8400 highline software manualgny.com.tr/wp-content/uploads/2016/04/lenze-8400-highline...8400...

L

EDS84AVHCxx13292591

Ä.>:|ä

Software Manual

E84AVHCxxxxxxx

8400 HighLine C Inverter Drives

8400

L-force Drives

8400 HighLine C | Software ManualOverview of technical documentation for Inverter Drives 8400

2 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Overview of technical documentation for Inverter Drives 8400

Project planning, selection & ordering Legend:

8400 hardware manual Printed documentation

Catalogue Online documentation(PDF/Engineer online help)

Mounting & wiring Abbreviations used:

MA 8400 BaseLine/8400StateLine/HighLine BA Operating Instructions

MA for the communication module KHB Communication manual

MA for the extension module MA Mounting instructions

MA for the safety module SW Software Manual

MA for the accessories

Parameterisation

BA keypad

SW 8400 BaseLine

SW 8400 StateLine

SW 8400 HighLine This documentation

KHB for the communication module

Drive commissioning

Commissioning guide

SW 8400 StateLine/HighLine

chapter "Commissioning"

chapter "Oscilloscope"

chapter "Diagnostics & fault analysis"

Remote maintenance manual

Establishing networks

KHB for the communication medium used

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 3

8400 HighLine C | Software ManualContents

Contents

1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

1.1 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

1.2 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

1.3 Terminology used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

1.4 Definition of the notes used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

2 Product description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

2.1 Functions of the frequency inverter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

2.2 Device architecture. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

2.3 Communicating with the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

2.3.1 Going online via diagnostic adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

2.3.2 Going online via system bus (CAN on board) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

2.3.3 Use of other communication interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

2.4 Keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

3 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

3.1 Quick commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

3.1.1 Keypad control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

3.1.2 Terminal control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

3.2 Commissioning with the keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

3.2.1 Preparation of keypad and controller for commissioning . . . . . . . . . . . . . . . . . . . 37

3.2.2 Code overview for quick commissioning by means of the keypad . . . . . . . . . . . 38

3.3 Commissioning of the "Actuating drive speed" application . . . . . . . . . . . . . . . . . . . . . . . . 40

3.3.1 Commissioning steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

3.3.2 Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

3.4 Commissioning of the "Table positioning" application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

3.4.1 Commissioning steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46


4 L Firmware 02.00 - DMS EN 3.0 - 05/2009

4 Drive control (DCTRL) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

4.1 LED status displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

4.2 Device states. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

4.2.1 Firmware update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

4.2.2 Init . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

4.2.3 MotorIdent. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

4.2.4 SafeTorqueOff. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

4.2.5 ReadyToSwitchON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

4.2.6 SwitchedON. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

4.2.7 OperationEnabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

4.2.8 Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

4.2.9 TroubleQSP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

4.2.10 Trouble . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

4.2.11 Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

4.2.12 SystemFault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

4.3 Controller commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

4.3.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

4.3.2 Overview of controller commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

4.3.3 Status display for controller commands (in preparation) . . . . . . . . . . . . . . . . . . . . 68

4.3.4 Load Lenze setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

4.3.5 Saving the parameter set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

4.3.6 Loading the parameter set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

4.4 System block "LS_DriveInterface" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

4.5 Control word and status word of the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

4.6 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77


4.6.2 Saving of the parameters in the memory module. . . . . . . . . . . . . . . . . . . . . . . . . . 78

4.6.3 Handling of the memory module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

4.6.4 Non-volatile saving of parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

4.6.5 Parameter set transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

4.6.6 Parameters for status display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

4.6.7 Setting/removing the controller inhibit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

4.7 Activation/deactivation of quick stop function (QSP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 5


5 Motor control (MCTRL). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

5.1 Selection of the operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

5.1.1 V/f characteristic control (VFCplus) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

5.1.1.1 Parameterising the V/f characteristic control without feedback . . 90

5.1.1.2 Parameterising V/f characteristic control with feedback . . . . . . . . . 94

5.1.1.3 Optimising the operational performance via slip compensation . . 101

5.1.1.4 Optimising the setting of the Imax controller . . . . . . . . . . . . . . . . . . . . 103

5.1.1.5 Torque limitation for VFC (V/f characteristic control). . . . . . . . . . . . . 104

5.1.2 Sensorless vector control (SLVC) and servo control (SC). . . . . . . . . . . . . . . . . . . . . 106

5.1.2.1 Sensorless vector control (SLVC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

5.1.2.2 Servo control (SC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

5.1.3 Optimising the motor parameter identification . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

5.2 Motor selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

5.2.1 Selection via motor catalogue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

5.2.2 Automatic motor parameter identification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

5.2.3 Manual parameter setting for external motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

5.3 Selection of the switching frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

5.4 Definition of current and speed limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

5.4.1 Definition of speed limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

5.4.2 Definition of current limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

5.5 Flying restart function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150


5.6 DC-injection braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

5.6.1 Manual DC-injection braking (DCB) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

5.6.2 Automatic DC-injection braking (Auto-DCB). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

5.7 Oscillation damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

5.8 Signal flow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

5.9 System block "LS_MotorInterface" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

5.10 Monitoring functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

5.10.1 Motor temperature monitoring with I²xt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

5.10.2 Motor temperature monitoring with motor PTC . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

5.10.3 Monitoring of the brake resistor by I²xt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

5.11 Braking operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

5.11.1 Selecting the voltage source for braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176

5.11.2 Avoiding a thermal overload of the brake resistor . . . . . . . . . . . . . . . . . . . . . . . . . 176


6 L Firmware 02.00 - DMS EN 3.0 - 05/2009

6 I/O terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

6.1 Analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

6.1.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

6.1.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

6.1.3 Using the analog input as current input. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

6.1.4 System block "LS_AnalogInput". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

6.2 Analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183



6.2.3 System block "LS_AnalogOutput" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

6.3 Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187



6.3.3 System block "LS_DigitalInput" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

6.4 Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197



6.4.3 System block "LS_DigitalOutput" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

6.5 Terminal pre-assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

6.5.1 Application "Actuating drive - speed" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

6.5.1.1 Connection diagram in the Lenze setting . . . . . . . . . . . . . . . . . . . . . . . . 201

6.5.2 Application "Table positioning" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

7 Encoder evaluation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

7.1 Parameter setting for the motor encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212

7.2 Encoder evaluation method. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214

7.3 Encoders with HTL level at X4/DI1 or X4/DI2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216

7.3.1 Signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216

7.4 Encoder with HTL level at X4/DI6 or X4/DI7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218

7.4.1 Signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 7


8 System bus "CAN on board" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219

8.1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

8.2 General data and application conditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222

8.3 Communication time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223

8.4 Possible settings via DIP switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224

8.4.1 Activation of the bus terminating resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224

8.4.2 Setting the baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225

8.4.3 Setting the node address. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225

8.5 CAN signalling on the controller front panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225

8.6 General information on data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

8.6.1 Structure of the CAN data telegram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

8.6.2 Communication phases of the CAN network (NMT). . . . . . . . . . . . . . . . . . . . . . . . 229

8.6.3 CAN start remote node. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233

8.7 Process data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

8.7.1 Available process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

8.7.2 Transmission type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

8.7.3 Cyclic process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236

8.7.4 Event-controlled process data objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237

8.7.5 Identifiers of the process data objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237

8.7.6 Assignment of the process data objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239

8.7.6.1 PDO mapping. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240

8.7.6.2 Port blocks LP_CanIn1 ... LP_CanIn3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

8.7.6.3 Port blocks LP_CanOut1 ... LP_CanOut3 . . . . . . . . . . . . . . . . . . . . . . . . . 243

8.7.6.4 Port blocks LP_MciIn and LP_MciOut . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

8.8 Parameter data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246

8.8.1 Identifiers of the parameter data objects. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247

8.8.2 User data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248

8.8.3 Error codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253

8.8.4 Parameter data telegram examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254

8.8.4.1 Read parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254

8.8.4.2 Write parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255

8.8.4.3 Read block parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256

8.9 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

8.9.1 Integrated error detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

8.9.2 Heartbeat protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260

8.9.3 Emergency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261

8.9.4 Heartbeat commissioning example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261

8.10 Implemented CANopen objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263


8 L Firmware 02.00 - DMS EN 3.0 - 05/2009

9 Error management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285

9.1 Basics on error handling in the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285

9.2 AutoFailReset function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286

9.3 Drive diagnostics with the »Engineer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287

9.4 Drive diagnostics via keypad/bus system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290

9.5 Logbook . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292

9.5.1 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293

9.5.2 Filtering logbook entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293

9.5.3 Reading out logbook entries. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294

9.6 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295

9.6.1 Setting the error response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296

9.6.2 Monitoring of the device utilisation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297

9.6.3 Mains phase failure monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297

9.7 Error messages of the operating system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298

9.7.1 Error number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298

9.7.1.1 Structure of the error number (bit coding). . . . . . . . . . . . . . . . . . . . . . . 298

9.7.1.2 Error type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298

9.7.1.3 Error subject area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299

9.7.1.4 Error ID. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299

9.7.1.5 Example for bit coding of the error number . . . . . . . . . . . . . . . . . . . . . 300

9.7.2 Reset of error message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301

9.7.3 Error messages of positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302

9.7.4 Overview of the error messages of the operating system. . . . . . . . . . . . . . . . . . . 303

9.7.5 Cause & possible remedies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305

9.8 System block LS_SetError_1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312

9.9 Drive diagnostics & fault analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313

9.9.1 Maloperation of the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313

9.9.2 Operation without mains supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315

10 Fieldbus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316

10.1 Process data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 9


11 Technology applications (TAs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319

11.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319

11.1.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320

11.1.2 Purpose of the technology applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321

11.1.3 Application cases for a technology application . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322

11.2 Software structure of the application function at a glance. . . . . . . . . . . . . . . . . . . . . . . . . 323

11.2.1 How to use the technology applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325

11.3 Introduction to the LS_MotionControlKernel system block . . . . . . . . . . . . . . . . . . . . . . . . . 328

11.3.1 Selection of the application and the control mode . . . . . . . . . . . . . . . . . . . . . . . . . 330

11.3.2 Communication of the user interfaces to the application block . . . . . . . . . . . . . 332

12 Basic drive functions in the MCK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334

12.1 Holding brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335

12.1.1 Internal interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336


12.1.2.1 Operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338

12.1.2.2 Functional settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340

12.1.2.3 Time response of the brake (time diagram). . . . . . . . . . . . . . . . . . . . . . 341

12.1.2.4 Switching thresholds. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342

12.1.2.5 Closing and opening time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343

12.1.2.6 Motor magnetising time (only with asynchronous motor). . . . . . . . 345

12.1.2.7 Actual value monitoring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345

12.1.2.8 Process when brake is released . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346

12.1.2.9 Process when brake is closed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346

12.1.2.10 Response to pulse inhibit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346

12.1.2.11 Torque precontrol during starting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348


10 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13 TA "Actuating drive – speed" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349

13.1 Brief description of the function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349

13.1.1 Basic signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349

13.1.2 Brief description of the properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350

13.1.3 Functions of the TA "Actuating drive-speed". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351

13.1.4 Selecting the control source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352

13.2 Terminal assignment in the Lenze setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354

13.2.1 Overview of terminal assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354

13.2.2 Terminal pre-assignment in detail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357

13.2.3 User-defined terminal assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 365

13.2.4 Pre-assignment of the application block LA_NCtrl . . . . . . . . . . . . . . . . . . . . . . . . . 368

13.2.5 Quick commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370

13.2.6 Description of the signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372

13.2.7 Interface description of the TA "Actuating drive - speed" . . . . . . . . . . . . . . . . . . . 373

13.2.7.1 Control words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373

13.2.7.2 Setting controller inhibit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374

13.2.7.3 Resetting an error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374

13.2.7.4 Executing quick stop (QSP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375

13.2.7.5 bSetDCBrake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375

13.2.7.6 bRFG_Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375

13.2.7.7 bRFG_0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376

13.2.7.8 nVoltageAdd_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376

13.2.7.9 Torque limit value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377

13.2.7.10 CW/CCW rotation change-over . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377

13.2.7.11 Main setpoint and additional setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . 378

13.2.7.12 Fixed speeds and ramp times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379

13.2.7.13 Ramp generator L_NSet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380

13.2.7.14 Motor potentiometer function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382

13.2.7.15 Process controller adaptation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382

13.2.7.16 Actual process controller value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382

13.2.7.17 Forced release of holding brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383

13.2.7.18 Manual jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383

13.2.7.19 General purpose functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384

13.2.7.20 Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385

13.2.7.21 wCurrentFailNumber . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385

13.2.7.22 bDriveReady . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386

13.2.7.23 bDriveFail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386

13.2.7.24 bCInhActive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386

13.2.7.25 bQSPIsActive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386

13.2.7.26 bSpeedCcw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387

13.2.7.27 bSpeedActCompare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 11


13.2.7.28 bOverLoadActive / bUnderLoadActive . . . . . . . . . . . . . . . . . . . . . . . . . . . 387

13.2.7.29 bImaxActive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387

13.2.7.30 bSpeedSetReached, bSpeedActEqSet . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388

13.2.7.31 nMotorCurrent_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388

13.2.7.32 nMotorSpeedSet_a, nMotorSpeedAct_a . . . . . . . . . . . . . . . . . . . . . . . . 388

13.2.7.33 nMotorTorqueAct_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388

13.2.7.34 nDCVoltage_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389

13.2.7.35 nMotorVoltage_a. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389

13.2.7.36 bBrakeReleaseOut, holding brake control . . . . . . . . . . . . . . . . . . . . . . . 389

13.2.7.37 bBrakeReleasedbBrakeReleased, holding brake status signal . . . . . 389

13.2.7.38 General purpose outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390


12 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14 TA "Table positioning" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391

14.1 Brief description of the function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391

14.1.1 Brief description of the properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391

14.1.2 Selecting the control source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396

14.2 Terminal assignment in the Lenze setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398

14.2.1 Overview of terminal assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398

14.2.2 Terminal pre-assignment in detail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401

14.2.3 User-defined terminal assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409

14.2.4 Pre-assignment of the LA_TabPos application block . . . . . . . . . . . . . . . . . . . . . . . 410

14.3 Interface description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415

14.3.1 Control words of the MotionControlKernel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415

14.3.2 Specifying an operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417

14.3.3 Control bits and process words for the motor control (MCTRL). . . . . . . . . . . . . . 418

14.3.4 Connecting and retracting limit switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419

14.3.4.1 Retracting the limit switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420

14.3.5 Manual jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421

14.3.6 Acceleration and speed override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424

14.3.6.1 Speed override. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425

14.3.6.2 Acceleration override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425

14.3.7 Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426

14.3.7.1 Homing modes ( C1221). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428

14.3.7.2 Use of a reference switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433

14.3.7.3 Use of a touch probe sensor (in preparation). . . . . . . . . . . . . . . . . . . . . 433

14.3.7.4 Setting the homing speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433

14.3.7.5 Homing start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433

14.3.7.6 Setting the home position manually . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434

14.3.7.7 Resetting the home position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434

14.3.7.8 "Home position set once" status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434

14.3.8 StartStop and profile number for controlling the profile generation . . . . . . . . 435

14.3.9 Possible motion profiles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436

14.4 S-ramp time for jerk limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 437

14.4.1 Switching off the S-ramp time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438

14.5 Limiting the torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439

14.5.1 "Home position known" status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439

14.5.2 "Position target reached" status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 440

14.5.3 "Transient phenomenon completed" status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441

14.5.4 Sequence block control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 13


15 Working with the FB Editor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442

15.1 Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442

15.1.1 Basic components of a drive solution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443

15.1.1.1 What is a function block?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444

15.1.1.2 Parameterisable function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445

15.1.1.3 What is a system block? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445

15.1.1.4 What is a port block?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446

15.1.1.5 What is an application block?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446

15.1.2 Conventions used for input/output identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447

15.1.3 Scaling of physical units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448

15.2 User interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449

15.2.1 Toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450

15.2.2 Search function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451

15.2.3 Level selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452

15.2.4 Editor view/overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454

15.2.5 Context menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455

15.2.6 Status bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455

15.2.7 Overview window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456

15.3 Using the FB-Editor as "Viewer" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458

15.3.1 Following connections of inputs and outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459

15.3.2 Keyboard commands for navigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460

15.3.3 Change online display format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461

15.4 Reconfiguring the predefined interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463

15.4.1 Insert/delete objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463

15.4.1.1 Inserting a function block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464

15.4.1.2 Inserting a system block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466

15.4.1.3 Inserting a port block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468

15.4.1.4 Inserting a comment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470

15.4.1.5 Deleting objects that are no longer required. . . . . . . . . . . . . . . . . . . . . 472

15.4.2 Changing connector visibilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473

15.4.3 Arranging objects in the drawing area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 474

15.4.4 Creating/deleting connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475

15.4.4.1 Creating a connection using the connection line . . . . . . . . . . . . . . . . . 477

15.4.4.2 Creating a connection using port identifiers . . . . . . . . . . . . . . . . . . . . . 478

15.4.4.3 Creating a connection via connection dialog. . . . . . . . . . . . . . . . . . . . . 479

15.4.4.4 Deleting connections that are no longer required . . . . . . . . . . . . . . . . 480

15.4.5 Changing the processing order . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481

15.4.6 Copying interconnection elements (across all devices) . . . . . . . . . . . . . . . . . . . . . 483

15.4.6.1 Insert options for copied elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 485

15.4.7 Reset changed interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486

15.5 Adjusting online and offline interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487


14 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.6 Printing the interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488

15.7 Comparing interconnections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489

15.8 Copying interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492

15.9 Export/import of the interconnection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 15


16 Function library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 494

16.1 Function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497

16.1.1 L_Absolut . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497

16.1.2 L_AddSub . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498

16.1.3 L_AnalogSwitch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499

16.1.4 L_And . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500

16.1.5 L_And5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501

16.1.6 L_Arithmetik . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 502

16.1.7 L_ArithmetikPhi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503

16.1.8 L_Compare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504

16.1.8.1 Function 1: nIn1 = nIn2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505

16.1.8.2 Function 2: nIn1 > nIn2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506

16.1.8.3 Function 3: nIn1 < nIn2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507

16.1.8.4 Function 4: |nIn1| = |nIn2| . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507

16.1.8.5 Function 5: |nIn1| > |nIn2| . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508

16.1.8.6 Function 6: |nIn1| < |nIn2| . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508

16.1.9 L_ComparePhi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 509

16.1.9.1 Function 1: dnIn1 = dnIn2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510

16.1.9.2 Function 2: dnIn1 > dnIn2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511

16.1.9.3 Function 3: dnIn1 < dnIn2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512

16.1.9.4 Function 4: |dnIn1| = |dnIn2|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512

16.1.9.5 Function 5: |dnIn1| > |dnIn2|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513

16.1.9.6 Function 6: |dnIn1| < |dnIn2|. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513

16.1.10 L_ConvBitsToWord . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514

16.1.11 L_ConvDIntToWords . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515

16.1.12 L_ConvWordsToDInt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516

16.1.13 L_ConvWordToBits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517

16.1.14 L_Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518

16.1.15 L_DFlipFlop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520

16.1.16 L_DigitalDelay. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522

16.1.17 L_DigitalLogic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524

16.1.18 L_DigitalLogic5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526

16.1.19 L_DT1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528

16.1.20 L_Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529

16.1.21 L_MckCtrlInterface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530

16.1.22 L_MckStateInterface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535

16.1.23 L_MPot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 537

16.1.23.1 Activation & control of motor potentiometer. . . . . . . . . . . . . . . . . . . . 539

16.1.23.2 Deactivation of motor potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . 540

16.1.24 L_MulDiv. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 541

16.1.25 L_Mux . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542


16 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.26 L_Negation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543

16.1.27 L_Not . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544

16.1.28 L_NSet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545

16.1.28.1 Main setpoint path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 548

16.1.28.2 JOG setpoints. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549

16.1.28.3 Setpoint inversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549

16.1.28.4 Value range of the input signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549

16.1.28.5 Skip frequency function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 550

16.1.28.6 Ramp function generator for the main setpoint . . . . . . . . . . . . . . . . . 551

16.1.28.7 S-shaped ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553

16.1.28.8 Arithmetic combination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553

16.1.28.9 Additional setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553

16.1.28.10Application example for the additional load function. . . . . . . . . . . . 554

16.1.29 L_OffsetGainP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555

16.1.30 L_OffsetGainPhiP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557

16.1.31 L_Or . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559

16.1.32 L_Or5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560

16.1.33 L_PhaseIntK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561

16.1.33.1 Function at constant input value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563

16.1.33.2 Function at input value with sign reversal . . . . . . . . . . . . . . . . . . . . . . . 564

16.1.33.3 Calculation of the output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 565

16.1.34 L_PCTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566

16.1.34.1 Control characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 570

16.1.34.2 Ramp function generator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571

16.1.34.3 Operating range of the PID process controller . . . . . . . . . . . . . . . . . . . 571

16.1.34.4 Evaluation of the output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571

16.1.34.5 Deactivation of the process controller. . . . . . . . . . . . . . . . . . . . . . . . . . . 572

16.1.35 L_PT1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573

16.1.36 L_RLQ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574

16.1.37 L_RSFlipFlop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575

16.1.38 L_SampleHold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576

16.1.39 L_SignalMonitor_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577

16.1.40 L_SignalMonitor_b . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 579

16.1.41 L_Transient . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581

16.1.41.1 Function 0: Evaluate rising signal edges . . . . . . . . . . . . . . . . . . . . . . . . . 582

16.1.41.2 Function 1: Evaluate falling signal edges . . . . . . . . . . . . . . . . . . . . . . . . 583

16.1.41.3 Function 2: Evaluate rising and falling signal edges . . . . . . . . . . . . . . 583

16.2 System blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584

16.2.1 LS_DisFree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584

16.2.2 LS_DisFree_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585

16.2.3 LS_DisFree_b . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 586

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 17


16.2.4 LS_MotionControlKernel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 587

16.2.5 LS_ParFix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591

16.2.6 LS_ParFree . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592

16.2.7 LS_ParFree_a . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 593

16.2.8 LS_ParFree_b . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 594

16.2.9 LS_ParFree_v . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 595

16.2.10 LS_PulseGenerator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 596

17 Parameter reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 598

17.1 Structure of the parameter descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 599

17.1.1 Data type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 600

17.1.2 Parameters with read-only access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 600

17.1.3 Parameters with write access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601

17.1.3.1 Parameters with setting range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601

17.1.3.2 Parameters with selection list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601

17.1.3.3 Parameters with bit-coded setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 602

17.1.3.4 Parameters with subcodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603

17.1.4 Parameter attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603

17.2 Parameter list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 605

17.3 Table of attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 855

18 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 865

Your opinion is important to us. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 879

8400 HighLine C | Software ManualAbout this documentationDocument history

18 L Firmware 02.00 - DMS EN 3.0 - 05/2009

1 About this documentation

This software manual contains information on the parameterisation of the8400 HighLine C controller by means of the L-force »Engineer« and the keypad.

The information in this software manual is valid for the 8400 HighLine C frequencyinverter with the following nameplate data:

Tip!

Current documentation and software updates for Lenze products can be found onthe Internet in the "Services & Downloads" area under

http://www.Lenze.com

1.1 Document history

Danger!

The controller is a source of danger which may lead to death or severe injury of persons.

To protect yourself and others against these dangers, observe the safety instructions before switching on the controller.

Please read the safety instructions provided in the 8400 Mounting Instructions and in the 8400 Hardware Manual 8400. Both documents are supplied with the controller.

Type Type designation From firmware version

8400 HighLine C E84AVHSCExxxxxx0 01.00

Version Description

1.0 07/2008 TD06 First edition

2.0 11/2008 TD06 Revision of the chapter "Commissioning"

3.0 04/2009 TD06 Revision of the chapters • Parameter list ( 605) • TA "Actuating drive – speed" ( 349) • TA "Table positioning" ( 391)


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 19

8400 HighLine C | Software ManualAbout this documentation

Conventions used

1.2 Conventions used

This Software Manual uses the following conventions to distinguish between differenttypes of information:

1.3 Terminology used

Type of information Writing Examples/notes

Variable identifier Italics By setting bEnable to TRUE...

Window The Message window... / The Options dialog box...

Control element Bold The OK button... / The Copy command... / The Properties tab... / The Name input field...

Sequence ofmenu commands

If the execution of a function requires several commands, the individual commands are separated by an arrow: Select FileOpen to...

Shortcut <Bold> Press <F1> to open the Online Help.

If a command requires a combination of keys, a "+" is placed between the key symbols:Use <Shift>+<ESC> to...

Hyperlink Underlined A hyperlink is an optically highlighted reference which is activated by a mouse click.

Step-by-step instructions Step-by-step instructions are indicated by a pictograph.

Term Meaning

»Engineer« Lenze PC software which supports you in "engineering" (parameterisation, diagnostics and configuration) throughout the whole life cycle, i.e. from planning to maintenance of the commissioned machine.

Application block Block for a technology application (e.g. actuating drive - speed)A technology application is a drive solution based on the experience and know-how of Lenze in which function blocks interconnected to a signal flow form the basis for implementing typical drive tasks.

Code Parameter used for controller parameterisation or monitoring. The term is usually called "index".

Display codes Parameter that displays the current state or value of an input/output of a system block.

FB Editor Function block editorGraphical interconnection tool which is provided for FB interconnections in the »Engineer« on the FB editor tab and by means of which the applications integrated in the drive can also be reconfigured and extended by individual functions.

Function block General designation of a function block for free interconnection (only HighLine).A function block can be compared with an integrated circuit that contains a certain control logic and delivers one or several values when being executed. • Each function block has a unique identifier (the instance name) and a

processing number which defines the position at which the function block is calculated during the task cycle.

Representation e.g. "L_Arithmetik1": function block for arithmetic operations

Lenze setting This setting is the default factory setting of the device.

Port block Block for implementing the process data transfer via a fieldbus

LP Abbreviation: Lenze Port block, e.g. LP_CanIn1, port block CAN1

8400 HighLine C | Software ManualAbout this documentationTerminology used

20 L Firmware 02.00 - DMS EN 3.0 - 05/2009

LA Abbreviation: Lenze Application block, e.g. LA_NCtrl, block for the application "speed closed-loop control"

LS Abbreviation: Lenze System block, e.g. LS_DigitalInput, system block for digital input signals

QSP Quick stop

SC Operating mode: Servo Control

SLVC Operating mode: sensorless vector control ("SensorLess Vector Control")

Subcode If a code contains several parameters, the individual parameters are stored under "subcodes".This Manual uses a slash "/" as a separator between code and subcode (e.g. "C00118/3").The term is usually called "subindex".

System block System blocks provide interfaces to basic functions and to the hardware of the controller in the FB editor of the »Engineer« (e.g. to the digital inputs).

VFCplus Operating mode: V/f characteristic control ("Voltage Frequency Control")

Term Meaning

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 21

8400 HighLine C | Software ManualAbout this documentation

Definition of the notes used

1.4 Definition of the notes used

The following signal words and symbols are used in this Software Manual to indicatedangers and important information:

Safety instructions

Layout of the safety instructions:

Application notes

Pictograph and signal word!

(characterise the type and severity of danger)

Note

(describes the danger and informs how to prevent dangerous situations)

Pictograph Signal word Meaning

Danger! Danger of personal injury through dangerous electrical voltageReference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken.

Danger! Danger of personal injury through a general source of dangerReference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken.

Stop! Danger of property damageReference to a possible danger that may result in property damage if the corresponding measures are not taken.

Pictograph Signal word Meaning

Note! Important note to ensure trouble-free operation

Tip! Useful tip for easy handling

8400 HighLine C | Software ManualProduct description

22 L Firmware 02.00 - DMS EN 3.0 - 05/2009

2 Product description

This manual contains basic information on the runtime software and on how you canestablish very easily an online connection between PC and controller for parameter settingwith the »Engineer«.

The 8400 HighLine controller is designed for simple drive tasks which require additionalfunctions.

The device is provided, among other things, with

CAN onboard and can be implemented into an automation system via diverse fieldbuses.

integrated applications for speed-controlled drive tasks and a table positioning function with integrated travel profile generator.

The internal functional range is firmly defined and can be parameterised using an FB editoror a pluggable keypad.

The control signals and setpoints can be selected via terminals or a fieldbus. The functionof the single control signals can be freely defined using the FB editor.

The 8400 HighLine frequency inverter comes with all function blocks and all integratedapplications. Thus, it is not necessary to create a PLC program and load it into thecontroller.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 23


Functions of the frequency inverter

2.1 Functions of the frequency inverter

Integrated protective functions, e.g. Ixt overload monitoring that responds - among other things - to too frequent mains switching

Adjustable warning levels for a simplified and safe machine maintenance (e.g. motor operating time)

Signalling of device states through front LEDs

– Drive green: Drive is in operation / controller inhibit

– Drive red: Drive is in an error state

– CAN green: CAN is in operation

– CAN red: CAN is in an error state

Fieldbus communication (see Communicating with the controller ( 25))

– CANopen interface (on board) with address switch at the front

– Pluggable communication module (MCI interface), e.g. PROFIBUS-DP V1

Motor control types

– V/f open loop

– V/f closed loop

– Vector open loop

– Servo control or motor control with ServoControl feature

Evaluation of the feedback signals via HTL encoders up to max. 100 kHz

Diagnostics and parameter setting options with PC or plugged-in keypad

– Writing and reading of device and communication module parameters

– Reading out all diagnostic information

– Reading out logbook information (similar to an error history buffer)

– Firmware update of the frequency inverter

Parameter saving with mains failure protection on the (pluggable) memory module

Data logger for signal recording while being online

Password-protected parameter setting (in preparation)

8400 HighLine C | Software ManualProduct descriptionDevice architecture

24 L Firmware 02.00 - DMS EN 3.0 - 05/2009

2.2 Device architecture

• I/O level– Free interconnection of I/O terminals and process

data by the user • Application level

– Predefined applications for solving different drive tasks:Speed closed-loop control/ speed open-loop controlTable positioning

• MotionControlKernel– Brake management– Manual jog via terminal– Manual jog via operator dialog– Positioning profile generator– Homing (referencing)

• Operating system– Control and monitoring of the I/O terminals (speed

measurement 2 kHz scanning)– Communication to diagnostic terminal X6,

CANonboard and MCI module provision of the services for parameter data management and connection of the memory module

– Device control • Motor control

– Control and monitoring of the output stages for motor and brake chopper

Application level

MotionControlKernel

Operating system

Motor control

I/O level

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 25


Communicating with the controller

2.3 Communicating with the controller

The following interfaces/communication modules can be used to build up communicationbetween PC and controller:

Diagnostic interface X6/Going online via diagnostic adapter

CAN on board interface/Going online via system bus (CAN on board) ( 28)

Optional MCI interface in the module slot of the controller for inserting a communication module.

Tip!

Detailed information about the individual interfaces can be found in the corresponding Communication Manuals.

2.3.1 Going online via diagnostic adapter

For the initial commissioning of the controller, you can use, for instance, the diagnosticadapter offered by Lenze:

Preconditions:

The diagnostic adapter is connected to the diagnostic interface X6 on the controller and to a free USB port on the PC.

The driver required for the diagnostic adapter is installed.

The control electronics of the controller are supplied with 24 V low voltage via plug X2.

Stop!

If you change parameters in the »Engineer« while the controller is connected online, the changes will be directly accepted by the controller!

Note!

Please observe the documentation for the diagnostic adapter!

8400 HighLine C | Software ManualProduct descriptionCommunicating with the controller

26 L Firmware 02.00 - DMS EN 3.0 - 05/2009

How to build up an online connection via the diagnostic adapter:

1. Select the 8400 HighLine controller to which you want to build up an online connection in the Project view of the »Engineer«:

2. Click the icon or select the command OnlineGo online.

• If no online connection has been configured for the selected controller so far, the Device assignment offline devices dialog box will be displayed:

• The dialog box also appears if the online connection is built up via the command OnlineGo online instead of using the toolbar icon.

3. Select the "Diagnostic adapter" entry from the Bus connection list field.

4. Click Find device access path to find the controller in the selected bus system.

• The Address assignment dialog box appears:

5. Select the corresponding controller from the Field devices located list field.

6. Click OK.

• The Address assignment dialog box is closed and the selected Device access path (e.g. "DDCMP:/") is indicated in the Device assignment offline devices dialog box.

7. Click Connect.

• The dialog box is closed and the online connection with the controller is built up.

• When an online connection with the controller exists, this is indicated -by a yellow icon in the Project view and- by the word "ONLINE" in the status bar:

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 27


Communicating with the controller

Now you can use the icons and to easily build up and end a connection with thecontroller. The communication settings are only required when communication with acontroller is built up for the first time.

If you want to change the existing configuration, select the command OnlineGo online to open the Device assignment offline devices dialog box and change the settings.

With an online connection, the »Engineer« displays the current parameter settings of the controller with a yellow background colour.

When the background colour changes from yellow to red, the connection with the controller has been interrupted.

8400 HighLine C | Software ManualProduct descriptionCommunicating with the controller

28 L Firmware 02.00 - DMS EN 3.0 - 05/2009

2.3.2 Going online via system bus (CAN on board)

As an alternative to the diagnostic adapter, you can use the integrated system businterface (CAN on-board, terminal X1) of the controller for communication.

Lenze offers the following communication accessories for connection to the PC:

2.3.3 Use of other communication interfaces

If required, the controller can be expanded by e.g. the PROFIBUS communication interface.

For this purpose, the controller is provided with the MCI module receptacle to plug in a communication module.

Detailed information on this subject can be found in the Hardware Manual and Communication Manual for the corresponding communication system.

Communication accessories PC interface

PC system bus adapter 2173incl. connection cable and voltage supply adapter • for DIN keyboard connection (EMF2173IB) • for PS/2 keyboard connection (EMF2173IBV002) • for PS/2 keyboard connection with electrical isolation (EMF2173IBV003)

Parallel interface(LPT port)

PC system bus adapter 2177incl. connection cable (EMF2177IB)

USB(Universal Serial Bus)

Note!

• For detailed information about the PC system bus adapter, please see the "CAN Communication Manual".

• Please observe the documentation for the PC system bus adapter!

• The online connection is built up as described in the previous chapter Going online via diagnostic adapter, only select the entry "CAN system bus" from the Bus connection list field in the Device assignment offline devices dialog box. ( 25)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 29


Keypad

2.4 Keypad

When the keypad is connected to the diagnostic interface X6 at the front of the controller, the status of the controller is displayed via different symbols on the LDC display in the area .

Symbol Meaning Note

Controller is ready for operation.

Controller is enabled.

Application in the controller is stopped.

Quick stop is active

Controller is inhibited. The power outputs are inhibited.

Controller is ready to switch on.

The maximum torque is reached.

Set current limit has been exceeded in motoror generator mode.

Pulse inhibit is active The power outputs are inhibited.

System fault is active

"Fault" state Fault is active

"Trouble" state Trouble is active

"TroubleQSP" state TroubleQSP is active

"Warning" Warning is active or locked warning

8400 HighLine C | Software ManualCommissioning

30 L Firmware 02.00 - DMS EN 3.0 - 05/2009

3 Commissioning

Before switching on

In order to prevent injury to persons or damage to material assets

before connecting the mains voltage, check

– The wiring for completeness, short circuit, and earth fault

– The "emergency stop" function of the entire system

– The motor circuit configuration (star/delta) must be adapted to the output voltage of the controller

– The in-phase connection of the motor

– The direction of rotation or the encoder (if available)

The setting of the most important drive parameters before enabling the controller:

– Is the V/f rated frequency adapted to the motor circuit configuration?

– Are the drive parameters relevant for your application set correctly?

– Is the configuration of the analog and digital inputs and outputs adapted to the wiring?

Selection of the suitable commissioning tool

For commissioning the 8400 frequency inverter two options are provided to you:

Commissioning by means of the keypad for simple drive tasks, e. g. quick commissioning of the "Actuator - speed" standard application

Commissioning by means of the »Engineer« for drive tasks with higher requirements, e. g. "Table positioning"

Tip!

The extensive parameterisation and configuration is carried out using the»Engineer«. The online help that is available for each device and the accompanyingsoftware documentation supports you during this activity.

For quick commissioning and checking individual parameters on the controller, theL-force keypad is useful.

Note!

• Keep to the respective switch-on sequence.

• In the event of faults during commissioning, refer to the chapter "Troubleshooting and fault elimination".

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 31


Notes for the motor operation

Tip!

In the Lenze setting the "V/f characteristic linear" operating mode is set as motorcontrol. The parameter settings are preset in a manner that if the combination ofthe frequency inverter and the 50 Hz asynchronous machine matches as regardspower, the controller is ready for operation immediately without furtherparameterisation effort, and the motor is working satisfactorily.

Recommendations for the following application cases:

• If the frequency inverter and the motor strongly differ from each other with regard to their power, set code C00022 (Imax limit - in motor mode) to

•

• If a high starting torque is required Set code C00016 (Umin boost) when the motor is in idle speed, so that the rated motor current IN(motor) is flowing at a field frequency of f = 3Hz (C00058).

• For noise optimisation set code C00018 to "3" (switching frequency 16 kHzsin var).

• If a high torque without feedback is to be provided at small speeds, we recommend the "Vector control" operating mode.

Danger!

• For thermal reasons, continuous operation of self-ventilated motors at a low field frequency and rated motor current is not permissible. If required, a motor temperature monitoring should be activated with C00585

Motor temperature monitoring with I²xt ( 169)

Motor temperature monitoring with motor PTC ( 172).

• With C00015 87 Hz operation has to be set if an asynchronous motor connected in delta (nameplate data: 400 V /230 V) is to be operated on a frequency inverter for a supply voltage of 400 V on the supply side.

IMax 2.0 IN(motor)×=

8400 HighLine C | Software ManualCommissioningQuick commissioning

32 L Firmware 02.00 - DMS EN 3.0 - 05/2009

3.1 Quick commissioning

Objective

The motor without load is to be rotated for purposes of testing or demonstration in theshortest time possible, using as little wiring effort as possible and only few settings.

Keypad or setpoint potentiometer

For this simple purpose two options are provided for controlling the drive controller. Pleaseselect:

Keypad control ( 33) , i. e. the X400 keypad serves as setpoint source

Terminal control ( 35) , i. e. a setpoint potentiometer connected to the terminals of the controller serves as setpoint source

Diagnostics

For the drive diagnostics also use the LEDs placed on the front of the controller in additionto the X400 keypad:

Two LEDs signalise the device state (DRIVE READY and DRIVE ERROR):LED status displays ( 55)

Two LEDs show the bus state (CAN-RUN and CAN-ERROR): CAN signalling on the controller front panel ( 225)

In the context of quick commissioning, the LEDs for the bus status are of lower significance.

Tip!

The description for handling the X400 keypad can be found in the MountingInstructions which are contained on the "L-force Inverter Drives 8400" CD inelectronic form.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 33


Quick commissioning

3.1.1 Keypad control

Please proceed step by step:

1. Wire the power connections

Make use of the Mounting Instructions supplied with the frequency inverter to wire the power terminals according to the requirements of your device.

2. Wire the control connections

3. Load the Lenze setting into the controller

Digital inputs at terminal X5 Assignment Information

RFR • Controller enableRFR = high

• Error resetHigh → low (edge-controlled)

Note!

With the Lenze setting the "Actuating drive speed" application is carried out.

After attaching the keypad or switching on the controller with the keypad attached, first the connection of the keypad to the controller is established.The process is completed if code C00051 appears in the display. • Then press the left function key.

• Scroll to the bottom from the "User menu" with the button to the "Quick commissioning" menu

• Click "right" button • Select the "Keypad" menu • Click "right" button • Code 00002/1:

– Parameterise "Edit" using the left function key

– Select value "1" ---> On/Start and confirm "OK" with the right function key

• During loading the Lenze setting, the display goes off for a short time.

• When the display has reappeared, the main menu is shown.– The main menu can be set in a

user-defined manner via the codes C00465 ... C00469.

• By means of the left function key the user menu can be reached

24EDI4 DI3 DI2 DI1 RFRGI 24IDI7 DI5DI6

MCTRL: Act. speed val.

C00051

0 rpm

SAVE

Par1 8400 HighLineC

User - Menu

Logbook

Go to param

Quick commissioning

SAVE

Par1 Quick commissioning

Terminals

Keypad

EDIT

Load Lenze setting

C00002/1


C00051

0 rpm


34 L Firmware 02.00 - DMS EN 3.0 - 05/2009

4. Set keypad control

5. Enable controller:Set terminal X5/RFR to HIGH potential (reference: X5/24I).

6. Use the keypad to change the motor velocity or the motor speed by selecting different fixed setpoints:

Please observe

– the actual speed value: C00051

– the front-panel LEDs LED status displays ( 55)

7. Save the settings in the device with .

Tip!

The complete parameter overview will be presented in the following chapter:

Code overview for quick commissioning by means of the keypad ( 38)

Further like for commissioning item Load the Lenze setting into the

controller:– "Quick commissioning" menu– Keypad– Load Lenze setting

With the "Bottom" navigation key, code C00007 for selecting the control mode is reached: • Select parameter code 00007 and

parameterise with "Edit" • Select value "20" ---> "Keypad"

and confirm with "OK".

Keypad Code Subcode Motor speed

C00728 3 Counter-clockwise rotation:-199.99 % ..... 0 (from C00011)

Clockwise rotation:0 ... +199.99 % (from C00011)

C00051 - Display of actual speed value

EDIT

Select CtrlMode

C00007

Quick commissioning

SAVE


Terminals

KeypadSAVE

Par1 8400 HighLineC

User - Menu

Logbook

Go to param

Quick commissioning EDIT

Load Lenze setting

C00002/1

EDIT

< ... >

C00728

C00051

SAVE


Terminals

Keypad

SAVE

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 35


Quick commissioning

3.1.2 Terminal control

Please proceed step by step:

1. Wire the power connectionsMake use of the Mounting Instructions supplied with the frequency inverter to carry outthe power connections correctly and in accordance with the requirements of your device.

2. Wire the control connections

3. If you can be sure that the frequency inverter is in the default state (Lenze setting), youcan skip the following commissioning step.Otherwise establish the Lenze setting of the frequency inverter. We recommend the use ofthe keypad.

Analog inputs at X3 Assignment Terminal control

A1U Setpoint selection10 V (= 100 %):1500 rpm (for 4-pole motor)

Wiring of the digital inputs at X5 Assignment Terminal control

DI1 ... DI7: all active = High

Bold print: minimum wiring required for operation

RFR • Controller enable: RFR = high • Error reset:

High → low (edge-controlled)

DI1 Fixed frequency 1 ... fixed frequency 3, see table below

DI2

DI3 DCB

DI4 Direction of rotation counter-clockwise/clockwise (CCW/CW)

DI5 ... DI7 No function

Note!

With the Lenze setting the "Actuating drive speed" application is carried out.

O1U GA A1IA2I A1UA2U AR

1k...10k

�

�0...10 V

�

24EDI4 DI3 DI2 DI1 RFRGI 24IX5

+

_DC 24 V

DI7 DI5DI6


36 L Firmware 02.00 - DMS EN 3.0 - 05/2009

4. Enable controller:Set terminal X5/RFR to HIGH potential (reference: X5/GI).

5. Use the potentiometer to change the motor velocity or change the motor speed by selecting different fixed setpoints:

Please observe

– the actual speed value: C00051

– the front-panel LEDs LED status displays ( 55)

6. Save the settings in the device with .

After attaching the keypad or switching on the controller with the keypad attached, first the connection of the keypad to the controller is established.The process is completed if code C00051 appears in the display. • Then press the left function key.

• Scroll to the bottom from the "User menu" with the button to the "Quick commissioning" menu

• Click "right" button • Select the "Terminals" menu • Click "right" button • Code 00002/1:

– Parameterise "Edit" using the left function key

– Select value "1" ---> On/Start and confirm "OK" with the right function key

• During loading the Lenze setting, the display goes off for a short time.

• When the display has reappeared, the main menu is shown.– The main menu can be set in a

user-defined manner via the codes C00465 ... C00469.

• By means of the left function key the user menu can be reached

DI2 DI1 Motor speed

0 0 Setpoint from potentiometer

0 1 40 % of C00011 (reference speed)




C00051

0 rpm

SAVE

Par1 8400 HighLineC

User - Menu

Logbook

Go to param

Quick commissioning

SAVE


Terminals

Keypad

EDIT

Load Lenze setting

C00002/1


C00051

0 rpm

SAVE

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 37


Commissioning with the keypad

3.2 Commissioning with the keypad

3.2.1 Preparation of keypad and controller for commissioning

Controller preparation

1. Set controller inhibit (X5/RFR = LOW).

2. Ensure that the mains voltage and the motor cables are wired correctly.

3. If an external 24 V supply voltage is used:

4. Establish connection of the supply voltage at X5/24E.

Connection of the keypad

1. Attach keypad to terminal X6 (while keeping the release button pressed).

2. If there is no external 24 V supply voltage: Switch on the mains supply.

After approx. 4 - 6 seconds the controller and the keypad are initialised. The keypaddisplays the main menu of the control software:

Tip!

The fastest way to commission the controller is via the "Quick commissioning"menu. This menu contains all parameters required to establish the basic readinessfor operation. It is suitable for the settings required to show whether the device isoperational and, furthermore, it is suitable for well-known applications requiringonly a few optimisations.

For the more extensive and detailed adaptation of parameters to specialrequirements, Lenze recommends the Engineer PC software (see documentationfor Engineer PC software and Software Manual for the controller).

Selecting the "Quick commissioning" menu with the keypad

Starting from the main menu, you get to the "Quick commissioning" menu by clicking the

key several times and then clicking the key:

SAVE

Par1 8400 HighLineC

User - Menu

Code list

Quick commissioning

SAVE


Terminals

Keypad

8400 HighLine C | Software ManualCommissioningCommissioning with the keypad

38 L Firmware 02.00 - DMS EN 3.0 - 05/2009

3.2.2 Code overview for quick commissioning by means of the keypad

If you are within the menu for quick commissioning with keypad, the individual

commissioning steps can be reached by accordingly pressing the key. The codescontained in the menu are listed in the following table:

Parameter Display in the keypad Information

C00002/1 Load Lenze setting Load Lenze setting

C00007 Select CtrlMode Selection of the operating mode

C00728/3 nMainSetValue_a Main setpoint (for the "Actuating drive speed" application)

C00011 Appl.: Reference speed Reference speed

C00012 Accel. time - main setpoint Acceleration time

C00013 Decel. time - main setpoint Deceleration time

C00015 VFC: V/f base frequency Base frequency

C00016 VFC: Vmin boost Vmin boost

C00022 Imax (motor mode) Current limit (in motor mode)

C00087 Rated motor speed Rated motor speed

C00089 Rated motor freq. Rated motor frequency

C00039/1 Fixed setpt 1 Fixed setpoint JOG1

C00727/3 bSetSpeedCcw Change of direction of rotation

C00727/4 bJogSpeed1 Jog value 1 for motor speed

C00051 MCTRL: Act. speed val. Current speed value

C00054 Motor curr. Motor current

Highlighted in grey = display parameter

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 39


Commissioning with the keypad

If you select suitable and reasonable values for the parameters in this menu, you canensure an error-free operation of the controller.

Analog and digital control information (e.g. speed setpoint, CW rotation / CCW rotation)are selected depending on the setting of C00007 (e.g. selection through the digital inputs).

Keypad display Information

C00002

C00007

C00011

C00012

C00013

C00015

C00016

C00022

C00087

C00089

C00728/ 1 ... 3

C00039/ 1 ... 3

C00727/ 1 ... 8

C00051

C00054

EDIT

Load Lenze setting

C00002/1

C00007

C00011

C00012

C00013

C00015

C00016

C00022

C00087

C00089

C00728/3

C00728/1

C00728/2

C00039/1

C00039/2

C00039/3

C00727/1 ... 8

C00051

C00054

8400 HighLine C | Software ManualCommissioningCommissioning of the "Actuating drive speed" application

40 L Firmware 02.00 - DMS EN 3.0 - 05/2009

3.3 Commissioning of the "Actuating drive speed" application

The predominant purpose of this commissioning is to commission a simple systemconstellation with few components. In the course of the step-by-step instructionsreference to further information is made, that is suitable for commissioning more complexspecifications.

[3-1] Block diagram for wiring the commissioning example for the "Actuating drive speed" application

Tip!

For a detailed description of the technology application, please see the chapter

TA "Actuating drive – speed" ( 349)

Control terminals at plug connector X3: • GA, reference ground (GND) for analog signals • AR, reference voltage (10 V) for analog signals • A1U, input 1 for analog signals (slider of the setpoint potentiometer R) Control terminals at plug connector X4: • RFR, controller enable (CINH)Parameterisation and diagnostics connection X6: • Communication between the PC and controller

VU W X3 X4X6

RFR 24IA1UARGA

M3~

i

RFR

8400 HighLine

8400 StateLine

X61

X6

R

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 41


Commissioning of the "Actuating drive speed" application

3.3.1 Commissioning steps

1. Observe all safety measures required before switching on the device, for this also see Before switching on ( 30) .

2. Open the corresponding »Engineer«

– Press the function key F1 during the »Engineer« is open. By this you reach the online help.

3. Execute the start-up wizard

By means of the start-up wizard and the information contained in the online help

– you first create a project in the »Engineer«

– you establish a connection to the controller and its connected components, for instance via a diagnostic adapter.

When an online connection between the PC and the device has been established, there will be a colour change of the symbols in the project tree (left arrow) and a corresponding lettering in the lower part of the working area (right arrow). Click on the highlighted symbols on the left:

[3-2] Reference to the online connection in the project tree and the working area

Note!

In the general part of the menu structure of the online help basic operations are described in detail. Please refer to the following chapters and, if required, carry out the following:

• Chapter "Working with projects", e. g. "Creating a new project (select a component from the catalogue)", or "Creating a new project (Start search for connected devices)"

• Chapter "Project structure", e. g. select a motor, if possible, carry out motor identification run

• Chapter "Device functions in the online mode", e. g. "Setting a communication path and going online", establish connection between PC - device


42 L Firmware 02.00 - DMS EN 3.0 - 05/2009

4. Loading of the Lenze setting

In order to be able to take a defined state as a basis for this commissioning, you have to load the Lenze setting.

– A description of how the Lenze setting is loaded by means of the »Engineer« can be found in the chapter Load Lenze setting ( 69)

5. Set the "Actuating drive speed" application

– Set "Actuating drive speed" C00005, (arrow) on the "Application parameters" tab in the "Application" list field.

The contents of the tab are adapted to the application set by means of the »Engineer«.

Within the device individual function blocks (e. g. ramp function generator, PID process controller, arithmetic function, etc.) are connected to each other, so that a signal flow for solving this drive task or application is generated.

Note!

After loading the Lenze setting (C00002/1 = 1), the status in the device is displayed by the »Engineer«. The change of a parameter value is shown by an

"unequal" symbol .

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 43


Commissioning of the "Actuating drive speed" application

6. Select the control source

Depending on the task to be carried out, the source that controls the drive can be defined here (arrow).

In the example the control source "Terminals 0" (Lenze setting) is selected.

Important parameters

Detailed descriptions can be found inSelecting the control source ( 352)

Pre-assignment of the application block LA_NCtrl ( 368)

7. Start the application

– RFR = TRUE: enable controller

– By means of the setpoint potentiometer ("R", see graphics [3-1]), the speed can be varied.

Parameter Information

C00007 Select control mode

C00242 Operating mode

C00806 Use motor potentiometer yes / no


44 L Firmware 02.00 - DMS EN 3.0 - 05/2009

3.3.2 Diagnostics

Why doesn't the motor rotate?

If, contrary to expectations, the motor does not carry out a movement after the last commissioning step, we recommend the following systematic means to find out the reason for this.

1. Check the signal flow with regard to plausible setpoints

2. Check setpoint sources

– Click on the "Drive control" button (see illustration) of the "Diagnostics" tab

The appearing view is a complete summary of all control sources having an impact on the controller:

[3-3] Diagnostics options for drive control

Tip!

This information can also be displayed by means of a keypad. For this call the codesspecified in the header of the table.

Control sources that are set to controller inhibit by the controller Control sources that are set to quick stop by the controller Control signals via CAN control word Control signals via MCI fieldbus module (e. g. Profibus) / Miscellaneous status information

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 45


Commissioning of the "Table positioning" application

3.4 Commissioning of the "Table positioning" application

The predominant purpose of this commissioning is to commission a simple systemconstellation with few components. In the course of the step-by-step instructionsreference to further information is made, that is suitable for commissioning more complexspecifications.

[3-4] Block diagram for wiring the commissioning example for the "Table positioning" application

Tip!

For a detailed description of the technology application, please see the chapter

TA "Table positioning" ( 391)

Control terminals at plug connector X5: • RFR, controller enable • DI1, encoder, track A • DI2, encoder, track B • DI3, left hardware limit switch • DI4, right hardware limit switch • DI5, "PosExecute" function • DI6, DI7, setting of the operating mode (following operation, homing, manual jog, positioning) Parameterisation and diagnostics connection X6: • Communication between the PC and controller

VU W X5 GIDI7DI6DI5DI4DI3DI2DI1RFR24I24E

M3~

0-Position20 3010-10-20-30 40

+-

i

A B

PosExecute

RFR PosProfile

� d

8400 HighLine

X6

X61

X6

8400 HighLine C | Software ManualCommissioningCommissioning of the "Table positioning" application

46 L Firmware 02.00 - DMS EN 3.0 - 05/2009

3.4.1 Commissioning steps

1. Observe all safety measures required before switching on the device, for this also see Before switching on ( 30) .

2. Open the corresponding »Engineer«.

– Press the function key F1 during the »Engineer« is open. By this you reach the online help.

3. Execute the start-up wizardBy means of the start-up wizard and the information contained in the online help

– you first create a project in the »Engineer«

– you establish a connection to the controller and its connected components, for instance via a diagnostic adapter.

When an online connection between the PC and the device has been established, there will be a colour change of the symbols in the project tree (left arrow) and a corresponding lettering in the lower part of the working area (right arrow). Click on the highlighted symbols on the left:

[3-5] Reference to the online connection in the project tree and the working area

4. Loading of the Lenze setting

In order to be able to take a defined state as a basis for this commissioning, you have to load the Lenze setting.

– A description of how the Lenze setting is loaded by means of the »Engineer« can be found in the chapter Load Lenze setting ( 69)

Note!

In the general part of the menu structure of the online help basic operations are described in detail. Please refer to the following chapters and, if required, carry out the following:

• Chapter "Working with projects", e. g. "Creating a new project (select a component from the catalogue)", or "Creating a new project (Start search for connected devices)"

• Chapter "Project structure", e. g. select a motor, if possible, carry out motor identification run

• Chapter "Device functions in the online mode", e. g. "Setting a communication path and going online", establish connection between PC - device

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 47



5. Set "Table positioning" application

– Next to the project tree there is the working area of the »Engineer«.

– Set "Table positioning" (upper arrow) on the "Application parameters" tab in the "Application" list field.

– The contents of the tab are adapted to "Table positioning" by the »Engineer«.

– Then the "Machine parameters" button appears (lower arrow)

6. Set the machine parameters

– Click on the "Machine parameters" button. The following dialog window opens:

– Parameterise all fields that are highlighted in yellow, e.g.:Gearbox factorFeed constantReference speed


48 L Firmware 02.00 - DMS EN 3.0 - 05/2009

7. Enter the terminal assignment

– Call the "Terminal assignment" tab.

– Adapt the terminal assignment of the digital input terminals:

– In the example a two-track encoder has been selected, which is connected to terminals DI1 (track A) and DI2 (track B). Function assignment of the inputs: C00115/1, option 2:"DI1(6)&DI2(7)=FreqIn (2-track)", see upper arrow

– By clicking on the button highlighted by the lower arrow, a window for the parameterisation of the encoder will open (here: position encoder)

8. Enter the encoder increments

– Enter the corresponding data of your encoder.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 49



9. Enter the position encoder in the code

– Click on the "All parameters" tab

– Set code C00490/0 to "Encoder signal FreqIn12":

– Set the proportional gain of the position encoder to an appropriate value using code C00254/0. In the example Kp = "5" is selected


50 L Firmware 02.00 - DMS EN 3.0 - 05/2009

10. Set homing

Click "Signal flow" button on the "Application parameters" tab, see arrow

Click on the button for homing in the "MotionControlKernel" block, see arrow

Click on the "Homing mode" button

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 51



11. Start homing

– Enable the controller via RFR

– Input DI7 to TRUE ("Alternative function PosExecute")

12. Complete homing when the home position is reached. Switch the following digital inputs:

– DI7 = "FALSE"

– RFR = "FALSE".

Select the homing modeFor the example, a simple homing without touch probe was selected: The right limit switch, and then the zero position is approached, depending on the homing degree that is set.

Parameterise fields highlighted in yellow:

– Enter an appropriate starting speed C01224/1.

– Set the homing degree C01227/1 , i. e. the value in positive or negative direction from the limit position on the right

Select "Homing" operating mode via terminals

– At inputs DI5 and DI6 the profile is set via terminals. With DI5=FALSE and DI6=TRUE the operating mode is set to "Homing".

– With C01241 the status of the operating mode can be read out or checked in the "MotionControlKernel" function block ("Signal flow" button) by means of the position of the switch displayed, see arrow

For further information, see Specifying an operating mode

( 417)


52 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13. Enter one or more profiles

[3-6] Assignment of the profile numbers 0 ... 15 in the Lenze setting

Note!

In the Lenze setting the profile numbers 0 ... 2 are assigned to following operation, homing, and ManualJog.

Therefore the positioning profile has to receive a profile number ≥ 3.

The assignment of the profile numbers (see illustration) is reached as follows in the »Engineer«: "Application parameters" tab "Signal flow" button "MCK interface (control)" button in the "MCKInterface" block

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 53



The profile entry field can be reached via the "Profile entry" button on the "Application parameters" tab:

– Parameterise the fields required

– If required, enter the sequence profile

– Then press "Back" button (at the top of the tab)

14. Start positioning

– DI5 = TRUE, DI6 = TRUE: "Positioning" operating mode

The status switch displayed in the MotionControlKernel (see "Signal flow") now adopts the following position:

– RFR = TRUE: enable controller

– DI7 = TRUE: start positioning with ("PosExecute")

8400 HighLine C | Software ManualDrive control (DCTRL)

54 L Firmware 02.00 - DMS EN 3.0 - 05/2009

4 Drive control (DCTRL)

This chapter gives information about the device function "Drive control DCTRL". This devicefunction serves to control the controller into defined states and retrieve status informationvia the system block LS_DriveInterface:

The device displays status information in different ways

– as optical display via front LEDs to signalise the operating status. LED status displays

– as text message in the keypad / Engineer.

– as process signal at the output of the system block LS_DriveInterface

– as diagnostic parameter

The operating states of the controller are based on the DS402 standard. Device states ( 56)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 55


LED status displays

4.1 LED status displays

The states of the "DRIVE READY" and "DRIVE ERROR" LEDs on the front of the controllerdepend on the device state. Device states ( 56)

Tip!

The current device state is also displayed in C00137.

DRIVE READY DRIVE ERROR Status

Off Off Init

Off SafeTorqueOff

Off ReadyToSwitchON

Off SwitchedON

Off OperationEnabled

Warning The controller is ready to switch on, switched on or the operation is enabled and a warning is indicated.

TroubleQSP

Off Trouble

Off Fault

Off SystemFault

LegendThe symbols used for indicating the LED states have the following meaning:

LED flashes once approx. every three seconds (slow flash)

LED flashes once approx. every 1.25 seconds ( flash)

LED flashes twice approx. every 1.25 seconds (double flash)

LED blinks every second

LED is permanently on

DRIVE READYDRIVE ERROR

8400 HighLine C | Software ManualDrive control (DCTRL)Device states

56 L Firmware 02.00 - DMS EN 3.0 - 05/2009

4.2 Device states

The state machine controls the controller into defined states that can be diagnosed withthe following codes:

C00137 , output of status designation

C00150 , bit-coded output in the status word (bits 8 ... 11)

In the diagram below, the arrows between the device states indicate the starting and endpoints of the possible state changes. The figures represent the state ID, see table Devicestates ( 57)

[4-1] Device state machine

Pulse inhibit (grey field)

Can be reached from all states.

"Warning" contradicts the definition of a device state. In fact, it is a message which is to call attention to the device state the warning exists for."Warning" can occur in parallel to other states.

ReadyToSwitchON

3

Init

1

SwitchedOn4

OperationEnabled

5

Trouble

7TroubleQSP

9

�

SystemFault11

FirmwareUpdate

0

SafeTorqueOff

10

Fault

8

�

�

Warning

6Warning

6

MotorIdent2

�

Power on

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 57


Device states

The change from one state to the other is carried out within one processing cycle, i.e.within t = 1 ms. If within this time there are several requests for state changes, the statewith the higher priority is processed first. The priority sequence is listed in the below table:

[4-1] Device states

4.2.1 Firmware update

State priority State designation ID Status bits Meaning

Bit 11 Bit 10 Bit 9 Bit 8

- Firmware update 0 0 0 0 0 Firmware download function is active

- Init 1 0 0 0 1 Initialisation is active

- MotorIdent 2 0 0 1 0 Motor parameter identification is active

Prio 8 ReadyToSwitchON 3 0 0 1 1 Device is ready to start

Prio 7 SwitchedON 4 0 1 0 0 Device is switched on

Prio 4 OperationEnabled 5 0 1 0 1 Operation

- Warning 6 0 1 1 0 Warning / warning locked is active

Prio 6 Trouble 7 1 1 1 1 Trouble is active

Prio 10 Fault 8 1 0 0 0 Fault is active

Prio 5 TroubleQSP 9 1 0 0 1 TroubleQSP is active

Prio 9 SafeTorqueOff 10 1 0 1 0 Safe torque off is active

Prio 11 SystemFault 11 1 0 1 1 System fault is active

Note!

This function may only be executed by qualified Lenze personnel!


58 L Firmware 02.00 - DMS EN 3.0 - 05/2009

4.2.2 Init

In this state

– the controller is directly after switching on the 24 V supply voltage.

– the operating system is initialised.

– all device components (communication module, memory module, power section, etc.) are identified.

The inverter is inhibited, i.e. the motor terminals (U, V, W) of the inverter are deenergised.

The digital and analog inputs are not yet evaluated at this time.

The bus systems (CAN, PROFIBUS etc.) do not work yet, i.e. communication is not possible.

The application is not yet processed.

The monitoring functions are not yet active.

The controller cannot be parameterised yet and no device commands can be carried out yet.

When the power section is identified, it is checked first that it is switched on and that therequired voltage is within the tolerance zone.

Note!

If there is an undervoltage situation in the DC bus, the controller changes -depending on the configuration - to the "Trouble" or "Fault" state or remains in

the "ReadyToSwitchON" state if there is a mains supply failure.

LED DRIVE READY LED DRIVE ERROR Display in C00137

Off Off Init

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 59


Device states

4.2.3 MotorIdent

8400 frequency inverters are provided with a function for automatic identification ofmotor parameters, see functional description Motor data identification .

The "MotorIdent" device state can only be reached by the "SwitchON" device state andjumps back to that state after the action is completed.

The following illustration shows, under which conditions the state change will be enabledor stopped:

[4-2] Conditions for the state change of the motor identification

While the motor parameters are being detected,

the application remains active

all system interfaces (IOs, bus systems, etc.) remain active

error monitoring remains active

the inverter is controlled independently of the setpoint sources.

Detailed description: Automatic motor parameter identification ( 140)

4.2.4 SafeTorqueOff


Off MotorIdent

Stop!

During motor parameter identification, the controller does not respond to setpoint changes or control processes, (e.g. speed setpoints, QSP, torque limitations).

ReadyToSwitchON

3

C0002/23 = 1CINH = 1

MotorIdent2

&

Danger!

This state is only possible together with a connected safety module and an existing power section supply.


60 L Firmware 02.00 - DMS EN 3.0 - 05/2009

4.2.5 ReadyToSwitchON

The controller is in this device state directly after the initialisation has been completed!

The bus systems are running and the terminals and encoders are evaluated.

The monitoring modes are active.

The controller can be parameterised.

The application is basically executable.

Auto-start option C00142 = 1: Auto restart inhibited after power-up

If the auto-start option C00142 = 1 inhibit at "mains off", Lenze setting) has been selected, the controller must be explicitly reset after the mains is switched on so that the controller state changes from "Device is ready to switch on" to "Device is switched on:

[4-3] State change when auto restart is enabled (C00142 = "1")


Off ReadyToSwitchON

Controller pulses are inhibitedController pulses are enabled

With controller inhibit during power-upWithout controller inhibit during power-up

RFR�

� �

RFR

RFR

RFR

t

t

�

Initialisation Switched on OperationReady to switch on


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 61


Device states

Auto-start option C00142 = 0: Auto restart enabled after power-up

The following figure shows the state changes for the auto-start option C00142 = 0 as a function of the controller inhibit:

[4-4] State change when auto restart is enabled (C00142 = "0")

Tip!

Code C00142 can also be used to configure that the controller inhibits the auto-start function if

• there is a "Trouble" error status or

• a "Fault" error status or

• an undervoltage situation has been detected

Controller pulses are inhibitedController pulses are enabled

With controller inhibit during power-upWithout controller inhibit during power-up

RFR�

� �

RFR

RFR

RFR

t

t

�


OperationInitialisation Switched onReady to switch on


62 L Firmware 02.00 - DMS EN 3.0 - 05/2009

4.2.6 SwitchedON

The drive is in this device state when the DC-bus voltage is applied and the controller is stillinhibited by the user (controller inhibit). The cause for the controller inhibit (CINH) isindicated under C00158.

The bus systems are running and the terminals and encoders are evaluated.

The monitoring modes are active.

The application is basically executable.

When the controller is enabled, the motor creates a torque.

4.2.7 OperationEnabled

In this device state, the motor follows the setpoint defined in the application.

4.2.8 Warning

This display may occur in all device states if a monitoring mode responds, the errorresponse "Warning" or "Warning locked" has been parameterised for.


Off SwitchedON


Off OperationEnable


Warning

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 63


Device states

4.2.9 TroubleQSP

This device state will be active as soon as a monitoring mode responds, the error response"TroubleQSP" has been parameterised for.

The drive is decelerated to standstill with torque within the deceleration time parameterised for quick stop independently of the defined setpoint and can be kept there.

The device state can only be abandoned by acknowledging the error if the error cause is removed.

When the controller is inhibited, it is possible to jump to the "SwitchedON" state even during the error state since the controller inhibit function has a higher priority. As long as the error is pending and has not been acknowledged, the state is changed back to the "TroubleQSP" state when the controller is enabled afterwards.

Depending on certain conditions a state change takes place based on the "TroubleQSP"device state.


TroubleQSP

State no. State name Condition(s) for the state change

15 ReadyToSwitchON Control bit "SwitchON" = FALSE

16 OperationEnabled Control bit "ControllerInhibit" of all control channels = TRUE& error has been reset by control bit "ResetFail"& no other error is pending

17 SwitchedON Control bit "ControllerInhibit" of one control channel = FALSE& error has been reset by control bit "ResetFail"& no other error is pending.

18 Trouble A message is active in the system.


64 L Firmware 02.00 - DMS EN 3.0 - 05/2009

4.2.10 Trouble

This device state becomes active as soon as a monitoring mode responds for which theerror response "Trouble" has been parameterised.

The motor has no torque (is coasting) due to the inhibit of the inverter.

The "Trouble" device state is automatically abandoned if the error cause has been removed.

Depending on certain conditions a state change takes place based on the "Trouble" devicestate.


Off Trouble

State no. State name Condition(s) for the state change

11 ReadyToSwitchON This state is assumed automatically without evaluating any control bits

12 OperationEnabled Control bit "ControllerInhibit" of all control channels = FALSE& the message has been cancelled again

13 SwitchedON Control bit "ControllerInhibit" of one control channel = TRUE& the message has been cancelled again

14 TroubleQSP In the system, there is an error configured on "TroubleQSP"& the message has been cancelled again

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 65


Device states

4.2.11 Fault

This device state will be active as soon as a monitoring mode responds, the error response"Fault" has been parameterised for.

The motor has no torque (is coasting) due to the inhibit of the inverter.

To exit the device state, "Fail reset" must be set.

When "Fail reset" has been carried out, a change to the "ReadyToSwitchON" state takesplace.

Tip!

For more detailed information on the error messages, see

Overview of the error messages of the operating system ( 303) or

Cause & possible remedies ( 305).

4.2.12 SystemFault

This device state becomes active if a system fault occurs.

The device state can only be abandoned by

– mains switching or

– a system restart (in preparation).


Off Fault

Note!

If an undervoltage (error message "LU") occurs in the DC bus of the frequency inverter, the device changes to "Trouble".

An additional error with a higher priority leads the device into the "Fault" state.

According to the Device state machine ( 56), the device changes to "ReadyToSwitchOn" after acknowledging the error although the undervoltage is still available!


Off SystemFail

8400 HighLine C | Software ManualDrive control (DCTRL)Controller commands

66 L Firmware 02.00 - DMS EN 3.0 - 05/2009

4.3 Controller commands

4.3.1 General information

The commands in the subcodes of code C00002 enable

the direct control of the controller. This comprises e.g. the following subcodes:

– 16, controller enable (CINH)

– 17, quick stop (QSP)

– 26, CAN reset node

the management of parameter sets and diagnosis services:

– Parameter set management, e.g. subcodes 7 ... 11, saving parameter sets

– Logbook management

– Error management

– Identification, e.g. motor parameters, inverter characteristic

Regarding the execution of the commands, there are two different groups:

1. Commands with immediate control effect (e.g. quick stop). These commands contain the static status information ON or OFF.

2. Commands with a pure command nature

The controller commands with pure command nature do not execute the actionimmediately (it may take some seconds until the action has been executed). However,after the command is written, they demonstrate the command progress by deliveringdynamic status information.

How to read out the degree of processing from the controller:

1. Write the value "1" (Start) to e.g. C0002/11

• A write operation to C0002/xx with values >1 is rejected by the device and acknowledged with an error message.

2. In the above example, read C0002/11 until the value "0" (Ready) is indicated.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 67


Controller commands

Certain commands can only be executed if the controller is inhibited, e.g.

Load Lenze setting C00002/1

Load all parameter sets, C00002/6

Identify motor parameters, C00002/23

If these commands are executed without the controller being inhibited, the returnedinformation is:

"6": No access controller inhibit

The following subchapters describe the controller commands in the controller in detail.

With an online connection, the controller commands can be activated from the »Engineer«by selecting the corresponding command in the Parameters tab under C00002. As analternative, the controller commands can be activated via the keypad.

Tip!

Many frequently required controller commands (e.g. "Save start parameters") canbe executed via the toolbar icons of the »Engineer«.

Note!

C00003 always displays the last error occurred, if e.g. a command should fail.

Status display for controller commands (in preparation) ( 68)

Stop!

When a controller command has been transmitted via C00002 and the supply voltage is to be switched off, first check via C00002 that the controller command has been completed successfully, see C00002/11 (save parameter set). This particularly applies to controller commands used for saving data in the memory module of the device. If the saving process cannot be completed successfully, data inconsistency can occur in the memory module.

Note!

Controller commands that can be executed via the toolbar of the »Engineer« always affect the element currently selected in the Project view including all subelements.

• If no controller, but e.g. a system module is selected in the Project view, the

corresponding controller command (e.g. load parameter set ) will be activated in all lower-level controllers having an online connection with the »Engineer«.

For the commands described in the following subsections, the controller must be selected in the Project view.

8400 HighLine C | Software ManualDrive control (DCTRL)Controller commands

68 L Firmware 02.00 - DMS EN 3.0 - 05/2009

4.3.2 Overview of controller commands

[4-2] Overview of controller commands, "CINH": controller must be inhibited

4.3.3 Status display for controller commands (in preparation)

For almost all controller commands, the status is displayed under C00002, e.g. whether thecontroller command has been executed successfully or an error has occurred during theexecution. If an error has occurred (i.e. C00002 provides the value "4" ---> Failed onreadback), you can read out the parameter 3 for detailed error diagnosis.

C00003 shows the status of the device command carried out last.

The controller commands which support the status display via C00002 can be obtained from the table in the previous chapter "Overview of controller commands" (see column "Static / command").

The content of C00003 remains unchanged if a controller command does not support the status display.

C00002 Information Static/comman

dSubcode Controller command

1 Load Lenze setting Load Lenze setting ( 69) CINH

2...5 Reserved -

6 Load all parameter sets CINH

7...10 Reserved -

11 Save all parameter sets -

12...15 Reserved -

16 Enable controller Setting/removing the controller inhibit ( 81)

-

17 Activate quick stop Activation/deactivation of quick stop function (QSP) ( 82)

-

18 Reserved -

19 Reset error Reset of error message ( 301) -

20 Reserved -

21 Delete logbook Logbook ( 292) -

22 Reserved -

23 Identify motor parameter CINH

24 Reserved -

25 Reserved -

26 CAN reset node -

27...32 Reserved -

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 69


Controller commands

4.3.4 Load Lenze setting

This controller command resets the parameter settings to the Lenze setting. All parameterchanges get lost.

Only possible when the controller is inhibited.

This controller command has an effect on the settings of the parameters of the operating system, application and module.

How to load the Lenze setting:

1. Click the icon to set the controller inhibit.

• A confirmation prompt is displayed asking you if the controller should really be inhibited.

2. Confirm confirmation prompt with Yes to continue the action.

3. Execute device command C00002/1 = 1: "On / Start".

4.3.5 Saving the parameter set

Controller parameter changes made via the »Engineer« or keypad will get lost after mainsswitching of the controller unless the settings have been explicitly saved with thecorresponding controller command in the memory module of the controller.

How to save all parameter sets safe against mains failure in the memory module:

Execute device command C00002/11 = 1: "On / Start".

4.3.6 Loading the parameter set

Activation of this controller command reloads all parameters from the memory moduleinto the controller. All parameter changes made since the last saving of the parameter setwill get lost.

Only possible when the controller is inhibited

This controller command has an effect on the settings of the parameters of the operating system, application and module.

How to reload the starting parameters from the memory module:

1. Click the symbol to inhibit the controller and stop the application currently running.

• A confirmation prompt is displayed asking you if the controller should really be inhibited and the application currently running should be stopped.

2. Confirm confirmation prompt with Yes to continue the action.

3. Execute controller command C00002 / 6 = "1", Load all parameter sets.

8400 HighLine C | Software ManualDrive control (DCTRL)System block "LS_DriveInterface"

70 L Firmware 02.00 - DMS EN 3.0 - 05/2009

4.4 System block "LS_DriveInterface"

The system block LS_DriveInterface displays the drive control DCTRL in the FB editor.

LS_DriveInterface

2

1

3

14

7

X5/28

bFailReset

bCInh

bStatus_Bit0

bStatus_Bit2

bStatus_Bit3

bStatus_Bit4

bStatus_Bit5

PowerDisabled

ActSpeedIsZero

ControllerInhibit

StatusCodeBit1

StatusCodeBit2

StatusCodeBit3

StatusCodeBit4

Warning

MessagebStatus_Bit14

bStatus_Bit15

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

Status

C00002 / 16

.........

C00002 / 17C00002 / 19

wDeviceStatusWord

wMciControl

Bit 015

Bit 015

?

wCanControl

QSP

Disable

CINH

Fail-RESET

Fail-SET

wStateDetermFailNoLow

wStateDetermFailNoHigh

bInit

bSafeTorqueOff

bReady

bReadyToSwitchOn

bOperationEnable

bWarning

bTrouble

bFault

bSystemFail

bSafetyIsActive

bImpIsActive

bCInhIsActive

bCwCcw

bNactCompare

{

{

{

{

{

Bit1

Bit 2

Bit3

Bit14

Bit7

2

1

3

14

7

3

1

4 5

7 9

11

010

8

DriveCommands

}C00002/17

C00002/16

C00002/19

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 71


System block "LS_DriveInterface"

Inputs

IdentifierDIS code | data type

Information/possible settings

wCANControlC00136/1 | WORD

Control word and status word of the controller ( 73)The controller controlled by a higher-level control (e.g. IPC) receives its control word via the CAN bus (connection to plug connector X1). The process data word is provided at this input by the upstream port block LP_CanIn1.For a detailed description of the individual control bits, see below.

wMCIControlWORD

Control word via communication module (e.g. PROFIBUS)The controller controlled by a higher-level control (e.g. IPC) receives its control word via an attached communication module. The process data word is provided at this input by the upstream port block LP_MciIn1.For a detailed description of the individual control bits, see below.

bCInhC00833/36 | BOOL

Setting/removing the controller inhibit ( 81)

True The controller is set to the SwitchedON state.

False The controller is set to the OperationEnabled state.

bFailResetC00833/37 | BOOL

Reset of error message ( 301)

True The current error is reset.

False The current error is not reset.

bStatus_Bit0bStatus_Bit2bStatus_Bit3bStatus_Bit4bStatus_Bit5bStatus_Bit14bStatus_Bit15

C00833/38 ... 44 | BOOL

Freely assignable bit positions of the controller's status word.You can use these bit positions for returning information to the higher-level control (e.g. IPC).

8400 HighLine C | Software ManualDrive control (DCTRL)System block "LS_DriveInterface"

72 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Outputs


Value/meaning

wDeviceStatusWordC00150 | WORD

Control word and status word of the controller ( 73) , based on DSP-402The status word contains all information required for controlling the controller. The process data word is sent to the higher-level control via a port block: • port block LP_CanOut1 for use of the on-board CAN or • port block LP_MciOut1 for use of an attached communication module .

wStateDetermNoLowWORD

Display of the state-determining error (low)

wStateDetermNoHighWORD

Display of the state-determining error (high)

*) all BOOL True State control of the controller is in state:

bInit *) • Init

bSafeTorqueOff *) • SafeTorqueOff

bReady *) • Ready

bReadyToSwitchOn *) • ReadyToSwitchON

bOperationEnable *) • OperationEnable

bWarning *) • Warning

bTrouble *) • OperationEnable

bFail *) • Fault

bSystemFail *) • SystemFail

bSafetyIsActive In preparation

bImpIsActive True Pulse inhibit is active

bCInhIsActive True Controller inhibit is active

bCwCcw True Motor rotates in CCW direction

bNactCompare For open-loop operation: speed setpoint = comparison value C00024For closed-loop operation: actual speed value = comparison value C00024

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 73


Control word and status word of the controller

4.5 Control word and status word of the controller

The control word (C00136) and the status word (C00150) assignments depend on theselected technology application (TA, C00005).

Overview

Control word for TA "Speed closed-loop control" ( 74)

Status word for TA "Speed closed-loop control" ( 75)

Control word for TA "Table positioning" ( 76)

Status word for TA "Table positioning" ( 76)

Word Name Scaling

Input word w1 MainSetValue 16384 (214) ≡ 100 % (referred to C00011)

Word Name Scaling

Output word w1 MotorSpeedAct 16384 (214) ≡ 100 % (referred to C00011)

Word Name Scaling

Input word wIn2 SpeedOverride 16384 (214) ≡ 100 % (speed of active profile)

Input word dnIn34 PosProfilePosition 65535 (216) inc ≡ 1 revolution of motor shaft,see position resolution C00125 ,

Word Name Scaling

Output word wOut2 GPSignalOut1_a 16384 (216) ≡ 100 %

Output word dnOut34 SetPos_p

8400 HighLine C | Software ManualDrive control (DCTRL)Control word and status word of the controller

74 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Control word for TA "Speed closed-loop control"

[4-3] Controller control word for application "Speed closed-loop control"

Bit Function Lenze function Information

0 SwitchOn TRUE: Device state changes to SwitchON

OR operation between wCANDriveControl_Bit0 and wMCIDriveControl_Bit0

At least one of the CAN or MCI control words = TRUE, so that the device changes to the SwitchOn state at switching on without a higher-level control having to set this bit via the fieldbus.

If control via a bus system is not wanted (e.g. in the case of control via terminals), the output signal wDriveCtrl of the LS_ParFix block can be connected to the control word inputs.

1 DisableVoltage TRUE: IMP pulse inhibit Inhibit inverter control (IMP)

2 SetQuickStop TRUE: QSP quick stop Execute quick stop (QSP)

3 Enable operation TRUE: controller enable Enable controller (RFR)-->see bit 0, SwitchOnFor terminal control, the value "1" must be set in both control words because otherwise the controller will be inhibited.

4 ModeSpecific_1 Reserved Currently not assigned

5 ModeSpecific_2

6 ModeSpecific_3

7 ResetFault TRUE: TRIP reset Reset error (trip reset)

8 SetHalt TRUE: activate stop function Stop drive via stopping ramp (in preparation)

9 reserved_1 -

10 reserved_2 -

11 SetDCBreak TRUE: SetDCBreak DC injection brake

12 JogSpeed1 TRUE: JogSpeed1 Activation of fixed speed

13 JogSpeed2 TRUE: JogSpeed2 Activation of fixed speed

14 SetFail TRUE: SetFail Set error (trip set)

15 SetSpeedCcw TRUE: SetSpeedCcw CCW direction of rotation

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 75


Control word and status word of the controller

Status word for TA "Speed closed-loop control"

[4-4] Controller status word (C00150) for application "Speed closed-loop control"

[4-5] Extended status word 2, C00155 , of the controller for application "Speed closed-loop control"

Bit Function Information

0 FreeStatusBit0 not assigned, freely usable

1 PowerDisabled Inverter control is inhibited (IMP)


3 FreeStatusBit3

4 FreeStatusBit4

5 FreeStatusBit5

6 ActSpeedIsZero Current speed < threshold value C00024

7 ControllerInhibit Controller inhibit is active

8 StatusCodeBit0 Status ID (bit-coded)see table

Device states ( 57)9 StatusCodeBit1

10 StatusCodeBit2

11 StatusCodeBit3

12 Warning Drive indicates device state: "Warning"

13 Trouble Drive indicates device state: "Trouble", e.g. with overvoltage


15 FreeStatusBit15


0 Fail

1 M_max

2 I_max

3 PowerDisabled

4 Ready

5 ControllerInhibit

6 Trouble

7 InitState

8 CwCcw

9 TroubleQSP

10 SafeTorqueOff

11 ApplicationRunning

12 AplParSetBit0

13 AplParSetBit1

14 Quick stop

15 Motorpar. Ident.

8400 HighLine C | Software ManualDrive control (DCTRL)Control word and status word of the controller

76 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Control word for TA "Table positioning"

[4-6] Controller control word for application "Table positioning"

Status word for TA "Table positioning"

[4-7] Controller status word for application "Table positioning"

Bit Function Lenze function Information

0 MckOperationMode_1 Selection of operating mode of MotionControlKernelStatus ID (bit-coded), for assignment see

Control double word for activating the MotionControlKernels ( 416)1 MckOperationMode_2

2 MckOperationMode_4

3 CINH TRUE: set controller inhibit

4 PosProfileNo_1 Selection of profile numberFor assignment see

Control double word for activating the MotionControlKernels ( 416)5 PosProfileNo_2

6 PosProfileNo_4

7 PosProfileNo_8

8 PosExecute TRUE: start positioning

9 EnableSpeedOverride TRUE: activate speed override

10 HomeSetPosition TRUE: set home position

11 FailReset TRUE: reset error

12 ManJogNeg TRUE: activate fixed speed (negative)

Activate CCW rotation or CW rotation in "Manual jog"---> C0123113 ManJogPos TRUE: activate fixed speed

(positive)

14 not assigned

15 not assigned


0 DriveFail Fault is active

1 GPSignalOut1 General-purpose binary signal monitor

2 GPSignalOut2

3 CInhActive Controller inhibit is active

4 DriveReady Status: readiness for operation

5 DigitalInput5 Status of digital input 5



8 InTarget Position in target window reached, C01245

9 ProfileBusy Profile is being processed

10 HomePosAvailable Home position is available

11 SpeedActCompare Actual speed ≥ C00024



14 QSPIsActive Quick stop is active

15 not assigned

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 77


Parameter setting

4.6 Parameter setting


The controller can be adapted to a specific task by means of parameters. There are differentways to parameterise the controller:

Keypad

CAN on board

Fieldbus communication (MCI interface)

Diagnostic interface

Parameter identification

Each parameter has

a parameter number which is unique within a drive system

a parameter text

specific attributes

– access type (read, write)

– data type

– limit values

– Lenze setting (factory-set scaling)

Division of the parameters into groups

The parameters are divided into the following function groups:

A. Setting parametersParameters for setting a device function, e.g. acceleration ramp, reference speed, max. motor current

B. Configuration parametersParameters for setting signal flows (FB interconnection) in the device, e.g. connection of the main setpoint to the analog input of the controller

C. Diagnostic parametersParameters for displaying device-internal process variables, e.g. the actual motor voltage or the control word. The diagnostic parameters have the attribute: read only.

8400 HighLine C | Software ManualDrive control (DCTRL)Parameter setting

78 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Changing of parameters

Changing a parameter usually causes an immediate response of the controller.

The exceptions are certain controller commands, e.g. C00002/1 ("Load Lenze setting") orsettings which might cause a critical state of the drive behaviour, e.g. a change of theactual speed value feedback configuration for closed-loop operation of the motor control.Such parameter changes are only accepted if the controller is inhibited, otherwise an errormessage is generated.

4.6.2 Saving of the parameters in the memory module

All parameters of the drive system are saved in the integrated memory module of thecontroller. This includes

the parameters of the controller

the parameters of the communication module plugged into the MCI interface

the parameters of the possibly existing safety module (device variant)

When the device is switched on, all parameters are automatically loaded from the memorymodule into the main memory of the controller.

The memory module functions correctly even if the controller is fed by the external 24Vsupply and the mains supply remains switched off.

In the event of a device replacement, the entire parameter data of an axis can be retainedby "taking along" the memory module, so that additional PC or keypad operations are notrequired.

The controller is provided with one data set for all parameters, i.e. every setting andconfiguration parameter has a value.

(In preparation: Several parameter sets per controller)

Danger!

If you change configuration parameters, please observe that this causes the device-internal signal flow to change immediately which could result in a sudden change of setpoint sources (if, for instance, the signal source for the main setpoint is configured).

This can lead to an undesired behaviour at the motor shaft.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 79


Parameter setting

4.6.3 Handling of the memory module

In the delivery state, the Lenze setting of the parameters is stored in the memory module.

The following cases are distinguished regarding the handling:

• Delivery

– All devices are delivered with a plugged-on memory module.

– The memory module can be preconfigured with customer-specific data.

– The memory module is available as a spare part - without any data.

• During operation

– When the memory module is plugged on/off, a message is generated.

– Parameter sets can be saved manually.

– Parameter sets can be loaded manually

• Plugging off the memory module

– When the memory module is plugged off, an error message is generated. Therefore, this should not be done during normal operation of the controller.

– Nevertheless, the memory module can be plugged off/on during operation. The behaviour of the device remains basically unchanged because all parameters are available in the RAM after the device has been started.

– The device can also be parameterised when the memory module has been plugged off. Saving of the parameter sets to the memory module then, of course, is not possible.

• Replacement of the controllerIf the controller has to be replaced, observe the versions of the devices. Generally, the following applies:

– Before the data are transferred, the version is checked.

– Parameter sets of devices with V 1.0 can be processed on devices ≥ V 1.0(downward compatibility).

– An error message is generated if the parameter set versions of the two devices are not compatible.

– Parameters of a higher device version are not supported on devices with a lower version.

– Parameter sets of a device with less functions (e.g. 8400 StateLine) can be loaded and executed in devices with more functions (e.g. 8400 HighLine). The reverse is not possible!

Note!

Automatic saving is explicitly not supported because this significantly reduces the service life of the memory module.

8400 HighLine C | Software ManualDrive control (DCTRL)Parameter setting

80 L Firmware 02.00 - DMS EN 3.0 - 05/2009

4.6.4 Non-volatile saving of parameters

To save changed parameters permanently (i.e. safe against mains failure), the controllercommand C00002/11 must be called separately. This command copies all parametersfrom the RAM of the device to the memory module.

This process may take some seconds.

The state of the saving process is indicated by the status of the corresponding controllercommand C00002/11.

The controller command C00002/1 can be used to reset the controller to the Lenze settingof the parameters (delivery state)

4.6.5 Parameter set transfer

The »Engineer« PC program can be used to

save the parameter set to the memory module of the controller ,

read the parameter set from the controller ,

transfer the parameter set to the controller .

Note!

Please observe the following points during the saving process to avoid data inconsistency, which could cause an error when loading the parameters from the memory module:

• Do not switch off the supply voltage.

• Do not pull off the memory module from the device.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 81


Parameter setting

4.6.6 Parameters for status display

4.6.7 Setting/removing the controller inhibit

Setting the controller inhibit inhibits the power output stages in the controller and resetsthe speed/current controllers of the motor control.

When the controller is inhibited, the status output bCInhActive of the system block LS_DriveInterface is set to TRUE.

The controller can be inhibited by different sources, e.g. using the digital input RFR, the bCInh input of the LS_DriveInterface system block or via the "Inhibit controller" controller command (C00002/16 = "0").

The bit code under C00158 shows the source that inhibited the controller.


C00002 Controller command transmission and execution status

C00003 Status of the last device command

C00136/1 MCI control word

C00136/2 CAN control word

C00137 Device state

C00150 Status word

C00155 Status word 2

C00158 Cause of controller inhibit (CINH)

C00159 Cause of quick stop

C00165/1 Status-determining error as numeric text

C00165/2 Current error as numeric text

C00166/1 Error type, status-determining

C00166/2 Subject area, status-determining

C00166/3 Error ID, status-determining

C00166/4 Error type, current

C00166/5 Subject area, current

C00166/6 Error ID, current

C00168 Status-determining error (display of 32-bit number)


8400 HighLine C | Software ManualDrive control (DCTRL)Activation/deactivation of quick stop function (QSP)

82 L Firmware 02.00 - DMS EN 3.0 - 05/2009

4.7 Activation/deactivation of quick stop function (QSP)

When the quick stop function is activated, it

disconnects the motor control from the selected setpoints and brakes the motor to standstill (nact = 0) along the quick stop ramp (C00105).

holds the motor at standstill (only at closed-loop operation)

sets the pulse inhibit (CINH) if the auto-DCB function has been activated via C00019.

Activation of the quick stop function

The quick stop function can be activated by different signal sources:

Controller command C00002/17 , activate quick stop

Bit 2 in the control word of the fieldbus communication (CANonboard / MCI) set to TRUE

Occurrence of a device error which is set to the "TroubleQSP" response type.

Input signal at the LS_MotorInterface system block (motor control) set to TRUE.

Tip!

The cause of a quick stop can be displayed via the parameter C00159.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 83

8400 HighLine C | Software ManualMotor control (MCTRL)

5 Motor control (MCTRL)

This chapter contains information on the internal motor control parameterisation of thecontroller, i.e. this chapter describes:

Control types and related signal flow diagrams

Motor selection

Motor parameterisation

Optimisation of the internal control loops of the motor control.

See also: Parameterising the V/f characteristic control without feedback ( 90)

Parameterising V/f characteristic control with feedback ( 94)

Sensorless vector control (SLVC) ( 106)

Servo control (SC) ( 117)

Encoder evaluation ( 211)

8400 HighLine C | Software ManualMotor control (MCTRL)Selection of the operating mode

84 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.1 Selection of the operating mode

The motor control process is defined with the selection of the operating mode, see C00006.

Different processes are available, which can be operated as follows regarding the speedfeedback:

V/f characteristic control (VFCplus) ( 88)

– Without speed feedback, VFCplus: linear V/f characteristic (C00006, value: 6)

– With speed feedback, VFCplus: linear V/f characteristic (C00006, value: 7)

– Without speed feedback, VFCplus: quadratic V/f characteristic (C00006, value: 8)

– With speed feedback, VFCplus: quadratic V/f characteristic (C00006, value: 9)

Sensorless vector control (SLVC) ( 106)

– Without speed feedback, sensorless vector control (C00006, value: 4)

Servo control (SC) ( 117)

– With speed feedback, field-oriented vector control (C00006, value: 2)

Note!

In all operating modes, an influence can be exercised on the torque via two process signal inputs:

• V/f characteristic control (VFCplus)Indirect influence via the effect on the Imax controller through

– nTorqueMotLim C00728/1: Limitation of the torque in motor mode

– nTorqueGenLim C00728/2: Limitation of the torque in generator mode

• Sensorless vector control ("SLVC") and servo control ("SC")Direct influence on the torque-generating current component through

– nTorqueMotLim C00728/1: Limitation of the torque in motor mode

– nTorqueGenLim C00728/2: Limitation of the torque in generator mode

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 85


Selection of the operating mode

V/f characteristic control (VFCplus)

The V/f characteristic control (VFCplus) is an operating mode for standard frequencyinverter applications based on a simple and robust control process which is suitable for theoperation of machines with linear or square-law load torque characteristic (e.g. fans).Furthermore, this operating mode is also suitable for group drives and special motors. Dueto the low parameterisation effort, commissioning of such applications is fast and easy.

The parameters required for optimising the drive behaviour C00016 (Vmin) and C00021(slip compensation) are dimensioned for machines with power adaptation to the inverterin the Lenze setting .

If a feedback of the speed is used, the V/f characteristic control (VFCplus) can be providedwith an additional slip regulator which dynamically adapts the actual speed value to thespeed setpoint.

Field-oriented vector control

The field-oriented vector control (SLVC) is based on a decoupled, separate control of thetorque-generating and the field-generating current component. The actual speed isreconstructed via a motor model so that there is no speed encoder required. Compared tothe V/f characteristic control, improved drive characteristics are achieved with the field-oriented vector control. These in particular include

a higher maximum torque across the entire speed range

a higher speed accuracy

a higher concentricity factor

a higher efficiency

the implementation of an operation with torque-actuating drive

the limitation of the maximum torque in motor and generator mode for speed-actuated operation

Tip!

If a high torque without feedback is to be provided at small speeds, we recommendthe "Vector control" operating mode.


86 L Firmware 02.00 - DMS EN 3.0 - 05/2009

As shown in the following graphics, the drive systems with feedback have, independentlyof the operating mode, more advantages than systems without feedback.

V/f characteristic control (VFCplus) without feedback V/f characteristic control (VFCplus) with feedback

9300vec092 9300vec093

Operation in motor mode (CW rotation), Operation in generator mode (CCW rotation), Operation in motor mode (CCW rotation), Operation in generator mode (CW rotation)

Sensorless vector control (SLVC) Servo control (SC)

9300vec095 9300vec094

Operation in motor mode (CW rotation), Operation in generator mode (CCW rotation), Operation in motor mode (CCW rotation), Operation in generator mode (CW rotation)

��

� �

nN

MN

M

-MN

-nN n

��

� �

nN

MN

M

-MN

-nN n

��

� �

nN

MN

M

-MN

-nN n

��

� �

nN

MN

M

-MN

-nN n

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 87



To ease the selection of the operating mode (C00006), the two following tables containrecommendations and alternatives to standard applications.

[5-1] Standard applications without speed feedback

[5-2] Standard applications with speed feedback

Application Recommended Alternatively

Single drives

With constant load VFCplus: V/f linear SLVC

With extremely alternating loads VFCplus: V/f linear SLVC

With high starting duty SLVC VFCplus: V/f linear

Torque limitation SLVC -

With torque limitation (power control) VFCplus: V/f linear SLVC

Three-phase reluctance motor VFCplus: V/f linear -

Three-phase sliding rotor motor VFCplus: V/f linear -

Three-phase AC motors with permanently assigned frequency/voltage characteristic

VFCplus: V/f linear -

Pump and fan drives with quadratic load characteristic VFCplus (square-law V/f characteristic)

VFCplus or SLVC

Simple hoists VFCplus: V/f linear -

Group drives (several motors connected to controller)

Identical motors and loads VFCplus: V/f linear -

Different motors and/or alternating loads VFCplus: V/f linear -

Application Recommended Alternatively

Single drives

With constant load SC VFCplus / SLVC

With extremely alternating loads SC VFCplus / SLVC

With high starting duty SC VFCplus / SLVC

With speed control (speed feedback) SC VFCplus

With high dynamic performance e.g. for positioning and infeed drives

SC -

Torque limitation SC SLVC

With torque limitation (power control) - -

Winder with dancer position control SC VFCplus

Unwinder with dancer position control SC VFCplus

Three-phase reluctance motor - -

Three-phase sliding rotor motor - -

Three-phase AC motors with permanently assigned frequency/voltage characteristic

- -

Pump and fan drives with quadratic load characteristic - -

Simple hoists VFCplus: V/f linear -

Group drives (several motors connected to controller)

Identical motors and loads VFCplus -

Different motors and/or alternating loads - VFCplus


88 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.1.1 V/f characteristic control (VFCplus)

Stop!

• The following must be observed when operating drives with quadratic V/f characteristic:

– Please always check whether the corresponding drive is suitable for operation with a quadratic V/f characteristic!

– If your pump or fan drive is no suitable for operation with a quadratic V/f characteristic, you either have to use the V/f characteristic control with a linear V/f characteristic, or select the SLVC operating mode (sensorless vector control) and SC (servo control).

• For adjustment, observe the thermal performance of the connected asynchronous motor at low output frequencies.

– Usually, standard asynchronous motors with insulation class B can be operated for a short time with their rated current in the frequency range 0 Hz ≤ f ≤ 25 Hz.

– Contact the motor manufacturer to get the exact setting values for the max. permissible motor current of self-ventilated motors in the lower speed range.

– If you select the quadratic V/f characteristic, we recommend to set a lower Vmin.

• The nameplate data of the motor (at least rated speed and rated frequency) must be entered if, instead of a standard motor, an asynchronous motor is used with the following values:

– rated frequency ≠ 50 Hz (star) or

– rated frequency ≠ 87 Hz (delta) or

– number of pole pairs ≠ 2.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 89



The following illustration shows the structure of the control system in a simplifiedmanner; for the complete representation see Signal flow ( 159).

[5-3] Signal flow diagram of the V/f characteristic control (VFCplus)

In case of the V/f characteristic control (VFCplus), the motor voltage of the inverter isdetermined by means of a linear or quadratic characteristic depending on the fieldfrequency or motor speed to be generated. The voltage follows a preselected characteristic.

[5-4] Principle of a linear and quadratic V/f characteristic

Generally, two different characteristic shapes can be defined:

Linear V/f characteristic for drives with a constant and speed-independent load torque

Quadratic characteristic for drives with a load torque increasing quadratically with the speed. Quadratic V/f characteristics are mainly used in centrifugal pumps and fan drives.

f :

C00910/1 /2maxn :

C00909/1 /2max

nStatorCurrentIS_aC00054

nEffSpeedSetValue_aC00050

I :C00022

I :C00023max Mot

max Gen

V :C00073/1pT :C00074/1N

nSpeedSetValue_aC00830/22

Hz

%

nMotorFreqAct_aC00058

fMod

SlipcompC00021

Slip compensationI controllermax

ModulatorCharacteristicselection

Motor slip model

f : C00015

V : C00016base

min

Vset

8400vec085 / 8400vec086

0 1

0

100 %

N

nn

Umin

Uout

0 1

0

100 %

N

nn

Umin

Uout


90 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.1.1.1 Parameterising the V/f characteristic control without feedback

Overview of the relevant parameters

How to parameterise the V/f characteristic:

1. Select the operating mode "V/f characteristic control" with corresponding characteristic shape C00006.

2. When using an asynchronous motor which deviates from the standard motor, having a different rated frequency than 50 Hz (star) or 87 Hz (delta) or a different number of pole pairs than 2:

• Enter nameplate data of the motor (at least rated speed and rated frequency)

3. If required, adapt the base frequency of the V/f characteristic C00015

4. If required, rise the V/f characteristic by Vmin C00016

See also: Setting the V/f base frequency ( 91)

Setting Vmin boostn ( 92)

Parameterising V/f characteristic control with feedback ( 94)


C00006 Selection of the operating mode for V/f characteristic control without feedback with • value "6" for linear characteristic or • value "8" for quadratic characteristic

C00011 Reference speed

C00015 Base frequency

C00016 Vmin boost

C00018 Switching frequency

C00021 Slip compensation

C00022 Current limit (in motor mode)

C00023 Current limit (in generator mode)

C00073/1 Imax current controller gain

C00074/1 Imax current controller reset time

C00080 Override point of field weakening function

C00909/1 /2 Maximum positive / negative speed

C00910/1 /2 Maximum positive / negative output frequency

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 91



Setting the V/f base frequency

The V/f base frequency determines the slope of the V/f characteristic and has considerableinfluence on the current, torque, and power performance of the motor.

– The setting in code C00015 applies to all permitted mains voltages.

– Mains fluctuations or fluctuations of the DC-bus voltage (operation in generator mode) do not need to be considered when the code is set. They are automatically compensated by the internal mains voltage compensation of the device.

– Depending on the setting of C00015, it may be required to adapt the reference speed C00011 to pass the total motor speed range.

– The V/f base frequency is automatically calculated from the stored motor nameplate data by the motor parameter identification:

Typical values for the V/f base frequency C00015:

• Ufrequency inverter:– Frequency inverter 400 V– Frequency inverter 230 V

• Uratedmot: Rated motor voltage depending on the connection method

• frated: Rated motor frequency

Frequency inverter 400 V Frequency inverter 230 V

Motor voltage [V]

Motor frequency [Hz]

Motor connection

C00015 Motor voltage [V]

Motor frequency [Hz]

Motor connection

C00015

230 / 400 50 50 Hz 230 50 50 Hz

220 / 380 50 52,6 Hz 220 / 380 50 52,3 Hz

280 / 480 60 50 Hz

400 / 690400

5050

50 Hz

230 / 400280 / 480400

506087

87 Hz

220 / 380 50 90,9 Hz

Note!

4-pole asynchronous motors which are designed for a rated frequency of f = 50 Hz in star connection can be operated in delta connection when being constantly excited up to f = 87 Hz.

• Advantages:

– Higher speed-setting range

– 73% higher power output in case of standard motors

• Motor current and motor power increase by the factor .

• The field weakening range starts above 87 Hz.

• Generally, this process can also be used with motors which have different numbers of pole pairs. In case of 2-pole asynchronous motors, the mechanical limit speed must be maintained.

C00015 Hz[ ]UFU V[ ]

UNMot V[ ]-------------------------- fNenn Hz[ ]⋅=

3


92 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Setting Vmin boostn

The Vmin boost C00016 of the motor voltage

serves to select a magnetising current required for asynchronous motors independently of the load.

is effective for output frequencies below the V/f base frequency

optimises the torque behaviour of the motor.

The general linear and quadratic V/f characteristics are shown in the followingillustrations. The illustrations show the impacts of the parameters used to adapt thecharacteristic shape.

[5-5] Representation of the linear V/f characteristic (on the left) and quadratic V/f characteristic (on the right)

How to adjust the Vmin boost:

1. Operate motor in idle state at approx. 6 % of the rated motor speed.

2. Increase Vmin until the following motor current is reached:

• Motor in short-time operation up to 0.5 nrated

with self-ventilated motors: Imotor ≈ Irated motor

with forced-ventilated motors: Imotor ≈ Irated motor

• Motor in continuous operation up to 0.5 nrated

with self-ventilated motors: Imotor ≈ 0.8 Irated motor

with forced-ventilated motors: Imotor ≈ Irated motor

C00015

C00016

C000152

C000162

V [V]out

f [Hz]

V

(100 %)rmot

1/N/PE AC 264 V3/PE AC 264 V3/PE AC 550 V


C00015

C00016

V [V]out

f [Hz]

V

(100 %)rmot



Note!

Vmin is automatically calculated by the motor parameter identification using the data specified on the motor nameplate so that a no-load current of approx. 0.8 Irated motor results at the slip frequency of the machine.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 93



Subsequent optimisation of the V/f characteristic control (VFCplus)

The V/f characteristic control (VFCplus) is generally ready for operation. It can be adaptedsubsequently by adapting the characteristic and/or the drive behaviour.

Adaptation of the characteristic

– Each of the three characteristic shapes can be adapted to different load profiles or motors via several parameters, see e.g. C00015, base frequency or C00016, Vmin boost.

Adaptation of the drive behaviour

– Limitation of the maximum current by a current controller (e.g. to prevent the motor from stalling or to limit to the maximally permissible motor current)

– Adaptation of the field frequency by a load-dependent slip compensation (improved speed accuracy for systems without feedback)

– Adaptation of the controller parameters of the slip regulator with a V/f characteristic control with feedback

Only the following drive behaviour requires an optimisation of the V/f characteristiccontrol:

Drive behaviour Remedy

Bad smooth running with low speeds, especially in case of operation with long motor cable

Carry out motor identification

Problems in case of high starting duty (great mass inertia)

Adapt Vmin boost C00016 • Set the code so that a 0.8 ... 1-fold rated motor current

flows with controller enabled and 5 ... 10% of the rated speed.

The drive does not follow the speed setpoint. The current controller intervenes in the set field frequency to limit the controller output current to the maximum current (C0022, C0023). Therefore • increase acceleration time / deceleration time

C00012, C00013 • consider a sufficient magnetising time of the motor.

Depending on the motor power, the magnetising time amounts to 0.1 ... 0.2 s

• increase permissible maximum current (in motor mode, in generator mode) C00022 C00023

For operation without speed feedback (C00006 = 6):Insufficient speed constancy at high load (setpoint and motor speed are not proportional any more)

• Increase slip compensation C00021 . Important: unstable drive due to overcompensation!

• With cyclic load impulses (e. g. centrifugal pump), a smooth motor characteristic is achieved by smaller values in C00021 (possibly negative values)

Note: The slip compensation is only active for operation without speed feedback.

Error messages "Clamp operation active" (OC11), controller cannot follow dynamic processes, i.e. acceleration or deceleration times are too short regarding the load conditions

• Increase the gain of the Imax controller C00073/1 • Reduce the integral-action time of the Imax controller

C00074/1 • Increase the acceleration time C00012 • Increase the deceleration time C00013

Motor stalling in the field weakening range (adaptation required especially for small machines)

• Decrease override point of field weakening range C00080

• If motor power < inverter power: Set C00022 to Imax = 2 Irated motor

• Reduce dynamic performance of setpoint generation


94 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.1.1.2 Parameterising V/f characteristic control with feedback

The V/f characteristic control (VFCplus) can be operated with a speed feedback. This hasthe following advantages:

Steady-state accuracy of the speed

A low parameterisation effort compared to the vector control SLVC

An improved dynamic performance compared to the V/f characteristic control without feedback or to the sensorless vector control SLVC.

Suitable for group drives


Note!

• Ensure that the maximum input frequency of 100 kHz is not exceeded during operation of the motor control with feedback. Frequency inputs ( 193)

• Since the slip in the V/f operation with feedback is calculated from the actual speed value and the speed setpoint and injected by the slip regulator, the slip compensation C00021 is deactivated in this operating mode because the slip is measured and compensated during the V/f operation with feedback.


C00006 Selection of the operating mode for V/f characteristic control with feedback with • value "6" for operating mode: VFCplus, V/f linear characteristic, or • value "8" for operating mode: VFCplus, V/f square-law characteristic


C00015 Base frequency

C00016 Vmin boost




C00073/1 Imax current controller gain

C00074/1 Imax current controller reset time


C00115/1 Function of digital inputs 1 and 2

C00420/1 Number of encoder increments, digital inputs 1 and 2

C00495 Speed sensor selection

C00496 Encoder evaluation method

C00497/1 Encoder filter time for digital inputs 1 and 2



C00971 /1 /2 Controller limitation / slip limitation

C00972 (Slip regulator) gain Vp of the Imax controller

C00973 (Slip regulator) reset time Ti of the Imax controller

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 95



How to parameterise the V/f characteristic control (VFCplus) with feedback:

1. If required, adapt the base frequency of the V/f characteristic C00015

2. If required, rise the V/f characteristic by Vmin C00016

3. Set dynamic behaviour of the slip regulator designed as PI controller via the slip regulator gain C00972 and the slip regulator reset time C00973.

4. Limit the maximum intervention of the slip regulator, C00971, subcode 1 (slip regulator output limitation).

5. If required, limit the maximum slip, C00971, subcode 2.

See also: Setting the V/f base frequency ( 91)

Setting Vmin boostn ( 92)

Setting and optimisation of the slip regulator ( 98)

Note!

For V/f characteristic control (VFCplus) with speed feedback, we recommend a considerably lower increase of the V/f characteristic by Vmin C00016.

Vmin should be dimensioned so that approximately 50% of the rated motor current flows at slip frequency in idle state.


96 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Simplified signal flow diagram

The following illustration shows the structure of the control system in a simplifiedmanner; for the complete representation see Signal flow ( 159).

[5-6] Signal flow of the V/f characteristic control (VFCplus) with feedback

nSpeedCtrlISetC00830/24bSetSpeedCtrlC00833/31

nMotorSpeedAct_aC00051

KP C00972TN C00973

: C00015: C00016


f :C00910/1 /2max

%Hz

C00971/1

n :C00909/1 /2max

%Hz

nMotorSpeedAct [Hz]+ C00971/2


V :C00073/1pT :C00074/1N


nStatorCurrentIsC00054

nMotorTorqueAct_aC00056/2

nTorqueMotLim_aC00830/28

C00830/29nTorqueGenLim_a

I :C00022

I :C00023max Mot

max Gen

bLimCurrentSetValbLimSpeedCtrlOut

0

1

bLimTorqueSetVal

nCtrlSpeedPAdapt_aC00830/25bSetCtrlSpeedPAdapt

I controllermax

Slip regulator

ModulatorV/f characteristic

setV

fMod

f

Vbase

min

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 97



Commissioning of the V/f characteristic control (VFCplus) with feedback

In order to protect the drive system, the commissioning of the slip regulator and the V/fcharacteristic control operation with feedback has to be carried out in several steps.

1. Set the V/f characteristic (C00015, C00016). For special motors with a rated frequency differing from 50 Hz or a number of pole pairs ≠ 2, the nameplate data have to be entered.

2. Select the operating mode C00006 "V/f characteristic control with feedback" (linear or quadratic characteristic) and deactivate the slip regulator (C00971/1 = 0)

3. Parameterise the speed feedback

4. Select a speed setpoint (e.g. 20% of the rated speed) and enable the controller

5. Check that the actual speed value (C00051) has approximately the same value as the speed setpoint (C00050). In case of a sign reversal between setpoint and actual value, check the connection of the encoder (e.g. changing of tracks A / B of the encoder or inversion of the actual speed value). In case of large deviations between actual speed value and speed setpoint (factor 2), set the controller inhibit and enter the nameplate data of the motor. Then repeat step 5.

6. To protect the drive, set a low manipulating variable limitation for the slip regulator C00971/1 (e.g. half the slip frequency, 2 Hz)

7. Select a speed setpoint (e.g. 20% of the rated speed) and enable the controller

8. In the case of semi-stable operational performance, reduce the reset time C00972 or the proportional gain C00973 until the drive runs stable again.

Setting and optimisation of the slip regulator ( 98)

9. Finally, adapt the manipulating variable limitation of the slip regulator C00971/1 (e.g. increase to double the slip frequency)


98 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Setting and optimisation of the slip regulator

The slip regulator is designed as PI controller. To improve the response to setpoint changes,the setpoint speed or setpoint frequency is added as feedforward control value to theoutput (manipulating variable) of the slip regulator. Compared to the conventional speedcontroller, the slip regulator only compensates the slip.

In the Lenze setting, the configuration of the slip regulator provides robustness andmoderate dynamics.

The setting range of the slip regulator gain C00972, which leads to a stable operationalperformance, mainly depends on the resolution of the speed sensor. There is always thedirect connection between encoder resolution and gain.The higher the encoder resolution, the higher the gain can be set.

The table contains the maximum and recommended slip regulator gains for encoders withcommon encoder increments:

[5-1] Slip regulator gain with regard to encoder increments

Encoder increment [Increment/revolution]

Slip regulator gain

maximum Recommended

8 0,09 0,06

64 0,52 0,31

100 0,79 0,47

120 0,94 0,57

128 1,00 0,60

256 1,29 0,77

386 1,63 0,98

512 1,97 1,18

640 2,31 1,38

768 2,65 1,59

896 2,99 1,79

1014 3,33 2,00

1536 4,69 2,81

2048 6,05 3,63

3072 8,77 5,26

4096 11,49 6,90

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 99



How to adapt the slip regulator gain C00972 to the operating conditions:

1. Adapt the code C00972 to the encoder increments according to the table [5-1].

2. Set code C00971, subcode 1, to half the slip frequency (= 2 Hz)

3. Select the speed setpoint

4. Enable controller

5. Increase C00972 until the drive is semi-stable (recognisable by motor noise / "hum" of the motor or noise on the actual speed value signal)

6. Reduce C00972 until the drive runs stable again (no "hum" of the motor)

7. Reduce C00972 to approx. half the value

8. In case of low encoder resolutions, a reduction of C00972 for low speeds (speed setpoint ≈ 0) might be required. We recommend to finally check the behaviour at setpoint speed = 0 (in case of irregular running, C00972 must be further reduced).

9. Adapt code C00971/1 again (e.g. double the slip frequency).

How to set the slip regulator time constant C00973:

1. Set code C00971, subcode 1, to half the slip frequency (≈ 2 Hz)

2. Select the speed setpoint

3. Enable controller

4. Reduce C00973 until the drive is semi-stable (recognisable by motor noise / "vibration" of the motor or oscillations on the actual speed value)

5. Increase C00973 until the drive runs stable again (no "vibration" of the motor)

6. Increase C00973 to approx. double the value

7. Adapt code C00971/1 again (e.g. double the slip frequency).


100 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Setting of the slip regulator manipulating variable limitation C00971

The max. intervention of the slip regulator is limited via the slip regulator manipulatingvariable limitation. Depending on the application, the limitation can be made here. Werecommend to limit the maximum intervention to double the rated slip of the motor. Therated slip is calculated as follows:

The setting of C00971, subcode 1 = 0 deactivates the slip regulator. In this case, thestructure of the operating mode corresponds to the structure of the V/f characteristiccontrol without feedback.

Setting of the maximum slip C00971/2

In addition to the limitation of the slip regulator, the field frequency to be injected can belimited by another limiting element.

When the maximum slip is limited, e.g. to twice the rated slip of the motor, you can preventa stalling of the motor during very dynamic processes. Motor stalling can occur due to

a high overcurrent at very steep speed ramps

very fast speed changes caused by the load, e.g. abrupt stopping of the drive since being travelled against a limit stop or a standing load.

fSchlupfNennHz[ ] fNenn Hz[ ]

nMotorNennrpm[ ]

60-------------------------------------------- pPolpaarzahl⋅⎝ ⎠⎛ ⎞–=

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 101



5.1.1.3 Optimising the operational performance via slip compensation

Under load, the speed of an asynchronous machine decreases. This load-dependent speeddrop is called slip.

The slip can be partly compensated by setting C00021 accordingly.

The setting can be made automatically by entering the calculated value into code C00021 during the motor parameter identification.

The setting must be made manually when the motor parameter identification cannot be called up.

This is how the slip compensation and the Vmin boost are entered automatically:

1. Prepare the motor parameter identification by setting the following data taken from the motor nameplate:

• Rated motor power C00081

• Rated motor speed C00087

• Rated motor current C00088

• Rated motor frequency C00089

• Rated motor voltage C00090

• Motor cos ϕ C00091

2. Carry out the motor parameter identificationAutomatic motor parameter identification ( 140)

Note!

The slip compensation C00021 is only active in the V/f characteristic control operating mode without feedback and SLVC (sensorless vector control) (C00006 = 4, 6, 8).


102 L Firmware 02.00 - DMS EN 3.0 - 05/2009

How to set the slip compensation manually:

1. Calculate the slip compensation from the data of the motor nameplate:

[5-2] Calculation of the slip compensation from the motor data

2. Transmit the result to code C00021

3. When the drive is running, correct the code C00021 until no load-dependent speed drop occurs anymore in the desired speed range between idle state and maximum load of the motor. The guide value for a correctly set slip compensation is as follows:

• Deviation from the rated motor speed ≤ 1% for the speed range of 10 % ... 100 % of the rated motor speed and loads ≤ rated motor torque.

• Greater deviations are possible in the field weakening range

Tip!

• If C00021 is set too high, the drive may get unstable.

• Negative slip (C00021 < 0) with V/f characteristic control results in "smoother" drive behaviour at heavy load impulses or applications requiring a significant speed drop under load.

s Slip constant C00021 [%]

nrsyn Synchronous motor speed [rpm ]

nr Rated motor speed according to the motor nameplate [rpm ]

fr Rated motor frequency according to the motor nameplate [Hz]

p Number of motor pole pairs (1, 2, 3 ..)

snrsyn nr–

nrsyn------------------------- 100%⋅=

nrsynfr 60⋅

p---------------=

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 103



5.1.1.4 Optimising the setting of the Imax controller

In the VFCplus operating mode (linear or quadratic V/f characteristic control with orwithout speed feedback), the controller is provided with a current limitation controldefining the dynamic behaviour under load and counteracting an exceedance of amaximum current in motor or generator mode. This current limit value control is referredto as Imax control. The utilisation (motor current) that is measured is compared to thecurrent limit value set under C00022 for a load in motor mode and under C00023 for a loadin generator mode.

If the current limit values are exceeded, the controller changes its dynamic behaviour.

Motor overload during acceleration

The controller prolongs the acceleration ramp to keep the current on or below the currentlimit.

Generator overload during deceleration

The controller prolongs the deceleration ramp to keep the current on or below the currentlimit.

Increasing load with constant speed

If the motor current limit value is reached:

– The controller reduces the effective speed setpoint until a stable working point is set or an effective speed setpoint of 0 rpm is reached.

– If the load is reduced, the controller increases the effective speed setpoint until the setpoint speed is reached or the load reaches the current limit value again.

When the generator current limit value is reached:

– The controller increases the effective speed setpoint until a stable working point is set or the maximally permissible speed or output frequency is reached C00909 / C000910

– If the load is reduced, the controller decreases the effective speed setpoint until the setpoint speed is reached or the load reaches the current limit value again.

If a sudden load is built up at the motor shaft (e.g. drive is blocked), the overcurrent disconnection may respond (fault message OC1 or OC11, see Error messages of the operating system ( 298)).

The current limitation controller is factory-set so that the drive is stable. In the majority ofapplications, an optimisation is not required. The setting of the current limitationcontroller must be adapted if

A power control runs with high moments of inertia.Recommendation: Increase of the reset time of the Imax controller C00073/1

Vibrations in the VFCplus operating mode with encoder during the operation of the current limitation controller.Recommendation: Increase of the reset time of the Imax controller C00073/1

Overcurrent errors (e.g. OC3) occur due to load impulses or too high acceleration ramps.Recommendation: Reduction of the ramp time and reset time in C00073/1


104 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.1.1.5 Torque limitation for VFC (V/f characteristic control)

[5-7] Section of the signal flow chart V/f characteristic control with feedback ( 160)

The section Optimising the setting of the Imax controller ( 103) describes how the drive canbe protected against overload. The corresponding settings are selected duringcommissioning and then remain unchanged.

The interaction with the plant or process requirements often require a torque limitation toa lower value. To avoid an overload in the drive train, the torque can be limited withnTorqueMotLim in motor mode and with nTorqueGenLim in generator mode.

For this, the actual torque (C00056/2) is directly calculated from the current slip speed ofthe machine. This requires the correct entry of the motor data.

VFC (V/f characteristic control) without feedback

The accuracy of the torque limitation is limited because the actual torque (C00056/2) isonly calculated from the slip speed measured indirectly via the motor current.

0

1

QSP

bNMaxFault

V :C00073/1pT :C00074/1N

%Hz






C00105


0

1

bLimTorqueSetVal

n :C00909max

QSP Ramp

I :C00022

I :C00023max Mot

max Gen

Evaluationtorque limitation /current limitation

I controller /

torque limitationmax

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 105



VFC (V/f characteristic control) with feedback

The slip speed of the motor is available at the slip controller output. This leads to a highaccuracy for the actual torque (C00056/2) and the torque limitation.

Note!

• To avoid instabilities during operation with active slip compensation, the torque limit values are internally processed as absolute values. The following values can be selected for

– nTorqueMotLim in a range between 0 and + 199.99 %

– nTorqueGenLim in a range between - 199.99 and 0 %(100 % corresponds to the maximum torque C00057)

• When the slip compensation is deactivated (C00021 = 0), indirect torque limitation will be used (differential signal between apparent motor current and nTorqueMotLim or nTorqueGenLim). Above the no-load current of the motor, the accuracy of the indirect torque limitation is limited.


106 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.1.2 Sensorless vector control (SLVC) and servo control (SC)

Tip!

Observe the representation of the signal flows to the vector controls

• SLVC: Signal flow ( 159)

• SC: Signal flow - servo control for asynchronous motor ( 162)

5.1.2.1 Sensorless vector control (SLVC)

The operating mode is based on the improved motor current control according to the FTCprocedure by Lenze.

In comparison to the V/f characteristic control without feedback, the following can beachieved by means of sensorless vector control SLVC:




a higher efficiency

the implementation of torque-actuated operation with speed limitation.


Stop!

• With SLVC, the connected motor may be maximally two power classes lower than the motor assigned to the controller.

• With SC, we recommend to select a power-adapted combination of inverter and motor.

• Operation with vector control is only permissible for a single drive.

• Operation of the sensorless vector control (SLVC) is not permissible for hoists.

• The Lenze setting enables the operation of a power-adapted motor for both the SLVC and SC operating modes. An optimal operation can only be ensured if you follow on of the following three entries:

– enter the selected motor via the Lenze motor catalogue or

– enter the motor nameplate data and carry out the motor parameter identification or

– enter the nameplate data and equivalent circuit data of the motor (motor leakage inductance and motor magnetising inductance, slip compensation and stator resistance of the motor) manually.

• When you enter the motor nameplate data, take into account the phase connection implemented for the motor (star or delta connection). Only enter the data applying to the selected connection type.

• With SC, it is additionally required to parameterise the speed feedback.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 107



The sensorless field-oriented vector control can be operated in two different modes:

Speed control with torque limitation (bTorqueModeOn = 0)

Torque control with speed limitation (bTorqueModeOn = 1)

An optimal operation of the SLVC can be achieved from a minimum speed of approx. 0.5-fold slip speed. At lower speed values below the 0.5-fold slip speed, the maximum torqueis reduced.

The maximum field frequency with the SLVC operating mode is 650 Hz.

Speed control with torque limitation

A speed setpoint is selected and the drive system is operated in a speed-controlled manner.

The operational performance can be adapted in the following ways:

Overload limitation in the drive train: The torque is limited by the torque setpoint. The torque setpoint is identical with the value at the speed controller output nOutputSpeedCtrl. This is why the nTorqueMotLim C00728/1 can be used to limit the torque in motor mode and nTorqueGenLim C00728/2 can be used to limit the torque in generator mode to avoid an overload in the drive train.

Motor current limitation:A cross current setpoint is generated from the torque setpoint (see above) which is limited depending on the magnetising current, the max. current in motor mode C00022 and the max. current in generator mode C00023. The total current injected in the motor will not exceed the currents generated in motor and generator mode.

Slip compensation:The slip of the machine is reconstructed by means of the slip model. The influencing parameter is the slip compensation C00021.

Torque control with speed limitation

For torque-controlled operation, a torque setpoint nTorqueAdd is defined for the drivesystem. Contrary to the speed control with torque limitation (see above), speed controllerand torque limitation are deactivated for this application. The torque setpoint is directlydetermined from nTorqueAdd. The speed is defined by the process. Due to the "limitation",the torque-controlled drive can only run within a certain speed range, the positive speed ofwhich is limited by nSpeedHighLimit and the negative speed of which is limited bynSpeedLowLimit.

Note!

To avoid problems caused by sign changes and an unstable operation, the torque limit values nTorqueMotLim C00728/1 and nTorqueGenLim C00728/2 are internally processed as absolute values. The max. torque in motor mode can therefore effectively only be defined in a range from 0 … +199.99% and the max. torque in generator mode only in a range from 0 ... -199.99..0%.

(100 % corresponds to the maximum torque C00057)


108 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Tip!

We recommend to use the flying restart function for connecting/synchronising theinverter to an already rotating drive system.



C00006 Selection of the operating mode for V/f characteristic control without feedback with • value "6" for linear characteristic or • value "8" for quadratic characteristic






C00057 Maximum torque

C00070/1 SLVC: Vp speed controller

C00071/1 SLVC: Ti speed controller

C00073/2 SLVC: Vp torque controller

C00074/2 SLVC: Ti torque controller


C00081 Rated motor power

C00082 Motor rotor resistance

C00083 Motor rotor time constant

C00084 Motor stator resistance

C00085 Motor stator leakage inductance

C00087 Rated motor speed

C00088 Rated motor current

C00089 Rated motor frequency

C00090 Rated motor voltage

C00091 Motor cosine phi

C00092 Motor magnetising inductance

C00095 Motor magnetising current

C00097 Rated motor torque

C00273 Total moment of inertia

C00275 Setpoint precontrol filtering



C00915 Motor cable length

C00916 Motor cable cross-section

C00917 Motor cable resistance

C00985 Feedforward control in the d-branch

C00986 Feedforward control in the q-branch

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 109



How to set the sensorless vector control:

1. Set code C00006 to the value "4" for selecting the "sensorless vector control (SLVC)" mode.

2. For the selection of the control mode, set the corresponding bit as follows:

• bTorqueModeOn = 0, for speed control with torque limitation

• bTorqueModeOn = 1, for torque control with speed limitation

3. For the motor selection and parameterisation, the equivalent circuit data and the nameplate data are required. Depending on the manufacturer of the motor used, proceed as follows:

• Lenze motorSelect motor from the Engineer catalogue [A] or carry outmotor parameter identification [B] or [C]

• Third-party motorEnter motor nameplate data [B] and carry out motor parameter identification [C], or directly enter known equivalent circuit data C00084, C00085 , C00092 , C00095 and nameplate data [B] and [D]


110 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Selection and parameterisation of the motor

A. Select the motor from the Engineer motor catalog Motor catalogue ( 139). The data is transferred to the drive automatically

• If the Lenze motor is not listed there, continue with step [B].

B. Prepare the motor parameter identification by setting the following data taken from the motor nameplate and specifying the motor cable:







• Motor cable length C00915

• Motor cable cross-section C00916

C. Carry out the motor parameter identification

The following parameters are identified and automatically transmitted to the corresponding codes:

• Motor leakage inductance

• Motor magnetising inductance

• Motor stator resistance

• Motor rotor resistance

• Motor rotor time constant

• Magnetising current

• Motor cable resistance

D. Enter the nameplate data and the equivalent circuit data of the external motor:









• Motor rotor resistance C00082

• Motor stator resistance C00084

• Magnetising inductance C00092

• Leakage inductance C00085

• Magnetising current C00095

• Slip compensation C00021

The field-oriented sensorless vector control is now ready for operation.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 111



Optimising the sensorless vector control in the case of undesired drive behaviour

Drive behaviour Remedy

Deviation between no-load current and magnetising current or bad speed or torque accuracy.

The magnetising inductance C00092 must be adapted when the machine coasting. If the no-load current at 0.5-fold rated motor speed is higher than the magnetising current C00095, reduce the magnetising inductance until the no-load current and the magnetising current are equal. If not, increase the magnetising inductance.

Tendency of the correction of C00092PN: Rated motor power

Insufficient speed constancy at high load (setpoint and motor speed are not proportional any more)

CAUTION:An overcompensation of the settings mentioned under " Remedy" can result in unstable behaviour!

Via C00021 (slip compensation) you can affect the speed stability under high loads: • If nact > nslip, reduce the value in C00021 • If nact < nslip, increase the value in C00021

Unstable control with higher speeds • Check value in C00092 by comparing the current consumption in no-load operation with the rated magnetising current C00095

• Optimise oscillation damping C00234

Error messages "Short circuit" (OC1) or "Clamp operation active" (OC11) at short acceleration times C00012 in proportion to the load (controller cannot follow the dynamic processes).

• Increase the gain of the torque controller C00073/2 • Reduce the integral-action time of the torque

controller C00074/2 • Increase the acceleration time / deceleration time

C00012 / C00013

Mechanical resonances with certain speeds 1 The function block N_Nset_1 serves to suppress speed ranges in which resonances occur.

Speed variations in no-load operation for speeds > 1/3 rated speed

The oscillation damping minimises speed variations C00234

• Drive runs unstable • Setpoint speed and actual speed deviate strongly

Check the equivalent circuit data of the motor and the nameplate data.

• The torque required is not generated at standstill. • Current overshoots (OC1 or OC11 error) occur when

heavy loads are accelerated from standstill. • The machine runs uneven

Increase the magnetising current of the motor C00095

0,37 22 90

C0092

-15 %

+15 %

0

P [kW]N


112 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Optimising the starting behaviour after controller enable

When the controller is enabled, the magnetising of the motor leads to a start delay.

Under consideration of the motor rotor time constants under code C00083, the delay iscalculated as follows:

If this delay cannot be tolerated for specific applications, the motor must always beoperated in an energised condition. For this, select one of the following options:

1. How to proceed without setting controller inhibit:

– Deactivate the Auto-DCB function with C00019 = 0

– Do not activate controller inhibit but use setpoint = 0 or the QSP function to decelerate the drive to standstill.

2. How to proceed if the application requires controller inhibit to be set:

– Deactivate the Auto-DCB function with C00019 = 0

– Select a higher motor rotor resistance (max. factor 2!) under C00082 to reduce the magnetisation time.When starting, the short-term motor current rise may lead to a jerk in the machine!

Magnetisation time 1.5 motor rotor time constant⋅=

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 113



Optimising the dynamic performance and the field weakening behaviour for sensorless vector control

In the Lenze setting, the torque controller is preset in such a way that a robust and stableoperation with moderate dynamic performance is possible within the entire speed range.Optimising the controller parameters subsequently is not necessary.

A greater dynamic performance of the sensorless field-oriented vector control can beachieved by reducing the time constant of the torque controller with C00074/2.

To achieve a better dynamic performance of the field weakening function, set the timeconstant to C00074/2 ≤ 15 ms. With this setting, the torque/speed characteristic in thefield weakening range is improved for actual speeds above the rated speed:

[5-8] Speed / torque characteristic diagram in the field weakening range

Tip!

For applications requiring a high dynamic performance and a high speed andtorque accuracy in the field weakening range, we recommend to set the timeconstant of the torque controller to T ≤ 15 ms in C00074/2.

In this case, we recommend to limit the maximum torque to 1.5 x Mrated vianTorqueMotLim C00728/1 and nTorqueGenLim C00728/2 to ensure stableoperation in the field weakening range.

• For torque controller time constants T >15 ms (see ), the actual speed value slightly drops in the field weakening range if the load torque increases in the motor mode.

• For torque controller time constants T ≤ 15 ms (see ), the speed remains stable in the field weakening range if the torque is within the M/n characteristic field highlighted in grey.

��

nNnN

MNMN

MM

nn


114 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Optimising the speed controller setting

The speed controller is a PI controller. In the Lenze setting, the speed controller isconfigured in such a way that it has a good robustness and a moderate dynamicperformance.

The selection values for the gain VPN of the speed controller C00070/1 are scaled whichmakes the parameter setting almost independent of the power of the motor / inverter andcomparable:

If the rated data of the motor and the mass inertia of the drive system are known, werecommend the following setting:

Tip!

Values recommended by Lenze for the setting of the (proportional) gain:

• for drive systems without feedback: VPN = 6 … 25

• For drive system with good disturbance behaviour: VPN > 15In this case you should optimise the dynamic performance of the torque controller.

In addition to the controller's P component, code C00071/1 can be used to set the integral action component of the PI controller. Value range recommended by Lenze for the setting of the speed controller's time constant:

τ = 20 ms … 150 ms.

• VPN C00070/1:Gain of the speed controller

• TM: Time constant for motor acceleration

• MN: Rated motor torque

• nN: Rated motor speed

• Jdrive, total: Total moment of inertia of the drive

VPN

MN

nN-------- %[ ]=

VPN 1,5...3TM s[ ]

0 01 s[ ],--------------------⋅≈

TM s[ ]2 π nN min

1–[ ]⋅ ⋅MN Nm[ ] 60⋅-------------------------------------------- J Antrieb gesamt( , ) kgm

2[ ]⋅=

MN Nm[ ]PN W[ ] 60⋅

2 π nN min1–[ ]⋅ ⋅

--------------------------------------------=

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 115



Optimising the reference behaviour and detecting the mass inertia

Setting the total moment of inertia under C00273 provides the optimum torquefeedforward control. Depending on the application, an adjustment of the setting underC00273 may be necessary to optimise the response to position/speed setpoint changes bymeans of the torque feedforward control.

[5-9] Typical signal characteristics for different settings of the load moment of inertia

Without feedforward control: C00273 set too low:

C00273 set too high: Optimum feedforward control:

Actual speed value (signal nMotorSpeedAct) Speed setpoint (signal nMotorSpeedSet) Speed controller output (signal nOutputSpeedCtrl)

n, M

t

�

�

�

t

n, M �

�

�

t

n, M�

��

t

n, M

�

�

�


116 L Firmware 02.00 - DMS EN 3.0 - 05/2009

How to optimise the torque feedforward control:

1. Run a typical speed profile and record the inputs and outputs of the speed controller with the data logger (in preparation).

• Motor control variables to be recorded:nMotorSpeedSet (speed setpoint)nMotorSpeedAct (actual speed value)nOutputSpeedCtrl (speed controller output)

To optimise the reference behaviour, the speed controller output (nOutputSpeedCtrl), the speed setpoint and actual speed value must be observed.

2. Estimate the moment of inertia and set it under C00273 with regard to the motor end (i.e. considering the gearbox factors).

3. Repeat the data logger recording (see step 1).

Now the data logger should show that part of the required torque is generated by the feedforward control and the speed controller output signal (nOutputSpeedCtrl) is correspondingly smaller. The resulting following error decreases.

4. Change the setting under C00273 and repeat the data logger recording until the intended response to setpoint changes is reached.

• The optimisation could aim at the speed controller being completely relieved (see signal characteristics in Fig. [5-10]).

5. Save parameter set (C00002 = "11: Save start parameters").

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 117



5.1.2.2 Servo control (SC)

The field-oriented servo control (SC) is based on a decoupled, separate control of thetorque-generating and the field generating current component. The operating mode isbased on a controller structure with feedback, field-orientation, and cascade arrangementand provides for a dynamic and stable operation in all four quadrants. Basically, the servocontrol offers the same advantages as the sensorless vector control (SLVC):




a higher efficiency

the implementation of torque-actuated operation with speed limitation.


The servo control can be operated in two different modes:

Speed control with torque limitation ( 107), (bTorqueModeOn = 0

Torque control with speed limitation ( 107), (bTorqueModeOn = 1)

A position-controlled application requires a speed control with torque limitation(bTorqueModeOn = 0).



C00006 Selection of the operating mode






C00057 Maximum torque

C00070/2 SC: Vp speed controller

C00071/2 SC: Ti speed controller

C00072 SC: Tdn speed controller

C00075 Vp current controller

C00076 Ti current controller

C00077 SC: Vp field controller

C00078 SC: Ti field controller

C00079/1 SC: Current controller feedforward control (in preparation)

C00079/2 SC: Adaptive field weakening controller

C00079/3 SC: n-Ctrl-AntiWindUp



C00083 Motor rotor time constant


118 L Firmware 02.00 - DMS EN 3.0 - 05/2009

How to set the servo control (SC):

1. Set code C00006 to the value "2" for selecting the "vector control (SC)" mode.

2. Parameterise the speed feedback by

• parameterising the function of the digital inputs 1 and 2 as encoder input C00115

• entering the encoder increments C00420/1

• selecting the speed sensor C00495

• adapting the filter time of the actual speed value C00497

• changing over the encoder evaluation process with low-resolution encoders (number of increments < 120 increments) C00496

3. For the selection of the control mode, set the corresponding bit as follows:

• bTorqueModeOn = 0, for speed control with torque limitation

• bTorqueModeOn = 1, for torque control with speed limitation







C00091 Motor cosine phi



C00097 Rated motor torque

C00270 SC: Frequency of the current setpoint filter

C00271 SC: Width of the current setpoint filter

C00272 SC: Depth of the current setpoint filter

C00273 SC: Moment of inertia

C00274 SC: Maximum acceleration change

C00275 Setpoint precontrol filtering

C00280 SC: Filter time constant - DC detection

C00576 SC: Field feedforward control

C00577 SC: Vp Field weakening controller

C00578 SC: Ti Field weakening controller






C00985 Feedforward control in the d-branch

C00986 Feedforward control in the q-branch


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 119



For the motor selection and parameterisation, the equivalent circuit data, the slipcompensation, and the nameplate data are required.

The servo control is now ready for operation.

The Lenze settings of the controllers are predefined for a power-adapted motor. For anoptimal drive behaviour, we recommend to adapt the controller settings.

See also Selection and parameterisation of the motor ( 110)

Motor selection ( 136)


120 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Optimise control mode

The "optimisation steps" given in the following table serve to further optimise the controlbehaviour of the servo control and adjust it to the concrete application.

Detailed information on the individual steps can be found in the following subchapters.

Generally, the following optimisation steps are recommended:

In special cases, the following functions can be used for further optimisation:

Tip!

To run a typical speed profile for optimising the motor control, you can also use thebasic function "manual jog" with suitably adapted jog parameters if this basicfunction is supported by the technology application selected, see chapter "Manualjog" .

Optimisation steps

1. Optimise current controller . ( 121) • The current controller should always be optimised if a motor of a third-party manufacturer with

unknown motor data is used!

2. Optimise speed controller . ( 122) • The setting of the speed controller must be adapted depending on the mechanical path. • For an optimal reference behaviour, the total moment of inertia can be used to make a feedforward

control of the speed setpoint.

Optimisation steps

1. Set current setpoint filter ( 128). If higher-frequency speed or torque oscillations occur, which cannot be dampened by the speed controller, a band-stop filter can be activated.In order to suppress or damp (mechanical) resonant frequencies, a current setpoint filter is integrated in the speed control loop of the controller which is switched off in the default setting but can be parameterised accordingly, if required.Then readjust the speed controller: Optimise speed controller. ( 122)

2. Jerk limitation ( 130)

3. Optimising the behaviour in the field weakening range ( 131)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 121



Optimise current controller

An optimisation of the current controller is sensible since the two control parameters gain(C00075) and reset time (C00076) depend on the required maximum current and the setswitching frequency.

The gain and reset time can be calculated with the following formula:

Note!

An optimisation of the current controller should generally be carried out unless a power-adapted standard motor is used or the motor has been selected from the motor catalog of the Engineer!

• Vp = current controller gain [V/A], C00075 • Tn = reset time [s], C00076 • Lss = motor stator leakage inductance [H], C00085 • Rs = motor stator resistance [Ω], C00084 • TE = equivalent time constant (= 500 μs)

VP C00075,LSS H[ ]TE s[ ]-----------------=

Tn C00076,LSS H[ ]RS Ω[ ]-----------------=


122 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Optimise speed controller

The speed controller is designed as PID controller with an additional differential speedsetpoint gain. An optimal behaviour can be achieved by optimising the PID speed controlleror detecting the total mass inertia of the drive train.

In the Lenze setting, the configuration of the speed controller provides robustness andmoderate dynamics.

The selection values for the gain VPN of the speed controller C00070/2 are scaled whichmakes the parameter setting almost independent of the power of the motor / inverter andcomparable:


Tip!

Values recommended by Lenze for the setting of the (proportional) gain:

• for drive systems without feedback: VPN = 6 … 20

• for drive systems with a good disturbance behaviour: VPN > 12

In addition to the controller's P component, code C00071/2 can be used to set the integral action component of the PI controller. Value range recommended by Lenze for the setting of the speed controller's time constant:

τ = 20 ms … 150 ms.

• VPN C00070/2:Gain of the speed controller

• TM: Time constant for motor acceleration

• MN: Rated motor torque

• nN: Rated motor speed

• Jdrive, total: Total moment of inertia of the drive

VPN

MN

nN-------- %[ ]=

VPN 1,5...3TM s[ ]

0 01 s[ ],--------------------⋅≈

TM s[ ]2 π nN min

1–[ ]⋅ ⋅MN Nm[ ] 60⋅-------------------------------------------- J Antrieb gesamt( , ) kgm

2[ ]⋅=

MN Nm[ ]PN W[ ] 60⋅

2 π nN min1–[ ]⋅ ⋅

--------------------------------------------=

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 123



If the mass inertia of the drive is unknown, the optimisation can be achieved as follows:

Gain setting

The proportional gain Vp is selected under C00070/2:

1. Select the speed setpoint.

2. Increase C00070/2 until the drive becomes unstable (observe motor noises).

3. Reduce C00070/2, until the drive becomes stable again.

4. Reduce C00070/2 to approx. half the value.

Reset time setting

The reset time Tn is selected under C00071/2:

1. Reduce C00071/2 until the drive becomes unstable (observe motor noises).

2. Increase C00071/2 until the drive runs stable again.

3. Increase C00071/2 to approx. double the value.

Rate time setting

The rate time Td is selected under C00072:

Increase C00072 during operation until an optimum control behaviour is reached.


124 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Optimise reference behaviour and detect mass inertia

Setting the total moment of inertia under C00273 provides the optimum torquefeedforward control. Depending on the application, an adjustment of the setting underC00273 may be necessary to optimise the response to position/speed setpoint changes bymeans of the torque feedforward control.


Without feedforward control: C00273 set too low:

C00273 set too high: Optimum feedforward control:

Actual speed value (signal nMotorSpeedAct) Speed setpoint (signal nMotorSpeedSet) Speed controller output (signal nOutputSpeedCtrl)

n, M

t

�

�

�

t

n, M �

�

�

t

n, M�

��

t

n, M

�

�

�

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 125



How to optimise the torque feedforward control:

1. Run a typical speed profile and record the inputs and outputs of the speed controller with the data logger (in preparation).

• Motor control variables to be recorded:nMotorSpeedSet (speed setpoint)nMotorSpeedAct (actual speed value)nOutputSpeedCtrl (speed controller output)

To optimise the reference behaviour, the speed controller output (nOutputSpeedCtrl), the speed setpoint and actual speed value must be observed.

2. Estimate the moment of inertia and set it under C00273 with regard to the motor end (i.e. considering the gearbox factors).

3. Repeat the data logger recording (see step 1).

Now the data logger should show that part of the required torque is generated by the feedforward control and the speed controller output signal (nOutputSpeedCtrl) is correspondingly smaller. The resulting following error decreases.

4. Change the setting under C00273 and repeat the data logger recording until the intended response to setpoint changes is reached.

• The optimisation could aim at the speed controller being completely relieved (see signal characteristics in Fig. [5-10]).

5. Save parameter set (C00002 = "11: Save start parameters").


126 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Using the ramp response for setting the speed controller

When operation of the mechanics at the stability limit is not possible, the ramp responsecan be used to set the speed controller. The proceeding is similar to optimising the massmoment of inertia. For an optimal setting, we recommend to detect the mass inertia(optimal reference behaviour).

Stop!

If the controller parameters are preset unfavourably, the control can tend to heavy overshoots up to instability!

• Following and speed errors can adopt very high values.

• If the mechanical components is very sensitive, the corresponding monitoring functions must be activated.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 127



How to optimise the speed controller setting by means of the ramp response:

1. Run a typical speed profile and record the ramp response of the speed with the integrated oscilloscope (in preparation).

• Variables of the motor control to be recorded:speed setpointactual speed value

2. Evaluate the ramp response:

• Solid line = ramp response (actual speed value)

• Dash line = speed setpoint

3. Change the gain Vp under C00070 and the reset time Tn under C00071.

4. Repeat steps 1 ... 3 until the optimum ramp response is reached.

n

t

n

t

n

t

n

t

n

t

n

t

n

t

n

t

n

t

Vp < Vp opt. Vp = Vp opt. Vp > Vp opt.

Tn

<T

no

pt.

Tn

=T

no

pt.

Tn

>T

no

pt.


128 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Set current setpoint filter

Due to the high dynamic performance or limit frequency of the closed current control loop,mechanical natural frequencies can be activated which may lead to an unstable speedcontrol loop.

In order to suppress or damp these resonant frequencies, a current setpoint filter isintegrated in the speed control loop of the controller which is switched off in the defaultsetting but can be parameterised accordingly, if required.

[5-11] Optional current setpoint filters (filter cascade) in the speed control loop

Overview of parameters for current setpoint filter

Setting of the current setpoint filter

Since the frequency response of the speed controlled system is only rarely known to suchan extent that the current setpoint filters can be adjusted to the controlled system in therun-up, the following example describes how to set the current setpoint filters.

f:C270f:C271

dB:C272�

Currentsetpoint filter

Parameter Information Lenze setting

Value Unit

C00270 Freq. - current setpoint filter 1 200.0 Hz

C00271 Width current setp. filter 1 20.0 Hz

C00272 Depth current setp. filter 1 0 DB

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 129



How to set the current setpoint filters:

1. Optimise current controller ( 121).

2. Optimise speed controller ( 122)

3. Measure the oscillation frequency (observe current or speed).

4. Set the measured oscillation frequency in C00270 as filter frequency.

5. Set "25%" of the filter frequency in C00271 as filter width.

• Example: Filter frequency = 200 Hz filter width = 50 Hz.

6. Set "40 dB" in C00272 as filter depth.

• If the filter depth is set to "0 dB" (default setting), the filter is not active.

Note!

Readjust the speed controller after setting the current setpoint filter. Optimise speed controller. ( 122)


130 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Jerk limitation

The jerk limitation serves to limit the change of the setpoint torque. Thus, sudden torquevariations can be prevented and the speed characteristic becomes smoother.

The setting of the jerk limitation defines which maximum torque change (with regard tothe rated motor torque) is permissible per ms. A setting of 400 % / ms deactivates the jerklimitation.

Note!

Only activate this jerk limitation for speed-controlled applications!

If table positioning or a free FB interconnection with the positioning operating mode is selected, the jerk limitation has to be deactivated. The travel profile generator is provided with a jerk limiting function, the activation of the motor control jerk limitation would cause following errors.

Input: InputJerkCtrlOutput: Current setpoint filter


Value Unit

C00274 Jerk limitation 400.0 %/ms

C274

On:C274<C274Mot

Jerklimitation

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 131



Optimising the behaviour in the field weakening range

The behaviour in the field weakening range is influenced by

the field controller

the field weakening controller

the field feedforward control

the adaptation of the P component of the field controller and speed controller

an additional limitation of the integral part of the speed controller when the voltage limit is reached.

a feedforward control of the current controller (decoupling network) (in preparation)

Usually the settings are pre-optimised so that a further optimisation is not required. Whenspecial motors (e.g. mid-frequency motors) or non-power-adapted motors are used, anoptimisation can be carried out according to the following algorithms.

Field controller:

The field controller is designed as a PI controller.

The gain VPN of the field controller C00077 can be calculated with the motor rotor timeconstant C00083 and the equivalent time constant of the current-controlled motor:


Tip!

The motor rotor time constant depends on the motor rotor resistance, themagnetising inductance, and the leakage field inductance. For an optimalcalculation we recommend to select a Lenze motor from the motor table. Ifexternal motors are used, a parameter identification must be carried out.

• VPField C00077:Gain of the field controller

• TNField C00078: Time constant of the field controller

• TR C00083: Motor rotor time constant


Value Unit

C00077 SC: Vp field controller - -

C00078 SC: TN field controller - ms

VPN

MN

nN-------- %[ ]=

VPFeldTR s[ ]

4 TErsatz ms[ ]⋅--------------------------------------

TR s[ ]0 01 s[ ],--------------------=≈

TNFeld ms[ ] TR ms[ ]=


132 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Field weakening controller:

The field weakening controller serves to adapt the magnetising current when themaximum control voltage has been reached so that in steady operation approximately95 % of the maximally possible control voltage is output. Thus there is a voltage reserve fordynamic load or speed variations.

Tip!

If the field weakening controller is parameterised unfavourably, vibrations occur inthe magnetising current, in the direct-axis current and in the cross current, in thetorque and in the speed in the field weakening range. This is also audible by anincreased motor noise (humming). The vibrations can be dampened by a decreaseof the proportional gain of the field weakening controller.

Procedure:

• Operate the drive with max. required speed in the field weakening operation

• Reduce the P component of the field weakening controller until the vibration response cannot be detected anymore.

, • VP,FS :

Controlled system gain • VPN C00077:

Gain of the field controller • TNField C00078:

Time constant of the field controller • TR C00083:

Motor rotor time constant • Lh C00092:

Mutual motor inductance • Lss = Motor stator leakage inductance [H],

C00085 • L ss C00085:

Motor stator leakage inductance • p = number of pole pairs


Value Unit

C00577 SC: Vp Field weakening controller - -

C00578 SC: Tn field weakening controller - ms

VP FS,2

VStrecke FS,----------------------------≈ TNFS 10 ... 30 ms≈

VStrecke FS,1 σ–

σ------------

p 2 π nN⋅ ⋅ ⋅60

------------------------------ σ Lh Lss+( )2⋅ ⋅ ⋅=

σ 1Lh( )2

Lh Lss+( )2--------------------------–=

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 133



Field feedforward control:

To have enough voltage reserve available for dynamic acceleration processes, a timelyweakening of the field is required. The field weakening is controlled by the fieldfeedforward control.

The field feedforward control reciprocally reduces the magnetising current from the basefrequency C00015 on. The starting point of the reduction can be shifted to low frequenciesvia C00576. Thus, more voltage reserve is available for acceleration processes.

The field feedforward control C00576 is given in percent, 100 % corresponds to the ratedslip of the machine.

Tip!

Usually, the Lenze setting is sufficient for most of the applications. For applicationswith very dynamic acceleration processes in the field weakening range werecommend to increase the field feedforward control. In case of very slowapplications, you can reduce the field feedforward control.

Adaptation of the P component of the field controller and speed controller

In the field weakening range, the properties of the drive change due to the reduction of themagnetisation and the voltage limitation of the inverter. To be able to continue to providea stable, well dampened drive behaviour, the 8400 servo control has an automaticadaptation of the P component of the field weakening controller and speed controller.

In the Lenze setting, this function is activated. Depending on the application, this functioncan be deactivated via C00079/2.

Tip!

Lenze recommends to always activate the adaptation of the field weakening andspeed controller.


Value Unit

C00576 Field feedforward control 200.0 %


Value Unit

C00079/2 SC: Adaptive field weakening controller 0 -


134 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Additional limitation of the integral part of the speed controller when the voltage limit isreached.

In dynamic acceleration processes in the field weakening range, the acceleration torque islimited due to the limitation of the maximum output voltage of the inverter. Accelerationramps that are set too high C00012, may lead to undesired charging of the integrator ofthe speed controller, which result in very strong overshoots of the actual speed value whenthe setpoint is reached.

The function C00079/3 serves to intelligently limit the integrator part in dynamicacceleration processes in the field weakening range so that an overshoot of the actualspeed value can be prevented when the setpoint speed is reached.


Tip!

Lenze recommends to activate the additional limitation of the speed controller's I-component on reaching the voltage limit (C00079 = 1) if dynamic accelerationprocesses in the field weakening range are wanted.

The function should be deactivated again if slight speed variations occur in thefield weakening range.

Feedforward control of the current controller (decoupling network)

Decoupling the direct-axis current and the cross current via a decoupling network iscurrently being prepared.

Without limitation: With limitation:

Speed setpointActual speed value

In the Lenze setting, the function "without limitation" is deactivated because the robustness of the drive may decrease in the field weakening range. This may result in slight speed variations.

t

n [rpm] �

�

t

n [rpm] �

�


Value Unit

C00079/3 SC: n-Ctrl Anti-WindUp 0 -

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 135



5.1.3 Optimising the motor parameter identification

For the measurement of the variables required, the motor is energised via the controllerterminals U, V and W during the motor parameter identification.

The corresponding current controller can be set via the codes C00075 and C00076.

In the Lenze setting, the current controller is preset in such a way that an optimumcontroller behaviour is obtained for a motor with power adaptation to the inverter.

Note!

The motor parameter identification may be aborted if a special motor (e.g. mid-frequency motor) is used or if there is a large deviation between inverter and motor power.

In this case we recommend

• to reduce the P component Vp of the current controller C00075 e.g. by halving.

• to increase the time constant Ti of the current controller C00076 e.g. by doubling it.

Another cause for the abort of the motor parameter identification could be the implausibility of the entered nameplate data, e.g. the entry P = 0 kW for the motor power.

8400 HighLine C | Software ManualMotor control (MCTRL)Motor selection

136 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.2 Motor selection

Particularly the field-oriented control requires the motor data parameters to be set. Themotor data comprise the parameters of the motor nameplate and the data of theequivalent circuit diagram of the motor:

Overview of the relevant parameters, field

[5-3] Codes of the motor nameplate

Click the button shown on the left to openthe motor selection tab.







C00091 Motor cos ϕ

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 137


Motor selection

Other motor data

In the lower part of the tab you will find the "Other motor data" button, see in theillustration above. After a click the following interface opens:


[5-4] Codes of the equivalent circuit diagram of the motor







C00015 VFCplus: U/f base frequency


C00070 SLVC: Vp speed controller

C00071 SLVC: Ti speed controller

C00075 Vp current controller

C00076 Ti current controller

C00273 SC: Moment of inertia


138 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Motor cable

In addition to the motor data, the resistance of the motor cable can also be detected andconsidered by entering the motor cable length and the motor cable cross-section. For acorrect identification of the equivalent circuit parameters of the motor, the entry of themotor cable data is mandatory, especially for long motor cables.


[5-5] Codes of the motor cable





Firmware 02.00 - DMS EN 3.0 - 05/2009 L 139


Motor selection

5.2.1 Selection via motor catalogue

By clicking the "From motor catalogue" button of the "Application parameters" tab, anoperator dialog opens for selecting a motor. The operator dialog provides the option to

select a motor (blue-highlighted cursor position) using the scroll function or

select a motor by entering various criteria. The search criteria must be entered in the grey area in the upper part of the operator dialog. Search criteria are

– Motor name (see list field "Name")

– Nameplate data (see list field "C86"). This selection is connected to the C00086 code which provides a selection limited to the most important motor types for e.g. setting parameters with the keypad.

– Product type (see list field "Type"), e.g. synchronous motors, asynchronous motors, geared motors etc.

– Manufacturer (see list field of the same name), e.g. Lenze motors, motors of other manufacturers, motors by user-defined entry

– Rated power (see list field "Power")

– Plant data (pre-optimised, motor-specific controller settings and motor moment of inertia)

[5-13] Motor catalogue

For each motor selected, its name, type, and important technical data are displayed in theright part of the operator dialog.


140 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.2.2 Automatic motor parameter identification

The motor parameter identification serves to determine the motor data, the invertercharacteristic and the effects of the motor cable.

Danger!

During the motor parameter identification, the motor is energised via the outputs U, V and W of the controller!

Observe the corresponding safety instructions!

Note!

Before initial commissioning of the vector control, it is absolutely recommended to carry out the motor parameter identification.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 141


Motor selection

Overview of the relevant parameters:

[5-6] Codes for automatic motor parameter identification


C00015 V/f base frequencyValue measured during the parameter identification or calculated value

C00016 Vmin boostValue measured during the parameter identification or calculated value

C00021 Slip compensation Value measured during the parameter identification or calculated value

C00081 Rated motor power specified on the nameplate


C00083 Motor rotor time constantValue measured during the parameter identification or calculated value

C00084 Value measured during the parameter identification or calculated value

C00085 Value measured during the parameter identification or calculated value

C00087 Nameplate data, rated motor speed

C00088 Nameplate data, rated motor current

C00089 Nameplate data, rated motor frequency

C00090 Nameplate data, rated motor voltage

C00091 Nameplate data, motor cos ϕ

C00092 Motor magnetising inductanceValue measured during the parameter identification or calculated value

C00095 Motor magnetising currentValue measured during the parameter identification or calculated value





142 L Firmware 02.00 - DMS EN 3.0 - 05/2009

How to carry out the automatic motor parameter identification:

1. Inhibit controller or set it to the SwitchedON ( 62) state (e.g. LOW signal at terminal X4/RFR). Wait until the drive is at standstill.

2. Transfer the nameplate data to the following codes:

• C00081, rated motor power

• C00087, rated motor speed

• C00088 , rated motor current, enter value according to the connection method ( / )

• C00089 , rated motor frequency, enter value according to the connection method ( / )

• C00090 , rated motor voltage, enter value according to the connection method ( / )

• C00091, motor cos ϕ

3. Indicate motor cable length and motor cable cross-section



• Motor cable resistance C00917

4. Start the motor parameter identification with the controller command C00002/23.

Note!

• The motor parameter identification must be carried out when the motor is cold!

• The load machine may remain connected. Holding brakes, if present, may remain in the braking position.

• With an idling motor, a small angular offset may occur at the motor shaft.

• The motor parameter identification may be aborted by unstable drive behaviour (e.g. through a special motor or a great deviation between inverter and motor power).

• To identify the stator resistance, the amplitude of the rated motor current C00088 is injected. If the rated motor current is lower than 60% of the rated inverter current, at least 60% of the rated inverter current is injected to ensure a sufficient accuracy of the parameter identification.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 143


Motor selection

5. Enable controller, set it to the OperationEnabled ( 62) state (e.g. HIGH Signal at terminal X4/RFR). The identification starts. The progress of the identification can be read in C00002/23. The identification takes approx. 30 s. During this time, the following steps are passed through:

• The motor stator resistance C00084 is measured.

• The inverter error characteristic is measured.

• The leakage inductance is measured

• The motor magnetising inductance C00092 and the motor rotor resistance C00082 are measured.

• The magnetising current C00095 is measured.

• The V/f base frequency C00015 is calculated.

• The slip compensation is C00021 calculated.

• The Vmin boost C00016 is detected.

6. The identification is complete when the message "Done" appears under C00002/23.

7. Inhibit controller or set it to the SwitchedON ( 62) state (e.g. LOW signal at terminal X4/RFR).


144 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.2.3 Manual parameter setting for external motors

External motor data can be entered manually if you have the equivalent circuit diagramand nameplate data available.

Tip!

For the improvement of the concentricity factor, we recommend to carry out themotor parameter identification of the external motor first, and then enter the datafor the manual parameterisation.

Improving the concentricity factor includes

• the adjustment of the inverter error characteristic to the drive system and

• the knowledge of the motor cable resistance.

Both factors are determined during the motor parameter identification.


[5-7] Codes for the manual parameterisation of the motor data


C00015 V/f base frequency,value measured during the parameter identification or calculated value

C00016 Vmin boost

C00021 Slip compensation, value measured during the parameter identification or calculated value

C00081 Rated motor power, nameplate data


C00084 Motor stator resistance,value measured during the parameter identification or calculated value

C00085 Motor stator leakage inductance,value measured during the parameter identification or calculated value

C00087 Rated motor speed, nameplate data

C00088 Rated motor current, nameplate data

C00089 Rated motor frequency, nameplate data

C00090 Rated motor voltage, nameplate data

C00091 Motor cos ϕ, nameplate data

C00092 Motor magnetising inductance,value measured during the parameter identification or calculated value

C00095 Motor magnetising current,value measured during the parameter identification or calculated value




Firmware 02.00 - DMS EN 3.0 - 05/2009 L 145


Selection of the switching frequency

5.3 Selection of the switching frequency

The switching frequency of the inverter has an effect on the smooth running performanceand the noise generation in the motor connected, as well as on the power loss in thecontroller.

The lower the switching frequency, the

better the concentricity factor

lower the power loss

higher the noise generation.

Adjustable switching frequencies:

Lowering the switching frequency due to high heatsink temperatures

If the maximally permissible heatsink temperature was exceeded, the drive would beinhibited due to the "Overtemperature" error and the motor would coast without anytorque.

Note!

Operate the mid-frequency motors exclusively with the switching frequency f = 8 kHzsin or f = 16 kHzsin .

Parameter Values Information

C00018 1: 4 kHz var./drive-optimised • "var.":Adaptation of the switching frequency depending on the current

• "drive-opt.":drive-optimised modulation ("sine/delta modulation")

2: 8 kHz var./drive-optimised

3: 16 kHz var./drive-optimised

4: Reserved

5: 2 kHz constant/drive-optimised

• "fixed":Fixed switching frequencies

• "drive-opt.":drive-optimised modulation ("sine/delta modulation")




11: 4 kHz var./min. Pv • "min. Pv":The "min. PV" modulation mode additionally reduces the power loss for these switching frequencies.12: 8 kHz var./min. Pv

13: 16 kHz var./min. Pv

14: Reserved

15: 2 kHz constant/min. Pv




8400 HighLine C | Software ManualMotor control (MCTRL)Selection of the switching frequency

146 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Therefore, the switching frequency in the Lenze setting is lowered to the next smaller valuewhen the heatsink temperature has increased to 5 ° C below the maximally permissibletemperature.

After the heatsink has cooled down, the controller automatically switches to the nexthigher switching frequency up to the switching frequency set.

Lowering the switching frequency can be prevented using code C00144. When themaximally permissible heatsink temperature is reached, "Trip" is set for the respectiveswitching frequency and the motor coasts, see code C00165.

Lowering of the switching frequency depending on the output current

"Variable" switching frequencies can be selected for the controller in C00018, where thecontroller automatically lowers the switching frequency depending on the controlleroutput current. The modulation mode will not be changed. The changeover thresholds areincluded in the rated data of the Hardware Manual (the Hardware Manual is available onthe CD included in the scope of supply).

When a "constant" switching frequency is selected, no switching frequency changeovertakes place. In case of fixed frequencies, the controller output current is limited to thepermissible value of the corresponding switching frequency. In case of larger loadimpulses, the overcurrent interruption may be activated, to which the controller respondswith "Trip", see code C00165.

Tip!

The Lenze setting "8 kHzsinvar" ( C00018, value "2") is the optimum value forstandard applications.

Note!

For operation with a switching frequency of 16 kHz,

• the controller output current must not exceed the current limit values given in the technical data. Reduce the output current using the codes C00022, C00023.

• the Ixt evaluation C00064 is considered with the required derating to 0.67 Irated (Irated - rated device current) at switching frequencies of 2, 4 and 8 kHz.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 147


Selection of the switching frequency

Limiting the maximum output frequency

The maximum output frequency C00910 of the controller is not limited depending on theswitching frequency.

For this reason, adapt the maximum output frequency according to our recommendation:

Carry out further measures:

If required, deactivate the switching frequency changeover by the heatsink temperature C00144.

If required, ensure that the changeover threshold of the controller output current to the next smaller switching frequency will not be exceeded. If required, select a constant switching frequency using code C00018.

Display of the current switching frequency

The switching frequency currently being applied in the controller is displayed under codeC00725.

Operation at an ambient temperature of 45°C

The controller is designed so that operation at an ambient temperature of 45° C withoutderating is permissible at a switching frequency of 4 kHz.

Note!

If the servo control mode (SC) is selected, the drive assumes the 'maximum current limitation' state if the maximum output frequency C00910 has been reached.

At a switching frequency of 4 kHz, for instance, 500 Hz for the maximum output frequency should not be exceeded.

Maximum output frequency18---Switching frequency≤

8400 HighLine C | Software ManualMotor control (MCTRL)Definition of current and speed limits

148 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.4 Definition of current and speed limits

5.4.1 Definition of speed limits

Limitation of the speed setpoint

The parameter setting of code C00011 means with a speed setpoint of 100 % the drivemust rotate with the given value of the code. The speed setpoint information is given inpercent and refers to the reference speed set in C00011.. For the sake of the resolution to beachieved and the connected accuracy, the reference speed should be based on the speedrange required in the prevailing application.

Lenze recommendation: Reference speed = 1500 ... 3000 rpm .

Irrespective of the operating mode, there are more limitation options:

Limitation of the max. positive or negative speed C00909/1 or /2

Limitation of the max. positive or negative output field frequency C00910/1 or /2

Note!

In the torque-controlled operation (bTorqueModeOn = TRUE), the limitation of the speed setpoint has no function! In this case, a permissible speed range can be defined via the speed limitation (nSpeedHighLimit and nSpeedLowLimit).

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 149


Definition of current and speed limits

5.4.2 Definition of current limits

The 8400 controllers are provided in the various operating modes with functions whichdetermine the dynamic behaviour under load and counteract the exceedance of themaximum current in motor or generator mode.

The max. motor or generator current is limited with the codes C00022 or C00023.

The current limits must be selected depending on

the permissible maximum motor current

– Recommendation: I(mot)rated < 1.5 ... 2.0

the permissible maximum inverter current

the required motor or generator torque for the application

How to adapt the peak current limitation:

1. VFCplus with encoder:

• Reduce the slip limitation to twice the rate motor slip with C00971

• Reduce Vmin with C00016

2. VFCplus:

• Reduce the slip compensation with C00021.

3. SLVC:

• Reduce the slip compensation with C00021.

• Reduce nTorqueMotLim C00728/1 and nTorqueGenLim C00728/2

4. SC:

• Reduce the jerk limitation with C00274.

• Reduce nTorqueMotLim C00728/1 and nTorqueGenLim C00728/2

Note!

Highly dynamic applications(e.g. too low acceleration and deceleration ramp times or greatly fluctuating loads)

The overcurrent disconnection may respond (fault message OC1 or OC11) when the parameterisation of the maximum current in motor mode C00022 approximately corresponds to the maximum permissible value of the respective inverter.

Remedy by

• Increase of the acceleration and deceleration ramp time,

• Reduction of the maximum current C00022 / C00023 in motor/generator mode

• Adaptation of the indirect peak current limitation the implementation of which is dependent on the operating mode (procedure described below)

• Reduction of the current limitation controller's reset time with C00074/1.

8400 HighLine C | Software ManualMotor control (MCTRL)Flying restart function

150 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.5 Flying restart function

The flying restart function works with a simple asynchronous motor model which requiresthe knowledge of the motor stator resistance RS and the rated motor current. In order thatthe flying restart function works properly, we recommend to carry out a parameteridentification before using the function. Automatic motor parameter identification( 140)

The flying restart function works safely and reliably for drives with great centrifugalmasses.

Tip!

• When power-adapted standard asynchronous motors are used (rated motor power approximately corresponds to the rated inverter power), a motor parameter identification is not required.

• On drive systems with feedback, you do not need to use the flying restart function because the synchronisation to the speed detected by the feedback is always carried out in a jerk-free manner.

• In connection with the flying restart function, we recommend to read the information given in this manual in the chapter

Automatic DC-injection braking (Auto-DCB) ( 155)


This function serves to activate a mode which is used to "catch" a coasting motor duringoperation without speed feedback. This means that the synchronicity between controllerand motor is to be adjusted in such a way that a jerk-free transition to the rotatingmachines is achieved in the instant of connection.

The frequency inverter detects the synchronicity by identifying the synchronous fieldfrequency.

Duration

The "catching" process is completed after approx. 0.5 ... 1.5 seconds. The duration isinfluenced by the starting value. If the field frequency is not known, we recommend a fixedstarting value of 10 Hz (or -10 Hz with systems rotating in negative direction).

Note!

• Do not use the flying restart function if several motors with different centrifugal masses are connected to a controller.

• After the controller is enabled, the motor can start for a short time or reverse when machines with low friction and low mass inertia are used.

• The flying restart process serves to identify max. field frequencies up to +/-200 Hz.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 151



How to parameterise the flying restart function:

1. Activate flying restart function in C00990 through "ON".

• Every time the controller is enabled, a synchronisation to the rotating or standing drive is carried out.

When the Lenze setting is used, most applications do not require additional controller settings.

If additional settings are necessary, proceed as follows:

2. Define the speed or rotational frequency range to be searched by the flying restart function in C00991:

• positive speed range (n ≥ 0 rpm )

• negative speed range (n ≤ 0 rpm )

• total speed range

3. Select start frequency C00991 and C00992

We recommend to define a starting frequency of approximately 20 % of the rated motor frequency to enable a safe and fast connection to standing drive systems.

• For the methods 1-4, the starting frequency defining the starting point of the flying restart process is at 10 / -10 Hz and is pre-optimised for standard motors. With C0990 = 5 you can freely select the starting frequency under code C0992. This is especially recommended for motors with higher rated frequencies.

• For systems with a known search speed (e.g. torque-controlled drive systems which are to synchronise to a defined speed) the starting value can be adapted to reduce the flying restart time.

4. Set flying restart current C00994

We recommend to set a flying restart current of 10 % ... 25 % of the rated motor current.

• During a flying restart process, a current is injected into the motor to identify the speed.

• Reducing the current causes a reduction of the motor torque during the flying restart process. A short-time starting action or reversing of the motor is prevented with low flying restart currents.

• An increase of the current improves the robustness of the flying restart function.

5. Set current controller C00075 C00076


C00075 Gain of the current controller

C00076 Time constant of the current controller

C00990 Activation of flying restart function

C00991 Selection of the flying restart function

C00992 Selection of the starting frequency

C00994 Current injection for the flying restart process


152 L Firmware 02.00 - DMS EN 3.0 - 05/2009

During the catching process, current and torque peaks are prevented by controlling the current amplitude. The gain C00075 and the time constant C00076 can be adapted so that the jerk-free / torque-free connection of the inverter to the rotating motor can be improved.

We recommend not to change the Lenze setting of the current controller.

• If the current controller behaves unstable, it can be set as follows:

Tip!

Lenze recommends the following for a faultless operation:

• If a low flying restart current C00994 of 10% or less is used, reduce the integration time C00993 to 60 ... 300 ms.

• The flying restart process can also be accelerated by reducing the integration time to 60 ... 300 ms if this is required.

• If motors with higher rated frequencies are used, we recommend to manually enter a starting frequency C00992 of 20 % of the rated motor frequency and to accelerate the flying restart process (see above) and the use of a lower flying restart current ( 10 % of the rated motor current).

• Vp = current controller gain [V/A], C00075 • Tn = reset time [s], C00076 • Lss = motor stator leakage inductance [H], C00085 • Rs = motor stator resistance [Ω], C00084 • TE = equivalent time constant (= 500 μs)

VP C00075,LSS H[ ]TE s[ ]-----------------=

Tn C00076,LSS H[ ]RS Ω[ ]-----------------=

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 153


DC-injection braking

5.6 DC-injection braking

DC-injection braking allows the drive to be quickly braked to a standstill without the needto use an external brake resistor.

The braking current can be defined with code C00036.

The maximum braking torque to be generated by the DC braking current is approx. 20 ... 30 % of the rated motor torque. It is lower than that for braking in generator mode with an external brake resistor.

Automatic DC-injection braking (Auto-DCB) improves the starting performance of the motor during operation without speed feedback.


DC-injection braking can be carried out in two ways with different types of activation:

Manual DC-injection braking (DCB) ( 154)

Automatic DC-injection braking (Auto-DCB) ( 155)

Danger!

The DC-injection braking or auto DC-injection braking function cannot be used with the servo control (SC) mode.


C00019 Auto-DCB: thresholdResponse threshold for activating the DC-injection braking

C00036 DCB: currentEnter the current in [%]

C00106 Auto-DCB: hold time

C00107 DCB: hold time

C00701/4 See explanations for function block LA_NCtrl

8400 HighLine C | Software ManualMotor control (MCTRL)DC-injection braking

154 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.6.1 Manual DC-injection braking (DCB)

DC-injection braking can be activated manually by connecting the pbSetDCBrake input ofthe application block LA_NCtrl with a digital signal source (e.g. via the digital signal sourcebCtrl1_B3 of the port block LP_CANIn1).

For HIGH-active inputs, DC-injection braking is active as long as the signal is at HIGH level.

When the hold time C00107 has expired, the controller sets the pulse inhibit (CINH).

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 155



5.6.2 Automatic DC-injection braking (Auto-DCB)

"Automatic DC-injection braking" (in the following called "Auto-DCB") can be used whenthe drive has to be deenergised at n ≈ 0.

Function

For understanding the "Auto-DCB" function, it is necessary to distinguish between threedifferent types of operation:

1. The drive is enabled and during operation the speed setpoint falls below the Auto-DCB threshold.

– In case of operation without speed feedback, a braking current C00036 is injected. When the Auto-DCB hold time C00106 has expired, the motor is deenergised via the Auto-DCB function, i.e. the controller inhibit (CINH) is set.

– In case of operation with speed feedback, the motor is deenergised via the Auto-DCB function when the Auto-DCB hold time C00106 has expired, i.e. the controller inhibit (CINH) is set. The braking current, which can be parameterised with code C00036, is without effect during operation with speed feedback.

2. When the controller is enabled, the drive is at standstill (n = 0). If the enabled drive is to start, the speed setpoint passed via the acceleration ramp must exceed the Auto-DCB threshold C00019. Below this threshold, the motor will not be energised.

3. When the controller is enabled, the motor (still) rotates with a speed which is above the auto DCB threshold. If the speed setpoint reached via the acceleration ramp exceeds the auto DCB threshold C00019, the motor will be energised and the following action will take place:

– During operation without speed feedback, the drive will be "catched".For more information about this topic, please read Flying restart function ( 150).

– During operation with speed feedback, synchronisation to the current actual speed value takes place.

Tip!

We recommend to deactivate Auto-DCB with speed feedback C00495 via codeC00019 (value = "0").

8400 HighLine C | Software ManualMotor control (MCTRL)DC-injection braking

156 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Auto-DCB function during operation with speed feedback

If you want to use the Auto-DCB function contrary to our recommendation (see above), theAuto-DCB threshold must not fall below the following values depending on the number ofencoder increments C00420:

How to set the automatic DC-injection braking

1. Set the hold time under code C00106 to t > 0.00 s

• Automatic DC-injection braking is active for the time set.

• In case of operation without speed feedback, a braking current is injected (code C00036).

• When the hold time C00106 has expired, the controller sets the pulse inhibit.

2. Set the response threshold with C00019. This code can be used to set a dead band in the setpoint. If DC-injection braking is not to be active here, C00106 must be set to the value "0.00".

Stop!

If the DC-injection braking operation is too long and the braking current or braking voltage is too high, the connected motor may overheat.

Number of encoder increments C00420

Auto-DCB threshold C00019

8 16

16 8

32 4

64 2

> 128 No restrictions

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 157



Explanation of the automatic DC-injection braking function by means of two examples

Example 1

[5-14] Example 1: Signal characteristic for automatic DC-injection braking of a drive without speed feedback

Example 2

[5-15] Example 2: Signal characteristic for automatic DC-injection braking of a drive with speed feedback

:Speed setpoint :Actual speed value of the motor :Controller output current :Pulse inhibit :DC-injection braking is active

:The motor rotates with the selected speed. The resulting current depends on the load. See .

:The braking current set under C00036 is injected.

:When the hold time C00107 has expired, the pulse inhibit is set.

�

�

�

�

�

� �

C0107

C00036

C00019

�

:Speed setpoint :Actual speed value of the motor :Controller output current :Pulse inhibit :DC-injection braking is active

:The motor rotates with the selected speed. The resulting current depends on the load .

:The braking current set under C00036 is injected.

:The actual speed value of the motor follows the speed setpoint. The resulting current depends on the load.

�

�

�

�

�

� �

C00036

C00019

�

8400 HighLine C | Software ManualMotor control (MCTRL)Oscillation damping

158 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.7 Oscillation damping

Mechanical oscillations are undesirable effects in every process and they may have anadverse effect on the single system components and/or the production output.

Mechanical oscillations in the form of speed oscillations are suppressed by the oscillationdamping function.

Oscillation damping is successfully used with

unloaded motors (no-load oscillations)

motors with a different rated power than that of the controller, e.g. at operation with high switching frequency and the related power derating.

operation with higher-pole motors

operation with special motors

compensation of resonances in the drive

– At an output frequency of approx. 20 ... 40 Hz, some asynchronous motors can show resonances which cause current and speed variations and thus destabilise the running operation.

How to eliminate speed oscillations:

1. Approach the area where the speed oscillations occur.

2. Reduce the speed oscillations by changing C00079 step by step.

3. These can be indicators for smooth running:

• Constant motor current characteristic

• Reduction of the mechanical oscillations in the bearing seat

See also: Skip frequency function

Note!

Compensate the resonances during operation with feedback (closed loop, feedback of nact) via the parameters of the slip regulator only.

LFirm

ware 02.00 - D

MS EN

3.0 - 05/2009159

8400 HighLine C | Softw

are Manual

Motor con

trol (MC

TRL)Sign

al flow

5.8 Signal flow

[5-1] Signal flow - V/f characteristic control without feedback

PWM

fPWM:C00018

0

1

f :

C00910/1 /2max

f :

C00910/1 /2max

n :

C00909/1 /2max

nVoltageAdd_aC00830/31

n16Boost_a


fMod

nMotorVoltageC00052

C00014

nEffCurrentIq


0

1


bSetQSP

Hz

%

Hz

%


nMotorTorqueAct_a

nOutputSpeedCtrl_a

C00056/1

C00105

SlipcompC00021

Hz

Hz

%

%

:C00015:C00016

:C00015:C00016

V :C00073/1pT :C00074/1N





I :C00022

I :C00023max Mot

max Gen


0

1

bLimTorqueSetVal

nPWMAngleOffset_aC00830/32nVoltageAdd_aC00830/31

ModulatorCharacteristicselection

Slip compensation

I controllermax

Coordinatetransformation

Invertererrorcharacteristic

U/f-linear

U/f-quad

QSP ramp

f

Vbase

min

f

Vbase

min

Vset

Motor slip model


are Manual

Motor con

trol (MC

TRL)Sign

al flow

160Firm

ware 02.00 - D

MS EN

3.0 - 05/2009L

[5-2] V/f characteristic control with feedback

0

1

C00971/1

nOutputSpeedCtrl_a


nSpeedCtrlISet

nCtrlSpeedPAdapt_abSetCtrlSpeedPAdapt

nVoltageAdd_aC00830/31

nSetSpeedCtrlI


0

1

QSP

C00014nBoost

bLimSpeedCtrlOut

nMotorVoltageC00052

n :C00909max

bNMaxFault

V :C00073/1pT :C00074/1N

nMotorFreqActC00058

%

Hz

%

%

Hz

Hz

%Hz

%

Hz

f :C00910/1 /2max

n16SpeedCrlI_a

2

01

C00495

PWM

nPWMAngleOffset_aC00830/32nVoltageAdd_aC00830/31


fPWMC00018





I :C00022

I :C00023max Mot

max Gen


KP C00972TN C00973

- C00971/2

nMotorSpeedAct [Hz]+ C00971/2

C00497/2C00497/1

:C00015:C00016

:C00015:C00016

100 kHz

10 kHz

C00105


0

1

bLimTorqueSetVal

I controllermax

Speed measurement

Slip regulator

ModulatorSelectionof characteristic

QSP rampTransformationof coordinates

Inverter errorcharacteristic

V/f linear

V/f square

Vmod

fmod

f

Vbase

min

f

Vbase

min

LFirm

ware 02.00 - D

MS EN

3.0 - 05/2009161


are Manual

Motor con

trol (MC

TRL)Sign

al flow

[5-3] Sensorless vector control (speed control)

PWM

nOutputSpeedCtrl

nSpeedHighLimitnSpeedLowLimit

nSpeedCtrlPAdaptbSpeedCtrlPAdapt

nSpeedCtrllAct

nTorqueSetValue_a

n16PWMAngleOffsetC00830/32nVoltageAdd_aC00830/31


nReactCurrentId

n16MotorFreqAcC00058

C00018

fMod

iqset

iq

idset

Imr

�U�U

fMod

nMotorVoltageC00052

I :C00022maxVP:C00073/1TN:C00074/1

R - C00084

L - C00085

L - C00092

S

h

�

PWM

C00018

n :

C00909/1 /2max


0

1


bSetQSPC00833/33

Hz

%

bLimSpeedCtrlOut

nLimMotTorquenLimGenTorque

0

1

nActualFluxx

nEffCurrentIq

Hz

Vp: fix

%

f :C00910/1 /2max

T :C00074/1

N

A

Nm

T :C00074/1

N

T_Rotor

T :C00074/1

N

T :C00074/1

N

nMotorTorqueActC00056/2

C00021

nEffCurrentIq

VP:C00070/2TN:C00071/2 I :C00023max

A

Nm

0

1

nInputJerkCtrl

nSpeedCtrllSetbSpeedCtrll

bTorqueModeOn

NInputTorqueControlA

Nm

bLimCurrentSetValue

T :C00074/1

N

f :C00910/1 /2max

C00105

0

1

bSetQSP

C00275 C00273

0

bTorqueModeOn

nInputTorqueCtrlC00056/1

A

Nm

Flux model(Calculation of slip)

Motor voltage model

Speedlimitation

Transformationof coordinates

Invertererrorcharacteristic

VsetVsetDirect-axis current controller

Speed controller

Torque control withspeed limitation

Magnetization

Torque controller

Modulator

QSP ramp


are Manual

Motor con

trol (MC

TRL)Sign

al flow

162Firm

ware 02.00 - D

MS EN

3.0 - 05/2009L

[5-4] Signal flow - servo control for asynchronous motor

PWM

nMotorVoltageC52/0

n16PWMAngleOffsetn16VoltAdd

C18

Id

nMotorSpeedAct

VP:C75TN:C76

C274

f:C576�

VP:C75TN:C76

VP:C77TN:C78

VP:C577TN:C578

PWM

C18

0

1

bPosCtrlOnC833/27PosInterpol.

C1220/Bit00

nEffSpeedSetValueC50/0

A

Nm

C79

I :C22max

I :C23max

fd

nMotorSpeedAct

0.95

nInputTorqueCtrlC56/1

nTorqueMotLimC830/29nTorqueGenLimC830/28

bLimCurrentSetVal

nTorqueSetValueC830/27

bTorqueModeOnC833/30

nInputJerkCtrl

bTorqueInterpolationOn

nSpeedCtrllSet C830/24

nLimMotTorque C830/29

nLimSpeedCtrlOut

nSpeedCtrlPAdapt C830/25

bSpeedCtrll C833/31

nLimGenTorque C830/28

bSpeedCtrlPAdapt

nSpeedCtrllAct

0

nOutputSpeedCtrl

0

1

VP:C70/2TN:C71/2TD:C72

0

1

0

V

C254P

nPosCtrlOutLimitC830/21

nSpeedHighLimitC830/88

nSpeedLowLimitC830/23

dnMotorPosAct

bSetQSPC833/33

bPosDerivateOnC833/67

On:C274<C274MotbLimTorqueSetVal

C79 .. C91

I C95MRC280

C52

f:C270f:C271

dB:C272�

C21

T C83R

+

2

01

2

01

C497/1C497/2

100 kHz

10 kHz

C495

C490

C496

DIGIN 1/2

DIGIN 6/7

bSetMotorPostionRefC833/68dnMotorPosRefValueC833/6

C105

C273

bTorqueModeOnC833/300

1

bSetQSPC833/33

0

1

0

1

+

dnPosSetValueC834/6

C275

0

1

+

0

nSpeedSetValueC830/22

dnDeltaPosC834/4

fmax

C909/1,2nmax

C910/1,2

0

1

+

PID speed controller

Currentsetpoint filter

Transformationof coordinates

Invertererrorcharacteristics

Vset

Fieldfeedvorward

control

Angelcontroller

Encoder interface

PI currentcontroller

Modulator

Jerklimitation

PI currentcontroller

PI fieldcontroller

PI fieldweakeningcontroller

Differential setpointfeedforward control

Slipcalculation

Motor encoderselection

Motormodel

QSP ramp

Id_act

VDC bus

Vsd

Vsq

Vs max

Id_act

Id_act

Iq_act

Iq act

Imr_act

Iq_act

Vsq

Vsd

Iset

Jtotal

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 163


System block "LS_MotorInterface"

5.9 System block "LS_MotorInterface"

8400 HighLine C | Software ManualMotor control (MCTRL)System block "LS_MotorInterface"

164 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Inputs



nPosCtrlOutLimitINT

Limitation of the position controller output • Scaling: 16384 ≡ 100 % referred to C00011

bSpeedInterpolatorOnBOOL

Activate interpolation of the speed setpoint

nSpeedHighLimitINT

Upper speed limit for speed limitation (only for torque-controlled operation) • Scaling: 16384 ≡ 100 % referred to C00011

nSpeedLowLimitINT

Lower speed limit for speed limitation (only for torque-controlled operation) • Scaling: 16384 ≡ 100 % referred to C00011

nSpeedCtrlAdaptINT

Adaptation of the speed controller gain • Scaling: 16384 ≡ 100 % referred to C00071

nTorqueMotLimitINT

Torque limitation in motor mode • Scaling: 16384 ≡ 100 % Mmax referred to C00057

nTorqueGenLimitINT

Torque limitation in generator mode • Scaling: 16384 ≡ 100 % Mmax referred to C00057

bSetQSPBOOL

Set quick stop

nPWMAngleOffsetINT

Angle step change of output voltage phasor • Scaling: 65535 ≡ 1 revolution

bPosCtrlOnBOOL

Activate position or angle control

dnDeltaPosSetINT

Input difference of the position controller • Scaling: 65535 ≡ 1 revolution

dnPosSetINT

Setpoint of the position controller • Scaling: 65535 ≡ 1 revolution

bChoosePosInputBOOL

0:1:

dnDeltaPosSet - dnDeltaPosActdnDeltaPosSet

bSetSpeedCtrlIBOOL

Setting of the speed controller integrator(scaling depends on operating mode, C00006) • Scaling: 16384 ≡ 100 % nmax or 16384 ≡ 100 % Mmax

referred to C00011 or C00057

nSpeedCtrlISetINT

Value of the speed controller integrator(scaling depends on operating mode, C00006) • Scaling:

for C00006 = 2 or 4: 16384 ≡ 100 % Mmax referred to C00011 or C00057for C00006 = 7 or 9: 16384 ≡ 100 % nmax referred to C00011 or C00057

nSpeedAddINT

Speed setpoint • Scaling: 16384 ≡ 100 % nmax

bTorquemodeOnBOOL

Activate torque control

nTorqueAddINT

Torque setpoint / additive torque

bSetDCBrakeBOOL

Activate DC injection brake

nVoltageAddINT

Additive voltage impression • Scaling: 16384 ≡ 1000 V

bSetMotorPositionRefBOOL

Setting of a home mark

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 165



dnMotorPosRefValueINT

Offset of the home mark • Scaling: 65535 ≡ 1 revolution

bAutoBoostActiveBOOL

Activate/deactivate AutoBoost function




166 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Outputs



bIdentificationStateBOOL

Motor parameter identification is active (1) / inactive (0)

bFlyingSyncStateBOOL

Flying restart circuit is active (1) / inactive (0)

bLimPosCtrlOutBOOL

Limitation of the position controller output is active

bLimSpeedCtrlOutBOOL

Speed or slip controller output limitation is active (1) / inactive (0)

bLimSpeedSetValBOOL

Setpoint speed reduction/increase by Imax controller is active (1) / inactive (0)

wMaxMotorSpeedC00011 | BOOL

Reference speed

nOutputSpeedCtrl_aINT

Speed or slip controller output • Scaling:

16384 ≡ 100 % nmax

nEffSpeedSetValue_aINT

Effective speed setpoint • Scaling:

16384 ≡ 100 % nmax

nMotorSpeedAct_aC00051 | INT

Actual speed value • Scaling:

16384 ≡ 100 % nmax

nMotorSpeedAct_vDINT

Actual speed value • Scaling:

65535 ≡ 1 revolution

nMotorFreqAct_aC00058 | INT

Current field frequency

bLimTorqueSetValBOOL

Limitation of setpoint torque is active (1) / inactive (0)

wMaxMotorTorqueC00057

100 = 0.01 NmMaximum motor torque

nInputTorqueCtrl_aINT

Input of torque control (setpoint), C00057 • Scaling:

16384 ≡ 100 % Mmax

nMotorTorqueAct_aC00056/2 | INT

Actual torque value, C00057 • Scaling:

16384 ≡ 100 % Mmax

bLimCurrentSetValBOOL

Current limitation is active (1) / inactive (0)

nInputJerkCtrl_aINT

Input of jerk limitation, C00057 • Scaling:

16384 ≡ 100 % Mmax

bQSPIsActiveBOOL

Quick stop is active (1) / inactive (0)

bAutoGSBIsActiveBOOL

Automatic DC-injection braking is active (1) / inactive (0)

bClampIsActiveBOOL

Current limitation clamp is active (1) / inactive (0)

bShortCircuitBOOL

Motor short-circuit detected (1) / not detected (0)

bEarthFaultBOOL

Earth fault detected (1) / not detected (0)

bUVDetectedBOOL

Undervoltage detected (1) / not detected (0)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 167



bOVDetectedBOOL

Overvoltage detected (1) / not detected (0)

bMotorPhaseFaultBOOL

Motor phase fault detected (1) / not detected (0)

bEncoderComFaultBOOL

Encoder fault detected (1) / not detected (0)

bBrakeChopperFaultBOOL

Brake chopper fault is active (1) / inactive (0)

bNMaxFaultBOOL

Limitation of max. setpoint speed is active (1) / inactive (0)

bFChopReducedBOOL

Reduction of the PWM frequency is active (1) / inactive (0)

bIxtOverloadBOOL

I*t- device utilisation 100% (1) / <100% (0)

nIxTRate_aC00064/1 | INT

16384 = 100%Display I*t - device utilisation

bI2xtOverloadBOOL

I²*t- thermal motor load 100% (1) / <100% (0)

nI2xTRate_aC00066 | INT

Display - thermal motor load I²*t • Scaling:

16384 ≡ 100 %

bMotorPTCFaultBOOL

Thermal overload of the motor (1) / no overload (0)

bHeatSinkTempFaultBOOL

Thermal overload of the inverter (1) / no overload (0)

nDCVoltage_aC00053 | INT

16384 = 1000VDC-bus voltage

nMotorVoltage_aC00052 | INT

16384 = 1000VMotor or inverter output voltage

nActualFluxx_aINT

Actual magnetising current value, C00022 • Scaling:

16384 ≡ 100 %

nStatorCurrentIS_aC00054 | INT

16384 = 100% Imax (C0022)Stator current or effective motor current

nEffCurrentIq_aINT

Torque-producing cross current, C00022 • Scaling:

16384 ≡ 100 % Imax

nReaktCurrentId_aINT

Field-producing direct-axis current, C00022 • Scaling:

16384 ≡ 100 % Imax

bHlgLoadBOOL

Set (1) / do not set (0) ramp function generator

nHlgSetValue_aINT

Transfer value for the ramp function generator, C00011 • Scaling:

16384 ≡ 100 %

bHlgStopBOOL

Stop of the ramp function generator

dnMotorPosActINT

Current position or angle value • Scaling:

65535 ≡ 1 revolution

nOutputPosCtrlINT

Output / correcting variable of the position controller, C00011 • Scaling:

16384 ≡ 100 % nmax

bMainsFaultBOOL

Mains phase / mains failure




168 L Firmware 02.00 - DMS EN 3.0 - 05/2009

bFanFaultBOOL

Fan monitoring: Fault detected

bNmaxForFchopBOOL

Maximum field frequency for the prevailing switching frequency is exceeded

bSafeTorqueOfActiveBOOL

Safe standstill is active



Firmware 02.00 - DMS EN 3.0 - 05/2009 L 169


Monitoring functions

5.10 Monitoring functions

5.10.1 Motor temperature monitoring with I²xt

The 8400 frequency inverter is provided with a simple, sensorless monitoring for thermal

"I2xt" motor overload of self-ventilated standard motors.

C00066 displays the motor utilisation meter I2xt, which shows whether the motor isoverloaded or not.

With an overload of C00066 = 100 %, the permissible overload time of the motor is

reached, the message "Thermal motor overload, I2xt" (OC6) is output, and the response setin C00606 (default setting: "Warning") is actuated.

C00120 serves to enter the overload threshold for I2xt

Stop!

The I2xt motor monitoring does not present full motor protection! As the motor utilisation calculated in the thermal motor model is lost after mains switching, for instance the following operating states cannot be measured correctly:

• Restarting (after mains switching) of a motor that is already very hot.

• Change of the cooling conditions (e.g. cooling air flow interrupted or too warm).

A full motor protection requires additional measures as e.g. the evaluation of temperature sensors that are located directly in the winding or the use of thermal contacts.

8400 HighLine C | Software ManualMotor control (MCTRL)Monitoring functions

170 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Adjustment

Calculate the overload threshold I2xt:

If you reduce C00120 starting from the calculated value, the motor utilisation counter

I2xt (C00066) is already counted up before the rated overload threshold has been reached.

If you increase C00120 starting from the calculated value, the motor utilisation meter

I2xt (C00066) will be counted up after the rated overload threshold has been reached.

The motor utilisation counter starts to count up if the apparent motor current (C00054) isgreater than the rated motor current (C00088).

[5-5] Tripping characteristic of the I2xt monitoring

Example: C00120 = Ir /IN x 100 %

– C00054 = 1.5 x rated motor current

– After approx. 60 seconds, C00066 has reached the final value 100 % at output frequencies f > 40 Hz. The controller switches off with the error "Thermal motor

overload, I2xt" (OC6) if C00606 is set to "0" (trip).

• Ir • IN

Rated motor current (C00088)Rated current of the controller at a switching frequency of f = 8 kHz

f: output frequencyt: release timeIN: rated controller current at a switching frequency of f = 8 kHzIr : rated motor current (C00088)C00054: apparent motor current

C00120Ir

IN----- 100%⋅=

60

180

240

300

360

t [s]

0.50

0

1.0 1.5 2.0 C00054Ir

120

f = 0 Hz

f = 20 Hz

f > 40 Hz

I x 100 %

Ir

N

C00120 <I x 100 %

Ir

N

C00120 =I x 100 %

Ir

N

C00120 >

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 171



Tip!

• To prevent the overload threshold response of motors with forced ventilation from being triggered too early, deactivate this function.

• The current limits C00022 and C00023 only have an indirect influence on the

I2xt calculation. The settings of C00022 and C00023, however, serve to prevent the motor from being operated with maximally possible utilisation.


172 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.10.2 Motor temperature monitoring with motor PTC

For detecting and monitoring of the motor temperature, a PTC thermistor (DIN 44081/DIN 44082) or a thermal contact (NC contact) can be connected to the terminals X2/T1 andX2/T2.

Lenze three-phase AC motors are provided with a thermal contact on delivery.

Tip!

We recommend to always activate the PTC input when using motors which areequipped with PTC thermistors or thermostats. This prevents the motor from beingdestroyed by overheating.

Activation of the PTC input

1. Connect the thermal contact of the motor to X2/T1 and X2/T2.

2. Connect the motor PTC or the thermal motor contact (NC contact) to X2/T1 and X2/T2.

– When 1.6 kΩ < R < 4 kΩ, monitoring responds, see functional test below.

3. Setting the controller response:

– C00585 = 0: No response (Motor temperature monitoring is switched off)

– C00585 = 1: TRIP error message

– C00585 = 5: Warning signal

Functional test

Connect a fixed resistor to the PTC input:

R > 4 kΩ : Fault message must be activated.

R < 1 kΩ : Fault message must not be activated.

Stop!

• The controller can only evaluate one PTC thermistor! Do not connect several PTC thermistors in series or parallel.

• If several motors are operated on one controller: Use thermal contacts (NC contacts) connected in series.

• To achieve full motor protection, an additional temperature monitoring with separate evaluation must be installed.

Note!

In the Lenze setting, the temperature monitoring of the motor is switched on! On delivery, there is a wire jumper between the terminals X2/T1 and X2/T2.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 173



5.10.3 Monitoring of the brake resistor by I²xt

The brake resistor is loaded thermally by the braking power that is converted, or can be

thermally destroyed due to a braking power that is too high. The I2xt utilisation of thecontroller which is proportional to the braking power converted is monitored to protect thebrake resistor.

If the I2xt utilisation reaches the threshold set in C00572, a parameterisable response istriggered, having a corresponding impact on the state machine and the inverter.

The following responses can be parameterised with C00574:

– 0, "No response" (Lenze setting)

– 1, "Fault", see Device states ( 56)

– 5, "Warning", see Device states ( 56)

If the system is dimensioned correctly, the monitoring should not be activated. If individualpieces of rated data of the actually connected brake resistor are not known, they have tobe identified.

If the DC-bus voltage exceeds the overvoltage threshold due to a braking energy that is toohigh, the monitoring for overvoltage in the DC bus ("OU", error number 0x007b000e) isactivated.

Apart from the threshold of the I2xt utilisation (see above), there is the switching thresholdof the brake transistor. The switching threshold of the brake transistor is set via the mainsselection in code C00173. The switching threshold can further be directly influenced by theuser via C00174.

Danger!

In the Lenze setting (C00574 = 0) braking operation is not switched off if the monitoring is activated!

In particular for applications like hoists or applications with a DC-bus connection it has to be checked whether it is permissible to switch off the braking operation by C00574 = 1 ("Fault").

Stop!

Implement appropriate protective measures against thermal overload of the brake resistor!

Examples:

• Parameterisation of an error response in C00574 and evaluation of the parameterised error message within the application or the machine control.

• Interruption of the mains supply by means of the temperature contact at the brake resistor and a simultaneous activation of the mechanical brake.


174 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Temperature model

[5-6] Signal flow for monitoring the brake resistor

The monitoring calculates the braking current IBr from the current DC-bus voltage UDC_actand the brake resistor parameterised in C00129 (see above). The monitoring can also beactivated on the basis of a value entered in C00129, although no brake resistor isconnected.

During the calculation, the thermal utilisation of the brake resistor on the basis of thefollowing parameters is taken into consideration:

Resistance value C00129

Continuous power C00130

Thermal capacity C00131

In the Lenze setting these parameters are preset with the corresponding power-adaptedLenze brake resistor.

With code C00133 the calculated utilisation of the brake resistor in [%] is shown. Autilisation of 100 % corresponds to the continuous power of the brake resistor against themaximum permissible temperature limit.

Error message:

"Brake resistor I2xt overload"

�

C00138C00130

C00131

IBr

I = 1On

I = 0Off

I xt2

C00572 C00574

C00129�

temperature model

IBrUDC_act

C00129--------------------=

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 175


Braking operation

5.11 Braking operation

We recommend to use the brake chopper (braking transistor) integrated in the controller independently of the operating mode for braking. Connect the required brake resistor to controller terminals RB1 and RB2.

For a DC-bus connection with other devices, we recommend to connect the regenerative power supply module to terminals +UG and –UG.

For installing the regenerative power supply module, follow the instructions in thehardware manual.

Tip!

• All controller instructions required are stored in electronic form on the data carrier supplied together with your 8400 frequency inverter.

Parameter setting

Stop!

If the connected brake resistor is smaller than required, the brake chopper can be destroyed!

For appropriate protective measures, seeAvoiding a thermal overload of the brake resistor ( 176)

Note!

If none of these measures are taken, e.g. the overvoltage deactivation ("OU") may respond in case of low deceleration times during regenerative operation, see Error messages of the operating system ( 298).

Under C00175 you can optionally select the stopping of the ramp function generator in the function block "L_NSet_1" and the QSP ramp for overvoltage to prevent an overvoltage deactivation in case of low deceleration times.


C00129 •

C00130

C00131

C00133

C00173

C00174

C00175

C00572

C00574

8400 HighLine C | Software ManualMotor control (MCTRL)Braking operation

176 L Firmware 02.00 - DMS EN 3.0 - 05/2009

5.11.1 Selecting the voltage source for braking

The voltage source for braking is selected under C00173 (mains voltage) and C00174(brake transistor threshold reduction). When the brake chopper threshold is exceeded inthe DC bus, the brake transistor will be switched on or the ramp function generator will bestopped by L_NSet_1 and QSP (depending on the setting under C00175).

5.11.2 Avoiding a thermal overload of the brake resistor

Parameterisation of an error response under C00574 and evaluation of the parameterised error message in the application or within the machine control system. (see 5.10.3. Monitoring of the brake resistance by I²xt)

External interconnection using the thermal contact on the brake resistor (e.g. supply interruption via the mains contactor and activation of the mechanical brakes).

Mains voltage C00173 Effective brake chopper threshold

0 3ph 400V / 1ph 230V 725V / 380V - value under C00174 (0...150V)





Firmware 02.00 - DMS EN 3.0 - 05/2009 L 177

8400 HighLine C | Software ManualI/O terminals

6 I/O terminals

This chapter informs about the function and the possible parameter settings of thecontroller's input and output terminals.

The parameters are set in the »Engineer« on the Terminal assignment tab. Here, analogterminals" and "digital terminals" are distinguished in the Pin connections list field:

Analog inputs ( 179) Analog outputs ( 183)


178 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Digital inputs ( 187)

Digital outputs ( 197)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 179


Analog inputs

6.1 Analog inputs

The controller has four analog inputs for detecting two current and two voltage signals:

Voltage signals in the ± 10 V rangeThe voltage signal can be e.g. an analog speed setpoint or the signal of an external sensor (temperature, pressure, etc.).

Current signals in the 0/+ 4 ... + 20 mA rangeFor open-circuit monitoring, the current signal can be evaluated with regard to "Life Zero" or "Dead Zero":

– 0 ... 20 mA, without open-circuit monitoring

– 4 ... 20 mA, with open-circuit monitoring

In addition, offset and gain can be parameterised

Diagnostics options

– The monitored input can be queried with a status signal

– The input values of the system block are displayed in the Engineer / keypad

Note!

To avoid undefined states, free input terminals of the controller must be assigned as well, e.g. by applying 0 V to the terminal.

8400 HighLine C | Software ManualI/O terminalsAnalog inputs

180 L Firmware 02.00 - DMS EN 3.0 - 05/2009

6.1.1 Terminal assignment/electrical data

Terminal Use Electrical data

X3/A1UX3/A2U

Voltage input Level: - 10 V ... + 10 V

Resolution: 10 Bit + sign bit(Error: 1 Digit ≡ 0.1 %, related to the final value)

Scaling: When C00034 = "0":± 10 V ≡ ± 214 ≡ 16384 ≡ ± 100 %

Conversion rate: 1 kHz *)

Input resistance > 80 kΩ

Input voltage in case of opencircuit

Display 0 (V < 0.2 V, absolute)

Sampling frequency(processing cycle)

1 kHz (1 ms)

Accuracy ± 0.1 V

Electric strength of externalvoltage

± 15 V, permanent

Limit frequency 315 Hz at -3 dB

Temperature influence ± 0.5 % or ± 1 mV/K (Tamb = - 10° C ... + 55° C)

X3/A1IX3/A2I

Current input Level: • 0 ... + 20 mA • + 4 ... + 20 mA (life zero)

Resolution: 10 Bit(Error: 1 Digit ≡ 0.1 %, related to the final value)

Switching hysteresis: 1 % (at 20 mA)

Scaling: When C00034 = "1":0 mA ... + 20 mA = 0 ... + 214

When C00034 = "2":+ 4 mA ... + 20 mA = 0 ... + 214

Conversion rate: 1 kHz *)

Input resistance 215 Ω

Input voltage in case of opencircuit

Display 0 (I < 0.1 mA)

Sampling frequency(processing cycle)

1 kHz (1 ms)

Accuracy ± 0.1 mA


± 7 V, permanent

Temperature influence ± 0.5 % or ± 1 mV/K, (Tamb = - 10° C ... + 55° C)

X3/GA GND, reference potential of analog signals

X3

A1U

AR

A1I

A2

UA

2IG

AO

1UO

1IO

2UO

2I

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 181


Analog inputs

*) In order to filter out short-time interferences from the analog signal characteristic, the analog input value is measured four times within the conversion rate (1 kHz = 1 ms). Then, the mean value is calculated. The mean value corresponds to the process signal at the output of the system block. In addition, the voltage input is equipped with a low-pass filter (3 dB limit frequency, f = 470 Hz for voltage input, f = 250 Hz for current input)

6.1.2 Parameter setting

Short overview of parameters for the analog inputs:

6.1.3 Using the analog input as current input

The current source must be connected to the X3/A1I or X3/A2I plug connector.

Use C00034 (subcode /1 or /2), selection "1" or "2" to reconfigure the analog input to be a current input.

Tip!

The selection "2" serves to implement a 4 ...20 mA current loop, e.g. for speedsetpoint selection.

Open-circuit monitoring

Use C00598/1 to set an error response to an open circuit for the 4 ...20 mA current loop.


C00026/1 Analog input 1: Offset

C00026/2 Analog input 2: Offset

C00027/1 Analog input 1: Gain

C00027/2 Analog input 2: Gain

C00034/1 Configuration of analog input 1, evaluation of current or voltage

C00034/2 Configuration of analog input 2, evaluation of current or voltage

C00598/1 Resp. to open circuit AIN1

C00598/2 Resp. to open circuit AIN2

C02732/1 Analog input 1: Dead band (in preparation)

C00028/1 Analog input 1: Voltage input signal

C00028/2 Analog input 2: Voltage input signal

C00029/1 Analog input 1: Current input signal

C00029/2 Analog input 2: Current input signal

C00033/1 Analog input 1: AIN1_nIn_a

C00033/2 Analog input 2: AIN2_nIn_a


8400 HighLine C | Software ManualI/O terminalsAnalog inputs

182 L Firmware 02.00 - DMS EN 3.0 - 05/2009

6.1.4 System block "LS_AnalogInput"

The system block LS_AnalogInput displays the analog inputs in the FB editor.

OutputData type

Value/meaning

nIn1_aC00033/1 | INT

Analog input 1 • Scaling:

±214 ≡ ±10 V for use as voltage input+214 ≡ +20 mA for use as current input

nIn2_aC00033/2 | INT

Analog input 2 • Scaling:

±214 ≡ ±10 V for use as voltage input+214 ≡ +20 mA for use as current input

bCurrentErrorIn1BOOL

Status signal "Current input error" • Only when analog input 1 is used as current input. • Application: Cable-breakage monitoring of the 4 ...20 mA circuit.

True |IAIN1| < 4 mA

bCurrentErrorIn2BOOL

Status signal "Current input error" • Only when analog input 2 is used as current input. • Application: Cable-breakage monitoring of the 4 ...20 mA circuit.

True |IAIN2| < 4 mA

X3

LS_AnalogInput

nIn1_a

nIn2_a

bCurrentErrorIn1

bCurrentErrorIn2

0

0

1

1

2

2

C00027/1

C00027/2

D

D

C00033/1

C00033/2

C00028/1

C00028/2

C00029/1

C00029/2

C00026/1

C00026/2

C00034/1

C00034/2

A

A

?

A1U

AR

A1I

A2

UA

2IG

AO

1UO

1IO

2UO

2I

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 183


Analog outputs

6.2 Analog outputs

The controller is equipped with four analog outputs.

Two outputs provide an analog current signal (O1I, O2I)

Two outputs provide an analog voltage signal (O1U, O2U)

The output values of the system block are displayed in the Engineer / keypad


Note!

Initialisation behaviour:

• After mains switching up to the start of the application, the analog outputs remain set to 0 V.

Exception handling:

• In case of a critical exception in the application (e.g. reset), the analog outputs are set to 0 V.


X3/O1UX3/O2U

Voltage output Level: 0 ... +10 V(max. 2 mA)

Resolution: 10 Bit (Error: 1 Digit ≡ 0.1 %, related to the final value)

Scaling: ±10 V ≡ ±214 ≡ 16384 ≡ ±100 %

Processing cycle 1 kHz (1 ms)

Limit frequency 315 Hz at -3 dB


X3

A1U

AR

A1I

A2

UA

2IG

AO

1UO

1IO

2UO

2I

8400 HighLine C | Software ManualI/O terminalsAnalog outputs

184 L Firmware 02.00 - DMS EN 3.0 - 05/2009

X3/O1IX3/O2I

Current output Level: 0 ... +20 mA

Resolution: 10 Bit (Error: 1 Digit ≡ 0.1 %, related to the final value)

Scaling: ±20 mA ≡ ±214 ≡ 16384 ≡ ±100 %

Processing cycle 1 kHz (1 ms)


X3/GA Reference potential (analog ground)


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 185


Analog outputs


Short overview of parameters for the analog outputs:


C00434/1 Analog output 1: Gain of the voltage signal at nOut1U_a

C00434/2 Analog output 2: Gain of the current signal at nOut1I_a

C00434/3 Analog output 1: Gain of the voltage signal at nOut2U_a

C00434/4 Analog output 2: Gain of the current signal at nOut2I_a

C00435/1 Analog output 1: Offset of the voltage signal at nOut1U_a

C00435/1 Analog output 2: Offset of the current signal at nOut1I_a

C00435/1 Analog output 1: Offset of the voltage signal at nOut2U_a

C00435/1 Analog output 2: Offset of the current signal at nOut2I_a

C00436/1 Analog output 1: Output of voltage signal at the O1U terminal of the device

C00436/2 Analog output 2: Output of voltage signal at the O2U terminal of the device

C00437/1 Analog output 1: Output of current signal at the O1I terminal of the device

C00437/2 Analog output 1: Output of current signal at the O2I terminal of the device

C00439/1 Analog output 1: nOut1U_a; Input of voltage signal from application

C00439/2 Analog output 2: nOut2U_a; Input of voltage signal from application

C00439/3 Analog output 3: nOut1I_a; Input of current signal from application

C00439/4 Analog output 4: nOut2I_a; Input of current signal from application


8400 HighLine C | Software ManualI/O terminalsAnalog outputs

186 L Firmware 02.00 - DMS EN 3.0 - 05/2009

6.2.3 System block "LS_AnalogOutput"

The system block LS_AnalogOutput forms the interface to the analog outputs in the FBeditor.

InputData type


nOut1U_aINT

Analog output 1 • Scaling: ±214 ≡ 16384 ≡ ±10 V

nOut2U_aINT

Analog output 2 • Scaling: ±214 ≡ 16384 ≡ ±20 mA

nOut1I_aINT

Analog output 1 • Scaling: ±214 ≡ 16384 ≡ ±10 V

nOut2I_aINT

Analog output 2 • Scaling: ±214 ≡ 16384 ≡ ±20 mA

nOut2U_a

nOut2I_a

nOut1I_a

nOut1U_a

LS_AnalogOutput

C00434/2

C00434/4

C00434/3

C00434/1

C00439/2

C00439/4

C00439/3

C00439/1

C00436/2

C00437/2

C00437/1

C00436/1

C00435/2

C00435/4

C00435/3

C00435/1

?

X3

A1U

AR

A1I

A2

UA

2IG

AO

1UO

1IO

2UO

2I

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 187

8400 HighLine C | Software ManualI/O terminalsDigital inputs

6.3 Digital inputs

The terminals DI1 ... DI7 of the plug connector X5 serve to detect digital signals.

All digital inputs can be set with a debounce time. See code C02830.

Setting the parameters of code C00115 enables you to evaluate the following digital inputsignals at the terminals DI1/DI2 and DI6/DI7:

Level evaluation for static input signals (DigIn)

Detection of the input frequency (FrqIn)

Detection and conditioning of two unipolar input frequencies (FrqIn2) to form one bipolar frequency

Frequency counter (CntIn)

Evaluation of the speed feedback (HTL encoder) for the motor control (speed-controlled operation)

Control input RFR of terminal strip X5 for controller enable is permanently connected tothe device control.


188 L Firmware 02.00 - DMS EN 3.0 - 05/2009



X5/DI1..X5/DI7

Digital input 1 ... 7 LOW level: 0 ... +5 V

HIGH level: +15 ... +30 V

Input current: 8 mA per input (at 24 V)


Max. ± 30 V, permanent

Input impedance: 3.3 kΩ (2.5 Ω ... 6 kΩ)

Max. input frequency: 100 kHz (DI1/DI2)

10 kHz (DI6/DI7)

Processing cycle: 1 ms (can be changed by filtering via the software)

X5/24E External supply of the device and the following terminals: • DI1 ..... DI7 • RFR, and • control board and

bus module

DC 19.2 ... 28.8 V, IEC 61131-2, SELV/PELVCurrent consumption ≈ 0.6 AIn case of polarity reversal: No function and no destruction

X5/24I Internal supply of the terminals • DI1 ..... DI7 • RFR

Max. output current: 50 mA

X5/RFR Controller enable See digital inputs

X5/GIO Reference potential (digital ground)

X5

DI3

DI2

DI4

DI5

DI6

DI7

GI

24E

24I

DI1

RF

R

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 189



Short overview of parameters for the digital inputs:


C00011 Reference speed of the drive

C00114 Inversion of the digital input

C00115/1 Function DI1 /DI2, 100 kHz

C00115/2 Function DI6/DI7, 10 kHz

C00420 Encoder increments at FreqIn12

C02830/1 ... /7 DI1 ... DI7: debounce time

C02843 FreqIn12: Gain

C00443/1 /2 Status: DIx terminal level / DIx output level

C02840 Status: Function



190 L Firmware 02.00 - DMS EN 3.0 - 05/2009

6.3.3 System block "LS_DigitalInput"

The system block LS_DigitalInput displays the digital inputs in the FB editor.

When C00115/1 = 0 ... 4, the processing functions DigIn, FrqIn, FrqIn1, FrqIn2 and CountIn are assigned to the input signals at DI1 and DI2.

When C00115/2 = 0 ... 4, the processing functions DigIn, FrqIn, FrqIn1, FrqIn2 and CountIn are assigned to the input signals at DI6 and DI7.

The two other processing functions DigIn are permanently assigned to the digital input terminals DI3 ... DI5 of the terminal strip X5.

X5 C00115,Subcode:

C00115, value:

0 1 2 3 4

DI1 1 DigIn FrqIn FrqIn2, 2-track

evaluation

FrqIn1 CountIn

DI2 DigIn DigIn Direction DigIn

DI3 - independent of C00115, permanent assignment: DigInDI4

DI5

DI6 2 DigIn FrqIn FrqIn2, 2-track

evaluation

FrqIn1 CountIn

DI7 DigIn DigIn Direction DigIn

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 191


0 t

C00420

C00420

C00443

C00443

C02842

C02842

C02842

C02843

C02843

C02843

C00443/2C02830

1

1

0

0

10kHz

10kHz

10kHz

10kHz

10kHz

C00443/1

C00011

C00011

C00011

C00420C00443/1

dwCountIn1_LoadStartValue

dwCountIn1_CompareValue

C00443/1

bCountIn1_Compare

C02840/1

C02840/2

bCountIn1_ResetCompare wCountIn1_HW

wCountIn1_LW

LS_DigitalInput

DigIn

DigIn

DigIn

DigIn

CountIn

FrqIn

FrqIn2

FrqIn1

CntIn

CntIn

FrqIn

FrqIn

FrqIn2

FrqIn2

FrqIn1

FrqIn1

DigIn

DigIn

C00115/1

C00115/2

C02841/1

nFreqIn12_a

nFreqIn12_a

nFreqIn12_a

nFreqIn12_v

nFreqIn12_v

nFreqIn12_v

bInx(x: DI ... DI )1 7

bCountIn1_LoadStartValue

C00114

0

1

DigIn

MCTRL_Speedfeedback

MCTRL_Speedfeedback

?

X5

DI3

DI2

DI4

DI5

DI6

DI7

GI

24E

24I

DI1

RF

R


192 L Firmware 02.00 - DMS EN 3.0 - 05/2009

General digital inputs

Processing function DigIn ⏐ DigIn

When C00115/1 = 0 this processing function can be used at the terminals DI1 and DI2.

When C00115/2 = 0 this processing function can be used at the terminals DI6 and DI7.

As a total, 7 digital inputs DigIn1 ... DigIn7 can be parameterised. The debounce timeC02830/1...7 and the terminal polarity C00114 can be set for each processing function. Thestatus can be queried via code C00443 at the input and output of the processing function.

X = 1 ... 7 (for DI1 ... DI7)

OutputDIS code | data type

Value/meaning

bIn1C00443/1 | BOOL

...

Digital input DI1

bln7C00443/7 | BOOL

Digital input DI7

0 t

C00443/2C02830

10

C00443/1bInx

(x: DI ... DI )1 7

C00114

0

1

DigIn

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 193


Frequency inputs

General information

Example for DI7 / DI7 (corresponding to the above note):

The frequency inputs available in the system block serve to detect

– HTL encoders with any number of increments.

– single or two-track signals. Single-track signals can be evaluated with or without rotation direction signal.

Processing function FrqIn⏐DigIn

When C00115/1 = 1, the processing function "FrqIn" at the terminal DI1 can be used.

When C00115/2 = 1, the processing function "FrqIn" at the terminal DI6 can be used.

Note!

• Ensure that the maximum input frequency of the following inputs is not exceeded during operation of the motor control with speed feedback:

– DI1 / DI2 ---> 100 kHz

– DI6 / DI7 ---> 10 kHz

• If the encoder signal is used as an actual speed value:Number of encoder pulses / revolution ≤ 8192!

• Number of encoder increments: 512 pulses / motor revolution

• Reference speed C00011: 1500 rpm

• Speed setpoint: 100 %

Result: • The speed is too high or • the number of increments is too high

OutputData type

Value/meaning

nFreqIn12_a INT

Output frequency as %-scaled analog signal

nFreqIn12_vINT

Output frequency as inc/ms speed signal

Input frequency1500rpm

60s------------------------ 512pulses×=

12800 pulses s⁄( )=

12,8 kHz=

C000420C00443

C02842C02843

10kHz

C00011FrqIn

nFreqIn12_a

nFreqIn12_v


194 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Processing function FrqIn1⏐Direction

When C00115/1 or C00115/2 = 3, DI1, DI2, DI6 and DI7 can be configured so that a single-track encoder signal can be evaluated. With this configuration, DI1/DI6 evaluates therotating direction of the encoder (0: clockwise direction of rotation) and DI2/DI7 therotational speed.

Processing function FrqIn2 (two-track)

When C00115/1 or C00115/2 = 2, a two-track encoder can be connected to the terminalsDI1/DI2 or DI6/DI7.

OutputData type

Value/meaning

nFreqIn12_aINT


nFreqIn12_vINT


OutputData type

Value/meaning

nFreqIn12_aINT


nFreqIn12_vINT


C00420

C00443

C02842C02843

10

10kHz

C00011

DigIn

FrqIn1

nFreqIn12_a

nFreqIn12_v

MCTRL_Speedfeedback

C02842C02843

10kHz

10kHz

C00011

C00420C00443/1

C00443/1

FrqIn2

nFreqIn12_a

nFreqIn12_v

MCTRL_Speedfeedback

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 195


Counter input

Processing function CountIn

With the configuration C00115/1 or C00115/2 = 4, quick edges are counted at the terminalDI1 or DI6. Here, a 32-bit counter counts up to a comparison value and then sets an outputbit.

Note!

• Parameterise the "Starting value of the counting block ≤ comparison value" (otherwise the counter will be kept on its starting value since comparison takes place permanently, see explanation below).

• It is possible to measure very high pulse frequencies at the inputs DI1/DI2 or DI6/DI7 if a corresponding function (FreqIn, HTL encoder input, counter) is set for these inputs. Then the sampling takes place within a few μs instead of the otherwise usual sampling rate of 1 kHz (1 ms).

• Observe the maximum input frequencies of the above-mentioned inputs.

OutputDIS code | data type

Value/meaning

wCountIn1_HWC02841/1 | WORD

Counter, high word as non-standardised signal

wCountIn1_LWC02841/1 | WORD

Counter, low word as non-standardised signal

wCountIn1_CompareBOOL

Comparison value, see following description

10kHz

dwCountIn1_LoadStartValue

dwCountIn1_CompareValue

bCountIn1_Compare

C02840/1

C02840/2

bCountIn1_ResetCompare wCountIn1_HW

wCountIn1_LW

CountInC02841/1bCountIn1_LoadStartValue


196 L Firmware 02.00 - DMS EN 3.0 - 05/2009

The following temporal characteristic shows the counting process depending on thesignals of the interfaces described before:

[6-1] Transient characteristic of a quick counter block, sampling cycle = 1 ms

The starting value is loaded if "value = 0". When the comparison valuedwCountin1_CompareValue, code C02840/2, is reached or exceeded, the counter returnsto its starting value. Starting value and comparison value are 32-bit parameters, the

maximum input range of which is 0 ... 231 - 1. The counter content can be picked off at theinterface of the LS_DigitalInput as a 16-bit value without sign for the HIGH and LOW wordeach. This serves to directly connect the current counter contents on the CAN bus. Whenthe comparison value is reached, bit bCount1_Compare changes its signal status from LOWto HIGH. The signal is then reset via an edge at the bCount1_ResetCompare. An edge at thebCountIn1_LoadStartValue input loads the current counter content of the LOW and HIGHword to the value in the dwCountIn1_StartValue parameter.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 197


Digital outputs

6.4 Digital outputs

The controller is provided with

three parameterisable digital outputs, terminal strip "X4"

a relay output, terminal strip "X101"

an output to control a brake ("high-current output"), terminal strip "X107".


Note!

Initialisation behaviour:

• After mains switching up to the start of the application, the digital output remains set to FALSE.

Exception handling:

• In case of a critical exception in the application (e.g. reset), the digital output is set to FALSE considering the terminal polarity parameterised in C00118.

Operating cycle diagnosis

• Code C00445 serves to evaluate the mechanical wear and thus the exchange of the relay.


X4/DO1...X4/DO3

Digital output 1 LOW level: 0 ... +5 V

HIGH level: +15 ... +30 V

Output current: max. 50 mA per output (external resistance > 480 Ω at 24 V)

Processing cycle: 1 ms

X4/24E External 24 V voltage supply for, among other things, the digital outputs

X4/GIO Reference potential (digital ground)

X101/COM Relay output, common contact

Potential-free two-way switchAC 250 V / 3 ADC 24 V / 2 A ... 240 V / 0.16 AX101/NC Relay output, NC

contact

X101/NO Relay output, NO contact

X107/BD1 Brake, positive connection

X107/BD2 Brake, negative connection

X107/GB Brake, reference potential

X4

DO

124O

DO

2D

O3

GO

X101

NC

CO

MN

O

X107

GB

24B

BD

1B

D2

8400 HighLine C | Software ManualI/O terminalsDigital outputs

198 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Tip!

DC-injection braking allows the drive to be quickly braked to a standstill withoutthe need to use an external brake resistor.

DC-injection braking ( 153)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 199


Digital outputs


Short overview of parameters for the digital outputs:


C00118 Inversion of the output logic

C00423 Filter time / delay time

C00177 /2 Status: Switching cycles, output relay

C00444 Status: Digital outputs

C00445 Status: Switching operations of the relay up to that moment


8400 HighLine C | Software ManualI/O terminalsDigital outputs

200 L Firmware 02.00 - DMS EN 3.0 - 05/2009

6.4.3 System block "LS_DigitalOutput"

In the FB editor, the system block LS_DigitalOutput is the interface to the digital output atthe front of the controller.

InputDIS code | data type


bOut1C00444/1 | BOOL

..bOut3

C00444/1 | BOOL

Digital output 1..Digital output 3

bOutHCC00444/1 | BOOL

Output for brake control

bRelayC00444/1 | BOOL

Relay output, potential-free two-way switch

LS_DigitalOutput

X4

X107

0

0

0

0

t

t

t

t

C00444/2

C00444/2

C00444/2

C00118

C00118

C00118

C00118

C00444/1

C00444/1

C00444/1

C00444/1

0

0

0

0

1

1

1

1

bOut1

bOut2

bOut3

bOutHC

NC

CO

MN

O

X101bRelay

0 t

C00423/1

C00423/3

C00423/5

C00423/7

C00423/9

C00118

0

1

C00444/1 C00444/2

Bit 1 Bit 1

Bit 2 Bit 2

Bit 3 Bit 3

Bit 4 Bit 4

Bit 0 Bit 0

Bit 1

Bit 2

Bit 3

Bit 0 C00445

?

DO

124O

DO

2D

O3

GO

GB

24B

BD

1B

D2

C00423/2

C00423/4

C00423/6

C00423/8

C00423/10

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 201


Terminal pre-assignment

6.5 Terminal pre-assignment

6.5.1 Application "Actuating drive - speed"

Tip!

In the description of the technology application Actuating drive - speed you areinformed

• which signals have been pre-assigned to the terminals in the Lenze setting and

• how to assign different signals to the terminals.

6.5.1.1 Connection diagram in the Lenze setting

C0007 = 10 (terminals 0)

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X107 X4

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

24B 24OGB DO1

BD2 DO3GO

BD1 DO2

GAO1UO1I

O2UO2I

X101

24E+=

DriveFail

CG

CL

CH

X1

DriveReady

Controller enable

Externalsupply

24 V DC

Fixed setpoint 1Fixed setpoint 2

DC brakection of rotation CCw Actual spee

Speed setpo

8400 HighLine C | Software ManualI/O terminalsTerminal pre-assignment

202 L Firmware 02.00 - DMS EN 3.0 - 05/2009



X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X107 X4

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

24B 24OGB DO1

BD2 DO3GO

BD1 DO2

GAO1UO1I

O2UO2I

X101

24E

DriveFail

+=

CG

CL

CH

X1

Quickstopction of rotation Ccw

DriveReady

Actual speed valu

Speed setpoint

Controller enableFixed setpoint 1Fixed setpoint 2

Externalsupply

24 V DC

X107 X424B 24OGB DO1

BD2 DO3GO

BD1 DO2

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

GAO1UO1I

O2UO2I

X101

24E

DriveFail

+=

CG

CL

CH

X1

Controller enableDirection of rotation Ccw

DC brake activeSpeed higherSpeed lower

DriveReady

Actual speed valu

Speed setpoint

Motorpotentiometer

Externalsupply

24 V DC

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 203



C0007 = 20 (keypad)

C0007 = 21 (PC)


BD2 DO3GO

BD1 DO2

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

GAO1UO1I

O2UO2I

X101

24E

Quick commissioning

SAVE


Terminals

Keypad

SAVE

Par1 8400 HighLineC

User - Menu

Logbook

Go to param

Quick commissioning

C2/1C7C728C11C12C13C15C16C22C87C89C39/1C727/3C727/4C51C54

DriveFail

+=

CG

CL

CH

X1

Engineer: Keypad:

Actual speed value

Controller enable

DriveReady

Externalsupply

24 V DC

All parameters

Quick commissioning

Terminal

Keypad


BD2 DO3GO

BD1 DO2

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

GAO1UO1I

O2UO2I

X101

24E

DriveFail

+=

CG

CL

CH

X1

Actual speed valu

Controller enable

DriveReady

Externalsupply

24 V DC


204 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C0007 = 30 (CAN)


BD2 DO3GO

BD1 DO2

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

GAO1UO1I

O2UO2I

X101

24E

CG

CL

CH

X1

DriveFail

+=

CanIn1

CanOut1

DriveControlStatus

MainSetValue

MotorSpeedActMotorSpeedSet

CANDriveControl

CanIn2 / 3

CanOut2 / 3

DriveReady

Actual speed value

Speed setpoint

Controller enableQuickstop

Externalsupply

24 V DC

pos. directionManualJog neg. direction

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 205



C0007 = 40 (MCI)


BD2 DO3GO

BD1 DO2

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

GAO1UO1I

O2UO2I

X101

24E

CG

CL

CH

X1

MciIn

MciOut

DriveControlStatus

MainSetValue

4 ...16


DriveFail

+=

3 ...16

MciDriveControl

DriveReady

Actual speed value

Speed setpoint


Externalsupply

24 V DC



206 L Firmware 02.00 - DMS EN 3.0 - 05/2009

6.5.2 Application "Table positioning"

Tip!

In the description of the technology application Table positioning you are informed

• which signals have been pre-assigned to the terminals in the Lenze setting and

• how to assign different signals to the terminals.

Control source: Terminals 0, C7 = 10

X5

A2I

AR

COM

CG

A1U

NC

CL

A2UA1I

NO

CH

X107 X4

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

24B 24OGB DO1

BD2 DO3GO

BD1 DO2

GAO1UO1I

O2UO2I

MBrakeReleaseOut

X101

X1

24E

+

+

=

=

+

DriveFail

DriveReadyLoad mechanicals in target pHome position known

Controller enable

Externalsupply

24 V DC

pos. directionneg. direction

Bit 2Bit 1

Start profile generation

Actual speed value (V)Actual speed value (I)Actual motor current value (VActual motor current value (I

Speed setpoint

Limit switch

Profile no. 0 ... 3

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 207





X5

A2I

AR

COM

CG

A1U

NC

CL

A2UA1I

NO

CH

X107 X4

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

24B 24OGB DO1

BD2 DO3GO

BD1 DO2

GAO1UO1I

O2UO2I

X101

X1

24E

+

M

==

+

DriveFail

+=

MBrakeReleaseOut

DriveReady

Speed setpoint

Controller enable

Externalsupply

24 V DC

Actual speed value (I)Actual motor current value (VActual motor current value (I

Bit 2Bit 3

Bit 1Start profile generation

Profile no. 0 ... 7

Load mechanicals in target pHome position known

CG

CL

CH


BD2 DO3GO

BD1 DO2

X1

+

M

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

GAO1UO1I

O2UO2I

X101

24E

+

==

DriveFail

+=

MBrakeReleaseOut

Controller enable

DriveReady

Speed setpoint

Externalsupply

24 V DC


Bit 2Bit 3


Profile no. 0 ... 7


Limit switch



208 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Control source: Keypad, C7 = 20

Control source: PC, C7 = 21

CG

CL

CH


BD2 DO3GO

BD1 DO2

X1

+

M+

==

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

GAO1UO1I

O2UO2I

X101

24E

Quick commissioning

SAVE


Terminals

Keypad

SAVE

Par1 8400 HighLineC

User - Menu

Logbook

Go to param

Quick commissioning


DriveFail

+=

MBrakeReleaseOut

Controller enable

DriveReady

Externalsupply

24 V DC

Actual speed value (V)Actual speed value (I)Actual motor current value (V)Actual motor current value (I)

Load mechanicals in target positionHome position known

Engineer: Keypad:

All parameters

Quick commissioning

Terminal

Keypad

CG

CL

CH


BD2 DO3GO

BD1 DO2

X1

+

M+

==

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

GAO1UO1I

O2UO2I

X101

24E

DriveFail

+=

MBrakeReleaseOut

Controller enable

DriveReady

Externalsupply

24 V DC



Firmware 02.00 - DMS EN 3.0 - 05/2009 L 209



Control source: CAN, C7 = 30


BD2 DO3GO

BD1 DO2

+

M

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

GAO1UO1I

O2UO2I

X101

24E

+

==C

GC

LC

H

X1C

AN

1_

In

CA

N1

_O

ut

CAN2/3_In/Out

CanDriveControl

MainSetValue

DriveControlStatus

MotorSpeedAct

MotorSpeedSet

DriveFail

+=

MBrakeReleaseOut

DriveReady

Speed setpoint

Controller enable

Externalsupply

24 V DC



Reference switch statusQuickstop

Limit switch

Load mechanicals in target pImax status


210 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Control source: MCI, C7 = 40


BD2 DO3GO

BD1 DO2

+

M

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

GAO1UO1I

O2UO2I

X101

24E

+

==C

GC

LC

H

X1M

ci1

_In

Mci1

_O

ut

Mci2/3_In/Out

MciDriveControl

MainSetValue

DriveControlStatus

MotorSpeedAct

MotorSpeedSet

DriveFail

+=

DriveReady

MBrakeReleaseOut

Controller enable

Externalsupply

24 V DC



Reference switchQuickstop

Limit switch


Speed setpoint

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 211

8400 HighLine C | Software ManualEncoder evaluation

7 Encoder evaluation

When does the open-circuit monitoring system respond?

The open-circuit monitoring system responds if

an open circuit occurs in the encoder cable.

an extreme overload (e.g. blocked motor shaft) occurs during the start-up phase of the motor

the motor is highly dynamically reversed.

Which measured values lead to an actuation of the open-circuit monitoring system?

The following measured values checked for plausibility lead to an actuation of the open-circuit monitoring system:

1. If the total deviation between actual speed and setpoint speed is higher than f = 40 Hz for a time > 0.1 s .

2. If the actual speed detected is f = 0 Hz or n = 0 rpm and the Imax controller or the torque limitation for servo control is active for t ≥ 0.1 s.

3. If the sign of the injected frequency and the actual speed is not the same, the Imax controller is active and this status is active for 0.1 s. Usually this is the case when the A/B tracks are reversed.

Selecting the response to an open circuit in the encoder cable

If required, the following reactions can be parameterised under C00586:

"Fault", operating status change through pulse inhibit of the power output stage, see Device state machine ( 56) (Lenze setting)

"No reaction", reaction deactivated

"Warning", operating status of controller remains unchanged. Only a message will be indicated, see Device state machine ( 56).

Danger!

• To avoid interferences when using an encoder only use shielded motor and encoder cables.

• Observe the maximum input frequencies of the digital inputs Digital inputs ( 187)

Note!

In the Lenze setting (e.g. when the device is delivered), the open-circuit monitoring of the encoder (C00586) is activated.

8400 HighLine C | Software ManualEncoder evaluationParameter setting for the motor encoder

212 L Firmware 02.00 - DMS EN 3.0 - 05/2009

7.1 Parameter setting for the motor encoder

For speed monitoring the feedback signal can be supplied via an HTL encoder at the digitalinput terminals (DI1/DI2 or DI6/DI7).

A click on the "Encoder/feedback system" button, see , opens a dialog which serves toselect the encoder system and set the number of encoder increments.

Tip!

The "Encoder/feedback system" button can be found via the following path:

• Select the "Application parameters" tab

• Click the motor pictograph --> the parameter dialog containing the corresponding button opens, see below screenshot.

Parameter setting


C00006 Set this code to a motor control operating mode with feedback

C00115/1C00115/2

Set this code to 2, 3 or 4Lenze recommendation: Set "3" • Value "3":

Enables two-track encoder evaluation with correct direction of rotation detection. • Value "2" or "4":

For single-track evaluation, make sure that the sign is correct. Otherwise, the motor may overspeed.

The output signals bIn1 and bIn2 at System block "LS_DigitalInput" ( 190) automatically change to FALSE.

C00420/1C00420/2

Encoder increments (e.g. 256 pulses/revolution) at the terminals • X4/DI1 or X4/DI2 • X4/DI6 or X4/DI7

C00425/1C00425/2

Scan time of encoder,only relevant, if edge counting has been selected with C00496 = 3

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 213


Parameter setting for the motor encoder

C00490 Source of feedback signal for position control

C00495 Source of feedback signal for speed control

C00496 Selection of encoder evaluation method

C00497/1C00497/2

Filter time of speed measuring device

C01206/1C01206/2

Mounting direction of motor and encoder


8400 HighLine C | Software ManualEncoder evaluationEncoder evaluation method

214 L Firmware 02.00 - DMS EN 3.0 - 05/2009

7.2 Encoder evaluation method

Depending on the encoder used, the following table specifies which evaluation methodshould be selected under code C00496:

Setting Method Description

C00496 = 0 High-resolution method for encoders with a high number of increments

• Method for speed measurement with automatic scan time setting (0.5 … 500 ms)

• Evaluation with automatic scan time minimisation for an optimum dynamic performance

• Particularly suited for high-resolution encoders (≥ 1024 inc) with good signal quality, i.e.– good scanning ratio 1:1– exactly 90°-phase offset between track A and B (error ≤ ± 10°)

• Not suited for encoders with poor signal quality • Wiring according to EMC (e.g. motor and encoder cable shielding) is

required

C00496 = 1 Low-resolution method (StateLine) for encoders with a low number of increments

• Exact method for speed measurement with automatic scan time setting (0.5 … 500 ms) for low-resolution encoders in the range of 4 …. 128 increments

• Evaluation with automatic scan time minimisation for an optimum dynamic performance

• Method is also suited for encoders with poor signal quality, e.g. for encoders with high error rate in scanning ratio and phase offset.

• This method requires an equidistant period length per encoder increment.

• Wiring according to EMC (e.g. motor and encoder cable shielding) is required

C00496 = 2 Combined method for all increments(Lenze setting)

• Combination of methods C00496 = 0 and C00496 = 1 for high-precision speed measurement for encoders with any number of increments (4 … 1024 increments).

• Low input frequencies at DIGIN 1/2: Use low-resolution method ( C00496 = 1)

• High input frequencies at DIGIN 1/2: Use high-resolution method ( C00496 = 0)

• This method is suited for encoders with average to good signal quality • Evaluation with automatic scan time minimisation for an optimum

dynamic performance • This method requires an equidistant period length per encoder

increment. • Wiring according to EMC (e.g. motor and encoder cable shielding) is

required

C00496 = 3 Edge counting • Method with adjustable scan time (fixed scan time can be set under C00425/1)

• Speed measurement by means of the edges of tracks A and B measured per scanning interval

• Integrated correction algorithm for EMC interference • Limited suitability for systems with unshielded encoder and/or motor

cable • Limited suitability for encoders with poor signal quality, i.e. high error

rate in scanning ratio and phase offset.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 215


Encoder evaluation method

Tip!

• Recommended setting of code C00496 = 2.

• For dynamic applications (e.g. servo control mode), use the methods set with C00496 = 0, 1, 2.

• For dynamic speed control or positioning processes, use an HTL encoder with 1024 increments.

• The wiring diagram and the assignment of the input terminal can be found in the 8400 Hardware Manual.

• The Hardware Manual is available in electronic form on the CD supplied with the 8400 frequency inverter.

8400 HighLine C | Software ManualEncoder evaluationEncoders with HTL level at X4/DI1 or X4/DI2

216 L Firmware 02.00 - DMS EN 3.0 - 05/2009

7.3 Encoders with HTL level at X4/DI1 or X4/DI2

7.3.1 Signal flow

Note!

At the digital terminal X4/DI1 or X4/DI2, only encoders with HTL level can be used.

Even if the operating mode without encoder feedback is selected, the actual speed value (C00051) will be calculated, if

• an encoder is connected, and

• an encoder has been selected under code C00495 ("speed encoder selection") with the value "1".

nMotorSpeedActC51/0

2

01

2

01

C497/1C497/2

100 kHz

10 kHz

C495

C490

C496

DIGIN 1/2

DIGIN 6/7

bSetMotorPostionRefC833/68dnMotorPosRefValueC833/6

dnMotorPosAct

dnMotorPosAct_a

Encoder interface

Motor encoderselection

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 217


Encoders with HTL level at X4/DI1 or X4/DI2

Low speeds (except for edge counting)

For the methods with C00496 = 0, 1 or 2, the minimum speed that can be measureddepends on the encoder PPR.

The quantisation error

is independent of the encoder PPR

exclusively depends on the encoder quality (encoder errors)

is minimally 0.5 rpm.

For a maximum dynamic performance, the scan time is automatically kept at theminimum value required through internal arithmetic operations.

Low speeds with edge counting

With edge counting (C00496 = 3) , the minimum speed that can be measured and thequantisation error of the speed measurement depend on

the adjustable scan time and

the encoder resolution.

Select the scan time according to accuracy and dynamic requirements:

all values in [1/min]

Number of encoder increments C00420/1

Minimum speed [rpm]

8 16

16 8

32 4

64 2

128 1

256 0.5

≥ 512 0.25

Scan time [ms]

Encoder resolution (increments) 1 2 5 10 20 50 100 200 500 1000

8 1875 938 375 188 93.8 37.5 18.8 9.4 3.8 1.9

16 938 469 188 94 46.9 18.8 9.4 4.7 1.9 0.9

32 469 234 94 46.9 23.4 9.4 4.7 2.3 0.9 0.5

64 234 117 46.9 23.4 11.7 4.7 2.3 1.2 0.5 0.2

128 117 58.6 23.4 11.7 5.9 2.3 1.2 0.6 0.2 0.12

256 58.6 29.3 11.7 5.9 2.9 1.2 0.6 0.3 0.12 0.06

512 29.3 14.6 5.9 2.9 1.5 0.6 0.3 0.15 0.06 0.03

1024 14.6 7.3 2.9 1.5 0.7 0.3 0.15 0.07 0.03 0.01

8400 HighLine C | Software ManualEncoder evaluationEncoder with HTL level at X4/DI6 or X4/DI7

218 L Firmware 02.00 - DMS EN 3.0 - 05/2009

7.4 Encoder with HTL level at X4/DI6 or X4/DI7

7.4.1 Signal flow

Low speeds with edge counting

The speed measurement is evaluated at terminals X4/DI6 and X4/DI7 via edge countingwith a fixed, adjustable scan time.

With edge counting, the minimum speed that can be measured and the quantisation errorof the speed measurement depend on

the adjustable scan time and

the encoder resolution.

Select the scan time according to accuracy and dynamic requirements:

Maximum speeds with edge counting

Due to the lower input frequency (max. 10 kHz) compared to terminals X4/DI1 and X4/DI2,operation at maximum speed at the input terminals X4/DI6 and X4/DI7 is limited, seeDigital inputs ( 187).

Scan time [ms]

Encoder resolution (increments) 1 2 5 10 20 50 100 200 500 1000

8 1875 938 375 188 93.8 37.5 18.8 9.4 3.8 1.9

16 938 469 188 94 46.9 18.8 9.4 4.7 1.9 0.9

32 469 234 94 46.9 23.4 9.4 4.7 2.3 0.9 0.5

64 234 117 46.9 23.4 11.7 4.7 2.3 1.2 0.5 0.2

128 117 58.6 23.4 11.7 5.9 2.3 1.2 0.6 0.2 0.12

256 58.6 29.3 11.7 5.9 2.9 1.2 0.6 0.3 0.12 0.06

512 29.3 14.6 5.9 2.9 1.5 0.6 0.3 0.15 0.06 0.03

1024 14.6 7.3 2.9 1.5 0.7 0.3 0.15 0.07 0.03 0.01

Number of encoder increments C00420/1

Maximum speed that can be measured [rpm]

8 No restrictions

16 37500

32 18750

64 9375

128 4688

256 2344

512 1172

C497/2

10 kHz

C420/2C425/2

DIGIN 6/7

nFreqIn67_a

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 219

8400 HighLine C | Software ManualSystem bus "CAN on board"

8 System bus "CAN on board"

The controller has an integrated CANopen system bus interface ("CAN on board") forprocess and parameter data exchange between different devices and the connection ofadditional modules such as distributed terminals, keypads and input devices ("HMIs") aswell as external controls.

In the »Engineer« parameter list and in the keypad, category CAN, you can find the parameters relevant for the CANopen system bus interface classified in different subcategories.

Note!

Information on CAN communication modules and CANopen system bus interfaces of other Lenze controllers can be found on the Lenze homepage and in the "CAN" communication manual available in the Lenze library.

8400 HighLine C | Software ManualSystem bus "CAN on board"Features

220 L Firmware 02.00 - DMS EN 3.0 - 05/2009

8.1 Features

For many years, the system bus (CAN) based on the CANopen communication profile hasbeen integrated in Lenze inverters. Due to the lower number of data objects available, thefunctionality and compatibility of the previous system bus are lower as compared toCANopen. For parameter setting, two parameter data channels are always available to theuser while CANopen provides only one active parameter channel.

The system bus (CANopen) has the following features:

The system bus (CAN) provides full compatibility with CANopen DS301, V4.02.

The NMT slave function Heartbeat (DS301, V4.02) is supported.

2 server SDO channels with 1 to 8 bytes

– Because of the 2 server SDO channels, the address range from 1 to 63 is available.

Number of parameterisable PDO channels:

– Max. 3 transmit PDOs (TPDOs) with 1 ... 8 bytes (adjustable)

– Max. 3 receive PDOs (RPDOs) with 1 ... 8 bytes (adjustable)

All PDO channels are functionally equivalent.

Sync signal generation

Monitoring of the RPDOs for data reception

Telegram counters for SDOs and PDOs

CAN bus status diagnostics

Generation of a CAN reset node NMT telegram at master configuration

All "CAN on board" functions can be parameterised via codes.

Adjustable error response to ...

– physical CAN errors (frame, bit, ACK error)

– bus-stop, bus working

– absent PDOs

Sending and receiving PDOs (time-, event-, sync-controlled)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 221


Features

CANopen-specific functions

Object directory (all mandatory functions, optional functions, indexes)

Boot-up telegram generation

Emergency telegram generation

Abort codes

Heartbeat function (producer and consumer protocol)

Response to sync telegrams (transmit/receive data; for HighLine and also synchronisation to device-internal time base)

Protocols

Standard PDO protocol Write and read

SDO protocols SDO download • "Initiate SDO download" • "Download SDO segment"

SDO upload • "Initiate SDO upload" • "Upload SDO segment"

Abort SDO transfer

SDO block download • "Initiate block download" • "Download block" • "End download block"

SDO block upload • "Initiate block upload" • "Upload block" • "End upload block"

NMT protocols Start remote node (master and slave)

Stop remote node (slave)

Enter pre-operational (slave)

Reset node (slave and local device)

Reset communication protocol (slave)

Heartbeat producer protocol Producers and consumers • StateLine: Up to 7 heartbeat producers can be monitored. • HighLine: Up to 15 heartbeat producers can be monitored.

Emergency

8400 HighLine C | Software ManualSystem bus "CAN on board"General data and application conditions

222 L Firmware 02.00 - DMS EN 3.0 - 05/2009

8.2 General data and application conditions

Range Values

Communication profile CANopen, DS301 V4.02

Communication medium DIN ISO 11898

Network topology Line terminated at both ends

Adjustable node address 1 ... 63 (adjustable via DIP switch or code)

Max. number of nodes 63

Baud rate [kbps] • 50 • 125 • 250 • 500 • 800 (only with HighLine) • 1000 (only with HighLine)Adjustable via DIP switch or code

Process data • Max. 3 transmit PDOs (TPDOs) with 1 ... 8 bytes (adjustable) • Max. 3 receive PDOs (RPDOs) with 1 ... 8 bytes (adjustable)

Transfer mode for TPDOs • With change of data • Time-controlled, 1 to x ms • After the reception of 1 to 240 sync telegrams

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 223


Communication time

8.3 Communication time

Tip!

The communication time is the time between the start of a request and the arrivalof the corresponding response.

The CAN communication times depend on:

• Processing time in the frequency inverter

• Telegram run time (baud rate / telegram length)

• Bus load (especially if the bus is charged with PDOs and SDOs at a low baud rate)

Processing time in the 8400 frequency inverter

No dependencies exist between parameter data and process data.

Parameter data:

– Approx. 5 ms (typical)

– For parameters concerning the motor control (e.g. C00011), the processing time may be up to 30 ms.

Process data: 1 ms

8400 HighLine C | Software ManualSystem bus "CAN on board"Possible settings via DIP switch

224 L Firmware 02.00 - DMS EN 3.0 - 05/2009

8.4 Possible settings via DIP switch

[8-1] DIP switch

Lenze setting: All DIP switches are in the "OFF" position

Tip!

The current DIP switch settings are displayed in code C00349.

Bit 15 indicates that the setting of the DIP switches has been accepted when thedevice or the 24 V supply has been switched on.

8.4.1 Activation of the bus terminating resistor

The CAN bus must be terminated between CAN low and CAN high at the first and lastphysical node each by a resistor (120 Ω). The 8400 frequency inverter is provided with anintegrated bus terminating resistor, which can be activated via the unlabelled DIP switch.

Switch position ():

OFF = bus terminating resistor is inactive

ON = bus terminating resistor is active

Switch position:

The following can be set via the front panel DIPswitches:

Bus terminating resistorPosition:

Baud rateArea: "Baud"Positions: "a" to "d"

Node addressArea: "CAN Address"Positions: "1" to "64"

Baud CAN Address

ON cd b a 64 32 16 8 4 2 1

�

OFF

ON

Note!

• The DIP switch settings are accepted if at least one DIP switch setting for the node address (1 ... 63) is unequal zero when the device or the 24 V supply is switched on.

• If the DIP switch setting is zero when the device or the 24 V supply is switched on, the setting of the baud rate and node address are read out of the parameter set/parameter.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 225


CAN signalling on the controller front panel

8.4.2 Setting the baud rate

The baud rate can be set via code C00351 or with the DIP switches a to d:

8.4.3 Setting the node address

The node address can be set via code C00350 or with the DIP switches 1 to 64.

The labelling on the housing corresponds to the values of the individual DIP switches for determining the node address.

Valid address range: 1 to 63

Example: Setting of the node address 23

8.5 CAN signalling on the controller front panel

DIP switch positions Baud rate Information

d c b a

OFF OFF ON ON 50 kbps

OFF OFF ON OFF 125 kbps

OFF OFF OFF ON 250 kbps

OFF OFF OFF OFF 500 kbps

ON ON ON OFF 800 kbps • Baud rates are not available for 8400 StateLine. The positions of the DIP switches c and d have no effect.

• Baud rates are only valid for 8400 HighLine.

OFF ON OFF OFF 1000 kbps

Note!

• The addresses of the nodes must differ from each other.

• All DIP switches 1 ... 64 = OFF (Lenze setting):

– At switching on, the settings under code C00350 (node address) and C00351 (baud rate) will become active.

DIP switch 64 32 16 8 4 2 1

Switch position OFF OFF ON OFF ON ON ON

Value 0 0 16 0 4 2 1

Node address = Sum of the values = 16 + 4 + 2 + 1 = 23

CAN-RUN: Signals the CANopen state

CAN-ERROR: Signals a CANopen error

CAN-RUNCAN-ERROR

8400 HighLine C | Software ManualSystem bus "CAN on board"CAN signalling on the controller front panel

226 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Frequency of the display CAN signalling and meaning

Permanently red CAN-Run: -, CAN-Error: bus off

Flashes Automatic detection of baud rate is active

Green blinks every 0.2 s CAN-Run: pre-operational, CAN-Error: -

Green blinks every 0.2 sRed blinks 1 time, 1 s off

CAN-Run: pre-operational, CAN-Error: warning limit reached

Green blinks every 0.2 sRed blinks 2 times, 1 s off

CAN-Run: pre-operational, CAN-Error: node guard event

Permanently green CAN-Run: operational, CAN-Error: -

Permanently greenRed blinks 1 time, 1 s off

CAN-Run: operational, fault: warning limit reached

Permanently greenRed blinks 2 times, 1 s off

CAN-Run: operational, CAN-Error: node guard event

Permanently greenRed blinks 3 times, 1 s off

CAN-Run: operational, CAN-Error: sync message error

Green blinks every 1 s CAN-Run: stopped, CAN-Error: -

Green blinks every 1 sRed blinks 1 time, 1 s off

CAN-Run: stopped, CAN-Error: warning limit reached

Green blinks every 1 sRed blinks 2 times, 1 s off

CAN-Run: stopped, CAN-Error: node guard event

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 227


General information on data transfer

8.6 General information on data transfer

All Lenze drive and automation systems are equipped with an integrated system businterface for the networking of control components on field level.

Via the system bus interface, for instance process data and parameter values can beexchanged between the nodes. In addition, the interface enables the connection ofadditional modules such as distributed terminals, keypads and input devices or externalcontrols and host systems.

The system bus interface transfers CAN objects following the CANopen communicationprofile (CiA DS301, version 4.02) developed by the umbrella organisation of CiA (CAN inAutomation) in conformity with the CAL (CAN Application Layer).

8.6.1 Structure of the CAN data telegram

[8-2] Basic structure of the CAN telegram

Tip!

Identifier and user data are described in detail in the following chapters. The other signals refer to the transfer characteristics of the CAN telegram. These instructions do not describe them in detail. For more information, please go to the homepage of the CAN user organisation CiA (CAN in Automation) http://www.can-cia.org .

Node address (node ID)

Each node of the system bus network must be assigned to a node address (also called nodeID) within the valid address range (1 to 63) for unambiguous identification.

A node address may not be assigned more than once within a network.

The node address of the drive can be configured using the DIP switches or code C00350.

9400CAN016

Start RTR bit

Control field

CRC sequence

CRC delimit. ACK delimit.

ACK slot End

Identifier User data (0 … 8 bytes)

Network managementProcess dataParameter data

1 bit 11 bits 1 bit 6 bits 15 bits 1 bit 1 bit 1 bit 7 bits

Start RTR bit

Control field

CRC sequence


ACK slot End




Start RTR bit

Control field

CRC sequence


ACK slot End




http://www.can-cia.org

8400 HighLine C | Software ManualSystem bus "CAN on board"General information on data transfer

228 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Identifier

The principle of the CAN communication is based on a message-oriented data exchangebetween a transmitter and many receivers. All nodes can transmit and receive quasi-simultaneously.

The identifier, also called COB-ID (Communication Object Identifier), is used to controlwhich node is to receive a sent message. In addition to the addressing, the identifiercontains information on the priority of the message and the type of the user data.

The identifier consists of a basic identifier and the node address of the node to beaddressed:

Identifier (COB-ID) = basic identifier + node address (node ID)

Exception: For process data, heartbeat/emergency objects, NMT telegrams and synctelegrams, the identifier is assigned freely by the user (e.g. manually or automatically viathe network configurator) or it is firmly allocated.

Identifier assignment

The CAN bus system is message-oriented. Each message has an unambiguous identifier.For CANopen, node-oriented transfer is achieved by the fact that there is only onetransmitter for each message.

The identifier assignment is specified in the CANopen protocol.

In accordance with the CANopen specification, the basic identifier is preset in the factoryto the following values:

1) If you set the sync transmit/receive identifier manually, observe the use of the emergency telegram, since it has the same COB-ID.

Object Direction Lenze-Base-ID CANopen-Base-ID

from the drive

to the drive dec hex dec hex

NMT 0 0 0 0

Sync 1) 128 80 128 80

Emergency 1) X 128 80 128 80

PDO1 (Process data channel 1)

TPDO1 X 384 180 384 180

RPDO1 X 512 200 512 200


TPDO2 X 640 280 640 280

RPDO2 X 641 281 768 300


TPDO3 X 768 300 896 380

RPDO3 X 769 301 1024 400

SDO1 (Parameter data channel 1)

TSDO1 X 1408 580 1408 580

RSDO1 X 1536 600 1536 600

SDO2(Parameter data channel 2)

TSDO2 X 1472 5C0 1472 5C0

RSDO2 X 1600 640 1600 640

Heartbeat X 1792 700 1792 700

Boot-up X 1792 700 1792 700

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 229



User data

The nodes communicate with each other by exchanging data telegrams via the CAN bus.

The user data range of the CAN telegram contains network management data, parameterdata or process data:

Network management data (NMT data)

– Control information on start, stop, reset, etc. of communication to certain or all nodes of the CAN network.

Process data (PDO, Process Data Objects)

– Process data are transferred via the process data channel.

– Process data can be used to control the frequency inverter.

– Process data are not saved on the frequency inverter, e.g. as parameter sets.

– Process data are transferred between host system and frequency inverters to ensure a continuous exchange of current input and output data.

– Process data usually are unscaled/scalable raw data

– Process data are, for instance, setpoints and actual values.

– The exact meaning of the PDO file contents is determined via the function block editor (FB interconnection) in the I/O level of the 8400 frequency inverter or via the PDO mapping.

Parameter data (SDO, Service Data Objects)

– Parameter data are the CANopen indexes or, in case of Lenze devices, the codes.

– Parameters are, for instance, used for one-off plant setting during commissioning or when the material is changed on a production machine.

– Parameter data are transmitted as SDOs via the parameter data channel. They are acknowledged by the receiver, i.e. the transmitter gets a feedback about the transmission being successful or not.

– The parameter data channel enables access to all Lenze codes and CANopen indexes.

– Parameter changes can be saved in the parameter set of the frequency inverter.

– In general, the parameter transfer is not time-critical.

– Parameter data are, for instance, operating parameters, diagnostic information and motor data as well as control information on the interconnection of function blocks in the I/O level of the 8400 frequency inverter.

8.6.2 Communication phases of the CAN network (NMT)

Regarding communication, the drive distinguishes between the following states:

Status Explanation

"Initialisation"(Initialisation)

Initialisation starts when the frequency inverter is switched on. In this phase, the drive does not take part in the bus data transfer.Furthermore, it is possible in each NMT status to restart the entire initialisation or parts of it by transferring different telegrams (see "Status transitions"). In this case, all CAN-relevant parameters are overwritten with their default values.After initialisation has been completed, the drive is automatically set to the "pre-operational" status.

"Pre-operational"(before being ready for operation)

The drive can receive parameter data.Process data are ignored.


230 L Firmware 02.00 - DMS EN 3.0 - 05/2009

"Operational"(ready for operation)

The drive can receive parameter data and process data.

"Stopped"(stopped)

Only network management telegrams can be received.

Communication object Initialisation Pre-operational Operational Stopped

PDO X

SDO X X

Sync X X

Emergency X X

Boot-up X

NMT X X X

Status Explanation

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 231



Status transitions

[8-3] Status transitions in the CAN network (NMT)

E82ZAFU004

(3)

(11)

(10)

(9)(8)

(6)

(7)

(5)(4)

(2)

(1)

(13)

(12)

(14)

Initialisation

Pre-Operational

Stopped

Operational

Status transition Command Network status after change

Effects on process/parameter data after status change

(1) - Initialisation Initialisation starts automatically when the mains is switched on.During initialisation, the drive does not take part in the data transfer.After the initialisation is completed, the node sends a boot-up message with an individual identifier and automatically changes to the "pre-operational" status.

(2) - Pre-operational In this phase, the master determines the way in which the frequency inverter(s) takes/take part in the communication.

From that moment on, the master changes the states for the whole network. A target address, which is part of the NMT command, specifies the receiver(s). If the 8400 frequency inverter has been configured to be a master, the status automatically changes to "operational" after the waiting time (C00356/1) has elapsed, and the NMT command 0x0100 CAN start remote node ( 233) is sent to all nodes.

(3), (6) 0x01 xx Operational Network management telegrams, sync, emergency, process data (PDOs) and parameter data (SDOs) are active (corresponds to "start remote node")Optional:When the status is changed, event and time-controlled process data (PDOs) are sent once.

(4), (7) 0x80 xx Pre-operational Network management telegrams, sync, emergency and parameter data (SDOs) are active (corresponds to "enter pre-operational state")

(5), (8) 0x02 xx Stopped Only network management telegrams can be received.

(9) 0x81 xx Initialisation Initialisation of all CAN-relevant parameters (CiA DS 301) with the stored values (corresponds to "reset node")

(10)

(11)

(12) 0x82 xx Initialisation of all CAN-relevant parameters (CiA DS 301) with the stored values (corresponds to "reset communication")(13)

(14)

xx = 0x00: With this assignment, all devices connected are addressed by the telegram. The status can be changed for all devices at the same time.

xx = node ID: If a node address is indicated, the status will only be changed for the device addressed.


232 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Network management (NMT)

The network management telegram contains the identifier (always "0") and the command,which is included in the user data and consists of the command byte and the node address:

[8-4] Telegram for changing the communication phases

The change-over of the communication phases for the entire network is carried out by onenode, the network master. The network master can also be a frequency inverter, see CANstart remote node ( 233).

With a certain delay after power-on, a telegram is sent once that changes the status of thewhole drive system to "operational". The delay time can be set under code C00356/1.

command specifier

cs

COB-ID = 0

210

Node-IDRequest Indication

NMT-Master NMT-Slave

CS Service

1 Start_Remote_Node

2 Stop_Remote_Node

128 Enter_Preoperational-State

129 Reset_Node

130 Reset_Communication

Note!

A change in master/slave operation will only become effective

• after power-on of the frequency inverter

or

• if the NMT telegram reset_node or reset_communication is sent to the frequency inverter.

As an alternative to the NMT telegram reset_node, the controller command C00002/26 = 1: "On / Activate" can be used for reinitialising the CAN-specific device parameters.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 233



8.6.3 CAN start remote node

If the initialisation of the system bus and the associated status change from "pre-operational" to "operational" is not effected by a superimposed host system, the frequencyinverter can instead be defined to be a "quasi" master to execute this task.

The configuration is carried out via code C00352.

By means of the NMT telegram "start remote node", the frequency inverter sets all nodesto the "operational" NMT status (broadcast telegram).

The master function is only required for the initialisation phase of the drive system. Themaster's boot-up time for the initialisation phase can be set under C00356/1.

Data can only be exchanged via process data objects if the status is "operational".

Note!

After receipt of a reset node command, the frequency inverter designated to be the master does not send a "reset node NMT" to all devices, but only the "start remote node NMT".

8400 HighLine C | Software ManualSystem bus "CAN on board"Process data transfer

234 L Firmware 02.00 - DMS EN 3.0 - 05/2009

8.7 Process data transfer

[8-5] PDO data transfer from / to the higher-level host system

Definitions

Process data telegrams between host and drive are distinguished as follows:

– Process data telegrams to the drive (RPDO)

– Process data telegrams from the drive (TPDO)

The CANopen process data objects are designated as seen from the node's view:

– Receive PDO (RPDOx): process data object received by a node

– Transmit PDO (TPDOx): process data object sent by a node

8.7.1 Available process data objects

The following process data object are available:

3 RPDOs

3 TPDOs

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 235


Process data transfer

8.7.2 Transmission type

Process data objects can be transmitted in an event-controlled or time-controlled manner.The below table shows that it is possible to combine the different methods by means oflogic operations (AND, OR):

Event-controlledThe PDO is sent when a special device-internal event has occurred, for instance when the data contents of the TPDO have changed or when a transmission cycle time has elapsed

Synchronous transmissionA TPDO (or RPDO) is transmitted (or received) after the device has received a sync telegram (COB-ID 0x80).

Cyclic transmissionThe cyclic transmission of PDOs takes place when the transmission cycle time has elapsed.

Polled via RTRA TPDO is transmitted when another device requests it by means of a data request telegram (RTR remote transmit request). For this purpose, the data requester (e.g. the master) sends the data request telegram with the COB-ID of the TPDO requested to be sent. The receiver recognises the RTR and transmits the corresponding PDO.

The transmission type for each PDO can be selected freely and independently of thesettings for other PDOs:

Code C00322 for TPDOx

Code C00323 for RPDOx

Transmission type PDO transmission Logic combination of different transmission typescyclic synchronous Event-controlled

0 X X AND

1...240 X -

254, 255 X X or

Transmission type Description

0 Event-controlled:The PDO is transmitted on an event-controlled basis with every sync (e.g. when a bit change occurs in the PDO).

1...240 Sync-controlled (with response): • Selection n = 1: The PDO is transmitted with every sync. • Selection 1 < n ≤ 240: The PDO is transmitted with every n-th sync.

241 ... 251 Reserved

252, 253 RTR controlled

254, 255 Event-controlled with cyclic transmission:If this value is entered, the PDO transmission is event-controlled or cyclic.(Note: The values "254" and "255" have the same meaning).For a cyclic transmission, a cycle time must be entered for the respective PDO. In this case, cyclic transmission takes place in addition to event-controlled transmission.


236 L Firmware 02.00 - DMS EN 3.0 - 05/2009

8.7.3 Cyclic process data objects

With cyclic transmission, one or several PDOs are sent or received at fixed intervals. Thesynchronisation of cyclic process data is described in the following.

Note!

• The transmission type for TPDOs can be set under

– I-180x/2 (CANopen)

– C00322 (code)

• The transmission type for RPDOs can be set under

– I-140x/2 (CANopen)

– C00323 (code)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 237



Synchronisation of PDOs with sync-controlled transmission

A special telegram, the sync telegram, is used to enable the frequency inverters to read oraccept the synchronous process data.

The sync telegram is the trigger point for the transmission of process data from thefrequency inverters to the master and for the acceptance of process data from the masterby the frequency inverters.

For sync-controlled process data processing, the sync telegram must be generatedaccordingly.

[8-6] Sync telegram

1. After the sync telegram has been received, the frequency inverters send the synchronous process data to the master (TPDOs). The master reads them as process input data.

2. When the transmission process has been completed, the frequency inverters receive the process output data from the master (RPDOs). All further telegrams (e.g. parameters or event-controlled process data) are accepted non-cyclically by the frequency inverters when the transmission is completed. The non-cyclic data are not represented in the above illustration. They must be taken into account when dimensioning the cycle time.

3. The data are accepted by the frequency inverters with the following sync telegram.

Tip!

The response to a sync telegram is determined by the selected transmission type.

8.7.4 Event-controlled process data objects

The transmission of PDOs, the transport type of which is set to event-controlled reception/transmission via codes C00322 and C00323, takes place when an event occurs, i.e. whenthere is a change in the user data or when the adjusted time has elapsed.

8.7.5 Identifiers of the process data objects

Code C00353 serves to define whether ...

9400CAN018

1.

TPDOx RPDOx

2. 3. 4.

Cycle time

“Sync” “Sync”


238 L Firmware 02.00 - DMS EN 3.0 - 05/2009

the identifiers of the PDOs are to be assigned according to a CANopen definition or

the identifiers of the PDOs are to be assigned according to a Lenze definition or

an individual setting is to be made.

Button Function

C00353/1: "0", COB-ID = C0350 + Lenze-Base-ID

Addresses of CAN-IN1 and CAN-OUT1 are determined by C00350 + Lenze-Base-ID.

C00353/1: "1", COB-ID = C0350 + CANopen-Base-ID

Addresses of CAN-IN1 and CAN-OUT1 are determined by C00350 + CANopen-Base-ID.

C00353/1: "2", COB-ID = individual setting

Address of CAN-IN1 is determined by C00354/1.Address of CAN-OUT1 is determined by C00354/2.













Firmware 02.00 - DMS EN 3.0 - 05/2009 L 239



Basic identifier for individual identifier assignment

For individual identifier assignment, values in the range from 385 ... 1407 are to be used asbasic identifiers for all process data input and output objects.

The identifier is calculated as follows:

Identifier = basic identifier (385 ... 1407) + value of C00354/x

In the Lenze setting, the following basic identifiers of the PDOs are preset:

8.7.6 Assignment of the process data objects

The following process data objects can be used in the frequency inverters of the 8400series:

Each process data object provides 4 words (2 bytes/word). The information of the firstword each is always available in a bit-decoded form (bits 0 ... 15).

PDO Basic identifier

dec hex

PDO1

RPDO1 512 0x200

TPDO1 385 0x181

PDO2

RPDO2 640 0x280

TPDO2 641 0x281

PDO3

RPDO3 768 0x300

TPDO3 769 0x301

Receive PDOs (RPDOs) Transmit PDOs (TPDOs)

LP_CanIn1 LP_CanOut1




240 L Firmware 02.00 - DMS EN 3.0 - 05/2009

8.7.6.1 PDO mapping

[8-7] PDO mapping

B00

B01

w1

C00408/1 (LP_CanIn1)/2 (LP_CanIn2)/3 (LP_CanIn3)

C00401/1 (LP_CanIn1)

/2 (LP_CanOut1)

/3 (LP_CanIn2)/5 (LP_CanIn3)

/4 (LP_CanOut2)/6 (LP_CanOut3)

C00409/1 (LP_CanIn1 w1)/5 (LP_CanIn2 w1)/9 (LP_CanIn3 w1)

C00409/2 (LP_CanIn1 w2)/6 (LP_CanIn2 w2)

/10 (LP_CanIn3 w2)


/11 (LP_CanIn3 w3)


/12 (LP_CanIn3 w4)

w2

w3

w4

CanIn

CA

N-B

us

C00866/1 (LP_CanIn1 w1)/5 (LP_CanIn2 w1)/9 (LP_CanIn3 w1)


/12 (LP_CanIn3 w4)


/11 (LP_CanIn3 w3)


/10 (LP_CanIn3 w2)

B02

B03

B04

B05

B06

B07

B08

B09

B10

B11

B12

B13

B14

B15

C00868/1 (LP_CanOut1 w1)/5 (LP_CanOut2 w1)/9 (LP_CanOut3 w1)

C00868/4 (LP_CanOut1 w4)/8 (LP_CanOut2 w4)

/12 (LP_CanOut3 w4)


/11 (LP_CanOut3 w3)


/10 (LP_CanOut3 w2)

WORDtoBit

w11

Codes Description

C00401/1...6 Inversion of the control and status bits of CAN port blocks LP_CanIn1...3 and LP_CanOut1...3

C00408/1...3 Selection of the mapping source for port blocks LP_CanIn1...3

C00409/1...12 Mapping for port blocks LP_CanIn1...3 • Subcodes /4, /8 and /12 are used for the statistic mapping. For this, there is no value

available.

C00866/1...12 Display of the 16-bit input values of the CAN interface

C00868/1...12 Display of the 16-bit output values of the CAN interface

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 241



8.7.6.2 Port blocks LP_CanIn1 ... LP_CanIn3

[8-8] Port blocks LP_CanIn1 ... LP_CanIn3

The process data transmitted from the drive to the CAN bus can be processed by amaximum of three process data objects (RPDOs): LP_CanIn1 ... LP_CanIn3.

The process data object LP_CanIn1 provides a total of four words, the first being defined asthe control word (wCtrl). The information of the control word is also available for theapplication in a bit-decoded form (bCtrl1_B0 ... bCtrl1_B15).

dnIn34_p is in preparation for 8400-StateLine devices.

Except for the designation "control word", the same applies to the two other process dataobjects (LP_CanIn2 and LP_CanIn3).


242 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Note!

The first word "wCtrl" is only designated as control word. It is not firmly assigned to the device control and can be used as you choose, if required.

In the Lenze standard application (C00007 = "CAN control"), it is assigned as control word.

RPDO Word 1 Word 2 Word 3 Word 4

LP_CanIn1 wCtrl / bCtrl1_b0 ... bCtrl1_b15 wIn2 wIn3 wIn4

LP_CanIn2 wIn1 / bIn1_b0 ... bIn1_b15

LP_CanIn3

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 243



8.7.6.3 Port blocks LP_CanOut1 ... LP_CanOut3

[8-9] Port blocks LP_CAN1-OUT ... LP_CAN3-OUT

The process data transmitted from the drive to the CAN bus can be processed by amaximum of three process data objects (TPDOs): LP_CanOut1 ... LP_CanOut3.

The process data object LP_CanOut1 provides a total of four words, the first being definedas the status word (wState).

Note!

The first word "wState" is only designated as status word. It is not firmly assigned to the device control and can be used as you choose, if required.

In the Lenze standard application (C00007 = "CAN control"), it is assigned as status word.


244 L Firmware 02.00 - DMS EN 3.0 - 05/2009

The first process data word of the objects LP_CanOut1 ... LP_CanOut3 results from thelinkage of "wState"/"wOut1" with the binary outputs B00 ... B15 via an OR function. Whenusing the first data word, consider that the data word to be sent via the CAN bus will alsobe influenced by changing its binary outputs.

The example of the TPDO LP_CanOut1 clarifies this:

[8-10] Logic combination of the output signals in the port block LP_CanOut1

LP_CAN-OUT1 ?

bState_B00

b _B01State

b _B14State

b _B15State

wState

wOut2

wOut3

wOut4

Bit 015 Bit 015

Bit 015

Bit 015

Bit 015

CAN

X1

RPDO Word 1 Word 2 Word 3 Word 4

LP_CanOut1 wState / bState1_b0 ... bState1_b15 wOut2 wOut3 wOut4

LP_CanOut2 wOut1 / bOut1_b0 ... bOut1_b15

LP_CanOut3

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 245



8.7.6.4 Port blocks LP_MciIn and LP_MciOut

[8-11] Port blocks LP_MciIn ... LP_MciOut

8400 HighLine C | Software ManualSystem bus "CAN on board"Parameter data transfer

246 L Firmware 02.00 - DMS EN 3.0 - 05/2009

8.8 Parameter data transfer

[8-12] Parameter data transfer via the available parameter data channels

Parameters are values stored in codes on Lenze controllers.

Two parameter data channels are available for parameter setting, enabling thesimultaneous connection of different devices for configuration purposes.

Parameter data are transmitted via the system bus as SDOs (Service Data Objects) andacknowledged by the receiver. The SDO enables read and write access to all deviceparameters and to the CANopen object directory integrated in the device. Indices (e.g.0x1000) ensure access to device parameters and functions included in the object directory.To transfer SDOs, the information contained in the user data must comply with the CANSDO protocol.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 247


Parameter data transfer

8.8.1 Identifiers of the parameter data objects

In the Lenze setting, the basic identifiers of the SDOs are preset according to the"Predefined Connection Set".

The identifiers of the parameter data objects SDO1 and SDO2 result from the basicidentifier and the node address set under code C00350:

Identifier = basic identifier + node address

Object Direction Lenze-Base-ID CANopen-Base-ID

from the drive

to the drive dec hex dec hex

SDO1 (Parameter data channel 1)

TSDO1 X 1408 580 1408 580

RSDO1 X 1536 600 1536 600

SDO2(Parameter data channel 2)

TSDO2 X 1472 5C0 1472 5C0

RSDO2 X 1600 640 1600 640

Heartbeat X 1792 700 1792 700

Boot-up X 1792 700 1792 700

Note!

Observe that the parameter data channels 1 and 2 are active in the factory setting.


248 L Firmware 02.00 - DMS EN 3.0 - 05/2009

8.8.2 User data

Structure of the user data of the parameter data telegram

The following commands can be sent or received for writing and reading the parameters:

1st byte 2nd byte 3rd byte 4th byte 5th byte 6th byte 7th byte 8th byte

Command Index Subindex Data 1 Data 2 Data 3 Data 4

Low byte High byte Low word High word

Low byte High byte Low byte High byte

Error code

Note!

For the user data, the Motorola format is used.

Parameter data telegram examples ( 254)

Command Meaning

Write request Send parameter to drive

Write response Acknowledgement, frequency inverter response to write request

Read request Request to read a parameter from the frequency inverter

Read response Response to the read request with current value

Error response The frequency inverter signals a communication error

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 249



Command

The command contains the services for writing and reading parameters and informationabout the user data length:

e: expedited (shortened block service)

s: segmented (normal block service)

The following information is contained or must be entered in the command:

"Error response" command: In the event of an error, the addressed node generates an"error response". This telegram always contains the value "6" in data 4 and an error code indata 3.

Error codes ( 253)

Command Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Command specifier (cs) Toggle (t) Length e s

Write request 0 0 1 0 00 = 4 bytes01 = 3 bytes10 = 2 bytes11 = 1 byte

1 1

Write response 0 1 1 0 0 0

Read request 0 1 0 0 0 0

Read response 0 1 0 0 1 1

Error response 1 0 0 0 0 0 0 0

CANopen specification DS301,V4.02

Here, further commands are defined (e.g. segmented transfer).

Command 4 byte data 2 byte data 1 byte data Block

5th ... 8th byte 5th and 6th byte 5th byte e s

Write request 0x23 (35) 0x2B (43) 0x2F (47) 0x21 (33)

Write response 0x60 (96) 0x60 (96) 0x60 (96) 0x60 (96)

Read request 0x40 (64) 0x40 (64) 0x40 (64) 0x40 (64)

Read response 0x43 (67) 0x4B (75) 0x4F (79) 0x41 (65)

Error response 0x80 (128) 0x80 (128) 0x80 (128) 0x80 (128)


250 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Addressing by means of index and subindex

The parameter or the Lenze code is addressed via these two bytes according to the formula:

Index = 24575 - (Lenze code number)

Example:

The acceleration time (code C00012) is to be addressed. This code has the subindex 0 (nosubindex).

Calculation:

Index:

– Decimal: 24575 - 12 = 24563

– Hexadecimal: 0x5FFF - 0xC = 0x5FF3

Subindex: 0x00

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 251



Data 1 ... Data 4

Maximally 4 bytes are available for parameter value entries. They are assigned as follows:

Example:

The parameter to be transmitted via the CAN bus has the percent value "123.45" (e.g.C00039/1 "Fixed setpoint JOG1").

Calculation:

Value to be transmitted = scaling factor x value(Engineer)

Data (1 ... 4) = 100 x 123.45 = 12345 (0x3039)

Structure of the data telegram:

Length of the parameter value depending on the data format

Parameter value(1 byte)

00 00 00

Parameter value (2 bytes) 00 00

Low byte High byte

Parameter value (4 bytes)

Low word High word


Note!

The parameters of the 8400 frequency inverters with the "%" unit have two decimal positions. Before or after the CAN data transfer, these values must be multiplied or divided by the factor "100" to transmit the parameters completely. This conversion must be guaranteed by the SDO transmitter.

X


Command Index Index Subindex Data 1 Data 2 Data 3 Data 4

0xD8 0x5F 0x01 0x39 0x30 0x00 0x00


252 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Error messages

Byte 1:

The entry 0x80 (128) in the command byte indicates that an error has occurred.

Bytes 2 to 4:

These bytes contain the index (bytes 2 and 3) and the subindex (byte 4) of the code, inwhich the error occurred.

Bytes 5 to 8:

The error code is entered in the data bytes 5 to 8. The error code structure is inverse to theread direction.

Error codes ( 253)

Example:

Representation of the error code "0x06 04 00 41" in the bytes 5 to 8


Command Index Index Subindex Error code

0x80(128)




Command Index Index Subindex 0x41 0x00 0x04 0x06

0x80(128)



Firmware 02.00 - DMS EN 3.0 - 05/2009 L 253



8.8.3 Error codes

The error codes are standardised acc. to DS301, V4.02.

Error code Explanation

0x0503 0000 Toggle bit not changed

0x0504 0000 SDO protocol expired

0x0504 0001 Invalid or unknown client/server command specifier

0x0504 0002 Invalid block size (only block mode)

0x0504 0003 Invalid sequence number (only block mode)

0x0504 0004 CRC error (only block mode)

0x0504 0005 Not sufficient memory

0x0601 0000 Object access not supported

0x0601 0001 Attempt to read a write-only object

0x0601 0002 Attempt to write to a read-only object

0x0602 0000 Object not listed in object directory

0x0604 0041 Object not mapped to PDO

0x0604 0042 Number and length of objects to be transferred longer than PDO length.

0x0604 0043 General parameter incompatibility

0x0604 0047 General internal device incompatibility

0x0606 0000 Access denied because of hardware error

0x0607 0010 Unsuitable data type, unsuitable service parameter length

0x0607 0012 Unsuitable data type, service parameter length exceeded

0x0607 0013 Unsuitable data type, service parameter length not long enough

0x0609 0011 Subindex does not exist

0x0609 0030 Parameter value range exceeded

0x0609 0031 Parameter values too high

0x0609 0032 Parameter values too low

0x0609 0036 Maximum value falls below minimum value

0x0800 0000 General error

0x0800 0020 Data cannot be transferred/stored for application.

0x0800 0021 Data cannot be transferred/stored for application due to local control.

0x0800 0022 Data cannot be transferred/stored for application due to current device status.

0x0800 0023 Dynamic generation of object directory failed or no object directory available (e.g. object directory generated from file, generation not possible because of a file error).


254 L Firmware 02.00 - DMS EN 3.0 - 05/2009

8.8.4 Parameter data telegram examples

8.8.4.1 Read parameters

The heatsink temperature of the frequency inverter with the node address "5" (43 °C, codeC00061) is to be read.

Identifier calculation

"Read request" command (request to read a parameter from the frequency inverter)

Index calculation

Telegram to drive

Response telegram from drive (if data have been correctly transmitted)

Explanation of the response telegram:

Identifier:SDO1 from frequency inverter (= 1408) + node address = 1413 (0x585)

Command:"Read response" (response to the read request) = 0x4B (C00039/1 has a length of 2 bytes)

Index of read request: 0x5FC2

Subindex: 0x00

Data 1 ... 4: 0x00 00 00 2B = 43 [°C]

Identifier SDO1 to frequency inverter Calculation

1536 + node address 1536 + 5 = 1541 (0x0605)

Command Value

Read request 0x40

Index Calculation

Index = 24575 - code number 24575 - 61 = 24514 (0x5FC2)

X

Identifier Command Index Index Subindex Data 1 Data 2 Data 3 Data 4

Low byte High byte

0x605 0x40 0xC2 0x5F 0x00 0x00 0x00 0x00 0x00

X


Low byte High byte

0x585 0x4B 0xC2 0x5F 0x00 0x2B 0x00 0x00 0x00

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 255



8.8.4.2 Write parameters

Task

In the frequency inverter with the node address 2, the rated current of the connectedmotor is to be entered with Ir = 10.20 A (code C00088).


"Write request" command (send parameters to drive)

Index calculation

Subindex: 0

Calculation of motor current entry

Telegram to drive

Response telegram from drive (if data have been correctly transmitted)

Explanation of the response telegram:

Identifier:SDO1 from frequency inverter (= 1408) + node address = 1410 (0x582)

Command:"Write response" (acknowledgement, response of the frequency inverter without data) = 0x60

Index / subindex same as in the request telegram


1536 + node address 1536 + 5 = 1538 (0x0602)

Command Value

Write request 0x23

Index Calculation

Index = 24575 - code number 24575 - 88 = 24487 (0x5FA7)

Data 1 ... 4 Calculation

Value for motor current, (data type U16; display factor 1/100) 10.20 x 100 = 1020 (0x03 FC)

X


Low byte High byte

0x602 0x2B 0xA7 0x5F 0x00 0xFC 0x03 0x00 0x00

X


Low byte High byte

0x582 0x60 0xA7 0x5F 0x00 0x00 0x00 0x00 0x00


256 L Firmware 02.00 - DMS EN 3.0 - 05/2009

8.8.4.3 Read block parameters

The software version (code C00099) is to be read from the parameter set of the frequencyinverter with node address 12.

The data type of the software version is "visible string", 0-terminated. The content of thecode has a length of 12 ASCII characters (including the 0-termination) and is transmittedin the form of separate segments (blocks). Within the user data, each block occupies amaximum data width of 7 bytes.

The following describes the data transfer step by step:

Read request to the frequency inverter

– Identifier

– "Read request" command (request of code C00099)

1st byte: 0x40 "read request" (request to read code C00099 from the frequency inverter)

2nd/3rd. byte: Index high/low byte: 24575 - 99 = 24476 (0x5F9C)

4th byte: Code C00099 has no subindex (entry: 0x00).

Response of the frequency inverter

– Identifier

– Response including the block length (11 characters)

1st byte: 0x41 "read response". The entry 0x41 indicates the block telegram.

2nd/3rd byte: Index/subindex same as in the request telegram

5th byte: 0x0C (= 12), data length 12 characters


1536 + node address 1536 + 12 = 1548 (0x60C)

X


Low byte High byte

0x60C 0x40 0x9C 0x5F 0x00 0x00 0x00 0x00 0x00

Identifier SDO1 from frequency inverter Calculation

1408 + node address 1408 + 12 = 1420 (0x58C)

X


Low byte High byte

0x58C 0x41 0x9C 0x5F 0x00 0x0C 0x00 0x00 0x00

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 257



Request of the 1st data block

1st byte: 0x60, "read segment request"

Response: Transmit 1st data block

2nd byte to 8th byte, ASCII format: 01.00.0

Note!

In the following, the toggle bit is marked with an asterisk (*). It is always in the 4thplace.

• Influence of the toggle bit on the request command

– The individual blocks are toggled one after another, i.e. the request with command 0x60 (= 0b0110*0000) is executed before command 0x70 (= 0b0111*0000), which then is followed by 0x60 again, etc.

• Influence of the toggle bit on the transmission command

– The first response of the frequency inverter in the command byte is 0b0000* 0000 if the bytes 2 to 8 are completely filled with data and further telegrams will follow.

– The second response of the frequency inverter in the command byte is 0b0001* 0000 if the bytes 2 to 8 are completely filled with data and further telegrams will follow, etc.

• Influence of the end bit and residual data length on the transmission command "0b000(0/1)* nnn1"

– The last response of the frequency inverter is indicated by setting an "end bit" (bit 0 = 1).

The three following bits (n) indicate the number of bytes which do not contain any data anymore.

X


Low byte High byte

0x060C 0x60 0x00 0x00 0x00 0x00 0x00 0x00 0x00

X


Low byte High byte

0x058C 0x00 0x30 0x31 0x2E 0x30 0x30 0x2E 0x30

0asc 1asc .asc 0asc 0asc .asc 0asc


258 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Request of the 2nd data block

1st byte: 0x70 (toggle)

Response: Transmit 2nd data block with end identifier

Command byte: 0x17 (00010111bin ):

High nibble: Bit 0 = 1 (toggle bit)

Low nibble: Bit 0 = 1 (end of transmission), bit 1 ... 3 = 011bin (3 bytes do not contain any data)

The result of the data block transfer is: 01.00.00.00

X


Low byte High byte

0x060C 0x70 0x00 0x00 0x00 0x00 0x00 0x00 0x00

X


Low byte High byte

0x058C 0x17 0x30 0x2E 0x30 0x30 0x00 0x00 0x00

0asc .asc 0asc 0asc - - -

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 259


Monitoring

8.9 Monitoring

8.9.1 Integrated error detection

If a node detects an error it rejects the CAN telegram bits received so far and sends an errorflag. The error flag consists of 6 consecutive bits with the same logic value.

The following errors are detected:

Bit error

The sending node follows the transmission on the bus and interrupts the transmission if itreceives a different logic value than the value transmitted. With the next bit, the sendingnode starts the transmission of an error flag.

In the arbitration phase, the transmitter only detects a bit error if a dominantly sent bit isreceived as recessive bit. In the ACK slot as well, the dominant overwriting of a recessive bitis not indicated as a bit error.

Stuff-bit error

If more than 5 consecutive bits have the same logic value before the ACK delimiter in theCAN telegram, the previously transmitted telegram will be rejected and an error flag willbe sent with the next bit.

CRC error

If the received CRC checksum does not correspond to the checksum calculated in the CANchip, the CAN controller will send an error flag after the ACK delimiter and the previouslytransmitted telegram will be annulled.

Acknowledgement error

If the sent ACK slot recessively sent by the transmitting node is not dominantly overwrittenby a receiver, the transmitting node will cancel the transmission. The transmitting nodewill annul the transmitted telegram and will send an error flags with the next bit.

Format error

If a dominant bit is detected in the CRC delimiter, in the ACK delimiter or in the first 6 bitsof the EOF field, the received telegram will be rejected and an error flag will be sent withthe next bit.

8400 HighLine C | Software ManualSystem bus "CAN on board"Monitoring

260 L Firmware 02.00 - DMS EN 3.0 - 05/2009

8.9.2 Heartbeat protocol

[8-13] Heartbeat protocol

The heartbeat producer cyclically sends a heartbeat message to one or several heartbeatconsumers.

The consumers monitor whether the message is received within the "heartbeat consumertime". If this is not the case, an error message, referred to as "heartbeat event", will begenerated.

If the "heartbeat event" occurs, the node changes from the "operational" state to the "pre-operational" state" (Lenze setting).

The heartbeat monitoring only starts when the first heartbeat telegram of a monitorednode has been successfully received and the "pre-operational" NMT status has beenassumed.

With StateLine devices, up to 7 heartbeat producers can be monitored.

With HighLine devices, up to 15 heartbeat producers can be monitored.

The settings can be selected under the codes C00381 (CAN heartbeat producer time) andC00385 (CAN node address of heartbeat producer).

Tip!

Observe the notes concerning the object I-1017.

E82ZAFU009

1

1

8

8

. . . .

. . . .

0

0

s

sIndication

HeartbeatEvent

Request

Request

Indication

Heartbeat Producer Heartbeat Consumer

HeartbeatProducerTime

HeartbeatConsumerTime

EMERGENCY

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 261


Monitoring

8.9.3 Emergency

"Emergency" is sent once to the master when the error status changes due to theoccurrence or elimination of an internal frequency inverter error.

The emergency telegram sent on the CAN bus has the following structure:

1st/2nd byte: Emergency error code

3rd byte: Error register object I-1001

4th to 8th byte: Field for manufacturer-specific error message

– Emergency error code I-1000: Lenze error number

– All other emergency error codes have the value "0"

All numbers are hexadecimal values

Example:

Byte 1 / 2: 0x00 / 0x10 (generic error)

Byte 3: 0x01 (error register contents)

Byte 4: 0x00 (reserved)

Bytes 5 ... 8: Error messages of the operating system

Corresponding "no errors" message: 0x00000000.

A detailed description can be found in the CAN specification DS301V402.

8.9.4 Heartbeat commissioning example

A heartbeat consumer (8400 frequency inverter, node 2) is to be monitored by an 8400frequency inverter (node 1) used as a heartbeat producer.

The heartbeat producer is to send a heartbeat telegram to the heartbeat consumer every10 ms. The heartbeat consumer monitors the arrival of the heartbeat telegram.

If an error occurs, a response is to be triggered in the frequency inverter.

Emergency error codes Cause Entry in the error register (I-1001)

0000 • One of several errors eliminated xx

• Elimination of one single error (afterwards no more errors)

00

1000 Standard device in TRIP, message, warning, FAIL, or QSP

01

3100 Supply voltage of standard device faulty or failed

01

8100 Communication error (warning) 11

8130 Life guard error or heartbeat error 11

Note!

The boot-up telegram counts as the first heartbeat telegram!

8400 HighLine C | Software ManualSystem bus "CAN on board"Monitoring

262 L Firmware 02.00 - DMS EN 3.0 - 05/2009

For this purpose, carry out the following commissioning step:

Set the "heartbeat producer time" (transmission cycle) for node 1 in C00381.

– In this example, a cycle of 10 ms is to be set.

– ID 702: Response message from the producer (node 1) to the consumer (node 2), "operational" (0xT0)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 263


Implemented CANopen objects

8.10 Implemented CANopen objects

Lenze devices can both be parameterised with Lenze codes and manufacturer-independent "CANopen objects". A completely CANopen-compliant communication canonly be achieved by using CANopen objects for parameter setting. The CANopen objectsdescribed in this chapter are defined in the CAN specification DS301 V4.02.

Many CANopen objects can be mapped on Lenze codes. In the following table, thecorresponding Lenze codes are listed in the column "Relationship to Lenze codes".

Overview of CANopen indices and their relationship to Lenze codes

Note!

Some of the terms used here derive from the CANopen protocol.

CANopen object Relationship to Lenze code

Index Subindex Name

I-1000 0 Device type -

I-1001 0 Error register -

I-1003 Pre-defined error field

0 Number of errors -

1...10 Standard error field -

I-1005 0 COB-ID SYNC message C00367

C00368

I-1006 0 Communication cycle period C00369

I-1017 0 Producer heartbeat time C00381

I-1018 Identity object

0 Highest subindex supported -

1 Vendor ID -

2 Product code -

3 Revision number -

4 Serial number -

I-1200 SDO1 server parameter


1 COB-ID client −> server (rx) -

2 COB-ID server −> client (tx) -

I-1201 SDO2 server parameter


1 COB-ID client −> server (rx) -

2 COB-ID server −> client (tx) -

I-1400 RPDO1 communication parameter


1 COB-ID used by RPDO C00355/1

2 Transmission type C00323/1

8400 HighLine C | Software ManualSystem bus "CAN on board"Implemented CANopen objects

264 L Firmware 02.00 - DMS EN 3.0 - 05/2009









I-1600 RPDO1 mapping parameter

0 Number of mapped application objects in PDO -

1...4 Application object 1 ... 4 C00409/1...4C00866/1...4







I-1800 TPDO1 communication parameter


1 COB-ID used by TPDO C00355/2


3 Inhibit time -

5 Event timer C00356/5C00369





3 Inhibit time -






3 Inhibit time -


I-1A00 TPDO1 mapping parameter


1...4 Application object 1 ... 4 C00868/1...4


Index Subindex Name

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 265










Index Subindex Name


266 L Firmware 02.00 - DMS EN 3.0 - 05/2009

I-1000

The CANopen index I-1000 specifies the profile for this device. Furthermore, additionalinformation defined in the device profile itself can be stored here.

[8-1] Data telegram assignment

In case of 8400 series frequency inverters, the four bytes contain the following values:

5th and 6th byte: The data content is 0x0000, i.e. no profile definition.

7th byte: The data content specifies the device type: Here the value is 0x00 for frequency inverter.

8th byte: The data content is 0x00.

The data content for the 8400 frequency inverter thus is: 00 00 00 00

I-1001

Error register

The error status in the data byte (U8) is bit coded. The following error states are coded inthe data byte (U8):

Index

I-1000Name:

Device type

Subindex Default setting Display range (min. value | unit | max. value) Access Data type

0: Device type 0 0 4294967295 ro U32

8th byte 7th byte 6th byte 5th byte

Data 4 Data 3 Data 2 Data 1

High word Low word

High byte Low byte High byte Low byte

Additional information Device profile number

Index:

I-1001Name:

Error register


0: Error register - 0 255 ro U8

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Error status

0 0 0 0 0 0 0 0 No error

0 0 0 0 0 0 0 1 Device error message

0 0 0 1 0 0 0 1 Communication error

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 267



I-1003

Error history

This object indicates that an error has occurred in the module and in the standard device.

Index:

I-1003Name:

Pre-defined error field

Subindex Default setting Setting range (min. value | unit | max. value) Access Data type

0: Number of errors 0 0 255 rw U8

1 ... 10: Standard error field - 0 4294967295 ro U32

Subindex Meaning

0 Number of saved error messages

1...10 Display of the error listThe error messages (U32) consist of a 16-bit error code and a manufacturer-specific information field comprising 16 bits.

Note!

The values in the "standard error field" under subindex 1 ... 10 will be deleted if the subindex "number of recorded errors" is overwritten with the value "0".

Emergencyerror codes

Cause Entry in theerror register

(I-1001)

0x0000 One of several errors eliminated 0xXX

Elimination of one single error (afterwards no more errors)

0x00

0x1000 Standard device is in error status (error response "fault", "message", "warning", "error", "quick stop by trouble", or "system error")

0x01

0x3100 Supply voltage of standard device faulty or failed 0x01

0x8100 Communication error (warning) 0x11

0x8130 Life guard error or heartbeat error 0x11

0x8150 Collision of COB-IDs: An ID parameterised for reception is also used for transmission.

0x11

0x8210 PDO length shorter than expected 0x11

0x8220 PDO length longer than expected 0x11

0x8700 Monitoring of the sync telegram 0x11


268 L Firmware 02.00 - DMS EN 3.0 - 05/2009

I-1005

This object can be used to activate the generation of sync telegrams and to write theidentifier value.

This object relates to codes C00367 and C00368.

Creating sync telegrams

Sync telegrams are created by setting bit 30 (see below) to "1". The time between the synctelegrams can be set using the object I-1006.

Writing identifiers

To receive PDOs, the value 0x80 must be entered in the 11-bit identifier in the Lenze setting(and according to CANopen specification) . This means that all modules are by default setto the same sync telegram.

If sync telegrams are only to be received by certain communication modules, their identifiers can be entered with values up to and including 0x07FF.

The identifier may only be changed when the communication module does not send any sync telegram (bit 30 = "0").

How to change the identifier:

– Deactivate identifier (set bit 30 to "0").

– Change identifier.

– Activate identifier (set bit 30 to "1").


Index:

I-1005Name:

COB-ID SYNC message


0: COB-ID SYNC message 0x0000 0080or0x8000 0080

0 4294967295 rw U32



Bit 31 Bit 30 Bit 29 ... bit 11 Bit 10 ... bit 0

X 0/1 Extended identifier* 11-bit identifier

* The extended identifier is not supported. Bit 11 ... bit 29 must be set to "0".

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 269



I-1006

Setting the sync telegram cycle time.

The cycle time can be selected as "1000" or as an integer multiple of it.

If "0 μs" is set (Lenze setting), no sync telegrams are created.

This object relates to code C00369.

I-1014

When communication errors occur and are acknowledges or when internal errors occur inthe communication module or controller (e.g. "fault"), the system bus sends an errormessage. The telegram is sent once for every error. This function can be activated ordeactivated with bit 31.


Index:

I-1006Name:

Communication cycle period


0: Communication cycle period 0 μs 0 μs 65535000 rw U32

Index:

I-1014Name:

COB-ID EMCY


0: COB-ID EMCY 0x80 + node ID 0 4294967295 rw U32




0/1 0 Extended identifier* 11-bit identifier


Bit Setting

Bit 31 0 Emergency object is valid.

1 Emergency object is invalid.

Note!

The identifier can only be changed in the "emergency object invalid" status (bit 31 = 1).


270 L Firmware 02.00 - DMS EN 3.0 - 05/2009

I-1017

Time interval for sending the heartbeat telegram to the consumer(s). Heartbeat protocol( 260)

The parameterised time is rounded down to an integer multiple of 5 ms.

The heartbeat telegram is automatically sent as soon as a time > 0 ms is entered. In this case, the "node guarding" monitoring function is deactivated.

This object relates to code C00381.

I-1018

Index:

I-1017Name:

Producer heartbeat time


0: Producer heartbeat time 0 0 ms 65535 rw U32

Index:

I-1018Name:

Identity object


0: Highest subindex supported see below 0 4294967295 ro U32

1: Vendor ID

2: Product code

3: Revision number

4: Serial number

Subindex Meaning

1 Manufacturer's identification number • The identification number allocated to Lenze by the organisation "CAN in

Automation e. V." is "0x0000003B".

2 Product code

0x84001 8400 BaseLine

0x84002 8400 StateLine

0x84003 8400 HighLine

3 Main and subversion of firmware

4 Serial number

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 271



I-1200

Identifiers for SDO server channel 1 (basic SDO channel).

According to DS301 V4.02, the basic SDO channel can neither be changed nor deactivated.


Index:

I-1200Name:

SDO1 server parameter


0: Highest subindex supported 2 2 2 ro U8

1: COB-ID client -> server (rx) node ID + 0x600 0 4294967295 ro U32

2: COB-ID server -> client (tx) node ID + 0x580 0 4294967295 ro U32

Subindex Meaning

1 Specification of receive identifier • For SDO server channel 1: node address (C00350) + 0x600

2 Specification of send identifier • For SDO server channel 1: node address (C00350) + 0x580




0 0 Extended identifier* 11-bit identifier



272 L Firmware 02.00 - DMS EN 3.0 - 05/2009

I-1201

Identifiers for SDO server channel 2.

The SDO server parameter is only valid, if bit 31 is set to "0" for both transmission directions (subindex 1 and 2).

In the Lenze setting, the SDO server channels 2 are deactivated (bit 31 = "1").

The identifier may only be changed when the SDO is invalid (bit 31 = "1").



1. Deactivate identifier (set bit 31 to "1").

2. Change identifier.

3. Activate identifier (set bit 31 to "0").

Index:

I-1201Name:

SDO2 server parameter


0: Highest subindex supported 3 - (read access only) ro U8

1: COB-ID client -> server (rx) 0x80000000 0 4294967295 rw U32

2: COB-ID server -> client (tx) 0x80000000 0 4294967295 rw U32

Subindex Meaning

1 Specification of receive identifier

2 Specification of send identifier




0/1 0 Extended identifier* 11-bit identifier


Bit Setting

Bit 31 0 SDO is valid.

1 SDO is invalid.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 273



Example

Parameter data channel 2 of the controller with node address 4 shall be activated.

For this, bit 31 must be set to "0" (≡ "SDO is valid") in subindices 1 and 2 of the object I-1201.

The master must send the two "write request" commands to the nodes via the basic SDO channel.


Identifier (COB-ID) = basic identifier + node address (node ID)

Basic identifier SDO2 from master to drive: 1600 (0x640) Identifier = 0x640 + 0x4 = 0x644

Basic identifier SDO2 from drive to master: 1472 (0x5C0) Identifier = 0x5C0 + 0x4 = 0x5C4

Resulting data (data 1 ... data 4)

[8-6] Data telegram assignment for subindex 1

[8-7] Data telegram assignment for subindex 2

User data assignment

[8-8] User data assignment for writing to subindex 1

[8-9] User data assignment for writing to subindex 2




0 0 Extended identifier = 0 11-bit identifier = 0x644

0x00 0x00 0x06 0x44




0 0 Extended identifier = 0 11-bit identifier = 0x5C4

0x00 0x00 0x05 0xC4



0x23 0x01 0x12 0x01 0x44 0x06 0x00 0x00



0x23 0x01 0x12 0x02 0xC4 0x05 0x00 0x00


274 L Firmware 02.00 - DMS EN 3.0 - 05/2009

I-1400

Communication parameter for receiving process data via RPDO1






Description of subindex 1

[8-11] I-1400 ... I-1402, subindex 1

Index:

I-1400Name:

RPDO1 communication parameter



1: COB-ID used by RPDO 0x200 + node ID 0 4294967295 rw U32

2: Transmission type 254 0 255 rw U8

3: Inhibit time - - (not used for RPDOs) rw U16

4: Compatibility entry - - (reserved, read or write access leads to error message 0x06090011)

rw U8

5: Event timer - - (not used for RPDOs) rw U16

Subindex Meaning Code

0 "5" is permanently set. • Max. 5 subindicesare supported.

-

1 RPDO1 identifier • According to the "Predefined Connection Set", the

basic setting is: Identifier = 0x200 + node ID

C00355/1

2 RPDO transmission type according to DS301 V4.02 Transmission type ( 235)

C00323/1




0/1 0/1 Extended identifier* 11-bit identifier


Bit no. Value Explanation

0...10 0/1 11-bit identifier

(11 ... 28)* 0 *) The extended identifier (29 bits) is not supported. Any of these bits must be "0".

29* 0

30 0 RTR to this PDO possible (cannot be set)

1 RTR to this PDO not possible (Lenze)

31 0 PDO active

1 PDO not active

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 275




[8-12] I-1400 ... I-1402, subindex 2

I-1401


For data telegram assignment and description of subindices 1 and 2, see object I-1400.





PDO transmission Transmission type Explanation

cyclic synchronous Event-controlled

X X n = 1 ... 240 When a value n is entered, this PDO will be accepted with every nth SYNC.

X n = 254 PDO will be accepted immediately.

Index:

I-1401Name:








rw U8




-



C00355/3


C00323/2


276 L Firmware 02.00 - DMS EN 3.0 - 05/2009

I-1402


For data telegram assignment and description of subindices 1 and 2, see object I-1400.





Index:

I-1402Name:








rw U8




-



C00355/5


C00323/3

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 277



I-1600

The object I-1600 serves to receive parameter data as RPDO1.

This object relates to codes C00409/1...4 and C00866/1...4.


IEC 61131 process data words are mapped. Only whole bytes can be mapped (1-byte/mapping entry).

PDO mapping ( 240)

I-1601



For data telegram assignment, see object I-1600.

Index:

I-1600Name:

RPDO1 mapping parameter


0: Number of mapped application objects in PDO

0 0 8 rw U8

1 ... 4: Application object 1 ... 4 0 0 4294967295 rw U32

Subindex Meaning

0 Number of mapped objects

1...4 Mapping entries 1 ... 4 for RPDO1 • The 4th mapping entry is used for the statistic mapping. For this, there is no value

available.



Bit 31 ... bit 16 Bit 15 ... bit 8 Bit 7 ... bit 0

Index Subindex Length

Index:

I-1601Name:




0 0 8 rw U8


Subindex Meaning



available.


278 L Firmware 02.00 - DMS EN 3.0 - 05/2009

I-1602



For data telegram assignment, see object I-1600.

Index:

I-1602Name:




0 0 8 rw U8


Subindex Meaning



available.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 279



I-1800

Communication parameter for sending process data via TPDO1







[8-15] I-1800 ... I-1803, subindex 1

Index:

I-1800Name:

TPDO1 communication parameter



1: COB-ID used by TPDO 0x180 + node ID 0 4294967295 rw U32


3: Inhibit time 0 ms 0 0.1 ms 65535 rw U16

4: Reserved - - (reserved, read or write access leads to error message 0x06090011)

rw U8

5: Event timer 0 ms 0 ms 65535 rw U16



-

1 TPDO1 identifier • According to the "Predefined Connection Set", the


C00355/2

2 TPDO transmission type according to DS301 V4.02 Transmission type ( 235)

C00322/1

3 Minimum time between sending two identical TPDOs (see DS301 V4.02).

-

5 Cycle time for PDO transmission with transmission type "254".

C00356/5C00369




0/1 0/1 Extended identifier* 11-bit identifier


Bit no. Value Explanation

0...10 0/1 11-bit identifier

(11 ... 28)* 0 *) The extended identifier (29 bits) is not supported. Any of these bits must be "0".

29* 0

30 0 RTR to this PDO possible (cannot be set)

1 RTR to this PDO not possible (Lenze)

31 0 PDO active

1 PDO not active


280 L Firmware 02.00 - DMS EN 3.0 - 05/2009


[8-16] I-1800 ... I-1803, subindex 2


The entered value multiplied by 0.1 gives the delay time in [ms]. Only integers will beconsidered, i.e. fractional numbers will be rounded down to integers.

Example:

Entered value: 26

Calculated time = 26 x 0.1 [ms] = 2.6 [ms] delay time = 2 [ms}


For cyclic operation (transmission type 254), the cycle time for sending the process dataobject on the CAN bus can be set under subindex 5:

The entered value corresponds to the time in [ms].

PDO transmission Transmission type Explanation

cyclic synchronous Event-controlled

X X n = 1 ... 240 When a value n is entered, this PDO will be accepted with every nth SYNC.

X n = 252 On sync, the PDO is filled with new data, but only sent on RTR.

X n = 254, 255 Event-controlled or cyclic

Note!

The delay time can only be changed when the PDO is not active (see subindex 1, bit 31 = 1).

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 281



I-1801


For data telegram assignment and description of subindices, see object I-1800.





Index:

I-1801Name:








rw U8




-



C00355/4


C00322/2


-


C00356/2C00369


282 L Firmware 02.00 - DMS EN 3.0 - 05/2009

I-1802


For data telegram assignment and description of subindices, see object I-1800.





Index:

I-1802Name:








rw U8




-



C00355/6


C00322/3


-


C00356/3C00369

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 283



I-1A00

The object I-1A00 serves to send parameter data as TPDO1.

This object relates to code C00868/1...4.


IEC 61131 process data words are mapped. Only whole bytes can be mapped (1-byte/mapping entry).

PDO mapping ( 240)

I-1A01



For data telegram assignment, see object I-1A00.

Index:

I-1A00Name:

TPDO1 mapping parameter



0 0 8 rw U8


Subindex Meaning


1...4 Mapping entries 1 ... 4 for TPDO1 • The 4th mapping entry is used for the statistic mapping. For this, there is no value

available.



Bit 31 ... bit 16 Bit 15 ... bit 8 Bit 7 ... bit 0

Index Subindex Length

Index:

I-1A01Name:




0 0 8 rw U8


Subindex Meaning



available.


284 L Firmware 02.00 - DMS EN 3.0 - 05/2009

I-1A02



For data telegram assignment, see object I-1A00.

Index:

I-1A02Name:




0 0 8 rw U8


Subindex Meaning



available.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 285

8400 HighLine C | Software ManualError management

Basics on error handling in the controller

9 Error management

9.1 Basics on error handling in the controller

Many functions are integrated in the controller which detect errors and thus

protect the device against damage or overload, e.g. short circuit detection, Ixt overload detection, overtemperature detection, etc.

detect a maloperation by the user, e.g. memory module missing, communication module required and missing, etc.

output a warning signal if desired, e.g. if the speed is too high or too low, etc.

Depending on the importance, this error detection in the device responds very fast (e.g.short circuit detection < 1 ms) or in a slower cycle (e.g. temperature monitoring approx.100 ms).

It is possible to configure some of the device errors with regard to their effect on thebehaviour of the controller, e.g. for missing CAN telegrams when the controller iscontrolled via the CAN bus:

All functions provided with an error detection (e.g. the motor control) supply informationto an error handler which is processed every 1 ms and which evaluates all the information.

During this evaluation

the state-determining error is generated

the current error is generated

the controller is set to the respective error status (e.g. TroubleQSP).

These two types of error information serve to diagnose errors systematically and containthe following information:

1. the error type, e.g. warning

2. the subject area concerned, e.g. CAN

3. the error identification number within the subject area

Together all types of information form the real error number which is unique in the wholedevice system.

In addition to the control of the device state by the error handler, a logbook functionrecords the errors and their history Logbook ( 292)

8400 HighLine C | Software ManualError managementAutoFailReset function

286 L Firmware 02.00 - DMS EN 3.0 - 05/2009

9.2 AutoFailReset function

The AutoFailReset function serves to reset the latching errors "Fault", "TroubleQSP" and the"WarningLocked" warning automatically.

The "latching" term means that the effect on the controller remains active even after theerror cause has been removed.

To reset latching errors and warnings, the following options are available:

Manual reset

– with device command C00002/19 (active by a low-high edge)

– by a Low/High edge at the "bResetFail" input of the "LS_DriveInterface" system block (the "FailReset" control bit in the control word must be parameterised with the value "1".

Automatic reset

– using the AutoFailReset function.



C00184 Repetition time of the error reset processes

C00185 Time left until the next error reset process

C00186 Max. number of error reset processes

C00187 Current number of error reset processes carried out ineffectively

C00188 Configuration of the AutoFailReset function • 0: Off • 1: Fault + TroubleQSP • 2: WarningLocked • 3: All locking

C00189 Response after max. number of error reset processes has been reached


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 287


Drive diagnostics with the »Engineer«

9.3 Drive diagnostics with the »Engineer«

With an online connection to the controller, you can use the »Engineer« to diagnose theconnected controller and get a clear visualisation of important controller states:

The online connection with the »Engineer« can be made via the following deviceinterfaces:

CAN interface X1Diagnostics via CAN which is available as onboard bus

Diagnostic interface X6 We recommend this diagnostic connection when the CAN interface X1 is used for process communication.

[9-1] "Diagnostics" tab, screenshot for online connection to the frequency inverter

Use the Reset error button to acknowledge an existing error message if the cause of the error has been eliminated.

Via the Logbook button you can have the logbook of the controller displayed, Logbook ( 292) .

The Device state button serves to display the state machine. The current device status is indicated by a field highlighted in blue.

The Monitoring... button serves to set the monitoring functions (configuration of the error type).

8400 HighLine C | Software ManualError managementDrive diagnostics with the »Engineer«

288 L Firmware 02.00 - DMS EN 3.0 - 05/2009

If you click the Drive control button, a table appears providing information on the bit assignment of the following control-relevant words:

– MCI control word C00136/1

– CAN control word C00136/2

– Cause of controller inhibit C00158

– Cause of quick stop C00159

– Status word C00150

– Extended status word C00155

The Device information button serves to retrieve information needed for service purposes, e.g. firmware data or serial numbers of individual controller components.

How to diagnose a drive with the »Engineer«:

1. Select the 8400 StateLine controller to be diagnosed in the Project view.

2. Click the icon or select the command OnlineGo online to build up an online connection with the controller.

3. Select the Diagnostics tab.

• With an online connection, the Diagnostics tab displays current status information about the controller.

[9-2] Device state

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 289


Drive diagnostics with the »Engineer«

[9-3] Drive control

[9-4] Device information

8400 HighLine C | Software ManualError managementDrive diagnostics via keypad/bus system

290 L Firmware 02.00 - DMS EN 3.0 - 05/2009

9.4 Drive diagnostics via keypad/bus system

Keypad display of the controller status

When the keypad is connected to the diagnostic interface X6 at the front of the controller, the status of the controller is displayed via different symbols on the LDC display in the area .

Symbol Meaning Note

Controller is switched on. SwitchedON ( 62)

Controller is enabled.

Application in the controller is stopped.

Quick stop is active

Controller is inhibited. The power outputs are inhibited.

Controller is ready to switch on. ReadyToSwitchON ( 60)

Speed controller 1 in the limitation. The drive is torque-controlled.

Set current limit has been exceeded in motoror generator mode.

Pulse inhibit is active The power outputs are inhibited.

System fault is active

Fault Fault ( 65)

Trouble Trouble ( 64)

TroubleQSP TroubleQSP ( 63)

Warning is active Warning ( 62)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 291


Drive diagnostics via keypad/bus system

Display parameters

The parameters listed in the following tables serve to query current states and actualvalues of the controller for diagnostic purposes, e.g. by using the keypad, a bus system orthe »Engineer« (with an online connection to the controller).

These parameters are listed in the »Engineer« parameter list and the keypad in the Diagnostics category.

A detailed description of these parameters can be found in the chapter "Parameter reference" ( 598).

Identification data

The parameters listed in the following table belong to the Identification Controllercategory of the »Engineer« parameter list and the keypad and serve to display theidentification data of the controller:

Parameter Display

C00183 Device state

C00168 Error number

C00051 Actual speed value

C00052 Motor voltage

C00054 Motor current

C00057/1 Maximum torque

C00057/2 Torque at maximum current

C00059 Motor - number of pole pairs

C00061 Heatsink temperature

C00062 Temperature inside the controller

C00063 Motor temperature

C00064 Device utilisation

C00065 Ext. 24-V voltage

C00066 Thermal motor load (I2xt)

C00178 Time the controller was enabled (elapsed-hour meter)

C00179 Power-up time (power-on time meter)

Parameter Display

C00099 Firmware version

C00200 Firmware product type

C00201 Firmware - compilation date

C00203/1...9 HW product types

C00204/1...9 HW serial numbers

C00205/1...6 HW descriptions

C00206/1...6 HW manufacturing data

C00208/1...6 HW manufacturer

C00209/1...6 HW countries of origin

C00210/1...6 HW versions

8400 HighLine C | Software ManualError managementLogbook

292 L Firmware 02.00 - DMS EN 3.0 - 05/2009

9.5 Logbook

The integrated logbook function of the controller chronologically logs important eventswithin the system and plays an important role for troubleshooting and controllerdiagnostics.

Events that can be logged

The following events can be logged in the logbook:

Error messages of the operating system ( 298)

Error messages generated by the application

Loading/saving of parameter sets, loading of the Lenze setting (in preparation)

Transmitting the firmware to the controller (in preparation)

Switching on/off of the controller

Information saved

For each event, the following information is saved in the logbook:

Type of response to the event (e.g. fault, warning or information)

Subject area that activated the event (e.g. CAN or USER).

Event

Value of power-on time meter

Selected process values (analog % signals, binary signals)

Memory depth

Maximum number of logbook entries: 14 (extension in preparation)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 293


Logbook

9.5.1 Functional description

The structure of the logbook corresponds to a ring buffer:

[9-5] Ring buffer structure

In the event of a supply voltage failure, the logbook is saved and reloaded automaticallywhen the controller is switched on. This ensures that the error history of the device doesnot get lost. For this reason it is very important to act with caution when deleting thelogbook entries.

9.5.2 Filtering logbook entries

Before the logbook logs new entries in the ring buffer, the entries are filtered by aparameterisable filter.

This filter can be used to exclude events with a certain error response (fault, warning,information, etc.) from entry into the logbook.

The filter parameters are set under C00169 by means of a bit mask:

[9-6] Bit mask for event-type filter

Example: Bit 6 must be set to "1" to exclude all events with "Information" response from entry into the logbook:

[9-7] Example: Bit mask for excluding events with "Information" response

↓ : Current event

• As long as free logbook memory locations are available, the entries will be saved at the next free memory location.

• If all memory locations are occupied, the oldest entry will be deleted to save a new entry.

• If the same error occurs frequently (e.g. during commissioning of the device), the 14-line ring buffer of the logbook soon would overflow. To prevent this, the logbook can be configured in such a way that identical errors do not cause a new line entry, but a counter for this type of error is counted up instead. The time entered for the error always is the time of the first occurrence. A new logbook line will only be generated if a different error occurs.

nn-1

n-2

Note!

Events with the "No response" setting are not entered into the logbook.

Meaning: Reserved Fault Trouble TroubleQSP (quick stop by trouble)

Warning Locked Warning Information Reserved

Bit 0Bit 7

��

Meaning: Reserved Fault Trouble TroubleQSP (quick stop by trouble)

Warning Locked Warning Information Reserved

Bit 0Bit 7

1 0 0 0 0 00

��

0

8400 HighLine C | Software ManualError managementLogbook

294 L Firmware 02.00 - DMS EN 3.0 - 05/2009

9.5.3 Reading out logbook entries

With an online connection, the existing logbook entries can easily be displayed in the»Engineer«. Alternatively, the logbook entries can also be read out via the correspondingparameters (e.g. using the keypad).

How to display logbook entries in the »Engineer«:

1. Go to the Project view and select the 8400 StateLine controller the logbook entries of which are to be read.

2. Click the icon or select the command OnlineGo online to build up an online connection with the controller.

3. Select the Diagnostics tab from the Workspace.

4. Click Logbook.

• The Logbook dialog box appears:

• Click Delete to delete an entry from the logbook.

• Click Export to export the entries from the logbook into a *.log file.

• Activating the Hide system messages checkbox hides all "Information" system messages in the logbook.

5. Click Previous to close the Logbook dialog box.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 295


Monitoring

9.6 Monitoring

The controller is provided with various monitoring functions which protect the driveagainst impermissible operating conditions:

[9-8] Monitoring configuration

If a monitoring function responds,

– an entry will be made into the Logbook of the controller,

– the response (troubleQSP, warning, fault, etc.) selected for the monitoring function will be activated,

– the status of the internal device control changes according to the selected response, controller inhibit is set, and the "DRIVE ERROR" LED on the front of the controller goes on:

See also: LED status displays ( 55)

Device states ( 56)

Response Entry in the logbook

Display in C00168

Pulse inhibit Controller inhibit

Acknowledgement required

LED"DRIVE ERROR"

None Off

Fault

Trouble(after 0.5 s)

TroubleQSP

Warning locked

Warning

Information Off

System error Mains switching

is required!

8400 HighLine C | Software ManualError managementMonitoring

296 L Firmware 02.00 - DMS EN 3.0 - 05/2009

9.6.1 Setting the error response

When a monitoring function responds, the response set for this monitoring function(troubleQSP, warning, fault, etc.) will be activated.

For many monitoring functions the response can be individually parameterised via parameters.

Tip!

The table in chapter "" contains the error messages for which the response can beset "Overview of the error messages of the operating system" entnehmen ( 303) .

Warning thresholds

Some of the monitoring functions are activated if a defined warning threshold (e.g.temperature) has been exceeded.

The corresponding preset threshold values can be changed via the following parameters:


C00120 Mot. overload protection (I²xt)

C00121 Motor temp. warning threshold

C00122 Heatsink temp. warn. threshold

C00123 Device util. warning threshold

C00126 CPU temp. warning threshold

C00127 Mot. overload warning threshold

C00128 Therm. motor time constant

C00132 Max. temperature of brake resistor

C00174 Undervoltage (LU) threshold

C00185 Mains recov. detect. threshold

C00570 Warning thres. brake chop.

C00572 Warn. thr. brake resist. overl.

C00576 Speed monitoring tolerance

C00596 Threshold max. speed reached

C00599 Motor phase failure threshold

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 297


Monitoring

9.6.2 Monitoring of the device utilisation

The following subcodes of code C00064 serve to display the device utilisation (i x t) in [%]:

Subcode 1: Display of the higher of the two values from subcode 1 and 2.

Subcode 2

– If the device utilisation is > 160%: Display of the device utilisation over the last 15 s

– If the device utilisation ≤ 160%: display "0")

Subcode 3: Device utilisation over the last 180 s

If the value displayed in C00064 exceeds the threshold set in C00123, the fault message"OC5: Ixt overload" is output and the fault response set in C00604 is executed (defaultsetting: "Warning").

9.6.3 Mains phase failure monitoring

Under load, the mains input of a controller supplied by three-phases can be destroyed if thedevice is only supplied by two phases (e.g. if a mains phase fails).

The controller is equipped with a so-called mains phase failure detection which identifiesthe described error case and responds as set by the user:

The error message "Su02" is indicated (mains voltage switched off).

The error response set under C00565 becomes active (Lenze setting: "Warning").

8400 HighLine C | Software ManualError managementError messages of the operating system

298 L Firmware 02.00 - DMS EN 3.0 - 05/2009

9.7 Error messages of the operating system

This chapter describes all error messages of the controller operating system and possiblecauses & remedies.

Tip!

Each error message is also saved in the logbook in chronological order. Logbook( 292)

9.7.1 Error number

9.7.1.1 Structure of the error number (bit coding)

If an error occurs in the controller, the logbook saves a 32-bit value in the error formatwhich contains the following information:

[9-9] Structure of the error number

9.7.1.2 Error type

The error type is dynamically assigned by the operating system.

Reserved

Error type

Error subject area

Error ID

�� Bit 16252631 0152930

Bit 29 Bit 28 Bit 27 Bit 26 Meaning

0 0 0 0 0: No response ("no reaction")

0 0 0 1 1: Fault - pulse inhibit ("Fault")

0 0 1 0 2: Trouble

0 0 1 1 3: Quick stop by trouble ("TroubleQSP")

0 1 0 0 4: Warning locked

0 1 0 1 5: Warning

0 1 1 0 6: Information

Bit 16252631 0152930

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 299


Error messages of the operating system

9.7.1.3 Error subject area

The subject area indicates the internal "function unit" of the controller in which the errorhas occurred:

9.7.1.4 Error ID

16-bit value (0 ... 65535) for error identification.

Subject area Meaning

dec hex

111 6F Supply voltage

119 77 Temperature

123 7B Motor management / encoder

125 7D Analog I/O integrated

127 7F Extension module slot1

131 83 CAN integrated (general)

135 87 CAN process data object (PDO)

140 8C Device configuration

144 90 Parameter set

145 91 Device firmware (internal error)

400 190 Device hardware is defect

980 3D4 User error, see System block LS_SetError_1 ( 312)

981 3D5

982 3D6

983 3D7

Bit 16252631 0152930

Bit 16252631 0152930


300 L Firmware 02.00 - DMS EN 3.0 - 05/2009

9.7.1.5 Example for bit coding of the error number

C00168 displays the error number "298057739".

This decimal value corresponds to the following bit sequence:

The bit-by-bit representation of the error number (divided into nibbles)0001⏐0001⏐1100⏐0100⏐0000⏐0000⏐0000⏐1011corresponds to the hexadecimal value of "0x11C4000B"

The error number "298057739" thus means:In the subject area "current" an overcurrent has been detected. A "warning" has been output as a response to the error and this warning has to be reset separately when the error has been eliminated.

Assignment Information Meaning in the example

Reserved Assigned with 0b00

Error type 4: Warning locked

Subject area 452: Current

Error ID 11: "Short circuit" (OC1)

�� Bit 16252631 0152930

0 0 0 1 0 0 0 1 1 1 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 100

0 0

0 1 0 0

0 1 1 1 0 0 0 1 0 0

0 0 0 0 0 0 0 0 0 0 0 0 1 0 1 1

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 301



9.7.2 Reset of error message

An error message with the response "Fault", "Trouble", "TroubleQSP" or "Warning locked"must be explicitly reset (acknowledged) after the cause of the error has been eliminated.

To reset (acknowledge) a pending error message, execute the controller command C00002/19 = "1".

Tip!

With an online connection to the controller, use the Diagnostics tab of the»Engineer« and click Error message reset to reset a pending error message.


302 L Firmware 02.00 - DMS EN 3.0 - 05/2009

9.7.3 Error messages of positioning control

If the FB is in the error state, the output bError is set to TRUE and an error number is outputat wErrorNumber, additionally the event is entered in the logbook of the controller.

The meanings of the error numbers output at wErrorNumber are listed in the below table:

wErrorNumber Symbolic name Meaning

0 NoError Information: no error

400 PosLimitSwitch Positive limit switch triggered.

401 NegLimitSwitch Negative limit switch triggered.

402 PosPositionLimit Positive software limit position reached.

403 NegPositionLimit Negative software limit position reached.

404 FollowErrWarning Following error warning limit reached/exceeded.

405 FollowErrFail Following error limit reached/exceeded.

406 HomePosError Discrete positioning requested and home position unknown.

407 Initialization Information: system initialisation active.

408 UserQuickstop User quick stop 1 (QSP) triggered.

409 MaxVelConflict Incorrect parameterisation of maximum speed.

410 DriveNotReady Information: drive is not ready.

411 VisuQuickstop User quick stop 2 (QSP) triggered.

412 InitError Error during system initialisation.

413 ParameterSaveError Internal error

414 SwapPositionMode Internal error

415 XYPosChangeLimit Internal error

416 PosToExtNoSpeed Internal error

417 InvalidSoftwareLimits Incorrect parameterisation of software limit positions.

418 XTpPositionOutOfLimit Internal error

419 StateBusError Internal error

420 PosProfilerFail Error in kinematic parameters for profile generation.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 303



9.7.4 Overview of the error messages of the operating system

The following table contains all error messages of the controller operating system with thepreset error responses and - if available – the parameters for setting the error response inalphabetical order.

Tip!

If you click the cross-reference in the last column "Detailed information", you getto the detailed description of the corresponding error message in the followingchapter "Cause & possible remedies" ( 305) .

Subject area no.

Error ID Error number (without error type)

Abbreviation

Error text CAN-Emergency error code

Response can be set in

111 2 0x006f0002 Su02 Mains voltage is switched off 0x3000 C00565/0

119 1 0x00770001 OH Heatsink overtemperature 0x4000 C00582/0

119 15 0x0077000f OH3 Motor temperature (X106) enabled 0x4000 C00585/0

119 50 0x00770032 OC5 Ixt overload 0x2000 C00604/0

123 1 0x007b0001 Maximum torque reached 0xF000 C00608/0

123 14 0x007b000e OU DC bus overvoltage 0x3100 C00601/1

123 15 0x007b000f LU DC bus undervoltage 0x3100 C00600/1

123 17 0x007b0011 OC2 Earth fault power section 0x2000 C00602/0

123 30 0x007b001e Maximum current reached 0x2000 C00609/0

123 32 0x007b0020 NMAX Maximum speed limit reached 0xF000 C00579/0

123 57 0x007b0039 ID1 Error - motor data identification 0xF000 -

123 65 0x007b0041 I2xt overload - brake resistor 0xF000 C00574/0

123 93 0x007b005d Output frequency limited 0xF000 C00567/0

123 94 0x007b005e Switching frequency reduction 0xF000 C00590/0

123 95 0x007b005f Maximum speed for Fchop 0xF000 C00588/0

123 105 0x007b0069 OC6 I2xt overload - motor 0x2000 C00606/0

123 145 0x007b0091 LP1 Motor phase failure 0x3000 C00597/0

123 200 0x007b00c8 Speed limit - feedback system 0xF000 C00607/0

123 205 0x007b00cd SD3 Open circuit - feedback system 0xF000 C00586/0

125 1 0x007d0001 An01 AIN1_I < 4 mA 0xF000 C00598/1

127 2 0x007f0002 CE04 MCI communication error 0x7000 C01501/1

127 15 0x007f000f CE0F MCI control word 0xF000 C00594/2

131 0 0x00830000 CE4 CAN Bus Off 0x8000 C00592/2

131 6 0x00830006 CA06 CAN CRC error 0x8000 C00592/1

131 7 0x00830007 CA07 CAN Bus Warn 0x8000 C00592/3

131 8 0x00830008 CA08 CAN Bus Stopped 0x8000 C00592/4

131 11 0x0083000b CA0b CAN Bus Live Time 0x8130 -

131 15 0x0083000f CA0F CAN control word 0xF000 C00594/1

135 1 0x00870001 CE1 CAN RPDO1 0x8100 C00593/1

135 2 0x00870002 CE2 CAN RPDO2 0x8100 C00593/2

135 3 0x00870003 CE3 CAN RPDO3 0x8100 C00593/3

140 13 0x008c000d MCI1 Module is missing/incompatible 0x7000 C01501/2

144 1 0x00900001 PS01 No memory module 0x6300 -

144 2 0x00900002 PS02 Par.set invalid 0x6300 -

144 3 0x00900003 PS03 Par.set device invalid 0x6300 -

144 4 0x00900004 PS04 Par.set Mci invalid 0x6300 -

144 7 0x00900007 PS07 Par. memory module invalid 0x6300 -

144 8 0x00900008 PS08 Par. device invalid 0x6300 -


304 L Firmware 02.00 - DMS EN 3.0 - 05/2009

144 9 0x00900009 PS09 Par.format invalid 0x6300 -

145 25 0x00910019 dF25 CU RCOM error 0x6100 -

145 35 0x00910023 RST AutoTrip reset 0xF000 C00189/0

145 50 0x00910032 dF50 Retain error 0x6100 -

400 16 0x01900010 dH10 Heatsink fan failure 0x5000 C00566/0

980 freely config. 0x03d4ffff US01 User-specific error with LS_SetError

0xF000 C00581/1

981 freely config. 0x03d5ffff US02 0xF000 C00581/2



Subject area no.

Error ID Error number (without error type)

Abbreviation

Error text CAN-Emergency error code

Response can be set in

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 305



9.7.5 Cause & possible remedies

This chapter contains all error messages of the controller operating system in numericalorder of the error numbers. The list provides detailed information on the response to theerror message as well as information on the cause & possible remedies.

Tip!

A list of all error messages of the controller operating system in alphabetical ordercan be found in the previous chapter "Overview of the error messages of theoperating system" ( 303).

Subject area Function Remedy by the user

No. Name

111 Supply voltage Errors related to the supply voltage of the device Yes

119 Temperature Errors that occur for temperature reasons Yes

123 Motor management / encoder

An error occurred in connection with the motor control or encoder evaluation Yes

125 Analog I/O integrated An error occurred at the analog inputs Yes

127 Extension module slot 1 The fieldbus module has reported an error or an error exists in connection with the plugged module

Yes: with fieldbus errorsNo: with internal errors

131 CAN integrated (general) Errors related to general CAN functions Yes

135 CAN process data object (PDO)

Errors that are explicitly related to the CAN-PDOs (process data objects) Yes

140 Device configuration Errors related to the compatibility with the assembled single components (fieldbus module, safety module, and other)

Yes: only with modules plugged by the user or with a memory module

144 Parameter set Errors that occur in connection with the parameter set or the parameter set memory (memory module)

Yes if the memory module in question is missing or incompatible

145 Device firmware (internal error)

Internal error of the device firmware cannot be remedied by the user No

184 MotionControlKernel Error in profile generation, brake control, positioning (basic functions) Yes

400 Device hardware is defect Error caused by internal hardware defect has been detected No

444 Profibus fieldbus Error in connection with the fieldbus communication Yes

980 US01: User error 1 Error generated by the user through function block yes, is generated by the user through function block

981 US02: User error 2




306 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Table of single errors

Subject area Error no. Error cause Error response

Remedy by the user

No. Name

111 Supply voltage 7274498 Su02: Mains voltage switched offThe mains voltage has been switched off.

C00565 This is no real error but an information.

111 Supply voltage 7274499 Su03: Too frequent mains switchingToo frequent mains switching of the power section.The device recognises if the power section is switched on and off too frequently.To protect internal charging connections from destruction, the device reports this error and prevents the controller inhibit. All other functions are active.

1: Fault - pulse inhibit ("Fault")

The error must be acknowledged.The minimum waiting time between two mains switching processes is approximately three seconds.

111 Supply voltage 7274500 Su04: CU insufficiently suppliedThe supply voltage of the control electronics is too low (V < 19 V).Note: The supply voltage can be read out under code C00065.


The error must be acknowledged.With internal supply voltage via the power electronics, the controller must be replaced.With external supply voltage, check the correct connection and/or the stability of the supply voltage.

119 Temperature 7798784 OH4: Heatsink temp. > shutdown temp. - 5 ° CThe heatsink temperature has risen to within 5 ° C of the temperature where the motor will be switched off.

C00582 Prevent further heating, i.e. reduce motor load or set controller inhibit so that the heatsink can cool down again.

119 Temperature 7798785 OH1: Heatsink overtemperatureThe heatsink temperature is higher than the fixed limit temperature (90 ° C). Maybe the ambient temperature of the controller is too high or the fan or its ventilation slots are dirty.


Check control cabinet temperature.Clean filter.Clean controller.If required, clean or replace the fanProvide for sufficient cooling of the device.

119 Temperature 7798799 OH3: Motor temperature (X106) triggeredThe motor temperature monitoring function at the plug connector X106, terminal T1 /T2, has tripped. Possible causes: 1.) The motor is overheated so that the thermal contact integrated in the motor has been switched.2.) There is an open circuit or loose contact at the terminals mentioned under 1.).

C00585 Check motor temperature monitoring.Provide for sufficient cooling of the motor.Check terminals for open circuit or loose contact.

119 Temperature 7798834 OC5: Ixt overloadThe Ixt overload check has tripped due to 1.) wrong dimensioning of the device with regard to its motor load or 2.) the non-compliance of the load cycles

C00604 as to 1.) check and, if required, correct dimensioning of the device and the motor load with regard to technical dataas to 2.) reduce load cycles of the motor. as to 2.) reduce load cycles of the motor.


8060929 OT1: Maximum torque reachedThe device indicates that the maximally possible torque at the motor shaft has been reached.(Display see C00057 )

C00608 Reduction of the motor load


8060942 OU: DC bus overvoltageThe device has detected an overvoltage in the DC bus. To protect the device hardware, the inverter control is switched off.Depending on the configuration of the auto-start lock function, C00142 serves to set that, if the this error has been tripped, the controller only starts after the controller inhibit is switched.If this error message remains active longer than the time set in C00601, a "Fault" is tripped.

2: Trouble Reduction of the load in generator mode.Use of a brake resistorUse of a regenerative power supply module.Layout of a DC-bus connection.


8060943 LU: DC bus undervoltageThe device has detected an undervoltage in the DC bus. The inverter control is switched off since the drive characteristics of the motor control cannot be ensured anymore due to the DC-bus undervoltage. The configuration of the auto-start lock function C00142 serves to set that, after this error has tripped, the controller only starts after the controller inhibit is switched.

2: Trouble Switch on mains supply or ensure sufficient supply via DC bus. If required, adapt C00142.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 307




8060944 OC1: Power section - short circuitThe device has recognised a short circuit of the motor phases. To protect the device electronics, the inverter control is switched off. Mostly, incorrectly executed motor connections are the cause.If the device is inappropriately dimensioned with regard to the motor load and the current limitation in the controller (Imax controller) is set incorrectly, this error message may also occursee also the chapter "Motor control - defining current limitations"


Checking the motor connections and the corresponding plug connector at the device.Compliance with the permissible combinations of device and motor power.Do not set the dynamics of the current limitation controller too high.


8060945 OC2: Power section - earth faultThe device has recognised an earth fault at one of the motor phases. To protect the device electronics, the inverter control is switched off. Mostly, incorrectly executed motor connections are the cause.If motor filter, motor cable length, and cable type (shielding capacity) are dimensioned incorrectly, this error message may occur due to leakage currents to PE.


Checking the motor connections and the corresponding plug connector at the device.Use of the motor filters, cable lengths, and cable types recommended by Lenze.


8060958 OC10: Maximum current reachedThe device indicates that the maximum device current has been reached.The maximum device current is the double value of the rated device current (display in C00098).


Check and, if required, correct dimensioning of the load with regard to the installed device power.


8060959 OC17: Clamp sets pulse inhibitDue to a short overcurrent, the inverter was switched off for a short time (clamp disconnection).

C00569/1 Check and, if required, correct dimensioning of the load with regard to the installed device power.Reduce the dynamics of the setpoint change or speed control.


8060960 OS1: Maximum speed limit reachedThe device has recognised that the maximum speed has been reached.

C00579 Limitation of the setpoint selection to maximum values.If required, set the parameters for the limit values with C00909 and C00910.


8060985 ID1: Motor data identification errorThe device has detected an error during the motor data identification.Causes:a) Interruption of the motor cableb) Disconnection of the power section during the identificationc) Implausible settings of the start parameters

4: Warning locked

Checking the motor connections and the corresponding plug connector at the device and, if required, the motor terminal box.Correction of the start parameters for the identification (motor nameplate data)Stable power supply of the device


8060986 ID3: CINH motor data identificationThe device has detected controller inhibit during the motor data identification.This cancels the identification process. The Lenze setting of the motor data is used.

4: Warning locked

Do not set controller inhibit during the motor data identification.Do not execute any device function which may activate controller inhibit.


8060987 ID4: Resistance identification errorThe device has recognised that an error has occurred in the calculation of the motor cable resistance.Cause:The parameters for cable cross-section and cable length are implausible.

5: Warning Enter sensible values for cable cross-section and motor cable length.


8060999 OC11: Clamp operation activeThe device reports that the overcurrent limitation "CLAMP" is activated.A permanent clamp operation causes an overload disconnection.

5: Warning Reduction of the dynamics of the setpoint generation or motor load.


8061018 OC13: Maximum current for Fch exceededThe device has detected a motor current which exceeds the maximum current limit at permanent switching frequency of the inverter.


Background: If a permanent switching frequency inverter is set, a certain limit arises for the maximum current, depending on the setting. If this current limit is exceeded due to a load impulse or overload, an error message is displayed

Observance of the maximum current setting depending on the set switching frequency of the inverter.If required, reduction of the load requirement or setting of the dynamic switching frequency.


Remedy by the user

No. Name


308 L Firmware 02.00 - DMS EN 3.0 - 05/2009


8061021 OT2: Speed controller output limitedThe output of the speed controller has reached the internal limit value. In this state, the speed controller is not able to correct the system deviation anymore.(only with closed loop or vector control )

C00567 Compliance with the load requirementsIf required, correction of dimensioning or reduction of the dynamics of the setpoint generationFor details see motor control


8061022 FCH1: Switching frequency reductionLoad-dependent switching frequency reduction

C00590 Compliance with the load requirementsIf required, correction of dimensioning or reduction of the dynamics of the setpoint generationFor details see motor control


8061023 FCH2: Maximum speed for FchopMaximum speed for chopper frequency has been reached.The maximum speed has been exceeded depending on the switching frequency.

C00588 Correct selection of the maximum speed depending on the switching frequency.For details see Limiting maximum output frequency


8061024 OC14: Direct-axis current controller limitationThe limitation of the direct-axis current controller is active

C00570/1 Compliance with the load requirements, if required, correction of dimensioning or reduction of the dynamics of the setpoint generationFor details see motor control


8061025 OC15: Cross current controller limitationThe limitation of the cross current controller is active

C00570/2 Compliance with the load requirements, if required, correction of dimensioning or reduction of the dynamics of the setpoint generationFor details see motor controlCheck parameter setting of the current controller with regard to the motor controllers (e.g. reduce Vp)


8061026 OC16: Torque controller limitationActuator limitation according to speed controller

C00570/3 Compliance with the load requirements, if required, correction of dimensioning or reduction of the dynamics of the setpoint generationFor details see motor control


8061027 FC1: Field controller limitationThe output of the field controller has reached its maximum limit value. The drive is at the torque limit in the field weakening range.

C00570/4 Compliance with the load requirements, if required, correction of dimensioning or reduction of the setpoint from the field weakening range.For details see motor control


8061033 OC6: I2xt overload - motorThermal overload of the motor

C00606 Compliance with the load requirements, if required, correction of dimensioning. With control type VFCplus:Check of the Vmin boost, see C00016For details see Setting Vmin boost


8061073 LP1: Motor phase failureMotor phase failure - power sectionThis error message is displayed if a motor phase carries less current of one half-wave than set in C00599.

C00597 Checking the motor connections and the corresponding plug connector at the device and, if required, the motor terminal box.Check the trigger threshold C00599.


8061128 SD10: Speed limit for feedback systemMaximally permissible speed of the feedback system has been reached

C00607 Reduce speed of the rotation shaft / feedback system.nEncoder ≤ (fmax x 60) / encoder incrementsAt fmax = 10 kHz


8061133 SD3: Feedback system open circuit C00586 Check wiring of the feedback system and its terminals.

125 Analog I/O integrated

8192001 An01: AIN1 I < 4 mA C00598/1 Check wiring of the analog input terminal for open circuit.Check minimum current values of the signal sources.

127 Extension module slot 1

8323074 CE04: MCI communication error C00150/1

127 Extension module slot 1

8323087 CE0F: MCI control word"SetFail" (bit 14) of the wMciCtrl control word of the LS_DriveInterface is set.

C00594/2 Cause or signal source which sets the "SetFail" bit (bit 14) has been detected at the bus (e.g. PROFIBUS).


Remedy by the user

No. Name

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 309



131 CAN integrated (general)

8585216 CE4: CAN Bus OffBus is switched offThe device has detected a CAN bus off state. Too many faulty telegrams are located on the bus.

C00592/2 Check wiring and bus terminating resistor.Check the identical baud rate of each node.Check the bus for electrical interferences which can be caused by switching or plugging operation.


8585222 CA06: CAN Message ErrorGeneral CAN message error

C00592/1 A faulty CAN telegram has been detected.


8585223 CA07: CAN Bus WarningIf the counter for incorrectly transmitted or received CAN telegrams has a value > 96, see C00372/1 ... /2

Note: The C00345 code shows the current CAN error status.

C00592/3 Check wiring and bus terminating resistor.Check the identical baud rate of each node.Check the bus for electrical interferences which can be caused by switching or plugging operation.


8585224 CA08: CAN Bus StoppedThe device has received a CAN-Stopped-NMT telegram

C00592/4 Check NMT master


8585231 CA0F: CAN control word"SetFail" (bit 14) of the wCANCtrl control word of the LS_DriveInterface is set.

C00594/2 Cause or signal source which sets the "SetFail" bit (bit 14) has been detected at the bus (e.g. CAN).


8547361 CE1: CAN RPDO1CAN Receive PDO1 has no reception during the time set in C00357/1.

C00593/1 Check the COB-IDs.Check the transmission of PDOs to this Receive object.Adapt time setting for CAN Receive PDOx in C00357/x.135 CAN process data

object (PDO)8547362 CE2: CAN RPDO2

CAN Receive PDO2 has no reception during the time set in C00357/2.

C00593/2


8547363 CE3: CAN RPDO3CAN Receive PDO3 has no reception during the time set in C00357/3.

C00593/3

140 Device configuration

9175053 MCI1: Module missing/incompatibleThe optional communication module has been removed or there is a connection problem or incompatibility with the standard device.

C01501/2 Check connection between the communication module and standard device.Check if the module is plugged in correctly.In case of an incompatibility, either the module or the software of the standard device is out of date. In this case, please contact Lenze.

144 Parameter set 9437185 PS01: No memory moduleMemory module is not plugged in.Memory module is either not available or not snapped into place correctly.

5: Warning Please plug in memory module or ensure that the module is snapped into place.

144 Parameter set 9437186 PS02: Par. set invalidParameter set storage is invalid due to incomplete saving of the parameter set (e.g. by voltage failure or removal of the memory module during the saving process).


Please ensure during the saving process that the voltage supply is maintained and the module continues to be plugged into the memory location.

144 Parameter set 9437187 PS03: Par. set device invalidAn incompatibility of the parameter set is caused e.g. when the memory module of an 8400 HighLine is plugged into an 8400 StateLine or the parameter set in the memory module has a higher version than expected by the standard device.


When the memory modules are exchanged, observe the downward compatibility:- OK: StateLine V2.0 to StateLine V3.0- OK: StateLine V2.0 to HighLine V2.0.- Not OK: HighLine Vx.x to StateLine Vx.x- Not OK: StateLine V3.0 to StateLine <V3.0

144 Parameter set 9437188 PS04: Par. set Mci invalidParameter set Mci is invalid.An incompatibility of the parameter set is caused e.g. when the MCI module parameters in the memory module do not match the plugged MCI module.


When the memory modules are exchanged, observe the downward compatibility.---> see remedy for PS03

144 Parameter set 9437191 PS07: Par.set mem. module invalidParameter set of memory module is invalidThe error occurs while loading the parameter set.The memory module plugged in the device lacks a code or a code is incorrect.


Internal error Please contact Lenze.

144 Parameter set 9437192 PS08: Par. set device invalidParameter set of the device is invalid.The error occurs while loading the parameter set.One code in the device is incorrect.




Remedy by the user

No. Name


310 L Firmware 02.00 - DMS EN 3.0 - 05/2009

144 Parameter set 9437193 PS09: Par.set invalidCode format is invalidThe error occurs while loading the parameter set.




9502744 dF18: BU RCOM errorError - RCOM power section




9502745 dF25: CU RCOM errorError - RCOM control section




9502753 dF21: BU WatchdogWatchdog power section




9502755 df10: Auto Trip ResetToo frequent auto trip reset

C00189 Check the error cause due to which the auto trip reset is activated. Remove the error cause and carry out the error reset manually.


9502770 dF50: Retain errorError while accessing retain dataInternal hardware error or after a firmware download no mains switching has been carried out.


The device must be returned to Lenze.Carry out mains switching after a firmware download.

400 Device hardware is defect

26214409 dH09: EEPROM power sectionPower section EEPROM error, internal hardware error.


The device must be returned to Lenze.


26214416 dH10: Fan failureFailure of the device fan1.) The short-circuit check of the fan connection terminals has tripped or2.) the speed monitoring of the fan has tripped.

C00566 1.) Check fan for short circuit or, if required,2.) clean fan


26214505 dH69: adjustment faultAdjustment data error - power section


The device must be returned to Lenze.

444 PROFIBUS fieldbus

29131056 Profibus WatchdogMonitoring time exceeded

C13880/1 Check cables and terminations, cable breakage or failure of the DP master


29131057 ProfibusLeave Data_Exchange status


29131058 Profibus WatchdogDP-V1 MSC2 monitoring time exceeded


29119793 MemoryNo access to EEPROM, internal error

Exchange module


29119794 MemoryRead error on EEPROM, internal error

Exchange module


29119795 MemoryWrite error on EEPROM, internal error

Exchange module


29123616 FaultLenze setting loaded, internal error

Exchange module


29122577 FaultRestart after watchdog reset, internal error

Exchange module


29110528 Connection to 8400 standard device lost, internal error

Exchange module


29122817 Software error, internal error Exchange module


29122576 CPU watchdog reset, internal error Exchange module


29122816 Software error, internal error Exchange module

980 US01: User error 1 (C00581/1 x 0x0400000)+(980 x 0x10000) + (C00161/1)

US01: User error 1User error 1 of the LS_SetError_1

C00581/1 Defined by the user


Remedy by the user

No. Name

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 311













Remedy by the user

No. Name

8400 HighLine C | Software ManualError managementSystem block LS_SetError_1

312 L Firmware 02.00 - DMS EN 3.0 - 05/2009

9.8 System block LS_SetError_1

This function block serves to assign up to four user-defined events to one response each.

The resulting error number has the following specifications:

Error type can be set via C00581 Error type ( 298)

Subject area number 980 ... 983 ("user error")

Error_ID can be set via C00161 Error ID ( 299)

Available function blocks: 1

Inputs

Parameter

Identifier/data type Information/possible settings

bSetError1 ... bSetError4BOOL

Input

Identifier/data typeIndex

Possible settings Information

C00161 /1 ... 4 0 ... 65535 Error ID

C00581 /1 ... 4 Response

0 ... 6 0: No response1: Pulse inhibit fault2: Trouble3: Quick stop fault4: Warning locked5: Warning6: Information

LS_SetError_1 ?

3

1

4 5

7 9

11

010

8

C00581 / 1 ... 4

bSetError1

bSetError2

bSetError3

bSetError4

Fault

Trouble

TroubleQSP

Warning

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 313


Drive diagnostics & fault analysis

9.9 Drive diagnostics & fault analysis

9.9.1 Maloperation of the drive

Maloperation Cause Remedy

Motor does not rotate

DC-bus voltage is too lowNote: red LED is blinking every second,display in keypad: LU

Check mains voltage

Controller is inhibitedNote:green LED is blinking, display in keypad:

Deactivate controller inhibitNote: Controller inhibit can be set via several sources !

Automatic start is inhibited (C00142 = 0)

LOW/HIGH edge at RFRIf required, correct starting condition with C00142

DC-injection braking (DCB) is active Deactivate DC injection brake

Mechanical motor brake is not released Release mechanical motor brake manually or electrically

Quick stop (QSP) is active Note: Keypad display:

Deactivate quick stop

Setpoint = 0 Select setpoint

JOG frequency = 0 at activated JOG setpoint Select JOG setpoint with C00037 .... C00039

Trouble is active Clear fault

With C00006 = 4, "vector control" has been set, but no motor parameter identification has been carried out

Identify motor parameters (C00002/23)

Assignment of several mutually exclusive functions with a signal source in C00701

Correct configuration in C00701

Motor rotates irregularly

Motor cable is defective Check motor cable

Maximum motor current in motor or generator mode is set too low

Adapt settings to the application with C00022 or C00023.

Motor is underexcited or overexcited Check parameter setting with C00006, C00015 , C00016

Rated motor data (stator resistance, speed, current, frequency, voltage) and cos ϕ and/or magnetising inductance is not adapted to the motor data

• Manual adaptation of the motor data with C00084, C00087, C00088, C00089, C00090, C00091, C00092

or • Identify motor parameters with C00002/

23

Motor windings are wired incorrectly Reverse from star connection to delta connection

Motor consumes too much current

Umin boost selected too great Correct setting with C00016

V/f base frequency has been selected too low Correct setting with C00015

Rated motor data (stator resistance, speed, current, frequency, voltage) and cos ϕ and/or magnetising inductance is not adapted to the motor data

• Manual adaptation of the motor data with C00084, C00087, C00088, C00089, C00090, C00091, C00092

or • Identify motor parameters with C00002/

23

Motor parameter identification is aborted with error LP1

Motor is too small compared to the rated device power (>1 : 3)

Use device with lower rated power

DC injection brake (DCB) is active via terminal

Deactivate DC injection brake

8400 HighLine C | Software ManualError managementDrive diagnostics & fault analysis

314 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Drive behaviour with vector control is not satisfactory

different Optimise or manually adapt vector control

Identify motor parameters with C00002/23

Torque dip in field weakening rangeormotor stalling when being operated in the field weakening range

Motor is overloaded Check motor load

Motor windings are wired incorrectly Reverse from star connection to delta connection

V/f reference point is set too high Correct setting with C00015

Override point of field weakening is set too low

Correct setting with C00080

Mains voltage is too low Increase mains voltage

An asynchronous motor with feedback rotates without control and with too low speed

• The motor phases are interchangedThus the rotating field of the motor is not identical anymore with the rotating field of the feedback system.The drive (V/f characteristic control C00006 = 7) shows the following behaviour:

– The motor rotates faster by the value set in C00074 than the speed setpoint. After controller enable, the controller does not stop when the speed setpoint = 0 or at quick stop (QSP).

– The motor current to be set depends among other things from the set value of the Vmin boost and can rise up to Imax.

This may cause the fault message "OC5: Ixt overload".

Check the phase position of the motor cable

If possibleoperate the motor with deactivated feedback (C00025 = 6) and check direction of rotation of the motor

Motor phase (LP1) monitoring does not respond if the motor phases are interrupted

Monitoring is not active (C00597 = 0) Activate monitoring with C00597 = 1

Maloperation Cause Remedy

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 315


Drive diagnostics & fault analysis

9.9.2 Operation without mains supply

The following codes have the value "0" if the mains supply is switched off and the external24 V supply of the controller is switched on:

C00050

C00051

C00052

C00053

C00054

C00058

C00061

C00064 /1 ... /3

C00066

C00177 /1

C00178 /0 /1

C00308

C00310

C00725

8400 HighLine C | Software ManualFieldbus interface

316 L Firmware 02.00 - DMS EN 3.0 - 05/2009

10 Fieldbus interface

The 8400 frequency inverters can participate in the data transfer of an available fieldbussystem thanks to pluggable communication modules.

The main advantages of a communication module are

to parameterise,

control, and

diagnose the drive system via the bus.

The following fieldbuses are supported by the 8400 frequency inverter:

PROFIBUS DPV1 - slave

Ethernet non-real-time

– ProfiNet IO V2 (in preparation)

– Powerlink BasicMode (in preparation)

Ethernet real-time

– Ethernet POWERLINK (in preparation)

– EtherCat (in preparation)

The selection list for the control module includes the "control via MCI" option for everytechnology application which provides a quick and easy way of setting up a control for thedrive controller via the fieldbus interface.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 317

8400 HighLine C | Software ManualFieldbus interface


10.1 Process data transfer

The process data serve to control the controller. Thus the transfer of the process data is time-critical.

The processing cycle is 1 ms, independent of the prevailing plugged-in bus system and type of frequency inverter.

The process data transfer is carried out cyclically between the master system and the controllers. Current input and output data are permanently exchanged. 16 words per direction are exchanged with the 8400 HighLine frequency inverter.

The process data can directly be accessed by the master computer at the bus system. The process data are accessed via the port blocks LP_MciIn and LP_MciOut (see function block interconnection of the Engineer). These port blocks are also called process data channels.

The process data are not saved in the controller.

[10-1] Outer and inner data transfer between bus system, controller, and function block interconnection

LP_MciIn LP_MciOut? ?

wState

B0 B0

B1 B1

B2 B2

B3

B14

B15B15

wCtrl

wIn2

wOut4

wOut3

wIn3

wOut5wIn4

wIn5 wOut6

Field bus

8400

Application

FB interconnection

Communication module

MCI interface

8400 HighLine C | Software ManualFieldbus interfaceProcess data transfer

318 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Voltage supply

Depending on the complexity and functional range of the fieldbus, the communicationmodules are supplied by the standard device or an external 24 supply at the module.

The external 24 V voltage supply of the communication module is required if the supply ofthe standard device fails but the communication via the bus is to continue.

Parameter setting of the communication modules

All codes which must be parameterised for establishing the fieldbus communication aresaved in the memory module of the controller.

The archived data can be addressed by all bus systems supported by the controller.

Hotplug

The communication module (MCI module) can be plugged in/out while the controller isswitched on. When the module is plugged in, it is automatically detected and checked forplausibility regarding the function and version.

Fieldbus-specific device profiles and PDO mapping

When specific bus systems are used, the controller is to behave according to a defined,manufacturer-spanning standard. The following definitions have been made for this:

Definitions of the device state machine (e.g. DSP402, DriveCOM, ProfiDrive etc.)

Definition of the bit assignment of control and status words

Definition of signal scaling (on a limited scale)

Definition of parameter scaling (on a limited scale)

Definition of the process data mapping

These device profiles are not mapped in the communication module since some definitionshave a strong effect on the device-internal behaviour and the device profiles are notuniform regarding this matter.

The task of the communication modules is

– to address parameters (SDOs),

– to transfer PDOs and

– the signal mapping of the PDOs.

The process data objects are interpreted in the controller (e.g. the meaning of the control word bits or the speed setpoint selection) and can either be parameterised by predefined use of the PDOs and through PDO mapping or freely configured by a function block editor.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 319

8400 HighLine C | Software ManualTechnology applications (TAs)

Introduction

11 Technology applications (TAs)

11.1 Introduction

A technology application is a drive solution based on the experience and know-how ofLenze in which function blocks interconnected to a signal flow form the basis forimplementing typical drive tasks.

Please note that the StateLine and HighLine device types differ with regard to the number,functional range, and flexibility of the technology applications offered.

This chapter describes the management and details of the technology applications of the8400 HighLine frequency inverter.

8400 HighLine C | Software ManualTechnology applications (TAs)Introduction

320 L Firmware 02.00 - DMS EN 3.0 - 05/2009

11.1.1 Overview

Tip!

More technology applications are in preparation

Technology application/application ranges Availability

TA "Actuating drive – speed" ( 319)

• General drive for speed control of– Conveyor drives (connected in a system)– Extruders– Test benches– Vibrators– Travelling drives– Presses– Machine tools– Dosing machines

• 8400 StateLine • 8400 HighLine

TA "Actuating drive – torque"

• Slave drives for material transport– Chain conveyors– S-shaped frame structures– Bilateral tandem drives

• Test facilities– Test benches for tensile stress– Motor test benches– Brake test facilities

• Support of higher-level technology solutions for e.g. traction-controlled winders

In preparation

TA "Electronic gearbox"

• Slitters • Calender drives • Line drives • Conveying belts • Vibrators • Roller mills • Stretching machines • Wire drawing machines

In preparation

TA "Table positioning" ( 391)

Note: This TA requires an external sequence control.

• Transport units • Rotary tables • Storage and retrieval units • Feed drives • Dosing machines • Hoists

• 8400 HighLine

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 321


Introduction

11.1.2 Purpose of the technology applications

The stepped 8400 frequency inverter drive system provides solutions for simple to complexapplication cases - depending on the experience and knowledge about drives and drivetasks on the part of the user.

Some drive tasks are similar in practice so that a few modifications of the correspondingtechnology applications can provide the required result very quickly.

On the one hand a great scope of standard drive tasks for frequency inverters is covered bythe technology applications offered by Lenze, and on the other hand, the user is relievedfrom time-consuming programming activities.

Other important features of technology applications are:

Direct implementation of drive tasks without recreating a function block interconnection inside the device

Operation via keypad and/or operation via convenient operator dialogs in the «Engineer»

Commissioning via few operating and diagnosing parameters (local keypad operation)

Achieving a transparency as high as possible via the integrated functionality of the device by representing signal flow diagrams

Provision of a basic functionality suitable and often sufficient for many applications

8400 HighLine C | Software ManualTechnology applications (TAs)Introduction

322 L Firmware 02.00 - DMS EN 3.0 - 05/2009

11.1.3 Application cases for a technology application

You should use a technology application if

– the task can be solved completely or to a great extent by the basic functionality of the technology application.

– the end customer does not want to create the comprehensive core functions of the corresponding technology on his own.

– the creation time for a project is to be reduced by using the ready-made technology application

– the end customer wants to build upon the know-how of Lenze.

Do not use technology applications if

– the task is very complex, especially if detailed user knowledge is required to implement the core functionality.

– the use of a technology application significantly surpasses the required functional range of the application.

– the end customer does not want to use ready-made functions of Lenze. In such cases, individual drive solutions with 8400 HighLine frequency inverters can be implemented by using the free function block interconnection. Here, the technology applications integrated in the device can be used as a basis which can be adapted to the requirements by alteration or expansion.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 323


Software structure of the application function at a glance

11.2 Software structure of the application function at a glance

[11-1] Software structure of the application function

The device comes integrated with technology applications (actuating drive speed, tablepositioning, etc.). These technology applications provide the main signal flow forimplementing a general or particular drive task in the form of a function blockinterconnection of diverse function blocks (application level).

The technology application is provided with an input interface for connecting the controlsignal sources (e.g. main setpoint) and an interface for controlling the device outputs.

The control signals and device outputs are connected to the technology application in theI/O level.

Within the technology application, the main setpoint path affects the motion controlkernel which generates control signals for the motor control and the state control of thecontroller.

Both the control inputs and the control outputs and the entire technology application areprovided with parameters for

setting / parameterising internal functions

STOP

M

M

0

1

n

t

�

...............

..............

Signalinputs

Motion

PIDprocess

controller

Drivecontrol

Motorcontrol

Signaloutputs..............

Setpointgenerator

ParameterisationParameterisation

8400 HighLine C | Software ManualTechnology applications (TAs)Software structure of the application function at a glance

324 L Firmware 02.00 - DMS EN 3.0 - 05/2009

displaying actual values

connecting the FBs in the I/O level

All these parameters can be addressed via the diagnostic interface or fieldbuses connected.The parameters are set e.g. via a keypad or diagnostics / user interfaces in the Engineer.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 325



11.2.1 How to use the technology applications

1. Select the required technology application on the "Application parameters" tab of the Engineer or on the keypad with code C0005, e.g. C0005 = 1000: "actuating drive – speed".

– When the technology application is selected, a device function and its terminal assignment is preconfigured.

– In the technology application, all function blocks and their parameters are set so that additional programming activities or adaptations for this standard function do not occur.

2. Motor settings are required if the motor is no power-adapted standard motor:

8400 HighLine C | Software ManualTechnology applications (TAs)Software structure of the application function at a glance

326 L Firmware 02.00 - DMS EN 3.0 - 05/2009

3. Select the signal source for control signals

– The origin of the main setpoint as a reference value for a controlled process is of particular importance. Therefore, the origin of this signal source is set first. On the "Application parameters" tab (or using code C0007) the main setpoint can, for instance, be defined as constant value via a digital input (terminal control) or as process value via a fieldbus (CAN, PROFIBUS, etc.).

– To commission the selected technology application, the signal sources acting on the process must be considered. The signal sources are, for instance, analog main setpoint and, if required, additional analog setpoint, analog actual PID value and digital control signals. For selection, click the button for the main setpoint (here: analog input 1) and select the required signal from the list of possible signals. As an option, this setting can also be made via the keypad or the function block interconnection in the FB editor (see marking):

[11-2] Signal sources of the TA "Actuating drive - speed", path: "Application parameters" tab --> "Signal flow" button

– Proceed accordingly for other possible signal sources.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 327



– The I/O interconnection of the FB editor shows the individual control signals which act on the technology application (in this example TA "Actuating drive - speed"):

[11-3] Interconnection of the signal sources, marking: analog input 1 as main setpoint

4. Switch-on and commissioning

– The technology applications can be operated to a certain extent directly at the frequency inverter via the keypad.

– More comprehensive operating and diagnostic processes are made via the «Engineer» operating software on the PC. Special operator dialogs serve to guide you comfortably through the menus available.

Tip!

Operation and commissioning with the keypad is described in the HardwareManual of the 8400 frequency inverter. The CD supplied with the device containsthe Hardware Manual as PDF file.

8400 HighLine C | Software ManualTechnology applications (TAs)Introduction to the LS_MotionControlKernel system block

328 L Firmware 02.00 - DMS EN 3.0 - 05/2009

11.3 Introduction to the LS_MotionControlKernel system block

[11-4] MotionControlKernel (MCK)

Depending on the device type, the 8400 frequency inverters are provided with a differentnumber of integrated technology applications, see Overview ( 320).

Each technology application is represented as an application block in the so-called I/O levelof the FB Editor. The application block is interconnected with the system blocks, which areamong other things connected with the peripheral control elements (e.g. setpointpotentiometers) and devices (e.g. encoders). Each application block itself is a function blockinterconnection which can be viewed in the application level of the FB Editor.

Within this function block interconnection the LS_MotionControlKernel system block isused, which is placed between the setpoint generation (e.g. ramp generator, PID processcontroller, etc.) and the motor control.

This system block contains diverse standard functions or basic drive functions that doesnot have to be created by a single function block interconnection, thus minimising theexpense and complexity for the performance of standard functions.

In the MotionControlKernel for instance there is an automatic holding brake control which,depending on the speed setpoint and several other internal digital control signals,activates the holding brake. By the integrated automatic brake operation the user does nothave to manage these control signals.

Further standard functions integrated in the system block are for example

Manual jog, e.g. for manual setting-up operation

Homing for positioning functions of the drive

Position profile generator for positioning functions of the drive

Drive-Control

M

v

M

Motion-Control-Kernel

MotionControlKernel

Brake

Status

machine

(basic drivefunctions)

ManualJog

n

t

�n

t

Profilgen

Machinepar

v

i

Main setvalue

Additionalsetpoint

Additionalsetpoint

Actual PIDvalue

Actual PIDvalue

Digitalcontrolsignals


Setpointgenerator

PIDProcesscontroller

Motorcontrol

Outputs

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 329


Introduction to the LS_MotionControlKernel system block

As no technology application with position-controlled movements of the motor shaft isintegrated in the 8400Stateline, the MotionControlKernel only contains the functions

Automatic holding brake operation

Manual jog

Integration of the LS_MotionControlKernel in the signal flow

If the main signal flow of the technology application is considered, theLS_MotionControlKernel FB is placed between the functions constituting the actualtechnology application. For speed-controlled applications like "TA actuating drive speed"this is for example

Motor potentiometer (L_MPot)

Main setpoint generator (L_NSet)

Process controller (L_PCtrl)

Motor control (LS_MotorInterface)

Drive control (LS_DriveInterface)

For a potentially free function block interconnection in the 8400 HighLine frequencyinverter, the deletion or change of the signal flow configuration means the loss of thestandard functions integrated in the LS_MotionControlKernel and the corresponding userinterfaces in the Engineer.


are Manual

Techn

ology applications (TA

s)In

troduction

to the LS_M

otionC

ontrolK

ernel system

block | Selection of th

e application an

d the con

trol

330Firm

ware 02.00 - D

MS EN

3.0 - 05/2009L

11.3.1 Selection of the application and the control mode

The technology application is activated via the parameter C00005 and adapted to the corresponding drive task. For setting theparameters the optional keypad or the Engineer PC program can be used - the PC provides user interfaces that are very easy tooperate.

For the selection of the control mode the parameter C00007 is used. The technology application for instance can be carried out byusing the control terminals of the controller via CAN or simply via the keypad without external components.

LFirm

ware 02.00 - D

MS EN

3.0 - 05/2009331


are Manual

Techn


s)In

troduction

to the LS_M

otionC

ontrolK

ernel system

block | Selection of th

e application an

d the con

trol

Input signals (process setpoints) and digital control signals for the TA Trimming of the input signals via offset and gain Additional functions of the motor potentiometer and the PID process controller Main setpoint generator (fixed setpoints, ramp generator limitations, arithmetic of the additional setpoint) Drive control and motor control MotionControlKernel Optional "General purpose functions", parallel to the main signal flow


are Manual

Techn


s)In

troduction

to the LS_M

otionC

ontrolK

ernel system

block | Com

mu

nication

of the u

ser interfaces to

332Firm

ware 02.00 - D

MS EN

3.0 - 05/2009L

11.3.2 Communication of the user interfaces to the application block

The user interfaces in the Engineer communicate with the application block in the I/O level of the device. If the application level isactivated in the FB editor, a detailed insight into the function block interconnection on the individual functions of the technologyapplication is provided.

User interface in the Engineer (signal flow):

LFirm

ware 02.00 - D

MS EN

3.0 - 05/2009333


are Manual

Techn


s)In

troduction

to the LS_M

otionC

ontrolK

ernel system

block | Com

mu

nication

of the u

ser interfaces to

Application block in the I/O level:

8400 HighLine C | Software ManualBasic drive functions in the MCK

334 L Firmware 02.00 - DMS EN 3.0 - 05/2009

12 Basic drive functions in the MCK

Basic drive functions described in this chapter:

Holding brake control ( 335)

Tip!

Detailed information about the system block LS_MotionControlKernel, whichprovides the internal interfaces for the MotionControlKernel (MCK) in the FBEditor, can be found in the chapter "Function library". ( 587)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 335


Holding brake control

12.1 Holding brake control

This basic function serves to control a holding brake with low rate of wear.

Intended use

Motor holding brakes are used to lock axes if the controller is inhibited or in case of "mainsoff" system status. This is not only important for vertical axes but also for e.g. horizontalaxes which may cause various problems if the motion is not controlled.

Examples:

Loss of the reference information after mains OFF and further spinning of the drive.

Collision with other moving machine parts.

Danger!

Please note that the holding brake is an important element of the safety concept of the entire machine.

Thus, proceed very carefully when commissioning this system part!

Stop!

Holding brakes on Lenze motors are not intended for braking during operation. The increased wear caused by braking during operation can destroy the motor holding brake!

Note!

• If an electrically holding (self-releasing) brake is to be controlled instead of an electrically released (self-holding) brake, the trigger signal must be inverted!

Functional settings ( 340)

• For detailed information about the assembly and electrical installation of the motor holding brake, please see the documentation for the motor holding brake.

8400 HighLine C | Software ManualBasic drive functions in the MCKHolding brake control

336 L Firmware 02.00 - DMS EN 3.0 - 05/2009

12.1.1 Internal interfaces

The system block LS_MotionControlKernel provides the following internal interfaces forthe basic function "Holding brake control" in the FB Editor:

Inputs

Outputs



bBrkReleaseC00833/80 | BOOL

Releasing/applying the brake in connection with the selected operating mode

False Apply brake. • During automatic operation, the internal brake logic controls of

the brake.

True Release brake. • During automatic operation, the internal brake logic is

deactivated and the brake is released. If the brake control has inhibited the controller, this inhibit is deactivated again.

nBrkTorqueAdd_aC00830/68 | INT

Additive torque value in [%] for torque precontrol on starting • For SC (servo control) mode • 100 % ≡ maximum torque (C00057)

Torque precontrol during starting ( 348)

IdentifierData type

Value/meaning

bBrkReleaseOutBOOL

Trigger signal for switching element holding brake control via a digital output • Use bit 0 under C02582 to activate inverted switching element triggering.


False Apply brake.

True Release brake.

bBrkReleasedBOOL

Brake control status signal with consideration of the application and release time of the brake

False Brake applied (when the brake application time has elapsed).

True Brake released (when the brake release time has elapsed).

Stop!

The digital outputs are not suitable for the "direct" control of a holding brake!

• Connect the digital output connected to the trigger signal bBrkReleaseOut with a relay or power contactor which switches the brake supply.

• When a power contactor is used, the response and release time of the earth contact is added to the response and release time of the brake.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 337




How to get to the parameterisation dialog for the holding brake control:

1. On the FB Editor tab:Open the parameter list for the system block LS_MotionControlKernel in the application level.

2. In the Parameter list... dialog box, change to the Holding brake control tab.

Parameterisation dialog in the »Engineer«

Danger!

A faultless brake control function requires a correct setting of the different deceleration times in the following parameters!

A wrong setting of the delay times can cause a faulty control of the brake!


338 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Short overview of parameters for holding brake control:

12.1.2.1 Operating mode

For different applications and tasks, different operating modes are available underC02580. The selected operating mode determines whether the holding brake control isused and how the holding brake will be switched.

Mode 0: Brake control off

In this mode, brake control is switched off (not active).

The trigger signal bBrkReleaseOut for the holding brake control switching element is set to FALSE.

The status signal bBrkReleased is set to FALSE.


Value Unit

C02580 Holding brake: operating mode Brake control off

C02581/1 Holding brake: switching threshold 5.00 %

C02581/2 Holding brake: hysteresis for release 1.00 %

C02581/3 Holding brake: hysteresis for brake application 1.00 %

C02582 Holding brake: setting 0

C02589/1 Holding brake: application time 100 ms

C02589/2 Holding brake: release time 100 ms

C02589/3 Holding brake: waiting time status 100 ms

C02593/1 Holding brake: actual value monitoring 0.000 ms

C02593/2 Holding brake: application delay 0.000 ms

C02610/1 MCK: holding brake ramp time synchr. 2.000 s

C02607 Holding brake: status -

C00830/68 MCK: nBrkTorqueAdd_a - %

C00833/80 MCK: bBrkRelease -


Note!

In the Lenze setting, the mode 0 is preset to get into a safe state after the mains is switched on.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 339



Mode 11: Manual control

In this mode, brake release and brake application can be directly controlled via the inputbBrkReleaseBrake without special logic or automatic.

Setting pulse inhibit or controller inhibit has no influence on the trigger signal bBrkReleaseOut for the holding brake control switching element.

After brake activation and elapse of the brake application time, the controller is inhibited automatically by the basic function "holding brake control".

Tip!

You can you the mode 11 to easily check if the brake switches correctly.

Mode 12: Automatic control

In this mode, the brake is controlled automatically.

If the requested speed setpoint reaches a parameterisable upper speed threshold that allows traversing of the drive, the brake will be released and operation enabled.

On the other hand, if speed setpoint and actual speed fall below a parameterisable lower speed threshold, the brake will be applied under consideration of different time parameters.

The brake will also be activated automatically if quick stop is activated in the drive, e.g. by a device command or as response to an error, and in the event of controller inhibit or pulse inhibit.

After automatic brake activation and elapse of the brake application time, the controller is inhibited automatically by the basic function "holding brake control".

Tip!

The 2/12 mode is the common mode to control the brake.

In this mode, the input bBrkReleaseBrake should be permanently set to FALSEunless manual release is required.

When bBrkReleaseBrake = TRUE, the brake is permanently released and theautomatic control cannot apply the brake.

Related topics:

TroubleQSP ( 63)

Response to pulse inhibit ( 346)


340 L Firmware 02.00 - DMS EN 3.0 - 05/2009

12.1.2.2 Functional settings

Under C02582, the following bit-coded functional settings can be selected:

Related topics:

Response to pulse inhibit ( 346)

Torque precontrol during starting ( 348)

Bit Option Information

Bit 0 Control inverted Activation of inverted control • "1" ≡ Inverted logic of trigger signal for holding brake control

switching element

Bit 1 nAct < nMin at CInh Brake response in case of pulse inhibit • "1" ≡ With pulse inhibit, the actual speed value is monitored. The

holding brake is applied when the actual speed reaches the "Application" threshold value.

• Note: This function is used to avoid the wear of the holding brake of a drive with horizontal travel path when the controller is inhibited and rotation occurs.

Bit 2 Inverted precontrol Precontrol inversion • "1" ≡ The direction of the precontrol value before setting the

release signal of the holding brake is inverted.

Bit 3 Horizontal/winding technology Direction of the axis • "1" ≡ The direction of the axis is horizontal or rotary. The

gravitational acceleration does not cause any movement. • "0" ≡ The direction of the axis is vertical. The gravitational

acceleration does not cause any movement.

Bit 4 Reserved

Bit 5 Reserved

Bit 6 Reserved

Bit 7 Reserved

Firmw

are 02.00 - DM

S EN 3.0 - 05/2009

L341


are Manual

Basic drive fu

nction

s in th

e MC

KH

olding brake con

trol

12.1.2.3 Time response of the brake (time diagram)

[12-1] Time diagram

C02581/1: Switching threshold C02581/2: Hysteresis for release C02581/3: Hysteresis for application C02593/2: Application delay C02610/1: Ramp time for setpoint speed approaching C02589/1: Application time C02589/2: Release time C02593/1: Actual value monitoring time Time slot for magnetising/precontrol

CINH = controller inhibit

Speed setpoint reaches upper switching threshold, release process starts.

Speed setpoint reaches lower switching threshold, application delay starts.

After the application delay, the speed threshold is no longer below the lower switching threshold, therefore, no application process is started.

After the application delay, speed threshold and actual value are below the switching threshold, the application process starts.

After the application delay, the actual value is not yet below the lower switching threshold, the actual value monitoring time starts.

After the actual value monitoring time, the actual value is still not yet below the lower switching threshold, the application process starts.

TOffDelayTOffDelayTOffDelayTOffDelayTOffDelay

t

�

�

�

��

closed

TOn

released

�

�

TOff

TOn TOff TOn

n

t

TnAct

� � �

t

��

nSet

nAct nActnSet

bBRKReleaseOut

CINH

nSetSync

t

bBRKReleased

released


342 L Firmware 02.00 - DMS EN 3.0 - 05/2009

12.1.2.4 Switching thresholds

Upper speed threshold for brake release:

Switching threshold (C02581/1) + hysteresis for release (C02581/2)

Lower speed threshold for brake application:

Switching threshold (C02581/1) - hysteresis for application (C02581/3)

Tip!

The lower speed threshold for brake application should be set to approximately5 ... 20 % of the maximum speed to minimise the wear of the brake and provide foran optimum brake reaction by a low grinding of the brake.

Stop!

Do not set the lower speed threshold for brake application too high to prevent an excessive wear of the brake!

Note!

For the speed comparison, only the absolute motor speed value is considered, the direction of rotation is not taken into account.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 343



12.1.2.5 Closing and opening time

[12-2] Definition of the closing and opening time taking the PM brake as an example

Tip!

The closing and opening times do not only vary between the brake types but arealso dependent on the basic conditions in the plant:

• Parameters of the hardware (cable length, temperature, height of supply voltage, etc.)

• Contact elements used (brake module or contactor at the digital output)

• Type of overvoltage limitation/suppressor circuit

For optimisation purposes, detect in individual cases the response times bymeasurement.

Danger!

A wrong setting of the closing and opening times can cause a faulty control of the brake!

• If the closing time is set too low, the controller is inhibited and the drive becomes torqueless before the brake is closed completely.

C02589/1: Closing time C02589/2: Opening time

CINH = controller inhibit

Every mechanical holding brake comes with a construction-conditioned closing and opening time which must be considered by the holding brake control and is set under C02589.

The closing and opening time of the Lenze holding brake is given in the supplied operating instructions in the "Technical data" chapter.

Closing and opening time that are set too high do not affect safety but may cause long delays in cyclic brake applications.

t

t

� �

t

CINH

bBRKReleaseOut

IBRK


344 L Firmware 02.00 - DMS EN 3.0 - 05/2009

[12-3] Oscillogram 1: Current characteristic for the application of a mechanical holding brake (application time: 10.7 ms)

[12-4] Oscillogram 2: Current characteristic for the release of a mechanical holding brake (application time: 36.8 ms)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 345



12.1.2.6 Motor magnetising time (only with asynchronous motor)

[12-5] Considering the motor magnetising time taking the PM brake as an example

12.1.2.7 Actual value monitoring

If an actual value monitoring time > 0 s is selected under C02593/1 the actual speed timemonitoring is active.

The monitoring time starts when the speed setpoint has reached the lower switching threshold and the actual speed is still above this threshold. (See Time diagram, case .)

If the actual speed is still above the threshold when the monitoring time has expired, the brake will be automatically applied in the automatic brake control mode (mode 12).

Motor magnetising timeCINH = controller inhibit

When an asynchronous motor is used, first a magnetic field required for the holding torque is created (which is already available when a synchronous motor is used) after the controller inhibit is deactivated.

The motor is internally magnetised for 200 ms by precontrolling the lower speed threshold. The release time set under C02589/2 is considered here.

t

t

�

t

CINH

bBRKReleaseOut

IBRK

Note!

In the Lenze setting, the actual speed time monitoring is deactivated (C02593/1 = "0 s"), i.e. the brake will only be applied when the actual speed has reached the lower switching threshold.


346 L Firmware 02.00 - DMS EN 3.0 - 05/2009

12.1.2.8 Process when brake is released

1. The controller inhibit is deactivated.

2. The magnetic field required for the holding torque is created in the motor (is already available when a synchronous machine is used).

3. For brake release, the bBRKReleaseOut output is set to TRUE.

4. After the brake opening time has elapsed:

– The bBRKReleased output is set to TRUE.

– The drive synchronises to the already accelerated speed setpoint.

12.1.2.9 Process when brake is closed

1. The motor is decelerated by the "Quick stop" function or by "DC-injection braking", either directly requested by the user or as response to an error.

2. If the speed setpoint and the actual speed have fallen below the lower speed threshold or only the speed setpoint has fallen below the lower speed threshold and the actual value monitoring time has expired:

– The bBRKReleaseOut output is set to FALSE to close the brake.

– The elapse of the brake closing time starts.

3. After the brake closing time has elapsed:

– The bBRKReleased output is reset to FALSE.

– Controller inhibit is set.

12.1.2.10 Response to pulse inhibit

Setting the pulse inhibit causes a load-controlled coasting of the motor until the pulse isenabled again. In the enabled controller, the pulse can be inhibited e.g. due to a DCovervoltage, DC undervoltage or the "Safe torque off" request.

The brake response to pulse inhibit can be parameterised under C02582.

Stop!

For parameterising the response to pulse inhibit under C02582, the energy conditions of the machine should be evaluated first.

The energy stored in the machine can be considerably higher than the permissible switching energy and thus lead to the destruction of the brake if applied directly!

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 347



Activate brake immediately when pulse is inhibited

If bit 1 is set to "0" under C02582 (Lenze setting), the brake will be immediately appliedwhen the pulse is inhibited to avoid damage to the mechanical components.

Especially when hoist drives are used and the pulse of the frequency inverter is inhibited,it is essential that the brake is applied immediately for safety reasons!

Only activate brake below threshold for brake activation

If bit 1 is set to "1" under C02582, the brake will remain released until the lower speedthreshold is reached to avoid an excessive wear of the brake.

The braking action only takes places through the friction in the load mechanics.

Only when the motor speed has reached the threshold for brake activation, the brake will be closed.

During uncritical operation (horizontal loading condition), delayed brake application maybe required to protect the brake in case of high centrifugal masses.

The command for brake application depends on two conditions:

1. On the settings selected under C02582, in particular:

– Bit 1 = response to pulse inhibit

– Bit 3 = direction of the axis

2. The signal of the rotary transducer which provides for the brake activation when the set threshold has been fallen below.

Related topics:


Switching thresholds ( 342)


348 L Firmware 02.00 - DMS EN 3.0 - 05/2009

12.1.2.11 Torque precontrol during starting

The motor is precontrolled by selecting the lower speed threshold for applying the brake.When the upper speed threshold for brake release is reached, the motor is precontrolled for200 ms with the lower threshold before the brake switches to the release mode.

Via the input nBrkTorqueAdd_a you can select an additive torque in [%].

The direction of the precontrol value can be inverted by setting bit 2 under C02582.

If bit 3 is set to "0" under C02582 (hoist application), a quadrant-related precontrol method (precontrol in motor mode and operation in generator mode during lowering) will be used.

Related topics:


Switching thresholds ( 342)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 349

8400 HighLine C | Software ManualTA "Actuating drive – speed"

Brief description of the function

13 TA "Actuating drive – speed"

13.1 Brief description of the function

13.1.1 Basic signal flow

[13-1] Basic signal flow

M

v

M

Motion-Control-Kernel

LS_ManualJog

n

t

�

LS_Brake

n

t

LS_Stop

internalstatus machine

Status

machine

(basic drivefunctions)

Mainsetpoint

Additionalsetpoint

Additionalsetpoint

PIDactual value

PIDactual value



Setpointgenerator

PIDprocess

controller

Drivecontrol

Motorcontrol

OutputsMotionControlKernel

8400 HighLine C | Software ManualTA "Actuating drive – speed"Brief description of the function

350 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.1.2 Brief description of the properties

Configurable input signals for terminal or bus control

Free configuration of output signals

Via code C00007, predefined process data connection to the fieldbus

Offset, gain, and negation of main setpoint, additional setpoint, actual process controller value

Up to 15 fixed setpoints for speed and ramp time

Adjustable setpoint ramp times

Freely selectable, variable ramp shape

Automatic brake control (function depends on the device type)

Quick stop (QSP) with adjustable ramp time

Motor potentiometer (MPot, can be switched on/off)

Process controller

Load monitoring (in preparation)

Integrated general-purpose function blocks

Interface to the safety module (optional)

Integration of encoder feedback

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 351



13.1.3 Functions of the TA "Actuating drive-speed"

The 8400 frequency inverters are provided with the following functions:

Function StateLine HighLine

Connection of the device I/Os • Can be selected via preconfigured connections (C00007) to the device inputs and outputs

• Free configuration

Signal flow generation, ca be changed in the FB editor

• Can be selected via preconfigured technology applications (C00005) • Can be changed via the "general-purpose" functions

FB editor, I/O level Yes, can be edited

FB editor, application level For diagnostics purposes For diagnostics purposes and free function changes

Motor control types • Open loop operation • Closed loop operation

YesYes

YesYes

Feedback operation No Yes

Speed setpoint selection via jerk-reduced ramp characteristic

Yes Yes

Number of fixed setpoints 15 15

Number of ramp times 15 15

Different comparison functions for actual speed with digital feedback

Yes Yes

Reversal of CW/CCW rotation via digital signal

Yes Yes

Set/reset error Yes Yes

Diagnostics of the digital and analog inputs and outputs

Yes Yes

Configurable connection of the control and status signals

Yes Yes

Integrated automatic brake operation

Yes Yes

Can be expanded by function block interconnection

In the I/O level possible Yes

Blocking speeds Yes Yes

Motor potentiometer function Yes Yes

PID process controller Yes Yes

Brake handling No Yes

8400 HighLine C | Software ManualTA "Actuating drive – speed"Brief description of the function

352 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.1.4 Selecting the control source

[13-2] Selection of the control source on the "Application parameters" tab

After selecting the application under code C00005 (e.g. "actuating drive - speed"), thecontrol source for the application is selected under code C00007. Each selection goes alongwith a predefined control configuration for the application.

The following control sources are available (see arrow):

1. Terminal control

– Selection 10, terminals 0 (Lenze setting)This selection enables simple drive control via the digital and analog device control connections (e.g. using the setpoint box available in the Lenze accessories program, see www.Lenze.com ---> Home/Services&Downloads/Teachware).

– Selection 12, terminals 2


2. Control via keypad / PC

– Selection 20, keypad

– Selection 21, PC

3. Control via the CAN on board

– Selection 30, hand-remote control for CAN (in preparation)

4. Control via the fieldbus, e.g. PROFIBUS

– Selection 40, hand-remote control for MCI (in preparation)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 353



The device inputs and device outputs referred to as system blocks at Lenze provide theinterface of the application to the peripherals of the controller. They include digital andanalog input and output interfaces (e. g. "LS_DigitalInput") and communication interfaces(e.g. "LP_CanOut1" for CAN or "LP_MciOut" for PROFIBUS as external fieldbus):

[13-3] Schematic structure of an application solution

The interfaces are preconfigured under code C00007. For each configuration of C00007 ≥10, the input and output interfaces for the application have been pre-assigned.

For information on the input and output pre-assignments for the different control sources,please see the chapters :

Overview of terminal assignment ( 354)

Terminal pre-assignment in detail ( 357)

The pre-assignment as seen from the application's view is described in the chapter

Pre-assignment of the application block LA_NCtrl ( 368).

If the described pre-assignment of the application block is inappropriate for the drive task,an individual configuration, e.g. by means of the FB editor or the "Terminal assignment"tab, can be carried out. The configuration tables stored in the drive contain a selection ofthe most frequently used signals, so that it is possible to carry out a quick commissioningwith only few operator control actions:

User-defined terminal assignment ( 368)

System blocks on the device input side Connections between the device application and the input and output interfaces, pre-assignment through

selection with C00007 ≥ 10 Technology application, selection with C00005 System blocks on the device output side

X5

X4

X3

+=

DI3

DI2

DI4

DI5

DI6

DI7

GI

24I

DI1

RFR

24E

LS_AnalogOutput

LS_DigitalOutputLA_NCtrl

LP_CanIn

LS_ParFree_a

LS_AnalogInput

LS_DigitalInput

LS_ParFix

A2I

AR

A1U

A2U

A1I

GA

24O

DO1

DO3

GO

DO2LP_CanOut

� � � �X3

O1U

O1I

O2U

O2I

8400 HighLine C | Software ManualTA "Actuating drive – speed"Terminal assignment in the Lenze setting

354 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.2 Terminal assignment in the Lenze setting

For each control mode, there exists a clear assignment between the control connectionsavailable on the device peripherals and the control signals provided by the device software.This assignment is referred to as terminal assignment.

13.2.1 Overview of terminal assignment

Input connections for terminal control

Output connections for terminal control

Connection





Digital input terminals

X5/RFR Controller enable LA_NCtrl: bFailReset

X5/DI1 Fixed setpoint 1LA_NCtrl: bJogSpeed1

Change of direction of rotation

LA_nCtrl:bSetSpeedCcw

Fixed setpoint 1LA_NCtrl: bJogSpeed1

X5/DI2 Fixed setpoint 2LA_NCtrl: bJogSpeed2

Activate DC brakeLA_NCtrl: bSetDCBrake

Fixed setpoint 2LA_NCtrl: bJogSpeed2

X5/DI3 Activate DC brakeLA_NCtrl: bSetDCBrake

Quick stop LA_NCtrl: bSetQuickstop

Motor potentiometer, speed higher

bMPotUp

CW rotation quick stopLA_nCtrl: bRLQCw

X5/DI4 Change of direction of rotation LA_NCtrl: bSetSpeedCcw

Motor potentiometer, speed lowerbMPotDown

CCW rotation quick stopLA_nCtrl: bRLQCcw

X5/DI5 - - - -

X5/DI6

X5/DI7

Analog input terminals

X3/A1UX3/A1I

Speed setpoint (scaling: 10V = 100% ⋅ [C0011])LA_NCtrl: nMainSetValue_a

X3/A2UX3/A2I

- - - -

Connection





Digital output terminals

X4/DO1 Drive is ready to start LA_nCtrl:bDriveReady

X4/DO2 - - - -

X4/DO3

X107/BD1

X107/BD2 -

X101/NO Fault LA_nCtrl:bDriveFail

Analog output terminals

X3/O1U Actual speed (scaling: 10V = 100% ⋅ [value under C0011])LA_nCtrl:nMotorSpeedAct_a

X3/O1I - - - -

X3/O2U

X3/O2I

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 355


Terminal assignment in the Lenze setting

Input connections of the other control sources

Output connections of the other control sources

Connection

C0007 = 20 (keypad) C0007 = 21 (PC) C0007 = 30 (CAN) C0007 = 40 (MCI)


X5/RFR Controller enable LA_NCtrl: bFailReset

X5/DI1 - - Quick stop LA_NCtrl: bSetQuickstop

X5/DI2 - -

X5/DI3 Manual jog, positive directionLA_NCtrl: bMANJogPos

X5/DI4 Manual jog, negative directionLA_NCtrl: bMANJogNeg

X5/DI5 - -

X5/DI6

X5/DI7


X3/A1UX3/A1I

- - Additional speed setpoint((scaling: 10V = 100% ⋅ [C0011])

LA_NCtrl: nAuxSetValue_a

X3/A2UX3/A2I

- - - -

Connection



X4/DO1 Drive is ready to start LA_nCtrl:bDriveReady

X4/DO2 - - - -

X4/DO3

X107/BD1

X107/BD2 -

X101/NO Fault LA_nCtrl:bDriveFail


X3/O1U Actual speed (scaling: 10V = 100% ⋅ [value under C0011])LA_nCtrl:nMotorSpeedAct_a

X3/O1I - - - -

X3/O2U

X3/O2I


356 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Bus communication, assignment of data words per port

Tip!

The pre-configurations of the control and status words are the same for everyfieldbus system:

Control word and status word of the controller ( 73)

Status word for TA "Speed closed-loop control" ( 75)

Data words C0007 = 30 (CAN) C0007 = 40 (MCI)

Connection to plug connector X1 Connection to communication module (e.g. PROFIBUS, X201 (9-pole SubD socket)

TPDO1 LP_CanOut1 LP_MciOut

wState Status word for CAN control wDriveControlStatus

Status word for fieldbus control wDriveControlStatus

wOut2 Actual speed (scaling: 16384 = 100% ⋅ [value under C0011])nMotorSpeedAct_a

wOut3 Resulting overall setpoint (scaling: 16384 = 100% ⋅ [value under C0011]) nMotorSpeedSet_a

wOut4 - -

wOut5 ... wOut16 (only MCI) -

TPDO2 / TPDO3 LP_CanOut2 /3 -

wOut1 -

wOut2

wOut3

wOut4

RPDO1 LP_CanIn1 LP_MciIn

wCtrl CAN control word wCanDriveControl

Fieldbus control wordwMciDriveControl

wIn2 Speed setpoint (scaling: 16384 = 100% ⋅ [value under C0011]) nMainSetValue_a

wIn3 - -

wIn4 - -

wIn5 ... wIn16 (only MCI) -

RPDO2 / RPDO3 LP_CanIn2 / LP_CAnIn3 -

wIn1 -

wIn2

wIn3

wIn4

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 357



13.2.2 Terminal pre-assignment in detail


Connection Assignment Connection Assignment

X101/NC-NO LA_nCtrl:bDriveFail

X5/RFR LA_NCtrl: bFailReset X3/A1U LA_NCtrl: nMainSetValue_a(10V = 100% ⋅ [value under C0011])X5/DI1 LA_NCtrl: bJogSpeed1 X3/A1I

X5/DI2 LA_NCtrl: bJogSpeed2 X3/A2U -

X5/DI3 LA_NCtrl: bSetDCBrake X3/A2I

X5/DI4 LA_NCtrl: bSetSpeedCcw X3/O1U LA_nCtrl:nMotorSpeedAct_a(10V = 100% ⋅ [value under C0011])

X5/DI5 - X3/O1I -

X5/DI6 - X3/O2U -

X5/DI7 - X3/O2I -

X107/BD1 - X4/DO1 LA_nCtrl:bDriveReady

X107/BD2 - X4/DO2 -

X4/DO3 -

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X107 X4

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

24B 24OGB DO1

BD2 DO3GO

BD1 DO2

GAO1UO1I

O2UO2I

X101

24E+=

DriveFail

CG

CL

CH

X1

DriveReady

Controller enable

Externalsupply

24 V DC

Fixed setpoint 1Fixed setpoint 2

DC brakection of rotation CCw Actual spee

Speed setpo


358 L Firmware 02.00 - DMS EN 3.0 - 05/2009






X5/DI3 LA_NCtrl: bSetQuickstop X3/A2I

X5/DI4 LA_NCtrl: bSetSpeedCcw X3/O1U LA_nCtrl:nMotorSpeedAct_a(10V = 100% ⋅ [value under C0011])

X5/DI5 - X3/O1I -

X5/DI6 - X3/O2U -

X5/DI7 - X3/O2I -


X107/BD2 - X4/DO2 -

X4/DO3 -

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X107 X4

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

24B 24OGB DO1

BD2 DO3GO

BD1 DO2

GAO1UO1I

O2UO2I

X101

24E

DriveFail

+=

CG

CL

CH

X1

Quickstopction of rotation Ccw

DriveReady

Actual speed valu

Speed setpoint


Externalsupply

24 V DC

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 359






X5/RFR LA_NCtrl: bFailReset X3/A1U LA_NCtrl: nMainSetValue_a(10V = 100% ⋅ [value under C0011])X5/DI1 LA_NCtrl: bSetSpeedCcw X3/A1I

X5/DI2 LA_NCtrl: bSetDCBrake X3/A2U -

X5/DI3 LA_NCtrl: bMPOTUp X3/A2I

X5/DI4 LA_NCtrl: bMPOTDown X3/O1U LA_nCtrl:nMotorSpeedAct_a(10V = 100% ⋅ [value under C0011])

X5/DI5 - X3/O1I -

X5/DI6 - X3/O2U -

X5/DI7 - X3/O2I -


X107/BD2 - X4/DO2 -

X4/DO3 -


BD2 DO3GO

BD1 DO2

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

GAO1UO1I

O2UO2I

X101

24E

DriveFail

+=

CG

CL

CH

X1

Controller enableDirection of rotation Ccw

DC brake activeSpeed higherSpeed lower

DriveReady

Actual speed val

Speed setpoint

Motorpotentiometer

Externalsupply

24 V DC


360 L Firmware 02.00 - DMS EN 3.0 - 05/2009






X5/DI3 LA_nCtrl: bRLQCw X3/A2I

X5/DI4 LA_nCtrl: bRLQCcw X3/O1U LA_nCtrl:nMotorSpeedAct_a(10V = 100% ⋅ [value under C0011])

X5/DI5 - X3/O1I -

X5/DI6 - X3/O2U -

X5/DI7 - X3/O2I -


X107/BD2 - X4/DO2 -

X4/DO3 -

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X107 X4

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

24B 24OGB DO1

BD2 DO3GO

BD1 DO2

GAO1UO1I

O2UO2I

X101

24E

DriveFail

+=

CG

CL

CH

X1

Cw rotation quick stopCcw rotation quick stop

DriveReady

Actual speed valu

Speed setpoint


Externalsupply

24 V DC

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 361



C0007 = 20 (keypad)



X5/RFR LA_NCtrl: bFailReset X3/A1U LA_NCtrl: nMainSetValue_a(10V = 100% ⋅ [value under C0011])X5/DI1 - X3/A1I

X5/DI2 - X3/A2U -

X5/DI3 - X3/A2I

X5/DI4 - X3/O1U LA_nCtrl:nMotorSpeedAct_a(10V = 100% ⋅ [value under C0011])

X5/DI5 - X3/O1I -

X5/DI6 - X3/O2U -

X5/DI7 - X3/O2I -


X107/BD2 - X4/DO2 -

X4/DO3 -


BD2 DO3GO

BD1 DO2

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

GAO1UO1I

O2UO2I

X101

24E

Quick commissioning

SAVE


Terminals

Keypad

SAVE

Par1 8400 HighLineC

User - Menu

Logbook

Go to param

Quick commissioning


DriveFail

+=

CG

CL

CH

X1

Engineer: Keypad:

Actual speed value

Controller enable

DriveReady

Externalsupply

24 V DC

All parameters

Quick commissioning

Terminal

Keypad


362 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C0007 = 21 (PC)



X5/RFR LA_NCtrl: bFailReset X3/A1U -

X5/DI1 - X3/A1I

X5/DI2 - X3/A2U -

X5/DI3 - X3/A2I

X5/DI4 - X3/O1U LA_nCtrl:nMotorSpeedAct_a(10V = 100% ⋅ [value under C0011])

X5/DI5 - X3/O1I -

X5/DI6 - X3/O2U -

X5/DI7 - X3/O2I -


X107/BD2 - X4/DO2 -

X4/DO3 -


BD2 DO3GO

BD1 DO2

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

GAO1UO1I

O2UO2I

X101

24E

DriveFail

+=

CG

CL

CH

X1

Actual speed valu

Controller enable

DriveReady

Externalsupply

24 V DC

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 363



C0007 = 30 (CAN)



X5/RFR LA_NCtrl: bFailReset X3/A1U LA_NCtrl: nAuxSetValue_a(10V = 100% ⋅ [value under C0011])Activation of addition:C00190=1 (NOUT = NSET+NADD)


X5/DI2 - X3/A2U -

X5/DI3 LA_NCtrl: bMANJogPos X3/A2I

X5/DI4 LA_NCtrl: bMANJogNeg X3/O1U LA_nCtrl:nMotorSpeedAct_a(10V = 100% ⋅ [value under C0011])

X5/DI5 - X3/O1I -

X5/DI6 - X3/O2U -

X5/DI7 - X3/O2I -


X107/BD2 - X4/DO2 -

X4/DO3 -


BD2 DO3GO

BD1 DO2

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

GAO1UO1I

O2UO2I

X101

24E

CG

CL

CH

X1

DriveFail

+=

CanIn1

CanOut1

DriveControlStatus

MainSetValue


CANDriveControl

CanIn2 / 3

CanOut2 / 3

DriveReady

Actual speed value

Speed setpoint


Externalsupply

24 V DC



364 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C0007 = 40 (MCI)



X5/RFR LA_NCtrl: bFailReset X3/A1U LA_NCtrl: nAuxSetValue_a(10V = 100% ⋅ [value under C0011])Activation of addition:C00190=1 (NOUT = NSET+NADD)


X5/DI2 - X3/A2U -

X5/DI3 LA_NCtrl: bMANJogPos X3/A2I

X5/DI4 LA_NCtrl: bMANJogNeg X3/O1U LA_nCtrl:nMotorSpeedAct_a(10V = 100% ⋅ [value under C0011])

X5/DI5 - X3/O1I -

X5/DI6 - X3/O2U -

X5/DI7 - X3/O2I -


X107/BD2 - X4/DO2 -

X4/DO3 -


BD2 DO3GO

BD1 DO2

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

GAO1UO1I

O2UO2I

X101

24E

CG

CL

CH

X1

MciIn

MciOut

DriveControlStatus

MainSetValue

4 ...16


DriveFail

+=

3 ...16

MciDriveControl

DriveReady

Actual speed value

Speed setpoint


Externalsupply

24 V DC


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 365



13.2.3 User-defined terminal assignment

What is a user-defined terminal assignment?

Depending on the scope of the customer-specific drive task, more or less changes will haveto be made in the existing Lenze configuration. When the interconnection is changed, theterminal assingment usually has to be changed as well.

A terminal assignment differing from the Lenze configuration is a user-defined terminalassignment.

Which tools can be used to change the terminal assignment?

As configuration tools, both the keypad and the »Engineer« can be used. How to changeterminal assignments using the configuration tools is described in the sections

Changes with the keypad ( 366)

Changes with the »Engineer« ( 367)

We recommend to use the »Engineer« for the implementation of comprehensive user-defined drive solutions.

Tip!

For a detailed description of the use of the FB editor in the »Engineer«, please seethe chapter

Working with the FB Editor ( 442)

Selecting an appropriate Lenze configuration

Select the described technology application for your drive task under C00005 and a controlmode under code C00007. In this way, you will get an application for which the signal flow,the block interconnections, and the terminal assignment are available (see Schematicstructure of an application solution ( 353)).


366 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Changes with the keypad

Based on this interconnection, the terminal assignment can now be changed using thecodes indicated in the following illustration:

C00700: Analog input signals of the application block

C00701: Digital input signals of the application block

C00620: Analog input signals of system and port blocks

C00621: Digital input signals of system and port blocks

[13-4] Terminal assignment of the input and output signals

Furthermore, you can see from the illustration that, according to the source/drainprinciple, the signals on the input side of the application are assigned to the outputs of theinput system blocks. On the output side of the application, the inputs of the output systemblocks are assigned to the outputs of the application.

Accordingly, it is possible to assign e.g. a signal on an input terminal to several inputs of theapplication block. On the other hand, it is not possible to distribute an application blockinput to several input terminals.

In the example, see illustration [13-5], both inputs (bJogSpeed1 and bJogSpeed2) areconnected to one source (digital input 1, DigIn_bIn1). This can also be seen from the extractof the parameter list. Furthermore you can see that for each application block input(subcode of code C00701) only one source can be entered.

[13-5] Example of the source/drain principle

LS_AnalogInput LS_AnalogOutput

LS_DigitalInput LS_DigitalOutput

Inputs Outputs

Input port

Analog inputs Analog Outputs

Digital Inputs Digital Outputs

Output port

Application

C00701 C00621C00700 C00620

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 367



Changes with the »Engineer«

Whereas with the keypad the indicated codes must be parameterised, with the»Engineer«, corresponding dialogs are available that make the implementation of changesmuch easier.

It is possible to change terminal assignments

graphically in the FB editor. For this, observe the instructions for Working with the FB Editor.

by entering the changes on the "Terminal assignment" tab.

The terminal assignments can be found on the "Terminal assignment" tab in the»Engineer«, divided into digital and analog terminals:

The same example as used for the keypad is used to show how to change the terminalassignment with the »Engineer«:

[13-6] Example of terminal configuration via the »Engineer«

The input mask shown on the left opensfor the digital input signals.

For further selections for digital input 1,DI1, you can click on the button pointed towith the arrow.

The below dialog opens

The dialog provides a selection of thesignal drains that can be connected withthe signal source "Digital input 1",terminal X5/DI1.

In our example, an additional checkmarkmust be set for the input "bJogSpeed2".

After confirmation with "OK", theconfiguration can be directly displayed inthe FB editor.


368 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.2.4 Pre-assignment of the application block LA_NCtrl

Input connections

Terminal control

Other control sources

Code InputLA_NCtrl:

Code C00007, value:

10 (terminals 0) 12 (terminals 2) 14 (terminals 11) 16 (terminals 16)

700/1 wCANDriveControl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl

700/2 wMCIDriveControl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl

701/2 bFailReset LS_DigitalInput:bCInh LS_DigitalInput:bCInh LS_DigitalInput:bCInh LS_DigitalInput:bCInh

701/3 bSetQuickstop - LS_DigitalInput:bIn3 - LS_DigitalInput:bIn3

701/4 bSetDCBrake LS_DigitalInput:bIn3 - LS_DigitalInput:bIn2 -

701/5 bRFG_0 - - - -

700/3 nTorqueMotLim_a LS_ParFree_a:nPar3_a LS_ParFree_a:nPar3_a LS_ParFree_a:nPar3_a LS_ParFree_a:nPar3_a

700/4 nTorqueGenLim_a LS_ParFree_a:nPar4_a LS_ParFree_a:nPar4_a LS_ParFree_a:nPar4_a LS_ParFree_a:nPar4_a

701/8 bSetSpeedCcw LS_DigitalInput:bIn4 LS_DigitalInput:bIn4 LS_DigitalInput:bIn1 LS_DigitalInput:bIn4

701/34 bRLQCw LS_ParFix:bTrue LS_ParFix:bTrue LS_ParFix:bTrue LS_ParFix:bTrue

700/7 nMainSetValue_a LS_AnalogInp.:nIn1_a LS_AnalogInp.:nIn1_a LS_AnalogInp.:nIn1_a LS_AnalogInp.:nIn1_a

700/8 nAuxSetValue_a - - -

701/9 bJogSpeed1 LS_DigitalInput:bIn1 LS_DigitalInput:bIn1 - LS_DigitalInput:bIn1

701/10 bJogSpeed2 LS_DigitalInput:bIn2 LS_DigitalInput:bIn2 - LS_DigitalInput:bIn2

701/31 bMPotEnable - - LS_ParFix:bTrue -

701/18 bMPotUp - - LS_DigitalInput:bIn3 -

701/19 bMPotDown - - LS_DigitalInput:bIn4 -

701/21 bManJogPos - - - -

701/22 bManJogNeg - - - -

Code InputLA_NCtrl:

Code C00007, value:

20 (keypad) 21 (PC) 30 (CAN) 40 (MCI)

700/1 wCANDriveControl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LS_CanIn1:wCtrl LS_ParFix:wDriveCtrl

700/2 wMCIDriveControl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LS_ParFix:wDriveCtrl LP_MciIn:wCtrl

701/2 bFailReset LS_DigitalInput:bCInh LS_DigitalInput:bCInh LS_DigitalInput:bCInh LS_DigitalInput:bCInh

701/3 bSetQuickstop LS_Keypad:bSetQuickstop - LS_DigitalInput:bIn1 LS_DigitalInput:bIn1

701/4 bSetDCBrake LS_Keypad:bSetDCBrake LS_ParFree_b:bPar3 LS_CanIn1:bCtrl1_B11 LS_MciIn1:bCtrl1_B11

701/5 bRFG_0 - - LS_CanIn1:bCtrl1_B8 LS_MciIn1:bCtrl1_B8

700/3 nTorqueMotLim_a LS_Keypad:nTorqueMotLim LS_ParFree_a:nPar3_a LS_ParFree_a:nPar3_a LS_ParFree_a:nPar3_a

700/4 nTorqueGenLim_a LS_Keypad:nTorqueGenLim LS_ParFree_a:nPar4_a LS_ParFree_a:nPar4_a LS_ParFree_a:nPar4_a

701/8 bSetSpeedCcw LS_Keypad:bSetSpeedCcw LS_ParFree_b:bPar4 LS_CanIn1:bCtrl1_B15 LS_MciIn1:bCtrl1_B15

701/34 bRLQCw LS_ParFix:bTrue LS_ParFix:bTrue LS_ParFix:bTrue LS_ParFix:bTrue

700/7 nMainSetValue_a LS_Keypad:nMainSetValue LS_ParFree_a:nPar1_a LS_CanIn1:wCtrl LS_MciIn1:wCtrl

700/8 nAuxSetValue_a - - LS_AnalogInp.:nIn1_a LS_AnalogInp.:nIn1_a

701/9 bJogSpeed1 LS_Keypad:bJogSpeed1 LS_ParFree_b:bPar1 LS_CanIn1:bCtrl1_B12 LS_MciIn1:bCtrl1_B12

701/10 bJogSpeed2 LS_Keypad:bJogSpeed2 LS_ParFree_b:bPar2 LS_CanIn1:bCtrl1_B13 LS_MciIn1:bCtrl1_B13

701/31 bMPotEnable LS_Keypad:bMPotEnable - - -

701/18 bMPotUp LS_Keypad:bMPotUp - - -

701/19 bMPotDown LS_Keypad:bMPotDown - - -

701/21 bManJogPos - - LS_DigitalInput:bIn3 LS_DigitalInput:bIn3

701/22 bManJogNeg - - LS_DigitalInput:bIn4 LS_DigitalInput:bIn4

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 369



Output connections

Terminal control


Code Output Code C00007, output LA_NCtrl, value:


620/1 LS_AnalogOutput:nOut1_a

nMotorSpeedAct_a

621/1 LS_DigitalOutp.:bRelay bDriveFail

621/2 LS_DigitalOutp.:bOut1 bDriveReady

Code Output Code C00007, output LA_NCtrl, value:

20 (keypad) 21 (PC) 30 (CAN) 40 (MCI)

620/1 LS_AnalogOutput:nOut1_a

nMotorSpeedAct_a nMotorSpeedAct_a nMotorSpeedAct_a nMotorSpeedAct_a

620/2 LP_CanOut1:wState - - wDriveControlStatus -

620/3 LP_CanOut1:wOut2 - - nMotorSpeedAct_a -

620/4 LP_CanOut1:wOut3 - - nMotorSpeedSet_a -

620/22 - - - - wDriveControlStatus

620/23 - - - - nMotorSpeedAct_a

620/24 - - - - nMotorSpeedSet_a

620/14 LS_DisFree_a:bDis1_a nMotorSpeedAct_a nMotorSpeedAct_a LP_CanOut1:wOut2 -

620/15 LS_DisFree_a:bDis2_a nMotorSpeedSet_a nMotorSpeedSet_a - -

620/18 LS_DisFree:wDis1 - wDriveControlStatus LP_CanOut1:wState -

621/1 LS_DigitalOutp.:bRelay bDriveFail bDriveFail bDriveFail bDriveFail

621/2 LS_DigitalOutp.:bOut1 bDriveReady bDriveReady bDriveReady bDriveReady

621/21 LS_DisFree_b:bDis1 bDriveReady bDriveReady - -

621/22 LS_DisFree_b:bDis2 bDriveFail bDriveFail - -


370 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.2.5 Quick commissioning

Only a few parameters need to be adapted for the drive. Afterwards, the technologyapplication can be immediately controlled via the digital and analog inputs of thecontroller.

Tip!

For initial commissioning of the frequency inverter, the "Actuating drive - speed"technology application is preconfigured to terminal control in the Lenze setting.

Further parameters can be used to assign the selected values and the display of the actualvalues to other interfaces.

Commissioning step Action

Select technology application Enter TA • C0005: Select TA "Actuating drive – speed" (-->1000)

Set motor Enter motor type (includes all motor nameplate data): • C0086: Enter motor type • C00173: Enter UG limit (mains voltage)Enter control parameters (only if required): • C0070: Gain Vp of the speed controller • C0071: Reset time Tn of the speed controller

Connect I/Os Enter the I/O connection • C0007: Selection from table (-->terminals, 10)

Parameterise application Set speed setpoint • C0011: Define reference speed in [rpm ] • C0012: Set acceleration time in [s] • C0013: Set deceleration time in [s] • C0105: Set QSP deceleration time in [s] • Further codes, e.g. jog values, TI times, brake management, etc.

Save and test Save parameters: • Save all parameters (-->C0002/11 = 1)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 371



Commissioning with PC tool

When the device is commissioned using the »Engineer«, commissioning is guided bymeans of dialogs and graphical user interfaces.


are Manual

TA "A

ctuatin

g drive – speed"Term

inal assign

men

t in th

e Lenze settin

g

372Firm

ware 02.00 - D

MS EN

3.0 - 05/2009L

13.2.6 Description of the signal flow

After the TA "Actuating drive – speed" has been selected, the following signal flow is set:

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 373



13.2.7 Interface description of the TA "Actuating drive - speed"

13.2.7.1 Control words

Instead of the terminal control (Lenze setting), the bus control can also be selected assignal source for control signals. The 8400 HighLine is provided with CAN as system bus onboard. Other bus systems, as e.g. PROFIBUS, can be adapted via pluggable communicationmodules.

The editor of the »Engineer« serves to connect the port blocks of the communicationtechnology used to the TA. According to the process data mapping set, their outputsprovide the control word.

When a communication module is used, a port block LP_MCIIn/-Out is connected with the wMCIDriveControl input.

When the on-board CAN is used, the signal (16 bits) is transferred from the port block LP_CanIn1 to the input wCANDriveControl:

[13-1] Control of the 8400 HighLine via the on-board CAN

The bit assignment of the control words is identical for both "communication connections"Control word and status word of the controller ( 73).

wCANDriveControl (16-bit word)control word for control via CAN

wMCIDriveControl (16-bit word)control word for control via fieldbus

?

wDriveControlStatus



?

wDriveControlStatus



?

wDriveControlStatus



LP_CanIn1 ?

wIn3

wCtrl

wIn2

LS_ParFix ?

bTrue

wDriveCtrl


374 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.2.7.2 Setting controller inhibit

As long as one of these controller inhibit sources is set, the drive remains in the controllerinhibited status.

The reason for the "controller is inhibited" status can be detected via the C0158 parameter.

When controller inhibit is set, the drive loses its torque, the machine is coasting.

When the controller inhibit request is reset, the drive synchronises to the actual speed. Forthis purpose,

an automatic flying restart function of the device is activated, if required

the actual speed value is read out from the encoder system (only for feedback operation)

for vector control without feedback the actual speed from the motor model of the motor control is used for synchronisation.

13.2.7.3 Resetting an error

There are several options to inhibit thecontroller:

Terminal 28 (RFG)This signal acts fail-safe and always inhibits the controller. FALSE : controller inhibit is active

Control parameter C002/16.0: controller inhibit is active

bCinh at the control input of the applicationTRUE: controller inhibit is active

?

wDriveControlStatus



bDriveFail

A pending error can be reset by a LOW-HIGH edge of this digital control signal ifthe cause of the fault has been eliminated.

If the fault still exists, the error statusremains unchanged.

In the Lenze setting, this input is assignedto the digital input LS_DigitalInput-bCInh(controller inhibit). This means thatswitching the controller inhibit alsoacknowledges the error.

bDriveFail

CInhActive

bQSPlsActive

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 375



13.2.7.4 Executing quick stop (QSP)

13.2.7.5 bSetDCBrake

Advantage of the DC-injection braking:

The DC-injection braking provides the opportunity to influence the braking time bychanging the motor current or braking torque.

The braking effect stops when the rotor is at standstill.

13.2.7.6 bRFG_Stop

The quick stop function is activated viathis control signal. TRUE = quick stop isactive. Here, the drive ramps down theQSP ramp C0105 to speed = 0 and

keeps the motor at n = 0 if closed loop is active

sets pulse inhibit if auto-DCB is activated ( C00019 )

bDriveReady

bDriveFail

bCInhActive

bQSPlsActive

The bSetDCBrake control signal brakes thedrive to standstill.

TRUE = SetDCBrake is active.

Standstill ramps can be adjusted.

Braking process: DC-injection braking.

Note!

Holding braking is not possible when using this braking mode.

CInhActive

bQSPlsActive

bSpeedCcw

bSpeedActCompare

When bRFG_Stop = TRUE, the momentaryactual setpoint is "frozen".

The speed, for instance, of a running rampprocess is immediately kept constantwhen bRFG_Stop is activated. At the sametime, the acceleration/deceleration jumpsto the value "0".

bQSPlsActive

bSpeedCcw

bSpeedActCompare

bOverloadActive


376 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.2.7.7 bRFG_0

13.2.7.8 nVoltageAdd_a

When bRFG_0 = TRUE, the setpointgenerator leads its currently generatedspeed value to zero via the rampsparameterised.

bSpeedCcw

bSpeedActCompare

bOverloadActive

bUnderloadActive

An additional setpoint for the motorvoltage can be set at the nVoltageAdd_aprocess input.

If there are, for instance, different loads atthe motor output end, it is possible toapply a voltage boost at the starting time.

Scaling:

214 = 16384 = 1000 VIf the signal is negative, the voltage isreduced

Danger!

Too high values may cause the motor to heat up due to the resulting current.

bSpeedCcw

bSpeedActCompare

bOverloadActive

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 377



13.2.7.9 Torque limit value

Negative values at these inputs are interpreted as "0" and act according to the followingtable:

[13-2] Torque limits in motor and generator mode

13.2.7.10 CW/CCW rotation change-over

These input signals are directly transferredto the motor control to limit thecontroller's maximum torque in motor andgenerator mode.

Input Description

TorqueMotLim_a Internal limitation of the torque at 199.99% (upper limit) The drive cannot supply a higher torque in motor mode than set here 100% = Mmax from C00057

TorqueGenLim_a Internal limitation of the torque 199.99% (lower limit)The drive cannot supply a higher torque in generator mode than set here 100% = Mmax from C00057

CAUTION:The values applied at these inputs (any polarity) are internally interpreted as absolute values.

bOverloadActive

bUnderloadActive

bImaxActive

bSpeedSetReached

nN

MN

M

-MN

-nN n

TorqueMotLimTorqueGenLim

TorqueMotLim

TorqueMotLimTorqueGenLim

This control signal serves to change thedirection of rotation of the drive to CCWrotation.

When the signal is TRUE and the mainsetpoint is positive, the motor shaftrotates CCW

bImaxActive

bSpeedSetReached

bSpeedActEqSet


378 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.2.7.11 Main setpoint and additional setpoint

The L_NSet_1 function block acts as the speed setpoint generator.

This FB includes

fixed setpoints

ramp function generator

additional ramp function generator

blocking speed areas

setpoint limitation

linear / S-shaped ramps

arithmetic function for additional setpoint

The main setpoint is changed into a speed setpoint in the setpoint generator (FB L_Nset)via a ramp function generator with linear or S-shaped ramps.

Downstream to the ramp function generator, an additional setpoint can be linkedarithmetically.

Upstream to the ramp function generator, a blocking speed masking function and asetpoint MinMax limitation are effective.

The additional setpoint can be superimposed via ramp times of a second ramp functiongenerator.

For a detailed description see L_NSet_1.

Alternatively to the input signal nMainSetValue_a, the main setpoint can also begenerated by a motor potentiometer function.

For this purpose, this function is activated via the parameter C00806 = 1 and the inputs bMPOTup and bMPOTdown serve to set the setpoint.

The behaviour of the motor potentiometer when the drive system is switched on can be setvia the parameters C008006 ... C00806.

The two inputs nMainSetValue andnAuxSetValue form the main andadditional speed setpoint.

For a simple signal adaptation of asetpoint generator, both input signals areinternally provided with aparameterisable offset and gain factor.

Scaling:

214 = 16384 = 100 % of C00011

bSpeedActEqSet

nMotorCurrent_a

nMotorSpeedAct_a

nMotorSpeedSet_a

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 379



13.2.7.12 Fixed speeds and ramp times

The JOG values are enabled according to the following decoding scheme:

0 = FALSE

1 = TRUE

These control inputs serve to select fixedsetpoints and ramp times from tableswithin the setpoint generator.

The JOG values are set relatively in % of thereference speed C0011. The digital controlsignals bJogSpeed1…bJogSpeed8 serve toswitch off the main setpoint and activatethe JOG setpoint at the same time. A totalof 15 JOG setpoints can be selected.

bJogSpeed 8 bJogSpeed 4 bJogSpeed 2 bJogSpeed 1

Main setpoint o o o o

anJogSetValue[1] o o o 1

anJogSetValue[2] o o 1 o

anJogSetValue[3] o o 1 1

anJogSetValue[4] o 1 o o

anJogSetValue[5] o 1 o 1

anJogSetValue[6] o 1 1 o

anJogSetValue[7] o 1 1 1

anJogSetValue[8] 1 o o o

anJogSetValue[9] 1 o o 1

anJogSetValue[10] 1 o 1 o

anJogSetValue[11] 1 o 1 1

anJogSetValue[12] 1 1 o o

anJogSetValue[13] 1 1 o 1

anJogSetValue[14] 1 1 1 o

anJogSetValue[15] 1 1 1 1

nMotorSpeedAct_a

nMotorSpeedSet_a

nMotorTorqueAct_a


380 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.2.7.13 Ramp generator L_NSet

To prevent setpoint step-changes in the speed setpoint, a ramp generator L_Nset_1 islocated in the main signal flow.

This FB prepares the main speed setpoint for the following signal processing via rampfunction generators or fixed speeds.

The main setpoint is changed into a speed setpoint in the setpoint generator (FB L_Nset)via a ramp function generator with linear or S-shaped ramps.

Downstream to the ramp function generator, an additional setpoint can be linkedarithmetically.

Upstream to the ramp function generator, a blocking speed masking function and asetpoint MinMax limitation are effective.

The additional setpoint can be superimposed via ramp times of a second ramp functiongenerator.

A detailed description can be found in the function library, see ramp generator.

Inversion of main setpoint

The main setpoint can be inverted via the bSetInv input (i.e. the sign of the input value ischanged).

Acceleration and deceleration times for the main setpoint path

The main setpoint is led via a ramp function generator. This serves to convert input stepchanges into a ramp.

The acceleration and deceleration time refer to a change of the speed from 0 to nmax(0 % .... 100 %). The calculation of the times Tir (C00012)and Tif (C00013) to be set isdescribed in the NSET function block description.

Additional acceleration and deceleration times

Additional acceleration and deceleration times for the ramp function generator of themain setpoint (NSET-N/JOG setpoint) can be called from the memory via the NSET-TI*xinputs, e.g. to change the acceleration speed of the drive from a certain speed on. For thispurpose, these inputs must be assigned to a signal source. Maximally 15 additionalacceleration and deceleration times can be programmed.

nMotorVoltage_a

bBrakeReleaseOut

bBrakeReleased

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 381



S-shaped ramp function generator characteristic

For the ramp function generator of the main setpoint you can select two differentcharacteristics under C00134:

Linear characteristic for all acceleration processes requiring a constant acceleration

S-shaped characteristic for all acceleration processes requiring a jerk-free acceleration.

Additional setpoint

An additional analog setpoint (bipolar) can be linked via the input or another signal source.The additional setpoint (display in C0049) is first internally transferred to the NSETfunction block via an analog-value selector. Here, the additional setpoint is first led via aninversion option. This inversion option is deactivated. Then a ramp function generatorfollows (acceleration and deceleration times via C0220/C0221), before the additionalsetpoint is linked with the main setpoint in the arithmetic block. The additional setpointcan be e.g. used as a correcting signal for grinding machines (for control of a constantcircumferential speed while the grinding disk diameter reduces).

If you want to use the additional setpoint, set code C00190 to the required arithmeticfunction. In the Lenze setting, code C00190 is parameterised to 0. Thus, the additionalsetpoint is switched off.


382 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.2.7.14 Motor potentiometer function

13.2.7.15 Process controller adaptation

13.2.7.16 Actual process controller value

The standard application has anintegrated motor potentiometer. Thisfunction can be switched on/off via theparameter C00806.

When the function is switched on, themotor potentiometer is connected to themain setpoint path and thus acts as signalsource for the main speed setpoint.

This setpoint can be ramped up and downby means of the digital control inputsbMPOTUp and bMPOTDown via aparameterisable ramp time.

nGPArithmetikOut_a

nGPMulDivOut_a

nGPDigitalDelayOut

This input signal serves to adapt theproportional gain of the integrated PIDprocess controller.

See function block L_PCTRLbFreeConfigOut1

bFreeConfigOut2

This input signal serves to supply theactual value of the process factor to becontrolled to the integrated PID processcontroller.

For a simple signal adaptation of a sensorsignal, the input signal is internallyprovided with a parameterisable offsetand gain factor.

bFreeConfigOut1

bFreeConfigOut2

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 383



13.2.7.17 Forced release of holding brake

For the forced release of the brake, the bBrakeRelease control input can be set to TRUE.

13.2.7.18 Manual jog

Danger!

This higher-priority input acts in parallel to the integrated brake control, i.e. if this input is TRUE, the brake will be released even if the integrated automatic brake operation function wants to close the brake.

The actuating drive - speed technologyapplication is provided with an integratedautomatic brake operation function whichcan be switched off/on via C02580.

nGPCompareOut

nGPSignalOut1

nGPSignalOut2

nGPSignalOut3

The inputs bMANJogPos/Neg serve totraverse the drive in manual mode inpositive / negative direction of rotation.

The parameters C01231 serve to set thespeed of the manual jog mode.

LS_MotionControlKernel ( 587)

nGPSignalOut1

nGPSignalOut1_a

nGPSignalOut2

nGPSignalOut3

nGPSignalOut4


384 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.2.7.19 General purpose functions

Integrated and freely usable function blocks:

In many applications the controller is totake over further drive-based functionsand e.g. scale sensor signals or controlactuators.

For this purpose, this standard applicationis provided with integrated and freelyusable function blocks (see below). Theinputs and outputs of these functionblocks are available at the signal interfaceof the standard application.

These functions are provided with FBinputs (named with xGPxxx in the inputname) at the input interface of theapplication and FB outputs (also renamed)at the output interface of the application.

Function block Information

L_AnalogSwitch ( 499) Signal switch

L_Arithmetik ( 502) Arithmetic function

L_MulDiv ( 541) Multiplication division

L_DigitalDelay ( 522) Digital delay

L_DigitalLogic ( 524) Programmable logic

L_Compare ( 504) Comparator

L_DFlipFlop ( 520) Flip flop

L_Counter ( 518) Counter

nGPSignalOut1_a

nGPSignalOut3_a

nGPSignalOut4

nGPSignalOut2_a

nGPSignalOut4_a

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 385



13.2.7.20 Status word

To control the TA via a bus (CAN on board or fieldbus), the current status of the device hasto be queried. Depending on the process data mapping set, the information is transmittedas status word via the bus system.

When a communication module is used, a port block (LP_MciOut or LP_CanOut) is connected to the output wMCIDriveControlStatus.

When the CAN on board is used, the signal (16 bits) is led from the wCANDriveControlStatus output to the LP_CANxxx port block:

[13-3] Status enquiry when the 8400 HighLine is controlled via the on-board CAN

Example Controller status word (C00150) for application "Speed closed-loop control"( 75)

13.2.7.21 wCurrentFailNumber

wDriveControlStatus (16-bit word)status for control via CAN or fieldbus

?

wDriveControlStatus



?

wDriveControlStatus



LP_CANOut1 ?

wOut1

wOut2

Displays the current error number which isstructured as follows:

Bit 0 .. 15 (error number or error ID)

Bit 16..25 (subject area no. or domain)

Bit 26..29 (error type)

Bit 30..31 (reserved)

Error number ( 298)

?

wDriveControlStatus




386 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.2.7.22 bDriveReady

13.2.7.23 bDriveFail

13.2.7.24 bCInhActive

13.2.7.25 bQSPIsActive

Display:

Drive is ready to process setpoints.

No error occurred.bDriveReady

bDriveFail

bCInhActive

An error occurred.

The error type is as follows:

Trouble, TroubleQSP


bDriveReady

bDriveFail

Display:

Controller inhibit is activatedbDriveReady

bDriveFail

CInhActive

bQSPlsActive

bSpeedCcw

Display:

Quick stop is activatedbDriveFail

CInhActive

bQSPlsActive

bSpeedCcw

bSpeedActCompare

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 387



13.2.7.26 bSpeedCcw

13.2.7.27 bSpeedActCompare

13.2.7.28 bOverLoadActive / bUnderLoadActive

13.2.7.29 bImaxActive

Display:

Direction of motor rotation with regard toactual speed value.

TRUE: motor rotates anti-clockwise (asviewed looking onto the motor shaft)

CInhActive

bQSPlsActive

bSpeedCcw

bSpeedActCompare

bOverloadActive

TRUE: The actual speed value is lower thanthe value set in C00024

bQSPlsActive

bSpeedCcw

bSpeedActCompare

bOverloadActive

bUnderloadActive

In preparation

bSpeedActCompare

bOverloadActive

bUnderloadActive

bImaxActive

TRUE: The controller operates at themaximum current limit

bUnderloadActive

bImaxActive

bSpeedSetReached


388 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.2.7.30 bSpeedSetReached, bSpeedActEqSet

13.2.7.31 nMotorCurrent_a

13.2.7.32 nMotorSpeedSet_a, nMotorSpeedAct_a

13.2.7.33 nMotorTorqueAct_a

bSpeedSetReachedsignal = TRUE:speed setpoint reached.

bSpeedSetReachedsignal = TRUE: actual speed value has reached the setpoint within a hysteresis band

bImaxActive

bSpeedSetReached

bSpeedActEqSet

Output of the actual motor current value

Scaling:

214 = 16384 = value of C00022bSpeedActEqSet

nMotorCurrent_a

nMotorSpeedAct_a

nMotorSpeedSet_a

nMotorTorqueAct_a

nMotorSpeedSet_a:resulting total speed setpoint.

nMotorSpeedAct_a:actual speed value

nMotorCurrent_a

nMotorSpeedAct_a

nMotorSpeedSet_a

nMotorTorqueAct_a

nDCVoltage_a

Current actual torque value

nMotorSpeedAct_a

nMotorTorqueAct_a

nDCVoltage_a

nMotorVoltage_a

bBrakeReleaseOut

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 389



13.2.7.34 nDCVoltage_a

13.2.7.35 nMotorVoltage_a

13.2.7.36 bBrakeReleaseOut, holding brake control

13.2.7.37 bBrakeReleasedbBrakeReleased, holding brake status signal

Actual DC-bus voltage

Scaling:

214 = 16384 = 100 % = 1000 V

nMotorTorqueAct_a

nDCVoltage_a

nMotorVoltage_a

bBrakeReleaseOut

bBrakeReleased

Currently applied motor voltage

Scaling:

214 = 16384 = 100 % = 1000 V

nDCVoltage_a

nMotorVoltage_a

bBrakeReleaseOut

bBrakeReleased

nGPAnalogSwitchOut_a

This output serves to control a holdingbrake.

This output signal is affected by theintegrated automatic brake operationfunction and via the input for the forcedbrake release.

nMotorVoltage_a

bBrakeReleaseOut

bBrakeReleased


nGPArithmetikOut_a

This output signal displays the brakestatus.

As the delay times of the holding brake(magnetising and release times of thebrake) are considered in the automaticbrake operation, the "brake is released"information cannot be derived from thebBrakeReleaseOut signal but is displayedby this output.

bBrakeReleaseOut

bBrakeReleased


nGPArithmetikOut_a

nGPMulDivOut_a


390 L Firmware 02.00 - DMS EN 3.0 - 05/2009

13.2.7.38 General purpose outputs


nGPArtithmetikOut_a

nGPMulDivOut_a

bGPDigitalDelayOut

bGPLogicOut

bGPCompareOut

bGPSignalOut1

bGPSignalOut2

bGPSignalOut3

bGPSignalOut4

nGPSignalOut1_a

nGPSignalOut2_a

nGPSignalOut3_a

nGPSignalOut4_a

bBrakeReleased


nGPArithmetikOut_a

nGPMulDivOut_a

nGPDigitalDelayOut

nGPLogicOut

nGPCompareOut

nGPSignalOut1

nGPSignalOut1_a

nGPSignalOut3_a

nGPSignalOut2

nGPSignalOut3

nGPSignalOut4

nGPSignalOut2_a

nGPSignalOut4_a

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 391

8400 HighLine C | Software ManualTA "Table positioning"


14 TA "Table positioning"

14.1 Brief description of the function

14.1.1 Brief description of the properties

With the "Table positioning" technology application a great number of functions formotion control of a single axis can be carried out:

Manual jog

Retracting the limit switch

Reference setting/homing in 18 different modes (in preparation)

Positioning (absolute, relative)

Continuous travel (speed mode)

Speed override

Acceleration override

Profile sequence block control

Travel block restart within the profile (online profile start)

Specification of target position via process signal interface (e. g. via fieldbus)

Further functions

Up to 15 travel sets can be set via parameters

Parameterisation of the profile data in physical units or relative values

Adjustable torque limitation

Linear and S-shaped ramps

Software limit position monitoring

Following error monitoring (with static limits)

Brake control/automatic brake control

Enable of individual functions via control word

Status and diagnostic displays

Change-over of operating modes "manual jog", "Homing", "Speed follower", "Positioning"

8400 HighLine C | Software ManualTA "Table positioning"Brief description of the function

392 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Cross-application inputs and outputs, for description see LA_TabPos application block Inputs and outputs, see Interface description ( 415) Cross-application inputs and outputs, for description see General purpose functions

??

wMckState1

wActProfileNo

wMckState2

wActPosMode

dnTargetPos_p

dnSetPos_p

wMcKActOperationMode

bHomePosAvailable

bHomeDone

bProfileDone

bProfileBusy

bAccelerating

bConstantDuty

bDecelerating

bDwellTime

bInTarget

�

�

�

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 393



Inputs


wInMckPosCtrl_1wInMckPosCtrl_2

WORD

Positioning control word 1 / positioning control word 2Via these control words the LS_MotionControlKernel system block can be controlled

wMckOperationModeWORD

Selection of the operating mode of the MotionControlKernel system block.

bPosCtrlOnBOOL

True Position control on

bLimitSwitchPosBOOL

Input for limit switch (positive)Connecting and retracting limit switches

False Limit switch reached

bLimitSwitchNegBOOL

Input for limit switch (negative)Connecting and retracting limit switches

False Limit switch reached

bReleaseLimitSwitchBOOL

Retracting the limit switches

True Retracting from the activated limit switch in the corresponding clearance direction until the limit switch is released (no longer activated).

bManJogPosBOOL

bManJogNegBOOL

Manual jogbManJogPos = TRUE: manual jog rightbManJogNeg = TRUE: manual jog leftbManJogPos AND bManJogNeg = TRUE: no change to the previous statebManJogPos AND bManJogNeg = FALSE: stop manual jog

bManEnable2ndSpeedBOOL

True Activation of the 2. manual speed

bEnableSpeedOverrideBOOL

True Activate speed override

bEnableAccOverrideBOOL

True Activate acceleration override

bHomeStartStopBOOL

Homing start • Only in connection with controller enable.

True Start homing

False Abort homing and direct drive to standstill via the stop profile.

bHomeSetPositionBOOL

Setting the home position manually

True The position specified via input dnSetPos_p is saved as home position.

bHomeResetPositionBOOL

Resetting the home position

True The internally saved home position is reset, so that the "Reference is not known" status is available again.

bHomeMarkBOOL

Input for reference switchUse of a reference switch

False Reference switch reached.

bPosSetProfilePostionBOOL

True The target position set in the driving record is overwritten as follows: Selection of the driving record via wPosFrofileNo • bPosSetProfilePostion: Enter dnPosProfilePosition_p as position

value into the travel profile • bPosSetActualPostion: Enter current actual position as position

value in the travel profile

bPosSetActualPostionBOOL

bPosExecuteBOOL

FALSE -->TRUE

Start of the profile generation


394 L Firmware 02.00 - DMS EN 3.0 - 05/2009

bPosFinishTargetBOOL

FALSE -->TRUE

A previously interrupted positioning process (interruption by PosStop , device error, etc.) is continued by travelling to the original target.

bPosDisableFollowProfileBOOL

True Switch-off of the profile linkageThe evaluation of the sequence profile number set in the driving record is disabled.

bPosStopBOOL

True Stop positioning / cancel profile

wPosProfileModeWORD

"Override" of the positioning modes: • 1 = absolute (shortest path) • 2 = continuous • 3 = relative • 4 = absolute, Cw • 5 = absolute, CcwThe selection of one of the values mentioned has a higher priority than the positioning mode set by C01300. The value set in C1300 is not overwritten.If wPosProfileMode = 0 is selected, the value set in C1300 applies.

wPosFrofileNoWORD

Profile number (1 ... 15) Selection of the driving record

dnPosProfilePosition_pDINT

Profile position in [Inc] to be acceptedBy means of this input the position within the positioning profiles can be changed. For this the position value in Inc is applied to this input, and the profile number is specified in the control word. The data are accepted in the profiles if a data acceptance bit is set in the control word.


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 395



Outputs

Status messages:

Identifier/data type Value/meaning

wMckState1wMckState2

WORD

See L_MckState function block

wMckActOperationModeWORD

bHomeDoneBOOL

True Homing completed

bHomePosAvailableBOOL

True Home position known

bProfileDoneBOOL

True Profile generation completed

bProfileBusyBOOL

True Profile generation active

bAcceleratingBOOL

True Acceleration process active

bConstantDutyBOOL

True Constant travel phase active

bDeceleratingBOOL

True Braking process active

bDwellTimeBOOL

True Settling time of the mechanical load system has elapsed

bInTargetBOOL

True Actual position of the mechanical load system is in the target position window

wActProfileNoWORD

Current profile number (1 ... 15)

wActPosModeWORD

Current positioning mode

dnTargetPos_pDINT

Current target position which is to be approached

denSetPos_pDINT

Current set position (which approaches the target position during the profile generation)


396 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14.1.2 Selecting the control source

[14-1] Selection of the control source on the "Application parameters" tab

By selecting the control source it is defined how the technology application set is to becontrolled. The following options are provided (see arrow):

1. Terminal control

– Selection 10, terminals 0 (Lenze setting)This selection enables simple drive control via the digital and analog device control connections (e.g. using the setpoint box available in the Lenze accessories program, see www.Lenze.com ---> Home/Services&Downloads/Teachware).



2. Control via keypad / PC

– Selection 20, keypad

– Selection 21, PC

3. Control via the CAN on board

– Selection 30, hand-remote control for CAN (in preparation)

4. Control via the fieldbus, e.g. PROFIBUS

– Selection 40, hand-remote control for MCI (in preparation)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 397



The device inputs and device outputs referred to as system blocks at Lenze provide theinterface of the application to the peripherals of the controller. They include digital andanalog input and output interfaces (e. g. "LS_DigitalInput") and communication interfaces(e.g. "LP_CanOut1" for CAN or "LP_MciOut" for PROFIBUS as external fieldbus):

[14-2] Schematic structure of an application solution (here with terminal control)

The interfaces are preconfigured under code C00007. For each configuration of C00007 ≥10, the input and output interfaces for the application have been pre-assigned.

For information on the input and output pre-assignments for the different control sources,please see the chapters :

Overview of terminal assignment ( 398)

Terminal pre-assignment in detail ( 401)

The pre-assignment as seen from the application's view is described in the chapter

Pre-assignment of the LA_TabPos application block ( 410).

If the described pre-assignment of the application block is inappropriate for the drive task,an individual configuration, e.g. by means of the FB editor or the "Terminal assignment"tab, can be carried out. The configuration tables stored in the drive contain a selection ofthe most frequently used signals, so that it is possible to carry out a quick commissioningwith only few operator control actions:

User-defined terminal assignment ( 409)

System blocks on the device input side Connections between the device application and the input and output interfaces, pre-assignment through

selection with C00007 ≥ 10 Technology application, selection with C00005 System blocks on the device output side

X5

X4

X3

+=

DI3

DI2

DI4

DI5

DI6

DI7

GI

24I

DI1

RFR

24E

LS_AnalogOutput

LS_DigitalOutputLA_NCtrl

LP_CanIn

LS_ParFree_a

LS_AnalogInput

LS_DigitalInput

LS_ParFix

A2I

AR

A1U

A2U

A1I

GA

24O

DO1

DO3

GO

DO2LP_CanOut

� � � �X3

O1U

O1I

O2U

O2I

8400 HighLine C | Software ManualTA "Table positioning"Terminal assignment in the Lenze setting

398 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14.2 Terminal assignment in the Lenze setting

14.2.1 Overview of terminal assignment

Input connections for terminal control

Output connections for terminal control

Connection






X5/RFR Controller enableLA_TabPos: bFailReset

X5/DI1 - - Positive limit switchLA_TabPos:

bLimitSwitchPos

-

X5/DI2 - - Negative limit switchLA_TabPos:

bLimitSwitchNeg

-

X5/DI3 Positive limit switchLA_TabPos:

bLimitSwitchPos

- - Manual homing in positive direction

LA_TabPos: bManJogPos

X5/DI4 Negative limit switchLA_TabPos:

bLimitSwitchNeg

Positioning profile, array-bit, valency: 4LA_TabPos: bPosProfileNo_4

Manual homing in negative direction

LA_TabPos: bManJogNeg

X5/DI5 Positioning profile, array-bit, valency: 2LA_TabPos: bPosProfileNo_2

X5/DI6 Positioning profile, array-bit, valency: 1LA_TabPos: bPosProfileNo_1

X5/DI7 Start of the profile generationLA_TabPos: bPosExecute


X3/A1UX3/A1I

Speed setpoint (scaling: 10V = 100% ⋅ [C0011])LA_TabPos: nMainSetValue_a

X3/A2UX3/A2I

- - - -

Connection






X4/DO1 Drive is ready to start LA_TabPos:bDriveReady

X4/DO2 Position target reachedLA_TabPos:bInTarget

X4/DO3 Home position knownLA_TabPos:bHomePosAvailable

X107/BD1 Brake releasedLA_TabPos:bMBrakeReleaseOut

X107/BD2 Brake feedback

X101/NO Fault LA_TabPos:bDriveFail


X3/O1U Actual speed value (scaling: 10V = 100% ⋅ [C0011])LA_TabPos:nMotorSpeedAct_a

X3/O1I

X3/O2U Actual currentLA_TabPos:nMotorCurrent_a

X3/O2I

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 399



Input connections of the other control sources

Output connections of the other control sources

Connection



X5/RFR Controller enableLA_TabPos: bFailReset

X5/DI1 -

X5/DI2 - -

X5/DI3 Positive limit switchLA_TabPos: bLimitSwitchPos

X5/DI4 Negative limit switchLA_TabPos: bLimitSwitchNeg

X5/DI5 Home positionLA_TabPos: bHomeMark

X5/DI6 Quick stop LA_TabPos: bSetQuickstop

X5/DI7 LP_CanOut1: bState_B7 LP_MciOut: bState_B7


X3/A1UX3/A1I

- - Speed setpoint (scaling: 10V = 100% ⋅ [C0011])LA_TabPos: nMainSetValue_a

X3/A2UX3/A2I

- - - -

Connection



X4/DO1 Drive is ready to start LA_TabPos:bDriveReady

X4/DO2 Target position reachedLA_TabPos:bInTarget

X4/DO3 Home position is knownLA_TabPos:bHomePosAvailable

Torque limit reachedLA_TabPos:bImaxActive

X107/BD1 Brake is releasedLA_TabPos:bMBrakeReleaseOut

X107/BD2 Brake feedback

X101/NO Fault LA_TabPos:bDriveFail


X3/O1U Actual speed value (scaling: 10V = 100% ⋅ [C0011])LA_TabPos:nMotorSpeedAct_a

X3/O1I

X3/O2U Actual currentLA_TabPos:nMotorCurrent_a

X3/O2I


400 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Bus communication, assignment of data words per port

Data words C0007 = 30 (CAN) C0007 = 40 (MCI)

Connection to plug connector X1 Connection to communication module (e.g. PROFIBUS, X201 (9-pole SubD socket)

TPDO1 LP_CanOut1 LP_MciOut

wState - -

wOut2 LA_TabPos:nGPSignalOut1_a

wOut3 - -

wOut4 - -

wOut5 (only MCI) Actual speed value (scaling: 16384 = 100% ⋅ [value under C0011])

LA_TabPos:nMotorSpeedAct_a

wOut6 ... wOut16 (only MCI) -

TPDO2 / TPDO3 LP_CanOut2 /3 -

wOut1 -

wOut2

wOut3

wOut4

RPDO1 LP_CanIn1 LP_MciIn

wCtrl -

wIn2 Speed override (scaling: 16384 = 100% ⋅ [value under C0011])LA_TabPos: nSpeedOverride_a

wIn3 - -

wIn4 - -

wIn5 ... wIn16 (only MCI) -

RPDO2 / RPDO3 LP_CanIn2 / LP_CAnIn3 -

wIn1 -

wIn2

wIn3

wIn4

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 401



14.2.2 Terminal pre-assignment in detail



X101/NC-NO LA_TabPos:bDriveFail

X5/RFR LA_TabPos: bFailReset X3/A1U LA_TabPos: nMainSetValue_a(10V = 100% ⋅ [value under C0011])X5/DI1 - X3/A1I

X5/DI2 - X3/A2U -

X5/DI3 LA_TabPos: bLimitSwitchPos X3/A2I

X5/DI4 LA_TabPos: bLimitSwitchNeg X3/O1U LA_TabPos:nMotorSpeedAct_a

X5/DI5 LA_TabPos: bPosProfileNo_2 X3/O1I

X5/DI6 LA_TabPos: bPosProfileNo_1 X3/O2U LA_TabPos:nMotorCurrent_a

X5/DI7 LA_TabPos: bPosExecute X3/O2I

X107/BD1 LA_TabPos:bMBrakeReleaseOut X4/DO1 LA_TabPos:bDriveReady

X107/BD2 - X4/DO2 LA_TabPos:bInTarget

X4/DO3 LA_TabPos:bHomePosAvailable

X5

A2I

AR

COM

CG

A1U

NC

CL

A2UA1I

NO

CH

X107 X4

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

24B 24OGB DO1

BD2 DO3GO

BD1 DO2

GAO1UO1I

O2UO2I

MBrakeReleaseOut

X101

X1

24E

+

+

=

=

+

DriveFail


Controller enable

Externalsupply

24 V DC


Bit 2Bit 1



Speed setpoint

Limit switch

Profile no. 0 ... 3


402 L Firmware 02.00 - DMS EN 3.0 - 05/2009





X5/DI2 - X3/A2U -

X5/DI3 - X3/A2I

X5/DI4 LA_TabPos: bPosProfileNo_4 X3/O1U LA_TabPos:nMotorSpeedAct_a







X5

A2I

AR

COM

CG

A1U

NC

CL

A2UA1I

NO

CH

X107 X4

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

24B 24OGB DO1

BD2 DO3GO

BD1 DO2

GAO1UO1I

O2UO2I

X101

X1

24E

+

M

==

+

DriveFail

+=

MBrakeReleaseOut

DriveReady

Speed setpoint

Controller enable

Externalsupply

24 V DC

Actual speed value (I)Actual motor current value (VActual motor current value (I

Bit 2Bit 3


Profile no. 0 ... 7


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 403






X5/RFR LA_TabPos: bFailReset X3/A1U LA_TabPos: nMainSetValue_a(10V = 100% ⋅ [value under C0011])X5/DI1 LA_TabPos: bLimitSwitchPos X3/A1I

X5/DI2 LA_TabPos: bLimitSwitchNeg X3/A2U -

X5/DI3 - X3/A2I

X5/DI4 LA_TabPos: bPosProfileNo_4 X3/O1U LA_TabPos:nMotorSpeedAct_a







CG

CL

CH


BD2 DO3GO

BD1 DO2

X1

+

M

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

GAO1UO1I

O2UO2I

X101

24E

+

==

DriveFail

+=

MBrakeReleaseOut

Controller enable

DriveReady

Speed setpoint

Externalsupply

24 V DC


Bit 2Bit 3


Profile no. 0 ... 7


Limit switch



404 L Firmware 02.00 - DMS EN 3.0 - 05/2009





X5/DI2 - X3/A2U -

X5/DI3 LA_TabPos: bManJogPos X3/A2I

X5/DI4 LA_TabPos: bManJogNeg X3/O1U LA_TabPos:nMotorSpeedAct_a







X5

A2I

AR

COM

CG

A1U

NC

CL

A2UA1I

NO

CH

X107 X4

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

24B 24OGB DO1

BD2 DO3GO

BD1 DO2

GAO1UO1I

O2UO2I

X101

X1

24E

+

M

==

+

DriveFail

+=

MBrakeReleaseOut


Controller enable

Externalsupply

24 V DC


Bit 2Bit 1



Speed setpoint

Profile no. 0 ... 3

ManualJog

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 405



C0007 = 20 (keypad)




X5/DI2 - X3/A2U -

X5/DI3 - X3/A2I

X5/DI4 - X3/O1U LA_TabPos:nMotorSpeedAct_a

X5/DI5 - X3/O1I

X5/DI6 - X3/O2U LA_TabPos:nMotorCurrent_a

X5/DI7 - X3/O2I




CG

CL

CH


BD2 DO3GO

BD1 DO2

X1

+

M+

==

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

GAO1UO1I

O2UO2I

X101

24E

Quick commissioning

SAVE


Terminals

Keypad

SAVE

Par1 8400 HighLineC

User - Menu

Logbook

Go to param

Quick commissioning


DriveFail

+=

MBrakeReleaseOut

Controller enable

DriveReady

Externalsupply

24 V DC


Load mechanicals in target positionHome position known

Engineer: Keypad:

All parameters

Quick commissioning

Terminal

Keypad


406 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C0007 = 21 (PC)



X5/RFR LA_TabPos: bFailReset X3/A1U -

X5/DI1 - X3/A1I

X5/DI2 - X3/A2U -

X5/DI3 - X3/A2I

X5/DI4 - X3/O1U LA_TabPos:nMotorSpeedAct_a

X5/DI5 - X3/O1I

X5/DI6 - X3/O2U LA_TabPos:nMotorCurrent_a

X5/DI7 - X3/O2I




CG

CL

CH


BD2 DO3GO

BD1 DO2

X1

+

M+

==

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

GAO1UO1I

O2UO2I

X101

24E

DriveFail

+=

MBrakeReleaseOut

Controller enable

DriveReady

Externalsupply

24 V DC



Firmware 02.00 - DMS EN 3.0 - 05/2009 L 407



C0007 = 30 (CAN)



X5/RFR LA_TabPos: bFailReset X3/A1U LA_TabPos: nAuxSetValue_aActivation of addition:C00190=1 (NOUT = NSET+NADD)X5/DI1 - X3/A1I

X5/DI2 - X3/A2U -



X5/DI5 LA_TabPos: bHomeMark X3/O1I

X5/DI6 LA_TabPos: bSetQuickstop X3/O2U LA_TabPos:nMotorCurrent_a

X5/DI7 LP_CanOut1: bState_B7 X3/O2I



X4/DO3 LA_TabPos:bImaxActive


BD2 DO3GO

BD1 DO2

+

M

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

GAO1UO1I

O2UO2I

X101

24E

+

==C

GC

LC

H

X1C

AN

1_

In

CA

N1

_O

ut

CAN2/3_In/Out

CanDriveControl

MainSetValue

DriveControlStatus

MotorSpeedAct

MotorSpeedSet

DriveFail

+=

MBrakeReleaseOut

DriveReady

Speed setpoint

Controller enable

Externalsupply

24 V DC



Reference switch statusQuickstop

Limit switch



408 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C0007 = 40 (MCI)



X5/RFR LA_TabPos: bFailReset X3/A1U LA_TabPos: nAuxSetValue_aActivation of addition:C00190=1 (NOUT = NSET+NADD)X5/DI1 - X3/A1I

X5/DI2 - X3/A2U -



X5/DI5 LA_TabPos: bHomeMark X3/O1I

X5/DI6 LA_TabPos: bSetQuickstop X3/O2U LA_TabPos:nMotorCurrent_a

X5/DI7 LP_MciOut: bState_B7 X3/O2I



X4/DO3 LA_TabPos:bImaxActive


BD2 DO3GO

BD1 DO2

+

M

X5

A2I

AR

COM

A1U

NC

A2UA1I

NO

X3

DI3DI2

DI4DI5DI6DI7GI

24I

DI1RFR

GAO1UO1I

O2UO2I

X101

24E

+

==

CG

CL

CH

X1

Mci1

_In

Mci1

_O

ut

Mci2/3_In/Out

MciDriveControl

MainSetValue

DriveControlStatus

MotorSpeedAct

MotorSpeedSet

DriveFail

+=

DriveReady

MBrakeReleaseOut

Controller enable

Externalsupply

24 V DC



Reference switchQuickstop

Limit switch

Load mechanicals in target positionImax status

Speed setpoint

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 409



14.2.3 User-defined terminal assignment

A terminal assignment differing from the Lenze setting is a user-defined terminalassignment. Depending on the drive task, the terminal assignment may differ more or lessfrom the Lenze setting. This affects both the number and location of the system blocksused and the system block interconnections. In an extreme case, the following circuitdiagram will be available at the beginning of your work, i.e. there are neither any systemblocks nor any signal combinations:

System blocks on the device input side Connections between the device application and the input and output interfaces, C00007 = 0 Device application, selection with C00005 System blocks on the device output side

The following system blocks and portblocks can be used on the device input side

and on the device output side :

System blocks

Selection with button

Port blocks

Selection with button

X5

X4

X3

+=

DI3

DI2

DI4

DI5

DI6

DI7

GI

24I

DI1

RFR

24E

LA_NCtrl

A2I

AR

A1U

A2U

A1I

GA

24O

DO1

DO3

GO

DO2

� � � �X3

O1U

O1I

O2U

O2I


410 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14.2.4 Pre-assignment of the LA_TabPos application block

Input connections

Terminal control

Input LA_TabPos:

Code C00007, value:


wCANDriveControl LS_ParFix:wDriveCtrl

wMCIDriveControl

bCInh -

bFailReset LS_DigitalInput:bCInh

bSetQuickstop -

nTorqueMotLim_a LS_ParFree_a:nPar3_a

nTorqueGenLim_a LS_ParFree_a:nPar4_a

bSetSpeedCcw -

nMainSetValue_a LS_AnalogInput:nIn1_a

nAuxSetValue_a -

bJogSpeed1

bJogSpeed2

bMPotEnable

bMPotUp

bMPotDown

wMckOperationMode LSParFree:wPar1

bMckOperationMode_1 -

bMckOperationMode_2

bMckOperationMode_4

bMckOperationMode_8

bPosCtrlOn LS_ParFix:bTrue

nPosCtrlOutLimit_a LS_ParFix:nPos100_a

nPosCtrlAdapt_a LS_ParFix:nPos100_a

bLimitSwitchPos LS_DigitalInput:bIn3 - LS_DigitalInput:bIn1 LS_DigitalInput:bIn3

bLimitSwitchNeg LS_DigitalInput:bIn4 - LS_DigitalInput:bIn2 LS_DigitalInput:bIn4

bReleaseLimitSwitch -

bManJogPos

bManJogNeg

bManEnable2ndSpeed

bEnableSpeedOverride

nSpeedOverride_a

bEnableAccOverride

nAccOverride_a

bHomeStartStop

bHomeSetPosition

bHomeResetPosition

bHomeMark

bPosSetProfilePosition

bPosSetActualPosition

bPosExecute LS_DigitalInput:bIn7

bPosFinishTarget -

bPosDisableFollowProfile

bPosStop

wPosProfileMode LSParFree:wPar2

wPosProfileNo LSParFree:wPar3

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 411




bPosProfileNo_1 LS_DigitalInput:bIn6

bPosProfileNo_2 LS_DigitalInput:bIn5

bPosProfileNo_4 - LS_DigitalInput:bIn4LS_DigitalInput:bIn4

bPosProfileNo_8 -

dnPosProfilePosition_p

InputLA_TabPos:

Code C00007, value:

20 (keypad) 21 (PC) 30 (CAN) 40 (MCI)

wCANDriveControl LS_ParFix:wDriveCtrl

wMCIDriveControl

bCInh - LS_ParFree_b:bPar3 LP_CanIn1.bCtrl1_B3 LP_MciIn1.bCtrl1_B3

bFailReset - LP_CanIn1.bCtrl1_B11 LP_MciIn1.bCtrl1_B11

bSetQuickstop LS_Keypad:bSetQuickstop LS_ParFree_b:bPar5 LS_DigitalInput:bIn6

nTorqueMotLim_a LS_Keypad:nTorqueMotLim LS_ParFree_a:nPar3_a LS_ParFree_a:nPar3_a

nTorqueGenLim_a LS_Keypad:nTorqueGenLim LS_ParFree_a:nPar4_a LS_ParFree_a:nPar4_a

bSetSpeedCcw LS_Keypad:bSetSpeedCcw LS_ParFree_b:bPar4

nMainSetValue_a LS_Keypad:nMainSetValue LS_ParFree_a:nPar1_a LS_AnalogInput:nIn1_a

nAuxSetValue_a LS_ParFree_a:nPar2_a -

bJogSpeed1 LS_Keypad:bJogSpeed1 LS_ParFree_b:bPar1

bJogSpeed2 LS_Keypad:bJogSpeed2 LS_ParFree_b:bPar2

bMPotEnable LS_Keypad:bMPotEnable LS_ParFree_b:bPar6

bMPotUp LS_Keypad:bMPotUp LS_ParFree_b:bPar7

bMPotDown LS_Keypad:bMPotDown LS_ParFree_b:bPar8

wMckOperationMode - LS_ParFree_b:bPar9

bMckOperationMode_1 LS_ParFree:wPar4 LP_CanIn1.bCtrl1_B0 LP_MciIn1.bCtrl1_B0

bMckOperationMode_2 LS_ParFree:wPar5 LP_CanIn1.bCtrl1_B1 LP_MciIn1.bCtrl1_B1

bMckOperationMode_4 LS_ParFree_b:bPar12 LP_CanIn1.bCtrl1_B2 LP_MciIn1.bCtrl1_B2

bMckOperationMode_8 LS_ParFree_b:bPar13 -

bPosCtrlOn LS_ParFix:bTrue

nPosCtrlOutLimit_a LS_ParFix:nPos100_a

nPosCtrlAdapt_a LS_ParFix:nPos100_a

bLimitSwitchPos - LS_ParFree_b:bPar14 LS_DigitalInput:bIn3

bLimitSwitchNeg LS_ParFree_b:bPar15 LS_DigitalInput:bIn4

bReleaseLimitSwitch LS_ParFree_b:bPar16

bManJogPos LS_ParFree_b:bPar17 LP_CanIn1.bCtrl1_B13 LP_MciIn1.bCtrl1_B13

bManJogNeg LS_ParFree_b:bPar18 LP_CanIn1.bCtrl1_B12 LP_MciIn1.bCtrl1_B12

bManEnable2ndSpeed LS_ParFree_b:bPar19

bEnableSpeedOverride LS_ParFree_b:bPar20 LP_CanIn1.bCtrl1_B9 LP_MciIn1.bCtrl1_B9

nSpeedOverride_a LS_ParFree_a:nPar5_a LP_CanIn1.wIn2 LP_MciIn1.wIn2

bEnableAccOverride LS_ParFree_b:bPar21

nAccOverride_a LS_ParFree_a:nPar6_a

bHomeStartStop LS_ParFree_b:bPar22

bHomeSetPosition LS_ParFree_b:bPar23 LP_CanIn1.bCtrl1_B10 LP_MciIn1.bCtrl1_B10

bHomeResetPosition LS_ParFree_b:bPar24

bHomeMark LS_ParFree_b:bPar25 LS_DigitalInput:bIn5

bPosSetProfilePosition LS_ParFree_b:bPar26

bPosSetActualPosition LS_ParFree_b:bPar27

bPosExecute LS_ParFree_b:bPar28 LP_CanIn1.bCtrl1_B8 LP_MciIn1.bCtrl1_B8

Input LA_TabPos:

Code C00007, value:



412 L Firmware 02.00 - DMS EN 3.0 - 05/2009

bPosFinishTarget LS_ParFree_b:bPar29

bPosDisableFollowProfile LS_ParFree_b:bPar30

bPosStop LS_ParFree_b:bPar31

wPosProfileMode LS_ParFree:wPar2

wPosProfileNo LS_ParFree:wPar3

bPosProfileNo_1 - - LP_CanIn1.bCtrl1_B4 LP_MciIn1.bCtrl1_B4

bPosProfileNo_2 LP_CanIn1.bCtrl1_B5 LP_MciIn1.bCtrl1_B5



dnPosProfilePosition_p LS_ParFree_p:dnPar1_p LP_CanIn1.dnIn34_p LP_MciIn1.dnIn34_p

InputLA_TabPos:

Code C00007, value:

20 (keypad) 21 (PC) 30 (CAN) 40 (MCI)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 413



Output connections

Terminal control

Output Code C00007, output LA_TabPos, value:


wDriveControlStatus -



bDriveFail LS_DigitalOutput:bRelay

bDriveReady LS_DigitalOutput:bOut1

bCInhActive -

bQSPIsActive

bSpeedCcw

bSpeedActCompare

bImaxActive

bSpeedSetReached

nMotorCurrent_a LS_AnalogOutput:nOut2V_aLS_AnalogOutput:nOut2I_a

nMotorSpeedSet_a -

nMotorSpeedAct_a LS_AnalogOutput:nOut1V_aLS_AnalogOutput:nOut1I_a

nMotorTorqueAct_a -

nDCVoltage_a

nMotorVoltage_a -

bMBrakeReleaseOut LS_DigitalOutput:bOutHC

bMBrakeReleased -

wMckState1

wMckState2

wMckActOperationMode

bHomeDone

bHomePosAvailable LS_DigitalOutput: bOut3

bProfileDone -

bProfileBusy

bAccelerating

bConstantDuty

bDecelerating

bDwellTime

bInTarget LS_DigitalOutput: bOut2

wActProfileNo -

wActPosMode

dnTargetPos_p LS_DisFree_p:dnDis1_p

dnSetPos_p LS_DisFree_p:dnDis2_p

bGPSignalOut1 -

bGPSignalOut2

nGPSignalOut1_a


414 L Firmware 02.00 - DMS EN 3.0 - 05/2009


Output Code C00007, output LA_TabPos, value:

20 (keypad) 21 (PC) 30 (CAN) 40 (MCI)

wDriveControlStatus LS_DisFree:wDis1 -

wStateDetermFailNoLow - LS_DisFree:wDis2

wStateDetermFailNoHigh LS_DisFree:wDis3

bDriveFail LS_DigitalOutput:bRelayLS_DisFree_b:bDis2

LS_DigitalOutput:bRelayLP_CanOut1.bState_B0

LS_DigitalOutput:bRelayLP_MciOut1.bState_B0

bDriveReady LS_DigitalOutput:bOut1LS_DisFree_b:bDis1

LS_DigitalOutput:bOut1LP_CanOut1:bState_B4

LS_DigitalOutput:bOut1LP_MciOut1:bState_B4

bCInhActive - LS_DisFree_b:bDis3 LP_CanOut1.bState_B3 LP_MciOut1.bState_B3

bQSPIsActive LS_DisFree_b:bDis4 LP_CanOut1.bState_B14 LP_MciOut1.bState_B14

bSpeedCcw LS_DisFree_b:bDis5

bSpeedActCompare LS_DisFree_b:bDis6 LP_CanOut1.bState_B11 LP_MciOut1.bState_B11

bImaxActive LS_DisFree_b:bDis7 LS_DigitalOutput: bOut3

bSpeedSetReached LS_DisFree_b:bDis8

nMotorCurrent_a LS_AnalogOutput:nOut2V_aLS_AnalogOutput:nOut2I_a

nMotorSpeedSet_a LS_DisFree.nDis2_a LS_DisFree_a:nDis2_a -

nMotorSpeedAct_a LS_AnalogOutput:nOut1V_aLS_AnalogOutput:nOut1I_a

LS_DisFree_a:nDis1_a

LS_AnalogOutput:nOut1V_a

LS_AnalogOutput:nOut1I_aLP_CanOut1.wState

LS_AnalogOutput:nOut1V_a

LS_AnalogOutput:nOut1I_aLP_MciOut1.wState

nMotorTorqueAct_a - LS_DisFree_a:nDis3_a

nDCVoltage_a LS_DisFree_a:nDis4_a

nMotorVoltage_a LS_DisFree_a: nDis5_a

bMBrakeReleaseOut LS_DigitalOutput:bOutHC

bMBrakeReleased LS_DisFree_b:bDis9

wMckState1 LS_DisFree:wDis4

wMckState2 LS_DisFree: wDis5

wMckActOperationMode LS_DisFree: wDis6 LS_DisFree.wDis1

bHomeDone LS_DisFree_b:bDis10

bHomePosAvailable LP_CanOut1.bState_B10 LP_MciOut1.bState_B10

bProfileDone LS_DisFree_b:bDis11

bProfileBusy LS_DisFree_b:bDis12 LP_CanOut1.bState_B9 LP_MciOut1.bState_B9

bAccelerating LS_DisFree_b:bDis13 -

bConstantDuty LS_DisFree_b:bDis15

bDecelerating LS_DisFree_b:bDis14

bDwellTime LS_DisFree_b:bDis16

bInTarget LS_DigitalOutput: bOut2 LP_CanOut1.bState_B8LS_AnalogOutput.bOut2

LP_MciOut1.bState_B8LS_AnalogOutput.bOut2

wActProfileNo LS_DisFree: wDis7 LS_DisFree.wDis3

wActPosMode LS_DisFree: wDis8 LS_DisFree.wDis2

dnTargetPos_p LS_DisFree_p:dnDis1_p -

dnSetPos_p LS_DisFree_p:dnDis2_p LP_CanOut1.dnOut34_p LP_MciOut1.dnOut34_p

bGPSignalOut1 LP_CanOut1.bState_B1 LP_MciOut1.bState_B1

bGPSignalOut2 LP_CanOut1.bState_B2 LP_MciOut1.bState_B2

nGPSignalOut1_a LP_CanOut1.wOut2 LP_MciOut1.wOut2

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 415


Interface description

14.3 Interface description

14.3.1 Control words of the MotionControlKernel

The positioning control which is carried out within the application by theLS_MotionControlKernel system block, can be activated via the two control wordswMotionCtrl1 and wMotionCtrl2. The control words together form a 32-bit control doubleword by means of which the entire MotionControlKernel is controlled. [14-1]

All motion profiles in the different operating modes can be operated via this interface.

For this several possibilities are provided:

1. Direct control via a fieldbus systemFor this, the two control words can be activated via a port block by the fieldbus. In addition to some other signals (e. g. limit switches, speed override, which are connected to digital I/Os of the controller), by this all control signals can be activated via the bus (CAN, PROFIBUS, etc.).

2. Alternatively, the individual control bits or bit fields (e.g. profile number) can be changed for control. For this purpose, these control bits and bit fields are available at the input interface of the application.

?

wDriveControlStatus



?

wMckState1

wMckState2


8400 HighLine C | Software ManualTA "Table positioning"Interface description

416 L Firmware 02.00 - DMS EN 3.0 - 05/2009

The following table shows the meaning of the individual bits

[14-1] Control double word for activating the MotionControlKernels

Bit Designation Description

0 ... 3 OpMode_Bit 0 ... 3 Operating mode Bit 3 Bit 2 Bit 1 Bit 0

Follow speed / position 0 0 0 0

Homing 0 0 0 1

Manual jog 0 0 1 0

Positioning 0 0 1 1

Stop 0 1 0 0

All others in preparation

4 ManJogPos Manual jog: manual jog right

5 ManJogNeg Manual jog: manual jog left

6 ManExecute2ndSpeed

TRUE: start of the 2nd manual mode traversing speed

7 ReleaseLimitSwitch TRUE: retracting the hardware limit switch activated

8 HomStartStop Homing: Start/stop of the homing process

9 HomSetPos Homing: setting of the home position

10 HomResetPos Homing: resetting of the home position

11 EnableSpeedOverride TRUE: activation of the speed override

12 EnableAccOverride TRUE: activation of the acceleration override

13 DisableS_Shape TRUE: deactivation of the profile rounding

14 PosTeachSetPos Latching of a position on the MCK into the profile with the corresponding profile no.

15 PosTeachActPos Latching of the current position into the profile with the corresponding profile no.

16 PosExecute TRUE: edge starts

17 PosFinishTarget Finish profile travel

18 PosDisableFollowProfile

TRUE: do not traverse sequence profile

19 PosStop TRUE: abort of the current profile

20 ... 23

PosModeBit0 ... 3 Positioning mode Bit 3 Bit 2 Bit 1 Bit 0

Absolute (shortest path) 0 0 0 1

Continuous 0 0 1

Relative 0 0 1 1

Absolute, Cw 0 1 0 0

Absolute, Ccw 0 1 0 1

24 ... 31

ProfileNo_Bit0 ... 7 Profile Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Profile 1 0 0 0 0 0 0 0 0

Profile 2 0 0 0 0 0 0 0 1

... ...

Profile 15 0 0 0 0 1 1 1 1

All others in preparation

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 417



14.3.2 Specifying an operating mode

Via the control word wMckCtrl1, or alternatively via the bits, the operating mode of theMCK can be set, see

Control double word for activating the MotionControlKernels ( 416)

Within the application the L_MckCtrl1Interface_1 function block collects the informationof the control word and that of the control bits and transmits it to the MCK as 32-bitcontrol word. By default, this FB is set in a manner that the "Following", "Homing", "Manualjog", and "Positioning" operating modes are set automatically by setting the profilenumbers 1 ... 3.

L_MckCtrlInterface ( 530)

??

wMckState1

wMckState2


bHomeDone


418 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14.3.3 Control bits and process words for the motor control (MCTRL)

How to specify the position controller gain:

1. Input nPosCtrlAdapt_a = 100 %

2. Check whether nPosCtrlOutLimit = 100 %

3. Output of the position controller limitation = 100 %

Kp-position controller = (value in parameter C00254 ) x (0 .... 100 .... 200) %

Limit of position controller output: (0 .... 100 .... 200) %

Activation of the position control:

bPosCtrlOn = TRUE


bHomePosAvailable

bHomeDone

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 419



14.3.4 Connecting and retracting limit switches

The travel range limits are monitored by limit switches via the inputs bLimitSwitchPos andbLimitSwitchNeg.

The two inputs respond to the FALSE status (fail-safe) and are to be connected to thecorresponding digital inputs to which the limit switches are connected.

Via an internal system interface an error is triggered and entered in the logbook of the controller; the drive can only be traversed again if the error has been acknowledged. The error response is set via C00595/1 /2.

The limit switches can be retracted by means of the functions "Manual jog" or "Retract limit switches".

If the limit switches are connected to decentralised terminals, the FB inputs can be connected to the decentralised terminal via a bus system (e. g. system bus).

Stop!

For a reliable detection of the travel limit ranges via the limit switches it is necessary that the triggering signal FALSE is available at the FB input bLimitSwitchPos or bLimitSwitchNeg for at least one request cycle!

Note!

The inputs bLimitSwitchPos and bLimitSwitchNeg cannot be deactivated!

If the travel range limits are not to be monitored (e. g. in the case of a rotary axis), simply set both inputs permanently to TRUE.

bProfileDone

bProfileBusy

bAccelerating


420 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14.3.4.1 Retracting the limit switches

Via the input bReleaseLimitSwitch you activate the "Retract limit switch" function to retracta limit switch that is operated.

The function can only be activated if a limit switch has been approached or overtravelled.

If the input bReleaseLimitSwitch is set to TRUE, the retracting direction is traversed until the axis has reached the permissible travel range again (the limit switch has been cleared again).

For the "Retract limit switch" function the same profile parameters are used as for the "Manual jog" function.

Permissible travel range

If software limit positions are set, the retracting process is carried out up to the corresponding software limit position.

If no software limit positions are set, the retracting process is carried out until the limit switch is cleared again.

Jamming of the limit switch

If the limit switch is jammed, the following happens:

If software limit positions are set, the retracting process is carried out up to the opposite software limit position.

– For instance, if the positive limit switch is approached and jammed, retracting is carried out to the negative software limit position.

If no software limit positions are set, retracting is carried out up to the opposite limit switch.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 421



14.3.5 Manual jog

Via the inputs bManualJogPos and bManualJogPos the drive can be traversed manually("Inching mode"):

According to the setting of the software limit positions and the reference, the axis is movedSequence block control.

Case 1: reference known

If the reference is known and the software limit positions are set, i. e. at least one softwarelimit position is set > 0, a positioning process to the corresponding software limit positionis carried out by manual jog.

If the manual jog is not aborted before, the axis adopts the position set via the software limit positions and the message "Warning NegPositionLimit" or "Warning PosPositionLimit" is displayed.

The internal state machine is in the "DiscreteMotion" state; in this state it is not possible to overtravel the software limit positions set.

Case 2: reference not known

If the reference is not known, the travel range limits are only monitored via the limitswitches (if connected).

If manual jog is stopped manually by resetting bManualJogNeg or bManualJogPos, the drive is brought to standstill within the deceleration time set for manual jog.

Stop!

If the reference is not known, or if no software limit positions are set, the drive may run into a mechanical limit during manual jog, and machine parts can be destroyed or damaged!

bManualJogPos bManualJogNeg Function

False False No response

False True Manual homing in negative direction

True False Manual homing in positive direction

True True No response

bConstantDuty

bDecelerating

bDwellTime


422 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Manual jog to hardware limit position (limit switch)

If a limit switch is approached during manual jog, the FB error "CK01: positive HW limitswitch" or "CK02: negative HW limit switch" is detected.

The drive is brought to standstill within the deceleration time set for the stop profile, and the internal state machine changes to the "Error" status.

According to the configuration of the error, a corresponding response of the drive system results.

Smooth start-up and quick stop of the drive

The acceleration and deceleration for manual jog can be set separately via C01232/1 orC01232/2, enabling a smooth start-up and a quick stop of the drive:

[14.1] Example: Different settings for acceleration and deceleration

A quick deceleration ( C01232/2) decreases the time from letting go of the "jog key" to the point where the drive actually stops, so that the drive by this can be positioned better "by eye" and the desired stop position is not overtravelled.

Note!

If the response TRIP or Fail-QSP has been set for the error, the drive is brought to standstill within the deceleration time set for quick stop (QSP).

• The internal Sequence block control changes to the "Errorstop" status.

• In this case, observe that the quick stop function (QSP) of the controller has individual parameters for the ramp time (C00105).

Smooth start-up by slow acceleration (C08801) Quick stop by quick deceleration (C08802)

v [m/s]

t [s]

�

t [s]

bManualJogPos

TRUE

FALSE

� �

C01232/1 C01232/2

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 423



Further functions for manual jog

Manual jog

In specific applications or during commissioning of a system it may be required to traversethe drive manually without monitoring the HW limit switches. This is only possible for theManual jog operating mode by configuring the HW limit switch monitoring with C01230.

Manual jog with automatic start of a second speed after an operating time has elapsed.

If this function is activated with C01230, an automatic start of a second manual speed iscarried out after a waiting time has elapsed C01235/1 when the manual jog function isoperated. By this for instance a longer distance can be covered more quickly during manualjog if manual jog is being operated for a time that exceeds the waiting time and a higherspeed is parameterised for the second manual speed.

Manual jog with intermediate stop 1 ... 4

If the intermediate stops 1 ... 4 are switched on via C01230 and the home position isknown, an automatic stop in the intermediate stop positions 1 ... 4 is effected duringmanual jog. Traversing is continued by "letting go" and activating the signalsbManualJogPos/Neg. again

Danger!

The function "HW limit switch off at manual jog !" may damage the mechanical system.


424 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14.3.6 Acceleration and speed override

An "Override" is the change of profile parameters and their acceptance during thepositioning process.

In this case the traversing profile has to be adapted accordingly, so that positioning is carried out exactly to the target position defined, even if for example a change in speed occurs during the positioning process ("Speed override"):

[14.2] Override (here: speed override)

The override for speed, acceleration, and S-ramp time affects all motion profiles that are controlled by the internal profile generator:

– Manual jog

– Retracting the limit switches

– Homing

– Point-to-point positioning

Speed is reduced during the positioning process. In order to reach the position defined, the missing area has to be "attached" to the profile. Due to the speed reduction the positioning process takes longer (Δt).

wMckState1

wMckState2

bInTarget

v [m/s]

�

�

� �tt [s]

Note!

The override has no impact on:

• Synchronising processes

• Setpoint controls via external setpoints

• Abort via input bPosStop

• Speed setpoint selection in case of error (e. g. "Fail-QSP")

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 425



14.3.6.1 Speed override

If the input bExecuteVelOverride is set to TRUE, a speed override according to the overridevalue applied to the input nVelOverride_a is carried out.

If the input bExecuteVelOverride is reset to FALSE, the speeds which were defined via the profile parameters are traversed again. The acceleration/deceleration from the speed defined by override to the speed set in the profile in this case is carried out immediately.

The override value nVelOverride_a is a percentage value relating to the value Vmax specified in the machine parameters.

– nVelOverride_a = 0 ... 16384 ≡ 0 ... 100 % Vmax

– Values at the input nVelOverride_a > 16384 are ignored.

– If the override value nVelOverride_a is "0", the drive is brought to standstill from the current travelling speed.

14.3.6.2 Acceleration override

If the input bExecuteAccOverride is set to TRUE, an acceleration override according to theoverride value applied to the input nAccOverride_a is carried out.

If the input bExecuteAccOverride is reset to FALSE, the accelerations which were defined via the profile parameters are traversed again. The acceleration from the acceleration defined by override to the acceleration set in the profile in this case is carried out immediately.

The override value nAccOverride_a is a percentage value relating to the value amax specified in the machine parameters.

– nAccOverride_a = 0 ... 16384 ≡ 0 ... 100 % amax

– Values at the input nAccOverride_a > 16384 are ignored.

– If the override value nAccOverride_a is "0", the acceleration is reduced to "0", so that no movement takes place anymore.

Note!

The online change of the speed takes effect from the profile start until the deceleration phase starts. A change of the deceleration phase thus cannot be effected by a speed override!

Note!

The online change of the acceleration takes effect from the profile start until the deceleration phase starts. A change of the deceleration phase thus cannot be effected by an acceleration override!


426 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14.3.7 Homing

Sequence of a reference run

1. Start of the movement with starting acceleration (C01225/1) and starting speed (C01224/1)

2. Detection of a "pre-switch off", e. g. bHomingMark

3. Braking to search speed (C01224/1) with search acceleration (C01225/1)

4. If the home position is known now, the actual calculation of the home position is carried out, taking the following into consideration:

– Home positionThe home position is the position that is to be set as "HomePosition" after the homing process has been completed

– Reference dimension offsetThis is a offset distance by which the drive traverses after finding the home position with search speed. At the end of this movement the home position is set.

5. If required, a positioning movement can be carried out by entering a sequence profile number (C01228) immediately after the homing procedure has been completed.

Start of the homing or direct setting of thehome position:

bHomeStartStop = TRUEDuring the whole homing process thissignal has to remain set. Otherwise, i. e. inthe case of FALSE, the reference run isaborted, and the drive brakes to standstillwith the acceleration set.

Note!

By setting a low search speed and a high search acceleration it is achieved that

• braking to the search speed is effected quickly

• the position detection (at low search speed) is exact.

Note!

This positioning movement is carried out in the "Homing" operating mode.

If a sequence profile (e. g. "3") is selected for homing, which has a sequence profile number itself (e. g. "5"), this profile ("5") is not started automatically.

wMckState2

dnTargetPos_p

dnSetPos_p

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 427



The measuring system in the machine is selected by means of homing and the 0 positionis set within the possible physical travel range:

[14.3] Homing (selection of 0 position)

The zero position (home) can be defined by a reference run or by setting a home position:

If a reference run is carried out, the drive follows a previously selected path to find the home position.

When the reference is set, it is selected manually when the drive stands still.

Tip!

A reference run is mainly used for systems with feedback via encoders, resolvers, orsingle-turn absolute value encoders, as in the case of these systems the homeposition is lost when the supply voltage is switched off.

Usually the reference is set only once during commissioning or in the event ofservice (e. g. if drive components are replaced), and it is only used for systems withfeedback via absolute value encoders.

"Flying" homing:

By means of the "flying" homing, the homeposition of a mechanical system can be setor deleted during a running movement.There will be no jerk or compensationmovement.

bHomeSetPosition = TRUE:"Flying" homing, i. e. the position adopted at the time of activation is set as home position.Furthermore a desired home position value becomes the new "HomePosition" after reading in at dnPosProfilePosition.

bHomeResetPosition = TRUE:

– The home position is deleted

– The controller is no longer referenced.

– bHomePosAvailable = FALSE

wMckState2

dnTargetPos_p

dnSetPos_p

0-Position10 20 30 40 50 60-10


428 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14.3.7.1 Homing modes ( C1221)

For the reference run (home position search) different modes can be selected, which areexplained in detail in the following sections.

According to the mode selected, the following input signals are evaluated for the reference search:

Abbreviations used for the homing modes:

Mode 6: cw_Rn_cw_TP

Functional sequence:

1. Movement in positive direction

2. Negative edge of bHomingMark enables home position detection.

3. The following positive edge of the touch probe sensor is the home position.

Input Function

bHomingMark Reference switch

bHomingTPReceived Input for signal "Touch probe detected"

bLimitSwitchPos Positive limit switch

bLimitSwitchNeg Negative limit switch

Abbreviation Meaning

cw Movement in positive direction

ccw Movement in negative direction

Ln Negative travel range limit switch

Lp Positive travel range limit switch

MP Positive edge of the encoder zero pulse

Rn Negative edge of the reference switch

TP Touch probe detected

Trq_LIM Torque limit value reached

Note!

In specific homing modes, for the search of the limit switch a change-over to a higher speed is carried out than for approaching the reference switch/touch probe sensor. By this the homing time can be reduced, and accuracy can be increased.

bHomingMark

Reference position

bHomingTPReceived

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 429



Mode 7: ccw_Rn_ccw_TP


1. Movement in negative direction

2. Negative edge of bHomingMark enables home position detection.


Mode 8: cw_TP




Mode 9: ccw_TP




Mode 10: cw_Lp_ccw_TP



2. Reversing in the case of a positive edge of the positive travel range limit switch.


bHomingTPReceived

Reference position

bHomingMark

bHomingTPReceived

Reference position

bHomingTPReceived

Reference position

bHomingTPReceived bLimitSwitchPosbLimitSwitchNeg

Reference position


430 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Mode 11: ccw_Ln_cw_TP



2. Reversing in the case of a positive edge of the negative travel range limit switch.


Mode 12: cw_Lp



2. Positive edge of the travel range limit switch sets home position.

Note!

In this mode for the home position search the mechanical load system can also exit the travel range limit switch.

Then a return travel to the home position which was set with the positive edge of the travel range limit switch is carried out. By this, possibly the mechanical system remains on a limit switch operated.

It is recommended to set a reference offset to clear the travel range limit switch.

bHomingTPReceived bLimitSwitchPosbLimitSwitchNeg

Reference position

bLimitSwitchPosbLimitSwitchNeg

Reference position

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 431



Mode 13: ccw_Ln



2. Positive edge of the travel range limit switch sets home position

Mode 14: cw_Trq_Lim


1. Movement in positive direction with a reduced torque.

2. The home position is set if it is detected that the torque limit is exceeded over a defined length of time ("Homing on positive stop").

– If no reference offset is set, this position is the home position.

– If a reference offset is set, traversing takes place around this offset with the correct sign, and at the end of this travel way the home position is set.

Note!

In this mode for the home position search the mechanical load system can also exit the travel range limit switch.

Then a return travel to the home position which was set with the positive edge of the travel range limit switch is carried out. By this, possibly the mechanical system remains on a limit switch operated.

It is recommended to set a reference offset to clear the travel range limit switch.

bLimitSwitchPosbLimitSwitchNeg

Reference position

Reference position


432 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Mode 15: ccw_Trq_Lim


1. Movement in negative direction with a reduced torque.

2. The home position is set if it is detected that the torque limit is exceeded over a defined length of time ("Homing on positive stop").

– If no reference offset is set, this position is the home position.

– If a reference offset is set, traversing takes place around this offset with the correct sign, and at the end of this travel way the home position is set.

Mode 100: Set_Ref_directly

This input brings about the setting of a home position without movement of the axis.

Setting the home position manually

Reference position

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 433



14.3.7.2 Use of a reference switch

In the homing modes with a reference switch the reference switch status is measured viathe input bHomingMark.

This input responds to the FALSE status (fail-safe) and is to be connected to the corresponding digital input to which the reference switch is connected.

14.3.7.3 Use of a touch probe sensor (in preparation)

14.3.7.4 Setting the homing speed

In specific homing modes, for the search of the limit switch a change-over to a higher speedis carried out than for approaching the reference switch or touch probe sensor. By this thehoming times can be reduced, and accuracy can be increased.

Further parameters for homing

14.3.7.5 Homing start

By setting the input bHomingStart to TRUE, you start homing in the homing mode set inC01221/1.

Via the status outputs bHomingBusy, bHomingDone and bHomePositionAvailable the current status of the reference search is shown.

If the input bHomingStart is reset to FALSE during homing, the reference run is cancelled, and the drive is brought to standstill.

A reference run can only be started in the "Homing" operating mode.

Note!

A high-precision homing or positioning with touch probe (TP) is in preparation.

In order to be able to use a TP sensitive homing mode even without the availability of the high TP precision, a signal at the digital input D3 is automatically interpreted as TP sensor signal.


C01224/2 Low speed

C01225/2 Acceleration / deceleration at low speed

C01224/1 High speed

C01225/2 Acceleration / deceleration at high speed

C01227/1 Offset position

C01226/1 S-ramp time

C01222 Homing torque limit

C01223 Blocking time


434 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14.3.7.6 Setting the home position manually

If the homing mode 100: Set_Ref_directly" is selected in C01221/1, the home position canbe set manually via the input bHomeStartStop during the drive is at standstill. The currentactual position is set as home position (C01227/2).

14.3.7.7 Resetting the home position

By setting the input bResetHomePosition to TRUE, the "Home position known" status canbe reset.

The status outputs bHomingDone and bHomePositionAvailable are reset to FALSE.

14.3.7.8 "Home position set once" status

At the output bHomingDone the TRUE status shows that a reference run has taken place atleast once.

In contrast to the output bHomePositionAvailable, the output bHomingDone even remains on TRUE if a travel command has been executed, which caused a reset of the home position.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 435



14.3.8 StartStop and profile number for controlling the profile generation

Positioning modes

For this see table

Control double word for activating theMotionControlKernels ( 416)

Mode Rotary axis Linear axis Information on touch probe

1 Absolute The axis is traversed to an absolute position.

The axis is traversed to an absolute position.

The touch probe path is always interpreted as a distance with the correct sign and is triggered via a digital input at the FB.

2 Relative The axis is traversed by a distance.

The axis is traversed by a distance.

The touch probe path is always interpreted as a distance with the correct sign and is triggered via a digital input at the FB.

3 CW* The axis is only moved in positive direction.The position selection is absolute.

Error message The touch probe path is always interpreted as a distance with the correct sign and is triggered via a digital input at the FB.The touch probe movement is carried out in CW direction.

4 CCW* The axis is only moved in negative direction.The position selection is absolute.

Error message The touch probe path is always interpreted as a distance with the correct sign and is triggered via a digital input at the FB.The touch probe movement is carried out in CCW direction.

* In preparation!


436 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14.3.9 Possible motion profiles

The following representation shows different motion profiles that can be traversed withthe L_MCPositioner FB:

[14.4] Possible motion profiles

v

t

v

t

v

t

v

t

v

t

v

t

v

t

� �

� �

� �

�

�

�

�

�

�

�

�

� �

�

�

�

Function

Asymmetrical trapezoidal profile with S-shaped ramps

Asymmetrical trapezoidal profile with linear ramps

Rounding of the profile with S-shaped ramps, where vprofile1 > vprofile2 or vend1 = vprofile2

Rounding profile with S-shaped ramps, where vprofile1 < vprofile2

Profile linkage

Profile linkage

Profile linkage with speed override in profile 2

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 437


S-ramp time for jerk limitation

14.4 S-ramp time for jerk limitation

The maximum jerk is defined by the selection of an S-ramp time tjerk_max, after which themax. acceleration (amax) only is reached.

The actual jerk time tjerk is reduced according to the actual acceleration Acc:

Without jerk limitation With jerk limitation

1. Standstill

2. Acceleration with set jerk limitation 6. Deceleration with set jerk limitation

3. Acceleration according to acceleration profile (Acc) 7. Deceleration according to deceleration profile (Dec)

4. Reduce acceleration (jerk limitation) 8. Reduce deceleration (jerk limitation)

5. Traversing with Vel according to speed profile 9. Standstill (position target reached)

V

t

t

a

tJerk

1 2 3 4 5 6 7 8 9

Vel

Acc

Dec

a max

a max

t

�

�

tjerk_max tjerk_max

tjerk_max tjerk_max

jerk t jerk jerkt t jerk

�

�

8400 HighLine C | Software ManualTA "Table positioning"S-ramp time for jerk limitation

438 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14.4.1 Switching off the S-ramp time

By setting the input bDisableSRamp to TRUE, an S-ramp time that may have been set in theprofile parameters is ignored, and traversing is carried out with linear ramps.

A deactivation of the S-ramp time before that start of a profile with S-ramp time causes a linear ramp generation.

A deactivation of the S-ramp time during a traversing process, however, is not accepted immediately in the profile generator, but the profile generator checks automatically when an online change of the ramp form can be carried out and then initiates it automatically.

Note!

If disproportionately high S-ramp times are set for low acceleration times, this may result in an incorrect profile generation.

Example: v = 100 mm/s, a = 1000 mm/s2

tacc = 0.1 s tjerk_max = 1 s

Therefore only set plausible S-ramp times; they should not exceed half the value of tacc.

Note!

Thus it is possible to start a travel profile with S-ramp time and then deactivate the S-ramp time, e. g. to traverse with a linear characteristic after reaching the profile speed.

It is also possible to change the ramp form during the braking phase, so that first a deceleration is initiated with a linear ramp, but when the position target is reached the S-ramp is traversed again.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 439


Limiting the torque

14.5 Limiting the torque

Via the inputs nTorqueMotLim C00728/1 and nTorqueMotGen_a the torque can bereduced.

The value nTorqueMotLim C00728/1 is a percentage value relating to the maximum torque of the axis (C00057).

– nTorqueLim_a = 0 ... 16384 ≡ 0 ... 100 % Mmax

– Values at the input nTorqueLim_a > 16384 are ignored.

14.5.1 "Home position known" status

At the output bHomePositionAvailable the TRUE status shows that the controller (still)knows the home position.

The output bHomePositionAvailable is reset to FALSE if a travel command has been executed, which caused a reset of the home position, or if the home position was reset manually via the input bResetHomePosition.

Note!

In homing modes 14 and 15 ("Homing on positive stop") the setting of this input is ineffective.

8400 HighLine C | Software ManualTA "Table positioning"Limiting the torque

440 L Firmware 02.00 - DMS EN 3.0 - 05/2009

14.5.2 "Position target reached" status

In C01245/1 you can define a window by means of which it is checked whether the targetposition has been reached.

If the current position is within this window, the output bInTarget is set to TRUE.

Due to the symmetrical structure of the window around the target position odd values in C01245/1 are rounded down to even values (see ).

[14.5] Symmetrical division of the window around the target position

Note!

• The target position including the window has to be within the maximum traversing range.

• Observe the following if you use bInTarget as step enabling condition within a sequencer:Also after a new profile has been started, bInTarget can already be in the TRUE status, as the change to FALSE is only carried out when the window is exited again.

Target position

120C01245/1 =

120 [unit]

60 [unit] 60 [unit]

Target position

C0 = 811245/1

80 [unit]

40 [unit] 40 [unit]

� �

Target windowTarget window

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 441


Limiting the torque

14.5.3 "Transient phenomenon completed" status

At the output bDwellTime it is shown by the TRUE status that the settling time specified inC01244/1 has elapsed after completion of the setpoint generation.

Like this mechanical transient phenomena of the tool when it reaches the target positioncan be taken into consideration.

The settling time starts to elapse when the setpoint has reached the target position(output bProfileDone = TRUE).

After the settling time has elapsed, the output bDwellTime is set to TRUE and is automatically reset to FALSE if a new positioning process starts.

[14.6] Definition of the settling time

14.5.4 Sequence block control

A special feature is the automatic step enable to sequence profiles with and withoutrounding speed.

For this the profile number of the desired sequence profile (1 … 15) is simply set in the profile parameters of a profile.

If the profile is traversed, an automatic start of the sequence profile set is carried out when the final speed is reached.

– Like this profile chains can be defined without additional control processes.

– When the profile parameter Vend = "0" is set, there is no velocity changeover, however, if Vend <> "0" is set, a velocity changeover takes place.

This function can be performed in all positioning modes.

Actual value profile Setpoint profile

t [s]

v [m/s]

t [s]

bProfileDone

TRUE

FALSE

t [s]

bDwellTime

TRUE

FALSE

Dwell time�

�

8400 HighLine C | Software ManualWorking with the FB EditorBasics

442 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15 Working with the FB Editor

The function block editor (in the following called "FB Editor") is available in the »Engineer«for the device versions "StateLine" and "HighLine".

The FB Editor serves, for example, to:

execute an online monitoring of the technology application running in the device (e.g. for diagnostic purposes).

reconfigure the I/O interconnection of the technology application.

implement an individual drive solution for the "HighLine" version.

15.1 Basics

Using the function block interconnection, any signal interconnections can beimplemented. Diverse FBs are available for digital signal processing, signal conversion andlogic modules.

For special tasks it has proved of value to use the integrated technology applications as abasis for modifications or extensions of the available FB interconnections. Moreover, theexperienced user has the opportunity to implement own drive solutions independent ofthe predefined technology applications by using the "free interconnection".

For this purpose, the FB Editor provides the following functions:

Copying & pasting of interconnection elements (also device-independent)

Export & import of the interconnection

Comparison of two interconnections (also online <-> offline comparison)

Overview window and zoom functions

Comments on the signal flow

Online monitoring

The option to mask out non-used inputs and outputs of modules is also sensible tominimise the complexity of the FB interconnection and to adapt the clarity of theinterconnection to the customers need.

All graphical information of the FB interconnection view (positions of the FBs, line or flagpresentation of the connection, visibility of the inputs/outputs) are saved with theparameter set in the memory module of the controller and can be uploaded anytime intothe FB Editor of the »Engineer« even if the Engineer project is not available.

Note!

The illustrations of the FB Editor user interface and the dialog boxes in this documentation are based on the »Engineer« V2.10.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 443

8400 HighLine C | Software ManualWorking with the FB Editor

Basics

15.1.1 Basic components of a drive solution

A drive solution consists of the following basic components:

Signal sources (for control and setpoint signals)

Signal flow of the technology application

Signal outputs (for status and actual value signals)

[15-1] Basic components of a drive solution

Regarding the 8400 device series, these three components are available for the FBinterconnection and classified as follows:

Further information on the individual modules can be obtained from the followingsubchapters!

STOP

M

0

1

n

t

�

...............

..............

Signalinputs

Setpointgenerator

PIDProcesscontroller

Drivecontrol

Motorcontrol

SignaloutputsActuating drive-speed

.................

Motion

Module type Name Task Example

Function block L_name General function block for free interconnection (only HighLine)

L_Compare_1L_PCTRL_1

System block LS_name Signal interface to inverter-internal functions

LS_DigitalInputLS_AnalogOutput

Port block LP_name • Process data communication via a fieldbus using a communication module

• Process data communication via CAN on board

LP_CanIn1/-Out1LP_CanIn2/-Out2LP_CanIn3/-Out3LP_MciIn/ -Out

Application block LA_name Block for a technology application LA_NCtrl


444 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.1.1.1 What is a function block?

A function block (FB) can be compared with an integrated circuit that contains a specificcontrol logic and delivers one or several values when being executed.

The function blocks are classified alphabetically in a "function library".

Each function block has a unique identifier and a processing number which defines the position at which the function block is calculated during runtime.

[15-2] Information on a function block in the FB Editor

Tip!

A detailed description of all available function blocks can be found in the mainchapter "Function library". ( 494)

Name of the function block Processing number Button for opening the online help for the function block Another available function block of the same type (numbering in ascending order)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 445


Basics

15.1.1.2 Parameterisable function blocks

Some function blocks have parameters which serve to change particular settings duringoperation, if required, or which display actual values & status information.

The symbol in the head of the module, a double-click on the module, or the Parameter... command in the context menu of the module serve to open the parameterisation dialog or the parameter list for the module.

Example

Parameterisation dialog for the FB L_DigitalDelay_2:

15.1.1.3 What is a system block?

System blocks are a special variant of a function block. They partly activate real hardware,e. g. the digital and analog inputs/outputs and the motor control.

[15-3] Example: System block "LS_MotorInterface" for mapping the motor control

Name of the system block Button for opening the online help for the system block Button for opening the parameterisation dialog or the parameter list for the system block


446 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.1.1.4 What is a port block?

All input/output ports of the application can be inserted in the interconnection in the formof port blocks in order to get access to the associated element variables.

[15-4] Example: Input port "LP_CanIn1" and output port "LP_CanOut1"

Input/output ports enable, for instance, the data exchange in an interconnection or with amaster control via a corresponding transmission medium (e.g. system bus).

15.1.1.5 What is an application block?

The application block contains the interconnection of the selected technology function.

On the I/O level, the application block only provides the inputs and outputs of the technology function.

On the application level, the interconnection of the technology function is shown in detail.

Name of the port block Button for opening the online help for the port block Button for opening the parameterisation dialog or the parameter list for the port block

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 447


Basics

15.1.2 Conventions used for input/output identifiers

This chapter describes the conventions used for the identifiers of the inputs/outputs of theblocks. The conventions ensure a uniform and consistent terminology and make readingand comprehending the interconnection and application easier.

Tip!

The conventions used by Lenze are based on the "Hungarian Notation". Thisensures that the most significant characteristics of the corresponding input/output (e.g. the data type) can be instantly recognised from its identifier.

An identifier consists of

a data type entry

an identifier (the "proper" name of the input/output)

an (optional) signal type specification

Data type entry

The data type entry provides information about the data type of the corresponding input/output:

Identifier

The identifier is the proper name of the input/output and should indicate the applicationor function.

Identifiers always start with a capital letter.

If an identifier consists of several "words", then each "word" must start with a capital letter.

All other letters are written in lower case.

Data type entry Meaning Resolution Value range

b BOOL 1 bit 0 ≡ FALSE / 1 ≡ TRUE

dn DINT 32 bits -2147483647 ... 2147483647

n INT 16 bits -32767 ... 32767

w WORD 16 bits 0 ... 65535


448 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Signal type entry

In general, it is possible to assign a certain signal type to the inputs and outputs of theLenze function blocks. There are e.g. digital, scaled, position, acceleration and speedsignals.

A corresponding ending (preceded by an underscore) is added to the identifier of the corresponding input/output to indicate the signal type.

15.1.3 Scaling of physical units

With regard to the parameter setting & configuration of the controller it is very helpful toknow the signal types and their scaling listed in the following table, which are used toprocess physical values (e.g. an angular velocity or position) in the function blockinterconnection.

Signal type entry& port symbol

in the FB Editor

Meaning Resolution Value range

_a Analog/scaled 16 bits ± 199.99 %

_v / Angular velocity 16 bits ± 30000.0 min-1

_p / Position 32 bits -231 ... 231-1 increments

Digital (BOOL) 8 bits 0 ≡ FALSE; 1 ≡ TRUE

- Other (WORD) 16 bits 0 ... 65535

Signal type entry& port symbol

in the FB Editor

Meaning Scaling

external value ≡ internal value

_a Analog/scaled 100 % ≡ 214 ≡ 16384

_v / Angular velocity 15000 rpm ≡ 214 ≡ 16384

_p / Position 1 encoder revolution ≡ 216 increments

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 449


User interface

15.2 User interface

How to access the FB Editor:

1. Go to Project View and select the 8400 controller.

2. Go to Workspace and select the FB Editor tab.

The FB Editor displays the wiring of the technology function selected in C00005. The interconnection of the I/Os of the controller depend on the control mode selected in C00007.

The user interface of the FB Editor includes the following control and function elements:

Tip!

Go to the »Engineer« toolbar and click the icon to hide the Project View and theMessage Window. This increases the Workspace available for the FB Editor. Arenewed click on the symbol shows the Project View and the Message Windowagain.

Toolbar Search function Level selection Editor view/overview

Drawing area Context menu Status bar Not shown:Overview window

8400 HighLine C | Software ManualWorking with the FB EditorUser interface

450 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.2.1 Toolbar

The FB Editor is provided with an individual toolbar in the upper position which in thefollowing text is called FB Editor toolbar.

Click an icon to execute the corresponding function.

Symbol Function

Insert function block or system blockInserting a function block ( 464) Inserting a system block ( 466)

Inserting a port block ( 468)

Adjusting online and offline interconnection ( 487)

Acknowledge error in the interconnection / reload interconnection

Correct interconnection

Start online monitoring

Interrupt online monitoring

Close online monitoring

Enlarge view of interconnection

Reduce view of interconnection

Enlarge cutout of interconnection

Show total interconnection in the drawing area

Show print view

Printing the interconnection ( 488)

Search function ( 451)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 451


User interface

15.2.2 Search function

Use the search function to get quickly to a certain module of the interconnection.

The list field of the search function contains all function blocks, system blocks, and port blocks of the interconnection:

When you select a module in the list field, this module is zoomed in and selected at the same time (the following example shows the LS_DigitalInput system block):


452 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Tip!

You can also enter any search text in the input field.

• If you click the icon, the cutout is moved to the object which contains this search text.

• Another click on the icon leads to a new search. Thus, you can navigate successively to all objects which contain the entered search text.

• The search text does not consider case sensitivity.

15.2.3 Level selection

Go to the list field Level selection and select the interconnection level to be displayed.

"I/O interconnection" level

This level displays only the I/O interconnection of the currently selected technologyapplication for a better overview.

Details of the application are masked out in this level.

The interconnection of the I/Os of the controller with the inputs and outputs of the application in detail depends on the control mode selected in C00007.

The parameterisation dialogs on the Application parameter tab correspond to the application block displayed in this level.

[15-5] Schematic diagram of "I/O interconnection"

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 453


User interface

"Application interconnection" level

This level displays the interconnection of the application selected in C00005 in detail. Allfunction blocks used in the application and the system blocks which provide the interfacesto the drive and motor interface and to the MotionControlKernel (MCK) are displayed withtheir connections.

The interconnection of the I/Os of the controller with the inputs and outputs of the application is masked out in this level.

[15-6] Schematic diagram of "Application interconnection"

"Free interconnection" level

This level serves to implement an individual drive solution for the HighLine version.

Note!

When you select the "Free interconnection" level for the first time, you are prompted to confirm whether the interconnection from the I/O level and the application level are to be combined and copied into this level.

When you confirm this confirmation prompt with Yes, the I/O level and the application level are not available anymore. This action can only be undone by resetting the application to a predefined Lenze application! Reset changed interconnection ( 486)


454 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.2.4 Editor view/overview

Use the list field at the top right to change from the Editor to the overview and vice versa.

The overview shows all function blocks used of the interconnection in the upper list fieldin the order of their processing. The lower list field shows all used system blocks.

The processing order of the function blocks can be optimised manually or according to an automatically generated selection. Changing the processing order ( 481)

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 455


User interface

15.2.5 Context menu

You can open a context menu via the right mouse button for each object (function block,system block, line, comment, etc.) and for the drawing area:

The contents of the context menu depend on the type of object you click on.

Example: Context menu for a function block:

15.2.6 Status bar

The status bar of the FB Editor shows, among other things, information about the systemload and the error status of the interconnection:

Symbol Meaning

System load

Here: out of the available computing time of 610 μs, 226 μs are required by the application.

Error status of the interconnection

The interconnection has no errors and no warnings

The interconnection has errors and/or warnings

Communication status

Offline

Online

Communication error

Adjustment status

Offline and online interconnection match

Offline and online interconnection are different

Update rate for monitoring values


456 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.2.7 Overview window

The overview window shows the drawing area in a reduced view. The overview windowserves to e.g. move quickly through a more complex interconnection.

How to show the monitor window:

Go to the Context Menu of the drawing area and select the Overview Window.

• If you execute this command again, the overview window is hidden again.

The green frame in the overview window indicates the interconnection cutout that is currently displayed in the drawing area.

Use the mouse pointer to shift and resize the cutout to be displayed.

How to shift the cutout presented in the drawing area:

1. Position the mouse pointer to the green frame in the overview window.

• The mouse pointer symbol becomes a positioning cross.

2. Click left mouse button and shift the green frame to its new position by keeping the mouse button pressed, so that the desired cutout of the interconnection is displayed in the drawing area.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 457


User interface

How to redefine the cutout to be presented:

In the overview window draw a frame around the area of the interconnection which is to be presented in the drawing window by keeping the left mouse button pressed:

• The aspect ratio of the frame is automatically adapted to the aspect ratio of the drawing area.

• According to the size of the frame that is drawn, also the presentation size of the objects in the drawing area changes.

Tip!

Go to the FB Editor toolbar and click the icon to adapt the view size so that all objects included in the interconnection are visible in the drawing area.

Automatic scroll ("AutoScroll function") If you reach a window limitation in the drawing area when shifting an object or inthe overview window when shifting the green frame, and if you then shortly holdthe mouse pointer in this position, an automatic scrolling into the correspondingdirection is carried out:

8400 HighLine C | Software ManualWorking with the FB EditorUsing the FB-Editor as "Viewer"

458 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.3 Using the FB-Editor as "Viewer"

The main purpose of the FB Editor is the individual configuration of the selectedtechnology application. However, you can also use the FB Editor to

make a diagnosis of the application (when an online connection has been established),

get a better understanding for the operating mode of the application,

use the interconnection as an alternative parameterisation access.

Diagnostics of the application

When an online connection to the controller has been established, the current values aredisplayed at the inputs and outputs of the objects.

Process-scaled signals can be scaled in a "user-defined" way for easy diagnostics in the FB Editor. Change online display format ( 461)

Getting a better understanding for the operating mode of the application

Make yourself familiar with the signal flow of the interconnection to get a betterunderstanding of the operating mode of the application or individual functional areas.

The symbol in the head of the block or the Help command in the context menu for the block serve to open the online help for the block.

Using the interconnection as an alternative parameterisation access

The symbol in the head of the module, a double-click on the module, or the Parameter... command in the context menu of the module serve to open the parameterisation dialog or the parameter list for the module.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 459


Using the FB-Editor as "Viewer"

15.3.1 Following connections of inputs and outputs

In addition to the Search function you can use the context menu of inputs and outputs tofollow connections and quickly reach certain signals.

How to navigate from one output to another connected input:

1. Open the context menu (right mouse button) of the port symbol at the output.

• The context menu for the port symbol contains all inputs which are connected to the output:

2. Select input in the context menu to which you want to navigate.

• As a result, the selected input is displayed in the centre of the drawing area (in this example: nGPAnalogSwitchOut_a):


460 L Firmware 02.00 - DMS EN 3.0 - 05/2009

How to navigate from one input to another connected output:

If the input is connected to a flag:

• Double-click the flag:

If the input is connected to a line:

1. Open the context menu (right mouse button) of the port symbol at the output:

2. Select output in the context menu.

• Since an output can only be connected to an input, the context menu contains only an output.

The output is displayed in the centre of the drawing area.

15.3.2 Keyboard commands for navigation

Keyboard command Function

<Picture > Scroll up

<Picture > Scroll down

<Shift> + <picture > Scroll to the left

<Shift> + <picture > Scroll to the right

<POS1> Scroll to the left edge of the interconnection

<END> Scroll to the right edge of the interconnection

<Ctrl> + <Pos1> Scroll to the left upper corner of the interconnection

<Ctrl> + <End> Scroll to the right lower corner of the interconnection

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 461


Using the FB-Editor as "Viewer"

15.3.3 Change online display format

For online monitoring in the FB Editor the display format of the input and output data of ablock can be adapted individually. Process-scaled signals can be scaled in a "user-defined"way for easy diagnostics in the FB Editor. Thus, the display of these signals gets a processreference.

How to change the data display format of block inputs/outputs:

1. Go to the context menu of the block and select the Online display format command.

• Tip: You can call the context menu of a block by clicking with the right mouse button on the header of the block.

• The Display format dialog box is displayed:

2. Select the inputs/outputs from the list the display format of which is to be changed.

• Note: In the Global format setting list field the "---" entry must be selected so that the display format can be changed.

• If you click further inputs/outputs while pressing <Ctrl> they are added to an already existing selection (multi-selection).

• The <Shift> key serves to select a related area of inputs/outputs.

• More functions:

Display masked out connections

Display additional information

Select all inputs/outputs

Reset all format information


462 L Firmware 02.00 - DMS EN 3.0 - 05/2009

3. Click the symbol to edit the display format of the selected inputs/outputs.

• The Edit display format dialog box is displayed:

4. Go to the Format displayed list field and select the "User-defined" entry.

5. Go to the Format template list field and select "No template".

6. Select the required scaling, unit, number of decimal positions, and sign handling.

7. Press OK to accept the settings and close the Edit display format dialog box.

• The Display format dialog box now displays the text "User-defined" for the changed inputs/outputs in the Format column.

After all required formats have been changed:

8. Press Back to close the Display format dialog box.

• For online monitoring, the changed format is used.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 463


Reconfiguring the predefined interconnection

15.4 Reconfiguring the predefined interconnection

How to proceed:

1. Insert additionally required objects into the interconnection.

2. Hide unneeded inputs/outputs of function blocks and system blocks to obtain a clearly arranged interconnection.

3. Arrange the objects in the drawing area in a reasonable manner.

4. Establish the connections required for the desired function.

5. If required, change (optimise) the processing order of the function blocks.

Tip!

Detailed information on the individual steps can be obtained from the followingsubchapters!

15.4.1 Insert/delete objects

Objects can be inserted in the interconnection via the FB Editor toolbar and the contextmenu of the drawing area. The following subchapters provide detailed information on howto insert/delete the different objects.

Tip!

Use the context menu of the drawing area to insert a function block, system block,port block or comment directly to the current position of the mouse pointer in thedrawing area.

If you insert an object via the corresponding icon in the FB Editor toolbar, the objectis always placed at the top left corner in the drawing area.

Interconnection elements cannot only be copied within the same interconnectionbut also across all devices within the same project, as long as the devices stem fromthe same product family. Copying interconnection elements (across all devices)( 483)

Note!

With the "StateLine" version, the interconnection shown in the application level cannot be edited.

Symbol Function

Inserting a function block ( 464)

Inserting a system block ( 466)

Inserting a port block ( 468)

Inserting a comment ( 470)

8400 HighLine C | Software ManualWorking with the FB EditorReconfiguring the predefined interconnection

464 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.4.1.1 Inserting a function block

How to insert a function block into the interconnection:

1. Click the icon in the FB editor toolbar.

• The Insert Function Block dialog box appears:

2. Unless it is already displayed, select the Function Blocks tab.

• All function blocks available are displayed in the Search results list field.

• A preview of the selected function block is displayed.

• A detailed description of all available function blocks can be found in the main chapter "Function library". ( 494)

3. If required, define search criterions to accordingly narrow down the function blocks available:

• Block name:String which must be contained in the name of the function block.

Note!

In the FB Editor, function blocks are only available in the "Application interconnection" level!

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 465



4. After changing the search criteria, press the Find button to update the selection.

• Then, only the function blocks complying with the features set in the search criteria are shown in the Search Results list field.

• If no search criteria are set, all function blocks available are shown.

5. Select the function block to be inserted in the Search results list field.

6. Press Insert button.

• The dialog box is closed and the selected function block is inserted into the interconnection.

Context menu for the function block

If you right-click on the header of a function block, a context menu opens via which you canexecute the following functions in addition to the general processing functions (Copy,Insert, Delete):

Related topics

Deleting objects that are no longer required ( 472)

Changing connector visibilities ( 473)

Arranging objects in the drawing area ( 474)

Creating/deleting connections ( 475)

Changing the processing order ( 481)

Command Function

Center Move the visible cutout of the drawing area so that the block is centred.

Connector visibilities... Define visible inputs and outputs of the block.Changing connector visibilities ( 473)

Online display format... Adapt the display format of the input and output data of the block individually for online monitoring.

Change online display format ( 461)

Parameter... Open the parameter list/parameterisation dialog for the block. • Only if function block is parameterisable.

Help Show online help for the block.


466 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.4.1.2 Inserting a system block

A system block is inserted similarly to the way a function block is inserted.

How to insert a system block into the interconnection:

1. Click the icon in the FB editor toolbar.

• The Insert Function Block dialog box appears:

2. Unless it is already displayed, select the System Blocks tab.

• All system blocks available are displayed in the Search results list field.

• A preview of the selected function block is displayed.

3. If required, define Search criterions to accordingly narrow down the system blocks available:

• Block name:String which must be contained in the name of the system block.


• Then, only the system blocks complying with the features set in the search criteria are shown in the Search Results list field.

• If no search criteria are set, all system blocks available are shown.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 467



5. Select the system block to be inserted in the Search results list field.


• The dialog box is closed and the selected system block is inserted into the interconnection.

Context menu for the system block

If you right-click on the header of a system block, a context menu opens via which you canexecute the following functions in addition to the general processing functions (Copy,Insert, Delete):

Related topics





Command Function





Parameter... Open the parameter list/parameterisation dialog for the block.



468 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.4.1.3 Inserting a port block

All input/output ports defined for the application on the Ports tab can be inserted into theinterconnection in the form of port blocks in order to get access to the associated elementvariables.

Tip!

You can change between the Ports and FB Editor tabs at any time to define newports and afterwards insert them into the interconnection.

How to insert a port block into the interconnection:

1. Click the icon in the FB Editor toolbar.

• The Insert port block dialog box appears.

• All port blocks available are displayed in the Search results list field.

• A preview of the selected port block is displayed.

2. If required, define search criterions to accordingly narrow down the port blocks available:

• Block name:String which must be contained in the name of the port block.


• Then, only the port blocks complying with the features set in the search criteria are shown in the Search Results list field.

• If no search criteria are set, all port blocks available are shown.

4. Select the port block to be inserted in the Search results list field.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 469




• The dialog box is closed and the selected port block is inserted into the interconnection.

Context menu for the port block

If you right-click on the header of a port block, a context menu opens via which you canexecute the following functions in addition to the general processing functions (Copy,Insert, Delete):

Related topics





Command Function





Parameter... Open the parameter list/parameterisation dialog for the block.



470 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.4.1.4 Inserting a comment

Comments can be inserted at any position in the drawing area.

As of the »Engineer« V2.10, the interior colour and text alignment of a comment can bechanged via a properties dialog. Now the sizes of comments can also be changed using themouse pointer. When using different interior colours you can use comments to graphicallyarrange areas that belong together in terms of function or separate them from other areas:

[15-7] Example: Graphical arrangement of FBs by means of two comments that overlap.

How to insert a new comment into the interconnection:

1. Move the mouse pointer to the (free) position in the drawing area where the comment is to be inserted.

2. Go to the Context menu (right mouse key) and select the New comment command.

• The Properties dialog box is displayed:

3. Enter the required comment into the text field.

4. Optional: Change preset interior colour.

• For this purpose, click the left Change... button to open the Colour dialog box to select another interior colour.

Note!

The term "Arrangement" does not mean a logical arrangement of the function blocks. The comments are only graphical presentation elements of the FB Editor.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 471



5. Optional: Change preset text alignment.

• For this purpose, click the right Change... button to open the Text alignment dialog box to select another text alignment.

6. Press OK to close the Properties dialog box and insert the comment.

• After being inserted, the corner points of the comment are shown:

7. Optional: Change size of the comment.

• For this purpose click one of the corner points with the left mouse button and enlarge the comment to the required size with the mouse button pressed.

8. Optional: Drag comment.

• For this purpose click the comment with the left mouse button and move the comment to the required position with the mouse button pressed.

Tip!

The Properties dialog box for a comment already available can be opened bydouble-clicking the comment.

Related topics





472 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.4.1.5 Deleting objects that are no longer required

Objects that are no longer required can be easily deleted again. "Delete" only means thatthe object is removed from the drawing area. If you have deleted an object from thedrawing area, you can reinsert it any time into the interconnection.

How to delete objects that are no longer required:

1. Select objects to be deleted.

• You can select a single object by clicking the header of the object.

• You can select objects that are placed together by drawing a frame around these objects while keeping the mouse button pressed.

• If you click the header of further objects while pressing <Ctrl>, these will be added to an already existing selection (multi-selection).

• All selected objects are highlighted by a light green header.

2. Press <Del>.

Related topics

Deleting connections that are no longer required ( 480)

Note!

Deleting an object cannot be undone.

Together with the object, all available connections to this object are deleted.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 473



15.4.2 Changing connector visibilities

Inputs and outputs that are not connected can be hidden for each block. This serves toreduce the dimension of the block. The interconnection becomes clearer.

How to define the visible inputs and outputs:

1. Go to the context menu of the block and select the Connector visibilities command.

• The Define Visible Inputs and Outputs for Function Blocks is displayed:

• All visible connections have a checkmark.

• In case of a block that is inserted anew, all inputs and outputs are visible at first.

• Inputs and outputs with a light grey checkbox are already connected and thus cannot be hidden.

2. By setting/removing the checkmarks or via the buttons you can define the visible inputs and outputs.

3. Press OK to accept the selected definition and close the dialog box.


474 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.4.3 Arranging objects in the drawing area

All objects can be freely arranged in the drawing area by dragging with the mouse.

We recommend to make an arrangement in which the required connections between theinputs and outputs can be created easily. A division into functional areas may also besensible to get a better understanding of the application.

Objects which are already connected, can also be dragged to another (free) position in thedrawing area. The available connections will be automatically re-routed after dragging.

How to drag an object:

1. Click the header of the object (and keep the button pressed).

2. Keep the button pressed and drag the object to the required position in the drawing area.

• Via <Esc> you can cancel this action.

How to drag several objects at the same time:

1. Select the objects to be dragged.



• You can easily select objects that are placed together by drawing a frame around these objects while keeping the mouse button pressed.


2. Keep the mouse button pressed on the header of one of the selected objects and drag it to the required position in the drawing area.


Note!

A red header indicates that the object overlaps with other objects in the drawing area!

Arrange the objects so that no overlap occurs.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 475



15.4.4 Creating/deleting connections

After adding objects and arranging them in a reasonable manner within the drawing area,you can create the connections between the available objects which are required for thedesired function.

A connection always has a direction and therefore always has a source and a target.

Permissible/impermissible connections

Several connections can lead from one output.

However, maximally one connection may end in an input.

Only inputs/outputs of the same signal type can be connected.

An output represents a possible source in the interconnection.

An input represents a possible target in the interconnection.

Therefore it is always possible to start a new connection from an output.

Therefore it is only possible to start a new connection from an input if there is no connection already ending in this input.

Thus, a connection between different port symbol cannot be established.


476 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Connection types

Connections can either be created by means of connection lines or port identifiers ("flags")

[15-8] Example 1: Connection via connection line

[15-9] Example 2: Connection via flags

Tip!

The commands Show as flag or Show as line in the context menu of a connectionserve to change the representation of the connection at any time.

When an output is connected to several inputs via flags, three points are displayed("...") at the output instead of the concrete input identifier. The context menu of theport symbol shows all inputs which are connected to the output.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 477



15.4.4.1 Creating a connection using the connection line

How to create a connection using the connection line:

1. Click the port symbol from which the new connection is to be started.

• It is only possible to start a new connection from an input if there is no connection already ending in this input.

• If you then move the mouse pointer away from the port symbol, a new connection is "drawn" from this port symbol.


2. Click the port symbol where the connection is to end.

• Thereupon the corresponding connection is routed automatically if the connection is permissible.

Tip!

If you move the mouse pointer across the port symbol while drawing a new connection, you can see whether the connection is permissible or not from the colour of the drawn line and from the mouse pointer symbol.

• Permissible connection:

• Impermissible connection (different port symbol):

The command Show as flag in the context menu of a line serves to change therepresentation of the connection at any time.


478 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.4.4.2 Creating a connection using port identifiers

How to create a connection with port identifiers:

1. Click the port identifier.

• The selected port is highlighted in light green:

2. Drag the port segment to the required port while keeping the left mouse button pressed:

After releasing the mouse button, the connection via port identifiers (flags) is created. The corresponding port identifier consists of the block name and the name of the input/output:

Tip!

The command Show as line in the context menu of a flag serves to change therepresentation of the connection at any time.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 479



15.4.4.3 Creating a connection via connection dialog

You can also create connections by means of a selection dialog instead of dragging bymouse. This especially makes sense if there is a great distance between the ports to beconnected in the drawing area.

How to create a connection using the selection dialog:

1. Right-click the port identifier or click the port symbol from which the connection is to start.

• The context menu for the port is displayed.

2. Go to the context menu for the port and select the Add/change connection... command.

• The Add/change connection dialog box is displayed:

• In a tree structure all inputs and outputs of the application are shown to which a connection is permissible.

• You can enter an optional text into the Filter input field to reduce the selection to the blocks or ports which contain the entered text.

• If you activate the Show hidden ports control field, the hidden ports for system and function blocks are shown as well.

3. Select the port where the connection is to end from the tree structure.

4. Activate the Add connection as flag control field if a port identifier (flag) is to be inserted instead of a connection line.

5. Press OK to create the connection to the selected port and close the dialog box.


480 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.4.4.4 Deleting connections that are no longer required

How to delete connection lines:

1. Select connection lines to be deleted.

• Select a single connection line by directly clicking on the connection line with the right mouse button.

• If you click further connection lines while pressing <Ctrl> they are added to an already existing selection (multi-selection).

• All connection lines are highlighted in red.

2. Press <Del>.

How to delete port identifiers/flags:

1. Select the port identifiers to be deleted.

• Select a single port identifier by directly clicking on the port identifier with the left mouse button.

• If you click further port identifiers while pressing <Ctrl> they are added to an already existing selection (multi-selection).

• All selected port identifiers are highlighted by a light green header.

2. Press <Del>.

Related topics


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 481



15.4.5 Changing the processing order

If you insert a function block into the interconnection, an order index is automaticallyassigned to this function block. By means of this order index it is defined in which order theindividual function blocks are calculated at runtime.

The first function block inserted contains the order index "1", the next function block inserted contains the order index "2", etc.

The respective order index is displayed in the header of the function block in the rectangle after the block name.

[15-10] Example: Function blocks with order index

Note!

When a function block is shifted, its order index is maintained.

The processing order influences the result!

• In certain cases it may be sensible to change the processing order, but if you select an unfavourable processing order, errors may arise!


482 L Firmware 02.00 - DMS EN 3.0 - 05/2009

How to change the processing order manually:

1. Use the list field at the top right to change from the Editor to the overview.

• The overview displays all function blocks of the interconnection in the order of their processing

• In the first "Order" column the order index of each function block is listed.

2. Unless already selected, select the entry "Manual selection" in the Optimisation... list field.

3. Select the function block which is to receive a different position within the processing order.

• If you click further function blocks while pressing <Ctrl> they are added to an already existing selection (multi-selection).

• The <Shift> key serves to select a related area of function blocks.

4. Move the function block(s) to the desired position using the and buttons.

• The button serves to exchange two selected function blocks with regard to their order.

5. Repeat steps 3 and 4 until the required processing order has been established.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 483



Changing the processing order according to an automatically generated selection

In addition to the manual selection, the Optimisation... list field also offers two options foran automatic adaptation of the processing order:

Signal flow: The processing order is optimised according to the signal flow.

Topology: The processing order is optimised according to the x/y arrangement of the function blocks in the FB Editor.

As long as an automatic adaptation has been selected, a manual change of the processingorder is not possible.

15.4.6 Copying interconnection elements (across all devices)

Interconnection elements can be copied across the devices within the project if the devicesbelong to the same product family (e.g. Inverter Drives 8400).

All types of blocks and comments can be copied to the clipboard via the Copy command orthe <Ctrl>+<c> shortcut and then be inserted into the FB interconnection of the same oranother project device of the same product family using the Insert command or the<Ctrl>+<v> shortcut.

During the copy process into the clipboard, existing connections between copied blocks are copied as well, and the layout is kept too. Moreover, the separate technical objects (e.g port definition) are copied. Selected connections cannot be copied on their own.

The Insert command is available if the clipboard is not empty and if it was copied from a device of the same product family. Within this product family, all device types (e.g. 8400 xxxxLine Vxx.xx) are permitted.

After the Insert command has been selected, a dialog box is displayed which serves to select which elements are to be inserted from the clipboard and how to solve name conflicts, if any.

After inserting the elements, they are marked in the target interconnection in order to be repositioned or deleted again to undo the insertion.

Inserting from the clipboard can be repeated. The originally copied contents of the clipboard remains unchanged when it is inserted.

How to copy one or several interconnection elements:

1. Select the objects to be copied.



• You can easily select elements that are placed together by drawing a frame around these elements while keeping the mouse button pressed.


2. Go to the context menu and select the Copy command (or <Ctrl>+<c>).

• The selected elements are copied into the clipboard of the FB Editor.


484 L Firmware 02.00 - DMS EN 3.0 - 05/2009

3. If the elements are to be copied into a function block interconnection of another project device, change to the corresponding interconnection via the project view.

4. Go to the context menu and select the Insert command (or <Ctrl>+<v>).

5. Go to the Insert FB interconnection dialog box and select the elements to be inserted from the clipboard.

• Detailed information on this dialog box can be obtained from the following subchapter "Insert options for copied elements". ( 485)

6. Click Insert to insert the selected elements into the target interconnection as defined.

• Only possible if at least one element in the list has been selected for insertion.

• Insertion is also possible via the <Enter> button if at least one element is selected in the list for insertion.

• The original layout and the relative position of the inserted blocks to each other are maintained.

• When copying across the devices, you also insert the corresponding separate technical objects (e.g. port definition).

• The inserted elements are deleted from the list. If the list is empty, the dialog box is closed and the connections are inserted depending on the selected option.

7. If there are still elements to be entered in the list, repeat steps 5 and 6 until all elements are inserted as intended.

8. Press Close to stop the insertion and close the dialog box.

• You can also use <Esc> or <Enter> to close the dialog box if "Insert" is not active.

• The elements inserted into the target interconnection so far are maintained.

• The connections for the blocks inserted so far are inserted depending on the selected option.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 485



15.4.6.1 Insert options for copied elements

If interconnection elements have been copied to the clipboard, the »Engineer« will displaya list of all elements contained in the clipboard when selecting the command Insert in theInsert FB interconnection dialog box:

The list shows the elements which can be added to the target interconnection, and theelements which cannot be added.

In the "Selection" column, you can check/uncheck the elements to be added.

Connections are only inserted when the dialog box is closed, which applies to all modules inserted so far. They are displayed as lines or flags, like in the original, but re-routed.

The symbols in the Toolbar serve to execute the following functions:

Symbol Function

Add the selected elements to the interconnection

Show the elements to be added but are marked with an error or warning.

Show the elements not to be added and marked with an error or warning.

Show blocks

Show connections

Show parameters

Show comments

Show system elements

Show all

Print view

Print list


486 L Firmware 02.00 - DMS EN 3.0 - 05/2009

The buttons serve to execute the following functions:

15.4.7 Reset changed interconnection

If you only made changes on the I/O level, you can reset them by selecting a predefinedcontrol scheme in C00007. If you have also made changes on the application level, youmust first reset the changed application to a predefined application in C00005.

How to reset the application interconnection to a predefined application:

1. Go to the Application parameters tab.

2. Select the required application in the Application list field.

How to reset the I/O interconnection to a predefined control scheme:

1. Go to the Application parameters tab.

2. Select the required control scheme in the Control source list field.

Button Function

Insert Add elements selected in the list to the target interconnection • Only possible if at least one element in the list has been selected for insertion. • Insertion is also possible via the <Enter> button if at least one element is selected in the

list for insertion. • The original layout and the relative position of the inserted blocks to each other are

maintained. • When copying across the devices, you also insert the corresponding separate technical

objects (e.g. port definition). • The added elements are simultaneously deleted from the list. The connections are added

depending on the selected option.

Close Close dialog box. • You can also use <Esc> or <Enter> to close the dialog box if "Insert" is not active. • The elements inserted into the target interconnection so far are maintained. • The connections for the blocks inserted so far are inserted depending on the selected

option.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 487


Adjusting online and offline interconnection

15.5 Adjusting online and offline interconnection

If the »Engineer« detects that online and offline interconnection differ from each other,the Adjust interconnection dialog box is displayed with various options for the adjustment:

Tip!

The dialog box can also be opened via the symbol in the FB Editor toolbar.

Button Function

Accepting the interconnection from the device

Add the interconnection in the device to the FB Editor. The interconnection existing in the FB Editor will be overwritten by this action.

Transferring the interconnection to the device

Transfer the offline interconnection which is currently not visible in the FB Editor to the device. The interconnection existing in the device will be overwritten by this action.

Showing differences Showing differences between online and offline interconnection.

Cancel Close the Adjust interconnection dialog box without making an adjustment.

8400 HighLine C | Software ManualWorking with the FB EditorPrinting the interconnection

488 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.6 Printing the interconnection

The interconnection can be printed for documentation purposes, optionally on one page,on four pages, or not scaled.

Tip!

By clicking the icon in the FB Editor toolbar, you can get a print view beforeprinting.

How to print the interconnection:

1. Click the icon in the FB Editor toolbar.

• The Circuit print size dialog box is displayed.

2. Select the desired size and press OK.

• The standard dialog box Print appears.

3. Press OK to start the printing process.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 489


Comparing interconnections

15.7 Comparing interconnections

The comparison operation serves to compare FB interconnections of 8400 devices withinthe project. An offline<>online comparison and the comparison of two online devices arepossible.

How to compare two FB interconnections:

1. Select the command Application dataCompare FB interconnections....

• The Compare FB interconnections dialog box is displayed:

2. Select the interconnections to be compared in the project view represented on the left and right.

• In order to execute a comparison with an online device, select "Online" in one of the two upper list fields. Then all available online devices are displayed for selection.

• If you select "Online" in one of the two upper list fields, you can also compare the interconnections of two available online devices.

Note!

Only applications can be compared which have been enabled in the FB Editor!

Block positions, line representations, and connector visibilities are not compared.

8400 HighLine C | Software ManualWorking with the FB EditorComparing interconnections

490 L Firmware 02.00 - DMS EN 3.0 - 05/2009

3. Click Compare.

• If the comparison was executed successfully, the comparison result is displayed as a list (see the following section).

• If a comparison of the selected interconnections is not possible, a corresponding message is displayed.

4. In order to stop the comparison operation and close the dialog box: PressBack.

Representation of the comparison result

The comparison result is displayed in the form of a list in the FB interconnection comparisondialog box:

The symbols in the Toolbar serve to show or hide different details and export and print the shown list.

Symbol Function

Only show differences • Button can only be activated in expert mode.

Show blocks

Show connections

Show processing order

Show properties of blocks and connections • Function is only available in expert mode.

Show comments • Function is only available in expert mode.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 491


Comparing interconnections

Show block parameters • Function is only available in expert mode.

Show application parameters • Function is only available in expert mode.

Show all • Function is only available in expert mode.

Show general information

Show summary

Activate expert mode • In the expert mode, also non-functional differences are shown.

Apply filter • Only show list entries which contain the text entered in the input field. • Function is only available in expert mode.

Export shown list as comma-separated list (*.csv)

Print view

Print list

Symbol Function

8400 HighLine C | Software ManualWorking with the FB EditorCopying interconnection

492 L Firmware 02.00 - DMS EN 3.0 - 05/2009

15.8 Copying interconnection

In contrast to copying/inserting selected interconnection elements via the clipboard, thefunction described in this chapter serves to replace the current FB interconnection of adevice completely by the FB interconnection of another project device.

A complete interconnection comprises:

Function blocks (use and parameter values)

System blocks (application and parameter values)

Port blocks (use and parameter values)

Connections

Comments

Interconnection layout (arrangement of the modules)

Port definition of the ports used in the FB interconnection

How to copy the complete interconnection into another project device:

1. Select the application with the FB interconnection to be copied in the project view.

2. Select the command Application dataCopy FB interconnections....

3. Go to project view and select the application which is to be inserted into the copied FB interconnection.

4. Select the command Application dataAdd FB interconnection....

• The command can only be activated if an FB interconnection has been copied from a device of the same device type and version.

• After the command has been executed, the module assembly is compared. If there are relevant deviations, the insertion is refused and a corresponding message is displayed.

• If an insertion is possible, you are asked if the FB interconnection is to be inserted.

5. Confirm the question if the copied FB interconnection is to be inserted with Yes.

• After the insertion, an update of the project is required.

Note!

The complete FB interconnection can only be copied between devices of the same device type and version (e.g. 8400 HighLine C V1.0).

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 493


Export/import of the interconnection

15.9 Export/import of the interconnection

The interconnection existing in the project can be exported to a file for reuse/transfer toother devices.

How to export the interconnection from the project to a file:

1. Go to the Project view in the context menu of the controller and select the Export FB interconnection... command.

2. Enter the memory location and the file name for the interconnection to be exported in the Export FB interconnection dialog box.

3. Click Save to export the interconnection and close the dialog box.

How to import the interconnection from a file to the project:

1. Go to the Project view in the context menu of the controller and select the Import FB interconnection... command.

2. Select the file with the interconnection to be imported in the Import FB interconnection dialog box.

3. Click Open to import the interconnection and close the dialog box.

Note!

The file can only be imported to devices of the same device type and version (e.g. 8400 HighLine C V1.0).

8400 HighLine C | Software ManualFunction library

494 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16 Function library

Overview of function blocks available

Function block Number Runtime Function

L_Absolut 2 2 μs ... converts a bipolar input signal into a unipolar output signal.

L_AddSub 1 3 μs ... adds / subtracts the input signals.

L_AnalogSwitch 5 2 μs ... switches between two analog input signals.

L_And 3 2 μs ... ANDs three binary signals.

L_And5 2 2 μs ... ANDs five binary signals.

L_Arithmetik 5 7 μs ... combines two analog signals arithmetically.

L_ArithmetikPhi 3 7 μs ... combines two angle signals arithmetically.

L_Compare 5 5 μs ... compares two analog signals and can be used e.g. to implement a trigger.

L_ComparePhi 5 5 μs ... compares two angle signals.

L_ConvBitsToWord 3 3 μs ... converts 16 bit input values of "BOOL" type into one output value of "WORD" type.

L_ConvDIntToWords 3 3 μs ... converts one input value of "DINT" type into two output values of "WORD" type.

L_ConvUnitsToIncr 3 3 μs Description in preparation

L_ConvWordsToDInt 3 3 μs ... converts two input values of "WORD" type into an output value of "DINT" type.

L_ConvWordToBits 3 3 μs ... converts one input value of "WORD" type into the corresponding 16 bit output values.

L_Counter 3 3 μs ... is a digital upcounter and downcounter.

L_DFlipFlop 2 3 μs ... provides two stable states depending on the input signals.

L_DigitalDelay 3 2 μs ... delays binary signals.

L_DigitalLogic 2 2 μs ... provides a binary output signal which is generated by the logic combination of three input signals.

L_DigitalLogic5 2 2 μs ... provides a binary output signal which is generated by the logic combination of five input signals.

L_DT1 1 3 μs ...differentiates signals. The function block can, for instance, be used to apply an acceleration (dv/dt).

L_GainOffset 3 3 μs Description in preparation

L_GainOffsetP 3 3 μs

L_GainOffsetPhiP 2 3 μs

L_JogCtrlExtension 1 5 μs Description in preparation

L_Limit 2 3 μs ... limits signals to adjustable value ranges.

L_LimitPhi 3 3 μs Description in preparation

L_MckCtrlInterface 1 5 μs ...serves to control the MotionControlKernel system block.

L_MckStateInterface 1 5 μs ...provides information about the status signalling of the MotionControlKernel FB.

L_MPot 1 10 μs ... replaces a hardware motor potentiometer as setpoint source.

L_MulDiv 2 4 μs ... multiplies the analog input signal with a factor.

L_Mux 1 3 μs ... one of eight input signals is selected and applied to the output.

L_Negation 2 2 μs ... converts analog input signals.

L_NLim 2 3 μs Description in preparation

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 495


Overview of system blocks available

L_Not 7 2 μs ... converts digital input signals.

L_Nset 1 50 μs ... contains a ramp generator with comprehensive parameterisation and control options to condition a setpoint signal.

L_OffsetGain 3 4 μs Description in preparation

L_OffsetGainP 3 17 μs ... for setting the offset and gain of analog input signals.

L_OffsetGainPhiP 2 17 μs ... for setting the offset and gain for angle signals.

L_Or 3 2 μs ... ORs three binary signals.

L_Or5 2 2 μs ... ORs five binary signals.

L_PCTRL 1 20 μs ... is a PID controller and can be used for various control tasks.

L_PhaseIntK 2 5 μs ... integrates a speed to an angle.

L_PT1 3 3 μs ... filters and delays analog signals.

L_RLQ 1 3 μs ... links a selected direction of rotation to the QSP function with wire-break protection.

L_RSFlipFlop 2 3 μs ... saves a binary input information element and resets it on command..

L_SampleHold 2 3 μs ... saves a value.

L_SignalMonitor_a 1 15 μs ... serves to output analog output signals of other FBs, SBs or LAs.

L_SignalMonitor_b 1 3 μs ... serves to output binary output signals of other FBs, SBs or LAs.

L_SQrt 1 3 μs Description in preparation

L_Transient 4 3 μs ... Evaluation of digital signal edges and conversion into timed pulses.

System block Function

LS_AnalogInput Interface for the analog inputsAnalog inputs ( 179)

LS_AnalogOutput Interface for the analog outputsAnalog outputs ( 183)

LS_DataAccess Description in preparation

LS_DeviceMonitor Description in preparation

LS_DigitalInput Interface for the digital inputsDigital inputs ( 187)

LS_DigitalOutput Interface for the digital outputsDigital outputs ( 197)

LS_DisFree ... shows any number of 16-bit process data signals on display codes.

LS_DisFree_a ... shows four analog process signals in percent on display codes.

LS_DisFree_b ... shows eight boolean process signals on display codes represented in bits.

LS_DisFree_p Description in preparation

LS_DriveInterface Interface for drive control (DCTRL)Drive control (DCTRL) ( 54)

LS_Keypad Keypad control

LS_MotionControlKernel Interface for the MotionControlKernel

Function block Number Runtime Function


496 L Firmware 02.00 - DMS EN 3.0 - 05/2009

LS_MotorInterface Interface for the motor control (MCTRL)Motor control (MCTRL) ( 83)

LS_ParFix ... provides two permanent parameter setting values for the interconnection in the application.

LS_ParFree ... provides four WORD signals.

LS_ParFree_a ... provides four analog signals.

LS_ParFree_b ... provides 16 digital signals.

LS_ParFree_p Description in preparation

LS_ParFree_v ... provides four speed signals.

LS_PulseGenerator ... provides nine fixed frequencies and one configurable frequency.

LS_SetError ...serves to activate parameterisable reactions to user-defined events.

Error management ( 285)

System block Function

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 497


Function blocks | L_Absolut

16.1 Function blocks

16.1.1 L_Absolut

This FB converts a bipolar input signal into a unipolar output signal.

Inputs

Outputs

Function blocks: L_Absolute_1 L_Absolute_2

Runtime: 2 μs

IdentifierData type


nIn1_aINT

Input signal

IdentifierData type

Value/meaning

nOut_aINT

Output signal

nOut_anIn1_a

?L_Absolut_

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_AddSub

498 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.2 L_AddSub

This FB is provided with two adding inputs and one subtracting input.

Inputs

Outputs

Function blocks: L_AddSub_1

Runtime: 3 μs

IdentifierData type


nIn1_aINT

Input signal 1This input is added

nIn2_aINT

Input signal 2This input is added

nIn3_aINT

Input signal 3This input is subtracted

IdentifierData type

Value/meaning

nOut_aINT

Output signalOut = In1 + In2 - In3

nOut_anIn1_a

nIn2_a

nIn3_a

?L_AddSub_

+ -+ +

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 499


Function blocks | L_AnalogSwitch

16.1.3 L_AnalogSwitch

This function block switches between two analog input signals. The switching is controlledvia a boolean input signal.

Inputs

Outputs

Function blocks: L_AnalogSwitch_1 L_AnalogSwitch_2 L_AnalogSwitch_3 L_AnalogSwitch_4 L_AnalogSwitch_5

Runtime: 2 μs

IdentifierData type


nIn1_aINT

Input signal 1

nIn2_aINT

Input signal 2

bSetBOOL

Selection of the input signal for the output to nOut_a

False nIn1_a

True nIn2_a

IdentifierData type

Value/meaning

nOut_aINT

Output signal

nOut_anIn1_a

nIn2_a

bSet

?L_AnalogSwitch_

0

1

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_And

500 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.4 L_And

This FB implements the ANDing of the input signals.

Inputs

Outputs

Function

[16-1] Truth table of the FB L_And

Function blocks: L_And_1 L_And_2 L_And_3

Runtime: 2 μs

IdentifierData type


bIn1bIn2bIn3

BOOL

Input signal

IdentifierData type

Value/meaning

bOutBOOL

Output signal

Inputs Output

bIn3 bIn2 bIn1 bOut

False False False False

False False True False

False True False False

False True True False

True False False False

True False True False

True True False False

True True True True

bOutbIn2

bIn3

bIn1

?L_And_

&

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 501


Function blocks | L_And5

16.1.5 L_And5

This FB implements the ANDing of the input signals.

Inputs

Outputs

Function

[16-2] Truth table of the FB L_And5

Function blocks: L_And5_1 L_And5_2

Runtime: 2 μs

IdentifierData type


bIn1...bIn5

BOOL

Input signal

IdentifierData type

Value/meaning

bOutBOOL

Output signal

Inputs Output

bIn5 bIn4 bIn3 bIn2 bIn1 bOut

False False False False False False

False False False False True False

False False False True False False

False False False True True False

False False True False False False

... False

True True True False True False

True True True True False False

True True True True True True

bOut

bIn2

bIn3

bIn4

bIn5

bIn1

?L_And5_

&

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_Arithmetik

502 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.6 L_Arithmetik

This FB can combine two analog signals arithmetically.

The arithmetic function is selected via the Function parameter.

All internal intermediate results and the value output at the nOut_a output are internally limited to ±32767.

Inputs

Outputs

Parameter

Function blocks: L_Arithmetik_1 L_Arithmetik_2 L_Arithmetik_3 L_Arithmetik_4 L_Arithmetik_5

Runtime: 7 μs

IdentifierData type


nIn1_aINT

Input signal 1

nIn2_aINT

Input signal 2

IdentifierData type

Value/meaning

nOut_aINT

Output signal • Internal limitation to ±32767

Parameter Possible settings Information

C00338 (L_Arithmetik_1)C00339 (L_Arithmetik_2)C00650/1 (L_Arithmetik_3)C00650/2 (L_Arithmetik_4)C00650/3 (L_Arithmetik_5)

Function selection

0

1

2

3

4 When the denominator has the value "0", it will be set to "1".

5

nOut_a

nIn1_a

nIn2_a

± 32767x

y

byFunction

L_Arithmetik_ ?

+

/ x/(1-y)

- *

nOut_a nIn1_a=

nOut_a nIn1_a nIn2_a+=

nOut_a nIn1_a nIn2_a–=

nOut_a nIn1_a nIn2_a⋅16384

----------------------------------------=

nOut_anIn1_anIn2_a--------------------- 164⋅=

nOut_anIn1_a

16384 nIn2_a–---------------------------------------- 16384⋅=

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 503


Function blocks | L_ArithmetikPhi

16.1.7 L_ArithmetikPhi

This FB can combine two angle signals arithmetically.

The arithmetic function is selected via the Function parameter.

All internal intermediate results and the value provided at the dnOut_p output are

internally limited to ±2147483647 (= 231 - 1).

Inputs

Outputs

Parameter

Function blocks: L_ArithmetikPhi_1 L_ArithmetikPhi_2 L_ArithmetikPhi_3

Runtime: 7 μs

IdentifierData type


dnIn1_pDINT

Input signal 1

dnIn2_pDINT

Input signal 2

IdentifierData type

Value/meaning

dnOut_pDINT



C01010/1 (L_ArithmetikPhi_1)C01010/2 (L_ArithmetikPhi_2)C01010/3 (L_ArithmetikPhi_3)

Function selection

0 dnOut_p = dnIn1_p

1 dnOut_p = dnIn1_p + dnIn2_p

2 dnOut_p = dnIn1_p - dnIn2_p

3 dnOut_p = dnIn1_p * dnIn2_p

4 dnOut_p = dnIn1_p / dnIn2_p

dnOut_p

dnIn1_p

dnIn2_p

± 2147483647x

y

byFunction

L_ArithmetikPhi_ ?

+ -

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_Compare

504 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.8 L_Compare

This FB compares two analog signals and can be used e.g. to implement a trigger.

Comparison operation , hysteresis and window size can be parameterised.

Inputs

Outputs

Parameter

Function blocks: L_Compare_1 L_Compare_2 L_Compare_3 L_Compare_4 L_Compare_5

Runtime: 5 μs

IdentifierData type


nIn1_aINT

Input signal 1

nIn2_aINT

Input signal 2

IdentifierData type

Value/meaning

bOutBOOL

Status signal "Comparison statement is true"

True The statement of the selected comparison mode is true.


C00680 (L_Compare_1)C00685 (L_Compare_2)C00690 (L_Compare_3)C00693/1 (L_Compare_4)C00693/2 (L_Compare_5)

Function selection

1 nIn1 = nIn2

2 nIn1 > nIn2

3 nIn1 < nIn2

4 |nIn1| = |nIn2|

5 |nIn1| > |nIn2|

6 |nIn1| < |nIn2|

bOutnIn1_a

nIn2_a

?L_Compare_

f �

� � ��

=

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 505


Function blocks | L_Compare

16.1.8.1 Function 1: nIn1 = nIn2

Selection: Function = 1

This function compares two signals with regard to equality. It can, for instance, provide the comparison "actual speed equals setpoint speed " (nact = nset).

Use Window ( ) to set the window within which the equality is to apply.

Use Hysteresis ( ) to set a hysteresis if the input signals are not stable and the output oscillates.

[16-3] Function 1: Switching performance

[16-4] Function 1: Example


0.00 % 100.00 Hysteresis • Lenze setting: 0.00 %


0.00 % 100.00 Window size • Lenze setting: 0.00 %


TRUE

FALSE

bOut �

nIn2_a nIn1_a

��

nIn1_a

nIn2_a

TRUE

FALSE

bOut

t

t

��

��


506 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.8.2 Function 2: nIn1 > nIn2


This function serves, for instance, to implement the comparison "actual speed is higher than a limit value" (nact > nx) for one direction of rotation.

[16-5] Function 2: Switching performance (: Hysteresis)

Functional sequence

1. If the value at nIn1_a exceeds the value at nIn2_a, bOut changes from FALSE to TRUE.

2. Only if the signal at nIn1_a falls below the value of nIn2_a - hysteresis again, bOut changes back from TRUE to FALSE.

[16-6] Function 2: Example, (: Hysteresis)

TRUE

FALSE

bOut

nIn2_anIn1_a

�

nIn1_a

nIn2_a

TRUE

FALSE

bOut

t

t

�

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 507


Function blocks | L_Compare

16.1.8.3 Function 3: nIn1 < nIn2


This function serves, for instance, to implement the comparison "actual speed is lower than a limit value" (nact < nx) for one direction of rotation.

[16-7] Function 3: Switching performance, (: Hysteresis)

Functional sequence

1. If the value at nIn1_a falls below the value at nIn2_a, bOut changes from FALSE to TRUE.

2. Only if the signal at nIn1_a exceeds the value of nIn2_a - hysteresis again, bOut changes back from TRUE to FALSE.


16.1.8.4 Function 4: |nIn1| = |nIn2|


This function serves, for instance, to implement the comparison "nact = 0".

This function is similar to function 1. However, the amount of the input signals is generated before signal processing (no sign).

Function 1: nIn1 = nIn2

TRUE

FALSE

bOut

nIn2_anIn1_a

�

nIn1_a

nIn2_a

TRUE

FALSE

bOut

t

t

�


508 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.8.5 Function 5: |nIn1| > |nIn2|


This function serves, for instance, to implement the comparison "|nact| > |nx|" independently of the direction of rotation.


Function 2: nIn1 > nIn2

16.1.8.6 Function 6: |nIn1| < |nIn2|


This function serves to implement the comparison "|nact| < |nx|" independently of the direction of rotation.


Function 3: nIn1 < nIn2

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 509


Function blocks | L_ComparePhi

16.1.9 L_ComparePhi

This FB compares two angle signals.

Comparison operation , hysteresis and window size can be parameterised.

Inputs

Outputs

Parameter

Function blocks: L_ComparePhi_1 L_ComparePhi_2 L_ComparePhi_3 L_ComparePhi_4 L_ComparePhi_5

Runtime: 5 μs

IdentifierData type


dnIn1_pDINT

Input signal 1

dnIn2_pDINT

Input signal 2

IdentifierData type

Value/meaning

bOutBOOL

Status signal "Comparison statement is true"

True The statement of the selected comparison mode is true.


C01670/1 (L_ComparePhi_1)...C01670/5 (L_ComparePhi_5)

Function selection

1 dnIn1 = dnIn2

2 dnIn1 > dnIn2

3 dnIn1 < dnIn2

4 |dnIn1| = |dnIn2|

5 |dnIn1| > |dnIn2|

6 |dnIn1| < |dnIn2|


0.00 incr 100.00 Hysteresis • Lenze setting: 0.00 %


0.00 incr 100.00 Window size • Lenze setting: 0.00 %

bOutdnIn1_p

dnIn2_p

?L_ComparePhi_

f �

� � ��

=

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_ComparePhi

510 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.9.1 Function 1: dnIn1 = dnIn2


This function compares two signals with regard to equality. It can, for instance, provide the comparison "actual speed equals setpoint speed " (nact = nset).

Use Window ( ) to set the window within which the equality is to apply.

Use Hysteresis ( ) to set a hysteresis if the input signals are not stable and the output oscillates.

[16-9] Function 1: Switching performance

[16-10] Function 1: Example

TRUE

FALSE

bOut �

dnIn2_p dnIn1_p

��

dnIn1_p

dnIn2_p

TRUE

FALSE

bOut

t

t

��

��

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 511



16.1.9.2 Function 2: dnIn1 > dnIn2


This function serves, for instance, to implement the comparison "actual speed is higher than a limit value" (nact > nx) for one direction of rotation.

[16-11] Function 2: Switching performance (: Hysteresis)

Functional sequence

1. If the value at dnIn1_p exceeds the value at dnIn2_p, bOut changes from FALSE to TRUE.

2. Only if the signal at dnIn1_p falls below the value of dnIn2_p - hysteresis again, bOut changes back from TRUE to FALSE.


TRUE

FALSE

bOut

dnIn2_pdnIn1_p

�

dnIn1_p

dnIn2_p

TRUE

FALSE

bOut

t

t

�

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_ComparePhi

512 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.9.3 Function 3: dnIn1 < dnIn2


This function serves, for instance, to implement the comparison "actual speed is lower than a limit value" (nact < nx) for one direction of rotation.

[16-13] Function 3: Switching performance, (: Hysteresis)

Functional sequence

1. If the value at dnIn1_p falls below the value at dnIn2_p, bOut changes from FALSE to TRUE.

2. Only if the signal at dnIn1_p exceeds the value of dnIn2_p - hysteresis again, bOut changes back from TRUE to FALSE.


16.1.9.4 Function 4: |dnIn1| = |dnIn2|


This function serves, for instance, to implement the comparison "nact = 0".


Function 1: dnIn1 = dnIn2

TRUE

FALSE

bOut

dnIn2_pdnIn1_p

�

dnIn1_p

dnIn2_p

TRUE

FALSE

bOut

t

t

�

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_ConvBitsToWord

514 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.10 L_ConvBitsToWord

This FB converts 16 bit input values of "BOOL" type into one output value of "WORD" type.

Inputs

Outputs

Function blocks: L_ConvBitsToWord_1 L_ConvBitsToWord_2 L_ConvBitsToWord_3

Runtime: 3 μs

IdentifierData type


bBit0...bBit15

BOOL

Input signal

IdentifierData type

Value/meaning

wOutWORD

Output signal

bBit0

bBit1

bBit2

bBit12

bBit13

bBit14

bBit15

wOut

?L_ConvBitsToWord_

0

1

2

12

13

14

15

WORD

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 515


Function blocks | L_ConvDIntToWords

16.1.11 L_ConvDIntToWords

This FB converts an input value of "DINT" type into two output values of "WORD" type.

Inputs

Outputs

Function blocks: L_ConvDIntToWords_1 L_ConvDIntToWords_2 L_ConvDIntToWords_3

Runtime: 3 μs

IdentifierData type


dnInput_pDINT

Input signal

IdentifierData type

Value/meaning

wOutLWordWORD

Output signal Low Word

wOutHWordWORD

Output signal High Word

dnInput_pwOutLWord

wOutHWord

?L_ConvDIntToWords_

WORDDInt

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_ConvWordsToDInt

516 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.12 L_ConvWordsToDInt

This FB converts two input values of "WORD" type into an output value of "DINT" type.

Inputs

Outputs

Function blocks: L_ConvWordsToDInt_1 L_ConvWordsToDInt_2 L_ConvWordsToDInt_3

Runtime: 3 μs

IdentifierData type


wInLWordWORD

Input signal Low Word

wInHWordWORD

Input signal High Word

IdentifierData type

Value/meaning

dnOut_pDINT

Output signal

dnOut_pwInLWord

wInHWord

?L_ConvWordsToDInt_

WORD DInt

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 517


Function blocks | L_ConvWordToBits

16.1.13 L_ConvWordToBits

This FB converts one input value of "WORD" type into the corresponding 16 bit outputvalues.

Inputs

Outputs

Function blocks: L_ConvWordToBits_1 L_ConvWordToBits_2 L_ConvWordToBits_3

Runtime: 3 μs

IdentifierData type


wInputWORD

Input signal

IdentifierData type

Value/meaning

bBit0...bBit15

BOOL

Output signal

bBit0

bBit1

bBit2

bBit12

bBit13

bBit14

bBit15

wInput

?L_ConvWordToBits_

0

1

2

12

13

14

15

WORD

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_Counter

518 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.14 L_Counter

This FB is a digital up/downcounter which is limited to the input value wCmpVal.

Inputs

Outputs

Function blocks: L_Counter_1 L_Counter_2 L_Counter_3

Runtime: 3 μs

IdentifierData type


bClkUpBOOL

Clock input • With each edge, the module counts up by "1". • Only FALSE/TRUE edges are evaluatedNote: The static state "1" is not permissible at this input.

bClkDownBOOL

Clock input • With each edge, the module counts down by "1". • Only FALSE/TRUE edges are evaluatedNote: The static state "1" is not permissible at this input.

wnLdValWORD

Starting value • Assigned value is internally interpreted as "INT" data type (-32767 ... +32767), i.e.

the most significant bit determines the sign.

bLoadBOOL

Load input • The input has the highest priority.

True Accept starting value wnLdVal.

wCmpValWORD

Comparison value • Assigned value is internally interpreted as "INT" data type (-32767 ... +32767), i.e.

the most significant bit determines the sign.

IdentifierData type

Value/meaning

bEqualBOOL

True Comparison value reached

wOutWORD

Counter content • Internal limitation to ± 32767 • The most significant bit determines the sign!

bEqual

bClkDown

wLdVal

bLoad

wCmpVal

C01100

?L_Counter_

CNT

bClkUp wOut

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 519


Function blocks | L_Counter

Parameter

Function

| Counter content | ≥ | wCmpVal |, – The bEqual output is set to TRUE.

– During the next clock cycle, the counter is reset to the wLdVal value and the bEqual output is set to FALSE.

| Counter content | = | wCmpVal |– The counter stops.

– Edges at bClkUp and bClkDown are ignored.

if bLoad = TRUE

– The counter is set to the wLdVal value.

– Edges at bClkUp and bClkDown are not ignored anymore.


C01100/1 (L_Counter_1)C01100/2 (L_Counter_2)C01100/3 (L_Counter_3)

Function selection

0 No function

1 AutoReset

2 Manual reset

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_DFlipFlop

520 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.15 L_DFlipFlop

The function mode of the module as described in section Function of the D-FlipFlop ( 521).

Additional, inverted output

Inputs

Outputs

Function blocks: L_DFlipFlop_1 L_DFlipFlop_2

Runtime: 1 μs 3 μs

IdentifierData type


bDBOOL

Data input

bClkBOOL

Clock input • Only FALSE/TRUE edges are evaluated

bClrBOOL

Reset input

True • The bOut output is set to FALSE. • The bNegOut output is set to TRUE.

IdentifierData type

Value/meaning

bOutBOOL

Output signal

bNegOutBOOL

Output signal, inverted

bNegOut

bOutbD

bClk

bClr

?L_DFlipFlop_

C1

Q

Q

1D

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 521


Function blocks | L_DFlipFlop

Function of the D-FlipFlop

If input Clr = FALSE:

A signal edge at the bClk input serves to apply the static input signal bD to the output bOutand kept there:

If the input Clr = TRUE:

Due to the priority bClr > bClk, bD the bOut output signal can be set any time to the FALSEstate by the input signal Clr = TRUE.

The output signal is kept in this state independent of the other input signals.

TRUE

TRUE

FALSE

FALSE

bClk

bOut

t

TRUE

FALSE

bD

t

t

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_DigitalDelay

522 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.16 L_DigitalDelay

This FB delays binary signals.

ON and OFF delay can be parameterised separately.

Inputs

Outputs

Parameter

Function blocks: L_DigitalDelay_1 L_DigitalDelay_2 L_DigitalDelay_3

Runtime: 2 μs

IdentifierData type


bInBOOL

Input signal

IdentifierData type

Value/meaning

bOutBOOL

Output signal (time-delayed input signal)


C00720/1 (L_DigitalDelay_1)C00721/1 (L_DigitalDelay_2)C00721/3 (L_DigitalDelay_3)

0.000 s 3600.000 ON delay • Lenze setting: 0.000 s

C00720/2 (L_DigitalDelay_1)C00721/2 (L_DigitalDelay_2)C00721/4 (L_DigitalDelay_3)

0.000 s 3600.000 OFF delay • Lenze setting: 0.000 s

bOut

?L_DigitalDelay_

0 t

bIn

DelayTime

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 523


Function blocks | L_DigitalDelay

Functional sequence

1. A FALSE-TRUE edge at bIn resets the internal timer () for the ON delay and starts it.

2. Âfter the defined ON delay, the input signal bIn is output at bOut.

3. A TRUE-FALSE edge at bIn resets the internal timer () for the OFF delay and starts it.

4. After the defined OFF delay, the input signal bIn is output at bOut.

= internal timing element

TRUE

FALSE

bOut

t

TRUE

FALSE

bIn

t

wDelayTime wDelayTime

wDelayTime

t

�

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_DigitalLogic

524 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.17 L_DigitalLogic

This FB provides a binary output signal which is generated by the logic combination of theinput signals. It is also possible to define a constant binary value that is independent of theinput signals.

Definition of a constant binary value

Logical ANDing of the inputs

Logical ORing of the inputs

Output depending on the combination of the input signals

Inputs

Outputs

Function blocks: L_DigitalLogic_1 L_DigitalLogic_2

Runtime: 2 μs

IdentifierData type


bIn1BOOL

Input signal 1

bIn2BOOL

Input signal 2

bIn3BOOL

Input signal 3

IdentifierData type

Value/meaning

bOutBOOL

Output signal

L_DigitalLogic_ ?

C00821C00823

bIn2

bIn1

bIn3

&

01

>1

01

02 3

0 1

...

0 0 1 2

1

0

1

1

1 8

0 3...

2

3

4

bln

C00820C00822

0

1bOut

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 525


Function blocks | L_DigitalLogic

Parameter

Truth table for C00820 = 4 / C00822 = 4

Example

If for the signal combination bln1 = FALSE, bln2 = FALSE and bln3 = TRUE the output signalbOut shall be TRUE, for this function subcode 5 of the parameter C00821 (L_DigitalLogic_1)/ C00823 (L_DigitalLogic_2) must be set to "TRUE":


C00820 (L_DigitalLogic_1)C00822 (L_DigitalLogic_2)

Function selection

0 "0" Constant value "FALSE"

1 "1" Constant value "TRUE"

2 AND operation

3 OR operation

4 bOut = f (truth table) The output value depends on the parameterised truth table

C00821 (L_DigitalLogic_1)C00823 (L_DigitalLogic_2)

See truth table Truth tableEach of the eight output values can be assigned to a binary value.

Subcode ofC00821 (L_DigitalLogic_1)C00823 (L_DigitalLogic_2)

bIn3 bIn2 bIn1 Output signalbOut

1 False False False FALSE / TRUE

2 False False True FALSE / TRUE

3 False True False FALSE / TRUE

4 False True True FALSE / TRUE

5 True False False FALSE / TRUE

6 True False True FALSE / TRUE

7 True True False FALSE / TRUE

8 True True True FALSE / TRUE

Subcode ofC00821 (L_DigitalLogic_1)C00823 (L_DigitalLogic_2)

bIn3 bIn2 bIn1 Output signalbOut

5 True False False True

bOut bIn1 bIn2 bIn3∧ ∧=

bOut bIn1 bIn2 bIn3∨ ∨=

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_DigitalLogic5

526 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.18 L_DigitalLogic5

This FB provides a binary output signal which is generated by the logic combination of theinput signals. It is also possible to define a constant binary value that is independent of theinput signals.

Definition of a constant binary value

Output depending on the combination of the input signals

Inputs

Outputs

Parameter

Function blocks: L_DigitalLogic5_1 L_DigitalLogic5_2

Runtime: 2 μs

IdentifierData type


bIn1BOOL

...

bIn5BOOL

Input signal 1 ... 5

IdentifierData type

Value/meaning

bOutBOOL

Output signal


C00824 (L_DigitalLogic5_1)C00826 (L_DigitalLogic5_2)

Function selection

0 "0" Constant value "FALSE"

1 "1" Constant value "TRUE"

2 bOut = f (truth table) The output value depends on the parameterised truth table

C00825 (L_DigitalLogic5_1)C00827 (L_DigitalLogic5_2)

See truth table Truth tableEach of the eight output values can be assigned to a binary value.

L_DigitalLogic5_ ?

C00825C00827

bIn3bIn2bIn1

bIn5bIn4

01

11 11 1 32

......

2

C00824C00826

0

1bOut

0031

0042 5

0 100 00 1 200 10 0 3

bln

...

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 527


Function blocks | L_DigitalLogic5

Truth table for C00824 = 4 / C00826 = 4

Example

If for the signal combination bln1 = TRUE, bln2 = FALSE, bln3 = TRUE, bIn4 = TRUE and bIn5= TRUE the output signal bOut shall be TRUE, for this function subcode "30" of theparameter C00825 (L_DigitalLogic5_1) / C00827 (L_DigitalLogic5_2) must be set to"TRUE":

Subcode ofC00825 (L_DigitalLogic5_1)C00827 (L_DigitalLogic5_2)

bIn5 bIn4 bIn3 bIn2 bIn1 Output signalbOut

1 False False False False False FALSE / TRUE

2 False False False False True FALSE / TRUE

3 False False False True False FALSE / TRUE

... FALSE / TRUE

30 True True True False True FALSE / TRUE

31 True True True True False FALSE / TRUE

32 True True True True True FALSE / TRUE

Subcode ofC00825 (L_DigitalLogic5_1)C00827 (L_DigitalLogic5_2)

bIn5 bIn4 bIn3 bIn2 bIn1 Output signalbOut

30 True True True False True True

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_DT1

528 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.19 L_DT1

This FB differentiates signals. The function block can, for instance, be used to apply anacceleration (dv/dt).

Inputs

Outputs

Parameter

Function blocks: L_DT1_1

Runtime: 3 μs

IdentifierData type


nIn_aINT

Input signal

IdentifierData type

Value/meaning

nOut_aINT

Output signal


C00251 10 ms 5000 Time constant Tn • Lenze setting: 1000 ms

C00252 -320.00 320.00 Gain factor Vp • Lenze setting: 1.00

C00253Note: The most significant bit determines the sign of the value, the remaining bits determine the numerical value.

Selection of sensitivity • Depending on the selection, the

number of more significant bits is evaluated.

• Lenze setting: 15 bit

1 15 Bit Bit 0 ... bit 14 are evaluated







nOut_anIn_a

C00251 C00252�32767

C00253

L_DT1_ ?

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 529


Function blocks | L_Limit

16.1.20 L_Limit

This FB limits scaled analog input signals to a value range the upper and lower limit ofwhich can be set via parameters.

Inputs

Outputs

Parameter

Tip!

Always set the lower limit lower than the upper limit, otherwise value "0" is provided at the nOut_a output.

Function blocks: L_Limit_1 L_Limit_2

Runtime: 3 μs

IdentifierData type


nIn_aINT

Input signal • Scaling: 16384 ≡ 100 %

IdentifierData type

Value/meaning

nOut_aINT

Output signal • Scaling: 16384 ≡ 100 %


C00630/1 (L_Limit_1)C00630/3 (L_Limit_2)

-199.99 % 199.99 Upper limit • Lenze setting: 100.00 %

C00630/2 (L_Limit_1)C00630/4 (L_Limit_2)

-199.99 % 199.99 Lower limit • Lenze setting: -100.00 %

nOut_anIn_a

nMaxLimit

nMinLimit

L_LIM_ ?

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_MckCtrlInterface

530 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.21 L_MckCtrlInterface

This FB serves to control the LS_MotionControlKernel system block.

The FB L_MckCtrlInterface is connected upstream of the LS_MotionControlKernel system block (see Fig. [16-15] ). Its two control word outputs provide the input information for the system block.

The control can be performed using

– directly selected control words, e.g. via a co-ordinating control also connected to the fieldbus. For this purpose, the control word inputs can be connected directly with the fieldbus interface LP_MciIn or LP_CanIn.

– individually selected bit signals, which are ORed with the control word.

[16-15] Detail of the interconnection architecture for the "table positioning" technology application

The input signals are ORed and written to the output of the FB after a plausibility check has been executed. The result of the plausibility check is provided by the output word wFailState (status of the output word: C01299 ).

In the event of implausibility, the current state of the control word outputs remains unchanged. The input data causing this result are ignored and the output bFail is set to TRUE.

Check of

– the profile numbers 1 ... 15, otherwise invalid ProfilNo

– the operation modes 0 ... 3, otherwise invalid OpMode

Function blocks: L_MckCtrlInterface_1

Runtime: 5 μs

LS_MotionControlKernel

bPosCtrlOn bPosCtrlOnbDeltaPosOn bDeltaPosOn

dnDeltaPos_p dnDeltaPos_pdnPosSetValue_p dnPosSetValue_pbPosDerivativeOn bPosDerivativeOn

bMotorRefOffsetOn bMotorRefOffsetOndnMotorRefOffset_p dnMotorRefOffset_p

bQspOn bQspOnnPWMAngleOffset_a nPWMAngleOffset_a

bSpeedCtrllOn bSpeedCtrllOnnSpeedCtrlI_a nSpeedCtrlI_a

nSpeedSetValue_a nSpeedSetValue_abTorquemodeOn bTorquemodeOn

nTorqueSetValue_a nTorqueSetValue_abDcBrakeOn bDcBrakeOn

wMotionCtrl_1 wMotionCtrl_1

L_MckCtrlInterface

wOutMckPosCtrl_1

wOutMckPosCtrl_2

wInMckPosCtrl_1

wMotionCtrl_2 wMotionCtrl_2

LS_MotorInterface

L_MckStateInterface

wInMckPosState_1

wInMckPosState_2

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 531


Function blocks | L_MckCtrlInterface

L_MckCtrlInterface ?

wOutMckPosCtrl_1

wOutMckPosCtrl_2

wFailState

bFail

bManJogPos

bManJogNeg

bManJogExecute2ndVel

bReleaseLimitSwitch

bHomingStartStop

bHomingSetPos

bHomingResetPos

bEnableValOverride

bEnableAccOverride

bDisableSShaping

bPosTeachSetPos

bPosTeachActPos

bPosExecute

bProfileNo_1

bOperationMode_1

bProfileNo_2

b _2OperationMode

bProfileNo_4

b _4OperationMode

bProfileNo_

bOperationMode_8

bPosExecuteFinish

bPosDisableFollowProfile

bPosStop

wPosMode

wProfileNo

?1

11

1

wInMckPosCtrl_1

wInMckPosCtrl_2

wOperationMode

x

?

?

8

1

1

?

?

015

015

015

015

015

015

015

15 2 01

C01299


532 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Inputs

IdentifierData type


wInMckPosCtrl_1wInMckPosCtrl_2

WORD

See description of the MCK control words

wOperationModeWORD

Selection of the operating mode of the MotionControlKernel system block.

bManJogPosbManJogNeg

BOOL

bManJogPos = TRUE: manual jog rightbManJogNeg = TRUE: manual jog leftbManJogPos AND bManJogNeg = TRUE: no change to the previous statebManJogPos AND bManJogNeg = FALSE: stop manual jog

bManJogExecute2ndVelBOOL

True Start of the second manual speed

bReleaseLimitSwitchBOOL

Retracting from the activated hardware limit switch in opposite direction

bHomingStartStopBOOL

Homing: Start / Stop of the homing process

bHomingSetPosBOOL

Homing: Setting of the home position

bHomingResetPosBOOL

Homing: Resetting of the home position

bEnableVelOverrideBOOL

True Activation - speed override

bEnableAccOverrideBOOL

True Activation - acceleration override

bDisableSShapingBOOL

True Deactivation - profile rounding

bPosExecuteBOOL

FALSE TRUE Edge starts a new traversing task

bPosExecuteFinishBOOL

FALSE TRUE Complete interrupted profile

bPosDisableFollowProfileBOOL

True Do not travel sequence profile

bPosStopBOOL

True Cancel the current profile

wPosModeWORD

Positioning mode (bit 0 ... bit 3)

bPosTeachSetPosBOOL

Latching a position at MCK into the profile with the corresponding profile number

bPosTeachActPosBOOL

Latching the current position into the profile with the corresponding profile number

wProfileNoWORD

Profile number

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 533


Function blocks | L_MckCtrlInterface

Outputs

Parameter

IdentifierData type

Value/meaning

wOutMckPosCtrl_1wOutMckPosCtrl_2

WORD

See description of the MCK control words

wFailStateWORD

Result of plausibility check, see C01299

Bit 0 Operation mode

Bit 1 Positioning mode

Bit 2 Profile number

bFailBOOL

TRUE: • Plausibility check error or • control information error (in this case after ORing the individual

signals with the control words)


C01299 Value is bit-coded: Display of error status

Bit 0 InvalidOperationMode Invalid operating mode selection • "1" ≡ The selected operating mode

is not defined/invalid.

Bit 1 InvalidPosMode Invalid positioning mode selection • "1" ≡ The selected positioning

mode is not defined/invalid.

Bit 2 InvalidProfileNo Invalid profile number selection • "1" ≡ The selected profile number

refers to a profile data set that does not exist.

Bit 3 Reserved

...

Bit 7


534 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Description of the additional functions

In addition to ORing the discrete input signals with the control word inputs, this functionblock provides the following functions:

Assignment of the LS_MotionControlKernel system block operating modes for a maximum of four positioning profiles, see C01298The following operating modes are available

– 0: no change, the operating mode set by other means is valid

– 1: Speed follower operation

– 2: Homing

– 3: Manual JOG

– 4: Positioning

Switching on/off of "Pos-Start-Stop" with one control bit ("Pos-Execute"), see C01297If positioning is set as the MCK operating mode and the function is activated, the "Pos-Execute" control bit has the following effect:

Switching on/off of "Homing-Start-Stop" with one control bit ("Pos-Execute"), see C01297If positioning is set as the MCK operating mode and the function is activated, the "Pos-Execute" control bit has the following effect:

Signals at the input Signals in the control word to the MCK

bPosExecute = TRUE bPosExecute = TRUEbPosStop = FALSEbHomingStartStop remains unchanged

bPosExecute = FALSE bPosExecute = FALSEbPosStop = TRUEbHomingStartStop remains unchanged

Signals at the input Signals in the control word to the MCK

bPosExecute = TRUE bPosExecute = TRUEbPosStop = FALSEbHomingStartStop = TRUE

bPosExecute = FALSE bPosExecute = FALSEbPosStop remains unchangedbHomingStartStop = FALSE

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 535


Function blocks | L_MckStateInterface

16.1.22 L_MckStateInterface

This FB provides information about the status signalling of the LS_MotionControlKernelsystem block.

Inputs

Outputs

Function blocks: L_MckStateInterface_1

Runtime: 5 μs

IdentifierData type


wInMckPosState_1wInMckPosState_2

WORD

Inputs for accepting the status words from the SB LS_MotorControlKernel.

IdentifierData type

Value/meaning

wOperationModeWORD

Active setpoint-generating state of the SB LS_MotorControlKernel.The bits from B0 ... B3 are described.

wActProfileNoWORD

Current traversing profile numberThe bits from B0 ... B7 are described.

wActPosModeWORD

Current positioning modeThe bits from B0 ... B3 are described.

bAcceleratingBOOL

True Acceleration phase is active

bDeceleratingBOOL

True Braking phase is active

L_MckStateInterface ?

wInMckPosState_1

wInMckPosState_2

0

0

15

15

15

0

0

15

15

bBusy

bDone

bHomingPosAvailable

bHomingDone

bDwellTime

bInTarget

bPosDone

bAccelerating

wOperationMode

wActProfileNo

wActPosMode

bDelcelerating

bConstantSpeedDuty

bSShaping

0

0

0

1

1

1

2

2

2

3

34567

3

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_MckStateInterface

536 L Firmware 02.00 - DMS EN 3.0 - 05/2009

bConstantSpeedDutyBOOL

True Constant phase is active

bSShapingBOOL

True Profile rounding is active

bBusyBOOL

True Setpoint generation is active

bDoneBOOL

True Target position setpoint is approached

bHomingPosAvailableBOOL

True Home position is known.

bHomingDoneBOOL

True Homing process has been executed

bDwellTimeBOOL

True Settling in target position is active

bInTargetBOOL

True Actual target position value is in the target window

bPosDoneBOOL

True Profile target position has been approached

IdentifierData type

Value/meaning

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 537


Function blocks | L_MPot

16.1.23 L_MPot

This FB replaces a hardware motor potentiometer and can be used as an alternativesetpoint source which is controlled via two inputs.

The signal is output via a ramp function generator with linear ramps.

The acceleration and deceleration times are set via parameters.

Constant ramping even with speed limit values changed online.

The motor potentiometer function can be switched on/off online.

Inputs

Function blocks: L_MPot_1

Runtime: 10 μs

IdentifierData type


bEnableBOOL

Switch over motor potentiometer functionbEnable input and C00806 code are ORed.

True Motor potentiometer function is active, setpoint can be changed via bUp and bDown. • With switching to TRUE, the value applied to nIn_a is

automatically transferred to the motor potentiometer.

False The value applied to nIn_a is output at nOut_a.

nln_aINT

When bEnable = FALSE, the analog input signal nIn_ is switched to the nOut_a output.

bUpBOOL

Approaching of the upper speed limit value set in C00800.

True The nOut_a output signal runs to its upper limit value (nHighLimit). • If the bDown input is simultaneously set to TRUE, the nOut_a

output signal is not changed.

bDownBOOL

Approaching of the lower speed limit value set in C00801.

True The nOut_a output signal runs to its lower limit value (nLowLimit). • If the bUp input is simultaneously set to TRUE, the nOut_a output

signal is not changed.

bInActBOOL

Deactivate motor potentiometer function • This input has the highest priority. • When the motor potentiometer is deactivated, the nOut_a output signal follows

the function set with code C00804.

True Motor potentiometer function is deactivated.

L_MPot_1

nOut_a

bUp

bDown

bInAct

?

0

1

C00806

nln_a

bEnable

C00804C00805 C00802

C00800

C00803C00801

CTRL

retaindata

1

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_MPot

538 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Outputs

Parameter

IdentifierData type

Value/meaning

nOut_aINT

Output signal


C00800 -199.99 % 199.99 Upper limit • Lenze setting: 100.00 %

C00801 -199.99 % 199.99 Lower limit • Lenze setting: -100.00 %

C00802 0.1 s 6000.0 Acceleration time • Lenze setting: 10.0 s

C00803 0.1 s 6000.0 Deceleration time • Lenze setting: 10.0 s

C00804 Inactive function • Selection of response when

deactivating the motor potentiometer via the input bInAct.

• Lenze setting: 0

0 No further action; nOut_a retains its value.

1 The motor potentiometer returns to 0 % within the deceleration time Tif

2 The motor potentiometer runs to the lower limit value (C00801) within the deceleration time Tif

3 The motor potentiometer output immediately changes to 0 %

Important for the emergency stop function

4 The motor potentiometer output immediately changes to the lower limit value (C00801)

5 The motor potentiometer runs to the upper limit value (C00800) within the acceleration time Tir

C00805 Init function • Selection of response when

switching on the device. • Lenze setting: 0

0 The output value being output during mains power-off is saved non-volatilely in the internal memory of the controller. It will be reloaded during mains power-on.

1 The lower limit value (C00801) is loaded during mains power-on.

2 An output value = 0 % is loaded during mains power-on.

C00806 Use of the motor potentiometer • When switching to 1: YES, the

value applied to nIn_a is automatically transferred to the motor potentiometer.

• Lenze setting: 0

0 No

1 Yes

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 539


Function blocks | L_MPot

16.1.23.1 Activation & control of motor potentiometer

When bInAct is set to FALSE, the motor potentiometer is activated.

The currently active function depends on the current output signal nOut_a, the limit values set and the control signals at bUp and bDown.

When the nOut_a output signal is outside the limits set, the output signal runs to the next limit with the Ti times set. This process is independent of the control signals at bUp and bDown.

When the nOut_a output signal is inside the limits set, the output signal changes according to the control signals at bUp and bDown.

[16-16] Example: Control of the motor potentiometer

nOut_a

t

t

TRUE

FALSE

bUp

t

TRUE

FALSE

bDown

nHighLimit

nLowLimit

0

wTir

wTir

wTif

wTir

bUp bDown bInact Function

False False False The nOut_a output signal remains unchanged.

True False The nOut_a output signal runs to its upper limit value (nHighLimit).

False True The nOut_a output signal runs to its lower limit value (nLowLimit).

True True The nOut_a output signal remains unchanged.

- - True The motor potentiometer function is deactivated. The nOut_a output signal responds according to the function selected via Function.

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_MPot

540 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.23.2 Deactivation of motor potentiometer

When the motor potentiometer is deactivated by setting bInAct to TRUE, the nOut_aoutput signal responds according to the function selected via Function.

[16-17] Example: Deactivation of the motor potentiometer when the Function = 1 has been selected

When the motor potentiometer is deactivated, nOut_a is reduced to 0 % with the deceleration time wTif. If it is activated again, nOut_a is increased again to nLowLimit with the acceleration time wTir.

nOut_a

t

t

TRUE

FALSE

bUp

t

TRUE

FALSE

bDown

nHighLimit

nLowLimit

0

wTir

wTif

wTir

t

TRUE

FALSE

bInAct

wTif

wTif� �

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 541


Function blocks | L_MulDiv

16.1.24 L_MulDiv

This FB multiplies the analog input signal with a factor.

The value of the factor is determined by a quotient consisting of numerator and denominator .

The value output at nOut_a is limited to ± 199.99 %.

Inputs

Outputs

Parameter

Function blocks: L_MulDiv_1 L_MulDiv_2

Runtime: 4 μs

IdentifierData type


nIn1INT

Input signal

IdentifierData type

Value/meaning

nOut_aINT

Product value (result of the multiplication) • Internal limitation to ± 32767


C00699/1 (L_MulDiv_1)C00679/1 (L_MulDiv_2)

Counter

C00699/2 (L_MulDiv_1)C00679/2 (L_MulDiv_2)

Denominator

L_MulDiv_ ?

nIn_a nOut_a+/- 199,99%

��

nOut_a nIn_a0----×=

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_Mux

542 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.25 L_Mux

This FB provides one of the eight input signals dnIn1_p ... dnIn8_p at the output dnOut_p.The selection is made through the signal at the input wInSelect.

Inputs

Outputs

Function blocks: L_Mux_1

Runtime: 3 μs

IdentifierData type


wInSelectWORD

Input signal

1...8 • The values "1" ... "8" select the input signal to be applied to the output.

• Values from"1" ... "8" set the dnOut_p output to "0".

dnIn1_pDINT

...dnIn8_p

DINT

Input signal

IdentifierData type

Value/meaning

dnOut_pDINT

Output signal

?L_MUX_

wInSelect

dnIn1_p

dnIn2_p

dnIn3_p

dnIn4_p

dnIn5_p

dnIn6_p

dnIn7_p

dnOut_p

1...8

2

3

4

5

6

7

8

1

dnIn8_p

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 543


Function blocks | L_Negation

16.1.26 L_Negation

This FB converts the sign of the input signal, i.e. the input signal is multiplied by the value-1 and is then output.

With the value - 32768 at the nIn_a input, the value + 32767 is provided at the nOut_a output.

Inputs

Outputs

Function blocks: L_Negation_1 L_Negation_2

Runtime: 2 μs

IdentifierData type

Value/meaning

nIn_aINT

Input signal

IdentifierData type

Value/meaning

nOut_aINT

Output signal

nOut_anIn_a

L_Nagation_ ?

x (-1)

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_Not

544 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.27 L_Not

This FB negates a signal of BOOL data type.

Inputs

Outputs

Function

Function blocks: L_Not_1 L_Not_2 L_Not_3 L_Not_4 L_Not_5 L_Not_6 L_Not_7

Runtime: 2 μs

IdentifierData type

Value/meaning

bInBOOL

Input signal

IdentifierData type

Value/meaning

bOutBOOL

Result of the NOT operation

bIn bOut

False True

True False

bOutbIn

L_Not_ ?

1

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 545


Function blocks | L_NSet

16.1.28 L_NSet

This FB is used for general signal processing of process values and is provided with thefollowing functions:

– With linear ramps for main and additional setpoint path

– With S-shaped ramp (PT1 rounding)

– Setting and holding

Internal limitation of the input signal

3 adjustable blocking zones

Arithmetic function

15 fixed setpoints (JOG setpoints)

15 acceleration and deceleration times

Inputs

Function blocks: L_NSet_1

Runtime: 50 μs

IdentifierData type


nCInhVal_aINT

Main setpoint signal which is to be accepted by the main setpoint integrator when the controller is inhibited.

bRfgStopBOOL

Holding (freezing) of the current value of the main setpoint integrator

True The current value of the main setpoint integrator is held.

bRfg0BOOL

Leading the main setpoint integrator to 0 within the current Ti times

True The current value of the main setpoint integrator is led to "0" within the Ti time set.

adnTi (0)

adnTi (15)

DMUX

DMUX

nCInhVal_a

bRfgStop

bRfg0

bNSetInv

nNSet_a

bJog2

bJog4

bJog8

bTI1

bTI2

bTI4

bTI8

nSet_a

bLoad

bNAddInv

nNAdd_a

CINH

JOG 0...15

TI 0...15

bJog1

bExternalCINH

L_NSet

1

0

3

015

0

3

015

+

/ x/(1-y)

- *

anJogSetValue(0)

....(15)

1

C00134C00182 C00190

bRfgIEq0

�32767

C00142

C00635C00636

C00220C00221

C00012C00013

wState

nSetValue_a

nNOut_a

?

C00632C00633

....(1)

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_NSet

546 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Outputs

bNSetInvBOOL

Signal inversion for the main setpoint

True Main setpoint signal is inverted.

nNset_aINT

Main setpoint signal • Other signals are also permitted

bJog1 ... bJog8BOOL

Selection inputs for fixed change-over setpoints (JOG setpoints) for the main setpoint • Selection inputs are binary coded.

bTI1 ... bTI8BOOL

Selection inputs for alternative acceleration/deceleration times for the main setpoint • Selection inputs are binary coded.

nSet_aINT

Starting value which is loaded into the main setpoint integrator by setting bLoad to TRUE.

bLoadBOOL

Control of both ramp function generators in special situations, e.g. QSP

True The nSet_a input signal is loaded into the main setpoint integrator and the additional setpoint integrator is set to "0".

bAddInvBOOL

Signal inversion for the additional setpoint

True Additional setpoint signal is inverted.

nNAdd_aINT

Additional setpoint signal • Other signals are also permitted

bExternalCINHBOOL

Additional load input for the main setpoint integrator and the additional setpoint integrator

True The main setpoint integrator is set to the value applied at nCInhVal_a.The additional setpoint integrator is set to "0".

Application example for the additional load function ( 554)

IdentifierData type

Value/meaning

nNOut_aINT

Speed setpoint output signal • 16384 ≡ 100 %

bRfgIEqOBOOL

Status signal "setpoint = 0"

wStateWORD

Bit-coded status word • Bits that are not listed are reserved for future extensions.

Bit 0 No blocking zone active

Bit 1 Blocking zone 1 active



Bit 4 Jog in blocking zone

Bit 5 MaxLimit active

Bit 6 MinLimit active

nSetValue_aINT

The speed setpoint has reached the target value. • 16384 ≡ 100 %

IdentifierData type


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 547



Parameter


C00012 0.000 s 999.900 Acceleration time Tir for the main setpoint • Lenze setting: 0.000 s

C00013 0.000 s 999.900 Deceleration time Tif for the main setpoint • Lenze setting: 0.000 s

C00039/1..15 -199.99 % 199.99 Fixed setpoints (JOG setpoints) • Lenze setting: 0.00 %

C00101/1..15 0.000 s 999.900 Alternative acceleration times (Tir) for the main setpoint • Lenze setting: 0.000 s

C00103/1..15 0.000 s 999.900 Alternative deceleration times (Tif) for the main setpoint • Lenze setting: 0.000 s

C00134 Activates ramp rounding with PT1 behaviour for the main setpoint • The S-ramp time is set under

C00182. • Lenze setting: 0 (deactivated)

0 Off

1 PT1 behaviour

C00182 0.01 s 50.00 S-ramp time PT1 • Lenze setting: 20.00 s

C00190

nNout_a =

Selection of the arithmetic function for combining main and additional setpoint • Lenze setting: 0

0 X y is not processed

1 x + y

2 x - y

3 x * y

4 x / |y|

5 x / (100 % - y)

C00220 0.000 s 999.900 Acceleration time Tir for the additional setpoint • Lenze setting: 0.000 s

C00221 0.000 s 999.900 Deceleration time Tif for the additional setpoint • Lenze setting: 0.000 s

C00241 0.00 % 100.00 Hysteresis window for zero detection of speed output setpoint (output bRfgIEqO) • Lenze setting: 0.50 %

C00632/1...3 0.00 % 199.99 Maximum limit values for the speed blocking zones • Selection of the maximum limit

values for the blocking zones in which the speed must not be constant.

• Lenze setting: 0.00 %


548 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.28.1 Main setpoint path

The signals in the main setpoint path are limited to a value range of ±32767.

The signal at nNSet_a is first led via the JOG selection function.

A selected JOG value switches the nNSet_a input inactive. Then, the subsequent signal conditioning operates with the JOG value.

C00633/1...3 0.00 % 199.99 Minimum limit values for the speed blocking zones • Selection of the minimum limit

values for the blocking zones in which the speed must not be constant.

• Lenze setting: 0.00 %

C00634 Status (bit-coded) • Bits that are not listed are

reserved for future extensions.Bit 0 No blocking zone active




Bit 4 Jog in blocking zone

Bit 5 MaxLimit active

Bit 6 MinLimit active

C00635 -199.99 % 199.99 nMaxLimit • Maximum speed setpoint for

speed setpoint limitation • Lenze setting: 199.99 %

C00636 -199.99 % 199.99 nMinLimit • Minimum speed setpoint for

speed setpoint limitation • Lenze setting: -199.99 %


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 549



16.1.28.2 JOG setpoints

In addition to the direct main setpoint selection via the input nNSet_a, so-called JOGsetpoints can be set under C00039/1...15.

The JOG setpoints are binary-coded and can be called using the bJog1 ... bJog8 selection inputs so that 15 options are available:

The number of selection inputs to be assigned depends on the number of JOG setpoints required:

16.1.28.3 Setpoint inversion

The output signal of the JOG function is led via an inverter.

The sign of the setpoint changes if bNSetInv is set to TRUE.

16.1.28.4 Value range of the input signal

The value range of the input signal can be limited by using the following parameters:

C00635: MaxLimit (default setting: +199.99 %)

C00636: MinLimit (default setting: -199.99 %)

Selection inputs Main setpointusedbJog8 bJog4 bJog2 bJog1

False False False False nNset_a

False False False True C00039/1

False False True False C00039/2

False False True True C00039/3

False True False False C00039/4

False True False True C00039/5

False True True False C00039/6

False True True True C00039/7

True False False False C00039/8

True False False True C00039/9

True False True False C00039/10

True False True True C00039/11

True True False False C00039/12

True True False True C00039/13

True True True False C00039/14

True True True True C00039/15

Number of JOG setpoints required Number of selection inputs to be assigned (bJog1 ... bJog8)

1 At least 1

2...3 At least 2

4...7 At least 3

8...15 4


550 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.28.5 Skip frequency function

With speed-variable drives and linearly increasing speed setpoints, the frequency or speedrange is passed through in equal time segments. During the acceleration phase, speedsegments may exist which must be bridged quickly (e.g. bridging of self-resonantfrequency). The skip frequency function serves to mark a zone in which the speed is kept tothe start level. If the speed setpoint leaves this zone, the drive will be accelerated to thefinal level.

Definition of the blocking zones

The subcodes of codes C00632 and C00633 can be used to define three zones which are tobe skipped by the output setpoint and which are to be passed as fast as possible by theramp function generator:

C00632/1 ... 3: Maximum values of the zones [1 ... 3]

C00633/1 ... 3: Minimum values of the zones [1 ... 3]

The entry of identical limit values deactivates a blocking zone.

Overlapping of blocking zones

If blocking zones overlap, the lowest and highest value of the overlapping zones form anew zone.

In this case, the status display (output wState or display parameter C00634) only indicatesone zone (the lower of the two original zones).

Abutting blocking zones

If two blocking zones abut (e.g. 20 ... 30 % and 30 ... 40 %), the limit value between the twozones (in this example 30 %) is also passed through.

The same applies to a limit range of 0 ... xx %. During zero crossing of the speed setpoint,"0" speed is output as setpoint. It is possible to exclude "0" speed. However, in this case, theoutput speed will remain on the upper limit value when the input setpoint becomes "0".

Note!

• Skip frequencies only affect main setpoints.

• It is not possible to exclude "0" speed if there is a sign reversal of the speed setpoint.

�

nNnN

MNMN

MM

nn

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 551



Tip!

As described above, the acceleration phase starts after the blocking zones havebeen passed through. The ramp function generator integrated in the L_Nsetfunction block limits the progression of the speed. For this reason, the time valuesset for the integrated ramp function generator should be as low as possiblewhereas the setpoint for the L_NSet function block should be generated by a rampfunction generator with higher time values (e.g. L_MPot function block).

16.1.28.6 Ramp function generator for the main setpoint

The setpoint is now led via a ramp function generator with linear characteristic. The rampfunction generator converts setpoint step-changes at the input into a ramp.

[16-18] Acceleration and deceleration times

tir and tif are the desired times for changing between w1 and w2.

S-ramps are possible by selecting S-ramp times.

The tir/tif values are converted into the required Ti times according to the following formula:

Setting and selection of Ti times

Via parameters, you can select 16 different Tir and Tif times each for the ramp generator.

The selection is made via the binary coded selection inputs bTI1 ... bTI8:

w1, w2 = change of the main setpoint as a function of tir and tifRFG-OUT = output of the ramp function generator

RFG-OUT

100 %

w2

w1

t0 %

t ir t ir

Tir Tir

Selection inputs usedAcceleration time

usedDeceleration time

bTI8 bTI4 bTI2 bTI1

False False False False C00012 C00013

False False False True C00101/1 C00103/1

False False True False C00101/2 C00103/2

False False True True C00101/3 C00103/3

False True False False C00101/4 C00103/4

False True False True C00101/5 C00103/5

Tir tir100 %

w2 w1–----------------------⋅= Tif tif

100 %w2 w1–----------------------⋅=


552 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function

When the controller is inhibited (CINH), the ramp function generator accepts the value applied at nCInhVal_a and transfers it to the downstream function. This function has priority over all other functions.

bRfgStop = TRUE

– The ramp function generator is stopped. Changes at the input of the ramp function generator have no effect on the output signal.

bRfg0 = TRUE

– The ramp function generator runs to 0 along its deceleration ramp.

Furthermore it is possible to load the ramp function generator online with a defined value. For this purpose, bLoad must be set to TRUE. As long as this input is set, the value at nSet_a is transferred to the ramp function generator and provided at the output.

Priorities:

False True True False C00101/6 C00103/6

False True True True C00101/7 C00103/7

True False False False C00101/8 C00103/8

True False False True C00101/9 C00103/9

True False True False C00101/10 C00103/10

True False True True C00101/11 C00103/11

True True False False C00101/12 C00103/12

True True False True C00101/13 C00103/13

True True True False C00101/14 C00103/14

True True True True C00101/15 C00103/15

CINH bLoad bRfg0 bRfgStop Function

False False False False RFG follows the input value via the ramps set

False False False True The value at the RFG output is held

False False True False RFG runs to 0 within the deceleration time set

False False True True

False True False False RFG accepts the value at nSet_a and provides it at its output

False True False True


False True True True

Selection inputs usedAcceleration time

usedDeceleration time

bTI8 bTI4 bTI2 bTI1

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 553



16.1.28.7 S-shaped ramp

A PT1 element is connected downstream of the linear ramp function generator. Thisarrangement implements an S-shaped ramp for a nearly jerk-free acceleration anddeceleration.

The PT1 element is switched on/off via the input bSShapeActive.

The corresponding S-ramp time can be set under C00182.

16.1.28.8 Arithmetic combination

The arithmetic block arithmetically combines the main setpoint and the additionalsetpoint. The arithmetic combination is selected via the code C00190.

16.1.28.9 Additional setpoint

Use nNAdd_a to combine an additional setpoint (e.g. a correcting signal) with the main setpoint.

Use bNAddInv to invert the input signal before it affects the ramp function generator. The ramp function generator has a linear characteristic. Its Ti times can be set under C00220 (acceleration time) and C00221 (deceleration time).

When bLoad is set to TRUE, the ramp function generator is set to 0 and held there without considering the Ti times. The same applies when the controller is inhibited.

True False False False RFG accepts the value at nCInhVal_a and provides it at its output

True False False True

True False True False

True False True True

True True False False

True True False True

True True True False

True True True True

CINH bLoad bRfg0 bRfgStop Function

Value in C00190 Function Example

0 nNout_a = x (y is not processed)

1 nNout_a = x + y

2 nNout_a = x - y

3 nNout_a = x ⋅y

4 nNout_a = x / |y|

5 nNout_a = x / (100 % - y)

nNOut_a x y⋅16384----------------=

nNOut_axy----- 164⋅=

nNOut_ax

16384 y–------------------------- 16384⋅=


554 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.28.10 Application example for the additional load function

The motor control system of the drive is provided with a function that automaticallyadapts the ramp function generator to ensure a "jerk-free" setpoint injection. For thispurpose there is a control signal and an output signal. System block "LS_MotorInterface"

In case of speed-controlled drive tasks the output signal provides the current actual speedvalue (e.g. with pulse inhibit, flying restart, controller inhibit). If the motor control is in thisstate, the main setpoint generator must be adapted to the current actual value so that nosetpoint jerk can occur. This happens automatically if you connect the output signals of themotor control to the inputs bExternalCINH and nCInhValue_a.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 555


Function blocks | L_OffsetGainP

16.1.29 L_OffsetGainP

This FB is used to set the offset and gain of analog input signals. Usually, the FB isconnected directly downstream of the analog input terminals.

The internal calculations (addition and subtraction) are carried out with 32 bits without overflow/underflow.

Gain of lower input variables with a factor 0 ... ±100 .

The value provided at the nOut_a output is internally limited to ±199.99 %.

Inputs

Function blocks: L_OffsetGainP_1 L_OffsetGainP_2 L_OffsetGainP_3

Runtime: 17 μs

IdentifierData type


nIn_aINT

Input signal

L_OffsetGainP_1 ?

nIn_a nOut_a

C00696 C00670199.99%�

L_OffsetGainP_2 ?

nIn_a nOut_a

C00697 C00671199.99%�

L_OffsetGainP_3 ?

nIn_a nOut_a

C00698 C00672199.99%�

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_OffsetGainP

556 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Outputs

Parameter

Function

IdentifierData type

Value/meaning

nOut_aINT

Output signal • Internal limitation to ±199.99 %


C00670 (L_OffsetGainP_1)C00671 (L_OffsetGainP_2)C00672 (L_OffsetGainP_3)

-100.0000 100.0000 Gain factor • High gain factor for further

processing of smallest input signals.

• Please observe the difference with regard to the gain factors of other blocks in percent (±199.99 % ≈ 2).

• Lenze setting: 1.0000

C00696 (L_OffsetGainP_1)C00697 (L_OffsetGainP_2)C00698 (L_OffsetGainP_3)

-199.99 % 199.99 Offset • Lenze setting: 0.00 %

nOut_a nIn_a Offset+( ) Gain factor⋅=

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 557


Function blocks | L_OffsetGainPhiP

16.1.30 L_OffsetGainPhiP

This FB is used to set the offset and gain of analog input signals. Usually, the FB isconnected directly downstream of the analog input terminals.

The internal calculations (addition and subtraction) are carried out with 32 bits without overflow/underflow.

Gain of lower input variables with a factor 0 ... ±100 .

The value provided at the dnOut_p output is internally limited to

±231 (= ±2147483648).

Inputs

Outputs

Parameter

Function blocks: L_OffsetGainPhiP_1 L_OffsetGainPhiP_2

Runtime: 17 μs

IdentifierData type


dnIn_pDINT

Input signal

IdentifierData type

Value/meaning

dnOut_pDINT

Output signal • Internal limitation to -231 ... +231


C00673/1 (L_OffsetGainPhiP_1)C00673/2 (L_OffsetGainPhiP_2)

-2147483647 Incr. 2147483647 Offset • Lenze setting: 0 incr.

C00674/1 (L_OffsetGainPhiP_1)C00674/2 (L_OffsetGainPhiP_2)

-2147483647 2147483647 Gain factor • Lenze setting: 65536

L_OffsetGainPhiP_ ?

dnIn_p dnOut_p

C00673/1 C00674/1C00673/2 C00674/2

2147483648�

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_OffsetGainPhiP

558 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Function

dnOut_p dnIn_p Offset+( ) Gain factor⋅=

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 559


Function blocks | L_Or

16.1.31 L_Or

This FB implements the ORing of the inputs signals.

Inputs

Outputs

Function

[16-19] Truth table of the FB L_Or

Function blocks: L_Or_1 L_Or_2 L_Or_3

Runtime: 2 μs

IdentifierData type


bIn1bIn2bIn3

BOOL

Input signal

IdentifierData type

Value/meaning

bOutBOOL

Output signal

Inputs Output

bIn3 bIn2 bIn1 bOut

False False False False

False False True True

False True False True

False True True True

True False False True

True False True True

True True False True

True True True True

bOutbIn2

bIn3

bIn1

?L_Or_

1

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_Or5

560 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.32 L_Or5

This FB implements the ORing of the inputs signals.

Inputs

Outputs

Function

[16-20] Truth table of the FB L_Or5

Function blocks: L_Or5_1 L_Or5_2

Runtime: 2 μs

IdentifierData type


bIn1...bIn5

BOOL

Input signal

IdentifierData type

Value/meaning

bOutBOOL

Output signal

Inputs Output

bIn5 bIn4 bIn3 bIn2 bIn1 bOut

False False False False False False

False False False False True True

False False False True False True

False False False True True True

False False True False False True

... True

True True True False True True

True True True True False True

True True True True True True

bOut

bIn2

bIn3

bIn4

bIn5

bIn1

?L_Or5_

1

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 561


Function blocks | L_PhaseIntK

16.1.33 L_PhaseIntK

The FB can integrate a speed or velocity to an angle (path). In addition, the FB can recognisea relatively covered distance.

The integrator can take max. ±32000 encoder revolutions.

Functional range:

– Constant input value

– Input value with sign reversal

– Calculation of the output signal

Inputs

Outputs

Function blocks: L_PhaseIntK_1 L_PhaseIntK_2

Runtime: 5 μs

IdentifierData type


nIn_vINT

Selection of the actual speed • 16384 ≡ 15000 rpm

bLoadBOOL

Load angle integrator with starting value and reset status signal

True Angle integrator is loaded with the value at dnSet_p and bStatus is reset to FALSE.

dnSet_pDINT

Starting value for angle integrator

IdentifierData type

Value/meaning

dnOut_pDINT

Angle output signal • 65536 [inc] ≡ 1 encoder revolution • Overflow is possible (display via bStatus)

bStatusBOOL

Status signal "Overflow occurred/distance processed" • Status signal can be reset via bLoad.

True Overflow has occurred or distance is processed.

bStatus

L_PHINTK_ ?

nIn_v

IntervalTimeTASK

bLoad

dnSet_p

byModednCmp

dnOut_p

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_PhaseIntK

562 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter


C01150/1 (L_PhaseIntK_1)C01150/2 (L_PhaseIntK_2)

Function • Lenze setting: 00 bLoad input is status-controlled

(TRUE signal)

1 bLoad input is edge-controlled (FALSE-TRUE edge)

2 bLoad input is status-controlled (TRUE signal), sign reversal

C01151/1 (L_PhaseIntK_1)C01151/2 (L_PhaseIntK_2)

0 2000000000 Comparison value • Lenze setting: 0

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 563



16.1.33.1 Function at constant input value

Selection:

• byMode = 0 (status-controlled)

• byMode = 1 (edge-controlled)

[16-21] Switching performance at overflow in positive direction(+) variable with positive value(-) variable with negative value

When byMode = 0, the bLoad input is status-controlled, i.e. in case of a TRUE signal, the integrator is loaded with the value at dnSet_p and the bStatus output is set to FALSE.

When byMode = 1, the bLoad input is edge-controlled, i.e. in case of a FALSE-TRUE edge the integrator is loaded with the value at dnSet_p and then immediately continues to integrate, the bStatus output is set to FALSE.

A positive signal at nIn_v is incremented (the counter content is increased with every function call).

A negative signal at nIn_v is decremented (the counter content is reduced with every function call).

dnOut_p outputs the counter content of the bipolar integrator.

– If the counter content exceeds the value of +32767 encoder revolutions (corresponds to +2147483647 inc), an overflow occurs and the counting process continues at the value of -32768 encoder revolutions.

– If the counter content falls below the value of -32768 encoder revolutions (corresponds to -2147483648 inc), an overflow occurs and the counting process starts at the value of +32767 encoder revolutions.

bStatus is set to TRUE if the value set in dnCmp is reached.

dnOut_p

+32767

t

(+) dnCmp

(-) dnCmp

-32767

0

TRUE

FALSE

bStatus

t

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_PhaseIntK

564 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.33.2 Function at input value with sign reversal

Selection: byMode = 2

[16-22] Switching performance in case of sign reversal of the input signal(+) variable with positive value(-) variable with negative value sign reversal of the value at nIn_v

When byMode = 2, the bLoad input is status-controlled, i.e. in case of a TRUE signal, the integrator is loaded with the value at dnSet_p and the bStatus output is set to FALSE.

A positive signal at nIn_v is incremented (the counter content is increased with every function call).

A negative signal at nIn_v is decremented (the counter content is reduced with every function call).

dnOut_p outputs the counter content of the bipolar integrator.

– If the counter content exceeds a positive value set in dnCmp, the counter content is subtracted by the value of dnCmp and for the time of one task cycle, bStatus is set to TRUE.

– If the counter content falls below a negative value set in dnCmp, the counter content is added by the value of dnCmp and for the time of one task cycle, bStatus is set to TRUE.

Sign reversal

dnOut_p

t

(+) dnCmp

(-) dnCmp

0

TRUE

FALSE

bStatus

t

�

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 565



16.1.33.3 Calculation of the output signal

The output value at dnOut_p can be detected according to the following formula:

Example

You want to determine the counter content of the integrator at a certain speed at the inputand a certain integration time t.

Given values:

nIn_v = 1000 rpm ≈ integer value 1092

Integration time t = 10 s

Starting value of the integrator = 0

Solution:

Conversion of the input signal at nIn_v:

Calculation of the output value:

t = integration time16384 ≡ 15000 rpm1 inc ≡ 1

dnOut_p [inc] nIn_v [rpm] t [s] 65535 [inc/rev.]⋅ ⋅=

1000 rpm 1000 rev.60 s

-----------------------=

dnOut_p1000 rev.

60 s----------------------- 10 s

65535 increv.

-------------------------⋅ ⋅ 10922666 inc= =

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_PCTRL

566 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.34 L_PCTRL

This FB is a PID controller and can be used for various control tasks (e.g. as dancer positioncontroller, tension controller, or pressure controller).

The FB is provides with the following functions:

Adjustable control algorithm (P, PI, PID)

Ramp function generator for preventing setpoint step-changes at the input

Limitation of the controller output

Factorisation of the output signal

Vp adaptation

Integral action component can be switched off

Inputs

Function blocks: L_PCTRL_1

Runtime: 20 μs

IdentifierData type


nAdapt_aINT

Adaptation of the gain Vp set under C00222 in percent • Scaling: 16384 ≡ 100 % • Internal limitation to ± 199.99 % • Changes can be done online. • Display parameter: C00830/62

nNset_aINT

Speed setpoint • Scaling: 16384 ≡ 100 % • Internal limitation to ± 199.99 % • Display parameter: C00830/89

L_PCTRL

bSetEqAct

bIOff

nAct_a

bInAct

bActivateRamp

nInflu_a

nOut_a

?

nNSet_a

nSet_a

nAdapt_a

C00225

C00226C00233

C00227

C00228

C00243

C00244

1

C00245

C00242 C00223TnC00222Vp

C00224Kd

0|2|4|5

1|3

2|3

0|1|4|5

1

0

C00242

1|2|3|4

0|5

nISet_a

C00231

nPIDOut2_a

nPIDOut_a

nInfluenceOut_a

bISet

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 567


Function blocks | L_PCTRL

Outputs

nSet_aINT

Sensor and process setpoint for operating modes 2, 4 and 5 • Scaling: 16384 ≡ 100 % • Internal limitation to ± 199.99 % • Display parameter: C00830/63

nAct_aINT

Speed or actual sensor value (actual process value) • Scaling: 16384 ≡ 100 % • Internal limitation to ± 199.99 % • Display parameter: C00830/61

bIOffBOOL

Switch off I-component of process controller • Changes can be done online. • Display parameter: C00833/77

True I-component of the process controller is switched off.

bInActBOOL

Deactivate process controller temporarily • Changes can be done online. • Display parameter: C00833/76Note: This input is not connected with the application NCTRL.

True Process controller is deactivated, the internal PID-component is switched off.

nInflu_aINT

Limitation of the influencing factor in percent • nInflu_a serves to limit the influencing factor of the PID controller contained in

the FB to a required value (- 199.99 % ... + 199.99 %). • Scaling: 16384 ≡ 100 % • Internal limitation to ± 199.99 % • Display parameter: C00830/64

bActivateRampBOOL

Activate ramp for influencing factor • Display parameter: C00833/106

True Influencing factor of the PID controller is ramped up to the nInflu_a value.

False Influencing factor of the PID controller is ramped down to "0".

bISetBOOL

Accept I component nISet_a in PID controller

True The value at the input nISet_a is accepted in the PID controller.

nISet_aINT

Selection of I component of PID controller • With a TRUE signal at bISet, the assigned value is accepted in the PID controller. • Scaling: 16384 ≡ 100 % • Internal limitation to ± 199.99 %

IdentifierData type

Value/meaning

nOut_aINT

Output signal • Scaling: 16384 ≡ 100 %

bActEqSetINT

Status output "Setpoint and actual value are identical"

True Setpoint and actual value are identical, i.e. no system deviation available.

nPIDOut2_aINT

PID controller output without influencing factor nInflu_a • The inputs bActivateRamp and nInflu_a do not have any effect here, the limited

PID output value influenced by the internal ramp times is output. • There is no connection with the additive input nNSet_a. • Scaling: 16384 ≡ 100 %

IdentifierData type



568 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter

nPIDOut_aINT

PID controller output with influencing factor nInflu_a • There is no connection with the additive input nNSet_a. • Scaling: 16384 ≡ 100 % • Display parameter: C00245

nInfluenceOut_aINT

Current influencing factor ("ramp status") on the PID output value • Scaling: 16384 ≡ 100 %


C00222 0.1 0.1 500.0 Gain Vp • Lenze setting: 1.0

C00223 20 ms 6000 Reset time Tn • Lenze setting: 400 ms

C00224 0.0 0.1 5.0 Differential component Kd • Lenze setting: 0.0

C00225 -199.99 % +199.99 Maximum value of the PID operating range • Lenze setting: 199.99 %

C00226 -199.99 % +199.99 MinLimit • Minimum value of the PID

operating range • Lenze setting: -199.99 %

C00227 0.000 s 999.999 Acceleration time for the ramp at the PID output (should be set as steep as possible) • Lenze setting: 0.010 s

C00228 0.000 s 999.999 Deceleration time for the ramp at the PID output • Lenze setting: 0.010 s

C00231/1 (Pos. Maximum)C00231/2 (Pos. Minimum)C00231/3 (Neg. Minimum)C00231/4 (Neg. Maximum)

0.00 % 199.99 Operating range • Determination of the operating

range for the PID process controller by limiting the input signal nSet_a.

• Lenze setting: No limitation (-199.99 % ... +199.99 %)

C00233 Root function • Lenze setting: Off

Off The actual value at nAct_a is used as it is.

On The actual value at nAct_a is square-rooted.

IdentifierData type

Value/meaning

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 569



C00242 Operating mode • Lenze setting: 0

0 Off The input setpoint nNSet_a is output without any changes at the output nOut_a.

1 nNSet + nNSet_PID nNSet_a and nAct_a are used as PID input values. The input setpoint nNSet_a is added to the value output by the PID element.

2 nSet_PID nSet_a and nAct_a are used as PID input values. The input nNSet_a is not considered.

3 nNSet_PID nNSet_a and nAct_a are used as PID input values. The input nSet_a is not considered.

4 nNSet + nSet_PID nSet_a and nAct_a are used as PID input values. The setpoint nNSet_a is added to the output value of the PID component.

5 nNSet || nSet_PID nSet_a and nAct_a are used as PID input values. The setpoint nNSet_a is output at the output nOut_a . The PID output value is output at the output nPIDOut_a.

C00243 0.000 s 999.999 Influence acceleration time • Acceleration time Tir for the

influencing factor. • Lenze setting: 5.000 s

C00244 0.000 s 999.999 Influence deceleration time • Deceleration time Tif for the

influencing factor. • Lenze setting: 5.000 s

C00245 -199.99 % +199.99 Display of PID output value nPIDOut_a



570 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.34.1 Control characteristic

The PI algorithm is active in the Lenze setting.

Gain (P component)

The input value is controlled by a linear characteristic. The slope of the characteristic isdetermined by the controller gain Vp.

The controller gain Vp is set under C00222.

The controller gain can be adapted via the input nAdapt_a (also possible in online mode).

The input value nAdapt_a has a directly effect on the controller gain:

Example: With the parameterised controller gain Vp = 2.0 and nAdapt_a = 75 %, theresulting gain factor is as follows:

Integral action component (I component)

The I component can be selected via the input nISet_a. With a TRUE signal at bISet, theassigned value is accepted in the PID controller.

Setting the adjustment time Tn to the maximum value of "6000 ms" deactivates the I component.

The I component of the controller can also be deactivated by setting the input bIOff to TRUE.

The I component can be switched on and off online.

Adjustment time

The adjustment time Tn is set under C00223.

Differential component Kd (D component)

The differential component Kd is set under C00224.

The setting "0.0 s" deactivates the D component (Lenze setting). In this way, the PID controller becomes a PI controller or P controller, if the I component has been deactivated as well.

P nAdapt_a C00222⋅=

P75 [%]

100 [%]------------------- 2.0⋅ 1.5= =

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 571



16.1.34.2 Ramp function generator

The PID output is led via a ramp function generator with linear characteristic. This servesto transfer setpoint step-changes at the PID output into a ramp which should be as steepas possible.

[16-23] Acceleration and deceleration times

tir and tif are the desired times for changing between w1 and w2.

The ramps for acceleration and deceleration can be set individually.

– C00227: acceleration time tir

– C00228: deceleration time tif

The tir/tif values are converted into the required Ti times according to the following formula:

The ramp function generator is immediately set to "0" by setting bInAct to TRUE.

16.1.34.3 Operating range of the PID process controller

The value range of the input signal nSet_a and thus the operating range of the PID processcontroller can be limited with the following parameters:

C00231/1: pos. maximum (default setting: 199.99 %)

C00231/2: pos. minimum (default setting: 0.00 %)

C00231/3: neg. minimum (default setting: 0.00 %)

C00231/4: neg. maximum (default setting: 199.99 %)

16.1.34.4 Evaluation of the output signal

After the limitation, the output signal is evaluated with the influencing factor nInflu_a.The evaluation is activated/suppressed along a ramp when the input bActivateRamp is setto TRUE. The ramp times are set with the parameters "Influence acceleration time"(C00243) and "Influence deceleration time" (C00244).

w1, w2 = change of the main setpoint as a function of tir and tifRFG-OUT = output of the ramp function generator

RFG-OUT

100 %

w2

w1

t0 %

t ir t if

Tir Tif

Tir tir100 %

w2 w1–----------------------⋅= Tif tif

100 %w2 w1–----------------------⋅=


572 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.34.5 Deactivation of the process controller

Setting the input bInAct to TRUE deactivates the process controller. As a result, the PIDoutput, the I component, and the ramp function generator are reset to "0". A setpointdefined in operating modes 1 + 4 via the input nNSet_a, however, will still be output.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 573


Function blocks | L_PT1

16.1.35 L_PT1

This FB filters and delays analog signals.

The filter time constant T can be set via parameters.

The gain is defined with Vp = 1.

Inputs

Outputs

Parameter

Function

[16-24] Filter time constant T of the first-order delay element

Function blocks: L_PT1_1 L_PT1_2 L_PT1_3

Runtime: 1 μs 3 μs 3 μs

IdentifierData type


nIn_aINT

Input signal

IdentifierData type

Value/meaning

nOutINT

Output signal


C00249 (L_PT1_1)C00250/1 (L_PT1_2)C00250/2 (L_PT1_3)

0.01 s 50.00 Filter time constant • When 0.01 s is set, the filter is not

active. • Lenze setting: 20.00 s

nOut_anIn_a

nDelayTime

L_PT1_ ?

T

V = 1p

t

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_RLQ

574 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.36 L_RLQ

This FB links a selected direction of rotation to the QSP function with wire-breakprotection.

Inputs

Outputs

Function

[16-25] Truth table of the FB L_RLQ, 0 = FALSE, 1 = TRUE

Function blocks: L_RLQ_1

Runtime: 3 μs

IdentifierData type


bCwBOOL

Input • TRUE = CW rotation

bCCwBOOL

Input • TRUE = CCW rotation

IdentifierData type

Value/meaning

bQSPBOOL

Output signal for QSP (quick stop)

bCwCcwBOOL

Output signal for CW/CCW rotation • TRUE = CCW rotation

Inputs Outputs Notes

bCw bCCw bCwCcw bQSP

True True False True Only if both inputs are TRUE at the moment of switch-on, the outputs are in these states!--> see also FB_Grafik (above), "Init" = 1.

If one of the inputs has the TRUE state, the following truth table applies:

False False False True see also FB_Grafik with symbolism "Init" = 0

True False False False


True True X (save)

L_RLQ_1

bCwCcw

?

bCcw

bCw

&&

1

S

R

Init = 1

1

0

FALSE

TRUE1

0

Init = 0

bQsp

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 575


Function blocks | L_RSFlipFlop

16.1.37 L_RSFlipFlop

The functionality of this FB corresponds to an RS-FlipFlop:

An input signal at bSet serves to set the bOut output permanently.

An input signal at bReset serves to reset the output.

Additional, inverted output bNegOut

Inputs

Outputs

Function blocks: L_RSFlipFlop_1 L_RSFlipFlop_2

Runtime: 3 μs

IdentifierData type


bSetBOOL

Setting input

True • The bOut output is set to TRUE. • The bNegOut output is set to FALSE.

bResetBOOL

Reset input

True • The bOut output is set to FALSE. • The bNegOut output is set to TRUE.

IdentifierData type

Value/meaning

bOutBOOL

Output signal

bNegOutBOOL

Output signal, inverted

bNegOut

bOutbSet

bReset

?L_RSFlipFlop_

Q

Q

1S

1R

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_SampleHold

576 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.38 L_SampleHold

This FB can save a signal.

The saved value is also available after mains switching.

Inputs

Outputs

Function

When bLoad = TRUE, the nIn_a signal is switched to nOut_a.

When bLoad = FALSE, the last-valid value is saved and output at nOut_a. A signal change at nIn_a does not cause a change at nOut_a.

Behaviour after mains switching

The last-loaded value is permanently stored after switching of the supply voltage andreloaded after restart.

In order that the saved value is not immediately overwritten with the current input signal at nIn after restart, bLoad must be set to FALSE at restart.

Function blocks: L_SampleHold_1 L_SampleHold_2

Runtime: 3 μs

IdentifierData type


nIn_aINT

Input signal

bLoadBOOL

Save input signal

False The last-valid value at nIn is saved and output to nOut. A signal change at nIn does not cause a change at nOut.

True The nOut output provides dnIn.

IdentifierData type

Value/meaning

nOutINT

Output signal

nOut_anIn_a

L_SampleHold_ ?

S&HbLoad

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 577


Function blocks | L_SignalMonitor_a

16.1.39 L_SignalMonitor_a

This FB serves to output four analog signals which can be selected from a list of 16-bitanalog output signals of all FBs available in the device.

Offset and gain of the source signals are adjustable.

Outputs

Function blocks: L_SignalMonitor_a

Runtime: 15 μs

IdentifierData type

Value/meaning

nOut1_aINT


nOut2_aINT


nOut3_aINT


nOut4_aINT


L_SignalMonitor_a ?

nOut/1_a

nOut/2_a

nOut/3_a

nOut/4_a

C413/2

C413/4

C413/6

C413/8

C413/1

C413/3

C413/5

C413/7

C410/1

C410/2

C410/3

C410/4

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_SignalMonitor_a

578 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter


C00410/1...C00410/4

Selection of signal source

0 Not connected

1000 LA_nCtrl_wDriveControlStatus

1001 LA_nCtrl_wFailNumber

1002 LA_nCtrl_nMotorCurrent_a

... ...

42017 LA_nCtrl_In_nPIDSerValue_a

C00413/1C00413/3C00413/5C00413/7

-199.99 % +199.99 Offset

C00413/2C00413/4C00413/6C00413/8

-199.99 % +199.99 gain

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 579


Function blocks | L_SignalMonitor_b

16.1.40 L_SignalMonitor_b

This FB serves to output four binary signals which can be selected from a list of 16-bitbinary output signals of all FBs available in the device.

Inversion of the output signal

Outputs

Function blocks: L_SignalMonitor_b

Runtime: 3 μs

IdentifierData type

Value/meaning

bOut1...bOut4

BOOL

Output signalFALSE / TRUE

L_SignalMonitor_b ?

bOut1

bOut2

bOut3

bOut4

0

1

26 37

C411/1

C411/2

C411/3

C411/4

1

1

1

1

1

1

1

C412: 04 15

2

3

xx 0/1xx

C412:

C412:

C412:

C412:

0

1

0

1

0

1

0

11

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_SignalMonitor_b

580 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Parameter


C00411/1...C00411/4

Selection of signal source

0 Not connected

1000 LA_nCtrl_bDriveReady

1001 LA_nCtrl_bDriveFail

1002 LA_nCtrl_bCInhActive

.. ...

42033 LA_NCtrl_bPIDIOff

C00412 Inversion • Bit set = inversion activeBit 0 bOut1 inverted

Bit 1 bOut2 inverted



Bit 4 Reserved

Bit 5 Reserved

Bit 6 Reserved

Bit 7 Reserved

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 581


Function blocks | L_Transient

16.1.41 L_Transient

This FB serves to evaluate digital signal edges and convert them into timed, retriggerablepulses.

The edge evaluation can be parameterised:

– Function 0: Evaluate rising signal edges

– Function 1: Evaluate falling signal edges

– Function 2: Evaluate rising and falling signal edges

Inputs

Outputs

Parameter

Function blocks: L_Transient_1 L_Transient_2 L_Transient_3 L_Transient_4

Runtime: 3 μs

IdentifierData type


bInBOOL

Input for edge evaluation • Function depends on the edge evaluation selected under C01140.

IdentifierData type

Value/meaning

bOutBOOL

Output (retriggerable)


C01140/1 (L_Transient_1)...C01140/4 (L_Transient_4)

Function • Selection of edge evaluation

0 Rising edge Lenze setting

1 Falling edge

2 Both edges

C01141/1 (L_Transient_1)...C01141/4 (L_Transient_4)

0.001 s 60.000 Pulse duration • Lenze setting: 0.001 s

bOutbIn

Function wPulseTime

L_TRANS_ ?

0 t

8400 HighLine C | Software ManualFunction libraryFunction blocks | L_Transient

582 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.1.41.1 Function 0: Evaluate rising signal edges

Setting: C01140 = 0

[16-26] Switching performance when rising edges are evaluated

Functional sequence

1. A FALSE-TRUE edge at the bIn input sets the bOut output to TRUE.

2. After the pulse time set under C01141, the output bOut is reset to FALSE unless a further FALSE-TRUE edge has occurred at the input bIn.

– In case of another FALSE-TRUE edge at the input bIn, the pulse time restarts to elapse, i.e. the output bOut can be retriggered.

Note!

When the interval time of the task is set to >1 ms and the pulse duration is not an integer multiple of the interval time, the pulse duration is automatically prolonged to the next integer multiple of the interval time.

TRUE

FALSE

bOut

t

TRUE

FALSE

bIn

t

wPulseTime wPulseTime wPulseTime

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 583


Function blocks | L_Transient

16.1.41.2 Function 1: Evaluate falling signal edges

Setting: C01140 = 1

[16-27] Switching performance when falling edges are evaluated

Functional sequence

1. A TRUE-FALSE edge at the bIn input sets the bOut output to TRUE.

2. After the pulse time set under C01141, the output bOut is reset to FALSE unless a further TRUE-FALSE edge has occurred at the input bIn.

– In case of another TRUE-FALSE edge at the input bIn, the pulse time restarts to elapse, i.e. the output bOut can be retriggered.

16.1.41.3 Function 2: Evaluate rising and falling signal edges

Setting: C01140 = 2

[16-28] Switching performance when rising and falling edges are evaluated

Functional sequence

1. A signal change (FALSE-TRUE or TRUE-FALSE edge) at the bIn input sets the bOut output to TRUE.

2. After the pulse time set under C01141, the output bOut is reset to FALSE unless a further FALSE-TRUE edge has occurred at the input bIn.

– In case of another signal change at the input bIn, the pulse time restarts to elapse, i.e. the output bOut can be retriggered.

TRUE

FALSE

bOut

t

TRUE

FALSE

bIn

t

wPulseTimewPulseTime wPulseTime

TRUE

FALSE

bOut

t

TRUE

FALSE

bIn

t

wPulseTimewPulseTime wPulseTime

8400 HighLine C | Software ManualFunction librarySystem blocks | LS_DisFree

584 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.2 System blocks

16.2.1 LS_DisFree

This system block serves to display any 16-bit process signal on display codes.

Inputs

Parameter

IdentifierData type


wDis01 ... wDis04WORD

Input


C00481/1 ... 4 0x0000 0xFFFF General 16-bit signal • Read only

LS_DisFree ?

wDis01

wDis02

wDis03

wDis04

C481/1

C481/2

C481/3

C481/4

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 585


System blocks | LS_DisFree_a

16.2.2 LS_DisFree_a

This system block serves to display four percentage values of analog process signals ondisplay codes.

Inputs

Parameter

IdentifierData type


nDis01_a ... nDis04_aINT

Input


C00482/1 ... 4 - 199.99 % + 199.99 % Process signal • Read only

LS_DisFree_a ?

nDis01

nDis02

nDis03

nDis04

C482/1

C482/2

C482/3

C482/4

8400 HighLine C | Software ManualFunction librarySystem blocks | LS_DisFree_b

586 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.2.3 LS_DisFree_b

This system block serves to display eight boolean process signals on a bit-standardiseddisplay code.

Inputs

Parameter

IdentifierData type


bDis01 ... nDis08BOOL

Input


C00480 0 1 Process signal • Bit-coded display

LS_DisFree_b ?

bDis02

bDis01

bDis03

bDis04

bDis05

bDis06

bDis07

bDis08

C480

C480

C480

C480

C480

C480

C480

C480

Bit 1

Bit 0

Bit 2

Bit 3

Bit 4

Bit 5

Bit 6

Bit 7

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 587


System blocks | LS_MotionControlKernel

16.2.4 LS_MotionControlKernel

The system block LS_MotionControlKernel provides the interface for theMotionControlKernel with the basic drive functions in the FB Editor.

LS_MotionControlKernel ?

nSpeedOverride_a

nAccOverride_a

wMotionCtrl

wAuxCtrl1

wAuxCtrl2

bLimitSwitchPos

bLimitSwitchNeg

bHomMark

bBrkRelease

bBrkStartTorqueDir

nBrkTorqueAdd_a

bBrkApplied

bDeltaPosOn_bDeltaPosOn

bPosCtrlOn_bPosCtrlOn

dnDeltaPos_p_dnDeltaPos_p

dnPosSetValue_p_dnPosSetValue_p

bPosDerivativeOn_bPosDerivativeOn

bMotorRefOffsetOn_bMotorRefOffsetOn

dnMotorRefOffset_p_dnMotorRefOffset_p

bQspOn_bQspOn

nPWMAngleOffset_a_nPWMAngleOffset_a

bSpeedCtrlIOn_bSpeedCtrlIOn

nSpeedCtrlI_a_nSpeedCtrlI_a

nSpeedSetValue_a_nSpeedSetValue_a

bTorqueModeOn_bTorqueModeOn

nTorqueSetValue_a_nTorqueSetValue_a

bDcBrakeOn_bDcBrakeOn

nSpeedSet_v

dnPosTarget_p

wMotionState

wAuxState1

wAuxState2

bPosBusy

bPosDone

bHomDone

bHomAvailable

bBrkReleaseOut

bBrkReleased

nSpeedSet_v

8400 HighLine C | Software ManualFunction librarySystem blocks | LS_MotionControlKernel

588 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Inputs

IdentifierData type


bPosCtrlOnBOOL


bDeltaPosOnBOOL

To position the motor shaft, the position control within the motor control can both operate with a position setpoint (position / [Inc])and alternatively with a speed setpoint (Nsoll/[% of C11]) and a following error input (difference between setpoint and actual position /[Inc])This signal serves to switch over between both methodsUsually, the signal in Lenze applications is TRUE.

True Control to following error

dnDeltaPos_pDINT

Following error input

dnPosSetValue_pDINT

Absolute position setpoint see bDeltaPosOn

bPosDerivativeOnBOOL

Feedforward control of the speed controller through differentiation of the position setpoint.For highly dynamic controls a feedforward control of the speed controller can be switched on. For this, the absolute position setpoint is differentiated and fed after the speed controller.

True Feedforward control of the speed controller is switched on

bMotorRefOffsetOnBOOL

A High edge at this input affects the internal position integrators in the MCK and the motor control so that the value dnMotorRefOffset_p is added to the current integrator value as offset value.

True dnMotorRefOffset_p is added as offset value

dnMotorRefOffset_pDINT

Position offset [Inc] to affect the current actual position of the motor control by offset addition.

bQspOnBOOL

True Initiate quick stop

nPWMAngleOffset_aINT

Angular offset input0 .. 199.99%

bSpeedCtrlIOnBOOL

True FALSE/TRUE edge

nSpeedCtrlI_aINT

I-component of the speed controllerThis input serves to directly set the I-component of the speed controller (e.g. to automatically provide a minimum torque statically when a load is lifted).

nSpeedSetValue_aINT

Main setpoint of speed

bTorquemodeOnBOOL

True Switch on torque-controlled operation

nTorqueSetValue_aINT

Torque setpoint

bDcBrakeOnBOOL

True Activate DC-injection braking

nSpeedAdd_vINT

Additive speed setpoint

nSpeedOverride_aINT

Speed override

nAccOverride_aINT

Acceleration override

wMotionCtrlWORD

Positioning control word 1This control word serves to control the MCK

wAuxCtrl1WORD

Additional control word 1

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 589


System blocks | LS_MotionControlKernel

Outputs

wAuxCtrl2WORD

Additional control word 2

bLimitSwitchPosBOOL

Input for limit switch (positive)

bLimitSwitchNegBOOL

Input for limit switch (negative)

bHomMarkBOOL

True Pre-switch-off mark

bBrkReleaseBOOL

True Manual brake release, also forced release

bBrkStartTorqueDirBOOL

True Feedforward control direction for holding brake operation

nBrkTorqueAdd_aINT

Additive feedforward control torque

bBrkAppliedBOOL

Feedback signal - switching state of holding brake

True Brake is controlled (waiting times expired

IdentifierData type

Value/meaning

bPosCtrlOn_BOOL


bDeltaPosOn_BOOL

True Control to following error

dnDeltaPos_p_DINT

Following error input

dnPosSetValue_p_DINT

Absolute position setpoint

bPosDerivativeOn_BOOL

True Differentiation of the position setpoint

bMotorRefOffsetOn_BOOL

True Add error offset to integrators

dnMotorRefOffset_p_DINT

Error offset

bQspOn_BOOL

True Initiate quick stop

nPWMAngleOffset_a_INT

Angular offset input

bSpeedCtrlIOn_BOOL

True Set I-component of the speed controller

nSpeedCtrlI_a_INT

I-component of the speed controller

nSpeedSetValue_a_INT

Main setpoint of speed

bTorqueModeOn_BOOL

True Switch on torque-controlled operation

nTorqueSetValue_a_INT

Torque setpoint

bDcBrakeOn_BOOL

True Activate DC-injection braking

nSpeedSet_vINT

Speed setpoint selection

IdentifierData type


8400 HighLine C | Software ManualFunction librarySystem blocks | LS_MotionControlKernel

590 L Firmware 02.00 - DMS EN 3.0 - 05/2009

dnPosTarget_pDINT

Target position

wMotionStateWORD

MCK status word

wAuxState1WORD

Additional status word 1

wAuxState2WORD

Additional status word 2

bPosBusyBOOL

Profile is active

bPosDoneBOOL

Set position approached

bHomDoneBOOL

Homing executed

bHomAvailableBOOL

Home position known

bBrkReleaseOutBOOL

Trigger signal for switching element holding brake control via a digital output • Use bit 0 under C02582 to activate inverted switching element triggering.


False Apply brake.

True Release brake.

bBrkReleasedBOOL

Brake control status signal with consideration of the application and release time of the brake


False Brake applied (when the brake application time has elapsed).

True Brake released (when the brake release time has elapsed).

IdentifierData type

Value/meaning

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 591


System blocks | LS_ParFix

16.2.5 LS_ParFix

This system block provides the user with fixed values which can be used in theinterconnection for parameterisation purposes.

Outputs

IdentifierData type


The output values are fixed and can therefore not be parameterised.

bTrueBOOL

1 ≡ TRUE

nPos100_aINT

16384 ≡ + 100 %

nNeg100_aINT

- 16384 ≡ - 100 %

nPos199_99_aINT

32767 ≡ + 199.99 %

nNeg199_99_aINT

- 32767 ≡ - 199.99 %

w65535WORD

65535 ≡ 0xFFFF

wDriveCtrlWORD

9 ≡ 0x0009 • Bit 0, SwitchOn = TRUE • Bit 3, EnableOperation = TRUE • All others: FALSESee also:

Control word and status word of the controller ( 73)

LS_ParFix ?

bTrue

nPos100_a

nNeg100_a

nPos199_99_a

nNeg199_99_a

w65535

wDriveCtrl

%

%

%

%

8400 HighLine C | Software ManualFunction librarySystem blocks | LS_ParFree

592 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.2.6 LS_ParFree

This system block provides 4 WORD signals which can be parameterised separately in HEXformat by the user.

Outputs

Parameter

IdentifierData type


wPar1 ... wPar4WORD

Output


C00471/1...4 0x0000 0xFFFF Selection of words to be output

LS_ParFree ?

wPar01

wPar02

wPar03

wPar04

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 593


System blocks | LS_ParFree_a

16.2.7 LS_ParFree_a

This system block provides 4 analog signals which can be parameterised separately by theuser.

Outputs

Parameter

IdentifierData type


nPar01_a ... nPar04_aINT

Output


C00472/1...4 -199.99 % +199.99 Selection of analog signals to be output

LS_ParFree_a ?

nPar01_a

nPar02_a

nPar03_a

nPar04_a

%

%

%

%

8400 HighLine C | Software ManualFunction librarySystem blocks | LS_ParFree_b

594 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.2.8 LS_ParFree_b

This system block provides 16 digital signals which can be parameterised separately by theuser.

Outputs

Parameter

ü

IdentifierData type


bPar01 ... bPar16BOOL

Output


C00470 Selection of signal levels to be output • Bit 0 ... 15 = bPar01 ... bPar160 "FALSE" signal is output

1 "TRUE" signal is output

LS_ParFree_b ?

bPar01

bPar02

bPar03

bPar04

bPar05

bPar06

bPar07

bPar08

bPar09

bPar10

bPar11

bPar12

bPar13

bPar14

bPar15

bPar16

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 595


System blocks | LS_ParFree_v

16.2.9 LS_ParFree_v

This system block provides 4 speed signals which can be parameterised separately by theuser.

Outputs

Parameter

IdentifierData type


nPar01_v ... nPar04_vINT

Output


C00473/1...4 -32767 Incr./ms +32767 Selection of speed signals to be output

LS_ParFree_v ?

nPar01_v

nPar02_v

nPar03_v

nPar04_v

rpm

rpm

rpm

rpm

8400 HighLine C | Software ManualFunction librarySystem blocks | LS_PulseGenerator

596 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16.2.10 LS_PulseGenerator

This system block creates ten different frequencies by an internal pulse generator andprovides these at the output of the FB.

9 fixed frequencies

1 variable output frequency with adjustable pulse / dead time.

Outputs

IdentifierData type

Value/meaning

b100HzBOOL

Output frequency • Rectangular signal 100 Hz

b10HzBOOL


b2HzBOOL


b1HzBOOL


b1HzFlashBOOL

Output signal • 80 ms-pulse, repetition rate every second

b2HzFlashBOOL

Output signal • 80 ms-pulse, repetition rate every 0.5 seconds

bSingleFlash1BOOL

Output signal • 80 ms-pulse, repetition rate every 1.25 seconds

bSingleFlash2BOOL

Output signal • 80 ms-pulse, repetition rate every 2 seconds

bDoubleFlashBOOL

Output signal • 80 ms-double pulse, repetition rate every 1,25 seconds

bSquareWaveBOOL

Output frequency • Variable output frequency can be set with C00400

LS_PulseGenerator ?

b100Hz

b10Hz

b2Hz

b1Hz

b1HzFlash

b2HzFlash

bSingleFlash1

bSingleFlash2

bDoubleFlash

bSquareWaveG

G

C00400/1C00400/2

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 597


System blocks | LS_PulseGenerator

Parameter


C00400/1 0 ms 60000 Length of LOW level (dead time) • For output bSquareWave • Lenze setting: 1000 ms

C00400/2 0 ms 60000 Length of HIGH level • For output bSquareWave • Lenze setting: 1000 ms

8400 HighLine C | Software ManualParameter reference

598 L Firmware 02.00 - DMS EN 3.0 - 05/2009

17 Parameter reference

All parameters for controller parameter setting and monitoring are stored under so-called"codes".

The codes are numbered and indicated by the prefix "C" before the code, e.g. "C00002".

For the sake of clarity, some codes contain "subcodes" for saving parameters. This Manual uses a slash "/" as a separator between code and subcode, e.g. C00118/3".

The terms "code" and "subcode" generally correspond to the terms "index" and "subindex" and "parameter" and "subparameter".

Codes can be used to implement the following functions when working with the 8400 frequency inverters:

– Selection of setpoints, e.g. acceleration time.

– Display of actual values, e.g. actual motor current.

– Configuration of signal connections, e.g. assigning the digital input terminals to the control inputs of the technology application.

– Configuration of monitoring systems, e.g. selection of error reactions and trigger thresholds.

Parameters that are only available as of a certain software version are provided with acorresponding not ("as of version xx.xx.xx") in the parameter description.

The parameter descriptions are based on software version V02.00.00

Tip!

For quick reference of a parameter with a certain name, simply use the index of the online documentation. The index always contains the corresponding code in parentheses after the name.

For general information on how to read and change parameters, please see the online documentation for the »Engineer«.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 599


Structure of the parameter descriptions

17.1 Structure of the parameter descriptions

Each parameter is described in the Parameter list in the form of a table which consists ofthe following three areas:

Table header

The table header contains the following general information:

Parameter number (Cxxxxx)

Parameter name (display text in »Engineer» and keypad)

Data type

Parameter index in decimal and hexadecimal notation for access via a fieldbus (e.g. CAN system bus).

Tip!

The parameter index is calculated as follows:

• Index [dec] = 24575 - code

• Index [hex] = 0x5FFF - code

Example for code C00005:

• Index [dec] = 24575 - 5 = 24570

• Index [hex] = 0x5FFF - 0x{5} = 0x5FFA

Table contents

The table contains further general explanations & notes on the parameter and the possiblesettings, which are represented in different ways depending on the parameter type:

Parameters with read-only access

Parameters with write access

Table footer

The table footer contains the Parameter attributes.

8400 HighLine C | Software ManualParameter referenceStructure of the parameter descriptions

600 L Firmware 02.00 - DMS EN 3.0 - 05/2009

17.1.1 Data type

The parameters can be of the following data types:

17.1.2 Parameters with read-only access

Parameters for which the "write access" attribute has not been set, can only be read. Theycannot be changed by the user.

Description structure

Representation in the »Engineer«

The »Engineer« displays these parameters with a grey background or, with an onlineconnection, with a pale-yellow background:

Data type Meaning

INTEGER_8 8-bit value with sign




UNSIGNED_8 8-bit value without sign




FLOATING_POINT 32-bit floating point number

VISIBLE_STRING String of characters from printable characters

OCTET_STRING String of characters from any characters

BITFIELD_8 8-bit value, bit-coded



Parameter | Name:

Cxxxxx | _____________Data type: _______

Index: _______

Description

Display range (min. value | unit | max. value)

Read access Write access CINH PLC STOP No transfer COM MOT Scaling factor: 1

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 601



17.1.3 Parameters with write access

Only parameters with a check mark ( ) in front of the "write access" attribute can bechanged by the user. The Lenze setting for these parameters is printed in bold.

The settings can either be selected from a selection list or the values can be entered directly.

Values outside the valid setting range are represented in red in the »Engineer«.

17.1.3.1 Parameters with setting range


Parameter setting in the »Engineer«

In the »Engineer«, parameters are set by entering the desired value into the input field:

17.1.3.2 Parameters with selection list


Parameter | Name:

Cxxxxx | _____________Data type: _______

Index: _______

Description

Setting range (min. value | unit | max. value) Lenze setting


Parameter | Name:

Cxxxxx | _____________Data type: _______

Index: _______

Description

Selection list (Lenze setting printed in bold)

1

2

3



602 L Firmware 02.00 - DMS EN 3.0 - 05/2009


In the »Engineer«, a list field is used for parameter setting:

17.1.3.3 Parameters with bit-coded setting



The »Engineer« uses a dialog box for parameter setting in which the individual bits can beset or reset. Alternatively, the value can be entered as a decimal or hexadecimal value:

Parameter | Name:

Cxxxxx | _____________Data type: _______

Index: _______

Description

Value is bit-coded:

Bit 0

...

Bit 31


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 603



17.1.3.4 Parameters with subcodes



The »Engineer« parameter list lists all subcodes separately. The parameters are set asdescribed in the previous chapters.

17.1.4 Parameter attributes

The parameter attributes are listed in the table footer:

Parameter | Name:

Cxxxxx | _____________Data type: _______

Index: _______

Description

Setting range (min. value | unit | max. value)

Subcodes Lenze setting

Cxxxxx/1

Cxxxxx/2

Cxxxxx/3

Cxxxxx/4



Attribute Meaning

Read access Read access to parameter possible.

Write access Write access to parameter possible. • Please also observe the following attributes:

CINH Parameter value can only be changed when the controller is inhibited.

PLC STOP Parameter value can only be changed when the application is stopped.

No transfer Parameter is not transferred to controller when the command Download parameter set is executed.

COM Communication-relevant parameter • This parameter is relevant for parameter data transfer via the (CAN) system bus.

MOT Motor control parameters


604 L Firmware 02.00 - DMS EN 3.0 - 05/2009

Scaling factor

The "scaling factor" is important for parameter access via the bus system.

Example 1: The value "654" of the parameter C00028/1 (AIN1: input voltage) read via a bussystem must be divided by the corresponding scaling factor "100" to obtain the actualdisplay value "6.54 V".

[17-1] Conversion formula for read access via bus system

Example 2: To set the parameter C00012 (acceleration time for main setpoint) via a bussystem to the value "123.45 %", the integer value "12345" must be transferred, i.e. thevalue to be set must be multiplied by the corresponding scaling factor "100".

[17-2] Conversion formula for write access via bus system

Signal type Scaling factor Resolution Value range

Analog (scaled) 100 16 bits signed ± 199.99 %

Angular velocity 1 16 bits signed ± 32767 incr./ms

Position in [units] 10000 32 bits signed ± 214748.3647 [units]

Digital (BOOL) 1 8 bits unsigned 0 ≡ FALSE; 1 ≡ TRUE

Time 1000 16 bits unsigned 0 ... 999.000 s

Selection value 1 16 bits unsigned 0 ... 65535

Read value (via bus system)Scaling factor

----------------------------------------------------------------------- Indicated value (Engineer)=

Value to be written (via bus system) Value to be set Scaling factor⋅=

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 605


Parameter list

17.2 Parameter list

This chapter lists all parameters of the operating system in numerically ascending order.

C00002

Note!

The parameter descriptions are based on software version V02.00.00.

Parameter | Name:

C00002 | Controller commandsData type: UNSIGNED_8

Index: 24573d = 5FFDh

Note:Before switching off the supply voltage after carrying out a device command, check whether the device command has been carried out successfully via the status display under C00003!

Drive control (DCTRL): Device commands

Selection list

0 Off / ready

1 On / start

4 Action cancelled

5 No access

6 No access controller inhibit

20 20% working

40 40% working

60 60% working

80 80% working

Subcodes Lenze setting Information

C00002/1 0: Off / ready Load Lenze setting • All parameters are reset to the Lenze setting. • Only possible when the controller is inhibited.

C00002/2 0: Off / ready Reserved




C00002/6 0: Off / ready Load all parameter sets • All parameter sets are loaded from the memory

module. • Only possible when the controller is inhibited.





C00002/11 0: Off / ready Save all parameter sets • All parameter sets are saved safe against mains

failure in the memory module.




8400 HighLine C | Software ManualParameter referenceParameter list

606 L Firmware 02.00 - DMS EN 3.0 - 05/2009


C00002/16 1: On / start Enable controller"1" ≡ Enable controller"0" ≡ Inhibit controller

C00002/17 0: Off / ready Activate quick stop"1" ≡ Activate quick stop"0" ≡ Deactivate quick stop


C00002/19 0: Off / ready Reset error • After resetting the current error, further errors may be

pending, which also have to be reset. • The status-determining error is displayed in C00168. • The current error is displayed in C00170.


C00002/21 0: Off / ready Delete logbook • All entries in the controller logbook are deleted. • In the logbook, information on the error history is

saved.


C00002/23 0: Off / ready Identify motor parameter • This device command is used to start the automatic

identification of the motor parameters. • This device command is only executed when the

controller is in the "Switched On" state • To execute the identification of the motor

parameters, the controller must be enabled after this device command.



C00002/26 0: Off / ready CAN reset node • Reinitialise "CAN on board" interface. • Required when changing the baud rate, node address

or identifiers.System bus "CAN on board"








Parameter | Name:

C00002 | Controller commandsData type: UNSIGNED_8

Index: 24573d = 5FFDh

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 607


Parameter list | C00003

C00003

C00005

Parameter | Name:

C00003 | Status of last device commandData type: UNSIGNED_8

Index: 24572d = 5FFCh

Status of the device command carried out last (C00002).

Note:Before switching off the supply voltage after carrying out a device command, check whether the device command has been carried out successfully via the status display!

Drive control (DCTRL): Device commands

Selection list (read only) Information

0 Successful Device command was carried out successfully.

1 Command unknown Device command implausible or not known in the system.

2 No access Access for requested device command not accepted.

3 Time-out Device command could not be carried out in the time defined (time-out).


Parameter | Name:

C00005 | Application selectionData type: UNSIGNED_16

Index: 24570d = 5FFAh

Selection of the technology application

Selection list (Lenze setting printed in bold) Information

0 Wiring has changed This display appears if the FB interconnection has been changed in the application level using the FB Editor.

1000 Actuating drive speed This technology application is used to solve speed-controlled drive tasks, e.g. conveying belts.

2000 Table positioning This technology application is used to solve postion-controlled drive tasks, which are usually controlled via a higher-level control system using a fieldbus.


8400 HighLine C | Software ManualParameter referenceParameter list | C00006

608 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00006Parameter | Name:

C00006 | Select motor controlData type: UNSIGNED_8

Index: 24569d = 5FF9h

Selection of the motor control mode (operating mode)Motor control (MCTRL): Selection of control mode


2 SC: Servo control ASM This control type is used for the servo control of an asynchronous motor. • The control type requires a speed feedback via an

encoder mounted to the motor!

4 SLVC: Vector control This control type is used for sensorless vector control of an asynchronous motor. • The control type requires motor parameters to be set

as accurately as possible!

6 VFCplus: V/f linear This control type is used for the speed control of an asynchronous motor via a linear V/f characteristic and is the simplest control type. • For setting the V/f characteristic, only the rated

frequency (C00089) and the rated voltage (C00090) of the motor have to be entered.

7 VFCplus: V/f linear + encoder This control type is used for speed control of an asynchronous motor via a linear V/f characteristic. • The control type requires a speed feedback via an

encoder mounted to the motor! • For setting the V/f characteristic, only the rated


8 VFCplus: V/f quadr This control type is used for speed control of an asynchronous motor via a square-law V/f characteristic. • For setting the V/f characteristic, only the rated


9 VFCplus: V/f quadr + encoder This control type is used for speed control of an asynchronous motor via a square-law V/f characteristic. • The control type requires a speed feedback via an

encoder mounted to the motor! • For setting the V/f characteristic, only the rated



Firmware 02.00 - DMS EN 3.0 - 05/2009 L 609



C00007

C00008

Parameter | Name:

C00007 | Select control modeData type: UNSIGNED_16


With this parameter the control mode for the technology application selected under C00005 is defined, i.e. how the inputs and outputs of the technology application are connected to the I/Os of the controller. • How the inputs and outputs are connected in the individual control modes is described in the corresponding

technology application.TA "Actuating drive – speed"

TA "Table positioning"


0 Wiring has changed This is displayed when the FB interconnection has been changed in the I/O level via the FB Editor.

10 Terminals 0 The technology application is controlled via the digital and analog input terminals of the controller.

12 Terminal 2 The technology application is controlled via the digital and analog input terminals of the controller.

14 Terminal 11 The technology application is controlled via the digital and analog input terminals of the controller.

20 Keypad The technology application is controlled via the keypad.

21 PC The technology application is controlled via the "Free parameters" of the controller (PC control).

30 CAN The technology application is controlled by means of CAN-PDOs via the system bus "CAN on board".

System bus "CAN on board"

40 MCI The technology application is controlled by means of MCI-PDOs via the MCI-interface of an attached communication module (e.g. PROFIBUS).


Parameter | Name:

C00008 | Original application|Control sourceData type: UNSIGNED_16


Display of the originally selected technology application and the originally selected control mode. • This parameter shows the selection that was set with C00005 and C00007 before a change in the I/O level or the

application level was carried out. • For purposes of diagnostics this display can be used to determine whether there is a standard signal

interconnection within the controller, or whether a change was carried out by the user.


0 Free|Free Application: Interconnection changedI/O level: Interconnection changed

10 Free|Terminal0 Application: Interconnection changedI/O level: "Terminals 0" control mode



20 Free|Keypad Application: Interconnection changedI/O level: "Keypad" control mode

21 Free|PC Application: Interconnection changedI/O level: "PC" control mode

30 Free|CAN Application: Interconnection changedI/O level: "CAN" control mode

40 Free|MCI Application: Interconnection changedI/O level: "MCI" control mode

1000 Speed|Free Application: Actuating drive - speedI/O level: Interconnection changed


610 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00011

1010 Speed|Terminal0 Application: Actuating drive - speedI/O level: "Terminals 0" control mode



1020 Speed|Keypad Application: Actuating drive - speedI/O level: "Keypad" control mode

1021 Speed|PC Application: Actuating drive - speedI/O level: "PC" control mode

1030 Speed|CAN Application: Actuating drive - speedI/O level: "CAN" control mode

1040 Speed|MCI Application: Actuating drive - speedI/O level: "MCI" control mode

2000 TabPos|Free Application: Table positioningI/O level: Interconnection changed

2010 TabPos|Terminal0 Application: Table positioningI/O level: "Terminals 0" control mode



2020 TabPos|Keypad Application: Table positioningI/O level: "Keypad" control mode

2021 TabPos|PC Application: Table positioningI/O level: "PC" control mode

2030 TabPos|CAN Application: Table positioningI/O level: "CAN" control mode

2040 TabPos|MCI Application: Table positioningI/O level: "MCI" control mode


Parameter | Name:

C00008 | Original application|Control sourceData type: UNSIGNED_16


Parameter | Name:

C00011 | Appl.: Reference speedData type: UNSIGNED_16


Setting the reference speed • In the controller, all speed-related signals are processed to a reference variable in percent. • Here, the reference speed corresponding to 100 % is set.

Note:This is not a maximum limitation!All percentage values in the controller can be in the range of 0 ... 199.99 %.


50 rpm 60000 1500 rpm


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 611



C00012

C00013

C00015

C00016

Parameter | Name:

C00012 | Accel. time - main setpointData type: UNSIGNED_32


FB L_NSet_1: Acceleration time of the ramp generator for the main speed setpoint • This ramp generator is basically used for all speed-controlled technology applications.


0.000 s 999.999 2.000 s


Parameter | Name:

C00013 | Decel. time - main setpointData type: UNSIGNED_32


FB L_NSet_1: Deceleration time of the ramp generator for the main speed setpoint • This ramp generator is basically used for all speed-controlled technology applications.


0.000 s 999.999 2.000 s


Parameter | Name:

C00015 | VFC: V/f base frequencyData type: UNSIGNED_16


V/f base frequency for VFCplus mode • The motor voltage increases linearly with the frequency until the base frequency is reached. From this value on,

the motor voltage remains constant, the speed increases and the maximum torque decreases. • After the motor to be used has been selected from the motor catalogue, the suitable value can be entered

automatically. An automatic detection via the motor parameter identification is possible as well.


7.5 Hz 2600.0 50.0 Hz


Parameter | Name:

C00016 | VFC: Vmin boostData type: UNSIGNED_16

Index: 24559d = 5FEFh

Boost of the V/f voltage characteristic within a small speed or frequency range for VFCplus mode • This may increase the starting torque. • After the motor to be used has been selected from the motor catalogue, the suitable value can be entered

automatically. An automatic detection via the motor parameter identification is possible as well.Motor control (MCTRL): Setting Vmin boost


0.00 % 100.00 1.60 %



612 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00018

C00019

C00021

Parameter | Name:

C00018 | Switching frequencyData type: UNSIGNED_8

Index: 24557d = 5FEDh

Selection of the pulse width modulated switching frequency transferred from the inverter to the motor • You can choose between a drive-optimised setting for good smooth-running characteristics and an inverter loss-

optimised setting (min. Pv). • For these options, you can, in turn, choose between fixed and variable switching frequencies. • When a variable switching frequency is selected, the switching frequency may change as a function of the load

and rotational frequency.


1 4 kHz var./drive-optimised



5 2 kHz constant/drive-optimised




11 4 kHz var./min. Pv



15 2 kHz constant/min. Pv





Parameter | Name:

C00019 | Auto-DCB: ThresholdData type: UNSIGNED_16

Index: 24556d = 5FECh

Setpoint speed threshold for the automatic DC injection brake • For speed setpoints with values below the thresholds a DC current is injected or the motor is not supplied with

current, depending on the setting.


0 rpm 60000 3 rpm


Parameter | Name:

C00021 | Slip compensationData type: INTEGER_16Index: 24554d = 5FEAh

Slip compensation for VFCplus and SLVC modes • An increase of the slip compensation causes a greater frequency and voltage increase when the machine is

loaded. • After the motor to be used has been selected from the motor catalogue, the suitable value can be entered

automatically. An automatic detection via the motor parameter identification is possible as well.Motor control (MCTRL): Optimising the operational performance by slip compensation


-100.00 % 100.00 2.67 %


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 613



C00022

C00023

C00024

C00026

C00027

Parameter | Name:

C00022 | Imax in motor modeData type: UNSIGNED_16

Index: 24553d = 5FE9h

Maximum current in motor mode for all operating modes


0.00 a 655.35 47.00 A


Parameter | Name:

C00023 | Imax in generator modeData type: INTEGER_16


Maximum current in generator mode for all operating modes • 100 % ≡ Imax in motor mode (C00022)


0.00 % 100.00 100.00 %


Parameter | Name:

C00024 | Comparison value N_ActData type: INTEGER_16


Threshold for the actual speed comparison • This parameter serves to set a threshold that is compared with the actual speed value. • When the value falls below this threshold, the bNactCompare output of the SB LS_DriveInterface switches to

TRUE. • Switching hysteresis = +1 %


0.00 % 199.99 0.00 %


Parameter | Name:

C00026 | AINx: OffsetData type: INTEGER_16


Offset for analog inputsI/O terminals


-199.99 % 199.99


C00026/1 0.00 % AIN1: offset

C00026/2 0.00 % AIN2: offset


Parameter | Name:

C00027 | AINx: GainData type: INTEGER_32


Gain for analog inputsI/O terminals


-100.0000 100.0000


C00027/1 1.0000 AIN1: gain

C00027/2 1.0000 AIN2: gain



614 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00028

C00029

C00033

Parameter | Name:

C00028 | AINx: Input voltageData type: INTEGER_16


Display of the input voltage at the analog inputsI/O terminals


-10.00 V 10.00

Subcodes Information

C00028/1 AIN1: input voltage

C00028/2 AIN2: input voltage


Parameter | Name:

C00029 | AINx: Input currentData type: INTEGER_16


Display of the input current at the analog inputs • When the corresponding analog input is configured for current measurement (C00034/x = 1 or 2). • When C00034/x is set = 2 (4 ... 20 mA), 0 ... 16 mA is displayed.

I/O terminals


0.00 mA 20.00


C00029/1 AIN1: input current

C00029/2 AIN2: input current


Parameter | Name:

C00033 | AINx: Output valueData type: INTEGER_16Index: 24542d = 5FDEh

Display of the output value in percent of the analog input amplifier • 100 % ≡ 16384 ≡ +10 V / +20 mA

I/O terminals


-199.99 % 199.99


C00033/1 AIN1: output value

C00033/2 AIN2: output value


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 615



C00034

C00036

C00039

Parameter | Name:

C00034 | AINx: ConfigurationData type: UNSIGNED_8

Index: 24541d = 5FDDh

Configuration of the analog inputs for current or voltage measurementI/O terminals

Selection list Information

0 -10V..+10V Input signal is the voltage signal -10 V ... +10 V • -10 V ... +10 V ≡ -100 % ... +100 %

1 0mA..20mA Input signal is the current signal 0 mA ... 20 mA • 0 mA ... 20 mA ≡ 0 % ... +100 %

2 4mA..20mA Input signal is the current signal 4 mA ... 20 mA • 4 mA ... 20 mA ≡ 0 % ... +100 % • The current loop is monitored for open circuit

(I < 4 mA) by the device.


C00034/1 0: -10V..+10V AIN1: config.

C00034/2 0: -10V..+10V AIN2: config.


Parameter | Name:

C00036 | DCB: CurrentData type: INTEGER_16Index: 24539d = 5FDBh

Current value in [%] for DC-injection braking • 100 % ≡ Imax in motor mode (C00022)


0.00 % 200.00 50.00 %


Parameter | Name:

C00039 | Fixed setpoint x (L_NSet_1 n-Fix)Data type: INTEGER_16Index: 24536d = 5FD8h

FB L_NSet_1: Fixed speed setpoints (JOG values) for the setpoint generator


-199.99 % 199.99


C00039/1 40.00 % Fixed setpoint 1

















616 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00050

C00051

C00052

C00053

C00054

Parameter | Name:

C00050 | MCTRL: Speed setpointData type: INTEGER_32Index: 24525d = 5FCDh

Display of the speed setpoint at the speed setpoint input of the motor control


-60000 rpm 60000


Parameter | Name:

C00051 | MCTRL: Actual speed valueData type: INTEGER_32Index: 24524d = 5FCCh

Display of the actual speed value of the motor shaft

Note:The displayed value only corresponds to the real actual speed value of the motor shaft if an encoder is connected to the motor and the evaluation of the feedback signal has been set correctly ("Closed loop" operation).In case of operation without speed feedback, the signal is calculated from the motor control and thus may not correspond to the real actual speed.


-60000 rpm 60000


Parameter | Name:

C00052 | Motor voltageData type: UNSIGNED_16

Index: 24523d = 5FCBh

Display of the current motor voltage/output voltage of the inverter


0 V 1000


Parameter | Name:

C00053 | DC-bus voltageData type: UNSIGNED_16

Index: 24522d = 5FCAh

Display of the current DC-bus voltage


0 V 1000


Parameter | Name:

C00054 | Motor currentData type: UNSIGNED_16

Index: 24521d = 5FC9h

Display of the current motor current/output current of the inverter


0.00 a 300.00


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 617



C00056

C00057

C00058

C00059

C00061

Parameter | Name:

C00056 | TorqueData type: INTEGER_32Index: 24519d = 5FC7h

Display of the current torque


-65000.00 Nm 65000.00


C00056/1 Torque setpoint • Only for SLVC and SC modes.

C00056/2 Actual torque • Estimated actual torque for all operating modes.


Parameter | Name:

C00057 | Maximum torqueData type: UNSIGNED_32


Display of the maximum torque to be generated by the motor • The maximum torque to be generated by the motor depends on various factors, e.g. on Imax in motor mode

(C00022) and the motor type used.


0.00 Nm 65000.00


Parameter | Name:

C00058 | Output frequencyData type: INTEGER_32Index: 24517d = 5FC5h

Display of the current output frequency


-1300.00 Hz 1300.00


Parameter | Name:

C00059 | Appl.: Reference frequency C11Data type: UNSIGNED_32


Display of the field frequency which corresponds to the reference speed set in C00011.


0.00 Hz 1300.00


Parameter | Name:

C00061 | Heatsink temperatureData type: INTEGER_16Index: 24514d = 5FC2h

Display of the current heatsink temperature


-50 °C 150



618 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00064

C00065

C00066

C00070

Parameter | Name:

C00064 | Device utilisation (Ixt)Data type: INTEGER_16

Index: 24511d = 5FBFh

Display of the device utilisation Ixt in different time resolutions • If the value displayed here exceeds the threshold set in C00123, the fault message "OC5: Device overload (Ixt)"

is output and the fault response set in C00604 is executed (default setting: "Warning").


0.00 % 250.00


C00064/1 Device utilisation (Ixt) • Maximum value of the pulse utilisation (C00064/2)

and permanent utilisation (C00064/3).

C00064/2 Device utilisation (Ixt) 15s • Pulse utilisation over the last 15 seconds (only for

loads >160 %).

C00064/3 Device utilisation (Ixt) 3 min • Permanent utilisation over the last 3 minutes.


Parameter | Name:

C00065 | 24 V supply voltageData type: INTEGER_16

Index: 24510d = 5FBEh

Display of the 24V supply voltage for the supply of the control electronics

Note:The 24 V supply for the control electronics is either provided by an external supply or by the controller itself if it is connected to the mains voltage.


0.0 V 3276.7


Parameter | Name:

C00066 | Thermal motor load (I²xt)Data type: INTEGER_16Index: 24509d = 5FBDh

Display of the thermal motor load being detected sensorless via a motor model • If the value displayed here exceeds the threshold set in C00120, the fault message "OC6: Thermal motor overload

(I2xt)" is output and the fault response set in C00606 is executed (default setting: "Warning").


0.00 % 199.99


Parameter | Name:

C00070 | Vp speed controllerData type: UNSIGNED_16

Index: 24505d = 5FB9h

Gain factor Vp of the speed controller for different operating modes


0.00 600.00


C00070/1 15.00 SLVC: Vp speed controller

C00070/2 6.00 SC: Vp speed controller


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 619



C00071

C00072

C00073

C00074

C00075

Parameter | Name:

C00071 | Ti speed controllerData type: UNSIGNED_16


Reset time Ti of the speed controller for different operating modes


0.0 ms 6000.0


C00071/1 100.0 ms SLVC: Ti speed controller

C00071/2 50.0 ms SC: Ti speed controller


Parameter | Name:

C00072 | SC: Tdn speed controllerData type: UNSIGNED_16


Differential time constant Tdn of the speed controller for SC (servo control) mode


0.00 ms 3.00 0.00 ms


Parameter | Name:

C00073 | Imax/M controller gainData type: UNSIGNED_16


Gain factor Vp of certain controllers for different operating modes


0.00 16.00


C00073/1 0.25 VFC: Vp Imax controller • After the motor to be used has been selected from the

motor catalogue, the suitable value can be entered automaticaly.

C00073/2 1.25 SLVC: Vp torque controller


Parameter | Name:

C00074 | Imax/M controller reset timeData type: UNSIGNED_16


Reset time Ti of certain controllers for different operating modes


0 ms 9990


C00074/1 65 ms VFC: Ti Imax controller

C00074/2 30 ms SLVC: Ti torque controller


Parameter | Name:

C00075 | Vp current controllerData type: UNSIGNED_16


Gain factor Vp of the current controller for SC (servo control) mode and certain inverter functions (parameter identification, flying restart circuit) • After the motor to be used has been selected from the motor catalogue, the suitable value can be entered

automaticaly.


0.00 V/A 500.00 7.00 V/A



620 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00076

C00077

C00078

C00079

Parameter | Name:

C00076 | Ti current controllerData type: UNSIGNED_16


Reset time Ti of the current controller for SC (servo control) mode and certain inverter functions (parameter identification, flying restart circuit) • After the motor to be used has been selected from the motor catalogue, the suitable value can be entered

automaticaly.


0.00 ms 500.00 10.61 ms


Parameter | Name:

C00077 | SC: Vp field controllerData type: UNSIGNED_16


Gain factor Vp of the field controller for SC (servo control) mode • After the motor to be used has been selected from the motor catalogue, the suitable value can be entered

automaticaly.


0.00 500.00 12.80


Parameter | Name:

C00078 | SC: Tn field controllerData type: UNSIGNED_16


Reset time Tn of the field controller for SC (servo control) mode • After the motor to be used has been selected from the motor catalogue, the suitable value can be entered

automaticaly.


0.1 ms 6000.0 256.0 ms


Parameter | Name:

C00079 | SC: SettingsData type: UNSIGNED_8


Configuration of different options for SC (servo control) mode

Selection list

0 Off

1 On


C00079/1 0: Off SC: Current controller - feedforward control • Feedforward control/decoupling network of the

current controller.

C00079/2 1: On SC: adapt. field weakening controller • Speed-dependent adaptive field weakening

controller.

C00079/3 0: Off SC: n-Ctrl Anti-Wind-Up • "Anti-wind-up" effect of the speed controller in case

of an output voltage limitation in the field weakening range.


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 621



C00080

C00081

C00082

C00083

C00084

Parameter | Name:

C00080 | Override point of field weakeningData type: INTEGER_16Index: 24495d = 5FAFh

Shifting of the override point for the field weakening function • In the VFCplus mode, the stall protection function or the max. permissible current in the field weakening range

can be adapted.


-500 Hz 500 0 Hz


Parameter | Name:

C00081 | Rated motor powerData type: UNSIGNED_16

Index: 24494d = 5FAEh

This value can be obtained from the motor nameplate. After the motor to be used has been selected from the motor catalogue, the suitable value can be entered automatically.

Note:It is mandatory to give the rated motor power for the field-oriented operating modes (SLVC and SC).


0.00 kW 500.00 11.00 kW


Parameter | Name:

C00082 | Motor rotor resistanceData type: UNSIGNED_32

Index: 24493d = 5FADh

After the motor to be used has been selected from the motor catalogue, the suitable value can be entered automatically. An automatic detection via the motor parameter identification is possible as well.


0 mOhm 200000 276 mOhm


Parameter | Name:

C00083 | Motor - rotor time constantData type: UNSIGNED_16

Index: 24492d = 5FACh

Display of the rotor time constant of the motor • This value is calculated from the rotor resistance and the rotor inductance (leakage and magnetising

inductance).


0 ms 32767


Parameter | Name:

C00084 | Motor stator resistanceData type: UNSIGNED_32

Index: 24491d = 5FABh



0 mOhm 200000 330 mOhm



622 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00085

C00087

C00088

C00089

C00090

Parameter | Name:

C00085 | Motor stator leakage inductanceData type: UNSIGNED_16

Index: 24490d = 5FAAh



0.00 mH 650.00 3.50 mH


Parameter | Name:

C00087 | Rated motor speedData type: UNSIGNED_16

Index: 24488d = 5FA8h


Note:It is mandatory to give the rated motor speed for the field-oriented operating modes (SLVC and SC).


50 rpm 60000 1460 rpm


Parameter | Name:

C00088 | Rated motor currentData type: UNSIGNED_16




0.20 a 320.00 21.00 A


Parameter | Name:

C00089 | Rated motor frequencyData type: UNSIGNED_16



Note:It is mandatory to give the rated motor frequency for the field-oriented operating modes (SLVC and SC).


1 Hz 1000 50 Hz


Parameter | Name:

C00090 | Rated motor voltageData type: UNSIGNED_16




0 V 1000 400 V


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 623



C00091

C00092

C00093

C00095

C00097

C00098

Parameter | Name:

C00091 | Motor cosine phiData type: UNSIGNED_8




0.40 1.00 0.85


Parameter | Name:

C00092 | Motor magnetizing inductanceData type: UNSIGNED_16




0.0 mH 6500.0 81.0 mH


Parameter | Name:

C00093 | Power section IDData type: UNSIGNED_16


Display of the identification of the detected power section for the frequency inverter


0 65535


Parameter | Name:

C00095 | Motor magnetising currentData type: UNSIGNED_16




0.00 a 320.00 8.50 A


Parameter | Name:

C00097 | Rated motor torqueData type: UNSIGNED_32

Index: 24478d = 5F9Eh

Display of the rated motor torque • The value displayed here is calculated from different parameters, e.g. the maximum current set in C00022.


0.00 Nm 65535.00


Parameter | Name:

C00098 | Rated device currentData type: UNSIGNED_16

Index: 24477d = 5F9Dh

Display of the rated inverter current which is defined by the integrated power section.


0.0 a 6000.0



624 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00099

C00100

C00101

C00103

C00105

Parameter | Name:

C00099 | Firmware versionData type: VISIBLE_STRING

Index: 24476d = 5F9Ch

Display of the firmware version of the device as string

Read access Write access CINH PLC STOP No transfer COM MOT

Parameter | Name:

C00100 | Firmware versionData type: UNSIGNED_8

Index: 24475d = 5F9Bh

Display of the firmware version of the device, divided into subsections.


0 99


C00100/1 Firmware version primary status

C00100/2 Firmware version secondary status

C00100/3 Firmware version release

C00100/4 Firmware version build


Parameter | Name:

C00101 | Add. acceleration time xData type: UNSIGNED_32

Index: 24474d = 5F9Ah

FB L_NSet_1: Additional acceleration times for the main setpoint • The additional acceleration times set here can be selected via the binary inputs bTI1 ... bTI8 of the L_NSet_1 FB.


0.000 s 999.999


C00101/1 0.000 s Additional acceleration time 1 ... 15

C00101/...

C00101/15


Parameter | Name:

C00103 | Add. deceleration time xData type: UNSIGNED_32

Index: 24472d = 5F98h

FB L_NSet_1: Additional deceleration times for the main setpoint • The additional deceleration times set here can be selected via the binary inputs bTI1 ... bTI8 of the L_NSet_1 FB.


0.000 s 999.999


C00103/1 0.000 s Additional deceleration time 1 ... 15

C00103/...

C00103/15


Parameter | Name:

C00105 | Deceleration time - quick stopData type: UNSIGNED_32

Index: 24470d = 5F96h

The set deceleration time determines the ramp slope at quick stop


0.000 s 999.900 2.000 s


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 625



C00106

C00107

C00114

Parameter | Name:

C00106 | Auto-DCB: hold timeData type: UNSIGNED_32

Index: 24469d = 5F95h

Hold time of the automatic DC injection brake • The DC injection brake is applied for the time set here if the value falls below the speed setpoint set in C00019.


0.000 s 999.000 0.500 s


Parameter | Name:

C00107 | DCB: hold timeData type: UNSIGNED_32

Index: 24468d = 5F94h

Maximum hold time of the manual DC injection brake • In order not to overload the motor thermally, a time for automatic switch-off of the DC injection brake can be set

here.


0.000 s 999.000 999.000 s


Parameter | Name:

C00114 | DI polarityData type: UNSIGNED_16


Polarity of the digital inputs • Every digital input of the device can be inverted with regard to polarity via this bit field.

I/O terminals

Setting range (min. hex value | max. hex value) Lenze setting

0x0000 0xFFFF 0x0000 (decimal: 0)

Value is bit-coded: ( = bit set) Information

Bit 0 Invert DI1 Inversion of digital input 1







Bit 7 Reserve

Bit 8 Reserve

Bit 9 Reserve

Bit 10 Reserve

Bit 11 Reserve

Bit 12 Reserve

Bit 13 Reserve

Bit 14 Reserve

Bit 15 Invert CInh Inversion of digital input CInh (controller inhibit)



626 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00115

C00117

C00118

Parameter | Name:

C00115 | Fct. DI 1/2 & 6/7Data type: UNSIGNED_8


Function assignment of the digital inputs DI1/2 and DI6/7I/O terminals


0 DI1(6)=In / DI2(7)=In DI1/6 = digital inputDI2/7 = digital input

1 DI1(6)=FreqIn / DI2(7)=In DI1/6 = single-track frequency inputDI2/7 = digital input

2 DI1(6)&DI2(7)=FreqIn (2-track) DI1/6 und DI2/7 = two-track frequency input

3 DI1(6)=FreqIn / DI2(7)=direction DI1/6 = single-track frequency inputDI2/7 = direction

4 DI1(6)=CountIn / DI2(7)=In DI1/6 = counter inputDI2/7 = digital input


C00115/1 0: DI1(6)=In / DI2(7)=In Function assignment of DI1 and DI2

C00115/2 0: DI1(6)=In / DI2(7)=In Function assignment of DI6 and DI7


Parameter | Name:

C00117 | Status - brake output BDData type: UNSIGNED_8


Status message of brake output


0 inactive Brake output is inactive

1 active Brake output is active


Parameter | Name:

C00118 | DOx inversionData type: UNSIGNED_8

Index: 24457d = 5F89h

Polarity of the digital outputs • Every digital output of the device can be inverted with regard to polarity via this bit field.

I/O terminals


0x00 0xFF 0x00 (decimal: 0)


Bit 0 Relay inverted Relay inversion

Bit 1 DO1 inverted Inversion of digital output 1



Bit 4 High current inverted Inversion of high-current output

Bit 5 Reserved

Bit 6 Reserved

Bit 7 Reserved


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 627



C00120

C00123

C00129

C00130

C00131

C00133

Parameter | Name:

C00120 | Motor overload threshold (I²xt)Data type: INTEGER_16Index: 24455d = 5F87h

Operating threshold for the error message "OC6: Motor overload (I²xt)" • The response for reaching the threshold can be selected in C00606. • The current thermal motor load is displayed in C00066.


0.00 % 250.00 100.00 %


Parameter | Name:

C00123 | Device utilisat. threshold (Ixt)Data type: INTEGER_16Index: 24452d = 5F84h

Operating threshold for the error message "OC5: Device overload (Ixt)" • The response for reaching the threshold can be selected in C00604. • The current device utilisation is displayed in C00064.


0.00 % 200.00 100.00 %


Parameter | Name:

C00129 | Brake resistance valueData type: UNSIGNED_16


As of version 02.00.00Resistance value of the connected brake resistor • The value to be entered can be obtained from the nameplate of the brake resistor.


0.0 Ohm 500.0 39.0 Ohm


Parameter | Name:

C00130 | Rated brake resistor powerData type: UNSIGNED_16


As of version 02.00.00Rated power of the connected brake resistor • The value to be entered can be obtained from the nameplate of the brake resistor.


0 w 65535 100 W


Parameter | Name:

C00131 | Thermal capacity of brake resistorData type: UNSIGNED_16


Thermal capacity of the connected brake resistor • The value to be entered can be obtained from the nameplate of the brake resistor.


0.0 kWs 6553.5 10.0 kWs


Parameter | Name:

C00133 | Brake resistor utilisationData type: UNSIGNED_16


Display of the utilisation of the connected brake resistor


0 % 65535



628 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00134

C00136

Parameter | Name:

C00134 | Ramp rounding main setpointData type: UNSIGNED_8

Index: 24441d = 5F79h

Configuration of the ramp rounding for the main setpoint


0 Off Ramp rounding deactivated

1 PT1 behaviour Ramp rounding with PT1 behaviour • The corresponding S-ramp time must be set in

C00182.


Parameter | Name:

C00136 | Communication control wordsData type: UNSIGNED_16

Index: 24439d = 5F77h

Control words of the communication interfaces

Display range (min. hex value | max. hex value)

0x0000 0xFFFF

Value is bit-coded:

Bit 0 SwitchOn

Bit 1 DisableVoltage

Bit 2 SetQuickStop

Bit 3 EnableOperation

Bit 4 ModeSpecific_1



Bit 7 ResetFault

Bit 8 SetHalt

Bit 9 reserved_1

Bit 10 reserved_2

Bit 11 LenzeSpecific_1



Bit 14 SetFail



C00136/1 MCI control word • Control word of the communication interface MCI

(communication module)

C00136/2 CAN control word • Control word of the communication interface CAN

(CAN on board)


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 629




C00137 | Device stateData type: UNSIGNED_16

Index: 24438d = 5F76h

Display of the current device state

Selection list (read only)

0 FirmwareUpdate

1 Init

2 MotorIdent

3 ReadyToSwitchON

4 SwitchedON

5 OperationEnable

6 Warning

7 Trouble

8 Fault

9 TroubleQSP

10 SafeTorqueOff

11 SystemFail

12 reserved_1

13 reserved_2

14 reserved_3

15 reserved_4



630 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00138

C00142

Parameter | Name:

C00138 | Internal control signalsData type: UNSIGNED_16

Index: 24437d = 5F75h

Bit-coded display of internal control signals from different sources

Display area (min. hex value | max. hex value)

0x0000 0xFFFF

Value is bit-coded:

Bit 0 Reserved

Bit 1 DisableVoltage

Bit 2 SetQuickStop

Bit 3 EnableOperation

Bit 4 InitFinishedOK



Bit 7 ResetFault

Bit 8 SetHalt

Bit 9 FirmwareUpdate

Bit 10 MotorIdent

Bit 11 SetMessage

Bit 12 SetIMP

Bit 13 SetSystemFail

Bit 14 SetFail

Bit 15 SetFailQSP


C00138/1 SYS control signals

C00138/2 MCK control signals

C00138/3 FWM control signals


Parameter | Name:

C00142 | Auto-start optionData type: UNSIGNED_8

Index: 24433d = 5F71h

Setting of the "Auto-start" function • When inhibit is activated, the motor can only start after the device state has changed.



Value is bit-coded: ( = bit set)

Bit 0 Inhibit when device is on

Bit 1 Inhibit at trouble

Bit 2 Inhibit at fault

Bit 3 Inhibit at undervoltage

Bit 4 Reserved

Bit 5 Reserved

Bit 6 Reserved

Bit 7 Reserved


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 631



C00144

C00150

Parameter | Name:

C00144 | Switching freq. reduct. (temp.)Data type: UNSIGNED_8

Index: 24431d = 5F6Fh

Activation of the automatic switching frequency reductionat too high temperature


0 Off Automatic switching frequency reduction deactivated

1 On Automatic switching frequency reduction activated


Parameter | Name:

C00150 | Status wordData type: UNSIGNED_16

Index: 24425d = 5F69h

Bit-coded device status word


0x0000 0xFFFF

Value is bit-coded: Information

Bit 0 FreeStatusBit0 Free status bit 0

Bit 1 PowerDisabled Power switched off





Bit 6 ActSpeedIsZero Current speed is 0

Bit 7 ControllerInhibit Controller is inhibited

Bit 8 StatusCodeBit0 Status code bit 0




Bit 12 Warning Warning

Bit 13 Trouble Fault





632 L Firmware 02.00 - DMS EN 3.0 - 05/2009


C00155 | Status word 2Data type: UNSIGNED_16

Index: 24420d = 5F64h

Bit-coded device status word2


0x0000 0xFFFF


Bit 0 Fail Fail

Bit 1 M_max Maximum torque

Bit 2 I_max Maximum current

Bit 3 PowerDisabled Power switched off

Bit 4 Ready Ready

Bit 5 ControllerInhibit Controller is inhibited

Bit 6 Trouble Fault

Bit 7 InitState InitState

Bit 8 CwCcw CW/CCW rotation

Bit 9 TroubleQSP Quick stop because of fault active

Bit 10 SafeTorqueOff Safe torque off

Bit 11 AplicationRunning Application is running

Bit 12 AplParSetBit0 Application parameter set - bit 0

Bit 13 AplParSetBit1 Application parameter set - bit 1

Bit 14 Quick stop Quick stop is active

Bit 15 Motorpar. Ident. Motor parameter identification active


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 633




C00158 | Cause of controller inhibitData type: UNSIGNED_16

Index: 24417d = 5F61h

Bit-coded display of the cause/source of controller inhibit


0x0000 0xFFFF

Value is bit-coded:

Bit 0 Terminal controller enable

Bit 1 CAN control word

Bit 2 MCI control word

Bit 3 SwitchOn

Bit 4 Application

Bit 5 Controller command

Bit 6 Error response

Bit 7 Internal signal

Bit 8 Reserved

Bit 9 Reserved

Bit 10 AutoStartLock

Bit 11 Motorpar. Ident.

Bit 12 Automatic brake operation

Bit 13 DCB-IMP

Bit 14 Reserved

Bit 15 Reserved



634 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00159

C00161

Parameter | Name:

C00159 | Cause for quick stop QSPData type: UNSIGNED_16

Index: 24416d = 5F60h

Bit-coded display of the cause/source of quick stop


0x0000 0xFFFF

Value is bit-coded:

Bit 0 Reserved

Bit 1 CAN control word

Bit 2 MCI control word

Bit 3 Reserved

Bit 4 Application

Bit 5 Controller command

Bit 6 Error response

Bit 7 Internal signal

Bit 8 Reserved

Bit 9 Reserved

Bit 10 Operating system

Bit 11 Reserved

Bit 12 MCK

Bit 13 Reserved

Bit 14 Reserved

Bit 15 Reserved


Parameter | Name:

C00161 | LS_SetError_x: Error numberData type: UNSIGNED_16


LS_SetError_1-2 SB: Individual error number


0 65535


C00161/1 1 LS_SetError_1: error no.1









Firmware 02.00 - DMS EN 3.0 - 05/2009 L 635




C00163 | Logbook - binary elementsData type: UNSIGNED_16


Selection of two binary signals that are to be logged in the logbook.


0 No signal

1 DI1: Input signal

2 DI2: Input signal

3 DI3: Input signal

4 DI4: Input signal

5 Controller inhibit signal

6 Digital counter: Comparison bit

7 CAN1 Input bit 0

8 CAN1 Input bit 1

9 CAN1 Input bit 2

10 CAN1 Input bit 3

11 CAN1 Input bit 4

12 CAN1 Input bit 5

13 CAN1 Input bit 6

14 CAN1 Input bit 7

15 CAN1 Input bit 8

16 CAN1 Input bit 9

17 CAN1 Input bit 10






23 CAN2 Input bit 0

24 CAN2 Input bit 1

25 CAN2 Input bit 2

26 CAN2 Input bit 3

27 CAN2 Input bit 4

28 CAN2 Input bit 5

29 CAN2 Input bit 6

30 CAN2 Input bit 7

31 CAN2 Input bit 8

32 CAN2 Input bit 9







39 CAN3 Input bit 0

40 CAN3 Input bit 1

41 CAN3 Input bit 2


636 L Firmware 02.00 - DMS EN 3.0 - 05/2009

42 CAN3 Input bit 3

43 CAN3 Input bit 4

44 CAN3 Input bit 5

45 CAN3 Input bit 6

46 CAN3 Input bit 7

47 CAN3 Input bit 8

48 CAN3 Input bit 9







55 MCI Word 1 Input bit 0































Parameter | Name:



Firmware 02.00 - DMS EN 3.0 - 05/2009 L 637



C00164


87 Position controller: Limit

88 Speed controller: Limit

89 Speed setpoint: Limit

90 Torque setpoint: Limit

91 Current setpoint: Limit

92 DC injection brake active

93 Quick stop is active

94 Pulse inhibit is active

95 Controller inhibit is active

96 Safe status active

97 Direction of rotation ccw

98 Actual speed = 0

99 L_Or_1: Out

100 L_DFlipFlop_1: Out

101 L_DigDelay_1: Out

102 L_Compare_1: Out

103 L_Compare_2: Out

104 L_NSet_1: Setpoint reached

105 L_DigitalLogic_1: Out

106 L_SignalMonitor_b: Out1




110 L_PCTRL_1: act=set


C00163/1 0: No signal Logbook binary element 1

C00163/2 0: No signal Logbook binary element 2


Parameter | Name:



Parameter | Name:

C00164 | Logbook - analog elementsData type: UNSIGNED_16


Selection of an analog signal that is to be logged in the logbook.


0 No signal

1 AIN1

2 CAN1 Control word

3 CAN1 Input word 2

4 CAN1 Input word 3

5 CAN1 Input word 4

6 CAN2 Input word 1

7 CAN2 Input word 2

8 CAN2 Input word 3

9 CAN2 Input word 4


638 L Firmware 02.00 - DMS EN 3.0 - 05/2009

10 CAN3 Input word 1




14 Digital counter LowWord

15 Digital counter HighWord

16 MCI Word 1

17 MCI word 2

18 MCI Word 3

19 MCI Word 4

20 MCI Word 5

21 MCI Word 6

22 MCI Word 7

23 MCI Word 8

24 MCI Word 9

25 MCI Word 10

26 MCI Word 11

27 MCI Word 12

28 MCI Word 13

29 MCI Word 14

30 MCI Word 15

31 MCI Word 16

32 Current motor speed

33 Current motor torque

34 DC-bus voltage

35 Current motor current

36 Current motor voltage

37 Current motor frequency

38 Effective speed setpoint

39 Device utilisation

40 Motor utilisation

41 L_OffsetGainPar_1: Out



44 L_Aritmethik_1: Out

45 L_AnalogSwitch_1: Out

46 L_NSet_1: Out

47 L_MotorPoti_1: Out

48 L_PCTRL_1: Out

49 L_SignalMonitor_a: Out1




Parameter | Name:



Firmware 02.00 - DMS EN 3.0 - 05/2009 L 639



C00165

C00166

C00167

C00168

53 L_MulDiv_1: Out

54 L_NSet_1: Target setpoint


C00164/1 0: No signal Logbook analog element 1


Parameter | Name:



Parameter | Name:

C00165 | Error informationData type: VISIBLE_STRING


Display of the error numbers divided into sectors in the case of an error


C00165/1 Status determ. error

C00165/2 Current error


Parameter | Name:

C00166 | Error information textData type: VISIBLE_STRING

Index: 24409d = 5F59h

Display of details on the status determining and the currently pending error


C00166/1 Resp.status determ.error • Response of the status determining error

C00166/2 Subj.area status determ.error • Subject area of the status determining error

C00166/3 Mess.status determ.error • Textual message of the status determining error

C00166/4 Resp.curr.error • Response of the currently pending error

C00166/5 Subj.area curr. error • Subject area of the currently pending error

C00166/6 Mess.curr.error • Textual message of the currently pending error


Parameter | Name:

C00167 | Logbook dataData type: OCTET_STRING

Index: 24408d = 5F58h

This code is for device-internal use only and must not be written to by the user!

Parameter | Name:

C00168 | Status-determining errorData type: UNSIGNED_32

Index: 24407d = 5F57h

Display of the internal error number for the status-determining error


0 4294967295



640 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00169

C00170

C00171

C00173

Parameter | Name:

C00169 | Logbook settingData type: UNSIGNED_16

Index: 24406d = 5F56h

Configuration which message types are to be logged in the logbook.


0x0000 0xFFFF 0x067E (decimal: 1662)

Value is bit-coded: ( = bit set)

Bit 0 Reserved

Bit 1 Log entry: Fault

Bit 2 Log entry: Trouble

Bit 3 Log entry: TroubleQuickstop

Bit 4 Log entry: WarningLocked

Bit 5 Log entry: Warning

Bit 6 Log entry: Information

Bit 7 Reserved

Bit 8 Reserved

Bit 9 Activation: Error counter

Bit 10 Activation: Log line refresh

Bit 11 Reserved

Bit 12 Reserved

Bit 13 Reserved

Bit 14 Reserved

Bit 15 Reserved


Parameter | Name:

C00170 | Current errorData type: UNSIGNED_32

Index: 24405d = 5F55h

Display of the internal error number for the currently pending error


0 4294967295


Parameter | Name:

C00171 | Logbook access indexData type: UNSIGNED_8

Index: 24404d = 5F54h


Parameter | Name:

C00173 | Mains voltageData type: UNSIGNED_8

Index: 24402d = 5F52h

Selection of the mains voltage for operating the device.


0 3ph 400V / 1ph 230V 3-phase 400 V or 1-phase 230 V






Firmware 02.00 - DMS EN 3.0 - 05/2009 L 641



C00174

C00175

C00177

C00178

Parameter | Name:

C00174 | Reduced brake chopper thresholdData type: UNSIGNED_8

Index: 24401d = 5F51h

The threshold from which on the brake chopper is controlled is reduced by the voltage value set here.


0 V 150 0 V


Parameter | Name:

C00175 | Response for brake resistor controlData type: UNSIGNED_8

Index: 24400d = 5F50h

As of version 02.00.00Selection of the response for brake resistor control


0 Brake resistor The brake resistor is used. When the threshold voltage (C00174) is exceeded, the brake resistor is energised.

1 MCTRL_bHlgStop The "Ramp function generator stop" signal (MCTRL_bHlgStop) is used. When the threshold voltage is exceeded (C00174), the ramp function generator is stopped.

2 Brake resistor and MCTRL_bHlgStop The brake resistor and the "Ramp function generator stop" signal are used. When the threshold voltage is exceeded (C00174), the brake resistor is energised and the ramp function generator is stopped.


Parameter | Name:

C00177 | Switching cyclesData type: UNSIGNED_32


Counter of different switching cycles and stressful situations


0 2147483647


C00177 /1 Number of mains switching cycles

C00177 /2 Number of switching cycles of the output relay

C00177 /3 Short circuit counter

C00177 /4 Earth fault counter

C00177 /5 "Clamp" counter


Parameter | Name:

C00178 | Elapsed-hour meterData type: UNSIGNED_32


Display of the operating hours in "seconds" unit


0 s 2147483647



642 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00179

C00180

C00182

C00184

C00185

C00186

Parameter | Name:

C00179 | Power-on time meterData type: UNSIGNED_32


Display of the power-on time in "seconds" unit


0 s 2147483647


Parameter | Name:

C00180 | Running timeData type: UNSIGNED_32


Display of different running times in "seconds" unit


0 s 2147483647


C00180/1 Running time - control card

C00180/2 Running time - heatsink fan

C00180/3 Running time - interior fan


Parameter | Name:

C00182 | S-ramp time PT1Data type: INTEGER_16Index: 24393d = 5F49h

PT1 S-ramp time for the main setpoint ramp function generator • Only effective with activated ramp rounding (C00134 = "1").


0.01 s 50.00 20.00 s


Parameter | Name:

C00184 | AutoFailReset repetition timeData type: UNSIGNED_16

Index: 24391d = 5F47h

After the time set here, the error message of an occurred error will be reset automatically when the "AutoFailReset" is configured accordingly in C00188.


1 s 600 3 s


Parameter | Name:

C00185 | AutoFailReset residual runtimeData type: UNSIGNED_16

Index: 24390d = 5F46h

Display of the residual runtime of the "AutoFailReset" function


0 s 600


Parameter | Name:

C00186 | Max. no. of AutoFailReset proceduresData type: UNSIGNED_8

Index: 24389d = 5F45h

Data of the maximum number of "AutoFailReset" procedures


1 16 4


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 643



C00187

C00188

C00189

C00190

Parameter | Name:

C00187 | Current AutoFailReset proceduresData type: UNSIGNED_8

Index: 24388d = 5F44h

Data of the current number of "AutoFailReset" procedures


0 16


Parameter | Name:

C00188 | Configuration AutoFailResetData type: UNSIGNED_8

Index: 24387d = 5F43h

Setting which error messages are to be reset automatically.


0 Off No automatic error message reset

1 Fault + TroubleQSP Error messages with the response "Fault" and "TroubleQSP" are reset automatically

2 WarningLocked Error messages with the response "WarningLocked" are reset automatically

3 All locking All "locking" error messages are reset automatically


Parameter | Name:

C00189 | Resp. too frequent AutoFailResetData type: UNSIGNED_8

Index: 24386d = 5F42h

Response to exceeding the maximum number of "AutoFailReset" procedures set in C00186.


0 No Reaction

1 Fault

2 Trouble

3 TroubleQuickStop

4 WarningLocked

5 Warning

6 Information


Parameter | Name:

C00190 | Setpoint arithmeticData type: UNSIGNED_8

Index: 24385d = 5F41h

FB L_NSet_1: Selection of arithmetic • For influencing the main setpoint (NSet) by an additive setpoint (NAdd).


0 NOut = NSet

1 NOut = NSet + NAdd

2 NOut = NSet - NAdd

3 NOut = (NSet * NAdd) / 100%

4 NOut = (NSet * 1%) / |NAdd|

5 NOut = (NSet * 100%) / (100% - NAdd)



644 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00200

C00201

C00203

C00204

Parameter | Name:

C00200 | Firmware product typeData type: VISIBLE_STRING

Index: 24375d = 5F37h

Display of the firmware product type


Parameter | Name:

C00201 | FirmwareData type: VISIBLE_STRING

Index: 24374d = 5F36h

Display of the firmware data of the control card and the power section


C00201/1 Firmware type contr. card

C00201/2 Firmware version contr. card

C00201/3 Firmware comp.date contr. card

C00201/4 Firmware type power section

C00201/5 Firmware version power section

C00201/6 Firmware comp.date power section


Parameter | Name:

C00203 | Product type codeData type: VISIBLE_STRING

Index: 24372d = 5F34h

Display of the single device component types


C00203/1 Type: control card

C00203/2 Type: power section

C00203/3 Type: MCI module

C00203/4 Reserved

C00203/5 Type: memory module

C00203/6 Type: safety card

C00203/7 Type: standard device

C00203/8 Type: complete device

C00203/9 Reserved


Parameter | Name:

C00204 | Serial numberData type: VISIBLE_STRING

Index: 24371d = 5F33h

Display of the single device component serial numbers


C00204/1 Serial no.: control card

C00204/2 Serial no.: power section

C00204/3 Serial no.: MCI module

C00204/4 Reserved

C00204/5 Serial no.: memory module

C00204/6 Serial no.: safety card

C00204/7 Serial no.: standard device

C00204/8 Serial no.: complete device

C00204/9 Reserved


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 645



C00205

C00206

C00210

C00220

C00221

C00222

C00223

C00224

Parameter | Name:

C00205 | InfoData type: VISIBLE_STRING

Index: 24370d = 5F32h


Parameter | Name:

C00206 | Production dateData type: VISIBLE_STRING

Index: 24369d = 5F31h


Parameter | Name:

C00210 | HW versionData type: VISIBLE_STRING



Parameter | Name:

C00220 | Accel. time - add. setpointData type: UNSIGNED_32

Index: 24355d = 5F23h

FB L_NSet_1: Acceleration time for the additional setpoint nNAdd_a


0.000 s 999.999 0.000 s


Parameter | Name:

C00221 | Decel. time - add. setpointData type: UNSIGNED_32

Index: 24354d = 5F22h

FB L_NSet_1: Deceleration time for the additional setpoint nNAdd_a


0.000 s 999.999 0.000 s


Parameter | Name:

C00222 | L_PCTRL_1: VpData type: INTEGER_16Index: 24353d = 5F21h

FB L_PCTRL_1: Amplification factor Vp for the PID process controller


0.1 500.0 1.0


Parameter | Name:

C00223 | L_PCTRL_1: TnData type: UNSIGNED_16

Index: 24352d = 5F20h

FB L_PCTRL_1: Reset time Tn for the PID process controller


20 ms 6000 400 ms


Parameter | Name:

C00224 | L_PCTRL_1: KdData type: UNSIGNED_16

Index: 24351d = 5F1Fh

FB L_PCTRL_1: Derivative-action coefficient Kd for the PID process controller


0.0 5.0 0.0



646 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00225

C00226

C00227

C00228

C00231

Parameter | Name:

C00225 | L_PCTRL_1: MaxLimitData type: INTEGER_16


FB L_PCTRL_1: Maximum output value of the PID process controller


-199.99 % 199.99 199.99 %


Parameter | Name:

C00226 | L_PCTRL_1: MinLimitData type: INTEGER_16Index: 24349d = 5F1Dh

FB L_PCTRL_1: Minimum output value of the PID process controller


-199.99 % 199.99 -199.99 %


Parameter | Name:

C00227 | L_PCTRL_1: Acceleration timeData type: UNSIGNED_32


FB L_PCTRL_1: Acceleration time for the output value of the PID process controller


0.000 s 999.999 0.010 s


Parameter | Name:

C00228 | L_PCTRL_1: Deceleration timeData type: UNSIGNED_32


FB L_PCTRL_1: Deceleration time for the output value of the PID process controller


0.000 s 999.999 0.010 s


Parameter | Name:

C00231 | L_PCTRL_1: Operating rangeData type: INTEGER_16Index: 24344d = 5F18h

FB L_PCTRL_1: Operating range for the PID process controller


0.00 % 199.99


C00231/1 199.99 % L_PCTRL_1: Pos. Maximum

C00231/2 0.00 % L_PCTRL_1: Pos. Minimum

C00231/3 0.00 % L_PCTRL_1: Neg. Minimum

C00231/4 199.99 % L_PCTRL_1: Neg. Maximum


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 647



C00233

C00234

C00235

C00236

C00241

Parameter | Name:

C00233 | L_PCTRL_1: Root functionData type: UNSIGNED_8

Index: 24342d = 5F16h

FB L_PCTRL_1: Use of the root function at the actual value input


0 Off Root function inactive • The actual value nAct_a is not changed for further

processing.

1 On Root function active • The square root of the actual value nAct_a is taken for

further processing.


Parameter | Name:

C00234 | Oscillation damping influenceData type: UNSIGNED_16

Index: 24341d = 5F15h


0.00 % 250.00 5.00 %


Parameter | Name:

C00235 | Filter time - oscill. dampingData type: UNSIGNED_8

Index: 24340d = 5F14h


2 ms 250 32 ms


Parameter | Name:

C00236 | Oscill. damping - field weaken.Data type: UNSIGNED_8

Index: 24339d = 5F13h

Oscillation damping for idling machines


0 40 14


Parameter | Name:

C00241 | L_NSet_1: Hyst. NSet reachedData type: INTEGER_16


FB L_NSet_1: Hysteresis window for the zero detection of the speed output setpoint • The speed threshold for the zero detection is 1 %


0.00 % 100.00 0.50 %



648 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00242

C00243

C00244

C00245

C00249

Parameter | Name:

C00242 | L_PCTRL_1: Operating modeData type: UNSIGNED_8


FB L_PCTRL_1: Selection of the operating mode • Depending on the selection, the blue switches in the displayed signal flow are set accordingly in the Engineer on

the Application parameters tab for the L_PCTRL_1 FB.


0 Off The input setpoint nNSet_a is output without any changes at the output nOut_a.

1 nNSet + nNSet_PID nNSet_a and nAct_a are used as PID input values. The input setpoint nNSet_a is added to the value output by the PID element.

2 nSet_PID nSet_a and nAct_a are used as PID input values. The input nNSet_a is not considered.

3 nNSet_PID nNSet_a and nAct_a are used as PID input values. The input nSet_a is not considered.

4 nNSet + nSet_PID nSet_a and nAct_a are used as PID input values. The setpoint nNSet_a is added to the output value of the PID component.

5 nNSet || nSet_PID nSet_a and nAct_a are used as PID input values. The setpoint nNSet_a is output at the output nOut_a . The PID output value is output at the output nPIDOut_a.


Parameter | Name:

C00243 | L_PCTRL_1: Influence acceleration timeData type: UNSIGNED_32


FB L_PCTRL_1: Acceleration time for showing the PID output value


0.000 s 999.999 5.000 s


Parameter | Name:

C00244 | L_PCTRL_1: Influence deceleration timeData type: UNSIGNED_32


FB L_PCTRL_1: Deceleration time for masking out the PID output value


0.000 s 999.999 5.000 s


Parameter | Name:

C00245 | L_PCTRL_1: PID output valueData type: INTEGER_16Index: 24330d = 5F0Ah

FB L_PCTRL_1: Display of the output value of the PID process controller


-199.99 % 199.99


Parameter | Name:

C00249 | L_PT1_1: Time constantData type: UNSIGNED_16

Index: 24326d = 5F06h

FB L_PT1_1: Time constant Tn


1 ms 5000 2000 ms


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 649



C00250

C00251

C00252

C00253

C00254

Parameter | Name:

C00250 | L_PT1 2-3: DelayTimeData type: INTEGER_16Index: 24325d = 5F05h

FB L_PT1_2-3: Time constant Tn


1 ms 5000


C00250/1 2000 ms L_PT1_2: DelayTime

C00250/2 2000 ms L_PT1_3: DelayTime


Parameter | Name:

C00251 | L_DT1_1: DelayTimeData type: INTEGER_16Index: 24324d = 5F04h

FB L_DT1_1: Time constant Tn


10 ms 5000 1000 ms


Parameter | Name:

C00252 | L_DT1_1: GainData type: INTEGER_16Index: 24323d = 5F03h

FB L_DT1_1: Gain factor Vp


-320.00 320.00 1.00


Parameter | Name:

C00253 | L_DT1_1: SensitivityData type: UNSIGNED_8

Index: 24322d = 5F02h

FB L_DT1_1: Selection of sensitivity • Depending on the selection, the number of more significant bits is evaluated.

Note:The most significant bit determines the sign of the value, the remaining bits determine the numerical value.










Parameter | Name:

C00254 | Kp position controllerData type: UNSIGNED_16

Index: 24321d = 5F01h

Gain for following error compensation


0.00 1/s 500.00 0.00 1/s



650 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00265

C00270

C00271

C00272

C00273

C00274

Parameter | Name:

C00265 | SLVC: Tn torque controllerData type: UNSIGNED_8

Index: 24310d = 5EF6h


Parameter | Name:

C00270 | SC: Freq. current setpoint filterData type: UNSIGNED_16


Frequency to be inhibited by the current setpoint filter for SC (servo control) mode.


40.0 Hz 1000.0 200.0 Hz


Parameter | Name:

C00271 | SC: Width - current setp. filterData type: UNSIGNED_16


Frequency width of the current setpoint filter for SC (servo control) mode • Width around the frequency to be inhibited (C00270).


0.0 Hz 500.0 0.0 Hz


Parameter | Name:

C00272 | SC: Depth - current setp. filterData type: UNSIGNED_16

Index: 24303d = 5EEFh

Damping of the current setpoint filter for SC (servo control) mode


0 db 100 0 db


Parameter | Name:

C00273 | Moment of inertiaData type: UNSIGNED_32

Index: 24302d = 5EEEh

Moment of inertia for setpoint precontrol for SC (servo control) and SLVC (vector control) modes


0.00 kg cm^2 600000.00 0.00 kg cm^2


Parameter | Name:

C00274 | SC: Max. acceleration changeData type: UNSIGNED_16

Index: 24301d = 5EEDh

Limitation of acceleration change for SC (servo control) mode • Setting in % of M_Nenn per ms.


0.0 %/ms 400.0 400.0 %/ms


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 651



C00275

C00276

C00280

C00290

C00291

C00296

C00297

C00301

C00302

Parameter | Name:

C00275 | Setpoint precontrol filteringData type: UNSIGNED_16

Index: 24300d = 5EECh

As of version 02.00.00Filter time of the setpoint precontrol for SC (servo control) and SLVC (vector control) modes • The setpoint precontrol requires the entry of the moment of inertia in C00273.


0.0 ms 1000.0 1.0 ms


Parameter | Name:

C00276 | SC: max. output voltageData type: UNSIGNED_8

Index: 24299d = 5EEBh


80 % 99 95 %


Parameter | Name:

C00280 | SC: Filter time const. DC detect.Data type: UNSIGNED_16

Index: 24295d = 5EE7h

Filter time constant for DC-bus voltage filtering • The filter time constant is e.g. used for the field weakening control for SC (servo control) mode.


1 ms 1000 25 ms


Parameter | Name:

C00290 | RCOM error counterData type: UNSIGNED_16

Index: 24285d = 5EDDh


Parameter | Name:

C00291 | Error type RCOMData type: UNSIGNED_8

Index: 24284d = 5EDCh


Parameter | Name:

C00296 | ICOM error numberData type: UNSIGNED_16

Index: 24279d = 5ED7h


Parameter | Name:

C00297 | Counter Receive Error IsrData type: UNSIGNED_8



Parameter | Name:

C00301 | DebugAccessData type: UNSIGNED_16



Parameter | Name:

C00302 | Internal CommandsData type: UNSIGNED_8




652 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00304

C00305

C00306

C00307

C00308

C00309

C00310

C00311

C00313

C00314

C00315

C00316

Parameter | Name:

C00304 | Password1Data type: UNSIGNED_32

Index: 24271d = 5ECFh


Parameter | Name:

C00305 | Password2Data type: UNSIGNED_32

Index: 24270d = 5ECEh


Parameter | Name:

C00306 | Debug addressData type: UNSIGNED_32

Index: 24269d = 5ECDh


Parameter | Name:

C00307 | Debug valueData type: UNSIGNED_16

Index: 24268d = 5ECCh


Parameter | Name:

C00308 | PartitionOffsetData type: UNSIGNED_16

Index: 24267d = 5ECBh


Parameter | Name:

C00309 | PartitionSelData type: UNSIGNED_8

Index: 24266d = 5ECAh


Parameter | Name:

C00310 | PartitionValueData type: UNSIGNED_16

Index: 24265d = 5EC9h


Parameter | Name:

C00311 | Runtime measurementData type: UNSIGNED_32



Parameter | Name:

C00313 | LS_DataAccess: activationData type: UNSIGNED_8



Parameter | Name:

C00314 | LS_DataAccess: address accessData type: UNSIGNED_32



Parameter | Name:

C00315 | SystemFail-AdrData type: UNSIGNED_32



Parameter | Name:

C00316 | SystemFail-InfoData type: UNSIGNED_16



Firmware 02.00 - DMS EN 3.0 - 05/2009 L 653



C00317

C00320

C00321

C00322

C00323

Parameter | Name:

C00317 | WatchdogTimeMaxData type: UNSIGNED_16



Parameter | Name:

C00320 | Debug informationData type: UNSIGNED_32

Index: 24255d = 5EBFh


Parameter | Name:

C00321 | Main program runtimeData type: UNSIGNED_16

Index: 24254d = 5EBEh

Display of the current and the maximum runtime of the main program in the controller


0 ms 65535


C00321/1 0 ms Runtime of curr. main program

C00321/2 0 ms Max. runtime of main program


Parameter | Name:

C00322 | Transmission mode CAN TxPDOsData type: UNSIGNED_8

Index: 24253d = 5EBDh

TPDO transmission type according to DS301 V4.02 • The types 0 (acyclic sync), 1-240 (cyclic sync), 254 (event-controlled manufacturer-specific; time elapsed or data

change), 255 (event-controlled device profile-specific) are supported. • The basic setting for all PDOs is the event-controlled setting "254". • Mapping of the CANopen objects I-1800/2 ... I-1802/2 (see DS301 V4.02).



0 255


C00322/1 254 CAN1 OUT transmission mode




Parameter | Name:

C00323 | Transmission mode CAN Rx PDOsData type: UNSIGNED_8

Index: 24252d = 5EBCh

RPDO transmission type according to DS301 V4.02 • In the case of the RPDO serves as monitoring setting in the case of sync-controlled PDOs. • The types 0 (acyclic sync), 1-240 (cyclic sync), 254 (event-controlled manufacturer-specific; every 1 ms by polling),

255 (event-controlled device profile-specific) are supported. • The basic setting for all PDOs is the event-controlled setting "254". • Mapping of the CANopen objects I-1400/2 ... I-1402/2 (see DS301 V4.02).



0 255


C00323/1 254 CAN1 IN transmission mode





654 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00338

C00339

C00345

Parameter | Name:

C00338 | L_Arithmetik_1: functionData type: UNSIGNED_8

Index: 24237d = 5EADh

FB L_Arithmetik_1: Selection of the internal arithmetic


0 nOut_a = nIn1_a

1 nOut_a = nIn1_a + nIn2_a

2 nOut_a = nIn1_a - nIn2_a

3 nOut_a = (nIn1_a * nIn2_a) / 100%

4 nOut_a = (nIn1_a * 1%) / |nIn2_a|

5 nOut_a = (nIn1_a * 100%) / (100% - nIn2_a)


Parameter | Name:

C00339 | L_Arithmetik_2: FunctionData type: UNSIGNED_8

Index: 24236d = 5EACh

FB L_Arithmetik_2: Selection of the internal arithmetic


0 nOut_a = nIn1_a



3 nOut_a = (nIn1_a * nIn2_a) / 100%

4 nOut_a = (nIn1_a * 1%) / |nIn2_a|

5 nOut_a = (nIn1_a * 100%) / (100% - nIn2_a)


Parameter | Name:

C00345 | CAN error statusData type: UNSIGNED_8

Index: 24230d = 5EA6h



0 No Error

1 Warning ErrActive

2 Warning ErrPassive

3 Bus off

4 Reserved

5 Reserved


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 655



C00347

C00349

Parameter | Name:

C00347 | CAN status HeartBeat producerData type: UNSIGNED_8


System bus "CAN on board": Heartbeat protocol

Selection list

0 Boot-up

4 Stopped

5 Operational

127 Pre-Operat.

250 Failed

255 NoResponse


C00347/1 Status node 1 ... 15

C00347/...

C00347/15


Parameter | Name:

C00349 | CAN setting - DIP switchData type: UNSIGNED_16


DIP switch setting during last mains power-onSystem bus "CAN on board"


0x0000 0xFFFF

Value is bit-coded:

Bit 0 Node address 1







Bit 7 Baud rate 1

Bit 8 Baud rate 2

Bit 9 Baud rate 4

Bit 10 Reserved

Bit 11 Reserved

Bit 12 Reserved

Bit 13 Reserved

Bit 14 Reserved

Bit 15 DIP switch at 24V-ON accepted



656 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00350

C00351

C00352

C00353

Parameter | Name:

C00350 | CAN node addressData type: UNSIGNED_8


Setting of the node address via parameters • The node address can only be parameterised if the node address "0" is set via the DIP switches. • A change of the node address will only become effective after a CAN reset node.



1 63 1


Parameter | Name:

C00351 | CAN baud rateData type: UNSIGNED_8


Setting of the baud rate via parameters • The baud rate can only be parameterised if the baud rate "0" is set via the DIP switches. • A change of the baud rate will only become effective after a CAN reset node.



0 500 kbps

1 250 kbps

2 125 kbps

3 50 kbps

4 1000 kbps

5 20kBit/s


Parameter | Name:

C00352 | CAN Slave/MasterData type: UNSIGNED_8

Index: 24223d = 5E9Fh

The drive starts as CAN master after mains switching if the value "1" has been entered and saved here.System bus "CAN on board"


0 Slave

1 Master


Parameter | Name:

C00353 | CAN IN/OUT COBID sourceData type: UNSIGNED_8

Index: 24222d = 5E9Eh

Identifier allocation procedure for the CANx In/OUT process dataSystem bus "CAN on board"


0 COBID = C0350 + LenzeBaseID COBID = device address + LenzeBaseID

1 COBID = C0350 + CANBaseID COBID = device address + CANBaseID (C00354/x)

2 COBID = C0354/x COBID = direct setting from C00354/x


C00353/1 1: COBID = C0350 + CANBaseID COBID source CAN1_IN/OUT




Firmware 02.00 - DMS EN 3.0 - 05/2009 L 657



C00354

C00355

Parameter | Name:

C00354 | COBIDData type: UNSIGNED_32

Index: 24221d = 5E9Dh

Setting of the default COBID according to CANopen • A change of the COBID will only become effective after a CAN reset node.


Setting range (min. hex value | max. hex value)

0x00000000 0xFFFFFFFF


Bit 0 COBID Bit0 • Bit 0 ... 10: COB-ID • Bit 11 ... 30: reserved • Bit 31: PDO invalid (is not transmitted)

... ...

Bit 31 PDO invalid


C00354/1 513 COBID CAN1_IN

C00354/2 385 COBID CAN1_OUT






Parameter | Name:

C00355 | Active COBIDData type: UNSIGNED_16

Index: 24220d = 5E9Ch

Display of the COBID of the PDOs that is active in the CAN stackSystem bus "CAN on board"


0 2047


C00355/1 Active COBID CAN1_IN

C00355/2 Active COBID CAN1_OUT







658 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00356

C00357

C00358

Parameter | Name:

C00356 | CAN time settingsData type: UNSIGNED_16

Index: 24219d = 5E9Bh

Different time settings for the CAN interfaceSystem bus "CAN on board"


0 ms 65000


C00356/1 3000 ms CAN delay during status change from "Boot-up" to "Operational"

C00356/2 0 ms CAN2_OUT cycle time


C00356/4 0 ms CANx_OUT time "Operational" to "First transmission"



Parameter | Name:

C00357 | CAN monitoring timesData type: UNSIGNED_16

Index: 24218d = 5E9Ah

Mapping of the RPDO event time (see DS301 V4.02) • If a non-zero value is entered, the RPDO is expected after the time set has elapsed. • If the RPDO is not received within the expected time, the response set in C00593/1...3 is effected.



0 ms 65000


C00357/1 3000 ms CAN1_IN monitoring time




Parameter | Name:

C00358 | CANx_OUT data lengthData type: UNSIGNED_8

Index: 24217d = 5E99h

Setting of the data length for TX PDOsSystem bus "CAN on board"


1 8


C00358/1 8 CAN1_OUT data length




Firmware 02.00 - DMS EN 3.0 - 05/2009 L 659



C00359

C00360

Parameter | Name:

C00359 | CAN statusData type: UNSIGNED_8

Index: 24216d = 5E98h



0 Operational

1 Pre-Operat.

2 Reserved

3 Reserved

4 BootUp

5 Stopped

6 Reserved

7 Reset


Parameter | Name:

C00360 | CAN telegram counterData type: UNSIGNED_16

Index: 24215d = 5E97h



0 65535


C00360/1 All PDOs/SDOs transmitted

C00360/2 All PDOs/SDOs received

C00360/3 CAN1_OUT telegram counter



C00360/6 SDO1 OUT telegram counter

C00360/7 SDO2 OUT telegram counter

C00360/8 CAN1_IN telegram counter



C00360/11 SDO1 IN telegram counter

C00360/12 SDO2 IN telegram counter



660 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00364

C00366

C00367

C00368

Parameter | Name:

C00364 | CAN MessageErrorData type: UNSIGNED_8

Index: 24211d = 5E93h



0 No Error

1 StuffError

2 FormError

3 AckError

4 Bit1Error

5 Bit0Error

6 CRCError

7 Reserved


Parameter | Name:

C00366 | CAN CAN1_OUT transmit at SyncData type: UNSIGNED_8

Index: 24209d = 5E91h

In the Lenze setting "Yes", the device transmits CAN1_OUT after receipt of the sync telegram if the transmission mode for CAN1_OUT is set to 1 ... 240 in C00322/1.



0 No

1 Yes


Parameter | Name:

C00367 | CAN Sync-Rx identifierData type: UNSIGNED_16

Index: 24208d = 5E90h

Identifier by means of which the sync slave is to receive sync telegrams. • Mapping of the CANopen object I-1005 (see DS301 V4.02).

System bus "CAN on board": Sync telegram


1 255 128


Parameter | Name:

C00368 | CAN Sync-Tx identifierData type: UNSIGNED_16


Identifier by means of which the sync master is to transmit sync telegrams. • Mapping of the CANopen object I-1005 (see DS301 V4.02).



1 255 128


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 661



C00369

C00372

C00381

C00385

Parameter | Name:

C00369 | CAN sync transmission cycle timeData type: UNSIGNED_16


Cycle during which the sync master is to transmit sync telegrams. • If "0 ms" is set (Lenze setting), no sync telegrams are generated. • Mapping of the CANopen object I-1006 (see DS301 V4.02).



0 ms 65000 0 ms


Parameter | Name:

C00372 | CAN_Tx_Rx_ErrorData type: UNSIGNED_8




0 255


C00372/1 Tx_Error

C00372/2 Rx_Error


Parameter | Name:

C00381 | CAN heartbeat producer timeData type: UNSIGNED_16

Index: 24194d = 5E82h

Time interval for the transmission of the heartbeat telegram to the consumer(s). • The heartbeat telegram is sent automatically as soon as a time > 0 ms is set. • Mapping of the CANopen object I-1017 (see DS301 V4.02).



0 ms 65535 0 ms


Parameter | Name:

C00385 | CAN node addr. HeartBeat producerData type: UNSIGNED_8


The subcodes represent the nodes to be monitored by means of heartbeat. • Mapping of the CANopen object I-1016 (see DS301 V4.02).



0 127


C00385/1 0 CAN node address HeartBeat Producer 1 ... 15

C00385/...

C00385/15



662 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00386

C00400

C00401

Parameter | Name:

C00386 | CAN HeartBeat ConsumerTimeData type: UNSIGNED_16

Index: 24189d = 5E7Dh

The subcodes represent the nodes to be monitored by means of heartbeat. • Mapping of the CANopen object I-1016 (see DS301 V4.02).



0 ms 60000


C00386/1 0 ms ConsumerTime HeartBeat Producer 1 ... 15

C00386/...

C00386/15


Parameter | Name:

C00400 | LS_PulseGeneratorData type: UNSIGNED_16


Time setting of the pulse to be output by the SB LS_PulseGenerator


0 ms 60000


C00400/1 1000 ms Length of LOW level (dead time)

C00400/2 1000 ms Length of HIGH level


Parameter | Name:

C00401 | CANxInOut: InversionData type: UNSIGNED_16


As of version 02.00.00Via these parameters, the control and status bits of the CAN port blocks can be inverted


0x0000 0xFFFF


Bit 0 Bit0 Bit set = bit is inverted

... ...

Bit 15 Bit15


C00401/1 0 Inversion of LP_CanIn1.bCtrl1_B0...15

C00401/2 0 Inversion of LP_CanOut1.bState1_B0...15

C00401/3 0 Inversion of LP_CanIn2.bIn1_B0...15

C00401/4 0 Inversion of LP_CanOut2.bOut1_B0...15

C00401/5 0 Inversion of LP_CanIn3.bIn1_B0...15

C00401/6 0 Inversion of LP_CanOut3.bOut1_B0...15


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 663



C00408

C00409

Parameter | Name:

C00408 | LP_CanIn mapping selectionData type: UNSIGNED_8

Index: 24167d = 5E67h

As of version 02.00.00Selection of the mapping source for port blocks LP_CanIn1...3


0 CanIn CanIn

1 Par.C409 Mapping configured in C00409


C00408/1 0: CanIn Mapping selection LP_CanIn1




Parameter | Name:

C00409 | LP_CanIn mappingData type: UNSIGNED_16

Index: 24166d = 5E66h

As of version 02.00.00Mapping for port blocks LP_CanIn1...3


0 65535


C00409/1 0 LP_CanIn1.wCtrl

C00409/2 0 LP_CanIn1.wIn2













664 L Firmware 02.00 - DMS EN 3.0 - 05/2009


C00410 | L_SignalMonitor_a par.Data type: UNSIGNED_16

Index: 24165d = 5E65h

FB L_SignalMonitor_a: Selection of the signal sources


0 Not connected




1003 LA_nCtrl_nMotorSpeedAct_a

1006 LA_nCtrl_nGPAnalogSwitchOut_a

1007 LA_nCtrl_nGPArithmetikOut_a

1008 LA_nCtrl_nGPMulDivOut_a

1009 LA_nCtrl_nGPSignalOut1_a




1013 LA_nCtrl_nMotorTorqueAct_a

1014 LA_nCtrl_nDCVoltage_a

1015 LA_nCtrl_nMotorVoltage_a

1016 LA_nCtrl_nMotorSpeedSet_a

1017 LA_nCtrl_wFailTypeDomain

1100 LA_TabPos_wDriveControlStatus

1101 LA_TabPos_wStateDetermFailNoLow

1102 LA_TabPos_wStateDetermFailNoHigh

1103 LA_TabPos_nMotorCurrent_a

1104 LA_TabPos_nMotorSpeedSet_a

1105 LA_TabPos_nMotorSpeedAct_a

1106 LA_TabPos_nMotorTorqueAct_a

1107 LA_TabPos_nDCVoltage_a

1108 LA_TabPos_nMotorVoltage_a

1109 LA_TabPos_wMckState1


1111 LA_TabPos_wMckActOperationMode

1112 LA_TabPos_wActProfileNo

1113 LA_TabPos_wActPosMode

1114 LA_TabPos_nGPAnalogSwitchOut_a

1115 LA_TabPos_nGPArithmetikOut_a

1116 LA_TabPos_nGPMulDivOut_a

1117 LA_TabPos_nGPSignalOut1_a




1121 LA_TabPos_wGPCounter1Out

1122 LA_TabPos_wFreeOut1



Firmware 02.00 - DMS EN 3.0 - 05/2009 L 665




1126 LA_TabPos_nPosCtrlOutLimit_a

1127 LA_TabPos_nPosCtrlPAdapt_a

16000 AIN1_Out

16001 AIN2_Out

16002 CAN1_wCtrl

16003 CAN1_wIn2

16004 CAN1_wIn3

16005 CAN1_wIn4

16006 CAN2_wIn1

16007 CAN2_wIn2

16008 CAN2_wIn3

16009 CAN2_wIn4

16010 CAN3_wIn1

16011 CAN3_wIn2

16012 CAN3_wIn3

16013 CAN3_wIn4

16014 DIGIN_wCountIn1_LW

16015 DIGIN_wCountIn1_HW

16016 DIGIN_nFreqIn12_a

16017 DIGIN_nFreqIn12_v





16100 LS_DataAccess_Out1




16104 LP_MciIn_wCtrl

16105 LP_MciIn_wIn2

16106 LP_MciIn_wIn3

16107 LP_MciIn_wIn4

16108 LP_MciIn_wIn5

16109 LP_MciIn_wIn6

16110 LP_MciIn_wIn7

16111 LP_MciIn_wIn8

16112 LP_MciIn_wIn9

16113 LP_MciIn_wIn10






Parameter | Name:


Index: 24165d = 5E65h


666 L Firmware 02.00 - DMS EN 3.0 - 05/2009


16120 LS_Keypad_nTorqueMotLim_a

16121 LS_Keypad_nTorqueGenLim_a

16122 LS_Keypad_nMainSetValue_a

20000 C_Pos100_a

20001 C_Neg100_a

20002 C_Pos199_99_a

20003 C_Neg199_99_a

20004 C_65535

20005 C_wDriveCtrl

20010 nPar1_a

20011 nPar2_a

20012 nPar3_a

20013 nPar4_a

20014 nPar5_a

20015 nPar6_a

20016 nPar7_a

20017 nPar8_a

20018 nPar1_v

20019 nPar2_v

20020 nPar3_v

20021 nPar4_v

20022 nPar5_v

20023 nPar6_v

20024 nPar7_v

20025 nPar8_v

20026 wPar1

20027 wPar2

20028 wPar3

20029 wPar4

20030 wPar5

20031 wPar6

20032 wPar7

20033 wPar8

32000 MCTRL_nMotorSpeedAct_a

32001 MCTRL_nOutputSpeedCtrl_a

32002 MCTRL_nInputJerkCtrl_a

32003 MCTRL_nInputTorqueCtrl_a

32004 MCTRL_nMotorTorqueAct_a

32005 MCTRL_nActualFluxx_a

32006 MCTRL_nDCVoltage_a

32007 MCTRL_nStatorCurrentIS_a

32008 MCTRL_nEffCurrentIq_a

32009 MCTRL_nReaktCurrentId_a

Parameter | Name:


Index: 24165d = 5E65h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 667



32010 MCTRL_wMaxMotorSpeed

32011 MCTRL_wMaxMotorTorque

32012 MCTRL_nMotorVoltage_a

32013 MCTRL_nMotorFreqAct_a

32014 MCTRL_nEffSpeedSetValue_a

32015 MCTRL_nIxTRate_a

32016 MCTRL_nI2xTRate_a

32017 MCTRL_nOutputPosCtrl_a

32018 MCTRL_nHlgSetValue_a

32019 MCTRL_nMotorSpeedAct_v

32100 DCTRL_wDeviceStateWord

32101 DCTRL_wDeviceAuxStateWord

32102 DCTRL_wDetermFailNoLow

32103 DCTRL_wDetermFailNoHigh

32104 DCTRL_wFrei_2

32200 MCK_nSpeedSet_v

32201 MCK_nSpeedCtrlI_a

32202 MCK_nSpeedSetValue_a

32203 MCK_nTorqueSetValue_a

32204 MCK_wActProfileNo

32205 MCK_wFollowProfileNo

32206 MCK_wMotionState1


32208 MCK_wAuxState

32209 MCK_nPWMAngleOffset_a

32211 Reserved

34900 MCTRL_OszCh1

34901 MCTRL_OszCh2

34902 MCTRL_OszCh3

34903 MCTRL_OszCh4

34904 MCTRL_Status1

34905 MCTRL_Status2

34906 MCTRL_Status3

36000 L_Absolut _Out_1

36001 L_AddSub_Out_1

36002 L_OffsetGain_Out_1


36004 L_OffsetGainPar_1


36006 L_GainOffset_Out_1


36008 L_GainOffsetPar_1


36010 L_Negation_Out_1

Parameter | Name:


Index: 24165d = 5E65h


668 L Firmware 02.00 - DMS EN 3.0 - 05/2009

36011 L_Aritmethik_Out_1


36013 L_AnalogSwitch_Out_1



36016 L_Limit_Out_1

36017 L_Limit_Out_2

36018 L_NSet_NOut_1

36019 L_MotorPoti_1_Out

36020 L_PCTRL_1_Out

36021 L_SigMonitor_a_Out1


36023 L_NLim_1_nOut_a

36024 L_Counter_1_wOut





36029 L_MulDiv_1_nOut_a

36030 L_NLim_1_wState

36031 L_NSet_1_wState

36032 L_NSet_1_nSetValue

36033 L_PT1_1_nOut_a


36035 L_AnalogSwitch_4_Out


36037 L_Aritmethik_3_Out





36054 L_Negation_2_Out






36064 L_SampleHold_1_nOut_a




36073 L_DT1_1_nOut_a

36074 L_ConvBitsToWord_1_wOut


Parameter | Name:


Index: 24165d = 5E65h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 669




36077 L_ConvDIntToWords_1_wOutLWord

36078 L_ConvDIntToWords_1_wOutHWord





36083 L_MckCtrlInterface_1_wOutMckPosCtrl_1


36085 L_MckCtrlInterface_1_wFailState

36086 L_MckStateInterface_1_wOperationMode

36087 L_MckStateInterface_1_wActProfileNo

36088 L_MckStateInterface_1_wActPosMode

36089 L_PosiShaftCtrlInterface_1_wOutMckPosCtrl_1


36091 L_PCTRL_1_nPIDOut2_a

36092 L_PCTRL_1_nPIDOut_a

36093 L_PCTRL_1_nInfluenceOut_a

42000 LA_nCtrl_In_wCANDriveControl

42001 LA_nCtrl_In_wCCMDriveControl

42002 LA_nCtrl_In_nTorqueMotLim

42003 LA_nCtrl_In_nTorqueGenLim

42004 LA_nCtrl_In_nPIDVpAdapt_a

42005 LA_nCtrl_In_nPIDActValue_a

42006 LA_nCtrl_In_nMainSetValue

42007 LA_nCtrl_In_nAuxSetValue

42008 LA_nCtrl_In_nGPAnalogSwitchIn1_a


42010 LA_nCtrl_In_nGPArithmetikIn1_a


42012 LA_nCtrl_In_nGPMulDivIn_a

42013 LA_nCtrl_In_nGPCompareIn1_a


42015 LA_nCtrl_In_nVoltageAdd_a

42016 LA_nCtrl_In_nPIDInfluence_a

42017 LA_nCtrl_In_nPIDSetValue_a

42018 LA_nCtrl_In_nPWMAngleOffset_a

42100 LA_TabPos_In_wCanDriveControl

42101 LA_TabPos_In_wMciDriveControl

42102 LA_TabPos_In_nTorqueMotLim_a

42103 LA_TabPos_In_nTorqueGenLim_a

42104 LA_TabPos_In_nMainSetValue_a

42105 LA_TabPos_In_nAuxSetValue_a

42106 LA_TabPos_In_wMckCtrl1

Parameter | Name:


Index: 24165d = 5E65h


670 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00411


42108 LA_TabPos_In_wMckOperationMode

42109 LA_TabPos_In_wPosProfileMode

42110 LA_TabPos_In_wPosProfileNo

42111 LA_TabPos_In_nGPAnalogSwitchIn1_a


42113 LA_TabPos_In_nGPArithmetikIn1_a


42115 LA_TabPos_In_nGPMulDivIn_a

42116 LA_TabPos_In_nGPCompareIn1_a


42118 LA_TabPos_In_wGPCounter1LdVal

42119 LA_TabPos_In_wGPCounter1CmpVal

42120 LA_TabPos_In_nSpeedOverride_a

42121 LA_TabPos_In_nAccOverride_a

42122 LA_TabPos_In_wFreeIn1





C00410/1 0: Not connected Signal source for output nOut1_a





Parameter | Name:


Index: 24165d = 5E65h

Parameter | Name:

C00411 | L_SignalMonitor_b par.Data type: UNSIGNED_16

Index: 24164d = 5E64h

FB L_SignalMonitor_b: Selection of the signal sources


0 Not connected




1003 LA_nCtrl_bQSPIsActive

1004 LA_nCtrl_bSpeedCcw

1005 LA_nCtrl_bSpeedActCompare

1008 LA_nCtrl_bGPDigitalDelayOut

1009 LA_nCtrl_bGPLogicOut

1010 LA_nCtrl_bGPSignalOut1




1014 LA_nCtrl_bOverLoadActive

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 671



1015 LA_nCtrl_bBrakeReleaseOut

1016 LA_nCtrl_bBrakeReleased

1017 LA_nCtrl_bGPCompareOut

1018 LA_nCtrl_bUnderLoadActive

1019 LA_nCtrl_bImaxActive

1020 LA_nCtrl_bSpeedSetReached

1021 LA_nCtrl_bSpeedActEqSet

1022 LA_nCtrl_bGPDFlipFlopOut

1023 LA_nCtrl_bGPDFlipFlopNegOut

1100 LA_TabPos_bDriveFail

1101 LA_TabPos_bDriveReady

1102 LA_TabPos_bCInhActive

1103 LA_TabPos_bQSPIsActive

1104 LA_TabPos_bSpeedCcw

1105 LA_TabPos_bSpeedActCompare

1106 LA_TabPos_bImaxActive

1107 LA_TabPos_bSpeedSetReached

1108 LA_TabPos_bMBrakeReleaseOut

1109 LA_TabPos_bMBrakeReleased

1110 LA_TabPos_bHomeDone

1111 LA_TabPos_bHomePosAvailable

1112 LA_TabPos_bProfileDone

1113 LA_TabPos_bProfileBusy

1114 LA_TabPos_bAccelerating

1115 LA_TabPos_bConstantDuty

1116 LA_TabPos_bDecelerating

1117 LA_TabPos_bDwellTime

1118 LA_TabPos_bInTarget

1119 LA_TabPos_bGPDigitalDelayOut

1120 LA_TabPos_bGPLogicOut

1121 LA_TabPos_bGPCompareOut

1122 LA_TabPos_bGPSignalOut1




1126 LA_TabPos_bGPDFlipFlop_Out

1127 LA_TabPos_bGPDFlipFlop_NegOut

1128 LA_TabPos_bGPCounter1Equal

1129 LA_TabPos_bFreeOut1






Parameter | Name:


Index: 24164d = 5E64h


672 L Firmware 02.00 - DMS EN 3.0 - 05/2009



16000 DigIn_bIn1

16001 DigIn_bIn2

16002 DigIn_bIn3

16003 DigIn_bIn4

16004 DigIn_bIn5

16005 DigIn_bIn6

16006 DigIn_bIn7

16008 DigIn_CInh

16009 DigIn_bCountIn1_Compare


16011 Ain_bCurrentErrorIn1


16013 CAN1_bCtrl1_B0
















16029 CAN2_bIn1_B0

16030 CAN2_bIn1_B1

16031 CAN2_bIn1_B2

16032 CAN2_bIn1_B3

16033 CAN2_bIn1_B4

16034 CAN2_bIn1_B5

16035 CAN2_bIn1_B6

16036 CAN2_bIn1_B7

16037 CAN2_bIn1_B8

16038 CAN2_bIn1_B9

16039 CAN2_bIn1_B10

16040 CAN2_bIn1_B11

16041 CAN2_bIn1_B12

16042 CAN2_bIn1_B13

Parameter | Name:


Index: 24164d = 5E64h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 673



16043 CAN2_bIn1_B14

16044 CAN2_bIn1_B15

16045 CAN3_bIn1_B0

16046 CAN3_bIn1_B1

16047 CAN3_bIn1_B2

16048 CAN3_bIn1_B3

16049 CAN3_bIn1_B4

16050 CAN3_bIn1_B5

16051 CAN3_bIn1_B6

16052 CAN3_bIn1_B7

16053 CAN3_bIn1_B8

16054 CAN3_bIn1_B9

16055 CAN3_bIn1_B10

16056 CAN3_bIn1_B11

16057 CAN3_bIn1_B12

16058 CAN3_bIn1_B13

16059 CAN3_bIn1_B14

16060 CAN3_bIn1_B15

16061 MciIn_bCtrl_B0
















16077 MciIn_bIn1_B0

16078 MciIn_bIn1_B1

16079 MciIn_bIn1_B2

16080 MciIn_bIn1_B3

16081 MciIn_bIn1_B4

16082 MciIn_bIn1_B5

16083 MciIn_bIn1_B6

16084 MciIn_bIn1_B7

16085 MciIn_bIn1_B8

16086 MciIn_bIn1_B9

Parameter | Name:


Index: 24164d = 5E64h


674 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16087 MciIn_bIn1_B10






16093 LS_Keypad_bSetQuickstop

16094 LS_Keypad_bSetDCBrake

16095 LS_Keypad_bSetSpeedCcw

16096 LS_Keypad_bJogSpeed1


16098 LS_Keypad_bMPotEnable

16099 LS_Keypad_bMPotUp

16100 LS_Keypad_bMPotDown

20000 C_True

20001 bPar1

20002 bPar2

20003 bPar3

20004 bPar4

20005 bPar5

20006 bPar6

20007 bPar7

20008 bPar8

20009 bPar9

20010 bPar10

20011 bPar11

20012 bPar12

20013 bPar13

20014 bPar14

20015 bPar15

20016 bPar16

20017 bPar17

20018 bPar18

20019 bPar19

20020 bPar20

20021 bPar21

20022 bPar22

20023 bPar23

20024 bPar24

20025 bPar25

20026 bPar26

20027 bPar27

20028 bPar28

20029 bPar29

Parameter | Name:


Index: 24164d = 5E64h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 675



20030 bPar30

20031 bPar31

20032 bPar32

20033 b100Hz

20034 b10Hz

20035 b2Hz

20036 b1Hz

20037 b1HzFlash

20038 b2HzFlash

20039 bSingleFlash1

20040 bSingleFlash2

20041 bDoubleFlash

20042 bSquareWave

32000 MCTRL_bFanErr

32001 MCTRL_bHeatSinkWarning

32002 MCTRL_bLimPosCtrlOut

32003 MCTRL_bLimSpeedCtrlOut

32004 MCTRL_bLimSpeedSetVal

32005 MCTRL_bLimTorqueSetVal

32006 MCTRL_bLimCurrentSetVal

32007 MCTRL_bUVDetected

32008 MCTRL_bOVDetected

32009 MCTRL_bMotorPhaseFault

32010 MCTRL_bEncoderComFault

32011 MCTRL_bIxtOverload

32012 MCTRL_bI2xtOverload

32013 MCTRL_bIdentificationActive

32014 MCTRL_bFlyingSyncActive

32015 MCTRL_bMMax

32016 MCTRL_bNMaxFault

32017 MCTRL_bFChopReduced

32018 MCTRL_bMotorPTCFault

32019 MCTRL_bMotorTempFault

32020 MCTRL_bAutoGSBIsActive

32021 MCTRL_bBrakeChopperFault

32022 MCTRL_bQspIsActive

32023 MCTRL_bHlgLoad

32024 MCTRL_bHlgStop

32025 MCTRL_bImpSperreAktiv

32026 MCTRL_bClampActive

32027 MCTRL_bMainsErr

32028 MCTRL_bNmaxForFchop

32029 MCTRL_bShortCircuit

32030 MCTRL_bEarthFault

Parameter | Name:


Index: 24164d = 5E64h


676 L Firmware 02.00 - DMS EN 3.0 - 05/2009

32100 DCTRL_bInit

32101 DCTRL_bReady

32102 DCTRL_bReadyToSwitchOn

32103 DCTRL_bOperationEnable

32104 DCTRL_bWarning

32105 DCTRL_bTrouble

32106 DCTRL_bFail

32107 DCTRL_bSystemFail

32108 DCTRL_bSafeTorqueOff

32109 DCTRL_bIMPIsActive

32110 DCTRL_bCINHIsActive

32111 DCTRL_bSafetyIsActive

32112 DCTRL_bCwCcw

32113 DCTRL_bNactCompare

32200 MCK_bPosCtrlOn

32201 MCK_bSpeedCtrlIOn

32202 MCK_bTorquemodeOn

32203 MCK_bDcBrakeOn

32204 MCK_bBrkReleaseOut

32205 MCK_bBrkReleased

32206 MCK_bDeltaPosOn

32207 MCK_bPosDerivativeOn

32208 MCK_bMotorRefOffsetOn

32209 MCK_bQspOn

32210 MCK_bPosBusy

32211 MCK_bPosDone

32212 MCK_bHomDone

32213 MCK_bHomAvailable

32214 Reserved

32215 Reserved

32216 Reserved

32217 Reserved

32218 Reserved

36000 L_AND_Out_1

36001 L_AND_Out_2

36002 L_AND_Out_3

36003 L_OR_Out_1

36004 L_OR_Out_2

36005 L_OR_Out_3

36006 L_NOT_Out_1

36007 L_NOT_Out_2

36008 L_NOT_Out_3

36009 L_DFlipFlop_Out_1

36010 L_RLQ_1_Qsp

Parameter | Name:


Index: 24164d = 5E64h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 677



36011 L_RLQ_1_Ccw

36012 L_DigDelay_Out_1

36013 L_Compare_Out_1



36016 L_Nset_RfgEq0_1

36017 L_DigitalLogic_1_bOut

36018 L_Counter_1_bEqual

36019 L_SigMonitor_b_bOut1




36023 L_PCTRL_1_bActEqSet

36024 L_NLim_1_bLimitActive

36025 L_DFlipFlop_1_NegOut

36026 L_AND5_1_Out

36027 L_AND5_2_Out

36028 L_Compare_4_bOut







36035 L_DFlipFlop_2_bOut

36036 L_DFlipFlop_2_bNegOut

36037 L_DigDelay_2_Out



36042 L_DigitalLogic5_1_bOut



36045 L_OR5_1_Out

36046 L_OR5_2_Out

36047 L_NOT_4_Out

36048 L_NOT_5_Out

36049 L_NOT_6_Out

36050 L_NOT_7_Out

36055 L_PhaseIntK_1_bState




36059 L_RSFlipflop_1_bOut

36060 L_RSFlipflop_1_bNegOut

Parameter | Name:


Index: 24164d = 5E64h


678 L Firmware 02.00 - DMS EN 3.0 - 05/2009



36063 L_Transient_1_bOut




36067 L_ConvWordToBits_1_bBit0






































Parameter | Name:


Index: 24164d = 5E64h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 679













36115 L_MckCtrlInterface_1_bFail

36116 L_MckStateInterface_1_bAccelerating

36117 L_MckStateInterface_1_bDecelerating

36118 L_MckStateInterface_1_bConstantSpeedDuty

36119 L_MckStateInterface_1_bSShaping

36120 L_MckStateInterface_1_bBusy

36121 L_MckStateInterface_1_bDone

36122 L_MckStateInterface_1_bHomingPosAvailable

36123 L_MckStateInterface_1_bHomingDone

36124 L_MckStateInterface_1_bDwellTime

36125 L_MckStateInterface_1_bInTarget

36126 L_MckStateInterface_1_bPosDone

36127 L_PosiShaftCtrlInterface_1_bQsp

36128 L_PosiShaftCtrlInterface_1_bRsp

36129 L_PosiShaftCtrlInterface_1_bTripSet

36130 L_PosiShaftCtrlInterface_1_bTripReset

36131 L_JogCtrlExtension_bRfgOut

36132 L_JogCtrlExtension_bJog1Out


42000 LA_NCtrl_bCInh

42001 LA_NCtrl_bFailReset

42002 LA_NCtrl_bSetQuickstop

42003 LA_NCtrl_bSetDCBrake

42004 LA_NCtrl_bRFG_Stop

42005 LA_NCtrl_bRFG_0

42007 LA_NCtrl_bSetSpeedCcw

42008 LA_NCtrl_bJogSpeed1




42012 LA_NCtrl_bJogRamp1




Parameter | Name:


Index: 24164d = 5E64h


680 L Firmware 02.00 - DMS EN 3.0 - 05/2009

42017 LA_NCtrl_bMPOTInAct

42018 LA_NCtrl_bMPOTUp

42019 LA_NCtrl_bMPOTDown

42020 LA_NCtrl_bMBRKRelease

42021 LA_NCtrl_bMANJogPos

42022 LA_NCtrl_bMANJogNeg

42023 LA_NCtrl_bGPAnalogSwitchSet

42024 LA_NCtrl_bGPDigitalDelayIn

42025 LA_NCtrl_bGPLogicIn1



42028 LA_NCtrl_bGPDFlipFlopInD

42029 LA_NCtrl_bGPDFlipFlopInClk

42030 LA_NCtrl_bGPDFlipFlopInClr

42031 LA_NCtrl_bMPotEnable

42032 LA_NCtrl_bPIDEnableInfluenceRamp


42034 LA_NCtrl_bRLQCw

42035 LA_NCtrl_bRLQCcw

42100 LA_TabPos_In_bCInh

42101 LA_TabPos_In_bFailReset

42102 LA_TabPos_In_bSetQuickstop

42103 LA_TabPos_In_bSetSpeedCcw

42104 LA_TabPos_In_bJogSpeed1


42106 LA_TabPos_In_bMPotEnable

42107 LA_TabPos_In_bMPotUp

42108 LA_TabPos_In_bMPotDown

42109 LA_TabPos_In_bMBrakeRelease

42110 LA_TabPos_In_bPosCtrlOn

42111 LA_TabPos_In_bLimitSwitchPos

42112 LA_TabPos_In_bLimitSwitchNeg

42113 LA_TabPos_In_bReleaseLimitSwitch

42114 LA_TabPos_In_bManJogPos

42115 LA_TabPos_In_bManJogNeg

42116 LA_TabPos_In_bManEnable2ndSpeed

42117 LA_TabPos_In_bEnableSpeedOverride

42118 LA_TabPos_In_bEnableAccOverride

42119 LA_TabPos_In_bHomeStartStop

42120 LA_TabPos_In_bHomeSetPosition

42121 LA_TabPos_In_bHomeResetPosition

42122 LA_TabPos_In_bHomeMark

42123 LA_TabPos_In_bPosSetProfilePosition

42124 LA_TabPos_In_bPosSetActualPosition

Parameter | Name:


Index: 24164d = 5E64h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 681



42125 LA_TabPos_In_bPosExecute

42126 LA_TabPos_In_bPosFinishTarget

42127 LA_TabPos_In_bPosDisableFollowProfile

42128 LA_TabPos_In_bPosStop

42129 LA_TabPos_In_bGPAnalogSwitchSet

42130 LA_TabPos_In_bGPDigitalDelayIn

42131 LA_TabPos_In_bGPLogicIn1



42134 LA_TabPos_In_bGPDFlipFlop_InD

42135 LA_TabPos_In_bGPDFlipFlop_InClk

42136 LA_TabPos_In_bGPDFlipFlop_InClr

42137 LA_TabPos_In_bGPCounter1ClkUp

42138 LA_TabPos_In_bGPCounter1ClkDown

42139 LA_TabPos_In_bGPCounter1Load

42140 LA_TabPos_In_bMckOperationMode_1




42144 LA_TabPos_In_bPosProfileNo_1




42148 LA_TabPos_In_bFreeIn1









C00411/1 0: Not connected Signal source for output bOut1





Parameter | Name:


Index: 24164d = 5E64h


682 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00412

C00413

C00420

Parameter | Name:

C00412 | L_SignalMonitor_b: InversionData type: UNSIGNED_8

Index: 24163d = 5E63h

FB L_SignalMonitor_b: Inversion of the binary outputs




Bit 0 bOut1 inverted Bit set = inversion active




Bit 4 Reserved

Bit 5 Reserved

Bit 6 Reserved

Bit 7 Reserved


Parameter | Name:

C00413 | L_SignalMonitor_a offs./gainData type: INTEGER_16Index: 24162d = 5E62h

FB L_SignalMonitor_a: Gain and offset of the analog signals


-199.99 % 199.99


C00413/1 0.00 % Offset for output nOut1_a

C00413/2 100.00 % Gain for output nOut1_a








Parameter | Name:

C00420 | Encoder number of incrementsData type: UNSIGNED_16


Indication of the encoder constant


1 Inc/rev. 8192


C00420/1 128 Inc/rev. Encoder increments at FreqIn12

C00420/2 128 Inc/rev. Encoder increments at FreqIn67


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 683



C00423

C00425

Parameter | Name:

C00423 | DigOut: Delay timesData type: UNSIGNED_16

Index: 24152d = 5E58h

Delay times for the digital outputsI/O terminals


0.000 s 65.000


C00423/1 0.000 s Relay ON delay

C00423/2 0.000 s Relay OFF delay

C00423/3 0.000 s DO1 ON delay

C00423/4 0.000 s DO1 OFF delay

C00423/5 0.000 s DO2 ON delay


C00423/7 0.000 s DO3 ON delay


C00423/9 0.000 s DO "High Current" ON delay

C00423/10 0.000 s DO "High Current" OFF delay


Parameter | Name:

C00425 | Encoder sample timeData type: UNSIGNED_8

Index: 24150d = 5E56h

As of version 02.00.00Encoder sample time for the digital inputs when configured as frequency inputs

I/O terminals

Selection list

0 1 ms

1 2 ms

2 5 ms

3 10 ms

4 20 ms

5 50 ms

6 100 ms

7 200 ms

8 500 ms

9 1000 ms


C00425/1 3: 10 ms Encoder sample time FreqIn12 • Only active if C00496 = 3)

C00425/2 3: 10 ms Encoder sample time FreqIn67



684 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00434

C00435

C00436

C00437

Parameter | Name:

C00434 | OxU/I: GainData type: INTEGER_16Index: 24141d = 5E4Dh

Gain of the analog outputsI/O terminals


-199.99 % 199.99


C00434/1 100.00 % O1U: gain

C00434/2 100.00 % O2U: Gain

C00434/3 100.00 % O1I: Gain

C00434/4 100.00 % O2I: Gain


Parameter | Name:

C00435 | OxU/I: OffsetData type: INTEGER_16Index: 24140d = 5E4Ch

Offset of the analog outputsI/O terminals


-199.99 % 199.99


C00435/1 0.00 % O1U: offset

C00435/2 0.00 % O2U: Offset

C00435/3 0.00 % O1I: Offset

C00435/4 0.00 % O2I: Offset


Parameter | Name:

C00436 | OxU: VoltageData type: INTEGER_16Index: 24139d = 5E4Bh

Display of the voltage at the analog outputsI/O terminals


0.00 V 10.00


C00436/1 O1U: voltage

C00436/2 O2U: Voltage


Parameter | Name:

C00437 | OxI: CurrentData type: INTEGER_32Index: 24138d = 5E4Ah

Display of the current at the analog outputsI/O terminals


0.000 mA 20.000


C00437/1 O1I: Current

C00437/2 O2I: Current


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 685



C00439

C00440

Parameter | Name:

C00439 | OxU/I: Input valueData type: INTEGER_16Index: 24136d = 5E48h

Display of the input values for the analog outputsI/O terminals


-199.99 % 199.99


C00439/1 O1U: input value

C00439/2 O2U: Input value

C00439/3 O1I: Input value

C00439/4 O2I: Input value


Parameter | Name:

C00440 | LS_AnalogIn1: PT1 time constantData type: UNSIGNED_16

Index: 24135d = 5E47h

PT1 time constant (S-ramp time) for the analog inputsI/O terminals


0 ms 1000


C00440/1 10 ms PT1 smoothening AnalogIn1

C00440/2 10 ms PT1 smoothening AnalogIn2



686 L Firmware 02.00 - DMS EN 3.0 - 05/2009


C00443 | DIx: levelData type: UNSIGNED_16

Index: 24132d = 5E44h

Bit-coded display of the level of the digital inputsI/O terminals


0x0000 0xFFFF


Bit 0 DI1 Bit set = HIGH level

Bit 1 DI2

Bit 2 DI3

Bit 3 DI4

Bit 4 DI5

Bit 5 DI6

Bit 6 DI7

Bit 7 Reserve

Bit 8 Reserve

Bit 9 Reserve

Bit 10 Reserve

Bit 11 Reserve

Bit 12 Reserve

Bit 13 Reserve

Bit 14 Reserve

Bit 15 CINH


C00443/1 DIx: terminal level

C00443/2 DIx: output level


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 687



C00444

C00445

C00446

Parameter | Name:

C00444 | DOx: levelData type: UNSIGNED_16

Index: 24131d = 5E43h

Bit-coded display of the level of the digital outputsI/O terminals


0x0000 0xFFFF


Bit 0 Relay Bit set = HIGH level

Bit 1 DO1

Bit 2 DO2

Bit 3 DO3

Bit 4 High current

Bit 5 Reserve

Bit 6 Reserve

Bit 7 Reserve

Bit 8 Reserve

Bit 9 Reserve

Bit 10 Reserve

Bit 11 Reserve

Bit 12 Reserve

Bit 13 Reserve

Bit 14 Reserve

Bit 15 Reserve


C00444/1 DOx: input level

C00444/2 DOx: terminal level


Parameter | Name:

C00445 | FreqInxx_nOut_vData type: INTEGER_16Index: 24130d = 5E42h

Display of the frequency input signals supplied into the application.


-32767 Incr./ms 32767


C00445/1 FreqIn12_nOut_v

C00445/2 FreqIn67_nOut_v


Parameter | Name:

C00446 | FreqInxx_nOut_aData type: INTEGER_16Index: 24129d = 5E41h

Display of the frequency input signals supplied into the application.


-199.99 % 199.99


C00446/1 FreqIn12_nOut_a

C00446/2 FreqIn67_nOut_a



688 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00455

C00456

C00458

C00465

C00466

C00467

C00468

Parameter | Name:

C00455 | FB_call tableData type: UNSIGNED_16

Index: 24120d = 5E38h


Parameter | Name:

C00456 | Editor levelData type: UNSIGNED_8

Index: 24119d = 5E37h


Parameter | Name:

C00458 | SYS_call tableData type: UNSIGNED_16

Index: 24117d = 5E35h


Parameter | Name:

C00465 | Keypad: Time-out welcome screenData type: INTEGER_32Index: 24110d = 5E2Eh

Time setting for the automatic change of the keypad display to the welcome screen


0 Never display welcome screen

5 5 rpm

15 15 rpm

30 30 rpm

60 60 rpm


Parameter | Name:

C00466 | Keypad: default parameterData type: INTEGER_32Index: 24109d = 5E2Dh

Setting of the default parameters for the keypad


0 65535 51


Parameter | Name:

C00467 | Keypad: default welcome screenData type: INTEGER_32Index: 24108d = 5E2Ch

Selection of the welcome screen for the keypad


0 Main menu

1 Parameter list


Parameter | Name:

C00468 | Service codeData type: INTEGER_32Index: 24107d = 5E2Bh


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 689



C00469

C00470

C00471

Parameter | Name:

C00469 | Keypad: STOP key functionData type: INTEGER_32Index: 24106d = 5E2Ah

Selection of the function for the STOP key on the keypad


0 No function STOP key has no function

1 Inhibit controller STOP key sets controller inhibit in the drive

2 Activate quick stop STOP key sets quick stop in the drive


Parameter | Name:

C00470 | LS_ParFree_bData type: UNSIGNED_8

Index: 24105d = 5E29h

SB LS_ParFree_b: Setting of the signal level to be output

Selection list

0 False

1 True


C00470/1 0: False Signal level for output bPar1 ... bPar32

C00470/...

C00470/32


Parameter | Name:

C00471 | LS_ParFreeData type: UNSIGNED_16

Index: 24104d = 5E28h

SB LS_ParFree: Setting of the words to be output


0x0000 0xFFFF

Value is bit-coded:

Bit 0 Bit0

... ...

Bit 15 Bit15


C00471/1 0 Value for output wPar1 ... wPar8

C00471/...

C00471/8



690 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00472

C00473

C00474

Parameter | Name:

C00472 | LS_ParFree_aData type: INTEGER_16Index: 24103d = 5E27h

SB LS_ParFree_a: Setting of the analog signals to be output


-199.99 % 199.99


C00472/1 0.00 % Value for output nPar1_a









Parameter | Name:

C00473 | LS_ParFree_vData type: INTEGER_16Index: 24102d = 5E26h

SB LS_ParFree_v: Setting of the speed signals to be output


-32767 Incr./ms 32767


C00473/1 0 incr./ms Values for output nPar1_v ... nPar8_v

C00473/...

C00473/8


Parameter | Name:

C00474 | LS_ParFree_pData type: INTEGER_32Index: 24101d = 5E25h

SB LS_ParFree_p: Setting of the position signals to be output


-2147483647 Incr. 2147483647


C00474/1 0 incr. Values for output dnPar1_p ... dnPar8_p

C00474/...

C00474/8


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 691



C00480

C00481

C00482

C00483

Parameter | Name:

C00480 | LS_DisFree_bData type: UNSIGNED_16


SB LS_DisFree_b: Display of the input values


0x0000 0xFFFF


Bit 0 bDis1 Signal level input bDis1 ... bDis16

... ...

Bit 15 bDis16


Parameter | Name:

C00481 | LS_DisFreeData type: UNSIGNED_16


SB LS_DisFree: Display of the input values


0x0000 0xFFFF

Value is bit-coded:

Bit 0 Bit0

... ...

Bit 15 Bit15


C00481/1 Input values wDis1 ... wDis8

C00481/...

C00481/8


Parameter | Name:

C00482 | LS_DisFree_aData type: INTEGER_16Index: 24093d = 5E1Dh

SB LS_DisFree_a: Display of the input values


-199.99 % 199.99


C00482/1 Input values nDis1_a ... nDis8_a

C00482/...

C00482/8


Parameter | Name:

C00483 | LS_DisFree_pData type: INTEGER_32Index: 24092d = 5E1Ch

SB LS_DisFree_p: Display of the input values


-2147483647 incr 2147483647


C00483/1 Input values dnDis1_p ... dnDis8_p

C00483/...

C00483/8



692 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00488

C00490

C00495

Parameter | Name:

C00488 | L_JogCtrlEdgeDetectData type: UNSIGNED_8

Index: 24087d = 5E17h

As of version 02.00.00FB L_JogCtrlExtension_1: Signal methodology • Selection whether the corresponding function is to be activated by edge or level.

Selection list

0 Level

1 Edge


C00488/1 0: Level InputSens.SlowDown1 • Selection of edge or level for starting slow-down

function 1

C00488/2 0: Level InputSens.Stop1 • Selection of edge or level for stop function 1


function 2



function 3



Parameter | Name:

C00490 | Position encoder selectionData type: UNSIGNED_8

Index: 24085d = 5E15h

Selection of the feedback system for the generation of the actual position on the load


0 No sensor No encoder available on the load

1 Sensor signal FreqIn12 Position encoder signal is fed via digital inputs DI1 and DI2

2 Encoder signal FreqIn67 Position encoder signal is fed via digital inputs DI6 and DI7


Parameter | Name:

C00495 | Speed sensor selectionData type: UNSIGNED_8

Index: 24080d = 5E10h

Selection of the feedback system for the actual speed for motor control and display


0 No sensor No encoder available for the actual speed detection

1 Sensor signal FreqIn12 Speed encoder signal is fed via digital inputs DI1 and DI2

2 Sensor signal FreqIn67 Speed encoder signal is fed via digital inputs DI6 and DI7


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 693



C00496

C00497

C00516

Parameter | Name:

C00496 | Encoder evaluation procedureData type: UNSIGNED_8



0 High-resolution encoders High-precision procedure for high-resolution encoders (>=512 increments)

1 Low-resolution encoders (StateLine) High-precision procedure for low-resolution encoders (<=128 increments)

2 Comb. encoder procedure Combination of the first two procedures as a function of the speed (recommended procedure)

3 Edge counting procedure Simple edge counting procedure with adjustable scan time (C00425)


Parameter | Name:

C00497 | Nact filter time constantData type: UNSIGNED_16



0.0 ms 500.0


C00497/1 0.5 ms Encoder filter time FreqIn12

C00497/2 0.5 ms Encoder filter time FreqIn67


Parameter | Name:

C00516 | ChecksumsData type: UNSIGNED_32

Index: 24059d = 5DFBh



694 L Firmware 02.00 - DMS EN 3.0 - 05/2009


C00517 | User menuData type: INTEGER_32Index: 24058d = 5DFAh

When a system is installed, parameters must be changed time and again until the system runs satsifactorily. The user menu of a device serves to create a selection of frequently used parameters to be able to access and change these parameters quickly. • Format: <code number>,<subcode number> • For setting "0.000" no entry is displayed in the user menu.


0.000 16000.000


C00517/1 51.000 C00051: Display of actual speed value

C00517/2 53.000 C00053: Display of DC-bus voltage

C00517/3 54.000 C00054: Display of motor current

C00517/4 61.000 C00061: Display of heatsink temperature

C00517/5 137.000 C00137: Display of device state

C00517/6 0.000 User menu: entry 6


C00517/8 11.000 C00011: Reference speed

C00517/9 39.001 C00039/1: Fixed setpoint 1

C00517/10 39.002 C00039/2: Fixed setpoint 2

C00517/11 12.000 C00012: Acceleration time - main setpoint

C00517/12 13.000 C00013: Deceleration time - main setpoint

C00517/13 15.000 C00015: V/f base frequency

C00517/14 16.000 C00016: Vmin boost

C00517/15 22.000 C00022: Imax in motor mode

C00517/16 120.000 C00120: Motor overload threshold (I2xt)

C00517/17 87.000 C00087: Rated motor speed

C00517/18 99.000 C00099: Display of firmware version

C00517/19 200.000 C00200: Display of firmware product type















Firmware 02.00 - DMS EN 3.0 - 05/2009 L 695



C00560

C00561

C00565

C00566

Parameter | Name:

C00560 | Fan switching statusData type: UNSIGNED_8

Index: 24015d = 5DCFh

Function status display of device fan

Selection list

0 Off

1 On

2 No fan


C00560/1 Switching status - internal fan

C00560/2 Switching status - heatsink fan


Parameter | Name:

C00561 | Fan failureData type: UNSIGNED_8

Index: 24014d = 5DCEh

Error status display of device fan

Selection list

0 No error

1 Fault


C00561/1 Failure of internal fan

C00561/2 Failure of heatsink fan


Parameter | Name:

C00565 | Resp. to mains phase failureData type: UNSIGNED_8

Index: 24010d = 5DCAh

Response to the failure of mains-phases


0 No Reaction

1 Fault

5 Warning


Parameter | Name:

C00566 | Resp. to fan failureData type: UNSIGNED_8

Index: 24009d = 5DC9h

Response to the detection of a fan failure


0 No Reaction

1 Fault

5 Warning



696 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00567

C00569

C00570

C00572

Parameter | Name:

C00567 | Speed controller resp. limitedData type: UNSIGNED_8


Response for limitation of the speed controller output (bLimSpeedCtrlOut = TRUE)


0 No Reaction

1 Fault

5 Warning


Parameter | Name:

C00569 | Resp. to peak currentData type: UNSIGNED_8


Configuration of monitoring of the motor control (group 1)

Selection list

0 No Reaction

1 Fault

5 Warning


C00569/1 0: No Reaction Response for overcurrent detection and clamp operation


Parameter | Name:

C00570 | Resp. to controller limitationsData type: UNSIGNED_8



Selection list

0 No Reaction

1 Fault

5 Warning


C00570/1 0: No Reaction Response for limitation in the direct-axis current controller • e.g. for SC (servo control) mode

C00570/2 0: No Reaction Response for limitation in the cross-current controller • e.g. for SC (servo control) mode

C00570/3 0: No Reaction Response for limitation of the torque setpoint • Limitation of the speed controller output, the

differential setpoint precontrol, and of the additive torque for SC (servo control) and SLVC (vector control) modes.

C00570/4 0: No Reaction Response for limitation in the field controller


Parameter | Name:

C00572 | Brake resistor overload thresholdData type: UNSIGNED_8


As of version 02.00.00Adjustable threshold for monitoring the brake resistor utilisation • The response for reaching the threshold can be selected in C00574.


0 % 100 100 %


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 697



C00574

C00576

C00577

C00578

C00579

Parameter | Name:

C00574 | Resp. to brake resist. overtemp.Data type: UNSIGNED_8


Response when reaching the threshold for the brake resistor utilisation set in C00572.


0 No Reaction

1 Fault

5 Warning


Parameter | Name:

C00576 | SC: Field feedforward controlData type: UNSIGNED_16

Index: 23999d = 5DBFh

Point of action of the direct-axis current setpoint precontrol for an early reduction of the field current. In this way, the acceleration behaviour can be improved in the field weakening range. • The entry [%] refers to the slip of the asynchronous motor.


0 % 600 200 %


Parameter | Name:

C00577 | SC: Vp field weaken. controllerData type: UNSIGNED_16

Index: 23998d = 5DBEh

Proportional gain of the field weakening controller • When "0" is set, the P component of the controller is deactivated. • The recommended setting is in the range between 0 and 0.0020


0.0000 2.0000 0.0010


Parameter | Name:

C00578 | SC: Tn field weaken. controllerData type: UNSIGNED_16

Index: 23997d = 5DBDh

Time constant of the field weakening controller • The recommended setting is in the range between 10 and 30 ms


0.1 ms 6000.0 20.0 ms


Parameter | Name:

C00579 | Resp. to speed monitoringData type: UNSIGNED_8

Index: 23996d = 5DBCh

Response for reaching the maximum actual speed limits • These result from the max. input frequency of the digital inputs and the number of encoder increments.


0 No Reaction

1 Fault

5 Warning



698 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00581

C00582

C00585

Parameter | Name:

C00581 | Resp. LS_SetError_xData type: UNSIGNED_8

Index: 23994d = 5DBAh

SB LS_SetError_1-2: Selection of the error responses for application error messages • An application error message is tripped by a FALSE-TRUE edge at the binary inputs bSetError1...4.

Selection list

0 No Reaction

1 Fault

2 Trouble

3 TroubleQuickStop

4 WarningLocked

5 Warning

6 Information


C00581/1 0: No Reaction Resp. LS_SetError_1 bSetError1









Parameter | Name:

C00582 | Resp. to heatsink temp. > shutdown temp. -5°CData type: UNSIGNED_8

Index: 23993d = 5DB9h

Response when the heatsink temperature has reached the shutdown temperature threshold.


0 No Reaction

1 Fault

5 Warning


Parameter | Name:

C00585 | Resp. to motor overtemp. PTCData type: UNSIGNED_8


Response to motor overtemperature • The motor temperature is measured by means of a PTC thermistor at terminal X106.


0 No Reaction

1 Fault

5 Warning


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 699



C00586

C00588

C00590

C00592

Parameter | Name:

C00586 | Resp. to encoder wire breakageData type: UNSIGNED_8


Response for a failure of the encoder feedback system or the encoder feedback system track due to an open circuit


0 No Reaction

1 Fault

5 Warning


Parameter | Name:

C00588 | Resp. to max speed at switch. freqData type: UNSIGNED_8


Response for reaching the maximum speed for the set inverter switching frequency (C00018)


0 No Reaction

1 Fault

5 Warning


Parameter | Name:

C00590 | Resp. to switch. frequency red.Data type: UNSIGNED_8


Response to reduction of the inverter switching frequency (C00018)


0 No Reaction

1 Fault

5 Warning


Parameter | Name:

C00592 | Resp. to CAN bus connectionData type: UNSIGNED_8

Index: 23983d = 5DAFh

Configuration of monitoring of the CAN interface (group 1)System bus "CAN on board"

Selection list

0 No Reaction

1 Fault

2 Trouble

3 TroubleQuickStop

4 WarningLocked

5 Warning

6 Information


C00592/1 0: No Reaction Response to incorrect telegram for CAN communication

C00592/2 0: No Reaction Response to "BusOff" (bus system switched off)

C00592/3 0: No Reaction Response to warnings of the CAN controller

C00592/4 0: No Reaction Response to communication stop of a CAN bus node

C00592/5 0: No Reaction Response to an event in the case of monitoring via heartbeat protocol



700 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00593

C00594

Parameter | Name:

C00593 | Resp. to CANx_IN monitoringData type: UNSIGNED_8

Index: 23982d = 5DAEh

Configuration of monitoring of the CAN interface (group 2)System bus "CAN on board"

Selection list

0 No Reaction

1 Fault

2 Trouble

3 TroubleQuickStop

4 WarningLocked

5 Warning

6 Information


C00593/1 0: No Reaction Response if the monitoring time set in C00357/1 for the reception of the PDO CAN1_IN is exceeded.




Parameter | Name:

C00594 | Resp. to control word errorData type: UNSIGNED_8

Index: 23981d = 5DADh

Configuration of monitoring of the device control

Selection list

0 No Reaction

1 Fault

2 Trouble

3 TroubleQuickStop

5 Warning


C00594/1 1: Fault Response if error bit 14 in the CAN control word is set.

C00594/2 1: Fault Response if error bit 14 in the MCI control word is set.


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 701



C00595

C00597

Parameter | Name:

C00595 | MCK: Resp. to MCK errorData type: UNSIGNED_8

Index: 23980d = 5DACh

Configuration of monitoring of the MotionControlKernel

Selection list

0 No Reaction

1 Fault

3 TroubleQuickStop

4 WarningLocked

5 Warning

6 Information


C00595/1 3: TroubleQuickStop Response if the input bLimitSwitchPos for travel range monitoring is set to FALSE (fail-safe) by the positive hardware limit switch .

C00595/2 3: TroubleQuickStop Response if the input bLimitSwitchNeg for travel range monitoring is set to FALSE (fail-safe) by the negative hardware limit switch .

C00595/3 3: TroubleQuickStop Response for detection that the position is beyond the positive software limit position (C01229/1).

C00595/4 3: TroubleQuickStop Response for detection that the position is beyond the negative software limit position (C01229/2).

C00595/5 5: Warning Response if following error limit 1 is exceeded (C01215/1)

C00595/6 5: Warning Response if following error limit 2 is exceeded (C01215/2)

C00595/7 3: TroubleQuickStop Response if the maximum travel distance (display in C01213/1) is exceeded

C00595/8 4: WarningLocked Response to start procedures with reference condition when the reference is not set

C00595/9 4: WarningLocked Response to a non-supported positioning mode

C00595/10 4: WarningLocked Response to implausible profile set data

C00595/11 5: Warning Response to the selection of an invalid operating mode of the MCK

C00595/12 4: WarningLocked Response to indicating an invalid profile data set

C00595/13 5: Warning Response to an error of the FB L_MckCtrlInterface_1

C00595/14 4: WarningLocked Response to a profile start with a target position outside the software limit positions (C01229/1 and C01229/2).


Parameter | Name:

C00597 | Resp. to motor phase failureData type: UNSIGNED_8

Index: 23978d = 5DAAh

Response to motor phase failure • If a phase current does not exceed the threshold set in C00599 over a period, the response set here is effected.


0 No Reaction

1 Fault

5 Warning



702 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00598

C00599

C00600

C00601

Parameter | Name:

C00598 | Resp. to open circuit AINxData type: UNSIGNED_8

Index: 23977d = 5DA9h

Configuration of monitoring of the analog inputs

Selection list

0 No Reaction

1 Fault

2 Trouble

3 TroubleQuickStop

5 Warning


C00598/1 3: TroubleQuickStop Response to open circuit at AIN1 when being configured as 4 ... 20 mA-current loop

C00598/2 3: TroubleQuickStop Response to open circuit at AIN2 when being configured as 4 ... 20 mA-current loop


Parameter | Name:

C00599 | Motor phase failure thresholdData type: INTEGER_16Index: 23976d = 5DA8h

Threshold for motor phase failure monitoring • 100 % ≡ rated inverter current (C00098) • If a phase current does not exceed the threshold set here over a period, the response to motor phase failure set

in C00597 is effected.


1.00 % 100.00 5.00 %


Parameter | Name:

C00600 | Resp. to DC-bus voltageData type: UNSIGNED_8



Selection list

1 Fault

2 Trouble


C00600/1 2: Trouble Response to undervoltage in the DC bus


Parameter | Name:

C00601 | Delayed resp. fault: DC-bus overvoltageData type: UNSIGNED_16


Delay times for error responses


0.000 s 65.000


C00601/1 2.000 s Delay time for error activation "DC-bus overvoltage" • In case of DC-bus overvoltage, an error is only

transmitted after this delay time has elapsed.


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 703



C00602

C00604

C00606

C00607

C00608

Parameter | Name:

C00602 | Resp. to earth faultData type: UNSIGNED_8


Response to earth fault in the motor phase(s)


0 No Reaction

1 Fault


Parameter | Name:

C00604 | Resp. to device overload (Ixt)Data type: UNSIGNED_8


Response if the adjustable device utilisation threshold (C00123) is reached. • The current device utilisation is displayed in C00064.


0 No Reaction

1 Fault

5 Warning


Parameter | Name:

C00606 | Resp. to motor overload (I²xt)Data type: UNSIGNED_8


Response if the adjustable motor overload threshold (C00120) is reached. • The current thermal motor load is displayed in C00066.


0 No Reaction

1 Fault

5 Warning


Parameter | Name:

C00607 | React. max. speed reachedData type: UNSIGNED_8


Response if the maximum speed limit (C00909) is reached.


0 No Reaction

1 Fault

5 Warning


Parameter | Name:

C00608 | Resp. to maximum torqueData type: UNSIGNED_8

Index: 23967d = 5D9Fh

Response if the maximum torque (C00057) is reached.


0 No Reaction

1 Fault

5 Warning



704 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00609

C00610

C00611

C00612

C00613

C00615

C00617

Parameter | Name:

C00609 | Resp. to maximum currentData type: UNSIGNED_8

Index: 23966d = 5D9Eh

Response if the maximum current (C00022, C00023) is reached.


0 No Reaction

1 Fault

5 Warning


Parameter | Name:

C00610 | 16-bit connection tableData type: UNSIGNED_16

Index: 23965d = 5D9Dh


Parameter | Name:

C00611 | Bool connection tableData type: UNSIGNED_16

Index: 23964d = 5D9Ch


Parameter | Name:

C00612 | 32-bit connection tableData type: UNSIGNED_16

Index: 23963d = 5D9Bh


Parameter | Name:

C00613 | Connect. table 16-bit AdditionalFBsHLData type: UNSIGNED_16

Index: 23962d = 5D9Ah


Parameter | Name:

C00615 | Connect. table Bool AdditionalFBsHLData type: UNSIGNED_16

Index: 23960d = 5D98h


Parameter | Name:

C00617 | Connect. table 32-bit AdditionalFBsHLData type: UNSIGNED_16

Index: 23958d = 5D96h


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 705




C00620 | 16-bit system connectionData type: UNSIGNED_16

Index: 23955d = 5D93h

Connection parameters: 16-bit inputs • Selection of the 16-bit output signals for connection with the 16-bit input signals. • The selection list contains all 16-bit output signals which can be assigned to the 16-bit inputs mapped by the

subcodes.


0 Not connected









































706 L Firmware 02.00 - DMS EN 3.0 - 05/2009






16000 AIN1_Out

16001 AIN2_Out

16002 CAN1_wCtrl

16003 CAN1_wIn2

16004 CAN1_wIn3

16005 CAN1_wIn4

16006 CAN2_wIn1

16007 CAN2_wIn2

16008 CAN2_wIn3

16009 CAN2_wIn4

16010 CAN3_wIn1

16011 CAN3_wIn2

16012 CAN3_wIn3

16013 CAN3_wIn4














16105 LP_MciIn_wIn2

16106 LP_MciIn_wIn3

16107 LP_MciIn_wIn4

16108 LP_MciIn_wIn5

16109 LP_MciIn_wIn6

16110 LP_MciIn_wIn7

16111 LP_MciIn_wIn8

16112 LP_MciIn_wIn9





Parameter | Name:


Index: 23955d = 5D93h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 707









20000 C_Pos100_a

20001 C_Neg100_a

20002 C_Pos199_99_a

20003 C_Neg199_99_a

20004 C_65535

20005 C_wDriveCtrl

20010 nPar1_a

20011 nPar2_a

20012 nPar3_a

20013 nPar4_a

20014 nPar5_a

20015 nPar6_a

20016 nPar7_a

20017 nPar8_a

20018 nPar1_v

20019 nPar2_v

20020 nPar3_v

20021 nPar4_v

20022 nPar5_v

20023 nPar6_v

20024 nPar7_v

20025 nPar8_v

20026 wPar1

20027 wPar2

20028 wPar3

20029 wPar4

20030 wPar5

20031 wPar6

20032 wPar7

20033 wPar8









Parameter | Name:


Index: 23955d = 5D93h


708 L Firmware 02.00 - DMS EN 3.0 - 05/2009

















32104 DCTRL_wFrei_2









32208 MCK_wAuxState


32211 Reserved

34900 MCTRL_OszCh1

34901 MCTRL_OszCh2

34902 MCTRL_OszCh3

34903 MCTRL_OszCh4

34904 MCTRL_Status1

34905 MCTRL_Status2

34906 MCTRL_Status3










Parameter | Name:


Index: 23955d = 5D93h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 709










36016 L_Limit_Out_1

36017 L_Limit_Out_2

36018 L_NSet_NOut_1


36020 L_PCTRL_1_Out

































Parameter | Name:


Index: 23955d = 5D93h


710 L Firmware 02.00 - DMS EN 3.0 - 05/2009













































Parameter | Name:


Index: 23955d = 5D93h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 711

























C00620/1 1003: LA_nCtrl_nMotorSpeedAct_a LS_AnalogOutput: nOut1_a (V)

C00620/2 0: Not connected LP_CanOut1:wState

C00620/3 0: Not connected LP_CanOut1:wOut2

C00620/4 0: Not connected LP_CanOut1:wOut3

C00620/5 0: Not connected LP_CanOut1: wOut4









C00620/14 0: Not connected LS_DisFree_a:nDis1_a




C00620/18 0: Not connected LS_DisFree:wDis1




C00620/22 0: Not connected LP_MciOut:wState

Parameter | Name:


Index: 23955d = 5D93h


712 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00620/23 0: Not connected LP_MciOut:wOut2

C00620/24 0: Not connected LP_MciOut:wOut3

C00620/25 0: Not connected LP_MciOut: wOut4













C00620/38 0: Not connected LS_AnalogOutput: nOut2_a (V)

C00620/39 0: Not connected LS_AnalogOutput: nOut1_a (I)

C00620/40 0: Not connected LS_AnalogOutput: nOut2_a (I)

C00620/41 0: Not connected LS_DisFree_a: nDis5_a




C00620/45 0: Not connected LS_DisFree: wDis5





Parameter | Name:


Index: 23955d = 5D93h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 713




C00621 | Bool system connectionData type: UNSIGNED_16

Index: 23954d = 5D92h

Connection parameters: Binary inputs • Selection of the binary output signals for connection with the binary input signals. • The selection list contains all binary output signals which can be assigned to the binary inputs mapped by the

subcodes.


0 Not connected









































714 L Firmware 02.00 - DMS EN 3.0 - 05/2009





















16000 DigIn_bIn1

16001 DigIn_bIn2

16002 DigIn_bIn3

16003 DigIn_bIn4

16004 DigIn_bIn5

16005 DigIn_bIn6

16006 DigIn_bIn7

16008 DigIn_CInh

















Parameter | Name:


Index: 23954d = 5D92h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 715







16029 CAN2_bIn1_B0

16030 CAN2_bIn1_B1

16031 CAN2_bIn1_B2

16032 CAN2_bIn1_B3

16033 CAN2_bIn1_B4

16034 CAN2_bIn1_B5

16035 CAN2_bIn1_B6

16036 CAN2_bIn1_B7

16037 CAN2_bIn1_B8

16038 CAN2_bIn1_B9

16039 CAN2_bIn1_B10

16040 CAN2_bIn1_B11

16041 CAN2_bIn1_B12

16042 CAN2_bIn1_B13

16043 CAN2_bIn1_B14

16044 CAN2_bIn1_B15

16045 CAN3_bIn1_B0

16046 CAN3_bIn1_B1

16047 CAN3_bIn1_B2

16048 CAN3_bIn1_B3

16049 CAN3_bIn1_B4

16050 CAN3_bIn1_B5

16051 CAN3_bIn1_B6

16052 CAN3_bIn1_B7

16053 CAN3_bIn1_B8

16054 CAN3_bIn1_B9

16055 CAN3_bIn1_B10

16056 CAN3_bIn1_B11

16057 CAN3_bIn1_B12

16058 CAN3_bIn1_B13

16059 CAN3_bIn1_B14

16060 CAN3_bIn1_B15









Parameter | Name:


Index: 23954d = 5D92h


716 L Firmware 02.00 - DMS EN 3.0 - 05/2009









16077 MciIn_bIn1_B0

16078 MciIn_bIn1_B1

16079 MciIn_bIn1_B2

16080 MciIn_bIn1_B3

16081 MciIn_bIn1_B4

16082 MciIn_bIn1_B5

16083 MciIn_bIn1_B6

16084 MciIn_bIn1_B7

16085 MciIn_bIn1_B8

16086 MciIn_bIn1_B9















20000 C_True

20001 bPar1

20002 bPar2

20003 bPar3

20004 bPar4

20005 bPar5

20006 bPar6

20007 bPar7

20008 bPar8

20009 bPar9

20010 bPar10

20011 bPar11

Parameter | Name:


Index: 23954d = 5D92h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 717



20012 bPar12

20013 bPar13

20014 bPar14

20015 bPar15

20016 bPar16

20017 bPar17

20018 bPar18

20019 bPar19

20020 bPar20

20021 bPar21

20022 bPar22

20023 bPar23

20024 bPar24

20025 bPar25

20026 bPar26

20027 bPar27

20028 bPar28

20029 bPar29

20030 bPar30

20031 bPar31

20032 bPar32

20033 b100Hz

20034 b10Hz

20035 b2Hz

20036 b1Hz

20037 b1HzFlash

20038 b2HzFlash

20039 bSingleFlash1

20040 bSingleFlash2

20041 bDoubleFlash

20042 bSquareWave

32000 MCTRL_bFanErr













Parameter | Name:


Index: 23954d = 5D92h


718 L Firmware 02.00 - DMS EN 3.0 - 05/2009



32015 MCTRL_bMMax
















32100 DCTRL_bInit

32101 DCTRL_bReady





32106 DCTRL_bFail






32112 DCTRL_bCwCcw











32209 MCK_bQspOn

32210 MCK_bPosBusy

32211 MCK_bPosDone

Parameter | Name:


Index: 23954d = 5D92h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 719



32212 MCK_bHomDone


32214 Reserved

32215 Reserved

32216 Reserved

32217 Reserved

32218 Reserved

36000 L_AND_Out_1

36001 L_AND_Out_2

36002 L_AND_Out_3

36003 L_OR_Out_1

36004 L_OR_Out_2

36005 L_OR_Out_3

36006 L_NOT_Out_1

36007 L_NOT_Out_2

36008 L_NOT_Out_3


36010 L_RLQ_1_Qsp

36011 L_RLQ_1_Ccw















36026 L_AND5_1_Out

36027 L_AND5_2_Out










Parameter | Name:


Index: 23954d = 5D92h


720 L Firmware 02.00 - DMS EN 3.0 - 05/2009







36045 L_OR5_1_Out

36046 L_OR5_2_Out

36047 L_NOT_4_Out

36048 L_NOT_5_Out

36049 L_NOT_6_Out

36050 L_NOT_7_Out

































Parameter | Name:


Index: 23954d = 5D92h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 721















































Parameter | Name:


Index: 23954d = 5D92h


722 L Firmware 02.00 - DMS EN 3.0 - 05/2009













































Parameter | Name:


Index: 23954d = 5D92h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 723















































Parameter | Name:


Index: 23954d = 5D92h


724 L Firmware 02.00 - DMS EN 3.0 - 05/2009







C00621/1 1001: LA_nCtrl_bDriveFail LS_DigitalOutput:bRelay

C00621/2 1000: LA_nCtrl_bDriveReady LS_DigitalOutput:bOut1

C00621/3 0: Not connected LS_DigitalInput: bCountIn1_Reset

C00621/4 0: Not connected LS_DigitalInput: bCountIn1_LoadStartValue

C00621/5 0: Not connected LP_CanOut1: bState_B0




C00621/9 0: Not connected LP_CanOut1:bState_B4












C00621/21 0: Not connected LS_DisFree_b:bDis1








C00621/29 0: Not connected LP_CanOut2: bOut1_B0









Parameter | Name:


Index: 23954d = 5D92h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 725


























C00621/61 0: Not connected LP_MciOut: bState_B0
















C00621/77 0: Not connected LP_MciOut: bOut2_B0





Parameter | Name:


Index: 23954d = 5D92h


726 L Firmware 02.00 - DMS EN 3.0 - 05/2009












C00621/93 0: Not connected LS_SetError_1_bSetError1




C00621/97 0: Not connected LS_DigitalInput: bCountIn6_Reset

C00621/98 0: Not connected LS_DigitalInput: bCountIn6_LoadStartValue

C00621/99 0: Not connected LS_DigitalOutput: bOut2

C00621/100 0: Not connected LS_DigitalOutput: bOut3

C00621/101 0: Not connected LS_DigitalOutput: bOut HighCurrent

C00621/102 0: Not connected Ls_DisFree_b: bDis9








C00621/110 0: Not connected Reserved


Parameter | Name:


Index: 23954d = 5D92h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 727




C00622 | Sys. conn. angleData type: UNSIGNED_16

Index: 23953d = 5D91h

Connection parameters: 32-bit inputs • Selection of the 32-bit output signals for connection with the 32-bit input signals. • The selection list contains all 32-bit output signals which can be assigned to the 32-bit inputs mapped by the

subcodes.


0 Not connected

1100 LA_TabPos_dnTargetPos_p

1101 LA_TabPos_dnSetPos_p

1102 LA_TabPos_dnFreeOut1_p

1103 LA_TabPos_dnFreeOut2_p

1104 LA_TabPos_dnPosAct_p

1105 LA_TabPos_dnDeltaPosAct_p

16000 CAN1_dnIn34_p

16001 CAN2_dnIn34_p

16002 CAN3_dnIn34_p

16003 LP_MciIn_dnIn34_p

20000 dnPar1_p

20001 dnPar2_p

20002 dnPar3_p

20003 dnPar4_p

20004 dnPar5_p

20005 dnPar6_p

20006 dnPar7_p

20007 dnPar8_p

32000 MCTRL_dnMotorPosAct_p

32001 MCTRL_dnMotorDeltaPosAct_p

32200 MCK_dnPosTarget_p

32201 MCK_dnPosSetValue_p

32202 MCK_dnDeltaPos_p

32203 MCK_dnMotorRefOffset_p

36040 L_ArithmetikPhi_1_Out_p

36046 L_GainOffsetParPhi_1_Out_p

36047 L_GainOffsetParPhi_2_Out_p

36050 L_LimitPhi_1_Out_p



36060 L_OffsetGainParPhi_1_Out_p

36061 L_OffsetGainParPhi_2_Out_p

36066 L_PhaseIntK_1_dnOut_p

36067 L_PhaseIntK_2_dnOut_p



36072 L_Sqrt_1_Out_p

36073 L_Mux_1_Out_p

36074 L_ConvWordsToDInt_1_dnOut_p


728 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00630



36077 L_ConvUnitsToIncr_1_dnOut_p



42100 LA_TabPos_In_dnPosProfilePosition

42101 LA_TabPos_In_dnFreeIn1_p

42102 LA_TabPos_In_dnFreeIn2_p


C00622/1 0: Not connected LS_DisFree_p:dnDis1_p

C00622/2 0: Not connected LS_DisFree_p:dnDis2_p

C00622/3 0: Not connected LS_DisFree_p: dnDis3_p






C00622/9 0: Not connected LP_CanOut1: dnOut34_p



C00622/12 0: Not connected LP_MciOut: dnOut34_p


Parameter | Name:

C00622 | Sys. conn. angleData type: UNSIGNED_16

Index: 23953d = 5D91h

Parameter | Name:

C00630 | L_Limit 1-2 Min/MaxData type: INTEGER_16Index: 23945d = 5D89h

FB L_Limit_1-2: Setting of the limits


-199.99 % 199.99


C00630/1 -199.99 % L_Limit_1: Min.Limit

C00630/2 199.99 % L_Limit_1: Max.Limit

C00630/3 -199.99 % L_Limit_2: Min.Limit

C00630/4 199.99 % L_Limit_2: Max.Limit


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 729



C00631

C00632

C00633

Parameter | Name:

C00631 | L_LimitPhi 1-3 Min/MaxData type: INTEGER_32Index: 23944d = 5D88h

FB L_LimitPhi_1-3: Setting of the limits


-2147483647 Incr. 2147483647


C00631/1 -2147483647 incr. L_LimitPhi_1: Min.Limit

C00631/2 2147483647 incr. L_LimitPhi_1: Max.Limit






Parameter | Name:

C00632 | L_NSet_1: Max.SkipFrq.Data type: INTEGER_16Index: 23943d = 5D87h

FB L_NSet_1: Maximum limit values for the speed blocking zones • Selection of the maximum limit values for the blocking zones in which the speed must not be constant.


0.00 % 199.99


C00632/1 0.00 % L_NSet_1: blocking speed 1 max




Parameter | Name:

C00633 | L_NSet_1 Min.SkipFrq.Data type: INTEGER_16Index: 23942d = 5D86h

FB L_NSet_1: Minimum limit values for the speed blocking zones • Selection of the minimum limit values for the blocking zones in which the speed must not be constant.


0.00 % 199.99


C00633/1 0.00 % L_NSet_1: blocking speed 1 min





730 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00634

C00635

C00636

C00637

Parameter | Name:

C00634 | L_NSet_1: wStateData type: UNSIGNED_16

Index: 23941d = 5D85h

FB L_NSet_1: Bit-coded status display


0x0000 0xFFFF


Bit 0 No blocking zone active "1" ≡ No blocking zone set for constant speeds

Bit 1 Blocking zone 1 active "1" ≡ Suppression of constant speed characteristics within the limits of blocking zone 1



Bit 4 Jog in blocking zone "1" ≡ A ramp is used to keep the speed setpoint within a speed blocking zone

Bit 5 MaxLimit active "1" ≡ Speed setpoint is at the maximum speed limit

Bit 6 MinLimit active "1" ≡ Speed setpoint is at the minimum speed limit

Bit 7 Reserved

Bit 8 Reserved

Bit 9 Reserved

Bit 10 Reserved

Bit 11 Reserved

Bit 12 Reserved

Bit 13 Reserved

Bit 14 Reserved

Bit 15 Reserved


Parameter | Name:

C00635 | L_NSet_1: nMaxLimitData type: INTEGER_16Index: 23940d = 5D84h

FB L_NSet_1: Maximum speed setpoint for speed setpoint limitation


-199.99 % 199.99 199.99 %


Parameter | Name:

C00636 | L_NSet_1: nMinLimitData type: INTEGER_16Index: 23939d = 5D83h

FB L_NSet_1: Minimum speed setpoint for speed setpoint limitation


-199.99 % 199.99 -199.99 %


Parameter | Name:

C00637 | L_NSet_1: Blocking zone outputData type: INTEGER_16Index: 23938d = 5D82h

FB L_NSet_1: Display of the speed setpoint after blocking zone function processing


-199.99 % 199.99


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 731



C00638

C00639

C00640

C00650

C00670

Parameter | Name:

C00638 | L_NSet_1: Ramp rounding outputData type: INTEGER_16Index: 23937d = 5D81h

FB L_NSet_1: Display of the speed setpoint after PT1 filter function processing


-199.99 % 199.99


Parameter | Name:

C00639 | L_NSet_1: Addit. value outputData type: INTEGER_16Index: 23936d = 5D80h

FB L_NSet_1: Display of the additional speed setpoint after ramp generator processing


-199.99 % 199.99


Parameter | Name:

C00640 | L_NSet_1: nNOut_aData type: INTEGER_16Index: 23935d = 5D7Fh

FB L_NSet_1: Display of the generated main speed setpoint at the output nNOut_a


-199.99 % 199.99


Parameter | Name:

C00650 | L_Arithmetik 3-5: Fct.Data type: UNSIGNED_8

Index: 23925d = 5D75h

FB L_Arithmetik_3-5: Selection of the internal arithmetic

Selection list

0 nOut_a = nIn1_a



3 nOut_a = (nIn1_a * nIn2_a) / 100%

4 nOut_a = (nIn1_a * 1%) / |nIn2_a|

5 nOut_a = (nIn1_a * 100%) / (100% - nIn2_a)


C00650/1 0: nOut_a = nIn1_a L_Arithmetik_3: Function




Parameter | Name:

C00670 | L_OffsetGainP_1: GainData type: INTEGER_32Index: 23905d = 5D61h

FB L_OffsetGainP_1: Gain as multiplier of input signal + offset


-100.0000 100.0000 1.0000



732 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00671

C00672

C00673

C00674

C00677

Parameter | Name:

C00671 | L_OffsetGainP_2: GainData type: INTEGER_32Index: 23904d = 5D60h



-100.0000 100.0000 1.0000


Parameter | Name:

C00672 | L_OffsetGainP_3: GainData type: INTEGER_32Index: 23903d = 5D5Fh



-100.0000 100.0000 1.0000


Parameter | Name:

C00673 | L_OffsetGainPhiP 1-2: OffsetData type: INTEGER_32Index: 23902d = 5D5Eh

FB L_OffsetGainPhiP_1-2: Phase offset (acts additively to the phase input signal)


-2147483647 Incr. 2147483647


C00673/1 0 incr. L_OffsetGainPhiP_1: Offset

C00673/2 0 incr. L_OffsetGainPhiP_2: Offset


Parameter | Name:

C00674 | L_OffsetGainPhiP 1-2: GainData type: INTEGER_32Index: 23901d = 5D5Dh

FB L_OffsetGainPhiP_1-2: Phase gain as multiplier of input signal + phase offset


-2147483647 2147483647


C00674/1 0 L_OffsetGainPhiP_1: Gain

C00674/2 0 L_OffsetGainPhiP_2: Gain


Parameter | Name:

C00677 | L_GainOffsetP 1-3: ParameterData type: INTEGER_16Index: 23898d = 5D5Ah

FB L_GainOffsetP_1-3: Gain and offset


-199.99 % 199.99


C00677/1 100.00 % L_GainOffsetP_1: Gain

C00677/2 0.00 % L_GainOffsetP_1: Offset






Firmware 02.00 - DMS EN 3.0 - 05/2009 L 733



C00678

C00679

C00680

C00681

Parameter | Name:

C00678 | L_GainOffsetPhiP 1-2: ParameterData type: INTEGER_32Index: 23897d = 5D59h

FB L_GainOffsetPhiP_1-2: Gain and offset


-2147483647 2147483647


C00678/1 65536 L_GainOffsetPhiP_1: Gain

C00678/2 0 L_GainOffsetPhiP_1: Offset

C00678/3 65536 L_GainOffsetPhiP_2: Gain

C00678/4 0 L_GainOffsetPhiP_2: Offset


Parameter | Name:

C00679 | L_MulDiv_2: ParameterData type: INTEGER_16Index: 23896d = 5D58h

FB L_MulDiv_2: Numerator and denominator


-32767 32767


C00679/1 0 L_MulDiv_2: numerator

C00679/2 10000 L_MulDiv_2: denominator


Parameter | Name:

C00680 | L_Compare_1: FunctionData type: UNSIGNED_8

Index: 23895d = 5D57h

FB L_Compare_1: Comparison function • If the statement of the selected comparison operation is true, the binary output bOut is set to TRUE.


1 In1 = In2

2 In1 > In2

3 In1 < In2

4 |In1| = |In2|

5 |In1| > |In2|

6 |In1| < |In2|


Parameter | Name:

C00681 | L_Compare_1: HysteresisData type: INTEGER_16Index: 23894d = 5D56h

FB L_Compare_1: Hysteresis for the comparison function selected in C00680


0.00 % 100.00 0.50 %



734 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00682

C00685

C00686

C00687

C00690

Parameter | Name:

C00682 | L_Compare_1: WindowData type: INTEGER_16Index: 23893d = 5D55h

FB L_Compare_1: Window for the comparison function selected in C00680


0.00 % 100.00 2.00 %


Parameter | Name:

C00685 | L_Compare_2: FunctionData type: UNSIGNED_8

Index: 23890d = 5D52h



1 In1 = In2

2 In1 > In2

3 In1 < In2

4 |In1| = |In2|

5 |In1| > |In2|

6 |In1| < |In2|


Parameter | Name:

C00686 | L_Compare_2: HysteresisData type: INTEGER_16Index: 23889d = 5D51h



0.00 % 100.00 0.50 %


Parameter | Name:

C00687 | L_Compare_2: WindowData type: INTEGER_16Index: 23888d = 5D50h



0.00 % 100.00 2.00 %


Parameter | Name:

C00690 | L_Compare_3: Fct.Data type: UNSIGNED_8




1 In1 = In2

2 In1 > In2

3 In1 < In2

4 |In1| = |In2|

5 |In1| > |In2|

6 |In1| < |In2|


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 735



C00691

C00692

C00693

C00694

Parameter | Name:

C00691 | L_Compare_3: HysteresisData type: INTEGER_16Index: 23884d = 5D4Ch



0.00 % 100.00 0.00 %


Parameter | Name:

C00692 | L_Compare_3: WindowData type: INTEGER_16Index: 23883d = 5D4Bh



0.00 % 100.00 0.00 %


Parameter | Name:

C00693 | L_Compare 4-5: Fct.Data type: UNSIGNED_8


FB L_Compare_4-5: Comparison function • If the statement of the selected comparison operation is true, the binary output bOut is set to TRUE.

Selection list

1 In1 = In2

2 In1 > In2

3 In1 < In2

4 |In1| = |In2|

5 |In1| > |In2|

6 |In1| < |In2|


C00693/1 1: In1 = In2 L_Compare_4: function

C00693/2 1: In1 = In2 L_Compare_5: function


Parameter | Name:

C00694 | L_Compare 4-5: HysteresisData type: INTEGER_16Index: 23881d = 5D49h

FB L_Compare_4-5: Hysteresis for the comparison function selected in C00693


0.00 % 100.00


C00694/1 0.00 % L_Compare_4: hysteresis

C00694/2 0.00 % L_Compare_5: hysteresis



736 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00695

C00696

C00697

C00698

C00699

Parameter | Name:

C00695 | L_Compare 4-5: WindowData type: INTEGER_16Index: 23880d = 5D48h

FB L_Compare_4-5: Window for the comparison function selected in C00693


0.00 % 100.00


C00695/1 0.00 % L_Compare_4: window

C00695/2 0.00 % L_Compare_5: window


Parameter | Name:

C00696 | L_OffsetGainP_1: offsetData type: INTEGER_16Index: 23879d = 5D47h

FB L_OffsetGainP_1: Offset (acts additively to the input signal)


-199.99 % 199.99 0.00 %


Parameter | Name:




-199.99 % 199.99 0.00 %


Parameter | Name:




-199.99 % 199.99 0.00 %


Parameter | Name:

C00699 | L_MulDiv_1: parameterData type: INTEGER_16Index: 23876d = 5D44h

FB L_MulDiv_1: Numerator and denominator


-32767 32767


C00699/1 0 L_MulDiv_1: numerator

C00699/2 10000 L_MulDiv_1: denominator


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 737




C00700 | LA_NCtrl: analog connection listData type: UNSIGNED_16

Index: 23875d = 5D43h

Connection parameters for "Actuating drive - speed" application: 16-bit inputs • Selection of the 16-bit output signals for connection with the 16-bit input signals • The selection list contains all 16-bit output signals which can be assigned to the 16-bit inputs mapped by the

subcodes.


0 Not connected








































738 L Firmware 02.00 - DMS EN 3.0 - 05/2009







16000 AIN1_Out

16001 AIN2_Out

16002 CAN1_wCtrl

16003 CAN1_wIn2

16004 CAN1_wIn3

16005 CAN1_wIn4

16006 CAN2_wIn1

16007 CAN2_wIn2

16008 CAN2_wIn3

16009 CAN2_wIn4

16010 CAN3_wIn1

16011 CAN3_wIn2

16012 CAN3_wIn3

16013 CAN3_wIn4














16105 LP_MciIn_wIn2

16106 LP_MciIn_wIn3

16107 LP_MciIn_wIn4

16108 LP_MciIn_wIn5

16109 LP_MciIn_wIn6

16110 LP_MciIn_wIn7

16111 LP_MciIn_wIn8

16112 LP_MciIn_wIn9




Parameter | Name:


Index: 23875d = 5D43h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 739










20000 C_Pos100_a

20001 C_Neg100_a

20002 C_Pos199_99_a

20003 C_Neg199_99_a

20004 C_65535

20005 C_wDriveCtrl

20010 nPar1_a

20011 nPar2_a

20012 nPar3_a

20013 nPar4_a

20014 nPar5_a

20015 nPar6_a

20016 nPar7_a

20017 nPar8_a

20018 nPar1_v

20019 nPar2_v

20020 nPar3_v

20021 nPar4_v

20022 nPar5_v

20023 nPar6_v

20024 nPar7_v

20025 nPar8_v

20026 wPar1

20027 wPar2

20028 wPar3

20029 wPar4

20030 wPar5

20031 wPar6

20032 wPar7

20033 wPar8








Parameter | Name:


Index: 23875d = 5D43h


740 L Firmware 02.00 - DMS EN 3.0 - 05/2009


















32104 DCTRL_wFrei_2









32208 MCK_wAuxState


32211 Reserved

34900 MCTRL_OszCh1

34901 MCTRL_OszCh2

34902 MCTRL_OszCh3

34903 MCTRL_OszCh4

34904 MCTRL_Status1

34905 MCTRL_Status2

34906 MCTRL_Status3









Parameter | Name:


Index: 23875d = 5D43h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 741











36016 L_Limit_Out_1

36017 L_Limit_Out_2

36018 L_NSet_NOut_1


36020 L_PCTRL_1_Out
































Parameter | Name:


Index: 23875d = 5D43h


742 L Firmware 02.00 - DMS EN 3.0 - 05/2009













































Parameter | Name:


Index: 23875d = 5D43h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 743


























C00700/1 20005: C_wDriveCtrl LA_NCtrl: wCANDriveControl(input for control word from CAN to device control)

C00700/2 20005: C_wDriveCtrl LA_NCtrl: wMCIDriveControl(input for control word from communication interface to device control)

C00700/3 20012: nPar3_a LA_NCtrl: nTorqueMotLim_a(input for maximum torque in motor mode)

C00700/4 20013: nPar4_a LA_NCtrl: nTorqueGenLim_a(input for maximum torque in generator mode)

C00700/5 0: Not connected LA_NCtrl: nPIDVpAdapt_a(input for adaptation of PID controller gain)

C00700/6 0: Not connected LA_NCtrl: nPIDActValue_a(input for actual PID controller value)

C00700/7 16000: AIN1_Out LA_NCtrl: nMainSetValue_a(input for main speed setpoint)

C00700/8 0: Not connected LA_NCtrl: nAuxSetValue_a(input for additional speed setpoint)

C00700/9 0: Not connected LA_NCtrl: nGPAnalogSwitchIn1_a(input for analog-value selector analog signal 1)

Parameter | Name:


Index: 23875d = 5D43h


744 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00701

C00700/10 0: Not connected LA_NCtrl: nGPAnalogSwitchIn2_a(input for analog-value selector analog signal 2)

C00700/11 0: Not connected LA_NCtrl: nGPArithmetikIn1_a(input for arithmetic function analog signal 1)

C00700/12 0: Not connected LA_NCtrl: nGPArithmetikIn2_a(input for arithmetic function analog signal 2)

C00700/13 0: Not connected LA_NCtrl: nGPMulDivIn_a(input for analog signal for muliplication/division)

C00700/14 0: Not connected LA_NCtrl: nGPCompareIn1_a(input for comparison operation analog signal 1)

C00700/15 0: Not connected LA_NCtrl: nGPCompareIn2_a(input for comparison operation analog signal 2)

C00700/16 0: Not connected LA_NCtrl: nVoltageAdd_a(input for additive voltage boost)

C00700/17 0: Not connected LA_NCtrl: nPIDInfluence_a(input for influence signal of PID controller correcting variable)

C00700/18 0: Not connected LA_NCtrl: nPIDSetValue_a(input for PID controller setpoint)

C00700/19 0: Not connected LA_NCtrl: nPWMAngleOffset_a(input for pulse width modulation phase offset)


Parameter | Name:


Index: 23875d = 5D43h

Parameter | Name:

C00701 | LA_NCtrl: digital connection listData type: UNSIGNED_16

Index: 23874d = 5D42h

Connection parameters for "Actuating drive - speed" application: Binary inputs • Selection of the binary output signals for connection with the binary input signals • The selection list contains all binary output signals which can be assigned to the binary inputs mapped by the

subcodes.


0 Not connected














Firmware 02.00 - DMS EN 3.0 - 05/2009 L 745















































Parameter | Name:


Index: 23874d = 5D42h


746 L Firmware 02.00 - DMS EN 3.0 - 05/2009



16000 DigIn_bIn1

16001 DigIn_bIn2

16002 DigIn_bIn3

16003 DigIn_bIn4

16004 DigIn_bIn5

16005 DigIn_bIn6

16006 DigIn_bIn7

16008 DigIn_CInh





















16029 CAN2_bIn1_B0

16030 CAN2_bIn1_B1

16031 CAN2_bIn1_B2

16032 CAN2_bIn1_B3

16033 CAN2_bIn1_B4

16034 CAN2_bIn1_B5

16035 CAN2_bIn1_B6

16036 CAN2_bIn1_B7

16037 CAN2_bIn1_B8

16038 CAN2_bIn1_B9

16039 CAN2_bIn1_B10

16040 CAN2_bIn1_B11

16041 CAN2_bIn1_B12

16042 CAN2_bIn1_B13

Parameter | Name:


Index: 23874d = 5D42h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 747



16043 CAN2_bIn1_B14

16044 CAN2_bIn1_B15

16045 CAN3_bIn1_B0

16046 CAN3_bIn1_B1

16047 CAN3_bIn1_B2

16048 CAN3_bIn1_B3

16049 CAN3_bIn1_B4

16050 CAN3_bIn1_B5

16051 CAN3_bIn1_B6

16052 CAN3_bIn1_B7

16053 CAN3_bIn1_B8

16054 CAN3_bIn1_B9

16055 CAN3_bIn1_B10

16056 CAN3_bIn1_B11

16057 CAN3_bIn1_B12

16058 CAN3_bIn1_B13

16059 CAN3_bIn1_B14

16060 CAN3_bIn1_B15

















16077 MciIn_bIn1_B0

16078 MciIn_bIn1_B1

16079 MciIn_bIn1_B2

16080 MciIn_bIn1_B3

16081 MciIn_bIn1_B4

16082 MciIn_bIn1_B5

16083 MciIn_bIn1_B6

16084 MciIn_bIn1_B7

16085 MciIn_bIn1_B8

16086 MciIn_bIn1_B9

Parameter | Name:


Index: 23874d = 5D42h


748 L Firmware 02.00 - DMS EN 3.0 - 05/2009















20000 C_True

20001 bPar1

20002 bPar2

20003 bPar3

20004 bPar4

20005 bPar5

20006 bPar6

20007 bPar7

20008 bPar8

20009 bPar9

20010 bPar10

20011 bPar11

20012 bPar12

20013 bPar13

20014 bPar14

20015 bPar15

20016 bPar16

20017 bPar17

20018 bPar18

20019 bPar19

20020 bPar20

20021 bPar21

20022 bPar22

20023 bPar23

20024 bPar24

20025 bPar25

20026 bPar26

20027 bPar27

20028 bPar28

20029 bPar29

Parameter | Name:


Index: 23874d = 5D42h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 749



20030 bPar30

20031 bPar31

20032 bPar32

20033 b100Hz

20034 b10Hz

20035 b2Hz

20036 b1Hz

20037 b1HzFlash

20038 b2HzFlash

20039 bSingleFlash1

20040 bSingleFlash2

20041 bDoubleFlash

20042 bSquareWave

32000 MCTRL_bFanErr















32015 MCTRL_bMMax
















Parameter | Name:


Index: 23874d = 5D42h


750 L Firmware 02.00 - DMS EN 3.0 - 05/2009

32100 DCTRL_bInit

32101 DCTRL_bReady





32106 DCTRL_bFail






32112 DCTRL_bCwCcw











32209 MCK_bQspOn

32210 MCK_bPosBusy

32211 MCK_bPosDone

32212 MCK_bHomDone


32214 Reserved

32215 Reserved

32216 Reserved

32217 Reserved

32218 Reserved

36000 L_AND_Out_1

36001 L_AND_Out_2

36002 L_AND_Out_3

36003 L_OR_Out_1

36004 L_OR_Out_2

36005 L_OR_Out_3

36006 L_NOT_Out_1

36007 L_NOT_Out_2

36008 L_NOT_Out_3


36010 L_RLQ_1_Qsp

Parameter | Name:


Index: 23874d = 5D42h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 751



36011 L_RLQ_1_Ccw















36026 L_AND5_1_Out

36027 L_AND5_2_Out
















36045 L_OR5_1_Out

36046 L_OR5_2_Out

36047 L_NOT_4_Out

36048 L_NOT_5_Out

36049 L_NOT_6_Out

36050 L_NOT_7_Out







Parameter | Name:


Index: 23874d = 5D42h


752 L Firmware 02.00 - DMS EN 3.0 - 05/2009













































Parameter | Name:


Index: 23874d = 5D42h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 753















































Parameter | Name:


Index: 23874d = 5D42h


754 L Firmware 02.00 - DMS EN 3.0 - 05/2009













































Parameter | Name:


Index: 23874d = 5D42h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 755



































C00701/1 0: Not connected LA_NCtrl: bCInh(control input for setting controller inhibit)

C00701/2 16008: DigIn_CInh LA_NCtrl: bFailReset(control input for error acknowledgement)

C00701/3 0: Not connected LA_NCtrl: bSetQuickstop(control input for quick stop request)

C00701/4 16002: DigIn_bIn3 LA_NCtrl: bSetDCBrake(control input for DC-injection braking request)

C00701/5 0: Not connected LA_NCtrl: bRFG_Stop(control input for stopping the speed ramp function generator)

Parameter | Name:


Index: 23874d = 5D42h


756 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00701/6 0: Not connected LA_NCtrl: bRFG_0(control input for setting the speed ramp function generator to 0)

C00701/7 0: Not connected Reserved

C00701/8 16003: DigIn_bIn4 LA_NCtrl: bSetSpeedCcw(control input for change of direction of rotation)

C00701/9 16000: DigIn_bIn1 LA_NCtrl: bJogSpeed1(selection input for fixed setpoints)

C00701/10 16001: DigIn_bIn2 LA_NCtrl: bJogSpeed2(selection input for fixed setpoints)

C00701/11 0: Not connected LA_NCtrl: bJogSpeed4(selection input for fixed setpoints)

C00701/12 0: Not connected LA_NCtrl: bJogSpeed8(selection input for fixed setpoints)

C00701/13 0: Not connected LA_NCtrl: bJogRamp1(selection input for additional acceleration/deceleration times)




C00701/17 0: Not connected LA_NCtrl: bMPOTInAct(control input for deactivation of motor potentiometer)

C00701/18 0: Not connected LA_NCtrl: bMPOTUp(control input for motor potentiometer ramp-up)

C00701/19 0: Not connected LA_NCtrl: bMPOTDown(control input for motor potentiometer ramp-down)

C00701/20 0: Not connected LA_NCtrl: bMBRKRelease(control input for manual holding brake release request)

C00701/21 0: Not connected LA_NCtrl: bMANJogPos(control input for manual jog in positive direction request)

C00701/22 0: Not connected LA_NCtrl: bMANJogNeg(control input for manual jog in negative direction request)

C00701/23 0: Not connected LA_NCtrl: bGPAnalogSwitchSet(control input for analog-value selector change-over)

C00701/24 0: Not connected LA_NCtrl: bGPDigitalDelayIn(input for digital signal with time delay)

C00701/25 0: Not connected LA_NCtrl: bGPLogicIn1(input signal 1 for digital logic)


Parameter | Name:


Index: 23874d = 5D42h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 757



C00705

C00706

C00710


C00701/28 0: Not connected LA_NCtrl: bGPDFlipFlopInD(control input for DFlipFlop setting signal)

C00701/29 0: Not connected LA_NCtrl: bGPDFlipFlopInClk(control input for DFlipFlop clock signal)

C00701/30 0: Not connected LA_NCtrl: bGPDFlipFlopInClr(control input for DFlipFlop reset signal)

C00701/31 0: Not connected LA_NCtrl: bMPotEnable(control input for activation of motor potentiometer)

C00701/32 0: Not connected LA_NCtrl: bPIDEnableInfluenceRamp(control input for activation of influence of output correcting variable of PID controller)

C00701/33 0: Not connected LA_NCtrl: bPIDIOff(control input for deactivation of PID controller I component)

C00701/34 20000: C_True LA_NCtrl: bRLQCw(control input for activation of CW direction of rotation of speed setpoint)

C00701/35 0: Not connected LA_NCtrl: bRLQCcw(control input for activation of CCW direction of rotation of speed setpoint)


Parameter | Name:


Index: 23874d = 5D42h

Parameter | Name:

C00705 | LA_NCtrl_Out: analog signal listData type: UNSIGNED_16



Parameter | Name:

C00706 | LA_NCtrl_Out digital signal listData type: UNSIGNED_16



Parameter | Name:

C00710 | LA_TabPos: Analog connection listData type: UNSIGNED_16

Index: 23865d = 5D39h

Connection parameters for "Table positioning" application: 16-bit inputs • Selection of the 16-bit output signals for connection with the 16-bit input signals • The selection list contains all 16-bit output signals which can be assigned to the 16-bit inputs mapped by the

subcodes.


0 Not connected









758 L Firmware 02.00 - DMS EN 3.0 - 05/2009






































16000 AIN1_Out

16001 AIN2_Out

16002 CAN1_wCtrl

16003 CAN1_wIn2

16004 CAN1_wIn3

16005 CAN1_wIn4

16006 CAN2_wIn1

Parameter | Name:


Index: 23865d = 5D39h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 759



16007 CAN2_wIn2

16008 CAN2_wIn3

16009 CAN2_wIn4

16010 CAN3_wIn1

16011 CAN3_wIn2

16012 CAN3_wIn3

16013 CAN3_wIn4














16105 LP_MciIn_wIn2

16106 LP_MciIn_wIn3

16107 LP_MciIn_wIn4

16108 LP_MciIn_wIn5

16109 LP_MciIn_wIn6

16110 LP_MciIn_wIn7

16111 LP_MciIn_wIn8

16112 LP_MciIn_wIn9











20000 C_Pos100_a

20001 C_Neg100_a

20002 C_Pos199_99_a

20003 C_Neg199_99_a

20004 C_65535

20005 C_wDriveCtrl

Parameter | Name:


Index: 23865d = 5D39h


760 L Firmware 02.00 - DMS EN 3.0 - 05/2009

20010 nPar1_a

20011 nPar2_a

20012 nPar3_a

20013 nPar4_a

20014 nPar5_a

20015 nPar6_a

20016 nPar7_a

20017 nPar8_a

20018 nPar1_v

20019 nPar2_v

20020 nPar3_v

20021 nPar4_v

20022 nPar5_v

20023 nPar6_v

20024 nPar7_v

20025 nPar8_v

20026 wPar1

20027 wPar2

20028 wPar3

20029 wPar4

20030 wPar5

20031 wPar6

20032 wPar7

20033 wPar8





















Parameter | Name:


Index: 23865d = 5D39h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 761







32104 DCTRL_wFrei_2









32208 MCK_wAuxState


32211 Reserved

34900 MCTRL_OszCh1

34901 MCTRL_OszCh2

34902 MCTRL_OszCh3

34903 MCTRL_OszCh4

34904 MCTRL_Status1

34905 MCTRL_Status2

34906 MCTRL_Status3

















36016 L_Limit_Out_1

36017 L_Limit_Out_2

36018 L_NSet_NOut_1


36020 L_PCTRL_1_Out

Parameter | Name:


Index: 23865d = 5D39h


762 L Firmware 02.00 - DMS EN 3.0 - 05/2009













































Parameter | Name:


Index: 23865d = 5D39h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 763















































Parameter | Name:


Index: 23865d = 5D39h


764 L Firmware 02.00 - DMS EN 3.0 - 05/2009











C00710/1 0: Not connected LA_TabPos: wCanDriveControl(input for control word from CAN to device control)

C00710/2 0: Not connected LA_TabPos: wMciDriveControl(input for control word from communication interface to device control)

C00710/3 0: Not connected LA_TabPos: nTorqueMotLim_a(input for maximum torque in motor mode)

C00710/4 0: Not connected LA_TabPos: nTorqueGenLim_a(input for maximum torque in generator mode)

C00710/5 0: Not connected LA_TabPos: nMainSetValue_a(input for main speed setpoint)

C00710/6 0: Not connected LA_TabPos: nAuxSetValue_a(input for additional speed setpoint)

C00710/7 0: Not connected LA_TabPos: wMckCtrl1(input for MCK control word 1)

C00710/8 0: Not connected LA_TabPos: wMckCtrl2(input for MCK control word 2)

C00710/9 0: Not connected LA_TabPos: wMckOperationMode(input for selection of MCK operating mode)

C00710/10 0: Not connected LA_TabPos: wPosProfileMode(input for selection of MCK positioning mode in positioning mode)

C00710/11 0: Not connected LA_TabPos: wPosProfileNo(input for MCK positioning profile number in positioning mode)

C00710/12 0: Not connected LA_TabPos: nGPAnalogSwitchIn1_a(input for analog-value selector analog signal 1)

C00710/13 0: Not connected LA_TabPos: nGPAnalogSwitchIn2_a(input for analog-value selector analog signal 2)

C00710/14 0: Not connected LA_TabPos: nGPArithmetikIn1_a(input for arithmetic function analog signal 1)

C00710/15 0: Not connected LA_TabPos: nGPArithmetikIn2_a(input for arithmetic function analog signal 2)

Parameter | Name:


Index: 23865d = 5D39h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 765



C00711

C00710/16 0: Not connected LA_TabPos: nGPMulDivIn_a(input for analog signal for muliplication/division)

C00710/17 0: Not connected LA_TabPos: nGPCompareIn1_a(input for comparison operation analog signal 1)

C00710/18 0: Not connected LA_TabPos: nGPCompareIn2_a(input for comparison operation analog signal 2)

C00710/19 0: Not connected LA_TabPos: wGPCounter1LdVal(input for load value for counter module 1)

C00710/20 0: Not connected LA_TabPos: wGPCounter1CmpVal(input for comparison value for counter module 1)

C00710/21 0: Not connected LA_TabPos: nSpeedOverride_a(input for speed override)

C00710/22 0: Not connected LA_TabPos: nAccOverride_a(input for acceleration override)

C00710/23 0: Not connected LA_TabPos: wFreeIn1(input for user signal 1)




C00710/27 0: Not connected LA_TabPos: nPosCtrlOutLimit(input for correcting variable limitation of position controller)

C00710/28 0: Not connected LA_TabPos: nPosCtrlPAdapt(input for adaptation of position controller gain)


Parameter | Name:


Index: 23865d = 5D39h

Parameter | Name:


Index: 23864d = 5D38h

Connection parameters for "Table positioning" application: Binary inputs • Selection of the binary output signals for connection with the binary input signals • The selection list contains all binary output signals which can be assigned to the binary inputs mapped by the

subcodes.


0 Not connected










766 L Firmware 02.00 - DMS EN 3.0 - 05/2009













































Parameter | Name:


Index: 23864d = 5D38h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 767










16000 DigIn_bIn1

16001 DigIn_bIn2

16002 DigIn_bIn3

16003 DigIn_bIn4

16004 DigIn_bIn5

16005 DigIn_bIn6

16006 DigIn_bIn7

16008 DigIn_CInh





















16029 CAN2_bIn1_B0

16030 CAN2_bIn1_B1

16031 CAN2_bIn1_B2

16032 CAN2_bIn1_B3

16033 CAN2_bIn1_B4

16034 CAN2_bIn1_B5

16035 CAN2_bIn1_B6

16036 CAN2_bIn1_B7

16037 CAN2_bIn1_B8

Parameter | Name:


Index: 23864d = 5D38h


768 L Firmware 02.00 - DMS EN 3.0 - 05/2009

16038 CAN2_bIn1_B9

16039 CAN2_bIn1_B10

16040 CAN2_bIn1_B11

16041 CAN2_bIn1_B12

16042 CAN2_bIn1_B13

16043 CAN2_bIn1_B14

16044 CAN2_bIn1_B15

16045 CAN3_bIn1_B0

16046 CAN3_bIn1_B1

16047 CAN3_bIn1_B2

16048 CAN3_bIn1_B3

16049 CAN3_bIn1_B4

16050 CAN3_bIn1_B5

16051 CAN3_bIn1_B6

16052 CAN3_bIn1_B7

16053 CAN3_bIn1_B8

16054 CAN3_bIn1_B9

16055 CAN3_bIn1_B10

16056 CAN3_bIn1_B11

16057 CAN3_bIn1_B12

16058 CAN3_bIn1_B13

16059 CAN3_bIn1_B14

16060 CAN3_bIn1_B15

















16077 MciIn_bIn1_B0

16078 MciIn_bIn1_B1

16079 MciIn_bIn1_B2

16080 MciIn_bIn1_B3

16081 MciIn_bIn1_B4

Parameter | Name:


Index: 23864d = 5D38h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 769



16082 MciIn_bIn1_B5

16083 MciIn_bIn1_B6

16084 MciIn_bIn1_B7

16085 MciIn_bIn1_B8

16086 MciIn_bIn1_B9















20000 C_True

20001 bPar1

20002 bPar2

20003 bPar3

20004 bPar4

20005 bPar5

20006 bPar6

20007 bPar7

20008 bPar8

20009 bPar9

20010 bPar10

20011 bPar11

20012 bPar12

20013 bPar13

20014 bPar14

20015 bPar15

20016 bPar16

20017 bPar17

20018 bPar18

20019 bPar19

20020 bPar20

20021 bPar21

20022 bPar22

20023 bPar23

20024 bPar24

Parameter | Name:


Index: 23864d = 5D38h


770 L Firmware 02.00 - DMS EN 3.0 - 05/2009

20025 bPar25

20026 bPar26

20027 bPar27

20028 bPar28

20029 bPar29

20030 bPar30

20031 bPar31

20032 bPar32

20033 b100Hz

20034 b10Hz

20035 b2Hz

20036 b1Hz

20037 b1HzFlash

20038 b2HzFlash

20039 bSingleFlash1

20040 bSingleFlash2

20041 bDoubleFlash

20042 bSquareWave

32000 MCTRL_bFanErr















32015 MCTRL_bMMax











Parameter | Name:


Index: 23864d = 5D38h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 771








32100 DCTRL_bInit

32101 DCTRL_bReady





32106 DCTRL_bFail






32112 DCTRL_bCwCcw











32209 MCK_bQspOn

32210 MCK_bPosBusy

32211 MCK_bPosDone

32212 MCK_bHomDone


32214 Reserved

32215 Reserved

32216 Reserved

32217 Reserved

32218 Reserved

36000 L_AND_Out_1

36001 L_AND_Out_2

36002 L_AND_Out_3

36003 L_OR_Out_1

36004 L_OR_Out_2

36005 L_OR_Out_3

Parameter | Name:


Index: 23864d = 5D38h


772 L Firmware 02.00 - DMS EN 3.0 - 05/2009

36006 L_NOT_Out_1

36007 L_NOT_Out_2

36008 L_NOT_Out_3


36010 L_RLQ_1_Qsp

36011 L_RLQ_1_Ccw















36026 L_AND5_1_Out

36027 L_AND5_2_Out
















36045 L_OR5_1_Out

36046 L_OR5_2_Out

36047 L_NOT_4_Out

36048 L_NOT_5_Out

36049 L_NOT_6_Out

36050 L_NOT_7_Out


Parameter | Name:


Index: 23864d = 5D38h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 773















































Parameter | Name:


Index: 23864d = 5D38h


774 L Firmware 02.00 - DMS EN 3.0 - 05/2009













































Parameter | Name:


Index: 23864d = 5D38h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 775















































Parameter | Name:


Index: 23864d = 5D38h


776 L Firmware 02.00 - DMS EN 3.0 - 05/2009






































C00711/1 0: Not connected LA_TabPos: bCInh(control input for setting controller inhibit)

C00711/2 0: Not connected LA_TabPos: bFailReset(control input for error acknowledgement)

C00711/3 0: Not connected LA_TabPos: bSetQuickstop(control input for quick stop request)

Parameter | Name:


Index: 23864d = 5D38h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 777



C00711/4 0: Not connected LA_TabPos: bSetSpeedCcw(control input for negation of speed direction)

C00711/5 0: Not connected LA_TabPos: bJogSpeed1(control input for fixed speed selection valency 1)

C00711/6 0: Not connected LA_TabPos: bJogSpeed2(control input for fixed speed selection valency 2)

C00711/7 0: Not connected LA_TabPos: bMPotEnable(control input for activation of motor potentiometer)

C00711/8 0: Not connected LA_TabPos: bMPotUp(control input for motor potentiometer ramp-up)

C00711/9 0: Not connected LA_TabPos: bMPotDown(control input for motor potentiometer ramp-down)

C00711/10 0: Not connected LA_TabPos: bMBrakeRelease(control input for manual holding brake release request)

C00711/11 0: Not connected LA_TabPos: bPosCtrlOn(control input for activation of position controller)

C00711/12 0: Not connected LA_TabPos: bLimitSwitchPos(input for positive hardware limit switch signal)

C00711/13 0: Not connected LA_TabPos: bLimitSwitchNeg(input for negative hardware limit switch signal)

C00711/14 0: Not connected LA_TabPos: bReleaseLimitSwitch(control input for hardware limit switch retracting request)

C00711/15 0: Not connected LA_TabPos: bManJogPos(control input for manual jog in positive direction request)

C00711/16 0: Not connected LA_TabPos: bManJogNeg(control input for manual jog in negative direction request)

C00711/17 0: Not connected LA_TabPos: bManEnable2ndSpeed(control input for activation of the second manual speed for manual jog)

C00711/18 0: Not connected LA_TabPos: bEnableSpeedOverride(control input for activation of speed override)

C00711/19 0: Not connected LA_TabPos: bEnableAccOverride(control input for activation of acceleration override)

C00711/20 0: Not connected LA_TabPos: bHomeStartStop(control input for start/stop homing)

C00711/21 0: Not connected LA_TabPos: bHomeSetPosition(control input for setting the home position)

Parameter | Name:


Index: 23864d = 5D38h


778 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00711/22 0: Not connected LA_TabPos: bHomeResetPosition(control input for reset of "Home position known")

C00711/23 0: Not connected LA_TabPos: bHomeMark(input for pre-stop signal for homing)

C00711/24 0: Not connected LA_TabPos: bPosSetProfilePosition(control input for accepting the profile position in the profile data set)

C00711/25 0: Not connected LA_TabPos: bPosSetActualPosition(control input for accepting the current position in the profile data set)

C00711/26 0: Not connected LA_TabPos: bPosExecute(control input for positioning start)

C00711/27 0: Not connected LA_TabPos: bPosFinishTarget(control input for completion of positioning to target position)

C00711/28 0: Not connected LA_TabPos: bPosDisableFollowProfile(control input for suppression of sequence profile linkage)

C00711/29 0: Not connected LA_TabPos: bPosStop(control input for interruption of profile generation by ramp-down procedure)

C00711/30 0: Not connected LA_TabPos: bGPAnalogSwitchSet(control input for analog-value selector change-over)

C00711/31 0: Not connected LA_TabPos: bGPDigitalDelayIn(input for digital signal with time delay)

C00711/32 0: Not connected LA_TabPos: bGPLogicIn1(input signal 1 for digital logic)



C00711/35 0: Not connected LA_TabPos: bGPDFlipFlop_InD(control input for DFlipFlop setting signal)

C00711/36 0: Not connected LA_TabPos: bGPDFlipFlop_InClk(control input for DFlipFlop clock signal)

C00711/37 0: Not connected LA_TabPos: bGPDFlipFlop_InClr(control input for DFlipFlop reset signal)

C00711/38 0: Not connected LA_TabPos: bGPCounter1ClkUp(control input for up-counting counter module 1)

C00711/39 0: Not connected LA_TabPos: bGPCounter1ClkDown(control input for down-counting counter module 1)

C00711/40 0: Not connected LA_TabPos: bGPCounter1Load(control input for load value acceptance in counter module 1)

C00711/41 0: Not connected LA_TabPos: bMckOperationMode_1(control input for MCK operating mode changeover valency 1)

Parameter | Name:


Index: 23864d = 5D38h

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 779



C00712

C00715

C00716




C00711/45 0: Not connected LA_TabPos: bPosProfileNo_1(control input for selection of profile number valency 1)




C00711/49 0: Not connected LA_TabPos: bFreeIn1(input for binary user signal 1)









Parameter | Name:


Index: 23864d = 5D38h

Parameter | Name:

C00712 | LA_TabPos: Connection list phiData type: UNSIGNED_16

Index: 23863d = 5D37h


Parameter | Name:

C00715 | LA_TabPos_Out: analog signal listData type: UNSIGNED_16

Index: 23860d = 5D34h


Parameter | Name:

C00716 | LA_TabPos_Out: Digital signal listData type: UNSIGNED_16

Index: 23859d = 5D33h



780 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00717

C00720

C00721

C00725

Parameter | Name:

C00717 | LA_TabPos_Out: Signal list phiData type: UNSIGNED_16

Index: 23858d = 5D32h


Parameter | Name:

C00720 | L_DigitalDelay_1 delayData type: UNSIGNED_32

Index: 23855d = 5D2Fh

FB L_DigitalDelay_1: ON and OFF delay time


0.000 s 3600.000


C00720/1 0.000 s L_DigitalDelay_1: on delay

C00720/2 0.000 s L_DigitalDelay_1: off delay


Parameter | Name:

C00721 | L_DigitalDelay 2, 3 delayData type: UNSIGNED_32


FB L_DigitalDelay_2-3: ON and OFF delay time


0.000 s 3600.000







Parameter | Name:

C00725 | Current switching frequencyData type: UNSIGNED_8


Display of the current switching frequency • In C00018 you can choose between a drive-optimised setting for good smooth-running characteristics and an

inverter loss-optimised setting (min. Pv). • For these options, you can, in turn, choose between fixed and variable switching frequencies. • When a variable switching frequency is selected in C00018, the switching frequency may change as a function

of the load and rotational frequency.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 781



C00726

C00727












14 Reserved






Parameter | Name:

C00725 | Current switching frequencyData type: UNSIGNED_8


Parameter | Name:

C00726 | Current limit valuesData type: UNSIGNED_8

Index: 23849d = 5D29h


Parameter | Name:

C00727 | Keypad digital valuesData type: UNSIGNED_8

Index: 23848d = 5D28h

Executing control commands when operating via keypad


0 1


C00727/1 0 "1" ≡ request quick stop

C00727/2 0 "1" ≡ request DC-injection braking

C00727/3 0 "1" ≡ request reversal

C00727/4 0 "1" ≡ request fixed speed setpoint 1 anfordern

C00727/5 0 "1" ≡ request fixed speed setpoint 2 anfordern

C00727/6 0 "1" ≡ motor potentiometer: request activation

C00727/7 0 "1" ≡ motor potentiometer: request pos. acceleration

C00727/8 0 "1" ≡ motor potentiometer: request neg. acceleration



782 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00728

C00750

C00800

C00801

C00802

C00803

Parameter | Name:

C00728 | Keypad analog valuesData type: INTEGER_16Index: 23847d = 5D27h

Selection of different setpoints when operating via keypad


-199.99 % 199.99


C00728/1 100.00 % Torque limit in motor mode

C00728/2 100.00 % Torque limit in generator mode

C00728/3 0.00 % Setpoint speed


Parameter | Name:

C00750 | Select. of BU oscillos. channelsData type: UNSIGNED_8

Index: 23825d = 5D11h


Parameter | Name:

C00800 | L_MPot_1: Upper limitData type: INTEGER_16Index: 23775d = 5CDFh

FB L_MPot_1: Upper limit of the motor potentiometer function


-199.99 % 199.99 100.00 %


Parameter | Name:

C00801 | L_MPot_1: Lower limitData type: INTEGER_16Index: 23774d = 5CDEh

FB L_MPot_1: Lower limit of the motor potentiometer function


-199.99 % 199.99 -100.00 %


Parameter | Name:

C00802 | L_MPot_1: Acceleration timeData type: UNSIGNED_16

Index: 23773d = 5CDDh

FB L_MPot_1: Acceleration time of the motor potentiometer function


0.1 s 6000.0 10.0 s


Parameter | Name:

C00803 | L_MPot_1: Deceleration timeData type: UNSIGNED_16

Index: 23772d = 5CDCh

FB L_MPot_1: Deceleration time of the motor potentiometer function


0.1 s 6000.0 10.0 s


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 783



C00804

C00805

C00806

C00807

Parameter | Name:

C00804 | L_MPot_1: Inactive functionData type: UNSIGNED_8

Index: 23771d = 5CDBh

FB L_MPot_1: Selection of the response when deactivating the motor potentiometer via the bInAct input


0 Retain value Keep output value

1 Deceleration to 0 Deceleration via ramp to 0

2 Deceleration to lower limit Deceleration via ramp to lower limit (C00801)

3 Without ramp to 0 Jump to 0

4 Without ramp to lower limit Jump to lower limit (C00800)

5 Acceleration to upper limit Acceleration via ramp to upper limit (C00800)


Parameter | Name:

C00805 | L_MPot_1: Init fct.Data type: UNSIGNED_8

Index: 23770d = 5CDAh

FB L_MPot_1: Selection of the response when switching on the device


0 Load last value

1 Load lower limit

2 Load 0


Parameter | Name:

C00806 | L_MPot_1: UseData type: UNSIGNED_8

Index: 23769d = 5CD9h

FB L_MPot_1: Use of the motor potentiometer


0 No The motor potentiometer is not used. • The analog value applied to the nIn_a input is looped

through without any changes to the nOut_a output.

1 Yes The motor potentiometer is used. • The analog value applied at the nIn_a input is led via

the motor potentiometer and provided at the nOut_a output.


Parameter | Name:

C00807 | L_NLim_1 Max.SkipFrq.Data type: INTEGER_16Index: 23768d = 5CD8h

FB L_NLim_1: Maximum skip frequencies


0.00 % 199.99


C00807/1 0.00 % Maximum skip frequency for zone 1





784 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00808

C00809

C00810

C00820

Parameter | Name:

C00808 | L_NLim_1 Min.SkipFrq.Data type: INTEGER_16Index: 23767d = 5CD7h

FB L_NLim_1: Minimum skip frequencies


0.00 % 199.99


C00808/1 0.00 % Minimum skip frequency for zone 1




Parameter | Name:

C00809 | L_NLim_2 Max.SkipFrq.Data type: INTEGER_16Index: 23766d = 5CD6h

FB L_NLim_2: Maximum skip frequencies


0.00 % 199.99






Parameter | Name:

C00810 | L_NLim_2 Min.SkipFrq.Data type: INTEGER_16Index: 23765d = 5CD5h

FB L_NLim_2: Minimum skip frequencies


0.00 % 199.99






Parameter | Name:

C00820 | L_DigitalLogic_1: Fct.Data type: UNSIGNED_8

Index: 23755d = 5CCBh

FB L_DigitalLogic_1: Selection of the internal logic interconnection


0 bOut = 0

1 bOut = 1

2 bOut = bIn1 AND bIn2 AND bIn3

3 bOut = bIn1 OR bIn2 OR bIn3

4 bOut = f (truth table) The truth table parameterised in C00821 is used.


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 785



C00821

C00822

C00823

Parameter | Name:

C00821 | L_DigitalLogic_1: truth tableData type: UNSIGNED_8

Index: 23754d = 5CCAh

FB L_DigitalLogic_1: Parameterisation of the truth table

Selection list

0 False

1 True


C00821/1 0: False bOut for bIn1=0 / bIn2=0 / bIn3=0









Parameter | Name:

C00822 | L_DigitalLogic_2: FunctionData type: UNSIGNED_8

Index: 23753d = 5CC9h

FB L_DigitalLogic_2: Selection of the internal logic interconnection


0 bOut = 0

1 bOut = 1

2 bOut = bIn1 AND ... bIn3

3 bOut = bIn1 OR ... bIn3



Parameter | Name:

C00823 | L_DigitalLogic_2: Truth tableData type: UNSIGNED_8


FB L_DigitalLogic_2: Parameterisation of the truth table

Selection list

0 False

1 True












786 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00824

C00825

Parameter | Name:

C00824 | L_DigitalLogic5_1: FunctionData type: UNSIGNED_8


FB L_DigitalLogic5_1: Selection of the internal logic interconnection


0 bOut = 0

1 bOut = 1



Parameter | Name:

C00825 | L_DigitalLogic5_1: Truth tableData type: UNSIGNED_8


FB L_DigitalLogic5_1: Parameterisation of the truth table

Selection list

0 False

1 True


C00825/1 0: False bOut for bIn1=0 / bIn2=0 / bIn3=0 / bIn4=0 / bIn5=0




























Firmware 02.00 - DMS EN 3.0 - 05/2009 L 787



C00826

C00827






Parameter | Name:



Parameter | Name:

C00826 | L_DigitalLogic5_2: FunctionData type: UNSIGNED_8


FB L_DigitalLogic5_2: Selection of the internal logic interconnection


0 bOut = 0

1 bOut = 1



Parameter | Name:



FB L_DigitalLogic5_2: Parameterisation of the truth table

Selection list

0 False

1 True

























788 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00830












Parameter | Name:



Parameter | Name:

C00830 | 16bit input analogData type: INTEGER_16Index: 23745d = 5CC1h

Display in percent of 16-bit input values of different blocks


-199.99 % 199.99


C00830/1 L_Absolut_1: nIn_a

C00830/2 L_AddSub_1: nIn1_a



C00830/5 L_OffsetGain_1: nIn_a

C00830/6 L_OffsetGain_1: nOffset_a

C00830/7 L_OffsetGain_1: nGain_a

C00830/8 L_Negation_1: nIn_a

C00830/9 L_GainOffset_1: nIn_a

C00830/10 L_GainOffset_1: nGain_a

C00830/11 L_GainOffset_1: nOffset_a

C00830/12 L_Arithmetik_1: nIn1_a


C00830/14 L_AnalogSwitch_1: nIn1_a


C00830/16 L_Compare_1: nIn1_a


C00830/18 Reserved

C00830/19 Reserved

C00830/20 MCTRL: nPosCtrlPAdapt_a

C00830/21 MCTRL: nPosCtrlOutLimit_a

C00830/22 MCTRL: nSpeedSetValue_a

C00830/23 MCTRL: nSpeedLowLimit_a

C00830/24 MCTRL: nSpeedCtrlI_a

C00830/25 MCTRL: nSpeedCtrlPAdapt_a

C00830/26 Reserved

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 789



C00830/27 MCTRL: nTorqueSetValue_a

C00830/28 MCTRL: nTorqueGenLimit_a

C00830/29 MCTRL: nTorqueMotLimit_a

C00830/30 Reserved

C00830/31 MCTRL: nVoltageAdd_a

C00830/32 MCTRL: nPWMAngleOffset_a

C00830/33 L_NSet_1: nCInhVal_a

C00830/34 L_NSet_1: nNSet_a

C00830/35 L_NSet_1: nSet_a

C00830/36 L_NSet_1: nNAdd_a

C00830/37 DCTRL: wCANControl

C00830/38 DCTRL: wCCMControl

C00830/39 L_NLim_1: nIn_a

C00830/40 Reserved











C00830/51 Reserved

C00830/52 Reserved




C00830/56 L_OffsetGainP_1: nIn_a





C00830/61 L_PCTRL_1: nAct_a

C00830/62 L_PCTRL_1: nAdapt_a

C00830/63 L_PCTRL_1: nSet_a

C00830/64 L_PCTRL_1: nInflu_a

C00830/65 MCK: nSpeedCtrlI_a

C00830/66 MCK: nPWMAngleOffset_a

C00830/67 Reserved

C00830/68 MCK: nBrkTorqueAdd_a

C00830/69 MCK: nTorqueSetValue_a

C00830/70 Reserved

Parameter | Name:



790 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00831

C00830/71 Reserved

C00830/72 MCK: nSpeedSetValue_a

C00830/73 MCK: wAuxCtrl1

C00830/74 MCK: wMotionCtrl

C00830/75 MCK: nSpeedOverride_a

C00830/76 MCK: nAccOverride_a

C00830/77 MCK: nSpeedAdd_v


C00830/79 Reserved


C00830/81 L_MPot_1: nIn_a

C00830/82 L_MulDiv_1: nIn_a

C00830/83 LS_DataAccess: wIn1




C00830/87 L_PT1_1: nIn_a

C00830/88 MCTRL: nSpeedHighLimit_a

C00830/89 L_PCTRL_1: nNSet_a


Parameter | Name:


Parameter | Name:

C00831 | 16bit input commonData type: UNSIGNED_16


Decimal/hexadecimal/bit-coded display of 16-bit input values of different blocks


0x0000 0xFFFF

Value is bit-coded:

Bit 0 Bit0

... ...

Bit 15 Bit15















Firmware 02.00 - DMS EN 3.0 - 05/2009 L 791







C00831/18 Reserved

C00831/19 Reserved







C00831/26 Reserved




C00831/30 Reserved










C00831/40 Reserved











C00831/51 Reserved

C00831/52 Reserved






Parameter | Name:




792 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00832










C00831/67 Reserved



C00831/70 Reserved

C00831/71 Reserved








C00831/79 Reserved








C00831/87 L_PT1_1: nIn_a




Parameter | Name:



Parameter | Name:

C00832 | 16bit input velocityData type: INTEGER_16Index: 23743d = 5CBFh

Display of 16-bit input values of different blocks in [rpm]


-32767 rpm 32767






Firmware 02.00 - DMS EN 3.0 - 05/2009 L 793
















C00832/18 Reserved

C00832/19 Reserved







C00832/26 Reserved




C00832/30 Reserved










C00832/40 Reserved









Parameter | Name:



794 L Firmware 02.00 - DMS EN 3.0 - 05/2009



C00832/51 Reserved

C00832/52 Reserved















C00832/67 Reserved



C00832/70 Reserved

C00832/71 Reserved








C00832/79 Reserved








C00832/87 L_PT1_1: nIn_a




Parameter | Name:


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 795




C00833 | 8bit inputData type: UNSIGNED_8

Index: 23742d = 5CBEh

Display of the signal status of the binary inputs of different blocks

Selection list

0 False

1 True


C00833/1 L_And_1: bIn1

C00833/2 L_And_1: bIn2

C00833/3 L_And_1: bIn3

C00833/4 L_DFlipFlop_1: bD(set input)

C00833/5 L_DFlipFlop_1: bClk(clock input)

C00833/6 L_DFlipFlop_1: bClr(reset input)

C00833/7 L_Not_1: bIn

C00833/8 L_Or_1: bIn1

C00833/9 L_Or_1: bIn2

C00833/10 L_Or_1: bIn3

C00833/11 L_RLQ_1: bCw(CW rotation)

C00833/12 L_RLQ_1: bCcw(CCW rotation)

C00833/13 L_AnalogSwitch_1: bSet(switch over analog values)

C00833/14 L_NSet_1: bRfgStop(stop ramp function generator)

C00833/15 L_NSet_1: bRfg0(reset ramp function generator)

C00833/16 L_NSet_1: bNSetInv(invert speed setpoint)

C00833/17 L_NSet_1: bJog1(selection input for fixed setpoints)




C00833/21 L_NSet_1: bTi1(selection input for additional acceleration/deceleration times)





796 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00833/25 L_NSet_1: bLoad(load ramp function generator)

C00833/26 L_NSet_1: bExternalCINH(set controller inhibit externally)

C00833/27 MCTRL: bPosCtrlOn(activate position controller)

C00833/28 MCTRL: bSpeedInterpolatorOn(activate speed interpolator)

C00833/29 MCTRL: bTorqueInterpolatorOn(activate torque interpolator)

C00833/30 MCTRL: bTorquemodeOn(activate torque setpoint)

C00833/31 MCTRL: bSpeedCtrlIOn(load speed controller I component)

C00833/32 MCTRL: bAutoBoostOn(activate automatic voltage boost)

C00833/33 MCTRL: bQSPOn(quick stop)

C00833/34 MCTRL: bDcBrakeOn(DC-injection braking)

C00833/35 MCTRL: bDeltaPosOn(activate evaluation of external following error)

C00833/36 DCTRL: bCINH(inhibit controller)

C00833/37 DCTRL: bFailReset(acknowledge error)

C00833/38 DCTRL: bStatus_B0







C00833/45 DCTRL: bFrei_1




C00833/49 L_And_2: bIn1

C00833/50 L_And_2: bIn2

C00833/51 L_And_2: bIn3

C00833/52 L_And_3: bIn1

C00833/53 L_And_3: bIn2

C00833/54 L_And_3: bIn3

C00833/55 L_Or_2: bIn1

C00833/56 L_Or_2: bIn2

C00833/57 L_Or_2: bIn3

C00833/58 L_Or_3: bIn1

Parameter | Name:



Firmware 02.00 - DMS EN 3.0 - 05/2009 L 797



C00833/59 L_Or_3: bIn2

C00833/60 L_Or_3: bIn3

C00833/61 L_Not_2: bIn

C00833/62 L_Not_3: bIn

C00833/63 L_DigitalLogic_1: bIn1



C00833/66 L_DigitalDelay_1: bIn

C00833/67 MCTRL: bPosDerivativeOn(activate differentiation of position)

C00833/68 MCTRL: bMotorRefOffsetOn(accept motor reference position)

C00833/69 Reserved



C00833/72 L_MPot_1: bUp(ramp up)

C00833/73 L_MPot_1: bInAct(start inactivation function)

C00833/74 L_MPot_1: bDown(ramp down)

C00833/75 Reserved

C00833/76 L_PCTRL_1: bInAct(deactivate controller)

C00833/77 L_PCTRL_1: bIOff(switch off I component of controller)

C00833/78 MCK: bSpeedCtrlIOn(load I component of speed controller)

C00833/79 MCK: bDcBrakeOn(activate DC-injection braking)

C00833/80 MCK: bBrkRelease(release holding brake)

C00833/81 MCK: bBrkStartTorqueDir(change of direction torque precontrol)

C00833/82 MCK: bBrkApplied(feedback signal - binary holding brake status)

C00833/83 MCK: bLimitSwitchPos(input for positive hardware limit switch)

C00833/84 MCK: bLimitSwitchNeg(input for negative hardware limit switch)

C00833/85 MCK: bPosCtrlOn(activate position controller)

C00833/86 MCK: bDeltaPosOn(activate evaluation of external following error)

C00833/87 MCK: bPosDerivativeOn(activate differentiation of position)

Parameter | Name:




798 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00833/88 MCK: bMotorRefOffsetOn(accept motor reference position)

C00833/89 MCK: bQspOn(quick stop)

C00833/90 MCK: bTorquemodeOn(activate torque control)

C00833/91 Reserved

C00833/92 MCK: bHomMark(pre-stop signal - homing)

C00833/93 Reserved

C00833/94 Reserved

C00833/95 Reserved

C00833/96 Reserved

C00833/97 Reserved

C00833/98 Reserved

C00833/99 L_NSet_1: bNAddInv(invert additional speed setpoint)

C00833/100 L_MPot_1: bEnable(activate FB)

C00833/101 L_NLim_1: bEnable(activate FB)

C00833/102 LS_DataAccess: bEnableIn1(Lenze internally)




C00833/106 L_PCTRL_1: bEnableInfluenceRamp(activate influence ramp on correcting variable)

C00833/107 LS_SetError_2: bSetError1(trigger application error 1)




C00833/111 L_JogCtrlExtension: bInputSel1(binary selection of the function)

C00833/112 L_JogCtrlExtension: bInputSel2(binary selection of the function)

C00833/113 L_JogCtrlExtension: bRfgIn(set ramp function generator)

C00833/114 L_JogCtrlExtension: bJog1In(activate fixed speed 1)

C00833/115 L_JogCtrlExtension: bJog2In(activate fixed speed 2)

Parameter | Name:



Firmware 02.00 - DMS EN 3.0 - 05/2009 L 799



C00834

C00835

C00833/116 L_JogCtrlExtension: bSlowDown1(ramp down speed)

C00833/117 L_JogCtrlExtension: bStop1(stop speed)

C00833/118 L_JogCtrlExtension: bbSlowDown2(ramp down speed)


C00833/120 L_JogCtrlExtension: bSlowDown3(ramp down speed)



Parameter | Name:



Parameter | Name:

C00834 | 32bit input analogData type: INTEGER_32Index: 23741d = 5CBDh

Display of 32-bit input values of different blocks in [increments]


-2147483647 incr 2147483647


C00834/1 MCK: dnPosSetValue_p

C00834/2 MCK: dnMotorRefOffset_p

C00834/3 MCK: dnDeltaPos_p

C00834/4 MCTRL: dnDeltaPos_p

C00834/5 MCTRL: dnPosSetValue_p

C00834/6 MCTRL: dnMotorRefOffset_p

C00834/7 MCK: dnProfilePosition_p


Parameter | Name:

C00835 | 16bit input analog AdditionalFBsHLData type: INTEGER_16Index: 23740d = 5CBCh

Display in percent of 16-bit input values of different blocks


-199.99 % 199.99














800 L Firmware 02.00 - DMS EN 3.0 - 05/2009





C00835/16 L_Counter_2: wLdVal

C00835/17 L_Counter_2: wCmpVal



C00835/20 L_PhaseIntK_1: nIn_v






C00835/26 L_PT1_2: nIn_a

C00835/27 L_PT1_3: nIn_a


C00835/29 L_SampleHold_1: nIn_a


C00835/31 L_Mux_1: nSelect_a





C00835/36 L_DT1_1: nIn_a



C00835/39 L_GainOffsetPar_1: nIn_a



C00835/42 L_Limit_1: nIn_a


C00835/44 L_MckCtrlInterface_1: wOperationMode

C00835/45 L_MckCtrlInterface_1: wPosMode

C00835/46 L_MckCtrlInterface_1: wProfileNo

C00835/47 L_MckCtrlInterface_1: wInMckPosCtrl_1


C00835/49 L_MckStateInterface_1: wInMckPosState_1


C00835/51 L_PosiShaftCtrlInterface_1: wInPosiShaftCtrl_1




C00835/55 L_ConvWordToBits_1: wInput

Parameter | Name:


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 801



C00836



C00835/58 L_ConvWordsToDInt_1: wInLWord

C00835/59 L_ConvWordsToDInt_1: wInHWord





C00835/64 L_ConvUnitsToIncr_1: wInLWord

C00835/65 L_ConvUnitsToIncr_1: wInHWord






Parameter | Name:


Parameter | Name:

C00836 | 16bit input common AdditionalFBsHLData type: UNSIGNED_16

Index: 23739d = 5CBBh

Decimal/hexadecimal/bit-coded display of 16-bit input values of different blocks


0x0000 0xFFFF

Value is bit-coded:

Bit 0 Bit0

... ...

Bit 15 Bit15





















802 L Firmware 02.00 - DMS EN 3.0 - 05/2009








C00836/26 L_PT1_2: nIn_a

C00836/27 L_PT1_3: nIn_a









C00836/36 L_DT1_1: nIn_a



























Parameter | Name:



Firmware 02.00 - DMS EN 3.0 - 05/2009 L 803



C00837









Parameter | Name:



Parameter | Name:

C00837 | 16bit input velocity AdditionalFBsHLData type: INTEGER_16Index: 23738d = 5CBAh

Display of 16-bit input values of different blocks in [rpm]


-32767 rpm 32767



























C00837/26 L_PT1_2: nIn_a

C00837/27 L_PT1_3: nIn_a




804 L Firmware 02.00 - DMS EN 3.0 - 05/2009







C00837/36 L_DT1_1: nIn_a



































Parameter | Name:

C00837 | 16bit input velocity AdditionalFBsHLData type: INTEGER_16Index: 23738d = 5CBAh

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 805




C00838 | 8bit input AdditionalFBsHLData type: UNSIGNED_8

Index: 23737d = 5CB9h

Display of the signal status of the binary inputs of different blocks • As addition for the parameter C00833.

Selection list

0 False

1 True


C00838/1 L_And_4: bIn1

C00838/2 L_And_4: bIn2

C00838/3 L_And_4: bIn3

C00838/4 L_And_4: bIn4

C00838/5 L_And_4: bIn5

C00838/6 L_And_5: bIn1

C00838/7 L_And_5: bIn2

C00838/8 L_And_5: bIn3

C00838/9 L_And_5: bIn4

C00838/10 L_And_5: bIn5



C00838/13 L_DFlipFlop_2: bD(set input)

C00838/14 L_DFlipFlop_2: bClk(clock input)

C00838/15 L_DFlipFlop_2: bClr(reset input)

C00838/16 L_DigDelay_2: bIn

C00838/17 L_DigDelay_3: bIn

C00838/18 L_PhaseIntK_1: bLoad(load integrator)

C00838/19 L_PhaseIntK_2: bLoad(load integrator)




C00838/23 L_DigitalLogic5_1: bIn1











806 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00838/33 L_NLim_2: bEnable(activate FB)

C00838/34 L_Or_4: bIn1

C00838/35 L_Or_4: bIn2

C00838/36 L_Or_4: bIn3

C00838/37 L_Or_4: bIn4

C00838/38 L_Or_4: bIn5

C00838/39 L_Or_5: bIn1

C00838/40 L_Or_5: bIn2

C00838/41 L_Or_5: bIn3

C00838/42 L_Or_5: bIn4

C00838/43 L_Or_5: bIn5

C00838/44 L_Not_4: bIn

C00838/45 L_Not_5: bIn

C00838/46 L_Not_6: bIn

C00838/47 L_Not_7: bIn

C00838/48 L_RSFlipFlop_1: bSet(set input)

C00838/49 L_RSFlipFlop_1: bReset(reset input)

C00838/50 L_RSFlipFlop_2: bSet(set input)

C00838/51 L_RSFlipFlop_2: bReset(reset input)

C00838/52 L_SampleHold_1: bLoad(save input signal)

C00838/53 L_SampleHold_2: bLoad(save input signal)

C00838/54 L_Counter_2: bClkUp(count up)

C00838/55 L_Counter_2: bClkDown(count down)

C00838/56 L_Counter_2: bLoad(load counter)

C00838/57 L_Counter_3: bClkUp(count up)

C00838/58 L_Counter_3: bClkDown(count down)


C00838/60 L_Transient_1: bIn




C00838/64 L_Counter_1: bCountUp(count up)

C00838/65 L_Counter_1: bCountDown(count down)

Parameter | Name:



Firmware 02.00 - DMS EN 3.0 - 05/2009 L 807




C00838/67 L_ConvBitsToWord_1: bBit0










































Parameter | Name:




808 L Firmware 02.00 - DMS EN 3.0 - 05/2009







C00838/115 MckCtrlInterface_1: bManJogPos(positive manual jog)

C00838/116 MckCtrlInterface_1: bManJogNeg(negative manual jog)

C00838/117 MckCtrlInterface_1: bManJogNeg(activate second manual speed)

C00838/118 MckCtrlInterface_1: bReleaseLimitSwitch(retract limit switch)

C00838/119 MckCtrlInterface_1: bHomingStartStop(start/stop homing)

C00838/120 MckCtrlInterface_1: bHomingSetPos(set home position)

C00838/121 MckCtrlInterface_1: bHomingResetPos(reset home position)

C00838/122 MckCtrlInterface_1: bEnableVelOverride(activate speed override)

C00838/123 MckCtrlInterface_1: bEnableAccOverride(activate acceleration override)

C00838/124 MckCtrlInterface_1: bDisableSShaping(deactivate S-shaping for profile ramps)

C00838/125 MckCtrlInterface_1: bPosExecute(start positioning)

C00838/126 MckCtrlInterface_1: bPosExecuteFinish(complete aborted positioning process)

C00838/127 MckCtrlInterface_1: bPosDisableFollowProfile(deactivate sequence profiles)

C00838/128 MckCtrlInterface_1: bPosStop(stop profile generation)

C00838/129 MckCtrlInterface_1: bPosTeachSetPos(teach selected position in profile data set)

C00838/130 MckCtrlInterface_1: bPosTeachActPos(teach actual position in profile data set)

C00838/131 MckCtrlInterface_1: bProfileNo_1(binary profile selection - valency 1)




Parameter | Name:



Firmware 02.00 - DMS EN 3.0 - 05/2009 L 809



C00839

C00838/135 MckCtrlInterface_1: bOperationMode_1(binary operating mode selection - valency 1)





Parameter | Name:



Parameter | Name:

C00839 | 32bit input AdditionalFBsHLData type: INTEGER_32Index: 23736d = 5CB8h

Display of 32-bit input values of different blocks in [increments] • As addition for parameter C00834.


-2147483647 incr 2147483647


C00839/1 L_ComparePhi_1: dnIn1_p










C00839/11 L_ArithmetikPhi_1: dnIn1_p






C00839/17 L_GainOffsetPhiP_1: dnIn_p

C00839/18 L_GainOffsetPhiP_2: dnIn_p

C00839/19 L_LimitPhi_1: dnIn_p



C00839/22 L_OffsetGainPhiP_1: dnIn_p

C00839/23 L_OffsetGainPhiP_2: dnIn_p

C00839/24 L_PhaseIntK_1: dnSet_p

C00839/25 L_PhaseIntK_2: dnSet_p

C00839/26 L_Mux_1: dnInput1_p





810 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00840





C00839/34 L_Sqrt_1: dnInput_p

C00839/35 L_ConvDIntToWords_1: dnInput_p




Parameter | Name:

C00839 | 32bit input AdditionalFBsHLData type: INTEGER_32Index: 23736d = 5CB8h

Parameter | Name:

C00840 | 16Bit-SysInput analogData type: INTEGER_16Index: 23735d = 5CB7h

Display in percent of 16-bit input values of different I/O level blocks


-199.99 % 199.99


C00840/1 LS_AnalogOutput:nOut1_a

C00840/2 LP_CanOut1:wState

C00840/3 LP_CanOut1:wOut2


C00840/5 LP_CanOut1: wOut4









C00840/14 LS_DisFree_a: wDis1_a




C00840/18 LS_DisFree:wDis1




C00840/22 LP_MciOut:wState

C00840/23 LP_MciOut:wOut2


C00840/25 LP_MciOut: wOut4




Firmware 02.00 - DMS EN 3.0 - 05/2009 L 811



C00841











Parameter | Name:

C00840 | 16Bit-SysInput analogData type: INTEGER_16Index: 23735d = 5CB7h

Parameter | Name:

C00841 | 16Bit-SysInput commonData type: UNSIGNED_16


Decimal/hexadecimal/bit-coded display of 16-bit input values of different I/O level blocks


0x0000 0xFFFF

Value is bit-coded:

Bit 0 Bit0

... ...

Bit 15 Bit15


C00841/1 LS_AnalogOutput:nOut1_a
























812 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00843
















Parameter | Name:

C00841 | 16Bit-SysInput commonData type: UNSIGNED_16


Parameter | Name:

C00843 | 8bit SysInputData type: UNSIGNED_8


Display of the signal status of the binary inputs of different I/O level blocks

Selection list

0 False

1 True


C00843/1 LS_DigitalOutput:bRelay

C00843/2 LS_DigitalOutput:bOut1

C00843/3 LS_DigitalInput: bCountIn1_Reset

C00843/4 LS_DigitalInput: bCountIn1_LoadStartValue

C00843/5 LP_CanOut1: bState_B0




C00843/9 LP_CanOut1:bState_B4












C00843/21 LS_DisFree_b:bDis1

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 813










C00843/29 LP_CanOut2: bOut1_B0
































C00843/61 LP_MciOut: bState_B0





Parameter | Name:




814 L Firmware 02.00 - DMS EN 3.0 - 05/2009












C00843/77 LP_MciOut: bOut2_B0
















C00843/93 LS_SetError_1_bSetError1




C00843/97 LS_DigitalInput: bCountIn6_Reset

C00843/98 LS_DigitalInput: bCountIn6_LoadStartValue

C00843/99 LS_DigitalOutput: bOut2

C00843/100 LS_DigitalOutput: bOut3

C00843/101 LS_DigitalOutput: bOut HighCurrent

C00843/102 Ls_DisFree_b: bDis9





Parameter | Name:



Firmware 02.00 - DMS EN 3.0 - 05/2009 L 815



C00844




C00843/110 Reserved


Parameter | Name:



Parameter | Name:

C00844 | 32bit SysInputData type: INTEGER_32Index: 23731d = 5CB3h

Display of 32-bit input values of different I/O level blocks in [increments]


-2147483647 incr 2147483647


C00844/1 LS_DisFree_p:dnDis1_p

C00844/2 LS_DisFree_p:dnDis2_p

C00844/3 LS_DisFree_p: dnDis3_p






C00844/9 LP_CanOut1: dnOut34_p



C00844/12 LP_MciOut: dnOut34_p



816 L Firmware 02.00 - DMS EN 3.0 - 05/2009


C00866 | CAN input wordsData type: UNSIGNED_16

Index: 23709d = 5C9Dh

Display of the 16-bit input values of the CAN interfaceSystem bus "CAN on board"


0x0000 0xFFFF

Value is bit-coded:

Bit 0 Bit0

... ...

Bit 15 Bit15


C00866/1 LP_CanIn1: wCtrl

C00866/2 LP_CanIn1: wIn2












Firmware 02.00 - DMS EN 3.0 - 05/2009 L 817




C00868 | CAN output wordsData type: UNSIGNED_16

Index: 23707d = 5C9Bh

Display of the 16-bit output values of the CAN interfaceSystem bus "CAN on board"


0x0000 0xFFFF

Value is bit-coded:

Bit 0 Bit0

Bit 1 Bit1

Bit 2 Bit2

Bit 3 Bit3

Bit 4 Bit4

Bit 5 Bit5

Bit 6 Bit6

Bit 7 Bit7

Bit 8 Bit8

Bit 9 Bit9

Bit 10 Bit10

Bit 11 Bit11

Bit 12 Bit12

Bit 13 Bit13

Bit 14 Bit14

Bit 15 Bit15
















818 L Firmware 02.00 - DMS EN 3.0 - 05/2009


C00876 | MCI input wordsData type: UNSIGNED_16

Index: 23699d = 5C93h

Display of the 16-bit input values from the communication module


0x0000 0xFFFF

Value is bit-coded:

Bit 0 Bit0

... ...

Bit 15 Bit15


C00876/1 LP_MciIn:wCtrl

C00876/2 LP_MciIn: wIn2
















Firmware 02.00 - DMS EN 3.0 - 05/2009 L 819



C00877

C00890

Parameter | Name:

C00877 | MCI output wordsData type: UNSIGNED_16

Index: 23698d = 5C92h

Display of the 16-bit output values to the communication module


0x0000 0xFFFF

Value is bit-coded:

Bit 0 Bit0

... ...

Bit 15 Bit15



















Parameter | Name:

C00890 | MCI_InOut: InversionData type: UNSIGNED_16

Index: 23685d = 5C85h

As of version 02.00.00Via these parameters, the control and status bits of the MCI port blocks can be inverted


0x0000 0xFFFF


Bit 0 Bit0 Bit set = inversion active

... ...

Bit 15 Bit15


C00890/1 0 Inversion of LP_MciIn.wCtrl

C00890/2 0 Inversion of LP_MciOut.wState

C00890/3 0 Inversion of LP_MciIn.bIn2_B0...15

C00890/4 0 Inversion of LP_MciOut.bOut2_B0...15



820 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00909

C00910

C00915

C00916

C00917

C00922

Parameter | Name:

C00909 | Speed limitationData type: INTEGER_16Index: 23666d = 5C72h

Maximum positive/negative speed for all operating modes


0.00 % 175.00


C00909/1 120.00 % Max. pos. speed

C00909/2 120.00 % Max. neg. speed


Parameter | Name:

C00910 | Frequency limitationData type: UNSIGNED_16

Index: 23665d = 5C71h

Maximum positive/negative output frequency for all operating modes


0 Hz 1000


C00910/1 1000 Hz Max. pos. output frequency

C00910/2 1000 Hz Max. neg. output frequency


Parameter | Name:

C00915 | Motor cable lengthData type: UNSIGNED_16

Index: 23660d = 5C6Ch

Single motor cable length for calculating the motor cable resistance • The calculated motor cable resistance is displayed in C00917.


0.0 m 1000.0 5.0 m


Parameter | Name:

C00916 | Motor cable cross-sectionData type: UNSIGNED_16

Index: 23659d = 5C6Bh

Motor cable cross-section of a phase/cable for calculating the motor cable resistance • The calculated motor cable resistance is displayed in C00917.


0.50 mm^2 100.00 6.00 mm^2


Parameter | Name:

C00917 | Motor cable resistanceData type: UNSIGNED_16

Index: 23658d = 5C6Ah

Display of the motor cable resistance of a motor cable phase • The motor cable resistance is calculated based on the motor cable length set in C00915 and the motor cable

cross-section set in C00916.


0 mOhm 64000


Parameter | Name:

C00922 | ICM_DiagnosticCounterData type: UNSIGNED_16

Index: 23653d = 5C65h


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 821



C00966

C00971

C00972

C00973

Parameter | Name:

C00966 | VFC: Time const. - slip compens.Data type: UNSIGNED_16

Index: 23609d = 5C39h

Filter time constant of the slip compensation for VFCplus mode • The slip compensation time constant can be used to select the dynamic performance of the slip compensation

for non-feedback V/f characteristic control. • The lower the selected time constant, the higher the dynamic performance of the slip compensation.


1 ms 6000 100 ms


Parameter | Name:

C00971 | VFC: Limitation V/f +encoderData type: UNSIGNED_16

Index: 23604d = 5C34h

Limitation of the output frequency of the slip regulator and limitation of the injected stator frequency for VFCplus+encoder mode


0.00 Hz 100.00


C00971/1 10.00 Hz Maximum output/ correcting variable of the slip regulator • The slip regulator output is limited to the value in

motor mode and in generator mode set here. • It is recommended to select 1 to 3-times the slip

frequency of the motor as limit value.

C00971/2 100.00 Hz Maximum frequency deviation between the rotational frequency (speed) measured mechanically by the encoder and the injected stator frequency. • Through a limitation, you can e.g. avoid an

overcurrent interruption when traversing to a fixed limit stop.


Parameter | Name:

C00972 | VFC: Vp V/f +encoderData type: UNSIGNED_16

Index: 23603d = 5C33h

Proportional gain of the slip regulator for VFCplus+encoder mode • Select the gain depending on the drive system and the encoder resolution (range from 0.005 ... 5). • High gain values require a high PPR count.


0.000 Hz/Hz 64.000 0.100 Hz/Hz


Parameter | Name:

C00973 | VFC: Ti V/f +encoderData type: UNSIGNED_16

Index: 23602d = 5C32h

Integral time constant of the slip regulator for VFCplus+encoder mode • Usually, the time constant should be selected between 20 ms (high dynamic performance) and 200 ms (low

dynamic performance).


0.0 ms 6000.0 100.0 ms



822 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00985

C00986

C00990

C00991

C00992

Parameter | Name:

C00985 | SLVC: Field current controller gainData type: INTEGER_16Index: 23590d = 5C26h

Gain of the direct-axis current difference (Id) between setpoint and actual current for the voltage model of the SLVC (vector control) mode • The gain should be selected between 0 and 1 %.


0.00 % 10.00 0.50 %


Parameter | Name:

C00986 | SLVC: Cross current controller gainData type: INTEGER_16Index: 23589d = 5C25h

Gain of the I-Q-difference for the voltage model of the SLVC (vector control) mode


0.00 % 10.00 0.00 %


Parameter | Name:

C00990 | Flying restart fct: ActivationData type: UNSIGNED_8

Index: 23585d = 5C21h

Switch on /activate flying restart circuit for non-feedback drive systems


0 Off

1 On


Parameter | Name:

C00991 | Flying restart fct: ProcessData type: UNSIGNED_16

Index: 23584d = 5C20h

Selection of the starting value and the speed search range for the flying restart function


0 0...+n | Start: +10 Hz Search positive speed range (0 ... +n) with a start frequency of +10 Hz

1 -n...0 | Start: -10 Hz Search negative speed range (-n ... 0) with a start frequency of -10 Hz

2 -n...+n | Start: +10 Hz Search negative and positive speed range (-n ... n) with a start frequency of +10 Hz

3 -n...+n | Start: -10 Hz Search negative and positive speed range (-n ... n) with a start frequency of -10 Hz

4 -n...+n | Start: Cx992 Search negative and positive speed range (-n ... n) with the start frequency set in C00992


Parameter | Name:

C00992 | Flying restart: Start frequencyData type: INTEGER_16Index: 23583d = 5C1Fh

Manual selection of the starting value for the flying restart function • Only active if C00991 = 4


-200 Hz 200 5 Hz


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 823



C00993

C00994

C01010

C01100

Parameter | Name:

C00993 | Flying restart fct: Int. timeData type: UNSIGNED_16

Index: 23582d = 5C1Eh


Parameter | Name:

C00994 | Flying restart fct: CurrentData type: INTEGER_16Index: 23581d = 5C1Dh

Current to be injected during the flying restart process • 100 % ≡ rated motor current (C00081). • The flying restart current should amount to 10 ... 25 % of the rated motor current.


0.00 % 100.00 25.00 %


Parameter | Name:

C01010 | L_ArithmetikPhi 1-3: FunctionData type: UNSIGNED_8

Index: 23565d = 5C0Dh

FB L_ArithmetikPhi_1-3: Selection of the internal arithmetic

Selection list

0 dnOut_p = dnIn1_p

1 dnOut_p = dnIn1_p + dnIn2_p

2 dnOut_p = dnIn1_p - dnIn2_p

3 dnOut_p = dnIn1_p * dnIn2_p

4 dnOut_p = dnIn1_p / dnIn2_p


C01010/1 0: dnOut_p = dnIn1_p L_ArithmetikPhi_1: Function




Parameter | Name:

C01100 | Function L_Counter 1-3Data type: UNSIGNED_8

Index: 23475d = 5BB3h

FB L_Counter_1-3: Selection of the reset function

Selection list

0 No function

1 Auto reset

2 Manual reset


C01100/1 0: Nop function L_Counter_1: Function





824 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C01120

C01121

C01122

C01123

Parameter | Name:

C01120 | Sync signal sourceData type: UNSIGNED_8

Index: 23455d = 5B9Fh

As of version 02.00.00Selection of the signal source for device synchronisation • Basically, only one source can synchronise the drive.


0 Off Synchronisation off

1 CAN on board Synchronisation via "CAN on board" system busSync telegram

4 MCI Synchronisation via MCI (communication module)


Parameter | Name:

C01121 | Sync cycle time setpointData type: UNSIGNED_16

Index: 23454d = 5B9Eh

As of version 02.00.00Cycle time setpoint for device synchronisation • Time at which the phase-locking loop (PLL) in the controller expects the synchronisation signal. • The cycle time setpoint setting must correspond to the cycle of the corresponding synchronisation source.Note: If the system bus (CANopen) is used for synchronisation, only select integer multiples of 1000 μs.Example: For the system bus, 2 ms has been selected as interval between two synchronisation signals. If the system bus is to be used as synchronisation source, a synchronisation cycle of 2000 μs must be selected in C01121.



1000 μs 20000 1000 μs


Parameter | Name:

C01122 | Sync phase positionData type: UNSIGNED_16

Index: 23453d = 5B9Dh

As of version 02.00.00Phase position for device synchronisation • The phase position determines the zero time of the application referred to the synchronisation signal (bus cycle).

Since PDO processing is an integral part of the system part of the application, a change of the phase position also changes the acceptance time of the PDOs.

• If "0" is set, the application will start at the same time as the synchronisation signal. • If a value > 0 is set, the application will start by the set time earlier (the phase position has a negative effect) than

the sychronisation signal.Example: If the phase position is set to 400 μs, the system part of the application starts 400 μs before the arrival of the synchronisation signal.


0 μs 1000 0 μs


Parameter | Name:

C01123 | Sync windowData type: UNSIGNED_16

Index: 23452d = 5B9Ch

As of version 02.00.00Synchronisation window for device synchronisation


0 μs 10000 1000 μs


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 825



C01124

C01140

C01141

Parameter | Name:

C01124 | Sync correction incrementsData type: UNSIGNED_8

Index: 23451d = 5B9Bh

As of version 02.00.00Correction increment for device synchronisation • If the cycle times of the synchronisation signal and the phase-locking loop (PLL) are different, this setting defines

the correction increments for the phase-locking loop.


1 25ns

2 50ns

3 75ns

4 100ns


Parameter | Name:

C01140 | L_Transient 1-4: FunctionData type: UNSIGNED_8


FB L_Transient_1-4: Selection of the edge evaluation

Selection list

0 High edge

1 Low edge

2 High and Low edge


C01140/1 0: High edge L_Transient_1: Function





Parameter | Name:

C01141 | L_Transient 1-4 pulse durationData type: UNSIGNED_16

Index: 23434d = 5B8Ah

FB L_Transient_1-4: Pulse duration


0.000 s 60.000


C01141/1 0.000 s L_Transient_1: Pulse duration






826 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C01150

C01151

C01202

C01203

Parameter | Name:

C01150 | L_PhaseIntK: FunctionData type: UNSIGNED_8

Index: 23425d = 5B81h

FB L_PhaseIntK_1-2: Integrator loading behaviour


0 Loading with level Load integrator with TRUE level at the input bLoad

1 Loading with edge Load integrator with FALSE-TRUE edge at the input bLoad

2 Loading with level + reset Load integrator when reaching the comparison value (C01151) or with TRUE level at the input bLoad


C01150/1 0: Loading with level L_PhaseIntK_1: Function

C01150/2 0: Loading with level L_PhaseIntK_2: Function


Parameter | Name:

C01151 | L_PhaseIntK: CompareData type: INTEGER_32Index: 23424d = 5B80h

FB L_PhaseIntK_1-2: Comparison value


0 2000000000


C01151/1 0 L_PhaseIntK_1: Compare

C01151/2 0 L_PhaseIntK_2: Compare


Parameter | Name:

C01202 | Axis data: iM motor/processData type: UNSIGNED_16


Gearbox factor - motor • Entry of the gearbox factor as numerator/denominator ratio (numerator = motor speed and denominator =

output speed of gearbox) or from the number of teeth of the gearbox arrangement.


1 65535


C01202/1 1 iM: Numerator (motor speed Z2xZ4)

C01202/2 1 iM: Denominator (system speed Z1xZ3)


Parameter | Name:

C01203 | Axis data: iG motor/pos. encoderData type: UNSIGNED_16


Gearbox factor - position encoder • Entry of the gearbox factor as numerator/denominator ratio, with numerator = motor speed and denominator

= position encoder speed.


1 65535


C01203/1 1 iG: Numerator (motor speed)

C01203/2 1 iG: Denominator (encoder speed)


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 827



C01204

C01205

C01206

Parameter | Name:

C01204 | Axis data: Feed constantData type: INTEGER_32Index: 23371d = 5B4Bh

The feed constant corresponds to the machine movement for one revolution of the gearbox output shaft. • The value is entered in application units referred to one revolution.


0.0100 units/rev. 214748.3647 360.0000 units/rev.


Parameter | Name:

C01205 | Axis data: Position resolutionData type: INTEGER_32Index: 23370d = 5B4Ah

Display of the number of increments corresponding to one unit. • 1 motor revolution ≡ 65536 increments


0.0000 incr/unit 214748.3647


Parameter | Name:

C01206 | Axis data: Mounting directionData type: UNSIGNED_8

Index: 23369d = 5B49h

Inversion for mirrored motor and encoder mounting

Selection list

0 not inverted

1 inverted


C01206/1 0: Not inverted Motor mounting direction • Setting for motor mounting turned by 180°.

C01206/2 0: Not inverted Position encoder mounting direction • Setting for position encoder system mounting turned

by 180°.



828 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C01210

C01211

C01213

Parameter | Name:

C01210 | Axis data: Current positionsData type: INTEGER_32Index: 23365d = 5B45h

Display of current position data of the MotionControlKernel


-214748.3647 units 214748.3647


C01210/1 MCK: curr. feed • Display of the current feed for positioning profiles as

a relative distance.

C01210/2 MCK: curr. set position • Display of the current setpoint position calculated by

the MCK.

C01210/3 MCK: curr. actual position • Display of the current actual position calculated by an

optional encoder system.

C01210/4 MCK: curr. following error • Display of the current following error as a difference

between setpoint position and actual position.

C01210/5 MCK: position accuracy • Display of the current positioning accuracy referred to

the actual number of increments of the position encoder.


Parameter | Name:

C01211 | Axis data: SpeedData type: INTEGER_32Index: 23364d = 5B44h

Display of the current speed data


-214748.3647 units/s 214748.3647


C01211/1 Max. traversing speed 100%_C11 • Display of the maximum traversing speed based on

the reference speed set in C00011.


Parameter | Name:

C01213 | MCK: max. travel distanceData type: INTEGER_32Index: 23362d = 5B42h

Display of current position limits


-2147480000 units 2147480000


C01213/1 MCK: max. travel distance • Display of the maximum distance to be traversed

referred to the 32-bit display area (max. 2147483647 increments).


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 829



C01215

C01218

Parameter | Name:

C01215 | Axis data: Following errorData type: INTEGER_32Index: 23360d = 5B40h

Limits for following error monitoring


0.0000 units 214748.0000


C01215/1 0.0000 units MCK: following error limit 1 • First limit of the maximum following error for

monitoring and response activation.

C01215/2 0.0000 units MCK: following error limit 2 • Second limit of the maximum following error for

monitoring and response activation.


Parameter | Name:

C01218 | MCK: PosFollower settingData type: UNSIGNED_8


Settings for "Position follower" mode


0x00 0xFF 0x0C (decimal: 12)


Bit 0 Speed feedf. contr. value: nSpeedSetValue_a

"1" ≡ speed feedforward control value comes from main setpoint nSpeedSetValue_a

Bit 1 Speed feedf. contr. value: nSpeedAddValue_v

"1" ≡ speed feedforward control value comes from additive speed value nSpeedAddValue_v

Bit 2 HW limit switch on "1" ≡ travel range monitoring by means of hardware limit switches is active. The error response can be parameterised in C00595/1 and C00595/2.

Bit 3 SW limit switch on "1" ≡ travel range monitoring by means of parameterised software limit positions is active. The error response can be parameterised in C00595/3 and C00595/4.

Bit 4 Reserved

Bit 5 Reserved

Bit 6 Reserved

Bit 7 Reserved



830 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C01219

C01221

C01222

Parameter | Name:

C01219 | MCK: Speed follower settingData type: UNSIGNED_8


Settings for "Speed follower" mode


0x00 0xFF 0x0C (decimal: 12)


Bit 0 Reserved

Bit 1 Reserved



Bit 4 Reserved

Bit 5 Reserved

Bit 6 Reserved

Bit 7 Reserved


Parameter | Name:

C01221 | MCK: Ref modeData type: UNSIGNED_8

Index: 23354d = 5B3Ah

Selection of the homing mode.


6 >_Rn_>_TP Positive direction - via home mark (neg. edge) - continuing in positive direction - to TP

7 <_Rn_<_TP Negative direction - via home mark (neg. edge) - continuing in negative direction - to TP

8 >_TP Positive direction - to TP

9 <_TP Negative direction - to TP

10 >_Lp_<_TP Positive direction - reversing on pos. limit switch - to TP

11 <_Ln_>_TP Negative direction - reversing on neg. limit switch - to TP

12 >_Lp Positive direction - to pos. limit switch

13 <_Ln Negative direction - to neg. limit switch

14 >_Mlim Positive direction to torque limit

15 <_Mlim Negative direction to torque limit

100 SetRef Direct acceptance and setting of the home position • The measuring system is set when the drive is at

standstill based on the home position parameterised in C01227/2.


Parameter | Name:

C01222 | MCK: Ref. M limit mode 14/15Data type: INTEGER_16Index: 23353d = 5B39h

Torque limit for homing modes 14 and 15 (homing towards positive stop) • 100 % ≡ maximum torque (C00057)


0.00 % 199.99 10.00 %


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 831



C01223

C01224

C01225

C01226

Parameter | Name:

C01223 | MCK: Ref waiting time mode 14/15Data type: UNSIGNED_16

Index: 23352d = 5B38h

Blocking time for homing modes 14 and 15 (homing towards positive stop) • The home position is set if the torque limit set in C01222 has been exceeded for the time defined here.


0 ms 65000 100 ms


Parameter | Name:

C01224 | MCK: Ref speedsData type: INTEGER_32Index: 23351d = 5B37h

Speeds for reference search/homing


0.0000 unit/s 214748.3647


C01224/1 720.0000 unit/s MCK: ref starting speed • Starting speed for approaching the pre-stop signals.

C01224/2 180.0000 unit/s MCK: ref search speed • Search speed for detecting the reference initiator.


Parameter | Name:

C01225 | MCK: Ref accelerationsData type: INTEGER_32Index: 23350d = 5B36h

Accelerations for reference search/homing


0.0000 unit/s2 214748.3647


C01225/1 720.0000 unit/s2 MCK: ref starting accel. • Starting acceleration for the starting speed ramps.

C01225/2 720.0000 unit/s2 MCK: ref search accel. • Search acceleration for the search speed ramps.


Parameter | Name:

C01226 | MCK: Ref S-ramp timeData type: UNSIGNED_16

Index: 23349d = 5B35h

S-ramp time for reference search/homing • Setting "0 s" ≡ no rounding


0.000 s 10.000


C01226/1 0.000 s MCK: Ref S-ramp time • S-ramp time for the starting and search speed ramps.



832 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C01227

C01228

C01229

Parameter | Name:

C01227 | MCK: Ref positionsData type: INTEGER_32Index: 23348d = 5B34h

Positions for determining the zero position of the reference measuring system


-214748.3647 unit 214748.3647


C01227/1 0.0000 unit MCK: ref offset reference degree • Relative traverse path by which the drive traverses

after detection of the reference initiator.

C01227/2 0.0000 unit MCK: ref home position • Position with which setpoint and actual position are

loaded after completion of homing.


Parameter | Name:

C01228 | MCK: Ref sequence profileData type: UNSIGNED_8

Index: 23347d = 5B33h

Number of the sequence profile the absolute position of which will be approached after homing.


0 15 0


Parameter | Name:

C01229 | MCK: Position limiting valuesData type: INTEGER_32Index: 23346d = 5B32h

Software limit position for limiting the valid traversing range • The error response for leaving the valid traversing range can be parameterised in C00595/3 and C00595/4.

Note:For limiting the traversing range by means of software limit positions, the home position must be known and the positive software limit position must be higher than the negative software limit position!


-214748.3647 units 214748.3647


C01229/1 0.0000 units MCK: positive SW limit position(positive travel range limit)

C01229/2 0.0000 units MCK: negative SW limit position(negative travel range limit)


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 833



C01230

C01231

C01232

Parameter | Name:

C01230 | MCK: Manual jog settingData type: UNSIGNED_8

Index: 23345d = 5B31h

Settings for "Manual jog" mode




Bit 0 Breakpoints 1..4 on "1" ≡ approach of the parameterised breakpoint in manual jog direction

Bit 1 Enable 2nd speed "1" ≡ second manual speed can be activated via control bit in the MCK control word



Bit 4 Reserved

Bit 5 Reserved

Bit 6 Reserved

Bit 7 ManualJog with DCBrake "1" ≡ deceleration for manual jog with DC-injection braking of the motor


Parameter | Name:

C01231 | MCK: Manual jog speedsData type: INTEGER_32Index: 23344d = 5B30h

Manual jog speeds


-214748.3647 units/s 214748.3647


C01231/1 360.0000 units/s Manual jog: speed 1 • Regular manual speed

C01231/2 720.0000 units/s Manual jog: speed 2 • Second manual speed (can be activated via MCK

control word)


Parameter | Name:

C01232 | MCK: Manual jog accelerationsData type: INTEGER_32Index: 23343d = 5B2Fh

Acceleration/deceleration for manual jog


-214748.3647 units/s2 214748.3647


C01232/1 720.0000 units/s2 Manual jog: Acceleration • Acceleration for ramp-up to manual speed.

C01232/2 720.0000 units/s2 Manual jog: Deceleration • Deceleration for manual speed ramp-down to

standstill.



834 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C01233

C01234

C01235

C01236

Parameter | Name:

C01233 | MCK: Manual jog S-ramp timeData type: UNSIGNED_16

Index: 23342d = 5B2Eh

S-ramp time for manual jog • Setting "0 s" ≡ no rounding


0.000 s 10.000


C01233/1 0.000 s Manual jog: S-ramp time • S-ramp time for the manual speed ramps.


Parameter | Name:

C01234 | MCK: manual jog breakpointsData type: INTEGER_32Index: 23341d = 5B2Dh

Breakpoint positions for manual jog • The drive stops at the parameterised positions if they are in manual jog direction and breakpoint approaching

has been switched on in C01230 via bit 0.


-214748.3647 unit 214748.3647


C01234/1 0.0000 unit Manual jog: breakpoint 1





Parameter | Name:

C01235 | MCK: Manual jog waiting timesData type: UNSIGNED_16


Waiting times for manual jog


0.000 s 65.000


C01235/1 5.000 s Waiting time 2nd speed • Time after which the drive accelerates from the first

manual speed (C01231/1) to the second manual speed (C01231/2).


Parameter | Name:

C01236 | MCK: Follower speedsData type: INTEGER_32Index: 23339d = 5B2Bh

Speeds for position follower


-214748.3647 units/s 214748.3647


C01236/1 360.0000 units/s PosFollower: sync. speed. • Synchronisation speed for approaching the setpoint

position of the master.


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 835



C01237

C01238

C01239

Parameter | Name:

C01237 | MCK: Follower accelerationsData type: INTEGER_32Index: 23338d = 5B2Ah

Accelerations for position follower


-214748.3647 units/s2 214748.3647


C01237/1 720.0000 units/s2 PosFollower: sync. accel. • Acceleration for ramp-up to synchronisation speed.

C01237/2 720.0000 units/s2 PosFollower: sync. decel. • Deceleration for synchronisation speed ramp-down

to standstill (to the setpoint position of the master).


Parameter | Name:

C01238 | MCK: S-ramp times followerData type: UNSIGNED_16

Index: 23337d = 5B29h

S-ramp times for position follower • Setting "0 s" ≡ no rounding


0.000 s 10.000


C01238/1 0.000 s PosFollower: sync. S-ramp time • S-ramp time for the synchronisation speed ramps.


Parameter | Name:

C01239 | MCK: Interpolator cycle PosFollowerData type: UNSIGNED_32

Index: 23336d = 5B28h

Interpolator cycle for position follower • Cycle time for the position interpolation of the position from the master.


0.000 ms 60.000 0.000 ms



836 L Firmware 02.00 - DMS EN 3.0 - 05/2009


C01240 | MCK: Control wordData type: UNSIGNED_32

Index: 23335d = 5B27h

Bit-coded status of the MCK control word • The MCK control word is used to control the functions of the MotionControlKernel.




Bit 0 OpMode_Bit0 Active operating mode - control bit 0




Bit 4 ManJogPos Control bit for manual jog in positive direction

Bit 5 ManJogNeg Control bit for manual jog in negative direction

Bit 6 ManExecute2ndSpeed Control bit for activation of second manual speed

Bit 7 ReleaseLimitSwitch Control bit for retracting the hardware limit positions

Bit 8 HomStartStop Control bit for start/stop homing

Bit 9 HomSetPos Control bit for setting of home position • "0->1" ≡ sets position setpoint and actual position

value to the home position at the MCK. • This function is independent of the operating modes.

Bit 10 HomResetPos Control bit for reset of home position • "0->1" ≡ resets the information bit for the status

"Home position known" (home position not known). • The position displays are not influenced by this.

Bit 11 EnableSpeedOverride Control bit for activation of speed override • "1" ≡ activation of the override speed at the MCK for

acceptance in a running speed profile.

Bit 12 EnableAccOverride Control bit for activation of acceleration override • "1" ≡ activation of the override acceleration at the

MCK for acceptance in a running speed profile.

Bit 13 DisableS_Shape Control bit for deactivation of S-shaping for speed profiles • "1" ≡ deactivates S-shaping for speed profiles

Bit 14 PosTeachSetPos Control bit for accepting the selected setpoint position in the selected profile • "0->1" ≡ accepts the setpoint position at the MCK in

the profile with the profile number defined via the MCK control word.

Bit 15 PosTeachActPos Control bit for accepting the current actual position in the selected profile • "0->1" ≡ accepts the current actual position in the

profile with the profile number defined via the MCK control word.

Bit 16 PosExecute Control bit for starting a positioning profile • "0->1" ≡ starts a positioning profile selected via the

control word in the "Positioning" mode.

Bit 17 PosFinishTarget Control bit for completing processing of an interrupted positioning profile • "0->1" ≡ processing of a positioning profile which has

already been started and has been interrupted because of a cancellation condition or a change of the operating mode is completed in the "Positioning" mode when the home position is known.

• Note: Completion of profile processing through this control is based on the target position detected at the profile start!

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 837



Bit 18 PosDisableFollowProfile Control bit for suppression of the sequence profile • "1" ≡ positioning profiles the profile numbers of

which are entered in profile data sets for sequence profiles are not started after comletion of the corresponding profile.

Bit 19 PosStop Control bit for stopping the positioning profile • "0->1" ≡ ("Positioning" mode): Interrupts a running

profile through deceleration along the set deceleration ramp to standstill.

• "0->1" ≡ ("Stop" mode): Starts a new deceleration to standstill with the parameterised stop ramp.

Bit 20 PosModeBit0 Active positioning mode - control bit 0




Bit 24 ProfileNo_Bit0 Active positioning profile number - control bit 0









Parameter | Name:

C01240 | MCK: Control wordData type: UNSIGNED_32

Index: 23335d = 5B27h


838 L Firmware 02.00 - DMS EN 3.0 - 05/2009


C01241 | MCK: Status wordData type: UNSIGNED_32

Index: 23334d = 5B26h

Bit-coded status of the MCK status word • The MCK status word is used to output status messages of the MotionControlKernel.




Bit 0 ActOpModeBit00 Active operating mode - status bit 0




Bit 4 Busy Status bit - profile generation active • "1" ≡ Internal profile generation is active. A speed

profile is being generated.

Bit 5 Done Status bit - profile generation completed • "1" ≡ Generation of a speed profile with the selected

position has been completed.

Bit 6 AcceleratingActive Status bit - acceleration process for profile generation active • "1" ≡ Profile generation phase is in the acceleration

process.

Bit 7 ConstSpeedDuty Status bit - constant speed for profile generation active • "1" ≡ Profile generation phase at constant speed

active.

Bit 8 DeceleratingActive Status bit - deceleration process for profile generation active • "1" ≡ Profile generation phase is in the deceleration

process.

Bit 9 S_ShapingActive Status bit - rounding for profile generation active • "1" ≡ Rounding during acceleration/deceleration

active.

Bit 10 Pos. HW limit detected Status bit - positive hardware limit detected • "1" ≡ Positive limit switch has triggered. • Reset only possible via"Manual jog" mode!

Bit 11 Neg. HW limit detected Status bit - negative hardware limit detected • "1" ≡ Negative limit switch has triggered. • Reset only possible via"Manual jog" mode!

Bit 12 HomPosDone Status bit - homing completed • "1" ≡ Homing has been completed.

Bit 13 HomPosAvailable Status bit - home position known • "1" ≡ The home position has been detected and is

known in the drive.

Bit 14 Reserved

Bit 15 Reserved

Bit 16 DwellTime Status bit - transient effects in target position active • "1" ≡ Dwell time after reaching the setpoint position

is active.

Bit 17 InTarget Status bit - actual position is in the target window • "1" ≡ Dwell time has expired and current actual

position is in the set target window.

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 839



C01242

C01243

Bit 18 PosDone Status bit - positioning process completed • "1" ≡ Positioning profile has been completed in the

"Positioning" mode. Setpoint position is in target.

Bit 19 Reserved

Bit 20 ActPosMode_Bit00 Active positioning mode - status bit 0




Bit 24 ActProfileNo_Bit00 Active positioning profile - status bit 0









Parameter | Name:

C01241 | MCK: Status wordData type: UNSIGNED_32

Index: 23334d = 5B26h

Parameter | Name:

C01242 | MCK: act. pos profile numberData type: UNSIGNED_8

Index: 23333d = 5B25h

Display of the current profile number of the active profile in the "Positioning" mode


0 255


Parameter | Name:

C01243 | MCK: Current operating modeData type: UNSIGNED_8

Index: 23332d = 5B24h

Display of the active operating mode of the MotionControlKernel


0 Speed follower Drive traverses according to a preselected speed setpoint

1 Homing Drive finds its reference measuring system by setting the home position or homing

2 ManualJog Drive can be traversed manually via initiators, e.g. for cleaning purposes or tool changes.

3 Positioning Drive traverses according to defined travel profiles and motion processes

4 Stop Drive is decelerated to standstill along a parameterised deceleration ramp

5 Position follower Drive traverses according to a preselected position setpoint

15 StandBy Internal operating mode for quick stop and pulse inhibit



840 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C01244

C01245

C01251

C01252

Parameter | Name:

C01244 | MCK: Target position detectionData type: UNSIGNED_16

Index: 23331d = 5B23h

As of version 02.00.00Time parameter for detecting the target position


0 ms 60000


C01244/1 100 ms MCK: Dwell time - target position • Time expiring after reaching the setpoint position for

positioning processes and enabling the actual position detection in the target position window.


Parameter | Name:

C01245 | MCK: Target position detectionData type: INTEGER_32Index: 23330d = 5B22h

As of version 02.00.00Position parameter for comparison with target positions


0.0000 units 214748.3647


C01245/1 1.0000 units MCK: Target position window • Window around the target position for comparison

with the actual position to see whether the drive is in target.


Parameter | Name:

C01251 | MCK: accelerations stopData type: INTEGER_32Index: 23324d = 5B1Ch

Acceleration parameter for stop


-214748.3647 units/s2 214748.3647


C01251/1 720.0000 units/s2 Stop: decel. • Deceleration for setpoint speed ramp-down to

standstill.


Parameter | Name:

C01252 | MCK: S-ramp times stopData type: UNSIGNED_16


S-ramp times for stop • Setting "0 s" ≡ no rounding


0.000 s 10.000


C01252/1 0.000 s Stop: S-ramp time • S-ramp time for setpoint speed ramp-down to

standstill.


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 841



C01297

C01298

Parameter | Name:

C01297 | Alternative function PosExecuteData type: UNSIGNED_8

Index: 23278d = 5AEEh

Selection of the alternative function for bit 16 (PosExecute) in the MCK control word




Bit 0 PosStop with PosExecute = FALSE "1" ≡ Stop positioning with PosExecute • PosExecute="0" stops a running positioning process

by ramp-down to standstill.

Bit 1 HomingStartStop with PosExecute "1" ≡ Start/stop homing with PosExecute • PosExecute="1" starts homing, PosExecute="0" stops

homing in the "Homing" mode.

Bit 2 SetProfilPosition with PosExecute "1" ≡ Teach set position with PosExecute • PosExecute="0->1" accepts the setpoint position at

the MCK in the profile with the specified profile number.


Parameter | Name:

C01298 | MCK change of operating mode with profile no.Data type: UNSIGNED_8

Index: 23277d = 5AEDh

FB L_MckCtrlInterface_1: Assigning an operating mode to a profile


0 No change No change to another operating mode of the MCK

1 Follower Change to the "Speed follower" mode

2 Homing Change to the "Homing" mode

3 ManualJog Change to the "Manual jog" mode

4 Positioning Change to the "Positioning" mode


C01298/1 1: Follower MCK operating mode for profile no 0 • Selection of the operating mode for profile 0 at

L_MckCtrlInterface_1.

C01298/2 2: Homing MCK operating mode for profile no 1 • Selection of the operating mode for profile 1 at


C01298/3 3: ManualJog MCK operating mode for profile no 2 • Selection of the operating mode for profile 2 at


C01298/4 4: Positioning MCK operating mode for profile no 3...15 • Selection of the operating mode for profile 3 ... 15 at




842 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C01299

C01300

C01301

Parameter | Name:

C01299 | MCKI: MCKInterface statusData type: UNSIGNED_8

Index: 23276d = 5AECh

FB L_MckCtrlInterface_1: Status messages


0x00 0xFF


Bit 0 InvalidOperationMode Invalid operating mode selection • "1" ≡ The selected operating mode is not defined/

invalid.

Bit 1 InvalidPosMode Invalid positioning mode selection • "1" ≡ The selected positioning mode is not defined/

invalid.

Bit 2 InvalidProfileNo Invalid profile number selection • "1" ≡ The selected profile number refers to a profile

data set that does not exist.

Bit 3 Reserved

Bit 4 Reserved

Bit 5 Reserved

Bit 6 Reserved

Bit 7 Reserved


Parameter | Name:

C01300 | Profile data: Positioning modeData type: UNSIGNED_8

Index: 23275d = 5AEBh

Selection of the positioning mode for profiles 1 ... 15


1 Absolute (shortest path) Absolute positioning • The profile position corresponds to the target

position.

2 Continuous Continuous positioning without approaching a target position

3 Relative Relative positioning • The profile position determines the distance to be

traversed.


C01300/1 1: absolute (beeline) Profiles 1 ... 15: Positioning mode

C01300/...

C01300/15


Parameter | Name:

C01301 | Profile data: PositionData type: INTEGER_32Index: 23274d = 5AEAh

Selection of the positions for profiles 1 ... 15


-214748.3647 unit 214748.3647


C01301/1 360.0000 unit Profiles 1 ... 15: Position

C01301/...

C01301/15


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 843



C01302

C01303

C01304

C01305

Parameter | Name:

C01302 | Profile data: SpeedData type: INTEGER_32Index: 23273d = 5AE9h

Selection of the maximum speeds for profiles 1 ... 15


-214748.3647 unit/s 214748.3647


C01302/1 360.0000 unit/s Profiles 1 ... 15: Speed

C01302/...

C01302/15


Parameter | Name:

C01303 | Profile data: AccelerationData type: INTEGER_32Index: 23272d = 5AE8h

Selection of the accelerations for profiles 1 ... 15


-214748.3647 unit/s2 214748.3647


C01303/1 720.0000 unit/s2 Profiles 1 ... 15: Acceleration

C01303/...

C01303/15


Parameter | Name:

C01304 | Profile data: DecelerationData type: INTEGER_32Index: 23271d = 5AE7h

Selection of the decelerations for profiles 1 ... 15


-214748.3647 unit/s2 214748.3647


C01304/1 720.0000 unit/s2 Profiles 1 ... 15: Deceleration

C01304/...

C01304/15


Parameter | Name:

C01305 | Profile data: Final speedData type: INTEGER_32Index: 23270d = 5AE6h

Selection of the final speeds for profiles 1 ... 15 • For profile linkage with overchange.


-214748.3647 unit/s 214748.3647


C01305/1 0.0000 unit/s Profiles 1 ... 15: Final speed

C01305/...

C01305/15



844 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C01306

C01307

C01501

Parameter | Name:

C01306 | Profile data: S-ramp timeData type: UNSIGNED_16

Index: 23269d = 5AE5h

Selection of the S-ramp times for profiles 1 ... 15 • The maximum S-ramp time is the time in which the maximum acceleration or the maximum deceleration is

reached along a ramp (jerk limitation).


0.000 s 10.000


C01306/1 0.000 s Profiles 1 ... 15: S-ramp time

C01306/...

C01306/15


Parameter | Name:

C01307 | Profile data: Sequence profileData type: UNSIGNED_8

Index: 23268d = 5AE4h

Selection of the sequence profile numbers for profiles 1 ... 15 • For profile linkage


0 15


C01307/1 0 Profiles 1 ... 15: Sequence profile

C01307/...

C01307/15


Parameter | Name:

C01501 | Resp. to communication error with MCIData type: UNSIGNED_8

Index: 23074d = 5A22h

Configuration of monitoring functions for the communication module

Selection list

0 No Reaction

1 Fault

2 Trouble

3 TroubleQuickStop

4 WarningLocked

5 Warning

6 Information


C01501/1 0: No Reaction Resp. to MCI error 1 • Response to a communication error of the attached

communication module.

C01501/2 0: No Reaction Resp. to MCI error 2 • Response to a missing or incompatible

communication module.


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 845



C01670

C01671

C01672

Parameter | Name:

C01670 | L_ComparePhi: FunctionData type: UNSIGNED_8

Index: 22905d = 5979h

FB L_ComparePhi_1-5: Selection of the comparison function • If the statement of the selected comparison operation is true, the binary output bOut is set to TRUE.

Selection list

1 In1 = In2

2 In1 > In2

3 In1 < In2

4 |In1| = |In2|

5 |In1| > |In2|

6 |In1| < |In2|


C01670/1 1: In1 = In2 L_ComparePhi_1: Function






Parameter | Name:

C01671 | L_ComparePhi: HysteresisData type: INTEGER_32Index: 22904d = 5978h

FB L_ComparePhi_1-5: Hysteresis for the comparison function


0 incr 1073741824


C01671/1 0 incr L_ComparePhi_1: Hysteresis






Parameter | Name:

C01672 | L_ComparePhi: WindowData type: INTEGER_32Index: 22903d = 5977h

FB L_ComparePhi_1-5: Window for the comparison function


0 incr 1073741824


C01672/1 0 incr L_ComparePhi_1: Window







846 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C01751

C01752

C01755

C01763

C01764

C01765

C01770

C01902

Parameter | Name:

C01751 | Service code inverter charact.Data type: UNSIGNED_8

Index: 22824d = 5928h


Parameter | Name:

C01752 | Service par. - TCR functionData type: UNSIGNED_8

Index: 22823d = 5927h


Parameter | Name:

C01755 | Service par. - TCR factorData type: INTEGER_16Index: 22820d = 5924h


Parameter | Name:

C01763 | Service code - clamp thresholdData type: INTEGER_16Index: 22812d = 591Ch


Parameter | Name:

C01764 | Service par. - clamp timeData type: UNSIGNED_8

Index: 22811d = 591Bh


Parameter | Name:

C01765 | Service code - difference threshold UGData type: UNSIGNED_16

Index: 22810d = 591Ah


Parameter | Name:

C01770 | Filter time - earth fault detect. is runningData type: UNSIGNED_8

Index: 22805d = 5915h


Parameter | Name:

C01902 | Diagnostics X6: max. baud rateData type: UNSIGNED_16

Index: 22673d = 5891h

Maximally permissible baud rate in the standard device after determination of the baud rate at the diagnostic interface X6


192 19.200 Bd

384 38.400 Bd

576 57.600 Bd

750 75.000 Bd

1152 115.200 Bd

1500 150.000 Bd

2500 250.000 Bd

3750 375.000 Bd

7500 750.000 Bd


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 847



C01903

C01905

C02580

C02581

Parameter | Name:

C01903 | Diagnostics X6: change baud rateData type: UNSIGNED_8

Index: 22672d = 5890h

New baud rate determination at the diagnostic interface X6


0 Ignore changes

1 Negotiate baud rate


Parameter | Name:

C01905 | Diagnostics X6: act. baud rateData type: UNSIGNED_32

Index: 22670d = 588Eh

Current baud rate at the diagnostic interface X6


0 Bd 3000000


Parameter | Name:

C02580 | Holding brake: Operating modeData type: UNSIGNED_8

Index: 21995d = 55EBh

Selection of the operating mode for holding brake controlBasic function "Holding brake control"


0 Brake control off No holding brake is used. The internal control system is switched off.

11 Manually controlled The holding brake is released and applied via a control bit in the MCK control word.

12 Autom. controlled The holding brake is released and applied automatically via speed setpoint comparisons.


Parameter | Name:

C02581 | Holding brake: Speed thresholdData type: INTEGER_16Index: 21994d = 55EAh

Speed setpoint threshold and hysteresis for automatic holding brake controlBasic function "Holding brake control"


0.00 % 199.99


C02581/1 5.00 % Holding brake: switching threshold • Switching threshold of the speed setpoint from which

on the holding brake is released/applied automatically.

C02581/2 1.00 % Holding brake: hyst.release • Hysteresis for holding brake release. • Release threshold = switching threshold + release

hysteresis

C02581/3 1.00 % Holding brake: hyst. close • Hysteresis for holding brake application. • Application threshold = switching threshold -

application hysteresis



848 L Firmware 02.00 - DMS EN 3.0 - 05/2009


C02582 | Holding brake: SettingData type: UNSIGNED_8

Index: 21993d = 55E9h

Activation of functional holding brake control optionsBasic function "Holding brake control"




Bit 0 Control inverted Activation of inverted control • "1" ≡ Inverted logic of trigger signal for holding brake

control switching element

Bit 1 nAct < nMin at CInh Brake response in case of pulse inhibit • "1" ≡ With pulse inhibit, the actual speed value is

monitored. The holding brake is applied when the actual speed reaches the "Application" threshold value.

• Note: This function is used to avoid the wear of the holding brake of a drive with horizontal travel path when the controller is inhibited and rotation occurs.

Bit 2 Inverted feedforward control Precontrol inversion • "1" ≡ The direction of the precontrol value before

setting the release signal of the holding brake is inverted.

Bit 3 Horizontal/winding technology Direction of the axis • "1" ≡ The direction of the axis is horizontal or rotary.

The gravitational acceleration does not cause any movement.

• "0" ≡ The direction of the axis is vertical. The gravitational acceleration does not cause any movement.

Bit 4 Reserved

Bit 5 Reserved

Bit 6 Reserved

Bit 7 Reserved


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 849



C02589

C02593

Parameter | Name:

C02589 | Holding brake: Time systemData type: UNSIGNED_16

Index: 21986d = 55E2h

Operating times of the holding brake • The electromechanical delay times of the holding brake are specified in the data sheets or on the holding brake

nameplate.Basic function "Holding brake control"


0 ms 60000


C02589/1 100 ms Holding brake: closing time • Time in which the holding brake is completely applied

from the beginning of control and in which the controller is inhibted.

C02589/2 100 ms Holding brake: release time • Time in which the holding brake is completely

released from the beginning of control.

C02589/3 100 ms Holding brake: waiting time status • Time after which all transient reactions are

completed and the switching status of the holding brake is stable. Beginning of monitoring the feedback signal for the switching status of the holding brake.


Parameter | Name:

C02593 | Holding brake: Activation timeData type: UNSIGNED_32

Index: 21982d = 55DEh

Time parameter for the delay of holding brake control control signalsBasic function "Holding brake control"


0.000 s 3600.000


C02593/1 0.000 s Holding brake: actual value monitoring • Time in which the actual value shall have reached the

threshold for brake application when the setpoint has already reached the threshold.

• Time > 0 s: If the actual speed value has not reached the threshold within the time for brake application, the holding brake is applied by control.

• Time = 0 s: The brake is only applied by control when the actual speed has reached the application threshold.

C02593/2 0.000 s Holding brake: application delay • Time by which the control process for holding brake

application is delayed. The time expires when the speed setpoint has reached the switching threshold for application.

• With positioning processes, a continuous application and release of the holding brake can thus be suppressed for the set time.

C02593/3 0.000 s Holding brake: reserved

C02593/4 0.000 s Holding brake: reserved



850 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C02607

C02610

Parameter | Name:

C02607 | Holding brake: statusData type: UNSIGNED_16

Index: 21968d = 55D0h

Switching status of the holding brake controlBasic function "Holding brake control"


0x0000 0xFFFF


Bit 0 Brake closed Holding brake is completely applied

Bit 1 Brake released Holding brake is completely released

Bit 2 Feedforward control active Feedforward control for holding of the load via the motor is active before the holding brake releases.

Bit 3 Closing active The brake application time (C02589/1) expires

Bit 4 Forced release active In case of automatic operation of the holding brake control, the brake is directly released via the MCK input bBrkRelease = TRUE

Bit 5 Release active The brake application time (C02589/2) expires

Bit 6 Setpoint synchronisation active A speed setpoint at the MCK is approached along a defined ramp after brake release

Bit 7 Reserved

Bit 8 Reserved

Bit 9 Reserved

Bit 10 Reserved

Bit 11 Reserved

Bit 12 Reserved

Bit 13 Reserved

Bit 14 Reserved

Bit 15 Reserved


Parameter | Name:

C02610 | MCK: Accel./decel. timesData type: UNSIGNED_32

Index: 21965d = 55CDh

Ramp times for speed setpoint synchronisation


0.000 s 999.999


C02610/1 2.000 s MCK: holding brake ramp time synchr. • Ramp time for approaching the speed setpoint at the

MCK after holding brake release.Basic function "Holding brake control"

C02610/2 2.000 s MCK: Setpoint - ramp time synchronisation • Time for synchronisation ramps between setpoint

jumps occurring through the exceedance of minimum and maximum speed setpoint limit ranges.


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 851




C02611 | MCK: LimitationsData type: INTEGER_16Index: 21964d = 55CCh

Speed setpoint limits for the determination of limited validity ranges

Note:Traversing with setpoints through arising blocking zones takes place along the ramp set in C02610/2.


0.00 % 199.99


C02611/1 199.99 % MCK: Pos. max. speed • Upper limit of the speed setpoint limitation in

positive direction of rotation.

C02611/2 0.00 % MCK: Pos. min. speed • Lower limit of the speed setpoint limitation in

positive direction of rotation.

C02611/3 0.00 % MCK: Neg. min. speed • Lower limit of the speed setpoint limitation in

negative direction of rotation.

C02611/4 199.99 % MCK: Neg. max. speed • Upper limit of the speed setpoint limitation in

negative direction of rotation.



852 L Firmware 02.00 - DMS EN 3.0 - 05/2009


C02830 | DIx: Debounce timeData type: UNSIGNED_8

Index: 21745d = 54F1h

Debounce times for the digital inputsI/O terminals

Selection list

0 0.00 ms

1 0.25 ms

2 0.50 ms

3 0.75 ms

4 1.00 ms

5 1.25 ms

6 1.50 ms

7 1.75 ms

8 2.00 ms

10 2.50 ms

12 3.00 ms

14 3.50 ms

16 4.00 ms

18 4.50 ms

20 5.00 ms

22 5.50 ms

24 6.00 ms

28 7.00 ms

32 8.00 ms

36 9.00 ms

40 10.0 ms

44 11.0 ms

48 12.0 ms

52 13.0 ms

56 14.0 ms

64 16.0 ms

72 18.0 ms

80 20.0 ms

88 22.0 ms

96 24.0 ms

104 26.0 ms

112 28.0 ms

120 30.0 ms

128 32.0 ms

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 853



C02840

C02841

C02842


C02830/1 1 ms: 0.25 DI1: debounce time




C02830/5 1 ms: 0.25 DI5: Debounce time




Parameter | Name:

C02830 | DIx: Debounce timeData type: UNSIGNED_8

Index: 21745d = 54F1h

Parameter | Name:

C02840 | CountIn: ParameterData type: UNSIGNED_32

Index: 21735d = 54E7h

Starting and comparison values for digital count inputsI/O terminals


0 incr 2147483647


C02840/1 0 incr CountIn1: starting value

C02840/2 65535 incr CountIn1: comp. value

C02840/3 0 incr CountIn6: starting value

C02840/4 65535 incr CountIn6: comp. value


Parameter | Name:

C02841 | CountInx: Counter contentData type: UNSIGNED_32

Index: 21734d = 54E6h

Display of the current counter content of the digital count inputsI/O terminals


0 incr 2147483647


C02841/1 CountIn1: counter content

C02841/2 CountIn6: counter content


Parameter | Name:

C02842 | FreqInxx: OffsetData type: INTEGER_16Index: 21733d = 54E5h

Offset for digital frequency inputsI/O terminals


-199.99 % 199.99


C02842/1 0.00 % FreqIn12: offset

C02842/2 0.00 % FreqIn67: offset



854 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C02843

C02994

C02995

C02996

Parameter | Name:

C02843 | FreqInxx: GainData type: INTEGER_16Index: 21732d = 54E4h

Gain for digital frequency inputsI/O terminals


-199.99 % 199.99


C02843/1 100.00 % FreqIn12: gain

C02843/2 100.00 % FreqIn67: gain


Parameter | Name:

C02994 | FB xy positionData type: UNSIGNED_32

Index: 21581d = 544Dh


Parameter | Name:

C02995 | FB display input/outputData type: UNSIGNED_32

Index: 21580d = 544Ch


Parameter | Name:

C02996 | FB display input output2Data type: UNSIGNED_32

Index: 21579d = 544Bh


Firmware 02.00 - DMS EN 3.0 - 05/2009 L 855


Table of attributes

17.3 Table of attributes

The table of attributes contains information required for a communication with thecontroller via parameters.

How to read the table of attributes:

Column Meaning Entry

Code Parameter designation Cxxxxx

Name Parameter short text (display text) Text

Index dec Index under which the parameter is addressed.The subindex for array variables corresponds to the Lenze subcode number.

24575 - Lenze code number Is only required for access via a bus system.

hex 5FFFh - Lenze code number

Data DS Data structure E Single variable (only one parameter element)

A Array variable(several parameter elements)

DA Number of array elements (subcodes) Number

DT Data type BITFIELD_8 1 byte bit-coded

BITFIELD_16 2 byte bit-coded

BITFIELD_32 4 byte bit-coded

INTEGER_8 1 byte with sign



UNSIGNED_8 1 byte without sign



VISIBLE_STRING ASCII string

Factor Factor for data transfer via a bus system, depending on the number of decimal positions

Factor 1 ≡ no decimal positions10 ≡ 1 decimal position100 ≡ 2 decimal positions1000 ≡ 3 decimal positions

Access R Read access Reading permitted

w Write access Writing permitted

CINH Controller inhibit required Writing is only possible if controller inhibit is set

Code Name Index Data Access

dec hex DS DA DT Factor R w CINH

C00002 Controller commands 24573 5FFD A 32 UNSIGNED_8 1

C00003 Status of the last device command 24572 5FFC E 1 UNSIGNED_8 1

C00005 Application selection 24570 5FFA E 1 UNSIGNED_16 1

C00006 Select motor control 24569 5FF9 E 1 UNSIGNED_8 1

C00007 Select control mode 24568 5FF8 E 1 UNSIGNED_16 1

C00008 Original application|Control source 24567 5FF7 E 1 UNSIGNED_16 1

C00011 Appl.: Reference speed 24564 5FF4 E 1 UNSIGNED_16 1

C00012 Accel. time - main setpoint 24563 5FF3 E 1 UNSIGNED_32 1000

C00013 Decel. time - main setpoint 24562 5FF2 E 1 UNSIGNED_32 1000

C00015 VFC: V/f base frequency 24560 5FF0 E 1 UNSIGNED_16 10

C00016 VFC: Vmin boost 24559 5FEF E 1 UNSIGNED_16 100

C00018 Switching frequency 24557 5FED E 1 UNSIGNED_8 1

C00019 Auto-DCB: Threshold 24556 5FEC E 1 UNSIGNED_16 1

C00021 Slip comp. 24554 5FEA E 1 INTEGER_16 100

C00022 Imax in motor mode 24553 5FE9 E 1 UNSIGNED_16 100

C00023 Imax in generator mode 24552 5FE8 E 1 INTEGER_16 100

C00024 Comparison value N_Act 24551 5FE7 E 1 INTEGER_16 100

8400 HighLine C | Software ManualParameter referenceTable of attributes

856 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00026 AINx: Offset 24549 5FE5 A 2 INTEGER_16 100

C00027 AINx: Gain 24548 5FE4 A 2 INTEGER_32 10000

C00028 AINx: Input voltage 24547 5FE3 A 2 INTEGER_16 100

C00029 AINx: Input current 24546 5FE2 A 2 INTEGER_16 100

C00033 AINx: Output value 24542 5FDE A 2 INTEGER_16 100

C00034 AINx: Configuration 24541 5FDD A 2 UNSIGNED_8 1

C00036 DCB: current 24539 5FDB E 1 INTEGER_16 100

C00039 Fixed setpoint x (L_NSet_1 n-Fix) 24536 5FD8 A 15 INTEGER_16 100

C00050 MCTRL: Speed setpoint 24525 5FCD E 1 INTEGER_32 1

C00051 MCTRL: Actual speed value 24524 5FCC E 1 INTEGER_32 1

C00052 Motor voltage 24523 5FCB E 1 UNSIGNED_16 1

C00053 DC-bus voltage 24522 5FCA E 1 UNSIGNED_16 1

C00054 Motor current 24521 5FC9 E 1 UNSIGNED_16 100

C00056 Torque 24519 5FC7 A 2 INTEGER_32 100

C00057 Maximum torque 24518 5FC6 E 1 UNSIGNED_32 100

C00058 Output frequency 24517 5FC5 E 1 INTEGER_32 100

C00059 Appl.: Reference frequency C11 24516 5FC4 E 1 UNSIGNED_32 100

C00061 Heatsink temperature 24514 5FC2 E 1 INTEGER_16 1

C00064 Device utilisation (Ixt) 24511 5FBF A 3 INTEGER_16 100

C00065 Supply voltage 24V 24510 5FBE E 1 INTEGER_16 10

C00066 Thermal motor load (I²xt) 24509 5FBD E 1 INTEGER_16 100

C00070 Vp speed controller 24505 5FB9 A 2 UNSIGNED_16 100

C00071 Ti speed controller 24504 5FB8 A 2 UNSIGNED_16 10

C00072 SC: Tdn speed controller 24503 5FB7 E 1 UNSIGNED_16 100

C00073 Imax/M controller gain 24502 5FB6 A 2 UNSIGNED_16 100

C00074 Imax/M controller reset time 24501 5FB5 A 2 UNSIGNED_16 1

C00075 Vp current controller 24500 5FB4 E 1 UNSIGNED_16 100

C00076 Ti current controller 24499 5FB3 E 1 UNSIGNED_16 100

C00077 SC: Vp field controller 24498 5FB2 E 1 UNSIGNED_16 100

C00078 SC: Tn field controller 24497 5FB1 E 1 UNSIGNED_16 10

C00079 SC: Settings 24496 5FB0 A 3 UNSIGNED_8 1

C00080 Override point of field weakening 24495 5FAF E 1 INTEGER_16 1

C00081 Rated motor power 24494 5FAE E 1 UNSIGNED_16 100

C00082 Motor rotor resistance 24493 5FAD E 1 UNSIGNED_32 1

C00083 Motor rotor time constant 24492 5FAC E 1 UNSIGNED_16 1

C00084 Motor stator resistance 24491 5FAB E 1 UNSIGNED_32 1

C00085 Motor stator leakage inductance 24490 5FAA E 1 UNSIGNED_16 100

C00087 Rated motor speed 24488 5FA8 E 1 UNSIGNED_16 1

C00088 Rated motor current 24487 5FA7 E 1 UNSIGNED_16 100

C00089 Rated motor frequency 24486 5FA6 E 1 UNSIGNED_16 1

C00090 Rated motor voltage 24485 5FA5 E 1 UNSIGNED_16 1

C00091 Motor cosine phi 24484 5FA4 E 1 UNSIGNED_8 100

C00092 Motor magnetizing inductance 24483 5FA3 E 1 UNSIGNED_16 10

C00093 Power section ID 24482 5FA2 E 1 UNSIGNED_16 1

C00095 Motor magnetising current 24480 5FA0 E 1 UNSIGNED_16 100

C00097 Rated motor torque 24478 5F9E E 1 UNSIGNED_32 100

C00098 Rated device current 24477 5F9D E 1 UNSIGNED_16 10

C00099 Firmware version 24476 5F9C E 1 VISIBLE_STRING

C00100 Firmware version 24475 5F9B A 4 UNSIGNED_8 1

C00101 Add. acceleration time x 24474 5F9A A 15 UNSIGNED_32 1000

C00103 Add. deceleration time x 24472 5F98 A 15 UNSIGNED_32 1000



Firmware 02.00 - DMS EN 3.0 - 05/2009 L 857


Table of attributes

C00105 Deceleration time - quick stop 24470 5F96 E 1 UNSIGNED_32 1000

C00106 Auto-DCB: hold time 24469 5F95 E 1 UNSIGNED_32 1000

C00107 DCB: hold time 24468 5F94 E 1 UNSIGNED_32 1000

C00114 DI polarity 24461 5F8D E 1 UNSIGNED_16

C00115 Fct. DI 1/2 & 6/7 24460 5F8C A 2 UNSIGNED_8 1

C00117 Status - brake output BD 24458 5F8A E 1 UNSIGNED_8 1

C00118 DOx inversion 24457 5F89 E 1 UNSIGNED_8

C00120 Motor overload threshold (I²xt) 24455 5F87 E 1 INTEGER_16 100

C00123 Device utilisat. threshold (Ixt) 24452 5F84 E 1 INTEGER_16 100

C00129 Brake resistance value 24446 5F7E E 1 UNSIGNED_16 10

C00130 Rated brake resistor power 24445 5F7D E 1 UNSIGNED_16 1

C00131 Thermal capacity of brake resistor 24444 5F7C E 1 UNSIGNED_16 10

C00133 Brake resistor utilisation 24442 5F7A E 1 UNSIGNED_16 1

C00134 Ramp rounding - main setpoint 24441 5F79 E 1 UNSIGNED_8 1

C00136 Communication control words 24439 5F77 A 2 UNSIGNED_16

C00137 Device state 24438 5F76 E 1 UNSIGNED_16 1

C00138 Internal control signal 24437 5F75 A 3 UNSIGNED_16

C00142 Auto-start option 24433 5F71 E 1 UNSIGNED_8

C00144 Switching freq. reduct. (temp.) 24431 5F6F E 1 UNSIGNED_8 1

C00150 Status word 24425 5F69 E 1 UNSIGNED_16

C00155 Status word 2 24420 5F64 E 1 UNSIGNED_16

C00158 Cause of controller inhibit 24417 5F61 E 1 UNSIGNED_16

C00159 Cause of quick stop QSP 24416 5F60 E 1 UNSIGNED_16

C00161 LS_SetError_x: Error number 24414 5F5E A 8 UNSIGNED_16 1

C00163 Logbook - binary elements 24412 5F5C A 2 UNSIGNED_16 1

C00164 Logbook - analog elements 24411 5F5B A 1 UNSIGNED_16 1

C00165 Error information 24410 5F5A A 2 VISIBLE_STRING

C00166 Error information text 24409 5F59 A 6 VISIBLE_STRING

C00168 Status-determining error 24407 5F57 E 1 UNSIGNED_32 1

C00169 Logbook setting 24406 5F56 E 1 UNSIGNED_16

C00170 Current error 24405 5F55 E 1 UNSIGNED_32 1

C00173 Mains voltage 24402 5F52 E 1 UNSIGNED_8 1

C00174 Reduced brake chopper threshold 24401 5F51 E 1 UNSIGNED_8 1

C00175 Response for brake resistor control 24400 5F50 E 1 UNSIGNED_8 1

C00177 Switching cycles 24398 5F4E A 5 UNSIGNED_32 1

C00178 Elapsed-hour meter 24397 5F4D E 1 UNSIGNED_32 1

C00179 Power-on time meter 24396 5F4C E 1 UNSIGNED_32 1

C00180 Running time 24395 5F4B A 3 UNSIGNED_32 1

C00182 S-ramp time PT1 24393 5F49 E 1 INTEGER_16 100

C00184 AutoFailReset repetition time 24391 5F47 E 1 UNSIGNED_16 1

C00185 AutoFailReset residual runtime 24390 5F46 E 1 UNSIGNED_16 1

C00186 Max. no. of AutoFailReset procedures 24389 5F45 E 1 UNSIGNED_8 1

C00187 Current AutoFailReset procedures 24388 5F44 E 1 UNSIGNED_8 1

C00188 Configuration AutoFailReset 24387 5F43 E 1 UNSIGNED_8 1

C00189 Resp. too frequent AutoFailReset 24386 5F42 E 1 UNSIGNED_8 1

C00190 Setpoint arithmetic 24385 5F41 E 1 UNSIGNED_8 1

C00200 Firmware product type 24375 5F37 E 1 VISIBLE_STRING

C00201 Firmware 24374 5F36 A 6 VISIBLE_STRING

C00203 Product type code 24372 5F34 A 9 VISIBLE_STRING

C00204 Serial number 24371 5F33 A 9 VISIBLE_STRING

C00220 Accel. time - add. setpoint 24355 5F23 E 1 UNSIGNED_32 1000




858 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00221 Decel. time - add. setpoint 24354 5F22 E 1 UNSIGNED_32 1000

C00222 L_PCTRL_1: Vp 24353 5F21 E 1 INTEGER_16 10

C00223 L_PCTRL_1: Tn 24352 5F20 E 1 UNSIGNED_16 1

C00224 L_PCTRL_1: Kd 24351 5F1F E 1 UNSIGNED_16 10

C00225 L_PCTRL_1: MaxLimit 24350 5F1E E 1 INTEGER_16 100

C00226 L_PCTRL_1: MinLimit 24349 5F1D E 1 INTEGER_16 100

C00227 L_PCTRL_1: acceleration time 24348 5F1C E 1 UNSIGNED_32 1000

C00228 L_PCTRL_1: deceleration time 24347 5F1B E 1 UNSIGNED_32 1000

C00231 L_PCTRL_1: Operating range 24344 5F18 A 4 INTEGER_16 100

C00233 L_PCTRL_1: root function 24342 5F16 E 1 UNSIGNED_8 1

C00234 Oscillation damping influence 24341 5F15 E 1 UNSIGNED_16 100

C00235 Filter time - oscillation damping 24340 5F14 E 1 UNSIGNED_8 1

C00236 Oscillation damping - field weakening 24339 5F13 E 1 UNSIGNED_8 1

C00241 L_NSet_1: Hyst. NSet reached 24334 5F0E E 1 INTEGER_16 100

C00242 L_PCTRL_1: operating mode 24333 5F0D E 1 UNSIGNED_8 1

C00243 L_PCTRL_1: Acceleration time influence

24332 5F0C E 1 UNSIGNED_32 1000

C00244 L_PCTRL_1: Deceleration time influence

24331 5F0B E 1 UNSIGNED_32 1000

C00245 L_PCTRL_1: PID output value 24330 5F0A E 1 INTEGER_16 100

C00249 L_PT1_1: Time constant 24326 5F06 E 1 UNSIGNED_16 1

C00250 L_PT1 2-3: DelayTime 24325 5F05 A 2 INTEGER_16 1

C00251 L_DT1_1: DelayTime 24324 5F04 E 1 INTEGER_16 1

C00252 L_DT1_1: Gain 24323 5F03 E 1 INTEGER_16 100

C00253 L_DT1_1: Sensibility 24322 5F02 E 1 UNSIGNED_8 1

C00254 Kp position controller 24321 5F01 E 1 UNSIGNED_16 100

C00270 SC: Freq. current setpoint filter 24305 5EF1 E 1 UNSIGNED_16 10

C00271 SC: Width of the current setpoint filter 24304 5EF0 E 1 UNSIGNED_16 10

C00272 SC: Depth of the current setpoint filter 24303 5EEF E 1 UNSIGNED_16 1

C00273 Moment of inertia 24302 5EEE E 1 UNSIGNED_32 100

C00274 SC: Max. acceleration change 24301 5EED E 1 UNSIGNED_16 10

C00275 Setpoint precontrol filtering 24300 5EEC E 1 UNSIGNED_16 10

C00276 SC: max. output voltage 24299 5EEB E 1 UNSIGNED_8 1

C00280 SC: Filter time const. DC detect. 24295 5EE7 E 1 UNSIGNED_16 1

C00321 Main program runtime 24254 5EBE A 2 UNSIGNED_16 1

C00322 Transmission mode CAN TxPDOs 24253 5EBD A 3 UNSIGNED_8 1

C00323 Transmission mode CAN Rx PDOs 24252 5EBC A 3 UNSIGNED_8 1

C00338 L_Arithmetik_1: function 24237 5EAD E 1 UNSIGNED_8 1

C00339 L_Arithmetik_2: function 24236 5EAC E 1 UNSIGNED_8 1

C00345 CAN error status 24230 5EA6 E 1 UNSIGNED_8 1

C00347 CAN status HeartBeat producer 24228 5EA4 A 15 UNSIGNED_8 1

C00349 CAN setting - DIP switch 24226 5EA2 E 1 UNSIGNED_16

C00350 CAN node address 24225 5EA1 E 1 UNSIGNED_8 1

C00351 CAN baud rate 24224 5EA0 E 1 UNSIGNED_8 1

C00352 CAN Slave/Master 24223 5E9F E 1 UNSIGNED_8 1

C00353 CAN IN/OUT COBID source 24222 5E9E A 3 UNSIGNED_8 1

C00354 COBID 24221 5E9D A 6 UNSIGNED_32

C00355 Active COBID 24220 5E9C A 6 UNSIGNED_16 1

C00356 CAN time settings 24219 5E9B A 5 UNSIGNED_16 1

C00357 CAN monitoring times 24218 5E9A A 3 UNSIGNED_16 1

C00358 CANx_OUT data length 24217 5E99 A 3 UNSIGNED_8 1

C00359 CAN status 24216 5E98 E 1 UNSIGNED_8 1



Firmware 02.00 - DMS EN 3.0 - 05/2009 L 859


Table of attributes

C00360 CAN telegram counter 24215 5E97 A 12 UNSIGNED_16 1

C00364 CAN MessageError 24211 5E93 E 1 UNSIGNED_8 1

C00366 CAN CAN1_OUT transmit at Sync 24209 5E91 E 1 UNSIGNED_8 1

C00367 CAN Sync-Rx identifier 24208 5E90 E 1 UNSIGNED_16 1

C00368 CAN Sync-Tx identifier 24207 5E8F E 1 UNSIGNED_16 1

C00369 CAN sync transmission cycle time 24206 5E8E E 1 UNSIGNED_16 1

C00372 CAN_Tx_Rx_Error 24203 5E8B A 2 UNSIGNED_8 1

C00381 CAN heartbeat producer time 24194 5E82 E 1 UNSIGNED_16 1

C00385 CAN node addr. HeartBeat producer 24190 5E7E A 15 UNSIGNED_8 1

C00386 CAN HeartBeat ConsumerTime 24189 5E7D A 15 UNSIGNED_16 1

C00400 LS_PulseGenerator 24175 5E6F A 2 UNSIGNED_16 1

C00401 CANxInOut: Inversion 24174 5E6E A 6 UNSIGNED_16

C00408 LP_CanIn mapping selection 24167 5E67 A 3 UNSIGNED_8 1

C00409 LP_CanIn mapping 24166 5E66 A 12 UNSIGNED_16 1

C00410 L_SignalMonitor_a Par. 24165 5E65 A 4 UNSIGNED_16 1

C00411 L_SignalMonitor_b Par. 24164 5E64 A 4 UNSIGNED_16 1

C00412 L_SignalMonitor_b: Inversion 24163 5E63 E 1 UNSIGNED_8

C00413 L_SignalMonitor_a offs./gain 24162 5E62 A 8 INTEGER_16 100

C00420 Encoder number of increments 24155 5E5B A 2 UNSIGNED_16 1

C00423 DigOut: Delay times 24152 5E58 A 10 UNSIGNED_16 1000

C00425 Encoder sample time 24150 5E56 A 2 UNSIGNED_8 1

C00434 OxU/I: Gain 24141 5E4D A 4 INTEGER_16 100

C00435 OxU/I: Offset 24140 5E4C A 4 INTEGER_16 100

C00436 OxU: Voltage 24139 5E4B A 2 INTEGER_16 100

C00437 OxI: Current 24138 5E4A A 2 INTEGER_32 1000

C00439 OxU/I: Input value 24136 5E48 A 4 INTEGER_16 100

C00440 LS_AnalogIn1: PT1 time constant 24135 5E47 A 2 UNSIGNED_16 1

C00443 DIx: level 24132 5E44 A 2 UNSIGNED_16

C00444 DOx: level 24131 5E43 A 2 UNSIGNED_16

C00445 FreqInxx_nOut_v 24130 5E42 A 2 INTEGER_16 1

C00446 FreqInxx_nOut_a 24129 5E41 A 2 INTEGER_16 100

C00465 Keypad: Time-out welcome screen 24110 5E2E E 1 INTEGER_32 1

C00466 Keypad: Default parameter 24109 5E2D E 1 INTEGER_32 1

C00467 Keypad: Default welcome screen 24108 5E2C E 1 INTEGER_32 1

C00469 Keypad: STOP key function 24106 5E2A E 1 INTEGER_32 1

C00470 LS_ParFree_b 24105 5E29 A 32 UNSIGNED_8 1

C00471 LS_ParFree 24104 5E28 A 8 UNSIGNED_16

C00472 LS_ParFree_a 24103 5E27 A 8 INTEGER_16 100

C00473 LS_ParFree_v 24102 5E26 A 8 INTEGER_16 1

C00474 LS_ParFree_p 24101 5E25 A 8 INTEGER_32 1

C00480 LS_DisFree_b 24095 5E1F E 1 UNSIGNED_16

C00481 LS_DisFree 24094 5E1E A 8 UNSIGNED_16

C00482 LS_DisFree_a 24093 5E1D A 8 INTEGER_16 100

C00483 LS_DisFree_p 24092 5E1C A 8 INTEGER_32 1

C00488 L_JogCtrlEdgeDetect 24087 5E17 A 6 UNSIGNED_8 1

C00490 Position encoder selection 24085 5E15 E 1 UNSIGNED_8 1

C00495 Speed sensor selection 24080 5E10 E 1 UNSIGNED_8 1

C00496 Encoder evaluation procedure 24079 5E0F E 1 UNSIGNED_8 1

C00497 Nact filter time constant 24078 5E0E A 2 UNSIGNED_16 10

C00517 User menu 24058 5DFA A 32 INTEGER_32 1000

C00560 Fan switching status 24015 5DCF A 2 UNSIGNED_8 1




860 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00561 Fan failure 24014 5DCE A 2 UNSIGNED_8 1

C00565 Resp. to mains phase failure 24010 5DCA E 1 UNSIGNED_8 1

C00566 Resp. to fan failure 24009 5DC9 E 1 UNSIGNED_8 1

C00567 Speed controller resp. limited 24008 5DC8 E 1 UNSIGNED_8 1

C00569 Resp. to peak current 24006 5DC6 A 1 UNSIGNED_8 1

C00570 Resp. to controller limitations 24005 5DC5 A 4 UNSIGNED_8 1

C00572 Brake resistor overload threshold 24003 5DC3 E 1 UNSIGNED_8 1

C00574 Resp. to brake resist. overtemp. 24001 5DC1 E 1 UNSIGNED_8 1

C00576 SC: Field feedforward control 23999 5DBF E 1 UNSIGNED_16 1

C00577 SC: Vp field weakening controller 23998 5DBE E 1 UNSIGNED_16 10000

C00578 SC: Tn field weakening controller 23997 5DBD E 1 UNSIGNED_16 10

C00579 Resp. to speed monitoring 23996 5DBC E 1 UNSIGNED_8 1

C00581 Resp. LS_SetError_x 23994 5DBA A 8 UNSIGNED_8 1

C00582 Resp. to heatsink temp. > shutdown temp. -5°C

23993 5DB9 E 1 UNSIGNED_8 1

C00585 Resp. to motor overtemp. PTC 23990 5DB6 E 1 UNSIGNED_8 1

C00586 Resp. to encoder wire breakage 23989 5DB5 E 1 UNSIGNED_8 1

C00588 Resp. to max. speed at switch. frequency

23987 5DB3 E 1 UNSIGNED_8 1

C00590 Resp. to switch. frequency red. 23985 5DB1 E 1 UNSIGNED_8 1

C00592 Resp. to CAN bus connection 23983 5DAF A 5 UNSIGNED_8 1

C00593 Resp. to CANx_IN monitoring 23982 5DAE A 3 UNSIGNED_8 1

C00594 Resp. to control word error 23981 5DAD A 2 UNSIGNED_8 1

C00595 MCK: Resp. to MCK error 23980 5DAC A 14 UNSIGNED_8 1

C00597 Resp. to motor phase failure 23978 5DAA E 1 UNSIGNED_8 1

C00598 Resp. to open circuit AINx 23977 5DA9 A 2 UNSIGNED_8 1

C00599 Motor phase failure threshold 23976 5DA8 E 1 INTEGER_16 100

C00600 Resp. to DC bus voltage 23975 5DA7 A 1 UNSIGNED_8 1

C00601 Delayed resp. fault: DC-bus overvoltage

23974 5DA6 A 1 UNSIGNED_16 1000

C00602 Resp. to earth fault 23973 5DA5 E 1 UNSIGNED_8 1

C00604 Resp. to device overload (Ixt) 23971 5DA3 E 1 UNSIGNED_8 1

C00606 Resp. to motor overload (I²xt) 23969 5DA1 E 1 UNSIGNED_8 1

C00607 React. max. speed reached 23968 5DA0 E 1 UNSIGNED_8 1

C00608 Resp. to maximum torque 23967 5D9F E 1 UNSIGNED_8 1

C00609 Resp. to maximum current 23966 5D9E E 1 UNSIGNED_8 1

C00620 16-bit system connection 23955 5D93 A 48 UNSIGNED_16 1

C00621 Bool system connection 23954 5D92 A 110 UNSIGNED_16 1

C00622 Angle system connection 23953 5D91 A 12 UNSIGNED_16 1

C00630 L_Limit 1-2 Min/Max 23945 5D89 A 4 INTEGER_16 100

C00631 L_LimitPhi 1-3 Min/Max 23944 5D88 A 6 INTEGER_32 1

C00632 L_NSet_1: Max.SkipFrq. 23943 5D87 A 3 INTEGER_16 100

C00633 L_NSet_1 Min.SkipFrq. 23942 5D86 A 3 INTEGER_16 100

C00634 L_NSet_1: wState 23941 5D85 E 1 UNSIGNED_16

C00635 L_NSet_1: nMaxLimit 23940 5D84 E 1 INTEGER_16 100

C00636 L_NSet_1: nMinLimit 23939 5D83 E 1 INTEGER_16 100

C00637 L_NSet_1: Output blocking zone 23938 5D82 E 1 INTEGER_16 100

C00638 L_NSet_1: Output ramp rounding 23937 5D81 E 1 INTEGER_16 100

C00639 L_NSet_1: Output add.value 23936 5D80 E 1 INTEGER_16 100

C00640 L_NSet_1: nNOut_a 23935 5D7F E 1 INTEGER_16 100

C00650 L_Arithmetik 3-5: Fct. 23925 5D75 A 3 UNSIGNED_8 1

C00670 L_OffsetGainP_1: gain 23905 5D61 E 1 INTEGER_32 10000



Firmware 02.00 - DMS EN 3.0 - 05/2009 L 861


Table of attributes

C00671 L_OffsetGainP_2: gain 23904 5D60 E 1 INTEGER_32 10000

C00672 L_OffsetGainP_3: gain 23903 5D5F E 1 INTEGER_32 10000

C00673 L_OffsetGainPhiP 1-2: Offset 23902 5D5E A 2 INTEGER_32 1

C00674 L_OffsetGainPhiP 1-2: Gain 23901 5D5D A 2 INTEGER_32 1

C00677 L_GainOffsetP 1-3: Parameter 23898 5D5A A 6 INTEGER_16 100

C00678 L_GainOffsetPhiP 1-2: Parameter 23897 5D59 A 4 INTEGER_32 1

C00679 L_MulDiv_2: parameter 23896 5D58 A 2 INTEGER_16 1

C00680 L_Compare_1: function 23895 5D57 E 1 UNSIGNED_8 1

C00681 L_Compare_1: hysteresis 23894 5D56 E 1 INTEGER_16 100

C00682 L_Compare_1: window 23893 5D55 E 1 INTEGER_16 100

C00685 L_Compare_2: function 23890 5D52 E 1 UNSIGNED_8 1

C00686 L_Compare_2: hysteresis 23889 5D51 E 1 INTEGER_16 100

C00687 L_Compare_2: window 23888 5D50 E 1 INTEGER_16 100

C00690 L_Compare_3: function 23885 5D4D E 1 UNSIGNED_8 1

C00691 L_Compare_3: hysteresis 23884 5D4C E 1 INTEGER_16 100

C00692 L_Compare_3: window 23883 5D4B E 1 INTEGER_16 100

C00693 L_Compare 4-5: Fct. 23882 5D4A A 2 UNSIGNED_8 1

C00694 L_Compare 4-5: Hysteresis 23881 5D49 A 2 INTEGER_16 100

C00695 L_Compare 4-5: Window 23880 5D48 A 2 INTEGER_16 100

C00696 L_OffsetGainP_1: Offset 23879 5D47 E 1 INTEGER_16 100



C00699 L_MulDiv_1: Parameter 23876 5D44 A 2 INTEGER_16 1

C00700 LA_NCtrl: Analog connection list 23875 5D43 A 19 UNSIGNED_16 1

C00701 LA_NCtrl: Digital connection list 23874 5D42 A 35 UNSIGNED_16 1

C00710 LA_TabPos: Analog connection list 23865 5D39 A 28 UNSIGNED_16 1

C00711 LA_TabPos: Digital connection list 23864 5D38 A 56 UNSIGNED_16 1

C00720 L_DigitalDelay_1 delay 23855 5D2F A 2 UNSIGNED_32 1000

C00721 L_DigitalDelay 2,3 delay 23854 5D2E A 4 UNSIGNED_32 1000

C00725 Current switching frequency 23850 5D2A E 1 UNSIGNED_8 1

C00727 Keypad digital values 23848 5D28 A 8 UNSIGNED_8 1

C00728 Keypad analog values 23847 5D27 A 3 INTEGER_16 100

C00800 L_MPot_1: upper limit 23775 5CDF E 1 INTEGER_16 100

C00801 L_MPot_1: lower limit 23774 5CDE E 1 INTEGER_16 100

C00802 L_MPot_1: acceleration time 23773 5CDD E 1 UNSIGNED_16 10

C00803 L_MPot_1: deceleration time 23772 5CDC E 1 UNSIGNED_16 10

C00804 L_MPot_1: inactive function 23771 5CDB E 1 UNSIGNED_8 1

C00805 L_MPot_1: Init fct. 23770 5CDA E 1 UNSIGNED_8 1

C00806 L_MPot_1: Use 23769 5CD9 E 1 UNSIGNED_8 1

C00807 L_NLim_1 Max.SkipFrq. 23768 5CD8 A 3 INTEGER_16 100

C00808 L_NLim_1 Min.SkipFrq. 23767 5CD7 A 3 INTEGER_16 100

C00809 L_NLim_2 Max.SkipFrq. 23766 5CD6 A 3 INTEGER_16 100

C00810 L_NLim_2 Min.SkipFrq. 23765 5CD5 A 3 INTEGER_16 100

C00820 L_DigitalLogic_1: Fct. 23755 5CCB E 1 UNSIGNED_8 1

C00821 L_DigitalLogic_1: Truth table 23754 5CCA A 8 UNSIGNED_8 1

C00822 L_DigitalLogic_2: Function 23753 5CC9 E 1 UNSIGNED_8 1

C00823 L_DigitalLogic_2: truth table 23752 5CC8 A 8 UNSIGNED_8 1

C00824 L_DigitalLogic5_1: Function 23751 5CC7 E 1 UNSIGNED_8 1

C00825 L_DigitalLogic5_1: Truth table 23750 5CC6 A 32 UNSIGNED_8 1

C00826 L_DigitalLogic5_2: Function 23749 5CC5 E 1 UNSIGNED_8 1

C00827 L_DigitalLogic5_2: Truth table 23748 5CC4 A 32 UNSIGNED_8 1




862 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C00830 16bit input analog 23745 5CC1 A 89 INTEGER_16 100

C00831 16bit input common 23744 5CC0 A 89 UNSIGNED_16

C00832 16bit input velocity 23743 5CBF A 89 INTEGER_16 1

C00833 8bit input 23742 5CBE A 121 UNSIGNED_8 1

C00834 32Bit input analog 23741 5CBD A 7 INTEGER_32 1

C00835 16Bit input analog additionalFBsHL 23740 5CBC A 69 INTEGER_16 100

C00836 16bit input common AdditionalFBsHL 23739 5CBB A 69 UNSIGNED_16

C00837 16bit input velocity AdditionalFBsHL 23738 5CBA A 69 INTEGER_16 1

C00838 8bit input AdditionalFBsHL 23737 5CB9 A 138 UNSIGNED_8 1

C00839 32bit input AdditionalFBsHL 23736 5CB8 A 37 INTEGER_32 1

C00840 16Bit-SysInput analog 23735 5CB7 A 37 INTEGER_16 100

C00841 16Bit-SysInput common 23734 5CB6 A 37 UNSIGNED_16

C00843 8bit SysInput 23732 5CB4 A 110 UNSIGNED_8 1

C00844 32bit SysInput 23731 5CB3 A 12 INTEGER_32 1

C00866 CAN input words 23709 5C9D A 12 UNSIGNED_16

C00868 CAN output words 23707 5C9B A 12 UNSIGNED_16

C00876 MCI input words 23699 5C93 A 16 UNSIGNED_16

C00877 MCI output words 23698 5C92 A 16 UNSIGNED_16

C00890 MCI_InOut: Inversion 23685 5C85 A 4 UNSIGNED_16

C00909 Speed limitation 23666 5C72 A 2 INTEGER_16 100

C00910 Frequency limitation 23665 5C71 A 2 UNSIGNED_16 1

C00915 Motor cable length 23660 5C6C E 1 UNSIGNED_16 10

C00916 Motor cable cross-section 23659 5C6B E 1 UNSIGNED_16 100

C00917 Motor cable resistance 23658 5C6A E 1 UNSIGNED_16 1

C00966 VFC: Time const. - slip compens. 23609 5C39 E 1 UNSIGNED_16 1

C00971 VFC: limitation V/f +encoder 23604 5C34 a 2 UNSIGNED_16 100

C00972 VFC: Vp V/f +encoder 23603 5C33 E 1 UNSIGNED_16 1000

C00973 VFC: Ti V/f +encoder 23602 5C32 E 1 UNSIGNED_16 10

C00985 SLVC: Field current controller gain 23590 5C26 E 1 INTEGER_16 100

C00986 SLVC: Cross current controller gain 23589 5C25 E 1 INTEGER_16 100

C00990 Flying restart fct: activation 23585 5C21 E 1 UNSIGNED_8 1

C00991 Flying restart fct: process 23584 5C20 E 1 UNSIGNED_16 1

C00992 Flying restart: start frequency 23583 5C1F E 1 INTEGER_16 1

C00994 Flying restart fct: current 23581 5C1D E 1 INTEGER_16 100

C01010 L_ArithmetikPhi 1-3: Function 23565 5C0D a 3 UNSIGNED_8 1

C01100 Function L_Counter 1-3 23475 5BB3 a 3 UNSIGNED_8 1

C01120 Sync signal source 23455 5B9F E 1 UNSIGNED_8 1

C01121 Sync cycle time setpoint 23454 5B9E E 1 UNSIGNED_16 1

C01122 Sync phase position 23453 5B9D E 1 UNSIGNED_16 1

C01123 Sync window 23452 5B9C E 1 UNSIGNED_16 1

C01124 Sync correction increment 23451 5B9B E 1 UNSIGNED_8 1

C01140 L_Transient 1-4: Function 23435 5B8B A 4 UNSIGNED_8 1

C01141 L_Transient 1-4 pulse duration 23434 5B8A A 4 UNSIGNED_16 1000

C01150 L_PhaseIntK: Function 23425 5B81 A 2 UNSIGNED_8 1

C01151 L_PhaseIntK: Compare 23424 5B80 A 2 INTEGER_32 1

C01202 Axis data: iM motor/process 23373 5B4D A 2 UNSIGNED_16 1

C01203 Axis data: iG motor/position encoder 23372 5B4C A 2 UNSIGNED_16 1

C01204 Axis data: Feed constant 23371 5B4B E 1 INTEGER_32 10000

C01205 Axis data: Position resolution 23370 5B4A E 1 INTEGER_32 10000

C01206 Axis data: Mounting direction 23369 5B49 A 2 UNSIGNED_8 1

C01210 Axis data: Current positions 23365 5B45 A 5 INTEGER_32 10000



Firmware 02.00 - DMS EN 3.0 - 05/2009 L 863


Table of attributes

C01211 Axis data: Speed 23364 5B44 A 1 INTEGER_32 10000

C01213 MCK: max. travel distance 23362 5B42 A 1 INTEGER_32 1

C01215 Axis data: Following error 23360 5B40 A 2 INTEGER_32 10000

C01218 MCK: PosFollower setting 23357 5B3D E 1 UNSIGNED_8

C01219 MCK: Speed follower Einstellung 23356 5B3C E 1 UNSIGNED_8

C01221 MCK: Ref mode 23354 5B3A E 1 UNSIGNED_8 1

C01222 MCK: Ref. M limit mode 14/15 23353 5B39 E 1 INTEGER_16 100

C01223 MCK: Ref waiting time mode 14/15 23352 5B38 E 1 UNSIGNED_16 1

C01224 MCK: Ref speeds 23351 5B37 A 2 INTEGER_32 10000

C01225 MCK: Ref accelerations 23350 5B36 A 2 INTEGER_32 10000

C01226 MCK: Ref S-ramp time 23349 5B35 A 1 UNSIGNED_16 1000

C01227 MCK: Ref positions 23348 5B34 A 2 INTEGER_32 10000

C01228 MCK: Ref sequence profile 23347 5B33 E 1 UNSIGNED_8 1

C01229 MCK: position limiting values 23346 5B32 A 2 INTEGER_32 10000

C01230 MCK: Manual jog setting 23345 5B31 E 1 UNSIGNED_8

C01231 MCK: Manual jog speeds 23344 5B30 A 2 INTEGER_32 10000

C01232 MCK: Manual jog accelerations 23343 5B2F A 2 INTEGER_32 10000

C01233 MCK: Manual jog S-ramp time 23342 5B2E A 1 UNSIGNED_16 1000

C01234 MCK: Manual jog breakpoint 23341 5B2D A 4 INTEGER_32 10000

C01235 MCK: Manual jog waiting time 23340 5B2C A 1 UNSIGNED_16 1000

C01236 MCK: Follower speeds 23339 5B2B A 1 INTEGER_32 10000

C01237 MCK: Follower accelerations 23338 5B2A A 2 INTEGER_32 10000

C01238 MCK: Follower S-ramp times 23337 5B29 A 1 UNSIGNED_16 1000

C01239 MCK: Interpolator cycle - PosFollower 23336 5B28 E 1 UNSIGNED_32 1000

C01240 MCK: Control word 23335 5B27 E 1 UNSIGNED_32

C01241 MCK: Status word 23334 5B26 E 1 UNSIGNED_32

C01242 MCK: Act. pos.profile number 23333 5B25 E 1 UNSIGNED_8 1

C01243 MCK: Current operating mode 23332 5B24 E 1 UNSIGNED_8 1

C01244 MCK: Target position detection 23331 5B23 A 1 UNSIGNED_16 1

C01245 MCK: Target position detection 23330 5B22 A 1 INTEGER_32 10000

C01251 MCK: Stop accelerations 23324 5B1C A 1 INTEGER_32 10000

C01252 MCK: Stop S-ramp times 23323 5B1B A 1 UNSIGNED_16 1000

C01297 Alternative function PosExecute 23278 5AEE E 1 UNSIGNED_8

C01298 MCK change of operating mode with profile no.

23277 5AED A 4 UNSIGNED_8 1

C01299 MCKI: MCKInterface status 23276 5AEC E 1 UNSIGNED_8

C01300 Profile data: Positioning mode 23275 5AEB A 15 UNSIGNED_8 1

C01301 Profile data: Position 23274 5AEA A 15 INTEGER_32 10000

C01302 Profile data: Speed 23273 5AE9 A 15 INTEGER_32 10000

C01303 Profile data: Acceleration 23272 5AE8 A 15 INTEGER_32 10000

C01304 Profile data: Deceleration 23271 5AE7 A 15 INTEGER_32 10000

C01305 Profile data: Final speed 23270 5AE6 A 15 INTEGER_32 10000

C01306 Profile data: S-ramp time 23269 5AE5 A 15 UNSIGNED_16 1000

C01307 Profile data: Sequence profile 23268 5AE4 A 15 UNSIGNED_8 1

C01501 Resp. to communication error with MCI

23074 5A22 a 2 UNSIGNED_8 1

C01670 L_ComparePhi: Function 22905 5979 A 5 UNSIGNED_8 1

C01671 L_ComparePhi: Hysteresis 22904 5978 A 5 INTEGER_32 1

C01672 L_ComparePhi: Window 22903 5977 A 5 INTEGER_32 1

C01902 Diagnostics X6: Max. baud rate 22673 5891 E 1 UNSIGNED_16 1

C01903 Diagnostics X6: change baud rate 22672 5890 E 1 UNSIGNED_8 1

C01905 Diagnostics X6: act. baud rate 22670 588E E 1 UNSIGNED_32 1




864 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C02580 Holding brake: Operating mode 21995 55EB E 1 UNSIGNED_8 1

C02581 Holding brake: Speed threshold 21994 55EA A 3 INTEGER_16 100

C02582 Holding brake: Setting 21993 55E9 E 1 UNSIGNED_8

C02589 Holding brake: Time system 21986 55E2 A 3 UNSIGNED_16 1

C02593 Holding brake: Activation time 21982 55DE A 4 UNSIGNED_32 1000

C02607 Holding brake: status 21968 55D0 E 1 UNSIGNED_16

C02610 MCK: Accel./decel. times 21965 55CD A 2 UNSIGNED_32 1000

C02611 MCK: Limitations 21964 55CC A 4 INTEGER_16 100

C02830 DIx: debounce time 21745 54F1 A 7 UNSIGNED_8 1

C02840 CountIn: Parameter 21735 54E7 A 4 UNSIGNED_32 1

C02841 CountInx: Counter content 21734 54E6 A 2 UNSIGNED_32 1

C02842 FreqInxx: offset 21733 54E5 A 2 INTEGER_16 100

C02843 FreqInxx: gain 21732 54E4 A 2 INTEGER_16 100



Firmware 02.00 - DMS EN 3.0 - 05/2009 L 865

8400 HighLine C | Software ManualIndex

18 Index

Symbols"Actuating drive - speed" technology application 349

"Positioning" technology application 391

Numerics16-bit connection table (C610) 704

16bit input analog (C00830) 788

16bit input analog AdditionalFBsHL (C00835) 799

16bit input common (C00831) 790

16bit input common AdditionalFBsHL (C00836) 801

16bit input velocity (C00832) 792

16bit input velocity AdditionalFBsHL (C00837) 803

16bit SysInput analog (C00840) 810

16bit SysInput common (C00841) 811

16-bit system connection (C00620) 705

24 V supply voltage (C00065) 618

32-bit connection table (C612) 704

32bit input AdditionalFBsHL (C00839) 809

32bit input analog (C00834) 799

32bit SysInput (C00844) 815

382060 305

8bit input (C00833) 795

8bit input AdditionalFBsHL (C00838) 805

8bit SysInput (C00843) 812

AAccel. time - add. setpoint (C00220) 645

Accel. time - main setpoint (C00012) 611

Acknowledgement error 259

Activation of the bus terminating resistor 224

Active COBID (C00355) 657

Add. acceleration time x (C00101) 624

Add. deceleration time x (C00103) 624

AINxConfiguration (C00034) 615Gain (C00027) 613Input current (C00029) 614Input voltage (C00028) 614Offset (C00026) 613Output value (C00033) 614

Alternative function PosExecute (C01297) 841

Analog inputs 179

Analog outputs 183

Angle system connection (C00622) 727

ApplicationReference frequency C11 (C00059) 617Reference speed (C00011) 610

Application conditions 222

Application notes 21

Application selection (C00005) 607

Assignment of the process data objects 239

Auto-DCBHold time (C00106) 625Threshold (C00019) 612

AutoFailReset repetition time (C00184) 642

AutoFailReset residual runtime (C00185) 642

Auto-start option (C00142) 630

Available process data objects 234

Axis dataCurrent positions (C01210) 828Feed constant (C01204) 827Following error (C01215) 829iG motor/position encoder (C01203) 826iM motor/process (C01202) 826Mounting direction (C01206) 827Position resolution (C01205) 827Speed (C01211) 828

BBasic drive functions 334

Basic functions 334

Basic identifier for individual identifier assignment 239

Basic signal flow 349

Bit error 259

Bool connection table (C611) 704

Bool system connection (C00621) 713

Brake control 335

Brake resistance value (C00129) 627

Brake resistor overload threshold (C00572) 696

Brake resistor utilisation (C00133) 627

CC100 624

C101 547, 624

C1010 503, 823

C103 547, 624

C105 624

C106 625

C107 625

C11 610

C1100 519, 823

C1120 824

C1121 824

C1122 824

C1123 824

C1124 825

C114 625

C1140 581, 825

C1141 581, 825

C115 626

C1150 562, 826

C1151 562, 826


866 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C117 626

C118 626

C12 547, 611

C120 627

C1202 826

C1203 826

C1204 827

C1205 827

C1206 827

C1210 828

C1211 828

C1213 828

C1215 829

C1218 829

C1219 830

C1221 830

C1222 830

C1223 831

C1224 831

C1225 831

C1226 831

C1227 832

C1228 832

C1229 832

C123 627

C1230 833

C1231 833

C1232 833

C1233 834

C1234 834

C1235 834

C1236 834

C1237 835

C1238 835

C1239 835

C1240 836

C1241 838

C1242 839

C1243 839

C1244 840

C1245 840

C1251 840

C1252 840

C129 627

C1297 841

C1298 841

C1299 533, 842

C13 547, 611

C130 627

C1300 842

C1301 842

C1302 843

C1303 843

C1304 843

C1305 843

C1306 844

C1307 844

C131 627

C133 627

C134 547, 628

C136 628

C137 629

C138 630

C142 630

C144 631

C15 611

C150 631

C1501 844

C155 632

C158 633

C159 634

C16 611

C161 634

C163 635

C164 637

C165 639

C166 639

C167 639

C1670 509, 845

C1671 509, 845

C1672 509, 845

C168 639

C169 640

C170 640

C171 640

C173 640

C174 641

c175 641

C1751 846

C1752 846

C1755 846

C1763 846

C1764 846

C1765 846

C177 641

C1770 846

C178 641

C179 642

C18 612

C180 642

C182 547, 642

C184 642

C185 642

C186 642

C187 643

C188 643

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 867


C189 643

C19 612

C190 547, 643

C1902 846

C1903 847

C1905 847

C2 605

C200 644

C201 644

C203 644

C204 644

C205 645

C206 645

C21 612

C210 645

C22 613

C220 547, 645

C221 547, 645

C222 568, 645

C223 568, 645

C224 568, 645

C225 568, 646

C226 568, 646

C227 568, 646

C228 568, 646

C23 613

C231 568, 646

C233 568, 647

C234 647

C235 647

C236 647

C24 613

C241 547, 647

C242 569, 648

C243 569, 648

C244 569, 648

C245 569, 648

C249 573, 648

C250 573, 649

C251 528, 649

C252 528, 649

C253 528, 649

C254 649

C2580 847

C2581 847

C2582 848

C2589 849

C2593 849

C26 613

C2607 850

C2610 850

C2611 851

C265 650

C27 613

C270 650

C271 650

C272 650

C273 650

C274 650

C275 651

C276 651

C28 614

C280 651

C2830 852

C2840 853

C2841 853

C2842 853

C2843 854

C29 614

C290 651

C291 651

C296 651

C297 651

C2994 854

C2995 854

C2996 854

C3 607

C301 651

C302 651

C304 652

C305 652

C306 652

C307 652

C308 652

C309 652

C310 652

C311 652

C313 652

C314 652

C315 652

C316 652

C317 653

C320 653

C321 653

C322 653

C323 653

C33 614

C338 502, 654

C339 502, 654

C34 615

C345 654

C347 655

C349 655

C350 656

C351 656

C352 656


868 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C353 656

C354 657

C355 657

C356 658

C357 658

C358 658

C359 659

C36 615

C360 659

C364 660

C366 660

C367 660

C368 660

C369 661

C372 661

C381 661

C385 661

C386 662

C39 547, 615

C400 597, 662

C401 662

C408 663

C409 663

C410 578, 664

C411 580, 670

C412 580, 682

C413 578, 682

C420 682

C423 683

C425 683

C434 684

C435 684

C436 684

C437 684

C439 685

C440 685

C443 686

C444 687

C445 687

C446 687

C455 688

C456 688

C458 688

C465 688

C466 688

C467 688

C468 688

C469 689

C470 594, 689

C471 592, 689

C472 593, 690

C473 595, 690

C474 690

C480 586, 691

C481 584, 691

C482 585, 691

C483 691

C488 692

C490 692

C495 692

C496 693

C497 693

C5 607

C50 616

C51 616

C516 693

C517 694

C52 616

C53 616

C54 616

C56 617

C560 695

C561 695

C565 695

C566 695

C567 696

C569 696

C57 617

C570 696

C572 696

C574 697

C576 697

C577 697

C578 697

C579 697

C58 617

C581 698

C582 698

C585 698

C586 699

C588 699

C59 617

C590 699

C592 699

C593 700

C594 700

C595 701

C597 701

C598 702

C599 702

C6 608

C600 702

C601 702

C602 703

C604 703

C606 703

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 869


C607 703

C608 703

C609 704

C61 617

C610 704

C611 704

C612 704

C613 704

C615 704

C617 704

C620 705

C621 713

C622 727

C630 529, 728

C631 729

C632 547, 729

C633 548, 729

C634 548, 730

C635 548, 730

C636 548, 730

C637 730

C638 731

C639 731

C64 618

C640 731

C65 618

C650 502, 731

C66 618

C670 556, 731

C671 556, 732

C672 556, 732

C673 557, 732

C674 557, 732

C677 732

C678 733

C679 541, 733

C680 504, 733

C681 505, 733

C682 505, 734

C685 504, 734

C686 505, 734

C687 505, 734

C690 504, 734

C691 505, 735

C692 505, 735

C693 504, 735

C694 505, 735

C695 505, 736

C696 556, 736

C697 556, 736

C698 556, 736

C699 541, 736

C7 609

C70 618

C700 737

C701 744

C705 757

C706 757

C71 619

C710 757

C711 765

C712 779

C715 779

C716 779

C717 780

C72 619

C720 522, 780

C721 522, 780

C725 780

C726 781

C727 781

C728 782

C73 619

C74 619

C75 619

C750 782

C76 620

C77 620

C78 620

C79 620

C8 609

C80 621

C800 538, 782

C801 538, 782

C802 538, 782

C803 538, 782

C804 538, 783

C805 783

C806 538, 783

C807 783

C808 784

C809 784

C81 621

C810 784

C82 621

C820 525, 784

C821 525, 785

C822 525, 785

C823 525, 785

C824 526, 786

C825 526, 527, 786

C826 526, 787

C827 526, 527, 787

C83 621

C830 788

C831 790


870 L Firmware 02.00 - DMS EN 3.0 - 05/2009

C832 792

C833 795

C834 799

C835 799

C836 801

C837 803

C838 805

C839 809

C84 621

C840 810

C841 811

C843 812

C844 815

C85 622

C866 816

C868 817

C87 622

C876 818

C877 819

C88 622

C89 622

C890 819

C90 622

C909 820

C91 623

C910 820

C915 820

C916 820

C917 820

C92 623

C922 820

C93 623

C95 623

C966 821

C97 623

C971 821

C972 821

C973 821

C98 623

C985 822

C986 822

C99 624

C990 822

C991 822

C992 822

C993 823

C994 823

CAN baud rate (C00351) 656

CAN CAN1_OUT transmit at sync (C00366) 660

CAN data telegram 227

CAN DIP switch setting (C00349) 655

CAN error status (C00345) 654

CAN HeartBeat ConsumerTime (C00386) 662

CAN heartbeat producer time (C00381) 661

CAN IN/OUT COBID source (C00353) 656

CAN input words (C00866) 816

CAN MessageError (C00364) 660

CAN monitoring times (C00357) 658

CAN node addr. HeartBeat producer (C00385) 661

CAN node address (C00350) 656

CAN on board 219

CAN output words (C00868) 817

CAN slave/master (C00352) 656

CAN start remote node 233

CAN status (C00359) 659

CAN status HeartBeat producer (C00347) 655

CAN sync Rx identifier (C00367) 660

CAN sync transmission cycle time (C00369) 661

CAN sync Tx identifier (C00368) 660

CAN telegram counter (C00360) 659

CAN time settings (C00356) 658

CAN_Tx_Rx_Error (C00372) 661

CANx_OUT data length (C00358) 658

CANxInOutInversion (C00401) 662

Cause of controller inhibit (C00158) 633

Cause of quick stop QSP (C00159) 634

Checksums (C516) 693

COBID (C00354) 657

COB-ID EMCY (I-1014) 269

COB-ID SYNC message (I-1005) 268

Communication control words (C00136) 628

Communication cycle period (I-1006) 269

Communication phases 229

Communication time 223

Comparing applications 489

Comparing FB interconnections 489

Comparing interconnections 489

Comparison value N_Act (C00024) 613

Configuration of AutoFailReset (C00188) 643

Connect. table 16-bit AdditionalFBsHL (C613) 704

Connect. table 32-bit AdditionalFBsHL (C617) 704

Connect. table Bool AdditionalFBsHL (C615) 704

Controller commands (C00002) 605

Conventions used 19

Conventions used for variable identifiers 447

Copying complete interconnection 492

Copying elements 483

Copying FB interconnection 492

Copying interconnection 492

Copying interconnection elements 483

Copying objects 483

Counter Receive Error Isr (C297) 651

CountInParameter (C02840) 853

CountInxCounter content (C02841) 853

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 871


CRC error 259

Current AutoFailReset procedures (C00187) 643

Current error (C00170) 640

Current limit values (C726) 781

Current switching frequency (C00725) 780

DData type 600

Data type entry 447

DCBCurrent (C00036) 615Hold time (C00107) 625

DC-bus voltage (C00053) 616

Debug address (C306) 652

Debug information (C320) 653

Debug value (C307) 652

DebugAccess (C301) 651

Decel. time - add. setpoint (C00221) 645

Decel. time - main setpoint (C00013) 611

Deceleration time - quick stop (C00105) 624

Delayed resp. to faultDC-bus overvoltage (C00601) 702

Device state (C00137) 629

Device type (I-1000) 266

Device utilisat. threshold (Ixt) (C00123) 627

Device utilisation (Ixt) (C00064) 618

DI polarity (C00114) 625

Diagnostics X6Changing the baud rate (C01903) 847Current baud rate (C01905) 847max. baud rate (C01902) 846

Digital input assignment 744

Digital inputs 187

Digital outputs 197

DigOutDelay times (C00423) 683

DIP switch settings 224

DIxDebounce time (C02830) 852Level (C00443) 686

DOxLevel (C00444) 687

DOx inversion (C00118) 626

DRIVE ERROR-LED 55

Drive interface 54

DRIVE READY-LED 55

EEditor level (C456) 688

Elapsed-hour meter (C00178) 641

E-mail to Lenze 879

Emergency 261

Encoder evaluation 211

Encoder evaluation procedure (C00496) 693

Encoder sample time (C00425) 683

Error codes 253

Error detection 259

Error information (C00165) 639

Error information text (C00166) 639

Error messages 298

Error messages (short overview) 303

Error number 298

Error register (I-1001) 266

Error type RCOM (C291) 651

FFan failure (C00561) 695

Fan switching status (C00560) 695

FB display input output2 (C2996) 854

FB display input/output (C2995) 854

FB Editor 442

FB xy position (C2994) 854

FB_call table (C455) 688

Fct. DI 1/2 & 6/7 (C00115) 626

Feedback to Lenze 879

Feedforward control of torque 115, 124

Fieldbus interface 316

Filter time - earth-fault detect. is running (C1770) 846

Filter time - oscill. damping (C00235) 647

Firmware (C00201) 644

Firmware download function is active 57

Firmware product type (C00200) 644

Firmware version (C00099) 624

Firmware version (C00100) 624

Fixed setpoint x (L_NSet_1 n-Fix) (C00039) 615

Flying restart fct.Activation (C00990) 822Current (C00994) 823Int. time (C993) 823Process (C00991) 822Start frequency (C00992) 822

Format error 259

FreqInxxGain (C02843) 854Offset (C02842) 853

FreqInxx_nOut_a (C00446) 687

FreqInxx_nOut_v (C00445) 687

Frequency limitation (C00910) 820

Function assignment 744

Function block editor 442

Function L_Counter 1-3 (C01100) 823

GGeneral data 222

gotolink parameter.fmc129 174c130 174c131 174


872 L Firmware 02.00 - DMS EN 3.0 - 05/2009

c133 174C173 173, 176C174 173, 176c175 175, 176C2 67C242 43C5 42c572 173C574 173, 176C7 43C806 43

HHeartbeat protocol 260

Heatsink temperature (C00061) 617

Holding brake 335Activation time (C02593) 849Operating mode (C02580) 847Setting (C02582) 848Speed thresholds (C02581) 847Status (C02607) 850Time system (C02589) 849

Homing 427

HW version (C210) 645

II-1000 266

I-1001 266

I-1003 267

I-1005 268

I-1006 269

I-1014 269

I-1017 270

I-1018 270

I-1200 271

I-1201 272

I-1400 274

I-1401 275

I-1402 276

I-1600 277

I-1601 277

I-1602 278

I-1800 279

I-1801 281

I-1802 282

I-1A00 283

I-1A01 283

I-1A02 284

ICM_DiagnosticCounter (C922) 820

ICOM error number (C296) 651

Identifier 228

Identifier assignment 228

Identifiers of the parameter data objects 247

Identifiers of the process data objects 237

Identity object (I-1018) 270

Imax in generator mode (C00023) 613

Imax in motor mode (C00022) 613

Imax/M controller gain (C00073) 619

Imax/M controller reset time (C00074) 619

Info (C205) 645

Insert options for copied elements 485

Inserting complete interconnection from reference project 493

Inserting copied elements 485

Inserting FB interconnection from reference project 493

Integrated error detection 259

Internal Commands (C302) 651

Internal control signals (C00138) 630

JJerk limitation 437

KKeypad

Default parameters (C00466) 688Default welcome screen (C00467) 688STOP key function (C00469) 689Time-out - welcome screen (C00465) 688

Keypad analog values (C00728) 782

Keypad digital values (C00727) 781

Keypad LCD display 290

Kp position controller (C00254) 649

LL_Absolut 497

L_Absolute_1 497

L_Absolute_2 497

L_AddSub 498

L_AddSub_1 498

L_AnalogSwitch 499

L_AnalogSwitch_1 499





L_And 500

L_And_1 500

L_And_2 500

L_And_3 500

L_And5 501

L_And5_1 501

L_And5_2 501

L_Arithmetik 502

L_Arithmetik 3-5Fct. (C00650) 731

L_Arithmetik_1 502Function (C00338) 654

L_Arithmetik_2 502

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 873


Function (C00339) 654

L_Arithmetik_3 502

L_Arithmetik_4 502

L_Arithmetik_5 502

L_ArithmetikPhi 503

L_ArithmetikPhi 1-3Function (C01010) 823

L_ArithmetikPhi_1 503



L_Compare 504

L_Compare 4-5Fct. (C00693) 735Hysteresis (C00694) 735Window (C00695) 736

L_Compare_1 504Fct. (C00680) 733Hysteresis (C00681) 733Window (C00682) 734



L_Compare_4 504

L_Compare_5 504

L_ComparePhi 509Function (C01670) 845Hysteresis (C01671) 845Window (C01672) 845

L_ComparePhi_1 509

L_ComparePhi_2 509

L_ComparePhi_3 509

L_ComparePhi_4 509

L_ComparePhi_5 509

L_ConvBitsToWord 514

L_ConvBitsToWord_1 514



L_ConvDIntToWords 515

L_ConvDIntToWords_1 515



L_ConvWordsToDInt 516

L_ConvWordsToDInt_1 516



L_ConvWordToBits 517

L_ConvWordToBits_1 517



L_Counter 518

L_Counter_1 518

L_Counter_2 518

L_Counter_3 518

L_DFlipFlop 520

L_DFlipFlop_1 520

L_DFlipFlop_2 520

L_DigitalDelay 522

L_DigitalDelay 2,3 delay (C00721) 780

L_DigitalDelay_1 522

L_DigitalDelay_1 delay (C00720) 780



L_DigitalLogic 524

L_DigitalLogic_1 524Fct. (C00820) 784Truth table (C00821) 785

L_DigitalLogic_2 524Function (C00822) 785Truth table (C00823) 785

L_DigitalLogic5 526

L_DigitalLogic5_1 526Function (C00824) 786Truth table (C00825) 786

L_DigitalLogic5_2 526Function (C00826) 787Truth table (C00827) 787

L_DT1 528

L_DT1_1 528DelayTime (C00251) 649Gain (C00252) 649Sensitivity (C00253) 649

L_GainOffsetP 1-3Parameter (C00677) 732

L_GainOffsetPhiP 1-2Parameter (C00678) 733

L_JogCtrlEdgeDetect (C00488) 692

L_Limit 529

L_Limit 1-2 Min/Max (C00630) 728

L_Limit_1 529

L_Limit_2 529

L_LimitPhi 1-3 Min/Max (C00631) 729

L_MckCtrlInterface 530

L_MckCtrlInterface_1 530

L_MckStateInterface 535

L_MckStateInterface_1 535

L_MPot 537

L_MPot_1 537Acceleration time (C00802) 782Deceleration time (C00803) 782Inactive function (C00804) 783Init fct. (C00805) 783Lower limit (C00801) 782Upper limit (C00800) 782Use (C00806) 783

L_MulDiv 541


874 L Firmware 02.00 - DMS EN 3.0 - 05/2009

L_MulDiv_1 541Parameter (C00699) 736

L_MulDiv_2 541Parameter (C00679) 733

L_Mux 542

L_Mux_1 542

L_Negation 543

L_Negation_1 543

L_Negation_2 543

L_NLim_1 Max.SkipFrq. (C00807) 783

L_NLim_1 Min.SkipFrq. (C00808) 784

L_NLim_2 Max.SkipFrq. (C00809) 784

L_NLim_2 Min.SkipFrq. (C00810) 784

L_Not 544

L_Not_1 544

L_Not_2 544

L_Not_3 544

L_Not_4 544

L_Not_5 544

L_Not_6 544

L_Not_7 544

L_Nset 545

L_NSet_1 545Additional value output (C00639) 731Blocking zone output (C00637) 730Hyst. NSet reached (C00241) 647Max.SkipFrq. (C00632) 729nMaxLimit (C00635) 730nMinLimit (C00636) 730nNOut_a (C00640) 731Ramp rounding output (C00638) 731wState (C00634) 730

L_NSet_1 Min.SkipFrq. (C00633) 729

L_OffsetGainP 555

L_OffsetGainP_1 555Gain (C00670) 731Offset (C00696) 736



L_OffsetGainPhiP 557

L_OffsetGainPhiP 1-2Gain (C00674) 732Offset (C00673) 732

L_OffsetGainPhiP_1 557

L_OffsetGainPhiP_2 557

L_Or 559

L_Or_1 559

L_Or_2 559

L_Or_3 559

L_Or5 560

L_Or5_1 560

L_Or5_2 560

L_PCTRL 566

L_PCTRL_1 566Acceleration time (C00227) 646Acceleration time influence (C00243) 648Deceleration time (C00228) 646Deceleration time influence (C00244) 648Kd (C00224) 645MaxLimit (C00225) 646MinLimit (C00226) 646Operating mode (C00242) 648Operating range (C00231) 646PID output value (C00245) 648Root function (C00233) 647Tn (C00223) 645Vp (C00222) 645

L_PhaseIntK 561Compare (C01151) 826Function (C01150) 826

L_PhaseIntK_1 561

L_PhaseIntK_2 561

L_PT1 573

L_PT1 2-3DelayTime (C00250) 649

L_PT1_1 573Time constant (C00249) 648

L_PT1_2 573

L_PT1_3 573

L_RLQ 574

L_RLQ_1 574

L_RSFlipFlop 575

L_RSFlipFlop_1 575

L_RSFlipFlop_2 575

L_SampleHold 576

L_SampleHold_1 576

L_SampleHold_2 576

L_SignalMonitor_a 577

L_SignalMonitor_a offset/gain (C00413) 682

L_SignalMonitor_a par. (C00410) 664

L_SignalMonitor_b 579Inversion (C00412) 682

L_SignalMonitor_b par. (C00411) 670

L_Transient 581

L_Transient 1-4Function (C01140) 825

L_Transient 1-4 pulse duration (C01141) 825

L_Transient_1 581

L_Transient_2 581

L_Transient_3 581

L_Transient_4 581

LA_NCtrl 368Analog connection list (C00700) 737Digital connection list (C00701) 744

LA_NCtrl_OutAnalog signal list (C705) 757

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 875


LA_NCtrl_Out digital signal list (C706) 757

LA_TabPos 410Analog connection list (C00710) 757Connection list phi (C712) 779Digital connection list (C00711) 765

LA_TabPos_OutAnalog signal list (C715) 779Digital signal list (C716) 779Signal list phi (C717) 780

Layout of the safety instructions 21

LCD display (keypad) 290

LED status displays 55

Logbook - analog elements (C00164) 637

Logbook - binary elements (C00163) 635

Logbook access index (C171) 640

Logbook data (C167) 639

Logbook setting (C00169) 640

LP_CanIn mapping (C00409) 663

LP_CanIn mapping selection (C00408) 663

LP_CanIn1 ... LP_CanIn3 241

LP_CanOut1 ... LP_CanOut3 243

LP_MciIn 245

LP_MciOut 245

LS_AnalogIn1PT1 time constant (C00440) 685

LS_AnalogInput 182

LS_AnalogOutput 186

LS_Brake 336

LS_DataAccessActivation (C313) 652Address access (C314) 652

LS_DigitalInput 190

LS_DigitalOutput 200

LS_DisFree 584

LS_DisFree (C00481) 691

LS_DisFree_a 585

LS_DisFree_a (C00482) 691

LS_DisFree_b 586

LS_DisFree_b (C00480) 691

LS_DisFree_p (C00483) 691

LS_DriveInterface 70

LS_MotionControlKernel 587

LS_MotorInterface 163

LS_ParFix 591

LS_ParFree 592

LS_ParFree (C00471) 689

LS_ParFree_a 593

LS_ParFree_a (C00472) 690

LS_ParFree_b 594

LS_ParFree_b (C00470) 689

LS_ParFree_p (C00474) 690

LS_ParFree_v 595

LS_ParFree_v (C00473) 690

LS_PulseGenerator 596

LS_PulseGenerator (C00400) 662

LS_SetError 312

LS_SetError_1 312

LS_SetError_2 312

LS_SetError_xError number (C00161) 634

MMain program runtime (C00321) 653

Mains voltage (C00173) 640

Max. no. of AutoFailReset procedures (C00186) 642

Maximum torque (C00057) 617

MCI input words (C00876) 818

MCI output words (C00877) 819

MCI_InOutInversion (C00890) 819

MCKAcceleration/deceleration times (C02610) 850Act. pos. profile number (C01242) 839Control word (C01240) 836Current operating mode (C01243) 839Follower accelerations (C01237) 835Follower speeds (C01236) 834Follower S-ramp times (C01238) 835Interpolator cycle - PosFollower (C01239) 835Limitations (C02611) 851Manual jog accelerations (C01232) 833Manual jog breakpoints (C01234) 834Manual jog setting (C01230) 833Manual jog speeds (C01231) 833Manual jog S-ramp time (C01233) 834Manual jog waiting times (C01235) 834Max. distance to be traversed (C01213) 828PosFollower setting (C01218) 829Position limiting values (C01229) 832Ref accelerations (C01225) 831Ref mode (C01221) 830Ref positions (C01227) 832Ref sequence profile (C01228) 832Ref speeds (C01224) 831Ref S-ramp time (C01226) 831Ref waiting time mode 14/15 (C01223) 831Ref. M limit mode 14/15 (C01222) 830Resp. MCK error (C00595) 701Speed follower setting (C01219) 830Status word (C01241) 838Stop accelerations (C01251) 840Stop S-ramp times (C01252) 840Target position detection (C01244) 840Target position detection (C01245) 840

MCK change of operating mode with profile no. (C01298) 841

MCK control word 415

MCKIMCKInterface status (C01299) 842


876 L Firmware 02.00 - DMS EN 3.0 - 05/2009

MCTRLActual speed value (C00051) 616Speed setpoint (C00050) 616

Moment of inertia (C00273) 650

Monitoring 295

Motor cable cross-section (C00916) 820

Motor cable length (C00915) 820

Motor cable resistance (C00917) 820

Motor control 83

Motor cosine phi (C00091) 623

Motor current (C00054) 616

Motor holding brake 335

Motor magnetising current (C00095) 623

Motor magnetising inductance (C00092) 623

Motor overload threshold (I²xt) (C00120) 627

Motor parameter identification is active 59

Motor phase failure threshold (C00599) 702

Motor rotor resistance (C00082) 621

Motor rotor time constant (C00083) 621

Motor stator leakage inductance (C00085) 622

Motor stator resistance (C00084) 621

Motor voltage (C00052) 616

NNact filter time constant (C00497) 693

Network management (NMT) 232

Node address (node ID) 227

Number of encoder increments (C00420) 682

OOptimise response to setpoint changes 115, 124

Original application|Control source (C00008) 609

Oscill. damping - field weakening (C00236) 647

Oscillation damping influence (C00234) 647

Output frequency (C00058) 617

Override point of field weakening (C00080) 621

OxICurrent (C00437) 684

OxUVoltage (C00436) 684

OxU/IGain (C00434) 684Input value (C00439) 685Offset (C00435) 684

PParameterisable function blocks 445

PartitionOffset (C308) 652

PartitionSel (C309) 652

PartitionValue (C310) 652

Password1 (C304) 652

Password2 (C305) 652

PDO mapping 240

Port block LP_MciIn 245

Port block LP_MciOut 245

Port blocks LP_CanIn1 ... LP_CanIn3 241

Port blocks LP_CanOut1 ... LP_CanOut3 243

Position encoder selection (C00490) 692

Power section ID (C00093) 623

Power-on time meter (C00179) 642

Pre-defined error field (I-1003) 267

Printing the interconnection 488

Process data objects, cyclic 236

Process data objects, event-controlled 237

Process data objects, identifiers 237

Processing time 223

Producer heartbeat time (I-1017) 270

Product type code (C00203) 644

Production date (C206) 645

Profile dataAcceleration (C01303) 843Deceleration (C01304) 843Final speed (C01305) 843Position (C01301) 842Positioning mode (C01300) 842Sequence profile (C01307) 844Speed (C01302) 843S-ramp time (C01306) 844

RRamp rounding main setpoint (C00134) 628

Rated brake resistor power (C00130) 627

Rated device current (C00098) 623

Rated motor current (C00088) 622

Rated motor frequency (C00089) 622

Rated motor power (C00081) 621

Rated motor speed (C00087) 622

Rated motor torque (C00097) 623

Rated motor voltage (C00090) 622

RCOM error counter (C290) 651

Reduced brake chopper threshold (C00174) 641

Reference project 493

Reference setting 427

Reset of error message 301

Resp. LS_SetError_x (C00581) 698

Resp. to brake resist. overtemp. (C00574) 697

Resp. to CAN bus connection (C00592) 699

Resp. to CANx_IN monitoring (C00593) 700

Resp. to communication error with MCI (C01501) 844

Resp. to control word error (C00594) 700

Resp. to controller limitations (C00570) 696

Resp. to DC-bus voltage (C00600) 702

Resp. to device overload (Ixt) (C00604) 703

Resp. to earth fault (C00602) 703

Resp. to encoder wire breakage (C00586) 699

Resp. to fan failure (C00566) 695

Resp. to heatsink temp. > shutdown temp. -5°C (C00582) 698

Firmware 02.00 - DMS EN 3.0 - 05/2009 L 877


Resp. to mains phase failure (C00565) 695

Resp. to max. speed at switch. freq. (C00588) 699

Resp. to max. speed reached (C00607) 703

Resp. to maximum current (C00609) 704

Resp. to maximum torque (C00608) 703

Resp. to motor overload (I²xt) (C00606) 703

Resp. to motor overtemp. PTC (C00585) 698

Resp. to motor phase failure (C00597) 701

Resp. to open circuit AINx (C00598) 702

Resp. to peak current (C00569) 696

Resp. to speed controller limited (C00567) 696

Resp. to speed monitoring (C00579) 697

Resp. to switching frequency reduction (C00590) 699

Resp. too frequent AutoFailReset (C00189) 643

Response for brake resistor control (C00175) 641

RPDO1 communication parameter (I-1400) 274

RPDO1 mapping parameter (I-1600) 277





Running time (C00180) 642

Runtime measurement (C311) 652

SSafety instructions 21

SCDepth of current setpoint filter (C00272) 650Field precontrol (C00576) 697Filter time const. DC detect. (C00280) 651Freq. current setpoint filter (C00270) 650Max. acceleration change (C00274) 650max. output voltage (C00276) 651Settings (C00079) 620Tdn speed controller (C00072) 619Tn field controller (C00078) 620Tn field weakening controller (C00578) 697Vp field controller (C00077) 620Vp field weakening controller (C00577) 697Width of current setpoint filter (C00271) 650

Scaling of physical units 448

SDO1 server parameter (I-1200) 271

SDO2 server parameter (I-1201) 272

Select control mode (C00007) 609

Select motor control (C00006) 608

Select. of BU oscillos. channels (C750) 782

Serial number (C00204) 644

Service code - clamp threshold (C1763) 846

Service code - difference threshold UG (C1765) 846

Service code (C468) 688

Service code inverter charact. (C1751) 846

Service par. - clamp time (C1764) 846

Service Par. TCR factor (C1755) 846

Service Par. TCR function (C1752) 846

Setpoint arithmetic (C00190) 643

Setpoint precontrol filtering (C00275) 651

Setting the baud rate 225

Setting the error response 296

Setting the node address 225

Short overview of error messages 303

Signal source assignment 744

Signal type entry 448

Slip comp. (C00021) 612

SLVCCross-current controller gain (C00986) 822Field controller gain (C00985) 822Tn torque controller (C265) 650

Smooth start-up and quick stop of the drive 422

Speed encoder selection (C00495) 692

Speed limitation (C00909) 820

S-ramp time PT1 (C00182) 642

Status - brake output BD (C00117) 626

Status displays 55

Status of last device command (C00003) 607

Status transitions 231

Status word (C00150) 631

Status word 2 (C00155) 632

Status-determining error (C00168) 639

Stuff-bit error 259

Switching cycles (C00177) 641

Switching freq. reduct. (temp.) (C00144) 631

Switching frequency (C00018) 612

Sync correction increments (C01124) 825

Sync cycle time setpoint (C01121) 824

Sync phase position (C01122) 824

Sync signal source (C01120) 824

Sync window (C01123) 824

Synchronisation of process data objects 237

SYS_call table (C458) 688

System blocks 584

System bus 219

System error messages 298

SystemFail-Adr (C315) 652

SystemFail-Info (C316) 652

TTask selection 452

Technology applications 319

Thermal capacity of brake resistor (C00131) 627

Thermal motor load (I²xt) (C00066) 618

Ti current controller (C00076) 620

Ti speed controller (C00071) 619

Torque (C00056) 617

Torque feedforward control 115, 124

TPDO1 communication parameter (I-1800) 279

TPDO1 mapping parameter (I-1A00) 283




878 L Firmware 02.00 - DMS EN 3.0 - 05/2009



Transmission mode CAN Rx PDOs (C00323) 653

Transmission mode CAN TxPDOs (C00322) 653

Transmission type 235

UUser data 229, 248

User menu (C00517) 694

VVFC

Limitation V/f +encoder (C00971) 821Ti V/f +encoder (C00973) 821Time const. - slip compens. (C00966) 821V/f base frequency (C00015) 611Vmin boost (C00016) 611Vp V/f +encoder (C00972) 821

Vp current controller (C00075) 619

Vp speed controller (C00070) 618

WWatchdogTimeMax (C317) 653

L 879

Your opinion is important to us

These instructions were created to the best of our knowledgeand belief to give you the best possible support for handlingour product.

If you have suggestions for improvement, please e-mail us to:

[email protected]

Thank you for your support.

Your Lenze documentation team

mailto:[email protected]

© 05/2009

Lenze Drives GmbHBreslauer Straße 3D-32699 ExtertalGermany

Service Lenze Service GmbHBreslauer Straße 3D-32699 ExtertalGermany

+49 (0) 51 54 / 82 - 0 00 80 00 / 24 4 68 77 (24 h helpline)

+49 (0) 51 54 / 82 - 11 12 +49 (0) 51 54 / 82 - 11 12

[email protected] [email protected]

www.Lenze.com

EDS84AVHCxx 13292591 EN 3.0 TD06

10 9 8 7 6 5 4 3 2 1




8400 highline software manualgny.com.tr/wp-content/uploads/2016/04/lenze-8400-highline...8400...

Documents