shpplcdreusesw l-force controls - lenzedownload.lenze.com/td/ipc__applicationsamples (plc... ·...
TRANSCRIPT
L
SHPPLCDREUSESW13412153
Ä.J6Vä
Software manual
PLC Designer V2.x
Commissioning of Lenze devices (Application Samples)
PC-based Automation
L-force Controls
1.3 EN - 07/2012 L 3
PLC Designer V2.x| Lenze Application SamplesContents
Contents
1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.1 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.2 Trademark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.3 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.4 Notes used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2 Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3 The "PC-based automation" system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.1 System requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.2 What is the PLC Designer? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.3 Where can I receive a full version of the PLC Designer? . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.3.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5 System bus (CAN) / CANopen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.1 CANopen (Logic) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.2 Communication card MC-CAN2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6 Commissioning the CANopen Logic bus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.1 Overview of the commissioning steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.2 Commissioning field devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.2.1 Going online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.3 Preparing the restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.3.1 Special features of the 9400 Servo Drives HighLine . . . . . . . . . . . . . . . . . . . . . . . . 31
6.3.2 Special features of the 8400 Inverter Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.3.3 Commission 8200 vector frequency inverters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.3.4 Special features of the ECS servo system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
7 Commissioning a sample project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.1 General system structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.2 Wiring the hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
7.2.1 Configuring the CAN interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
7.2.2 Configuring an EL1xx Ethernet interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.3 Opening a project in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.3.1 Establishing communication with the Industrial PC or EL1xx . . . . . . . . . . . . . . . 38
7.3.2 Starting the sample project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
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8 Working with the sample projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
8.1 8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project . . . . . . . . . . . . . . . . . 41
8.1.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
8.1.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
8.1.2.1 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
8.1.2.2 Open the »Engineer« project & go online. . . . . . . . . . . . . . . . . . . . . . . . 43
8.1.3 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
8.1.3.1 Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
8.1.3.2 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
8.1.4 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 48
8.1.4.1 Information/home page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
8.1.4.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
8.1.4.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
8.1.4.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
8.1.4.5 Parameter transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
8.1.4.6 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
8.1.5 Interface assignment in the »Engineer« . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
8.2 8400 HighLine - "LAS_40_INTF_Can_84HL_TabPos" sample project . . . . . . . . . . . . . . . . 61
8.2.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
8.2.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
8.2.3 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
8.2.3.1 Open the »Engineer« project & go online. . . . . . . . . . . . . . . . . . . . . . . . 63
8.2.4 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
8.2.4.1 Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
8.2.4.2 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
8.2.5 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 69
8.2.5.1 Information/home page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
8.2.5.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
8.2.5.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
8.2.5.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
8.2.5.5 Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
8.2.5.6 Parameter transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
8.2.5.7 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
8.2.6 Interface assignment in the »Engineer« . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
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8.3 9400 HighLine - "LAS_40_INTF_Can_94HL_Speed" sample project . . . . . . . . . . . . . . . . . 83
8.3.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
8.3.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
8.3.2.1 Open the »Engineer« project & go online. . . . . . . . . . . . . . . . . . . . . . . . 85
8.3.3 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
8.3.3.1 Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
8.3.3.2 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
8.3.4 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 90
8.3.4.1 Information/home page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
8.3.4.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
8.3.4.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
8.3.4.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
8.3.4.5 Parameter transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
8.3.4.6 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
8.3.5 Interface assignment in the »Engineer« . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
8.4 9400 HighLine - "LAS_40_INTF_Can_94HL_TabPos" sample project . . . . . . . . . . . . . . . . 102
8.4.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
8.4.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
8.4.2.1 Open the »Engineer« project & go online. . . . . . . . . . . . . . . . . . . . . . . . 104
8.4.3 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
8.4.3.1 Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
8.4.3.2 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
8.4.4 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 110
8.4.4.1 Information/home page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
8.4.4.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
8.4.4.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
8.4.4.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
8.4.4.5 Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
8.4.4.6 Parameter transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
8.4.4.7 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
8.4.5 Interface assignment in the »Engineer« . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
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8.5 ECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project . . . . . . . . . . . . . . 125
8.5.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
8.5.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
8.5.3 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
8.5.4 Open the »Global Drive Control« project & go online . . . . . . . . . . . . . . . . . . . . . . 127
8.5.5 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
8.5.5.1 Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
8.5.5.2 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
8.5.6 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 135
8.5.6.1 Information/home page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
8.5.6.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
8.5.6.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
8.5.6.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
8.5.6.5 Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
8.5.6.6 Parameter transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
8.5.6.7 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
8.5.7 Interface assignment in the device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
8.6 8200 vector - "LAS_40_INTF_Can_82_Speed" sample project . . . . . . . . . . . . . . . . . . . . . . 148
8.6.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
8.6.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
8.6.2.1 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
8.6.3 Open the »Global Drive Control« project & go online . . . . . . . . . . . . . . . . . . . . . . 149
8.6.4 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
8.6.4.1 Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
8.6.4.2 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
8.6.5 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 155
8.6.5.1 Information/home page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
8.6.5.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
8.6.5.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
8.6.5.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
8.6.5.5 Parameter transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
8.6.5.6 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
8.6.6 Interface assignment in the »Global Drive Control«. . . . . . . . . . . . . . . . . . . . . . . . 165
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8.7 9300 servo - "LAS_40_INTF_Can_93_Speed" sample project . . . . . . . . . . . . . . . . . . . . . . . 167
8.7.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
8.7.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
8.7.2.1 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
8.7.3 Open the »Global Drive Control« project & go online . . . . . . . . . . . . . . . . . . . . . . 169
8.7.4 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
8.7.4.1 Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
8.7.4.2 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
8.7.5 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 175
8.7.5.1 Information/home page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
8.7.5.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
8.7.5.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
8.7.5.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
8.7.5.5 Parameter transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
8.7.5.6 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
8.7.6 Interface assignment in the »Global Drive Control«. . . . . . . . . . . . . . . . . . . . . . . . 185
8.8 9300 - "LAS_40_INTF_Can_93_EP" sample project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
8.8.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
8.8.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
8.8.2.1 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
8.8.3 Open the »Global Drive Control« project & go online . . . . . . . . . . . . . . . . . . . . . . 190
8.8.4 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
8.8.4.1 Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
8.8.4.2 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
8.8.5 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 197
8.8.5.1 Information/home page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
8.8.5.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
8.8.5.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
8.8.5.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
8.8.5.5 Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
8.8.5.6 Parameter transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
8.8.5.7 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
8.8.6 Interface assignment in the »Global Drive Control«. . . . . . . . . . . . . . . . . . . . . . . . 209
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8 L 1.3 EN - 07/2012
8.9 ECS/9400/8400 - "LAS_40_INTF_84SL_Speed_94HL_Speed_ECSPosShaft" sample project212
8.9.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
8.9.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
8.9.2.1 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
8.9.2.2 Program structure in the »PLC Designer« . . . . . . . . . . . . . . . . . . . . . . . . 214
8.9.2.3 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
8.9.3 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 218
8.9.3.1 Information/home page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
8.9.3.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
8.9.3.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
8.9.3.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
8.9.3.5 "Homing ECS" mode (homing) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
8.9.3.6 Parameter transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
8.9.3.7 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
8.9.4 Interface assignment in the device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
9 Adding other components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
9.1 Copying and inserting nodes of the same series. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
9.1.1 Establishing the connection between the visualisation and the FB. . . . . . . . . . 229
9.2 Inserting further subelements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
9.3 Copying and inserting different nodes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
10 Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
10.1 What to do if the PLC is not running? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
10.1.1 The PLC was exited on the target system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
10.1.2 No download of the PLC program to the target system possible . . . . . . . . . . . . 232
10.2 What to do if the CAN bus is not running/CAN nodes do not respond? . . . . . . . . . . . . . 233
10.3 What to do if the motor does not rotate? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
11 The L_S84_Drive8400.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
11.1 L_S84_ActuatorSpeedBL - actuation of the 8400 BaseLine controller . . . . . . . . . . . . . . . 235
11.1.1 Structure of S84_DriveControl_8400BL - actuation to the controller . . . . . . . . 236
11.1.2 Structure of S84_DriveStatus_8400BL - status of the controller . . . . . . . . . . . . 237
11.2 L_S84_ActuatorSpeedSL - actuation of the 8400 StateLine controller. . . . . . . . . . . . . . . 238
11.2.1 Structure of S84_DriveControl_8400 - actuation to the controller . . . . . . . . . . 239
11.2.2 Structure of S84_DriveStatus_8400 - status of the controller. . . . . . . . . . . . . . . 240
11.3 L_S84_GetVersion - transfer of the version. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
11.4 L_S84_ReadErrorCode - read out error status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
11.5 L_S84_SDOList84SL - parameter list for 8400 StateLine controller. . . . . . . . . . . . . . . . . . 242
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11.6 L_S84_TablePositioningHL - profile data record management . . . . . . . . . . . . . . . . . . . . . 243
11.6.1 Structure of S84_DriveControl_8400HL_TablePositioning - actuation to the drive244
11.6.2 Structure of S84_DriveStatus_8400HL_TablePositioning - status of the controller245
12 The L_S94_Drive9400.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
12.1 L_S94_ActuatorSpeed - actuation of the 9400 HighLine controller . . . . . . . . . . . . . . . . . 246
12.1.1 Structure of S94_DriveControl_ActSpeed - actuation to the 9400 controller. 247
12.1.2 Structure of S94_DriveStatus_ActSpeed - status of the controller . . . . . . . . . . 248
12.2 L_S94_GetVersion - transfer of the version. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
12.3 L_S94_ReadErrorCode - read out error status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
12.4 L_S94_TablePositioning - table positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
12.4.1 Structure of S94_DriveControl_TablePositioning - actuation to the controller 252
12.4.2 Structure of S94_DriveStatus_TablePositioning - status of the controller . . . 253
13 The L_SCS_DriveECS.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
13.1 L_SCS_ActuatorSpeed - actuation of the ECS servo system. . . . . . . . . . . . . . . . . . . . . . . . . 255
13.1.1 Structure of SCS_DriveControl_Speed - control for the drive . . . . . . . . . . . . . . . 256
13.1.2 Structure of SCS_DriveStatus_Speed - status of the controller. . . . . . . . . . . . . . 257
13.2 L_SCS_GetVersion - transfer of the version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
13.3 L_SCS_PosiShaft - actuation of the ECS servo system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
13.3.1 Structure of SCS_DriveControl_PosiShaft - control for the drive . . . . . . . . . . . . 259
13.3.2 Structure of SCS_DriveStatus_PosiShaft - status of the controller . . . . . . . . . . 260
13.3.2.1 Process data from the axis module (status words and actual values) 261
13.3.2.2 Monitor data words from the controller (tx_par1 and tx_par2) . . . 262
13.4 L_SCS_SupplyModule - actuation of the ECS servo system power supply module . . . 263
13.4.1 Structure of SCS_Control_Supply - actuation to the ECS controller power supply module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
13.4.2 Structure of SCS_Status_Supply - status of the controller . . . . . . . . . . . . . . . . . . 265
13.4.3 L_SCS_ReadErrorCode - read out error status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
14 The L_S8V_Drive82Vector.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
14.1 L_S8V_ActuatorSpeed - actuation of the 8200 vector controller. . . . . . . . . . . . . . . . . . . . 267
14.1.1 Actuation to the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
14.1.2 Status of the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
14.2 L_S8V_ReadErrorCode - read out error status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
14.3 L_S8V_SDOList. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
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15 The L_S8S_Drive82SMD.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
15.1 L_S8S_ActuatorSpeed - actuation of the 8400 SMD controller . . . . . . . . . . . . . . . . . . . . . 272
15.1.1 Structure S8S_DriveControl - actuation to the controller . . . . . . . . . . . . . . . . . . . 273
15.1.2 Structure S8S_DriveStatus - status of the controller . . . . . . . . . . . . . . . . . . . . . . . 274
15.2 L_S8S_SDOList . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
16 The L_S93_Drive9300.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
16.1 L_S93_ActuatorSpeed - control the 9300 Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
16.1.1 Structure of 93_DriveControl_Speed - actuation to the controller . . . . . . . . . . 277
16.1.2 Structure of 93_DriveStatus_Speed - status of the controller . . . . . . . . . . . . . . . 278
16.2 L_S93_Positioning - control the 9300 Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
16.2.1 Structure of S93_DriveControl_93xxEP - actuation to the 9300 EP controller 280
16.2.2 Structure of S93_DriveStatus_93xxEP - status of the 9300 EP controller . . . . 281
16.3 L_S93_ReadErrorCode - read out error status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
17 The L_SCB_CANBasic.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
17.1 L_SCB_Actuator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
17.2 L_SCB_CanStatus - node inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
17.3 L_SCB_GetNodeDataRxPDO1 - read out data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
17.4 L_SCB_GetNodeDataRxPDO2 - read out data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
17.5 L_SCB_GetNodeState - node inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
17.6 L_SCB_GetStateOptional - check with regard to "OptionalDevice" . . . . . . . . . . . . . . . . . 287
17.7 L_SCB_GetVersion - transfer of the version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
17.8 L_SCB_ParRead - read parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
17.9 L_SCB_ParRead_String - "String"-read parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
17.10 L_SCB_ParWrite - write parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
17.11 L_SCB_PutNodeDataTxPDO1 - data transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
17.12 L_SCB_PutNodeDataTxPDO2 - data transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
17.13 L_SCB_SDO_Converter - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
17.13.1 SCB_ParameterData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
17.14 L_SCB_SDO_ListSize10 - parameter list (length: 10) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
17.15 L_SCB_SDO_ListSize25 - parameter list (length: 25) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
17.16 L_SCB_SDO_ListSize50 - parameter list (length: 50) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
17.17 L_SCB_StartNode - restart CAN nodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
17.18 L_SCB_StatusSingleNode - read out bus status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
17.18.1 SCB_StateCanMaster . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
17.18.2 Structure of SCB_CanNodeDiagnose -. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
17.19 L_SCB_SDO_TransferTable - transfer parameter list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
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18 The L_SDC_DataConversion.lib library. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
18.1 L_SDC_2BytesToWord - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
18.2 L_SDC_2WordsToDWord - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
18.3 L_SDC_4BytesToDWord - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
18.4 L_SDC_BitsToByte - bit multiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
18.5 L_SDC_BitsToDWord - bit multiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
18.6 L_SDC_BitsToWord - bit multiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
18.7 L_SDC_ByteToBits - bit demultiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
18.8 L_SDC_GetBitOfByte - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
18.9 L_SDC_DWordToBits - bit demultiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
18.10 L_SDC_DWordTo2Words - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
18.11 L_SDC_DWordTo4Bytes - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
18.12 L_SDC_GetBitOfDWord - conversion block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
18.13 L_SDC_GetBitOfWord - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
18.14 L_SDC_GetVersion - transfer of the version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
18.15 L_SDC_ResetBitOfByte - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
18.16 L_SDC_ResetBitOfDWord - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
18.17 L_SDC_ResetBitOfWord - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
18.18 L_SDC_SetBitOfByte - bit operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
18.19 L_SDC_SetBitOfDWord - bit operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
18.20 L_SDC_SetBitOfWord - bit operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
18.21 L_SDC_WordTo2Bytes - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
18.22 L_SDC_WordToBits - bit demultiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
19 The L_SEC_ErrorCode.lib library. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
19.1 L_SEC_GetVersion - transfer of the version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
19.2 L_SEC_InfoErrorCode - read out error status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
20 The L_SSC_Scaling.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
20.1 L_SSC_AccToUnit - conversion block (for 9400 device series) . . . . . . . . . . . . . . . . . . . . . . . 316
20.2 L_SSC_GetAxisData - read out machine parameters from axis data . . . . . . . . . . . . . . . . 317
20.3 L_SSC_GetPosition - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
20.4 L_SSC_GetSpeed - conversion block (for 9400 device series) . . . . . . . . . . . . . . . . . . . . . . . 319
20.5 L_SSC_GetVersion - transfer of the version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
20.6 L_SSC_Norm_aToNorm_n - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
20.7 L_SSC_Norm_nToNorm_a - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
PLC Designer V2.x| Lenze Application SamplesContents
12 L 1.3 EN - 07/2012
20.8 L_SSC_Norm_nToSpeed_s - signal converter (for 9400 device series) . . . . . . . . . . . . . . . 321
20.8.1 SSC_Axis_logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
20.9 L_SSC_PosToUnit - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
20.10 L_SSC_Speed_nToNorm_r - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
20.11 L_SSC_Speed_rToNorm_n - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
20.12 L_SSC_Speed_sToNorm_n - signal converter (for 9400 device series) . . . . . . . . . . . . . . . 324
20.13 L_SSC_Speed_sToSpeed_v - signal converter (for 9400 device series). . . . . . . . . . . . . . . 324
20.14 L_SSC_Speed_vToSpeed_s - signal converter (for 9400 device series). . . . . . . . . . . . . . . 325
20.15 L_SSC_SetAxisData - machine parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
20.16 L_SSC_SetPosition - position conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
20.17 L_SSC_SetSpeed - speed conversion (for 9400 device series) . . . . . . . . . . . . . . . . . . . . . . . 328
20.18 L_SSC_SpeedToUnit - conversion block (for 9400 device series) . . . . . . . . . . . . . . . . . . . . 329
20.19 L_SSC_TaskCycle - read in task time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
20.20 L_SSC_UnitToAcc - conversion block (for 9400 device series) . . . . . . . . . . . . . . . . . . . . . . . 330
20.21 L_SSC_UnitToPos - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
20.22 L_SSC_UnitToSpeed - conversion block (for 9400 device series) . . . . . . . . . . . . . . . . . . . . 332
21 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
Your opinion is important to us. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
PLC Designer V2.x| Lenze Application SamplesAbout this documentation
13 L 1.3 EN - 07/2012
1 About this documentation
This documentation describes the first commissioning steps of a Lenze automation systemon the basis of a simple example application. The automation system used consists of a PLCfor the control technology and drive components connected (via a bus system).
The explanation of the procedure includes the installation of the integrated developmentenvironment, the »PLC Designer«, and the diagnostics of the application.
Tip!
Information and tools regarding the Lenze products can be found in the downloadarea under: http://www.Lenze.com
This manual is part of the "PC-based Automation" manual collection. The manualcollection consists of the following parts:
Read the mounting instructions supplied with the controller first before you start working!The mounting instructions contain safety instructions which must be observed!
Note!
This documentation supplements the software manuals of the »PLC Designer« and »Engineer«.
Documentation Subject
System manuals"PC-based Automation"
• Control technology - System structure & configuration • Visualisation - System structure & components
Communication manuals"PC-based Automation"
• CANopen control technology • PROFIBUS control technology
(Software) manual"PC-based Automation"
• Industrial PC - Parameter setting & configuration
Operating instructions"Embedded Line Panel PC"
• EL x8xx - built-in panel PC with TFT display
Operating instructions"Command Station"
• CS x8xx - stand-alone operator terminal
Operating instructions"Control Cabinet PC"
• CPC x8xx - control cabinet PC
Operating instructions"HMI EL 100"
• EL 1xx - HMI with Windows® CE
More software manuals • »Global Drive Control« (»GDC«)– IPC as gateway - Parameter setting & configuration
• »Engineer« • »PLC Designer« / »PLC Designer - SoftMotion« / »PLC Designer - CANopen
for Runtime Systems« • »VisiWinNET® Smart«
1.3 EN - 07/2012 L 14
PLC Designer V2.x| Lenze Application SamplesAbout this documentation
Information on the use of the IPCs beyond the control technology can be found in the system manuals tailored to the application case.
PLC Designer V2.x| Lenze Application SamplesAbout this documentation
15 L 1.3 EN - 07/2012
Further technical documentation on Lenze components
More information on Lenze components that can be used together with "PC-basedautomation" can be found in the following documentation:
Target group
The documentation addresses to persons who plan, install, commission, and maintain thenetworking of devices in the field of control technology.
Mounting & wiring Legend:
MAs for Inverter Drives 8400 Printed documentation
MAs for Servo Drives 9400 Online help/PDF
MA EPM-Txxx (I/O system IP20) Abbreviations used:
MA EPM-Sxxx (I/O system 1000) SHB System manual
MA 8200 vector BA Operating instructions
8200 vector wiring according to EMC MA Mounting instructions
MAs for the ECS servo system SW Software manual
MA MC-CAN2 communication card KHB Communication manual
MA MC-ETC communication card
MA MC-ETH communication card
MA MC-PBM communication card
MA MC-PBS communication card
MA MC-MPI communication card
MAs for communication modules
Parameterisation, configuration, commissioning
SW Inverter Drives 8400BaseLine / StateLine / HighLine / TopLine
This documentation contains further information when using the sample projects
SW Servo Drive 9400 HighLine / PLC This documentation contains further information when using the sample projects
9400 HighLine commissioning guidelines
SHB I/O system IP20 (EPM-Txxx)
SHB I/O system 1000 (EPM-Sxxx)
SHB 8200 vector This documentation contains further information when using the sample projects
BAs for the ECS servo system This documentation contains further information when using the sample projects
KHBs for the communication modules
Programming
SW 9400 function library
Establishing a network
KHBs for the communication modules
1.3 EN - 07/2012 L 16
PLC Designer V2.x| Lenze Application SamplesAbout this documentation
Information regarding the validity
The information provided in this documentation applies to the AppSamples_100 with thefollowing Lenze software:
Software From software version
»PLC Designer« 2.3.x
»Engineer« 2.12
»Global Drive Control« 4.11
1.3 EN - 07/2012 L 17
PLC Designer V2.x| Lenze Application SamplesAbout this documentation
Document history
1.1 Document history
1.2 Trademark
Microsoft, Windows, and Windows NT are either registered trademarks or trademarks ofthe Microsoft Corporation in the USA and/or other countries.
Adobe and Reader are either registered trademarks or trademarks of Adobe SystemsIncorporated in the USA and/or other countries.
All other brand names mentioned in this documentation are trademarks of their respectiveowners.
Version Description
1.1 11/2010 TD11 First edition
1.2 03/2011 TD11 Further sample projects supplemented: • 8200 vector • 9300 Speed • 9300 EP • Multiproject ECS/ 8400 StateLine/9400 HighLine
1.3 06/2012 TD11 Amended by general notes on the use of FBs.
PLC Designer V2.x| Lenze Application SamplesAbout this documentationConventions used
18 L 1.3 EN - 07/2012
1.3 Conventions used
This documentation uses the following conventions to distinguish between different typesof information:
Type of information Display Examples/notes
Numbers
Decimal separator Point The decimal point is generally used.Example: 1234.56
Text
Version information Text colour blue All pieces of information that only apply to or from a certain controller software version are identified accordingly in this documentation.Example: This function extension is available as from software version V3.0!
Program name » « The Lenze PC software »PLC Designer«
Window Italics The Message window... / The Options ... dialog box
Variable name By setting bEnable to TRUE...
Control element Bold The OK... button / The Copy... command / The Properties... tab / The Name ... input field
Sequence of menu commands
If the execution of a function requires several commands in a row, the individual commands are separated by an arrow: Select FileOpen to...
Shortcut <Bold> Use <F1> to open the online help.
If a key combination is required for a command, a "+" is placed between the key identifiers: With <Shift>+<ESC>...
Program code Courier IF var1 < var2 THEN a = a + 1 END IF
Keyword Courier bold
Hyperlink Underlined Optically highlighted reference to another topic. It is activated with a mouse-click in this documentation.
Symbols
Page reference ( 18) Optically highlighted reference to another page. It is activated with a mouse-click in this documentation.
Step-by-step instructions Step-by-step instructions are marked by a pictograph.
1.3 EN - 07/2012 L 19
PLC Designer V2.x| Lenze Application SamplesAbout this documentation
Notes used
1.4 Notes used
The following signal words and icons are used in this documentation to indicate dangersand important information:
Safety instructions
Structure of safety instructions:
Application notes
Pictograph and signal word!
(characterises the type and severity of danger)
Note
(explains the danger and how to avoid it)
Pictograph Signal word Meaning
Danger! Danger of personal injuries through dangerous electrical voltageReference to an imminent danger that may result in death or serious personalinjury unless the corresponding measures are taken.
Danger! Danger of personal injury through a general source of dangerReference to an imminent danger that may result in death or serious personalinjury unless the corresponding measures are taken.
Stop! Danger of damage to material assetsIndicates a potential danger that may lead to material damage unless the corresponding measures are taken.
Pictograph Signal word Meaning
Note! Important note for trouble-free operation
Tip! Useful tip for easy handling
Reference to other documents
PLC Designer V2.x| Lenze Application SamplesSafety instructions
20 L 1.3 EN - 07/2012
2 Safety instructions
Please observe the following safety instructions when you want to commission a controlleror system using the »Engineer«.
Read the documentation supplied with the controller or the individual components of the system carefully before you start to commission the devices with the »Engineer«!
The device documentation contains safety instructions which must be observed!
Danger!
According to our present level of knowledge it is not possible to ensure the absolute freedom from errors of a software.
If necessary, systems with built-in controllers must be provided with additional monitoring and protective equipment according to relevant safety regulations (e.g. law on technical equipment, regulations for the prevention of accidents), so that an impermissible operating status does not endanger persons or facilities.
During commissioning persons must keep a safe distance from the motor or the machine parts driven by the motor. Otherwise there would be a risk of injury by the moving machine parts.
Stop!
If you change parameters in the »Engineer« during an online connection to the device is established, the changes are directly accepted in the device!
A wrong parameter setting can cause unpredictable motor movements. By unintentional direction of rotation, too high speed or jerky operation, the driven machine parts may be damaged!
1.3 EN - 07/2012 L 21
PLC Designer V2.x| Lenze Application SamplesThe "PC-based automation" system
3 The "PC-based automation" system
Industrial PCs (IPCs) become more and more important in the field of automationtechnology. Due to their scaling options and various combinations of visualisation andcontrol on one device, Industrial PCs provide clear advantages for many applications.
Lenze Industrial PCs are available in the following software equipments:
Industrial PC as component (optional with operating system) without any further software
Industrial PC as visualisation system
Industrial PC as control and visualisation system
The "PC-based automation" system enables the centralised control of Logic and Motionsystems.
For this purpose, Lenze provide coordinated system components:
Industrial PCs as control and visualisation system
– The IPC is the central component of the PC-based automation which controls the Logic and Motion functionalities by means of the runtime software.
– The IPC communicates with the field devices via the fieldbus.
– The IPCs are available in different designs.
Note!
The "PC-based automation" system furthermore contains the EL 1xx PLC HMI series. These devices clearly differ from the Industrial PCs with regard to the performance and various other details. Nevertheless the devices of the EL 1xx PLC HMI series are able to perform smaller control functions.
PLC Designer V2.x| Lenze Application SamplesThe "PC-based automation" system
22 L 1.3 EN - 07/2012
Engineering tools for the Engineering PC
– The Engineering PC communicates with the IPC via Ethernet.
– Use the various Engineering tools to configure and parameterise the system.
Fieldbuses
Field devices
1.3 EN - 07/2012 L 23
PLC Designer V2.x| Lenze Application SamplesRequirements
System requirements
4 Requirements
4.1 System requirements
4.2 What is the PLC Designer?
The »PLC Designer« is a Lenze engineering software for programming the PLC of the LenzeIndustrial PC.
Properties
Five different editors for the programming languages standardised in the IEC 61131-3, and a very powerful CFC editor are provided. They serve to create individual programs, and to trigger the functions of our L-force Logic & Motion runtime software.
By means of the integrated visualisation the processes are shown, in order to obtain all important pieces of information at a glance during commissioning.
Engineering PC IPC (controller)
Hardware PC/notebook Industrial PC with PLC (Logic) from firmware V2.0
Operating system Windows XP Windows CE
Lenze software required »PLC Designer« V2.2.4.x L-force Logic
Further requirements • 100 MB of free hard disk memory • CAN bus system • CAN nodes (depending on the
respective example application)
PLC Designer V2.x| Lenze Application SamplesRequirementsWhere can I receive a full version of the PLC Designer?
24 L 1.3 EN - 07/2012
4.3 Where can I receive a full version of the PLC Designer?
The »PLC Designer« is provided for download in the Lenze Application Knowledge Base(AKB) :
http://akb.lenze.de/akb/infopool.nsf/html/Frame-Softwaredownload
The AKB is a product- and application-oriented collection of information provided by Lenze.
Alternatively you can install the »PLC Designer« from the CD supplied with the Industrial PC.
4.3.1 Installation
How to install the »PLC Designer«:
1. Select »PLC Designer« to save the full version as a packed ZIP file on your PC (Engineering PC).
• Unpack the ZIP file PlcDesigner_V2.3.x.zip on your PC (file size approximately 45MB).
• The ZIP file contains an installation file.
or
Start the PLCDesigner_V2.3..x.exe installation file from the CD supplied with the Industrial PC.
2. Start the EXE file and follow the installation instructions
3. After the installation the »PLC Designer« can be started.
If the »PLC Designer« is already installed, carry out an update of the version available orinstall the full version parallel to the version available.
Installing the target systems
Furthermore the »PLC Designer« target setup has to be installed, containing theinformation required for controlling the target systems.
For the installation, proceed like for the installation of the »PLC Designer«.
Further information and basics regarding the »PLC Designer« can be found in the following documentation:
PLC Designer software manual
The manual is available on the CD supplied or on the Internet.
1.3 EN - 07/2012 L 25
PLC Designer V2.x| Lenze Application SamplesSystem bus (CAN) / CANopen
CANopen (Logic)
5 System bus (CAN) / CANopen
Lenze device series 8400, 9400, 9300, and ECS have an on-board system bus (CAN)connection. The protocol used there is a subset of CANopen. Thus the devices are notCANopen-compliant but can be driven by a CANopen-compatible control system under "L-force Controls" - also in connection with other CANopen-compatible nodes.
Tip!
Detailed information on the system bus (CAN) can be found on the website of theCAN User Organization CiA (CAN in Automation):
http://www.can-cia.org
5.1 CANopen (Logic)
A variety of different field devices can be connected to the CAN Logic line.
To create a CANopen bus line, use the Communication card MC-CAN2 ( 26).
CANopen (Logic)
The Logic bus line is used to operate controllers which...
carry out simple movements,
do not have a Motion functionality,
are controlled via PLC functionalities only.
The Lenze sample projects are available for the most common system configurations ineach case with selected field devices.
PLC Designer V2.x| Lenze Application SamplesSystem bus (CAN) / CANopenCommunication card MC-CAN2
26 L 1.3 EN - 07/2012
5.2 Communication card MC-CAN2
The MC-CAN2 communication card serves to connect an L-force Controller to the CAN bussystem CAN. The card provides two independent bus lines.
MC-CAN2-001
A Front panel
B Board
C Coding
D Connection
E CAN connection (CAN 2 /CAN 1)
1.3 EN - 07/2012 L 27
PLC Designer V2.x| Lenze Application SamplesCommissioning the CANopen Logic bus
Overview of the commissioning steps
6 Commissioning the CANopen Logic bus
This chapter provides information on commissioning the CANopen Logic field devices inthe Lenze control system.
Depending on the field devices used, the following Lenze engineering tools are required:
»PLC Designer«
»Engineer«
»Global Drive Control« (GDC)
Tip!
For the application of further fieldbus systems, further Engineering software maybe required. Further information can be found in the correspondingcommunication manuals.
6.1 Overview of the commissioning steps
In the following the individual commissioning steps are described. Follow the given step-by-step instructions to commission your system.
Step Action Lenze software to be used
1. Open sample projectCommissioning field devices ( 28)Going online ( 29)Preparing the restart ( 30)
»Engineer« or»Global Drive Control«(depending on the used device)
2. Open sample project »PLC Designer«
More detailed information about how to work with the Lenze engineering tools can be found in the corresponding manuals and online helps.
PLC Designer V2.x| Lenze Application SamplesCommissioning the CANopen Logic busCommissioning field devices
28 L 1.3 EN - 07/2012
6.2 Commissioning field devices
Parameterise the field devices connected to the CANopen Logic bus either with the»Engineer« or with the »GDC«, depending on the device.
The configuration of the CAN parameters takes place in the »PLC Designer«.
Tip!
We recommend to commission each field device individually and then open the suitable PLC program.
For this, observe the information in the ...
• documentation for the field devices;
• documentation for the »Engineer« / »GDC«, and »PLC Designer«.
1.3 EN - 07/2012 L 29
PLC Designer V2.x| Lenze Application SamplesCommissioning the CANopen Logic bus
Commissioning field devices
6.2.1 Going online
Field device Going online with Connection via
Industrial PC »Engineer« or»WebConfig«
Ethernet
Inverter Drive 8400 StateLine / HighLine
»Engineer« • IPC as gateway • CAN device interface
9400 Servo Drive HighLine »Engineer« • IPC as gateway • Diagnostic adapter • Ethernet module E94AYCEN • CANopen module E94AYCCA • CAN device interface
ECS servo system (ECSxE/S/P/M/A) »Global Drive Control« • IPC as gateway • CANopen module EMF2178IB • CAN device interface 1)
8200 vector »Global Drive Control« • IPC as gateway • CAN module CAN PT/
E82ZAFCC010 • CAN device interface 1)
9300 »Global Drive Control« • IPC as gateway • CAN device interface 1)
1) CANopen only with system bus adapter EMF2177IB (if required, observe standard device specifications!)
Note!
Lenze recommend to use the connection type "IPC as gateway".
Depending on the device and connection type used, detailed information about establishing a connection and "going online" can be found in the following documents:
• (Software) manual/online help "PC-based automation"Industrial PC - Parameter setting & Configuration
• Software manual/online help "PC based automation"IPC as gateway - Parameter setting & Configuration
• Software manual/online help »Global Drive Control«IPC as gateway - Parameter setting & Configuration
• Software manual/online help L-force »Engineer«
PLC Designer V2.x| Lenze Application SamplesCommissioning the CANopen Logic busPreparing the restart
30 L 1.3 EN - 07/2012
6.3 Preparing the restart
In the control technology system you can use the control to transmit the entire parametersetting via SDO initialisation to the field devices when the machine is switched on.
In accordance with DS301, the control always initialises the CAN parameters of the fielddevices. Moreover, it can initialise further parameters. The values for this must be stored inthe control configuration under the Service Data Objects tab.
Usually, the control only transmits those SDO projects for which you have stored anothervalue than the standard value. The control does not compare these values with the existingvalues in the field device. Thus, not all parameters changed there may be set correctly.
If you want to have a factory adjustment carried out in the field device before SDOinitialisation, go to the Parameter tab and set a checkmark at "Reset Node".
The Service Data Objects tab contains the codes which are written in the EDS file. The EDSfile contains all writable codes.
Note!
When a node is reset, the parameter setting in the field device which you have made with the »Engineer« or the »Global Drive Control« gets lost. In this case, you have to transmit all parameter values manually to the Service Data Objects tab. This only makes sense when commissioning is completed and all parameters are optimised. If you change something afterwards via the »Engineer« or the »Global Drive Control« you have to maintain it again in the PLC program.
1.3 EN - 07/2012 L 31
PLC Designer V2.x| Lenze Application SamplesCommissioning the CANopen Logic bus
Preparing the restart
6.3.1 Special features of the 9400 Servo Drives HighLine
Servo Drives 9400 are not purely parameterisable devices. They require an applicationdownload, where several files are transmitted to the memory module.
To put a Servo Drive 9400 into operation, you can:
plug on the memory module.
transmit the application using the »Engineer«. For this, you must keep the original »Engineer« project.
transmit the application using the L-force »Loader«. For this, you must export and keep the required files from the »Engineer« project:
PLC Designer V2.x| Lenze Application SamplesCommissioning the CANopen Logic busPreparing the restart
32 L 1.3 EN - 07/2012
6.3.2 Special features of the 8400 Inverter Drives
Inverter Drives 8400 are purely parameterisable devices.
To put an Inverter Drive 8400 into operation, you can transmit the application using the»Engineer«. For this, you must keep the original »Engineer« project.
6.3.3 Commission 8200 vector frequency inverters
Connect the CANopen (E82ZAFUCxxx) fieldbus function module for CAN communication.
CAN settings must be made in the »PLC Designer« because the transmission of the settings to the 8200 vector frequency inverter is carried out from the control system.
6.3.4 Special features of the ECS servo system
In the ECS servo system, each device has a parameter memory which is only created once when the parameter setting is created via the »Global Drive Control«. This is the difference to CANopen devices where the parameterisation is written into the field device at each system start.
The EMF2221IB card module serves to read parameters saved on an SD card or SmartMedia card into every ECS device.
When using ECS devices, you cannot set all codes/parameters via the Service Data Objects tab as the EDS files do not contain all codes/parameters.
1.3 EN - 07/2012 L 33
PLC Designer V2.x| Lenze Application SamplesCommissioning a sample project
General system structure
7 Commissioning a sample project
This chapter describes the commissioning of a sample project by means of examples. Thefollowing requirements have to be met, so that the respective sample project can be used.
7.1 General system structure
The Lenze project examples are based on the following system structure.
An Industrial PC (Logic) or an EL1xx (Logic) is the central control section of the system configuration.
[7-1] System structure with an Industrial PC (Logic)
[7-2] System structure with an EL1xx (Logic)
PLC Designer V2.x| Lenze Application SamplesCommissioning a sample projectWiring the hardware
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7.2 Wiring the hardware
Before you can work with the project, the hardware has to be connected to each other. Thesample projects are configured so that the motors rotate if a controller is used as CANnode.
Connect the desired IPC (Industrial PC to PLC, or an EL1xx to a PLC) with the CAN nodes.
Connect the devices (Industrial PC, controllers, motors) with the corresponding voltage supply
Connect the components with a CAN bus cable.
– For this, use the CAN1 interface in the case of the Industrial PC. The CAN2 interface is not required for the sample project.
– In the case of the EL100 there only is one CAN interface to be connected with the components.
Further information on the electrical connections can be found in the documentation supplied. Please read the mounting instructions supplied with the controller first before you start working!
The mounting instructions contain safety instructions which must be observed!
1.3 EN - 07/2012 L 35
PLC Designer V2.x| Lenze Application SamplesCommissioning a sample project
Wiring the hardware
7.2.1 Configuring the CAN interface
For the configuration of the CAN interface the different hardware(Industrial PC and EL1xx) is to be observed.
Industrial PC
In the case of the Industrial PC you configure the CAN bus using the »PLC Designer«.
EL1xx
In the case of the EL1xx, the device, and additionally the CAN bus must be configured in the »PLC Designer«.
How to proceed in the case of the EL1xx:
1. On the EL 1xx, click StartSettingsControl PanelFieldbus
2. Configure the CAN interface in the following dialog window:
3. Click the Save button to save the settings.
Since the »PLC Designer« accesses the Industrial PC or the EL1xx via Ethernet, connect theIndustrial PC or the EL1xx device to your Engineering PC via a network cable.
EL 1xx CAN device node: node address of the EL 1xx within a CAN network.
Baud rate: transmission speed of the fieldbus. The baud rate must be identical for each fieldbus node within a network.
According to the baud rate, the fieldbus parameters are set.
Note!
• During initial commissioning, observe the following predefined IP addresses:
– Engineering PC: 192.168.5.100
– Industrial PC: 192.168.5.99
• The network setting for the EL1xx is set to DHCP and has to be set to a fixed IP address first, so that communication is possible.
PLC Designer V2.x| Lenze Application SamplesCommissioning a sample projectWiring the hardware
36 L 1.3 EN - 07/2012
7.2.2 Configuring an EL1xx Ethernet interface
How to configure the EL1xxx:
1. Click StartSettingsNetwork and Dial-up Connections for the EL 1xx.
2. Click the Dm9CE1 connection and configure the network interface:
3. Click the button to save the settings.
Note!
Changes carried out are not written into the registry automatically; in the case of a restart, they are lost.
In order to save changes permanently...
• Click Start Settings Control PanelRegistry on the EL1xxx.
• Click the Save button to save the settings.
Further information can be found in the following documentation:
• EL 1xx - HMI with Windows® CE
• Industrial PC - Parameter setting & configuration
1.3 EN - 07/2012 L 37
PLC Designer V2.x| Lenze Application SamplesCommissioning a sample project
Opening a project in the »PLC Designer«
7.3 Opening a project in the »PLC Designer«
The project contains all objects of a control program.
A project is saved in a file. The file name complies with the project name.
In the case of a standard installation you start the »PLC Designer« at the Engineering PCvia:
StartLenzePLC Designer V2.3.xPLC Designer
After starting the »PLC Designer«, a project can be loaded under FileOpen.
• Project files can be identified by the ending *.pro.
• Select the *.pro file type from the selection list to display the project files available.
PLC Designer V2.x| Lenze Application SamplesCommissioning a sample projectOpening a project in the »PLC Designer«
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7.3.1 Establishing communication with the Industrial PC or EL1xx
In the sample project communication between the devices of the system configuration hasalready been established. It is reasonable to check communication before the project istransferred to a PLC device.
How to check communication:
1. Open the Online menu in the menu bar and select the Communication parameters menu item there.
2. In the "Communication parameters" dialog window the corresponding parameters can be edited:
• In the Channels field, the name of the respective channel can be viewed. Highlight the desired channel to display the associated data in the dialog area on the right.
7.3.2 Starting the sample project
Transfer the sample project to the PLC device first to then start it.
How to start the sample project:
1. Open the Online menu in the menu bar and select the Log in menu item there.
• Confirm the following query on whether the program is to be saved with Yes.
• The project is transferred to the device.
2. Start the program on the HMI.
• Open the Online menu in the menu bar and select the Start menu item there. The project will start on the HMI.
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PLC Designer V2.x| Lenze Application SamplesCommissioning a sample project
Opening a project in the »PLC Designer«
Tip!
If the project is to be loaded automatically after a restart of the device, you can install it as "Boot project".
How to install the project as boot project:
1. Open the Online menu in the menu bar
2. Select the Create boot project command.
• A dialog window is opened, displaying the files created.
3. Click OK to close the dialog window.
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8 Working with the sample projects
The ready-configured sample projects are to facilitate the work with the Lenzecomponents for you. They include established system configurations representing typicalapplication cases. The objective is to obtain an executable Lenze automation system byusing low effort.
Depending on the application case, the sample projects can be optionally extended, andthus they have to be adapted to the requirements in each case.
Where do I find the sample projects?
After a successful installation of the Lenze sample projects they can be found under:
ProgramsLenzeAppSamplesAppSamples_0100
Tip!
The»Engineer«sample projects are archived in ZIP format to allow you to sendthem for instance by e-mail.
The »Engineer« supports project saving (FileSave archive) and project opening(FileOpen archive) in ZIP format.
Structure of the sample projects
Each sample project consists of:
– Ready-configured project data in the »Engineer« or »Global Drive Control«(»GDC«) (depending on the device used)
– Program code and visualisation in the »PLC Designer«. The following modes are possible: automatic, manual (manual jog), service, homing (optional).
Mode Description
Automatic In the automatic mode a sequence runs over an infinite loop.
Manual In manual mode, the controller can be actuated by setting the individual control bits manually (Jog1, Jog2, QSP, ErrorReset...). Like this, the controller can be actuated in manual mode, for instance for cleaning or changing the tools.
Service The service mode serves to adjust the controller.
Homing (available depending on the device)
In the homing mode the drive is referenced.
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PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects
8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project
8.1 8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project
Further information on the function libraries used in this project can be found in the following section:
The L_S84_Drive8400.lib library ( 235)
Standard procedure
How to commission the controller:
1. Commission 8400 Stateline. Commissioning ( 42)
2. Load the project "LAS_40_INTF_Can_84SL_Speed.zip" to the controller using the L-force »Engineer«. Open the »Engineer« project & go online ( 43)
3. Open the "LAS_40_INTF_Can_84SL_Speed.pro" sample project in the »PLC Designer«. Program structure in the »PLC Designer« ( 45)
4. Load the project to the IPC/EL 1xx and go online.
8.1.1 Components used
[8-1] System configuration with EL x800 CAN master (ID=0, connection at CAN1) and 8400 StateLine (CAN node ID=5)
Industrial PC Field device
Hardware EL x800 8400 StateLine
Operating system IPC software from version Logic 7.02.x (release 2.2.x)
From firmware V5.1
Lenze software required »PLC Designer« from version 20.3L-force »Engineer« from version 2.12
Further requirements • CAN master ID = 0 • Connection to interface CAN 1 • Logic CAN 500kB
• CAN node ID = 5 • Motor: SDSGAI056-22
PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project
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8.1.2 Short overview of the functions
8.1.2.1 Commissioning
1. Wire the power connections
– Use the mounting instructions supplied with the controller to correctly use the power connections according to the requirements of your device.
2. Wire the control terminals
3. Connect USB diagnostic adapter.
4. Switch on the voltage supply of the controller.
– Connect mains voltage.
When the green LED "DRV-RDY" is blinking and the red LED "DRV-ERR" is off, the controlleris ready to start and you can continue with the commissioning.
Mode Description
Automatic In the automatic mode a sequence runs over an infinite loop.Selection: • Travel for three seconds at speed1, • then for five seconds at speed2, • Start with speed1 again.
Manual In manual mode, the controller can be actuated by setting the individual control bits manually (Jog1, Jog2, QSP, ErrorReset...). Like this, the controller can be actuated in manual mode, for instance for cleaning or changing the tools.
Service The service mode serves to adjust the controller.Selection: • Travel in positive direction for one second, • Stop for one second, • Travel in negative direction for one second.
Read the mounting instructions supplied with the controller first before you start working!The mounting instructions contain safety instructions which must be observed!
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PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects
8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project
8.1.2.2 Open the »Engineer« project & go online
How to open the sample project in the »Engineer«:
1. Start »Engineer«.
2. With the command FileOpen archive, open the project "LAS_40_INTF_Can_84SL_Speed".
3. Insert the desired motor in the configuration:
– Highlight controller, select the desired motor with the command Insert a component on the Motors tab
– By clicking Complete, insert the selection in the »Engineer« project.
Detailed infomation on the general handling of the »Engineer« can be found in the online help for the »Engineer«, which you can call with [F1].
PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project
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4. Update the project by clicking :
• Select the option Rebuild all
• Click the Build button to update the project.
5. Going online
– After a connection to the controller has been established successfully, the following status is displayed in the Status line:
6. Download parameter set
– This command causes parameter settings in the controller to be overwritten by parameter settings of the »Engineer« project.
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PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects
8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project
8.1.3 Program structure in the »PLC Designer«
How to proceed:
1. In the »PLC Designer«, open the "LAS_40_INTF_Can_84SL_Speed.pro" sample project.
2. Load the project to the IPC and Go online.
8.1.3.1 Control configuration
The CAN master (ID = 0) is the control section of the system configuration
Below the CAN master the 8400 StateLine(CAN node ID = 5) is attached.
– The 8400 StateLine is embedded in the form of a device-independent EDS file (LenzeDrive_Can1_4Word).
One PDO for CAN-Input and one PDO for CAN-Output is used, respectively.
PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project
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8.1.3.2 Program organisation units
"Main" program
The "Main (PRG)" program is the basic program for processing the program sequences: initialisation of the controller and selection of the different modes.
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8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project
"Drive" program
The "DRIVE (PRG)" program actuates the controller by means of the L_S84_ActuatorSpeedSL1 function block.
The data are copied to the control configuration via the selection of the Can NodeID (byNodeNumber) and the CAN master node number (byMasterNumber).
The DriveControl and DriveStatus structures serve to transmit the control and status signals.
"PLC_PRG" program
The "PLC_PRG (PRG)" program contains all program calls.
PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project
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8.1.4 Operation via the visualisations in the »PLC Designer«
8.1.4.1 Information/home page
Via the buttons in area , the mode (automatic, manual, service) can be selected.
In area services (parameter transfer and CAN diagnostics) can be selected.
The button in area refers to the home page which displays the version identifier of the project in area .
Dialog box shows the status of the machine.
Control field shows the error message status.
– The Error Reset button resets the error message.
Select mode Manufacturer information Version identifier Error message
Parameter selection
Information/home page Status
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PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects
8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project
8.1.4.2 Automatic mode
Button selects the automatic mode.
Button starts the motion profile.
Button inhibits the motion profile.
Display field shows the mode status.
Display field shows the current speed (Speed Value variable).
Dialog box shows the status of the machine.
Control field activates the error group signal.
– The Error Reset button resets the error message.
Select mode Stop button Actual speed Error message
Start button Status Status
PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project
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8.1.4.3 Manual mode ("Manual jog")
The 8400 StateLine can be controlled by means of the visualisation of blockL_S84ActuatorSpeedSL in manual operation. Via the visualisation of blockL_S84ReadErrorCode the current error can be read out.
Button selects the manual (manual jog) mode.
In the control and status panel the FB for controlling the 8400 Stateline is visualised.
Note: Enable the controller via FB input xEnable to activate the manual mode. Afterwards the controller can be operated via the visualisation in manual operation.
The xQsp button must be activated to activate quick stop.
Further information on the FB can be found in the following section: L_S84_ActuatorSpeedSL - actuation of the 8400 StateLine controller ( 238)
Area visualises the FB for reading out the errors from the controller.
Further information on the FB can be found in the following section: L_S84_ReadErrorCode - read out error status ( 241)
Select mode Reading out an error
Control/status panel
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8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project
Control/status panel
Further information on the FB can be found in the following section: L_S84_ActuatorSpeedSL - actuation of the 8400 StateLine controller ( 238)
Actuation of the controller Status of the controller
CAN address Number of the CAN master Switch on drive after mains switching Enable drive Activate quick stop Activate fixed speed (Jog 1) Activate fixed speed (Jog 2) Set external error Reset error Set clockwise (CW) rotation/counter-clockwise
(CCW) rotation Select speed setpoint in [%]
CAN communication OK Error active Controller ready Minimum speed limit value not reached Drive enabled Actual speed value CAN status
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Read out error
Further information on the FB can be found in the following section: L_S84_ReadErrorCode - read out error status ( 241)
Actuation of the controller Status of the controller
Read out error CAN address Number of the CAN master Use second SDO Error text display
Error read out Function block active Reading out error has failed
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8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project
8.1.4.4 Service mode
Button selects the service mode.
Button starts the motion profile.
Button inhibits the motion profile.
Button selects clockwise rotation (clockwise rotating direction of the motor).
Display field indicates the status of the mode.
Display field indicates the current speed (variable Speed Value).
Display field shows the current speed setpoint.
– Possible setpoint data for the motion profile: 0 ... 100%.
In area , status information is displayed and errors can be reset.
Select mode Stop button Status of the service mode
Start button Activate clockwise rotation (Cw)
Actual speed Setpoint speed
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8.1.4.5 Parameter transfer
The Parameter button selects the visualisation of the parameter FBs.
The mode selected last remains active.
You can use the FBs to...
– read individual parameters
– write individual parameters
– write a fixed parameter list
Area shows the FB for reading parameters.
Area shows the FB for writing a parameter table.
Area shows the FB for writing parameters.
– The parameters read can be viewed in the »PLC Designer« on the Blocks tab in the Parameter transfer directory of FB L_S84_SDOList84SL.
Read parameters Write parameters
Write parameter table
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8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project
Reading a parameter - L_SCB_ParRead function block
Further information on the FB can be found in the following section: L_SCB_ParRead - read parameter ( 288)
Actuation of the controller Status of the controller
Read out parameter CAN address Number of the CAN master Parameter index
Basic value code no. 24575 - C11 = 24564
Parameter subindex Use second SDO
Parameter read out Function block active Reading out parameter has failed Time-out Parameter display Number of bytes read
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Writing a parameter - L_SCB_ParWrite function block
Further information on the FB can be found in the following section: L_SCB_ParWrite - write parameter ( 291)
Writing a parameter table - function block
Further information on the FB can be found in the following section: L_SCB_SDO_TransferTable - transfer parameter list ( 299)
Actuation of the controller Status of the controller
Write parameter CAN address Number of the CAN master
Basic value code no. 24575 - C11 = 24564
Parameter index Parameter subindex Data Number of bytes to be transmitted Use second SDO
Parameter written Function block active Writing parameter has failed Time-out
Actuation of the controller Status of the controller
Read/write parameter CAN address Number of the CAN master Use CAN address and master number entered
Use input code number as index
Parameter list read/written Function block active Reading/writing parameter
has failed
Error number Error in table line
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PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects
8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project
8.1.4.6 CAN diagnostics
The CanDiagnostic button selects the diagnostics of the CAN bus.
The mode selected last remains active.
This area shows the status of the master and slaves, which are integrated in the control configuration.
Status of the CAN master (ID=0)
Status of the CAN slave (node-ID=5)
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8.1.5 Interface assignment in the »Engineer«
CAN monitoring is activated in the project:
[8-2] Time monitoring RPDO 1- RPDO4 3000 ms, "Error" response in the controller
The second SDO (code C00366) is activated for communication.
[8-3] Assignment of the digital inputs
[8-4] Assignment of the digital outputs
o
All digital inputs (apart from bCInh) are high active.
All digital outputs are high active.
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8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project [8-5] Assignment CanIn1
The following bits from the wCtrl are assigned and are mapped to LA_NCtrl:
bCtrl_B1 = xSwitchOn
bCtrl_B2 = xQSP
bCtrl_B3 = xEnable
bCtrl_B7 = xErrorReset
bCtrl_B8 = xRampDown
bCtrl_B11 = xDCBrake
bCtrl_B12 = xJog1
bCtrl_B13 = xJog2
bCtrl_B14 = xErrorSet
bCtrl_B15 = xSetSpeedCCw
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[8-6] Assignment CanOut1
The following bits from the wState are assigned and mapped by LA_NCtrl:
bState_B00 = xDriveReady
bState_B01 = xDriveEnabled
bState_B02 = xDriveError
bState_B06 = xQmin
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PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects
8400 HighLine - "LAS_40_INTF_Can_84HL_TabPos" sample project
8.2 8400 HighLine - "LAS_40_INTF_Can_84HL_TabPos" sample project
Further information on the function libraries used in this project can be found in the following section:
The L_S84_Drive8400.lib library ( 235)
Standard procedure
How to commission the controller:
1. Commission 8400 HighLine. Commissioning ( 62)
2. Load the project "LAS_40_INTF_Can_84HL_TabPos.zip" to the controller using the L-force »Engineer«. Open the »Engineer« project & go online ( 63)
3. Open the "LAS_40_INTF_Can_84HL_TabPos.pro" sample project in the »PLC Designer« Program structure in the »PLC Designer« ( 65)
4. Load the project to the IPC/EL 1xx and go online.
8.2.1 Components used
[8-7] System configuration with EL x800 CAN master (ID=0, connection at CAN1) and 8400 HighLine (CAN node ID=5)
Industrial PC Field device
Hardware EL x800 8400 HighLine
Operating system IPC software from version Logic 7.02.x (release 2.2.x)
From firmware V5.0
Lenze software required »PLC Designer« from version 2.3.xL-force »Engineer« from version 2.12
Further requirements • CAN master ID = 0 • Connection to interface CAN 1 • Logic CAN 500kB
• CAN node ID = 5 • Motor: SDSGAI056-22
PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects8400 HighLine - "LAS_40_INTF_Can_84HL_TabPos" sample project
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8.2.2 Short overview of the functions
8.2.3 Commissioning
1. Wire the power connections
– Use the mounting instructions supplied with the controller to correctly use the power connections according to the requirements of your device.
2. Wire the control terminals
3. Connect USB diagnostic adapter.
4. Switch on the voltage supply of the controller.
– Connect mains voltage.
When the green LED "DRV-RDY" is blinking and the red LED "DRV-ERR" is off, the controlleris ready to start and you can continue with the commissioning.
Mode Description
Automatic In the automatic mode a sequence runs over an infinite loop.Selection:When the drive is referenced...
1.Travel to Position 1,2.Travel to Position 2,3.Start at (1.) again.
Manual In manual mode, the controller can be actuated by setting the individual control bits manually (Jog1, Jog2, QSP, ErrorReset...). Like this, the controller can be actuated in manual mode, for instance for cleaning or changing the tools.
Service The service mode serves to adjust the controller.Selection: • Travel in positive direction for one second, • Stop for one second, • Travel in negative direction for one second.
Homing In the homing mode the drive is referenced. • Either the home position is set directly, or a homing is started.
Read the mounting instructions supplied with the controller first before you start working!The mounting instructions contain safety instructions which must be observed!
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PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects
8400 HighLine - "LAS_40_INTF_Can_84HL_TabPos" sample project
8.2.3.1 Open the »Engineer« project & go online
How to open the sample project in the »Engineer«:
1. Start »Engineer«.
2. With the command FileOpen archive , open the project "LAS_40_INTF_Can_84HL_TabPos".
3. Insert the desired motor in the configuration:
– Highlight controller, select the desired motor with the command Insert a component on the Motors tab
– By clicking Complete, insert the selection in the »Engineer« project.
Detailed infomation on the general handling of the »Engineer« can be found in the online help for the »Engineer«, which you can call with [F1].
PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects8400 HighLine - "LAS_40_INTF_Can_84HL_TabPos" sample project
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4. Update the project by clicking :
• Select the option Rebuild all
• Click the Build button to update the project.
5. Going online
– After a connection to the controller has been established successfully, the following status is displayed in the Status line:
6. Download parameter set
– This command causes parameter settings in the controller to be overwritten by parameter settings of the »Engineer« project.
1.3 EN - 07/2012 L 65
PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects
8400 HighLine - "LAS_40_INTF_Can_84HL_TabPos" sample project
8.2.4 Program structure in the »PLC Designer«
How to proceed:
1. In the »PLC Designer«, open the "LAS_40_INTF_Can_84HL_TabPos.pro" sample project.
2. Load the project to the IPC and Go online.
8.2.4.1 Control configuration
The CAN master (ID = 0) is the control section of the system configuration
Below the CAN master the 8400 HighLine (CAN node ID = 5) is attached.
– The 8400 HighLine is embedded in the form of a device-independent EDS file (LenzeDrive_Can2_8Word).
Two PDOs for CAN-Input and CAN-Output are used, respectively.
The transmission mode is sync-controlled (10 ms).
PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects8400 HighLine - "LAS_40_INTF_Can_84HL_TabPos" sample project
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8.2.4.2 Program organisation units
"Main" program
The "Main (PRG)" program is the basic program for processing the program sequences: initialisation of the controller and selection of the different modes.
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8400 HighLine - "LAS_40_INTF_Can_84HL_TabPos" sample project
"Drive" program
The "DRIVE (PRG)" program actuates the controller by means of the L_S84_TablePositioningHL function block.
The machine constants are conditioned by means of the L_SSC_SetAxisData block and are provided at the AxisData input as structure.
The DriveControl and DriveStatus structures serve to transmit the control and status signals within one PDO. Since an individual PDO does not suffice for all modes, block L_SCB_PutNodeDataTxPDO2 provides a further PDO for the transmission of the speed setpoint for the service mode.
By selecting the CAN node ID (byNodeNumber) and the CAN master node number (byMasterNumber), the data can be copied to the control configuration.
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"PLC_PRG" program
The "PLC_PRG (PRG)" program contains all program calls.
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8400 HighLine - "LAS_40_INTF_Can_84HL_TabPos" sample project
8.2.5 Operation via the visualisations in the »PLC Designer«
8.2.5.1 Information/home page
Via the buttons in area , the mode (automatic, manual, service, homing) can be selected.
In area services (parameter transfer and CAN diagnostics) can be selected.
The button in area refers to the home page which displays the version identifier of the project in area .
Dialog box shows the status of the machine.
Control field shows the error message status.
– The Error Reset button resets the error message.
Select mode Manufacturer information Version identifier Error message
Parameter selection
Information/home page Status
PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects8400 HighLine - "LAS_40_INTF_Can_84HL_TabPos" sample project
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8.2.5.2 Automatic mode
Button selects the automatic mode.
Button starts the motion profile.
Button inhibits the motion profile.
Display field shows the mode status.
Display field shows the current profile number.
Display field shows the set position.
Dialog box shows the current position (Actual Position variable).
Select mode Stop button Current profile number
Current position
Start button Mode status Set position
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8400 HighLine - "LAS_40_INTF_Can_84HL_TabPos" sample project
8.2.5.3 Manual mode ("Manual jog")
The 8400 StateLine can be controlled by means of the visualisation of blockL_S84_TablePositioningHL in manual operation. Via the visualisation of blockL_S84ReadErrorCode the current error can be read out.
Button selects the manual (manual jog) mode.
In the control and status panel the FB for controlling the 8400 Stateline is visualised.
By means of the visualisation of block L_S84_TablePositioningHL, the 8400 HighLine can be operated in manual operation (byProfilenumber = 2).
Note: Enable the controller via FB input xEnable to activate manual mode. The controller can then be actuated via the visualisation in manual operation. The xQsp button must be activated so that quick stop is activated.
Further information on the FB can be found in the following section: L_S84_TablePositioningHL - profile data record management ( 243)
Area visualises the FB for reading out the errors from the controller.
Further information on the FB can be found in the following section: L_S84_ReadErrorCode - read out error status ( 241)
Select mode Reading out an error
Control/status panel
Profile number Function
byProfileNumber = 1 Homing
byProfileNumber = 2 Manual jog
byProfileNumber = 3 or 4 Positioning
PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects8400 HighLine - "LAS_40_INTF_Can_84HL_TabPos" sample project
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Control/status panel
Further information on the FB can be found in the following section: L_S84_TablePositioningHL - profile data record management ( 243)
Actuation of the controller Status of the controller
CAN address Number of the CAN master Enable drive Activate quick stop Reset error Define reference Enable positioning Enable override Activate manual jog in positive direction Activate manual jog in negative direction Target position (not available) Speed override in [%] Operating mode (not available) Profile number:
0 = Speed follower 1 = Homing 2 = Manual jog≥3 = Positioning
CAN communication OK Error active Controller ready Speed is zero Drive enabled Quick stop active Reference known Positioning active Target position reached Hardware limit switch positive Hardware limit switch negative ... Status of digital inputs 5 ... 7 Actual position Actual speed CAN status
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8400 HighLine - "LAS_40_INTF_Can_84HL_TabPos" sample project
Read out error
Further information on the FB can be found in the following section: L_S84_ReadErrorCode - read out error status ( 241)
Actuation of the controller Status of the controller
Read out error CAN address Number of the CAN master Use second SDO Error text display
Error read out Function block active Reading out error has failed
PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects8400 HighLine - "LAS_40_INTF_Can_84HL_TabPos" sample project
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8.2.5.4 Service mode
Button selects the service mode.
Button starts the motion profile.
Button inhibits the motion profile.
Button selects clockwise rotation (clockwise rotating direction of the motor).
Display field indicates the status of the mode.
Display field indicates the current speed (variable Speed Value).
Display field shows the current speed setpoint.
– Possible setpoint data for the motion profile: 0 ... 100%.
In area , status information is displayed and errors can be reset.
Select mode Stop button Status of the service mode
Start button Activate clockwise rotation
Actual speed Setpoint speed
1.3 EN - 07/2012 L 75
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8.2.5.5 Homing mode
Button selects the homing mode.
– The active standard setting in the controller is homing mode 12 (travel to negative limit switch / digital input 3)
Button starts the homing.
Button stops homing.
Button sets the home position.
Button resets the home position.
– Set reference / Pos Act = 0 unit
Dialog box shows the homing status.
Dialog box signalises whether the homing has been completed successfully.
– After a successful homing, the display field is coloured in green.
Dialog box shows the current homing mode (code value).
Select mode Stop button Status of the service mode
Start button Activate clockwise rotation
Actual speed
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8.2.5.6 Parameter transfer
The Parameter button selects the visualisation of the parameter FBs.
The mode selected last remains active.
You can use the FBs to...
– read individual parameters
– write individual parameters
– write a fixed parameter list
Area shows the FB for reading parameters.
Area shows the FB for writing a parameter table.
Area shows the FB for writing parameters.
Read parameters Write parameters
Read parameters
1.3 EN - 07/2012 L 77
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Reading a parameter - L_SCB_ParRead function block
Further information on the FB can be found in the following section: L_SCB_ParRead - read parameter ( 288)
Actuation of the controller Status of the controller
Read out parameter CAN address Number of the CAN master Parameter index
Basic value code no. 24575 - C11 = 24564
Parameter subindex Use second SDO
Parameter read out Function block active Reading out parameter has failed Time-out Parameter display Number of bytes read
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Writing a parameter - L_SCB_ParWrite function block
Further information on the FB can be found in the following section: L_SCB_ParWrite - write parameter ( 291)
Writing a parameter table - function block
Further information on the FB can be found in the following section: L_SCB_SDO_TransferTable - transfer parameter list ( 299)
Actuation of the controller Status of the controller
Write parameter CAN address Number of the CAN master
Basic value code no. 24575 - C11 = 24564
Parameter index Parameter subindex Data Number of bytes to be transmitted Use second SDO
Parameter written Function block active Writing parameter has failed Time-out
Actuation of the controller Status of the controller
Read/write parameter CAN address Number of the CAN master Use CAN address/master number entered
Use input code number as index
Parameter list read/written Function block active Reading/writing parameter has failed Error number Error in table line
1.3 EN - 07/2012 L 79
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8.2.5.7 CAN diagnostics
The CanDiagnostic button selects the diagnostics of the CAN bus.
The mode selected last remains active.
This area shows the status of the master and slaves, which are integrated in the control configuration.
Status of the CAN master (ID=0)
Status of the CAN slave (node-ID=5)
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8.2.6 Interface assignment in the »Engineer«
CAN monitoring is activated in the project:
[8-8] Time monitoring RPDO 1- RPDO4 3000 ms, "Error" response in the controller
The second SDO (code C00366) is activated for communication.
[8-9] Assignment of the digital inputs
[8-10] Assignment of the digital outputs
LS_DigitalInput_bIn1 = bQSPLS_DigitalInput_bIn3 = LP_CanOut1.bState_B13 and LA_TabPos.LimitSwitchPosLS_DigitalInput_bIn4 = LP_CanOut1.bState_B12 and LA_TabPos.LimitSwitchNeg
All digital inputs (apart from bCInh) are high active.
All digital outputs are high active.
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[8-11] Assignment CanIn1
[8-12] Assignment CanIn2
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[8-13] Assignment CanOut1
The following bits from wState are assigned.
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8.3 9400 HighLine - "LAS_40_INTF_Can_94HL_Speed" sample project
Further information on the function libraries used in this project can be found in the following section:
The L_S94_Drive9400.lib library ( 246)
Standard procedure
How to commission the controller:
1. Commission the 9400 HighLine.
2. Load the project "LAS_40_INTF_Can_94SL_Speed.zip" to the controller using the L-force »Engineer«. Open the »Engineer« project & go online ( 85)
3. Open the "LAS_40_INTF_Can_94HL_Speed.pro" sample project in the »PLC Designer«. Program structure in the »PLC Designer« ( 87)
4. Load the project to the IPC/EL 1xx and go online.
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8.3.1 Components used
[8-14] System configuration with EL x800 CAN master (ID=0, connection at CAN1) and 9400 HighLine (CAN node ID=5)
8.3.2 Short overview of the functions
Industrial PC Field device
Hardware EL x800 9400 HighLine
Operating system IPC software from version Logic 7.02.x (release 2.2.x)
From firmware V7.0
Lenze software required »PLC Designer« from version 20.3L-force »Engineer« from version 2.12
Further requirements • CAN master ID = 0 • Connection at interface CAN1 • Logic CAN 500kB
• CAN node ID = 5 • Motor: SDSGAI056-22
Mode Description
Automatic In the automatic mode a sequence runs over an infinite loop.Selection: • Travel for three seconds at speed1, • then for five seconds at speed2, • Start with speed1 again.
Manual In manual mode, the controller can be actuated by setting the individual control bits manually (Jog1, Jog2, QSP, ErrorReset...). Like this, the controller can be actuated in manual mode, for instance for cleaning or changing the tools.
Service The service mode serves to adjust the controller.Selection: • Travel in positive direction for one second, • Stop for one second, • Travel in negative direction for one second.
1.3 EN - 07/2012 L 85
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8.3.2.1 Open the »Engineer« project & go online
How to open the sample project in the »Engineer«:
1. Start »Engineer«.
2. Use the command FileArchiveOpen to open the project "LAS_40_INTF_Can_94HL_Speed".
3. Insert the desired motor in the configuration:
– Highlight controller, select the desired motor with the command Insert a component on the Motors tab
– By clicking Complete, insert the selection in the »Engineer« project.
Detailed infomation on the general handling of the »Engineer« can be found in the online help for the »Engineer«, which you can call with [F1].
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86 L 1.3 EN - 07/2012
4. Update the project by clicking :
• Select the option Rebuild all
• Click the Build button to update the project.
5. Going online
– After a connection to the controller has been established successfully, the following status is displayed in the Status line:
6. Download parameter set
– This command causes parameter settings in the controller to be overwritten by parameter settings of the »Engineer« project.
1.3 EN - 07/2012 L 87
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9400 HighLine - "LAS_40_INTF_Can_94HL_Speed" sample project
8.3.3 Program structure in the »PLC Designer«
How to proceed:
1. In the »PLC Designer«, open the "LAS_40_INTF_Can_94HL_Speed.pro" sample project.
2. Load the project to the IPC and Go online.
8.3.3.1 Control configuration
The CAN master (ID = 0) is the control section of the system configuration
Below the CAN master the 9400 HighLine (CAN node ID = 5) is attached.
– The 9400 HighLine is embedded in the form of a device-independent EDS file (LenzeDrive_Can1_4Word).
One PDO for CAN-Input and one PDO for CAN-Output is used, respectively. The transmission mode is sync-controlled (10 ms).
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8.3.3.2 Program organisation units
"Main" program
The "Main (PRG)" program is the basic program for processing the program sequences: initialisation of the controller and selection of the different modes.
1.3 EN - 07/2012 L 89
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"Drive" program
The "DRIVE (PRG)" program actuates the controller by means of the L_S94_ActuatorSpeedSL1 block.
The selections of the CAN nodeID (byNodeNumber) and CAN master node number (byMasterNumber) define the copy of the data to the control configuration.
The DriveControl and DriveStatus structures serve to transmit the control and status signals.
"PLC_PRG" program
The "PLC_PRG (PRG)" program contains all program calls.
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8.3.4 Operation via the visualisations in the »PLC Designer«
8.3.4.1 Information/home page
Via the buttons in area , the mode (automatic, manual, service) can be selected.
In area services (parameter transfer and CAN diagnostics) can be selected.
The button in area refers to the home page which displays the version identifier of the project in area .
Dialog box shows the status of the machine.
Control field shows the error message status.
– The Error Reset button resets the error message.
Select mode Manufacturer information Version identifier Error message
Parameter selection
Information/home page Status
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8.3.4.2 Automatic mode
Button selects the automatic mode.
Button starts the motion profile.
Button inhibits the motion profile.
Display field shows the mode status.
Display field shows the current speed (Speed Value variable).
Dialog box shows the status of the machine.
Control field shows the error message status.
– The Error Reset button resets the error message.
Select mode Stop button Actual speed Error message
Start button Status Status
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8.3.4.3 Manual mode ("Manual jog")
The 9400 HighLine can be controlled by means of the visualisation of blockL_S94_ActuatorSpeed in manual operation. Via the visualisation of blockL_S94_ReadErrorCode the current error can be read out.
Button selects the manual (manual jog) mode.
In the control and status panel the FB for controlling the 8400 Stateline is visualised.
Note: Enable the controller via FB input xEnable to activate the manual mode. Afterwards the controller can be operated via the visualisation in manual operation.
The xQsp button must be activated to activate quick stop.
– Via xEnable SpeedFollower and rNSet the speed in [%] can be defined
– a fixed speed can be specified via xEnable SpeedFollower and xJog1, xJog2.
– Inching mode can be activated via xManual and xManualPos or xManualNeg.
Further information on the FB can be found in the following section:
Area visualises the FB L_S94_ErrorCode for reading out the errors from the controller.
Further information on the FB can be found in the following section: L_S94_ReadErrorCode - read out error status ( 250)
Select mode Reading out an error
Control/status panel
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Control/status panel
Further information on the FB can be found in the following section: L_S94_ActuatorSpeed - actuation of the 9400 HighLine controller ( 246)
Actuation of the controller Status of the controller
CAN address Number of the CAN master Enable drive Activate quick stop Enable speed follower Activate fixed speed (Jog 1) Activate fixed speed (Jog 2) Set clockwise (CW) rotation/counter-clockwise
(CCW) rotation Reset error Enable inching mode Activate inching mode in positive direction Activate inching mode in negative direction Actual speed value in [%]
CAN communication OK Error active Speed = 0 Controller ready Controller is enabled Set quick stop Speed follower active Inching mode active Warning active Status of digital input Controller enable (RFG) - Status of digital inputs 1 ... 4 Actual speed value Actual torque value CAN status
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Read out error
Further information on the FB can be found in the following section: L_S94_ReadErrorCode - read out error status ( 250)
Actuation of the controller Status of the controller
Read out error CAN address Number of the CAN master Use second SDO Error text display
Error read out Function block active Reading out error has failed
1.3 EN - 07/2012 L 95
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8.3.4.4 Service mode
Button selects the service mode.
Button starts the motion profile.
Button inhibits the motion profile.
Button selects clockwise rotation (clockwise rotating direction of the motor).
Display field indicates the status of the mode.
Display field indicates the current speed (variable Speed Value).
Display field shows the current speed setpoint.
– Possible setpoint data for the motion profile: 0 ... 100%.
In area , status information is displayed and errors can be reset.
Select mode Stop button Status of the service mode
Start button Activate clockwise rotation
Actual speed Setpoint speed
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96 L 1.3 EN - 07/2012
8.3.4.5 Parameter transfer
The Parameter button selects the visualisation of the parameter FBs.
The mode selected last remains active.
You can use the FBs to...
– read individual parameters
– write individual parameters
– write a fixed parameter list
Area shows the FB for reading parameters.
Area shows the FB for writing a parameter table.
Area shows the FB for writing parameters.
Read parameters Write parametertable
Write parameters
1.3 EN - 07/2012 L 97
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9400 HighLine - "LAS_40_INTF_Can_94HL_Speed" sample project
Reading a parameter - L_SCB_ParRead function block
Further information on the FB can be found in the following section: L_SCB_ParRead - read parameter ( 288)
Actuation of the controller Status of the controller
Read out parameter CAN address Number of the CAN master Parameter index
Basic value code no. 24575 - C11 = 24564
Parameter subindex Use second SDO
Parameter read out Function block active Reading out parameter has failed Time-out Parameter display Number of bytes read
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Writing a parameter - L_SCB_ParWrite function block
Further information on the FB can be found in the following section: L_SCB_ParWrite - write parameter ( 291)
Writing the parameter table - function block L_SCB_SDO_TransferTable
Further information on the FB can be found in the following section: L_SCB_SDO_TransferTable - transfer parameter list ( 299)
Actuation of the controller Status of the controller
Write parameter CAN address Number of the CAN master
Basic value code no. 24575 - C11 = 24564
Parameter index Parameter subindex Data Number of bytes to be transmitted Use second SDO
Parameter written Function block active Writing parameter has failed Time-out
Actuation of the controller Status of the controller
Read/write parameter CAN address Number of the CAN master Use CAN address and master number entered
Use input code number as index
Parameter list read/written Function block active Reading/writing parameter
has failed Error number Error in table line
1.3 EN - 07/2012 L 99
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9400 HighLine - "LAS_40_INTF_Can_94HL_Speed" sample project
8.3.4.6 CAN diagnostics
The CanDiagnostic button selects the diagnostics of the CAN bus.
The mode selected last remains active.
This area shows the status of the master and slaves, which are integrated in the control configuration.
Status of the CAN master (ID=0)
Status of the CAN slave (node-ID=5)
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8.3.5 Interface assignment in the »Engineer«
CAN monitoring is activated in the project:
[8-15] Time monitoring RPDO 1- RPDO4 3000 ms, "Error" response in the controller
The second SDO (code C00366) is activated for communication.
[8-16] Assignment of the digital inputs
[8-17] Assignment of the digital outputs
Digin_bIn1 = quick stopAxisStatusword.bBit12
Apart from bCInh, all inputs are high active.
All digital outputs are high active.
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[8-18] Assignment CanIn1
[8-19] Assignment CanOut1
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8.4 9400 HighLine - "LAS_40_INTF_Can_94HL_TabPos" sample project
Further information on the function libraries used in this project can be found in the following section:
The L_S94_Drive9400.lib library ( 246)
Standard procedure
How to commission the controller:
1. Commission the 9400 HighLine.
2. Load the project "LAS_40_INTF_Can_94HL_TabPos.zip" to the controller using the L-force »Engineer«. Open the »Engineer« project & go online ( 104)
3. Open the "LAS_40_INTF_Can_94HL_TabPos.pro" sample project in the »PLC Designer«. Program structure in the »PLC Designer« ( 106)
4. Load the project to the IPC/EL 1xx and go online.
8.4.1 Components used
[8-20] System configuration with EL x800 CAN master (ID=0, connection at CAN1) and 9400 HighLine (CAN node ID=5)
Industrial PC Field device
Hardware EL x800 9400 HighLine
Operating system IPC software from version Logic 7.02.x (release 2.2.x)
From firmware V7.0
Lenze software required »PLC Designer« from version 20.3L-force »Engineer« from version 2.12
Further requirements • CAN master ID = 0 • Connection at interface CAN1 • Logic CAN 500kB
• CAN node ID = 5 • Motor: MCS06C41
1.3 EN - 07/2012 L 103
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8.4.2 Short overview of the functions
Mode Description
Automatic In the automatic mode a sequence runs over an infinite loop.Selection:When the drive is referenced...
1.Travel to Position 1,2.Travel to Position 2,3.Start at (1.) again.
Manual In manual mode, the controller can be actuated by setting the individual control bits manually (Jog1, Jog2, QSP, ErrorReset...). Like this, the controller can be actuated in manual mode, for instance for cleaning or changing the tools.
Service The service mode serves to adjust the controller.Selection: • Travel in positive direction for one second, • Stop for one second, • Travel in negative direction for one second.
Homing In the homing mode the drive is referenced. • Either the home position is set directly, or a homing is started.
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8.4.2.1 Open the »Engineer« project & go online
How to open the sample project in the »Engineer«:
1. Start »Engineer«.
2. With the command FileOpen archive, open the LAS_40_INTF_Can_94HL_TabPos project.
3. Insert the desired motor in the configuration:
– Highlight controller, select the desired motor with the command Insert a component on the Motors tab
– By clicking Complete, insert the selection in the »Engineer« project.
Detailed infomation on the general handling of the »Engineer« can be found in the online help for the »Engineer«, which you can call with [F1].
1.3 EN - 07/2012 L 105
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9400 HighLine - "LAS_40_INTF_Can_94HL_TabPos" sample project
4. Update the project by clicking :
• Select the option Rebuild all
• Click the Build button to update the project.
5. Going online
– After a connection to the controller has been established successfully, the following status is displayed in the Status line:
6. Download parameter set
– This command causes parameter settings in the controller to be overwritten by parameter settings of the »Engineer« project.
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8.4.3 Program structure in the »PLC Designer«
How to proceed:
1. In the »PLC Designer«, open the "LAS_40_INTF_Can_94HL_TabPos.pro" sample project.
2. Load the project to the IPC and Go online.
8.4.3.1 Control configuration
The CAN master (ID = 0) is the control section of the system configuration
Below the CAN master the 9400 HighLine (CAN node ID = 5) is attached.
– The 9400 HighLine is embedded in the form of a device-independent EDS file (LenzeDrive_Can1_4Word).
Two PDOs for CAN-Input and CAN-Output are used, respectively.
The transmission mode is sync-controlled (10 ms).
1.3 EN - 07/2012 L 107
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9400 HighLine - "LAS_40_INTF_Can_94HL_TabPos" sample project
8.4.3.2 Program organisation units
"Main" program
The "Main (PRG)" program is the basic program for processing the program sequences: initialisation of the controller and selection of the different modes.
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"Drive" program
In the "Drive (PRG)" program the controller is actuated by means of the L_S94_TablePositioning1 block.
The selections of the CAN nodeID (byNodeNumber) and CAN master node number (byMasterNumber) define the copy of the data to the control configuration.
By means of the L_SSC_SetAxisData FB you can preselect the axis data.
The DriveControl and DriveStatus structures serve to transmit the control and status signals.
1.3 EN - 07/2012 L 109
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"PLC_PRG" program
The "PLC_PRG (PRG)" program contains all program calls.
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8.4.4 Operation via the visualisations in the »PLC Designer«
8.4.4.1 Information/home page
Via the buttons in area , the mode (automatic, manual, service) can be selected.
In area services (parameter transfer and CAN diagnostics) can be selected.
The button in area refers to the home page which displays the version identifier of the project in area .
Dialog box shows the status of the machine.
Control field shows the error message status.
– The Error Reset button resets the error message.
Select mode Manufacturer information Version identifier Error message
Parameter selection
Information/home page Status
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9400 HighLine - "LAS_40_INTF_Can_94HL_TabPos" sample project
8.4.4.2 Automatic mode
Button selects the automatic mode.
Button starts the motion profile.
Button inhibits the motion profile.
Display field shows the mode status.
Display field shows the current profile number.
Display field shows the set position.
Dialog box shows the current position (Actual Position variable).
Select mode Stop button Current profile number
Current position
Start button Mode status Set position
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8.4.4.3 Manual mode ("Manual jog")
The 9400 HighLine can be controlled by means of the visualisation of blockL_S94_TablePositioning in manual operation. Via the visualisation of blockL_S94ReadErrorCode the current error can be read out.
Button selects the manual (manual jog) mode.
Control and status panel visualises the FB for controlling the 8400 Stateline. For instance the status of the controller and the limit switches (xDI_LimitSwPositive and xDI_LimitSwNegative) are visualised.
By means of this visualisation of block L_S94_TablePositioning, the 9400 HighLine can be controlled in manual operation (byProfilenumber = 2).
Note: Enable the controller via FB input xEnable to activate the manual mode. Afterwards the controller can be operated via the visualisation in manual operation.
The xQsp button must be activated to activate quick stop.
Optionally...
– Via xEnable SpeedFollower and rNSet the speed in [%] can be defined
– a fixed speed can be specified via xEnable SpeedFollower and xJog1, xJog2.
– Inching mode can be activated via xManual and xManualPos or xManualNeg.
Select mode Reading out an error
Control/status panel
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Homing
Button xHM_Enable in area activates the homing mode (homing).
– xHM_Activate starts the homing.
– xHM_ResetHomePos resets the home position.
Positioning mode
xPos_Enable activates the positioning mode.
– wProfilenumer specifies the profile.
– xPos_Startprofile starts the profile selected.
A speed or acceleration override can be specified. (Value range 0 - 199.99), which can be activated by xPosEnableSpeedOverride.
Further information on the FB can be found in the following section:
L_S94_TablePositioning - table positioning ( 251)
Area visualises the FB for reading out the errors from the controller.
Further information on the FB can be found in the following section: L_S94_ReadErrorCode - read out error status ( 250)
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Control/status panel
Further information on the FB can be found in the following section: L_S94_TablePositioning - table positioning ( 251)
Actuation of the controller Status of the controller
CAN address Number of the CAN master Enable drive Activate quick stop Reset error Activate homing mode (homing) Start homing Reset homing Activate positioning mode Start positioning Read in profile data again (consideration of the
distance covered)
Read in profile data again (without consideration of the distance covered)
Activate override function Activate inching mode Activate inching mode in positive rotating direction Activate inching mode in negative rotating direction Profile number (1...75) Speed override (0...199.99%) Acceleration override (0...199.99%) CAN status
CAN communication is OK Error in the controller active Controller is ready Speed is zero Controller is enabled Quick stop is activated Homing mode (homing) is activated Home position is known Homing has been carried out Positioning mode is switched on Basic function "Positioning" is enabled Basic function "Positioning" is active Positioning is completed Position has been reached Controller enable in hardware is not set Hardware limit switch is positive Hardware limit switch is negative Current position Current speed
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PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects
9400 HighLine - "LAS_40_INTF_Can_94HL_TabPos" sample project
Read out error
Further information on the FB can be found in the following section: L_S94_ReadErrorCode - read out error status ( 250)
Actuation of the controller Status of the controller
Read out error CAN address Number of the CAN master Use second SDO Error text display
Error read out Function block active Reading out error has failed
PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects9400 HighLine - "LAS_40_INTF_Can_94HL_TabPos" sample project
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8.4.4.4 Service mode
Button selects the service mode.
Button starts the motion profile.
Button inhibits the motion profile.
Button selects clockwise rotation (clockwise rotating direction of the motor).
Display field indicates the status of the mode.
Display field indicates the current speed (variable Speed Value).
Display field shows the current speed setpoint.
– Possible setpoint data for the motion profile: 0 ... 100%.
In area , status information is displayed and errors can be reset.
Select mode Stop button Status of the service mode
Start button Activate clockwise rotation
Actual speed Setpoint speed
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PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects
9400 HighLine - "LAS_40_INTF_Can_94HL_TabPos" sample project
8.4.4.5 Homing mode
Button selects the homing mode.
– The active standard setting in the controller is homing mode 8 (travel to positive limit switch / digital input 2)
Button starts the homing.
Button stops homing.
Button sets the home position.
Button resets the home position.
– Set reference / Pos Act = 0 unit
Dialog box shows the homing status.
Dialog box signalises whether the homing has been completed successfully.
– After a successful homing, the display field is coloured in green.
Dialog box shows the current homing mode (code value).
Select mode Stop button Status of the service mode
Start button Activate clockwise rotation
Actual speed
PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects9400 HighLine - "LAS_40_INTF_Can_94HL_TabPos" sample project
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8.4.4.6 Parameter transfer
The Parameter button selects the visualisation of the parameter FBs.
The mode selected last remains active.
You can use the FBs to...
– read individual parameters
– write individual parameters
– write a fixed parameter list
Area shows the FB for reading parameters.
Area shows the FB for writing a parameter table.
Area shows the FB for writing parameters.
Read parameters Write parameters
Write parameter table
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PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects
9400 HighLine - "LAS_40_INTF_Can_94HL_TabPos" sample project
Reading a parameter - L_SCB_ParRead function block
Further information on the FB can be found in the following section: L_SCB_ParRead - read parameter ( 288)
Actuation of the controller Status of the controller
Read out parameter CAN address Number of the CAN master Parameter index
Basic value code no. 24575 - C11 = 24564
Parameter subindex Use second SDO
Parameter read out Function block active Reading out parameter has failed Time-out Parameter display Number of bytes read
PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects9400 HighLine - "LAS_40_INTF_Can_94HL_TabPos" sample project
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Writing a parameter - L_SCB_ParWrite function block
Further information on the FB can be found in the following section: L_SCB_ParWrite - write parameter ( 291)
Writing the parameter table - function block L_SCB_SDO_TransferTable
Further information on the FB can be found in the following section: L_SCB_SDO_TransferTable - transfer parameter list ( 299)
Actuation of the controller Status of the controller
Write parameter CAN address Number of the CAN master
Basic value code no. 24575 - C11 = 24564
Parameter index Parameter subindex Data Number of bytes to be transmitted Use second SDO
Parameter written Function block active Writing parameter has failed Time-out
Actuation of the controller Status of the controller
Read/write parameter CAN address Number of the CAN master Use CAN address/master number entered
Use input code number as index
Parameter list read/written Function block active Reading/writing parameter has failed Error number Error in table line
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PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects
9400 HighLine - "LAS_40_INTF_Can_94HL_TabPos" sample project
8.4.4.7 CAN diagnostics
The CanDiagnostic button selects the diagnostics of the CAN bus.
The mode selected last remains active.
This area shows the status of the master and slaves, which are integrated in the control configuration.
Status of the CAN master (ID=0)
Status of the CAN slave (node-ID=5)
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8.4.5 Interface assignment in the »Engineer«
CAN monitoring is activated in the project:
[8-21] Time monitoring RPDO 1- RPDO4 3000 ms, "Error" response in the controller
[8-22] Assignment of the digital inputs
[8-23] Assignment of the digital outputs
Digin_bIn3 = LIM_bLimitSwitchPositive AxisStatusWord.bBit14
Digin_bIn4 = LIM_bLimitSwitchNegative AxisStatusWord.bBit15
All digital inputs (apart from bCInh) are high active.
All digital outputs are high active.
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9400 HighLine - "LAS_40_INTF_Can_94HL_TabPos" sample project
[8-24] Assignment CanIn1
[8-25] Assignment CanIn2.Word0
[8-26] Assignment CanIn2.Word1
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[8-27] Assignment CanOut1
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ECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project
8.5 ECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project
Further information on the function libraries used in this project can be found in the following section:
The L_SCS_DriveECS.lib library ( 255)
Standard procedure
How to commission the controller:
1. Commission the ECS servo system. Commissioning ( 126)
2. Load the project "LAS_40_INTF_Can_ECSPosShaft.gdc" to the controller using the »Global Drive Control«. Open the »Global Drive Control« project & go online
( 127)
3. Open the "LAS_40_INTF_Can_ECSPosShaft.pro" sample project in the »PLC Designer«. Program structure in the »PLC Designer« ( 131)
4. Load the project to the IPC/EL 1xx and go online.
8.5.1 Components used
[8-28] System configuration with EL x800 CAN master (ID=0, connection at CAN1) and ECS xP (CAN node ID=5)
Industrial PC Field device
Hardware EL x800 ECS servo system
Operating system IPC software from version Logic 7.02.x (release 2.2.x)
Firmware V8.3 ASW 2.0 or higher
Lenze software required »PLC Designer« from version 20.3»Global Drive Control« from version 4.11
Further requirements • CAN master ID = 0 • Connection at interface CAN1 • Logic CAN 500kB
• CAN node ID = 5 • Motor: MDSKS0.36-13-200
(C86 = 108)
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8.5.2 Short overview of the functions
8.5.3 Commissioning
How to commission the ECS servo system:
1. Set CAN address and baud rate via DIP switch:
• Set CAN address 5 (S7 +S5 ON) via hardware DIP switch
• Set baud rate 500kB (all others OFF).
2. Connect ECSxP servo system and Engineering PC with PC system bus adapter (EMF2177).
3. Switch on voltage supply.
Mode Description
Automatic In the automatic mode a sequence runs over an infinite loop.Selection:When the drive is referenced...
1.Travel to Position 1,2.Travel to Position 2,3.Start at (1.) again.
Manual In manual mode, the controller can be actuated by setting the individual control bits manually (Jog1, Jog2, QSP, ErrorReset...). Like this, the controller can be actuated in manual mode, for instance for cleaning or changing the tools.
Service The service mode serves to adjust the controller.Selection: • Travel in positive direction for one second, • Stop for one second, • Travel in negative direction for one second.
Homing In the homing mode the drive is referenced. • Either the home position is set directly, or a homing is started.
Read the mounting instructions supplied with the controller first before you start working!The mounting instructions contain safety instructions which must be observed!
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ECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project
8.5.4 Open the »Global Drive Control« project & go online
How to open the sample project in the »Global Drive Control«:
1. Start »Global Drive Control«
• Search for controller (F2):
Use F2 to call the Connect with drive dialog box:
Click Connect to activate the search process and establish an online connection to the drive.
• The parameters of the connected controllers are read.
2. The ECSxP is found at address 5 and the corresponding device description is loaded.
Detailed infomation on the general handling of »Global Drive Control« can be found in the online help for the »Global Drive Control«, which you can call with [F1].
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3. Select the menu command Drive parametersRead all parameter sets from file
• Open the parameter set from the directory ....\Program Files\Lenze\AppSamples_XXXX\ LAS_40_INTF_Can_ECSPosShaft _XXXX\LAS_40_INTF_Can_ECSPosShaft.gdc:
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ECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project
4. Use the wizard and select a motor:
5. Select the menu command Drive parametersWrite current parameter set to drive. Click OK.
PLC Designer V2.x| Lenze Application SamplesWorking with the sample projectsECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project
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• Click Replacement device.
• Click OK to load the parameter set into the controller
6. Enable the controller with and save the parameter set: C0003 = 1.
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ECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project
8.5.5 Program structure in the »PLC Designer«
How to proceed:
1. In the »PLC Designer«, open the "LAS_40_INTF_Can_ECSPosShaft.pro" sample project.
2. Load the project to the IPC and Go online.
8.5.5.1 Control configuration
The CAN master (ID = 0) is the control section of the system configuration
The ECSxP (CAN node ID = 5) is attached below the CAN master.
– The ECSxP is integrated in the form of a device-independent EDS file (LenzeDrive_Can1_4Word).
One PDO each is used for CAN-Input and CAN-Output.
The transmission mode is sync-controlled (10 ms).
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8.5.5.2 Program organisation units
"Main" program
The "Main (PRG)" program is the basic program for processing the program sequences: initialisation of the controller and selection of the different modes.
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ECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project
"Drive" program
The "Drive (PRG)" program controls the controller using the function block L_SEC_PosiShaft.
By selecting the CAN node ID (byNodeNumber) and the CAN master node number (byMasterNumber), the data can be copied to the control configuration.
The DriveControl and DriveStatus structures serve to transmit the control and status signals.
By means of the L_SSC_SetAxisData FB you can preselect the axis data.
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"PLC_PRG" program
The "PLC_PRG (PRG)" program contains all program calls.
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ECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project
8.5.6 Operation via the visualisations in the »PLC Designer«
8.5.6.1 Information/home page
Via the buttons in area , the mode (automatic, manual, service, homing) can be selected.
In area services (parameter transfer and CAN diagnostics) can be selected.
The button in area refers to the home page which displays the version identifier of the project in area .
Dialog box shows the status of the machine.
Control field shows the error message status.
– The Error Reset button resets the error message.
Select mode Manufacturer information Version identifier Error message
Parameter selection
Information/home page Status
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8.5.6.2 Automatic mode
Button selects the automatic mode.
Button starts the motion profile.
Button inhibits the motion profile.
Display field shows the mode status.
Display field shows the current profile number.
Display field shows the set position.
Dialog box shows the current position (Actual Position variable).
Select mode Stop button Current profile number
Current position
Start button Mode status Set position
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ECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project
8.5.6.3 Manual mode ("Manual jog")
Via the visualisation of the POU L_SEC_PosiShaft, the ECXxP can be controlled in manualoperation. The current error can be read out via the visualisation of the POUL_SEC_ReadErrorCode.
Button selects the manual (manual jog) mode.
In the control and status panel the FB for controlling the 8400 Stateline is visualised.
– byFuncNumber serves to display different status data in iPar1 and iPar2.
Via the visualisation of the POU L_SEC_PosiShaft the ECSxP can be controlled in manual operation.
Note: Enable the controller via FB input xEnable to activate the manual mode. Afterwards the controller can be operated via the visualisation in manual operation.
The xQsp button must be activated to activate quick stop.
xPosDirect allows the direct selection of speed (rVelDirect) and position (rPosDirect).
Inching mode
Inching mode can be activated via xManual and xManualPos or xManualNeg.
Via xRelLimSwitch, retracting from hardware limit switches is possible in inching mode.
Select mode Reading out an error
Control/status panel
PLC Designer V2.x| Lenze Application SamplesWorking with the sample projectsECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project
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All other functions are activated via profiles:
Further information on the FB can be found in the following section: L_SCS_PosiShaft - actuation of the ECS servo system ( 258)
Area visualises the FB for reading out the errors from the controller.
Further information on the FB can be found in the following section: L_SCS_ReadErrorCode - read out error status ( 266)
Mode/profile Meaning
HomingSetActPS = 1 and xProfEnableSetActPS = 2 and xProfEnableSetActPS = 3 and xProfEnable
Start homingSet home positionReset home position
PositioningSetActPS = 4 or 5
xPos_EnableSelect manual jogStart manual jog
Speed modeSetActPS = 4 or 5
xPos_EnableSelect positioningStart positioning
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ECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project
Control/status panel
Further information on the FB can be found in the following section: L_SCS_PosiShaft - actuation of the ECS servo system ( 258)
Actuation of the controller Status of the controller
CAN address Number of the CAN master Status display selection
0 = Display of rActPos 1 = iPar1 and iPar2 following error 2 = iPar1 Nact, iPar2 Mact 3 = not assigned 4 = not assigned 5 = iPar1 error number, iPar2 Dctrl_wStat 6 = iPar1 profile generator status, iPar2 not assigned 7 = iPar1 Ain1, iPar2 DigIn
Enable drive Activate quick stop Set error Reset error Activate inching mode in positive direction Activate inching mode in negative direction Start profile data set Direct position selection Activate retracting from hardware limit switch Profile number (1-15 possible) Direct position selection Direct speed
CAN communication OK Error active Controller is enabled Home position is known Position reached Profile active Homing (homing mode) active Software limit positions exceeded Target position reached Minimum speed reached Profile function "Torque reduction" active "Manual" status of profile generator "Homing" status of profile generator Homing has been carried out Positioning mode is switched on Current position CAN status
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Reading out an error
Further information on the FB can be found in the following section: L_SCS_ReadErrorCode - read out error status ( 266)
Actuation of the controller Status of the controller
Read out error CAN address Number of the CAN master Use second SDO Error text display
Error read out Function block active Reading out error has failed
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ECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project
8.5.6.4 Service mode
Button selects the service mode.
Button starts the motion profile.
Button inhibits the motion profile.
Button selects CW rotation (activates CW direction of rotation).
Display field indicates the mode status.
Display field indicates the current speed (variable Speed Value).
Display field shows the current speed setpoint.
– Possible setpoint data for the motion profile: 0 ... 100%.
In area , status information is displayed and errors can be reset.
Select mode Stop button Mode status Setpoint speed
Start button Activate clockwise rotation
Actual speed
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8.5.6.5 Homing mode
Button selects the homing mode.
– The active standard setting in the controller is homing mode 8 (travel to positive limit switch / digital input 2)
Button starts the homing.
Button stops homing.
Button sets the home position.
Button resets the home position.
– Set reference / Pos Act = 0 unit
Dialog box shows the homing status.
Dialog box signalises whether the homing has been completed successfully.
– After a successful homing, the display field is coloured in green.
Dialog box shows the current homing mode (code value).
Select mode Stop button Reset position
Start button Set position Mode status
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ECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project
8.5.6.6 Parameter transfer
The Parameter button selects the visualisation of the parameter FBs.
The mode selected last remains active.
You can use the FBs to...
– read individual parameters
– write individual parameters
– write a fixed parameter list
Area shows the FB for reading parameters.
Area shows the FB for writing a parameter table.
Area shows the FB for writing parameters.
Read parameters Write parameters
Write parameter table
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Reading a parameter - L_SCB_ParRead function block
Further information on the FB can be found in the following section: L_SCB_ParRead - read parameter ( 288)
Actuation of the controller Status of the controller
Read out parameter CAN address Number of the CAN master Parameter index
Basic value code no. 24575 - C11 = 24564
Parameter subindex Use second SDO
Parameter read out Function block active Reading out parameter has failed Time-out Parameter display Number of bytes read
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ECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project
Writing a parameter - L_SCB_ParWrite function block
Further information on the FB can be found in the following section: L_SCB_ParWrite - write parameter ( 291)
Writing the parameter table - function block L_SCB_SDO_TransferTable
Further information on the FB can be found in the following section: L_SCB_SDO_TransferTable - transfer parameter list ( 299)
Actuation of the controller Status of the controller
Write parameter CAN address Number of the CAN master
Basic value code no. 24575 - C11 = 24564
Parameter index Parameter subindex Data Number of bytes to be transmitted Use second SDO
Parameter written Function block active Writing parameter has failed Time-out
Actuation of the controller Status of the controller
Read/write parameter CAN address Number of the CAN master Use CAN address/master number entered
Use input code number as index
Parameter list read/written Function block active Reading/writing parameter has failed Error number Error in table line
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8.5.6.7 CAN diagnostics
The CanDiagnostic button selects the diagnostics of the CAN bus.
The mode selected last remains active.
This area shows the status of the master and slaves, which are integrated in the control configuration.
8.5.7 Interface assignment in the device
The CAN monitorings are activated in the project: monitoring time of 3000 ms, "error" response in the controller.
Digital inputs
[8-29] Assignment of the digital inputs (HIGH active)
Status of the CAN master (ID=0)
Status of the CAN slave (node-ID=5)
DIGIN 1: left limit switchDIGIN 2: reference switchDIGIN 3: TouchProbeDIGIN 4: right limit switch
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ECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project
Digital outputs
[8-30] Assignment of the digital output (HIGH active)
For more information on the assignment of CanIn1, please see the following section:
The L_SCS_DriveECS.lib library ( 255)
For more information on the assignment of CanOut1, please see the following section: The L_SCS_DriveECS.lib library ( 255)
DigOut: DriveReady
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8.6 8200 vector - "LAS_40_INTF_Can_82_Speed" sample project
Further information on the function libraries used in this project can be found in the following section:
The L_S8V_Drive82Vector.lib library ( 267)
Standard procedure
How to commission the controller:
1. Commission 8200 vector. Commissioning ( 149)
2. Load the project "LAS_40_INTF_Can_82Speed.gdc" to the controller using the L-force »Global Drive Control«. Open the »Global Drive Control« project & go online ( 149)
3. Open the "LAS_40_INTF_Can_82_Speed.pro" sample project in the »PLC Designer«. Program structure in the »PLC Designer« ( 152)
4. Load the project to the IPC/EL 1xx and go online.
8.6.1 Components used
[8-31] System configuration with EL x800 CAN master (ID=0, connection at CAN 1) and 8200 vector (CAN node ID=5)
Industrial PC Field device
Hardware EL x800 8200 vector (82S8212V_37000)
Operating system IPC software from version Logic 7.04.x (release 2.2.x)
From firmware V3.7
Lenze software required »PLC Designer« from version 2.3»Global Drive Control« from version 4.11
Further requirements • CAN master ID = 0 • Connection to interface CAN 1 • Logic CAN 500kB
• CAN module CAN PT/E82ZAFCC010
• CAN node ID = 5 • Motor: MDEMA 071-32
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8200 vector - "LAS_40_INTF_Can_82_Speed" sample project
8.6.2 Short overview of the functions
8.6.2.1 Commissioning
How to commission the 8200 vector:
1. Connect the 8200 vector and the Engineering PC to the PC system bus adapter (EMF2177).
2. Switch on voltage supply.
8.6.3 Open the »Global Drive Control« project & go online
How to open the sample project in the »Global Drive Control«:
1. Start »Global Drive Control«
Use F2 to call the dialog window Connect with drive.
• Search for controller (F2):
• The 8200 vector is identified at the CAN bus and the applicable device description is loaded.
Tip!
Mode Description
Automatic In the automatic mode a sequence runs over an infinite loop.Selection: • Travel for three seconds at speed1, • then for five seconds at speed2, • Start with speed1 again.
Manual In manual mode, the controller can be actuated by setting the individual control bits manually (Jog1, Jog2, QSP, ErrorReset...). Like this, the controller can be actuated in manual mode, for instance for cleaning or changing the tools.
Service The service mode serves to adjust the controller.Selection: • Travel in positive direction for one second, • Stop for one second, • Travel in negative direction for one second.
Read the mounting instructions supplied with the controller first before you start working!The mounting instructions contain safety instructions which must be observed!
Detailed infomation on the general handling of »Global Drive Control« can be found in the online help for the »Global Drive Control«, which you can call with [F1].
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Further information on the setting parameters of the CAN bus can be found in thedialog window Selection of communication driver (menu commandOptionCommunication).
2. Select the menu command Drive parametersRead all parameter sets from file
• Open the parameter set from the directory ....\Program Files\Lenze\AppSamples_XXXX\ LAS_40_INTF_Can_82_Speed _XXXX\ LAS_40_INTF_Can_82_Speed_XXXX.gdc.
3. Transfer the project to the controller with F5.
• Click Replacement device.
The device file is loaded as replacement device and all important parameters are
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8200 vector - "LAS_40_INTF_Can_82_Speed" sample project
transferred to the controller.
Note!
The data in the 8200 vector must not necessarily be saved, since the parameters are written directly into the EEPROM.
4. Use the wizard and select a motor:
Use code C0003 to save parameter set 1 in the EEPROM safe against mains failure (C0003 = 1).
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8.6.4 Program structure in the »PLC Designer«
How to proceed:
1. In the »PLC Designer«, open the "LAS_40_INTF_Can_82_Speed.pro" sample project.
2. Load the project to the IPC and Go online.
8.6.4.1 Control configuration
The CAN master (ID = 0) is the control section of the system configuration
Below the CAN master the 8200 vector (CAN node ID = 5) is attached.
– The 8200 vector is embedded in the form of a device-independent EDS file (LenzeDrive_Can1_4Word).
One PDO for CAN-Input and one PDO for CAN-Output is used, respectively.
The transmission mode is sync-controlled (10 ms).
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8200 vector - "LAS_40_INTF_Can_82_Speed" sample project
8.6.4.2 Program organisation units
"Main" program
The "Main (PRG)" program is the basic program for processing the program sequences: initialisation of the controller and selection of the different modes.
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"Drive" program
The "DRIVE (PRG)" program actuates the controller by means of the L_S82_ActuatorSpeed1 function block.
By selecting the CAN node ID (byNodeNumber) and the CAN master node number (byMasterNumber), the data can be copied to the control configuration.
The DriveControl and DriveStatus structures serve to transmit the control and status signals.
"PLC_PRG" program
The "PLC_PRG (PRG)" program contains all program calls.
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PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects
8200 vector - "LAS_40_INTF_Can_82_Speed" sample project
8.6.5 Operation via the visualisations in the »PLC Designer«
8.6.5.1 Information/home page
Via the buttons in area , the mode (automatic, manual, service) can be selected.
In area services (parameter transfer and CAN diagnostics) can be selected.
The button in area refers to the home page which displays the version identifier of the project in area .
Dialog box shows the status of the machine.
Control field shows the error message status.
– The Error Reset button resets the error message.
Mode selection Manufacturer information Version identifier Error message
Parameter selection
Information/home page Status
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8.6.5.2 Automatic mode
Button selects the automatic mode.
Button starts the motion profile.
Button inhibits the motion profile.
Display field shows the mode status.
Display field shows the current speed (Speed Value variable).
Dialog box shows the status of the machine.
Control field shows the error message status.
– The Error Reset button resets the error message.
Select mode Stop button Actual speed Error message
Start button Status Status
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PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects
8200 vector - "LAS_40_INTF_Can_82_Speed" sample project
8.6.5.3 Manual mode ("Manual jog")
Via the visualisation of block L_S8V_ActuatorSpeed, the 8200 vector can be controlled inmanual operation. The current error can be read out via the visualisation of blockL_S8V_ReadErrorCode.
Button selects the manual (manual jog) mode.
In the control and status panel the FB for controlling the 8400 Stateline is visualised.
Note: The xQsp button (quick stop) must not be activated!
Enable the controller via FB input xEnable to activate the manual mode. Afterwards the controller can be actuated via the visualisation in manual operation.
– Via rNSet the speed in [%] can be defined
– A fixed speed can be specified via xJog1 and xJog2.
Via the xErrorSet button, an external error is triggered.
Via the xErrorReset button, the error can be reset.
Further information on the FB can be found in the following section: L_S8V_ActuatorSpeed - actuation of the 8200 vector controller ( 267)
Area visualises the FB for reading out the errors from the controller.
Further information on the FB can be found in the following section: L_S8V_ReadErrorCode - read out error status ( 270)
Select mode Reading out an error
Control/status panel
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158 L 1.3 EN - 07/2012
Control/status panel
Further information on the FB can be found in the following section: L_S8V_ActuatorSpeed - actuation of the 8200 vector controller ( 267)
Actuation of the controller Status of the controller
CAN address Number of the CAN master Enable drive Activate quick stop Activate fixed speed (Jog 1) Activate fixed speed (Jog 2) Set external error Reset error Set clockwise (CW) rotation/counter-clockwise
(CCW) rotation Select speed setpoint in [%] CAN status
CAN communication OK Error status Controller ready Controller is enabled Quick stop status Speed is zero Actual speed value
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8200 vector - "LAS_40_INTF_Can_82_Speed" sample project
Read out error
Further information on the FB can be found in the following section: L_S8V_ReadErrorCode - read out error status ( 270)
Actuation of the controller Status of the controller
Read out error CAN address Number of the CAN master Use second SDO Error text display
Error read out Function block active Reading out error has failed
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8.6.5.4 Service mode
Button selects the service mode.
Button starts the motion profile.
Button inhibits the motion profile.
Button selects clockwise rotation (clockwise rotating direction of the motor).
Display field indicates the status of the mode.
Display field indicates the current speed (variable Speed Value).
Display field shows the current speed setpoint.
– Possible setpoint data for the motion profile: 0 ... 100%.
In area , status information is displayed and errors can be reset.
Select mode Stop button Status of the service mode
Start button Activate clockwise rotation (Cw)
Actual speed Setpoint speed
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PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects
8200 vector - "LAS_40_INTF_Can_82_Speed" sample project
8.6.5.5 Parameter transfer
The Parameter button selects the visualisation of the parameter FBs.
The mode selected last remains active.
You can use the FBs to...
– read individual parameters
– write individual parameters
– write a fixed parameter list
Area shows the FB for reading parameters.
Area shows the FB for writing a parameter table.
Area shows the FB for writing parameters.
– The parameters read can be viewed in the »PLC Designer« on the Blocks tab in the Parameter transfer directory of FB L_S8V_SDOList.
Read parameters Write parameters
Write parameter table
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Reading a parameter - L_SCB_ParRead function block
Further information on the FB can be found in the following section: L_SCB_ParRead - read parameter ( 288)
Actuation of the controller Status of the controller
Read out parameter CAN address Number of the CAN master Parameter index
Basic value code no. 24575 - C11 = 24564
Parameter subindex Use second SDO
Parameter read out Function block active Reading out parameter has failed Time-out Parameter display Number of bytes read
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PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects
8200 vector - "LAS_40_INTF_Can_82_Speed" sample project
Writing a parameter - L_SCB_ParWrite function block
Further information on the FB can be found in the following section: L_SCB_ParWrite - write parameter ( 291)
Writing a parameter table - function block
Further information on the FB can be found in the following section: L_SCB_SDO_TransferTable - transfer parameter list ( 299)
Actuation of the controller Status of the controller
Write parameter CAN address Number of the CAN master
Basic value code no. 24575 - C11 = 24564
Parameter index Parameter subindex Data Number of bytes to be transmitted Use second SDO
Parameter written Function block active Writing parameter has failed Time-out
Actuation of the controller Status of the controller
Read/write parameter CAN address Number of the CAN master Use CAN address and master number entered
Use input code number as index
Parameter list read/written Function block active Reading/writing parameter has failed
Error number Error in table line
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8.6.5.6 CAN diagnostics
The CanDiagnostic button selects the diagnostics of the CAN bus.
The mode selected last remains active.
This area shows the status of the master and slaves, which are integrated in the control configuration.
Status of the CAN master (ID=0)
Status of the CAN slave (node-ID=5)
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8200 vector - "LAS_40_INTF_Can_82_Speed" sample project
8.6.6 Interface assignment in the »Global Drive Control«
[8-32] Assignment of digital inputs DIGIN E1 - E4
[8-33] Assignment of the digital outputs: DIGOUT 1 - digital output A1/A2
[8-34] Assignment of CAN IN1: CAN/FIF-IN1 input block 1
Terminal 28 (CInh) is to be assigned on 24 V DC.
The assignment of further digital inputs is not required.
Digital output A1 is HIGH active.
The following bits of wCtrl are assigned and connected to the NSET block or the DCTRL (Drive Control):
bCtrl_B00 = xJog1
bCtrl_B01 = xJog2
bCtrl_B02 = xCCw
bCtrl_B03 = xQSP
bCtrl_B04 = not used
bCtrl_B05 = not used
bCtrl_B06 = not used
bCtrl_B07 = not used
bCtrl_B08 = free
bCtrl_B09 = xEnable
bCtrl_B10 = xErrorSet
bCtrl_B11 = xErrorReset
bCtrl_B12 = free
bCtrl_B13 = free
bCtrl_B14 = free
bCtrl_B15 = free
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[8-35] Assignment of CAN-Out 1
The CAN monitorings are activated in the project: monitoring time of 3000 ms, "error" response in the controller.
[8-36] Parameterisation of the 8200 vector in the »Global Drive Control«: Example of setting a "Trip" (C0126) in the controller
The following bits of STAT are assigned and connected on CAN-OUT1:
bState_B00 = free
bState_B01 = not used
bState_B02 = xQSPActive
bState_B03 = xDriveError
bState_B04 = free
bState_B05 = free
bState_B06 = xSpeedEqZero
bState_B07 = xEnable
bState_B08 = free
bState_B09 = free
bState_B10 = free
bState_B11 = free
bState_B12 = not used
bState_B13 = free
bState_B14 = not used
bState_B15 = xDriveReady
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PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects
9300 servo - "LAS_40_INTF_Can_93_Speed" sample project
8.7 9300 servo - "LAS_40_INTF_Can_93_Speed" sample project
Further information on the function libraries used in this project can be found in the following section:
The L_S93_Drive9300.lib library ( 276)
Standard procedure
How to commission the controller:
1. Commission 9300 vector. Commissioning ( 168)
2. Load the project "LAS_40_INTF_Can_93Speed.gdc" to the controller using the L-force »Global Drive Control«. Open the »Global Drive Control« project & go online ( 169)
3. Open the "LAS_40_INTF_Can_93_Speed.pro" sample project in the »PLC Designer«. Program structure in the »PLC Designer« ( 172)
4. Load the project to the IPC/EL 1xx and go online.
8.7.1 Components used
[8-37] System configuration with EL x800 CAN master (ID=0, connection at CAN 1) and 9300 servo inverter (CAN node ID=5)
Industrial PC Field device
Hardware EL x800 9300 ES (9321 EVS)
Operating system IPC software from version Logic 7.04.x (release 2.2.x)
From firmware V8.1
Lenze software required »PLC Designer« from version 2.3»Global Drive Control« from version 4.11
Further requirements • CAN master ID = 0 • Connection to interface CAN 1 • Logic CAN 500kB
• CAN node ID = 5 • Motor: MDSKS 036-23
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8.7.2 Short overview of the functions
8.7.2.1 Commissioning
How to commission the 9300:
1. Connect the 9300 servo inverter and the Engineering PC to the PC system bus adapter (EMF2177).
2. Switch on voltage supply.
Mode Description
Automatic In the automatic mode a sequence runs over an infinite loop.Selection: • Travel for three seconds at speed1, • then for five seconds at speed2, • Start with speed1 again
Manual In manual mode, the controller can be actuated by setting the individual control bits manually (Jog1, Jog2, QSP, ErrorReset...). Like this, the controller can be actuated in manual mode, for instance for cleaning or changing the tools.
Service The service mode serves to adjust the controller.Selection: • Travel in positive direction for one second, • Stop for one second, • Travel in negative direction for one second.
Read the mounting instructions supplied with the controller first before you start working!The mounting instructions contain safety instructions which must be observed!
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9300 servo - "LAS_40_INTF_Can_93_Speed" sample project
8.7.3 Open the »Global Drive Control« project & go online
How to open the sample project in the »Global Drive Control«:
1. Start »Global Drive Control«
• Search for controller (F2):
Use F2 to call the Connect with drive dialog box:
2. The 9300 ES is identified at the CAN bus and the applicable device description is loaded.
Tip!
Further information on the setting parameters of the CAN bus can be found in thedialog window Selection of communication driver (menu commandOptionCommunication).
Detailed infomation on the general handling of »Global Drive Control« can be found in the online help for the »Global Drive Control«, which you can call with [F1].
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3. Select the menu command Drive parametersRead all parameter sets from file
• Open the project "LAS_40_INTF_Can_93Speed.GDC":
4. Transfer the project to the controller with F5.
• Click Replacement device.
The device file is loaded as replacement device and all important parameters are transferred to the controller.
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9300 servo - "LAS_40_INTF_Can_93_Speed" sample project
5. Use the wizard and select a motor:
Use code C0003 to save parameter set 1 in the EEPROM safe against mains failure (C0003 = 1).
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8.7.4 Program structure in the »PLC Designer«
How to proceed:
1. In the »PLC Designer«, open the sample project from the "LAS_40_INTF_Can_93_Speed.pro" directory.
2. Load the project to the IPC and Go online.
8.7.4.1 Control configuration
The CAN master (ID = 0) is the control section of the system configuration
Below the CAN master the 9300 ES (CAN node ID = 5) is attached.
– The 9300 ES is embedded in the form of a device-independent EDS file (LenzeDrive_Can1_4Word).
One PDO for CAN-Input and one PDO for CAN-Output is used, respectively.
The transmission mode is sync-controlled (10 ms).
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9300 servo - "LAS_40_INTF_Can_93_Speed" sample project
8.7.4.2 Program organisation units
"Main" program
The "Main (PRG)" program is the basic program for processing the program sequences: initialisation of the controller and selection of the different modes.
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"Drive" program
The "DRIVE (PRG)" program actuates the controller by means of the L_S93_ActuatorSpeed1 function block.
By selecting the CAN node ID (byNodeNumber) and the CAN master node number (byMasterNumber), the data can be copied to the control configuration.
The DriveControl and DriveStatus structures serve to transmit the control and status signals.
"PLC_PRG" program
The "PLC_PRG (PRG)" program contains all program calls.
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9300 servo - "LAS_40_INTF_Can_93_Speed" sample project
8.7.5 Operation via the visualisations in the »PLC Designer«
8.7.5.1 Information/home page
Via the buttons in area , the mode (automatic, manual, service) can be selected.
In area services (parameter transfer and CAN diagnostics) can be selected.
The button in area refers to the home page which displays the version identifier of the project in area .
Dialog box shows the status of the machine.
Control field shows the error message status.
– The Error Reset button resets the error message.
Select mode Manufacturer information Version identifier Error message
Parameter selection
Information/home page Status
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8.7.5.2 Automatic mode
Button selects the automatic mode.
Button starts the motion profile.
Button inhibits the motion profile.
Display field shows the mode status.
Display field shows the current speed (Speed Value variable).
Dialog box shows the status of the machine.
Control field shows the error message status.
– The Error Reset button resets the error message.
Select mode Stop button Actual speed Error message
Start button Status Status
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PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects
9300 servo - "LAS_40_INTF_Can_93_Speed" sample project
8.7.5.3 Manual mode ("Manual jog")
The 9300 ES can be controlled in manual operation via the visualisation of blockL_S93_ActuatorSpeed. Via the visualisation of block L_S93ReadErrorCode the currenterror can be read out.
Button selects the manual (manual jog) mode.
In the control and status panel the FB for controlling the 9300 is visualised.
Note: The xQsp button (quick stop) must not be activated!
Enable the controller via FB input xEnable to activate the manual mode. Afterwards the controller can be actuated via the visualisation in manual operation.
– Via rNSet the speed in [%] can be defined
– A fixed speed can be specified via xJog1 and xJog2.
Via the xErrorSet button, an external error is triggered.
Via the xErrorReset button, the error can be reset.
Further information on the FB can be found in the following section: Structure of 93_DriveControl_Speed - actuation to the controller ( 277)
Area visualises the FB for reading out the errors from the controller.
Further information on the FB can be found in the following section: L_S93_ReadErrorCode - read out error status ( 282)
Select mode Reading out an error
Control/status panel
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Control/status panel
Further information on the FB can be found in the following section: L_S93_ActuatorSpeed - control the 9300 Speed ( 276)
Actuation of the controller Status of the controller
CAN address Number of the CAN master Enable drive Activate quick stop Activate fixed speed (Jog 1) Activate fixed speed (Jog 2) Set external error Reset error Set clockwise (CW) rotation/counter-clockwise
(CCW) rotation Select speed setpoint in [%] CAN status
CAN communication OK Error status Controller ready Controller is enabled Quick stop status Speed is zero Actual speed value Actual torque value Speed setpoint of the drive
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9300 servo - "LAS_40_INTF_Can_93_Speed" sample project
Read out error
Further information on the FB can be found in the following section: L_S93_ReadErrorCode - read out error status ( 282)
Actuation of the controller Status of the controller
Read out error CAN address Number of the CAN master Use second SDO Error text display
Error read out Function block active Reading out error has failed
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8.7.5.4 Service mode
Button selects the service mode.
Button starts the motion profile.
Button inhibits the motion profile.
Button selects clockwise rotation (clockwise rotating direction of the motor).
Display field indicates the status of the mode.
Display field indicates the current speed (variable Speed Value).
Display field shows the current speed setpoint.
– Possible setpoint data for the motion profile: 0 ... 100%.
In area , status information is displayed and errors can be reset.
Select mode Stop button Status of the service mode
Start button Activate clockwise rotation (Cw)
Actual speed Setpoint speed
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9300 servo - "LAS_40_INTF_Can_93_Speed" sample project
8.7.5.5 Parameter transfer
The Parameter button selects the visualisation of the parameter FBs.
The mode selected last remains active.
You can use the FBs to...
– read individual parameters
– write individual parameters
– write a fixed parameter list
Area shows the FB for reading parameters.
Area shows the FB for writing a parameter table.
Area shows the FB for writing parameters.
– The parameters read are visible in the »PLC Designer« on the Blocks tab in the Parameter transfer directory.
Read parameters Write parameters
Write parameter table
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Reading a parameter - L_SCB_ParRead function block
Further information on the FB can be found in the following section: L_SCB_ParRead - read parameter ( 288)
Actuation of the controller Status of the controller
Read out parameter CAN address Number of the CAN master Parameter index
Basic value code no. 24575 - C11 = 24564
Parameter subindex Use second SDO
Parameter read out Function block active Reading out parameter has failed Time-out Parameter display Number of bytes read
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9300 servo - "LAS_40_INTF_Can_93_Speed" sample project
Writing a parameter - L_SCB_ParWrite function block
Further information on the FB can be found in the following section: L_SCB_ParWrite - write parameter ( 291)
Writing a parameter table - function block
Further information on the FB can be found in the following section: L_SCB_SDO_TransferTable - transfer parameter list ( 299)
Actuation of the controller Status of the controller
Write parameter CAN address Number of the CAN master
Basic value code no. 24575 - C11 = 24564
Parameter index Parameter subindex Data Number of bytes to be transmitted Use second SDO
Parameter written Function block active Writing parameter has failed Time-out
Actuation of the controller Status of the controller
Read/write parameter CAN address Number of the CAN master Use CAN address and master number entered
Use input code number as index
Parameter list read/written Function block active Reading/writing parameter has failed
Error number Error in table line
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8.7.5.6 CAN diagnostics
The CanDiagnostic button selects the diagnostics of the CAN bus.
The mode selected last remains active.
This area shows the status of the master and slaves, which are integrated in the control configuration.
Status of the CAN master (ID=0)
Status of the CAN slave (node-ID=5)
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9300 servo - "LAS_40_INTF_Can_93_Speed" sample project
8.7.6 Interface assignment in the »Global Drive Control«
[8-38] Assignment of digital inputs DIGIN E1 - E5
[8-39] Assignment of the digital outputs: DIGOUT A1 - A4
[8-40] Assignment of the digital inputs: CAN-IN1 - CAN input block
Terminal 28 (CInh) is to be assigned on 24 V DC.
The assignment of further digital inputs is not required.
The digital outputs A1 and A2 are LOW active.
The digital outputs A3 and A4 are HIGH active.
The following bits of wCtrl are assigned and connected to the NSET block:
bCtrl_B00 = xJog1
bCtrl_B01 = xJog2
bCtrl_B02 = xCCw
bCtrl_B04 = not used
bCtrl_B05 = not used
bCtrl_B06 = freely assignable
bCtrl_B07 = freely assignable
bCtrl_B12 = freely assignable
bCtrl_B13 = freely assignable
bCtrl_B14 = freely assignable
bCtrl_B15 = freely assignable
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[8-41] Assignment of the control bits in the 9300 servo inverter
[8-42] Assignment of CAN-OUT1
The following control bits are assigned fixedly in the controller (control word) and map the following function:
bCtrl_B03 = xQSP
bCtrl_B08 = not used
bCtrl_B09 = xEnable
bCtrl_B10 = xErrorSet
bCtrl_B11 = xErrorReset
The following bits of the status word (STAT) are assigned and connected on CAN-OUT1:
bState_B00 = free
bState_B02 = xQSPActive
bState_B03 = xDriveError
bState_B04 = not used
bState_B05 = not used
bState_B14 = not used
bState_B15 = xDriveReady
The following status bits are assigned fixedly in the status word of the controller (STAT) and map the following function:
bDCTRL_B06 = xSpeedEqZero
bDCTRL_B07 = xEnable
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9300 servo - "LAS_40_INTF_Can_93_Speed" sample project
The CAN monitorings are activated in the project: monitoring time of 3000 ms, "error" response in the controller.
[8-43] Parameterisation of the 9300 in the »Global Drive Control«: Example of setting a "Trip" in the controller
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8.8 9300 - "LAS_40_INTF_Can_93_EP" sample project
Further information on the function libraries used in this project can be found in the following section:
The L_S93_Drive9300.lib library ( 276)
Standard procedure
How to commission the controller:
1. Commission 9300 vector. Commissioning ( 189)
2. Load the project "LAS_40_INTF_Can_93Pos.gdc" to the controller using the L-force »Global Drive Control«. Open the »Global Drive Control« project & go online
( 190)
3. Open the "LAS_40_INTF_Can_93_EP.pro" sample project in the »PLC Designer«. Program structure in the »PLC Designer« ( 193)
4. Load the project to the IPC/EL 1xx and go online.
8.8.1 Components used
[8-44] System configuration with EL x800 CAN master (ID=0, connection at CAN 1) and 9300 servo inverter (CAN node ID=5)
Industrial PC Field device
Hardware EL x800 9300 EP (9321 EP)
Operating system IPC software from version Logic 7.04.x (release 2.2.x)
From firmware V8.0
Lenze software required »PLC Designer« from version 2.3»Global Drive Control« from version 4.11
Further requirements • CAN master ID = 0 • Connection to interface CAN 1 • Logic CAN 500kB
• CAN node ID = 5 • Motor: MDSKS 036-23
1.3 EN - 07/2012 L 189
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9300 - "LAS_40_INTF_Can_93_EP" sample project
8.8.2 Short overview of the functions
8.8.2.1 Commissioning
How to commission the 9300:
1. Connect the 9300 servo inverter and the Engineering PC to the PC system bus adapter (EMF2177).
2. Switch on voltage supply.
Mode Description
Automatic In the automatic mode a sequence runs over an infinite loop.Selection:When the drive is referenced...
1.Travel to Position 1,2.Travel to Position 2,3.Start at (1.) again.
Manual In manual mode, the controller can be actuated by setting the individual control bits manually (Jog1, Jog2, QSP, ErrorReset...). Like this, the controller can be actuated in manual mode, for instance for cleaning or changing the tools.
Service The service mode serves to adjust the controller.Selection: • Travel in positive direction for one second, • Stop for one second, • Travel in negative direction for one second.
Homing In the homing mode the drive is referenced. • Either the home position is set directly, or a homing is started.
Read the mounting instructions supplied with the controller first before you start working!The mounting instructions contain safety instructions which must be observed!
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8.8.3 Open the »Global Drive Control« project & go online
How to open the sample project in the »Global Drive Control«:
1. Start »Global Drive Control«
• Search for controller (F2):
Use F2 to call the Connect with drive dialog box:
2. The 9300 EP is identified at the CAN bus and the applicable device description is loaded.
Tip!
Further information on the setting parameters of the CAN bus can be found in thedialog window Selection of communication driver (menu commandOptionCommunication).
Detailed infomation on the general handling of »Global Drive Control« can be found in the online help for the »Global Drive Control«, which you can call with [F1].
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3. Select the menu command Drive parametersRead all parameter sets from file
• Open the project LAS_40_INTF_Can_93Pos.GDC :
4. Transfer the project to the controller with F5.
• Click Replacement device.
The device file is loaded as replacement device and all important parameters are transferred to the controller.
5. Use the wizard and select a motor:
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Use code C0003 to save parameter set 1 in the EEPROM safe against mains failure (C0003 = 1).
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8.8.4 Program structure in the »PLC Designer«
How to proceed:
1. In the »PLC Designer«, open the "LAS_40_INTF_Can_93_EP.pro" sample project.
2. Load the project to the IPC and Go online.
8.8.4.1 Control configuration
The CAN master (ID = 0) is the control section of the system configuration
Below the CAN master the 9300 EP (CAN node ID = 5) is attached.
– The 9300 EP is embedded in the form of a device-independent EDS file (LenzeDrive_Can1_4Word).
One PDO each is used for CAN-Input and CAN-Output.
The transmission mode is sync-controlled (10 ms).
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8.8.4.2 Program organisation units
"Main" program
The "Main (PRG)" program is the basic program for processing the program sequences: initialisation of the controller and selection of the different modes.
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"Drive" program
The "DRIVE (PRG)" program actuates the controller by means of the L_S93_Positioning1 function block.
By selecting the CAN node ID (byNodeNumber) and the CAN master node number (byMasterNumber), the data can be copied to the control configuration.
The DriveControl and DriveStatus structures serve to transmit the control and status signals.
Use FB L_SSC_SetAxisData to specify the axis data. The machine constants are conditioned by means of the L_SSC_SetAxisData block and are provided as structure at input AxisData.
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"PLC_PRG" program
The "PLC_PRG (PRG)" program contains all program calls.
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8.8.5 Operation via the visualisations in the »PLC Designer«
8.8.5.1 Information/home page
Via the buttons in area , the mode (automatic, manual, service, homing) can be selected.
In area services (parameter transfer and CAN diagnostics) can be selected.
The button in area refers to the home page which displays the version identifier of the project in area .
Dialog box shows the status of the machine.
Control field shows the error message status.
– The Error Reset button resets the error message.
Select mode Manufacturer information Version identifier Error message
Parameter selection
Information/home page Status
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8.8.5.2 Automatic mode
Button selects the automatic mode.
Button starts the motion profile.
Button inhibits the motion profile.
Display field shows the mode status.
Display field shows the current profile number.
Display field shows the set position.
Dialog box shows the current position (Actual Position variable).
Select mode Stop button Current profile number
Current position
Start button Mode status Set position
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8.8.5.3 Manual mode ("Manual jog")
The 9300 EP can be controlled in manual operation via the visualisation of blockL_S93_Positioning. Via the visualisation of block L_S93ReadErrorCode the current errorcan be read out.
Button selects the manual (manual jog) mode.
In the control and status panel the FB for actuating the controller is visualised.
– byFuncNumber serves to display different status data in iPar1 and iPar2.
Via the visualisation of the L_S93_Positioning block, the 9300 EP can be controlled in manual operation.
Note:
The xQsp button must not be activated.
Enable the controller via FB input xEnable to activate the manual mode. Afterwards the controller can be actuated via the visualisation in manual operation.
The controller can be actuated via the buttons xManualPos and xManualNeg within the software limitation C1224 (position limit negative) -214000 units / C1223 (position limit positive) 214000 units.
If the limit values are exceeded or not reached, an error is triggered.
After the error acknowledgement, the controller can be traversed in the opposite direction.
All other functions can be activated via profiles:
Select mode Reading out an error
Control/status panel
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Further information on the FB can be found in the following section: Structure of S93_DriveControl_93xxEP - actuation to the 9300 EP controller ( 280)
Area visualises the FB for reading out the errors from the controller.
Further information on the FB can be found in the following section: L_S93_ReadErrorCode - read out error status ( 282)
Mode/profile Meaning
HomingbyProfileNumber = 2 Start homing
PositioningbyProfileNumber = 4 or 5
byProfileNumber = 7Start positioningDirect positioning with the set position "iSetPos". The positioning range is limited to +/- 32767. • Via the "xErrorSet" button, an external error is triggered. • Via the "xErrorReset" button, the error can be reset.
SpeedbyProfileNumber = 6 Start speed operation
• The controller approaches the setpoint "rNset" in a speed-controlled manner.
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Control/status panel
Further information on the FB can be found in the following section: Structure of S93_DriveControl_93xxEP - actuation to the 9300 EP controller ( 280)
Actuation of the controller Status of the controller
CAN address Number of the CAN master Enable drive Activate quick stop Activate manual jog in positive direction Activate manual jog in negative direction Set external error Reset error Start homing in manual mode Start positioning set Stop current positioning task Speed override in [%] Positioning task/program set number:
2 = Homing 4 / 5 = absolute position 6 = speed operation "rNset" 7 = direct position "iSetPos"
Speed setpoint to the drive Target position to the drive CAN status
CAN communication OK Error status Controller ready Drive enabled Quick stop status Speed is zero Positioning set active Reference available Target position reached Actual speed value Current position
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Read out error
Further information on the FB can be found in the following section: Structure of S93_DriveStatus_93xxEP - status of the 9300 EP controller ( 281)
Actuation of the controller Status of the controller
Read out error CAN address Number of the CAN master Use second SDO Error text display
Error read out Function block active Reading out error has failed
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8.8.5.4 Service mode
Button selects the service mode.
Button starts the motion profile.
Button inhibits the motion profile.
Button selects CW rotation (activates CW direction of rotation).
Display field indicates the mode status.
Display field indicates the current speed (variable Speed Value).
Display field shows the current speed setpoint.
– Possible setpoint data for the motion profile: 0 ... 100%.
In area , status information is displayed and errors can be reset.
Select mode Stop button Status of the service mode
Start button Activate clockwise rotation
Actual speed Setpoint speed
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8.8.5.5 Homing mode
Button selects the homing mode.
Note!
• The homing is only to be carried out once after initial switch-on.
• The reference can not be reset.
• Program set number 3 in manual mode activates the reference setting.
– As a standard setting, homing mode 0 is active in the controller (travel over ref-mark / DigIn 4 in positive direction with H-L edge negative to home position)
Button starts the homing.
Button stops homing.
Button sets the home position.
– Set direct reference / Pos Act = 0 unit
Dialog box shows the homing status.
Dialog box signalises whether the homing has been completed successfully.
– After a successful homing, the display field is coloured in green.
Dialog box shows the current homing mode (code value).
Select mode Stop button Reset position
Start button Set position Mode status
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8.8.5.6 Parameter transfer
The Parameter button selects the visualisation of the parameter FBs.
The mode selected last remains active.
You can use the FBs to...
– read individual parameters
– write individual parameters
– write a fixed parameter list
Area shows the FB for reading parameters.
Area shows the FB for writing a parameter table.
Area shows the FB for writing parameters.
Read parameters Write parameters
Write parameter table
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Reading a parameter - L_SCB_ParRead function block
Further information on the FB can be found in the following section: L_SCB_ParRead - read parameter ( 288)
Actuation of the controller Status of the controller
Read out parameter CAN address Number of the CAN master Parameter index
Basic value code no. 24575 - C11 = 24564
Parameter subindex Use second SDO
Parameter read out Function block active Reading out parameter has failed Time-out Parameter display Number of bytes read
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Writing a parameter - L_SCB_ParWrite function block
Further information on the FB can be found in the following section: L_SCB_ParWrite - write parameter ( 291)
Writing the parameter table - function block L_SCB_SDO_TransferTable
Further information on the FB can be found in the following section: L_SCB_SDO_TransferTable - transfer parameter list ( 299)
Actuation of the controller Status of the controller
Write parameter CAN address Number of the CAN master
Basic value code no. 24575 - C11 = 24564
Parameter index Parameter subindex Data Number of bytes to be transmitted Use second SDO
Parameter written Function block active Writing parameter has failed Time-out
Actuation of the controller Status of the controller
Read/write parameter CAN address Number of the CAN master Use CAN address/master number entered
Use input code number as index
Parameter list read/written Function block active Reading/writing parameter has failed Error number Error in table line
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8.8.5.7 CAN diagnostics
The CanDiagnostic button selects the diagnostics of the CAN bus.
The mode selected last remains active.
This area shows the status of the master and slaves, which are integrated in the control configuration.
Status of the CAN master (ID=0)
Status of the CAN slave (node-ID=5)
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8.8.6 Interface assignment in the »Global Drive Control«
[8-45] Assignment of digital inputs DIGIN E1 - E5
[8-46] Assignment of the digital outputs: DIGOUT A1 - A4
[8-47] Assignment of the digital inputs: CAN-IN1 - CAN input block
Terminal 28 (CInh) is to be assigned on 24 V DC.
The digital inputs E1- E2 are to be assigned with H-level. (L -> error QSP limit active.)
Digital input 4 is assigned with a H-L edge during homing.
The digital outputs A1 to A4 are HIGH active.
The following bits of wCtrl are assigned and connected to the NSET block:
bCtrl_B00 = xManualPos
bCtrl_B01 = xManualPos
bCtrl_B02 = xHoming
bCtrl_B04 = xStartPRG
bCtrl_B05 = xStopPRG
bCtrl_B06 = xResetPRG
bCtrl_B07 = not used
bCtrl_B12 = program block no.Bit0
bCtrl_B13 = program block no.Bit1
bCtrl_B14 = program block no.Bit2
bCtrl_B15 = program block no.Bit3
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[8-48] Assignment of the control bits in the 9300 servo inverter
[8-49] Assignment of CAN-OUT1
The following control bits are assigned fixedly in the drive (control word) and map the following function:
bCtrl_B03 = xQSP
bCtrl_B08 = not used
bCtrl_B09 = xEnable
bCtrl_B10 = xErrorSet
bCtrl_B11 = xErrorReset
The following bits of STAT are assigned and connected on CAN-OUT1:
bState_B00 = free
bState_B02 = xQSPActive
bState_B03 = xDriveError
bState_B04 = free
bState_B05 = free
bState_B14 = not used
bState_B15 = xDriveReady
The following status bits are assigned fixedly in the drive (status word) and map the following function:
bDCTRL_B06 = xSpeedEqZero
bDCTRL_B07 = xEnable
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The CAN monitorings are activated in the project: monitoring time of 3000 ms, "error" response in the controller.
[8-50] Parameterisation of the 9300 in the »Global Drive Control«: Example of setting a "Trip" in the controller
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8.9 ECS/9400/8400 - "LAS_40_INTF_84SL_Speed_94HL_Speed_ECSPosShaft" sample project
The "Multiproject" is a sample project for integrating controllers of different device series.An ECS servo system, a 9400 HighLine, and a 8400 StateLine are already implemented.
Further information on the function libraries used in this project can be found in the following section:
The L_SCS_DriveECS.lib library ( 255)
The L_S94_Drive9400.lib library ( 246)
The L_S84_Drive8400.lib library ( 235)
8.9.1 Components used
[8-51] System configuration with EL x800 CAN master (ID=0, connection at CAN1) , ECS xP, 9400 HighLine and 8400 StateLine
Industrial PC Field devices
Hardware EL x800 ECS xP 9400 HighLine 8400 StateLine
Operating system IPC software from version Logic 7.02.x (release 2.2.x)
From firmware 8.3 ASW 2.0
From firmware 7.0 From firmware V5.0
Lenze software required
»PLC Designer« from version 2.3L-force »Engineer« from version 2.12»Global Drive Control« from version 4.11
Further requirements • CAN master ID = 0 • Connection to interface CAN 1 • Logic CAN 500kB
• CAN node ID = 5 • Motor:
MDSKS0.36-13-200 (C86 = 108)
• CAN node ID = 6 • Motor:
MCS06C41
• CAN node ID = 7 • Motor:
SDSGAI056-22
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8.9.2 Short overview of the functions
ECS xP
9400 HighLine / 8400 StateLine
8.9.2.1 Commissioning
ECS xP
Commissioning ( 126)
Open the »Global Drive Control« project & go online ( 127)
9400 HighLine
Open the »Engineer« project & go online ( 85)
8400 StateLine
Open the »Engineer« project & go online ( 43)
Mode Description
Automatic In the automatic mode a sequence runs over an infinite loop.Selection:When the drive is referenced...
1.Travel to Position 1,2.Travel to Position 2,3.Start at (1.) again.
Manual In manual mode, the controller can be actuated by setting the individual control bits manually (Jog1, Jog2, QSP, ErrorReset...). Like this, the controller can be actuated in manual mode, for instance for cleaning or changing the tools.
Service The service mode serves to adjust the controller.Selection: • Travel in positive direction for one second, • Stop for one second, • Travel in negative direction for one second.
Homing In the homing mode the drive is referenced. • Either the home position is set directly, or a homing is started.
Mode Description
Automatic In the automatic mode a sequence runs over an infinite loop.Selection: • Travel for three seconds at speed1, • then for five seconds at speed2, • Start with speed1 again.
Manual In manual mode, the controller can be actuated by setting the individual control bits manually (Jog1, Jog2, QSP, ErrorReset...). Like this, the controller can be actuated in manual mode, for instance for cleaning or changing the tools.
Service The service mode serves to adjust the controller.Selection: • Travel in positive direction for one second, • Stop for one second, • Travel in negative direction for one second.
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8.9.2.2 Program structure in the »PLC Designer«
The CAN master (ID = 0) is the control section of the system configuration
Below the CAN master, ECS xP (CAN node ID = 5), 9400 HighLine (CAN node ID = 6), and 8400 StateLine (CAN node ID =7) are attached.
– ECS xP, 8400 StateLine, and 9400 HighLine are embedded in the form of a device-independent EDS file (LenzeDrive_Can1_4Word), respectively.
One PDO for CAN-Input and one PDO for CAN-Output is used, respectively.
The transmission mode is sync-controlled (10 ms).
ECS xP (ID=0) 9400 HighLine 8400 StateLine
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8.9.2.3 Program organisation units
"Main" program
The "Main (PRG)" program is the basic program for processing the program sequences: initialisation of the controllers and selection of the different modes.
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"Drive" program
The "Drive_<device name> (PRG)" program actuates the respective controller using the corresponding function block.
By selecting the CAN node ID (byNodeNumber) and the CAN master node number (byMasterNumber), the data can be copied to the control configuration.
The DriveControl and DriveStatus structures serve to transmit the control and status signals.
By means of the L_SSC_SetAxisData FB you can preselect the axis data.
Controller/program Description
ECS xP - PosiShaft / "Drive_ECS"
• The "Drive_ECS(PRG)" program actuates the controller using the L_SEC_PosiShaft function block.
• By means of the L_SSC_SetAxisData FB you can preselect the axis data.
9400 HighLine - Speed / "Drive_94HL"
• The "Drive_94HL(PRG)" actuates the controller using the L_S94_ActuatorSpeed block.
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"PLC_PRG" program
The "PLC_PRG (PRG)" program contains all program calls.
8400 StateLine - Speed / "Drive_84SL"
• The "Drive_84SL(PRG)" program actuates the controller by means of the L_S84_Control8400SL function block.
Call"Drive_ECS" ECS xP program
Call"Drive_82SL" 8400 StateLine program
Call"Drive_94HL" 9400 HighLine program
Controller/program Description
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8.9.3 Operation via the visualisations in the »PLC Designer«
8.9.3.1 Information/home page
Via the buttons in area , the mode (automatic, manual, service, ECS homing) can be selected.
In area services (parameter transfer and CAN diagnostics) can be selected.
The button in area refers to the home page which displays the version identifier of the project in area .
Dialog box shows the status of the machine.
Control field shows the CAN status and the error message status.
Select mode Manufacturer information Version identifier Error message
Parameter selection
Information/home page Status
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8.9.3.2 Automatic mode
Button selects the automatic mode.
In the area - the automatic modes of the respective controller are shown:
: ECS xP
Select mode ECS xP (ID=0)
9400 HighLine
8400 StateLine
• CAN status • Error message
display • Error reset
Start: start sequenceStop: stop sequence
Mode status
Current profile number
Set position
Actual position
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, : 9400 Highline/8400 StateLine
• CAN status • Error message
display • Error reset
Start: start sequenceStop: stop sequence
Mode status
Actual speed
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8.9.3.3 Manual mode ("Manual jog")
Button selects the manual (manual jog) mode.
The - buttons start the manual mode for the respective controller.
– Further information on the visualisation of the manual mode of the ECS can be found in the following section: Manual mode ("Manual jog") ( 137)
–
– Further information on the manual mode of the 9400 HighLine can be found in the following section: Manual mode ("Manual jog") ( 92)
– Further information on the manual mode of the 8400 StateLine can be found in the following section: Manual mode ("Manual jog") ( 50)
–
Select mode ECS xP (ID=0)
9400 HighLine
8400 StateLine
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8.9.3.4 Service mode
Button selects the service mode.
In the area - the service modes of the respective controller are shown:
In area , status information is displayed and errors can be reset.
The buttons in area start/stop the motion profile.
Display field shows the mode status.
Display field shows the current speed setpoint.
– Possible setpoint data for the motion profile: 0 ... 100%.
Select mode ECS xP (ID=0)
9400 HighLine
8400 StateLine
• CAN status • Error message
display • Error reset
Start: start sequenceStop: stop sequence
Mode status
Setpoint speed
Actual speed
Only CW rotation
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Display field shows the current speed (Speed Value variable).
Button selects CW rotation (activates CW direction of rotation).
8.9.3.5 "Homing ECS" mode (homing)
Button selects the "ECS homing" mode (homing).
– The active standard setting in the controller is homing mode 8 (travel to positive limit switch / digital input 2)
Button starts the homing.
Button stops homing.
Button sets the home position.
Button resets the home position.
– Set reference / Pos Act = 0 unit
Dialog box shows the homing status.
Dialog box shows the current homing mode (code value).
Select mode
Start Homing:Start homingStop Homing:Stop homing
Mode status
Current homing mode (code value)
• CAN status • Error message
display • Error reset
Set Home Position:Set referenceReset Home Position: Reset reference
Statusgreen = reference available
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8.9.3.6 Parameter transfer
The Parameter button selects the visualisation of the parameter FBs.
The mode selected last remains active.
You can use the FBs to...
– read individual parameters
– write individual parameters
– write a fixed parameter list
– Further information on the parameter transfer (visualisation) of the ECS can be found in the following section: Parameter transfer ( 143)
–
– Further information on the parameter transfer (visualisation) of the 9400 HighLine can be found in the following section: Parameter transfer ( 96)
– Further information on the parameter transfer (visualisation) of the 8400 StateLine can be found in the following section: Parameter transfer ( 54)
Select mode ECS xP (ID=0)
9400 HighLine
8400 StateLine
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8.9.3.7 CAN diagnostics
The CanDiagnostic button selects the diagnostics of the CAN bus.
The mode selected last remains active.
This area shows the status of the master and slaves, which are integrated in the control configuration.
8.9.4 Interface assignment in the device
The assignment of the device interfaces in the multiproject are identical to those of therespective device project.
ECS
– Further information on the assignment of the ECS interfaces can be found in the following section: Interface assignment in the device ( 146)
9400 HighLine
– Further information on the assignment of the 9400 HighLine interfaces can be found in the following section: Interface assignment in the »Engineer« ( 100)
8400 StateLine
Status of the CAN master (node ID )
Status of the CAN slaves
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Further information on the assignment of the 8400 StateLine interfaces can be found inthe following section: Interface assignment in the »Engineer« ( 58)
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PLC Designer V2.x| Lenze Application SamplesAdding other components
Copying and inserting nodes of the same series
9 Adding other components
In many application cases, the examples supplied can serve as a basis for an application tobe created. The system configuration (the machine on site) often contains more than onlyone CAN node. By the use of examples, this chapter describes how further CAN nodes canbe added to the sample projects.
9.1 Copying and inserting nodes of the same series
In the control configuration (ResourcesControl configuration tab) it can be seen whichnodes are connected to the CAN bus. If the system configuration is to be extended by nodesof the same series, you can add the nodes by using the Copy and Insert commands.
[9-1] Sample project in the »PLC Designer« - copy node
How to insert a node of the same series:
1. Highlight the desired node in the control configuration
2. Select the Copy command in the context menu (right mouse button)
• Alternatively you can use the key combination <Shift>+<C>
3. Select the Insert command in the context menu (right mouse button)
• The previously copied node is now inserted in the control configuration.
PLC Designer V2.x| Lenze Application SamplesAdding other componentsCopying and inserting nodes of the same series
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[9-2] Sample project in the »PLC Designer« - node inserted
The activation for the additional node(s) can also be carried out by using the Copy andInsert commands in the area of the further resources (POUs tab) (as described in theexample for inserting a node of the same series).
Note!
After inserting further nodes, the CAN parameters have to be manually adapted (node ID and baud rate and further parameters).
• For this, highlight the desired node and carry out the settings on the CAN parameters tab.
For instance, you can...
– ...copy a Drive(PRG) program part
– ...insert it below 3_Drive
– ...and then rename it (for instance to Drive_1(PRG)).
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PLC Designer V2.x| Lenze Application SamplesAdding other components
Copying and inserting nodes of the same series
9.1.1 Establishing the connection between the visualisation and the FB
How to connect the visualisation to the FB:
1. Select the required FB with a double-click ( ).
2. Click the Wildcard button in the Visualisations dialog box ( ).
3. Replace wildcard
4. Confirm with OK ( ).
After integrating Drive_1(PRG) in the PLC_PRG(PRG) program, error-free compiling anddownloading it to the PLC, the extended controller can be controlled manually.
In the visualisation resources part (Visualisations tab), you can...
– ...then copy the B_Manual part
– ...and rename it for instance to B_Manual_1.
After this, establish the wildcard (the connection to the function block).
PLC Designer V2.x| Lenze Application SamplesAdding other componentsInserting further subelements
230 L 1.3 EN - 07/2012
9.2 Inserting further subelements
Alternatively you can add further nodes via the context menu (right mouse button) of theCAN master, Add subelement<Node> command.
[9-3] Adding further nodes
The functionality enhancement has to be carried out manually for each node.
Wiring the hardware ( 34)
Configuring the CAN interface ( 35)
9.3 Copying and inserting different nodes
If the CAN bus is to be extended by nodes which are not available in the example, this canonly be effected via the list, as described in the following section: Copying and insertingnodes of the same series ( 227)
Via the ProjectCopy tab, the control configuration can be copied from a different projectto the project to be edited. Afterwards, it has to be adapted manually for the node to becontrolled.
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PLC Designer V2.x| Lenze Application SamplesDiagnostics
What to do if the PLC is not running?
10 Diagnostics
10.1 What to do if the PLC is not running?
10.1.1 The PLC was exited on the target system
The Industrial PCs (EL and CPC series) and the EL100 are supplied with an automaticallystarting PLC by default. After the starting process a dialog window shows the status of thePLC:
Tip!
After clicking the Shutdown button unintentionally, it is recommended to restartthe IPC/EL1xx, to reactivate the PLC (with little effort).
Button Function
Stop Stop pauses the PLC
Reset Reset resets the PLC program
Shutdown Shutdown exits the PLC
PLC Designer V2.x| Lenze Application SamplesDiagnosticsWhat to do if the PLC is not running?
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10.1.2 No download of the PLC program to the target system possible
After having completed the compilation process successfully, you can transfer the PLCprogram to the target system via the command OnlineLogin.
If an error message occurs, the following checks may serve as remedies:
1. Has a network connection from the Engineering PC to the target system been established?
2. Does the range of numbers of the IP addresses match?
Example:
Target device: 192.168.5.99
Development computer: 192.168.5.xxx– The highlighted areas of the target device and development computer IP addresses
have to comply with each other, so that a download of the PLC program can be carried out.
3. Does the target system respond to a "Ping" request of the Engineering PC?
4. Is the matching IP address of the target device entered in the »PLC Designer« under OnlineCommunication parameters?
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PLC Designer V2.x| Lenze Application SamplesDiagnostics
What to do if the CAN bus is not running/CAN nodes do not respond?
10.2 What to do if the CAN bus is not running/CAN nodes do not respond?
By default the baud rate of the devices is set to 500K.
The CAN bus address (node ID) is set to 1 by default.
How to check the settings of CAN communication:
1. Check the CAN master settings of the EL100 or for the IPC/CPC in the »PLC Designer«. Configuring the CAN interface ( 35)
2. Check the wiring of the CAN bus cable (in the case of an individual cable, check the terminal assignment) with the CAN nodes. Wiring the hardware ( 34)
3. Check the setting of the DIP switches on the controllers.
4. Check the assignment of the terminating resistors (120 Ohm at the start and the end of the bus, respectively).
5. Check the status information in the CAN diagnostics of the project.
6. Check the CAN status in the CAN nodes using the »Engineer« or »Global Drive Control«.
Note: The CAN nodes have to be in the "Operational" status (see drive-specific parameters).
7. Reset CAN node at the controller.
10.3 What to do if the motor does not rotate?
If the CAN bus is ready for operation and CAN communication works faultlessly, by means of the drive-specific »Global Drive Control« or »Engineer« software it can be checked whether the setpoint transmitted by the CAN master is accepted.
Check whether...
1. ...the digital inputs of the controllers for the loaded application are in the correct position, and the suitable voltage level is applied.
2. ...the controller is enabled, CINH = 1 (TRUE).
Note!
Within a CAN bus line never two identical addresses must be used.
• In the sample project the addresses for the CAN nodes are already fixedly entered or assigned.
Further information on the communication parameter settings can be found in the documentation for the corresponding controller.
PLC Designer V2.x| Lenze Application SamplesDiagnosticsWhat to do if the motor does not rotate?
234 L 1.3 EN - 07/2012
3. ...the suitable motor parameters are entered.
4. ...there are error messages in the controller which must be acknowledged. Some parameter changes in the drive require mains switching of the controller, e.g. when the feedback system is replaced.
Further information on diagnostics options can be found in the corresponding devicedocumentation.
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PLC Designer V2.x| Lenze Application SamplesThe L_S84_Drive8400.lib library
L_S84_ActuatorSpeedBL - actuation of the 8400 BaseLine controller
11 The L_S84_Drive8400.lib library
This chapter describes the function blocks of the L_S84_Drive8400 function library. Thefunction blocks of this function library serve to parameterise the Lenze L-force InverterDrive 8400.
11.1 L_S84_ActuatorSpeedBL - actuation of the 8400 BaseLine controller
This FB serves to actuate the 8400 BaseLine.
Inputs
Outputs
Further information on the controller can be found in the following documentation:
• Software manual (SW) 8400 StateLine frequency inverter
• Software manual (SW) 8400 HighLine frequency inverter
Identifier/data type Information/possible settings
scDriveControlS84_DriveControl_8400BL
Structural data for drive control
xOptionalBOOL
Optional setting for the CAN node
FALSE Normal operation (transmission and reception via PDO)
TRUE The CAN node is set to the "Optional" mode to be able to receive PDOs.
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
Identifier/data type Information/possible settings
scDriveStatusS84_DriveStatus_8400BL
Structural data regarding the drive status
xInternalControlActiveBOOL
TRUE: Internal control active
PLC Designer V2.x| Lenze Application SamplesThe L_S84_Drive8400.lib libraryL_S84_ActuatorSpeedBL - actuation of the 8400 BaseLine controller
236 L 1.3 EN - 07/2012
11.1.1 Structure of S84_DriveControl_8400BL - actuation to the controller
Identifier/data type Control bits in the controller
Bit Identifier Meaning
xSwitchOnBOOL
0 SwitchOn Changeover to the "SwitchedOn" device status
xEnableBOOL
3 EnableOperation 1 = Enable controller (RFR)
xQSPBOOL
2 SetQuickStop Activate quick stop (QSP)
xJog1BOOL
12 bJogSpeed1 Inputs for overriding fixed setpoints (JOG setpoints) for the main setpoint
xJog2BOOL
13 bJogSpeed2
xErrorResetBOOL
7 ResetFault 1 = Reset error (TRIP reset)
xErrorSetBOOL
14 SetFail 1 = Set error (TRIP set)
xSetSpeedCcwBOOL
15 bSetSpeedCcw Change of direction of rotation
xFreeBit01 1 Not assigned
xFreeBit04 4 Not assigned
xFreeBit05 5 Not assigned
xFreeBit06 6 Not assigned
xFreeBit07 7 Not assigned
xFreeBit08 8 Not assigned
xFreeBit09 9 Not assigned
xFreeBit10 10 Not assigned
xFreeBit11 11 Not assigned
rNsetREAL
nMainSetValue_a Main speed setpoint (reference speed 100%, observe code C0011)0 ... 199.99 %
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PLC Designer V2.x| Lenze Application SamplesThe L_S84_Drive8400.lib library
L_S84_ActuatorSpeedBL - actuation of the 8400 BaseLine controller
11.1.2 Structure of S84_DriveStatus_8400BL - status of the controller
Identifier/data type Control bits in the controller
Bit Identifier Meaning
xDriveErrorBOOL
0 bDriveFail Controller is in error status (TRUE: Error active)
xDriveReadyBOOL
2 bDriveReady Status signal "Controller is ready for operation"
xDriveEnabledBOOL
7 ControllerInhibit Controller is inhibited (controller inhibit is active) (inverted)
xQSPActiveBOOL
3 FreeStatusBit3 TRUE: Quick stop active
xSpeedEqZeroBOOL
6 ActSpeedIsZero TRUE: Speed is zero
xPowerDisabledBOOL
1 Power Disabled Inverter control is inhibited (pulse inhibit is active)
xWarningBOOL
12 Warning TRUE: Controller is in "Warning" device status
xTroubleBOOL
13 Trouble TRUE: Controller is in "Trouble" device status
rNactREAL
nMotorSpeedAct_a Actual speed valueScaling: 16384 ≡ 100 % reference speed0 ... 199.99 %
xCommunicationOKBOOL
L_SCB_GetNodeDataRxPDO1 - read out data ( 285)L_SCB_GetNodeDataRxPDO2 - read out data ( 286)
xOptionalBOOL
L_SCB_GetStateOptional - check with regard to "OptionalDevice" ( 287)
xFreeBit04 4 Not assigned
xFreeBit05 5 Not assigned
xFreeBit14 14 Not assigned
xFreeBit15 15 Not assigned
eCanNodeStateSCB_StateCanNode
L_SCB_StateCanNode
xStatusCodeBit0 ... xStatusCodeBit3
BOOL
Status bit 0 ... status bit 3
PLC Designer V2.x| Lenze Application SamplesThe L_S84_Drive8400.lib libraryL_S84_ActuatorSpeedSL - actuation of the 8400 StateLine controller
238 L 1.3 EN - 07/2012
11.2 L_S84_ActuatorSpeedSL - actuation of the 8400 StateLine controller
Function block
This function block serves to actuate the 8400 Stateline.
Inputs
Outputs
Identifier/data type Information/possible settings
scDriveControlS84_DriveControl_8400SL
Structural data for drive control
xOptionalBOOL
Optional setting for the CAN node
FALSE Normal operation (transmission and reception via PDO)
TRUE The CAN node is set to the "Optional" mode to be able to receive PDOs.
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
Identifier/data type Information/possible settings
scDriveStatus S84_DriveControl_8400SL
Structural data for drive control
xInternalControlActivBOOL
TRUE: Internal control active
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PLC Designer V2.x| Lenze Application SamplesThe L_S84_Drive8400.lib library
L_S84_ActuatorSpeedSL - actuation of the 8400 StateLine controller
11.2.1 Structure of S84_DriveControl_8400 - actuation to the controller
The Lenze sample projects offer you a predefined mapping for the controller, in order to beable to commission and control it. To what extent the assignments of the FB in the »PLCDesigner« are associated to the control bits in the respective device can be gathered fromthe following table overview.
Further information on the internal interfaces of the controller can be found in the software manual (SW) 8400 StateLine frequency inverter:
• Section Control words
• Section Internal interfaces | application block "LA_NCtrl"
Identifier/data type Control bits in the controller
Bit Identifier Meaning
xSwitchOnBOOL
0 SwitchOn Changeover to the "SwitchedOn" device status
xEnableBOOL
3 EnableOperation 1 = Enable controller (RFR)
xQSPBOOL
2 SetQuickStop Activate quick stop (QSP)
xJog1BOOL
12 bJogSpeed1 Inputs for overriding fixed setpoints (JOG setpoints) for the main setpoint
xJog2BOOL
13 bJogSpeed2
xErrorResetBOOL
7 ResetFault 1 = Reset error (TRIP reset)
xErrorSetBOOL
14 SetFail 1 = Set error (TRIP set)
xSetSpeedCcwBOOL
15 bSetSpeedCcw Change of direction of rotation
xFreeBit01 1 Not assigned
xFreeBit04 4 Not assigned
xFreeBit05 5 Not assigned
xFreeBit06 6 Not assigned
xFreeBit07 7 Not assigned
xFreeBit08 8 Not assigned
xFreeBit09 9 Not assigned
xFreeBit10 10 Not assigned
xFreeBit11 11 Not assigned
rNsetREAL
nMainSetValue_a Main speed setpoint (reference speed 100%, observe code C0011)0 ... 199.99 %
PLC Designer V2.x| Lenze Application SamplesThe L_S84_Drive8400.lib libraryL_S84_ActuatorSpeedSL - actuation of the 8400 StateLine controller
240 L 1.3 EN - 07/2012
11.2.2 Structure of S84_DriveStatus_8400 - status of the controller
Further information on the internal interfaces of the controller can be found in the software manual (SW) 8400 StateLine frequency inverter:
• Section Status word
• Section Internal interfaces | application block "LA_NCtrl"
Identifier/data type Control bits in the controller
Bit Identifier Meaning
xDriveErrorBOOL
0 bDriveFail Controller is in error status (TRUE: Error active)
xDriveReadyBOOL
2 bDriveReady Status signal "Controller is ready for operation"
xDriveEnabledBOOL
7 ControllerInhibit Controller is inhibited (controller inhibit is active) (inverted)
xQSPActiveBOOL
3 FreeStatusBit3 TRUE: Quick stop active
xSpeedEqZeroBOOL
6 ActSpeedIsZero TRUE: Speed is zero
xPowerDisabledBOOL
1 Power Disabled Inverter control is inhibited (pulse inhibit is active)
xWarningBOOL
12 Warning TRUE: Controller is in "Warning" device status
xTroubleBOOL
13 Trouble TRUE: Controller is in "Trouble" device status
rNactREAL
nMotorSpeedAct_a Actual speed valueScaling: 16384 ≡ 100 % reference speed0 ... 199.99 %
xCommunicationOKBOOL
L_SCB_GetNodeDataRxPDO1 - read out data ( 285)L_SCB_GetNodeDataRxPDO2 - read out data ( 286)
xOptionalBOOL
L_SCB_GetStateOptional - check with regard to "OptionalDevice" ( 287)
xFreeBit04 4 Not assigned
xFreeBit05 5 Not assigned
xFreeBit14 14 Not assigned
xFreeBit15 15 Not assigned
eCanNodeStateSCB_StateCanNode
L_SCB_StateCanNode
xStatusCodeBit0 ... xStatusCodeBit3
BOOL
Status bit 0 ... status bit 3
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PLC Designer V2.x| Lenze Application SamplesThe L_S84_Drive8400.lib library
L_S84_GetVersion - transfer of the version
11.3 L_S84_GetVersion - transfer of the version
Outputs
11.4 L_S84_ReadErrorCode - read out error status
This FB reads out the error text from the 8400 controller.
Inputs
Outputs
Identifier/data type Value/meaning
dwVersionDWORD
Output version
Identifier/data type Information/possible settings
xExecuteBOOL
Carry out error test
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
xUseSecondSDOBOOL
TRUE: Use second SDO channelFALSE: Use first SDO channel (Lenze setting)
Identifier/data type Information/possible settings
xDoneBOOL
TRUE: Read request completed
xBusyBOOL
Status output "Read request sent" • TRUE: The read request was sent to the operating system and the FB is waiting for
a response from the device addressed. • FALSE: The read request was completed.
xErrorBOOL
"Error" status signal
FALSE Conversion carried out without errors
TRUE Error during the conversion
PLC Designer V2.x| Lenze Application SamplesThe L_S84_Drive8400.lib libraryL_S84_SDOList84SL - parameter list for 8400 StateLine controller
242 L 1.3 EN - 07/2012
11.5 L_S84_SDOList84SL - parameter list for 8400 StateLine controller
Function block
The function block provides the SDO parameter list for the 8400 Stateline.
Afterwards the SDO parameter list can be transferred to the device using FB L_SCB_SDO_TransferTable.
Inputs
xTimeOutBOOL
Signalling of a time-out (time-out error)TRUE: Time-out; read request could not be executedFALSE: No time-out detected
sDataSTRING
Data structure • Error of the drive controller in text form (for instance MCTRL_UndervoltageDC)
Identifier/data type Information/possible settings
Identifier/data type Information/possible settings
rC11_MaxSpeedREAL
Maximum speed [rpm]
rC12_AccelerationTimeREAL
Acceleration [ms]
rC13_DecelerationTimeREAL
Deceleration [ms]
rC39_1_Jog1REAL
Fixed setpoint 1 in [%]
rC39_2_Jog2REAL
Fixed setpoint 2 in [%]
rC39_3_Jog3REAL
Fixed setpoint 3 in [%]
rC105_QspTimeREAL
Quickstop deceleration [ms]
byAutoStartOptionBYTE
Auto-start function
aParametersARRAY [1..50]
ARRAY [1..50] OF SCB_ParameterData
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PLC Designer V2.x| Lenze Application SamplesThe L_S84_Drive8400.lib library
L_S84_TablePositioningHL - profile data record management
11.6 L_S84_TablePositioningHL - profile data record management
This FB serves to actuate the 8400 HighLine with "Table positioning" application with axisdata in the industrial PC.
Inputs
Outputs
Further information on the internal interfaces of the controller can be found in the software manual (SW) 8400 HighLine frequency inverter:
• Section TA "Table positioning" Terminal assignment of the control modesCAN
Identifier/data type Information/possible settings
scDriveControlS84_DriveControl_8400HL_T
ablePositioning
Structural data for drive control
xOptionalBOOL
Optional setting for the CAN node
FALSE Normal operation (transmission and reception via PDO)
TRUE The CAN node is set to the "Optional" mode to be able to receive PDOs.
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
Identifier/data type Information/possible settings
scDriveStatusBOOL
Structural data regarding the drive status
FALSE No error reported
TRUE Error in the controller
x InternalControlActivBOOL
TRUE: Internal control active
PLC Designer V2.x| Lenze Application SamplesThe L_S84_Drive8400.lib libraryL_S84_TablePositioningHL - profile data record management
244 L 1.3 EN - 07/2012
11.6.1 Structure of S84_DriveControl_8400HL_TablePositioning - actuation to the drive
Further information on the internal interfaces of the controller can be found in the software manual (SW) 8400 HighLine frequency inverter:
• Section TA "Table positioning" Terminal assignment of the control modesCAN
Identifier/data type Control bits in the controller
Bit Identifier Meaning
byOperatingModeBYTE
0 bMckOperationMode_1 Binary-coded selection of the operating mode of the Motion Control kernel
1 bMckOperationMode_2
2 bMckOperationMode_4
byProfileNumberBYTE
4 bPosProfileNo_1 Selection of the profile number
5 bPosProfileNo_2
6 bPosProfileNo_4
7 bPosProfileNo_8
xEnableBOOL
3 bCInh Enable/inhibit controller
xPosExecuteBOOL
8 bPosExecute Start positioning travel request
xEnableSpeedOverrideBOOL
9 bEnableSpeedOverride Activate speed override
xHomeSetPositionBOOL
10 bHomeSetPosition Set home position
xErrorResetBOOL
11 bFailReset Reset error message
xManualPosBOOL
13 bManJogPos Manual jog in positive direction (CW rotation)
xManualNegBOOL
12 bManJogNeg Manual jog in negative direction (CCW rotation)
xSpareCtrlBit14BOOL
14 bHomeResetPosition Reset home position
xQSP 15 bSetQuickstop Activate quick stop (QSP)
rSpeedOverrideREAL
nSpeedOverride_a Value for speed override in [%]Scaling: 16384 ≡ 100 % reference speed0 ... 199.99 %
rTargetPositionREAL
dnTargetPos_p Target position in [increments]0 ... 199.99 %
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PLC Designer V2.x| Lenze Application SamplesThe L_S84_Drive8400.lib library
L_S84_TablePositioningHL - profile data record management
11.6.2 Structure of S84_DriveStatus_8400HL_TablePositioning - status of the controller
Identifier/data type Control bits in the controller
Bit Identifier Meaning
xDriveErrorBOOL
0 bDriveFail Controller is in error status (TRUE: Error active)
xStateBit1BOOL
1 bGPSignalOut1 Binary signal monitor: Output signals
xStateBit2BOOL
2 bGPSignalOut2
xDriveEnabledBOOL
3 bCInhActive Controller inhibit is active
xDriveReadyBOOL
4 bDriveReady Status signal "Controller is ready for operation"
xDigin5BOOL
5 DigitalInput.bIn5 Signal of digital input DI5 ... DI7
xDigin6BOOL
6 DigitalInput.bIn6
xDigin7BOOL
7 DigitalInput.bIn7
xPosInTargetBOOL
8 bInTarget Target position (actual value) is in the target window
xPosBusyBOOL
9 bProfileBusy Profile positioning is active
xHomePosAvailableBOOL
10 bHomePosAvailable Home position is known
xSpeedEqZero 11 bSpeedActCompare Result of the speed comparison
xDigin3_LimitSwPositive 13 DigitalInput.bIn3 Digital input 3
xDigin4_LimitSwNegative 12 DigitalInput.bIn4 Digital input 4
xQSPActiveBOOL
14 bQSPIsActive Quick stop is active
xStateBit15BOOL
15 Not assigned Not assigned
rActualSpeedREAL
nMotorSpeedAct_a Actual speed value
xCommunicationOKBOOL
L_SCB_GetNodeDataRxPDO1 - read out data ( 285)L_SCB_GetNodeDataRxPDO2 - read out data ( 286)
xOptionalBOOL
L_SCB_GetStateOptional - check with regard to "OptionalDevice" ( 287)
eCanNodeStateSCB_StateCanNode
rActualPositionREAL
Current position
PLC Designer V2.x| Lenze Application SamplesThe L_S94_Drive9400.lib libraryL_S94_ActuatorSpeed - actuation of the 9400 HighLine controller
246 L 1.3 EN - 07/2012
12 The L_S94_Drive9400.lib library
This chapter describes the function blocks of the L_S94_Drive9400 function library. Thefunction blocks of this function library serve to parameterise the Lenze Servo Drive 9400.
12.1 L_S94_ActuatorSpeed - actuation of the 9400 HighLine controller
This FB serves to control the 9400 Highline with the "Speed control" application.
Inputs
Outputs
Further information on the controller can be found in the following documentation:
• Software manual (SW) 9400 HighLine controller - Parameter setting & Configuration
• Software manual (SW) 9400 controller - "Table positioning" technology application
Identifier/data type Information/possible settings
scDriveControlS94_DriveControl_ActSpeed
Structural data for drive control
xOptionalBOOL
Optional setting for the CAN node • TRUE: The CAN node is set to the "Optional" mode to be able to receive PDOs. • FALSE: Normal operation (transmission and reception via PDO).
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
Identifier/data type Information/possible settings
scDriveStatus:S94_DriveStatus_ActSpeed
Structural data for drive control
xInternalControlActiveBOOL
TRUE: Internal control active
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PLC Designer V2.x| Lenze Application SamplesThe L_S94_Drive9400.lib library
L_S94_ActuatorSpeed - actuation of the 9400 HighLine controller
12.1.1 Structure of S94_DriveControl_ActSpeed - actuation to the 9400 controller
Further information on the internal interfaces of the controller can be found in the software manual (SW) 9400 HighLine controller under the corresponding basic drive function.
Identifier/data type Control bits in the controller
Bit Identifier Meaning
xEnableBOOL
0 DI_bSetCInh Set/deactivate controller inhibit (inverted)
xQSPBOOL
1 QSP_bActivate2 Activate quick stop (inverted)
xJog1BOOL
3 SpeedRamp.bJog1 Setpoint selection 1
xJog2BOOL
4 SpeedRamp.bJog2 Setpoint selection 2
xCwCcwBOOL
5 SpeedRamp.bInvertsetPoint Inversion of the direction of rotation of the motor (clockwise rotation/counter-clockwise rotation)
xErrorSetBOOL
11 Set error
xErrorResetBOOL
10 DI_bResetError1 Reset (acknowledge) error message
xEnableSpeedFollowerBOOL
13 SF_bEnable Request control of basic function
xEnableManualBOOL
13 MAN_bEnable Request control of basic function
xManualPositiveBOOL
14 MAN_bJogPositive Manual jog in positive direction (CW rotation)
xManualNegativeBOOL
15 MAN_bJogNegative Manual jog in negative direction (CCW rotation)
xFreeBit06BOOL
6 Not assigned
xFreeBit07 7 Not assigned
xFreeBit08 8 Not assigned
xFreeBit09 9 Not assigned
xFreeBit12 12 Not assigned
xFreeStatusBit11BOOL
Not assigned
rSpeedOverrideREAL
POS_dnSpeedOverride_n Value for speed override in [%]0 ... 199.99 %
PLC Designer V2.x| Lenze Application SamplesThe L_S94_Drive9400.lib libraryL_S94_ActuatorSpeed - actuation of the 9400 HighLine controller
248 L 1.3 EN - 07/2012
12.1.2 Structure of S94_DriveStatus_ActSpeed - status of the controller
Further information on the internal interfaces of the controller can be found in the software manual (SW) 9400 HighLine controller under the corresponding basic drive function.
Identifier/data type Control bits in the controller
Bit Identifier Meaning
xDriveErrorBOOL
1 DI_bFailActive Status signal "Error active - acknowledgement required"
xDriveReadyBOOL
0 DI_bReady Status signal "Controller is ready for operation"
xDriveEnabledBOOL
2 DI_bOperationEnabled Status signal "Operation is enabled"
xSpeedEqZeroBOOL
4 MI_bSpeedBelowThresholdC19 Status signal "Standstill reached" (observe speed value in code 19)
xQSPActiveBOOL
3 QSP_bActive Status signal "Quick stop through application active"
xSpeedFollowerActiveBOOL
5 HM_bEnable Request control of basic function
xManualJogActiveBOOL
6 MAN_bActive Status signal "Basic function is active"
xWarningActiveBOOL
7 DI_bWarningActive Status signal "Warning active"
xDI_EnableNotOkBOOL
11 DIGIN_bCInh Status signal "Controller inhibit"
xDI_Digin1BOOL
12 DIGIN_bIn1 Digital input 1
xDI_Digin2BOOL
13 DIGIN_bIn2 Digital input 2
xDI_Digin3BOOL
14 DIGIN_bIn3 Digital input 3
xDI_Digin4BOOL
15 DIGIN_bIn4 Digital input 4
rNactREAL
MI_dnActualMotorSpeed_n Current speed of the motor shaft in [%]0 ... 199.99 %
rMactREAL
MI_dnFilteredTorqueSetpoint_n Filtered torque setpoint (after jerk limitation and band-stop filters)0 ... 199.99 %
xCommunicationOKBOOL
L_SCB_GetNodeDataRxPDO1 - read out data ( 285)L_SCB_GetNodeDataRxPDO2 - read out data ( 286)
xOptional L_SCB_GetStateOptional - check with regard to "OptionalDevice" ( 287)
xFreeBit08 8 Not assigned
xFreeBit09 9 Not assigned
xFreeBit10 10 Not assigned
eCanNodeStateSCB_StateCanNode
SCB_StateCanNode
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PLC Designer V2.x| Lenze Application SamplesThe L_S94_Drive9400.lib library
L_S94_GetVersion - transfer of the version
12.2 L_S94_GetVersion - transfer of the version
Outputs
Identifier/data type Value/meaning
dwVersionDWORD
Output version
PLC Designer V2.x| Lenze Application SamplesThe L_S94_Drive9400.lib libraryL_S94_ReadErrorCode - read out error status
250 L 1.3 EN - 07/2012
12.3 L_S94_ReadErrorCode - read out error status
This FB reads out the error test from the controller.
Inputs
Outputs
Identifier/data type Information/possible settings
xExecuteBOOL
TRUE: Read out error number once
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
xUseSecondSDOBOOL
TRUE: Use second SDO channelFALSE (Lenze setting)
Identifier/data type Information/possible settings
xDoneBOOL
TRUE: Read request completed
xBusyBOOL
Status output "Read request sent" • TRUE: The read request was sent to the operating system and the FB is waiting for
a response from the device addressed. • FALSE: The read request was completed.
xErrorBOOL
"Error" status signal
FALSE Conversion carried out without errors
TRUE Error during the conversion
xTimeOutBOOL
Signalling of a time-out (time-out error)TRUE: Time-out; read request could not be executedFALSE: No time-out detected
sDataSTRING
Error text
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PLC Designer V2.x| Lenze Application SamplesThe L_S94_Drive9400.lib library
L_S94_TablePositioning - table positioning
12.4 L_S94_TablePositioning - table positioning
This FB serves to control the 9400 Highline with the "Table positioning" application.
Inputs
Outputs
Identifier/data type Information/possible settings
scDriveControlS94_DriveControl_TablePosi
tioning
Structural data for drive controlTable positioning
scAxisDataSSC_Axis_logic
Machine parameters • For the calculation and display of the reference values on the load side (output
shaftspeed, machine speed), the reference speed (C00011), gearboxfactor, and the feed constant are required.• In order that the machine parameters of the drive/motor are accepted, connect this input with the output DI_AxisData of SB LS_DriveInterface.
xOptionalBOOL
Optional setting for the CAN node • TRUE: The CAN node is set to the "Optional" mode to be able to receive PDOs. • FALSE: Normal operation (transmission and reception via PDO).
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
Identifier/data type Information/possible settings
scDriveStatusS94_DriveStatus_TablePositi
oning
Structural data regarding the status of the controllerTable positioning
xInternalControlActiveBOOL
TRUE: Internal control active
PLC Designer V2.x| Lenze Application SamplesThe L_S94_Drive9400.lib libraryL_S94_TablePositioning - table positioning
252 L 1.3 EN - 07/2012
12.4.1 Structure of S94_DriveControl_TablePositioning - actuation to the controller
The Lenze sample projects offer you a predefined mapping for the controller, in order to beable to commission and control it. To what extent the assignments of the FB in the »PLCDesigner« are associated to the control bits in the respective device can be gathered fromthe following table overview.
Further information on the internal interfaces of the controller can be found in the software manual (SW) 9400 HighLine controller under the corresponding basic drive function.
Identifier/data type Control bits in the controller
Bit Identifier Meaning
xEnableBOOL
0 DI_bSetCInh Set/deactivate controller inhibit (inverted)
xQSPBOOL
1 QSP_bActivate2 Activate quick stop (inverted)
xHM_EnableBOOL
2 HM_bEnable Request control of basic function
xHM_ActivateBOOL
3 HM_bActivateHoming & NOT HM_bHomePosAvailable
Start homing/set home position directly
xHM_ResetHomePositionBOOL
4 HM_bResetHomePos Reset "Home position known" status
xPOS_EnableBOOL
5 POS_bEnable Request control of basic function
xPOS_StartProfileBOOL
6 POS_bStart Start positioning
xPOS_RestartProfileBOOL
7 POS_bRestart Continue interrupted positioning
xErrorSetBOOL
11 DI_bSetExternError Activate "External error" error message
xPOS_ResetBOOL
8 POS_bRestart Continue interrupted positioning
xPOS_EnableSpeedOverrideBOOL
9 POS_bEnableOverride Activate override
xErrorResetBOOL
10 DI_bResetError2 Reset (acknowledge) error message
xSpareBit11BOOL
Not assigned Not assigned
xSpareBit12BOOL
12 HM_bLoadHomePos Load home position
xEnableManualBOOL
13 MAN_bEnable Request control of basic function
xManualPositiveBOOL
14 MAN_bJogPositive Manual jog in positive direction (CW rotation)
xManualNegativeBOOL
15 MAN_bJogNegative Manual jog in negative direction (CCW rotation)
rSpeedOverrideREAL
POS_dnSpeedOverride_n Value for speed override in [%]0 ... 199.99 %
1.3 EN - 07/2012 L 253
PLC Designer V2.x| Lenze Application SamplesThe L_S94_Drive9400.lib library
L_S94_TablePositioning - table positioning
12.4.2 Structure of S94_DriveStatus_TablePositioning - status of the controller
rAccOverrideREAL
POS_dnAccOverride_n Value for acceleration override in [%]0 ... 199.99 %
wProfileNumberWORD
L_PosPositionerTable1.dwProfileNumber
Profile number (1 .... 100) of the current profile
Identifier/data type Control bits in the controller
Bit Identifier Meaning
Further information on the internal interfaces of the controller can be found...
... in the software manual (SW) 9400 HighLine controller under the corresponding basic drive function.
... in the software manual (SW) 9400 controller - "Table positioning" technology application:
• Section Parameter setting & ConfigurationAssignment of the I/O terminalsSetpoint and control signals
Identifier/data type Control bits in the controller
Bit Identifier Meaning
xDriveErrorBOOL
1 DI_bFailActive Status signal "Error active - acknowledgement required"
xDriveReadyBOOL
0 DI_bReady Status signal "Controller is ready for operation"
xDriveEnabledBOOL
2 DI_bOperationEnabled Status signal "Operation is enabled"
xSpeedEqZeroBOOL
4 MI_bSpeedBelowThresholdC19 Status signal "Standstill reached" (observe speed value in code 19)
xQSPActiveBOOL
3 QSP_bActive Status signal "Quick stop through application active"
xHM_EnabledBOOL
5 HM_bEnable Request control of basic function
xHM_HomePositionOkBOOL
7 HM_bHomePosAvailable Status signal "Home position is known"
xHM_DoneBOOL
6 HM_bDone Status signal "Basic function is ready"
xManualJogActiveBOOL
8 MAN_bActive Status signal "Basic function is active"
xPOS_EnabledBOOL
9 POS_bEnable Request control of basic function
xPOS_ActiveBOOL
10 POS_bActive Status signal "Basic function is active"
xPOS_DoneBOOL
11 POS_bDone Status signal "Basic function is ready"
xPOS_InTargetBOOL
12 POS_bDriveInTarget Status signal "Drive in target"
xDI_EnableNotOkBOOL
13 DIGIN_bCInh Status signal "Controller inhibit"
PLC Designer V2.x| Lenze Application SamplesThe L_S94_Drive9400.lib libraryL_S94_TablePositioning - table positioning
254 L 1.3 EN - 07/2012
xDI_EnableNotOkBOOL
13 DIGIN_bCInh Status signal "Controller inhibit"
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PLC Designer V2.x| Lenze Application SamplesThe L_SCS_DriveECS.lib library
L_SCS_ActuatorSpeed - actuation of the ECS servo system
13 The L_SCS_DriveECS.lib library
This chapter describes the function blocks of the L_SCS_DriveECS function library. Thefunction blocks of this function library serve to parameterise the different Lenze ECS servosystems.
13.1 L_SCS_ActuatorSpeed - actuation of the ECS servo system
This FB serves to control the ECS with the "Speed regulation" application.
Inputs
Outputs
Further information on the controllers of the ECS device series can be found in the following documentation:
• Operating instructions (BA) ECSxP_axis module_Posi_and_Shaft
• Operating instructions (BA) ECSxS_axis module_Speed_and_Torque
• Operating instructions (BA) ECSxE_power supply module
Identifier/data type Information/possible settings
scDriveControlSCS_DriveControl_Speed
Structure for actuating the controllerStructure of SCS_DriveControl_Speed - control for the drive ( 256)
xOptionalBOOL
Optional setting for the CAN node • TRUE: The CAN node is set to the "Optional" mode to be able to receive PDOs. • FALSE: Normal operation (transmission and reception via PDO).
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
Identifier/data type Information/possible settings
scDriveControlSCS_DriveStatus_Speed
Structural data regarding the status of the controller
xInternalControlActiveBOOL
TRUE: Internal control active
PLC Designer V2.x| Lenze Application SamplesThe L_SCS_DriveECS.lib libraryL_SCS_ActuatorSpeed - actuation of the ECS servo system
256 L 1.3 EN - 07/2012
13.1.1 Structure of SCS_DriveControl_Speed - control for the drive
Further information on the controller can be found in the Operating instructions (BA) ECSxS_axis module_Speed_and_Torque
Identifier/data type Control bits in the controller
Bit Identifier Meaning
xJog1BOOL
0 SPEED-NSET.Jog1 Setpoint selection 1
xSetBrakeBOOL
1 SPEED-NSET.SetBrake
TRUE: Set brake
xFreeBit02BOOL
2 CAN1In-Ctrl.Bit2 Not assigned
xQSPBOOL
3 Ctrl.Quickstop_B3
Activate quick stop
xNSet_Rfg0BOOL
4 SPEED-NSET.RfgStop
Ramp function generator input = 0 • RFG1 = ramp function generator of
main setpoint
xNSet_RfgStopBOOL
5 SPEED-NSET.Rfg0 Stop ramp function generator
xFreeBit06BOOL
6 CAN1In-Ctrl.Bit6 Not assigned
xFreeBit07BOOL
7 CAN1In-Ctrl.Bit7 Not assigned
xCtrl_DisableBOOL
8 Ctrl.Disable_B8 Disable
xEnableBOOL
9 Ctrl.Cinitbit_B9 Controller inhibit
xErrorSetBOOL
10 CAN1In-Ctrl.TripSet_B10
Set external error
xErrorResetBOOL
11 CAN1In-Ctrl.TripReset_B1
Reset error
xCwBOOL
12 SPEED-NSET.Cw Activate clockwise rotation
xCcwBOOL
13 SPEED-NSET.CCw Activate CCW rotation
xSpeed_NSet_Ti1BOOL
14 SPEED-NSET.TI1 Activate acceleration ramp 1 at NSET block
xSpeed_NSet_Ti2BOOL
15 SPEED-NSET.TI2 Activate acceleration ramp 2 at NSET block
rPosDirectREAL
Setpoint for positioning mode
1.3 EN - 07/2012 L 257
PLC Designer V2.x| Lenze Application SamplesThe L_SCS_DriveECS.lib library
L_SCS_ActuatorSpeed - actuation of the ECS servo system
13.1.2 Structure of SCS_DriveStatus_Speed - status of the controller
Further information on the internal interfaces of the controller can be found in the Operating instructions (BA) ECSxS_axis module_Speed_and_Torque:
• Section Function library DCTRL| Status of the controller
Identifier/data type Control bits in the controller
Bit Identifier Meaning
xDriveReadyBOOL
0 DCTRL-StatB0 Status signal "Controller is ready for operation"
xDriveEnabledBOOL
1 Imp TRUE: Controller active
xQSPActiveBOOL
2 DCTRL-StatB2 Activate quick stop
xDriveErrorBOOL
3 DCTRL-StatB3 Status for error in the controllerTRUE: Error in the controller reportedFALSE: No error reported
xFreeBit04 BOOL
4 DCTRL-StatB4 Not assigned
xFreeBit05 BOOL
5 DCTRL-StatB5 Not assigned
xSpeedEqZeroBOOL
6 NActEq0 TRUE: Speed is zero
xFreeBit07BOOL
7 CInh Not assigned
xFreeBit08BOOL
8 Stat1 Not assigned
xFreeBit08BOOL
9 Stat2 Not assigned
xFreeBit10BOOL
10 Stat4 Not assigned
xFreeBit11BOOL
11 Stat8 Not assigned
xFreeBit12BOOL
12 Warn Not assigned
xFreeBit013BOOL
13 Mess Not assigned
xFreeBit14BOOL
14 DCTRL-StatB14 Not assigned
xFreeBit15BOOL
15 DCTRL-StatB15 Not assigned
rNsetREAL
Speed-MCTRL.NSetIn
Actual speed value
PLC Designer V2.x| Lenze Application SamplesThe L_SCS_DriveECS.lib libraryL_SCS_GetVersion - transfer of the version
258 L 1.3 EN - 07/2012
13.2 L_SCS_GetVersion - transfer of the version
Outputs
13.3 L_SCS_PosiShaft - actuation of the ECS servo system
This FB serves to control a Lenze ECS servo system with the "PosiShaft" application.
Outputs
Identifier/data type Value/meaning
dwVersionDWORD
Output version
Identifier/data type Information/possible settings
scDriveControl SCS_DriveControl_PosiShaft
Structure for actuating the controllerStructure of SCS_DriveControl_PosiShaft - control for the drive ( 259)
scAxisDataSSC_Axis_logic
Machine parameters • If the FB is to refer to the measuring system of the drive axis, connect this input
to output DI_AxisData of the LS_DriveInterface SB, so that the machine parameters of the drive/motor are accepted.
• If the FB is to refer to the measuring system of the master selection (master) in a cam application, connect this input to the output XAxisData of FB L_CamProfiler instead.
• If this input is left blank, position values with the following resolution are processed: 1 encoder revolution ≡ 216 increments
xOptionalBOOL
Optional setting for the CAN node • TRUE: The CAN node is set to the "Optional" mode to be able to receive PDOs. • FALSE: Normal operation (transmission and reception via PDO).
byNodeNumberBYTE
Node number 1 ... 64
byMasterNumberBYTE
Interface number (0...3)
Identifier/data type Information/possible settings
scDriveStatusSCS_DriveStatus_PosiShaft
Structural drive status data Structure of SCS_DriveStatus_PosiShaft - status of the controller ( 260)
xInternalControlActiveBOOL
TRUE: Internal control active
1.3 EN - 07/2012 L 259
PLC Designer V2.x| Lenze Application SamplesThe L_SCS_DriveECS.lib library
L_SCS_PosiShaft - actuation of the ECS servo system
13.3.1 Structure of SCS_DriveControl_PosiShaft - control for the drive
The Lenze sample projects offer you a predefined mapping for the controller, in order to beable to commission and control it. To what extent the assignments of the FB in the »PLCDesigner« are associated to the control bits in the respective device can be gathered fromthe following table overview.
Assignment CanIn1
Further information on the internal interfaces of the controller can be found in the operating instructions (BA) ECS: Axis module - "Posi & Shaft" application:
• Section Commissioning Process data to the axis module (control word Ctrl1 and setpoints)
Identifier/data type Control bits in the controller
Bit Identifier Meaning
xEnableBOOL
9 Rsp Controller inhibit (CINH)
xQSPBOOL
3 Quickstop(QSP)
Quick stop (QSP)
xErrorSetBOOL
10 TripSet Change to "Trouble"
xErrorResetBOOL
11 TripReset Reset fault message - change to "Stand-by"
xManualPosBOOL
13 JogCW Manual jog in positive direction (CW rotation)
xManualNegBOOL
12 JogCCW Manual jog in negative direction (CCW rotation)
xProfEnableBOOL
8 ProfEnable Start positioning profile
xRelLimSwitchBOOL
14 RelLimSwitch Activate "Retracting from limit switch"function.
xPosDirectBOOL
15 PosDirect Selection for setpoints in Word 2 ... 4 of the process input data
byPSNumberBYTE
4 PNoSet_1 Selection of positioning profile(binary coded 20)
5 PNoSet_2 Selection of positioning profile(binary coded 21)
6 PNoSet_4 Selection of positioning profile(binary coded 22)
7 PNoSet_8 Selection of positioning profile(binary coded 23)
byFuncNumberBYTE
0 Func1 Signal selection iPar1/2, binary coded 20
1 Func2 Signal selection iPar1/2, binary coded 21
2 Func4 Signal selection iPar1/2, binary coded 22
rPosDirectREAL
PosDirect Pos-setpoint for positioning modeC3095/x =110 ... 113
rVelDirectREAL
VelDirect Vel-setpoint for positioning mode C3095/x =110 ... 113
PLC Designer V2.x| Lenze Application SamplesThe L_SCS_DriveECS.lib libraryL_SCS_PosiShaft - actuation of the ECS servo system
260 L 1.3 EN - 07/2012
13.3.2 Structure of SCS_DriveStatus_PosiShaft - status of the controller
Further information on the internal interfaces of the controller can be found in the operating instructions (BA) ECS: Axis module - "Posi & Shaft" application:
• Section Commissioning Process data from axis module (status words and actual values)
Identifier/data type Control bits in the controller
Bit Identifier Meaning
xStateStandbyBOOL
0 PStatStdBy "Stand-by" status
xStateTroubleBYTE
1 PStatTrouble "Trouble" status
xStateManualBOOL
2 PStatManJog "ManualJog" status
xStateHomingBOOL
3 PStatHome "Homing" status
xStatePosBOOL
4 PStatPos "Positioning" status
xDriveEnabledBOOL
5 Imp 1 = Pulse inhibit (DCTRL-IMP) active, inverter inhibited
byActPSBYTE
6 PNoAct_1 4 bits (binary coded) for displaying the profile number of the activepositioning profile.Note: In addition, the profile number is displayed under C3052.
7 PNoAct_2
8 PNoAct_4
9 PNoAct_8
xProfileBusyBOOL
10 ProfileBusy 1 = Positioning is active
xDriveErrorBOOL
11 GlobalErr 1 = Fault active
xHomeBusyBOOL
12 Homebusy 1 = Homing active
xHomingDoneBOOL
13 HomePosAvail Status signal "Home position known"
xInTargetBOOL
14 InTarget 1 = The actual position is in the target window (C3034) around the target position(message: Target position reached)
xDwellTimeBOOL
15 DwellTime 1 = The dwell time (C3035) has expired.Note: Bit is reset to "0" when positioning is started.
Status word 2 (Stat2)
rActPosREAL
L_SSC_GetPosition1.lrPositionOutUnits
Current position
xCommunicationOKBOOL
CAN_GetNodeData1.xCommunicationOK
L_SCB_GetNodeDataRxPDO1 - read out data ( 285)
L_SCB_GetNodeDataRxPDO2 - read out data ( 286)
1.3 EN - 07/2012 L 261
PLC Designer V2.x| Lenze Application SamplesThe L_SCS_DriveECS.lib library
L_SCS_PosiShaft - actuation of the ECS servo system
13.3.2.1 Process data from the axis module (status words and actual values)
The ECS "Posi and Shaft" can cyclically return process data to the master control with a datawidth of 8 bytes or 4 words via the control interface set under C4010. Two status wordsconsisting of status bits, as well as monitor data (actual values) are transferred.
Assignment of CanOut1 - structure of the process data from the controller
The telegram structure of the 8 bytes of process data from the drive is identical for allselectable control interfaces.
xOptionalBOOL
L_SCB_GetStateOptional();
Optional setting for the CAN node • TRUE: The CAN node is set to the
"Optional" mode to be able to receive PDOs.
• FALSE: Normal operation (transmission and reception via PDO).
eCanNodeStateSCB_StateCanNode
xMMaxBOOL
0 Mmax 1 = "Maximum torque" reached (value: C0057 x C3910)
xImaxBOOL
1 Imax 1 = Maximum current reached (value: C0022)
xNminBOOL
2 Nmin 1 = Speed threshold (C3017) fallen belowNote: The hysteresis is set under C3018.
xProfMlimActBOOL
3 ProfMlimact 1 = Profile function "Torque reduction" active
xFollowErrWarnBOOL
4 FollowErrWarn 1 = Following error tolerance C3030 for warning exceeded
xCANSyncInWinBOOL
5 CANSyncInWin Control program synchronisation:1 = Drive synchronised to CAN sync telegram
xProfContBOOL
6 ProfCont 1 = Profile continuation after profile abort possible
xSwLimErrBOOL
7 SwLimErr 1 = Software limit position reached
xQspInBOOL
8 QspIn 1 = Quick stop (QSP) active
xAuxProfileBusyBOOL
9 AuxProfileBusy 1 = Touch probe positioning active
xFunc1 13 Func1 Not assigned
xFunc2 14 Func2 Not assigned
xFunc3 15 Func3 Not assigned
iPar1INT
tx_par1 Setting via input byFuncNumber Monitor data words from the
controller (tx_par1 and tx_par2) ( 262)iPar2
INTtx_par2
Identifier/data type Control bits in the controller
Bit Identifier Meaning
PLC Designer V2.x| Lenze Application SamplesThe L_SCS_DriveECS.lib libraryL_SCS_PosiShaft - actuation of the ECS servo system
262 L 1.3 EN - 07/2012
Assignment of the process data from the controller:
13.3.2.2 Monitor data words from the controller (tx_par1 and tx_par2)
The monitor data words "tx_par1" and "tx_par2" can be assigned via control bits in
control word Ctrl1 with different display values:
ƒ Control bit 0 ("Ctrl1-Func1")
ƒ Control bit 1 ("Ctrl1-Func2")
ƒ Control bit 2 ("Ctrl1-Func4")
The following assignment of the monitor data words can be set via the control bits:
Word 1 Word 2 DWord (word 3 + word 4)
LOW byte HIGH byte LOW byte HIGH byte LOW word HIGH word
Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8
Status word Stat1 Status word Stat2 tx_par1 tx_par2
Control bits 0..2in the control
wordCtrl1 [binary]
Monitor data word
tx_par1 tx_par2
...000 Actual position (216 == 1 position encoder revolution)
...001 FollowErr (216 == 1 position encoder revolution)
...010 Actual speed value nactScaling: 214 == C0011 (maximum speed)
Current torque MactScaling: 214 == C0057 (Maximum torque calculated)
...011 Not assigned
...100 Not assigned
...101 Fault number DCTRL_wStat (C0150)Bit assignment: see code list of the ECS device
...110 Profile generator status (C3066)Bit assignment: see code list of the ECS device
Not assigned
...111 AIn1 DigInBit assignment: • Bit 0 ... 12: Image of analog input • Bit 13, 14, 15: 0 (no function)
DigInBit assignment: • Bit 0 (X6/DI1): Image digital input 1 • Bit 1 (X6/DI2): Image digital input 2 • Bit 2 (X6/DI3): Image digital input 3 • Bit 3 (X6/DI4): Image digital input 4 • Bit 4 ... 15: 0 (no function)
1.3 EN - 07/2012 L 263
PLC Designer V2.x| Lenze Application SamplesThe L_SCS_DriveECS.lib library
L_SCS_SupplyModule - actuation of the ECS servo system power supply module
13.4 L_SCS_SupplyModule - actuation of the ECS servo system power supply module
This FB serves to control the ECS Lenze servo system power supply module.
Inputs
Outputs
Identifier/data type Information/possible settings
scDriveControlSCS_Control_Supply
Structure for drive control
xOptionalBOOL
Optional setting for the CAN node • TRUE: The CAN node is set to the "Optional" mode to be able to receive PDOs. • FALSE: Normal operation (transmission and reception via PDO).
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
Identifier/data type Information/possible settings
scDriveStatus Structural data regarding the drive status
xInternalControlActivBOOL
TRUE: Internal control active
PLC Designer V2.x| Lenze Application SamplesThe L_SCS_DriveECS.lib libraryL_SCS_SupplyModule - actuation of the ECS servo system power supply module
264 L 1.3 EN - 07/2012
13.4.1 Structure of SCS_Control_Supply - actuation to the ECS controller power supply module
Further information on the internal interfaces of the controller can be found in the Operating instructions (BA) ECSxE_power supply module:
• Section Configuration Configure system bus | Assignment of the control word
Identifier/data type Control bits in the controller
Bit Identifier Meaning
xToggleBitBOOL
0 STE_TOGGLE Toggle bit • Bit state change as a sign of life of the
control
xErrorReset BYTE
1 STE_RESET TRUE: Reset error
xActivateKSBBOOL
2 STE_KSB TRUE: Execute short-circuit braking
xEnableAxis BOOL
3 STE_CONTROLLER ENABLE
TRUE: X6/DO1 is HIGH when the power supply module is ready for operationand input X6/DI2 is HIGH.
1.3 EN - 07/2012 L 265
PLC Designer V2.x| Lenze Application SamplesThe L_SCS_DriveECS.lib library
L_SCS_SupplyModule - actuation of the ECS servo system power supply module
13.4.2 Structure of SCS_Status_Supply - status of the controller
Further information on the internal interfaces of the controller can be found in the Operating instructions (BA) ECSxE_power supply module:
• Section Configuration Configure system bus | Assignment of the status words
Identifier/data type Control bits in the controller
Bit Identifier Meaning
xBTB_ReadyForOperationBOOL
0 STA1_BTB TRUE: Power supply module ready
xWarningBOOL
1 STA1_WARNING
TRUE: Warning active
xMessageBOOL
2 STA1_MESSAGE TRUE: Message active
xTripBOOL
3 STA1_TRIP Status messageTRUE: Error message active
xKSB_FAILBOOL
4 STA1_KSB_FAIL TRUE: No short-circuit braking possible, since the DC bus is loaded externally.
xKSB_ActiveBOOL
5 STA1_KSB_ACTIVE
1 = Pulse inhibit (DCTRL-IMP) active, inverter inhibited
xK1_ActiveBOOL
6 STA1_K1_ON TRUE: No short-circuit braking possible, since the DC bus is loaded externally.
xK2_ActiveBOOL
7 STA1_K2_ON TRUE: Short-circuit braking active
xDI1BOOL
11 STA1_DI1 1 = The actual position is in the target window (C3034) around the target position(message: Target position reached)
xDI2BOOL
12 STA1_DI2 1 = The dwell time (C3035) has expired.Note: Bit is reset to "0" when positioning is started.
xToggleBitBOOL
13 STA1_TOGGLE Toggle bit
xFreeBit14BOOL
14 free Not assigned
xFreeBit15BOOL
15 free Not assigned
eErrorCodeSCS_ErrorCode
Reset error
PLC Designer V2.x| Lenze Application SamplesThe L_SCS_DriveECS.lib libraryL_SCS_SupplyModule - actuation of the ECS servo system power supply module
266 L 1.3 EN - 07/2012
13.4.3 L_SCS_ReadErrorCode - read out error status
This FB reads out the error test from the controller.
Inputs
Outputs
Identifier/data type Information/possible settings
xExecuteBOOL
Carry out error test
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
xUseSecondSDOBOOL
TRUE: Use second SDO channelFALSE: Use first SDO channel (Lenze setting)
Identifier/data type Information/possible settings
xDoneBOOL
TRUE: Read request completed
xBusyBOOL
Status output "Read request sent" • TRUE: The read request was sent to the operating system and the FB is waiting for
a response from the device addressed. • FALSE: The read request was completed.
xErrorBOOL
"Error" status signal
FALSE Conversion carried out without errors
TRUE Error during the conversion
xTimeOutBOOL
Signalling of a time-out (time-out error)TRUE: Time-out; read request could not be executedFALSE: No time-out detected
eErrorCodeSCS ErrorCode
Transfer of read out error • Output of the error number as text (Enum)
1.3 EN - 07/2012 L 267
PLC Designer V2.x| Lenze Application SamplesThe L_S8V_Drive82Vector.lib library
L_S8V_ActuatorSpeed - actuation of the 8200 vector controller
14 The L_S8V_Drive82Vector.lib library
This chapter describes the function blocks of the L_S8V_Drive82Vector function library.The function blocks of this function library serve to parameterise the 8200 vector Lenzefrequency inverter.
14.1 L_S8V_ActuatorSpeed - actuation of the 8200 vector controller
This FB serves as a control block for the 8200 vector.
Inputs
Outputs
Further information on the controller can be found in the following documentation:
• System manual (SHB) 8200 vector - Global Drive
Identifier/data type Information/possible settings
scDriveControl Structural data for drive control
xOptionalBOOL
Optional setting for the CAN node
FALSE Normal operation (transmission and reception via PDO)
TRUE The CAN node is set to the "Optional" mode to be able to receive PDOs.
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
Identifier/data type Information/possible settings
scDriveStatus Structural data regarding the drive status
xInternalControlActivBOOL
TRUE: Internal control active
PLC Designer V2.x| Lenze Application SamplesThe L_S8V_Drive82Vector.lib libraryL_S8V_ActuatorSpeed - actuation of the 8200 vector controller
268 L 1.3 EN - 07/2012
14.1.1 Actuation to the controller
The Lenze sample projects offer you a predefined mapping for the controller, in order to beable to commission and control it. To what extent the assignments of the FB in the »PLCDesigner« are associated to the control bits in the respective device can be gathered fromthe following table overview.
Further information on the controller can be found in the following documentation:
• System manual (SHB) 8200 vector - Global Drive
– Section Function library Code table | Controller control word (parameter channel)
Identifier/data type Control bits in the controller
Bit Identifier Meaning
xJog1BOOL
0 NSET1-JOG1 Setpoint selection 1
xJog2BOOL
1 NSET1-JOG2 Setpoint selection 2
xCcwBOOL
2 DCTRL1-CW/CCW Activate CCW rotation
xQSPBOOL
3 DCTRL1-QSP Activate quick stop
xNSet_RfgStopREAL
4 NSET1-RFG1-STOP Stop ramp function generator
xNSet_Rfg0 5 NSET1-RFG1-0 Ramp function generator input = 0 • RFG1 = ramp function generator of main
setpoint
xMPOT_UP 6 MPOT1-UP UP function of motor potentiometer
xMPOT_DOWN 7 MPOT1-DOWN DOWN function of motor potentiometer
xFreeBit08BOOL
8 Reserved
xEnableBOOL
9 DCTRL1-CINH 1 = Enable controller (RFR)
xErrorSetBOOL
10 DCTRL1-TRIP-SET 1 = set error (TRIP set)
xErrorResetBOOL
11 DCTRL1-TRIP-RESET 1 = reset error (TRIP reset)
xFreeBit12BOOL
12 Not assigned
xFreeBit13BOOL
13 Not assigned
xFreeBit14BOOL
14 Not assigned
xFreeBit15BOOL
15 Not assigned
rNSetREAL
Speed setpoint
1.3 EN - 07/2012 L 269
PLC Designer V2.x| Lenze Application SamplesThe L_S8V_Drive82Vector.lib library
L_S8V_ActuatorSpeed - actuation of the 8200 vector controller
14.1.2 Status of the controller
Further information on the controller can be found in the following documentation:
• System manual (SHB) 8200 vector - Global Drive
– Section Function library Code table | Controller status word 1 (parameter channel)
Identifier/data type Control bits in the controller
Bit Identifier Meaning
xFreeBit00 0 Not assigned
xImp 1 DCTRL1-IMP Pulse inhibit
xQSPActive 2 Mapping of C0417/3 Quick stop status
xDriveErrorBOOL
3 Mapping of C0417/4 Controller in error status • TRUE: Error active
xFreeBit04 4 Not assigned
xFreeBit05 5 Not assigned
xSpeedEqZero 6 DCTRL1-NOUT=0 Activate quick stop
xDriveEnabledBOOL
7 DCTRL1-CINH Controller is active (controller inhibit is deactivated)
xFreeBit08 8 Not assigned
xFreeBit09 9 Not assigned
xFreeBit10 10 Not assigned
xFreeBit11 11 Not assigned
xWarning 12 DCTRL1-OH-WARN TRUE: Warning active
xFreeBit13 13 Not assigned
xCcw 14 Mapping of C0417/15 Set reversal of rotation direction
xDriveReadyBOOL
15 Mapping of C0417/16 Controller is ready for operation
rNactREAL
Actual speed value
PLC Designer V2.x| Lenze Application SamplesThe L_S8V_Drive82Vector.lib libraryL_S8V_ReadErrorCode - read out error status
270 L 1.3 EN - 07/2012
14.2 L_S8V_ReadErrorCode - read out error status
This FB reads out the error text from the 8200 vector.
Inputs
Outputs
Identifier/data type Information/possible settings
xExecuteBOOL
Carry out error test
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
xUseSecondSDOBOOL
TRUE: Use second SDO channelFALSE: Use first SDO channel (Lenze setting)
Identifier/data type Information/possible settings
xDoneBOOL
TRUE: Read request completed
xBusyBOOL
Status output "Read request sent" • TRUE: The read request was sent to the operating system and the FB is waiting for
a response from the device addressed. • FALSE: The read request was completed.
xErrorBOOL
"Error" status signal
FALSE Conversion carried out without errors
TRUE Error during the conversion
xTimeOutBOOL
Signalling of a time-out (time-out error)TRUE: Time-out; read request could not be executedFALSE: No time-out detected
sDataSTRING
Data structure
1.3 EN - 07/2012 L 271
PLC Designer V2.x| Lenze Application SamplesThe L_S8V_Drive82Vector.lib library
L_S8V_SDOList
14.3 L_S8V_SDOList
This FB defines a list of parameters which, by means of FB L_SCB_SDOTransferTable, canbe written to the controller.
Inputs
Identifier/data type Information/possible settings
rC11_MaxFrequencyREAL
Maximum frequency 50,0000 Hz
rC12_AccelerationTimeREAL
Acceleration time 10,0000 s
rC13_DecelerationTimeREAL
Deceleration time 10,0000 s
rC37_Jog1REAL
Selection of setpoint selection 1.
rC38_Jog2REAL
Selection of setpoint selection 2.
rC39_Jog3REAL
Selection of setpoint selection 3.
rC105_QspTimeREAL
Quick stop deceleration 1,0000 s
aParametersSCB_ParameterData
Selection of the parameters
PLC Designer V2.x| Lenze Application SamplesThe L_S8S_Drive82SMD.lib libraryL_S8S_ActuatorSpeed - actuation of the 8400 SMD controller
272 L 1.3 EN - 07/2012
15 The L_S8S_Drive82SMD.lib library
This chapter describes the function blocks of the L_S8S_Drive82SMD. function library. Thefunction blocks of this function library serve to parameterise the 8200 SMD Lenzefrequency inverter.
15.1 L_S8S_ActuatorSpeed - actuation of the 8400 SMD controller
This FB serves to actuate the 8400 SMD controller.
Inputs
Outputs
Further information on the internal interfaces of the controller can be found in the Operating Instructions (BA)_ESMD_CAN-Frequency_Inverter for the 8200 SMD:
• Section CANopen | Detailed assignments
Identifier/data type Information/possible settings
xOptionalBOOL
Optional setting for the CAN node
FALSE Normal operation (transmission and reception via PDO)
TRUE The CAN node is set to the "Optional" mode to be able to receive PDOs.
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (1 ... 4)
Identifier/data type Information/possible settings
scDriveStatus Structural data regarding the drive status
xInternalControlActivBOOL
TRUE: Internal control active
1.3 EN - 07/2012 L 273
PLC Designer V2.x| Lenze Application SamplesThe L_S8S_Drive82SMD.lib library
L_S8S_ActuatorSpeed - actuation of the 8400 SMD controller
15.1.1 Structure S8S_DriveControl - actuation to the controller
The bit assignment in the software application is identical to the bit assignment in thecontroller.
Identifier/data type Control bits in the controller
Bit Identifier Meaning
xJog1BOOL
0 JOG1 Setpoint selection 1
xJog2BOOL
1 JOG2 Setpoint selection 2
xCwCcwBOOL
2 DCTRL1-CW/CCW Define direction of rotation of the motor • TRUE: CW rotation active (clockwise) • FALSE: CCW rotation active (counter-
clockwise)
xQSPBOOL
3 DCTRL1-QSP Activate quick stop
xFreeBit04 BOOL
4 Not assigned
xFreeBit05 BOOL
5 Not assigned
xFreeBit06BOOL
6 Not assigned
xFreeBit07BOOL
7 Not assigned
xFreeBit08BOOL
8 Not assigned
xEnableBOOL
9 DCTRL1-CINH Activate FB
xFreeBit10BOOL
10 Not assigned
xErrorResetBOOL
11 DCTRL1-TRIP-RESET Reset error
xFreeBit12BOOL
12 Not assigned
xFreeBit13 13 Not assigned
xFreeBit14 14 Not assigned
xFreeBit15 15 Not assigned
rNsetREAL
Speed
PLC Designer V2.x| Lenze Application SamplesThe L_S8S_Drive82SMD.lib libraryL_S8S_ActuatorSpeed - actuation of the 8400 SMD controller
274 L 1.3 EN - 07/2012
15.1.2 Structure S8S_DriveStatus - status of the controller
The bit assignment in the software application is identical to the bit assignment in thecontroller.
Identifier/data type Control bits in the controller
Bit Identifier Meaning
FreeBit00 0 Not assigned
FreeBit01 1 Not assigned
FreeBit02 2 Not assigned
FreeBit03 3 Not assigned
FreeBit04 4 Not assigned
xQminBOOL
5 DCTRL1-NOUT=0 Frequency threshold Qmin
xFreeBit06 6 Not assigned
xDriveEnabledBOOL
7 DCTRL1-CINH TRUE: Controller active
xDriveErrorBOOL
8 Status for error in the controllerTRUE: Error in the controller reportedFALSE: No error reported
xFreeBit09 9 Not assigned
xFreeBit10 10 Not assigned
xFreeBit11 11 Not assigned
xFreeBit12 12 Not assigned
xFreeBit13 13 Not assigned
xCwCcwBOOL
14 Mapping of C0417/15 Define direction of rotation of the motor • TRUE: CW rotation active (clockwise) • FALSE: CCW rotation active (counter-
clockwise)
xDriveReadyBOOL
15 Mapping of C0417/16 Status of the CAN node setting
rNactREAL
Actual speed value
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PLC Designer V2.x| Lenze Application SamplesThe L_S8S_Drive82SMD.lib library
L_S8S_SDOList
15.2 L_S8S_SDOList
This FB defines a list of parameters. By means of FB L_SCB_SDOTransferTable theparameters can be written to the drive.
Identifier/data type Information/possible settings
rC11_MaxSpeedREAL
Maximum speed
rC12_AccelerationTimeREAL
Maximum acceleration
rC13_DecelerationTimeREAL
Deceleration [ms]
rC37_Jog1 ... rC39_Jog1REAL
Setpoint selection 1
rC37_Jog1 ... rC39_Jog2REAL
Setpoint selection 2
rC37_Jog1 ... rC39_Jog3REAL
Setpoint selection 3
rC105_QspTimeREAL
Quickstop deceleration [ms]
byAutoStartOptionBYTE
Auto-start function
aParametersARRAY [1..25] OF
SCB_ParameterData
Selection of the parameters
PLC Designer V2.x| Lenze Application SamplesThe L_S93_Drive9300.lib libraryL_S93_ActuatorSpeed - control the 9300 Speed
276 L 1.3 EN - 07/2012
16 The L_S93_Drive9300.lib library
This chapter describes the function blocks of the L_S93_Drive9300 function library. Thefunction blocks of this function library serve to parameterise the Lenze 9300 servo inverter.
16.1 L_S93_ActuatorSpeed - control the 9300 Speed
Inputs
Outputs
Further information on the 9300 controller can be found in the following documentation:
• 9300 servo position controller system manual
• (KHB) CAN communication manual
Identifier/data type Information/possible settings
scDriveControlS93_DriveControl_Speed
Structure for actuating the controllerStructure of 93_DriveControl_Speed - actuation to the controller ( 277)
xOptionalBOOL
Optional setting for the CAN node • TRUE: The CAN node is set to the "Optional" mode to be able to receive PDOs. • FALSE: Normal operation (transmission and reception via PDO).
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
Identifier/data type Information/possible settings
scDriveControlS93_DriveStatus_Speed
Structural data regarding the status of the controller
xInternalControlActiveBOOL
TRUE: Internal control active
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PLC Designer V2.x| Lenze Application SamplesThe L_S93_Drive9300.lib library
L_S93_ActuatorSpeed - control the 9300 Speed
16.1.1 Structure of 93_DriveControl_Speed - actuation to the controller
Further information on the interface assignments can be found in the following section:Interface assignment in the »Global Drive Control« ( 185)
Identifier/data type Control bits in the controller
Bit Designation Meaning
xJog1BOOL
0 CAN-CTRL.B0 Activate manual jog in positive direction (clockwise)
xJog2BOOL
1 CAN-CTRL.B1 Activate manual jog in negative direction (counter-clockwise)
xCcwBOOL
2 CAN-CTRL.B2 Define direction of rotation of the motor
xQSPBOOL
3 CAN-CTRL.B3 Activate quick stop
xNSet_RfgStopBOOL
4 CAN-CTRL.B4 Stop ramp function generator
xNSet_Rfg0BOOL
5 CAN-CTRL.B5 Ramp function generator input = 0 • RFG1 = ramp function generator of main
setpoint
xFreeBit06BOOL
6 Not assigned
xFreeBit07BOOL
7 Not assigned
xCtrl_DisableBOOL
8 Not used
xEnableBOOL
9 CAN-CTRL.B9 Activate FB
xErrorSetBOOL
10 CAN-CTRL.B10 Set error
xErrorResetBOOL
11 CAN-CTRL.B11 Reset error
xFreeBit12BOOL
12 Not assigned
xFreeBit13BOOL
13 Not assigned
xFreeBit14BOOL
14 Not assigned
xFreeBit15BOOL
15 Not assigned
rNSetREAL
Speed setpoint
PLC Designer V2.x| Lenze Application SamplesThe L_S93_Drive9300.lib libraryL_S93_ActuatorSpeed - control the 9300 Speed
278 L 1.3 EN - 07/2012
16.1.2 Structure of 93_DriveStatus_Speed - status of the controller
Further information on the interface assignments can be found in the following section:Interface assignment in the »Global Drive Control« ( 185)
Identifier/data type Control bits in the controller
Bit Identifier Meaning
xFreeBit00BOOL
0 Not assigned
xImpBOOL
1 DCTRL-IMP Pulse inhibit
xQSPActiveBOOL
2 STAT.B2 Activate quick stop
xDriveErrorBOOL
3 STAT.B3 Status for error in the controllerTRUE: Error in the controller reportedFALSE: No error reported
xFreeBit04 BOOL
4 Not assigned
xFreeBit05 BOOL
5 Not assigned
xSpeedEqZero BOOL
6 DCTRL-NACT=0 TRUE: Speed is zero
xDriveEnabled BOOL
7 DCTRL-CINH Enable controller
xStat_1 BOOL
8 DCTRL-STAT*1 Not assigned
xStat_2 BOOL
9 DCTRL-STAT*2 Not assigned
xStat_4BOOL
10 DCTRL_STAT*4 Not assigned
xStat_8 BOOL
11 DCTRL_STAT*8 Not assigned
xWarningBOOL
12 DCTRL-WARN TRUE: Warning active
xMessBOOL
13 DCTRL-MESS TRUE: Message active
xCcwBOOL
14 STAT.B14 Not assigned
xDriveReadyBOOL
15 STAT.B15 Status signal "Controller is ready for operation"
rNact Actual speed value
rMAct Actual torque value
rNSet Speed setpoint
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PLC Designer V2.x| Lenze Application SamplesThe L_S93_Drive9300.lib library
L_S93_Positioning - control the 9300 Positioning
16.2 L_S93_Positioning - control the 9300 Positioning
Inputs
Identifier/data type Information/possible settings
scDriveControlscAxisData
Axis data
xOptionalBOOL
Optional setting for the CAN node
FALSE Normal operation (transmission and reception via PDO)
TRUE The CAN node is set to the "Optional" mode to be able to receive PDOs.
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
PLC Designer V2.x| Lenze Application SamplesThe L_S93_Drive9300.lib libraryL_S93_Positioning - control the 9300 Positioning
280 L 1.3 EN - 07/2012
16.2.1 Structure of S93_DriveControl_93xxEP - actuation to the 9300 EP controller
The bit assignment in the software application is identical to the bit assignment in thecontroller.
Further information on the interface assignments can be found in the following section:Interface assignment in the »Global Drive Control« ( 185)
Identifier/data type Control bits in the controller
Bit Designation Meaning
xManualPosBOOL
0 CAN-CTRL.B0 Manual jog in positive direction (CW rotation)
xManualNegBOOL
1 CAN-CTRL.B1 Manual jog in negative direction (CCW rotation)
xHomingBOOL
2 CAN-CTRL.B2 TRUE: "Homing" activated
xQSPBOOL
3 CAN-CTRL.B3 Activate quick stop
xStartPRGBOOL
4 CAN-CTRL.B4 Start positioning set
xStopPRGBOOL
5 CAN-CTRL.B5 Stop positioning set
xResetPRGBOOL
6 CAN-CTRL.B6 Cancel current positioning task
xPOS_STDBY_STPBOOL
7 CAN-CTRL.B7 HIGH = stops stand-by operation if “STDBY” is selected in the POS mode(C1311 = 30). Otherwise no function.
xCtrl_DisableBOOL
8 CAN-CTRL.B8 Not used
xEnableBOOL
9 CAN-CTRL.B9 Activate FB
xErrorSetBOOL
10 CAN-CTRL.B10 Set error
xErrorResetBOOL
11 CAN-CTRL.B11 Reset error
byPSNumber0BYTE
12 CAN-CTRL.B12 Selection of positioning profile
byPSNumber1BYTE
13 CAN-CTRL.B13 Selection of positioning profile
byPSNumber2BYTE
14 CAN-CTRL.B14 Selection of positioning profile
byPSNumber3BYTE
15 CAN-CTRL.B15 Selection of positioning profile
rNSet Setpoint speed
1.3 EN - 07/2012 L 281
PLC Designer V2.x| Lenze Application SamplesThe L_S93_Drive9300.lib library
L_S93_Positioning - control the 9300 Positioning
16.2.2 Structure of S93_DriveStatus_93xxEP - status of the 9300 EP controller
The bit assignment in the software application is identical to the bit assignment in thecontroller.
Further information on the interface assignments can be found in the following section:Interface assignment in the »Global Drive Control« ( 185)
Identifier/data type Control bits in the controller
Bit Identifier Meaning
xPosBusyBOOL
0 STAT.B0 Profile positioning is active
xImpBOOL
1 DCTRL-IMP Pulse inhibit
xQSPActiveBOOL
2 STAT.B2 Activate quick stop
xDriveErrorBOOL
3 STAT.B3 Status for error in the controllerTRUE: Error in the controller reportedFALSE: No error reported
xRefOkBOOL
4 STAT.B4 Home position available
xInTarget BOOL
5 STAT.B5 1 = The actual position is in the target window (C3034) around the target position(message: Target position reached)
xNactEqZeroBOOL
6 DCTRL-NACT=0 TRUE: Speed is zero
xEnabled BOOL
7 DCTRL-CINH Enable controller
xStat_1 BOOL
8 DCTRL-STAT*1 Not assigned
xStat_2 BOOL
9 DCTRL-STAT*2 Not assigned
xStat_4BOOL
10 DCTRL_STAT*4 Not assigned
xStat_8 BOOL
11 DCTRL_STAT*8 Not assigned
xWarningBOOL
12 DCTRL-WARN TRUE: Warning active
xMessageBOOL
13 DCTRL-MESS TRUE: Message active
xFreeBit14BOOL
14 STAT.B14 Not assigned
xReadyBOOL
15 STAT.B15 Status signal "Controller is ready for operation"
rNact Actual speed value
rActPos Current position
PLC Designer V2.x| Lenze Application SamplesThe L_S93_Drive9300.lib libraryL_S93_ReadErrorCode - read out error status
282 L 1.3 EN - 07/2012
16.3 L_S93_ReadErrorCode - read out error status
This FB reads out the error text from the 9300 controller.
Inputs
Outputs
Identifier/data type Information/possible settings
xExecuteBOOL
Carry out error test
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
xUseSecondSDOBOOL
TRUE: Use second SDO channelFALSE: Use first SDO channel (Lenze setting)
Identifier/data type Information/possible settings
xDoneBOOL
TRUE: Read request completed
xBusyBOOL
Status output "Read request sent" • TRUE: The read request was sent to the operating system and the FB is waiting for
a response from the device addressed. • FALSE: The read request was completed.
xErrorBOOL
"Error" status signal
FALSE Conversion carried out without errors
TRUE Error during the conversion
xTimeOutBOOL
Signalling of a time-out (time-out error)TRUE: Time-out; read request could not be executedFALSE: No time-out detected
sDataSTRING
Data structure
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PLC Designer V2.x| Lenze Application SamplesThe L_SCB_CANBasic.lib library
L_SCB_Actuator
17 The L_SCB_CANBasic.lib library
17.1 L_SCB_Actuator
This FB serves to control any Lenze controller.
The FB transmits and receives four variables (data type WORD) which can be interconnected individually.
Inputs
Outputs
Identifier/data type Information/possible settings
awTxDataARRAY[0..3] OF WORD
Writing PDO to controller
xOptionalBOOL
Optional setting for the CAN node
FALSE Normal operation (transmission and reception via PDO)
TRUE The CAN node is set to the "Optional" mode to be able to receive PDOs.
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
Identifier/data type Information/possible settings
awTxDataARRAY[0..3] OF WORD
Reading PDO from controller
xCommunicationOKBOOL
L_SCB_GetNodeDataRxPDO1 - read out data ( 285)L_SCB_GetNodeDataRxPDO2 - read out data ( 286)
CanNodeStateSCB_StateCanNode
Status of the CAN node
PLC Designer V2.x| Lenze Application SamplesThe L_SCB_CANBasic.lib libraryL_SCB_CanStatus - node inspection
284 L 1.3 EN - 07/2012
17.2 L_SCB_CanStatus - node inspection
This program creates a status overview of the nodes. Incorrect nodes can be detected andrestarted.
Inputs
Note!
Only one of the two FBs (either L_SCB_CanStatus or L_SCB_StatusSingleNode) can be used at a time!
• The simultaneous use of the two FBs causes a time-out (xPDOTimeOut).
Identifier/data type Information/possible settings
tPdoTimeOutTIME
100 ms (Lenze setting)
xAutomaticResetBOOL
TRUE: Activate automatic restart
tResetTimeTIME
10 s (Lenze setting)
Note!
When using the visualisation template for the L_SCB_CanStatus FB, please observe that the visualisation page does not automatically update the status messages.
• Remedy: Click on the visualisation page or reload the visualisation window (by switching to another window for a little while) to update the display of the status messages.
1.3 EN - 07/2012 L 285
PLC Designer V2.x| Lenze Application SamplesThe L_SCB_CANBasic.lib library
L_SCB_GetNodeDataRxPDO1 - read out data
17.3 L_SCB_GetNodeDataRxPDO1 - read out data
This FB reads the data from PDO 1.
Inputs
Outputs
Note!
To be able to use the L_SCB_GetNodeDataRxPDO1/L_SCB_GetNodeDataRxPDO2 FBs in a program, the L_SCB_CanStatus FB must also be inserted.
• Otherwise, communication to the controller is not possible!
Identifier/data type Information/possible settings
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
Identifier/data type Information/possible settings
awReceiveDataARRAY[0..3] OF WORD
Received data 8 BYTES
xErrorBOOL
"Error" status signal
FALSE No error detected
TRUE Error when reading the data
xCommunicationOKBOOL
L_SCB_GetNodeDataRxPDO1 - read out data ( 285)L_SCB_GetNodeDataRxPDO2 - read out data ( 286)
PLC Designer V2.x| Lenze Application SamplesThe L_SCB_CANBasic.lib libraryL_SCB_GetNodeDataRxPDO2 - read out data
286 L 1.3 EN - 07/2012
17.4 L_SCB_GetNodeDataRxPDO2 - read out data
This FB reads the data from PDO 2.
Inputs
Outputs
Note!
To be able to use the L_SCB_GetNodeDataRxPDO1/L_SCB_GetNodeDataRxPDO2 FBs in a program, the L_SCB_CanStatus FB must also be inserted.
• Otherwise, communication to the controller is not possible!
Identifier/data type Information/possible settings
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
Identifier/data type Information/possible settings
awReceiveDataARRAY[0..3] OF WORD
Received data 8 BYTES
xErrorBOOL
"Error" status signal
FALSE No error detected
TRUE Error when reading the data
xCommunicationOKBOOL
L_SCB_GetNodeDataRxPDO1 - read out data ( 285)L_SCB_GetNodeDataRxPDO2 - read out data ( 286)
1.3 EN - 07/2012 L 287
PLC Designer V2.x| Lenze Application SamplesThe L_SCB_CANBasic.lib library
L_SCB_GetNodeState - node inspection
17.5 L_SCB_GetNodeState - node inspection
The function reads the status of a CAN node.
Inputs
The function returns the following status via the CAN node:
CanSlave_NotInHardWareConfig :=-2,
CanSlave_ResetNode := -1,
CanSlave_WaitBootUp := 1,
CanSlave_BootUp := 2,
CanSlave_SDO_Config := 3,
CanSlave_SDO_Ready := 4,
CanSlave_Operational := 5,
CanSlave_OptionalDevice := 97,
CanSlave_DeviceIDNotOk := 98,
CanSlave_NodeGuardingError := 99
17.6 L_SCB_GetStateOptional - check with regard to "OptionalDevice"
The function checks the bus status with regard to "OptionalDevice" of a CAN node. If thenode is available, the function returns the value TRUE.
Inputs
Identifier/data type Information/possible settings
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
Identifier/data type Information/possible settings
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
PLC Designer V2.x| Lenze Application SamplesThe L_SCB_CANBasic.lib libraryL_SCB_GetVersion - transfer of the version
288 L 1.3 EN - 07/2012
17.7 L_SCB_GetVersion - transfer of the version
Outputs
17.8 L_SCB_ParRead - read parameter
This FB reads a parameter and provides the value read to the application via outputsdnData ... bData.
Inputs
Identifier/data type Value/meaning
dwVersionDWORD
Output version
Identifier/data type Information/possible settings
xExecuteBOOL
Trigger read request.
TRUE Start read request once.
FALSE Deactivate reading.
byNodeNumberBYTE
Node number
xUseSecondSDOBOOL
TRUE: Use second SDO channelFALSE: Use first SDO channel (Lenze setting)
byMasterNumberBYTE
Interface number (0...3)
wIndexWORD
CANopen index (0x0 ... 0xFFFF)
bySubCodeBYTE
Subcode (0 ... 255)
1.3 EN - 07/2012 L 289
PLC Designer V2.x| Lenze Application SamplesThe L_SCB_CANBasic.lib library
L_SCB_ParRead - read parameter
Outputs
Identifier/data type Information/possible settings
xDoneBOOL
TRUE: Read request completed
xBusyBOOL
Status output "Read request sent" • TRUE: The read request was sent to the operating system and the FB is waiting for
a response from the device addressed. • FALSE: The read request was completed.
xErrorBOOL
Status output "Error" • TRUE: During the processing an error has occurred.
xTimeOutBOOL
Signalling of a time-out (time-out error)TRUE: Time-out; read request could not be executedFALSE: No time-out detected
dwDataDWORD
Parameter value read (converted to different data types)
byNrOfByteBYTE
Number of bytes read
PLC Designer V2.x| Lenze Application SamplesThe L_SCB_CANBasic.lib libraryL_SCB_ParRead_String - "String"-read parameter
290 L 1.3 EN - 07/2012
17.9 L_SCB_ParRead_String - "String"-read parameter
This FB reads out a string parameter and provides the value read to the application via theoutput sData.
Inputs
Outputs
Identifier/data type Information/possible settings
xExecuteBOOL
Trigger read request.
TRUE Start read request once.
FALSE Deactivate reading.
byNodeNumberBYTE
Node number
xUseSecondSDOBOOL
TRUE: Use second SDO channelFALSE: Use first SDO channel (Lenze setting)
byMasterNumberBYTE
Interface number (0...3)
wIndexWORD
CANopen index (0x0 ... 0xFFFF)
bySubCodeBYTE
Subcode (0 ... 255)
Identifier/data type Information/possible settings
xDoneBOOL
TRUE: Read request completed
xBusyBOOL
Status output "Read request sent" • TRUE: The read request was sent to the operating system and the FB is waiting for
a response from the device addressed. • FALSE: The read request was completed.
xErrorBOOL
TRUE: Read request completed
xTimeOutBOOL
Signalling of a time-out (time-out error)TRUE: Time-out; read request could not be executedFALSE: No time-out detected
xNoBlockParameter Not assigned
sDataSTRING (255)
Parameter value read
1.3 EN - 07/2012 L 291
PLC Designer V2.x| Lenze Application SamplesThe L_SCB_CANBasic.lib library
L_SCB_ParWrite - write parameter
17.10 L_SCB_ParWrite - write parameter
This FB writes the value of data input dwData to a parameter.
Outputs
Identifier/data type Information/possible settings
xExecuteBOOL
Trigger write request.
TRUE Start write request once.
FALSE Deactivate writing.
byNodeNumberBYTE
Node number
xUseSecondSDOBOOL
TRUE: Use second SDO channel
byMasterNumberBYTE
Interface number (0...3)
wIndexWORD
CANopen index (0x0 ... 0xFFFF).
bySubCodeBYTE
Subcode (0 ... 255)
dwDataDWORD
Parameter value to be written
byNrOfBYTEBYTE
Number of bytes (initial value: 4)
Identifier/data type Information/possible settings
xDoneBOOL
TRUE: Read request completed
xBusyBOOL
Status output "Read request sent" • TRUE: The read request was sent to the operating system and the FB is waiting for
a response from the device addressed. • FALSE: The read request was completed.
xErrorBOOL
Status output "Error" • TRUE: During the processing an error has occurred.
xTimeOutBOOL
Signalling of a time-out (time-out error) • TRUE: Time-out; read request could not be executed • FALSE: No time-out detected
PLC Designer V2.x| Lenze Application SamplesThe L_SCB_CANBasic.lib libraryL_SCB_PutNodeDataTxPDO1 - data transmission
292 L 1.3 EN - 07/2012
17.11 L_SCB_PutNodeDataTxPDO1 - data transmission
This FB transmits the data via PDO 1.
Inputs
Outputs
Note!
To be able to use the L_SCB_GetNodeDataRxPDO1/L_SCB_GetNodeDataRxPDO2 FBs in a program, the L_SCB_CanStatus FB must also be inserted.
• Otherwise, communication to the controller is not possible!
Identifier/data type Information/possible settings
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
awSendDataARRAY[0..3] OF WORD
Data
Identifier/data type Information/possible settings
xErrorBOOL
"Error" status signal • Error during the data transfer
FALSE No error detected
TRUE Error when reading the data
1.3 EN - 07/2012 L 293
PLC Designer V2.x| Lenze Application SamplesThe L_SCB_CANBasic.lib library
L_SCB_PutNodeDataTxPDO2 - data transmission
17.12 L_SCB_PutNodeDataTxPDO2 - data transmission
This FB transmits the data via PDO 2.
Inputs
Outputs
Note!
To be able to use the L_SCB_GetNodeDataRxPDO1/L_SCB_GetNodeDataRxPDO2 FBs in a program, the L_SCB_CanStatus FB must also be inserted.
• Otherwise, communication to the controller is not possible!
Identifier/data type Information/possible settings
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
awSendDataARRAY[0..3] OF WORD
Data
Identifier/data type Information/possible settings
xErrorBOOL
"Error" status signal • Error when reading the data of PDO2
FALSE No error detected
TRUE Error when reading the data
PLC Designer V2.x| Lenze Application SamplesThe L_SCB_CANBasic.lib libraryL_SCB_SDO_Converter - conversion block
294 L 1.3 EN - 07/2012
17.13 L_SCB_SDO_Converter - conversion block
This FB describes the input structure of the FBs L_SCB_SDOListSize.
Inputs
ü
Identifier/data type Information/possible settings
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
wCodeWORD
Parameter value for the code
bySubCodeBYTE
Subcode value for subcode
xWriteAccessBOOL
TRUE: Write access active
xEnableBOOL
Activate FB
byNrOfByteBYTE
Number of byte
dwDataDWORD
Data structure
1.3 EN - 07/2012 L 295
PLC Designer V2.x| Lenze Application SamplesThe L_SCB_CANBasic.lib library
L_SCB_SDO_ListSize10 - parameter list (length: 10)
17.13.1 SCB_ParameterData
17.14 L_SCB_SDO_ListSize10 - parameter list (length: 10)
This FB defines a list of ten parameters.
By means of FB L_SCB_SDOTransferTable the parameters can be read from the variable list of the controller or transferred to the controller.
Inputs
Identifier/data type Information/possible settings
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
wCodeWORD
Parameter value for the code
bySubcodeBYTE
Subcode value for subcode
xWriteAccessBOOL
TRUE: Write access active
xEnableBOOL
Activate FB
byNrOfByteBYTE
Number of byte
dwDataDWORD
Data structure
xErrorBOOL
Status output "Error"
TRUE During the processing an error has occurred
dwStateSCS_ErrorCode
Status
Identifier/data type Information/possible settings
aParametersSCB_ParameterData
Selection of the parameters
PLC Designer V2.x| Lenze Application SamplesThe L_SCB_CANBasic.lib libraryL_SCB_SDO_ListSize25 - parameter list (length: 25)
296 L 1.3 EN - 07/2012
17.15 L_SCB_SDO_ListSize25 - parameter list (length: 25)
This FB defines a list of 25 parameters.
By means of FB L_SCB_SDOTransferTable the parameters can be read from the variable list of the controller or transferred to the controller.
Inputs
17.16 L_SCB_SDO_ListSize50 - parameter list (length: 50)
This FB defines a list of 50 parameters.
By means of FB L_SCB_SDOTransferTable the parameters can be read from the variable list of the controller or transferred to the drive.
Identifier/data type Information/possible settings
aParametersARRAY
Array [1-50] OF SCB, parameter DATA
Identifier/data type Information/possible settings
aParametersARRAY
Array [1-50] OF SCB, parameter DATA
1.3 EN - 07/2012 L 297
PLC Designer V2.x| Lenze Application SamplesThe L_SCB_CANBasic.lib library
L_SCB_StartNode - restart CAN nodes
17.17 L_SCB_StartNode - restart CAN nodes
This function restarts a CAN node (reset node).
Inputs
Identifier/data type Information/possible settings
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
PLC Designer V2.x| Lenze Application SamplesThe L_SCB_CANBasic.lib libraryL_SCB_StatusSingleNode - read out bus status
298 L 1.3 EN - 07/2012
17.18 L_SCB_StatusSingleNode - read out bus status
The FB reads out the bus status of a CAN node.
Inputs
Outputs
Note!
Only one of the two FBs (either L_SCB_CanStatus or L_SCB_StatusSingleNode) can be used at a time!
• The simultaneous use of the two FBs causes a time-out (xPDOTimeOut).
Identifier/data type Information/possible settings
tPdoTimeOutTIME
Monitoring time of the PDO (initialisation: 100 ms)
xAutomaticResetBOOL
TRUE: Automatic reset of the CAN node active
tResetTimeTIME
Reset time (initialisation: 10 s)
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
Identifier/data type Information/possible settings
CanMasterStateSCB_StateCanMaster
Status of the CAN master
CanNodeStateSCB_CanNodeDiagnose
Status of the CAN node
xConfigErrorBOOL
TRUE: Configuration error active
xPdoTimeOutBOOL
Time-out signalling
xCommunicationOKBOOL
L_SCB_GetNodeDataRxPDO1 - read out data ( 285)L_SCB_GetNodeDataRxPDO2 - read out data ( 286)
1.3 EN - 07/2012 L 299
PLC Designer V2.x| Lenze Application SamplesThe L_SCB_CANBasic.lib library
L_SCB_SDO_TransferTable - transfer parameter list
17.18.1 SCB_StateCanMaster
CanMaster_NotInHardWareCatalogus:=-1,
CanMaster_Init0 := 0,
CanMaster_Init1 := 1,
CanMaster_Init2 := 2,
CanMaster_SDO_Config := 3,
CanMaster_Init4 := 4,
CanMaster_Operational := 5
17.18.2 Structure of SCB_CanNodeDiagnose -
17.19 L_SCB_SDO_TransferTable - transfer parameter list
This FB serves to write or read a parameter list.
Inputs
Identifier/data type Information/possible settings
iStateSCB_StateCanNode
Status enquiry of CAN node
byNodeIDBYTE
Node number (0...3)
byMasterIDBYTE
Interface number (ID)
xCommunicationOKBOOL
L_SCB_GetNodeDataRxPDO1 - read out data ( 285)L_SCB_GetNodeDataRxPDO2 - read out data ( 286)
Identifier/data type Information/possible settings
xExecuteBOOL
Trigger read request.
TRUE Cycle time (dwCycleTime) = "0 ms" or input dwCycleTimeNot assigned:Read parameter value once, which was addressed via the inputs dwCode,dwSubcode, dwComChannel, and dwTargetAddress.
FALSE Deactivate cyclic reading.
PLC Designer V2.x| Lenze Application SamplesThe L_SCB_CANBasic.lib libraryL_SCB_SDO_TransferTable - transfer parameter list
300 L 1.3 EN - 07/2012
Outputs
byNodeNumberBYTE
Node number
byMasterNumberBYTE
Interface number (0...3)
xUseFixAdressingBOOL
TRUE: Fixed addressing activated
dwAdrParameterDataDWORD
Address of the SCB structure
dwSizeParameterDataDWORD
Size of the SCB structure
xUseCodeAsIndexBOOL
TRUE: Indices to CAN-Open
Identifier/data type Information/possible settings
xDoneBOOL
TRUE: Process completed
xBusyBOOL
TRUE: Write or read process active
xErrorBOOL
"Error" status signal
FALSE No error detected
TRUE Error when reading the data
wErrIdWORD
Error number
byIndexBYTE
Byte index (0...7)
Identifier/data type Information/possible settings
1.3 EN - 07/2012 L 301
PLC Designer V2.x| Lenze Application SamplesThe L_SDC_DataConversion.lib library
L_SDC_2BytesToWord - type converter
18 The L_SDC_DataConversion.lib library
18.1 L_SDC_2BytesToWord - type converter
This function converts two input values of the "BYTE" type to an output value of the"WORD" type.
Inputs
Output signal
L_SDC_2BytesToWord - value of the "WORD" type according to the input valuestransferred
18.2 L_SDC_2WordsToDWord - type converter
This function converts two input values of the "WORD" type to an output value of the"DWORD" type.
Inputs
Output signal
L_SDC_2WordsToDWord - value of the "DOUBLE WORD" type according to the input valuestransferred
Identifier/data type Information/possible settings
byInput1BYTE
Input value 1 ≡ bit 0 ... bit 7 of L_SDC_2BytesToWord
byInput2BYTE
Input value 2 ≡ bit 8 ... bit 15 of L_SDC_2BytesToWord
Identifier/data type Information/possible settings
wInput1WORD
Input value 1 ≡ bit 0 ... bit 15 of L_SDC_2WordsToDWord
wInput2WORD
Input value 2 ≡ bit 16 ... bit 31 of L_SDC_2WordsToDWord
PLC Designer V2.x| Lenze Application SamplesThe L_SDC_DataConversion.lib libraryL_SDC_4BytesToDWord - type converter
302 L 1.3 EN - 07/2012
18.3 L_SDC_4BytesToDWord - type converter
This function converts four input values of the "BYTE" type to an output value of the"DWORD" type.
Inputs
Output signal
L_SDC_4BytesToDWord - value of the "DOUBLE WORD" type according to the input valuestransferred
Identifier/data type Information/possible settings
byInput1..4BYTE
Input value 1..4
1 Bit 0 ... bit 7 of L_SDC_4BytesToDWord
2 Bit 8 ... bit 15 of dwOut L_SDC_4BytesToDWord
3 Bit 16 ... bit 23 of dwOut L_SDC_4BytesToDWord
4 Bit 24 ... bit 31 of dwOut L_SDC_4BytesToDWord
1.3 EN - 07/2012 L 303
PLC Designer V2.x| Lenze Application SamplesThe L_SDC_DataConversion.lib library
L_SDC_BitsToByte - bit multiplexer
18.4 L_SDC_BitsToByte - bit multiplexer
This FB converts eight input bits to a value of the "BYTE" type.
Inputs
Outputs
18.5 L_SDC_BitsToDWord - bit multiplexer
This FB converts 32 input bits to a value of the "DWORD" type.
Identifier/data type Information/possible settings
xBit0..xBit7BOOL
Input signal 1..8
Identifier/data type Information/possible settings
byOutputBYTE
Value of the "BYTE" type, which results by the bit set.
PLC Designer V2.x| Lenze Application SamplesThe L_SDC_DataConversion.lib libraryL_SDC_BitsToDWord - bit multiplexer
304 L 1.3 EN - 07/2012
Inputs
Outputs
Identifier/data type Information/possible settings
xBit0..xBit31BOOL
Input signal 1..input signal 32
Identifier/data type Information/possible settings
dwOutputDWORD
Value of the "DOUBLE WORD" type, which results by the bit set.
1.3 EN - 07/2012 L 305
PLC Designer V2.x| Lenze Application SamplesThe L_SDC_DataConversion.lib library
L_SDC_BitsToWord - bit multiplexer
18.6 L_SDC_BitsToWord - bit multiplexer
This FB converts 16 input bits to a value of the "WORD" type.
Inputs
Outputs
Identifier/data type Information/possible settings
xBit0..xBit15BOOL
Input signal 1..input signal 16
Identifier/data type Information/possible settings
wOutputWORD
Value of the "WORD" type, which results by the bit set.
PLC Designer V2.x| Lenze Application SamplesThe L_SDC_DataConversion.lib libraryL_SDC_ByteToBits - bit demultiplexer
306 L 1.3 EN - 07/2012
18.7 L_SDC_ByteToBits - bit demultiplexer
This FB outputs the 8 corresponding bit values for an input value of the "BYTE" type.
Inputs
Outputs
18.8 L_SDC_GetBitOfByte - conversion block
This function returns the state of an individual bit value as a "BYTE" value.
Inputs
Output signal
L_SDC_GetBitOfByte: New value of the "BYTE" type, which results from the respectiveinput signal.
Identifier/data type Information/possible settings
byInputBYTE
Input signal
Identifier/data type Information/possible settings
xBit0..xBit7BOOL
Output of bit 0..bit 7 of byInput (valency: 20..27)
Identifier/data type Information/possible settings
byInputBYTE
Input signal
byBitNrBYTE
Number (0 ... 7) of the bit of byInput, the status of which is to be determined.
1.3 EN - 07/2012 L 307
PLC Designer V2.x| Lenze Application SamplesThe L_SDC_DataConversion.lib library
L_SDC_DWordToBits - bit demultiplexer
18.9 L_SDC_DWordToBits - bit demultiplexer
This FB outputs the 32 corresponding bit values for an input value of the "DWORD" type.
Inputs
Outputs
18.10 L_SDC_DWordTo2Words - type converter
This FB converts an input value of the "DWORD" type to two output values of the "WORD"type.
Identifier/data type Information/possible settings
dwInputDWORD
Input signal
Identifier/data type Information/possible settings
xBit0..xBit31BOOL
Output of bit 0..bit 31 of dwInput (valency: 20..231)
PLC Designer V2.x| Lenze Application SamplesThe L_SDC_DataConversion.lib libraryL_SDC_DWordTo4Bytes - type converter
308 L 1.3 EN - 07/2012
Inputs
Outputs
18.11 L_SDC_DWordTo4Bytes - type converter
This FB converts an input value of the "DWORD" type to four output values of the "BYTE"type.
Inputs
Outputs
18.12 L_SDC_GetBitOfDWord - conversion block
This function returns the status of an individual bit value within a "DWORD" value.
Identifier/data type Information/possible settings
dwInputDWORD
Input value
Identifier/data type Information/possible settings
wOutput1WORD
Output value 1 ≡ bit 0 ... bit 15 of dwInput
wOutput2WORD
Output value 2 ≡ bit 16 ... bit 31 of dwInput
Identifier/data type Information/possible settings
dwInputDWORD
Input value
Identifier/data type Information/possible settings
byOutput0BYTE
Output value 1 ≡ bit 0 ... bit 7 of dwInput
byOutput1BYTE
Output value 2 ≡ bit 8 ... bit 15 of dwInput
byOutput2BYTE
Output value 3 ≡ bit 16 ... bit 23 of dwInput
byOutput3BYTE
Output value 4 ≡ bit 24 ... bit 31 of dwInput
1.3 EN - 07/2012 L 309
PLC Designer V2.x| Lenze Application SamplesThe L_SDC_DataConversion.lib library
L_SDC_GetBitOfWord - conversion block
Inputs
Output signal
L_SDC_GetBitOfDWord: New value of the "BYTE" type, which results from the respectiveinput signal.
18.13 L_SDC_GetBitOfWord - conversion block
This function returns the status of an individual bit within a "WORD" value.
Inputs
Output signal
L_SDC_GetBitOfWord: New value of the "BYTE" type, which results from the respectiveinput signal
18.14 L_SDC_GetVersion - transfer of the version
Identifier/data type Information/possible settings
dwInputDWORD
Input signal
byBitNrBYTE
Number (0 ... 31) of the bit of dwInput, the status of which is to be determined.
Identifier/data type Information/possible settings
wInputWORD
Input signal
byBitNrBYTE
Number (0 ... 15) of the bit of dwInput, the status of which is to be determined
PLC Designer V2.x| Lenze Application SamplesThe L_SDC_DataConversion.lib libraryL_SDC_ResetBitOfByte - conversion block
310 L 1.3 EN - 07/2012
Outputs
18.15 L_SDC_ResetBitOfByte - conversion block
This function sets an individual bit to "0" within a value of the "BYTE" type.
Inputs
Output signal
L_SDC_ResetBitOfByte: New value of the "BYTE" type, which results by the bit deleted.
Identifier/data type Value/meaning
dwVersionDWORD
Output version
Identifier/data type Information/possible settings
byInputBYTE
Input signal
byBitNrBYTE
Number (0 ... 7) of the bit that is to be set.
1.3 EN - 07/2012 L 311
PLC Designer V2.x| Lenze Application SamplesThe L_SDC_DataConversion.lib library
L_SDC_ResetBitOfDWord - conversion block
18.16 L_SDC_ResetBitOfDWord - conversion block
This function sets an individual bit to "0" within a value of the "DWORD" type.
Inputs
Output signal
L_SDC_ResetBitOfByte: New value of the "DWORD" type, which results by the bit deleted.
18.17 L_SDC_ResetBitOfWord - conversion block
This function sets an individual bit to "0" within a value of the "WORD" type.
Inputs
Output signal
L_SDC_ResetBitOfByte: New value of the "WORD" type, which results by the bit deleted.
Identifier/data type Information/possible settings
dwInputDWORD
Input signal
byBitNrBYTE
Number (0 ... 31) of the bit that is to be set.
Identifier/data type Information/possible settings
wInputWORD
Input signal
byBitNrBYTE
Number (0 ... 15) of the bit that is to be set.
PLC Designer V2.x| Lenze Application SamplesThe L_SDC_DataConversion.lib libraryL_SDC_SetBitOfByte - bit operation
312 L 1.3 EN - 07/2012
18.18 L_SDC_SetBitOfByte - bit operation
This function sets an individual bit to "1" within a value of the "BYTE" type.
Inputs
Output signal
L_SDC_SetBitOfByte - value of the "BYTE" type, which results by the bit set.
18.19 L_SDC_SetBitOfDWord - bit operation
This function sets an individual bit to "1" within a value of the "DWORD" type.
Inputs
Output signal
L_SDC_SetBitOfDWord - value of the "DOUBLE WORD" type, which results by the bit set.
Identifier/data type Information/possible settings
byInputBYTE
Input signal
byBitNrBYTE
No. (0 ... 7) of the bit that is to be set.
Identifier/data type Information/possible settings
dwInputDWORD
Input signal
byBitNrBYTE
No. (0 ... 31) of the bit that is to be set.
1.3 EN - 07/2012 L 313
PLC Designer V2.x| Lenze Application SamplesThe L_SDC_DataConversion.lib library
L_SDC_SetBitOfWord - bit operation
18.20 L_SDC_SetBitOfWord - bit operation
This function sets an individual bit to "1" within a value of the "WORD" type.
Inputs
Output signal
L_SDC_SetBitOfWord - value of the "WORD" type, which results by the bit set.
18.21 L_SDC_WordTo2Bytes - type converter
This FB converts an input value of the "WORD" type to two output values of the "BYTE"type.
Inputs
Outputs
18.22 L_SDC_WordToBits - bit demultiplexer
This FB outputs the 16 corresponding bit values for an input value of the "WORD" type.
Identifier/data type Information/possible settings
wInputWORD
Input signal
byBitNrBYTE
No. (0 ... 15) of the bit that is to be set.
Identifier/data type Information/possible settings
wInputWORD
Input value
Identifier/data type Information/possible settings
byOutput1BYTE
Output value 1: Bit 0 ... bit 7 of wInput
byOutput2BYTE
Output value 2: Bit 8 ... bit 15 of wInput
PLC Designer V2.x| Lenze Application SamplesThe L_SDC_DataConversion.lib libraryL_SDC_WordToBits - bit demultiplexer
314 L 1.3 EN - 07/2012
Inputs
Outputs
Identifier/data type Information/possible settings
wInputWORD
Input signal
Identifier/data type Information/possible settings
xBit0 .. xBit15BOOL
Output of bit 0..bit 15 of wInput (valency: 20..215)
1.3 EN - 07/2012 L 315
PLC Designer V2.x| Lenze Application SamplesThe L_SEC_ErrorCode.lib library
L_SEC_GetVersion - transfer of the version
19 The L_SEC_ErrorCode.lib library
19.1 L_SEC_GetVersion - transfer of the version
Outputs
19.2 L_SEC_InfoErrorCode - read out error status
This FB displays the error type transmitted and the specific error type.
Inputs
Output signal
Identifier/data type Value/meaning
dwVersionDWORD
Output version
Identifier/data type Information/possible settings
wErrIdWORD
Error number
Identifier/data type Value/meaning
eErrorGroupSCS_ErrorGroup
Error group
eErrorTypeSCS_ErrorCode
Error type
PLC Designer V2.x| Lenze Application SamplesThe L_SSC_Scaling.lib libraryL_SSC_AccToUnit - conversion block (for 9400 device series)
316 L 1.3 EN - 07/2012
20 The L_SSC_Scaling.lib library
20.1 L_SSC_AccToUnit - conversion block (for 9400 device series)
This FB converts an acceleration value specified in the internal unit [rpm/s] to anacceleration value in the real unit of the machine on the basis of the machine parameterstransmitted.
Inputs
Outputs
Identifier/data type Information/possible settings
diAccIn_xDINT
Acceleration as speed variation/timein [rpm/s] 15000 rpm/s ≡ 222 = 4194304
scAxisDataSSC_Axis_logic
Machine parameters
Identifier/data type Information/possible settings
diAccOut_e4DINT
Acceleration in unit/s2] • Display in "e4" view (fixed point with four decimal positions)
xLimitBOOL
"Output signal is limited" status • TRUE: The output signal is limited to the representable value range
±214748.3647
xErrorBOOL
"Error" status signal
FALSE Conversion carried out without errors
TRUE Error during the conversion
1.3 EN - 07/2012 L 317
PLC Designer V2.x| Lenze Application SamplesThe L_SSC_Scaling.lib library
L_SSC_GetAxisData - read out machine parameters from axis data
20.2 L_SSC_GetAxisData - read out machine parameters from axis data
This FB reads out selected machine parameters from the axis data transmitted andprovides them to the following FBs, requiring these data for internal calculations.
Inputs
Outputs
Identifier/data type Information/possible settings
scAxisDataSSC_Axis_logic
Machine parameters
Identifier/data type Information/possible settings
diCycleLength_pDINT
Cycle in [increments]
rFeedConstantREAL
Cycle
diReferenceSpeed_sDWORD
Reference speed as speed signal
dwGearNumeratorDWORD
Gearbox factor (numerator)
dwGearDenominatorDWORD
Gearbox factor (denominator)
dwBitsPerRevolutionDWORD
Resolution of an encoder revolution 10- 24 bit
dwIncrPerRevolutionDWORD
Resolution of one revolution in [increments]
dwFeedTypeDWORD
Traversing range • 0 unlimited • 1 limited • 2 modulo
PLC Designer V2.x| Lenze Application SamplesThe L_SSC_Scaling.lib libraryL_SSC_GetPosition - conversion block
318 L 1.3 EN - 07/2012
20.3 L_SSC_GetPosition - conversion block
This FB converts the input signal transmitted to a position signal.
Inputs
Outputs
Identifier/data type Information/possible settings
diPosIn_pDINT
Position in [increments] Scaling: 1 encoder revolution ≡ 216 increments (or according to scAxisData)
scAxisDataSSC_Axis_logic
Machine parameters
Identifier/data type Information/possible settings
rPositionOutUnitsREAL
Position valueDisplay of the input signal dnPosIn_p in the real unit of the machine.
xErrorBOOL
"Error" status signal
FALSE Conversion carried out without errors
TRUE Error during the conversion
1.3 EN - 07/2012 L 319
PLC Designer V2.x| Lenze Application SamplesThe L_SSC_Scaling.lib library
L_SSC_GetSpeed - conversion block (for 9400 device series)
20.4 L_SSC_GetSpeed - conversion block (for 9400 device series)
This FB converts the transmitted input speed of a 9400 controller to a speed value.
Inputs
Outputs
20.5 L_SSC_GetVersion - transfer of the version
Outputs
Identifier/data type Information/possible settings
diSpeedIn_sDINT
Speed in [rpm] Scaling: 15000 rpm ≡ 226 = 67108864
scAxisDataSSC_Axis_logic
Machine parameters
Identifier/data type Information/possible settings
rSpeedOutUnitsREAL
Speed value
xErrorBOOL
"Error" status signal
FALSE Conversion carried out without errors
TRUE Error during the conversion
Identifier/data type Value/meaning
dwVersionDWORD
Output version
PLC Designer V2.x| Lenze Application SamplesThe L_SSC_Scaling.lib libraryL_SSC_Norm_aToNorm_n - signal converter
320 L 1.3 EN - 07/2012
20.6 L_SSC_Norm_aToNorm_n - signal converter
This function converts a 16 bit input signal to a 32 bit output signal.
Inputs
Output signal
L_SSC_Norm_aToNorm_n 100 % ≡ 230 = 1073741824
20.7 L_SSC_Norm_nToNorm_a - signal converter
This function converts a 32 bit input signal to a 16 bit output signal.
Inputs
Output signal
L_SSC_Norm_nToNorm_a 100 % ≡ 214 = 16384
Identifier/data type Information/possible settings
iIn_aINT
100 % ≡ 230 = 1073741824
Note!
If the input information has the value "-32768", the value is limited to "-32767" internally and is copied into the HighWord of the output dnOut_n. Therefore it is not possible to use this FB to combine the LowWord and HighWord to a double word.
Identifier/data type Information/possible settings
diIn_nDINT
Input signal 100 % ≡ 230 = 1073741824
1.3 EN - 07/2012 L 321
PLC Designer V2.x| Lenze Application SamplesThe L_SSC_Scaling.lib library
L_SSC_Norm_nToSpeed_s - signal converter (for 9400 device series)
20.8 L_SSC_Norm_nToSpeed_s - signal converter (for 9400 device series)
This FB converts the 32 bit input signal of a 9400 controller to a 32 bit speed signal.
Inputs
Outputs
Identifier/data type Information/possible settings
diIn_nDINT
Input signal 100 % ≡ 230 = 1073741824
scAxisDataSSC_Axis_logic
Machine parameters
Identifier/data type Information/possible settings
diOut_sDINT
Output signal in [rpm] 15000 rpm ≡ 226 = 67108864
xErrorBOOL
"Error" status signal
FALSE Conversion carried out without errors
TRUE Error during the conversion
PLC Designer V2.x| Lenze Application SamplesThe L_SSC_Scaling.lib libraryL_SSC_Norm_nToSpeed_s - signal converter (for 9400 device series)
322 L 1.3 EN - 07/2012
20.8.1 SSC_Axis_logic
Identifier/data type Information/possible settings
dwAxisIDDWORD
Axis assignment
rFeedConstantREAL
Feed constant
rInvFeedConstantREAL
Inverse feed constant
rCycleLengthREAL
Cycle length (only Modulo operation)
dwGearNumeratorDWORD
Gearbox factor (numerator)
dwGearDenominator Gearbox factor (denominator)
rMaxSpeedREAL
Maximum speed
diReferenceSpeed_s DINT
Reference speed
sAxisNameSTRING
Axis name
eModeSSC_Mode
Operating mode
0 Modulo
1 Limited
2 Unlimited
dwResolutionDWORD
Encoder resolution
rEncoderGearREAL
Resolution of one encoder revolution
rInvEncoderGearREAL
Inverted resolution of one encoder revolution
diCycleLength_pDINT
Cycle
rUnitsToPosREAL
Internal calculation value
rPosToUnitsREAL
Internal calculation value
rUnitsToSpeed REAL
Internal calculation value
rSpeedToUnitsREAL
Internal calculation value
rTimeUnitREAL
Internal calculation value
xValidBOOL
FALSE: Invalid axis data structure
1.3 EN - 07/2012 L 323
PLC Designer V2.x| Lenze Application SamplesThe L_SSC_Scaling.lib library
L_SSC_PosToUnit - conversion block
20.9 L_SSC_PosToUnit - conversion block
This FB converts a position value specified in the internal unit [increments] to a positionvalue in the real unit of the machine on the basis of the machine parameters transmitted.
Inputs
Outputs
20.10 L_SSC_Speed_nToNorm_r - signal converter
This function converts a 32 bit input signal to a 32 bit percentage signal.
Inputs
Output signal
L_SSC_Speed_nToNorm_r REAL 0- 100.0 %
Identifier/data type Information/possible settings
diPosIn_pDINT
Position in [increments]
scAxisDataSSC_Axis_logic
Machine parameters
Identifier/data type Information/possible settings
diPosOut_e4DINT
Position in [unit]Display in "e4" view (fixed point with four decimal positions)
xLimitBOOL
"Output signal is limited" status • TRUE: The output signal is limited to the representable value range
±214748.3647
xErrorBOOL
"Error" status signal
FALSE Conversion carried out without errors
TRUE Error during the conversion
Identifier/data type Information/possible settings
diIn_nDINT
Input signal in [%] 100 % ≡ 230 = 1073741824
PLC Designer V2.x| Lenze Application SamplesThe L_SSC_Scaling.lib libraryL_SSC_Speed_rToNorm_n - signal converter
324 L 1.3 EN - 07/2012
20.11 L_SSC_Speed_rToNorm_n - signal converter
This function converts the input signal transferred to a 32 bit signal of the REAL data type.
Inputs
Output signal
L_SSC_Speed_rToNorm_n 0 -230 = 1073741824
20.12 L_SSC_Speed_sToNorm_n - signal converter (for 9400 device series)
This FB converts a 32 bit speed signal of a 9400 controller to a scaled 32 bit signal on thebasis of the machine parameters transmitted.
Inputs
Outputs
20.13 L_SSC_Speed_sToSpeed_v - signal converter (for 9400 device series)
This FB converts a 3 bit speed signal of a 9400 controller to a 16 bit speed signal.
Identifier/data type Information/possible settings
rIn_rREAL
Input signal 0-100.0 %
Identifier/data type Information/possible settings
diIn_sDINT
Input signal in [rpm] 15000 rpm ≡ 226 = 67108864
scAxisDataSSC_Axis_logic
Machine parameters
Identifier/data type Information/possible settings
diOut_nDINT
Output signal in [%] 100 % ≡ 230 = 1073741824
xErrorBOOL
"Error" status signal
FALSE Conversion carried out without errors.
TRUE Error during the conversion
1.3 EN - 07/2012 L 325
PLC Designer V2.x| Lenze Application SamplesThe L_SSC_Scaling.lib library
L_SSC_Speed_vToSpeed_s - signal converter (for 9400 device series)
Inputs
Outputs
20.14 L_SSC_Speed_vToSpeed_s - signal converter (for 9400 device series)
This FB converts a 16 bit speed signal of a 9400 controller to a 32 bit speed signal.
Inputs
Outputs
Identifier/data type Information/possible settings
diIn_sDINT
Input signal in [rpm] 15000 rpm ≡ 226 = 67108864
Identifier/data type Value/meaning
iOut_vINT
Output signal in [rpm]
Identifier/data type Information/possible settings
iIn_vINT
Input signal in [rpm] 15000 rpm ≡ 214 = 16384
Identifier/data type Value/meaning
diOut_sDINT
Output signal in [rpm] 15000 rpm≡ 226 = 67108864
PLC Designer V2.x| Lenze Application SamplesThe L_SSC_Scaling.lib libraryL_SSC_SetAxisData - machine parameters
326 L 1.3 EN - 07/2012
20.15 L_SSC_SetAxisData - machine parameters
With this FB the machine parameters of a higher-level drive can be mapped. The FBconditions the machine parameters, which you specify in the physical units of the machinevia parameters, for the internal representation.
At the output scAxisData the FB provides a pointer to the data structure with the machine parameters conditioned.
In order to pass the machine parameters to another FB which requires these data for internal calculations, the output scAxisData is to be connected to the input with the same name of the corresponding FB.
Inputs
Identifier/data type Information/possible settings
rFeedConstantREAL
Feed constant • Initialisation: 360.0 units
rCycleLengthREAL
Cycle • Initialisation: 360.0 units
dwGearNumeratorDWORD
Gearbox factor numerator • Initialisation: 1
dwGearDenominatorDWORD
Gearbox factor denominator • Initialisation: 1
rMaxSpeedREAL
Reference speed
sAxisNameSTRING(16)
Axis name
eMode SSC_Mode := MODULO
Traversing range • 0 unlimited • 1 limited • 2 modulo (Lenze setting)
dwResolutionDINT
Resolution of one revolution
1.3 EN - 07/2012 L 327
PLC Designer V2.x| Lenze Application SamplesThe L_SSC_Scaling.lib library
L_SSC_SetPosition - position conversion
Outputs
20.16 L_SSC_SetPosition - position conversion
This FB converts a position to a position in [increments] on the basis of the machineparameters transmitted and provides them at the output dnPosOut_p for furtherprocessing within the function block interconnection.
Inputs
Outputs
Identifier/data type Information/possible settings
scAxisDataSSC_Axis_logic
Machine parameters • Pointer to a data structure the elements of which contain the machine
parameters in the internal measuring system. • Via this "interface" you can provide the machine parameters to other FBs, which
require these data for internal calculations.
diCycleLength_pDINT
Cycle in [increments] • The cycle in the real unit of the machine can be viewed in the corresponding code.
Identifier/data type Information/possible settings
rPositionInUnitsREAL
Position value in units
scAxisDataSSC_Axis_logic
Machine parameters
Identifier/data type Information/possible settings
diPosOut_pDINT
Position in [increments]
xLimitBOOL
"Output signal is limited" status • TRUE: The output signal is limited to the representable value range
±214748.3647
xErrorBOOL
"Error" status signal
FALSE Conversion carried out without errors
TRUE Error during the conversion
PLC Designer V2.x| Lenze Application SamplesThe L_SSC_Scaling.lib libraryL_SSC_SetSpeed - speed conversion (for 9400 device series)
328 L 1.3 EN - 07/2012
20.17 L_SSC_SetSpeed - speed conversion (for 9400 device series)
This FB converts a velocity of the 9400 controller to a speed on the basis of the machineparameters transmitted and provides them at the output dnSpeedOut_s for furtherprocessing within the function block interconnection.
Inputs
Outputs
Identifier/data type Information/possible settings
rSpeedInUnitsREAL
Speed value in units
scAxisDataSSC_Axis_logic
Machine parameters
Identifier/data type Information/possible settings
diSpeedOut_sDINT
Output of the velocity as speedin [rpm] 15000 rpm ≡ 226 = 67108864
xLimitBOOL
"Output signal is limited" status • TRUE: The output signal is limited to the representable value range
±214748.3647.
xErrorBOOL
"Error" status signal
FALSE Conversion carried out without errors
TRUE Error during the conversion
1.3 EN - 07/2012 L 329
PLC Designer V2.x| Lenze Application SamplesThe L_SSC_Scaling.lib library
L_SSC_SpeedToUnit - conversion block (for 9400 device series)
20.18 L_SSC_SpeedToUnit - conversion block (for 9400 device series)
This FB converts a speed value specified in the internal unit [rpm] to a speed value in thereal unit of the machine on the basis of the machine parameters transmitted.
Inputs
Outputs
20.19 L_SSC_TaskCycle - read in task time
This function determines the cycle time of the task.
Output signal
Identifier/data type Information/possible settings
diSpeedIn_sDINT
Velocity as speed in [rpm] 15000 rpm ≡ 226 = 67108864
scAxisDataSSC_Axis_logic
Machine parameters
Identifier/data type Value/meaning
diSpeedOut_e4DINT
Speed in [unit/s] • Display in "e4" view (fixed point with four decimal positions)
xLimitBOOL
"Output signal is limited" status • TRUE: The output signal is limited to the representable value range
±214748.3647.
xErrorBOOL
"Error" status signal
FALSE Conversion carried out without errors
TRUE Error during the conversion
Identifier/data type Value/meaning
diOut_sTIME
Task time in [ms]
PLC Designer V2.x| Lenze Application SamplesThe L_SSC_Scaling.lib libraryL_SSC_UnitToAcc - conversion block (for 9400 device series)
330 L 1.3 EN - 07/2012
20.20 L_SSC_UnitToAcc - conversion block (for 9400 device series)
This FB converts an acceleration value specified in the real unit of the machine to aninternal acceleration value on the basis of the machine parameters transmitted.
Inputs
Outputs
Identifier/data type Information/possible settings
diAccIn_e4DINT
Acceleration in unit/s2]Selection in "e4" view (fixed point with four decimal positions)
scAxisDataSSC_Axis_logic
Machine parameters
Identifier/data type Information/possible settings
diAccOut_xDINT
Acceleration as speed variation/time in [rpm/s]15000000 rpm/s ≡ 222 = 4194304
xLimitBOOL
"Output signal is limited" status • TRUE: The output signal is limited to the representable value range
±214748.3647.
xErrorBOOL
"Error" status signal
FALSE Conversion carried out without errors
TRUE Error during the conversion
1.3 EN - 07/2012 L 331
PLC Designer V2.x| Lenze Application SamplesThe L_SSC_Scaling.lib library
L_SSC_UnitToPos - conversion block
20.21 L_SSC_UnitToPos - conversion block
This FB converts a position value specified in the real unit of the machine to an internalposition value on the basis of the machine parameters transmitted.
Inputs
Outputs
Identifier/data type Information/possible settings
diPosIn_e4DINT
Position in [unit]Selection in "e4" view (fixed point with four decimal positions)
scAxisDataSSC_Axis_logic
Machine parameters
Identifier/data type Information/possible settings
diPosOut_pDINT
Position in [increments]
xLimitBOOL
"Output signal is limited" status • TRUE: The output signal is limited to the representable value range
±214748.3647.
xErrorBOOL
"Error" status signal
FALSE Conversion carried out without errors
TRUE Error during the conversion
PLC Designer V2.x| Lenze Application SamplesThe L_SSC_Scaling.lib libraryL_SSC_UnitToSpeed - conversion block (for 9400 device series)
332 L 1.3 EN - 07/2012
20.22 L_SSC_UnitToSpeed - conversion block (for 9400 device series)
This FB converts the transferred speed parameters of the 9400 controller to an internalspeed value.
Inputs
Outputs
Identifier/data type Information/possible settings
diSpeedIn_e4DINT
Speed in [unit/s]Selection in "e4" view (fixed point with four decimal positions)
scAxisDataSSC_Axis_logic
Machine parameters
Identifier/data type Information/possible settings
diSpeedOut_sDINT
Velocity as speed in [rpm] 15000 rpm ≡ 226 = 67108864
xLimitBOOL
"Output signal is limited" status • TRUE: The output signal is limited to the representable value range.
xErrorBOOL
"Error" status signal
FALSE No error
TRUE The conversion could not be carried out without errors.
PLC Designer V2.x| Lenze Application SamplesIndex
21 Index
0-98200 vector
CAN diagnostics 164Interface assignment in the GDC 165
8400 HighLine table positioning 61Interface assignment 80
8400 StateLineComponents used 41, 212Interface assignment 58
93_DriveControl_Speed 277
93_DriveStatus_Speed 278
9300 servoInterface assignment 185
9400 HighLine table positioningInterface assignment 122
AApplication notes (representation) 19
CCANopen 25
CANopen (Logic) 25
Commission 8200 vector 32
Commission 8200 vector frequency inverters 32
Commissioning field devices 28
Commissioning the CANopen Logic bus 27
Communication 26
Communication card MC-CAN2 26
Configuring an EL1xx Ethernet interface 36
Configuring the CAN interface 35
Conventions used 18
DDocument history 17
EECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project 125
E-mail to Lenze 335
Engineering tools 27
FFeedback to Lenze 335
GGeneral system structure 33
Going online 29
IInstalling the target systems 24
LL_S84_ActuatorSpeedBL 235
L_S84_ActuatorSpeedSL 238
L_S84_Drive8400.lib 235
L_S84_GetVersion 241
L_S84_ReadErrorCode 241, 282
L_S84_SDOList84SL 242
L_S84_TablePositioningHL 243
L_S8S_ActuatorSpeed 272
L_S8S_Drive82SMD.lib 272
L_S8S_DriveSMD 275
L_S8V_ActuatorSpeed 267
L_S8V_ReadErrorCode 270
L_S8V_SDOList 271
L_S93_ActuatorSpeed 276
L_S93_Drive9300.lib 276
L_S94_ActuatorSpeed 246
L_S94_Drive9400.lib 246
L_S94_GetVersion 249
L_S94_ReadErrorCode 250
L_S94_TablePositioning 251
L_SCB_Actuator 283
L_SCB_CANBasic.lib 283
L_SCB_CanStatus 284
L_SCB_GetNodeDataRxPDO1 285
L_SCB_GetNodeDataRxPDO2 286
L_SCB_GetNodeState 287
L_SCB_GetStateOptional 287
L_SCB_GetVersion 293
L_SCB_ParRead 288
L_SCB_ParRead_String 290
L_SCB_ParWrite 291
L_SCB_PutNodeDataTxPDO1 292
L_SCB_PutNodeDataTxPDO2 293
L_SCB_SDO_Converter 294, 299
L_SCB_SDO_ConverterListSize10 295
L_SCB_SDO_ListSize25 296
L_SCB_SDO_ListSize50 296
L_SCB_StartNode 297
L_SCB_StatusSingleNode 298
L_SCS_ActuatorSpeed 255
L_SCS_DriveECS.lib 255
L_SCS_GetVersion 258
L_SCS_PosiShaft 258
L_SCS_ReadErrorCode 266
L_SCS_SupplyModule 263
L_SDC_2BytesToWord 301
L_SDC_2WordsToDWord 301
L_SDC_4BytesToDWord 302
L_SDC_BitsToByte 301
L_SDC_BitsToDWord 303
1.3 EN - 07/2012 L 333
PLC Designer V2.x| Lenze Application SamplesIndex
L_SDC_BitsToWord 305
L_SDC_ByteToBits 306
L_SDC_DataConversion.lib 301
L_SDC_DWordTo2Words 307
L_SDC_DWordTo4Bytes 308
L_SDC_DWordToBits 307
L_SDC_GetBitOfByte 306
L_SDC_GetBitOfDWord 308
L_SDC_GetBitOfWord 309
L_SDC_GetVersion 309
L_SDC_ResetBitOfByte 310
L_SDC_ResetBitOfDWord 311
L_SDC_ResetBitOfWord 311
L_SDC_SetBitOfByte 312
L_SDC_SetBitOfDWord 312
L_SDC_SetBitOfWord 313
L_SDC_WordTo2Bytes 313
L_SDC_WordToBits 313
L_SEC_ErrorCode.lib 315
L_SEC_GetVersion 315
L_SEC_InfoErrorCode 315
L_SSC_AccToUnit 316
L_SSC_GetAxisData 317
L_SSC_GetPosition 318
L_SSC_GetSpeed 319
L_SSC_GetVersion 319
L_SSC_Norm_aToNorm_n 320
L_SSC_Norm_nToNorm_a 320
L_SSC_Norm_nToSpeed_s 321
L_SSC_PosToUnit 323
L_SSC_Scaling.lib 316
L_SSC_SetAxisData 326
L_SSC_SetPosition 327
L_SSC_SetSpeed 328
L_SSC_Speed_nToNorm_r 323
L_SSC_Speed_rToNorm_n 324
L_SSC_Speed_sToNorm_n 324
L_SSC_Speed_sToSpeed_v 324
L_SSC_Speed_vToSpeed_s 325
L_SSC_SpeedToUnit 329
L_SSC_TaskCycle 329
L_SSC_UnitToAcc 330
L_SSC_UnitToPos 331
L_SSC_UnitToSpeed 332
Logic bus 25Commissioning 27
MMC-CAN2 communication card 26
NNotes used 19
OOpening a project 37
PPreparing the restart 30
Process data from the axis module 261
SS84_DriveControl_8400 239
S84_DriveControl_8400BL 236
S84_DriveControl_8400HL 244
S84_DriveStatus_8400 240
S84_DriveStatus_8400BL 237
S84_DriveStatus_8400HL_TablePositioning 245
S8S_DriveControl 273
S8S_DriveStatus 274
S93_DriveControl_93xxEP 280
S93_DriveStatus_93xxEP 281
S94_DriveControl_ActSpeed 247
S94_DriveControl_TablePositioning 252
S94_DriveStatus_ActSpeed 248
S94_DriveStatus_TablePositioning 253
Safety 20
Safety instructions (representation) 19
SCB_CanNodeDiagnose 299
SCB_ParameterData 295
SCB_StateCanMaster 299
SCS_Control_Supply 264
SCS_DriveControl_PosiShaft 259
SCS_DriveControl_Speed 256
SCS_DriveStatus_PosiShaft 260
SCS_DriveStatus_Speed 257
SEC_Status_Supply 265
SSC_Axis_logic 322
System bus (CAN) 25
TTarget group 15
Trademark 17
VValidity of the documentation 16
334 L 1.3 EN - 07/2012
L 335
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© 07/2012
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