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ZETADYN 3 Series
Additional information for CANopen Lift
Brief instruction
Additional information for the operating instructions:
ZETADYN 3BF (R-TBA05_08)
ZETADYN 3C (R-TBA08_03)
ZETADYN 3C-MRL (R-TBA09_01)
ZETADYN 3BF009-1 (R-TBA08_02)
R-TBA11_01-GB 1114
Part.-No. 00163371-GB
english
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Content
1 General notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
1.1
Validity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
1.2
Structure ofthe operating instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
1.3
Exclusion ofliability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
2 Safety information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
3 Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3
3.1
Information for start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3
3.2
Frequency inverter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3
3.3
Bus-cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3
3.4
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3
3.5
Electrical connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4
3.6
Activating the interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4
3.7
Operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5
3.7.1
Command- and Statusbits ofthe recorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6
4 Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6
4.1
Parameter settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6
4.2
Inf o menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
4.3
Network Management Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
5 Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
5.1
Error diagnosis in CANopen Lift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
5.2
Error list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
Briefinstruction
ZETADYN 3 Series
R-TBA11_01-GB 1114
Part.-No. 00163371-GB
1/9
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1 General notes
1.1 Validity
These operating instructions apply to:
Frequency inverter from the series: ZETADYN 3
1.2 Structure of the operating instructions
This instruction is a brief instruction with additional informations. It is valid only in connection
with the following operating instructions:
•
R-TBA05_08 (ZETADYN 3BF)
•
R-TBA08_03 (ZETADYN 3C)
•
R-TBA09_01 (ZETADYN 3C-MRL)
•
R-TBA08_02 (ZETADYN 3BF009-1)
The following informations, described in the operating instructions have to be followed:
•
Safety information
•
Product overview
•
mechanische Installation
•
Electrical installation
•
Service & maintenance
•
Transport
•
Storage duration:
•
Disposal & recycling
Before installation and start-up, read this manual carefully to ensure correct use!
1.3 Exclusion of liability
Concurrence between the contents ofthese operating instructions and the described hardware and
software in the device has been examined.
It is still possible that non-compliances exist; no guarantee is assumed for complete conformity. The
contents ofthis manual are put through periodic reviews. Necessary modi
cations are incorporated
into the next version.
Ziehl-Abegg AG is not liable for damage due to misuse, incorrect use, improper use or as a
consequence ofunauthorized repairs or modi
cations.
2 Safety information
The Safety informations , described in chapter 2 of the operating instructions R-TBA05_08,
R-TBA08_03, R-TBA09_01 or R-TBA08_02 or has to be followed!
Briefinstruction
ZETADYN 3 Series
General notes
R-TBA11_01-GB 1114
Part.-No. 00163371-GB
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3 Start-up
3.1 Information for start-up
Danger!
Defective connections can cause the motor to start unexpectedly or lead to uncontrolled motor
movements.
Reversed connections cause the motor to rotate in the wrong direction. That can cause serious
machine damage.
CAUTION!
Caution!
Incorrectly wired connections can destroy the electrical / electronic components.
Electrostatic discharges can be hazardous to the electronic components and lead to errors in the
software.
3.2 Frequency inverter
•
To operate the installation with CANopen, the frequency inverter must be equipped with
the optional board EM3-ENC-CAN-DCP (Art.-No.357107)!
•
Only devices with the CiA 417 pro
le are allowed.
•
All devices work in 11 bit - mode.
•
By implication, there can be one ZETADYN 3 connected to one bus-system.
•
When two ZETADYN 3 per bus-system are needed, please call Ziehl-Abegg before installing.
3.3 Bus-cable
•
A shielded bus-cable is not needed, but the data wires should be twisted.
•
The installation takes place in line structure. The seperate devices are connected to the bus with
short branch lines.
•
The bus should be terminated with a terminating resistor of120 - 150 Ohms, at both ends ofthe
bus.
•
The maximum length ofthe bus is 200 m and 6 m at the branch lines.
•
All devices normally work with a baud rate of250 kBit/s.
3.4 Wiring
•
The connection ofthe bus cable takes place at the slot "X-CAN" ofthe frequency inverter.
•
Take care ofthe maximum bus length.
•
Not correctly shielded motor- , brake chopper- or brake resistor cables can cause signi
cant
errors.
•
In case ofan error, check the shielding ofthe cables.
Steuerung /
Control system
Umrichter /
Inverter
Schachtgeber /
Encoder
120 - 150 Ohm
120 - 150 Ohm
Exemplary assembly ofa bus-system with CANopen
Briefinstruction
ZETADYN 3 Series
Start-up
R-TBA11_01-GB 1114
Part.-No. 00163371-GB
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3.5 Electrical connection
Information
The connection ofthe bus cable takes place at the slot X-CAN ofthe frequency inverter.
X-CAN
CL
CH
0VC
CAN High (H)
CAN Low (L)
GND
(1)
(2)
(3)
(4)
Optionaler
Schirmanschluss
Connection CAN
3.6 Activating the interface
The activation ofthe CAN interface can be set in the menu
Control system/CONFIG
.
Control system
|
-
"
CONFIG 01:ZA_IO
|
-
"
02:ZA_CAN
Con
guration
The INFO menu shows CAN information at the pages 14 - 17 (Assumption: "CONFIG" = "02:
ZA_CAN").
Briefinstruction
ZETADYN 3 Series
Start-up
R-TBA11_01-GB 1114
Part.-No. 00163371-GB
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3.7 Operation mode
Information
There are two operation modes by using CAN:
•
Velocity Mode [pv]
Velocity Mode
•
Position Mode [pp]
Position Mode
Briefinstruction
ZETADYN 3 Series
Start-up
R-TBA11_01-GB 1114
Part.-No. 00163371-GB
5/9
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3.7.1
Command- and Statusbits of the recorder
•
Position Mode [pp] C&S / Velocity Mode [pv] C&S
•
C = Command = Command from the control system to the frequency inverter
•
S = Status = Status ofthe frequency inverter as reaction ofa command from the control system
Status- / Commandbit
Description
Comment
CSwO
Command Switch On
CEVo
Command Enable Voltage
CQSt
Command Quick Stop
CEOp
Command Enable Operation
CFaR
Command Fault Reset
CNSp
Command New Setpoint
only active in position mode
CHlt
Command Halt
SRSO
Status Ready to Switch On
SSdO
Status Switched On
SOpE
Status Operation Enabled
SVoE
Status Voltage Enabled
SQSt
Status Quick Stop
SSOD
Status Switch On Disabled
STaR
Status Target Reached
SS=0
Status Speed = 0
only active in velocity mode
SSpA
Status Setpoint Acknowledge only active in position mode
SFlt
Status Fault
SWrn
Status Warning
The used mode can be set in the menu "S8: CAN/MODE" ofthe ZETADYN 3. Generally the mode is
sent from the control system to the ZETADYN 3 shortly before start-up. Therefor you have to set the
operation mode in the control system.
When the ZETADYN 3 is operated in position mode, the shaft-encoder has to be connected to the
same bus as the ZETADYN 3.
The control system transmits the travel speed to the frequency inverter before every drive. If the
transmitted speed couldn't be reached, the frequency inverter initiates a pointed arch drive. Therefor
the maximum speed has to be entered in the control system.
4 Parameter
4.1 Parameter settings
The seperate parameters for CAN operation can be modi
ed in the menu
S8:CAN
.
Parameter
Description
Value range
Factory setting
LIFT_NR
Enter the lift number
1 ... 2
1
NODE_ID
Node number,
normally:
Control system: 1
Frequency inverter: 2
Encoder: 4
1 ... 128
2
BD_RATE
Transfer rate (baud rate)
10 kBd ... 250 kBd
250 kBd
MODE
Operation mode ofthe ZETADYN 3
Position / Velocity
Position
T_CMD
Maximum waiting time for commands of the
control system
200 ... 3000 ms
1500 ms
T_MAX
Maximum processing time for the CAN mes-
sages per cycle.
0,1 ... 3 ms
0.8 ms
Briefinstruction
ZETADYN 3 Series
Parameter
R-TBA11_01-GB 1114
Part.-No. 00163371-GB
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Information
The in the ZETADYN 3 adjusted nominal travel speed V* has to be equal or higher than the speed
which is sent to the ZETADYN 3 by the control system. Otherwise no drive takes place.
4.2 Info menu
The INFO menu provides an easily accessible overview of:
•
Current measurements
•
Current operation conditions ofthe ZETADYN 3
•
Current switching states ofthe inputs and outputs
•
Inverter internal measurements
•
Information about the internal components
The individual pages are numbered for increased clarity.
This is a CAN speci
c instruction. Only the pages 14 - 17 will be described. A complete overview is
shown in the operating instruction ofthe particular inverter.
Display
Description
CAN--------------- -
14
Act
·
Mode: Velocity
T_max: 0 RErr:255
NMT:Preop./Warn.Lim:
Page 14: CAN
Operating information (normal view)
Line 2:
Act: A dot signalizes that the inverter operates with CAN
Mode: Operating mode (velocity or position)
Line 3:
T_max: Number ofcycles, which excessed the maximum process time
RErr: Recieve buffer - error counter
Line 4:
NMT: Shows the actual NMT status (see table 4.3)
CAN--------------- -
14
Act
·
Mode: Velocity
T_max:0.7ms TErr:255
NMT:Preop./Warn.Lim:
Page 14: CAN
Operating information (while pressing "Enter")
Line 2:
Act: A dot signalizes that the inverter operates with CAN
Mode: Operating mode (velocity or position)
Line 3:
T_max: Maximum time for processing the CAN messges per cycle, since switch-on
TErr: Transmit buffer - error counter
Line 4:
NMT: Shows the actual NMT status (see table 4.3)
CAN Velocity------ -
15
V_CAN: + 0mm/s
Contr.:Disable Volt.
Status:Sw. On Disab.
Page 15: CAN Velocity
Active in velocity mode
Line 2:
V_CAN: Travel speed, sent fron the control system to the ZETADYN 3.
Line 3:
Contr. Control-byte. Shows commands which are sent by the control system
Line 4:
Status: Status-byte. Shows CAN-status ofthe ZETADYN 3
CAN Position------ -
16
S_CAN + 0mm
Contr.:Disab. Volt.
Status:Sw.On Disab.
Page 16: CAN Position
Active in position mode
Line 2:
S_CAN: Relative target position, sent from the control system to the ZETADYN 3
Line 3:
Contr. Control-byte. Shows commands which are sent by the control system
Line 4:
Status: Status-byte. Shows CAN-status ofthe ZETADYN 3
After pressing the "Enter" button the display shows the maximum travel
speed, sent by the control system
CAN Calib. 1-------
17
AbsEnc mm: 5358
MotEnc mm:+ 4169
Offs:13081A/M 1.28
Page 17: CAN Calib.
Calibration
Lines 2 - 4:
For calibrating the distances which were sent by the motor encoder and the shaft
encoder.
Briefinstruction
ZETADYN 3 Series
Parameter
R-TBA11_01-GB 1114
Part.-No. 00163371-GB
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4.3 Network Management Status
Status:
BootUp:
ZETADYN 3 is switching to the bus
Stop:
ZETADYN 3 was stopped (normally by the control sys-
tem)
Preop.:
ZETADYN 3 can be parametrised, but before the it has
to be set to "operational".
Opera.:
ZETADYN 3 is ready, a drive can take place.
Controller state:
No Error:
No errors existent
Warn.Lim.:
Error counter exceed 127
Bus off:
Because of too many errors the device was switched
off the bus (Error counter > 255)
5 Error
5.1 Error diagnosis in CANopen Lift
For error diagnosis and elimination the operating instructions R-TBA05_08-D, R-TBA08_03-D, R-
TBA09_01-D and R-TBA08_02-D provide the chapter "Error diagnosis". In this chapter the errors and
the possibilities to eliminate them are described.
5.2 Error list
Error
Error text
Description
Condition
800
CAN: Timeout
Velocity Mode:
Heartbeat from control
system is missing or at wrong time
Position Mode:
In addition to the heart-
beat ofthe control system, the heart-
beat ofthe encoder is also monitored
Only during a drive
810
CAN: Quick Stop Det.
Control system activates a quick stop
Til software version 3.32
820
CAN: Illegal Status
Control system sends commands in
wrong order to the ZETADYN 3.
830
CAN: Timeout Enab. Op.
Controll system gives command "Ena-
ble Operation" not within T_CMD
Til software version 3.32
831
CAN: Timeout Dis. Op.
Control system gives command "Dis-
able Operation" not within T_CMD, hap-
pens at stop.
Not maskable, ifnecessary in-
crease T_CMD
832
CAN: Timeout Shutdown
Happens by closing the brakes, when
control system gives command "Dis-
able Operation" not within T_CMD.
Not maskable, ifnecessary in-
crease T_CMD
833
CAN: Timeout Dis. Vol.
Happens after drive, when control sys-
tem gives command "Disable Voltage"
not within T_CMD.
Not maskable, ifnecessary in-
crease T_CMD
840
CAN: Enc. Info missing
The object Encoder Info, which shows
how much encoder pulses are how
much mm distance wasn't programmed
by the control system
Only Position Mode / not mask-
able!
Briefinstruction
ZETADYN 3 Series
Error
R-TBA11_01-GB 1114
Part.-No. 00163371-GB
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©
by
Ziehl-Abegg
-
-00163371-GB
-1
11
4
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to
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changes
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+49 (0) 7940 16-308
Fax
+49 (0) 7940 16-249
email hotline.ra@ziehl-abegg.de
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ß
e
·
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·
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·
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