 | Motor overload threshold (I²xt)Data type: INTEGER_16Index: 24455d = 5F87h

Operating threshold for the error message "OC6: Motor overload (I²xt)" • The response for reaching the threshold can be selected in C00606. • The current thermal motor load is displayed in C00066.


0 % 250 100 %


Parameter | Name:

C00123 | Device utilisat. threshold (Ixt)Data type: INTEGER_16Index: 24452d = 5F84h

Operating threshold for the error message "OC5: Device overload (Ixt)" • The response for reaching the threshold can be selected in C00604. • The current device utilisation is displayed in C00064.


0 % 100 100 %


Parameter | Name:

C00134 | Ramp smoothing main setpointData type: UNSIGNED_8

Index: 24441d = 5F79h

Configuration of the ramp rounding for the main setpoint


0 Off Ramp rounding deactivated

1 PT1 behaviour Ramp rounding with PT1 behaviour • The corresponding S-ramp time must be set in

C00182.




244 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00136Parameter | Name:

C00136 | Communication control wordsData type: UNSIGNED_16

Index: 24439d = 5F77h

Control words of the communication interfaces

Display range (min. hex value | max. hex value)

0x0000 0xFFFF

Value is bit-coded:

Bit 0 SwitchOn

Bit 1 IMP

Bit 2 SetQuickStop

Bit 3 EnableOperation

Bit 4 reserved

Bit 5 reserved

Bit 6 reserved

Bit 7 ResetFault

Bit 8 SetHalt

Bit 9 reserved_1

Bit 10 reserved_2

Bit 11 LenzeSpecific_1



Bit 14 SetFail


Subcodes Info

C00136/1 Reserved

C00136/2 CAN control word • Control word of the communication interface CAN

(CAN on board)



Firmware 03.00 - DMS EN 1.2 - 11/2009 L 245



C00137

C00141

Parameter | Name:

C00137 | Device stateData type: UNSIGNED_16

Index: 24438d = 5F76h

Display of the current device state

Selection list (read only)

0 reserved

1 Init

2 MotorIdent

3 ReadySwitchON

4 SwitchedON

5 OperationEnable

6 reserved

7 Trouble

8 Fault

9 reserved

10 SafeTorqueOff

11 reserved

12 reserved

13 reserved

14 reserved

15 reserved


Parameter | Name:

C00141 | Device settingsData type: UNSIGNED_8

Index: 24434d = 5F72h

From version 03.00.00

Selection list

0 inactive

1 active


C00141/1 0: inactive always save parameter




246 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00142

C00144

Parameter | Name:

C00142 | Auto-start optionData type: UNSIGNED_8

Index: 24433d = 5F71h

Setting of the "Auto-start" function • When inhibit is activated, the motor can only start after the device state has changed.


0x00 0xFF 0x01 (decimal: 1)

Value is bit-coded: ( = bit set)

Bit 0 Inhibit at power-on

Bit 1 Inhibit at trouble

Bit 2 Inhibit at fault

Bit 3 Reserved

Bit 4 Reserved

Bit 5 Reserved

Bit 6 Reserved

Bit 7 Reserved


Parameter | Name:

C00144 | Switching freq. reduct. (temp.)Data type: UNSIGNED_8

Index: 24431d = 5F6Fh

Activation of the automatic switching frequency reduction at too high temperature


0 Off Automatic switching frequency reduction deactivated

1 On Automatic switching frequency reduction activated



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C00150 | Status wordData type: UNSIGNED_16

Index: 24425d = 5F69h

Bit coded device status word


0x0000 0xFFFF

Value is bit-coded: Info

Bit 0 FreeStatusBit0 Free status bit 0

Bit 1 PowerDisabled Power switched off



Bit 4 FreeStatusBit4 ?Free status bit 4


Bit 6 ActSpeedIsZero Current speed is 0

Bit 7 ControllerInhibit Controller is inhibited

Bit 8 StatusCodeBit0 Status code bit 0




Bit 12 Warning Warning

Bit 13 Trouble Fault






248 L Firmware 03.00 - DMS EN 1.2 - 11/2009


C00155 | Status word 2Data type: UNSIGNED_16

Index: 24420d = 5F64h

Bit coded device status word 2


0x0000 0xFFFF


Bit 0 Fail Fail

Bit 1 M_max Maximum torque

Bit 2 I_max Maximum current

Bit 3 PowerDisabled Power switched off

Bit 4 Ready Ready

Bit 5 ControllerInhibit Controller is inhibited

Bit 6 Trouble Fault

Bit 7 InitState InitState

Bit 8 CwCcw CW/CCW rotation

Bit 9 reserved

Bit 10 SafeTorqueOff Safe torque off

Bit 11 reserved

Bit 12 reserved

Bit 13 reserved

Bit 14 Quick stop Quick stop is active

Bit 15 MotorIdent Motor parameter identification active



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C00158 | Cause of controller inhibitData type: UNSIGNED_16

Index: 24417d = 5F61h

Bit coded display of the cause/source of controller inhibit


0x0000 0xFFFF

Value is bit-coded:

Bit 0 Terminal controller enable

Bit 1 Reserved

Bit 2 Reserved

Bit 3 LA_NCtrl_pwCANDriveControl

Bit 4 Application

Bit 5 Controller command

Bit 6 Error response

Bit 7 Reserved

Bit 8 Reserved

Bit 9 Reserved

Bit 10 AutoStartLock

Bit 11 Motor parameter identification

Bit 12 Reserved

Bit 13 DCB-IMP

Bit 14 Reserved

Bit 15 Reserved




250 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00159

C00165

C00166

C00167

Parameter | Name:

C00159 | Cause of quick stop QSPData type: UNSIGNED_16

Index: 24416d = 5F60h

Bit coded display of the cause/source of quick stop


0x0000 0xFFFF

Value is bit-coded:

Bit 0 Terminal

Bit 1 Reserved

Bit 2 Reserved

Bit 3 LA_NCtrl_pwCANDriveControl

Bit 4 Application

Bit 5 Controller command

Bit 6 Reserved

Bit 7 Reserved

Bit 8 Reserved

Bit 9 Reserved

Bit 10 Reserved

Bit 11 Reserved

Bit 12 Reserved

Bit 13 Reserved

Bit 14 Reserved

Bit 15 Reserved


Parameter | Name:

C00165 | Error informationData type: VISIBLE_STRING

Index: 24410d = 5F5Ah

Display of the error numbers divided into sectors in the case of an error

Subcodes Info

C00165/1 Current error


Parameter | Name:

C00166 | Error information textData type: VISIBLE_STRING

Index: 24409d = 5F59h

Display of details on the currently pending error

Subcodes Info

C00166/1 Resp. - current error • Response of the currently pending error

C00166/2 Subj. - current error • Subject area of the currently pending error

C00166/3 Mess. - current error • Textual message of the currently pending error


Parameter | Name:

C00167 | Logbook dataData type: OCTET_STRING

Index: 24408d = 5F58h

This code is used internally by the controller and must not be overwritten by the user!


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C00168

C00169

Parameter | Name:

C00168 | Error numberData type: UNSIGNED_32

Index: 24407d = 5F57h

Display of the internal error number for the 8 errors occurred last


0 4294967295

Subcodes Info

C00168/1 Error number - history 1









Parameter | Name:

C00169 | Time of errorData type: UNSIGNED_32

Index: 24406d = 5F56h

Display of the time of error for the 8 errors occurred last


0 4294967295

Subcodes Info

C00169/1 Error time- history 1











252 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00170

C00171

C00173

C00174

C00177

Parameter | Name:

C00170 | Error counterData type: UNSIGNED_8

Index: 24405d = 5F55h

Display of the error counter for the 8 errors occurred last


0 255

Subcodes Info

C00170/1 Error counter - history 1









Parameter | Name:

C00171 | Logbook access indexData type: UNSIGNED_8

Index: 24404d = 5F54h


Parameter | Name:

C00173 | Mains voltageData type: UNSIGNED_8

Index: 24402d = 5F52h

Selection of the mains voltage for operating the device.


0 3ph 400V / 1ph 230V 3-phase 400 V or 1-phase 230 V





Parameter | Name:

C00174 | Reduced brake chopper thresholdData type: UNSIGNED_8

Index: 24401d = 5F51h

The threshold from which on the brake chopper is controlled is reduced by the voltage value set here.


0 V 150 0 V


Parameter | Name:

C00177 | Switching cyclesData type: UNSIGNED_32


Counter of different switching cycles and stressful situations


0 2147483647

Subcodes Info

C00177 /1 Number of mains switching cycles

C00177 /2 Number of the switching cycles of the output relay



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C00178

C00179

C00182

C00200

C00201

C00203

Parameter | Name:

C00178 | Elapsed-hour meterData type: UNSIGNED_32


Display of the operating hours in "seconds" unit"


0 s 2147483647


Parameter | Name:

C00179 | Power-on time meterData type: UNSIGNED_32


Display of the power-on time in "seconds" unit"


0 s 2147483647


Parameter | Name:

C00182 | S-ramp time PT1Data type: INTEGER_16Index: 24393d = 5F49h

PT1 S-ramp time for the main setpoint ramp function generator • Only effective with activated ramp rounding (C00134 = "1").


0.01 s 50.00 20.00 s


Parameter | Name:

C00200 | Firmware product typeData type: VISIBLE_STRING

Index: 24375d = 5F37h

Display of the firmware product type


Parameter | Name:

C00201 | Firmware compile dateData type: VISIBLE_STRING

Index: 24374d = 5F36h

Display of the firmware compilation date


Parameter | Name:

C00203 | Product type codeData type: VISIBLE_STRING

Index: 24372d = 5F34h

From version 03.00.00Display of the single device component types

Subcodes Info

C00203/1 Reserved

C00203/2 Reserved

C00203/3 Reserved

C00203/4 Reserved

C00203/5 Type: Memory module

C00203/6 Type: Safety module

C00203/7 Reserved

C00203/8 Type: Complete device

C00203/9 Reserved




254 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00222

C00223

C00224

C00225

C00226

C00227

Parameter | Name:

C00222 | L_PCTRL_1: VpData type: INTEGER_16Index: 24353d = 5F21h

FB L_PCTRL_1: Gain factor Vp for the PID process controller


0.1 500.0 1.0


Parameter | Name:

C00223 | L_PCTRL_1: TnData type: UNSIGNED_16

Index: 24352d = 5F20h

FB L_PCTRL_1: Reset time Tr for the PID process controller


20 ms 6000 400 ms


Parameter | Name:

C00224 | L_PCTRL_1: KdData type: UNSIGNED_16

Index: 24351d = 5F1Fh

FB L_PCTRL_1: Derivative-action coefficient Kd for the PID process controller


0.0 5.0 0.0


Parameter | Name:

C00225 | L_PCTRL_1: MaxLimitData type: INTEGER_16


FB L_PCTRL_1: Maximum output value of the PID process controller


-199.9 % 199.9 199.9 %


Parameter | Name:

C00226 | L_PCTRL_1: MinLimitData type: INTEGER_16Index: 24349d = 5F1Dh

FB L_PCTRL_1: Minimum output value of the PID process controller


-199.9 % 199.9 -199.9 %


Parameter | Name:

C00227 | L_PCTRL_1: acceleration timeData type: UNSIGNED_32


FB L_PCTRL_1: Acceleration time for the output value of the PID process controller


0.0 s 999.9 0.1 s



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C00228

C00231

C00234

C00235

C00236

C00242

Parameter | Name:

C00228 | L_PCTRL_1: deceleration timeData type: UNSIGNED_32


FB L_PCTRL_1: Deceleration time for the output value of the PID process controller


0.0 s 999.9 0.1 s


Parameter | Name:

C00231 | L_PCTRL_1: Operating rangeData type: INTEGER_16Index: 24344d = 5F18h

FB L_PCTRL_1: Operating range for the PID process controller


0.0 % 199.9


C00231/1 199.9 % L_PCTRL_1: Pos. maximum

C00231/2 0.0 % L_PCTRL_1: Pos. minimum

C00231/3 0.0 % L_PCTRL_1: Neg. minimum

C00231/4 199.9 % L_PCTRL_1: Neg. maximum


Parameter | Name:

C00234 | Oscillation damping influenceData type: UNSIGNED_16

Index: 24341d = 5F15h


0 % 250 5 %


Parameter | Name:

C00235 | Filter time - oscill. dampingData type: UNSIGNED_8

Index: 24340d = 5F14h


Parameter | Name:

C00236 | Oscill. damping - field weakeningData type: UNSIGNED_8

Index: 24339d = 5F13h


Parameter | Name:

C00242 | L_PCTRL_1: operating modeData type: UNSIGNED_8


FB L_PCTRL_1: Selection of the operating mode • Depending on the selection, the blue switches in the displayed signal flow are set accordingly in the Engineer on

the Application parameter tab in the Overview Signal flow Process controller dialog level.


0 Off The input setpoint nNSet_a is output without any changes at the nOut_a output.

1 Additive + feedforward control nNSet_a and nAct_a are used as PID input values. The input setpoint nNSet_a is added to the value output by the PID element.

2 PID as setpoint generator nSet_a and nAct_a are used as PID input values. The nNSet_a input is not considered.

3 PID setpoint from L_NSet_1 nNSet_a and nAct_a are used as PID input values. The nSet_a is not considered.




256 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00243

C00244

C00245

C00322

Parameter | Name:

C00243 | L_PCTRL_1: Acceleration time influenceData type: UNSIGNED_32


FB L_PCTRL_1: Acceleration time for showing the PID output value


0.0 s 999.9 5.0 s


Parameter | Name:

C00244 | L_PCTRL_1: Deceleration time influenceData type: UNSIGNED_32


FB L_PCTRL_1: Deceleration time for masking out the PID output value


0.0 s 999.9 5.0 s


Parameter | Name:

C00245 | L_PCTRL_1: PID output valueData type: INTEGER_16Index: 24330d = 5F0Ah

FB L_PCTRL_1: Display of the output value of the PID process controller


-199.9 % 199.9


Parameter | Name:

C00322 | Transmission mode CAN TxPDOsData type: UNSIGNED_8

Index: 24253d = 5EBDh

TPDO transmission type in accordance with DS301 V4.02 • The types 0 (acyclic sync), 1-240 (cyclic sync), 254 (event-controlled manufacturer-specific; time elapsed or data

change), 255 (event-controlled device profile-specific) are supported. • The basic setting for all PDOs is the event-controlled setting "254". • Mapping of the CANopen objects I-1800/2 and I-1801/2 (see DS301 V4.02).



0 255


C00322/1 254 Transmission mode CAN1 OUT

C00322/2 254 Transmission mode CAN2 OUT



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C00323

C00345

C00347

Parameter | Name:

C00323 | Transmission mode CAN Rx PDOsData type: UNSIGNED_8

Index: 24252d = 5EBCh

RPDO transmission type in accordance with DS301 V4.02 • In the case of the RPDO serves as monitoring setting in the case of sync-controlled PDOs. • The types 0 (acyclic sync), 1-240 (cyclic sync), 254 (event-controlled manufacturer-specific; every ms by polling),

255 (event-controlled device profile-specific) are supported. • The basic setting for all PDOs is the event-controlled setting "254". • Mapping of the CANopen objects I-1400/2 and I-1401/2 (see DS301 V4.02).



0 255


C00323/1 254 Transmission mode CAN1 IN

C00323/2 254 Transmission mode CAN2 IN


Parameter | Name:

C00345 | CAN error statusData type: UNSIGNED_8

Index: 24230d = 5EA6h



0 No Error

1 Warning ErrActive

2 Warning ErrPassive

3 Bus off

4 Reserved

5 Reserved


Parameter | Name:

C00347 | CAN status HeartBeat producerData type: UNSIGNED_8


System bus "CAN on board": Heartbeat protocol


0 Boot-up

4 Stopped

5 Operational

127 Pre-operational

250 Failed

255 NoResponse

Subcodes Info

C00347/1 Status node 1




258 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00350

C00351

C00352

C00353

Parameter | Name:

C00350 | CAN node addressData type: UNSIGNED_8


Setting of the node address via parameters • The node address can only be parameterised if the node address "0" is set via the DIP switches. • A change of the node address will only become effective after a CAN reset node.



1 63 1


Parameter | Name:

C00351 | CAN baud rateData type: UNSIGNED_8


Setting of the baud rate via parameters • The baud rate can only be parameterised if the baud rate "0" is set via the DIP switches. • A change of the baud rate will only become effective after a CAN reset node.



0 500 kbps

1 250 kbps

2 125 kbps

3 50 kbps

4 1000 kbps

5 20 kbps


Parameter | Name:

C00352 | CAN slave/masterData type: UNSIGNED_8

Index: 24223d = 5E9Fh

The drive starts as CAN master after mains switching if the value "1" has been entered and saved here.System bus "CAN on board"


0 Slave

1 Master


Parameter | Name:

C00353 | CAN IN/OUT COBID sourceData type: UNSIGNED_8

Index: 24222d = 5E9Eh

Identifier allocation procedure for the CANx In/OUT process dataSystem bus "CAN on board"

Selection list Info

0 COBID = C0350 + BaseID COBID = device address + LenzeBaseID

1 COBID = C0350 + BaseID COBID = device address + CANBaseID (C00354/x)

2 COBID = C0354/x + 384 COBID = C00354/x + 384


C00353/1 1: COBID = C0350 + BaseID COBID source CAN1_IN/OUT

C00353/2 1: COBID = C0350 + BaseID COBID source CAN2_IN/OUT



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C00354

C00355

C00356

Parameter | Name:

C00354 | COBIDData type: UNSIGNED_32

Index: 24221d = 5E9Dh

Setting of the default COBID according to CANopen • A change of the COBID will only become effective after a CAN reset node.


Setting range (min. hex value | max. hex value)

0x00000000 0xFFFFFFFF


Bit 0 COBID Bit0 • Bit 0 ... 10: COB-ID • Bit 11 ... 30: reserved • Bit 31: PDO invalid (is not transmitted)

... ...

Bit 31 PDO invalid


C00354/1 513 COBID CAN1_IN

C00354/2 385 COBID CAN1_OUT

C00354/3 769 COBID CAN2_IN

C00354/4 641 COBID CAN2_OUT


Parameter | Name:

C00355 | Active COBIDData type: UNSIGNED_16

Index: 24220d = 5E9Ch

Display of the COBID of the PDOs that is active in the CAN stackSystem bus "CAN on board"


0 2047

Subcodes Info

C00355/1 Active COBID CAN1_IN

C00355/2 Active COBID CAN1_OUT

C00355/3 Active COBID CAN2_IN

C00355/4 Active COBID CAN2_OUT


Parameter | Name:

C00356 | CAN time settingsData type: UNSIGNED_16

Index: 24219d = 5E9Bh

Different time settings for the CAN interfaceSystem bus "CAN on board"


0 ms 65000


C00356/1 3000 ms CAN delay during status change from "Boot-up" to "Operational"

C00356/2 0 ms CAN2_OUT cycle time


C00356/4 0 ms CANx_OUT time "Operational" to "First transmission"





260 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00357

C00359

C00360

Parameter | Name:

C00357 | CAN monitoring timesData type: UNSIGNED_16

Index: 24218d = 5E9Ah

Mapping of the RPDO event time (see DS301 V4.02) • If a non-zero value is entered, the RPDO is expected after the time set has elapsed. • If the RPDO is not received within the expected time, the response set in C00593/1...2 is effected.



0 ms 65000


C00357/1 3000 ms CAN1_IN monitoring time

C00357/2 3000 ms CAN2_IN monitoring time


Parameter | Name:

C00359 | CAN statusData type: UNSIGNED_8

Index: 24216d = 5E98h



0 Operational

1 Pre-Operat.

2 Reserved

3 Reserved

4 BopotUp

5 Stopped

6 Reserved

7 Reset


Parameter | Name:

C00360 | CAN telegram counterData type: UNSIGNED_16

Index: 24215d = 5E97h



0 65535

Subcodes Info

C00360/1 All PDO/SDO sent

C00360/2 All PDO/SDO received

C00360/3 Telegram counter CAN1_OUT

C00360/4 Telegram counter CAN2_OUT

C00360/5 Reserved

C00360/6 Telegram counter SDO1 OUT

C00360/7 Telegram counter SDO2 OUT

C00360/8 Telegram counter CAN1_IN

C00360/9 Telegram counter CAN2_IN

C00360/10 Reserved

C00360/11 Telegram counter SDO1 IN

C00360/12 Telegram counter SDO2 IN



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C00364

C00367

C00368

C00369

Parameter | Name:

C00364 | CAN MessageErrorData type: UNSIGNED_8

Index: 24211d = 5E93h



0x00 0xFF


Bit 0 No Error

Bit 1 StuffError

Bit 2 FormError

Bit 3 AckError

Bit 4 Bit1Error

Bit 5 Bit0Error

Bit 6 CRCError

Bit 7 Reserved


Parameter | Name:

C00367 | CAN sync Rx identifierData type: UNSIGNED_16

Index: 24208d = 5E90h

Identifier by means of which the sync slave is to receive sync telegrams. • Mapping of the CANopen object I-1005 (see DS301 V4.02).

System bus "CAN on board": Sync telegram


128 255 128


Parameter | Name:

C00368 | CAN Sync-Tx identifierData type: UNSIGNED_16


Identifier by means of which the sync master is to transmit sync telegrams. • Mapping of the CANopen object I-1005 (see DS301 V4.02).



128 255 128


Parameter | Name:

C00369 | CAN sync transmission cycle timeData type: UNSIGNED_16


Cycle during which the sync master is to transmit sync telegrams. • If "0 ms" is set (Lenze setting), no sync telegrams are generated. • Mapping of the CANopen object I-1006 (see DS301 V4.02).



0 ms 65000 0 ms




262 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00372

C00381

C00385

C00386

Parameter | Name:

C00372 | CAN_Tx_Rx_ErrorData type: UNSIGNED_8

Index: 24203d = 5E8Bh



0 ms 255

Subcodes Info

C00372/1 Tx_Error

C00372/2 Rx_Error


Parameter | Name:

C00381 | CAN heartbeat producer timeData type: UNSIGNED_16

Index: 24194d = 5E82h

Time interval for the transmission of the heartbeat telegram to the consumer(s). • The heartbeat telegram is sent automatically as soon as a time > 0 ms is set. • Mapping of the CANopen object I-1017 (see DS301 V4.02).



0 ms 65535 0 ms


Parameter | Name:

C00385 | CAN NodeID Heartbeat producerData type: UNSIGNED_8


Address of the node which is to be monitored by heartbeat. • Mapping of the CANopen object I-1016 (see DS301 V4.02).



0 127


C00385/1 0 CAN node address HeartBeat Producer 1


Parameter | Name:

C00386 | CAN Heartbeat consumer timeData type: UNSIGNED_16

Index: 24189d = 5E7Dh

ConsumerTime for the node which is to be monitored by heartbeat. • Mapping of the CANopen object I-1016 (see DS301 V4.02).



0 ms 60000


C00386/1 0 ms ConsumerTime HeartBeat Producer 1



Firmware 03.00 - DMS EN 1.2 - 11/2009 L 263



C00389

C00409

Parameter | Name:

C00389 | PDO valid / invalidData type: UNSIGNED_8

Index: 24186d = 5E7Ah

From version 03.00.00System bus "CAN on board"

Selection list

0 PDO available/valid

1 PDO not available/invalid


C00389/1 0: PDO available/valid PDO valid / invalid CAN1_IN

C00389/2 0: PDO available/valid PDO valid / invalid CAN1_OUT

C00389/3 0: PDO available/valid PDO valid / invalid CAN2_IN

C00389/4 0: PDO available/valid PDO valid / invalid CAN2_OUT


Parameter | Name:

C00409 | LP_CanIn mappingDatentyp: UNSIGNED_16

Index: 24166d = 5E66h

As of version 03.00.00Mapping for port blocks LP_CanIn1...2


0 65535

Subcodes Lenze setting Information

C00409/1 0 LP_CanIn1.wCtrl

C00409/2 0 LP_CanIn1.wIn2



C00409/5 0 LP_CanIn2.wCtrl







264 L Firmware 03.00 - DMS EN 1.2 - 11/2009


C00443 | DIx: LevelData type: UNSIGNED_16

Index: 24132d = 5E44h

Bit coded display of the level of the digital inputsI/O terminals


0x0000 0xFFFF


Bit 0 DI1 Bit set = HIGH level

Bit 1 DI2

Bit 2 DI3

Bit 3 DI4

Bit 4 Reserve

Bit 5 Reserve

Bit 6 Reserve

Bit 7 Reserve

Bit 8 Reserve

Bit 9 Reserve

Bit 10 Reserve

Bit 11 Reserve

Bit 12 Reserve

Bit 13 Reserve

Bit 14 Reserve

Bit 15 CINH

Subcodes Info

C00443/1 DIx: Terminal level

C00443/2 DIx: Output level



Firmware 03.00 - DMS EN 1.2 - 11/2009 L 265



C00444

C00470

Parameter | Name:

C00444 | DOx: LevelData type: UNSIGNED_16

Index: 24131d = 5E43h

Bit coded display of the level of the digital outputsI/O terminals


0x0000 0xFFFF


Bit 0 Relay Bit set = HIGH level

Bit 1 DO1

Bit 2 Reserved

Bit 3 Reserved

Bit 4 Reserved

Bit 5 Reserved

Bit 6 Reserved

Bit 7 Reserved

Bit 8 Reserved

Bit 9 Reserved

Bit 10 Reserved

Bit 11 Reserved

Bit 12 Reserved

Bit 13 Reserved

Bit 14 Reserved

Bit 15 Reserved

Subcodes Info

C00444/1 DOx: Input level

C00444/2 DOx: Terminal level


Parameter | Name:

C00470 | LS_ParFree_bData type: UNSIGNED_8

Index: 24105d = 5E29h

SB LS_ParFree_b: Setting of the signal level to be output

Selection list

0 False

1 True


C00470/1 0: False Signal level for output bPar1 ... bPar16

C00470/...

C00470/16




266 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00472

C00480

C00481

Parameter | Name:

C00472 | LS_ParFree_aData type: INTEGER_16Index: 24103d = 5E27h

SB LS_ParFree_a: Setting of the analog signals to be output


-199.9 % 199.9


C00472/1 0.0 % Value for output nPar1_a





Parameter | Name:

C00480 | LS_DisFree_bData type: UNSIGNED_8


SB LS_DisFree_b: Display of the input values


0x00 0xFF


Bit 0 bDis1 Signal level input bDis1 ... bDis8

... ...

Bit 7 bDis8


Parameter | Name:

C00481 | LS_DisFreeData type: UNSIGNED_16


SB LS_DisFree: Display of the input values


0x0000 0xFFFF

Value is bit-coded:

Bit 0 Bit0

... ...

Bit 15 Bit15

Subcodes Info

C00481/1 Input values wDis1 ... wDis4

C00481/...

C00481/4



Firmware 03.00 - DMS EN 1.2 - 11/2009 L 267



C00482

C00516

Parameter | Name:

C00482 | LS_DisFree_aData type: INTEGER_16Index: 24093d = 5E1Dh

SB LS_DisFree_a: Display of the input values


-199.9 % 199.9

Subcodes Info

C00482/1 Input values nDis1_a ... nDis4_a

C00482/...

C00482/4


Parameter | Name:

C00516 | ChecksumsData type: UNSIGNED_32

Index: 24059d = 5DFBh


0 255

Subcodes Info

C00516/1 Checksum of the interconnection




268 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00517

C00565

C00574

Parameter | Name:

C00517 | User menuData type: INTEGER_32Index: 24058d = 5DFAh

When a system is installed, parameters must be changed time and again until the system runs satisfactorily. The user menu of a device serves to create a selection of frequently used parameters to be able to access and change these parameters quickly.


0 994


C00517/1 51 C00051: Display of actual speed value

C00517/2 53 C00053: Display of DC-bus voltage

C00517/3 54 C00054: Display of motor current

C00517/4 61 C00061: Display of heatsink temperature

C00517/5 137 C00137: Display of device state

C00517/6 0

C00517/7 0

C00517/8 11 C00011: Reference speed

C00517/9 39 C00039: Fixed setpoints 1 ... 3

C00517/10 0

C00517/11 12 C00012: Accel. time - main setpoint

C00517/12 13 C00013: Decel. time - main setpoint

C00517/13 15 C00015: V/f base frequency

C00517/14 16 C00016: Vmin boost

C00517/15 22 C00022: Imax in motor mode

C00517/16 120 C00120: Motor overload threshold (I2xt)

C00517/17 87 C00087: Rated motor speed

C00517/18 99 C00099: Display of firmware version

C00517/19 0

C00517/20 0


Parameter | Name:

C00565 | Resp. to mains phase failureData type: UNSIGNED_8

Index: 24010d = 5DCAh

Response to the failure of mains phases


0 No Reaction

1 Fault

4 WarningLocked


Parameter | Name:

C00574 | Resp. to brake resist. overtemp.Data type: UNSIGNED_8

Index: 24001d = 5DC1h

Response to overtemperature of the brake resistor


0 No Reaction

1 Fault

4 WarningLocked



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C00581

C00592

C00593

Parameter | Name:

C00581 | Resp. LS_SetError_xData type: UNSIGNED_8

Index: 23994d = 5DBAh

SB LS_SetError_1: Selection of the error responses for application error messages • An application error message is tripped by a FALSE-TRUE edge at the binary inputs bSetError1...2.

Selection list

0 No Reaction

1 Fault

2 Trouble

4 WarningLocked


C00581/1 1: Fault Resp. LS_SetError_1 bSetError1

C00581/2 1: Fault Resp. LS_SetError_1 bSetError2


Parameter | Name:

C00592 | Resp. to CAN bus connectionData type: UNSIGNED_8

Index: 23983d = 5DAFh

Configuration of monitoring of the CAN interface (group 1)System bus "CAN on board"

Selection list

0 No Reaction

1 Fault

2 Trouble

4 WarningLocked


C00592/1 0: No Reaction Response to incorrect telegram for CAN communication

C00592/2 0: No Reaction Response to "BusOff" (bus system switched off)

C00592/3 0: No Reaction Response to warnings of the CAN controller

C00592/4 0: No Reaction Response to communication stop of a CAN bus node

C00592/5 0: No Reaction Response to an event in the case of monitoring via heartbeat protocol


Parameter | Name:

C00593 | Resp. to CANx_IN monitoringData type: UNSIGNED_8

Index: 23982d = 5DAEh

Configuration of monitoring of the CAN interface (group 2)System bus "CAN on board"

Selection list

0 No Reaction

1 Fault

2 Trouble

4 WarningLocked


C00593/1 0: No Reaction Response if the monitoring time set in C00357/1 for the reception of the PDO CAN1_IN is exceeded.

C00593/2 0: No Reaction Response if the monitoring time set in C00357/2 for the reception of the PDO CAN2_IN is exceeded.




270 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00594

C00598

C00600

C00601

Parameter | Name:

C00594 | Resp. to control word errorData type: UNSIGNED_8

Index: 23981d = 5DADh

From version 03.00.00Configuration of monitoring of the device control

Selection list

0 No Reaction

1 Fault

2 Trouble

4 WarningLocked


C00594/1 1: Fault Response if error bit 14 in the CAN control word is set.


Parameter | Name:

C00598 | Resp. to open circuit AINxData type: UNSIGNED_8

Index: 23977d = 5DA9h

Configuration of monitoring of the analog input

Selection list

0 No Reaction

1 Fault

2 Trouble

4 WarningLocked


C00598/1 1: Fault Response to open circuit at AIN1 when being configured as 4 ... 20 mA current loop


Parameter | Name:

C00600 | Resp. to DC bus overvoltageData type: UNSIGNED_8


Configuration of monitoring of the motor control (group 3)

Selection list

1 Fault

2 Trouble


C00600/1 2: Trouble Resp. to undervoltage in the DC bus


Parameter | Name:

C00601 | Del. resp.to fault: DC bus overvoltageData type: UNSIGNED_16


Delay times for error responses


0.00 s 65.00


C00601/1 2.00 s Delay time for error activation "DC-bus overvoltage" • In case of DC-bus overvoltage, an error is only

transmitted after this delay time has elapsed.



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C00604

C00606

C00620

Parameter | Name:

C00604 | Resp. to device overload (Ixt)Data type: UNSIGNED_8


Response if the adjustable device utilisation threshold (C00123) is reached. • The current device utilisation is displayed in C00064.


0 No Reaction

1 Fault

4 WarningLocked


Parameter | Name:

C00606 | Resp. to motor overload (I²xt)Data type: UNSIGNED_8


Response if the adjustable motor overload threshold (C00120) is reached. • The current thermal motor load is displayed in C00066.


0 No Reaction

1 Fault

4 WarningLocked


Parameter | Name:

C00620 | 16-bit system connectionData type: UNSIGNED_16

Index: 23955d = 5D93h

Connection parameters: 16-bit inputs • Selection of the 16-bit output signals for connection with the 16-bit input signals. • The selection list contains all 16-bit output signals which can be assigned to the 16-bit inputs mapped by the

subcodes.

Selection list Info

0 Not connected

1 C_nPos100_a(100.0%)

2 C_nNeg100_a(-100.0%)

3 C_nPos199_9_a(199.9%)

4 C_nNeg199_9_a(-199.9%)

5 C_w65535

6 C_wDriveCtrl

10 AIn1_Out

20 nPar1_a

21 nPar2_a

22 nPar3_a

23 nPar4_a

24 LS_Keypad_nTorqueMotLim_a

25 LS_Keypad_nTorqueGenLim_a

26 LS_Keypad_nMainSetValue_a

30 CAN1_wIn1

31 CAN1_wIn2

32 CAN1_wIn3

33 CAN1_wIn4

34 CAN2_wIn1

35 CAN2_wIn2



272 L Firmware 03.00 - DMS EN 1.2 - 11/2009

36 CAN2_wIn3

37 CAN2_wIn4

50 LA_NCTRL_nMotorFreqAct_a

51 LA_NCTRL_nOutputSpeedCtrl_a

52 LA_NCtrl_nMotorSpeedAct_a

53 LA_NCtrl_nMotor Voltage_a

54 LA_NCtrl_nDCVoltage_a

55 LA_NCtrl_nMotorCurrent_a

56 LA_NCtrl_nMotorTorqueAct_a

57 LA_NCTRL_nHeatsinkTemperature_a

70 LA_NCTRL_wDeviceStateWord

71 LA_NCTRL_wDeviceAuxStateWord

72 LA_NCTRL_wDetermFailNoLow

73 LA_NCTRL_wDetermFailNoHigh


C00620/1 0: Not connected Reserved




C00620/5 0: Not connected LS_DisFree: wDis1




C00620/9 0: Not connected LS_DisFree_a: nDis1_a











C00620/20 0: Not connected LP_CanOut1: wState

C00620/21 0: Not connected LP_CanOut1: wOut2








Parameter | Name:

C00620 | 16-bit system connectionData type: UNSIGNED_16

Index: 23955d = 5D93h


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 273




C00621 | Bool system connectionData type: UNSIGNED_16

Index: 23954d = 5D92h

Connection parameters: Binary inputs • Selection of the binary output signals for connection with the binary input signals. • The selection list contains all binary output signals which can be assigned to the binary inputs mapped by the

subcodes.

Selection list Info

0 Not connected

1 C_bTrue

11 DigIn_bIn1

12 DigIn_bIn2

13 DigIn_bIn3

14 DigIn_bIn4

15 DigIn_CInh

20 bPar1

21 bPar2

22 bPar3

23 bPar4

24 bPar5

25 bPar6

26 bPar7

27 bPar8

28 bPar9

29 bPar10

30 bPar11

31 bPar12

32 bPar13

33 bPar14

34 bPar15

35 bPar16

36 LS_Keypad_bSetQuickstop

37 LS_Keypad_bSetDCBrake

38 LS_Keypad_bSetSpeedCcw

39 LS_Keypad_bJogSpeed1


50 LA_nCtrl_bDriveFail

51 LA_nCtrl_bDriveReady

52 LA_nCtrl_bCInhActive

53 LA_nCtrl_bQSPIsActive

54 LA_NCtrl_bSafeTorqueOff

55 LA_NCtrl_bSafetyIsActive

60 LA_nCtrl_bSpeedCcw

61 LA_nCtrl_bActSpeedEqZero

62 LA_nCtrl_bSpeedSetReached

63 LA_nCtrl_bSpeedActEqSet

64 LA_nCtrl_bNActCompare

65 LA_nCtrl_bImaxActive



274 L Firmware 03.00 - DMS EN 1.2 - 11/2009

66 LA_nCtrl_bHeatSinkWarning

67 LA_nCtrl_bOVDetected

68 LA_nCtrl_bDCBrakeOn

69 LA_NCtrl_bFlyingSyncActive

70 Ain_bCurrentErrorIn1

100 CAN1_bIn1_B0

101 CAN1_bIn1_B1

102 CAN1_bIn1_B2

103 CAN1_bIn1_B3

104 CAN1_bIn1_B4

105 CAN1_bIn1_B5

106 CAN1_bIn1_B6

107 CAN1_bIn1_B7

108 CAN1_bIn1_B8

109 CAN1_bIn1_B9

110 CAN1_bIn1_B10

111 CAN1_bIn1_B11

112 CAN1_bIn1_B12

113 CAN1_bIn1_B13

114 CAN1_bIn1_B14

115 CAN1_bIn1_B15

120 CAN1_bIn2_B0

121 CAN1_bIn2_B1

122 CAN1_bIn2_B2

123 CAN1_bIn2_B3

124 CAN1_bIn2_B4

125 CAN1_bIn2_B5

126 CAN1_bIn2_B6

127 CAN1_bIn2_B7

128 CAN1_bIn2_B8

129 CAN1_bIn2_B9

130 CAN1_bIn2_B10

131 CAN1_bIn2_B11

132 CAN1_bIn2_B12

133 CAN1_bIn2_B13

134 CAN1_bIn2_B14

135 CAN1_bIn2_B15


C00621/1 50: LA_nCtrl_bDriveFail LS_DigitalOutput: bRelay

C00621/2 51: LA_nCtrl_bDriveReady LS_DigitalOutput: bOut1




C00621/6 64: LA_nCtrl_bNActCompare USER LED

Parameter | Name:


Index: 23954d = 5D92h


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 275



C00621/7 0: Not connected LA_NCtrl: bStatusBit0

C00621/8 65: LA_nCtrl_bImaxActive LA_NCtrl: bStatusBit2

C00621/9 62: LA_nCtrl_bSpeedSetReached LA_NCtrl: bStatusBit3

C00621/10 63: LA_nCtrl_bSpeedActEqSet LA_NCtrl: bStatusBit4

C00621/11 64: LA_nCtrl_bNActCompare LA_NCtrl: bStatusBit5

C00621/12 60: LA_nCtrl_bSpeedCcw LA_NCtrl: bStatusBit14

C00621/13 51: LA_nCtrl_bDriveReady LA_NCtrl: bStatusBit15



C00621/16 0: Not connected Ls_DisFree_b: bDis1














C00621/30 0: Not connected LP_CanOut1: bState_B0
















C00621/46 0: Not connected LP_CanOut2: bOut1_B0





Parameter | Name:


Index: 23954d = 5D92h



276 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00700













Parameter | Name:


Index: 23954d = 5D92h

Parameter | Name:

C00700 | LA_NCtrl: analog connection listData type: UNSIGNED_16

Index: 23875d = 5D43h

Connection parameters for "Actuating drive - speed" application: 16-bit inputs • Selection of the 16-bit output signals for connection with the 16-bit input signals • The selection list contains all 16-bit output signals which can be assigned to the 16-bit inputs mapped by the

subcodes.

Selection list Info

0 Not connected

1 C_nPos100_a(100.0%)

2 C_nNeg100_a(-100.0%)

3 C_nPos199_9_a(199.9%)

4 C_nNeg199_9_a(-199.9%)

5 C_w65535

6 C_wDriveCtrl

10 AIn1_Out

20 nPar1_a

21 nPar2_a

22 nPar3_a

23 nPar4_a

24 LS_Keypad_nTorqueMotLim_a

25 LS_Keypad_nTorqueGenLim_a

26 LS_Keypad_nMainSetValue_a

30 CAN1_wIn1

31 CAN1_wIn2

32 CAN1_wIn3

33 CAN1_wIn4

34 CAN2_wIn1

35 CAN2_wIn2

36 CAN2_wIn3

37 CAN2_wIn4

50 LA_NCTRL_nMotorFreqAct_a

51 LA_NCTRL_nOutputSpeedCtrl_a


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C00701

52 LA_NCtrl_nMotorSpeedAct_a

53 LA_NCtrl_nMotor Voltage_a

54 LA_NCtrl_nDCVoltage_a

55 LA_NCtrl_nMotorCurrent_a

56 LA_NCtrl_nMotorTorqueAct_a

57 LA_NCTRL_nHeatsinkTemperature_a

70 LA_NCTRL_wDeviceStateWord

71 LA_NCTRL_wDeviceAuxStateWord

72 LA_NCTRL_wDetermFailNoLow

73 LA_NCTRL_wDetermFailNoHigh


C00700/1 10: AIn1_Out LA_NCtrl: nMainSetValue_a

C00700/2 22: nPar3_a LA_NCtrl: nTorqueMotLim_a

C00700/3 22: nPar3_a LA_NCtrl: nTorqueGenLim_a


C00700/5 6: C_wDriveCtrl LA_NCtrl: wCANDriveControl

C00700/6 1: C_nPos100_a(100.0%) LA_NCtrl: nPIDVpAdapt_a

C00700/7 0: Not connected LA_NCtrl: nPIDActValue_a

C00700/8 1: C_nPos100_a(100.0%) LA_NCtrl: nPIDInfluence_a

C00700/9 0: Not connected LA_NCtrl: nPIDsetValue_a


Parameter | Name:

C00700 | LA_NCtrl: analog connection listData type: UNSIGNED_16

Index: 23875d = 5D43h

Parameter | Name:

C00701 | LA_NCtrl: digital connection listData type: UNSIGNED_16

Index: 23874d = 5D42h

Connection parameters for "Actuating drive - speed" application: Binary inputs • Selection of the binary output signals for connection with the binary input signals • The selection list contains all binary output signals which can be assigned to the binary inputs mapped by the

subcodes.

Selection list Info

0 Not connected

1 C_bTrue

11 DigIn_bIn1

12 DigIn_bIn2

13 DigIn_bIn3

14 DigIn_bIn4

15 DigIn_CInh

20 bPar1

21 bPar2

22 bPar3

23 bPar4

24 bPar5

25 bPar6

26 bPar7

27 bPar8



278 L Firmware 03.00 - DMS EN 1.2 - 11/2009

28 bPar9

29 bPar10

30 bPar11

31 bPar12

32 bPar13

33 bPar14

34 bPar15

35 bPar16

36 LS_Keypad_bSetQuickstop

37 LS_Keypad_bSetDCBrake

38 LS_Keypad_bSetSpeedCcw



50 LA_nCtrl_bDriveFail

51 LA_nCtrl_bDriveReady

52 LA_nCtrl_bCInhActive

53 LA_nCtrl_bQSPIsActive

54 LA_NCtrl_bSafeTorqueOff

55 LA_NCtrl_bSafetyIsActive

60 LA_nCtrl_bSpeedCcw

61 LA_nCtrl_bActSpeedEqZero

62 LA_nCtrl_bSpeedSetReached

63 LA_nCtrl_bSpeedActEqSet

64 LA_nCtrl_bNActCompare

65 LA_nCtrl_bImaxActive

66 LA_nCtrl_bHeatSinkWarning

67 LA_nCtrl_bOVDetected

68 LA_nCtrl_bDCBrakeOn

69 LA_NCtrl_bFlyingSyncActive

70 Ain_bCurrentErrorIn1

100 CAN1_bIn1_B0

101 CAN1_bIn1_B1

102 CAN1_bIn1_B2

103 CAN1_bIn1_B3

104 CAN1_bIn1_B4

105 CAN1_bIn1_B5

106 CAN1_bIn1_B6

107 CAN1_bIn1_B7

108 CAN1_bIn1_B8

109 CAN1_bIn1_B9

110 CAN1_bIn1_B10

111 CAN1_bIn1_B11

112 CAN1_bIn1_B12

113 CAN1_bIn1_B13

Parameter | Name:


Index: 23874d = 5D42h


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114 CAN1_bIn1_B14

115 CAN1_bIn1_B15

120 CAN1_bIn2_B0

121 CAN1_bIn2_B1

122 CAN1_bIn2_B2

123 CAN1_bIn2_B3

124 CAN1_bIn2_B4

125 CAN1_bIn2_B5

126 CAN1_bIn2_B6

127 CAN1_bIn2_B7

128 CAN1_bIn2_B8

129 CAN1_bIn2_B9

130 CAN1_bIn2_B10

131 CAN1_bIn2_B11

132 CAN1_bIn2_B12

133 CAN1_bIn2_B13

134 CAN1_bIn2_B14

135 CAN1_bIn2_B15


C00701/1 0: Not connected LA_NCtrl: bCInh

C00701/2 15: DigIn_CInh LA_NCtrl: bFailReset

C00701/3 0: Not connected LA_NCtrl: bSetQuickstop

C00701/4 13: DigIn_bIn3 LA_NCtrl: bSetDCBrake

C00701/5 14: DigIn_bIn4 LA_NCtrl: bSetSpeedCcw

C00701/6 11: DigIn_bIn1 LA_NCtrl: bJogSpeed1

C00701/7 12: DigIn_bIn2 LA_NCtrl: bJogSpeed2

C00701/8 0: Not connected LA_NCtrl: bMPotUp

C00701/9 0: Not connected LA_NCtrl: bMPotDown

C00701/10 0: Not connected LA_NCtrl: bMPotInAct

C00701/11 0: Not connected LA_NCtrl: bMPotEnable

C00701/12 0: Not connected LA_NCtrl: bRFG_0

C00701/13 0: Not connected LA_NCtrl: bSetError1

C00701/14 0: Not connected LA_NCtrl: bSetError2

C00701/15 1: C_bTrue LA_NCtrl: bPIDInfluenceRamp

C00701/16 0: Not connected LA_NCtrl: bPIDIOff

C00701/17 1: C_bTrue LA_NCtrl: bRLQCw

C00701/18 0: Not connected LA_NCtrl: bRLQCcw


Parameter | Name:


Index: 23874d = 5D42h



280 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00725

C00727

C00728

C00800

Parameter | Name:

C00725 | Current switching frequencyData type: UNSIGNED_8

Index: 23850d = 5D2Ah

Display of the current switching frequency • When a variable switching frequency is selected in C00018, the switching frequency may change as a function

of the load and rotational frequency.










Parameter | Name:

C00727 | LS_Keypad: Digital valuesData type: UNSIGNED_8

Index: 23848d = 5D28h

Executing control commands when operating via keypad


0 1


C00727/1 0 "1" ≡ request quick stop

C00727/2 0 "1" ≡ request DC-injection braking

C00727/3 0 "1" ≡ request reversal

C00727/4 0 "1" ≡ request fixed speed setpoint 1

C00727/5 0 "1" ≡ request fixed speed setpoint 2


Parameter | Name:

C00728 | LS_Keypad: Keypad analog valuesData type: INTEGER_16Index: 23847d = 5D27h

Selection of different setpoints when operating via keypad


-199.9 % 199.9


C00728/1 100.0 % Torque limit in motor mode

C00728/2 100.0 % Torque limit in generator mode

C00728/3 0.0 % Setpoint speed


Parameter | Name:

C00800 | L_MPot_1: Upper limitData type: INTEGER_16Index: 23775d = 5CDFh

FB L_MPot_1: Upper limit of the motor potentiometer function


-199.9 % 199.9 100.0 %



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C00801

C00802

C00803

C00804

C00805

Parameter | Name:

C00801 | L_MPot_1: Lower limitData type: INTEGER_16Index: 23774d = 5CDEh

FB L_MPot_1: Lower limit of the motor potentiometer function


-199.9 % 199.9 -100.0 %


Parameter | Name:

C00802 | L_MPot_1: Acceleration timeData type: UNSIGNED_16

Index: 23773d = 5CDDh

FB L_MPot_1: Acceleration time of the motor potentiometer function


0.1 s 999.9 10.0 s


Parameter | Name:

C00803 | L_MPot_1: Deceleration timeData type: UNSIGNED_16

Index: 23772d = 5CDCh

FB L_MPot_1: Deceleration time of the motor potentiometer function


0.1 s 999.9 10.0 s


Parameter | Name:

C00804 | L_MPot_1: Inactive functionData type: UNSIGNED_8

Index: 23771d = 5CDBh

FB L_MPot_1: Selection of the response when deactivating the motor potentiometer via the bInAct input


0 Keep value Keep output value

1 Deceleration to 0 Deceleration via ramp to 0

2 Deceleration to lower limit Deceleration via ramp via the lower limit (C00801)

3 Without ramp to 0 Jump to 0

4 Without ramp to lower limit Jump to lower limit (C00800)

5 Acceleration to upper limit Acceleration via ramp to upper limit (C00800)


Parameter | Name:

C00805 | L_MPot_1: Init fct.Data type: UNSIGNED_8

Index: 23770d = 5CDAh

FB L_MPot_1: Selection of the response when switching on the device


0 Load last value

1 U. Load limit

2 Load 0




282 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00806

C00830

C00831

Parameter | Name:

C00806 | L_MPot_1: UseData type: UNSIGNED_8

Index: 23769d = 5CD9h

FB L_MPot_1: Application of motor potentiometer


0 No The motor potentiometer is not used. • The analog value applied to the nIn_a input is looped

through without any changes to the nOut_a output.

1 Yes The motor potentiometer is used. • The analog value applied to the nIn_a input is led via

the motor potentiometer and provided at the nOut_a output.


Parameter | Name:

C00830 | 16Bit-Input analogData type: INTEGER_16Index: 23745d = 5CC1h

Display in percent of 16-bit input values of different blocks


-199.9 % 199.9

Subcodes Info

C00830/1 L_NSet_1: nNSet_a

C00830/2 L_NSet: nOut_a

C00830/3 LS_MCTRL: nSpeedSetValue_a

C00830/4 LS_MCTRL: nTorqueMotLimit_a

C00830/5 LS_MCTRL: nTorqueGenLimit_a

C00830/6 L_PCTRL_1: nAct_a

C00830/7 L_PCTRL_1: nAdapt_a

C00830/8 L_PCTRL_1: nSet_a

C00830/9 L_PCTRL_1: nInflu_a

C00830/10 L_PCTRL_1: nNSet_a

C00830/11 L_MPot_1: nIn_a


Parameter | Name:

C00831 | 16Bit-Input commonData type: UNSIGNED_16

Index: 23744d = 5CC0h

Decimal/hexadecimal/bit-coded display of 16-bit input values of different blocks


0x0000 0xFFFF

Value is bit-coded:

Bit 0 Bit0

... ...

Bit 15 Bit15

Subcodes Info

C00831/1 LS_DCTRL: wCANControl



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C00833 | 8Bit-InputData type: UNSIGNED_8

Index: 23742d = 5CBEh

Display of the signal status of the binary inputs of different blocks

Selection list

0 False

1 True

Subcodes Info

C00833/1 L_NSet_1: bRfg0

C00833/2 L_NSet_1: bNSetInv

C00833/3 L_NSet_1: bJog1

C00833/4 L_NSet_1: bJog2

C00833/5 LS_SetError_1: bSetError1

C00833/6 LS_SetError_1: bSetError2

C00833/7 L_MPot_1: bUp

C00833/8 L_MPot_1: bInAct

C00833/9 L_MPot_1: bDown

C00833/10 L_MPot_1: bEnable

C00833/11 Reserved

C00833/12 L_PCTRL_1: bIOff

C00833/13 L_PCTRL_1: bEnableInfluenceRamp

C00833/14 LS_DCTRL: bCINH

C00833/15 LS_DCTRL: bFailReset

C00833/16 LS_DCTRL: bStatus_B0







C00833/23 L_RLQ_1: bCw

C00833/24 L_RLQ_1: bCcw




284 L Firmware 03.00 - DMS EN 1.2 - 11/2009


C00866 | CAN input wordsData type: UNSIGNED_16

Index: 23709d = 5C9Dh

Display of the 16-bit input values of the CAN interfaceSystem bus "CAN on board"


0x0000 0xFFFF

Value is bit-coded:

Bit 0 Bit0

... ...

Bit 15 Bit15

Subcodes Info

C00866/1 LP_CANIn1: wIn1

C00866/2 LP_CanIn1: wIn2









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C00868

C00909

Parameter | Name:

C00868 | CAN output wordsData type: UNSIGNED_16

Index: 23707d = 5C9Bh

Display of the 16-bit output values of the CAN interfaceSystem bus "CAN on board"


0x0000 0xFFFF

Value is bit-coded:

Bit 0 Bit0

Bit 1 Bit1

Bit 2 Bit2

Bit 3 Bit3

Bit 4 Bit4

Bit 5 Bit5

Bit 6 Bit6

Bit 7 Bit7

Bit 8 Bit8

Bit 9 Bit9

Bit 10 Bit10

Bit 11 Bit11

Bit 12 Bit12

Bit 13 Bit13

Bit 14 Bit14

Bit 15 Bit15

Subcodes Info

C00868/1 LP_CANOut1: wOut1

C00868/2 LP_CanOut1: wOut2








Parameter | Name:

C00909 | Speed limitationData type: INTEGER_16Index: 23666d = 5C72h

Maximum positive/negative speed for all operating modes


0.0 % 175.0


C00909/1 120.0 % Max. pos. speed

C00909/2 120.0 % Max. neg. speed




286 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00910

C00990

C00991

C00992

C00994

Parameter | Name:

C00910 | Frequency limitationData type: UNSIGNED_16

Index: 23665d = 5C71h

Maximum positive/negative output frequency for all operating modes


0 Hz 300


C00910/1 300 Hz Max. pos. output frequency

C00910/2 300 Hz Max. neg. output frequency


Parameter | Name:

C00990 | Flying restart fct.: ActivationData type: UNSIGNED_8

Index: 23585d = 5C21h

Switch on/activate flying restart circuit for non-feedback drive systems


0 Off

1 On


Parameter | Name:

C00991 | Flying restart fct.: ProcessData type: UNSIGNED_16

Index: 23584d = 5C20h

Selection of the starting value and the speed search range for the flying restart function


5 -n...+n | Last output frequency

6 -n...+n | Actual setpoint frequency


Parameter | Name:

C00992 | Flying restart: start frequencyData type: INTEGER_16Index: 23583d = 5C1Fh

Selection of the starting value for the flying restart function


-200 Hz 200 10 Hz


Parameter | Name:

C00994 | Flying restart fct.: CurrentData type: INTEGER_16Index: 23581d = 5C1Dh

Current to be injected during the flying restart process • 100 % ≡ rated motor current (C00081). • The flying restart current is to amount to 10 ... 25 % of the rated motor current.


0.0 % 100.0 25.0 %



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Table of attributes | C00994

11.3 Table of attributes

The table of attributes contains information required for a communication with thecontroller via parameters.

How to read the table of attributes:

Column Meaning Entry

Code Parameter designation Cxxxxx

Name Parameter short text (display text) Text

Index dec Index under which the parameter is addressed.The subindex for array variables corresponds to the Lenze subcode number.

24575 - Lenze code Is only required for access via a bus system.

hex 5FFFh - Lenze code number

Data DS Data structure E Single variable (only one parameter element)

A Array variable(several parameter elements)

DA Number of array elements (subcodes) Number

DT Data type BITFIELD_8 1 byte bit-coded

BITFIELD_16 2 byte bit-coded

BITFIELD_32 4 byte bit-coded

INTEGER_8 1 byte with sign



UNSIGNED_8 1 byte without sign



VISIBLE_STRING ASCII string

Factor Factor for data transmission via a bus system, depending on the number of decimal positions

Factor 1 ≡ no decimal positions10 ≡ 1 decimal position100 ≡ 2 decimal positions1000 ≡ 3 decimal positions

Access R Read access Reading permitted

W Write access Writing permitted

CINH Controller inhibit required Writing is only possible if controller inhibit is set

Code Name Index Data Access

dec hex DS DA DT Factor R W CINH

C00002 Controller commands 24573 5FFD A 32 UNSIGNED_8 1

C00003 Status of last device command 24572 5FFC E 1 UNSIGNED_8 1

C00006 Select motor control 24569 5FF9 E 1 UNSIGNED_8 1

C00007 Select control mode 24568 5FF8 E 1 UNSIGNED_16 1

C00010 Minimum analog setpoint 24565 5FF5 A 1 INTEGER_16 100

C00011 Appl.: Reference speed 24564 5FF4 E 1 UNSIGNED_16 1

C00012 Accel. time - main setpoint 24563 5FF3 E 1 UNSIGNED_32 1000

C00013 Decel. time - main setpoint 24562 5FF2 E 1 UNSIGNED_32 1000

C00015 VFC: V/f base frequency 24560 5FF0 E 1 UNSIGNED_16 10

C00016 VFC: Vmin boost 24559 5FEF E 1 UNSIGNED_16 100

C00018 Switching frequency 24557 5FED E 1 UNSIGNED_8 1

C00019 Auto-DCB: Threshold 24556 5FEC E 1 UNSIGNED_16 1

C00021 Slip comp. 24554 5FEA E 1 INTEGER_16 100

C00022 Imax in motor mode 24553 5FE9 E 1 UNSIGNED_16 100

C00023 Imax in generator mode 24552 5FE8 E 1 INTEGER_16 100

C00024 Comparison value N_Act 24551 5FE7 E 1 INTEGER_16 100

C00026 AINx: Offset 24549 5FE5 A 1 INTEGER_16 100


8400 BaseLine C | Software ManualParameter referenceTable of attributes

288 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00027 AINx: Gain 24548 5FE4 A 1 INTEGER_32 100

C00028 AINx: Input voltage 24547 5FE3 A 1 INTEGER_16 100

C00029 AINx: Input current 24546 5FE2 A 1 INTEGER_16 100

C00033 AINx: Output value 24542 5FDE A 1 INTEGER_16 100

C00034 AINx: Configuration 24541 5FDD A 1 UNSIGNED_8 1

C00036 DCB: Current 24539 5FDB E 1 INTEGER_16 100

C00039 Fixed setpoint x (L_NSet_1 n-Fix) 24536 5FD8 A 3 INTEGER_16 100

C00050 MCTRL: Speed setpoint 24525 5FCD E 1 INTEGER_32 1

C00051 MCTRL: Actual speed value 24524 5FCC E 1 INTEGER_32 1

C00052 Motor voltage 24523 5FCB E 1 UNSIGNED_16 1

C00053 DC-bus voltage 24522 5FCA E 1 UNSIGNED_16 1

C00054 Motor current 24521 5FC9 E 1 UNSIGNED_16 100

C00056 Torque 24519 5FC7 A 2 INTEGER_32 100

C00057 Maximum torque 24518 5FC6 E 1 UNSIGNED_32 100

C00058 Output frequency 24517 5FC5 E 1 INTEGER_32 100

C00059 Appl.: Reference frequency C11 24516 5FC4 E 1 UNSIGNED_32 100

C00061 Heatsink temperature 24514 5FC2 E 1 INTEGER_16 1

C00064 Device utilisation (Ixt) 24511 5FBF A 3 INTEGER_16 100

C00066 Thermal motor load (I²xt) 24509 5FBD E 1 INTEGER_16 100

C00073 Vp Imax controller 24502 5FB6 E 1 UNSIGNED_16 100

C00074 Ti Imax controller 24501 5FB5 E 1 UNSIGNED_16 1

C00081 Rated motor power 24494 5FAE E 1 UNSIGNED_16 100

C00084 Motor stator resistance 24491 5FAB E 1 UNSIGNED_32 1

C00085 Motor stator leakage inductance 24490 5FAA E 1 UNSIGNED_16 100

C00087 Rated motor speed 24488 5FA8 E 1 UNSIGNED_16 1

C00088 Rated motor current 24487 5FA7 E 1 UNSIGNED_16 100

C00089 Rated motor frequency 24486 5FA6 E 1 UNSIGNED_16 1

C00090 Rated motor voltage 24485 5FA5 E 1 UNSIGNED_16 1

C00091 Motor cosine phi 24484 5FA4 E 1 UNSIGNED_8 100

C00092 Motor magnetizing inductance 24483 5FA3 E 1 UNSIGNED_16 10

C00093 Power section ID 24482 5FA2 E 1 UNSIGNED_16 1

C00094 Password 24481 5FA1 E 1 INTEGER_32 1

C00095 Motor magnetising current 24480 5FA0 E 1 UNSIGNED_16 100

C00097 Rated motor torque 24478 5F9E E 1 UNSIGNED_32 100

C00098 Rated device current 24477 5F9D E 1 UNSIGNED_16 10

C00099 Firmware version 24476 5F9C E 1 VISIBLE_STRING

C00100 Firmware version 24475 5F9B A 4 UNSIGNED_8 1

C00105 Deceleration time - quick stop 24470 5F96 E 1 UNSIGNED_32 1000

C00106 Auto-DCB: hold time 24469 5F95 E 1 UNSIGNED_32 1000

C00107 DCB: hold time 24468 5F94 E 1 UNSIGNED_32 1000

C00114 DIx inversion 24461 5F8D E 1 UNSIGNED_16

C00118 DOx inversion 24457 5F89 E 1 UNSIGNED_8

C00120 Motor overload threshold (I²xt) 24455 5F87 E 1 INTEGER_16 100

C00123 Device utilisat. threshold (Ixt) 24452 5F84 E 1 INTEGER_16 100

C00134 Ramp rounding - main setpoint 24441 5F79 E 1 UNSIGNED_8 1

C00136 Communication control words 24439 5F77 A 2 UNSIGNED_16

C00137 Device state 24438 5F76 E 1 UNSIGNED_16 1

C00141 Device settings 24434 5F72 A 1 UNSIGNED_8 1

C00142 Auto-start option 24433 5F71 E 1 UNSIGNED_8

C00144 Switching freq. reduct. (temp.) 24431 5F6F E 1 UNSIGNED_8 1

C00150 Status word 24425 5F69 E 1 UNSIGNED_16




Firmware 03.00 - DMS EN 1.2 - 11/2009 L 289


Table of attributes

C00155 Status word 2 24420 5F64 E 1 UNSIGNED_16

C00158 Cause of controller inhibit 24417 5F61 E 1 UNSIGNED_16

C00159 Cause of quick stop QSP 24416 5F60 E 1 UNSIGNED_16

C00165 Error information 24410 5F5A A 1 VISIBLE_STRING

C00166 Error information text 24409 5F59 A 3 VISIBLE_STRING

C00168 Error number 24407 5F57 A 8 UNSIGNED_32 1

C00169 Time of error 24406 5F56 A 8 UNSIGNED_32 1

C00170 Error counter 24405 5F55 A 8 UNSIGNED_8 1

C00173 Mains voltage 24402 5F52 E 1 UNSIGNED_8 1

C00174 Reduced brake chopper threshold 24401 5F51 E 1 UNSIGNED_8 1

C00177 Switching cycles 24398 5F4E A 2 UNSIGNED_32 1

C00178 Elapsed-hour meter 24397 5F4D E 1 UNSIGNED_32 1

C00179 Power-on time meter 24396 5F4C E 1 UNSIGNED_32 1

C00182 S-ramp time PT1 24393 5F49 E 1 INTEGER_16 100

C00200 Firmware product type 24375 5F37 E 1 VISIBLE_STRING

C00201 Firmware compile date 24374 5F36 E 1 VISIBLE_STRING

C00203 Product type code 24372 5F34 A 9 VISIBLE_STRING

C00222 L_PCTRL_1: Vp 24353 5F21 E 1 INTEGER_16 10

C00223 L_PCTRL_1: Tn 24352 5F20 E 1 UNSIGNED_16 1

C00224 L_PCTRL_1: Kd 24351 5F1F E 1 UNSIGNED_16 10

C00225 L_PCTRL_1: MaxLimit 24350 5F1E E 1 INTEGER_16 100

C00226 L_PCTRL_1: MinLimit 24349 5F1D E 1 INTEGER_16 100

C00227 L_PCTRL_1: acceleration time 24348 5F1C E 1 UNSIGNED_32 1000

C00228 L_PCTRL_1: deceleration time 24347 5F1B E 1 UNSIGNED_32 1000

C00231 L_PCTRL_1: Operating range 24344 5F18 A 4 INTEGER_16 100

C00234 Oscillation damping influence 24341 5F15 E 1 UNSIGNED_16 100

C00242 L_PCTRL_1: operating mode 24333 5F0D E 1 UNSIGNED_8 1

C00243 L_PCTRL_1: Acceleration time influence

24332 5F0C E 1 UNSIGNED_32 1000

C00244 L_PCTRL_1: Deceleration time influence

24331 5F0B E 1 UNSIGNED_32 1000

C00245 L_PCTRL_1: PID output value 24330 5F0A E 1 INTEGER_16 100

C00322 Transmission mode CAN TxPDOs 24253 5EBD A 2 UNSIGNED_8 1

C00323 Transmission mode CAN Rx PDOs 24252 5EBC A 2 UNSIGNED_8 1

C00345 CAN error status 24230 5EA6 E 1 UNSIGNED_8 1

C00347 CAN status HeartBeat producer 24228 5EA4 A 1 UNSIGNED_8 1

C00350 CAN node address 24225 5EA1 E 1 UNSIGNED_8 1

C00351 CAN baud rate 24224 5EA0 E 1 UNSIGNED_8 1

C00352 CAN slave/master 24223 5E9F E 1 UNSIGNED_8 1

C00353 CAN IN/OUT COBID source 24222 5E9E A 2 UNSIGNED_8 1

C00354 COBID 24221 5E9D A 4 UNSIGNED_32

C00355 Active COBID 24220 5E9C A 4 UNSIGNED_16 1

C00356 CAN time settings 24219 5E9B A 5 UNSIGNED_16 1

C00357 CAN monitoring times 24218 5E9A A 2 UNSIGNED_16 1

C00359 CAN status 24216 5E98 E 1 UNSIGNED_8 1

C00360 CAN telegram counter 24215 5E97 A 12 UNSIGNED_16 1

C00364 CAN MessageError 24211 5E93 E 1 UNSIGNED_8

C00367 CAN Sync-Rx identifier 24208 5E90 E 1 UNSIGNED_16 1

C00368 CAN Sync-Tx Identifier 24207 5E8F E 1 UNSIGNED_16 1

C00369 CAN sync transmission cycle time 24206 5E8E E 1 UNSIGNED_16 1

C00372 CAN_Tx_Rx_Error 24203 5E8B A 2 UNSIGNED_8 1

C00381 CAN heartbeat producer time 24194 5E82 E 1 UNSIGNED_16 1




8400 BaseLine C | Software ManualParameter referenceTable of attributes

290 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C00385 CAN NodeID Heartbeat producer 24190 5E7E A 1 UNSIGNED_8 1

C00386 CAN Heartbeat Consumer time 24189 5E7D A 1 UNSIGNED_16 1

C00389 PDO valid / invalid 24186 5E7A A 4 UNSIGNED_8 1

C00443 DIx: Level 24132 5E44 A 2 UNSIGNED_16

C00444 DOx: Level 24131 5E43 A 2 UNSIGNED_16

C00470 LS_ParFree_b 24105 5E29 A 16 UNSIGNED_8 1

C00472 LS_ParFree_a 24103 5E27 A 4 INTEGER_16 100

C00480 LS_DisFree_b 24095 5E1F E 1 UNSIGNED_8

C00481 LS_DisFree 24094 5E1E A 4 UNSIGNED_16

C00482 LS_DisFree_a 24093 5E1D A 4 INTEGER_16 100

C00516 Checksums 24059 5DFB A 1 UNSIGNED_32 1

C00517 User menu 24058 5DFA A 20 INTEGER_32 1

C00565 Resp. to mains phase failure 24010 5DCA E 1 UNSIGNED_8 1

C00574 Resp. to brake resist. overtemp. 24001 5DC1 E 1 UNSIGNED_8 1

C00581 Resp. LS_SetError_x 23994 5DBA A 2 UNSIGNED_8 1

C00592 Resp. to CAN bus connection 23983 5DAF A 5 UNSIGNED_8 1

C00593 Resp. to CANx_IN monitoring 23982 5DAE A 2 UNSIGNED_8 1

C00594 Resp. to control word error 23981 5DAD A 1 UNSIGNED_8 1

C00598 Resp. to open circuit AINx 23977 5DA9 A 1 UNSIGNED_8 1

C00600 Resp. to DC bus undervoltage 23975 5DA7 A 1 UNSIGNED_8 1

C00601 Del.resp. to fault: DC bus overvoltage 23974 5DA6 A 1 UNSIGNED_16 1000

C00604 Resp. to device overload (Ixt) 23971 5DA3 E 1 UNSIGNED_8 1

C00606 Resp. to motor overload (I²xt) 23969 5DA1 E 1 UNSIGNED_8 1

C00620 16-bit system connection 23955 5D93 A 27 UNSIGNED_16 1

C00621 Bool system connection 23954 5D92 A 61 UNSIGNED_16 1

C00700 LA_NCtrl: analog connection list 23875 5D43 A 9 UNSIGNED_16 1

C00701 LA_NCtrl: digital connection list 23874 5D42 A 18 UNSIGNED_16 1

C00725 Current switching frequency 23850 5D2A E 1 UNSIGNED_8 1

C00727 LS_Keypad: Digital values 23848 5D28 A 5 UNSIGNED_8 1

C00728 LS_Keypad: Keypad analog values 23847 5D27 A 3 INTEGER_16 100

C00800 L_MPot_1: Upper limit 23775 5CDF E 1 INTEGER_16 100

C00801 L_MPot_1: Lower limit 23774 5CDE E 1 INTEGER_16 100

C00802 L_MPot_1: Acceleration time 23773 5CDD E 1 UNSIGNED_16 10

C00803 L_MPot_1: Deceleration time 23772 5CDC E 1 UNSIGNED_16 10

C00804 L_MPot_1: Inactive function 23771 5CDB E 1 UNSIGNED_8 1

C00805 L_MPot_1: Init fct. 23770 5CDA E 1 UNSIGNED_8 1

C00806 L_MPot_1: Use 23769 5CD9 E 1 UNSIGNED_8 1

C00830 16Bit input analog 23745 5CC1 A 11 INTEGER_16 100

C00831 16Bit-Input common 23744 5CC0 A 1 UNSIGNED_16

C00833 8Bit-Input 23742 5CBE A 24 UNSIGNED_8 1

C00866 CAN input words 23709 5C9D A 8 UNSIGNED_16

C00868 CAN output words 23707 5C9B A 8 UNSIGNED_16

C00909 Speed limitation 23666 5C72 A 2 INTEGER_16 100

C00910 Frequency limitation 23665 5C71 A 2 UNSIGNED_16 1

C00990 Flying restart fct: Activation 23585 5C21 E 1 UNSIGNED_8 1

C00991 Flying restart fct: Process 23584 5C20 E 1 UNSIGNED_16 1

C00992 Flying restart: start frequency 23583 5C1F E 1 INTEGER_16 1

C00994 Flying restart fct: Current 23581 5C1D E 1 INTEGER_16 100




Firmware 03.00 - DMS EN 1.2 - 11/2009 L 291

8400 BaseLine C | Software ManualIndex

12 Index

Zahlen16-bit system connection (C00620) 271

16Bit-Input analog (C00830) 282

16Bit-Input common (C00831) 282

8Bit-Input (C00833) 283

AAccel. time - main setpoint (C00012) 232

Active COBID (C00355) 259

AINxConfiguration (C00034) 235Gain (C00027) 234Input current (C00029) 235Input voltage (C00028) 234Offset (C00026) 234Output value (C00033) 235

Analog input 116

Appl.Reference frequency C11 (C00059) 237Reference speed (C00011) 232

Application notes 12

Assigning digital inputs 277

Assigning signal sources 277

Auto-DCBHold time (C00106) 242Threshold (C00019) 233

Auto-start option (C00142) 246

BBool system connection (C00621) 273

CC039 199

C10 231

C100 241

C105 241

C106 242

C107 242

C11 232

C114 242

C118 243

C12 232

C120 243

C123 243

C13 232

C134 243

C136 244

C137 245

C141 245

C142 246

C144 246

C15 232

C150 247

C155 248

C158 249

C159 250

C16 232

C165 250

C166 250

C167 250

C168 251

C169 251

C170 252

C171 252

C173 252

C174 252

C177 252

C178 253

C179 253

C18 233

C182 253

C19 233

C2 228

C200 253

C201 253

C203 253

C21 233

C22 233

C222 254

C223 254

C224 254

C225 254

C226 254

C227 208, 254

C228 255

C23 234

C231 255

C234 255

C235 255

C236 255

C24 234

C242 255

C243 256

C244 256

C245 256

C26 234

C27 234

C28 234

C29 235

C3 230

C322 256

C323 257

C33 235



292 L Firmware 03.00 - DMS EN 1.2 - 11/2009

C34 235

C345 257

C347 257

C350 258

C351 258

C352 258

C353 258

C354 259

C355 259

C356 259

C357 260

C359 260

C36 235

C360 260

C364 261

C367 261

C368 261

C369 261

C372 262

C381 262

C385 262

C386 262

C389 263

C39 236

C409 263

C443 264

C444 265

C470 218, 265

C472 219, 266

C480 216, 266

C481 214, 266

C482 215, 267

C50 236

C51 236

C516 267

C517 268

C52 236

C53 236

C54 237

C56 237

C565 268

C57 237

C574 268

C58 237

C581 269

C59 237

C592 269

C593 269

C594 270

C598 270

C6 230

C600 270

C601 270

C604 271

C606 271

C61 237

C620 214, 215, 271

C621 196, 216, 273

C64 238

C66 238

C7 231

C700 195, 203, 276

C701 195, 196, 199, 203, 277

C725 280

C727 280

C728 280

C73 238

C74 238

C800 280

C801 281

C802 204, 281

C803 281

C804 281

C805 281

C806 282

C81 238

C830 282

C831 282

C833 283

C84 239

C85 239

C866 284

C868 285

C87 239

C88 239

C89 239

C90 240

C909 285

C91 240

C910 286

C92 240

C93 240

C94 240

C95 240

C97 241

C98 241

C99 241

C990 286

C991 286

C992 286

C994 286

CAN baud rate (C00351) 258

CAN error status (C00345) 257

CAN Heartbeat consumer time (C00386) 262

CAN heartbeat producer time (C00381) 262

CAN IN/OUT COBID source (C00353) 258


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 293


CAN input words (C00866) 284

CAN MessageError (C00364) 261

CAN monitoring times (C00357) 260

CAN node address (C00350) 258

CAN NodeID Heartbeat producer (C00385) 262

CAN on board 125

CAN output words (C00868) 285

CAN slave/master (C00352) 258

CAN status (C00359) 260

CAN status HeartBeat producer (C00347) 257

CAN sync Rx identifier (C00367) 261

CAN sync transmission cycle time (C00369) 261

CAN Sync-Tx identifier (C00368) 261

CAN telegram counter (C00360) 260

CAN time settings (C00356) 259

CAN_Tx_Rx_Error (C00372) 262

Cause for quick stop QSP (C00159) 250

Cause of controller inhibit (C00158) 249

Checksums (C00516) 267

COBID (C00354) 259

COB-ID SYNC message (I-1005) 164

Communication control words (C00136) 244

Communication cycle period (I-1006) 165

Comparison value N_Act (C00024) 234

Conventions used 10

Current switching frequency (C00725) 280

DData type 223

DCBCurrent (C00036) 235Hold time (C00107) 242

DC-bus voltage (C00053) 236

Decel. time - main setpoint (C00013) 232

Deceleration time - quick stop (C00105) 241

Delayed resp. to faultDC-bus overvoltage (C00601) 270

Device commands (C00002) 228

Device settings (C00141) 245

Device state (C00137) 245

Device type (I-1000) 162

Device utilisat. threshold (Ixt) (C00123) 243

Device utilisation (Ixt) (C00064) 238

Digital inputs 120

Digital outputs 122

DIxLevel (C00443) 264

DIx inversion (C00114) 242

DOxLevel (C00444) 265

DOx inversion (C00118) 243

Drive interface 47

EElapsed-hour meter (C00178) 253

E-mail to Lenze 297

Error counter (C00170) 252

Error information (C00165) 250

Error information text (C00166) 250

Error messages 180

Error messages (short overview) 183

Error number 180

Error number (C00168) 251

Error register (I-1001) 163

FFeedback to Lenze 297

Filter time - oscill. damping (C235) 255

Firmware compile date (C00201) 253

Firmware product type (C00200) 253

Firmware version (C00099) 241

Firmware version (C00100) 241

Fixed setpoint x (L_NSet_1 n-Fix) (C00039) 236

Flying restart fct.Activation (C00990) 286Current (C00994) 286Process (C00991) 286Start frequency (C00992) 286

Flying restart function 101

Frequency limitation (C00910) 286

Function assignment 277

Ggotolink parameter.fm

C242 37C7 37C806 37

HHeatsink temperature (C00061) 237

II-1000 162

I-1001 163

I-1005 164

I-1006 165

I-1017 165

I-1018 165

I-1400 166

I-1600 168

I-1800 169

Identity object (I-1018) 165

Imax in generator mode (C00023) 234

Imax in motor mode (C00022) 233

LL_MPot_1



294 L Firmware 03.00 - DMS EN 1.2 - 11/2009

Acceleration time (C00802) 281Deceleration time (C00803) 281Inactive function (C00804) 281Init fct. (C00805) 281Lower limit (C00801) 281Upper limit (C00800) 280Use (C00806) 282

L_PCTRL 207

L_PCTRL_1 207Acceleration time (C00227) 254Acceleration time influence (C00243) 256Deceleration time (C00228) 255Deceleration time influence (C00244) 256Kd (C00224) 254MaxLimit (C00225) 254MinLimit (C00226) 254Operating mode (C00242) 255Operating range (C00231) 255PID output value (C00245) 256Tn (C00223) 254Vp (C00222) 254

L_RLQ 213

L_RLQ_1 213

LA_NCtrlAnalog connection list (C00700) 276Digital connection list (C00701) 277

Layout of the safety instructions 12

Logbook access index (C171) 252

Logbook data (C167) 250

LP_CanIn Mapping (C00409) 263

LP_CanIn1 143

LP_CanIn2 143

LP_CanIn3 143

LP_CanOut1 144

LP_CanOut2 144

LP_CanOut3 144

LS_AnalogInput 119

LS_DigitalInput 121

LS_DigitalOutput 123

LS_DisFree (C00481) 266

LS_DisFree_a (C00482) 267

LS_DisFree_b (C00480) 266

LS_DriveInterface 63

LS_Keypaddigital values (C00727) 280Keypad analog values (C00728) 280

LS_MotorInterface 110

LS_ParFree_a (C00472) 266

LS_ParFree_b (C00470) 265

MMains voltage (C00173) 252

Maximum torque (C00057) 237

MCTRLActual speed value (C00051) 236

Speed setpoint (C00050) 236

Minimum analog setpoint (C00010) 231

Monitoring 178

Motor control 73

Motor cosine phi (C00091) 240

Motor current (C00054) 237

Motor magnetising current (C00095) 240

Motor magnetising inductance (C00092) 240

Motor overload threshold (I²xt) (C00120) 243

Motor parameter identification active 50

Motor stator leakage inductance (C00085) 239

Motor stator resistance (C00084) 239

Motor voltage (C00052) 236

OOscillation damping - field weakening (C236) 255

Oscillation damping influence (C00234) 255

Output frequency (C00058) 237

PPassword (C00094) 240

PDO valid / invalid (C00389) 263

Power section ID (C00093) 240

Power-on time meter (C00179) 253

Processing time 127

Producer heartbeat time (I-1017) 165

Product type code (C00203) 253

RRamp rounding main setpoint (C00134) 243

Rated device current (C00098) 241

Rated motor current (C00088) 239

Rated motor frequency (C00089) 239

Rated motor power (C00081) 238

Rated motor speed (C00087) 239

Rated motor torque (C00097) 241

Rated motor voltage (C00090) 240

Receive PDO mapping parameter (I-1600 ... I-1603) 168

Receive PDO1 ... PDO4 communication parameter (I-1400 ... I1403) 166

Reduced brake chopper threshold (C00174) 252

Reset of error message 182

Resp. to brake resist. overtemp. (C00574) 268

Resp. to CAN bus connection (C00592) 269

Resp. to CANx_IN monitoring (C00593) 269

Resp. to control word error (C00594) 270

Resp. to DC-bus undervoltage (C00600) 270

Resp. to device overload (Ixt) (C00604) 271

Resp. to LS_SetError_x (C00581) 269

Resp. to mains phase failure (C00565) 268

Resp. to motor overload (I²xt) (C00606) 271

Resp. to open circuit AINx (C00598) 270


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 295


SSafety instructions 12

Schnittstellenbeschreibung_TA_NCtrl 194

Select control mode (C00007) 231

Select motor control (C00006) 230

Setting the error response 179

Short overview of error messages 183

Slip compensation (C00021) 233

Speed limitation (C00909) 285

S-ramp time PT1 (C00182) 253

Status of last device command (C00003) 230

Status word (C00150) 247

Status word 2 (C00155) 248

Switching cycles (C00177) 252

Switching frequency (C00018) 233

Switching frequency reduction (temp.) (C00144) 246

System bus 125

System error messages 180

TTechnology applications 187

Thermal motor load (I²xt) (C00066) 238

Ti Imax controller (C00074) 238

Time of error (C00169) 251

Torque (C00056) 237

Transmission mode CAN Rx PDOs (C00323) 257

Transmission mode CAN TxPDOs (C00322) 256

Transmit PDO communication parameter (I-1800 ... I1803) 169

UUser menu (C00517) 268

VVFC

V/f base frequency (C00015) 232Vmin boost (C00016) 232

Vp Imax controller (C00073) 238



296 L Firmware 03.00 - DMS EN 1.2 - 11/2009


Firmware 03.00 - DMS EN 1.2 - 11/2009 L 297

8400 BaseLine C | Software ManualYour opinion is important to us

Your opinion is important to us

These instructions were created to the best of our knowledgeand belief to give you the best possible support for handlingour product.

If you have suggestions for improvement, please e-mail us to:

[email protected]

Thank you for your support.

Your Lenze documentation team


mailto:[email protected]

© 11/2009

Lenze AC Tech Corporation630 Douglas StreetUxbridge, MA 01569USA

Service Lenze Service GmbHBreslauer Straße 3D-32699 ExtertalGermany

+1 508 / 278-9100 00 80 00 / 24 4 68 77 (24 h helpline)

+1 508 / 278-7873 +49 (0) 51 54 / 82 - 11 12

[email protected] [email protected]

www.Lenze-actech.com

EDS84AVBCxx 13295753 EN 1.2 TD06

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