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  • L

    EDS84AVHCxx13292591

    .>:|

    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

  • 8400 HighLine C | Software ManualContents

    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

    4.6.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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

    8400 HighLine C | Software ManualContents

    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

    5.5.1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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 Ixt. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

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

    5.10.3 Monitoring of the brake resistor by Ixt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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

  • 8400 HighLine C | Software ManualContents

    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

    6.2.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183

    6.2.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185

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

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

    6.3.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

    6.3.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189

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

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

    6.4.1 Terminal assignment/electrical data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

    6.4.2 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

    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

    8400 HighLine C | Software ManualContents

    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

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    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

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    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 Parameter setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337

    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

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    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

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    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

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    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

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    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

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

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

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

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

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    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

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    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

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    8400 HighLine C | Software ManualContents

    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)

    http://www.Lenze.com

  • 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 Press to open the Online Help.

    If a command requires a combination of keys, a "+" is placed between the key symbols:Use + 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

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    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.

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    8400 HighLine C | Software ManualProduct description

    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

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    8400 HighLine C | Software ManualProduct description

    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:

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    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)

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    8400 HighLine C | Software ManualProduct description

    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 theEngineer. 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".

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    8400 HighLine C | Software ManualCommissioning

    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 Ixt ( 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)=

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    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.

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    8400 HighLine C | Software ManualCommissioning

    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

    MCTRL: Act. speed val.

    C00051

    0 rpm

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    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

    Par1 Quick commissioning

    Terminals

    KeypadSAVE

    Par1 8400 HighLineC

    User - Menu

    Logbook

    Go to param

    Quick commissioning EDIT

    Load Lenze setting

    C00002/1

    EDIT

    < ... >

    C00728

    C00051

    SAVE

    Par1 Quick commissioning

    Terminals

    Keypad

    SAVE

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    8400 HighLine C | Software ManualCommissioning

    Quick commissioning

    3.1.2 Terminal control

    Please proceed step by step:

    1. Wire the power connectionsMake use of the