SHPPLCDREUSESW L-force Controls - Lenzedownload.lenze.com/TD/IPC__ApplicationSamples (PLC... · SHPPLCDREUSESW 13412153 Ä.J6Vä Software manual PLC Designer V2.x Commissioning of

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


4 L 1.3 EN - 07/2012

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


8.2.3 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62







8.2.5.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70


8.2.5.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

8.2.5.5 Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75


8.2.5.7 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79


1.3 EN - 07/2012 L 5


8.3 9400 HighLine - "LAS_40_INTF_Can_94HL_Speed" sample project . . . . . . . . . . . . . . . . . 83

8.3.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84








8.3.4.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91


8.3.4.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95


8.3.4.6 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99


8.4 9400 HighLine - "LAS_40_INTF_Can_94HL_TabPos" sample project . . . . . . . . . . . . . . . . 102

8.4.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102








8.4.4.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111


8.4.4.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

8.4.4.5 Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117


8.4.4.7 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121



6 L 1.3 EN - 07/2012

8.5 ECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project . . . . . . . . . . . . . . 125

8.5.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125


8.5.3 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

8.5.4 Open the »Global Drive Control« project & go online . . . . . . . . . . . . . . . . . . . . . . 127






8.5.6.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136


8.5.6.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

8.5.6.5 Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142


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


8.6.2.1 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149







8.6.5.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156


8.6.5.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160


8.6.5.6 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

8.6.6 Interface assignment in the »Global Drive Control«. . . . . . . . . . . . . . . . . . . . . . . . 165

1.3 EN - 07/2012 L 7


8.7 9300 servo - "LAS_40_INTF_Can_93_Speed" sample project . . . . . . . . . . . . . . . . . . . . . . . 167

8.7.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167


8.7.2.1 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168







8.7.5.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176


8.7.5.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180


8.7.5.6 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184


8.8 9300 - "LAS_40_INTF_Can_93_EP" sample project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

8.8.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188


8.8.2.1 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189







8.8.5.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198


8.8.5.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

8.8.5.5 Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204


8.8.5.7 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208



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


8.9.2.1 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213

8.9.2.2 Program structure in the »PLC Designer« . . . . . . . . . . . . . . . . . . . . . . . . 214




8.9.3.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219


8.9.3.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222

8.9.3.5 "Homing ECS" mode (homing) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223


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

1.3 EN - 07/2012 L 9


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


12.1 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


12.4 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


10 L 1.3 EN - 07/2012

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


16.1 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


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

1.3 EN - 07/2012 L 11


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


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


Information on the use of the IPCs beyond the control technology can be found in the system manuals tailored to the application case.


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


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


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


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?

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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.

http://akb.lenze.de/akb/infopool.nsf/html/Frame-Softwaredownload

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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.

http://www.can-cia.org/

PLC Designer V2.x| Lenze Application SamplesSystem bus (CAN) / CANopenCommunication card MC-CAN2

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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)

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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

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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«.

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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

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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.

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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

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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.

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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)

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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!

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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.

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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

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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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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.

PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects

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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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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.


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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8.1.2.2 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].


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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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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.


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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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"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.


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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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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).


Control field activates the error group signal.


Select mode Stop button Actual speed Error message

Start button Status Status


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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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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



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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8.1.4.4 Service mode

Button selects the service mode.



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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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)


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)


Write parameter CAN address Number of the CAN master


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


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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8.1.4.6 CAN diagnostics

The CanDiagnostic button selects the diagnostics of the CAN bus.


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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8400 HighLine - "LAS_40_INTF_Can_84HL_TabPos" sample project

8.2 8400 HighLine - "LAS_40_INTF_Can_84HL_TabPos" sample project



Standard procedure


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)



[8-7] System configuration with EL x800 CAN master (ID=0, connection at CAN1) and 8400 HighLine (CAN node ID=5)


Hardware EL x800 8400 HighLine


From firmware V5.0

Lenze software required »PLC Designer« from version 2.3.xL-force »Engineer« from version 2.12



PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects8400 HighLine - "LAS_40_INTF_Can_84HL_TabPos" sample project

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8.2.3 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.



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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2. With the command FileOpen archive , open the project "LAS_40_INTF_Can_84HL_TabPos".






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5. Going online




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How to proceed:

1. In the »PLC Designer«, open the "LAS_40_INTF_Can_84HL_TabPos.pro" sample project.




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).


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"Main" program


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"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


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Via the buttons in area , the mode (automatic, manual, service, homing) can be selected.







Parameter selection



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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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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.



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)





Profile number Function

byProfileNumber = 1 Homing

byProfileNumber = 2 Manual jog

byProfileNumber = 3 or 4 Positioning


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Further information on the FB can be found in the following section: L_S84_TablePositioningHL - profile data record management ( 243)


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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Read out error






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Start button Activate clockwise rotation


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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).



Actual speed


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Read parameters

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Read/write parameter CAN address Number of the CAN master Use CAN address/master number entered


Parameter list read/written Function block active Reading/writing parameter has failed Error number Error in table line

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LS_DigitalInput_bIn1 = bQSPLS_DigitalInput_bIn3 = LP_CanOut1.bState_B13 and LA_TabPos.LimitSwitchPosLS_DigitalInput_bIn4 = LP_CanOut1.bState_B12 and LA_TabPos.LimitSwitchNeg



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[8-11] Assignment CanIn1



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The following bits from wState are assigned.

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9400 HighLine - "LAS_40_INTF_Can_94HL_Speed" sample project

8.3 9400 HighLine - "LAS_40_INTF_Can_94HL_Speed" sample project



Standard procedure


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)


PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects9400 HighLine - "LAS_40_INTF_Can_94HL_Speed" sample project

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From firmware V7.0


Further requirements • CAN master ID = 0 • Connection at interface CAN1 • Logic CAN 500kB


Mode Description




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2. Use the command FileArchiveOpen to open the project "LAS_40_INTF_Can_94HL_Speed".






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5. Going online




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How to proceed:

1. In the »PLC Designer«, open the "LAS_40_INTF_Can_94HL_Speed.pro" sample project.






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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"Main" program


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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.


"PLC_PRG" program



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Parameter selection


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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.





– 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.




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Further information on the FB can be found in the following section: L_S94_ActuatorSpeed - actuation of the 9400 HighLine controller ( 246)


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





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Read parameters Write parametertable

Write parameters

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Writing the parameter table - function block L_SCB_SDO_TransferTable










Parameter list read/written Function block active Reading/writing parameter

has failed Error number Error in table line

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Digin_bIn1 = quick stopAxisStatusword.bBit12

Apart from bCInh, all inputs are high active.


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8.4 9400 HighLine - "LAS_40_INTF_Can_94HL_TabPos" sample project



Standard procedure


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)







From firmware V7.0



• CAN node ID = 5 • Motor: MCS06C41

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Mode Description







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2. With the command FileOpen archive, open the LAS_40_INTF_Can_94HL_TabPos project.





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5. Going online





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How to proceed:

1. In the »PLC Designer«, open the "LAS_40_INTF_Can_94HL_TabPos.pro" sample project.






Two PDOs for CAN-Input and CAN-Output are used, respectively.


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"Main" program



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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.


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"PLC_PRG" program



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Parameter selection


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Current position



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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.


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).



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.



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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)




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Further information on the FB can be found in the following section: L_S94_TablePositioning - table positioning ( 251)


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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Read out error






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8.4.4.5 Homing mode


– The active standard setting in the controller is homing mode 8 (travel to positive limit switch / digital input 2)












Actual speed


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Digin_bIn3 = LIM_bLimitSwitchPositive AxisStatusWord.bBit14

Digin_bIn4 = LIM_bLimitSwitchNegative AxisStatusWord.bBit15



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[8-25] Assignment CanIn2.Word0

[8-26] Assignment CanIn2.Word1


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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


The L_SCS_DriveECS.lib library ( 255)

Standard procedure


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)



[8-28] System configuration with EL x800 CAN master (ID=0, connection at CAN1) and ECS xP (CAN node ID=5)


Hardware EL x800 ECS servo system


Firmware V8.3 ASW 2.0 or higher

Lenze software required »PLC Designer« from version 20.3»Global Drive Control« from version 4.11


• CAN node ID = 5 • Motor: MDSKS0.36-13-200

(C86 = 108)

PLC Designer V2.x| Lenze Application SamplesWorking with the sample projectsECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project

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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







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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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4. Use the wizard and select a motor:

5. Select the menu command Drive parametersWrite current parameter set to drive. Click OK.


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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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How to proceed:

1. In the »PLC Designer«, open the "LAS_40_INTF_Can_ECSPosShaft.pro" sample project.




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.



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"Main" program


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"Drive" program

The "Drive (PRG)" program controls the controller using the function block L_SEC_PosiShaft.





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"PLC_PRG" program


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Parameter selection



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Current position


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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.



– 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.



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.




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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)


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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Further information on the FB can be found in the following section: L_SCS_PosiShaft - actuation of the ECS servo system ( 258)


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)




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Button selects CW rotation (activates CW direction of rotation).

Display field indicates the mode status.





Select mode Stop button Mode status Setpoint speed


Actual speed


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8.5.6.5 Homing mode












Select mode Stop button Reset position

Start button Set position Mode status

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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)



DIGIN 1: left limit switchDIGIN 2: reference switchDIGIN 3: TouchProbeDIGIN 4: right limit switch

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Digital outputs

[8-30] Assignment of the digital output (HIGH active)

For more information on the assignment of CanIn1, please see the following section:


For more information on the assignment of CanOut1, please see the following section: The L_SCS_DriveECS.lib library ( 255)

DigOut: DriveReady

PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects8200 vector - "LAS_40_INTF_Can_82_Speed" sample project

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8.6 8200 vector - "LAS_40_INTF_Can_82_Speed" sample project


The L_S8V_Drive82Vector.lib library ( 267)

Standard procedure


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)



[8-31] System configuration with EL x800 CAN master (ID=0, connection at CAN 1) and 8200 vector (CAN node ID=5)


Hardware EL x800 8200 vector (82S8212V_37000)


From firmware V3.7



• 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



How to commission the 8200 vector:

1. Connect the 8200 vector and the Engineering PC to the PC system bus adapter (EMF2177).





Use F2 to call the dialog window Connect with drive.


• The 8200 vector is identified at the CAN bus and the applicable device description is loaded.

Tip!

Mode Description







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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).


• 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.


The device file is loaded as replacement device and all important parameters are

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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.


Use code C0003 to save parameter set 1 in the EEPROM safe against mains failure (C0003 = 1).


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How to proceed:

1. In the »PLC Designer«, open the "LAS_40_INTF_Can_82_Speed.pro" sample project.




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).



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"Main" program



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"Drive" program

The "DRIVE (PRG)" program actuates the controller by means of the L_S82_ActuatorSpeed1 function block.



"PLC_PRG" program


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Mode selection Manufacturer information Version identifier Error message

Parameter selection



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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.



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)


Further information on the FB can be found in the following section: L_S8V_ReadErrorCode - read out error status ( 270)




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Further information on the FB can be found in the following section: L_S8V_ActuatorSpeed - actuation of the 8200 vector controller ( 267)


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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Read out error

Further information on the FB can be found in the following section: L_S8V_ReadErrorCode - read out error status ( 270)





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– The parameters read can be viewed in the »PLC Designer« on the Blocks tab in the Parameter transfer directory of FB L_S8V_SDOList.




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Parameter list read/written Function block active Reading/writing parameter has failed



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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_B08 = free

bCtrl_B09 = xEnable



bCtrl_B12 = free

bCtrl_B13 = free

bCtrl_B14 = free

bCtrl_B15 = free


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[8-35] Assignment of CAN-Out 1


[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_B04 = free

bState_B05 = free

bState_B06 = xSpeedEqZero

bState_B07 = xEnable

bState_B08 = free

bState_B09 = free

bState_B10 = free

bState_B11 = free


bState_B13 = free



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9300 servo - "LAS_40_INTF_Can_93_Speed" sample project

8.7 9300 servo - "LAS_40_INTF_Can_93_Speed" sample project



Standard procedure



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)



[8-37] System configuration with EL x800 CAN master (ID=0, connection at CAN 1) and 9300 servo inverter (CAN node ID=5)


Hardware EL x800 9300 ES (9321 EVS)


From firmware V8.1



• CAN node ID = 5 • Motor: MDSKS 036-23

PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects9300 servo - "LAS_40_INTF_Can_93_Speed" sample project

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How to commission the 9300:

1. Connect the 9300 servo inverter and the Engineering PC to the PC system bus adapter (EMF2177).


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




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2. The 9300 ES is identified at the CAN bus and the applicable device description is loaded.

Tip!




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• Open the project "LAS_40_INTF_Can_93Speed.GDC":



The device file is loaded as replacement device and all important parameters are transferred to the controller.

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How to proceed:

1. In the »PLC Designer«, open the sample project from the "LAS_40_INTF_Can_93_Speed.pro" directory.




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).



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"Main" program



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"Drive" program

The "DRIVE (PRG)" program actuates the controller by means of the L_S93_ActuatorSpeed1 function block.



"PLC_PRG" program


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Parameter selection



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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.


In the control and status panel the FB for controlling the 9300 is visualised.

Note: The xQsp button (quick stop) must not be activated!


– 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)






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Further information on the FB can be found in the following section: L_S93_ActuatorSpeed - control the 9300 Speed ( 276)


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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Read out error






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– The parameters read are visible in the »PLC Designer« on the Blocks tab in the Parameter transfer directory.




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Parameter list read/written Function block active Reading/writing parameter has failed



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[8-39] Assignment of the digital outputs: DIGOUT A1 - A4

[8-40] Assignment of the digital inputs: CAN-IN1 - CAN input block


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_B06 = 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_B09 = xEnable



The following bits of the status word (STAT) are assigned and connected on CAN-OUT1:

bState_B00 = free







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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[8-43] Parameterisation of the 9300 in the »Global Drive Control«: Example of setting a "Trip" in the controller

PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects9300 - "LAS_40_INTF_Can_93_EP" sample project

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8.8 9300 - "LAS_40_INTF_Can_93_EP" sample project



Standard procedure



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)



[8-44] System configuration with EL x800 CAN master (ID=0, connection at CAN 1) and 9300 servo inverter (CAN node ID=5)


Hardware EL x800 9300 EP (9321 EP)


From firmware V8.0



• CAN node ID = 5 • Motor: MDSKS 036-23

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9300 - "LAS_40_INTF_Can_93_EP" sample project



How to commission the 9300:

1. Connect the 9300 servo inverter and the Engineering PC to the PC system bus adapter (EMF2177).


Mode Description








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2. The 9300 EP is identified at the CAN bus and the applicable device description is loaded.

Tip!



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• Open the project LAS_40_INTF_Can_93Pos.GDC :



The device file is loaded as replacement device and all important parameters are transferred to the controller.



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How to proceed:

1. In the »PLC Designer«, open the "LAS_40_INTF_Can_93_EP.pro" sample project.




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.



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"Main" program


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"Drive" program

The "DRIVE (PRG)" program actuates the controller by means of the L_S93_Positioning1 function block.



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


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Parameter selection



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Current position


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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.


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.


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:




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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)



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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Further information on the FB can be found in the following section: Structure of S93_DriveControl_93xxEP - actuation to the 9300 EP controller ( 280)


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)




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Display field indicates the mode status.









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8.8.5.5 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)




– Set direct reference / Pos Act = 0 unit





Select mode Stop button Reset position

Start button Set position Mode status

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[8-46] Assignment of the digital outputs: DIGOUT A1 - A4

[8-47] Assignment of the digital inputs: CAN-IN1 - CAN input block


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_B12 = program block no.Bit0





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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_B09 = xEnable



The following bits of STAT are assigned and connected on CAN-OUT1:

bState_B00 = free



bState_B04 = free

bState_B05 = free



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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[8-50] Parameterisation of the 9300 in the »Global Drive Control«: Example of setting a "Trip" in the controller

PLC Designer V2.x| Lenze Application SamplesWorking with the sample projectsECS/9400/8400 - "LAS_40_INTF_84SL_Speed_94HL_Speed_ECSPosShaft" sample project

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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.






[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


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


• CAN node ID = 5 • Motor:

MDSKS0.36-13-200 (C86 = 108)


MCS06C41


SDSGAI056-22

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ECS/9400/8400 - "LAS_40_INTF_84SL_Speed_94HL_Speed_ECSPosShaft" sample project


ECS xP

9400 HighLine / 8400 StateLine


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






Mode Description





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8.9.2.2 Program structure in the »PLC Designer«


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.



ECS xP (ID=0) 9400 HighLine 8400 StateLine

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"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.




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


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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Via the buttons in area , the mode (automatic, manual, service, ECS homing) can be selected.




Control field shows the CAN status and the error message status.


Parameter selection


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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




Mode status

Actual speed

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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)

–


9400 HighLine

8400 StateLine


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In the area - the service modes of the respective controller are shown:


The buttons in area start/stop the motion profile.





9400 HighLine

8400 StateLine




Mode status

Setpoint speed

Actual speed

Only CW rotation

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8.9.3.5 "Homing ECS" mode (homing)

Button selects the "ECS homing" mode (homing).









Select mode

Start Homing:Start homingStop Homing:Stop homing

Mode status

Current homing mode (code value)



Set Home Position:Set referenceReset Home Position: Reset reference

Statusgreen = reference available


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– 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)


9400 HighLine

8400 StateLine

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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

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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?

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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)


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

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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









rNsetREAL

nMainSetValue_a Main speed setpoint (reference speed 100%, observe code C0011)0 ... 199.99 %

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L_S84_ActuatorSpeedBL - actuation of the 8400 BaseLine controller

11.1.2 Structure of S84_DriveStatus_8400BL - status of the controller



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)





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


scDriveControlS84_DriveControl_8400SL


xOptionalBOOL




byNodeNumberBYTE

Node number

byMasterNumberBYTE



scDriveStatus S84_DriveControl_8400SL


xInternalControlActivBOOL


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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"



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










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"



xDriveErrorBOOL


xDriveReadyBOOL


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 %



xOptionalBOOL







L_SCB_StateCanNode

xStatusCodeBit0 ... xStatusCodeBit3

BOOL

Status bit 0 ... status bit 3

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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


xExecuteBOOL

Carry out error test

byNodeNumberBYTE

Node number

byMasterNumberBYTE


xUseSecondSDOBOOL

TRUE: Use second SDO channelFALSE: Use first SDO channel (Lenze setting)


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)



rC11_MaxSpeedREAL

Maximum speed [rpm]

rC12_AccelerationTimeREAL

Acceleration [ms]

rC13_DecelerationTimeREAL

Deceleration [ms]

rC39_1_Jog1REAL

Fixed setpoint 1 in [%]

rC39_2_Jog2REAL


rC39_3_Jog3REAL


rC105_QspTimeREAL

Quickstop deceleration [ms]

byAutoStartOptionBYTE

Auto-start function

aParametersARRAY [1..50]

ARRAY [1..50] OF SCB_ParameterData

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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


scDriveControlS84_DriveControl_8400HL_T

ablePositioning


xOptionalBOOL




byNodeNumberBYTE

Node number

byMasterNumberBYTE



scDriveStatusBOOL

Structural data regarding the drive status

FALSE No error reported

TRUE Error in the controller

x InternalControlActivBOOL


PLC Designer V2.x| Lenze Application SamplesThe L_S84_Drive8400.lib libraryL_S84_TablePositioningHL - profile data record management

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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



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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L_S84_TablePositioningHL - profile data record management

11.6.2 Structure of S84_DriveStatus_8400HL_TablePositioning - status of the controller



xDriveErrorBOOL


xStateBit1BOOL

1 bGPSignalOut1 Binary signal monitor: Output signals

xStateBit2BOOL

2 bGPSignalOut2

xDriveEnabledBOOL

3 bCInhActive Controller inhibit is active

xDriveReadyBOOL


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



xOptionalBOOL



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


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


• Software manual (SW) 9400 HighLine controller - Parameter setting & Configuration

• Software manual (SW) 9400 controller - "Table positioning" technology application


scDriveControlS94_DriveControl_ActSpeed


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



scDriveStatus:S94_DriveStatus_ActSpeed




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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.



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





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




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


xDI_Digin3BOOL


xDI_Digin4BOOL


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 %



xOptional L_SCB_GetStateOptional - check with regard to "OptionalDevice" ( 287)





SCB_StateCanNode

1.3 EN - 07/2012 L 249


L_S94_GetVersion - transfer of the version

12.2 L_S94_GetVersion - transfer of the version

Outputs


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


This FB reads out the error test from the controller.

Inputs

Outputs


xExecuteBOOL

TRUE: Read out error number once

byNodeNumberBYTE

Node number

byMasterNumberBYTE


xUseSecondSDOBOOL

TRUE: Use second SDO channelFALSE (Lenze setting)


xDoneBOOL


xBusyBOOL



xErrorBOOL




xTimeOutBOOL


sDataSTRING

Error text

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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


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


byNodeNumberBYTE

Node number

byMasterNumberBYTE



scDriveStatusS94_DriveStatus_TablePositi

oning

Structural data regarding the status of the controllerTable positioning



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





xEnableBOOL

0 DI_bSetCInh Set/deactivate controller inhibit (inverted)

xQSPBOOL

1 QSP_bActivate2 Activate quick stop (inverted)

xHM_EnableBOOL


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 %

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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



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



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


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


PLC Designer V2.x| Lenze Application SamplesThe L_S94_Drive9400.lib libraryL_S94_TablePositioning - table positioning

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xDI_EnableNotOkBOOL


1.3 EN - 07/2012 L 255

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


scDriveControlSCS_DriveControl_Speed

Structure for actuating the controllerStructure of SCS_DriveControl_Speed - control for the drive ( 256)

xOptionalBOOL


byNodeNumberBYTE

Node number

byMasterNumberBYTE



scDriveControlSCS_DriveStatus_Speed

Structural data regarding the status of the controller



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



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


xFreeBit07BOOL


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

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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



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


xSpeedEqZeroBOOL

6 NActEq0 TRUE: Speed is zero

xFreeBit07BOOL

7 CInh Not assigned

xFreeBit08BOOL

8 Stat1 Not assigned

xFreeBit08BOOL


xFreeBit10BOOL


xFreeBit11BOOL


xFreeBit12BOOL

12 Warn Not assigned

xFreeBit013BOOL

13 Mess Not assigned

xFreeBit14BOOL


xFreeBit15BOOL


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


dwVersionDWORD

Output version


scDriveControl SCS_DriveControl_PosiShaft

Structure for actuating the controllerStructure of SCS_DriveControl_PosiShaft - control for the drive ( 259)


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


byNodeNumberBYTE

Node number 1 ... 64

byMasterNumberBYTE



scDriveStatusSCS_DriveStatus_PosiShaft

Structural drive status data Structure of SCS_DriveStatus_PosiShaft - status of the controller ( 260)



1.3 EN - 07/2012 L 259


L_SCS_PosiShaft - actuation of the ECS servo system

13.3.1 Structure of SCS_DriveControl_PosiShaft - control for the drive


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)



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)




byFuncNumberBYTE

0 Func1 Signal selection iPar1/2, binary coded 20



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)



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


CAN_GetNodeData1.xCommunicationOK

L_SCB_GetNodeDataRxPDO1 - read out data ( 285)

L_SCB_GetNodeDataRxPDO2 - read out data ( 286)

1.3 EN - 07/2012 L 261


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).


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



iPar1INT

tx_par1 Setting via input byFuncNumber Monitor data words from the

controller (tx_par1 and tx_par2) ( 262)iPar2

INTtx_par2



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")



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)

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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


scDriveControlSCS_Control_Supply

Structure for drive control

xOptionalBOOL


byNodeNumberBYTE

Node number

byMasterNumberBYTE



scDriveStatus Structural data regarding the drive status



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



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.

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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



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

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13.4.3 L_SCS_ReadErrorCode - read out error status

This FB reads out the error test from the controller.

Inputs

Outputs


xExecuteBOOL


byNodeNumberBYTE

Node number

byMasterNumberBYTE


xUseSecondSDOBOOL



xDoneBOOL


xBusyBOOL



xErrorBOOL




xTimeOutBOOL


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


• System manual (SHB) 8200 vector - Global Drive


scDriveControl Structural data for drive control

xOptionalBOOL




byNodeNumberBYTE

Node number

byMasterNumberBYTE






PLC Designer V2.x| Lenze Application SamplesThe L_S8V_Drive82Vector.lib libraryL_S8V_ActuatorSpeed - actuation of the 8200 vector controller

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14.1.1 Actuation to the controller




– Section Function library Code table | Controller control word (parameter channel)



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


L_S8V_ActuatorSpeed - actuation of the 8200 vector controller

14.1.2 Status of the controller



– Section Function library Code table | Controller status word 1 (parameter channel)




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



xSpeedEqZero 6 DCTRL1-NOUT=0 Activate quick stop

xDriveEnabledBOOL

7 DCTRL1-CINH Controller is active (controller inhibit is deactivated)





xWarning 12 DCTRL1-OH-WARN TRUE: Warning active


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


xExecuteBOOL


byNodeNumberBYTE

Node number

byMasterNumberBYTE


xUseSecondSDOBOOL



xDoneBOOL


xBusyBOOL



xErrorBOOL




xTimeOutBOOL


sDataSTRING

Data structure

1.3 EN - 07/2012 L 271


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


rC11_MaxFrequencyREAL

Maximum frequency 50,0000 Hz


Acceleration time 10,0000 s


Deceleration time 10,0000 s

rC37_Jog1REAL

Selection of setpoint selection 1.

rC38_Jog2REAL


rC39_Jog3REAL


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


xOptionalBOOL




byNodeNumberBYTE

Node number

byMasterNumberBYTE

Interface number (1 ... 4)





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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.



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




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




FreeBit00 0 Not assigned





xQminBOOL

5 DCTRL1-NOUT=0 Frequency threshold Qmin


xDriveEnabledBOOL

7 DCTRL1-CINH TRUE: Controller active

xDriveErrorBOOL

8 Status for error in the controllerTRUE: Error in the controller reportedFALSE: No error reported






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

1.3 EN - 07/2012 L 275

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.


rC11_MaxSpeedREAL

Maximum speed


Maximum acceleration


Deceleration [ms]

rC37_Jog1 ... rC39_Jog1REAL

Setpoint selection 1





rC105_QspTimeREAL

Quickstop deceleration [ms]

byAutoStartOptionBYTE

Auto-start function

aParametersARRAY [1..25] OF

SCB_ParameterData


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


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


scDriveControlS93_DriveControl_Speed

Structure for actuating the controllerStructure of 93_DriveControl_Speed - actuation to the controller ( 277)

xOptionalBOOL


byNodeNumberBYTE

Node number

byMasterNumberBYTE



scDriveControlS93_DriveStatus_Speed

Structural data regarding the status of the controller



1.3 EN - 07/2012 L 277


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)


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




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


xStat_4BOOL

10 DCTRL_STAT*4 Not assigned

xStat_8 BOOL


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

1.3 EN - 07/2012 L 279


L_S93_Positioning - control the 9300 Positioning

16.2 L_S93_Positioning - control the 9300 Positioning

Inputs


scDriveControlscAxisData

Axis data

xOptionalBOOL




byNodeNumberBYTE

Node number

byMasterNumberBYTE


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




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


byPSNumber2BYTE


byPSNumber3BYTE


rNSet Setpoint speed

1.3 EN - 07/2012 L 281


L_S93_Positioning - control the 9300 Positioning

16.2.2 Structure of S93_DriveStatus_93xxEP - status of the 9300 EP controller





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


xStat_2 BOOL


xStat_4BOOL


xStat_8 BOOL


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


This FB reads out the error text from the 9300 controller.

Inputs

Outputs


xExecuteBOOL


byNodeNumberBYTE

Node number

byMasterNumberBYTE


xUseSecondSDOBOOL



xDoneBOOL


xBusyBOOL



xErrorBOOL




xTimeOutBOOL


sDataSTRING

Data structure

1.3 EN - 07/2012 L 283

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


awTxDataARRAY[0..3] OF WORD

Writing PDO to controller

xOptionalBOOL




byNodeNumberBYTE

Node number

byMasterNumberBYTE



awTxDataARRAY[0..3] OF WORD

Reading PDO from controller



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).


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


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!


byNodeNumberBYTE

Node number

byMasterNumberBYTE



awReceiveDataARRAY[0..3] OF WORD

Received data 8 BYTES

xErrorBOOL


FALSE No error detected

TRUE Error when reading the data



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!




byNodeNumberBYTE

Node number

byMasterNumberBYTE



awReceiveDataARRAY[0..3] OF WORD

Received data 8 BYTES

xErrorBOOL






1.3 EN - 07/2012 L 287


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


byNodeNumberBYTE

Node number

byMasterNumberBYTE



byNodeNumberBYTE

Node number

byMasterNumberBYTE


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


dwVersionDWORD

Output version


xExecuteBOOL

Trigger read request.

TRUE Start read request once.

FALSE Deactivate reading.

byNodeNumberBYTE

Node number

xUseSecondSDOBOOL


byMasterNumberBYTE


wIndexWORD

CANopen index (0x0 ... 0xFFFF)

bySubCodeBYTE

Subcode (0 ... 255)

1.3 EN - 07/2012 L 289


L_SCB_ParRead - read parameter

Outputs


xDoneBOOL


xBusyBOOL



xErrorBOOL

Status output "Error" • TRUE: During the processing an error has occurred.

xTimeOutBOOL


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


xExecuteBOOL


TRUE Start read request once.

FALSE Deactivate reading.

byNodeNumberBYTE

Node number

xUseSecondSDOBOOL


byMasterNumberBYTE


wIndexWORD

CANopen index (0x0 ... 0xFFFF)

bySubCodeBYTE

Subcode (0 ... 255)


xDoneBOOL


xBusyBOOL



xErrorBOOL


xTimeOutBOOL


xNoBlockParameter Not assigned

sDataSTRING (255)

Parameter value read

1.3 EN - 07/2012 L 291


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


xExecuteBOOL

Trigger write request.

TRUE Start write request once.

FALSE Deactivate writing.

byNodeNumberBYTE

Node number

xUseSecondSDOBOOL

TRUE: Use second SDO channel

byMasterNumberBYTE


wIndexWORD

CANopen index (0x0 ... 0xFFFF).

bySubCodeBYTE

Subcode (0 ... 255)

dwDataDWORD

Parameter value to be written

byNrOfBYTEBYTE

Number of bytes (initial value: 4)


xDoneBOOL


xBusyBOOL



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!




byNodeNumberBYTE

Node number

byMasterNumberBYTE


awSendDataARRAY[0..3] OF WORD

Data


xErrorBOOL

"Error" status signal • Error during the data transfer



1.3 EN - 07/2012 L 293


L_SCB_PutNodeDataTxPDO2 - data transmission

17.12 L_SCB_PutNodeDataTxPDO2 - data transmission

This FB transmits the data via PDO 2.

Inputs

Outputs

Note!




byNodeNumberBYTE

Node number

byMasterNumberBYTE


awSendDataARRAY[0..3] OF WORD

Data


xErrorBOOL

"Error" status signal • Error when reading the data of PDO2



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


byNodeNumberBYTE

Node number

byMasterNumberBYTE


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


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


byNodeNumberBYTE

Node number

byMasterNumberBYTE


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


aParametersSCB_ParameterData


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


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


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.


aParametersARRAY

Array [1-50] OF SCB, parameter DATA


aParametersARRAY

Array [1-50] OF SCB, parameter DATA

1.3 EN - 07/2012 L 297


L_SCB_StartNode - restart CAN nodes

17.17 L_SCB_StartNode - restart CAN nodes

This function restarts a CAN node (reset node).

Inputs


byNodeNumberBYTE

Node number

byMasterNumberBYTE


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).


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



CanMasterStateSCB_StateCanMaster

Status of the CAN master

CanNodeStateSCB_CanNodeDiagnose

Status of the CAN node

xConfigErrorBOOL

TRUE: Configuration error active

xPdoTimeOutBOOL

Time-out signalling



1.3 EN - 07/2012 L 299


L_SCB_SDO_TransferTable - transfer parameter list

17.18.1 SCB_StateCanMaster

CanMaster_NotInHardWareCatalogus:=-1,

CanMaster_Init0 := 0,



CanMaster_SDO_Config := 3,


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


iStateSCB_StateCanNode

Status enquiry of CAN node

byNodeIDBYTE

Node number (0...3)

byMasterIDBYTE

Interface number (ID)




xExecuteBOOL


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


xUseFixAdressingBOOL

TRUE: Fixed addressing activated

dwAdrParameterDataDWORD

Address of the SCB structure

dwSizeParameterDataDWORD

Size of the SCB structure

xUseCodeAsIndexBOOL

TRUE: Indices to CAN-Open


xDoneBOOL

TRUE: Process completed

xBusyBOOL

TRUE: Write or read process active

xErrorBOOL




wErrIdWORD

Error number

byIndexBYTE

Byte index (0...7)


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


byInput1BYTE

Input value 1 ≡ bit 0 ... bit 7 of L_SDC_2BytesToWord

byInput2BYTE

Input value 2 ≡ bit 8 ... bit 15 of L_SDC_2BytesToWord


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


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



1.3 EN - 07/2012 L 303


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.


xBit0..xBit7BOOL

Input signal 1..8


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


xBit0..xBit31BOOL

Input signal 1..input signal 32


dwOutputDWORD

Value of the "DOUBLE WORD" type, which results by the bit set.

1.3 EN - 07/2012 L 305


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


xBit0..xBit15BOOL

Input signal 1..input signal 16


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.


byInputBYTE

Input signal


xBit0..xBit7BOOL

Output of bit 0..bit 7 of byInput (valency: 20..27)


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


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.


dwInputDWORD

Input signal


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.


dwInputDWORD

Input value


wOutput1WORD

Output value 1 ≡ bit 0 ... bit 15 of dwInput

wOutput2WORD



dwInputDWORD

Input value


byOutput0BYTE


byOutput1BYTE


byOutput2BYTE


byOutput3BYTE


1.3 EN - 07/2012 L 309


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


dwInputDWORD

Input signal

byBitNrBYTE

Number (0 ... 31) of the bit of dwInput, the status of which is to be determined.


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.


dwVersionDWORD

Output version


byInputBYTE

Input signal

byBitNrBYTE

Number (0 ... 7) of the bit that is to be set.

1.3 EN - 07/2012 L 311


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.


dwInputDWORD

Input signal

byBitNrBYTE



wInputWORD

Input signal

byBitNrBYTE


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.


byInputBYTE

Input signal

byBitNrBYTE

No. (0 ... 7) of the bit that is to be set.


dwInputDWORD

Input signal

byBitNrBYTE


1.3 EN - 07/2012 L 313


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.


wInputWORD

Input signal

byBitNrBYTE



wInputWORD

Input value


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


wInputWORD

Input signal


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


dwVersionDWORD

Output version


wErrIdWORD

Error number


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


diAccIn_xDINT

Acceleration as speed variation/timein [rpm/s] 15000 rpm/s ≡ 222 = 4194304


Machine parameters


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




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



Machine parameters


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


diPosIn_pDINT

Position in [increments] Scaling: 1 encoder revolution ≡ 216 increments (or according to scAxisData)


Machine parameters


rPositionOutUnitsREAL

Position valueDisplay of the input signal dnPosIn_p in the real unit of the machine.

xErrorBOOL




1.3 EN - 07/2012 L 319


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


diSpeedIn_sDINT

Speed in [rpm] Scaling: 15000 rpm ≡ 226 = 67108864


Machine parameters


rSpeedOutUnitsREAL

Speed value

xErrorBOOL





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


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.


diIn_nDINT

Input signal 100 % ≡ 230 = 1073741824

1.3 EN - 07/2012 L 321


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


diIn_nDINT

Input signal 100 % ≡ 230 = 1073741824


Machine parameters


diOut_sDINT

Output signal in [rpm] 15000 rpm ≡ 226 = 67108864

xErrorBOOL




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


dwAxisIDDWORD

Axis assignment

rFeedConstantREAL

Feed constant

rInvFeedConstantREAL

Inverse feed constant

rCycleLengthREAL

Cycle length (only Modulo operation)


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


rUnitsToSpeed REAL


rSpeedToUnitsREAL


rTimeUnitREAL


xValidBOOL

FALSE: Invalid axis data structure

1.3 EN - 07/2012 L 323


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 %


diPosIn_pDINT

Position in [increments]


Machine parameters


diPosOut_e4DINT

Position in [unit]Display in "e4" view (fixed point with four decimal positions)

xLimitBOOL


±214748.3647

xErrorBOOL





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.


rIn_rREAL

Input signal 0-100.0 %


diIn_sDINT

Input signal in [rpm] 15000 rpm ≡ 226 = 67108864


Machine parameters


diOut_nDINT

Output signal in [%] 100 % ≡ 230 = 1073741824

xErrorBOOL


FALSE Conversion carried out without errors.


1.3 EN - 07/2012 L 325


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


diIn_sDINT



iOut_vINT

Output signal in [rpm]


iIn_vINT



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


rFeedConstantREAL

Feed constant • Initialisation: 360.0 units

rCycleLengthREAL

Cycle • Initialisation: 360.0 units


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


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



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.


rPositionInUnitsREAL

Position value in units


Machine parameters


diPosOut_pDINT


xLimitBOOL


±214748.3647

xErrorBOOL




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


rSpeedInUnitsREAL

Speed value in units


Machine parameters


diSpeedOut_sDINT

Output of the velocity as speedin [rpm] 15000 rpm ≡ 226 = 67108864

xLimitBOOL


±214748.3647.

xErrorBOOL




1.3 EN - 07/2012 L 329


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


diSpeedIn_sDINT

Velocity as speed in [rpm] 15000 rpm ≡ 226 = 67108864


Machine parameters


diSpeedOut_e4DINT

Speed in [unit/s] • Display in "e4" view (fixed point with four decimal positions)

xLimitBOOL


±214748.3647.

xErrorBOOL





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


diAccIn_e4DINT

Acceleration in unit/s2]Selection in "e4" view (fixed point with four decimal positions)


Machine parameters


diAccOut_xDINT

Acceleration as speed variation/time in [rpm/s]15000000 rpm/s ≡ 222 = 4194304

xLimitBOOL


±214748.3647.

xErrorBOOL




1.3 EN - 07/2012 L 331


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


diPosIn_e4DINT

Position in [unit]Selection in "e4" view (fixed point with four decimal positions)


Machine parameters


diPosOut_pDINT


xLimitBOOL


±214748.3647.

xErrorBOOL




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


diSpeedIn_e4DINT

Speed in [unit/s]Selection in "e4" view (fixed point with four decimal positions)


Machine parameters


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


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_S94_ActuatorSpeed 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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SHPPLCDREUSESW 13412153 EN 1.3 TD11

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