Lenze i700 User Manual

Contents
2 Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06
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1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 13
1.1 Conventions used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14
1.2 Terminology used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15
1.3 Definition of the notes used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 16
1.4 Structure of the parameter descriptions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 17
2 Parameter handling _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19
2.1 Parameter transfer during initialisation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19
2.2 Storage parameter set (par001.*) and total parameter set (par000.*) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20
2.2.1 Saving a parameter set from the i700 to a file (export) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21
2.2.2 Loading the stored parameter set to the i700 (import) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21
2.2.3 Monitoring of the parameter import (error report) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 21
2.3 Cyclic redundancy check (CRC) - parameter set comparison on the basis of the checksum _ _ _ _ _ 22
0x2030 - Parameter set: Validity check (CRC)
3 Communication with the controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23
3.1 Acceleration of the system (initialisation) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23
3.2 Process data (cyclic PDO transfer) and PDO mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25
3.2.1 Synchronisation with "Distributed clocks" (DC) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 26
3.3 Parameter data transfer (SDO communication) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27
3.3.1 Object directory _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27
3.3.2 SDO abort codes (Abort codes) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28
3.3.3 ESI: EtherCAT Slave Information file (device description) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28
3.4 Activating the control via PDO _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29
0x2824 | 0x3024 - Device control via PDO: Activation
3.5 Lenze control and status word _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29
0x2830 | 0x3030 - Lenze control word
0x2831 | 0x3031 - Lenze status word
0x2833 | 0x3033 - Lenze statusword 2
3.6 Ethernet over EtherCAT (EoE) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32
3.6.1 System architecture _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32
3.6.2 Supported protocols and services _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33
3.6.3 Display of EoE-specific information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33
0x2020 - EoE information
3.6.4 GCI-SDO communication (TCP port 9410) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34
3.6.4.1 Structure of the EtherCAT data telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35
3.6.4.2 Assignment of user data areas P0 ... P4 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 37
3.6.4.3 Error codes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 38
3.6.4.4 Telegram example 1: Querying the heatsink temperature (read request) _ 39
3.6.4.5 Telegram-example 2:
Querying the software version of the i700 (read request) _ _ _ _ _ _ _ _ _ _ 41
3.6.4.6 Telegram example 3:
Setting the LV warning threshold in the i700 (write request) _ _ _ _ _ _ _ _ 43
Contents

Lenze i700 Specifications

General

Brand	Lenze
Model	i700
Category	Inverter
Language	English