Page 1
Inverter
8400
"Position Sequencer" technology application
for 8400 TopLine C _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Software manual EN
Ä.Oiøä
13467299
L
Page 2
Contents
Contents
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 3
1.1 Document history _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 3
1.2 Conventions used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 4
1.3 Terminology used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5
1.4 Definition of notes used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 6
2 Features of the technology application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 7
2.1 Functional overview _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 7
2.2 Application ranges _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 7
2.3 System requirements _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 8
2.4 Basics of positioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 8
2.5 Positioning sequence control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 9
2.6 Basic signal flow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 10
2.7 Parameter setting in the FB Editor view _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 11
2.8 Pre-assignment of the I/O terminals _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12
3 Short setup of the technology application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14
3.1 Preconditions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14
3.2 Step 1: Load "Position Sequencer" technology application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15
3.3 Step 2 (optional): Establish control via the fieldbus interface (MCI) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 16
3.3.1 Pre-assignment of the process data input words _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 18
3.3.2 Pre-assignment of the process data output words _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 19
3.4 Step 3: Set commissioning parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20
3.5 Step 4: create the positioning program (sequence table) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 23
3.6 Step 5: Go online and transfer parameter set to the inverter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25
3.7 Step 6: Enable inverter and start positioning program _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 25
3.8 Step 7 (optional): Set optimisation parameters _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27
4 Detailed functions of the technology application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29
4.1 Signal flow of the technology application _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 30
4.2 Basic drive functions (MCK) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 31
4.2.1 Homing _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 31
4.2.2 Manual jog _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33
4.2.3 Positioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35
4.2.4 Holding brake control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 35
4.3 Speed/position output via axis bus for a slave drive _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 36
4.4 Monitoring functions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 37
4.4.1 Following error monitoring system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 37
4.4.2 Limit position monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 39
4.4.2.1 Hardware limit switch _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 39
4.4.2.2 Software limit positions _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 40
4.4.3 Error and status messages of the positioning sequence control _ _ _ _ _ _ _ _ _ _ _ _ _ _ 41
5 Appendix: Action types for the positioning sequence control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 42
5.1 Homing _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 43
5.2 Positioning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 44
5.3 Branching _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 48
5.4 Variable branch _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 49
5.5 Switch _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 50
5.6 Counter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 51
5.7 Count _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 52
5.8 Wait _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 53
5.9 Standby _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 54
5.10 End _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 55
Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 57
2 Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05
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1 About this documentation
1.1 Document history
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1 About this documentation
This documentation described the software-based solution of a task. The transferability of the
described solution to the respective application case needs to be checked by the user. If required, the
user has to adapt the solution accordingly. Thus, physical aspects as e.g. drive dimensioning is not
part of 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 want to use the "Position Sequencer" technology application for the 8400 TopLine inverter,
and
• who are familiar with handling the device and the »Engineer« software.
Validity
The information in this documentation are valid for the following technology applications:
Technology application from version
Position Sequencer 2.0
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
1.1 Document history
Download
Version Description
1.0 07/2014 TD05 First edition
Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05 3
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1 About this documentation
1.2 Conventions used
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1.2 Conventions 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 prefix "0x" is used.
Example: 0x60F4
Binary number 0b For binary numbers, the prefix "0b" is used.
Example: 0b00010111
Text
Version information Blue text colour All information that only applies to a certain controller
Program name » « The Lenze »Engineer« PC software ...
Window italics The Message window ... / The Options dialog box...
Variable name By setting bEnable to TRUE...
Control element bold The OK button... / The Copy command... / The Properties
Sequence of menu
commands
Shortcut <bold> Press <F1> to open the online help.
Hyperlink underlined
Icons
Page reference ( 4) Optically highlighted reference to another page. In this
Step-by-step instructions
software version or higher is identified accordingly in this
documentation.
Example: This function extension is available from software
version V3.0!
tab... / The Name input field...
If the execution of a function requires several commands,
the individual commands are separated by an arrow: Select
Open to...
File
If a command requires a combination of keys, a "+" is placed
between the key symbols:
Use <Shift>+<ESC> to...
Optically highlighted reference to another topic. In this
documentation activated by mouse-click.
documentation activated by mouse-click.
Step-by-step instructions are indicated by a pictograph.
4
Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05
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1 About this documentation
1.3 Terminology used
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1.3 Terminology 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
Code Parameter used for controller parameterisation or monitoring.
The term is usually called "index".
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".
Lenze setting This setting is the default factory setting of the device.
FB Editor Abbreviation for function block editor. Graphic interconnection tool which is available in the
Function block General designation of a function block for free interconnection in the FB Editor.
System block In the function block editor of the »Engineer«, system blocks provide interfaces to basic
Port block Block for implementing the process data transfer via a fieldbus
LP Abbreviation for Lenze Port block
LS Abbreviation for Lenze System block
MCI Abbreviation for Motionbus Communication Interface (fieldbus interface)
Technology
application
USB diagnostic
adapter
»Engineer« for function block interconnections on the FB Editor.
Ein Funktionsbaustein (kurz: "FB") kann mit einer integrierten Schaltung verglichen werden,
die eine bestimmte Steuerungslogik enthält und bei der Ausführung einen oder mehrere
Werte liefert.
Example: "L_Arithmetic_1" (FB for arithmetic operations)
Many function blocks are available several times (e.g. L_And_1, L_And_2, and L_And_3).
functions, "free codes", and to the hardware of the inverter (e.g. to the digital inputs). Each
system block is available only once.
Example: "LP_CanIn1" (CAN1 port block)
Example: "LS_DigitalInput" (system block for digital input signals)
The Inverter Drives 8400 can accommodate plug-in communication modules and can
therefore take part in the data transfer of an existing fieldbus system.
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.
The USB diagnostic adapter is used for the operation, parameterisation, and diagnostics of
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
Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05 5
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1 About this documentation
1.4 Definition of notes used
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1.4 Definition of 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
Danger! Danger of personal injury through a general source of danger
Stop! Danger of property damage
Application notes
Pictograph Signal word Meaning
Note! Important note to ensure trouble-free operation
Refere nce to an i mmin ent d ange r tha t may resu lt in deat h or serio us pe rsonal in jury
if the corresponding measures are not taken.
Refere nce to an i mmin ent d ange r tha t may resu lt in deat h or serio us pe rsonal in jury
if the corresponding measures are not taken.
Reference to a possible danger that may result in property damage if the
corresponding measures are not taken.
Tip! Useful tip for simple handling
6
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2 Features of the technology application
2.1 Functional overview
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
2 Features of the technology application
With the "Position Sequencer" technology application, the drive can execute parameterisable travel
profiles. The program flow is defined on the basis of a sequence table.
2.1 Functional overview
• Sequence control for several successive positioning steps with pause and abort functions and
different auxiliary functions (e.g. branching, counting, waiting)
• Positioning in different positioning modes
• Point-to-point positioning
• Touch probe positioning (residual path positioning)
• Profile linkage with velocity changeover (overchange)
• Homing (homing/reference setting)
• For a homing process, different modes are provided.
• Profile data management
• Support of S-profiles (jerk limitation)
• Separate setting for acceleration and deceleration
• Use of the state machine of the Motion Control Kernel (MCK) and the following basic drive
functions:
•Homing
•Manual jog
• Positioning
• Holding brake control
• Limit position monitoring (hardware limit switches and software limit positions)
• Following error monitoring system
• Control/status signals optionally via digital terminals and fieldbus interface (MCI)
Tip!
By means of the "Position Sequencer" technology application, the 8400 TopLine can also be
used as master for slave drives with the "Electrical Shaft Slave" or "Position Follower"
technology application.
2.2 Application ranges
• Transport devices
•Rotary tables
•Feed drives
• Dosing units
•Hoists
• ...
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2 Features of the technology application
v [unit/s]
t [s]
A
B
C D
A
B
C
D
2.3 System requirements
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
2.3 System requirements
The technology application was created with the L-force »Engineer« V2.20 and can only be used
with the versions V2.20 or higher.
Software
Product Order designation from version
L-force »Engineer« HighLevel ESPEV-EHNNN 2.20
Hardware
Product Order designation from hardware
Inverter Drives 8400 TopLine C E84AVTCxxxxx VD 13.00
2.4 Basics of positioning
Positioning means that a workpiece/tool or material is moved from a starting position to a
defined destination :
To carry out positioning, a travel profile has to be stored in the drive controller for at least the
following profile parameter:
version
from software
version
Icon Profile parameter
Position
Target position or distance to be traversed.
Velocity
Maximum speed during the positioning process.
Acceleration
Maximum acceleration during the positioning process.
Delay
Maximum deceleration during the positioning process.
8
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2 Features of the technology application
1
n
2
0
1
0
Set
00 1
Standby End
3
4
2
2.5 Positioning sequence control
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
• A profile describes a motion task that can be converted into a rotary motion of the motor shaft
by the Motion Control Kernel in the "Positioning" operating mode.
• A positioning process can be composed of a large number of profiles that are executed in a fixed
manner.
• For the 8400 TopLine inverter, 15 different profiles can be parameterised.
A detailed explanation of all profile parameters can be found in the appendix in the
description for the "Positioning
2.5 Positioning sequence control
For the positioning sequence control, the L_Sequencer_1 FB is used. This FB processes a positioning
program on the basis of a sequence table (also referred to as "sequencer"), which can contain up to
100 references to so-called "Actions".
" action type. ( 44)
• An action comprises a clear functionality which is described with a few parameters.
• Different action types are available which serve to realise, for instance, program branching,
switching operation, waiting times and counters.
• A certain number of actions are available from every action type which can be parameterised
individually.
• An action can be called from several positions in the sequence table.
• After an action has been processed, the action entered in the sequence step of the sequence
table is automatically processed unless a branching causes a jump to another step in the
sequence table.
• Maximally one action can be processed per calculation cycle.
• The sequence table and the actions themselves are represented by parameters (codes with
subcodes).
A detailed description of the action types can be found in the appendix. ( 42)
The L_Sequencer_1 FB is described in detail in the reference manual/online help for the
inverter in the "Function library »function blocks" chapter.
Note!
Additional logic operations in the application prevent the positioning program from
being started if the basic function "Manual jog" or "Homing" is activated. On the other
hand, it is avoided that these two basic functions can be activated if the positioning
program is being processed.
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2 Features of the technology application
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2.6 Basic signal flow
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
2.6 Basic signal flow
In the technology application, function blocks and system blocks are interconnected so that a
positioning sequence control can be implemented for the application ranges mentioned before.
The following describes the principal signal flow with the essential functions.
Basic signal flow of the "Position Sequencer" technology application
10
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2 Features of the technology application
2.7 Parameter setting in the FB Editor view
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
2.7 Parameter setting in the FB Editor view
You can make the settings of the application-specific parameters directly in the FB Editor. This has
the advantage that the signal flow can be traced. The interaction of the modules becomes clear.
Moreover, you can reconfigure the I/O interconnection using the FB Editor and carry out an online
monitoring of the application running in the device (e.g. for diagnostic purposes).
• The icon in the head of the module, a double-click on the module, or the Parameter...
command in the Context menu of the module serve to open the parameterisation dialog or the
parameter list for the module.
• Colour codes and comments support you in handling the FB Editor.
• The areas highlighted in turquoise represent the "user interface". If required, the preassignment of the I/O terminals can be adapted here and a control via the fieldbus interface
(MCI) can be established.
• In the areas highlighted in yellow, application-specific settings are required.
Detailed information on how to work with the FB Editor can be found in the reference
manual/online help of the controller in the chapter "Working with the FB Editor".
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2 Features of the technology application
2.8 Pre-assignment of the I/O terminals
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
2.8 Pre-assignment of the I/O terminals
Terminal Function
Digital input terminals
X5/RFR Controller enable
X5/DI1
X5/DI2
X5/DI3 Start positioning program
X5/DI4 Reference switch connection
X5/DI5
X5/DI6
X5/DI7 Reset error message and positioning program
Analog input terminals
X3/A1U - (not assigned, can be used freely)
X3/A2U - (not assigned, can be used freely)
Connection of positive/negative limit switches for monitoring of the travel range limits
• The connection is configured in a fail-safe fashion (LOW = limit switch activated).
DI1 Function
LOW Positive limit switch approached (activated)
HIGH Positive limit switch not approached (not activated)
DI2 Function
LOW Negative limit switch approached (activated)
HIGH Negative limit switch not approached (not activated)
Note!
If no limit switches are available:
1.Keep terminals DI1 and DI2 unconfigured.
2.Deactivate the inversion of DI1 and DI2: set bit 0 and bit 1 to "0" in C00114.
DI3 Function
LOWHIGH Start positioning program
Tip!
The "USER" LED status display on the front of the inverter is lit when the positioning program is
running.
DI4 Function
LOW Reference switch activated
HIGH Reference switch not activated
Manual jog
DI5 DI6 Function
LOW LOW -
HIGH LOW Manual jog in positive direction
LOW HIGH Manual jog in negative direction
HIGH HIGH - / Manual jog in the direction selected first
DI7 Function
LOW No reset
LOWHIGH Reset error message
HIGH Reset positioning program
12
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2 Features of the technology application
2.8 Pre-assignment of the I/O terminals
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Terminal Function
Digital output terminals
X4/DO1 HIGH ≡ "Drive is ready" state
X4/DO2 HIGH ≡ "Actual position is in target position window" state
X4/DO3 HIGH ≡ "Home position is known" state
X107/BD1, BD2 Control of a holding brake by the basic function "holding brake control"
X101/COM, NO Relay contact closed ≡ "An error is pending" state
Analog output terminals
X3/O1U Actual speed value
• Scaling: 10 V ≡ 100 % reference speed (C00011)
X3/O2U Actual torque
• Scaling: 10 V ≡ 100 % maximum torque (C00057)
Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05 13
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3 Short setup of the technology application
3.1 Preconditions
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
3 Short setup of the technology application
3.1 Preconditions
For the execution of the short setup described in the following, the setting of the most important
parameters (motor, feedback system, etc.) is assumed.
The "commissioning wizard 8400" serves to carry out a guided commissioning of the controller
based on the Lenze setting of the parameters.
How to proceed:
1. Before switching on:
open).
2. Switch on voltage supply of the controller.
For parameter setting and diagnostics of the controller without motor operation
24-V supply through a safely separated power supply unit (SELV/PELV) is sufficient.
3. Establish a communication link between controller and Engineering PC, e.g. via USB diagnostic
adapter (E94AZCUS):
• connect the USB diagnostic adapter to the X6 diagnostic interface.
• establish a connection between the USB diagnostic adapter and the PC via a free USB port.
4. Start »Engineer« on the Engineering PC, e.g. via the Windows® start menu:
Start All programs Lenze Engineering L-force Engineer...
After the program start, no project has been loaded first and the start-up wizard is displayed.
Make sure that the inverter is inhibited (digital input terminal X5/RFR
, an external
You can find detailed information on the options of the start-up wizard and on the
general use of the »Engineer« in the online help for the program which you can call with
[F1].
5. Create a new project or open a project already available.
6. Go to Project View and select the 8400 controller.
7. Click the icon to go online.
After a connection to the controller has been established, the following status is displayed in the
Status line:
8. Click the icon to start the commissioning wizard 8400.
• Now the commissioning wizard guides you step by step through the setting of the important
parameters for a quick commissioning.
•The Next button can only be activated again after all parameter settings in the device have
been reset via the Load Lenze setting button.
• Execute the commissioning wizard right to the end.
• You can skip the "Control mode" step by clicking Next (only relevant for "Speed actuating
drive" technology application).
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3 Short setup of the technology application
3.2 Step 1: Load "Position Sequencer" technology application
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
3.2 Step 1: Load "Position Sequencer" technology application
In the Lenze setting, the inverter uses the "Speed actuating drive" technology application integrated
in the device. Execute the following steps to use the "Position Sequencer" technology application
instead:
1. Select the controller in the Project view.
2. If there is still an online connection to the controller:
Click the icon to go offline again.
(the application can only be selected offline.)
3. Click the icon to select another application.
The Insert application dialog box appears:
4. In the left field, select the "Packages" "Applications" category.
5. In the right field, select the "Position Sequencer" application.
6. Activate the Except motor data parameters option in order that the settings of the motor data
parameters made before will not be overwritten.
7. Press Complete to close the dialog box again and load the selected application into the
»Engineer« project.
8. Confirm the prompt on whether the current application is to be replaced by the "Position
Sequencer" application with Yes.
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3 Short setup of the technology application
3.3 Step 2 (optional): Establish control via the fieldbus interface (MCI)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
3.3 Step 2 (optional): Establish control via the fieldbus interface (MCI)
In the default setting, the application is controlled via the digital input terminals. For higher
automated systems, mostly data bus systems are used for controlling the drives.
For control via the fieldbus interface (MCI), the user interface (area highlighted in turquoise) is to be
adapted accordingly in the function block editor.
• The assignment of the outputs on the left to the inputs on the right can be changed at will.
• The inputs on the right are permanently linked to functions of the application.
Tip!
By means of some simple configuration changes, control via the integrated CANopen
interface ("CAN on board") can also be implemented. The port blocks LP_CanIn and
LP_CanOut required for this are already provided in the interconnection.
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3 Short setup of the technology application
3.3 Step 2 (optional): Establish control via the fieldbus interface (MCI)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
The following sample illustration shows the interconnection required for achieving the Pre-
assignment of the process data input words described in the following subchapter:
Adaptation of the user interface for a control via the fieldbus interface (MCI)
[3-1] User interface for sequencer inputs, the application control word, and the speed override setpoint in the function block editor
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3 Short setup of the technology application
3.3 Step 2 (optional): Establish control via the fieldbus interface (MCI)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
3.3.1 Pre-assignment of the process data input words
After adapting the interconnection according to the [3-1] illustration, the process data input words
for a control via the fieldbus interface (MCI) are assigned as follows:
Input words Assignment
Word 1 Control word (for bit assignment see the following table)
Word 2 Setpoint for speed override
Word 3 Target for a variable branch in the positioning program
(input signal for action 1 of the "Variable branch
• When the positioning program contains an action 1 of "Variable branching" type, branching
is carried out in the corresponding step depending on the value available at this input.
Word 4 Sequencer inputs 1 ... 16 (bit coded)
• The "Positioning", "Branch", "Wait", and "Standby" action types are provided with the "Input
for..." parameter. If it is non-zero, it designates the number of the sequencer input at which
the positioning program expects the level defined for this purpose before it executes the
action.
Note!
If the sequencer inputs are to be triggered via the digital inputs instead, C00470/1 has to be set
to the value "1: True".
Word 5 ... 16 - (not preconfigured)
" type)
Control word Function
Bit 0 - (not preconfigured)
Bit 1 - (not preconfigured)
Bit 2 1 ≡ activate quick stop (QSP)
Bit 3 1 ≡ enable controller (RFR)
Bit 4 1 ≡ activate speed override
Bit 5 - (not preconfigured)
Bit 6 0 ≡ stop homing
1 ≡ start homing
Bit 7 1 ≡ Reset fault (trip reset)
Bit 8 - (not preconfigured)
Bit 9 1 ≡ start positioning sequence control
Bit 10 1 ≡ set reference
Bit 11 1 ≡ reset positioning sequence control
Bit 12 ... 13 Manual jog
Bit 12 Bit 13 Function
00-
1 0 Manual jog in positive direction
0 1 Manual jog in negative direction
1 1 - / Manual jog in the direction selected first
Bit 14 - (not preconfigured)
Bit 15 1 ≡ stop positioning sequence control (pause)
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3 Short setup of the technology application
3.3 Step 2 (optional): Establish control via the fieldbus interface (MCI)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
3.3.2 Pre-assignment of the process data output words
The LP_MciOut port block is already implemented in the technology application. The process data
output words are assigned as follows:
Output words Assignment
Word 1 Status word (for bit assignment see the following table)
Word 2 Actual speed value
• Scaling: 16384 ≡ 100 % reference speed (C00011)
Word 3 Actual torque
• Scaling: 16384 ≡ 100 % maximum torque (C00057)
Word 4 ... 16 - (not preconfigured)
Status word Status
Bit 0 1 ≡ Group error active (configurable in C00148)
Bit 1 1 ≡ Inverter control inhibited (pulse inhibit is active)
Bit 2 1 ≡ Drive controller is ready for operation
Bit 3 1 ≡ Quick stop is active
Bit 4 1 ≡ Setpoint torque is in the limitation
Bit 5 1 ≡ actual position is inside the target position window
Bit 6 During open-loop operation:
1 ≡ speed setpoint < comparison value (C00024)
During closed-loop operation:
1 ≡ actual speed value < comparison value (C00024)
Bit 7 1 ≡ Controller inhibited (controller inhibit is active)
Bit 8 ... 11 Bit coded display of the active device status
Bit 11 Bit 10 Bit 9 Bit 8 Device status Meaning
0 0 0 0 FirmwareUpdate Firmware update function is active
0001Init Initialisation active
0 0 1 0 Ident Identification active
0 0 1 1 ReadyToSwitchOn Device is ready to start
0100SwitchedOn Device is switched on
0 1 0 1 OperationEnabled Operation
0110- -
0111Trouble Trouble active
1000Fault Fault active
1001TroubleQSP TroubleQSP is active
1010SafeTorqueOff Safe torque off is active
1011SystemFault System fault active
Bit 12 1 ≡ a warning is indicated
Bit 13 1 ≡ a fault is active. The inverter is in the "Trouble" device state.
• The motor has no torque (is coasting) due to the inhibit of the inverter.
• The "Trouble" device status is automatically abandoned if the error cause has been removed.
Bit 14 1 ≡ positioning program running
Bit 15 1 ≡ Home position is known
Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05 19
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3 Short setup of the technology application
3.4 Step 3: Set commissioning parameters
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
3.4 Step 3: Set commissioning parameters
For a quick commissioning, only the following application-specific parameters have to be set or
their default setting has to be checked!
• In order that you quickly find the respective parameterisation dialog in the FB Editor, the
following table lists the block related to each parameter.
• The icon in the head of the module, a double-click on the module, or the Parameter...
command in the Context menu of the module serve to open the parameterisation dialog or the
parameter list for the module.
Parameter
(Block)
C00470/1
(LS_ParFree_b)
C00470/2
(LS_ParFree_b)
C00470/4
(LS_ParFree_b)
Machine parameters/axis settings
C01201/1
(LS_MotionControl
Kernel)
Possible settings
(Lenze setting printed in bold)
0 MCI interface Sequencer inputs = process data input word 3
1 Digital inputs For this setting, cancel all double assignments of the
0Setpoint Line data words 1 & 2 = speed setpoint integrated to
1 Actual value Line data words 1 & 2 = actual speed value
0Off The signals are output via axis bus according to the
1 On This setting is only required if the drive is to be used
0.0000 units 214748.3647 Cycle length
Lenze setting: 0.0000 units
Info
Selection of the source for the sequencer inputs
• The sequencer inputs can be used for the
"Positioning", "Branch", "Wait", and "Standby"
actions to control the program flow by this.
digital inputs, so that they only work as sequencer
inputs.
Selection of the signal to be output via axis bus
an angle (path)
Line data word 3 = speed setpoint
integrated to an angle (path)
Line data word 3 = actual speed value
Operation as position follower master
setting in C00470/2.
as master for a slave drive with the "Position
Follower" technology application. The following
signals are then output via axis bus:
Line data words 1 & 2 = current position
Line data word 3 = current speed
Note:
With this setting, homing of the master causes a step
in the slave position follower if the current position is
set to the home position!
Remedy:
are referencing the master!
Inhibit the slave position follower when you
• For a modulo measuring system, the length of
one cycle to the overflow is to be set.
• For a limited measuring system, the Lenze setting
"0.0000" is to be retained.
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3 Short setup of the technology application
M
d
C01204 = * dp
Motor
Motor
i
Motor
C01202/1
C01202/2
-------------------------
Z2
Z1
------==
M
C01202/1 : C01202/2
Z2 : Z1
i
Motor
M
C01203/1 : C01203/2
: n
d
i
Load
i
virtual
i
Motor
=
numerator
denominator
Load
n
Motor Position encoder
d
Motor
i
virtual
C01203/1
C01203/2
-------------------------
i
Motor
i
load
--------------
π d
load
⋅
π d
Motor
⋅
------------------------
⋅==
i
virtual
C01202/1
C01202/2
-------------------------
denominator
numerator
--------------------------------- -
π d
load
⋅
C01204
--------------------
⋅⋅=
3.4 Step 3: Set commissioning parameters
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Parameter
(Block)
C01204
(LS_MotionControl
Kernel)
C01206/1
(LS_MotionControl
Kernel)
C01202/1..2
(LS_MotionControl
Kernel)
Possible settings
(Lenze setting printed in bold)
Info
0.0001 units/rev.214748.3647 Feed constant
• The feed constant corresponds to the movement
Lenze setting: 360.0000 units/U
of the machine during one revolution of the
gearbox output shaft.
• The value is entered in application units relating
to one gearbox revolution.
• Schematic diagram of a conveyor drive:
Motor mounting direction
0 not inverted Motor is mounted directly
1 inverted Motor is mounted with rotation by 180°
1 65535 Gearbox ratio motor - load
Lenze setting: 1:1
• Set the gearbox ratio with mathematical
precision in the two subcodes:
• Subcode 1: numerator term (Z2)
• Subcode 2: denominator term (Z1)
• Schematic diagram of a conveyor drive:
Position encoder
If the motor encoder is used as position encoder, you do not need to parameterise a separate position encoder. Keep
the Lenze setting for the following codes.
C01206/2
(LS_MotionControl
Kernel)
0 not inverted Position encoder is mounted directly
Position encoder mounting direction
1 inverted Position encoder mounted with rotation by 180
C01203/1..2
(LS_MotionControl
Kernel)
1 65535 Speed ratio for motor - position encoder
Lenze setting: 1:1
• Set the "virtual" speed ratio between the motor
and the external position encoder with
mathematical precision in the two subcodes:
• Subcode 1: numerator term (motor speed)
• Subcode 2: denominator term (encoder speed)
• Schematic diagram of a conveyor drive:
• The "virtual" speed ratio can be calculated as
follows:
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3 Short setup of the technology application
3.4 Step 3: Set commissioning parameters
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Parameter
(Block)
Following error monitoring system
C01215/1
(LS_MotionControl
Kernel)
C01215/2
(LS_MotionControl
Kernel)
C00595/5...6
(LS_SetError_1)
Limit position monitoring
C01229/1...2
(LS_MotionControl
Kernel)
Possible settings
(Lenze setting printed in bold)
0.0001 units 214748.3647 Limit for following error monitoring 1
Lenze setting: 500 units
0.0001 units 214748.3647 Limit for following error monitoring 2
Lenze setting: 1000 units
0No Reaction
1Fault
3 TroubleQuickStop
4 WarningLocked
5 Warning
6Information
-214748.3647 units 214748.3647 Positive and negative software limit position for
Lenze setting: 0.0000 units
Info
• The setting "0" deactivates following error
monitoring 1
• The setting "0" deactivates following error
monitoring 2
Response at the activation of following error
monitoring
• Subcode 5: response at the activation of following
error monitoring 1.
• Subcode 6: response at the activation of following
error monitoring 2.
limiting the valid traversing range
Note:
The software limit positions are only evaluated if
• the home position is known to the drive, and
• the software limit positions for the respective
operating mode have been activated, and
• the positive software limit position is set to a
greater value than the negative software limit
position!
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3 Short setup of the technology application
3.5 Step 4: create the positioning program (sequence table)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
3.5 Step 4: create the positioning program (sequence table)
The sequence table is parameterised in the parameterisation dialog for the L_Sequencer_1 FB.
Note!
In the default setting, the sequence table already contains a small "positioning
program", which rotates the axis first by 360° in clockwise direction and then by 360° in
counter-clockwise direction.
The parameterisation dialog is divided into four main areas:
Main area Info
Sequence table (sequencer) The sequence table consists of 100 fields which can be filled with actions.
Selection of action type In this area, the different action types are provided for selection, by means of
which the sequence table can be filled.
Comment on the action Optionally, a comment on the action selected can be entered here.
Action parameters In this area, the parameters for the action selected are set.
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3 Short setup of the technology application
3.5 Step 4: create the positioning program (sequence table)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
General procedure
Proceed as follows to define the desired program flow:
1. Select the program step ((1 ... 100) that is to be edited in the Sequence table on the left.
2. Select the action type for the program step selected by clicking it in the Selection of action type
area.
If more than one action is provided for the action type selected, the next free action in the
Selection of action number list field is automatically proposed.
3. Optionally enter a comment on the action.
4. Set the action parameters.
Depending on the action type, further parameterisation dialogs can be called via buttons.
5. Repeat steps 1 ... 4 until all actions required for the program flow have been parameterised.
6. Click Close to change back to the function block editor.
A detailed description of the action types can be found in the Appendix. ( 42)
The L_Sequencer_1 FB is described in detail in the reference manual/online help for the
inverter in the "Function library »function blocks" chapter.
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3 Short setup of the technology application
3.6 Step 5: Go online and transfer parameter set to the inverter
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
3.6 Step 5: Go online and transfer parameter set to the inverter
In order to set the current parameter settings in the controller to the settings in the project, transmit
the parameter set to the controller.
1. Click the icon to go online.
2. Click the icon to transmit the parameter set to the controller.
3. After a successful transmission, click the icon to save the parameter set safe against mains
failure in the integrated Memory Module.
3.7 Step 6: Enable inverter and start positioning program
After the parameter set has been transmitted to the inverter, the inverter can now be enabled and
the control signals/setpoints can be selected via the corresponding interfaces.
Pre-assignment of the I/O terminals
Pre-assignment of the process data input words
( 12)
( 18)
Display parameters for diagnostic purposes
Parameter
(Block)
C01210/2
(LS_MotionControl
Kernel)
C01210/3
(LS_MotionControl
Kernel)
C01210/4
(LS_MotionControl
Kernel)
Display area Info
-214748.3647 units 214748.3647 MCK: Set position
• Display of the current setpoint position calculated
by the MCK.
-214748.3647 units 214748.3647 MCK: Actual position
• Display of the current actual position calculated
by an optional encoder system.
-214748.3647 units 214748.3647 MCK: Following error
• Display of the current following error as a
difference between setpoint position and actual
position.
Start positioning program
• The positioning program is started in a positive edge-controlled fashion via bit 4 of the
application control word (L_ConvBitsToWord_2 FB). In the default setting, bit 4 is linked with
digital input DI3.
• Counters and outputs are not reset automatically through this.
• The positioning program started is processed up to its program end even if bit 4 is reset to
FALSE again.
• A start via the fieldbus interface (MCI) is possible after the user interface has been adapted
correspondingly. See commissioning; Step 2 (optional): Establish control via the fieldbus
interface (MCI). ( 16)
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3 Short setup of the technology application
3.7 Step 6: Enable inverter and start positioning program
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Resetting the positioning program (reset)
• Bit 11 of the application control word (L_ConvBitsToWord_2 FB) can be used to reset the
positioning program. In the default setting, bit 11 is linked with digital input DI7.
• A reset can also be executed if the positioning program is interrupted.
• If a positioning is active, the drive is brought to a standstill with the delay time for stop
(C01251/1) without considering an acceleration override.
• The program flow is cancelled ("program end").
• The digital output signals, counters and timing elements are reset.
• A possibly active action of the "Standby
• A reset via the fieldbus interface (MCI) can be executed after the user interface has been
adapted correspondingly. See commissioning; Step 2 (optional): Establish control via the
fieldbus interface (MCI). ( 16)
Interrupting the positioning program (pause)
• Bit 15 of the application control word (L_ConvBitsToWord_2 FB) can be used to interrupt the
current step of the positioning program (pause). In the default setting, bit 15 is linked with
bit 15 of MCI process data input word 1. Pre-assignment of the process data input words
( 18)
" type is aborted.
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3 Short setup of the technology application
M
n
50 %
-100 % 100 %50 %
C00472/3 = 25 %
-50 %
25 %
-50 %
-25 %
C00472/4 = 50 %
3.8 Step 7 (optional): Set optimisation parameters
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
3.8 Step 7 (optional): Set optimisation parameters
The following application-specific parameters are used for optimisation and can also be adapted
during operation.
Stop!
If you change parameters in the »Engineer« during an online connection to the device,
the changes are directly transferred to the device!
Tip!
Do not forget to save the parameter changes carried out with mains failure protection in
the memory module implemented! (C00002/11 = "1: on/start")
Parameter
(Block)
Position controller
C00472/1
(LS_ParFree_a)
C00472/2
(LS_ParFree_a)
Torque limitation in motor mode/in generator mode
The torque limitation set is always active. Example: Definition of the torque limitations
C00472/3
(LS_ParFree_a)
C00472/4
(LS_ParFree_a)
Following error monitoring system
C01244/2...3
(LS_MotionControl
Kernel)
Possible settings Info
-199.99 % 199.99 Limitation of the position controller output
Lenze setting: 100 % reference speed
(C00011)
-199.99 % 199.99 Adaptation of the position controller gain
Lenze setting: 100 % Vp (C00254)
-199.99 % 199.99 Torque limitation in motor mode
Lenze setting: 100 % maximum torque
(C00057)
-199.99 % 199.99 Torque limitation in generator mode
Lenze setting: 100 % maximum torque
(C00057)
0 ms 600000 Waiting time for following error monitoring 1 & 2
Lenze setting: 0 ms
• In order to avoid that an error is triggered by
acceleration and a narrow tolerance limit can be
nevertheless monitored at standstill in the target,
the response of the following error monitoring
system can be delayed by setting a waiting time.
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3 Short setup of the technology application
3.8 Step 7 (optional): Set optimisation parameters
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Parameter
(Block)
Limit position monitoring
C01230 - Bit 3
(LS_MotionControl
Kernel)
C00595/1...4
(LS_MotionControl
Kernel)
Error/status messages of the positioning sequence control
C00581/1...2
(LS_SetError_1)
C00581/3
(LS_SetError_1)
Possible settings Info
Consideration of the software limit positions in MCK
0 Software limit positions not
active
1 Software limit positions active
(if the home position is known)
0No Reaction
1Fault
3TroubleQuickStop
4 WarningLocked
5 Warning
6Information
0No Reaction
1Fault
2Trouble
3TroubleQuickStop
4 WarningLocked
5 Warning
6Information
0No Reaction
1Fault
2Trouble
3 TroubleQuickStop
4 WarningLocked
5 Warning
6Information
"Manual jog" operating mode
Response at the activation of limit position
monitoring
• Subcode 1: response at the approach of the
• Subcode 2: response at the approach of the
• Subcode 3: response at overtravelling the positive
• Subcode 4: response at overtravelling the
Response to errors of the positioning sequence
control
• Subcode 1: response if the time monitoring
• Subcode 2: response if the positioning sequence
Response if the positioning program has been
started and is pausing.
positive limit switch.
negative limit switch.
software limit position (C01229/1).
negative software limit position (C01229/2).
function for the "Positioning" action has been
activated.
control reports an error.
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4 Detailed functions of the technology application
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4 Detailed functions of the technology application
This chapter describes the functions implemented in the "Position Sequencer" technology
application with the possible settings relevant for the application.
Detailed information on the function and parameterisation of the functions described in
the following can be found in the reference manual/online help of the controller.
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30 Lenze · 8400 "Position Sequencer" technology application · Software manual · DMS 1.0 EN · 07/2014 · TD05
Bit 12
Bit 13
Bit 2
Bit 4
Bit 6
Bit 3
Bit 7
Bit 9
Bit 10
Bit 11
Bit 15
1
0
C/100470
DI1
DI2
DI4
LS_MotionControlKernel
LS_MotorInterface
L_OffsetGainP_2
nSpeedOverride_a
bLimitSwitchPos
bLimitSwitchNeg
bHomingMark
MCI - Word 2
L_Sequencer_1
bStart
bPause
bReset
wBranch1
wDigitalInputs
wMckPosCtrl_1
wMckPosCtrl_2
bProgramBusy
Motion State
L_MckCtrlInterface_1
wInMckPosCtrl_1
wInMckPosCtrl_2
bManJogPos
bManJogNeg
bHomingStartStop
bHomingSetPos
bEnableVelOverride
Bit 12
Bit 13
Bit 6
Bit 10
Bit 4
L_SignalSwitch_4
MCI - Word 4
DI1 ... DI7
L_ConvW_3MCI - Word 3
Start/stop homing
Enable controller
Reset error
Start position sequencer
Set home position
Reset position sequencer
Interrupt the current step
of the positioning program
Positive limit switch
Negative limit switch
Homing mark
Activate quick stop
Speed override set value
Manual jog positive
Manual jog negative
Activate speed override
Selection of branch destination
1 ... 20 for action type
"Variable branching"
Position sequencer
digital inputs
("Sequencer inputs")
User interface: control word and set values
Motor control
(MCTRL)
Locking
(if homing or manual
jog is active)
Locking
of basic drive functions
(if positioning program
is running.)
4.1 Signal flow of the technology application
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4 Detailed functions of the technology application
Page 31
4 Detailed functions of the technology application
4.2 Basic drive functions (MCK)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4.2 Basic drive functions (MCK)
Danger!
During homing, manual jog, and positioning, specially assigned profile parameters are
active. If they have not been set correctly, the drive may carry out an unexpected
movement!
Detailed information relating to the basic drive functions and the corresponding
parameters can be found in the reference manual/online help of the inverter in the
"Basic drive functions (MCK)" chapter.
4.2.1 Homing
In order to be able to actuate the drive in a reasonable fashion, the position of the zero position
within the physically possible travel range must be known. The zero position, also called the
"reference", can be defined by homing or reference setting. This so-called "homing" is usually carried
out after the mains is switched on. Furthermore homing is required after an encoder error has been
eliminated.
• The homing is started/stopped manually via bit 6 of the application control word
(L_ConvBitsToWord_2 FB). In the default setting, bit 6 is linked with bit 6 of MCI process data
input word 1. Pre-assignment of the process data input words
• The "100: SetRef" homing mode is preset in C01221. Homing is not executed; in this mode the
current position is just accepted as zero point of the measuring system ("reference setting").
• Homing is to be configured according to the requirement of the application, as described in the
reference manual/online help of the inverter.
• If the home position is known to the drive, a response is sent via digital output DO3 and bit 15
of the MCI process data output word 1.
( 18)
Note!
Additional logic operations in the application prevent the basic function "Homing" from
being activated if the positioning program is processed.
Tip!
In addition to "manual" homing via bit 6, also the possibility of defining homing in the
program flow of the positioning sequence control is provided (ideally as the first program
step).
See description of the "Homing
" action type in the appendix. ( 43)
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4 Detailed functions of the technology application
4.2 Basic drive functions (MCK)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
How to go to the parameterisation dialog of the basic "Homing" function:
1. Open the parameter list for the LS_MotionControlKernel SB.
2. In the Block Parameters List... dialog box on the Application parameters tab, select the
"Homing" entry in the upper list field.
Note!
For a reference search with touch probe detection:
If the reference signal is to follow a real touch probe, the touch probe interface must be
configured accordingly via the Setting up TouchProbe... button!
Parameter Info Lenze setting
Value Unit
C01221 MCK: Homing mode 100: SetRef
C01224/1 MCK: Ref. initial speed 180.0000 unit/s
C01225/1 MCK: Ref. initial acceleration 3600.0000 unit/s2
C01224/2 MCK: Ref. search speed 60.0000 unit/s
C01225/2 MCK: Ref. search acceleration 3600.0000 unit/s2
C01226/1 MCK: Ref. S-ramp time 0.000 s
32
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4 Detailed functions of the technology application
4.2 Basic drive functions (MCK)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Parameter Info Lenze setting
Value Unit
C01222 MCK: Ref. M limit mode 14/15 10.00 %
C01223 MCK: Ref. waiting time mode 14/15 100 ms
C01227/1 MCK: Ref. offset reference degree 20.0000 unit
C01227/2 MCK: Ref. home position 0.0000 unit
C01228 MCK: Ref. sequence profile 0
C01229/1 MCK: Positive SW limit position 0.0000 units
C01229/2 MCK: Negative SW limit position 0.0000 units
C01246/1 MCK: Ref. TP signal source 0: No TP
4.2.2 Manual jog
In this operating mode, the drive can be traversed manually in a clockwise or anticlockwise direction
("jogging mode").
• The basic function "Manual jog" is activated via bit 12 and bit 13 of the application control word
(L_ConvBitsToWord_2 FB). In the default setting, bit 12 and bit 13 are linked to digital inputs DI5
and DI6.
• An activation via the fieldbus interface (MCI) is possible after a corresponding adaptation of the
user interface. See commissioning; Step 2 (optional): Establish control via the fieldbus interface
(MCI). ( 16)
Note!
Additional logic operations in the application prevent the basic function "Manual jog"
from being activated if the positioning program is processed.
In the Lenze setting, the software limit positions parameterised are active for manual jog
if the home position is known. Limit position monitoring
( 39)
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4 Detailed functions of the technology application
4.2 Basic drive functions (MCK)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
How to go to the parameterisation dialog of the basic "Manual jog" function:
1. Open the parameter list for the LS_MotionControlKernel SB.
2. In the Block Parameters List... dialog box on the Application parameters tab, select the
"Manual Jog" entry in the upper list field.
Parameter Info Lenze setting
Value Unit
C01230 MCK: Manual jog setting Bit coded
C01231/1 Manual jog: speed 1 360.0000 units/s
C01231/2 Manual jog: Speed 2 720.0000 units/s
C01232/1 Manual jog: Acceleration 3600.0000 units/s2
C01232/2 Manual jog: Deceleration 10000.0000 units/s2
C01233/1 Manual jog: S-ramp time 0.000 s
C01235/1 Waiting time 2nd speed 5.000 s
C01234/1 Manual jog: Breakpoint 1 0.0000 unit
C01234/2 Manual jog: Breakpoint 2 0.0000 unit
C01234/3 Manual jog: Breakpoint 3 0.0000 unit
C01234/4 Manual jog: Breakpoint 4 0.0000 unit
34
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4 Detailed functions of the technology application
4.2 Basic drive functions (MCK)
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4.2.3 Positioning
For starting a positioning process, 50 actions of the "Positioning" type are provided for the
positioning sequence control. If such an action is active, the basic function "Positioning" is requested
by the L_Sequencer_1 via corresponding control outputs.
• The profile is entered via the parameters of the basic function "Positioning".
• For the 8400 TopLine inverter, 15 different profiles can be parameterised.
A detailed explanation of all profile parameters can be found in the appendix in the
description for the "Positioning
4.2.4 Holding brake control
This basic function is used for low-wear control of a holding brake.
" action type. ( 44)
Danger!
Please note that the holding brake is an important element of the safety concept of the
entire machine.
Thus, proceed very carefully when commissioning this system part!
Detailed information on how to parameterise the holding brake control can be found in
the reference manual/online help of the controller in the chapter "Basic drive functions
(MCK)".
The documentation of the holding brake control contains safety instructions which
must be observed!
Application-specific notes on the holding brake control:
• In the Lenze setting, the mode 0 (brake control off) is preset in C02580.
• The technology application is prepared for the control of a 24 V holding brake via the high
current output (terminal strip X107).
• The application of the holding brake causes controller inhibit, and when the inverter is
inhibited, the following error is reset. Starting from version 14.00.00, a following error value can
be set in C01215/3 that remains stored even if the controller is inhibited.
• In mode 12 (controlled automatically), the speed thresholds do not apply to the operating
modes with a setpoint request via control signal (e.g. "PosExecute" in the "Positioning"
operating mode). Here the control logics open and close the holding brake by internal
commands in the Motion Control Kernel.
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4 Detailed functions of the technology application
4.3 Speed/position output via axis bus for a slave drive
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4.3 Speed/position output via axis bus for a slave drive
In order to be able to directly connect a slave drive to the positioning drive, the LS_AxisBusOut SB is
provided in the application.
• In the default setting, the speed setpoint integrated to an angle (path) is output via line data
words 1 & 2, and the speed setpoint is output via line data word 3.
• A slave drive connected via axis bus with the "Electrical Shaft Slave" technology application is
executable immediately after the initialisation of the axis bus; however, without the bus
monitoring functions of the electrical shaft being available.
• If the drive is to be used as master for a slave drive with the "Position Follower" technology
application, set the value "1" in C00470/4. Then, instead of the speed integrated, the current
position is output via axis bus.
Stop!
If operation as master position follower is switched on (C00470/4 = "1"), homing of the
master causes a step for the slave position follower if the current position is set to the
home position!
Remedy:
Inhibit the slave position follower when you are referencing the master!
The signal to be output via axis bus is selected using C00470/2 and C00470/4:
C00470/4 C00470/2 Axis bus output
Operation as
position follower master
0Off 0Setpoint Line data words 1 & 2 = speed setpoint integrated to an angle
1 On Line data words 1 & 2 = current position
Details on the signal flow
The changeover between the setpoint and actual value is effected via the L_SignalSwitch_2 FB.
In the default setting C00470/4 = 0, the position value for SB LS_AxisBusOut is generated with the
L_PhaseIntK_2 FB. Loading or a reset is not required, since in the slave drive merely consistency
with the speed value is compared without attaching importance to the absolute value.
With the setting C00470/4 = 1 (operation as position follower master), as position value for
SB LS_AxisBusOut the current position dnMotorPosAct_p is used by the LS_MotorInterface SB.
Setpoint/actual value
selection
(path)
Line data word 3 = speed setpoint
1 Actual value Line data words 1 & 2 = current speed integrated to an angle
(path)
Line data word 3 = current speed
Line data word 3 = current speed
36
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4 Detailed functions of the technology application
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4.4 Monitoring functions
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4.4 Monitoring functions
4.4.1 Following error monitoring system
The difference between set position and actual position is called the following error. Ideally, the
following error should be "0". The set position is created by the internal definition of the traversing
profiles of the Motion Control Kernel. The actual position is created by the integration of the speed
supplied by the position encoder. The following error is always compensated dynamically. With an
optimum setting of the position control, only a minimum following error occurs which does not
increase continuously.
Certain processes, however, require that a defined limit as a difference between set position and
actual position is not exceeded. If it is exceeded, it may have been caused by a mechanical blocking
in the machine and the system part is not situated at the position defined at that time. In such a
case, it makes sense to activate the "Fault" error response to make the motor torqueless.
In the 8400 TopLine controller, two independent following error monitoring systems can be
parameterised:
[4-1] Two-channel following error monitoring system
Parameter
(Block)
C01215/1
(LS_MotionControl
Kernel)
C01215/2
(LS_MotionControl
Kernel)
C01244/2...3
(LS_MotionControl
Kernel)
Possible settings Info
0.0001 units 214748.3647 Limit for following error monitoring 1
Lenze setting: 5.0000 units
0.0001 units 214748.3647 Limit for following error monitoring 2
Lenze setting: 10.0000 units
0 ms 60000 Waiting time for following error monitoring 1 & 2
Lenze setting: 0 ms
C00595/5...6
(LS_SetError_1)
0No Reaction
1Fault
3 TroubleQuickStop
4 WarningLocked
5 Warning
6Information
• The setting "0" deactivates following error
monitoring 1
• The setting "0" deactivates following error
monitoring 2
• In order to avoid that an error is triggered by
acceleration and a narrow tolerance limit can be
nevertheless monitored at standstill in the target,
the response of the following error monitoring
system can be delayed by setting a waiting time.
Response at the activation of following error
monitoring
• Subcode 5: response at the activation of following
error monitoring 1.
• Subcode 6: response at the activation of following
error monitoring 2.
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4 Detailed functions of the technology application
t
t
t
t
0
1
2
Position
Following error
Ck05:
1Following error
Ck06:
2Following error
4.4 Monitoring functions
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Example of the evaluation of the following error
Target position Limit for following error monitoring 1 (C01215/1)
Position actual value Limit for following error monitoring 2 (C01215/2)
Current following error Waiting time for following error monitoring 1 (C01244/2)
Waiting time for following error monitoring 2 (C01244/3)
The above example clearly shows that there are two monitoring functions acting independently of
each other. Normally, one following error monitoring function with a low tolerance is set as
warning, and the other with a higher tolerance is set as TroubleQuickStop.
By means of the waiting times (C1244/2 and C1244/3), the error responses can be delayed, so that
disconnection does not result immediately when the following error limits are temporarily
exceeded. This "switch-on delay" makes it possible to effectively distinguish between dynamic
processes and actual error states such as mechanical obstacles or sluggishness.
38
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4 Detailed functions of the technology application
4.4 Monitoring functions
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
4.4.2 Limit position monitoring
For safety reasons, drives with a limited traversing range must always be made safe using
corresponding safety mechanisms. These are firstly the hardware limit switches, which must effect
a standstill of the axes as quickly as possible during the approaching process. In addition, the
parameterisable software limit positions are to inhibit all travel commands which would entail an
exit of the permissible travel range.
Take the following items into consideration for placing the limit positions:
• The hardware limit switches must be mounted with a sufficient clearance in front of the
mechanical limit positions of the linear axis. The clearance to the mechanical limit position
should be calculated for a quick stop (QSP) from maximum speed, so that in the event of an
error, standstill is attained safely before the mechanical limit position is reached.
• The software limit positions must be placed with a sufficient distance from the hardware limit
switch positions. The distance should be calculated for a quick stop (QSP) from maximum speed
without the hardware limit switches being approached.
4.4.2.1 Hardware limit switch
In the default setting, the two digital inputs DI1 and DI2 are provided for the connection of the
hardware limit switches.
• The connection is configured in a fail-safe fashion (LOW = limit switch activated).
• The two digital inputs are linked with the bLimitSwitchPos and bLimitSwitchNeg monitoring
inputs of the LS_MotionControlKernel system block.
Stop!
The limit switches are only evaluated if the limit switches for the respective operating
mode have been activated (see the following table)!
Operating mode Hardware limit switch effective
Homing Depending on the homing mode selected
Manual jog Yes (adjustable in C01230 - bit 2)
Positioning Yes
Parameter
(Block)
C00595/1...2
(LS_MotionControl
Kernel)
(see description of the homing modes in the reference manual/online help of the inverter)
Possible settings Info
Response at the activation of limit position
0No Reaction
1Fault
3TroubleQuickStop
4 WarningLocked
5 Warning
6Information
monitoring
• Subcode 1: response at the approach of the
positive limit switch.
• Subcode 2: response at the approach of the
negative limit switch.
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4 Detailed functions of the technology application
4.4 Monitoring functions
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Behaviour when hardware limit switches are active
If one of the two monitoring inputs is set to TRUE, in the Lenze setting the "TroubleQuickStop" error
response is triggered: Irrespective of the setpoint selection, the drive is brought to a standstill in the
deceleration time set for the quick stop function. Depending on the error response parameterised,
the drive can then only be traversed again after the error has been acknowledged.
4.4.2.2 Software limit positions
The parameterisable limit positions are used by the software to limit the traversing range.
Stop!
The software limit positions are only evaluated and monitored if the home position is
known to the drive and the software limit positions for the respective operating mode
have been activated (see following table)!
If the drive is stopped at a high deceleration, depending on the mass inertia and friction,
an overvoltage in the DC bus may occur, and pulse inhibit is set as error response. The
use of a brake resistor can prevent this response.
Operating mode Software limit positions active (if home position is known)
Homing Yes
Manual jog Yes (adjustable in C01230 - bit 3)
Positioning Yes
Parameter
(Block)
C01229/1...2
(LS_MotionControl
Kernel)
C00595/3...4
(LS_MotionControl
Kernel)
Possible settings Info
-214748.3647 units 214748.3647 Positive and negative software limit position for
Lenze setting: 0.0000 units
0No Reaction
1Fault
3TroubleQuickStop
4 WarningLocked
5 Warning
6Information
limiting the valid traversing range
• The positive software limit position must be set to
a greater value than the negative software limit
position!
Response at the activation of limit position
monitoring
• Subcode 3: response at overtravelling the positive
software limit position (C01229/1).
• Subcode 4: response at overtravelling the
negative software limit position (C01229/2).
40
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4 Detailed functions of the technology application
4.4 Monitoring functions
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Behaviour in the case of active software limit positions
Note!
The "travel commands" mentioned in the following description are no speed setpoint
selections. In the "Speed follower" and "Position follower" operating modes, an
acknowledged software limit position error ensures that traversing to the impermissible
travel range remains possible afterwards. This is because in these two operating modes,
there is no preview of whether a software limit position is approached with a setpoint
selection.
If the software limit positions are active, travelling commands that would result in the exit from the
permissible travel range can no longer be executed.
In positioning operation, the warning "Ck14: target position outside SW limit position" is output for
target positions that are outside of the software limit positions. The positioning process is not
aborted, but is executed to the software limit position instead of to the target position outside the
software limit position.
If the drive is already outside the permissible travel range and the software limit positions have
been activated, only travel commands that result in the drive moving back into the permissible
travel range can be executed.
If the software limit positions are active, and one of the software limit positions is overtravelled, in
the Lenze setting the "TroubleQuickStop" error response is triggered: Irrespective of the setpoint
selection, the drive is brought to a standstill in the deceleration time set for the quick stop function.
Depending on the error response parameterised, the drive can then only be traversed again after the
error has been acknowledged.
4.4.3 Error and status messages of the positioning sequence control
The application provides the LS_SetError_1 SB for the purpose of error handling.
• The application can trip up to four different user error messages with parameterisable error IDs
and error responses via the four boolean inputs of the LS_SetError_1 SB.
• In the "Position Sequencer" technology application, the inputs of the LS_SetError_1 SB are
linked with error/status outputs of the L_Sequencer_1 FB.
• You can gather the application-specific meaning of the user errors as well as the preset response
from the following table:
Error message Meaning
User error 1 Time monitoring for "positioning" action has been triggered.
User error 2 Positioning sequence control reports an error.
User error 3 Positioning program started, break active.
User error 4 - (not assigned, can be used freely)
Response
(Lenze setting)
TroubleQuickStop
TroubleQuickStop
Information
No Reaction
can be set in
C00581/1
C00581/2
C00581/3
C00581/4
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5 Appendix: Action types for the positioning sequence control
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5 Appendix: Action types for the positioning sequence control
For the positioning sequence control, the L_Sequencer_1 FB is used. This FB processes a positioning
program on the basis of a sequence table (also referred to as "sequencer"), which can contain up to
100 references to so-called "Actions".
Overview
Action type
Homing
Positioning
Branch
Variable branch
Switch
Set counter
Count
Wait
Standby
End
* 5 Temporary activation of a setpoint
Number
of actions
available
Info
1 Start of homing These action types are "active".
50 Execution of a profile
16 Conditional or unconditional branch
(jump)
2 Variable branch as a function of the
input value of wBranch1 or
wBranch2.
16 Switching of digital output signals
5 Setting one of the 5 counters
available to a specific starting value
8 Counting processes including
comparison operation
8 Entering waiting times into the
program flow
follower
1 Determination of the program end
When these action types are
processed, the respective basic
function is triggered via
corresponding control outputs.
These action types are "passive".
When these action types are
processed, the "Stop" operating
mode are active, and a brake will be
applied, if available.
* The "Standby" action type is active
when a setpoint has been set for the
speed follower or a setpoint position
is transferred to the
LS_MotionControlKernel SB when
"Position follower" has been
selected.
You can find detailed information on the action types in the following subchapters.
Tip!
For users switching from 9300 to 8400:
Whereas with the Servo Drive 9300 it was usual to query several digital inputs in succession
to then obtain a specific positioning process, for 8400 and 9400 the "Variable branch
action can be used.
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5 Appendix: Action types for the positioning sequence control
5.1 Homing
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
5.1 Homing
For starting a homing process, the "Homing" action type is provided. When homing has been
completed (bHomingDone = TRUE), the program flow is continued with the next step.
Note!
The "Homing" action has no individual parameters. The settings for homing (e.g. homing
mode) are carried out via the parameters of the basic function "Homing". Click the
Homing button to navigate to the corresponding parameterisation dialog.
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5 Appendix: Action types for the positioning sequence control
5.2 Positioning
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
5.2 Positioning
For starting a positioning process, 50 actions of the "Positioning" type are provided.
Note!
Parameter Possible settings Info
Start with
(C01405/1...50)
Polarity of input
(C01406/1...50)
Profile number
(C01407/1...50)
Although 50 "Positioning" action types are provided, only 15 different profiles can be
parameterised.
The profile is entered via the parameters of the basic function "Positioning". Click the
Profile settings button to navigate to the corresponding parameterisation dialog (see
"Profile settings
" section).
0 Waiting function deactivated In the default setting, execution of
1 Sequencer input 1
(Bit 0 of wDigitalInputs)
2 Sequencer input 2
(Bit 1 of wDigitalInputs)
... ...
16 Sequencer input 16
(Bit 15 of wDigitalInputs)
Condition is bit state "0" State which the sequencer input
Condition is bit state "1"
0 No profile executed Selection of the profile which is to be
1Execute profile No. 1.
2...15 Execute profiles No. 2 ... 15
the profile is started immediately.
"Wait for level": Execution of the
profile is only started when the
sequencer input selected has the
polarity set.
selected for the profile start must
have.
executed.
A sequence profile can be set in the
corresponding profile parameter.
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5 Appendix: Action types for the positioning sequence control
5.2 Positioning
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Parameter Possible settings Info
Monitoring time
(C01409/1...50)
Jump destination monit.
(C01410/1...50)
Jump destination
(C01408/1...50)
Profile settings
0.000 s 2147480.000 If the positioning process takes
When "0.000 s" is set (Lenze setting), the
time monitoring function is deactivated.
0 Sequence step Step which is executed after the
1...100 Step 1 ... 100
0 Sequence step Step within the sequence table
1...100 Step 1 ... 100
longer than the monitoring time set,
user error 1 is set. The response to
this error can be set in C00581/1
(Lenze setting: "TroubleQuickStop").
monitoring time has been exceeded.
which is processed after the profile
has been executed.
A profile is described by the following profile parameters:
Icon Profile parameter
(Standard) profile
Profile data set (profile numbers 1 ... 15), in which the profile data are stored.
Mode (C01300/1...15)
Selection of the way in which positioning is to be carried out.
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5 Appendix: Action types for the positioning sequence control
A
10 20 30 40 50 60 70 80 90 100
10
30
80
P1
P2
P3
0
10 20 30 40 50 60 70 80 90 100
10
20 50
P3P2P1
0
B
v
pos
v [unit/s]
t [s]
C
v
pos
v
pos
v [unit/s]
v [unit/s]
t [s]
t [s]
D
5.2 Positioning
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Icon Profile parameter
Position (C01301/1...15)
Target position or distance to be traversed.
When the position is indicated, a distinction is made between absolute position and relative position:
• An absolute position always indicates the distance to the defined zero position:
Absolute position = Target position
• A relative position indicates the distance to the starting position (current position):
Relative position = Target position - Starting position
Speed (C01302/1...15)
Maximum speed during the positioning process.
• Depending on the profile parameters of position, acceleration and deceleration , it is possible that
the drive will not even reach the maximum speed. In this case, the graphic representation will be a
trapezium instead of a triangle:
Acceleration
Travelling speed (is not reached in this case)
Deceleration
Target position (or traversing distance)
Acceleration (C01303/1...15)
Maximum acceleration during the positioning process.
• Two types of acceleration are distinguished:
• Constant acceleration: the speed increases linearly.
• Linearly increasing acceleration: Speed increases in S-shape.
A linearly increasing acceleration (S-profile) results from the setting of an S-ramp time (see more
below).
Constant acceleration (L-profile)
Linearly increasing acceleration (S-profile)
Deceleration (C01304/1...15)
Maximum deceleration during the positioning process.
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5 Appendix: Action types for the positioning sequence control
E
a
v [unit/s]
t [s]
t [s]
F
v
pos
v
end
v [unit/s]
t [s]
5.2 Positioning
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Icon Profile parameter
S-ramp time (C01305/1...15)
Due to stipulation of an S-ramp time for a profile, the profile is executed with S-shaped ramps, i.e.
acceleration and braking processes are initiated smoothly in order to reduce jerk and thus the stress on
the drive components.
• The acceleration/deceleration stipulated in the profile is not achieved until after the specified Sramp time.
• This kind of acceleration/deceleration is needed for sensitive machine parts with a certain amount
of play.
• The unavoidable consequence of the slower increase in acceleration in the case of the S profile is that
the positioning time is longer compared to the L profile, which is more efficient in terms of time.
Without jerk limitation (L profile)
With jerk limitation (S profile)
Final speed (C01305/1...15)
This specifies the speed at which the drive is to start the next profile after reaching the target position.
With a final speed not equal to "0", "velocity changeover" or "overchange" is possible, i.e. when the
target position is reached, a second positioning process is started immediately without the drive coming
to a standstill at the first target position.
Target position
Final speed (in this case, not equal to "0")
Sequence profile (C01307/1...15) for profile linkage/subsequent block control
A special feature is the automatic advancing to sequence profiles with and without velocity changeover.
For this purpose, the profile number of the desired sequence profile (1 … 15) is simply set in the
"Sequence profile" profile parameter.
After execution of the profile (target position reached), the set following (subsequent) profile is started
automatically. In this way, profile chains can be stipulated without additional control processes.
• If the "Final speed" profile parameter is set to <> "0", a velocity changeover to the sequence profile
takes place at the final speed set.
• If "0" is set for the following (i.e. subsequent) profile, profile linkage does not take place.
• This function can be performed in all positioning modes.
TP profile (C01308/1...15)
Profile number of the profile (1 … 15) that is to be executed after a touch probe has been detected.
• If "0" is set, there will be no profile stepping through touch probe.
• Only relevant for positioning modes with touch-probe.
TP signal source (C01309/1...15)
Selection of the signal source for touch probe detection.
• Only relevant for positioning modes with touch-probe.
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5 Appendix: Action types for the positioning sequence control
5.3 Branching
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
5.3 Branching
For conditional and unconditional branching (jumps), 16 actions of "Branching" Type are available.
Parameter Possible settings Info
Input f. jump
(C01415/1...16)
Polarity of input
(C01416/1...16)
Jump destination
(C01417/1...16)
0 Unconditional branch "Unconditional branch": There is
1 Sequencer input 1
(Bit 0 of wDigitalInputs)
2 Sequencer input 2
(Bit 1 of wDigitalInputs)
... ...
16 Sequencer input 16
(Bit 15 of wDigitalInputs)
Condition is bit state "0" State which the sequencer input
Condition is bit state "1"
0 Sequence step For a conditional branch, there only is
1...100 Step 1 ... 100
always a branch to the jump
destination set.
"Conditional branch": There only is a
branch to the jump destination set if
the sequencer input selected has the
polarity set. Otherwise the next step
in the sequence table is processed.
selected must have for a conditional
branch.
a branch to the jump destination set
here if the sequencer input selected
has the polarity set. Otherwise the
next step in the sequence table is
processed.
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5 Appendix: Action types for the positioning sequence control
5.4 Variable branch
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
5.4 Variable branch
For variable branching (jumps), two actions of "variable branching" type are available.
• Branching to one of 20 possible branching destinations is carried out as a function of the input
value of wBranch1 or wBranch2 at the time of processing.
•The input value of wBranch1 defines branching for action 1.
•The input value of wBranch2 defines branching for action 2.
• If the input value is 0 or greater 20, the next step in the sequence table is processed.
• In the default setting, the wBranch1 input is linked with MCI process data input word 3. Pre-
assignment of the process data input words ( 18)
• In the default setting, the wBranch2 input is not connected.
For entering the branch destinations, click the Set Up Branch... button in the parameterisation
dialog.
Parameter Possible settings Info
Branch destination
(C01418/1...2 - C01437/1...2)
0 Branching deactivated
(The following step in the sequence
table is processed.)
1...100 Step 1 ... 100
Branch destinations for input values
1 ... 20 of wBranch1...2.
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5 Appendix: Action types for the positioning sequence control
5.5 Switch
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
5.5 Switch
For switching digital output signals, 16 actions of the "Switch" type are provided. Each action can set
two bits of the wDigitalOutputs output signal, which can be selected, to "0" or "1", alternatively and
independently of each other.
Parameter Possible settings Info
Output switch. A
(C01411/1...16)
Pol. switch. A
(C01412/1...16)
Output switch. B
(C01413/1...16)
Pol. switch. B
(C01414/1...16)
0Deactivated Selection of the sequencer output
1 Sequencer output 1
(Bit 0 of wDigitalOutputs)
2 Sequencer output 2
(Bit 1 of wDigitalOutputs)
... ...
16 Sequencer output 16
(Bit 15 of wDigitalOutputs)
Set output bit to "0" State to which the sequencer output
Set output bit to "1"
0Deactivated Selection of the sequencer output
1 Sequencer output 1
(Bit 0 of wDigitalOutputs)
2 Sequencer output 2
(Bit 1 of wDigitalOutputs)
... ...
16 Sequencer output 16
(Bit 15 of wDigitalOutputs)
Set output bit to "0" State to which the sequencer output
Set output bit to "1"
which is to be set to the set polarity
by this action.
is to be set.
which is to be set to the set polarity
by this action.
is to be set.
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5 Appendix: Action types for the positioning sequence control
5.6 Counter setting
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
5.6 Counter setting
For setting one of the 5 available counters to a certain starting value, 5 actions of "Counter setting"
type are available.
• The 5 actions of "counter setting" type are not
• You can, e.g., set a counter to a value using an action of "counter setting" type and at a later
program time set the same counter to a different value using another action of "counter
setting" type.
permanently assigned to the 5 counters.
Tip!
Since for the "Count" action also negative step values can be set, it is also possible to count
down from a starting value that is set.
Parameter Possible settings Info
Counter No.
(C01441/1...5)
Starting value
(C01442/1...5)
0 Counter setting deactivated Selection of the counter
1Counter 1
... ...
5Counter 5
-2147483647 2147483647 Value to which the counter selected
Initialisation: 0
is to be set.
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5 Appendix: Action types for the positioning sequence control
5.7 Count
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
5.7 Count
For counting processes, 8 actions of the "Count" type are provided. Each time the action is processed,
the counter content of the corresponding counter is increased or decreased by the step value set
(counting up or down).
• The comparison operation enables a conditional branch depending on the current counter
content.
• For setting a counter to a starting value, 5 actions of "counter setting
" type are available.
Parameter Possible settings Info
Counter No.
(C01444/1...5)
Comparison operation
(C01448/1...8)
Jump destination
(C01447/1...8)
Current counter content
(C01443/1...5)
Step value
(C01445/1...8)
Comparison value
(C01446/1...8)
0Counting deactivated
(Sequence step is processed.)
1Counter 1
... ...
5Counter 5
1 Counter content = comparison value If the comparison operation is true, a
2 Counter content > comparison value
3 Counter content ≥ comparison value
4 Counter content < comparison value
5 Counter content ≤ comparison value
0 Sequence step Jump destination if the comparison
1...100 Step 1 ... 100
-2147483647 2147483647 Read only
-2147483647 2147483647 Value by which the counter is
Initialisation: 1
-2147483647 2147483647 Value to which the counter is
Initialisation: 0
Selection of the counter
branch to the jump destination set is
executed. Otherwise the next step in
the sequence table is processed.
operation is true.
increased or decreased.
compared.
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5 Appendix: Action types for the positioning sequence control
5.8 Wait
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
5.8 Wait
For integrating waiting times into the program flow, 8 actions of the "Wait" type are provided.
The sequence step is only processed
• after a waiting time has elapsed,
OR
• when a selectable sequencer input has a specific level.
Parameter Possible settings Info
Waiting time
(C01438/1...8)
Input for "Next"
(C01439/1...8)
Polarity of input
(C01440/1...16)
0.000 s 2127480.000 Waiting time for "Wait" function
Initialisation: 1.000 s
0 Input deactivated "Wait": Sequence step is only
1 Sequencer input 1
(Bit 0 of wDigitalInputs)
2 Sequencer input 2
(Bit 1 of wDigitalInputs)
... ...
16 Sequencer input 16
(Bit 15 of wDigitalInputs)
Condition is bit state "0" State which the sequencer input
Condition is bit state "1"
• The setting "0" deactivates the
processed after the waiting time set
has elapsed.
"Wait for level": Sequence step is only
processed when the sequencer input
selected has the polarity set.
Note!
However, if a waiting time > 0 s is set,
the sequence step is processed at the
latest after the waiting time set has
elapsed.
selected must have so that the
sequence step is processed.
waiting time.
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5 Appendix: Action types for the positioning sequence control
5.9 Standby
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
5.9 Standby
For temporary activation of a speed or position follower, 5 actions of the "Standby" type are
provided.
Parameter Possible settings Info
Input f. "End"
(C01449/1...5)
Polarity of input
(C01450/1...5)
Follower mode
(C01451/1...5)
Setpoint
(C01452/1...5)
1 Sequencer input 1
(Bit 0 of wDigitalInputs)
2 Sequencer input 2
(Bit 1 of wDigitalInputs)
... ...
16 Sequencer input 16
(Bit 15 of wDigitalInputs)
Condition is bit state "0" State which the sequencer input
Condition is bit state "1"
0 Speed follower Selection of the follower that is to be
1 Position follower
-200 % 200 Setpoint for the speed follower
Initialisation: 0.15 %
The follower mode selected remains
enabled until the sequencer input
selected here has the polarity set.
selected must have so that "Standby"
is exited and the sequence step is
processed.
activated in standby mode.
(displayed at nSet_a output).
Detailed information relating to the basic drive functions "Speed follower" and "Position
follower" as well as to the corresponding parameters can be found in the reference
manual/online help of the inverter in the "Basic drive functions (MCK)" chapter.
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5 Appendix: Action types for the positioning sequence control
5.10 End
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
5.10 End
In order to define the program end within the sequence table, one action of the "End" type is
provided. If, at the L_Sequencer FB, the bStart input is reset to FALSE while the positioning program
is running, processing is only continued until the program end.
The "End" action has no individual parameters.
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5 Appendix: Action types for the positioning sequence control
5.10 End
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
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Your opinion is important to us
)(('%$&.
These instructions were created to the best of our knowledge and
belief to give you the best possible support for handling our product.
If you have suggestions for improvement, please e-mail us to:
feedback-docu@Lenze.de
Thank you for your support.
Your Lenze documentation team
57
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8400 "Position Sequencer" technology application · Software manual · 13467299 · DMS 1.0 EN · 07/2014 · TD05
Lenze Drives GmbH
Breslauer Straße 3
D-32699 Extertal
Germany
+49 5154 82-0
lenze@lenze.com
www.lenze.com
Service
Lenze Service GmbH
Breslauer Straße 3
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Germany
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