Lenze i700 User Manual

Lenze · i700 servo inverter · reference manual · DMS 3.0 EN · 06/2016 · TD06 226
7 CiA402 device profile
7.9 Cyclic sync velocity mode (csv)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
0x60B1 | 0x68B1 - Velocity offset
0x60FF | 0x68FF - Target velocity
7.9.3 Signal flow (servo control)
[7-6] Signal flow of the servo control in cyclic sync velocity mode (simplified representation)
Display area (min. value | unit | max. value) Initialisation
-480000 [n unit] 480000
 Write access  CINH  OSC  P  RX  TX
Scaling: 480000/2
31
INTEGER_32
Additive value for target velocity or velocity feedforward control
Setting range (min. value | unit | max. value) Lenze setting
-480000 [n unit] 480000 0 [n-unit]
 Write access  CINH  OSC  P  RX  TX
Scaling: 480000/2
31
INTEGER_32
Target velocity or velocity feedforward control
Setting range (min. value | unit | max. value) Lenze setting
-480000 [n unit] 480000 0 [n-unit]
 Write access  CINH  OSC  P  RX  TX
Scaling: 480000/2
31
INTEGER_32
I
q
I
d
M
CTRL
Interpolation
Position actual value
Velocity offset
Torque offset
Controlword
Lenze control word
Modes of operation
Statusword
Lenze status word
Modes of operation display
Positive torque limit value
Negative torque limit value
Speed
limitation
Speed
controller
Torque
limitation
Encoder
evaluation
Field-orientated
control
Torque actual valueVelocity actual value

Lenze i700 Specifications

General

Control Type	Vector control, V/f control
Safety	STO (Safe Torque Off)
Protection Class	IP20
Frequency	50/60 Hz
Communication Interfaces	CANopen
Cooling	Air cooled
Protection Features	Overvoltage, Undervoltage
Ambient Temperature	-10°C to +45°C
Frequency Range	0 Hz to 300 Hz
Supply Voltage	3-phase AC

Summary

About this documentation

Parameter handling

Parameter transfer during initialisation

Details the exchange of configuration data between the controller and the servo inverter during system acceleration.

Storage parameter set (par001.*) and total parameter set (par000.*)

Explains the two types of parameter sets provided for storage and their differences.

Communication with the controller

Acceleration of the system (initialisation)

Explains the process of establishing communication and the configuration data exchanged.

Ethernet over EtherCAT (EoE)

Describes the Ethernet over EtherCAT protocol for sending Ethernet telegrams via EtherCAT.

Device settings

Behaviour in case of error

Details the three EtherCAT monitoring modes for error detection.

Monitoring of the DC-bus voltage

Explains the monitoring of DC-bus voltage for undervoltage and overvoltage conditions.

Motor control & motor settings

Required commissioning steps (short overview)

Provides an overview of commissioning steps for different control modes and motor types.

Commissioning functions (short overview)

Details functions for automatic parameter calculation and setting for quick commissioning.

Wiring check by means of manual test modes

Explains how to check motor wiring and function using manual test modes.

Manual control

Describes the manual operation mode via engineering tools for wiring checks.

Setting the control mode

Explains the different modes for open-loop/closed-loop motor control supported by the i700 servo inverter.

Compensating for inverter influence on output voltage

Setting the motor parameters for the servo control

Guides on setting motor model parameters for servo control.

Setting the feedback system for the servo control

Explains how to set the feedback system for servo control after setting motor parameters.

Synchronous motor (SM): Pole position identification

Setting control loops

Details the setting of different control loops subsequent to motor parameterization.

Fine adjustment des motor model

Parameterising the V/f characteristic control

Covers the parameterization of the V/f characteristic control for motor voltage determination.

"DC-injection braking" function

"Short-circuit braking" function

Holding brake control

Operating modes

Settings

CiA402 device profile

Device control

Explains objects that control the servo inverter states and operating modes.

Parameters for actuation of the position control

Velocity mode (vl)

Cyclic sync position mode (csp)

Explains the cyclic sync position mode, providing quick position following with speed/torque feedforward control.

Cyclic sync velocity mode (csv)

Cyclic sync torque mode (cst)

Monitoring functions

24-V supply voltage monitoring

Monitoring of the power section and device utilisation (Ixt)

Details the monitoring of device utilisation to protect the power section and other components.

Motor temperature monitoring

Monitoring of the motor utilisation (I²xt)

Detects motor thermal utilisation by calculating thermal motor utilization from detected motor currents.

Motor speed monitoring

Motor phase failure monitoring

Monitoring of the ultimate motor current

Monitoring of the position and velocity error

Monitors position and velocity errors against set tolerances.

Diagnostics & error management

Error management

CiA402 error codes / error messages

Lists possible error codes, their causes, remedies, and responses for the i700 servo inverter.