1introduction, Introduction – Lenze S94P01G Position Servo User Manual

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S94P01G

Introduction

The PositionServo line of advanced general purpose servo drives utilizes the latest
technology in power semiconductors and packaging. The PositionServo uses Field
Oriented control to enable high quality motion.

The PositionServo is available in four mains (input power) configurations:

400/480V (nominal) three phase input. An external input mains (line) filter is
available. Actual voltage can range from 320 - 528 VAC.

120/240V (nominal) Single Phase input with integrated input mains (line)
filter, Actual input voltage can range from 80VAC to 264VAC. The maximum
output voltage is approximately equal to the input voltage.

120V or 240V (nominal) Single or Three Phase input. Actual input voltage
can range from 80VAC to 264VAC. The maximum output voltage is
approximately equal to the input voltage. An external input mains (line) filter
is available.

120V or 240V (nominal) single phase input. When wired for Doubler mode
(L1-N), the input is for 120V nominal only and can range from 45VAC to 132
VAC and the maximum output voltage is double the input voltage. When
wired to terminals L1-L2/N, the input can range from 80 VAC to 264 VAC and
the maximum output voltage is equal to the input voltage.

The PositionServo drive can operate in one of three mode settings, torque (current),
velocity, or position (step & direction or master encoder). The drive’s command or
reference signal can come from one of three sources. The first is an external reference.
An external reference can be an analog input signal, a step and direction input or an
input from a master encoder. The second reference is an internal reference. An internal
reference is when the commanded move is derived from the drive’s user program.
The third reference is when the commanded move is done via a host device over a
communications network. This Host device can be an external motion controller, PLC,
HMI or PC. The communication network can be RS485 (Point-to-Point or Modbus RTU),
Ethernet (using MotionView DLL’s), Modbus over TCP/IP, or CANopen (DS301).

Depending on the primary feedback, there are two types of drives: the Model 940
PositionServo encoder-based drive which accepts an incremental encoder with Hall
channel inputs and the Model 941 PositionServo resolver-based drive which accepts
resolver inputs. The feedback signal is brought back to the P4 connector on the drive.
This connector will be a 15 pin D-sub for the encoder version and a 9 pin D-sub for the
resolver version. A second encoder can be used in position and velocity modes.

The MotionView software is the setup and management tool for PositionServo drives.
All parameters can be set and monitored via this user-friendly tool. It has a real-time
oscilloscope tool for analysis and optimum tuning. The users program written with
SimpleMotion Programming Language (SML) can be utilized to command motion and
handle the drive’s inputs/outputs (I/O). The programming language is designed to be
very intuitive and easy to implement. For programming details, refer to the PositionServo
Programming Manual. All PositionServo related manuals can be downloaded from the
Technical Library on the AC Tech website (http://www.lenze-actech.com).

On each PositionServo drive, there is an Electronic Programming Module (EPM), which
stores all drive setup and tuning information. This module can be removed from the drive
and reinstalled into another drive, making the field replacement of the drive extremely
easy. This also makes it easy to duplicate the settings for several drives.

The PositionServo drive supports a variety of communication protocols, including Point-
to-Point (PPP), Modbus RTU over RS485, Ethernet TCP/IP, Modbus over TCP/IP and
CANopen (DS301).