Lenze 8400 User Manual

Inverter

8400

Inverter Drives 8400 StateLine C _ _ _ _ _ _ _ _

E84AVSCxxxxx...

Reference manual	EN

Ä.OT7ä 13465122

L

Overview of technical documentation for Inverter Drives 8400

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Project planning, selection & ordering

8400 hardware manualCatalogue

Mounting & wiring

MA 8400 BaseLine/StateLine/HighLine/TopLine

MA for the communication module

MA for the extension module

MA for the safety module

MA for the accessories

Parameterisation

BA keypad

SW 8400 BaseLine

SW 8400 StateLine

SW 8400 HighLine

SW 8400 TopLine

KHB for the communication module

Drive commissioning

SW 8400 BaseLine/StateLine/HighLine/TopLine

chapter "Commissioning"

chapter "Diagnostics & error management"

Remote maintenance manual

Networking

KHB for the communication medium used

Legend:

Printed documentation

Online documentation (PDF/Engineer online help)

Abbreviations used:

BA Operating Instructions KHB Communication manual MA Mounting instructions

SW Software/reference manual

 This documentation

2	Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14

Contents

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1	About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							15
1.1	Document history _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							15
1.2	Conventions used		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					16
1.3	Terminology used		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					17
1.4	Definition of the notes used			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				19
2	Introduction: Parameterising the controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							20
2.1	Integrated technology applications				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			22
	2.1.1	Purpose of the technology applications _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						23
	2.1.2	Application cases for a technology application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						23
	2.1.3	Technology application = function block interconnection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						24
2.2	Selection of the appropriate commissioning tool _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							25
	2.2.1	Overview: Accessories for commissioning				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		26
2.3	General notes on parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							27
	2.3.1	Changing the parameterisation with the keypad					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	28
	2.3.2	Change parameter settings with PC and Lenze software _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						31
	2.3.3	Save parameter settings in the memory module safe against mains failure _ _ _ _ _ _ _						32
	2.3.4	User menu for quick access to frequently used parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						34
2.4	Device access protection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							35
	2.4.1	Password protection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						36
	2.4.2	Individual password protection for single communication channels _ _ _ _ _ _ _ _ _ _ _						38
	2.4.3	Device personalisation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						40
	2.4.4	Unlocking the controller with a MasterPin _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						42
2.5	Device identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							43
	2.5.1	Automatic acceptance of the device name in the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						43
	2.5.2	Extended item designation			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			43
3	Commissioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							44
3.1	Safety instructions with regard to commissioning					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		45
3.2	Notes on motor control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							46
3.3	Preconditions for commissioning with the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							47
3.4	Trouble-shooting during commissioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							48
3.5	Commissioning wizard 8400			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				48
3.6	Manual motor direction of rotation check (manual control)						_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	50
3.7	Commissioning of the "Actuating drive speed" technology application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							51
	3.7.1	Prepare controller for commissioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						52
	3.7.2	Creating an »Engineer« project & going online _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						53
	3.7.3	Parameterising the motor control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						54
	3.7.4	Parameterise application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						55
	3.7.5	Saving parameter settings safe against mains failure _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						57
	3.7.6	Enable controller and test application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						57
3.8	Commissioning of the "Switch-off positioning" technology application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							59
	3.8.1	Prepare controller for commissioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						61
	3.8.2	Creating an »Engineer« project & going online _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						62
	3.8.3	Parameterising the motor control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						63
	3.8.4	Parameterise application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						64
	3.8.5	Saving parameter settings safe against mains failure _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						66
	3.8.6	Enable controller and test application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						66
3.9	PC manual control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							67
	3.9.1	Activate PC manual control			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			67
	3.9.2	Speed control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						70

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4	Device control (DCTRL)			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						72
4.1	Device commands (C00002/x) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _									74
	4.1.1	Load Lenze setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								77
	4.1.2	Load all parameter sets _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								78
	4.1.3	Save all parameter sets _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								79
	4.1.4	Enable/Inhibit controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								80
	4.1.5	Activate/deactivate quick stop				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				81
	4.1.6	Reset error	_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							82
	4.1.7	Delete logbook _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								82
	4.1.8	Device search function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								83
4.2	Device state machine and device states					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				84
	4.2.1	FirmwareUpdate			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					85
	4.2.2	Init _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								86
	4.2.3	Ident _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								87
	4.2.4	SafeTorqueOff		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						88
	4.2.5	ReadyToSwitchOn			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					89
	4.2.6	SwitchedOn _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								90
	4.2.7	OperationEnabled			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					91
	4.2.8	TroubleQSP	_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							92
	4.2.9	Trouble _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								93
	4.2.10	Fault _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								94
	4.2.11	SystemFault _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								94
4.3	Automatic restart after mains connection/fault... _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _									95
	4.3.1	"Inhibit at power-on" auto-start option _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								95
	4.3.2	Auto-start option "Inhibit at Lenze setting" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								97
4.4	Internal interfaces | "LS_DriveInterface" system block							_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		98
	4.4.1	wCANControl/wMCIControl control words _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								101
	4.4.2	wDeviceStatusWord status word _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								103
5	Motor control (MCTRL)			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						104
5.1	Motor selection/Motor data				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					105
	5.1.1	Selecting a motor from the motor catalogue in the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _								109
	5.1.2	Automatic motor data identification _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								111
	5.1.3	Application notes for asynchronous motors with high slip speed _ _ _ _ _ _ _ _ _ _ _ _ _								117
5.2	Selecting the control mode				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					118
	5.2.1	Selection help _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								122
5.3	Defining current and speed limits _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _									123
5.4	V/f characteristic control (VFCplus) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _									126
	5.4.1	Parameterisation dialog/signal flow					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			127
	5.4.2	Basic settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								129
		5.4.2.1	Defining the V/f characteristic shape _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							130
		5.4.2.2	Defining current limits (Imax controller)						_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	131
	5.4.3	Optimising the control mode				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				132
		5.4.3.1	Adapting the V/f base frequency					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		133
		5.4.3.2	Adapting the Vmin boost				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			135
		5.4.3.3	Optimising the Imax controller					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		136
		5.4.3.4	Optimising the stalling behaviour _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							137
		5.4.3.5	Torque limitation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							138
		5.4.3.6	Defining a user-defined V/f characteristic						_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	140
	5.4.4	Remedies for undesired drive behaviour _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								143

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5.5	V/f characteristic control - energy-saving (VFCplusEco) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _									144
	5.5.1	Parameterisation dialog/signal flow				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				145
	5.5.2	Comparison of VFCplusEco - VFCplus				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				147
	5.5.3	Basic settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								148
	5.5.4	Optimising the control mode			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					149
		5.5.4.1	Improving the behaviour at high dynamic load changes _ _ _ _ _ _ _ _ _ _ _							150
		5.5.4.2	Adapting the slope limitation for lowering the Eco function						_ _ _ _ _ _ _ _	151
		5.5.4.3	Optimising the cos/phi controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							151
	5.5.5	Remedies for undesired drive behaviour					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			152
5.6 V/f control (VFCplus + encoder) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _										154
	5.6.1	Parameterisation dialog/signal flow				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				155
	5.6.2	Basic settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								157
		5.6.2.1	Parameterising the slip regulator _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							158
5.7 Sensorless vector control (SLVC)				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						161
	5.7.1	Parameterisation dialog/signal flow				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				162
	5.7.2	Types of control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								164
		5.7.2.1	Speed control with torque limitation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							164
		5.7.2.2	Torque control with speed limitation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							165
	5.7.3	Basic settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								166
	5.7.4	Optimising the control mode			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					167
		5.7.4.1	Optimising the starting performance after a controller enable _ _ _ _ _ _ _							167
		5.7.4.2	Optimise speed controller				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			168
		5.7.4.3	Optimising dynamic performance and field weakening behaviour _ _ _ _ _							169
		5.7.4.4	Optimising the stalling behaviour _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							170
		5.7.4.5	Optimise response to setpoint changes and determine mass inertia _ _ _ _							171
		5.7.4.6	Slip calculation from motor equivalent circuit diagram data						_ _ _ _ _ _ _ _	174
		5.7.4.7	Optimising field feedforward control and torque feedforward control _ _ _							175
	5.7.5	Remedies for undesired drive behaviour					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			176
5.8	Sensorless control for synchronous motors (SLPSM) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _									177
	5.8.1	Parameterisation dialog/signal flow				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				179
	5.8.2	Types of control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								182
	5.8.3	Basic settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								183
	5.8.4	Optimising the control mode			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					185
		5.8.4.1	Optimise current controller				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			186
		5.8.4.2	Optimise speed controller				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			187
		5.8.4.3	Optimise response to setpoint changes and determine mass inertia _ _ _ _							190
		5.8.4.4	Current-dependent stator leakage inductance Ppp(I)					_ _ _ _ _ _ _ _ _ _ _ _		193
		5.8.4.5	Setting the current setpoint filter (band-stop filter)					_ _ _ _ _ _ _ _ _ _ _ _ _		195
		5.8.4.6	Adapting the max. acceleration change (jerk limitation) _ _ _ _ _ _ _ _ _ _							196
	5.8.5	Pole position identification without motion _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								197
	5.8.6	Field weakening for synchronous motors _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								199
5.9	Parameterisable additional functions				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					202
	5.9.1	Selection of switching frequency _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								202
	5.9.2	Operation with increased rated power					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			206
	5.9.3	Flying restart function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								208
	5.9.4	DC-injection braking		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						211
		5.9.4.1	Manual DC-injection braking (DCB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							212
		5.9.4.2	Automatic DC-injection braking (Auto-DCB) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							212
	5.9.5	Slip compensation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								215
	5.9.6	Oscillation damping		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						216
		5.9.6.1	Oscillation damping voltage range _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							217
		5.9.6.2	Oscillation damping in the field weakening range _ _ _ _ _ _ _ _ _ _ _ _ _ _							218
	5.9.7	Phase sequence reversal for correcting misconnected UVW motor phases _ _ _ _ _ _ _ _								219

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5.10	Encoder/feedback system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				220
	5.10.1	Parameterising digital inputs as encoder inputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			222
	5.10.2	Generation of the actual speed value _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			223
	5.10.3	HTL encoder at DI1/DI2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			224
5.11	Braking operation/brake energy management _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				226
	5.11.1	Setting the voltage source for braking operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			229
	5.11.2	Selecting the response to an increase of the DC-bus voltage _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			229
		5.11.2.1	Inverter motor brake _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		231
	5.11.3	Avoiding thermal overload of the brake resistor _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			234
	5.11.4	Control of multiple internal brake choppers in the DC-bus system _ _ _ _ _ _ _ _ _ _ _ _			234
5.12	Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				237
	5.12.1	Device overload monitoring (Ixt)		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	238
	5.12.2	Motor overload monitoring (I2xt) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			239
	5.12.3	Motor overcurrent monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			241
	5.12.4	Motor temperature monitoring (PTC) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			242
	5.12.5	Brake resistor monitoring (I2xt)		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	243
	5.12.6	Motor phase failure monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			245
	5.12.7	Motor phase error monitoring before operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			246
	5.12.8	Mains phase failure monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			248
	5.12.9	Maximum current monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			248
	5.12.10	Maximum torque monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			249
	5.12.11	Motor speed monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			249
	5.12.12	Encoder open-circuit monitoring		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	250
5.13	Internal interfaces | System block "LS_MotorInterface" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				251
5.14	Internal status signals | System block "LS_DeviceMonitor" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				257
6	I/O terminals _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				260
6.1	Digital terminals _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				261
	6.1.1	Change function assignment _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			264
		6.1.1.1	Using DI1 and DI2 as digital inputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		265
		6.1.1.2	Using DI1 and DI2 as frequency inputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		266
		6.1.1.3	Using DI1 as counting input _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		270
	6.1.2	Internal interfaces | System block "LS_DigitalInput" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			273
		6.1.2.1	Output of the encoder position of the DI1/DI2 frequency input _ _ _ _ _ _ _		275
	6.1.3	Internal interfaces | System block "LS_DigitalOutput" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			279
6.2	Analog terminals		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		280
	6.2.1	Parameterising analog input _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			282
		6.2.1.1	Signal adaptation by means of characteristic _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		284
	6.2.2	Parameterising analog output _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			286
	6.2.3	Internal interfaces | System block "LS_AnalogInput" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			287
	6.2.4	Internal interfaces | System block "LS_AnalogOutput" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			287
6.3	Configuring exception handling of the output terminals _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				288
6.4	User-defined terminal assignment _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				289
	6.4.1	Source-destination principle _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			290
	6.4.2	Changing the terminal assignment with the keypad _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			291
	6.4.3	Changing the terminal assignment with the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			293

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7	Technology applications			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				296
7.1	Selection of the technology application and the control mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							297
7.2	TA "Actuating drive speed" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							298
	7.2.1	Basic signal flow		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				299
	7.2.2	Internal interfaces | application block "LA_NCtrl"					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	301
	7.2.3	Terminal assignment of the control modes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						309
		7.2.3.1	Terminals 0 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					310
		7.2.3.2	Terminals 2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					311
		7.2.3.3	Terminals 11 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					312
		7.2.3.4	Terminal 16 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					313
		7.2.3.5	Keypad		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			314
		7.2.3.6	PC	_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				315
		7.2.3.7	CAN _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					316
		7.2.3.8	MCI	_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				317
	7.2.4	Process data assignment for fieldbus communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						318
	7.2.5	Setting parameters (short overview)				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		320
	7.2.6	Configuration parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						322
7.3	TA "actuating drive speed (AC Drive Profile)"					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		325
	7.3.1	I/O assemblies		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				326
	7.3.2	Basic signal flow		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				327
	7.3.3	Internal interfaces | application block "LA_NCtrl"					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	330
	7.3.4	Terminal assignment of the control modes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						339
		7.3.4.1	Terminals 0 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					340
		7.3.4.2	Terminals 2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					341
		7.3.4.3	Terminals 11 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					342
		7.3.4.4	Terminal 16 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					343
		7.3.4.5	Keypad		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			344
		7.3.4.6	PC	_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				345
		7.3.4.7	CAN _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					346
		7.3.4.8	MCI	_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				347
	7.3.5	Process data assignment for fieldbus communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						348
		7.3.5.1	Run/Stop event _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					349
		7.3.5.2	Scaling of speed and torque values				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	350
	7.3.6	AC Drive Profile diagnostic parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						351
	7.3.7	Setting parameters (short overview)				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		351
	7.3.8	Configuration parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						353
7.4	TA "Switch-off positioning" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							358
	7.4.1	Basic signal flow		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				360
	7.4.2	Internal interfaces | application block "LA_SwitchPos" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						361
		7.4.2.1	Truth table for activating the pre-switch off _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					368
	7.4.3	Terminal assignment of the control modes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						369
		7.4.3.1	Terminals 0 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					370
		7.4.3.2	Terminals 2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					371
		7.4.3.3	Terminals 11 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					372
		7.4.3.4	Terminal 16 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					373
		7.4.3.5	Keypad		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			374
		7.4.3.6	PC	_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				375
		7.4.3.7	CAN _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					376
		7.4.3.8	MCI	_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				377
	7.4.4	Process data assignment for fieldbus communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						378
	7.4.5	Setting parameters (short overview)				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		380
	7.4.6	Configuration parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						382

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7.5	"GeneralPurpose" functions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								385
	7.5.1	Analog switch _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							385
	7.5.2	Arithmetic _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							386
	7.5.3	Multiplication/Division			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				386
	7.5.4	Binary delay element _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							387
	7.5.5	Binary logic _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							387
	7.5.6	Analog comparison _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							388
	7.5.7	Binary signal monitor			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				388
	7.5.8	Analog signal monitor			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				389
	7.5.9	D-FlipFlop _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							389
8	Basic drive functions (MCK) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								390
8.1	Basic signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								391
8.2	Internal interfaces | System block "LS_MotionControlKernel"							_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	392
	8.2.1	MCK status word _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							397
	8.2.2	MCK state machine _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							398
		8.2.2.1	"StandBy" operating mode _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						398
	8.2.3	Interface to safety system				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			399
8.3	Speed follower _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								400
	8.3.1	Parameter setting		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					400
	8.3.2	Setpoint selection		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					401
8.4	Holding brake control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								402
	8.4.1	Internal interfaces		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					403
	8.4.2	Parameter setting		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					405
		8.4.2.1	Operating mode				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		406
		8.4.2.2	Functional settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						408
		8.4.2.3	Switching thresholds _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						409
		8.4.2.4	Application and release time _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						410
		8.4.2.5	Ramp time for approaching the setpoint speed _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						412
		8.4.2.6	Motor magnetising time (only with asynchronous motor) _ _ _ _ _ _ _ _ _						413
		8.4.2.7	Actual value monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						413
	8.4.3	Process when brake is released					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		414
	8.4.4	Process when brake is closed					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		415
	8.4.5	Behaviour in case of pulse inhibit _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							417
	8.4.6	Feedforward control of the motor before release						_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	418
9	Diagnostics & error management				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				420
9.1	Basics on error handling in the controller						_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		420
9.2	LED status displays		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						421
	9.2.1	LED status displays of the device status _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							422
9.3	Drive diagnostics with the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								423
	9.3.1	Display details of the error _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							425
9.4	Drive diagnostics via keypad/bus system						_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		426
9.5	Logbook	_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							429
	9.5.1	Functional description			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				429
	9.5.2	Filtering logbook entries _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							430
	9.5.3	Automatic recording of device-internal signals at the time the error occurs _ _ _ _ _ _ _							430
	9.5.4	Reading out logbook entries _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							431
	9.5.5	Exporting logbook entries to a file _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							432
	9.5.6	Storing the logbook in the project _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							433
	9.5.7	Reading out the logbook from an external control/visualisation _ _ _ _ _ _ _ _ _ _ _ _ _							434
9.6	Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								436
	9.6.1	Monitoring configuration				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			437
	9.6.2	Setting the error response				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			438
	9.6.3	AutoFailReset function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							439

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9.7	Maloperation of the drive _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							440
9.8	Operation without mains supply _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							443
9.9	Error messages of the operating system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							444
	9.9.1	Structure of the 32-bit error number (bit coding) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						444
	9.9.2	Structure of the 16 bit error number (bit coding) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						447
	9.9.3	Reset error message		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				448
	9.9.4	Export error texts _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						449
	9.9.5	Short overview (A-Z) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						450
	9.9.6	Cause & possible remedies				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		453
9.10	"LS_SetError_1" system block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							471
10	Oscilloscope function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							472
10.1	Technical data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							473
10.2	User interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							474
10.3	Operation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							476
	10.3.1	Selecting the variables to be recorded _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						476
	10.3.2	Selecting the recording time/sample rate					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	477
	10.3.3	Defining the trigger condition _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						478
	10.3.4	Starting recording		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				479
	10.3.5	Adjusting the representation				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		479
	10.3.6	Cursor function: Reading individual measured values _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						482
10.4	Managing oscillograms (measured data sets) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							483
	10.4.1	Commenting the oscillogram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						483
	10.4.2	Saving the oscillogram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						484
	10.4.3	Loading the oscillogram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						485
	10.4.4	Closing the oscillogram			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			486
	10.4.5	Overlay function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						486
	10.4.6	Deleting a data set saved in the project _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						487
11	System bus "CAN on board" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							488
11.1	General information _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							489
	11.1.1	General data and application conditions					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	489
	11.1.2	Supported protocols _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						490
	11.1.3	Communication time _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						491
11.2	Possible settings via DIP switch _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							492
	11.2.1	Activating the bus terminating resistor _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						492
	11.2.2	Setting the baud rate _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						493
	11.2.3	Setting the node address _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						493
11.3	LED status displays for the system bus _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							494
11.4	Going online via the system bus				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			495
11.5	Reinitialising the CANopen interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							495
11.6	Structure of the CAN data telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							496
	11.6.1	Identifier	_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					496
	11.6.2	User data	_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					498
11.7	Communication phases/network management _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							499
	11.7.1	Status transitions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						500
	11.7.2	Network management telegram (NMT) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						501
	11.7.3	Parameterising the controller as CAN master _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						502

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11.8	Process data transfer		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		503
	11.8.1	Available process data objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			504
		11.8.1.1	RPDO1 | Port block "LP_CanIn1" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		505
		11.8.1.2	RPDO2 | "LP_CanIn2" port block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		507
		11.8.1.3	RPDO3 | "LP_CanIn3" port block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		509
		11.8.1.4	RPDO4 | "LP_CanIn4" port block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		511
		11.8.1.5	TPDO1 | "LP_CanOut1" port block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		513
		11.8.1.6	TPDO2 | "LP_CanOut2" port block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		514
		11.8.1.7	TPDO3 | "LP_CanOut3" port block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		515
		11.8.1.8	TPDO4 | "LP_CanOut4" port block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		516
	11.8.2	Identifiers of the process data objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			517
	11.8.3	Transmission type _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			519
	11.8.4	PDO synchronisation via sync telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			521
	11.8.5	Monitoring of the RPDOs for data reception _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			522
	11.8.6	Configuring exception handling of the CAN PDOs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			522
11.9	Parameter data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				524
	11.9.1	Identifiers of the parameter data objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			525
	11.9.2	User data	_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		525
		11.9.2.1	Command _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		526
		11.9.2.2	Addressing by means of index and subindex _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		527
		11.9.2.3	Data 1 ... Data 4 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		528
		11.9.2.4	Error messages _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		529
	11.9.3	Parameter data telegram examples _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			531
		11.9.3.1	Read parameters	_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	531
		11.9.3.2	Write parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		532
		11.9.3.3	Read block parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		533
11.10	Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				536
	11.10.1	Integrated error detection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			536
	11.10.2	Heartbeat protocol _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			537
		11.10.2.1	Telegram structure _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		537
		11.10.2.2	Parameter setting	_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	538
		11.10.2.3	Commissioning example _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		539
	11.10.3	Emergency telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			540
11.11	Implemented CANopen objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				541
11.12	Internal interfaces | System block "LS_CANManagement" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				567
12	Fieldbus interface (MCI) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				568
12.1	Process data transfer		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		569
12.2	Control mode "MCI" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				571
	12.2.1	Port block "LP_MciIn" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			572
	12.2.2	Port block "LP_MciOut" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			573
12.3	CAN gateway _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				574
13	Synchronisation of the internal time base _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				575
13.1	Internal interfaces | System block "LS_SyncManagement" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				576
14	Parameter change-over _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				577
14.1	Configuring parameter change-over via the »Engineer« parameterisation dialog _ _ _ _ _ _ _ _ _				578
	14.1.1	Configuring the parameter list(s) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			579
	14.1.2	Configuring control inputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			582
	14.1.3	Functional settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			583
	14.1.4	Error indication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			583
14.2	Configuring the definable parameter list by means of parameterisation _ _ _ _ _ _ _ _ _ _ _ _ _ _				584
14.3	Configuring the motor data parameter list by means of parameterisation _ _ _ _ _ _ _ _ _ _ _ _ _				585
14.4	Internal interfaces | System block "LS_WriteParamList" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				588

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Contents

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

15	Parameter reference _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _									590
15.1	Structure of the parameter descriptions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _									591
	15.1.1	Data type _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								592
	15.1.2	Parameters with read-only access _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								592
	15.1.3	Parameters with write access				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				593
		15.1.3.1	Parameters with setting range					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		593
		15.1.3.2	Parameters with selection list _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							593
		15.1.3.3	Parameters with bit-coded setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							594
		15.1.3.4	Parameters with subcodes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							595
	15.1.4	Parameter attributes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								595
15.2	Parameter list _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _									597
15.3	Selection list - analog signals				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					835
15.4	Selection list - digital signals				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					838
15.5	Selection list - angle signals _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _									843
15.6	Table of attributes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _									844
16	Working with the FB Editor _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _									857
16.1	Basics _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _									857
	16.1.1	Basic components of a drive solution					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			858
		16.1.1.1	What is a function block?				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			859
		16.1.1.2	Parameterisable function blocks					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		860
		16.1.1.3	What is a system block?				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			860
		16.1.1.4	What is a port block? _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							861
		16.1.1.5	What is an application block? _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							861
	16.1.2	Conventions used for input/output identifiers _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								862
	16.1.3	Scaling of physical units _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								863
16.2	User interface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _									864
	16.2.1	Toolbar	_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							865
	16.2.2	Search function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								866
	16.2.3	Level selection		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						867
	16.2.4 Editor view/overview _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _									869
	16.2.5	Context menu		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						870
	16.2.6	Status bar _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								870
	16.2.7	Overview window			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					871
16.3	Using the FB Editor as "Viewer" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _									873
	16.3.1	Following connections of inputs and outputs						_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		874
	16.3.2	Keyboard commands for navigation					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			875
	16.3.3	Change online display format				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				876
16.4	Reconfiguring the predefined interconnection						_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			878
	16.4.1	Inserting/Deleting objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								878
		16.4.1.1	Inserting a function block				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			879
		16.4.1.2	Inserting a system block				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			881
		16.4.1.3	Inserting a port block _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							883
		16.4.1.4	Inserting a comment _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							885
		16.4.1.5	Deleting objects that are no longer required						_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	887
	16.4.2	Changing connector visibilities				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				888
	16.4.3	Arranging objects in the drawing area					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			889
	16.4.4	Creating/deleting connections				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				890
		16.4.4.1	Creating a connection using the connection line _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							892
		16.4.4.2	Creating a connection using port identifiers						_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	893
		16.4.4.3	Creating a connection via connection dialog						_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	894
		16.4.4.4	Deleting connections that are no longer required _ _ _ _ _ _ _ _ _ _ _ _ _ _							895

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Contents

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

	16.4.5	Changing the processing order				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			896
	16.4.6	Copying interconnection elements (across all devices) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							898
		16.4.6.1		Insert options for copied elements				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	900
	16.4.7	Resetting changed interconnection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							901
16.5	Adjusting online and offline interconnection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								902
16.6	Printing the interconnection				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				903
16.7	Comparing interconnections				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				904
16.8	Copying an interconnection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								907
16.9	Exporting/Importing an interconnection					_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			908
17	Function library		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						909
17.1	Function blocks		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						909
	17.1.1	L_Absolut_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							911
	17.1.2	L_AddSub_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							912
	17.1.3	L_AnalogSwitch_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							913
	17.1.4	L_AnalogSwitch_2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							914
	17.1.5	L_AnalogSwitch_3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							915
	17.1.6	L_And_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							916
	17.1.7	L_And_2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							917
	17.1.8	L_And_3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							918
	17.1.9	L_Arithmetik_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							919
	17.1.10	L_Arithmetik_2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							920
	17.1.11	L_Compare_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							921
		17.1.11.1 Function 1: nIn1 = nIn2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							922
		17.1.11.2 Function 2: nIn1 > nIn2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							923
		17.1.11.3 Function 3: nIn1 < nIn2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							924
		17.1.11.4		Function 4: |nIn1| = |nIn2|			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		925
		17.1.11.5		Function 5: |nIn1| > |nIn2|			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		925
		17.1.11.6		Function 6: |nIn1| < |nIn2|			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		925
	17.1.12	L_Compare_2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							926
	17.1.13	L_Compare_3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							927
	17.1.14	L_DFlipFlop_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							928
	17.1.15	L_DigitalDelay_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							930
	17.1.16	L_DigitalLogic_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							932
	17.1.17	L_DigitalLogic_3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							934
	17.1.18	L_GainOffset_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							936
	17.1.19	L_GainOffset_2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							937
	17.1.20	L_GainOffset_3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							938
	17.1.21	L_Interpolator_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							939
		17.1.21.1		Signal interpolation		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			940
		17.1.21.2		Signal monitoring		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			941
	17.1.22	L_JogCtrlExtension_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							942
	17.1.23	L_MPot_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							944
		17.1.23.1		Activate & control motor potentiometer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					946
		17.1.23.2		Deactivate motor potentiometer				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	947
	17.1.24	L_MulDiv_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							948
	17.1.25	L_Negation_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							949
	17.1.26	L_Not_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							950
	17.1.27	L_Not_2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							950
	17.1.28	L_Not_3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							951

12	Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14

Contents

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

17.1.29	L_NSet_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							952
	17.1.29.1	Main setpoint path _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						956
	17.1.29.2	JOG setpoints _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						956
	17.1.29.3	Setpoint inversion _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						957
	17.1.29.4	Value range of the input signal _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						957
	17.1.29.5	Skip frequency function		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				957
	17.1.29.6	Ramp function generator for the main setpoint _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						959
	17.1.29.7	S-shaped ramp _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						961
	17.1.29.8	Additional setpoint _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						962
	17.1.29.9	Application example for the additional load function					_ _ _ _ _ _ _ _ _ _ _ _	962
17.1.30	L_OffsetGain_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							963
17.1.31	L_OffsetGain_2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							964
17.1.32	L_OffsetGainP_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							965
17.1.33	L_OffsetGainP_2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							966
17.1.34	L_OffsetGainP_3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							967
17.1.35	L_Or_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							968
17.1.36	L_Or_2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							969
17.1.37	L_Or_3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							970
17.1.38	L_Or_4 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							971
17.1.39	L_PCTRL_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							972
	17.1.39.1	Control characteristic _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						976
	17.1.39.2	Ramp function generator		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _				977
	17.1.39.3	Operating range of the PID process controller				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		977
	17.1.39.4	Evaluation of the output signal _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						978
	17.1.39.5	Comparison function "Actual value = setpoint"				_ _ _ _ _ _ _ _ _ _ _ _ _ _ _		978
	17.1.39.6	Control functions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						979
17.1.40	L_PT1_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							980
17.1.41	L_RLQ_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							981
17.1.42	L_SignalMonitor_a _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							982
17.1.43	L_SignalMonitor_b _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							983
17.1.44	L_Transient_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							984
	17.1.44.1	Function 0: Evaluate rising signal edges			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			985
	17.1.44.2	Function 1: Evaluate falling signal edges			_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			985
	17.1.44.3	Function 2: Evaluate rising and falling signal edges _ _ _ _ _ _ _ _ _ _ _ _ _						986
17.1.45	L_Transient_2 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							987
17.1.46	L_Transient_3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							988
17.1.47	L_Transient_4 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							989
17.2 System blocks _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _								990
17.2.1	LS_AnalogInput _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							992
17.2.2	LS_CANManagement _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							992
17.2.3	LS_DataAccess _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							992
17.2.4	LS_DeviceMonitor		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					992
17.2.5	LS_DigitalInput _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							992
17.2.6	LS_DigitalOutput _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							992
17.2.7	LS_DisFree _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							993
17.2.8	LS_DisFree_a _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							994
	17.2.8.1	Display of internal process factors in application units					_ _ _ _ _ _ _ _ _ _ _	995
17.2.9	LS_DisFree_b _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							996
17.2.10	LS_DriveInterface _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							996
17.2.11	LS_Keypad	_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _						997
17.2.12	LS_MotionControlKernel _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _							998
17.2.13	LS_MotorInterface		_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _					998

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Contents

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

17.2.14	LS_ParFix	_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	999
17.2.15	LS_ParFree	_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	1000
17.2.16	LS_ParFree_a _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		1001
17.2.17	LS_ParFree_b _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		1002
17.2.18	LS_ParFree_p _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		1003
17.2.19	LS_ParFree_v _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		1004
17.2.20	LS_ParReadWrite_1-3 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		1005
	17.2.20.1	Arithmetic function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _	1008
17.2.21	LS_PulseGenerator _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		1009
17.2.22	LS_SetError_1 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		1010
17.2.23	LS_SyncManagement _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		1010
17.2.24	LS_WriteParamList _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _		1010
Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			1011
Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _			1029

14	Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14

1 About this documentation

1.1Document history

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

1	About this documentation

Danger!

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

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

Please read the safety instructions provided in the 8400 mounting instructions and in the 8400 hardware manual. Both documents are supplied with the controller.

Target group

This documentation addresses to all persons who would like to parameterise, configure and diagnose the 8400 StateLine with the Lenze engineering software »Engineer« and the X400 keypad.

Validity

The information in this documentation are valid for the following standard devices:

Product series	Type designation	from software version
8400 StateLine C	E84AVSCxxxxx	01.00

Screenshots/application examples

All screenshots provided in this documentation are application examples. Depending on the software version of the controller and the version of the installed »Engineer« software, the screenshots in this documentation may differ from the representation in the »Engineer«.

Tip!

Information and tools for Lenze products are provided in the download area at http://www.lenze.com Download

1.1Document history

Version			Description
12.0	06/2014	TD05	Extended by new functions for 8400 StateLine C V15.00.00
11.0	11/2013	TD05	Extended by new functions for 8400 StateLine C V14.00.00
10.0	11/2012	TD05	Extended by new functions for 8400 StateLine C V13.00.00 and converted to
			new layout.
9.1	09/2012	TD05	Error corrections & supplements
9.0	08/2012	TD05	Extended by new functions for 8400 StateLine C V12.00.00
8.0	10/2011	TD05	Extended by new functions for 8400 StateLine C V11.00.00
7.1	02/2011	TD05	Error corrections & supplements
7.0	11/2010	TD05	Extended by new functions for 8400 StateLine C V06.00.00 and V10.00.00

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15

1 About this documentation

1.2Conventions used

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

1.2Conventions used

This documentation uses the following conventions to distinguish between different types of information:

Type of information	Writing	Examples/notes
Spelling of numbers
Decimal separator	Point	The decimal point is generally used.
		Example: 1234.56
Hexadecimal number	0x	For hexadecimal numbers, the "0x" prefix is used.
		Example: 0x60F4
Binary number	0b	For binary numbers, the "0b" prefix is used.
		Example: 0b00010111
Text
Version info	Blue text colour	All information that only applies to a certain controller
		software version or higher is identified accordingly in this
		documentation.
		Example: This function extension is available from software
		version V3.0!
Program name	» «	The Lenze »Engineer« PC software ...
Window	italics	The Message window ... / The Options dialog box...
Variable identifier		By setting bEnable to TRUE...
Control element	bold	The OK button... / The Copy command... / The Properties
		tab... / The Name input field...
Sequence of menu		If the execution of a function requires several commands,
commands		the individual commands are separated by an arrow: Select
		File Open to...
Shortcut	<bold>	Press <F1> to open the online help.
		If a command requires a combination of keys, a "+" is placed
		between the key symbols:
		Use <Shift>+<ESC> to...
Hyperlink	Underlined	Optically highlighted reference to another topic. In this
		documentation activated by mouse-click.
Icons
Page reference	( 16)	Optically highlighted reference to another page. In this
		documentation activated by mouse-click.
Step-by-step instructions		Step-by-step instructions are indicated by a pictograph.

All information that only applies to a certain controller software version or higher is identified accordingly in this documentation.

16	Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14

1 About this documentation

1.3Terminology used

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

1.3Terminology used

Term	Meaning
Engineering Tools	Software solutions for simple engineering at all stages
		»EASY Navigator« – Ensures easy operator guidance
		• All practical Lenze engineering tools at a glance
		• Tools can be selected quickly
		• Clearly arranged, simplifying the engineering process from the start
		»EASY Starter« – Simple tool for service technicians
		• Especially developed for the commissioning and maintenance of Lenze
		devices
		• Graphical user interface with few buttons
		• Simple online diagnostics, parameterisation and commissioning
		• No risk of accidentally changing the application
		• Ready applications can be loaded to the device
		»Engineer« – Multi-device engineering
		• For all products from our L-force portfolio
		• Practice-oriented user interface
		• Easy handling due to graphical user interfaces
		• Suitable for all project stages (configuration, commissioning, production)
		• Parameter setting and configuration
Application block	Block for a technology application (e.g. actuating drive speed)
	A technology application is a drive solution based on the experience and know-how of Lenze
	in which function blocks interconnected to a signal flow form the basis for implementing
	typical drive tasks.
ASM	Abbreviation for asynchronous motor
CAN	Abbreviation for Controller Area Network. CAN is an asynchronous, serial fieldbus system.
	CANopen® is a communication protocol based on CAN. The Lenze system bus (CAN on board)
	operates with a subset of this communication protocol.
	CANopen® is a registered community trademark of the CAN user organisation CiA® (CAN in
	Automation e. V.).
	System bus "CAN on board"
Code	Parameter used for controller parameterisation or monitoring.
	The term is usually called "index".
Display code	Parameter that displays the current status or value of an input/output of a system block.
Emergency brake	The emergency brake serves to shutdown rotary or translatory masses in motion in
	emergency situations. Emergency situations are exceptional situations that only occur
	sporadically.
	EtherCAT® is a real-time capable Ethernet system with maximum performanc.
	EtherCAT® is a registered trademark and patented technology, licensed by the Beckhoff
	Automation GmbH, Germany.
	Ethernet POWERLINK is a real-time capable fieldbus system based on Ethernet. For user data
	exchange, Ethernet POWERLINK specifies a communication protocol based on CANopen.
	Ethernet POWERLINK is a patented technology licensed by the Ethernet POWERLINK
	Standardization Group (EPSG), Germany.
	EtherNet/IP™ (EtherNet Industrial Protocol) is a fieldbus system based on Ethernet which
	uses the Common Industrial Protocol™ (CIP™) for data exchange.
	EtherNet/IP™ and Common Industrial Protocol™ (CIP™) are trademarks and patented
	technologies licensed by the user organisation ODVA (Open DeviceNet Vendor Association),
	USA.
FB Editor	Abbreviation for function block editor. Graphic interconnection tool which is available in the
	»Engineer« for function block interconnections on the FB Editor.
	Working with the FB Editor

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1 About this documentation

1.3Terminology used

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Term	Meaning
Function block	General designation of a function block for free interconnection in the FB Editor.
	A function block (short: FB) can be compared with an integrated circuit that contains a
	specific control logic and delivers one or several values when being executed. Example:
	"L_Arithmetik_1" (FB for arithmetic operations)
	Many function block are available several times (e.g. L_And_1, L_And_2 and L_And_3).
	Function blocks
Holding brake	The holding brake serves to statically hold e.g. a position during the downtimes of a
	robot/travelling/synchronous/hoist drive.
	INTERBUS was developed as sensor/actuator/bus system for transmitting process data.
	Today, maintenance activities for the INTERBUS technologies are carried out by the user
	organisation PROFIBUS & PROFINET International (PI).
Keypad	The keypad is an alternative to the PC for the local operation, parameterisation, and
	diagnostics in a simple manner.
LA	Abbreviation for Lenze Application block
	Example: "LA_NCtrl" (block for the "Actuating drive speed" application)
Lenze setting	This setting is the default factory setting of the device.
LP	Abbreviation for Lenze Port block
	Example: "LP_CanIn1" (CAN1 port block)
LS	Abbreviation for Lenze System block
	Example: "LS_DigitalInput" (system block for digital input signals)
MCI	Abbreviation for Motionbus Communication Interface (fieldbus interface)
	The Inverter Drives 8400 can accommodate plug-in communication modules and can
	therefore take part in the data transfer of an existing fieldbus system.
	Fieldbus interface (MCI)
Port block	Block for implementing the process data transfer via a fieldbus
	PROFIBUS® (Process Field Bus) is fieldbus system used worldwide for automating machines
	and production plants.
	PROFIBUS® is a registered trademark and patented technology licensed by the user
	organisation PROFIBUS & PROFINET International (PI).
	PROFINET® (Process Field Network) is a real-time capable fieldbus system based on Ethernet.
	PROFINET® is a registered trademark and patented technology licensed by the user
	organisation PROFIBUS & PROFINET International (PI).
PSM	Abbreviation for permanently excited synchronous motor
QSP	Abbreviation for quick stop
SC	Abbreviation for Servo Control
Service brake	The service brake serves to shutdown rotary or translatory masses in motion in a controlled
	manner. The energy to be dissipated in this process is produced in the form of friction
	energy. Unlike emergency braking, this process is a regular and recurring operating mode.
SLPSM	Abbreviation for sensorless control of synchronous motors
SLVC	Abbreviation for SensorLess Vector Control
Subcode	If a code contains several parameters, these are stored in "subcodes".
	This Manual uses a slash "/" as a separator between code and subcode (e.g. "C00118/3").
	The term is usually called "subindex".
System block	System blocks provide interfaces to basic functions, to "free codes" and to the hardware of
	the controller in the FB editor of the »Engineer« (e.g. to the digital inputs). Each system block
	is only available once.
	System blocks
USB diagnostic	The USB diagnostic adapter is used for the operation, parameterisation, and diagnostics of
adapter	the controller. Data are exchanged between the PC (USB connection) and the controller
	(diagnostic interface on the front) via the diagnostic adapter. Order designation: E94AZCUS
VFCplus	Abbreviation for Voltage Frequency Control

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1 About this documentation

1.4Definition of the notes used

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

1.4Definition of the notes used

The following signal words and symbols are used in this documentation to indicate dangers and important information:

Safety instructions

Layout of the safety instructions:

Pictograph and signal word!

(characterise the type and severity of danger)

Note

(describes the danger and gives information about how to prevent dangerous situations)

Pictograph	Signal word	Meaning
	Danger!	Danger of personal injury through dangerous electrical voltage
		Reference to an imminent danger that may result in death or serious personal injury
		if the corresponding measures are not taken.
	Danger!	Danger of personal injury through a general source of danger
		Reference to an imminent danger that may result in death or serious personal injury
		if the corresponding measures are not taken.
	Stop!	Danger of property damage
		Reference to a possible danger that may result in property damage if the
		corresponding measures are not taken.
Application notes
Pictograph	Signal word	Meaning

Note! Important note to ensure trouble-free operation

Tip! Useful tip for easy handling

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19

2 Introduction: Parameterising the controller

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

2 Introduction: Parameterising the controller

Being a component of a machine which includes a speed-variable drive system, the controller needs to be adjusted to its drive task. The controller is adjusted by changing parameters which are saved in the memory module. The parameters can be accessed by keypad, by the »EASY Starter« or by the »Engineer«. Access is also possible by a master control via fieldbus communication. For this purpose, the "CAN on board" CAN interface and the MCI interface for using a communication module (e.g. PROFIBUS) are available.

Danger!

In general, changing a parameter causes an immediate response in the controller!

An enabled controller can cause an unwanted behaviour at the motor shaft! For instance, setpoint sources can change over abruptly (e.g. when the signal source is configured for the main setpoint).

Certain device commands or settings which may cause critical states of drive behaviour constitute exceptions. Such parameter changes are only possible if the controller is inhibited. Otherwise, a corresponding error message will be issued.

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2 Introduction: Parameterising the controller

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

L-force Engineer

L-force EASY Starter

				Keypad
			Parameterisation		Fieldbus
Signal		...			Signal
inputs		Switch-off positioning			outputs
	Actuating drive speed
			Setpoint	Motion
		M	generator	Control
				Kernel
				n
			Process		t
			controller
			Device	Motor	M
			control	control

Signal inputs for control and setpoint signals

Signal flow of the integrated technology application (see the following subchapter)Signal outputs for status and actual value signals

[2-1] Adaptation of the drive solution via parameter setting

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21

2 Introduction: Parameterising the controller

2.1Integrated technology applications

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

2.1Integrated technology applications

The following technology applications integrated in the drive controller 8400 StateLine provide the main signal flow for the implementation of a general or a special drive solution:

Technology application "Actuating drive speed"

This preset technology application serves to solve speed-controlled drive tasks, e.g. conveyor drives (interconnected), extruders, test benches, vibrators, travelling drives, presses, machining systems, metering units.

technology application "Actuating drive speed (AC Drive Profile)"

This technology application available from version 13.00.00 provides a speed and torque control by means of "AC Drive Profile". The fieldbuses EtherNet/IP™ and system bus (CANopen) are supported.

"Switch-off positioning" technology application

This technology application available from version 04.00.00 is used to solve speedcontrolled drive tasks which require a pre-switch off or stopping at certain positions, e.g. roller conveyors and conveying belts. The pre-switch off is implemented by connecting switch-off sensors.

Note!

Please note that the "StateLine", "HighLine" and "TopLine" device types differ with regard to the number, functional range, and flexibility of the technology applications offered.

Detailed information on each technology application can be found in the main chapter "Technology applications". ( 296)

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2 Introduction: Parameterising the controller

2.1Integrated technology applications

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2.1.1Purpose of the technology applications

The stepped Inverter Drives 8400 series provides solutions for simple to complex applications – depending on the user's experience and knowledge about the handling of drives and drive tasks.

On the one hand, a great scope of standard drive tasks for frequency inverters is covered by the technology applications offered by Lenze, and on the other hand, the user is relieved from timeconsuming programming activities. In practice, some drive tasks are alike so that minor modifications of the corresponding technology applications lead to quick results.

Other important features of technology applications are:

•Direct implementation of drive tasks without recreating a function block interconnection inside the device

•Operation via keypad and/or operation via convenient operator dialogs in the «Engineer».

•Commissioning via few operating and diagnosing parameters (local keypad operation).

•Achieving a transparency as high as possible via the integrated functionality of the device by representing signal flow diagrams.

•Provision of a basic functionality suitable and often sufficient for many applications.

2.1.2Application cases for a technology application

You should use a technology application if

•the task can be solved completely or to a great extent by the basic functionality of the technology application.

•the end customer does not want to create the comprehensive core functions of the corresponding technology on his own.

•the creation time for a project is to be reduced by using the ready-made technology application

•the end customer wants to build upon the know-how of Lenze.

Tip!

If the end customer of the machine does not want to use ready-made Lenze functions, it is also possible to implement individual drive solutions with the "StateLine C", "HighLine C" and "TopLine C" versions in the form of "free interconnections". (In case of "StateLine C2, free interconnection is only possible from version 12.00.00 and »Engineer« V2.17.)

Here, a technology application can be used as starting basis, which has to be adapted to the requirement by a change or extension via function block editor (see the following chapter).

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23

2 Introduction: Parameterising the controller

2.1Integrated technology applications

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

2.1.3Technology application = function block interconnection

In case of the 8400 device version, each technology application is connected to a "function block interconnection" ("FB interconnection"). This FB interconnections serve to implement signal interconnections. Various FBs are available for digital signal processing, signal conversion and logic modules.

For special drive tasks it has proved of value to use the integrated technology applications as a basis for modifications or extensions of the available FB interconnections.

I/O level & application level

The interconnection of the interfaces is shown in the I/O level of the function block editor according to the selected control mode. In the "deeper" application level, the main signal flow is realised in the form of an interconnection of various function and system blocks.

For the device versions "StateLine C", "HighLine C" and "TopLine C" the following applies:

•The preconfigured signal links can be reconfigured in the I/O level if required.

•Moreover, applications integrated in the controller can be reconfigured in the application level and extended by individual functions.

•Moreover, experienced users are offered the opportunity to implement their own drive solutions independent of the predefined technology applications by using so-called "free interconnections". (In case of "StateLine C", free interconnection is only possible from version 12.00.00 and »Engineer« V2.17.)

Motion Control Kernel

Important basic (drive) functions as well as further basic functionalities are implemented in the firmware of the drive controller in the so-called Motion Control Kernel (MCK) which can be accessed by the active technology application via defined internal interfaces. By this means the expensive creation of single function block interconnections is omitted so that the expenditure and the complexity for the realisation of standard functions is minimised.

The Motion Control Kernel is integrated in the main setpoint path and, depending on the set operating mode, it creates the required control and setpoint signals for the motor control and the drive interface.

More detailed information:

•A detailed description of the basic functions implemented in the Motion Control Kernel can be found in the main chapter "Basic drive functions (MCK)". ( 390)

•Detailed information on the creation or change of interconnections by means of the function block editor can be found in the main chapter "Working with the FB Editor".

( 857)

•All available function and system blocks are described in the main chapter "Function library". ( 909)

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2 Introduction: Parameterising the controller

2.2Selection of the appropriate commissioning tool

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

2.2Selection of the appropriate commissioning tool

There are several possibilities for commissioning the 8400 StateLine controller:

Commissioning via keypad X400 (or diagnosis terminal X400)

The keypad is an alternative to the PC for the local operation, parameterisation, and diagnostics in a simple manner. The keypad is especially suited for test and demonstration purposes and for the case that only few parameters have to be adapted.

Commissioning using PC and »EASY Starter«

The »EASY Starter« is a Lenze tool for simple online diagnostics, parameterisation and commissioning of the controller.

Commissioning using PC and »Engineer«

The »Engineer« is a Lenze engineering software for parameter setting across all devices, configuring and diagnosing individual components (as for instance controllers, industrial PCs, motors, I/O systems) and machine control systems.

Tip!

The engineering tools »EASY Starter« and »Engineer StateLevel« are provided free of charge in the internet:

http://www.lenze.com Download Software Downloads

For communication between PC and controller, the USB diagnostic adapter can be used for instance (see the following subchapter).

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25

2 Introduction: Parameterising the controller

2.2Selection of the appropriate commissioning tool

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

2.2.1Overview: Accessories for commissioning

	Version	Features	Product key
	Keypad X400	Quick access to parameters and operating data	EZAEBK1001
		• Supports hot plugging
		• Graphic display with plain texts
		• Backlighting
		• Easy user guidance
		• 4 navigation keys, 2 context-sensitive keys
		• Adjustable RUN/STOP function
		• Can be used for L-force Inverter Drives 8400 and Servo
		Drives 9400
	Diagnosis terminal X400	Keypad X400 in a robust housing, also suitable for	EZAEBK2001
		installation into the control cabinet door.
		• Supports hot plugging
		• Graphic display with plain texts
		• Backlighting
		• Easy user guidance
		• 4 navigation keys, 2 context-sensitive keys
		• Adjustable RUN/STOP function
		• Incl. 2.5 m cable
		• Enclosure IP20; in case of front installation in control
		cabinet IP65
		• Can be used for L-force Inverter Drives 8400 and Servo
		Drives 9400
	USB diagnostic adapter	For electrical isolation of your PC and the controller.	E94AZCUS
		• Supports hot plugging
		• Diagnostic LED for data transfer display
		• plug and play
		• Input-side voltage supply via USB connection from PC
		• Output-side voltage supply via the diagnostic interface of
		the controller
		• Connecting cables can be selected in various lengths:
	Connecting cable for	2.5 m length	EWL0070
	USB diagnostic adapter
		5 m length	EWL0071
		10 m length	EWL0072

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2 Introduction: Parameterising the controller

2.3General notes on parameters

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

2.3General notes on parameters

All parameters for controller parameterising or monitoring are saved as so-called "codes".

•The codes are numbered and indicated by the prefix "C" before the code, e.g. "C00002".

•Moreover, each code has a name and specific attributes, as for example access type (reading, writing), data type, limit values and default setting ("Lenze setting").

•For the sake of clarity, some codes contain "subcodes" for saving parameters. This Manual uses a slash "/" as a separator between code and subcode, e.g. C00118/3".

•According to their functionality, the parameters are divided into three groups:

•Setting parameters: For specifying setpoints and for setting device / monitoring functions.

•Configuration parameters: For configuring signal connections and terminal assignments.

•Diagnostic/display parameters: For displaying device-internal process factors, current actual values and status messages. These are read-only parameters.

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2 Introduction: Parameterising the controller

2.3General notes on parameters

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

2.3.1Changing the parameterisation with the keypad

The keypad is simply plugged on the diagnostic interface X6 ("DIAG") at the front of the standard device.

Plugging and unplugging the keypad is possible during operation.

Keypad display and control elements

	/&' GLVSOD\
+HDGOLQH
7ULSOH OLQH GLVSOD\
'HYLFH VWDWH
&XUUHQW IXQFWLRQ	&XUUHQW IXQFWLRQ
OHIW IXQFWLRQ NH\	ULJKW IXQFWLRQ NH\

,Q PDQXDO FRQWURO PRGH	WXST	VYR	,Q PDQXDO FRQWURO PRGH
6WRS PRWRU			6WDUW PRWRU

LCD display

Headline

In the menu level: Menu name

In the parameter level: Parameter name

Three-part display

In the menu level: List of available menus

In the parameter level: Code/subcode and setting or actual value

Device status

	Controller is switched on		Pulse inhibit active
	Controller is enabled		System fault active
	Controller is inhibited		"Fault" device status is active
	Quick stop active		"Trouble" device status is active
	Current limit exceeded		"TroubleQSP" device status is active
	Speed controller 1 in the limitation		A warning is indicated

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2 Introduction: Parameterising the controller

2.3General notes on parameters

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

LCD display

Function - left function key	Function - right function key
Change parameter setting		Accept change in the controller
(change to editing mode)		(no saving with mains failure protection )
Back to main menu		Abort (discard change)
Parameter can only be changed when the controller is inhibited

Save all parameter settings in the memory module safe against mains failure

Control elements

Execute the function assigned to the function key (see LCD display)

Execute the stop function set in C00469 (Lenze setting: Inhibit controller)

Deactivate stop function again (Lenze setting: Enable controller again)

In the menu level: Select menu/submenu
	In the parameter level: Select parameter
	In the editing mode: Change marked digits or select list entry

In the menu level: Select submenu/change to parameter level In the editing mode: Cursor to the right

In the menu level: One menu level higher (if available) In the parameter level: Back to the menu level

In the editing mode: Cursor to the left

Menu structure

In the keypad, the parameters are classified into various menus and submenus.

•The USER menu includes a selection of frequently used parameters.

•The Code list contains all parameters.

•The Go to param function enables you to reach the corresponding parameter directly.

•The Logbook logs all errors and their chronological history.

•The Diagnostics menu contains diagnostic/display parameters for displaying device-internal process factors, current actual values and status messages.

Userlevel

From version 12.00.00 onwards, the extent of menus, submenus an codes shown in the keypad can be adapted by selecting the "Userlevel" in C00001/1:

•Userlevel Standard (Lenze setting): Only the most important menus and codes are shown in the keypad.

•Userlevel Expert: All menus and codes are shown in the keypad.

•Userlevel Service: For service purposes only (Lenze service).

The the Userlevel has been changed, the menus are restructured in the keypad according to the selected Userlevel. The parameters of a plugged in communication module are always displayed completely independent of the set Userlevel.

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2 Introduction: Parameterising the controller

2.3General notes on parameters

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

General operation

		Par1 8400 StateLine C		1. Use the / navigation keys to select the
	1.			desired menu.
		USER - Menu		• Use the / navigation keys to reach a
		Code list
				higher/lower menu level.
		Go To Param
		SAVE		• Use the function key to return to the
				main menu.
		Load Lenze setting	2.	2. Use the / navigation keys to select the
		C00002/001		parameter to be set within a submenu.
		Off / Finished		3. In order to select another subcode in case of a
		EDIT		parameter with subcodes:
				• Press the navigation key to change tot he
		Fixed setpoint 1		editing mode for the subcode.
		C00039/001	3.	• Use the navigation keys to set the desired
		40.00 %		subcode.
		EDIT		4. Use the function key to switch over to the
				editing mode.
		Fixed setpoint 2		5. Use the navigation keys to set the desired value.
		C00039/002		6. Use the function key to accept the change
		60.00 %		and to leave the editing mode.
		EDIT		• Use the function key to leave the editing
	4.			mode without accepting the change.
		Fixed setpoint 2
		C00039/002	5.
		60.00 %
		ESC	OK

6.

[2-2] Example: Changing parameters with the keypad

Multilingualism

All texts displayed in the keypad are in English.

From version 11.00.00 onwards, the most important menus as well as diagnostic and configuration parameters can are also available in German and French. To set a different language, select the Language selection menu item in the main menu of the keypad.

Language			• The multilingual texts are stored in the
			controller and do not have to be loaded into the
English			device.
Deutsch			• For reasons of disc space, only the most
Français
ESC	OK		important menus and parameters as well as the
			error messages are available in several
			languages.

30	Lenze · 8400 StateLine · Reference manual · DMS 12.0 EN · 06/2014 · TD05/TD14