SC03B -en3

EN Operating Instructions

C0000
 Copyright © 2005 AC Technology Corporation
All rights reserved. No part of this manual may be reproduced or transmitted in any form
without written permission from AC Technology Corporation. The information and technical
data in this manual are subject to change without notice. AC Technology Corporation makes
no warranty of any kind with respect to this material, including, but not limited to, the implied
warranties of it’s merchantability and fitness for a given purpose. AC Technology Corporation
assumes no responsibility for any errors that may appear in this manual.
All information given in this documentation has been carefully selected and tested for
compliance with the hardware and software described. Nevertheless, discrepancies cannot
be ruled out. We do not accept any responsibility nor liability for damages that may occur.
Any necessary corrections will be implemented in subsequent editions.
This document printed in the United States
 Contents

About these instructions.............................................................2

1 Safety information.................................................................3
1.1 Pictographs used in these instructions......................................................4

2 Technical data.......................................................................5
2.1 Standards and application conditions.......................................................5
2.2 Ratings.......................................................................................................6

3 Installation.............................................................................7
3.1 Mechanical installation..............................................................................7
3.1.1 Dimensions and mounting.........................................................................7
3.2 Electrical installation..................................................................................8
3.2.1 Installation according to EMC requirements.............................................8
3.2.2 Fuses/cable cross-sections.......................................................................8
3.2.3 Connection diagram..................................................................................9
3.2.4 Control terminals......................................................................................10

4 Commissioning...................................................................11
4.1 Parameter setting.....................................................................................11
4.2 Electronic programming module (EPM)..................................................11
4.3 Parameter menu......................................................................................12
4.4 CANopen mapping details......................................................................23
4.4.1 RPDO mapping details (h66 / h76)..........................................................23
4.4.2 TPDO mapping details (h86 / h96)..........................................................26
4.5 Quick CAN set-up....................................................................................30

5 Troubleshooting and fault elimination..............................31


 About these instructions

This documentation applies to the smd frequency inverter, and contains important technical data and
describes installation, operation, and commissioning.

These instructions are only valid for smd frequency inverters with software rev 20 (see drive
nameplate).

Please read the instructions before commissioning.

A B C D E F

INPUT: 3/PE OUTPUT: 3/PE For detailed information

Type: ESMD223C4TXA 400 / 480 V 0 - 400 / 460 V refer to instruction
46 / 40 A Manual: SC03
Id-No: 00000000 52 / 45 A
Made in USA 50 - 60 HZ 22 KW 000000000000000000
LISTED 0 - 240 HZ
Inverter 5D81 ESMD223C4TXA000XX ## ##
smd
CANopen: Full I/O IND. CONT. EQ. (0000000000000000000)

C0001

A Certifications C Input Ratings E Hardware Version

B Type D Output Ratings F Software Version

Scope of delivery Important

• 1 smd inverter (ESMD...) After receipt of the delivery, check immediately whether the items
with EPM installed delivered match the accompanying papers. Lenze does not accept any
(see Section 4.2) liability for deficiencies claimed subsequently.
• 1 Operating Instructions Claim
• visible transport damage immediately to the forwarder.
• visible deficiencies/incompleteness immediately to your Lenze
representative.

© 2004 Lenze AG

No part of this documentation may be copied or made available to third parties without the explicit written approval of
Lenze AG.

All information given in this documentation has been carefully selected and tested for compliance with the hardware and
software described. Nevertheless, discrepancies cannot be ruled out. We do not accept any responsibility nor liability for
damages that may occur. Any necessary corrections will be implemented in subsequent editions.


 Safety information

1 Safety information
General
Some parts of Lenze controllers (frequency inverters, servo inverters, DC controllers) can be live,
moving and rotating. Some surfaces can be hot.
Non-authorized removal of the required cover, inappropriate use, and incorrect installation or operation
creates the risk of severe injury to personnel or damage to equipment.
All operations concerning transport, installation, and commissioning as well as maintenance must
be carried out by qualified, skilled personnel (IEC 364 and CENELEC HD 384 or DIN VDE 0100 and
IEC report 664 or DIN VDE0110 and national regulations for the prevention of accidents must be
observed).
According to this basic safety information, qualified skilled personnel are persons who are familiar with
the installation, assembly, commissioning, and operation of the product and who have the qualifications
necessary for their occupation.

Application as directed
Drive controllers are components which are designed for installation in electrical systems or machinery.
They are not to be used as appliances. They are intended exclusively for professional and commercial
purposes according to EN 61000-3-2. The documentation includes information on compliance with
the EN 61000-3-2.
When installing the drive controllers in machines, commissioning (i.e. the starting of operation as
directed) is prohibited until it is proven that the machine complies with the regulations of the EC Directive
98/37/EC (Machinery Directive); EN 60204 must be observed.
Commissioning (i.e. starting of operation as directed) is only allowed when there is compliance with
the EMC Directive (89/336/EEC).
The drive controllers meet the requirements of the Low Voltage Directive 73/23/EEC. The harmonised
standards of the series EN 50178/DIN VDE 0160 apply to the controllers.
Note: The availability of controllers is restricted according to EN 61800-3.These products can cause
radio interference in residential areas. In this case, special measures can be necessary.

Installation
Ensure proper handling and avoid excessive mechanical stress. Do not bend any components and
do not change any insulation distances during transport or handling. Do not touch any electronic
components and contacts.
Controllers contain electrostatically sensitive components, which can easily be damaged by inappropriate
handling. Do not damage or destroy any electrical components since this might endanger your
health!

Electrical connection
When working on live drive controllers, applicable national regulations for the prevention of accidents
(e.g. VBG 4) must be observed.
The electrical installation must be carried out according to the appropriate regulations (e.g. cable cross-
sections, fuses, PE connection). Additional information can be obtained from the documentation.
The documentation contains information about installation in compliance with EMC (shielding, grounding,
filters and cables). These notes must also be observed for CE-marked controllers.
The manufacturer of the system or machine is responsible for compliance with the required limit values
demanded by EMC legislation.


 Safety information

Operation
Systems including controllers must be equipped with additional monitoring and protection devices
according to the corresponding standards (e.g. technical equipment, regulations for prevention
of accidents, etc.). You are allowed to adapt the controller to your application as described in the
documentation.

DANGER!
• After the controller has been disconnected from the supply voltage, live components
and power connection must not be touched immediately, since capacitors could be
charged. Please observe the corresponding notes on the controller.
• Do not continuously cycle input power to the controller more than once every three
minutes.
• Please close all protective covers and doors during operation.

Note for UL approved system with integrated controllers

UL warnings are notes which apply to UL systems. The documentation contains special information
about UL.

• Suitable for use on a circuit capable of delivering not more than 5000 rms
symmetrical amperes, 240 V maximum (240 V devices) or 500 V maximum
(400/500 V devices) respectively
Warnings! • Use minimum 75 °C copper wire only.
• Shall be installed in a pollution degree 2 macro-environment.

1.1 Pictographs used in these instructions

Pictograph Signal word Meaning Consequences if ignored

Reference to an imminent
danger that may result in death
Warning of Hazardous
DANGER! or serious personal injury if the
Electrical Voltage.
corresponding measures are not
taken.

Impending or possible danger

WARNING! Death or injury
for persons

Damage to drive system or its

STOP! Possible damage to equipment
surroundings

Useful tip: If observed, it will

Note
make using the drive easier


 Technical data

2 Technical data
2.1 Standards and application conditions

Conformity CE Low Voltage Directive (73/23/EEC)

Approvals UL 508C Underwriters Laboratories - Power Conversion Equipment

Max. permissible motor cable shielded: 50 m (low-capacitance)

length (1) unshielded: 100 m
Input voltage phase imbalance < 2%
Humidity < 95% non-condensing
Output frequency 0...240 Hz
Environmental conditions Class 3K3 to EN 50178
Transport -25 … +70 °C
Temperature range Storage -20 … +70 °C
Operation 0 … +55 °C (with 2.5 %/°C current derating above +40 °C)
Installation height 0 … 4000 m a.m.s.l. (with 5 %/1000 m current derating above 1000 m a.m.s.l.)
Vibration resistance acceleration resistant up to 0.7 g

Earth leakage current > 3.5 mA to PE

Enclosure (EN 60529) IP 20

Protection measures against short circuit, earth fault, overvoltage, motor stalling, motor overload
Total power
connected to Compliance with the requirements (2)
Operation in public supply networks the mains
(Limitation of harmonic currents < 0.5 kW With mains choke
according to EN 61000-3-2)
0.5 … 1 kW With active filter (in preparation)
> 1 kW Without additional measures
(1) For compliance with EMC regulations, the permissible cable lengths may change.
(2) The additional measures described only ensure that the controllers meet the requirements of the EN 61000-3-2.
The machine/system manufacturer is responsible for the compliance with the regulations of the machine!


 Technical data

2.2 Ratings
Mains Output Current (3)
Power
Type
[kW] Current IN Imax for 60 s
Voltage, frequency
[A] (3) [A] (1) [A] (2) [A] (1) [A] (2)
1~ 3~ 3~ 3~ 3~ 3~
ESMD371C2YXA 0.37 1/N/PE 230 V OR 4.7 2.7 2.2 2.0 3.3 3.0
ESMD751C2YXA 0.75 3/PE 230 V 8.4 4.8 4.0 3.7 6.0 5.6
ESMD112C2YXA 1.1 (180 V -0%…264 V +0%) 12.0 6.9 6.0 5.5 9.0 8.3
ESMD152C2YXA 1.5 50/60 Hz 12.9 7.9 6.8 6.3 10.2 9.5
ESMD222C2YXA 2.2 (48 Hz -0%…62 Hz +0%) 17.1 10.8 9.6 8.8 14.4 13.2
ESMD302C2TXA 3.0 13.5 12.0 11.0 18.0 16.5
ESMD402C2TXA 4.0 3/PE 230 V 17.1 15.2 14.0 23 21
ESMD552C2TXA 5.5 (180 V -0%…264 V +0%) 25 22 20 33 30
ESMD752C2TXA 7.5 50/60 Hz 32 28 26 42 39
ESMD113C2TXA 11 (48 Hz -0%…62 Hz +0%) 48 42 39 63 58
ESMD153C2TXA 15 59 54 50 81 75
400V 480V 400V 480V 400V 480V 400V 480V 400V 480V
ESMD371C4TXA 0.37 1.6 1.4 1.3 1.1 1.2 1.0 2.0 1.7 1.8 1.5
ESMD751C4TXA 0.75 3.0 2.5 2.5 2.1 2.3 1.9 3.8 3.2 3.5 2.9
ESMD112C4TXA 1.1 4.3 3.6 3.6 3.0 3.3 2.8 5.4 4.5 5.0 4.2
ESMD152C4TXA 1.5 4.8 4.0 4.1 3.4 3.8 3.1 6.2 5.1 5.7 4.7
ESMD222C4TXA 2.2 6.4 5.4 5.8 4.8 5.3 4.4 8.7 7.2 8.0 6.6
3/PE 400/480 V
ESMD302C4TXA 3.0 8.3 7.0 7.6 6.3 7.0 5.8 11.4 9.5 10.5 8.7
(320 V -0%…528 V +0%)
ESMD402C4TXA 4.0 10.6 8.8 9.4 7.8 8.6 7.2 14.1 11.7 12.9 10.8
50/60 Hz
ESMD552C4TXA 5.5 (48 Hz -0%…62 Hz +0%) 14.2 12.4 12.6 11.0 11.6 10.1 18.9 16.5 17.4 15.2
ESMD752C4TXA 7.5 18.1 15.8 16.1 14.0 14.8 12.9 24 21 22 19.4
ESMD113C4TXA 11 27 24 24 21 22 19.3 36 32 34 29
ESMD153C4TXA 15 35 31 31 27 29 25 47 41 43 37
ESMD183C4TXA 18.5 44 38 39 34 36 31 59 51 54 47
ESMD223C4TXA 22 52 45 46 40 42 37 69 60 64 55

(1) For rated mains voltage and carrier frequencies 4, 6, and 8 kHz
(2) For rated mains voltage and carrier frequency 10 kHz
(3) Maximum current is a function of setting C90 (input voltage selection)


 Installation

3 Installation
3.1 Mechanical installation

3.1.1 Dimensions and mounting

s2
b2
A 4 x M4
B 1.2 Nm
C 10 lb-in
b1

s1 s1
b

4 x M6
D 2.8 Nm
24 lb-in

s2
a1
a c
smd402

a a1 b b1 b2 c s1 s2 m
Type
[mm] [mm] [mm] [mm] [mm] [mm] [mm] [mm] [kg]
ESMD371C2YXA
93 84 146 128 17 100 15 50 0.6
ESMD371C4TXA
ESMD751C2YXA
93 84 146 128 17 120 15 50 0.9
ESMD751C4TXA
ESMD112C4TXA 93 84 146 128 17 146 15 50 1.0
ESMD112C2YXA
114 105 146 128 17 133 15 50 1.4
ESMD152C4TXA, ESMD222C4TXA
ESMD152C2YXA, ESMD222C2YXA
ESMD302C2TXA 114 105 146 128 17 171 15 50 2.0
ESMD302C4TXA
ESMD402C2TXA
114 105 146 100 17 171 15 50 2.0
ESMD402C4TXA, ESMD552C4TXA
ESMD552C2TXA, ESMD752C2TXA
146 137 197 140 17 182 30 100 3.2
ESMD752C4TXA, ESMD113C4TXA
ESMD113C2TXA, ESMD153C2TXA
195 183 248 183 23 203 30 100 6.4
ESMD153C4TXA... ESMD223C4TXA

WARNING!
Drives must not be installed where subjected to adverse environmental conditions
such as: combustible, oily, or hazardous vapors or dust; excessive moisture; excessive
vibration or excessive temperatures. Contact Lenze for more information.


 Installation

3.2 Electrical installation

3.2.1 Installation according to EMC requirements
EMC
Compliance with EN 61800-3/A11

Noise emission
Compliance with limit value class A according to EN 55011 if installed in a control
cabinet with the appropriate footprint filter and the motor cable length does not B
exceed 10m
E
A Screen clamps
B Control cable C
C Low-capacitance motor cable A D
(core/core < 75 pF/m, core/screen < 150 pF/m)

D Electrically conductive mounting plate

E Filter
Tmd005
3.2.2 Fuses/cable cross-sections
Type Recommendations(1) E.l.c.b.(2)
Fuse Miniature Fuse (3) or Input Power Wiring
circuit Breaker(6) (L1, L2/N, L3, PE)
breaker(5)
(N. America) [mm²] [AWG]
ESMD371C2YXA M10 A C10 A 10 A 1.5 14
ESMD751C2YXA M16 A C16 A 15 A 2.5 14
1/N/PE ESMD112C2YXA M20 A C20 A 20 A 2.5 12
ESMD152C2YXA M25 A C25 A 25 A 2.5 12
ESMD222C2YXA M30 A C30A 30 A 4 10
ESMD371C2YXA ... ESMD751C2YXA
M10 A C10 A 10 A 1.5 14
ESMD371C4TXA ... ESMD222C4TXA
ESMD112C2YXA, ESMD152C2YXA
M12 A C12 A 12 A 1.5 14
ESMD302C4TXA
ESMD222C2YXA M16 A C16 A 15 A 2.5 12
ESMD402C4TXA M16 A C16 A 15 A 2.5 14
ESMD302C2TXA > 30 mA
M20 A C20 A 20 A 2.5 12
ESMD552C4TXA
ESMD402C2TXA
3/PE M25 A C25 A 25 A 4 10
ESMD752C4TXA
ESMD552C2TXA
M35 A C35 A 35 A 6 8
ESMD113C4TXA
ESMD752C2TXA
M45 A C45 A 45 A 10 8
ESMD153C4TXA
ESMD183C4TXA M60 A C60 A 60 A 16 6
ESMD113C2TXA
M70 A C70 A 70 A 16 6
ESMD223C4TXA
ESMD153C2TXA M90 A C90 A 90 A 16 4
(1) Observe the applicable local regulations.
(2) Pulse-current or universal-current sensitive earth leakage circuit breaker.
(3) UL Class CC or T fast-acting current-limiting type fuses, 200,000 AIC, required. Bussman KTK-R, JJN, JJS or equivalent.
(4) Connection without end ferrules or with attached pin end connectors.
(5) Installations with high fault current due to large supply mains may require a type D circuit breaker.
(6) Thermomagnetic type breakers preferred.


 Installation

Observe the following when using E.l.c.b:

• Installation of E.l.c.b only between supplying mains and controller.
• The E.l.c.b can be activated by:
- capacitive leakage currents between the cable screens during operation (especially with long,
screened motor cables)
- connecting several controllers to the mains at the same time
- RFI filters

3.2.3 Connection diagram

1/N/PE 180V - 0% … 264V + 0 % 2/PE 180V - 0% … 264V + 0 % 3/PE 180V - 0% … 264V + 0 %
48 Hz … 62 Hz 48 Hz … 62 Hz 48 Hz … 62 Hz 3/PE 320V - 0 % … 528V + 0 %
48 Hz … 62 Hz
L1 L1 L1 L1
L2 L2 L2
L3 L3 L3 L2
N N N L3
PE PE PE N
PE

L1 L2/N L1 L2/N L1 L2 L3

L1 L2 L3

0.5 Nm/ 4.5 lb-in 1.2 Nm/ 10 lb-in 2.0 Nm/ 18 lb-in
COM
+10V

+12V
COM

CAN
AIN

0.2 Nm/ 2 lb-in 6 mm /0.24 in 9 mm /0.35 in 13 mm /0.5 in

6 mm /0.24 in GND L H 28 7 8 9 20 E1 E2 E3 7 62 K14 K12 U V W
<_ 1mm2 /AWG 26…16 PES
AOUT

PES
PE PES

7 8 28 E1 E2 E3 7

M PES
3~

0 … 20 mA PE
4 … 20 mA + -
+12 VDC
… -0%
+30 VDC + 0 % C0002

Danger!
• Hazard of electrical shock! Circuit potentials are up to 240 VAC above earth ground.
Capacitors retain charge after power is removed. Disconnect power and wait until
the voltage between B+ and B- is 0 VDC before servicing the drive.

• Do not connect mains power to the output terminals (U,V,W)! Severe damage to
the drive will result.

• Do not cycle mains power more than once every three minutes. Damage to the
drive will result.


 Installation

3.2.4 Control terminals

Terminal Data for control connections (printed in bold = Lenze setting)
For reliable communication make sure terminal
CAN_GND is connected to CAN network
CAN_GND CAN earth ground GND/common. If only two wires are used (CAN_H
and CAN_L) in the network, connect CAN_GND to
chassis/earth ground.

CAN_L CAN low If controller is located at either end of the network,

a terminating resistor (120Ω typical) should be
CAN_H CAN high connected across CAN_L and CAN_H

28 Digital input Start/Stop LOW = Stop (OFF)

Ri = 3.3 kΩ
HIGH = Run Enable
7 Reference potential

Analog input input resistance: >50 kΩ

8
0 … 10 V (changeable under C34) (with current signal: 250Ω)

9 Internal DC supply for setpoint potentiometer +10 V, max. 10 mA

20 Internal DC supply for digital inputs +12 V, max. 20 mA

Digital input configurable with CE1

E1 HIGH = JOG1 active
Activate fixed setpoint 1 (JOG1)
Digital input configurable with CE2 LOW = CW rotation
E2 Ri = 3.3 kΩ
Direction of rotation HIGH = CCW rotation
Digital input/output configurable with CE3
E3 HIGH = DCB active
Activate DC injection brake (DCB)

7 Reference potential

62 Analog output configurable with c08 & c11

K14 Relay output (normally-open contact)

AC 250 V / 3 A
Configurable with C08
DC 24 V / 2 A … 240 V / 0.22 A
K12 Fault (TRIP)

LOW = 0 … +3 V, HIGH = +12 … +30 V

Protection against contact

• All terminals have basic isolation (single insulating distance)
• Protection against contact can only be ensured by additional measures (i.e. double insulation)

10
 Commissioning

4 Commissioning
4.1 Parameter setting

Status/fault messages Change parameters

C0003

NOTE
If the password function is enabled, the password must be entered into C00 to
access the parameters. C00 will not appear unless the password function is enabled.
See C94.

4.2 Electronic programming module (EPM)

The EPM contains the controller’s memory. Whenever parameter settings are changed,
the values are stored in the EPM. It can be removed, but must be installed for the
controller to operate (a missing EPM will trigger an F1 fault). The controller ships with
Tmd007

protective tape over the EPM that can be removed after installation.

An optional EPM Programmer (model EEPM1RA ) is available that allows: the controller to be programmed
without power; OEM settings to be default settings; fast copying of EPMs when multiple controllers
require identical settings. It can also store up to 60 custom parameter files for even faster controller
programming.

11
 Commissioning

4.3 Parameter menu

Code Possible Settings
IMPORTANT
No. Name Lenze Selection
C00 Password entry 0 0 999 Visible only when password is active
(see C94)
C01 Setpoint and control 0 Setpoint source: Control configuration:
source
0 Analog input (terminal 8; see C34) Control = terminals
Programming = keypad/limited CANopen
1 Code c40 Monitoring = CANopen
Note: RPDOs not processed in these
modes
2 CANopen Control = terminals
Programming = CANopen/keypad
Monitoring = CANopen
Note: Only frequency setpoint part of
RPDOs are processed in this mode
3 CANopen Control = CANopen
Programming = CANopen/keypad
Monitoring = CANopen

C02 Load Lenze setting 0 No action/loading complete • C02 = 1...4 only possible with
OFF or 1nh
1 Load 50 Hz Lenze settings • C02 = 2 : C11, C15 = 60 Hz

2 Load 60 Hz Lenze settings

3 Load OEM settings (if present)

4 Translate

WARNING!
C02 = 1...3 overwrites all settings! TRIP circuitry may be disabled! Check codes
CE1...CE3.

NOTE
If an EPM that contains compatible data from a previous software version is
installed, C02 = 4 converts the data to the current version.

12
 Commissioning

Code Possible Settings

IMPORTANT
No. Name Lenze Selection
CE1 Configuration - 1 1 Activate fixed setpoint 1 (JOG1) • Use C37...C39 to adjust fixed setpoints
Digital input E1 2 Activate fixed setpoint 2 (JOG2) • Activate JOG3: Both terminals =
HIGH
3 DC braking (DCB) See also C36
4 Direction of rotation LOW = CW rotation
HIGH = CCW rotation
5 Quick stop Controlled deceleration to standstill,
active LOW; Set decel rate in C13
6 CW rotation CW rotation = LOW and CCW rotation =
LOW: Quick stop; Open-circuit protected
CE2 Configuration - 4 7 CCW rotation
Digital input E2
8 UP (setpoint ramp-up) UP = LOW and DOWN = LOW: Quick
9 DOWN (setpoint ramp-down) stop; Use momentary NC contacts
10 TRIP set Active LOW, triggers EEr (motor coasts
to standstill)
NOTE: NC thermal contact from the
motor can be used to trigger this input

11 TRIP reset See also c70

12 No action can be used if Ex inputs are used only
as CANopen digital inputs

CE3 Configuration - 3 1...12 (same as above) • 1...11 configures terminal E3 as an

Digital input/output 13...19 (reserved) input
E3 • 20...30 configures terminal E3 as a
20 Ready current-sourcing (PNP) output rated
21 Fault 12 VDC / 50 mA
22 Motor is running
23 Motor is running - CW rotation
24 Motor is running - CCW rotation
25 Output frequency = 0 Hz
26 Frequency setpoint reached
27 Threshold (C17) exceeded
28 Current limit reached • in either motor or generator mode
29 Dynamic Braking •
30 CANopen Control • output controlled by RPDO (h66,h76 = 4)
Note
A CFG fault will occur under the following conditions:
• E1...E3 settings are duplicated (each setting can only be used once)
• One input is set to UP and another is not set to DOWN, or vice-versa

C08 Configuration - 1 Relay is energized if

Relay output 0 Ready
(terminals K14 and 1 Fault
K12) 2 Motor is running
3 Motor is running - CW rotation
4 Motor is running - CCW rotation
5 Output frequency = 0 Hz
6 Frequency setpoint reached
7 Threshold (C17) exceeded
8 Current limit reached in either motor or generator mode
9 CANopen Control Output controlled by RPDO (h66,h76 = 4)

13
 Commissioning

Code Possible Settings

IMPORTANT
No. Name Lenze Selection
C10 Minimum output 0.0 0.0 {Hz} 240 • Output frequency at 0% analog
frequency setpoint
• C10 not active for fixed setpoints or
setpoint selection via c40

C11 Maximum output 50.0 7.5 {Hz} 240 • Output frequency at 100% analog
frequency setpoint
• C11 is never exceeded
WARNING!
Consult motor/machine manufacturer before operating above rated frequency.
Overspeeding the motor/machine may cause damage to equipment and injury to
personnel!

C12 Acceleration time 5.0 0.0 {s} 999 • C12 = frequency change 0 Hz...C11
• C13 = frequency change C11...0 Hz
C13 Deceleration time 5.0 0.0 {s} 999 • For S-ramp accel/decel, adjust c82

C14 Operating Mode 2 0 Linear characteristic with • Linear characteristic: for standard
Auto-Boost applications
• Square-law characteristic: for fans
1 Square-law characteristic with
and pumps with square-law load
Auto-Boost
characteristic
2 Linear characteristic with constant • Auto boost: load-dependent output
Vmin boost voltage for low-loss operation
3 Square-law characteristic with
constant Vmin boost

C15 V/f reference point 50.0 25.0 {Hz} 999

Set the rated motor frequency

(nameplate) for standard applications

C16 Vmin boost 4.0 0.0 {%} 40.0

(optimization of
torque behavior) Set after commissioning: The unloaded
motor should run at slip frequency
(approx. 5 Hz), increase C16 until
motor current (C54) = 0.8 x rated motor
current smd006
C17 Frequency threshold 0.0 0.0 {Hz} 240 See C08, selection 7
(Qmin) Reference: setpoint

C18 Chopper frequency 2 0 4 kHz • As chopper frequency is increased,

motor noise is decreased
1 6 kHz
• Observe derating in Section 2.2
2 8 kHz • Automatic derating to 4 kHz at 1.2 x Ir
3 10 kHz

C21 Slip compensation 0.0 0.0 {%} 40.0 Change C21 until the motor speed no
longer changes between no load and
maximum load

C22 Current limit 150 30 {%} 150 • When the limit value is reached, either
the acceleration time increases or the
Reference: smd rated output current output frequency decreases
• When C90 = 2, max setting is 180%

C24 Accel boost 0.0 0.0 {%} 20.0 Accel boost is only active during
acceleration

14
 Commissioning

Code Possible Settings

IMPORTANT
No. Name Lenze Selection
C34 Configuration - 0 0 0...10 V
analog input
1 0...5 V
2 0...20 mA
3 4...20 mA

C36 Voltage - DC 4.0 0.0 {%} 50.0 • See CE1...CE3 and c06
injection brake • Confirm motor suitability for use with
(DCB) DC braking

C37 Fixed setpoint 1 20.0 0.0 {Hz} 240

(JOG 1)
C38 Fixed setpoint 2 30.0 0.0 {Hz} 240
(JOG 2)
C39 Fixed setpoint 3 40.0 0.0 {Hz} 240
(JOG 3)
C46 Frequency setpoint 0.0 {Hz} 240 Display: Setpoint via CANopen, analog
input, or function UP/DOWN

C50 Output frequency 0.0 {Hz} 240 Display

C53 DC bus voltage 0.0 {%} 255 Display

C54 Motor current 0.0 {%} 255 Display

C87 Motor rated speed 1390 300 {RPM} 65000 Set to motor nameplate speed

C89 Motor rated 50 10 {Hz} 1000 Set to motor nameplate frequency

frequency

C90 Input voltage 0 Auto Automatically sets to Low (1) or High

selection (2) upon next power-up, depending on
input voltage
1 Low For 200 V or 400 V input
2 High For 240 V or 480 V input
Note
• To simplify commissioning, the Lenze setting is preset at the factory, depending
on model:
C90 = 1 for 400/480 V models
C90 = 2 for 230/240 V models
• Upon reset (C02 = 1, 2), C90 = 0. Confirm correct setting after next power-up.

C94 User password 0 0 999 When set to a value other than 0,

must enter password at C00 to access
Changing from “0” (no password), value parameters
will start at 763

C99 Software version Display, format: x.yz

c06 Holding time - 0.0 0.0 {s} 999 • Automatic motor braking below 0.1 Hz
automatic DC by means of motor DC current for the
injection brake 0.0 = not active entire holding time (afterwards: U, V,
(Auto-DCB) 999 = continuous brake W inhibited)
• Confirm motor suitability for use with
DC braking
c08 Analog output 100 1.0 999 When 10 VDC is output at terminal 62, it
scaling will equal this value (see c11)

15
 Commissioning

Code Possible Settings

IMPORTANT
No. Name Lenze Selection
c11 Configuration - 0 0 None
Analog output (62) 1 Output frequency 0-10 VDC Use c08 to scale signal
2 Output frequency 2-10 VDC Example: c11 = 1 and c08 = 100:
3 Load 0-10 VDC At 50 Hz, terminal 62 = 5 VDC
At 100 Hz, terminal 62 = 10 VDC
4 Load 2-10 VDC
5 CANopen Control Value set by RPDO (h66,h76 = 4)
(c08 not used for scaling)

c20 I t switch-off (thermal 100 30 {%} 100

2
• Triggers 0C6 fault when motor current
motor monitoring) exceeds c20 for too long
100% = smd rated output current • Correct setting = (motor nameplate
current) / (smd output current rating) X
100%
• Example: motor = 6.4 amps and smd
= 7.0 amps; correct setting = 91%
(6.4 / 7.0 = 0.91 x 100% = 91%)
WARNING!
Maximum setting is rated motor current (see nameplate). Does not provide full
motor protection!

c40 Frequency setpoint 0.0 0.0 {Hz} 240 Only active if C01 = 1
via keys

c42 Start condition 1 0 Start after LOW-HIGH change at See also c70
(with mains on) terminal 28
1 Auto start if terminal 28 = HIGH

WARNING!
Automatic starting/restarting may cause damage to equipment and/or injury to
personnel! Automatic starting/restarting should only be used on equipment that is
inaccessible to personnel.

c60 Mode selection 0 0 Monitoring only c60 = 1 allows the keys to adjust
for c61 speed setpoint (c40) while monitoring
1 Monitoring and editing c61

c61 Present status/error status/error message • Display

• Refer to Section 5 for explanation of
c62 Last error error message
status and error messages
c63 Last error but one
c70 Configuration TRIP 0 0 TRIP reset after LOW-HIGH
reset (error reset) change at terminal 28, mains
switching, or after LOW-HIGH
change at digital input “TRIP reset”
1 Auto-TRIP reset • Auto-TRIP reset after the time set in
c71
• More than 8 errors in 10 minutes will
trigger rSt fault
WARNING!
Automatic starting/restarting may cause damage to equipment and/or injury to
personnel! Automatic starting/restarting should only be used on equipment that is
inaccessible to personnel.

c71 Auto-TRIP reset delay 0.0 0.0 {s} 60.0 See c70

16
 Commissioning

Code Possible Settings

IMPORTANT
No. Name Lenze Selection
c78 Operating time Display 0...999 h: format xxx
counter Total time in status “Start” 1000...9999 h: format x.xx (x1000)
10000...99999 h: format xx.x (x1000)
c79 Mains connection Display
time counter Total time of mains = on

CANopen / System bus parameters

h42 Guard time 0 0 {ms} 65535 • h42 x h43 = node life time
• If RTR frame with ID = 0x700 + Node
h43 Life time factor 0 0 255
ID (h50) is not received during the
h44 Guard time event 0 0 Not active node life time, the controller will react
reaction according to h44
1 Inhibit
• If heart beat message is enabled, the
2 Quick stop guard function is disabled
• h44 is only active when C01 = 3 and
3 Trip fault FC3 h42 x h43 > 0
h45 Error behavior 1 0 transition to pre-operational Specifies action taken by the drive when
(only if current state is operational) it encounters a communication error
1 No state change (ex. Node guarding event or Bus Off)

2 transition to stopped

h46 Message monitoring 0 0 {ms} 65535 • h46 and h47 can be used to monitor
time all valid messages (e.g. SDO, SYNC,
PDO...)
h47 Message monitoring 0 0 Not active
• h46 = 0 or h47 = 0 disables message
time out reaction
1 Inhibit monitoring function
• h47 is only active when C01 = 3
2 Quick stop

3 Trip fault FC3

h48 Monitoring timeout Bits: • Read-only

status • Indicates cause of FC3 fault, inhibit, or
0 Guard time timeout
quick stop (depending on the settings
1 No valid message received of h44, h47, h65, h75)
2 RPD01 timeout
3 RPD02 timeout
4 CAN initialization fault
5 reserved Bits 5…7 create a binary number from 0
6 reserved to 7 indicating the number of overflows in
the receive buffers (h49 bits 6 and 7)
7 reserved

17
 Commissioning

Code Possible Settings

IMPORTANT
No. Name Lenze Selection
h49 CAN controller 0 Receive/transmit error warning flag • Read-only
status value (8-bit (96 or more errors) • CAN warnings and errors
value)
1 Receive error warning flag (96 or
more receive errors)
2 Transmit error warning flag (96 or
more transmit errors)
3 Receive error passive flag (128 or
more receive errors)
4 Transmit error passive flag (128 or
more transmit errors)
5 Bus-off error flag
6 Receive buffer 0 overflow flag
7 Receive buffer 1 overflow flag

h50(1) CAN address (Node 1 1 127 If h53 = 0, 1: maximum setting = 63

ID)

h51(1) CAN baud rate 5 0 10 kbps (max distance = 5000m)

1 20 kbps (max distance = 2500m)
2 50 kbps (max distance = 1000m)
3 125 kbps (max distance = 500m)
4 250 kbps (max distance = 250m)
5 500 kbps (max distance = 100m)

h52(1) System bus 0 0 Slave • h52 = 1: Controller enters operational

participant state automatically
1 Slave with autostart enabled
• h52 = 2: Controller sends “NMT start
0x1F80 NMT bootup - bit 2
all nodes” after boot-up time (h55) and
2 System bus master (not NMT enters operational state
master)

h53(1) Parameter channel 2 0 0 Enable: Node ID range (1...63) • h53 = 0, 1: CAN address 1...63;
(SDO#2) with default COB ID for SYNC, 64...127 used for SDO2
RPDO, and TPDO • SDO#1 COB ID = 1536 + Node ID
• SDO#2 COB ID = 1600 + Node ID (if
1 Enable: Node ID range (1...63)
enabled)
with programmable COB ID using
h54, h60, h70, h80, h90
2 Disable: Node ID range (1...127)
with default COB ID for SYNC,
RPDO, and TPDO
3 Disable: Node ID range (1...127)
with programmable COB ID using
h54, h60, h70, h80, h90

h54(1) SYNC COB ID 128 0 2047 Note: Controller does not generate
SYNC object

h55(1) Boot up time 3000 0 {ms} 65535 Controller sends “NMT start all nodes”
message after this delay (active only
when h52 = 2)

h56 Heartbeat time 2000 0 {ms} 65535 • Producer heartbeat time

• h56 = 0 disables heartbeat transmission
(1)
These parameters take effect only after power-up, h58 reset, “NMT reset node”, or “NMT reset communication services”
18
 Commissioning

Code Possible Settings

IMPORTANT
No. Name Lenze Selection
h58 Reset CAN node 0 0 No action On transition from 0 to 1, re-initializes
CAN controller and activates changes
1 Reset CAN communication made to parameters marked with (1)
WARNING!
CAN re-initialization may activate new RPDO configurations, which can result in
changes to present controller state, including starting.

h59 CANopen status 0 Not initialized • Read-only

• Note: RPDOs and TPDOs are only
1 Initializing
active in operational state (h59 = 5)
2 Stopped
3 Pre-operational
4 reserved
5 Operational

RPDO#1 configuration parameters

h60(1) RPDO#1 COB ID 513 0 2047 If h53 = 0, 2: Setting will change to
512 + Node ID during power-up or h58
reset.

h61(1) RPDO#1 enable/ 1 0 Disable

disable
1 Enable

h62 RPDO#1 255 0 255 • h62 = 0...240: transfer on every SYNC

transmission type received.
• h62 = 254, 255: immediate transfer

h64 RPDO#1 event 0 0 {ms} 65535 h64 = 0: monitoring disabled

monitoring timer

h65 RPDO#1 time out 0 0 Not active Only active when C01 = 3
reaction
1 Inhibit
2 Quick stop

3 Trip fault FC3

h66 (1) RPDO#1 mapping 0 0 C0135 control word + C46 signed C46 scaling: + 50 = + 1.0 Hz
(see RPDO mapping
1 C0135 control word + C46 C46 scaling: 10 = 1.0 Hz
details)
unsigned
2 402 Drives and Motion Control:
PDO Controlword 0x6040
3 402 Drives and Motion Control: • vl target velocity units = signed RPM
PDO Controlword 0x6040 + • RPM calculation based on C87 and
vl target velocity 0x6042 C89
4 C0135 Controlword + C46 scaling: +/- 16384 = C11
C46 signed and scaled +
Digital output + analog output
h69 RPDO#1 status 0 255 • Read-only
• Number of received RPDO#1
messages
• Above 255, starts over at 0

(1)
These parameters take effect only after power-up, h58 reset, “NMT reset node”, or “NMT reset communication services”

19
 Commissioning

Code Possible Settings

IMPORTANT
No. Name Lenze Selection

RPDO#2 configuration parameters

h70(1) RPDO#2 COB ID 769 0 2047 If h53 = 0, 2: Setting will change to
768 + Node ID during power-up or h58
reset.

h71(1) RPDO#2 enable/ 0 0 Disable

disable
1 Enable

h72 RPDO#2 255 0 255 • h72 = 0...240: transfer on every SYNC

transmission type received
• h72 = 254, 255: immediate transfer

h74 RPDO#2 event 0 0 {ms} 65535 h74 = 0: monitoring disabled

monitoring timer

h75 RPDO#2 time out 0 0 Not active Only active when C01 = 3
reaction
1 Inhibit
2 Quick stop

3 Trip fault FC3

h76(1) RPDO#2 mapping 0 0 C0135 control word + C46 signed C46 scaling: + 50 = + 1.0 Hz
(see RPDO mapping
1 C0135 control word + C46 C46 scaling: 10 = 1.0 Hz
details)
unsigned
2 402 Drives and Motion Control:
PDO Controlword 0x6040
3 402 Drives and Motion Control: • vl target velocity units = signed RPM
PDO Controlword 0x6040 + • RPM calculation based on C87 and
vl target velocity 0x6042 C89
4 C0135 Controlword + C46 scaling: +/- 16384 = C11
C46 signed and scaled +
Digital output + analog output
h79 RPDO#2 status 0 255 • Read-only
• Number of received RPDO#2
messages
• Above 255, starts over at 0

TPDO#1 configuration parameters

h80(1) TPDO#1 COB ID 385 0 2047 If h53 = 0, 2: Setting will change to
384 + Node ID during power-up or h58
reset.

h81(1) TPDO#1 enable/ 1 0 Disable

disable
1 Enable (no RTR)
2 Enable (with RTR) Enable individual polling of TPDO#1

h82 TPDO#1 255 0 255 • h82 = 0...240: Transmit TPDO#1 after

transmission type every nth SYNC received + Event +
RTR (if enabled)
• h82 = 253: Event + RTR (if enabled)
• h82 = 254: COS triggered (WORD0 of
TPDO#1) + Event + RTR (if enabled)
• h82 = 255: Event + RTR (if enabled)
(1)
These parameters take effect only after power-up, h58 reset, “NMT reset node”, or “NMT reset communication services”

20
 Commissioning

Code Possible Settings

IMPORTANT
No. Name Lenze Selection
h83(1) TPDO#1 inhibit time 50 0 {0.1 ms} 65535 Sets minimum time between TPDO#1
transmissions (h83 = 50 = 5.0 ms)

h84 TPDO#1 event timer 0 0 {ms} 65535 • Sets the fixed interval for TPDO#1
transmission
• h84 = 0: disables event timer

h86(1) TPDO#1 mapping 0 0 C0150 + C50 signed C50 scaling: + 50 = + 1.0 Hz

(see TPDO mapping
1 C0150 + C50 unsigned C50 scaling: 10 = 1.0 Hz
details)
2 Controller status in C0135 format +
frequency setpoint signed
Can be used to control other controllers
3 Controller status in C0135 format + (see example in section 4.5)
frequency setpoint unsigned
4 402 Device profile: Statusword
0x6041
5 402 Device profile: Statusword • vl control effort units = signed RPM
0x6041 + vl control effort 0x6044 • RPM calculation based on C87 and C89
6 C0150 + C50 signed and scaled + C50 scaling: +/- 16384 = C11
digital input + analog input
h87 TPDO#1 WORD0 65535 0 65535 • COS (change of state) bit mask
bit mask applied to WORD0 of TPDO selected
by h86.
• h87 = 65535: activates all bits of
WORD0 for COS triggering
• h87 = 0: disables COS triggering

h89 TPDO#1 status 0 255 • Read-only

• Number of transmitted TPDO#1
messages
• Above 255, starts over at 0

TPDO#2 configuration parameters

h90(1) TPDO#2 COB ID 641 0 2047 If h53 = 0, 2: Setting will change to
640 + Node ID during power-up or h58
reset.

h91(1) TPDO#2 enable/ 0 0 Disable

disable
1 Enable (no RTR)
2 Enable (with RTR) Enable individual polling of TPDO#2

h92 TPDO#2 255 0 255 • h92 = 0...240: Transmit TPDO#2 after

transmission type every nth SYNC received + Event +
RTR (if enabled)
• h92 = 253: Event + RTR (if enabled)
• h92 = 254: COS triggered (WORD0 of
TPDO#2) + Event + RTR (if enabled)
• h92 = 255: Event + RTR (if enabled)

h93(1) TPDO#2 inhibit time 50 0 {0.1 ms} 65535 Sets minimum time between TPDO#2
transmissions (h93 = 50 = 5.0 ms)

h94 TPDO#2 event timer 0 0 {ms} 65535 • Sets the fixed interval for TPDO#2
transmission
• h94 = 0: disables event timer
(1)
These parameters take effect only after power-up, h58 reset, “NMT reset node”, or “NMT reset communication services”

21
 Commissioning

Code Possible Settings

IMPORTANT
No. Name Lenze Selection
h96(1) TPDO#2 mapping 0 0 C0150 + C50 signed C50 scaling: + 50 = + 1.0 Hz
(see TPDO mapping
1 C0150 + C50 unsigned C50 scaling: 10 = 1.0 Hz
details)
2 Controller status in C0135 format +
frequency setpoint signed
Can be used to control other controllers
3 Controller status in C0135 format + (see example in section 4.5)
frequency setpoint unsigned
4 402 Device profile: Statusword
0x6041
5 402 Device profile: Statusword • vl control effort units = signed RPM
0x6041 + vl control effort 0x6044 • RPM calculation based on C87 and C89
6 C0150 + C50 signed and scaled + C50 scaling: +/- 16384 = C11
digital input + analog input
h97 TPDO#2 WORD0 65535 0 65535 • COS (change of state) bit mask
bit mask applied to WORD0 of TPDO selected
by h96.
• h97 = 65535: activates all bits of
WORD0 for COS triggering
• h97 = 0: disables COS triggering

h99 TPDO#2 status 0 255 • Read-only

• Number of transmitted TPDO#2
messages
• Above 255, starts over at 0

n20 Power up state 0 0 Quick stop Selects controller power up state when
C01 = 3 (CANopen control)
1 Inhibit

(1)
These parameters take effect only after power-up, h58 reset, “NMT reset node”, or “NMT reset communication services”

22
 Commissioning

4.4 CANopen mapping details

4.4.1 RPDO mapping details (h66 / h76)

Bit h66 / h76 setting = 0 Bit h66 / h76 setting = 1

JOG1, JOG2, JOG3 JOG1, JOG2, JOG3

0 0
0 = C46 active 0 = C46 active
1 = JOG1 (C37) active 1 = JOG1 (C37) active
2 = JOG2 (C38) active 2 = JOG2 (C38) active
1 1
3 = JOG3 (C39) active 3 = JOG3 (C39) active

Direction of rotation Direction of rotation

2 0 = CW (forward) 2 0 = CW (forward)
1 = CCW (reverse) 1 = CCW (reverse)
Quick stop Quick stop
3 0 = Quick stop not active 3 0 = Quick stop not active
WORD0 - C0135 control word

WORD0 - C0135 control word

1 = Quick stop active 1 = Quick stop active

4 reserved 4 reserved
5 reserved 5 reserved
6 reserved 6 reserved
7 reserved 7 reserved
8 reserved 8 reserved
Controller inhibit Controller inhibit
9 0 = No controller inhibit 9 0 = No controller inhibit
1 = Controller inhibit 1 = Controller inhibit
10 reserved 10 reserved
TRIP reset TRIP reset
11 11
TRIP reset on transition from 0 to 1 TRIP reset on transition from 0 to 1
12 reserved 12 reserved
13 reserved 13 reserved
DC brake DC brake
14 0 = DC brake not active 14 0 = DC brake not active
1 = DC brake active 1 = DC brake active
15 reserved 15 reserved
• Signed frequency setpoint written to C46 • Unsigned frequency setpoint written to C46
• Frequency setpoint [Hz] = WORD1 value / 50 • Frequency setpoint [Hz] = WORD1 value / 10
WORD1

WORD1

• Example 1: Requested setpoint = CW at 34.5 Hz • Example: Requested setpoint = CW at 34.5 Hz =

= 34.5 x 50 = 1725 = 0x06BD 34.5 x 10 = 0x0159
• Example 2: Requested setpoint = CCW at 44.5 • Direction is set by bit 2 in WORD0
Hz = - (44.5 x 50) = -2225 = 0xF74F
Note: Setpoint sign overrides Bit 2 in WORD0
WORD2

reserved (not evaluated)

WORD3

reserved (not evaluated)

23
 Commissioning

Bit h66 / h76 setting = 2 Bit h66 / h76 setting = 3

0 = switch off (2)

0 = switch off(2)
0 0
1 = switch on 1 = switch on
0 = disable voltage(2) 0 = disable voltage(2)
1 1
1 = enable voltage 1 = enable voltage
0 = execute quick stop 0 = execute quick stop
2 2
1 = not quick stop 1 = not quick stop
0 = inhibit(2) 0 = inhibit(2)
3 3
1 = enable 1 = enable
4 reserved 4 reserved
WORD0 - Controlword 0x6040

WORD0 - Controlword 0x6040

5 reserved 5 reserved
6 reserved 6 reserved
7 fault reset on transition from 0 to 1 7 fault reset on transition from 0 to 1
0 = execute motion 0 = execute motion
8 8
1 = halt(2) 1 = halt(2)
9 reserved 9 reserved
10 reserved 10 reserved
Direction of rotation Direction of rotation
11 0 = CW (forward) 11 0 = CW (forward)
1 = CCW (reverse) 1 = CCW (reverse)

JOG1, JOG2, JOG3 JOG1, JOG2, JOG3

12 12
0 = C46 active 0 = C46 active
1 = JOG1 (C37) active 1 = JOG1 (C37) active
2 = JOG2 (C38) active 2 = JOG2 (C38) active
13 13
3 = JOG3 (C39) active 3 = JOG3 (C39) active

DC brake DC brake
14 0 = DC brake not active 14 0 = DC brake not active
1 = DC brake active 1 = DC brake active
15 reserved 15 reserved
• Signed vl target velocity 0x6042 (RPM)
• RPM is calculated based on C87 and C89
• Example 1 (C87 = 1390 RPM, C89 = 50 Hz):
WORD1

Requested setpoint CW at 25.0 Hz =

25.0 x 1390/50 = 695 = 0x02B7
• Example 2 (C87 = 1390 RPM, C89 = 50 Hz):
Requested setpoint CCW 44.5 Hz =
- (44.5 x 1390/50) = - 1237 = 0xFB2B

(2)
Implemented as inhibit; all indicated bits must be in opposite state for controller to be enabled.

24
 Commissioning

Bit h66 / h76 setting = 4

JOG1, JOG2, JOG3

0
0 = C46 active
1 = JOG1 (C37) active
2 = JOG2 (C38) active
1
3 = JOG3 (C39) active

Direction of rotation
2 0 = CW (forward)
1 = CCW (reverse)
Quick stop
3 0 = Quick stop not active
WORD0 - C0135 control word

1 = Quick stop active

4 reserved
5 reserved
6 reserved
7 reserved
8 reserved
Controller inhibit
9 0 = No controller inhibit
1 = Controller inhibit
10 reserved
TRIP reset
11
TRIP reset on transition from 0 to 1
12 reserved
13 reserved
DC brake
14 0 = DC brake not active
1 = DC brake active
15 reserved
• Speed signed scaled +/- 16384 == C11
(max frequency)
• Example 1: Requested setpoint = CW at
34.5 Hz and C11 = 50.0Hz:
WORD1

Setpoint = roundup(34.5 * 16384/50) = 11305

= 0x2C29
• Example 2: Requested setpoint = CCW at
44.5 Hz and C11 = 50.0Hz:
= - roundup(44.5 * 16384/50) = -14582 = 0xC70A
Note: Setpoint sign overrides Bit 2 in WORD0
WORD2

Digital outputs (RELAY + E3)

• Bit 0 - RELAY - (if C08 set to selection 9)
• Bit 1 - E3 (if CE3 set to selection 30)
WORD3

Analog output 0-1000 -- corresponds to 0-10V

ex. 600 -> 6.0V (if c11 set to selection 5)

25
 Commissioning

4.4.2 TPDO mapping details (h86 / h96)

Bit h86 / h96 setting = 0 Bit h86 / h96 setting = 1

0 reserved 0 reserved
0 = Pulses to power stage enabled 0 = Pulses to power stage enabled
1 1
1 = Pulses to power stage Inhibited 1 = Pulses to power stage Inhibited
0 = Current limit not reached 0 = Current limit not reached
2 2
1 = Current limit reached 1 = Current limit reached
3 reserved 3 reserved
0 = Actual frequency < > setpoint 0 = Actual frequency < > setpoint
4 4
1 = Actual frequency = setpoint 1 = Actual frequency = setpoint
WORD0 - C0150 Status word

0 = Not above threshold (C17) WORD0 - C0150 Status word 0 = Not above threshold (C17)
5 5
1 = Above threshold (C17) 1 = Above threshold (C17)
0 = Actual frequency < > 0 Hz 0 = Actual frequency < > 0 Hz
6 6
1 = Actual frequency = 0 Hz 1 = Actual frequency = 0 Hz
0 = No controller inhibit 0 = No controller inhibit
7 7
1 = Controller inhibit 1 = Controller inhibit
8 8
9 Controller status 9 Controller status
0 = no fault 0 = no fault
10 8 = fault present 10 8 = fault present
11 11
0 = No overtemperature warning 0 = No overtemperature warning
12 12
1 = Overtemperature warning 1 = Overtemperature warning
0 = No DC bus overvoltage 0 = No DC bus overvoltage
13 13
1 = DC bus overvoltage 1 = DC bus overvoltage
Direction of rotation Direction of rotation
14 0 = CW (forward) 14 0 = CW (forward)
1 = CCW (reverse) 1 = CCW (reverse)
0 = Not ready 0 = Not ready
15 15
1 = Ready (no faults) 1 = Ready (no faults)
• Signed output frequency read from C50 • Unsigned output frequency read from C50
• Scaling = C50 x 50 • Scaling = C50 x 10
WORD1

WORD1

• Example 1: CW at 34.5 Hz = 34.5 x 50 = 1725 = • Example: CW at 34.5 Hz = 34.5 x 10 = 345 =

0x06BD 0x0159
• Example 2: CCW at 44.5 Hz = - (44.5 x 50) = • Direction is indicated by bit 14 in WORD0
- 2225 = 0xF74F
WORD2

reserved
WORD3

reserved

26
 Commissioning

Bit h86 / h96 setting = 2 Bit h86 / h96 setting = 3

JOG1, JOG2, JOG3 JOG1, JOG2, JOG3

0 0
0 = C46 active 0 = C46 active
1 = JOG1 (C37) active 1 = JOG1 (C37) active
2 = JOG2 (C38) active 2 = JOG2 (C38) active
1 1
3 = JOG3 (C39) active 3 = JOG3 (C39) active

Direction of rotation Direction of rotation

2 0 = CW (forward) 2 0 = CW (forward)
1 = CCW (reverse) 1 = CCW (reverse)
Quick stop Quick stop
WORD0 - Controller status in C0135 format

WORD0 - Controller status in C0135 format

3 0 = Quick stop not active 3 0 = Quick stop not active
1 = Quick stop active 1 = Quick stop active
4 reserved 4 reserved

5 reserved 5 reserved

6 reserved 6 reserved
7 reserved 7 reserved
8 reserved 8 reserved
Controller inhibit Controller inhibit
9 0 = No controller inhibit 9 0 = No controller inhibit
1 = Controller inhibit 1 = Controller inhibit

10 reserved 10 reserved

TRIP reset TRIP reset

11 0 = No TRIP reset 11 0 = No TRIP reset
1 = TRIP reset 1 = TRIP reset
12 reserved 12 reserved
13 reserved 13 reserved
DC brake DC brake
14 0 = DC brake not active 14 0 = DC brake not active
1 = DC brake active 1 = DC brake active
15 reserved 15 reserved
• Signed frequency setpoint [Hz] • Unsigned frequency setpoint [Hz]
• Scaling = frequency setpoint [Hz] x 50 • Scaling = frequency setpoint [Hz] x 10
WORD1

WORD1

• Example 1: CW at 34.5 Hz = 34.5 x 50 = 1725 = • Example: CW at 34.5 Hz = 34.5 x 10 = 345 =

0x06BD 0x0159
• Example 2: CCW at 44.5 Hz = - (44.5 x 50) = • Direction is indicated by bit 2 in WORD0
- 2225 = 0xF74F
WORD2

reserved
WORD3

reserved

27
 Commissioning

Bit h86 / h96 setting = 4 Bit h86 / h96 setting = 5

0 = Not ready to switch on 0 = Not ready to switch on

0 0
1 = Ready to switch on 1 = Ready to switch on
0 = Not switched on 0 = Not switched on
1 1
1 = Switched on 1 = Switched on
0 = operation disabled 0 = operation disabled
2 2
1 = operation enabled 1 = operation enabled
0 = No fault 0 = No fault
3 3
1 = Fault 1 = Fault
0 = Voltage disabled 0 = Voltage disabled
1 = Voltage enabled 1 = Voltage enabled
4 4
Note: On smd controller, this is Note: On smd controller, this is
always enabled always enabled
WORD0 - Statusword 0x6041

WORD0- Statusword 0x6041

0 = Quick stop active 0 = Quick stop active
5 5
1 = Quick stop not active 1 = Quick stop not active
Switch on disabled Switch on disabled
6 On smd controller this is always 0 6 On smd controller this is always 0
(switch on enabled) (switch on enabled)
0 = No warning 0 = No warning
7 7
1= Warning 1= Warning
8 Manufacturer specific 8 Manufacturer specific
Remote Remote
9 0 = C01 < > 2 and 3 9 0 = C01 < > 2 and 3
1 = C01 = 2 or 3 1 = C01 = 2 or 3
Target reached Target reached
10 0 = Setpoint not reached 10 0 = Setpoint not reached
1 = Setpoint reached 1 = Setpoint reached
Internal limit Internal limit
11 0 = Internal limit not active 11 0 = Internal limit not active
1 = Internal limit active 1 = Internal limit active
12 reserved 12 reserved
13 reserved 13 reserved
14 reserved 14 reserved
15 reserved 15 reserved
• Signed output frequency read from C50
• RPM is calculated based on C50, C87, and C89
• Example 1 (C87 = 1390 RPM, C89 = 50 Hz):
WORD1

CW at 25.0 Hz = 25.0 x 1390/50 = 695 = 0x02B7

• Example 2 (C87 = 1390 RPM, C89 = 50 Hz):
CCW at 44.5 Hz = - (44.5 x 1390/50) = - 1237 =
0xFB2B

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 Commissioning

Bit h86 / h96 setting = 6

0 reserved
0 = Pulses to power stage enabled
1
1 = Pulses to power stage Inhibited
0 = Current limit not reached
2
1 = Current limit reached
3 reserved
0 = Actual frequency < > setpoint
4
1 = Actual frequency = setpoint
WORD0 - C0150 Status word

0 = Not above threshold

5
1 = Above threshold (C17)
0 = Actual frequency < > 0 Hz
6
1 = Actual frequency = 0 Hz
0 = No controller inhibit
7
1 = Controller inhibit
8
9 Controller status
0 = no fault
10 8 = fault present
11
0 = No overtemperature warning
12
1 = Overtemperature warning
0 = No DC bus overvoltage
13
1 = DC bus overvoltage
Direction of rotation
14 0 = CW (forward)
1 = CCW (reverse)
0 = Not ready
15
1 = Ready (no faults)
• Signed output frequency read from C50
signed scaled +/- 16384 = C11 (max frequency)
• Scaling = C50*16384/C11
• Example 1: WORD1 = 0x2C29, C11 = 50.0Hz
WORD1

Direction = Sign(0x2C29) = CW
Frequency = ABS(0x2C29) * C11 /16384
= 11305*50/16384 = 34.5 Hz CW
• Example 2: WORD1 = 0xC70A, C11 = 50.0Hz
Direction = Sign(0xC70A) = CCW
Frequency = ABS(0xC70A) * C11 /16384
= 14582*50/16384 = 44.5 Hz CCW
Digital inputs status (TB28,E1,E2,E3)
WORD2

• Bit 0 - TB28 state (1 - asserted)

• Bit 1 - E1 state (1 - asserted)
• Bit 2 - E2 state (1 - asserted)
• Bit 3 - E3 state (1 - asserted)
WORD3

Analog input value 0-1000 -- corresponds to 0-10V

ex. 400 -> 4.00V

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 Commissioning

4.5 Quick CAN set-up

1. Power up the controller and set h50 (CAN address) and h51 (CAN baud rate) to
appropriate values.
2. Power down the controller and connect the communication cable. For reliable
communication make sure terminal CAN_GND is connected to CAN network GND/
common. If only two wires are used (CAN_H and CAN_L) in the network, connect
CAN_GND to chassis/earth ground.
3. Power up the controller.
4. Use Global Drive Control Software to configure the required operation of the controller.

Example: Controller #2 needs to follow the operation of controller #1 (start/stop, speed, etc).
Controller #1 can be controlled by CANopen or traditional control elements (relays, etc).

Controller #1 configuration Controller #2 configuration

No. Name Setting No. Name Setting

h50 CAN address (Node ID) 1 C01 Setpoint source 3 CANopen control
h51 CAN baud rate 5 500 kbps h45 Error behavior 1 No state change
h50 CAN address (Node ID) 2
1 Slave with
h52 System bus participant autostart enabled h51 CAN baud rate 5 500 kbps

Parameter channel 2 0 Enable with default 1 Slave with

h53 (SDO#2) COB ID h52 System bus participant autostart enabled
Parameter channel 2 1 Enable with prog.
h84 TPDO#1 event timer 10 ms h53 (SDO#2) COB ID

3 Controller status 385

h60 RPDO#1 COB ID (h80 from controller #1)
in C0135 format +
h86 TPDO#1 mapping
frequency setpoint RPDO#1 event
unsigned h64 monitoring timer 50 ms

RPDO#1 time out

h65 1 Inhibit
reaction
1 C0135 control word
h66 RPDO#1 mapping + C46 frequency
setpoint unsigned

After setting the parameters, perform Node reset using parameter h58 or cycle the power.

After these controllers are configured as above, controller #2 will follow the operation of
controller #1 including: Inhibit state, Quick Stop, DC brake, JOG speed selections, direction,
and speed. For additional safety, controller #2 will transition to inhibit state if valid PDO is
not received from controller #1 within 50ms.

30
 Troubleshooting and fault elimination

5 Troubleshooting and fault elimination

Status Cause Remedy
e.g. Present output frequency Trouble free operation
50.0
OFF Stop LOW signal at terminal 28 Set terminal 28 to HIGH
(outputs U, V, W inhibited)

1nh Inhibit Controller is set up for CANopen Start the controller via CANopen
(outputs U, V, W inhibited) operation (see C01)
stP Output frequency = 0 Hz Setpoint = 0 Hz (C31 = 0) Setpoint selection
(outputs U, V, W inhibited)
Quick stop activated through digital Deactivate Quick stop
input
br DC-injection brake active DC-injection brake activated Deactivate DC-injection brake
• via digital input • digital input = LOW
• automatically • automatically after holding time
c06 has expired
CL Current limit reached Controllable overload Automatically (see C22)
LU Undervoltage on DC bus Mains voltage too low Check mains voltage
dEC Overvoltage on DC bus during Excessively short deceleration time Automatically if overvoltage
deceleration (warning) (C13) < 1 s, OU, if overvoltage > 1 s
nEd No access to code Can only be changed when the Set terminal 28 to LOW or inhibit
controller is in OFF or 1nh through CANopen

Error Cause Remedy (1)

cF Data not valid for controller
CF Data error • Use EPM providing valid data
Data on EPM not valid
• Load Lenze setting
GF OEM data not valid
F1 EPM error EPM missing or defective Power down and replace EPM
CFG Digital inputs not E1...E3 assigned with the same Each digital signal can only be
uniquely assigned digital signals used once
Either just “UP” or “DOWN” used Assign the missing digital signal to
a second terminal
dF Dynamic braking fault Dynamic braking resistors are Increase deceleration time (C13)
overheating
EEr External error Digital input “TRIP set” is active Remove external error
F2...F0, Internal fault Please contact Lenze
JF
FC3 CAN communication timeout Monitored CAN messages not • Check h48 for cause
received • Increase timeout settings
• Check CAN wiring
FC5 CAN initialization failed CAN controller failure • Perform CAN reset (h58)
• Cycle power
LC Automatic start inhibited c42 = 0 LOW-HIGH signal change at
terminal 28

(1) The drive can only be restarted if the error message has been reset; see c70

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 Troubleshooting and fault elimination

Error Cause Remedy (1)

0C1 Short-circuit or overload Short-circuit Find reason for short-circuit; check
motor cable
Excessive capacitive charging Use shorter motor cables with lower
current of the motor cable charging current
Acceleration time (C12) too short • Increase acceleration time
• Check controller selection
Defective motor cable Check wiring
Internal fault in motor Check motor
Frequent and long overload Check controller selection
0C2 Earth fault Grounded motor phase Check motor/motor cable
Excessive capacitive charging Use shorter motor cables with lower
current of the motor cable charging current
0C6 Motor overload (I2t overload) Motor is thermally overloaded,
due to:
• impermissable continuous current • Check controller selection
• frequent or too long acceleration • Check setting of c20
processes
0H Controller overtemperature Controller too hot inside • Reduce controller load
• Improve cooling
OU Overvoltage on DC bus Mains voltage too high Check mains voltage
Excessively short deceleration time Increase deceleration time or use
or motor in generator mode dynamic braking option
Earth leakage on the motor side Check motor/motor cable
(separate motor from controller)
rSt Faulty auto-TRIP reset More than 8 errors in 10 minutes Depends on the error
SF Single phase fault A mains phase has been lost Check mains voltage

(1) The drive can only be restarted if the error message has been reset; see c70

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Notes

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SC03B-en3

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+1 (508) 278-9100