Lenze 931K User Manual

KHB 13.0002−EN.CkòÄ.CkòäCommunication ManualServo Drives 930 l931E/KCANopen

Product descriptionProduct features2 l 10KHB 13.0002−EN 4.12 Product description2.1 Product featuresCAN bus features:ƒ Full compatibility accor

Device controlState diagramStatus word8 l 100KHB 13.0002−EN 4.1 ) Note!The bits of the status word are not buffered. They indicate the currentc

Operating modesSetting of the operating modeOverview9 l 101KHB 13.0002−EN 4.19 Operating modes9.1 Setting of the operating mode9.1.1 Overview

Operating modesSetting of the operating modeDescription of the objects9 l 102KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescrip

Operating modesSpeed controlOverview9 l 103KHB 13.0002−EN 4.1 9.2 Speed control9.2.1 OverviewThe speed−controlled operation (profile velocity

Operating modesSpeed controlOverview9 l 104KHB 13.0002−EN 4.1 Limit FunctionProfile Velocity*ProfileAcceleration*ProfileDeceleration*Quick Stop

Operating modesSpeed controlDescription of the objects9 l 105KHB 13.0002−EN 4.1 9.2.2 Description of the objectsIndex Name Possible settingsC

Operating modesHomingOverview9 l 106KHB 13.0002−EN 4.1 9.3 Homing9.3.1 OverviewThis chapter describes how the drive controller finds the start

Operating modesHomingDescription of the objects9 l 107KHB 13.0002−EN 4.1 9.3.2 Description of the objectsIndex Name Possible settingsCharacte

Operating modesHomingControl of the homing run9 l 108KHB 13.0002−EN 4.19.3.3 Control of the homing runThe homing run is controlled by the contr

Operating modesPositioningOverview9 l 109KHB 13.0002−EN 4.1 9.4 Positioning9.4.1 OverviewThe target position (target_position) is transferred

Technical dataCommunication data3 l 11KHB 13.0002−EN 4.13 Technical data3.1 Communication dataCommunicationField ValuesCommunication profile

Operating modesPositioningDescription of the objects9 l 110KHB 13.0002−EN 4.1 9.4.2 Description of the objectsIndex Name Possible settingsChara

Operating modesPositioningFunctional description9 l 111KHB 13.0002−EN 4.1 9.4.3 Functional descriptionThere are two ways to transfer a target

Operating modesPositioningFunctional description9 l 112KHB 13.0002−EN 4.1word object.v1v2t0t1t2t3tv931e_407Fig. 22 Simple travel taskIf the new

Operating modesSynchronous position selectionOverview9 l 113KHB 13.0002−EN 4.1 9.5 Synchronous position selection9.5.1 OverviewThe interpolat

Operating modesSynchronous position selectionDescription of the objects9 l 114KHB 13.0002−EN 4.1 9.5.2 Description of the objectsIndex Name Pos

Operating modesSynchronous position selectionFunctional description9 l 115KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescript

Operating modesSynchronous position selectionFunctional description9 l 116KHB 13.0002−EN 4.1Example:Settings Value CAN object (COB) index Entry

Operating modesSynchronous position selectionFunctional description9 l 117KHB 13.0002−EN 4.1The below graphs show the assignments and the seq

Operating modesSynchronous position selectionFunctional description9 l 118KHB 13.0002−EN 4.1No. Event CAN object1 Generation of sync messages2

Operating modesTorque controlOverview9 l 119KHB 13.0002−EN 4.1 9.6 Torque control9.6.1 OverviewThis chapter describes the torque−controlled o

Electrical installationWiring according to EMC4 l 12KHB 13.0002−EN 4.14 Electrical installation4.1 Wiring according to EMCGeneral notes l The e

Operating modesTorque controlDescription of the objects9 l 120KHB 13.0002−EN 4.1 9.6.2 Description of the objectsIndex Name Possible settingsCh

AppendixIndex table10 l 121KHB 13.0002−EN 4.110 Appendix10.1 Index tableƒ The indexes are numerically sorted in ascending order to form a &qu

AppendixIndex table10 l 122KHB 13.0002−EN 4.1 Index Name Possible settingsCharacteristicsLenze Selection Description1000h0 device_typeVAR UINT3

AppendixIndex table10 l 123KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze100Ch0 guard_time 00 {1 ms} 65

AppendixIndex table10 l 124KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze1014h0 COB−ID_emergency_message0

AppendixIndex table10 l 125KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze1400hReceive PDO1Communication

AppendixIndex table10 l 126KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze1401hReceive PDO2CommunicationPa

AppendixIndex table10 l 127KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze1601hReceive PDO2Mapping Param

AppendixIndex table10 l 128KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze1800hTransmit PDO1CommunicationP

AppendixIndex table10 l 129KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze1801hTransmit PDO2Communicatio

Electrical installationElectrical connections of CANopen4 l 13KHB 13.0002−EN 4.1 4.2 Electrical connections of CANopenLO LOLO LOCG CGCG CGHI

AppendixIndex table10 l 130KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze1A00hTransmit PDO1Mapping Parame

AppendixIndex table10 l 131KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze2015hTransmit PDO2Mask0 number

AppendixIndex table10 l 132KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze6040h0 controlword 0000h0000h{1h

AppendixIndex table10 l 133KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze6041h0 statusword0000h{1h} FFF

AppendixIndex table10 l 134KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze6060h0 modes_of_operation1 {1} 7

AppendixIndex table10 l 135KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze6065h0 following_error_window9

AppendixIndex table10 l 136KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze6071h0 target_torque 0−32768 {mo

AppendixIndex table10 l 137KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze607Eh0 polarity 00h00h{04h}40h

AppendixIndex table10 l 138KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze6093h0 position_factorARR UINT32

AppendixIndex table10 l 139KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze6098h0 homing_method 17−18 {1}

Electrical installationConnection of CAN bus slave4 l 14KHB 13.0002−EN 4.1 4.3 Connection of CAN bus slaveFeaturesƒ Parameter selectionƒ Data e

AppendixIndex table10 l 140KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze60C1h0 interpolated_data_recordR

AppendixIndex table10 l 141KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze60F6h0 torque_control_paramete

AppendixIndex table10 l 142KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze60FBh0 position_control_paramete

AppendixIndex table10 l 143KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze60FFh0 target_velocity 0−231{1

AppendixIndex table10 l 144KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameIndexDescriptionSelectionLenze6510h0 drive_dataREC UINT8 RO N

Index 11 l145KHB 13.0002−EN 4.111 IndexAActivation of CANopen, 56 Actual position value (position units), 84 Actual value, position in posi

Index11 l146KHB 13.0002−EN 4.1LLimit switch, 88 Loading and saving of parameter sets, 69 MMonitoring of communication, 50 Motor adaptation,

Index 11 l147KHB 13.0002−EN 4.1State machine , 91 States, CAN network, 41 Switch on disabled, 93 Switched on, 93 Sync telegram, 39 Synch

Q© 03/2012FLenze Drives GmbHPostfach 10 13 52D−31763 HamelnGermanyService Lenze Service GmbHBreslauer Straße 3D−32699 ExtertalGermany(+49(0)5154/ 8

Electrical installationConnection of CAN bus master4 l 15KHB 13.0002−EN 4.1 Connection plan for M12 socket (931K)X4.1 / X4.2Input contactpatt

CANopen communicationAbout CANopenStructure of the CAN data telegram5 l 16KHB 13.0002−EN 4.15 CANopen communication5.1 About CANopenThe CANopen

CANopen communicationAbout CANopenIdentifier5 l 17KHB 13.0002−EN 4.1ObjectDirection Basic identifierFrom the drive To the drive HexNMT 0Sync

CANopen communicationAbout CANopenUser data5 l 18KHB 13.0002−EN 4.15.1.4 User dataThe master and the drive controller communicate with each oth

CANopen communicationParameter data transfer (SDO transfer)Telegram structure5 l 19KHB 13.0002−EN 4.1 5.2 Parameter data transfer (SDO transf

l 2KHB 13.0002−EN 4.10Fig. 0Tab. 0

CANopen communicationParameter data transfer (SDO transfer)Telegram structure5 l 20KHB 13.0002−EN 4.1Command code11 bits 4 bits User data (up t

CANopen communicationParameter data transfer (SDO transfer)Telegram structure5 l 21KHB 13.0002−EN 4.1Index low byte / index high byte11 bits

CANopen communicationParameter data transfer (SDO transfer)Telegram structure5 l 22KHB 13.0002−EN 4.1Error code (F0 ... F3)11 bits 4 bits User

CANopen communicationParameter data transfer (SDO transfer)Reading parameters (example)5 l 23KHB 13.0002−EN 4.1 5.2.2 Reading parameters (exa

CANopen communicationParameter data transfer (SDO transfer)Writing parameters (example)5 l 24KHB 13.0002−EN 4.1 5.2.3 Writing parameters (examp

CANopen communicationProcess data transfer (PDO transfer)Telegram structure5 l 25KHB 13.0002−EN 4.1 5.3 Process data transfer (PDO transfer)

CANopen communicationProcess data transfer (PDO transfer)Objects for PDO parameterisation5 l 26KHB 13.0002−EN 4.1 5.3.3 Objects for PDO paramet

CANopen communicationProcess data transfer (PDO transfer)Objects for PDO parameterisation5 l 27KHB 13.0002−EN 4.1 Index Name Possible setting

CANopen communicationProcess data transfer (PDO transfer)Objects for PDO parameterisation5 l 28KHB 13.0002−EN 4.1 2. Transmit PDOIndex Name Pos

CANopen communicationProcess data transfer (PDO transfer)Objects for PDO parameterisation5 l 29KHB 13.0002−EN 4.1 Index Name Possible setting

Contents i l 3KHB 13.0002−EN 4.11 About this documentation 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CANopen communicationProcess data transfer (PDO transfer)Objects for PDO parameterisation5 l 30KHB 13.0002−EN 4.1 1. Receive PDOIndex Name Poss

CANopen communicationProcess data transfer (PDO transfer)Objects for PDO parameterisation5 l 31KHB 13.0002−EN 4.1 Index Name Possible setting

CANopen communicationProcess data transfer (PDO transfer)Objects for PDO parameterisation5 l 32KHB 13.0002−EN 4.1 2. Receive PDOIndex Name Poss

CANopen communicationProcess data transfer (PDO transfer)Objects for PDO parameterisation5 l 33KHB 13.0002−EN 4.1 Index Name Possible setting

CANopen communicationProcess data transfer (PDO transfer)Objects for PDO parameterisation5 l 34KHB 13.0002−EN 4.1 1. Transmit maskingIndex Name

CANopen communicationProcess data transfer (PDO transfer)Description of the objects5 l 35KHB 13.0002−EN 4.1 5.3.4 Description of the objectsI

CANopen communicationProcess data transfer (PDO transfer)Description of the objects5 l 36KHB 13.0002−EN 4.1Objects to be transferred (first_map

CANopen communicationProcess data transfer (PDO transfer)Example of a process data telegram5 l 37KHB 13.0002−EN 4.1 5.3.5 Example of a proces

CANopen communicationProcess data transfer (PDO transfer)Activation of the PDOs5 l 38KHB 13.0002−EN 4.15.3.6 Activation of the PDOsThe followin

CANopen communicationSync telegramTelegram structure5 l 39KHB 13.0002−EN 4.1 5.4 Sync telegramThe sync telegram is an additional and special

Contentsi l 4KHB 13.0002−EN 4.15.6 Emergency telegram 44 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CANopen communicationSync telegramDescription of the objects5 l 40KHB 13.0002−EN 4.15.4.3 Description of the objectsIndex Name Possible setting

CANopen communicationNetwork management (NMT)Communication phases of the CAN network (NMT)5 l 41KHB 13.0002−EN 4.1 5.5 Network management (NM

CANopen communicationNetwork management (NMT)Telegram structure5 l 42KHB 13.0002−EN 4.1 5.5.2 Telegram structure11 bits 4 bits User data (2 byt

CANopen communicationNetwork management (NMT)Telegram structure5 l 43KHB 13.0002−EN 4.1 State transitions(3)(11)(10)(9)(8)(6)(7)(5)(4)(2)(1)(

CANopen communicationEmergency telegramTelegram structure5 l 44KHB 13.0002−EN 4.1 5.6 Emergency telegramThe drive controller monitors the funct

CANopen communicationEmergency telegramTelegram structure5 l 45KHB 13.0002−EN 4.1The following error codes may appear:Error cause Display 2nd

CANopen communicationEmergency telegramDescription of the objects5 l 46KHB 13.0002−EN 4.15.6.2 Description of the objectsIndex Name Possible se

CANopen communicationHeartbeat telegramTelegram structure5 l 47KHB 13.0002−EN 4.1 5.7 Heartbeat telegramThe heartbeat telegram in implemented

CANopen communicationHeartbeat telegramTelegram structure5 l 48KHB 13.0002−EN 4.1 COB-ID = 1792 + Node-IDHeartbeatConsumerHeartbeatProducerindi

CANopen communicationHeartbeat telegramDescription of the objects5 l 49KHB 13.0002−EN 4.15.7.2 Description of the objectsIndex Name Possible

Contents i l 5KHB 13.0002−EN 4.17.6 Position controller (position control function) 82 . . . . . . . . . . . . . . . . . . . . . . . . . .

CANopen communicationHeartbeat telegramBoot−up telegram5 l 50KHB 13.0002−EN 4.1 5.8 Boot−up telegramAfter the supply voltage has been switched

CANopen communicationNode guarding telegramOverview5 l 51KHB 13.0002−EN 4.1 5.9 Node guarding telegram5.9.1 OverviewThe node guarding telegra

CANopen communicationNode guarding telegramOverview5 l 52KHB 13.0002−EN 4.11188...ttssRTRNodeGuardingEventLifeGuardingEventIndicationRespo

CANopen communicationNode guarding telegramTelegram structure5 l 53KHB 13.0002−EN 4.1 5.9.2 Telegram structureRemote Transmit Request (RTR)18

CANopen communicationNode guarding telegramTelegram structure5 l 54KHB 13.0002−EN 4.1Status of NMT slave Value sBit (s)6 5 4 3 2 1 0Stopped 04h

CANopen communicationNode guarding telegramDescription of the objects5 l 55KHB 13.0002−EN 4.1 5.9.3 Description of the objectsIndex Name Poss

CommissioningActivation of CANopen6 l 56KHB 13.0002−EN 4.16 Commissioning 6.1 Activation of CANopenThe CAN interface is activated once with the

CommissioningSpeed controlParameterising of a process data object (TPDO and RPDO)6 l 57KHB 13.0002−EN 4.1 6.2 Speed controlThe purpose of th

CommissioningSpeed controlParameterising of a process data object (TPDO and RPDO)6 l 58KHB 13.0002−EN 4.1No. Description IdentifierControlfield

CommissioningSpeed controlParameterising of a process data object (TPDO and RPDO)6 l 59KHB 13.0002−EN 4.1No. Description IdentifierControlfi

Contentsi l 6KHB 13.0002−EN 4.19.5 Synchronous position selection 113 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CommissioningSpeed controlParameterising of the motor and the current controller6 l 60KHB 13.0002−EN 4.1 6.2.2 Parameterising of the motor and

CommissioningSpeed controlParameterising of the speed control6 l 61KHB 13.0002−EN 4.1 6.2.3 Parameterising of the speed controlBefore a cont

CommissioningSpeed controlRunning through the state machine6 l 62KHB 13.0002−EN 4.1 6.2.4 Running through the state machineAfter all parameters

CommissioningSpeed controlRunning through the state machine6 l 63KHB 13.0002−EN 4.1 Switchedon disabledControlwordShut downControlwordDisabl

CommissioningPosition controlParameterising of the homing run6 l 64KHB 13.0002−EN 4.1 6.3 Position controlThe aim of this example is to show th

CommissioningPosition controlParameterising of the homing run6 l 65KHB 13.0002−EN 4.1No. Description IdentifierControlfieldCommand codeIndex

CommissioningPosition controlRunning through the state machine6 l 66KHB 13.0002−EN 4.1 6.3.2 Running through the state machineWhen the homing r

CommissioningPosition controlRunning through the state machine6 l 67KHB 13.0002−EN 4.1 A change in the position is performed – as for all ot

CommissioningPosition controlRunning through the state machine6 l 68KHB 13.0002−EN 4.1 In Fig. 8, the state changes and the corresponding state

Parameter settingLoading and saving of parameter setsOverview7 l 69KHB 13.0002−EN 4.17 Parameter settingBefore the drive controller can perf

About this documentation 1 l 7KHB 13.0002−EN 4.11 About this documentationContentsThis documentation only contains descriptions for the CAN b

Parameter settingLoading and saving of parameter setsOverview7 l 70KHB 13.0002−EN 4.1 There are two possible variants for the parameter set man

Parameter settingLoading and saving of parameter setsDescription of the objects7 l 71KHB 13.0002−EN 4.1 7.1.2 Description of the objectsInde

Parameter settingConversion factors (factor group)Overview7 l 72KHB 13.0002−EN 4.1 7.2 Conversion factors (factor group)7.2.1 OverviewDrive con

Parameter settingConversion factors (factor group)Overview7 l 73KHB 13.0002−EN 4.1 In the controller, all parameters are stored in the form

Parameter settingConversion factors (factor group)Description of the objects7 l 74KHB 13.0002−EN 4.1 7.2.2 Description of the objectsObject 609

Parameter settingConversion factors (factor group)Description of the objects7 l 75KHB 13.0002−EN 4.1Object 6094h: velocity_encoder_factorThe

Parameter settingPower stage parametersOverview7 l 76KHB 13.0002−EN 4.1 7.3 Power stage parameters7.3.1 OverviewThe power stage of the drive co

Parameter settingPower stage parametersDescription of the objects7 l 77KHB 13.0002−EN 4.1Index Name Possible settingsCharacteristicsLenze Se

Parameter settingCurrent controller and motor adaptationOverview7 l 78KHB 13.0002−EN 4.1 7.4 Current controller and motor adaptation( Stop!Moto

Parameter settingCurrent controller and motor adaptationDescription of the objects7 l 79KHB 13.0002−EN 4.1 7.4.2 Description of the objectsI

About this documentationDocument history1 l 8KHB 13.0002−EN 4.11.1 Document historyMaterial number Version Description– 1.0 LKA First edition–

Parameter settingCurrent controller and motor adaptationDescription of the objects7 l 80KHB 13.0002−EN 4.1CharacteristicsPossible settingsNameI

Parameter settingSpeed controllerOverview7 l 81KHB 13.0002−EN 4.1 7.5 Speed controller7.5.1 OverviewThe parameter set of the drive controlle

Parameter settingPosition controller (position control function)Overview7 l 82KHB 13.0002−EN 4.1 7.6 Position controller (position control func

Parameter settingPosition controller (position control function)Overview7 l 83KHB 13.0002−EN 4.1 Fig. 13 shows the definition of the window

Parameter settingPosition controller (position control function)Description of the objects7 l 84KHB 13.0002−EN 4.1 Fig. 15 shows the definition

Parameter settingPosition controller (position control function)Description of the objects7 l 85KHB 13.0002−EN 4.1 Index Name Possible setti

Parameter settingPosition controller (position control function)Description of the objects7 l 86KHB 13.0002−EN 4.1CharacteristicsPossible setti

Parameter settingAnalog inputsOverview7 l 87KHB 13.0002−EN 4.1 7.7 Analog inputs7.7.1 OverviewThe drive controller is provided with two anal

Parameter settingLimit switchesOverview7 l 88KHB 13.0002−EN 4.1 7.9 Limit switches7.9.1 OverviewLimit switches can be used to define the home p

Parameter settingDevice informationDescription of the objects7 l 89KHB 13.0002−EN 4.1 7.10 Device information7.10.1 Description of the objec

About this documentationNotes used1 l 9KHB 13.0002−EN 4.1 1.3 Notes usedThe following pictographs and signal words are used in this documenta

Device controlState diagramOverview8 l 90KHB 13.0002−EN 4.18 Device control8.1 State diagram8.1.1 OverviewThe following chapter describes how t

Device controlState diagramState diagram of the drive controller8 l 91KHB 13.0002−EN 4.1 8.1.2 State diagram of the drive controllerStartSwit

Device controlState diagramState diagram of the drive controller8 l 92KHB 13.0002−EN 4.1If an error occurs, finally the fault state will be rea

Device controlState diagramStates of the drive controller8 l 93KHB 13.0002−EN 4.1 8.1.3 States of the drive controllerState MeaningNot_Ready_

Device controlState diagramState transitions of the drive controller8 l 94KHB 13.0002−EN 4.18.1.4 State transitions of the drive controllerTran

Device controlState diagramControl word8 l 95KHB 13.0002−EN 4.1 8.1.5 Control wordThe control word can be used to change the current state of

Device controlState diagramControl word8 l 96KHB 13.0002−EN 4.1 The bits 0 ... 3 can be used to execute state transitions. The commands require

Device controlState diagramControl word8 l 97KHB 13.0002−EN 4.1Below the remaining bits of the control word are explained. Some bits have dif

Device controlState diagramController state8 l 98KHB 13.0002−EN 4.1 8.1.6 Controller stateSimilar to the combination of several control word bi

Device controlState diagramStatus word8 l 99KHB 13.0002−EN 4.1 8.1.7 Status wordIndex Name Possible settingsCharacteristicsLenze Selection De