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Manual
Global Drive
9300 Servo PLC
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ThisManual for the DrivePLC DeveloperStudioas from V01.00 is valid forthe following
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Lenzeautomation systems:
Automation system Type as from hardware version as from software version
9300 Servo PL C EVS93XX-xl 2l 02
9300 Servo PL C EVS93XX-xT 2K 10
Important Note :
The software is made available to the user in the currently existing form. All risks with regard to the quality andthe results arising fromits
use remainthe responsibilityofthe user.Th eus ermust imp lementthe appro priate securityprecautionsagainstpossibleerro neous
application.
W e do not accept any responsibilty for direct or consequential damages, such as loss of profits, loss of orders, or effects on the course of
business of any kind.
.
No part of this documentation may be copied or made available to third parties without the express written permission of
Lenze GmbH&Co KG.
Wehavetakegreatcareinassemblingtheinformationinthisdocumentation, andcheckedthatitcorrespondstothehardwareandsoftware
that isdescr ibed. Nevert heless,we canno tguarantee that there are no discrepan cies .We donot accept any legal responsibilityor liability
for damage that may thereby ensue. Any necessary corrections will be implemented in subsequent versions.
Windows,WindowsNTand MS-DOSare eitherregisteredtrademarksortrademarksof MicrosoftCorporationintheU nitedStates and/or other
countries.
IBMand VGAare registeredtrademarksofInternationalBusinessMachines,Inc.
Allotherdesignationsaretradenamesof theirowners.
V ersio n 1.4 09/2000 TD27
2000 Lenze GmbH& Co KG
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Contents
1 Preface and general i nformation 1-1...........................................
1.1 About this Manual 1-1................................................................
1.1.1 Conventions in this manual 1-1..................................................
1.1.2 Pictograms in this manual 1-1...................................................
1.1.3 T erminology used 1-2.........................................................
1.1.4 Wh at’s new? 1-2.............................................................
1.2 Lenzesoftware guidelines forvariable names 1-3............................................
1.2.1 Hungarian Notation 1-3........................................................
1.2.1.1 Recommendation for designating variable types 1-4.........................
1.2.1.2 Designation of the signal type in the variable name 1-5.......................
1.2.1.3 Special handling of system variables 1-5..................................
2 System blocks 2-1.........................................................
2.1 Introduction 2-1.....................................................................
2.1.1 Access through absolute addresses 2-2............................................
2.1.2 Module numbers 2-2..........................................................
2.1.3 Definition of the system-block inputs/outputs 2-3.....................................
2.2 Automation interface (AIF1_IO_AutomationInterface) 2-4.......................................
2.2.1 Inputs_AIF1 (AIF1_IN) 2-4......................................................
2.2.2 O u tp u ts_AIF1 (AI F1_OUT) 2-7....................................................
2.3 Automation interface (AIF2_IO_AutomationInterface) 2-10.......................................
2.3.1 Inputs_AIF2 (AIF2_IN) 2-10......................................................
2.3.2 O u tp u ts_AIF2 (AI F2_OUT) 2-12....................................................
2.4 Automation interface (AIF3_IO_AutomationInterface) 2-15.......................................
2.4.1 Inputs_AIF3 (AIF3_IN) 2-15......................................................
2.4.2 O u tp u ts_AIF3 (AI F3_OUT) 2-17....................................................
2.5 AIF_IO_Management 2-20..............................................................
2.6 Analog inputs/outputs 1 (AN ALOG1_IO) 2-21.................................................
2.6.1 Inputs_ANALOG 1 (AI N1) 2-21.....................................................
2.6.2 Outputs_ANALOG1 (AOUT1) 2-22..................................................
2.7 Analog inputs/outputs 2 (AN ALOG2_IO) 2-23.................................................
2.7.1 Inputs_ANALOG 2 (AI N2) 2-23.....................................................
2.7.2 Outputs_ANALOG2 (AOUT2) 2-24..................................................
2.8 Drive control (DCTRL_DriveControl) 2-25....................................................
2.8.1 Q u ickstop (Q S P) 2-27...........................................................
2.8.2 Operation disabled (DISABLE) 2-27.................................................
2.8.3 Controller inhibit “ControllerInhibit” (CINH ) 2-28.......................................
2.8.4 TRIP -SET 2-28................................................................
2.8.5 TRIP -R E S E T 2-28..............................................................
2.8.6 DCTRL_wFaultNumber 2-29......................................................
2.8.7 DCTRL_bExternalFault_b 2-29....................................................
2.8.8 Co n tro ller state 2-29...........................................................
2.8.9 Output of digital status signals 2-29................................................
2.8.10 Contr o l word and statusword 2-30................................................
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Contents
2.9 Digital master frequency input (DF_IN_DigitalFrequency) 2-31....................................
2.9.1 Digital frequency input X9 2-32...................................................
2.9.2 T echnical data for the connection of X9 and X10 2-35...................................
2.9.3 T ouch-Probe (TP) 2-36..........................................................
2.10 Digital frequency output (DF_OUT_DigitalFrequency) 2-38.......................................
2.10.1 Output signals on X10 2-39......................................................
2.10.2 Output of an analog signal 2-40...................................................
2.10.3 Output of a speed signal 2-40....................................................
2.10.4 Encoder simulation of the resolver with zero track in resolver zero position 2-40...............
2.10.5 Direct output of X8 2-41........................................................
2.10.6 Direct output of X9 2-41........................................................
2.10.7 Technical data for the connection of X9 and X10 2-42...................................
2.11 Digital inputs/outputs (DI GIT A L_IO) 2-43....................................................
2.11.1 Inputs_DIGITA L (DIGIN ) 2-43......................................................
2.11.2 Outputs_DIGITAL (DIGOUT) 2-44...................................................
2.12 Free Codes ( FCODE_FreeCodes) 2-45......................................................
2.13 Internal motor control (MCTRL_MotorControl) 2-48............................................
2.13.1 Current controller 2-50.........................................................
2.13.2 Additional torque setpoint 2-51...................................................
2.13.3 Torque limiting 2-51...........................................................
2.13.4 Speed contr o ller 2-51..........................................................
2.13.5 Torque control with speed restriction 2-52...........................................
2.13.6 Speed-setpoint restriction 2-53...................................................
2.13.7 Phase-angle controller 2-53......................................................
2.13.8 QuickstopQSP 2-54...........................................................
2.13.9 Fieldweakening 2-54..........................................................
2.13.10 Chopping frequency changeover 2-55...............................................
2.13.11 T ouch-Probe (TP ) 2-56..........................................................
2.13.12 Sy stemmarker MCTRL_nNm axC11 2-57............................................
2.13.13 Mo n itor in g 2-57..............................................................
2.13.13.1 Und ervoltage (L U) 2-57................................................
2.13.13.2 O v ervoltage (OU ) 2-58................................................
2.13.13.3 EarthFault (monitor in gforearth fault OC2) 2-59.............................
2.13.13.4 ShortCircuit (monitoring for a short-circuit OC1) 2-59..........................
2.13.13.5 TMot>SetValue (motor-temperature monitoring OH3 - fixed) 2-60................
2.13.13.6 TMot>C0121 (mo to r -temperature mon itor ingOH 7- adjustable) 2-60..............
2.13.13.7 PTCOverTemp (motor-temperature monitoring OH8) 2-61.......................
2.13.13.8 Overcurrent diagram for fault signal OC5 2-61...............................
2.13.13.9 Resolvermonitoringforwire breakage Sd2 2-62.............................
2.13.13.10 Heatsink monitoringOH 4(adjus table) 2-63.................................
2.13.13.11 Heatsink monitoringOH( fixed) 2-63......................................
2.13.13.12 Plant speed monitoringNM ax 2-64.......................................
2.14 Statebus (ST A TEBU S_IO) 2-65............................................................
2.15 Systemmarkers(SYSTEM_FLAGS) 2-67....................................................
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3Networking 3-1...........................................................
3.1 System bus (CA N)in the Lenze drive system 3-2.............................................
3.1.1 Contact assignment 3-2........................................................
3.1.2 Wiring of the system bus 3-3....................................................
3.1.2.1 Systembus wiring comp lyingto EMC 3-4.................................
3.1.3 Technical data 3-5............................................................
3.1.3.1 General data of the system bus network 3-5...............................
3.1.3.2 Feasible bus length 3-5..............................................
3.1.3.3 Com m u n ication times 3-5.............................................
3.1.4 Commissioning 3-6...........................................................
3.1.5 Programming 3-6............................................................
3.1.5.1 General 3-6.......................................................
3.1.5.2 Parameterchannels 3-7..............................................
3.1.5.3 Pr o cess data channels 3-8............................................
3.2 System blocks for the system bus 3-10.....................................................
3.2.1 S ys tembus (CA N 1_I O) 3-10......................................................
3.2.1.1 Inputs_CAN1 (CAN1_IN) 3-10...........................................
3.2.1.2 Outp u ts_CA N1 (CAN1_OUT) 3-12........................................
3.2.2 S ys tembus (CA N 2_I O) 3-14......................................................
3.2.2.1 Inputs_CAN2 (CAN2_IN) 3-14...........................................
3.2.2.2 Outp u ts_CA N2 (CAN2_OUT) 3-16........................................
3.2.3 S ys tembus (CA N 3_I O) 3-18......................................................
3.2.3.1 Inputs_CAN3 (CAN3_IN) 3-18...........................................
3.2.3.2 Outp u ts_CA N3 (CAN3_OUT) 3-20........................................
3.2.4 SystembusManagement(CAN_Management) 3-22.....................................
3.3 Synchronization of control program cycles 3-25...............................................
3.3.1 CAN_Synchronization 3-25.......................................................
3.4 Applicationexam ple 3-31...............................................................
3.4.1 Pro g r ammingthe application example 3-31..........................................
3.4.2 D escription of the codes for the system bus 3-32......................................
3.4.2.1 Baud-rate setting C0351 3-32...........................................
3.4.2.2 Defining a master in a drive grou pC0352 3-32..............................
3.4.2.3 General address assignm ent C0350 3-33..................................
3.4.2.4 Selective addressingof the individual process-data objects C0353, C0354 3-34......
3.4.2.5 Display code of the resulting identifier C0355 3-35...........................
3.4.2.6 Boot-Upsetting C0356/1 3-35..........................................
3.4.2.7 Diagnosis codes 3-36.................................................
3.4.2.8 Mon itor in g 3-38.....................................................
3.4.3 Com mun ication profile of the system bus 3-39........................................
3.4.3.1 Data description 3-39.................................................
3.4.3.2 Add r essingthe drives 3-40.............................................
3.4.4 The communication phases of the CAN network 3-41...................................
3.4.5 Parameterization 3-43..........................................................
3.4.5.1 Examp le: W r ite a parameter 3-46........................................
3.4.5.2 Example: Reada parameter 3-47........................................
3.4.6 Pro cess data 3-48.............................................................
3.4.6.1 Cyclical process-data objects 3-49.......................................
3.4.6.2 Event-controlled process-data objects, optionally with adjustable cycle time 3-52.....
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Contents
4 Appendix 4-1.............................................................
4.1 PLC functionality 4-1.................................................................
4.2 System POU s 4-2....................................................................
4.3 Monitoring 4-3......................................................................
4.3.1 Reactions 4-4...............................................................
4.3.2 Possible settings for error messages 4-5...........................................
4.4 T ripping (L_FWM) 4-7.................................................................
4.5 T roubleshooting 4-7..................................................................
4.6 Fault analysis with the history buffer 4-9...................................................
4.6.1 Structu re of the history buffer 4-9................................................
4.6.2 W orkingwith the historybuffer 4-10...............................................
4.7 Error messages 4-11..................................................................
4.8 Reset of fault messages 4-14............................................................
4.9 Code table 4-15......................................................................
4.10 Index 4-36..........................................................................
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Preface and general information
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1 Preface and general information
1.1 About this Manual
ThisManualdescribes thefunctio ns of thesystem blockswhichyou canselect and parameterizein
the controlconfigurationof the Drive PLC DeveloperStudio(DDS)fortheautomat io n system9300
Servo PLC.
Tip!
Information on
• DC bus connection
• Use of brake units
• Automation(field bus modules)
• Accessories and motors
• and selection help
for controllers of the 9300 series can be found in the Manual 9300 Planning,
whichyoucanorderseparatelyfromLenze.
9300 Se rvo PL C
1.1.1 Conventions in this manual
This manual uses the following conventions to distinguish between different types of information:
Variable names
areshownintheexplanatory textsinitalics:
• “The signal at
nIn_a
...”
1.1.2 Pictograms in this manual
Use of
Pictographs
Warning of
material damage
Other notes Tip! Thisnote designatesgeneral,useful notes.
Signal words
Stop! Warns of potential damage to material.
Possible consequences if disregarded:
Damage of the controller/drive system or its environment
If you observeit, handling of the controller/drive system is made easier.
.
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Preface and general information
1.1.3 Terminology used
Term In the following text used for
FB Function block
SB System block
Parameter codes Codes for setting the functionality of a function block
GDC Global Drive Control(parameterization programfromLenze)
1.1.4 What’s new?
Version ID-No. Changes
1.4 07/2000 revised edition for the Drive PLC Developer Studio V01.00
1-2
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Preface and general information
1.2 Lenze software guidelines for variable names
Thepreviousconcepts for Lenze drivecontrollers werebased on cod es t hat represented t he input
and output signals, and the parameters of function blocks.
• For the sake of clarity, names were defined for the codes in the documentation.
• In addition, the signal types were defined by graphical symbols.
The user could see at a glance which kind of signal (analog, phase-angle etc.)had to be present at
theparticularinterface.
The concept for the new automation system does not use direct codes in the
programming. The IEC1131-3 standard is used instead.
• This standard is based on a structure of variable names.
• If the user applies variables in his project, then he can name the variables as he chooses.
In order to avoid the growth of a multitude of different conventions for naming variables in existing
and future projects and function libraries that are programmed by Lenzepersonnel, wehave set up
software guidelines that must be followed by all Lenze staff.
Inthisconvention for creating variablenames,Lenzekeeps to theHungarianNotation, that hasbeen
specifically expanded by Lenze.
If you make use of Lenze-specific functions or function blocks, you will immediately be able to see,
forinstance,whichdatatypeyoumust transfer to a function block,and whichtypeofdatayouwill
receive as an output value.
1.2.1 Hungarian Not ation
These conventions are used so that the most significant characteristics of a program variable can
instantly be recognized from its name.
Variable names
consist of
• a prefix (optional)
• a data-type entry
• and an identifier
The prefix and data-type entry are usually formed by one or two characters. The identifier (the
“proper” name)should indicate the application, and is therefore usually somewhat longer.
Prefixexamples
Prefix Meaning
a array(combinedtype), field
p pointer
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Preface and general information
Examples of the data-type entry
Examples of a data-type Meaning
b Bool
by Byte
r Integer
w Word
dn Double-integer
dw Double Word
s String
f Real(Float)
sn Short Integer
t Time
un Unsigned Integer
udn Unsigned Double Integer
usn Unsigned Short Integer
Identifier (the proper variable name)
• An identifier begins with a capital letter .
• If an identifier is assembled from several ”words”, then each “word” must start with a capital
letter.
• Allotherlettersarewritten inlowercase.
Examples:
Array of integers
Bool
Word
Integer
Byte
anJogValue[10]
bIsEmpty
wNumberOfV alues
nLoop
;
;
;
;
byCurrentSelectedJogValue
;
1.2.1.1 Recommendation for designating variable types
In order to be able to recognize the type of variable in a program according to the name, it makes
sense to use the following designations, which are placed in front of the proper variable name and
separated from it by anunderlinestroke:
I_<Variablename> VAR_INPUT
Q_<Variablename> VAR_OUTPUT
IQ_<Variablename> VAR_IN_OUT
R_<Variablename> VAR RETAIN
C_<Variablename> V ARCONSTANT
CR_<Variablename> VARCONSTANT RETAIN
g_<Variablename> VAR_GLOBAL
gR_<Variablename> VAR_GLOBAL RETAIN
gC_<Variablename> VAR_GLOBAL CONSTANT
gCR_<Variablename> VAR _GLOBAL CONSTANT RETAIN
Example
for a global array of type integer,that includes fixed setpoints (analog)for a speed setting:
g_anFixSetSpeedValue_a
1-4
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1.2.1.2 Designation of the signal type in the variable name
Theinputsandoutputsof theLenzefunction blockseachhaveaspecific signaltypeassigned.These
maybe: digital,analog, position or speedsignals.
For this reason,eachvariable name has an ending attached that provides information onthe type of
signal.
Signal type Ending Previous designation
analog _a (analog)
digital _b (binary)
phase-angle difference or speed (rot.) _v (velocity)
phase-angle or position _p (position)
Tip!
Normalizing to signal type phase-angle difference/speed: 16384 (INT) 15000rpm
Normalizing to signal type analog: 16384
Normalizing to signal type angle or position: 65536 1motor t urn
100 % value under [C0011] = N
H
G
F
E
max
Examples:
Variable name Signal type Variable type
nIn_a Analog input value Integer
dnPhiSet_p Phase signals Double-integer
bLoad_b Binary value (TRU E/FALS E) Bool
nDigitalFrequencyIn_v Speed input value Integer
1.2.1.3 Special handling of system variables
System variablesrequirespecialhandling,since the system functions areonly availablefor theuser
as I/O connections in the control configuration.
Inorderto be able to accessasystemvariablequickly duringprogramming, thevariablename must
include a label for the system function.
For this reason, the name of the corresponding system block is placed before the name o f the
variable.
Examples:
AIN1_nIn_a
CAN1_bCtrlTripSet_b
DIGIN_bIn3_b
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1-6
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System blocks
2. 1 Introduction
2 System blocks
2.1 Introduction
For a long time, Lenze has followed the principle of describing inverter functions with the aid of
functionblocks (FB’s). This principle may also be found in the IEC1131-3 standard.
• The function library includes functions that you can apply as softwarefunctions in your
project.
• In addition, quasi-hardware functions areavailable,as syst em blocks. (SBs).
System blocks- principle:
Thesystem-block principle can be explained very well by a PLCsystem in a rack:
• One element in the rack is the CPU, and next to it there can also be found digital I/Os, analog
I/Os, counter cards, positioning cards etc.
CPU
Abb. 2-1 Principle of a PLCsystem (x= expansion cards)
• The CPU can access the inserted cards directly, and process the resulting information.
• The individual expansion cards each have a fixed address for access.
With the Lenze Automation System,the system blocks correspond to these inserted cards!
Systemblocksarethusspecial(quasi-hardware)function blocks thatarepermanentlyintegratedinto
the run-time system (e.g.9300 Servo PLC, Drive PLC).
• These function blocks can also partially address real hardware.
• Theassignment/id entification of t he system blocks is made through mo dule numbers.
• Theaccess to the inputs/outputs of the system blocks is made directly through I/O-variables
or fixed memory addresses.
Example:
On example of a system block is the digital I/O-function block “DIGITAL_IO”.
• Accesstothedigitalinput1ofthisSBcanbemadethroughtheabsoluteaddress
(e.g. %IX1.0.1)or via the correspondingI/O-variable(
xxxxxx
DIGIN_bIn1_b
).
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System blocks
2. 1 Introduction
2.1.1 Access through absolute addresses
Theaccesstosystem blocks t hroughabsoluteaddressesismadeinaccordancewiththeIEC1131-3
standard.
• For inputs: %IXa.b.c
• For outputs: %QXa.b.c
(a = module number, b = word addressand c = bit adress)
Example:system block DIGITAL_IO (DIGIN):
VariableName DataType SignalType Address DIS DIS format Note
DIG I N_bCInh_b Bool binary %IX1.0.0 - DIGIN_bIn1_b Bool binary % IX1.0.1 C0443 bin
DIGIN_bIn2_b Bool binary % IX1.0.2 C0443 bin
DIGIN_bIn3_b Bool binary % IX1.0.3 C0443 bin
DIGIN_bIn4_b Bool binary % IX1.0.4 C0443 bin
DIGIN_bIn5_b Bool binary % IX1.0.5 C0443 bin
2.1.2 Module numbers
Thesystem blocks of theautomation system 9300ServoPLC carrythe followingmodulenumbers:
Module number System block
1 DIGITAL_IO
11 ANALOG1_IO
12 ANALOG2_IO
21 DF_IN_DigitalFrequency
22 DF_OUT_DigitalFrequency
31 CAN1_IO
32 CAN2_IO
33 CAN3_IO
41 AIF1_IO _Auto mationInterface
42 AIF2_IO _Auto mationInterface
43 AIF3_IO _Auto mationInterface
51 STATEBUS_IO
101 CA N_Management
102 CA N_Synchronization
121 D CTRL_DriveControl
131 M CTRL_MotorControl
141 FCODE_FreeCodes
151 SY STEM_FLAGS
161 AIF_IO_Management
Themodulenumber is a part of theabsolute addressof an SB.
• Exampleof aninput address: %IXa.b.c
(a = module number, b = word addressand c = bit adress)
2-2
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System blocks
2. 1 Introduction
2.1.3 Definition of the system-block inputs/outputs
Inorderto implement a connection o f the user programwith thehardware,systemblocksarejoined
to program-organisation elements ( POEs):
POE-Input POE-Output
SB-Output
SB
Abb. 2-2 Connecting syst em blocks t o a program-organisation element (schematic)
POE Program-organisation element
SB System block
Tip!
Theassignments as inputs and outputs are always made from the program viewpoint!
Thismeans that logical syst em -block outputs are seen by t he POEs as hardware-sid e inputs, and
system- block inputs areseen as outputs.
Example:system block DIGITAL_IO (DIGIN):
Forexample,to connect thedigital input 1 of thePLC run/stop to aPOE,theoutput 1 o f thesystem
block DIGITAL_IOmust be connected to an input of the POE:
SB-Input
SBPOE
SB-OUT
POE-IN
0
1
DCTRL -X5/28
DIGIN_bCInh_b
DIGIN_bIn1_b
DIGIN_bIn2_b
DIGIN_bIn3_b
DIGIN_bIn4_b
DIGIN_bIn5_b
C0443
DIGIN
X5
28
E1
C0114/1...5
E2
E3
1
E4
E5
Abb. 2-3 Connecting thesystem block DIGITAL_IOto a POE
Accesstothedigitalinput1canonlybemadethroughtheabsoluteaddress%IX1.0.1 or through
the system-variable names
%IX1.0.1
POE POE
DIGIN_bIn1_b
DIGIN_bIn1_b
Tip!
According to IEC1131,onlyonecopyof thedigital input can betransferred,andthis systemvariable
must be of type VAR_INPUT
:
POE
POE-OUT
SB-IN
DIGOUT_bOut1_b
DIGOUT_bOut2_b
DIGOUT_bOut3_b
DIGOUT_bOut4_b
C0444/1
C0444/2
C0444/3
C0444/4
DIGOUT
C0118/1...4
0
1
1
X5
A1
A2
A3
A4
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System blocks
2.2 Automation interface (AIF1_IO_AutomationInterface)
2.2 Automation interface (AIF1_IO_AutomationInterface)
2.2.1 Inputs_AIF1 (AIF1_IN)
Automation interface (module number 41)
ThisSB is used as an interface for input signals from plugged-in fieldbus modules ( e.g. INTERBUS,
PROFIBUS-DP) for setpoint/actual values as binary, analog or phase-angle information.
• Theprocessimageis
– created in a cyclic task in a fixed time period of 10 ms
– created in an interval task within the time set for this task.
When the task is started, the process image is read and when the task is completed, the
task is written.
Tip!
Pleaseobservet hecorrespondingOperatingInstructionsforthefieldbusmodulethatis pluggedin.
AIF1_IN
Bit 0
Byte 1,2
Bit 15
B y te 3 ,4
utom ation
In te rfa c e
B y te 5 ,6
16 Bit
16
binary
signals
C 0136/3
16 Bit
16 Bit
16 Bit
C 0855/1
16
binary
signals
C 0855/2
16
binary
signals
AIF1_wDctrlCtrl
AIF1_bC trlQ uickstop_b
AIF1_bCtrlDisable_b
AIF1_bC trlC Inhibit_b
AIF1_bC trlT ripS et_b
AIF1_bC trlT ripR eset_b
AIF1_bC trlB 0_b
AIF1_bC trlB 1_b
AIF1_bC trlB 2_b
AIF1_bC trlB 4_b
AIF1_bC trlB 5_b
AIF1_bC trlB 6_b
AIF1_bC trlB 7_b
AIF1_bC trlB 12_b
AIF1_bC trlB 13_b
AIF1_bC trlB 14_b
AIF1_bC trlB 15_b
AIF1_nInW 1_a
C 0856/1
AIF1_nInW 2_a
C0856/2
AIF1_nInW 3_a
C 0856/3
AIF1_bInB 0_b
AIF1_bInB 2_b
AIF1_bInB 14_b
AIF1_bInB 15_b
AIF1_bInB 16_b
AIF1_bInB 17_b
AIF1_bInB 30_b
AIF1_bInB 31_b
. . .
. . .
Abb. 2-4 Inputs_AIF1(AIF 1_IN)
2-4
B y te 7 ,8
16 Bit
Low W ord
16 Bit
H ighW ord
9300ServoPLCEN1.4
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C 0857
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System blocks
2.2 Automation interface (AIF1_IO_AutomationInterface)
VariableName DataType SignalType Address DIS DIS format Note
AIF1_wDctrlCtrl Word - %IX41.0 C0136/3 hex
AIF1_nInW1_a Integer analog %I W41.1 C0856/1 dec [%] +16384 = +100 %
AIF1_nInW2_a Integer analog %IW41.2 C0856/2 dec [%] +16384 = +100 %
AIF1_nInW3_a Integer analog %IW41.3 C0856/3 dec [%] +16384 = +100 %
AIF1_bCtr lQuickst o p _b Bool binary %IX41.0.3 - AIF1_bCtrlDisable_b Bool binary %IX41.0.8 - AIF1_bCtrlCInhibit_b Bool binary %I X41.0.9 - AIF1_bCtrlTripSet_b Bool binary %I X41.0.10 - AIF1_bCtrlTripReset_b Bool binary %I X41.0.11 - AIF1_bCtrlB0_b Bool binary %IX41.0.0 C0136/3 bin
AIF1_bCtrlB1_b Bool binary %IX41.0.1 C0136/3 bin
AIF1_bCtrlB2_b Bool binary %IX41.0.2 C0136/3 bin
AIF1_bCtrlB3_b Bool binary %IX41.0.3 C0136/3 bin
AIF1_bCtrlB4_b Bool binary %IX41.0.4 C0136/3 bin
AIF1_bCtrlB5_b Bool binary %IX41.0.5 C0136/3 bin
AIF1_bCtrlB6_b Bool binary %IX41.0.6 C0136/3 bin
AIF1_bCtrlB7_b Bool binary %IX41.0.7 C0136/3 bin
AIF1_bCtrlB12_b Bool binary %IX41.0.12 C0136/3 bin
AIF1_bCtrlB13_b Bool binary %IX41.0.13 C0136/3 bin
AIF1_bCtrlB14_b Bool binary %IX41.0.14 C0136/3 bin
AIF1_bCtrlB15_b Bool binary %IX41.0.15 C0136/3 bin
AIF1_bInB0_b Bool binary %IX 41.2.0 C0855/1 hex
AIF1_bInB1_b Bool binary %IX 41.2.1 C0855/1 hex
AIF1_bInB2_b Bool binary %IX 41.2.2 C0855/1 hex
AIF1_bInB3_b Bool binary %IX 41.2.3 C0855/1 hex
AIF1_bInB4_b Bool binary %IX 41.2.4 C0855/1 hex
AIF1_bInB5_b Bool binary %IX 41.2.5 C0855/1 hex
AIF1_bInB6_b Bool binary %IX 41.2.6 C0855/1 hex
AIF1_bInB7_b Bool binary %IX 41.2.7 C0855/1 hex
AIF1_bInB8_b Bool binary %IX 41.2.8 C0855/1 hex
AIF1_bInB9_b Bool binary %IX 41.2.9 C0855/1 hex
AIF1_bIn B10_b Bool binary %IX 41.2.10 C0855/1 hex
AIF1_bIn B11_b Bool binary %IX 41.2.11 C0855/1 hex
AIF1_bIn B12_b Bool binary %IX 41.2.12 C0855/1 hex
AIF1_bIn B13_b Bool binary %IX 41.2.13 C0855/1 hex
AIF1_bIn B14_b Bool binary %IX 41.2.14 C0855/1 hex
AIF1_bIn B15_b Bool binary %IX 41.2.15 C0855/1 hex
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System blocks
2.2 Automation interface (AIF1_IO_AutomationInterface)
VariableName NoteDIS formatDISAddressSignalTypeDataType
AIF1_bIn B16_b Bool binary %IX41.3.0 C0855/2 hex
AIF1_bIn B17_b Bool binary %IX41.3.1 C0855/2 hex
AIF1_bIn B18_b Bool binary %IX41.3.2 C0855/2 hex
AIF1_bIn B19_b Bool binary %IX41.3.3 C0855/2 hex
AIF1_bIn B20_b Bool binary %IX41.3.4 C0855/2 hex
AIF1_bIn B21_b Bool binary %IX41.3.5 C0855/2 hex
AIF1_bIn B22_b Bool binary %IX41.3.6 C0855/2 hex
AIF1_bIn B23_b Bool binary %IX41.3.7 C0855/2 hex
AIF1_bIn B24_b Bool binary %IX41.3.8 C0855/2 hex
AIF1_bIn B25_b Bool binary %IX41.3.9 C0855/2 hex
AIF1_bIn B26_b Bool binary %IX 41.3.10 C0855/2 hex
AIF1_bIn B27_b Bool binary %IX 41.3.11 C0855/2 hex
AIF1_bIn B28_b Bool binary %IX 41.3.12 C0855/2 hex
AIF1_bIn B29_b Bool binary %IX 41.3.13 C0855/2 hex
AIF1_bIn B30_b Bool binary %IX 41.3.14 C0855/2 hex
AIF1_bIn B31_b Bool binary %IX 41.3.15 C0855/2 hex
AIF1_dnInD1_p Double integer position %I D 41.1 C0857 dec [inc] 65536 = 1 revolution
Function
Theinputsignalsofthe8byteuserdataoftheAIF-objectareconvertedintocorrespondingsignal
types.
Byte 1 and 2
Byte 1,2 can be used simultaneously as
• binary information (up to 16 bits),
• asword (e.g. as c ontrol w ord)
Bytes 3 and 4
Bytes3-4formthesignalfor
AIF1_nInW1_a
Bytes 5-6 and bytes 7- 8
The meaning of these user data can be selected among different signal types. Depending on the
requirement,thesedatacan beevaluated as up to2integer signals, 32boolean/digitalsignalsor one
double-integer signal.
Address range from byte 1 - 7
Byte Address
1, 2 %IB 41.0and %IB41.1
3, 4 %IB 41.2and %IB41.3
5, 6 %IB 41.4and %IB41.5
7, 8 %IB 41.6and %IB41.7
.
2-6
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System blocks
2.2 Automation interface (AIF1_IO_AutomationInterface)
2.2.2 Outputs_AIF1 (AIF1_OUT)
Automation interface (module number 41)
This SB isused as an interfaceforoutput signals from plugged-in fieldbusmodules(e.g.INTER BUS,
PROFIBUS-DP) for setpoint/actual values as binary, analog or phase-angle information.
• Theprocessimageis
– created in a cyclic task in a fixed time period of 10 ms
– created in an interval task within the time set for this task.
When the task is started, the process image is read and when the task is completed, the
task is written.
Tip!
Pleaseobservet hecorrespondingOperatingInstructionsforthefieldbusmodulethatis pluggedin.
Abb.2-5 Outputs_AIF1 (AIF1_OUT)
AIF1_OUT
A IF 1 _ w D c trlS ta t
AIF1_nO utW 1_a
AIF1_nO utW 2_a
AIF1_nO utW 3_a
AIF1_bFD O 0_b
...
AIF1_bFD O 15_b
AIF1_bFD O 16_b
...
AIF1_bFD O 31_b
AIF1_dnO utD 1_p
C 0858/1
C 0858/2
C 0858/3
C 0859
16 Bit
16 Bit
Low W ord
16 Bit
H ighW ord
16 Bit
Low W ord
16 Bit
H ighW ord
C 0151/4
Bit 0
Bit 15
Byte 1,2
B y te 3 ,4
B y te 5 ,6
B y te 7 ,8
Autom ation
In te rfa c e
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System blocks
2.2 Automation interface (AIF1_IO_AutomationInterface)
VariableName DataType SignalType Address DIS DIS format Note
AIF1_wDctrlStat Word - % Q W41.0 - AIF1_nOutW1_a Integer analog %QW41.1 C0858/1 dec [%] +100 % = +16384
AIF1_nOutW2_a Integer analog %QW41.2 C0858/2 dec [%] +100 % = +16384
AIF1_nOutW3_a Integer analog %QW41.3 C0858/3 dec [%] +100 % = +16384
AIF1_bFDO0_b Bool binary %QX 41.2.0 C0151/4 hex
AIF1_bFDO1_b Bool binary %QX 41.2.1 C0151/4 hex
AIF1_bFDO2_b Bool binary %QX 41.2.2 C0151/4 hex
AIF1_bFDO3_b Bool binary %QX 41.2.3 C0151/4 hex
AIF1_bFDO4_b Bool binary %QX 41.2.4 C0151/4 hex
AIF1_bFDO5_b Bool binary %QX 41.2.5 C0151/4 hex
AIF1_bFDO6_b Bool binary %QX 41.2.6 C0151/4 hex
AIF1_bFDO7_b Bool binary %QX 41.2.7 C0151/4 hex
AIF1_bFDO8_b Bool binary %QX 41.2.8 C0151/4 hex
AIF1_bFDO9_b Bool binary %QX 41.2.9 C0151/4 hex
AIF1_bFDO10_b Bool binary %QX41.2.10 C0151/4 hex
AIF1_bFDO11_b Bool binary %QX41.2.11 C0151/4 hex
AIF1_bFDO12_b Bool binary %QX41.2.12 C0151/4 hex
AIF1_bFDO13_b Bool binary %QX41.2.13 C0151/4 hex
AIF1_bFDO14_b Bool binary %QX41.2.14 C0151/4 hex
AIF1_bFDO15_b Bool binary %QX41.2.15 C0151/4 hex
AIF1_bFDO16_b Bool binary %QX 41.3.0 C0151/4 hex
AIF1_bFDO17_b Bool binary %QX 41.3.1 C0151/4 hex
AIF1_bFDO18_b Bool binary %QX 41.3.2 C0151/4 hex
AIF1_bFDO19_b Bool binary %QX 41.3.3 C0151/4 hex
AIF1_bFDO20_b Bool binary %QX 41.3.4 C0151/4 hex
AIF1_bFDO21_b Bool binary %QX 41.3.5 C0151/4 hex
AIF1_bFDO22_b Bool binary %QX 41.3.6 C0151/4 hex
AIF1_bFDO23_b Bool binary %QX 41.3.7 C0151/4 hex
AIF1_bFDO24_b Bool binary %QX 41.3.8 C0151/4 hex
AIF1_bFDO25_b Bool binary %QX 41.3.9 C0151/4 hex
AIF1_bFDO26_b Bool binary %QX41.3.10 C0151/4 hex
AIF1_bFDO27_b Bool binary %QX41.3.11 C0151/4 hex
AIF1_bFDO28_b Bool binary %QX41.3.12 C0151/4 hex
AIF1_bFDO29_b Bool binary %QX41.3.13 C0151/4 hex
AIF1_bFDO30_b Bool binary %QX41.3.14 C0151/4 hex
AIF1_bFDO31_b Bool binary %QX41.3.15 C0151/4 hex
AIF1_dnOutD1_p Double integer position %QD 41.1 C0859 dec [inc] 1 revolution= 65536
Display code inhexas
double-word
2-8
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System blocks
2.2 Automation interface (AIF1_IO_AutomationInterface)
Function
The inputsignalsofthisfunctionblockare copiedtothe 8byteuser dataoftheAIF objectandapplied
to theplugged-infieldbus module.
Byte 1 and 2
Byte 1, 2 can be used as word information.
Bytes 3 and 4
Youcanfreely link bytes 3and 4 withvariables of the corresponding datatype, as a16-bit dataword
(quasi-analog signal).
Bytes 5-6 and bytes 7- 8
It is p ossible, using different variables,to write simult aneously to bytes 5-6 or bytes 7-8. Avoid this
situation, since the data in bytes 5-6 or bytes 7-8 are then not unambiguous.
The variables ... write data simultaneously to ...
AIF1_nOutW2_a
AIF1_bFDO0_b ... AIF1_bFDO15_b
AIF1_dnOutD1_p
AIF1_nOutW3_a
AIF1_bFDO16_b ...AIF1_bFDO31_b
AIF1_dnOutD1_p
Byte 5 and 6
Bytes 7, 8
Example:
Ifyouwrite to bytes 3-4,usingthevariables
AIF1_nOutW3_a
and
AIF1_dnOutD1_p
then bytes7-8
will berewritten every time avariable is processed. Thedata in bytes 7-8 arethus not unambiguous.
Address range from byte 1 - 7
Byte Address
1, 2 %QB41.0 and %QB 41.1
3, 4 %QB41.2 and %QB 41.3
5, 6 %QB41.4 and %QB 41.5
7, 8 %QB41.6 and %QB 41.7
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System blocks
2.3 Automation interface (AIF2_IO_AutomationInterface)
2.3 Automation interface (AIF2_IO_AutomationInterface)
2.3.1 Inputs_AIF2 (AIF2_IN)
Automation interface (module number 42)
ThisSB is used as an interface for input signals from plugged-in fieldbus modules ( e.g. INTERBUS,
PROFIBUS-DP) for setpoint/actual values as binary, analog or phase-angle information.
• Theprocessimageis
– created in a cyclic task in a fixed time period of 10 ms
– created in an interval task within the time set for this task.
When the task is started, the process image is read and when the task is completed, the
task is written.
Tip!
Pleaseobservet hecorrespondingOperatingInstructionsforthefieldbusmodulethatis pluggedin.
AIF2_IN
16 Bit
Bit 0
B y te 1 ,2
Bit 15
B y te 3 ,4B y te 5 ,6
utom ation
In te rfa c e
B y te 7 ,8
16 Bit
16
binary
signals
16
binary
signals
16 Bit
Low W ord
16 Bit
H igh W ord
16 Bit
16 Bit
AIF2_nInW 1_a
AIF2_nInW 2_a
AIF2_bInB 0_b
AIF2_bInB 1_b
......
AIF2_bInB 14_b
AIF2_bInB 15_b
AIF2_bInB 16_b
AIF2_bInB 17_b
AIF2_bInB 30_b
AIF2_bInB 31_b
AIF2_dnInD 1_p
AIF2_nInW 3_a
AIF2_nInW 4_a
Abb. 2-6 Inputs_AIF2(AIF2_IN)
2-10
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System blocks
2.3 Automation interface (AIF2_IO_AutomationInterface)
VariableName DataType SignalType Address DIS DIS format Note
AIF2_nInW1_a Integer analog %IW42.0 +16384 = +100 %
AIF2_nInW2_a Integer analog %IW42.1 +16384 = +100 %
AIF2_nInW3_a Integer analog %IW42.2 +16384 = +100 %
AIF2_nInW4_a Integer analog %IW42.3 +16384 = +100 %
AIF2_bInB0_b Bool binary %IX42.0.0
.. .. .. ..
.. .. .. ..
AIF2_bInB15_b Bool binary %IX42.0. 15
AIF2_bInB16_b Bool binary %I X42.1. 0
.. .. .. ..
.. .. .. ..
AIF2_bInB31_b Bool binary %IX42.1. 15
AIF2_dnInD1_p Double integer position %I D 42.0 65536 = 1 revolution
Function
Theinputsignalsofthe8byteuserdataoftheAIF-objectareconvertedintocorrespondingsignal
types.
Bytes 1-2 and bytes 3- 4
• Byte 1, 2 and byte 3, 4 can be used as binary information (2 x 16 bit)
• Byte 1, 2 and byte 3, 4 can be used as double word (32 bit)
Byte 5 and 6
Bytes5,6 form thesignal for
AIF2_nInW3_a
Bytes 7, 8
Bytes7,8 form thesignal for
AIF2_nInW4_a
Address range from byte 1 - 7
Byte Address
1, 2 %IB 42.0and %IB42.1
3, 4 %IB 42.2and %IB42.3
5, 6 %IB 42.4and %IB42.5
7, 8 %IB 42.6and %IB42.7
.
.
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System blocks
2.3 Automation interface (AIF2_IO_AutomationInterface)
2.3.2 Outputs_AIF2 (AIF2_OUT)
Automation interface (module number 42)
ThisSBisused as an interface foroutput signalstotheplugged-infieldbus modules (e.g.INTER BUS,
PROFIBUS-DP) for setpoint/actual values as binary, analog or phase-angle information.
• Theprocessimageis
– created in a cyclic task in a fixed time period of 10 ms
– created in an interval task within the time set for this task.
When the task is started, the process image is read and when the task is completed, the
task is written.
Tip!
Pleaseobservet hecorrespondingOperatingInstructionsforthefieldbusmodulethatis pluggedin.
Abb.2-7 Outputs_AIF2 (AIF2_OUT)
AIF2_OUT
AIF2_nO utW 1_a
AIF2_nO utW 2_a
AIF2_bFD O 0_b
...
AIF2_bFD O 15_b
AIF2_bFD O 16_b
...
AIF2_bFD O 31_b
AIF2_dnO utD 1_p
AIF2_nO utW 3_a
AIF2_nO utW 4_a
16 Bit
Low W ord
16 Bit
H igh W ord
16 Bit
Low W ord
16 Bit
H igh W ord
Bit 0
Bit 15
Bit 31
Bit 0
Bit 15
Bit 0
Bit 15
Byte 1,2
B y te 3 ,4
A u to m a tio n
In te rfa c e
B y te 5 ,6
B y te 7 ,8
2-12
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System blocks
2.3 Automation interface (AIF2_IO_AutomationInterface)
VariableName DataType SignalType Address DIS DIS format Note
AIF2_nOutW1_a Integer analog %QW42.0 +100 % = +16384
AIF2_nOutW2_a Integer analog %QW42.1 +100 % = +16384
AIF2_nOutW3_a Integer analog %QW42.2 +100 % = +16384
AIF2_nOutW4_a Integer analog %QW42.3 +100 % = +16384
AIF2_bFDO0_b Bool binary %QX 42.0.0
AIF2_bFDO1_b Bool binary %QX 42.0.1
AIF2_bFDO2_b Bool binary %QX 42.0.2
AIF2_bFDO3_b Bool binary %QX 42.0.3
AIF2_bFDO4_b Bool binary %QX 42.0.4
AIF2_bFDO5_b Bool binary %QX 42.0.5
AIF2_bFDO6_b Bool binary %QX 42.0.6
AIF2_bFDO7_b Bool binary %QX 42.0.7
AIF2_bFDO8_b Bool binary %QX 42.0.8
AIF2_bFDO9_b Bool binary %QX 42.0.9
AIF2_bFDO10_b Bool binary %QX42.0.10
AIF2_bFDO11_b Bool binary %QX42.0.11
AIF2_bFDO12_b Bool binary %QX42.0.12
AIF2_bFDO13_b Bool binary %QX42.0.13
AIF2_bFDO14_b Bool binary %QX42.0.14
AIF2_bFDO15_b Bool binary %QX42.0.15
AIF2_bFDO16_b Bool binary %QX 42.1.0
AIF2_bFDO17_b Bool binary %QX 42.1.1
AIF2_bFDO18_b Bool binary %QX 42.1.2
AIF2_bFDO19_b Bool binary %QX 42.1.3
AIF2_bFDO20_b Bool binary %QX 42.1.4
AIF2_bFDO21_b Bool binary %QX 42.1.5
AIF2_bFDO22_b Bool binary %QX 42.1.6
AIF2_bFDO23_b Bool binary %QX 42.1.7
AIF2_bFDO24_b Bool binary %QX 42.1.8
AIF2_bFDO25_b Bool binary %QX 42.1.9
AIF2_bFDO26_b Bool binary %QX42.1.10
AIF2_bFDO27_b Bool binary %QX42.1.11
AIF2_bFDO28_b Bool binary %QX42.1.12
AIF2_bFDO29_b Bool binary %QX42.1.13
AIF2_bFDO30_b Bool binary %QX42.1.14
AIF2_bFDO31_b Bool binary %QX42.1.15
AIF2_dnOutD1_p Double integer position %QD 42.0 1 revolution = 65536
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System blocks
2.3 Automation interface (AIF2_IO_AutomationInterface)
Function
Theinputsignalsof thisfunctionblockarecopiedto the8 byteuserdataof theAIFobject andapplied
to theplugged-infieldbus module.
Bytes 1-2 and bytes 3- 4
It is p ossible, using different variables,to write simult aneously to bytes 1-2 or bytes 3-4. Avoid this
situation, since the data in bytes 1-2 or bytes 3-4 are then not unambiguous.
The variables ... write data simultaneously to ...
AIF2_nOutW1_a
AIF2_bFDO0_b ... AIF2_bFDO15_b
AIF2_dnOutD1_p
AIF2_nOutW2_a
AIF2_bFDO16_b ...AIF2_bFDO31_b
AIF2_dnOutD1_p
Example:
Ifyouwrite to bytes 3-4,usingthevariables
will berewritten every time avariable is processed. Thedata in bytes 3-4 arethus not unambiguous.
Byte 1 and 2
Bytes 3 and 4
AIF2_nOutW2_a
and
AIF2_dnOutD1_p
then bytes3-4
Byte 5 and 6
Youcanfreely link bytes 5and 6 withvariables of the corresponding datatype, as a16-bit dataword
(quasi-analog signal).
Bytes 7, 8
Youcanfreely link bytes 7and 8 withvariables of the corresponding datatype, as a16-bit dataword
(quasi-analog signal).
Address range from byte 1 - 7
Byte Address
1, 2 %QB42.0 and %QB 42.1
3, 4 %QB42.2 and %QB 42.3
5, 6 %QB42.4 and %QB 42.5
7, 8 %QB42.6 and %QB 42.7
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System blocks
2.4 Automation interface (AIF3_IO_AutomationInterface)
2.4 Automation interface (AIF3_IO_AutomationInterface)
2.4.1 Inputs_AIF3 (AIF3_IN)
Automation interface (module number 43)
ThisSB is used as an interface for input signals from plugged-in fieldbus modules ( e.g. INTERBUS,
PROFIBUS-DP) for setpoint/actual values as binary, analog or phase-angle information.
• Theprocessimageis
– created in a cyclic task in a fixed time period of 10 ms
– created in an interval task within the time set for this task.
When the task is started, the process image is read and when the task is completed, the
task is written.
Tip!
Pleaseobservet hecorrespondingOperatingInstructionsforthefieldbusmodulethatis pluggedin.
A u to m a tio n
In te rfa c e
Bit 0
Bit 15
AIF3_IN
16 Bit
16 Bit
16
B y te 1 ,2
B y te 3 ,4
B y te 5 ,6
B y te 7 ,8
binary
signals
16
binary
signals
16 Bit
Low W ord
16 Bit
H igh W ord
16 Bit
16 Bit
AIF3_nInW 1_a
AIF3_nInW 2_a
AIF3_bInB 0_b
AIF3_bInB 1_b
......
AIF3_bInB 14_b
AIF3_bInB 15_b
AIF3_bInB 16_b
AIF3_bInB 17_b
AIF3_bInB 30_b
AIF3_bInB 31_b
AIF3_dnInD 1_p
AIF3_nInW 3_a
AIF3_nInW 4_a
Abb. 2-8 Inputs_AIF3(AIF3_IN)
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System blocks
2.4 Automation interface (AIF3_IO_AutomationInterface)
VariableName DataType SignalType Address DIS DIS format Note
AIF3_nInW1_a Integer analog %IW43.0 +16384 = +100 %
AIF3_nInW2_a Integer analog %IW43.1 +16384 = +100 %
AIF3_nInW3_a Integer analog %IW43.2 +16384 = +100 %
AIF3_nInW4_a Integer analog %IW43.3 +16384 = +100 %
AIF3_bInB0_b Bool binary %IX43.0.0
.. .. .. ..
.. .. .. ..
AIF3_bInB15_b Bool binary %IX43.0. 15
AIF3_bInB16_b Bool binary %I X43.1. 0
.. .. .. ..
.. .. .. ..
AIF3_bInB31_b Bool binary %IX43.1. 15
AIF3_dnInD1_p Double integer position %I D 43.0 65536 = 1 revolution
Function
Theinputsignalsofthe8byteuserdataoftheAIF-objectareconvertedintocorrespondingsignal
types.
Bytes 1-2 and bytes 3- 4
• Byte 1, 2 and byte 3, 4 can be used as binary information (2 x 16 bit)
• Byte 1, 2 and byte 3, 4 can be used as double word (32 bit)
Byte 5 and 6
Bytes5,6 form thesignal for
AIF3_nInW3_a
Bytes 7, 8
Bytes7,8 form thesignal for
AIF3_nInW4_a
Address range from byte 1 - 7
Byte Address
1, 2 %IB 43.0and %IB43.1
3, 4 %IB 43.2and %IB43.3
5, 6 %IB 43.4and %IB43.5
7, 8 %IB 43.6and %IB43.7
.
.
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2.4 Automation interface (AIF3_IO_AutomationInterface)
2.4.2 Outputs_AIF3 (AIF3_OUT)
Automation interface (module number 43)
ThisSBisused as an interface foroutput signalstotheplugged-infieldbus modules (e.g.INTER BUS,
PROFIBUS-DP) for setpoint/actual values as binary, analog or phase-angle information.
• Theprocessimageis
– created in a cyclic task in a fixed time period of 10 ms
– created in an interval task within the time set for this task.
When the task is started, the process image is read and when the task is completed, the
task is written.
Tip!
Pleaseobservet hecorrespondingOperatingInstructionsforthefieldbusmodulethatis pluggedin.
Abb.2-9 Outputs_AIF3 (AIF3_OUT)
AIF3_OUT
AIF3_nO utW 1_a
AIF3_nO utW 2_a
AIF3_bFD O 0_b
...
AIF3_bFD O 15_b
AIF3_bFD O 16_b
...
AIF3_bFD O 31_b
AIF3_dnO utD 1_p
AIF3_nO utW 3_a
AIF3_nO utW 4_a
16 Bit
Low W ord
16 Bit
H igh W ord
16 Bit
Low W ord
16 Bit
H igh W ord
Bit 0
Bit 15
Bit 31
Bit 0
Bit 15
Bit 0
Bit 15
Byte 1,2
B y te 3 ,4
A u to m a tio
In te rfa c e
B y te 5 ,6
B y te 7 ,8
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2.4 Automation interface (AIF3_IO_AutomationInterface)
VariableName DataType SignalType Address DIS DIS format Note
AIF3_nOutW1_a Integer analog %QW43.0 +100 % = +16384
AIF3_nOutW2_a Integer analog %QW43.1 +100 % = +16384
AIF3_nOutW3_a Integer analog %QW43.2 +100 % = +16384
AIF3_nOutW4_a Integer analog %QW43.3 +100 % = +16384
AIF3_bFDO0_b Bool binary %QX 43.0.0
AIF3_bFDO1_b Bool binary %QX 43.0.1
AIF3_bFDO2_b Bool binary %QX 43.0.2
AIF3_bFDO3_b Bool binary %QX 43.0.3
AIF3_bFDO4_b Bool binary %QX 43.0.4
AIF3_bFDO5_b Bool binary %QX 43.0.5
AIF3_bFDO6_b Bool binary %QX 43.0.6
AIF3_bFDO7_b Bool binary %QX 43.0.7
AIF3_bFDO8_b Bool binary %QX 43.0.8
AIF3_bFDO9_b Bool binary %QX 43.0.9
AIF3_bFDO10_b Bool binary %QX43.0.10
AIF3_bFDO11_b Bool binary %QX43.0.11
AIF3_bFDO12_b Bool binary %QX43.0.12
AIF3_bFDO13_b Bool binary %QX43.0.13
AIF3_bFDO14_b Bool binary %QX43.0.14
AIF3_bFDO15_b Bool binary %QX43.0.15
AIF3_bFDO16_b Bool binary %QX 43.1.0
AIF3_bFDO17_b Bool binary %QX 43.1.1
AIF3_bFDO18_b Bool binary %QX 43.1.2
AIF3_bFDO19_b Bool binary %QX 43.1.3
AIF3_bFDO20_b Bool binary %QX 43.1.4
AIF3_bFDO21_b Bool binary %QX 43.1.5
AIF3_bFDO22_b Bool binary %QX 43.1.6
AIF3_bFDO23_b Bool binary %QX 43.1.7
AIF3_bFDO24_b Bool binary %QX 43.1.8
AIF3_bFDO25_b Bool binary %QX 43.1.9
AIF3_bFDO26_b Bool binary %QX43.1.10
AIF3_bFDO27_b Bool binary %QX43.1.11
AIF3_bFDO28_b Bool binary %QX43.1.12
AIF3_bFDO29_b Bool binary %QX43.1.13
AIF3_bFDO30_b Bool binary %QX43.1.14
AIF3_bFDO31_b Bool binary %QX43.1.15
AIF3_dnOutD1_p Double integer position %QD 43.0 1 revolution = 65536
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2.4 Automation interface (AIF3_IO_AutomationInterface)
Function
Theinputsignalsof thisfunctionblockarecopiedto the8 byteuserdataof theAIFobject andapplied
to theplugged-infieldbus module.
Bytes 1-2 and bytes 3- 4
It is p ossible, using different variables,to write simult aneously to bytes 1-2 or bytes 3-4. Avoid this
situation, since the data in bytes 1-2 or bytes 3-4 are then not unambiguous.
The variables ... write data simultaneously to ...
AIF3_nOutW1_a
AIF3_bFDO0_b ... AIF3_bFDO15_b
AIF3_dnOutD1_p
AIF3_nOutW2_a
AIF3_bFDO16_b ...AIF3_bFDO31_b
AIF3_dnOutD1_p
Example:
Ifyouwrite to bytes 3-4,usingthevariables
will berewritten every time avariable is processed. Thedata in bytes 3-4 arethus not unambiguous.
Byte 1 and 2
Bytes 3 and 4
AIF3_nOutW2_a
and
AIF3_dnOutD1_p
then bytes3-4
Byte 5 and 6
Youcanfreely link bytes 5and 6 withvariables of the corresponding datatype, as a16-bit dataword
(quasi-analog signal).
Bytes 7, 8
Youcanfreely link bytes 7and 8 withvariables of the corresponding datatype, as a16-bit dataword
(quasi-analog signal).
Address range from byte 1 - 7
Byte Address
1, 2 %QB43.0 and %QB 43.1
3, 4 %QB43.2 and %QB 43.3
5, 6 %QB43.4 and %QB 43.5
7, 8 %QB43.6 and %QB 43.7
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System blocks
2.5 AIF_IO_Management
2.5 AIF_IO_Management
Automation interface management (module number 161)
This SB is used for the control and monitoring of special AIF-modules (fieldbus modules).
Tip!
Pleaseobservet hecorrespondingOperatingInstructionsforthefieldbusmodulethatis pluggedin.
AIF
Communication Error
AIF
Field Bus State
AIF_IO_Management
AIF_bCe1CommErr_b
AIF_bFieldBusStateBit0_b
AIF_bFieldBusStateBit1_b
AIF_bFieldBusStateBit2_b
AIF_bFieldBusStateBit3_b
AIF_bFieldBusStateBit4_b
AIF_bFieldBusStateBit5_b
AIF_bFieldBusStateBit6_b
AIF_bFieldBusStateBit7_b
Abb. 2-10 AIF_IO_ Management
VariableName
AIF_bCe0CommErr_b Bool binary %IX 161.0.0 hex Communication error
AIF_bFieldBusStateBit0_b Bool binary %I X161.1.0 hex Field bus state bit 0
AIF_bFieldBusStateBit1_b Bool binary %I X161.1.1 hex Field bus state bit 1
AIF_bFieldBusStateBit2_b Bool binary %I X161.1.2 hex Field bus state bit 2
AIF_bFieldBusStateBit3_b Bool binary %I X161.1.3 hex Field bus state bit 3
AIF_bFieldBusStateBit4_b Bool binary %I X161.1.4 hex Field bus state bit 4
AIF_bFieldBusStateBit5_b Bool binary %I X161.1.5 hex Field bus state bit 5
AIF_bFieldBusStateBit6_b Bool binary %I X161.1.6 hex Field bus state bit 6
AIF_bFieldBusStateBit7_b Bool binary %I X161.1.7 hex Field bus state bit 7
Function
Monitoring for communication errors through a field bus module connected to the automation
interface. (Communication error CE0; LECOM-Nr.: 61; Reaction: TRIP)
DataType SignalType Address DIS DIS format Note
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2.6 Analog inputs/outputs 1 (ANALOG1_IO)
2.6 Analog inputs/outputs 1 ( A NALOG1_IO)
2.6.1 Inputs_ANALOG1 (AIN1)
Analog input 1 (module number 11)
ThisSBforms theinterfacefor analogsignalsviaterminal X6/1-2assetpoint input, actualvalueinput,
and parameter control.
Abb.2-11 Inputs_ANALOG1(AIN1)
VariableName
AIN1_nIn_a Integer analog %IW11.0 C0400 dec [%] Analog input 1
AIN1_bError_b Bool binary %IX11.1.0 - - TRU E, if I < 2 mA
C0034 - - - - - Select master voltage or master
Function
Selection Function Note
C0034 = 0 -10 V ... 10 Vmaster voltage ±10 V≡±16384
C0034 = 1 4 mA... 20 mAmaster curren t
C0034 = 2 -20 mA... 20 mA
• C0034 can be used to insert a dead-time section into the output signal. The function 4 ... 20
mA as a current master value can be achieved together with the jumper setting X2 (at the front
of thecontroller).
• Settings through C0598:
– C0598 = 0: if the master current < 2 mA, the TRI P(SD5)message appears.
– C0598 = 2: if the master current < 2 mA, the warning mesage appears.
– C0598 = 3: no message appears.
• Processing time required for the SB: 10 µsec.
X6
1
2
DataType SignalType Address DIS DIS format Note
C0034
AIN1
AIN 1_nIn_a
C0400
A IN 1 _b E rro r_ b
AIN1_bError_b
AIN1_bError_b
current
= TRUE, if master current < 2 mA
= FALSE, if master current ≥ 2mA
Assignment of the control terminals X6/1, 2
Terminal Use level Data
X6/1
X6/2
Differential master-voltage input
Differential master-current input
6
4
2
6
4
2
Jumper X3
5
3
1
5
3
1
9300ServoPLCEN1.4
-10Vbis+10V Resolution:
5 mV (11 bit + sign)
±10 V≡±16384 ≡±100 %
-20mAto+20mA Resolution:
20 µA (10 Bit + sign)
2-21
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2.6 Analog inputs/outputs 1 (ANALOG1_IO)
2.6.2 Outputs_ANALOG1 (AOUT1)
Analog output 1 (module number: 11)
You can use this SB asa monitoroutput.Internal analog signalscan beoutput via terminalX6/62 as
voltage signals, and used, for example, as display or setpoints for following drives.
Abb. 2-12 Outputs_ANALOG1 (AOUT1)
VariableName
AOU T1_nOut_a Integer analog %QW11.0 C0434/1 dec [%] Analog output 1
DataType SignalType Address DIS DIS format Note
Function
• A voltage of 10 Vis given out at terminal X6/62, if the signal on
100 %
• Processing time required for the SB: 12 µsec.
Assignment of the control terminal X6/62
Terminal Use level Data
X6/62 Monitor 1 -10Vto+10V;
X6/7 Internal ground, GND - -
AOUT1_nOut_a
C0434/1
AOUT1
max. 2 mA
X6
62
AOUT1_nOut_a
Resolution:
20 mV (9 bit + sign)
±10 V≡±16384 ≡±100 %
= 16384 =
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2.7 Analog inputs/outputs 2 (ANALOG2_IO)
2.7 Analog inputs/outputs 2 ( A NALOG2_IO)
2.7.1 Inputs_ANALOG2 (AIN2)
Analog input 2 (module number 12)
This SB forms the interface for analog signals via terminal X6/3-4.
Abb.2-13 Inputs_ANALOG2(AIN2)
VariableName
AIN2_nIn_a Integer analog %IW12.0 C0405 dec [%] Analog input 2
• Processing time required for the SB: 10 µsec.
Asssignment of the control terminals X6/3-4
Terminal Use level Data
X6/3
X6/4
Differential master-voltage input
(jumper X3 has no effect)
X6
3
4
DataType SignalType Address DIS DIS format Note
-10Vbis+10V Resolution:
AIN2
AIN 2_nIn_a
C0405
5 mV (11 bit + sign)
±10 V≡±16384 ≡±100 %
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2.7 Analog inputs/outputs 2 (ANALOG2_IO)
2.7.2 Outputs_ANALOG2 (AOUT2)
Analog output 2 (module number: 12)
You can use this SB asa monitoroutput.Internal analog signalscan beoutput via terminalX6/63 as
voltage signals, and used, for example, as display or setpoints for following drives.
Abb. 2-14 Outputs_ANALOG2 (AOUT2)
VariableName
AOU T2_nOut_a Integer analog %QW12.0 C0439/1 dec [%] Analog output 2
DataType SignalType Address DIS DIS format Note
• A voltage of 10 Vis given out at terminal X6/63, if the signal on
100 %
• Processing time required for the SB: 12 µsec.
Assignment of the control terminal X6/63
Terminal Use level Data
X6/63 Monitor 2 -10Vto+10V;
X6/7 Internal ground, GND - -
AOUT2_nOut_a
C0439/1
AOUT2
max. 2 mA
X6
63
AOUT2_nOut_a
Resolution:
20 mV (9 bit + sign)
±10 V≡±16384 ≡±100 %
= 16384 =
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2. 8 Drive control (DCTRL _DriveControl)
2.8 Drive control (DCTRL_DriveControl)
M odule number: 121
This SB operates the drive controller in specific states (e.g. TRIP, TRIP-RESET, QSP or controller
inhibit).
• Theproc ess image is created in a fixed system task (interval: 2 msec).
DCTRL_wCAN1Ctrl
DCTRL_wAIF1Ctrl
D C TR L_bC Inh1_b
C 0878/1
D C TR L_bC Inh2_b
C 0878/2
D C TR L_bTripS et_b
C 0878/3
D C TR L_bTripR eset_b
C 0878/4
D C TR L_bS tateB 0_b
D C TR L_bS tateB 2_b
D C TR L_bS tateB 3_b
D C TR L_bS tateB 4_b
D C TR L_bS tateB 5_b
D C TR L_bS tateB 14_b
D C TR L_bS tateB 15_b
16 Bit
16 Bit
C 0135
16
C 135.B 3
C 135.B 8
C 135.B 9
X5/28
C 135.B 10
C 135.B 11
C 0136/1
D C TR L_bIm p_b
D C TR L_bN A ctE q0_b
D C TR L_bC Inh_b
D C TR L_bS tat1_b
D C TR L_bS tat2_b
D C TR L_bS tat4_b
D C TR L_bS tat8_b
D C TR L_bW arn_b
D C TR L_bM ess_b
Bit3
Bit3
Bit8
Bit8
Bit9
Bit9
Bit10
Bit10
Bit11
Bit11
≥
≥
≥
≥
≥
1
1
1
1
1
QSP
DISABLE
CINH
TRIP-SET
TRIP-RESET
>
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
STAT
1
≥
DCTRL
D C TR L_bQ spIn_b
D C TR L_bR dy_b
D C TR L_bC Inh_b
D C TR L_bIm p_b
D C TR L_bTrip_b
D C TR L_bW arn_b
D C TR L_bM ess_b
D C TR L_bFail_b
D CTR L_w FaultNum ber
C 0168
DCTRL_bCwCCw_b
D CTR L_bExternalFault_b
D C TR L_bN A ctE q0_b
D C TR L_bS tat1_b
D C TR L_bS tat2_b
D C TR L_bS tat4_b
D C TR L_bS tat8_b
D C TR L_bInit_b
D C TR L_w S tat
C 0150
Abb. 2-15 Drive control (DCTRL)
Tip!
A task overflow triggersa TRIPwhichalso stops the applicationprogramof thePLC!
Motorcontrol/drivecontrolandPLCapplicationprogramareotherwisecompletelyseparatedunless
there is a polling of the signals in the application program.
The SB DCTRLonly affects the motor or drive control of the controller.
For instance, the application program will not be stopped when the motor control has triggered a
TRIP.
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2. 8 Drive control (DCTRL _DriveControl)
VariableName DataType SignalType Address DIS DIS format Note
DCTRL_wCAN1Ctrl Word - %Q W121.3 - DCTRL_wAIF1Ctrl Word - %QW121.2 - DCTRL _bCInh1_b Bool binary %QX121.0.1 C0878/1 bin TRU E= inhibit controller
DCTRL _bCInh2_b Bool binary %QX121.0.2 C0878/2 bin TRU E= inhibit controller
DCTRL _bTripSet_b Bool binary %QX 121.0.3 C0878/3 bin TRUE= error message
DCTRL _bTripR eset_b Bool binary %QX121.0.4 C0878/4 bin FALSE-TRU Eedge =
DCTRL _bStatB0_b Bool binary %QX121.1.0
DCTRL _bStatB2_b Bool binary %QX121.1.2
DCTRL _bStatB3_b Bool binary %QX121.1.3
DCTRL _bStatB4_b Bool binary %QX121.1.4
DCTRL _bStatB5_b Bool binary %QX121.1.5
DCTRL _bStatB14_b Bool binary %QX121.1.14
DCTRL _bStatB15_b Bool binary %QX121.1.15
DCTRL_bQspin_b Bool binary %IX 121.0.3 TRU E= QSPthrough
DCTRL _bRdy_b Bool binary %I X121.0.4 - - TRUE = ready to operate
DCTRL _bCInh_b Bool binary %IX 121.0.7 - - TRU E= controller inhibited
DCTRL _bImp_b Bool binary %I X121.0.1 - - TRUE = power output stage is
DCTRL _bTrip_b Bool binary %IX121.0.2 - - TRU E= active error
DCTRL _bW arn_b Bool binary %IX 121.0.12 - - TRUE = active warning
DCTRL_bMess_b Bool binary %IX121.0.13 - - TRUE = active message
DCTRL _bFail_b Bool binary %I X121.0.0 - - TRU E= active error
DCTRL _bCwCCw_b Bool binary %IX121.0.5 - - FALSE= CW ,TRUE = CCW
DCTRL _bNActEq0_b Bool binary %I X121.0.6 - - TRUE = motorspeed < C0019
DCTRL _bStat1_b Bool binary %IX 121.0.8 - - general status (binary coded)
DCTRL _bStat2_b Bool binary %IX 121.0.9 - - general status (binary coded)
DCTRL _bStat4_b Bool binary %I X121.0.10 - - general status (binary coded)
DCTRL _bStat8_b Bool binary %I X121.0.11 - - general status (binary coded)
DCTRL _bInit_b Bool binary %IX 121.0.14 - - Sign aldu r ingthe initialisation
DCTRL_bExternalFault_b Bool binary %IX121.0.15 - - TRU E= TRIPwas set through
DCTRL_wStat Word - %IW121 C0150 hex Status word
DCTRL_wFaultNumber Word - %IW121.1 C0168 - Display of the current fault
– “ExternalFault”
– (external fault “EEr”)
TRI P -RESET
CAN/AIF control wordorC0135
high-impedance
phase on power-on
DCTRL _bTripSet_b
number (see monitoring)
Range of functions
• Operation inhibited (DIS ABLE)
• Controller inhibit (CINH)
• TRIP-SET
• TRIP-RESET
• Controllerstate
• Outputof digitalstatussignals
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2. 8 Drive control (DCTRL _DriveControl)
2.8.1 Quickstop (QSP)
The drive is braked to standstill via the deceleration ramp C105 and generates a holding torque.
• The function can be operated via 3 inputs:
– Controlword
– Controlword
CAN1_wDctrlCtr
AIF_wDctrlCtrl
– Control word C0135.B3
• All inputs are linked by an OR-operation.
• C0136/1 displays the control word C0135
Tip!
QSPisonlysetif
MCTRL_bQspOut_b
from SB CAN1_IN
from SB AIF1_IN
is linked to
DCTRL_bQspIn_b
DCTRL_bQspIn_b
Any Variable
Abb. 2-16 ProgrammingtheQSP-function, if SB DCTRL is to trigger QSP
OR
2.8.2 Operat ion disabled (DISABLE)
In this state,youcannotstartthedrivewith thecontrollerenablecommand.The power outputstages
are disabled. All speed/current/position controllers are reset.
• The function can be operated via 3 inputs:
– Controlword
– Controlword
– Control word C0135.B8
• All inputs are linked by an OR-operation.
• C0136/1 displays the control word C0135
CAN1_wDctrlCtr
AIF_wDctrlCtrl
from SB CAN1_IN
from SB AIF1_IN
MCTRL_bQspOut_b
MCTRL_nHiMLim_a
MCTRL_nLoMLim_a
MCTRL_bNMSwt_b
MCTRL_bILoad_b
C0907/3
C0906/4
C0906/3
C0907/2
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2. 8 Drive control (DCTRL _DriveControl)
2.8.3 Controller inhibit “ControllerInhibit” (CINH)
The power output stages are disabled. All speed/current/position controllers are reset.
• The function can be operated via 6 inputs:
– Terminal X5/28 (FALSE = controller disable)
– Controlword
– Controlword
– Control word C0135.B9
– System variables
– System variables
• All inputs are linked by an OR-operation.
• C0136/1 displays the control word C0135
2.8.4 TRIP-SET
The drive is operated in the state selected under C0581, and signals “ExternalFault”.
• The function can be operated via 4 inputs:
– Controlword
– Controlword
– Control word C0135.B10
– System variables
• All inputs are linked by an OR-operation.
• C0136/1 displays the control word C0135
CAN1_wDctrlCtr
AIF_wDctrlCtrl
DCTRL_bCInh1_b
DCTRL_bCInh2_b
CAN1_wDctrlCtr
AIF_wDctrlCtrl
DCTRL_bTripSet_b
from SB CAN1_IN
from SB AIF1_IN
(VAR_INPUT)
(VAR_INPUT)
from SB CAN1_IN
from SB AIF1_IN
(VAR_INPUT)
2.8.5 TRIP-RESET
TRIP-RESET resets an active TRIP, provided that the cause of the fault has been removed. If the
cause of the fault is still active, there is no reaction.
• The function can be operated via 4 inputs:
– Controlword
– Controlword
– Control word C0135.B11
– System variables
• All inputs are linked by an OR-operation.
• The function can only be performed by a FA LSE-TRUEtransition of the signal resulting from
theORoperation.
• C0136/1 displays the control word C0135
Tip!
If TRUEis present at one of the inputs, no FALSE -TRUEtransition can occur in the resulting signal.
CAN1_wDctrlCtr
AIF_wDctrlCtrl
DCTRL_bTripReset_b
from SB AIF1_IN
from SB CAN1_IN
(VAR_INPUT)
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2. 8 Drive control (DCTRL _DriveControl)
2.8.6 DCTRL_wFaultNumber
An existing fault can be read using the system variable
For the assignment of the error numbers refer to chapter ”Monitoring” of the description of the
automation system.
2.8.7 DCTRL_bExternalFault_b
If
DCTRL_bTripSet_b
DCTRL_bE xternalFault_b
triggers aTRIP,thenthestate changesfrom
remains TRUE, until either
reset the TRIP.
2.8.8 Controller state
The state is binary-cod ed in the system variables
(VAR_INPUT).
DCTRL_bStat8_b DCTRL_bStat4_b DCTRL_bStat2_b DCTRL_bStat1_b Action of the controller
0 0 0 0 Initialization after connection of the supply voltage
0 0 0 1 Lock mode, Protectionagainst restart active C0142
0 0 1 1 Driveisincon t rollerinh ib itmode
0 1 1 0 Controller enabled
0 1 1 1 The release of a monitoring function resulted in a ”message”
1 0 0 0 The triggering of a monitoring function resulted in a TRIP
DCTRL_wFaultNumber
DCTRL_bE xternalFault_b
DCTRL_bTripSet_b
, keypad, GDC or codes
DCTRL_bStat1_b
= C0168.
toTRUE.
...
DCTRL_bStat8_b
0 F ALSE
1TRUE
2.8.9 Output of digit al statussignals
Defined signals areoutput at
word.
Thestatus wo rd is assembled fro m the following signals:
• Generated signals in the SB DCTRL
• Signalsfrom syst em variables, with outputs that you can program
System variables,which you can use to assign defined signals
to the status word
DCTRL _bStatB0_b DCTRL_bImp_b
DCTRL _bStatB2_b DCTRL_bNActEq0_b
DCTRL _bStatB3_b DCTRL_bCInh_b
DCTRL _bStatB4_b DCTRL_bStat1_b
DCTRL _bStatB5_b DCTRL_bStat2_b
DCTRL _bStatB14_b D CTR L _bStat4_b
DCTRL _bStatB15_b D CTR L _bStat8_b
DCTRL_wStat
asastatusword.With C0150 youcandisplay the status
Signals generated in SB DCTRL, that are assigned to the status
word
DCTRL _bW arn_b
DCTRL_bMess_b
The bitwise assignment of the status word can be found in the diagram for the SB DCTRL (see
Abb.2-15).
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2. 8 Drive control (DCTRL _DriveControl)
2.8.10 Control word and status word
Ifthecontroland/orstatuswordfromDCTRL_DriveControl isassignedtotheAIF1_IO/CAN1_IO,then
this must be implemented by the user .
Examples:
LD DCTRL_wStat
ST AIF1_wDctrlStat
ST CAN1_wDctrlStat
LD AIF1_wDctrlCtrl
ST DCTRL_wAIF1Ctrl
LD CAN1_wDctrlCtrl
ST DCTRL_wCAN1Ctrl
2-30
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2.9 Digital master frequency input (DF_IN_DigitalFrequency)
2.9 Digital master frequency input (DF_IN_DigitalFrequency)
M odule number: 21
This SB canconvert and normalize a pulse current at the digital frequency input X9into a speed and
phase-angle setpoint. The transmissionof a digital frequency is very precise (without offset and gain
errors).
X9
Abb.2-17 Digitalfrequencyinput(DF_IN)
(X 9/8)
4V
MP
E5
C 0427
C0425
MONIT-SD3
0
1
C 0428
C0426
D FIN _bE ncFaultC able_b
TP/M P
D FIN _bT PR eceived_b
-C trl
D F IN _ d n In c L a s tS c a n _ p
C 0429
DF_IN
D FIN _nIn_v
VariableName
DataType SignalType Address DIS DIS format Note
DFIN_nIn_v Integer velocity %I W21.0 C0426 dec [rpm] Value in incr./msec
DFIN_bEncFaultCable_b Bool binary %IX21.1.0 - - TRUE = monitoring “FaultEncCa-
ble” has been triggered, because
X9/8 has no voltage applied, and
so the digital frequency coupling
is interrup ted
DFIN_bTPReceived_b Bool binary %I X21.1.2 - DFIN_dnIncLastScan_p Do uble Integer position % ID21.1 - -
Range of functions
• Digitalfrequency inputX9
• Technical data for the connection of X9 and X10
• Touc h-probe
9300ServoPLCEN1.4
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2.9 Digital master frequency input (DF_IN_DigitalFreq uency)
2.9.1 Digital frequency input X9
• The digital frequency input X9 is dimensioned for signals with TTL levels.
• You can use C0425 to adapt the drive to the sensor/encoder that is connected or to the
preceding drive controller in the case of digital-frequency cascade or digital-frequency-bus
operation.
C0425 Constants in increments per turn
0 256 inc/rev
1 512 inc/rev
2 1024 inc/rev
3 2048 inc/rev
4 4096 inc/rev
5 8192 inc/rev
6 16384 inc/rev
• Theinput of a zerotrack is optional.
• Theevaluation of the following digital-frequency input signals is possible under C0427:
• The process image of SB DF_IN is newly created again for each task in which it is applied.
C0427 = 0 (2-phase)
A
A
B
B
Z
Z
Abb. 2-18 Signal sequence with phase shift (CW rotation)
• CWrotation:
– Track A leads track B by 90 ° (positive value at
• CCWrotation:
– Track A lags track B by 90 ° (negative value at
DFIN_nIn_v
DFIN_nIn_v
).
).
2-32
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2.9 Digital master frequency input (DF_IN_DigitalFrequency)
C0427 = 1 (A = pulse / B = direction)
A
A
B
B
Z
Z
Abb. 2-19 Control of the direction of rotation by track B
• CWrotation:
– Track A transmits the speed.
– Track B = FALSE(positive value at
• CCWrotation:
– Track A transmits the speed.
– Track B = TRUE(negative value at
DFIN_nIn_v
DFIN_nIn_v
).
).
C0427 = 2 (pulse = A or B)
A
A
B
B
Z
Z
Abb. 2-20 Control of speed and direction of rotation viatrack A or track B
• CWrotation:
– Track A p ro vides the speed and the direction (positive valueat
–TrackB=FALSE
• CCWrotation:
– Track B provides the speed and the direct io n (negativevalueat
–TrackA=FALSE
DFIN_nIn_v
DFIN_nIn_v
).
).
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2.9 Digital master frequency input (DF_IN_DigitalFreq uency)
T ransmission function
DFIN_nIn_ v f[Hz]ô
no. of incr._from C0425
60
Example:
Inputfrequency = 200kHz
C0425 = 3 (corresponds to 2048 increments/turn)
Solution:
DFIN_nIn_ v [rpm] 200000 Hz ô
60
2048
5859 rpm
Signal adaptation
Finer resolutions can be achieved by adding a following FB (e.g. L_CONV).
Example:
nOut_a f[Hz]ô
60
no. of incr._from C0425
ô
nDenominator
14
2
ô
15000
nNumerator
ô
15000
14
2
X9
Abb. 2-21 Digital frequency input (DF_IN)with following FB for normalization
(X 9/8)
C 0425
4V
MP
E5
C 0427
MONIT-SD3
TP/M P
0
1
C 0428
C 0426
D FIN _bE ncFaultC able_b
D FIN _bT PR eceived_b
-C trl
D FIN _dnIncLastS can_p
C 0429
DF_IN
D FIN _nIn_v
Stop!
IfC0540= 0, 1, 2 (signalat X10,seeSBDFOUT)and feedback systemC0025 > 10 youmust not use
the digital frequency input X9.
nIn_a
L_CONV3
nN um erator
nD enom inator
L_CONV
nO ut_a
2-34
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2.9 Digital master frequency input (DF_IN_DigitalFrequency)
2.9.2 Technical data for the connection of X9 and X10
Digitalf requency output X10 Digital frequency input X9
Features:
• Sub-D female connector, 9-pole
• Output frequency: 0 - 500 kHz
• Current consumption per channel: max 20mA.
• Two-trackwithinverse 5 Vsignalsandzerotrack
• Loadcapability:
– For parallel connection, a maximumof three slaves can be con-
nected.
– With a series connection, any number of following drives can be
conn ected .
• Wh enPIN8 (EN )sho w sa LO Wlevel, the masteris initialized (e.g.
if the mains was disconnected) . The slave can thus monitor the
master.
Features:
• Sub-D male connector , 9-pole
• Input frequency: 0 - 500 kHz
• Current consumption per channel: max 6mA.
• Two-trackwithinverse 5 Vsignalsandzerotrack
• Possible input signals:
– Incremental encoders with two 5V complementary signals (TTL-
level source), shifted by 90°
– Encoder simulation of the master
• PIN8 serves to monitor the cable or the connected controller:
– When this PINshows a LOWlevel, the monitoring “FaultEncCa-
ble” (”SD3”) is triggered.
– If the monitoring is not required, this input can be tied to +5V.
• The input is disconnected at C0540 = 0, 1, 2 or 3.
Master
X10
B
1
A
2
A
3
4
GND
Pin assignment X10 Pin assignment X9
1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9
B A A +5V GND Z Z EN B B A A +5 V GND Z Z LC B
5
Z
6
Z
7
enable
8
B
9
C able length m ax. 50 m
9 pole Sub-D connector
Slave
X9
mm
B
1
0.14 26
A
2
A
3
4
GND
5
Z
6
7
8
9
9 pole Sub-D m ale connector
Z
Lam p
control
B
0.14 26
0.5 20
0.14 26
∅
2
AW G
0.5 20
F o r C W ro ta tio n
A
A
B
B
Z
Z
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2.9 Digital master frequency input (DF_IN_DigitalFreq uency)
2.9.3 Touch-Probe (TP)
TP
Abb. 2-22 Function diagram of a TP
Time-equidistant start of an interval-task
ϕ Phase-angle signal
Functional sequence
1. TheTPistriggeredby a FALSE- TRUEedgeat the d igitalinputX5/E5or by a zero pulsefrom
X9 (only if an encoder is attached).
– Use C0428 to select whether the TP should be carried out by the MP (marker pulse “zero
pulsefromencoder”) or from the X5/E5 input.
– Use C0429 to set a delay (unit: incr.)for a TP. This means that the TP/MP-Ctrl has a delyed
response to a TP.
– Through C0431 you can set up whether the TP from E5 should be triggered by a rising or
falling edge(0 = rising edge, 1 = falling edge).
2. If a TP has occurred, then
3. After the start of the task,
that have been counted since the TP.
4. Following,
DFIN_bTPReceived_b
ϕ
D FIN _dnIncLastS can_p
DFIN_bTPReceived_b
DFIN_dnIncLastScan_ p
= FALSEis set.
switches immediately = TRUE.
gives the number of increments [inc/ms]
Note!
It is also necessary that
DFIN_nIn_v
• The value
(INT)16384 cirresponds to 15000 rpm.
• For every task in which
that is reset after every start of the task.
2-36
DFIN_nIn_v
DFIN_nIn_v
is scaled in increments per millisecond.
DFIN_nIn_v
is processed in the task, so that the SB DFIN is read in.
is used, t he operating syst em creates an individual counter
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2.9 Digital master frequency input (DF_IN_DigitalFrequency)
Example (
DFIN_nIn_v
in a 10 msec task):
• When the 10 msec task starts, the value of the counter is stored in a local area of the task and
the counter is reset. The value in the local area goves an average value in increments per 1
msec.
• If a position value is to be derived from this value, then it must be multiplied by
SYSTEM_nTaskInterval
10 msec, as in the example.
Example: In a 1 msec task,
/ 4, to get the result in increments per
SYSTEM_nTaskInterval
has the value 4 (4 * 250 µs=1msec)
• For Lenze FBs, this procedure has already been implemented in the FBs.
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2.10 Digital frequency output (DF_OUT_DigitalFrequency)
2.10 Digital frequency output (DF_OUT_DigitalFrequency)
M odule number: 22
Converts internal speed signals into frequency signals and outputs them, for example, to following
drives. The transmission is very precise (without offset and gain errors).
Abb. 2-23 Digital frequency output (DF_OUT)
VariableName
DataType SignalType Address DIS DIS format Note
DFOUT_nOut_v Integer velocity %QW22.0 C0547
DFOUT_nIn_v Integer velocity %I W22.0 - -
Range of functions
• Output signals on X10
• Output of an analog signal
• Output of a speed signal
• Encoder simulation of the resolver with zero track in resolver zero position
• Direct output of X8
• Direct output of X9
• Technical data for the connection of X9 and X10
D FO U T _nO ut_v
X9
X8
C 0540
C 0030
C 0540
0
1
C 0547
2
4
5
C 0549
n
max
CTRL
C 0545
DF_OUT
D FO U T _nIn_v
C 0540
0
1
2
4
5
X10
dec [%]
C0549
dec [rpm]
Note!
TheDF_OUT syst em block operates with residualvalues.
2-38
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2. 10 D i gital frequency output (DF_O UT_DigitalFrequency)
2.10.1 Output signals on X10
Rechtslauf
A
A
B
B
Z
Z
Abb. 2-24 Signal sequencefor CWrotation(definition)
• The output signal corresponds to the simulation of an incremental encoder:
– Track A, track B and the zero track (if necessary) as well as the corresponding inverted
tracks are output with tracks shifted by 90°.
– The levels are TTL-compatible.
• The signal sequence in the diagram occurs if the input values are positive (CW rotation).
• If the input values are negative (CCW rotation),track B leads track A by 90° .
• Thezero-track output only occurs when C0540 = 2.
• The function of the digital frequency output X10is determined via C0540.
Note!
C0540 = 0 ... 2 is not possible if the connection has been made to digital frequency input DFIN X9
and C0025 > 10 has been selected. (
[C0540] Signal at X10
0
1
2 Encodersimulationof theresolverwithzerotrackinresolverzerotrack (mechanical assembly tothe motor)
4 The signal at input X9 is amplified electrically and is output directly to X10 (C0030 has no function)
5 The signal at input X8 is amplified electrically and is output directly to X10 (C0030 has no function)
DFOUT_nOut_v
100 % ≡ (I NT)16384 ≡ C0011 (N
DFOUT_nOut_v
15000 rpm≡ (INT)16384
is interpreted as an analog signal [%]and given out as a frequency signal at X10.
is interpreted as a speed (rpm)signal [%]and given out as a frequency signal at X10.
• C0030 is used to set the encoder constant of the encoder simulation.
C0030 Constant in increments per turn
0 256 inc/rev
1 512 inc/rev
2 1024 inc/rev
3 2048 inc/rev
4 4096 inc/rev
5 8192 inc/rev
6 16384 inc/rev
Max
^
2-48, selection of thefeedback system)
)
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2.10 Digital frequency output (DF_OUT_DigitalFrequency)
2.10.2 Output of an analog signal
Selection: C0540 = 0
Theinput signal
signal at the master frequency output X10.
DFOUT_nOut_v
• 100 % ≡ (INT)16384 ≡ C0011 (n
T ransmission function
f[Hz] DFOUT_nOut_v [%] ô
Example:
•
DFOUT_nOut_v
=50%
• C0030 = 3, this corresponds to 2048 inc/rev.
• C0011 = 3000 rpm
f[Hz] 50 % ô
2048
100
ô
3000
60
2.10.3 Output of a speed signal
Selection: C0540 = 1
The input signal
frequency signal at X10.
• 15000 rpm ≡ (INT)16384
DFOUT_nOut_v
is interpreted as an analog signal[%] and given out as a frequency
max)
no. of incr._from C0030
100
51200 Hz
is interpreted as a speed (rpm) signal [%] and given out as a
C0011 (n
ô
60
max
)
T ransmission function
f[Hz] DFOUT_nOut_v [rpm]ô
Example:
•
DFOUT_nOut_v
= 3000 rpm
no. of incr._from C0030
60
• C0030 = 3, this corresponds to 2048 inc/rev.
2048
f[Hz] 3000 rpm ô
102400 Hz
60
2.10.4 Encoder simulation of the resolver with zero track in resolver zero position
Selection: C0540 = 2
• The function is used if a resolver is connected to X7.
• Theencoder constant for output X10is set under C0030.
• Theoutput of thezero pulsereferring to the motor depends on how theresolver is attached to
themotor.
– The zero pulse can be shifted by +360° under C0545 ( 65536inc = 360°).
2-40
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2. 10 D i gital frequency output (DF_O UT_DigitalFrequency)
2.10.5 Direct output of X8
Selection: C0540 = 5
Use: X8 as input for incremental encoder or Sin-Cos encoder
• The signal at input X8 is amplified electrically and is output directly to X10.
• The signals depend on the assignment of input X8.
• C0030 and C0545 have no function.
• The zero track is output only if it is connected to X8.
2.10.6 Direct output of X9
Selection: C0540 = 4
Use: X9 as digital frequency input
• The signal at input X9 is amplified electrically and is output directly to X10.
• The signals depend on the assignment of input X9.
• C0030 and C0545 have no function.
• The zero track is output only if it is connected to X9.
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2.10 Digital frequency output (DF_OUT_DigitalFrequency)
2.10.7 Technical data for t he connection of X9 and X10
Digitalf requency output X10 Digital frequency input X9
Features:
• Sub-D female connector, 9-pole
• Output frequency: 0 - 500 kHz
• Current consumption per channel: max 20mA.
• Two-trackwithinverse 5 Vsignalsandzerotrack
• Loadcapability:
– For parallel connection, a maximumof three slaves can be con-
nected.
– With a series connection, any number of following drives can be
conn ected .
• Wh enPIN8 (EN )sho w sa LO Wlevel, the masteris initialized (e.g.
if the mains was disconnected) . The slave can thus monitor the
master.
Features:
• Sub-D male connector , 9-pole
• Input frequency: 0 - 500 kHz
• Current consumption per channel: max 6mA.
• Two-trackwithinverse 5 Vsignalsandzerotrack
• Possible input signals:
– Incremental encoders with two 5V complementary signals (TTL-
level source), shifted by 90°
– Encoder simulation of the master
• PIN8 serves to monitor the cable or the connected controller:
– When this pin shows a LOWlevel, the monitoring “FaultEncCa-
ble” (”SD3”) is triggered.
– If the monitoring is not required, this input can be tied to +5V.
• The input is disconnected at C0540 = 0, 1, 2 or 3.
Master
X10
B
1
A
2
A
3
4
GND
5
Z
6
Z
7
enable
8
B
9
C able length m ax. 50 m
9 pole Sub-D connector
Pin assignment X10 Pin assignment X9
1 2 3 4 5 6 7 8 9 1 2 3 4 5 6 7 8 9
B A A +5V GND Z Z EN B B A A +5 V GND Z Z LC B
Slave
X9
mm
B
1
0.14 26
A
2
A
3
4
GND
5
Z
6
7
8
9
9 pole Sub-D m ale connector
Z
Lam p
control
B
0.14 26
0.5 20
0.14 26
∅
2
AW G
0.5 20
F o r C W ro ta tio n
A
A
B
B
Z
Z
2-42
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O00
I
r
r
24V
8mAperinput
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2.11 Digital inputs/outputs (DIGITAL_IO)
2.11 Digital inputs/outputs (DIGITAL_IO)
2.11.1 Inputs_DIGITAL (DIGIN)
Digital inputs (module number: 1)
This SB reads in the signals at the terminals X5/E1... X5/E5 and conditions them.
Abb. 2-25 Inputs_DIGIT AL(DIGIN)
VariableName
DIG I N_bCInh_b Bool binary %IX1.0.0 - - Controller inhibit acts directly on
DIGIN_bIn1_b Bool binary % IX1.0.1 C0443 bin
DIGIN_bIn2_b Bool binary % IX1.0.2 C0443 bin
DIGIN_bIn3_b Bool binary % IX1.0.3 C0443 bin
DIGIN_bIn4_b Bool binary % IX1.0.4 C0443 bin
DIGIN_bIn5_b Bool binary % IX1.0.5 C0443 bin
Function
• Electricaldataof the input terminals:
Terminal Use Data
X5/28 Controller enable (RFR)
X5/E1 freely assignable
X5/E2 freely assignable
X5/E3 freely assignable
X5/E4 freely assignable
X5/E5 freely assignable
0
1
DCTRL -X5/28
DIGIN_bCInh_b
DIGIN_bIn1_b
DIGIN_bIn2_b
DIGIN_bIn3_b
DIGIN_bIn4_b
DIGIN_bIn5_b
C0443
LOW: 0 0 +4 V
HIGH: +13 0 + 30 V
nput cu
entat
the DCTRLcontrol
:
DIGIN
X5
28
E1
C0114/1...5
E2
E3
1
E4
E5
DataType SignalType Address DIS DIS format Note
• You can use X5/E1 ... X5/E3 as real interrupt inputs. The references to the hardware interrupt
inputs are in the task configuration.
• Reac tiontimeoftheinterrupt task < 250 µs
• The level for every input can be inverted. For this, proceed as follows:
– Select code C0114 with corresponding subcode (e .g. subcode3 for inputX5/E3)
– Enter the desired level as a parameter:
0 = level not inverted (HIGHactive)
1 = level inverted (LOWactive)
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O00
O
r
r
max.50mAper
out
put
(exter
V
)
(externalresistanceatleast480Ωat24V
)
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2.11 Digital inputs/outputs (DIGITAL_IO)
2.11.2 Outputs_DIGITAL (DIGOUT)
Digital outputs (module number:1)
This SB conditions the digital signals, and outputs them at terminals X5/A1 ... X5/A4.
Abb. 2-26 Outputs_DIGITAL (DIGOUT)
VariableName
DIGOUT_bOut1_b Bool binary %QX1.0.0 C0444/1 bin
DIGOUT_bOut2_b Bool binary %QX1.0.1 C0444/2 bin
DIGOUT_bOut3_b Bool binary %QX1.0.2 C0444/3 bin
DIGOUT_bOut4_b Bool binary %QX1.0.3 C0444/4 bin
DataType SignalType Address DIS DIS format Note
Function
• Electricaldataof the output terminals:
Terminal Use (Lenze setting in bold print) Data
X5/A1 freely assignable
X5/A2 freely assignable
X5/A3 freely assignable
X5/A4 freely assignable
X5/39 Ground of the digital inputs and outputs
X5/59 Supply input for the control module:
24 Vexternal (I> 1A)
DIGOUT_bOut1_b
DIGOUT_bOut2_b
DIGOUT_bOut3_b
DIGOUT_bOut4_b
DIGOUT
C0118/1...4
0
1
1
C0444/1
C0444/2
C0444/3
C0444/4
LOW: 0 0 +4 V
HIGH: +13 0 + 30 V
utput cu
nalresistance at least480 Ω at 24
X5
A1
A2
A3
A4
ent:
• Delay times:
–For
DIGOUT_bOut1_b
...
DIGOUT_bOut4_b
it lies in the range from 100 µs ... >300 µsec.
• The level for every output can be inverted. For this, proceed as follows:
– Select code C0118 with corresponding subcode (e.g. subcode 3 for output X5/A3)
– Enter the desired level as a parameter:
0 = level not inverted (HIGHactive)
1 = level inverted (LOWactive)
2-44
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2.12 Free Codes (FCODE_FreeCodes)
2.12 Free Codes (FCODE_FreeCodes)
M odule number: 141
This SB can be used to assign c ode values directly to variables. The code value that is entered is
converted into the corresponding variable value by a fixed scaling routine.
FCODE
C0017
C0026/1
C0026/2
C0027/1
C0027/2
C0032
C0037
C0141
C0108/1
C0108/2
C0109/1
C0109/2
C0135
C0141
C0250
C0471
C0472/1
C0472/20
C0473/1
C0473/10
C0474/1
C0474/5
C0475/1
C0475/2
rpm TO INT
% TO INT
% TO INT
% TO INT
% TO INT
INT
rpm TO INT
% TO INT
% TO INT
% TO INT
% TO INT
% TO INT
16 Bit
% TO INT
BOOL
DWORD
TO
BIT/BOOL
% TO INT
.
.
.
% TO INT
INT
.
.
.
INT
DINT
.
.
.
DINT
INT
INT
FCODE_nC17_a
FCODE_nC26_1_a
FCODE_nC26_2_a
FCODE_nC27_1_a
FCODE_nC27_2_a
FCODE_nC32_a
FCODE_nC37_a
FCODE_nC141_a
FCODE_nC108_1_a
FCODE_nC108_2_a
FCODE_nC109_1_a
FCODE_nC109_2_a
FCODE_bC135Bit0_b
.
.
.
FCODE_bC135Bit15_b
FCODE_nC141_a
FCODE_bC250_b
FCODE_bC471Bit0_b
FCODE_bC471Bit1_b
.
.
.
FCODE_bC471Bit1_b
FCODE_nC472_1_a
FCODE_nC472_20_a
FCODE_nC473_1_a
FCODE_nC473_10_a
FCODE_dnC474_1_p
FCODE_dnC474_5_p
FCODE_nC475_1_v
FCODE_nC475_2_v
Abb.2-27 Free codes(FCODE)
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2.12 Free Codes (FCODE_FreeCodes)
VariableName DataType SignalType Address DIS DIS format Note
FCODE_nC17_a Integer analog %IW141.0 - - default = 50 rpm
FCODE_nC26_1_a Integer analog %IW141.2 - - default = 0.00 %
FCODE_nC26_2_a Integer analog %IW141.3 - - default = 0.00 %
FCODE_nC27_1_a Integer analog %IW141.4 - - default = 100.00 %
FCODE_nC27_2_a Integer analog %IW141.5 - - default = 100.00 %
FCODE_nC32_a Integer analog %IW141.6 - - default = 1
FCODE_nC37_a Integer analog %IW141.7 - - default = 0 rpm
FCODE_nC141_a Integer analog %IW141.12 - FCODE_nC108_1_a Integer analog %IW141.8 - - default = 100.00 %
FCODE_nC108_2_a Integer analog %IW141.9 - - default = 100.00 %
FCODE_nC109_1_a Integer analog %IW141.10 - - default = 0.00 %
FCODE_nC109_2_a Integer analog %IW141.11 - - default = 0.00 %
FCODE_bC135Bit0_b
...
FCODE_bC135Bit15_b
FCODE_nC141_a Integer analog %IW141.12 - - default = 0.00 %
FCODE_bC250_b Bool binary %IX 141.13.0 - - default = 0
FCODE_bC471Bit0_b
...
FCODE_bC471Bit15_b
FCODE_bC471Bit16_b
...
FCODE_bC471Bit31_b
FCODE_nC472_1_a
...
FCODE_nC472_20_a
FCODE_nC473_1_a
...
FCODE_nC473_10_a
FCODE_dnC 474_1_p D ouble Integer po sition %ID141.23 - - default = 0
FCODE_dnC 474_2_p D ouble Integer po sition %ID141.24 - - default = 0
FCODE_dnC 474_3_p D ouble Integer po sition %ID141.25 - - default = 0
FCODE_dnC 474_4_p D ouble Integer po sition %ID141.26 - - default = 0
FCODE_dnC 474_5_p D ouble Integer po sition %ID141.27 - - default = 0
FCODE_nC475_1_v Integer velocity %IW141.56 - - default = 0
FCODE_nC475_2_v Integer velocity %IW141.57 - - default = 0
Bool
...
Bool
Bool
...
Bool
Bool
...
Bool
Integer
...
Integer
Integer
...
Integer
binary %IX141.58.0
...
%I X141.58.15
binary %IX141.14.0
...
%I X141.14.15
binary %IX141.15.0
...
%I X141.15.15
analog %IW141.16
...
%I W141.35
analog %IW141.36
...
%I W141.45
- - default = 0
- - default = 0
- - default = 0
- - default = 0.00 %
C0472/3 = 100.00 %
- - default = 0
C0473/1,2 = 1
Function
• In Abb. 2-27 you will find code names in You can configure these codes. Their
valuesareassigned directly to the corresponding variables.
– A fixed scaling routine relates the codes to the variable values.
– Inthecode table, youcanfind the optionsthat can be set,and the Lenzesettings.
• Example:
– You can enter a defined speed (rpm) through C0017. This value is assigned to the variables
FCODE_nC17_a
2-46
withthedatatype“Integer”.
9300ServoPLCEN1.4
(^4-15)
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2.12 Free Codes (FCODE_FreeCodes)
Important:
Thec odeC0470isnotavailableasasystemvariable.Thiscodeoccupiesthesamem emoryaddress
as code C0471. The double-word is divided into 4 bytes (C0470/1...4). Code C0470 can be written
to via the keypad/GDC.
Normalization in the 9300 Servo PLC:
• rpm Õ INT
max
14
[C0011]
• 15000 rpm 16384 2
• % Õ INT
• 100 % 16384 n
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2-47
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2. 13 Internal motor control (MCTRL _MotorControl)
2.13 Internal motor control (MCTRL_MotorControl)
This SB contains the control functions for the drive machine. It consists of: phase-angle controller,
speed controller and motor control.
M C TR L_bQ spO ut_b
M C TR L_nH iM Lim _a
M C TR L_nLoM Lim _a
M C TR L_bN M S w t_b
M C TR L_bILoad_b
M C TR L_nIS et_a
C 0105
M C TR L_nN Set_a
C 0906/1
M C TR L_P A dapt_a
M C TR L_dnP osSet_p
M C TR L_nP osLim _a
M C TR L_bP osOn_b
M C TR L_nN StartM Lim _a
M C TR L_nM A dd_a
M C TR L_nFldW eak_a
C 0906/9
C 0908
C 0907/3
C 0906/4
C 0906/3
C 0907/2
C 0907/4
C 0906/8
±100%
C 0254
C 0906/5
C 0907/1
C 0906/6
C 0906/2
C 0906/7
C 0909
1
+
0
+
1
+
-
C 0072
C 0070
C 0071
-
+
+
+
UG-VOLTAGE
C 0053
0
1
C 0173
1
0
C 0086
MONIT-LU
MONIT-OU
M C TR L_bQ spIn_b
C 0042
M C TR L_nN SetIn_a
C 0050
MCTRL_bMMax_b
M C TR _nM S etIn_a
C 0056
M C TR L_bIM ax_b
M C TR L_nIA ct_a
M C TR L_nD C Volt_a
M C TR L_nM A ct_a
VECT-CTRL
C 0006
C 0022
C 0075
C 0076
C 0077
C 0078
C 0081
C 0084
C 0085
C 0087
C 0088
C 0089
C 0090
C 0091
M C TR L_bU ndervoltage_b
M C TR L_bO vervoltage_b
MCTRL
PW M
C 0018
RESO LVER
X7
ENCODER
X8
M C TR L_bFreqEnable_b
C 0420
C 0490
C 0495
TP/M P
MP
0
1
C 0911
-C trl
C 0910
E4
Abb.2-28 Internal motor control (MCTRL)
C 0051
C 0025
C 0011
C 0497
const
MONIT-Sd2
Im otor
C 0596
MO NIT-NM AX
TEMP-MOTOR
(X 7 or X 8)
C 0063
T e rm ina l(T 1/T 2 )
const
const
0
150
C 0121
D IN 44081
MONIT-OC1
MONIT-OC2
C
MONIT-OH3
MONIT-OH7
MONIT-OH8
CONST
M C TR L_bS hortCiruit_b
M C TR L_bE arthFault_b
M C TR L_nP os_a
M C TR L_nN Act_v
M C TR L_nN Act_a
M C TR L_dnP os_p
M C TR L_bN m axFault_b
M C TR L_bR esolverFault_b
M C TR L_bA ctW aitForTP_b
M C TR L_bA ctTP Received_b
M C TR L_dnA ctIncLastS can_p
M C TR L_nN m axC 11
M C TR L_bTM otG TS etV alue_b
M C TR L_bTM otG TC 0121_b
M CTR L_bPTCO verTem p_b
2-48
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2. 13 Internal motor control (MCTRL _MotorControl)
• Theproc ess image is created in a fixed system task (interval: 1 msec).
Exception:
are read into the process input image of the task in which they are actually used.
VariableName DataType SignalType Address DIS DIS format Note
MCTR L_bQspOut_b Bool binary %Q X131.0.0 C0907/3 bin TRUE = drive performsQSP
MCTR L_nHiML im_a Integer analog %Q W131.4 C0906/4 dec [%] Up pertorque limit in %ofC0057
MCTRL_nLoMLim_a Integer analog %QW131.3 C0906/3 dec [%] Lower torquelimit in % of C0057
MCTR L_bNMS wt_b Bool binary %QX131.0.1 C0907/2 bin FALSE= speed controlactive
MCTR L_nNAdapt_a Integer analog %QW131.12 - - Adaptive Vp of the speed controller
MCTR L_bILoad_b Bool binary %QX131.0.3 C0907/4 bin TRUE= I component of the n-control-
MCTR L_nISet_a Integer analog % QW131.7 C0906/8 dec [%] Inputto set the I-component of the
MCTR L_nNSet_a Integer analog %QW131.1 C0906/1 dec [%] Input speed setpoint
MCTR L_nP Adapt_a Integer analog %Q W131.8 C0906/9 dec [%] Influence in % onVPof C0254; the ab-
MCTR L_dnPo sSet_p Double integer position % QD131.5 C0908 dec [inc] I nputphase controller for difference
MCTRL_nPosLim_a Integer analog %QW131.9 C0906/5 dec [%] Influence of the phase controller in %
MCTR L_nPo sOn_a Integer analog %Q X131.0.2 C0907/1 dec [%] TRUE= activate phase-angle control-
MCTR L_nNStartMLim_a Integer analog %Q W131.5 C0906/6 dec [%] Lowerspeed limit forspeed restriction
MCTR L_nMAdd_a Integer analog % Q W131.2 C0906/2 dec [%] Additional torque setpoint or torque
MCTRL_nFldWeak_a Integer analog %QW131.6 C0906/7 dec [%] Motor excitation
MCTR L_bQspIn_b Bool binary % I X 131.0.0.0 C0042 bin TRUE= drive performsQSP
MCTR L_nNSetIn_a Integer analog %IW131.1 C0050 dec [%] In% of nmax (C0011)
MCTRL_bMMax_b Bool binary %IX131.0.2 - - TRU E= Speed controller operates wit-
MCTR L_nMSetIn_a Integer analog %I W131.3 C0056 dec [%] In% of Mmax( C 0057)
MCTR L_bIMax_b Bool binary %IX131.0.1 - - TRUE= Drive operates at its current
MCTR L_nIAct_a Integer analog %IW131.5 - - Actual motorcurrent
MCTR L_nDCVolt_a Integer analog %IW131.6 - - 100%= 1000V
MCTR L_nMAct_a Integer analog %I W131.4 - - In% of Mmax( C 0057)
MCTR L_bUndervoltage_b Bool binary %IX131.0.3 - - Monitor: undervoltage
MCTR L_bOvervoltage_b Bool binary %IX131.0.4 - - Monitor: overvoltage
MCTR L_bShortCiruit_b Bool binary %IX131.0.5 - - Mon itor :sho rt-circuit
MCTR L_bEarthFault_b Bool binary % IX131.0.6 - - Mo nito r:sho rtto earth
MCTR L_bIxtOverload_b Bool binary %I X131.9.2 - - Monitor: I⋅toverload
MCTR L_nPo s_a Integer analog %IW131.7 - - Actualphaseas analogsignal
MCTR L_nNAct_v Integer velocity % IW131.8 - - actualspeed
MCTR L_nNAct_a Integer analog %IW131.2 - - In% of nmax (C0011)
MCTR L_dnPo s_p Double integer position % ID131.5 - - 65536 inc = one revolutio n
MCTR L_bNmaxFault_b Bool binary %IX131.0.7 - - Monitor: max. system speed exceeded
MCTR L_bResolverFault_b Bool binary % IX131.0.8 - - Monitor: resolver error
MCTR L_bEncoderFault_b Bool binary %IX131.9.1 - MCTR L_bSensorFault_b Bool binary %IX131.9.0 - - Monitor:absolutevalue encodererror
MCTR L_bActTPReceived_b Bool binary %I X131.0.10 - - To uch Probe (TP )received
MCTR L_dnActIncLastScan_p Double integer position %ID131.6 - - ∆incr. betweenTPand startoftask
MCTRL_bActTPReceived_b,MCTRL_dnActIncLastScan_p
TRU E= torque control active
ler is accepted by
speed controller
solu t evalue(withoutsig n)is processed
betweensetand actual phase
of nmaxC0011
ler
setpoint
hinitslim it s
limit C0022
90 ° = 100%
(INT )16384 = 15000 rpm
and
MCTRL_nNAct_v
MCTR L_nISet_a
9300ServoPLCEN1.4
2-49
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2. 13 Internal motor control (MCTRL _MotorControl)
VariableName NoteDIS formatDISAddressSignalTypeDataType
MCTRL_bMotorTemp
GreaterSetValue_b
MCTRL_bMotorTemp
GreaterC0121_b
MCTR L_bKuehl
GreaterSetValue_b
MCTR L_bKuehl
GreaterC0122_b
MCTR L_bPtcOverTemp_b Bool binary %IX 131.0.13 - - Monitor: moto rover temperature (P T C)
MCTR L_nNmaxC11 Integer - % IW131.15 - - Shows the max. speed set under
Function range
• Current c ontroller
• Torque limiting
• Additionaltorquesetpoint
• Speed controller
• Torque control with speed limit
• Limiting of speed setpoint
• Phase controller
• Rapidstop(Quickstop,QSP)
• Field weakening
• Chopping frequency changeover
• Touc h-probe
• Monitoring
Bool binary %IX 131.0.11 - - Monitor:mo to rtemperature > 150 ºC
Bool binary %IX 131.0.12 - - Monitor:mo to rtemperature > C0121
Bool binary %IX 131.0.14 - - Monitor:
Bool binary %IX 131.0.15 - - Monitor:
heat sink temperature > 85 ºC
heat sink temperature > C0122
C0011
2.13.1 Current controller
Adapt current controller under C0075 (proportional gain) and C0076 (adjustment time) to the
connectedmachine.
Tip!
Set a suitable motor from themotor selection list (seeOperating Instructionsforthe drivecontroller)
in C0086. This automatically sets the correct parameters for the current controller.
2-50
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2. 13 Internal motor control (MCTRL _MotorControl)
2.13.2 Additional torque setpoint
MCTRL_nMAdd_a
oranadditionaltorquesetpoint.Theadditionaltorquesetpointcanbeused,forexamplefor friction
compensation or for speed injection (dv/dt).
• With
• With
MCTRL_bNMSwt_b
MCTRL_nMAdd_a
–
– The limits given by the torque limiting
be exceeded.
MCTRL_bNMSwt_b
–
MCTRL_nMAdd_a
– The n-controllers have a monitoring function.
• Thetorque setpoint is provided in [%] of the maximum torque (code C0057 = 100% = 16384).
– Negativevalues meana torque with CCWrotationof the motor.
– Positive values mean a torque with CW rotation of the motor.
2.13.3 Torque limiting
Via
MCTRL_nLoMLim_a
that different torques can be set for the quadrants ”driving” and ”braking”.
•
MCTRL_nHiMLim_a
C0057 = 100% = 16384).
•
MCTRL_nLoMLim_a
C0057 = 100% = 16384).
• the torque limiting is deactivated for a Quickstop.
is used, depending on the operation of
= FALSE ,the speed control is active.
isadded t o the output of the n-c ontroller.
MCTRL_nLoMLim_a
= TRUE, the t orque control is active.
acts as a torque setpoint.
and
MCTRL_nHiMLim_a
istheupper torquelimit in[%] of themaximum possible torque(code
is the lower torque limit in [%]of the maximum possible torque (code
youcanset anexternaltorquelimiting.Thismeans
MCTRL_bNMSwt_b
and
MCTRL_nHiMLim_a
as a torque setpoint
cannot
Stop!
In
MCTRL_nHiMLim_a
otherwise the speed controller may lose control.The drive may accelerate out of control.
2.13.4 Speed controller
The speed controller is designed as an ideal PID - controller.
Parameter setting
When a motor from the table is selected under C0086, the parameters are set so that only very few
adaptations to the application are required.
• Parameterize proportional-gain Vp in C0070:
– Enter approx. 50% setpoint speed (100% = 16384 = n
– Increase C0070, until the drive becomes unstable (observe motor noises).
– Reduce C0070, until the drive becomes stable again.
– Reduce C0070 to approx. 50%
set only positive values, and in
MCTRL_nLoMLim_a
)
max
only negative values,
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2. 13 Internal motor control (MCTRL _MotorControl)
• Integral-action time T
– Reduce C0071, until the drive becomes unstable (observe motor noises).
– Increase C0071, until the drive becomes stable again.
– Set C0071 to approx. twice the value.
• Differential-gain T
– Increase C0072 during operation until an optimum control behaviour is achieved.
Via
MCTRL_nNAdapt_a
• Vp =
MCTRL_nNAdapt_a
, parameterizein C0071:
r
, parameterizein C0072:
d
you can alterVpthroughthePLCprogram:
x C0070 (
MCTRL_nNAdapt_a
default = 100 % ≡ 16384)
• Vp = 100 % x C0070 ≡ Vp = C0070
Signal limit
When thedriveoutputsthemaximum torque, thespeedcontroller is at its limit.
• The drive cannot follow the speed setpoint.
• With
Set integral component
To enter defined starting values for the torque, the integral component of the n-controller can be set
externally (e.g. when using the brake control).
•
•
MCTRL_bMMax_b
MCTRL_bILoad_b
– The n-controller accepts the value at
–Thevalueat
MCTRL_bILoad_b
– Function switched off.
MCTRL_nISet_ a
=TRUE,thisstateisshown.
=TRUE
acts as a torquesetpointfor themotor control.
= FALSE
MCTRL_nISet_ a
foritsintegralcomponent.
2.13.5 Torque control with speed restriction
With
MCTRL_bNMSwt_b
controller (auxiliary speed controller)is connected.
•
MCTRL_nMAdd_a
• n-controller 1 generates the upper speed limit.
– The upper speed limit is given at
= 100% = 16384) (pos. sign for clockwise rotation).
(n
max
– Use the upper speed limit only for the clockwise direction of rotation.
• n-controller 2 (a uxiliary controller)generates the lowerspeed limit.
– The lower speed limit is given at
= 100% = 16384) (negative sign for CCW/anticlockwise direction of rotation).
(n
max
– Use the lower speed limit only for the CCW direction of rotation.
= TRUE activates this function. For the speed restriction, a second speed
acts as a bipolar torque setpoint.
MCTRL_nNSet_a
MCTRL_nNStartLim_a
in [%] of n
in [%] of n
max
(C0011)
(C0011)
max
2-52
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2. 13 Internal motor control (MCTRL _MotorControl)
2.13.6 Speed-setpoint restriction
Thespeed setpo int restriction in the input
(n
= 100% = 16384).
max
You can use C0909 to set a restriction of rotational direction, referred to the speed setpoint.
2.13.7 Phase-angle controller
The phase controller is required to achieve a phase synchronization and driftfree standstill.
Tip!
Select a configuration with digital frequency coupling (*.lpc), since this allows an automatic
connection of all important signals. On this basis, you can optimize t he system.
Activate phase controller
1. Assign
between the set and actual phase-angles.
2. At
3. Switch
4. Set the gain (C0254)for the phase-angle controller > 0.
– Before setting C0254, select a P-gain (C0070)for the n-controlleras high as possible.
– During operation increase C0254, until the drive shows the desired control behaviour.
MCTRL_nPosLim_a
MCTRL_nPosLim_a
MCTRL_bPosOn_b
enter a value > 0.
MCTRL_nNSet_a
to a signal source that provides the phase-angle difference
=TRUE.
is to ±100% of n
(^2-51)
max
(C0011)
Phase controller influence
The output of the phase controller is added to the speed setpoint.
• If the actual phase is lagging, the drive is accelerated.
• If the actual phase is leading, the drive is decelerated, until the desired phase synchronization
is achieved.
The influence of the phase controller consists of:
• Phase difference multiplied by the P-gain V
• Additional influence of an analog signal at
= C0254 *
(V
p
MCTRL_nPAdapt_a
/ 16384)
• Limiting of the phase-angle controller output to ±
Limiting of the phase-angle controller output
This limits the maximum catch-up speed of the drive in the event of large phase differences.
(C0254).
p
MCTRL_nPAdapt_a
MCTRL_nPosLim_a
.
.
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2. 13 Internal motor control (MCTRL _MotorControl)
2.13.8 Quickstop QSP
Thequick stop function is used to stop thedriveindependently of thesetpoint input,withina time
to be set.
DCTRL_bQspIn_b
Any Variable
Abb. 2-29 ProgrammingtheQSP-function, if SB DCTRL is to trigger QSP
The Quicksto p functio n is active if
OR
MCTRL_bQsp_b
IftheSB DCTRListo triggerQSP, programtheQSP-functionaccording to Abb.2-29.
Function:
• Iftorque controlisselected,thiswillbe deactivated. Thedriveiscontrolled by thespeed
controller.
• The speed decelerates to zero, with the deceleration time set under C0105.
• The torque limiting
MCTRL_nLoMLim_a
and
MCTRL_nHiMLim_a
• The phase controller is activated. If the rotor position is shifted actively, the drive generates a
torque against this displacement, if
– C0254 is not zero
–
MCTRL_nPosLim_a
triggered with a value > 0%.
MCTRL_bQspOut_b
MCTRL_nHiMLim_a
MCTRL_nLoMLim_a
MCTRL_bNMSwt_b
MCTRL_bILoad_b
=TRUE
C0907/3
C0906/4
C0906/3
C0907/2
are switched to inactive.
Stop!
If the field is weakened manually (
maximum t orque.
2.13.9 Field weakening
The field weakening does not have to be set if the motor type was set under under C0086. All
necessarysettings aredoneautomatically. Themotor is operatedinthefield weakening,if:
• the output voltage of the controller exceeds the rated motor voltage set under C0090.
• the controller can no longer increase the output voltage with increasing speed, due to the
mains voltageor DC bus voltage.
Manualfield w eakening
A manual field weakening is possible via
MCTRL_ nFldWeak _a
Stop!
The available torque is reduced by the field weakening.
MCTRL_ nFldWeak _a
MCTRL_ nFldWeak _a
must have +100% (= 16384)applied.
< 100%), the drive cannot supply the
For max. excitation,
2-54
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2. 13 Internal motor control (MCTRL _MotorControl)
2.13.10 Chopping frequency changeover
You can select the following frequency for the inverter:
• 8 kHz fixed, for operation with optimum power (C0018 = 1)
– maximum power output of the controller, but with audible pulse operation
• 16 kHz fixed, for operation with optimum noise (C0018= 2)
– inaudible pulse operation of the controller, but with reduced power (torque)
• automatic change-over between operation with optimum power and optimum noise
(C0018 = 0)
Automatic chopping frequency changeover
The automatic chopping frequency changeover can be used if you want to operate the drive in the
noise-optimized range, but the available torque in this case is not sufficient for acceleration
purposes.
Condition M = f(I) Function
M< M
M
r16(Ir16
M> M
) Controller operates with 16 kHz (optimumnoise)
r16(Ir16
)< M< Mr8(Ir8) Controller changes to 8 kHz (optimumpower)
max8(Imax8
) C ontroller operateswith8 kHzat its curren tlimit
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2. 13 Internal motor control (MCTRL _MotorControl)
2.13.11 Touch-Probe (TP)
TP
Abb. 2-30 Function diagram of a TP
Time-equidistant start of an interval-task
ϕ Phase-angle signal
Functional sequence
1. TheTPistriggeredby a FALSE- TRUEedgeat the d igitalinputX5/E4or by a zero pulsefrom
X8 or X7.
– Use C0911 to select whether the TP should be carried out by the MP (marker pulse input X8
or zeropulsefromresolver)or from t he X5/E4 input.
– Use C0910 to set a delay (unit: increments) for a TP. This means that the TP/MP-Ctrl has a
delayed response to a TP.
– Through C0912 you can set up whether the TP from E4 should be triggered by a rising or
falling edge (0 = rising edge, 1 = falling edge).
– Use C0490 to select the feedback system that generates the zero pulse.
2. If a TP has occurred, then
3. After the start of the task,
[inc/msec] that have been counted since the TP.
4. Following,
MCTRL_bActTPReceived_b
ϕ
M C TR L_dnA ctIncLastS can_p
MCTRL_bActTPReceived_b
MCTRL_dnActIncLastScan_p
= FALSEis set.
=TRUE.
gives the number of increments
Tip!
Itis also necessarythat
MCTRL_nNAct_v
• The value
(INT16384 ≡ 15000 rpm)
• For every task in which
counter that is reset after every start of the task.
2-56
MCTRL_nNAct_v
MCTRL_nNAct_v
MCTRL_nNAct_v
is processed in thetask, so that the SB MCTRLis read in.
is scaled in increments per millisecond.
is used, t he operating syst em creates an individual
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2. 13 Internal motor control (MCTRL _MotorControl)
Example (
MCTRL_nNAct_v
in a 10 msec task):
• When the 10 msec task starts, the value of the counter is stored in a local area of the task and
the counter is reset. The value in the local area gives an average value in increments per 1
msec.
• If a position value is to be derived from this value, then it must be multiplied by
SYSTEM_nTaskInterval
Example: In a 1 msec task,
/ 4, to get the result in increments per 10 msec, as in the example.
SYSTEM_nTaskInterval
• For Lenze FBs, this procedure has already been implemented in the FBs.
2.13.12 System marker MCTRL_nNmaxC11
The system marker
reference value for all “_a” values (16384≡
• With the help of this system m arker you can program your own scaling routines in the
parameter manager .
• Example: C0011 = 3000 rpm →
MCTRL_nNmaxC11
MCTRL_nNmaxC11
shows the max. speed set under C0011. This value is the
MCTRL_nNmaxC11
2.13.13 Monitoring
Various monitoring functions protect the drive from impermissible operating conditions.
Ifa monitoringfunctionis activated,
• thecorrespondingset reactionistriggered,
• boolean (logic) variables are set to TRUE. You can use these variables in the PLC application
program.
has the value 4 (4 * 250 µs=1msec)
)
= 3000
2.13.13.1Undervoltage(LU)
• This functionmonitors the DC-bus andprotects thedrive.
• Themessageis triggered b y
Supply voltage range Selection number
< 400 V 0 285 V 430 V
400 V 1 285 V 430 V
400 0 460 V 2 328 V 473 V
480 V without brake chopper 3 342 V 487 V
Operationwithbrake chopper
(u pto 480 V)
Function
The monitoring reacts if the DC-bus voltage (terminal +U
(switch-off level)that was set by C0173.
Themessage is reset if the voltage goes above the switch-of f threshold again.
Theswitch-off thresholddeterminesthevoltagelevelofthe DC-busvoltageatwhichthepulse inhibit
isactivated.
The input variable
The selection number is also effective for the overvoltage monitoring OU.
Adapt the setting of the codes to the available mains voltage (also for operation
via+U
havethesamesetting.
/-UG-terminals). When the controllerisoperated ina networkof drives, allcontrollersmust
G
MCTRL_ bUndervoltage_b
MCTRL_ bUndervoltage_b
Switch-off threshold Switch-on threshold
(C0173)
4 342 V 487 V
canbeprocessedinthePLCapplicationprogram.
=TRUE.
and -UG) goes below the t hreshold
G
(^2-58)
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2. 13 Internal motor control (MCTRL _MotorControl)
If the undervoltage ( LU)message is present for more than 3 seconds or if the event is a power-on,
this is entered into the history buffer.Thiscan be the caseif thecontrol module is supplied externally
by terminals X5/39 and X5/59 and the mains is switched off.
If the signal is reset (mains is reconnected)this is not entered in the history buffer, but only deleted
(thisisnota fault, but acontrollerstate).
If the events are low voltage messages appearing only for less than 3 seconds, this is interpreted as
interference(e.g.mainssupplyfault)and enteredintothe historybuffer.Inthis case,thehistory buffer
is continued.
Features:
• LECOM no.: 1030
• Reaction: MESSAGE (cannot be modified)
2.13.13.2 Overvoltage (OU)
• This functionmonitors the DC-bus andprotects thedrive.
• Themessageis triggered b y
MCTRL_bOvervoltage_b
=TRUE.
Supply voltage range Selection number
< 400 V 0 770 V 755 V
400 V 1 770 V 755 V
400 0 460 V 2 770 V 755 V
480 V without brake chopper 3 770 V 755 V
Operationwithbrake chopper
(u pto 480 V)
Function
The monitoring reacts if the DC-bus voltage (terminal +U
(switch-off level)that was set by C0173.
The message is reset if the voltage falls below the switch-off threshold again.
The table above shows the setting of the switching thresholds according to the selection number.
Theswitch-off thresholddeterminesthevoltagelevelofthe DC-busvoltageatwhichthepulse inhibit
isactivated.
The selection number is also effective for the undervoltage monitoring (LU).
Features:
(C0173)
4 800 V 785 V
Switch-off threshold Switch-on threshold
and -UG) goes above the threshold
G
(^2-57)
• LECOM no.: 1020
• Reaction: MESSAGE (cannot be modified)
Afrequent overvoltagemessageindicatesanincorrect dimensioning ofthe drive(thebraking energy
is excessive).
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2. 13 Internal motor control (MCTRL _MotorControl)
Remedy:
• Use supply module 934X or
• Use (additional)brake choppers type 935X
When several controllers are operated simultaneously, an operation as DC bus connection may be
useful.
Here,thegenerated b rake energy of one drivecan serveasdriveenergyfor anotherdrive.
The mains connections only supply the energy difference.
2.13.13.3EarthFault(monitoringforearthfaultOC2)
• This functionprotec ts thedrivec ontroller.
• Themessageis triggered b y
Function
The controllers of the 93XXseries are equipped with an earth fault detection as a standard.
If the monitoring is triggered, the drive controller must be disconnected from the mains power and
the earth fault must be removed.
Features:
• LECOM no.: 12
• Reaction: TRIP(cannot be modified)
MCTRL_bEarthFault_b
=TRUE.
Possible earth fault causes:
• Short-circuit to frame of the machine
• Short-circuit of a phase to the screen
• Short-circuit of a phase to PE
2.13.13.4 ShortCircuit (monitoring for a short-circuit OC1)
• This functionprotec ts thedrivec ontroller.
• Themessageis triggered b y
Function
Thismonitoring is triggered byashort-circuit of themotor phases.Itcan also beashort-circuit of the
windings in the machine.
This monitoring however,also reacts during mains connection (power-on),if there is an Earth fault
present.
If the monitoring is triggered, the drive controller must be disconnected from the mains power and
the earth fault must be removed.
Features:
• LECOM no.: 11
• Reaction: TRIP(cannot be modified)
MCTRL_bShortCiruit_b
=TRUE.
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2. 13 Internal motor control (MCTRL _MotorControl)
2.13.13.5 TMot>SetValue (motor-temperature monitoring OH3 - fixed)
• Thisfunctionprotects t he motor from overheat ing
• Themessageis triggered b y
Function
Thesignal TMot>SetValue is derived from a comparator with hysteresis. The switch-off threshold is
150°C, and is fixed. The hysteresis is also fixed and amounts to15°C ( i.e. the reclosing point is
135°C.This monitoring is only effective for the thermal sensor specified by Lenze as it is included in
the standard Lenze servo motor.The Sub-D connectors X7 or X8 serve as inputs.
Stop!
You can only use X7 or X8.Theother input must notbeassigned (mustremainopen).Thismonitoring
isactivatedby default setting. Thismeansthat themonitoringreactsifnoLenzeservomotor isused.
Features:
• LECOM no.: 53
• Reaction: TRIP or OFF
MCTRL_bMotorTempGreaterSetValue_b
=TRUE.
2.13.13.6 TMot>C0121 (motor-temperature monitoring OH7 - adjustable)
• This functionmonitors the process.
• Themessageis triggered b y
This monitoring is designed as a warning before the final disconnection (TRIP) through
TMot>SetV alue.
You can thus influence the process to avoid a switch-off of the motor at an inconvenient time.
Additionally, blowers which would cause an unacceptable noise in continuous operation, can also
be switched on and off.
Function
The signal TMot>C0121 is derived from a comparator with hysteresis.
The same conditions apply here as for the monitoring TMot>SetValue (motor-temperature
monitoring OH3),since the same inputs are used.
The threshold is set under code C0121. The hysteresis is fixed and amounts to 15 K. The signal is
thus reset below a threshold of 15 K.
Features:
• LECOM no.: 2057
• Reaction: WARNINGor OFF
MCTRL_bMotorTempGreaterC0121_b
=TRUE.
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2. 13 Internal motor control (MCTRL _MotorControl)
2.13.13.7 PTCOverTemp (motor-temperature monitoring OH8)
• Thisfunctionprotects t he motor.
• Themessageis triggered b y
Function
Thesignal PTCOverTemp is derived from the digital signalvia the terminalsT1, T2 next to the power
terminals UVW. The threshold and the hysteresis depend on the encoder system (DIN44081).
Stop!
Whenusing this input as a motor protection: If the monitoring is set to WARNINGor OFF, themotor
can be destroyed by any further overload.
Features:
• LECOM no.: 58, 2058
• Reaction: TRIP, WARNING or OFF
MCTRL_bPTCOverTemp_b
=TRUE.
2.13.13.8 Overcurrent diagram for fault signal OC5
(MCTRL_bIxtOverload)
Ixt diagram
Controller output current *
200%
150%
100% thermal continuous current
for Imotor$150 I
70% thermal continuous current
for Imotor150% I
* rated controller current 100%
x depending on the chopping frequency of the inverter
Abb. 2-31 Max. permitted overcurrent depending on the time
100%
ratedx
70%
ratedx
10s
60s
(100% load)
120s
time
180s
K35.0151
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2. 13 Internal motor control (MCTRL _MotorControl)
2.13.13.9 Resolver monitoring for w ire breakage Sd2
(MCTRL_bResolverFault_b)
Purpose
• Motorprotection
• Monitors the cable and the resolver for wire breakage.
Function
Warning!
Duringcommissioningthismonitoring shouldnot beswitched off,sincethemachinemayreachvery
high speeds ( potential destruction of the motor and the driven machine) in the event of a fault (e.g.
system cables disconnected or inc orrectly bolted). The same applies if this mo nitoring is changed
to WARNING. The possibility of disconnection should only be used if themonitoring reacts without
obviousreasons (verylongcables, strong noisesof ot her devices).
• This monitoring is activated automatically if the resolver is selected as actual speed encoder
(C0025).
• This monitoring is deactivated automatically if another actual speed encoder is selected.
Stop!
If there is a fault in the actual speed detection, it is not ensured that the monitoring reacts to
overspeed NMAX.
Features:
• LECOM no.: 82, 2082
• Reaction: TRIP, WARNING or OFF
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2. 13 Internal motor control (MCTRL _MotorControl)
2.13.13.10 H eatsink monitoring OH4 (adjustable)
(MCTRL_bKuehlGreaterC0122_b)
Purpose
Controller protection
Thismonitoring is designed as awarning before thedisconnection of thecontroller viathe OH-TRI P.
Thus, the process can be influenced to avoid a switch-off of the controller at an inconvenient time.
Additionally,blowerswhichwouldcause an unacceptablenoise incontinuousoperation, canalsobe
switched on and off.
Function
MCTRL_bKuehlGreaterC0122_b
set under code C0122. The hysteresis is fixed and amounts to 5 K. The signal is thus reset below a
threshold of 5K.
Features:
isderived from acomparator withhysteresis.Thethreshold canbe
• LECOM no.: 2054
• Reaction: WARNINGor OFF
2.13.13.11 H eatsink monitoring OH (fixed)
( MCTRL_bKuehlGreaterSetValue_b)
Purpose
Controller protection
Function
MCTRL_bKuehlGreaterSetValue_b
thresholdis85°C and isfixed.Thehysteresisisalso fixed andamountsto 5°C, i.e. thereclosing point
is 80 °C.
Features:
• LECOM no.: 50
• Reaction: TRIP(cannot be modified)
Tripping can have the following causes:
• The ambient temperature is too high.
Remedy:
– Install a blower into the switch cabinet.
• The controller is overloaded in its arithmetic mean, i.e. overload and recovery phase exceed
100 %.
Remedy:
– Shorten overload phase.
–useamorepowerfuldrivecontroller.
is derived from a comparator with hysteresis. The switch-off
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2. 13 Internal motor control (MCTRL _MotorControl)
2.13.13.12 Plant speed monitoring N
(MCTRL_bNmaxFault_b)
Purpose
Processmonitoring
Function
Amaximum plant speed can beentered under codeC0596, independent of the directionof rotation.
The monitoring is released, if:
• the actual speed exceeds the limit C0596
• the actual speed is more than twice the value of C0011(n
Stop!
• For active loads (e.g.hoists)make sure that no torque is ap plied at the drive.Special,
plant-specific measures are required.
• If the actual speed encoder fails, it is not ensured that this monitoring reacts.
Features:
• LECOM no.: 200
• Reaction: TRIP(cannot be modified)
Max
max
).
2-64
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2. 14 Statebus (STATEBUS_IO)
2.14 Statebus (STATEBUS_IO)
M odule number: 51
TheSB steersa group of c ontrollersto specified states (e.g.TRIP, QSPor c ontroller inhibit).
Abb. 2-32 Statebus (STATEBUS_IO)
VariableName
STATEBUS_bOUT_b Bool binary %QX 51.0.4 C0441 bin
STATEBUS_bIn_b Bool binary %I X51.0.6 - -
DataType SignalType Address DIS DIS format Note
Function
Thestatebus is a d evic e-specific bus syst em which is designed for Lenze controllers only. TheSB
STAT EBUS acts on the terminals X5/ST or reacts to a LOW signal at these terminals (multimaster
capability).
• Steers all networked drives to the preselected state.
• Every controller that is connected can set these terminals to a LOW signal.
• All drive controllers that are connected can evaluate the signal levels at these terminals and
process them internally in the programs.
• Up to 20 drive controllers can be connected
STATE_BUS_bOut_b
C0441
+10V
STATE_BUS
STATE_BUS_bIn_b
1
ST
ST
X5
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2. 14 Statebus (STA TEBUS_IO)
Stop!
Do not apply an external voltage across terminals X5/ST.
L1
L2
L3
N
PE
OFF
K1
ON
K1
F1
Z1
F2 F3
K1
PE
L1 L2
L3
+UG -UG
93XX - 93XX
PE
W
ST
U
V
Abb.2-33 Monitoringof a networkof drives withthe statebus
PE
39
28
ST
A4
K1
RFR
F1
Z1
L1 L2 L3
93XX - 93XX
PE
W
U
V
F1
Z1
F2 F3
+UG -UG
PE
L1 L2 L3
F2 F3
PE
-UG
+UG
93XX - 93XX
PE
39
ST
28
ST
K1
RFR
PE
A4
W
U
V
ST
PE
28
39
ST
A4
K1
RFR
K35.0122
Z1 Mains filter
F1...F5 Fuses
K1 Main contactor
Note!
Further information on the statebus as well as possible applications and c ommissioning c an be
found in the System Manual for the 9300, Project Planning, Part F.
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2.15 System markers (SYSTEM_FLAGS)
2.15 System markers (SYSTEM_ FLA GS)
M odule number: 151
Systemmarkers areglobal variablesthat are permanently integrated into therun-time system.They
include functions that facilitate the programming.
Thefollowing system markers are int egrat ed into the Lenze System 9300 Servo PLC :
VariableName DataType Address Note
SYSTEM_bClock01Hz Bool %IX151.0.0 0.1 Hz System clock
SYSTEM_bClock1Hz Bool %I X151.0.8 1.0 Hz System clock
SYSTEM_bClock10Hz Bool %IX151.1.0 10 Hz System clock
SY S T E M_bClock0100Hz Bool %IX151.1.8 100 Hz Systemclock
SYSTEM _bT ogCycleTask Bool %IX 151.2.0 Togglemarkercyclictask
SYSTEM_b1LoopCyclicTask Bool %IX151.2.8 First loop cyclic task
SYSTEM_b1LoopTask2 Bool %IX151.3.0 First loop task ID2
SYSTEM_b1LoopTask3 Bool %IX151.3.8 First loop task ID3
SYSTEM_b1LoopTask4 Bool %IX151.4.0 First loop task ID4
SYSTEM_b1LoopTask5 Bool %IX151.4.8 First loop task ID5
SYSTEM_b1LoopTask6 Bool %IX151.5.0 First loop task ID6
SYSTEM_b1LoopTask7 Bool %IX151.5.8 First loop task ID7
SYSTEM_b1LoopTask8 Bool %IX151.6.0 First loop task ID8
SYSTEM_b1LoopTask9 Bool %IX151.6.8 First loop task ID9
SYSTEM_nTaskInterval Integer %IW151.7 Interval for current task (0.25 msec)
SYSTEM_nTaskID Integer %IW151.8 I D-number of current task
Note!
Thesystem variables are not generated in simulation mode.
Function
SYSTEM_bClockxHz
• Thesesystem markers output a fixed clock with equal p ulse/pause ratios.
• Themarkeristoggled in realtime.
• If yo u use this system marker, take carewith the frequency t hat is used for polling the marker
(aliasingeffect). You should useatleast t wice the toggle frequency.
Example:
You would like to use the systen marker
SY STEM_bClock100Hz
pulse/pause ratio is 5 msec/5 msec.
To avoid an aliasing effect, the counter must always be polled with an INTER VAL-TASK <5msec.
as a clock for a counter. The
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2.15 System markers (SYSTEM_FLAGS)
SYSTEM_bTogCycleT ask
• Thissystem marker toggles with thecyclicaltask:
1.cycle = FALSE
2.cycle = TRUE
3.cycle = FALSE
4.cycle = TRUE
etc.
SYSTEM_nTaskInterval
• Thissystem marker shows the interval for the current task, w ith a resolution of 250 µsec.
– If, for instance, a 10-millisecond task is being processed, the system marker indic ates 40
(10 msec = 40 x 250 µsec).
– If a different type of task is being processed, instead of an interval task, the system marker
indicates 0.
SYSTEM_nTaskID
• Thissystem marker shows the task-IDfor the current t ask.
SYSTEM_b1LoopCyclicT a sk/SYSTE M_b1Loop TaskX
• Thesesystem markers only have the state TRUEduring the first cycle of the p art icular task.
– After the first cycle of the specif ic task, the system variable is set to FALSE.
– A change back to the TRUE stae will occur after a reset, or a fresh start of the program in the
target system.
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3Networking
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9300 Servo PLC
Connection
8200DPL 001
The production factor ”information” becomes increasingly important for the networking of
production plants. This applies particularly to a drive network and automation of decentralized
drives.
Drives of the Lenze range can easily be networked and implemented into a comprehensive
automationconcept.
The control and parameterization of the devices can be carried out, depending on the task, using
different communication interfaces:
• terminals (analog, digital, digital master-frequency)
• built-in system bus int erface (CAN)
• plug- in field mo dule fo r the fo llowing bus systems or communication pro files
– RS232/485 {LECOM-A/B/LI} with or without optical fibres (type 2102)
– INTE RBUS (type 2111)
– INTERBUS-Loop (type 2112)
– PROFIBUS-DP (type 2131 and 2133)
– DeviceNet/CANopen (type 2175)
• plug-inoperating module(keypad).
Thecommunicationtohigher-levelhostsispossibleviaasimpleplug&playinterfaceatthefrontside
of the device.The above figure shows such a communication with fieldbus modules 2133
PROFIBUS-DP.
Inanexistingconnectionviafieldbusmodulesto ahigher-levelmastersystem thesystem b us (CAN)
can additionally be used for communication between Lenze devices. Time-critical data such as
setpoint and actual values, can be exchanged in real-time using the system bus.
Special handling features o f the system bus (CAN):
• simplecommunication
• no special knowledge of bus systems required.
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3.1 System bus (CAN) in the Lenze drive system
3.1.1 Contact assignment
9300 Servo controller /
9300 Servo PLC
Terminal X4
LO HI
GND
8200 vector
Terminal X3
CG LOHICG LO
HI
Drive PLC
Terminal X5
GNDLOHI
9300 Servo controller / 9300 Servo PLC
Terminaldesignation Explanation
GND CAN-GND G roundreference for CAN-bus; with internal series resistance of 100 Ω and
LO CAN-LOW System bus LOW
HI CAN-HIGH System bus HIGH
max. load current of 30 mA
8200 vector / Drive PLC
Terminaldesignation Explanation
CG(:8200 vector)
GND (:Drive PLC)
LO CAN-LOW System bus LOW(data line)
HI CAN-HIGH System bus HIGH (data line)
3-2
CAN-GND System bus ground reference with internal series resistor 100 Ω,
9300ServoPLCEN1.4
max. current load 30 mA
Page 83
3.1.2 Wiring of the system bus
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Basic structure shown at a Drive PLC with 8200 vector
Drive PLC Controller 1 Controller 2
9300 Servo PLC
Connection
GND LOW HI GG LO HI GG LO HI GG LO HI GG LO
120
PES PES
Abb. 3- 1 Basic st ruc tureof a system b us network
Comments on wiring
We recommend the following signal cable for the wiring:
Specification system bus cable Totallengthupto300m Total length up to 1000 m
Cable type LIYCY2x2x0.5mm
Cable resistance ≤ 40 Ω/km ≤ 40 Ω/km
Capacitance per unit length ≤ 130 nF/km ≤ 60 nF/km
Connection Pair 1 (white/brown): LOand HI
Tab. 3-1 Specification of thesystem bus cable
Tip!
• A terminating resistor of R = 120Ω must be connected to the first and last physically
connecteddevice(seeAbb.3-1).
• Connect cable screen over a large surface to PE potential (PES).
2
(twisted pairs, with screening)
Pair2 (green/yellow): GND
CYPIMF2x2x0.5mm
(twisted pairs, with screening)
2
HI
120
plc014
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3.1.2.1 System bus wiring complying to EMC
K1
L1
L2
L3
N
PE
F1
OFF
F2 F3 F2 F3 F2 F3
F1
F1
K1
Z1
ON
K1
PE
L1 L2
7
932X - 933X
PE
W
U
V
L3
HI
+UG -U G
PE
LO
GND
RA1
RFR
Z1
L1 L2 L3
7 7
932X - 933X
28
PE
A4
W
U
V
Z1
+UG -U G
PE
L1 L2 L3
PE
-U G
+UG
932X - 933X
PE
HI
28
LO
GND
RFR
PE
A4
W
U
V
HI
PE
28
A4
GND
LO
RA2
RFR
1. Everydevice in the system bus must have a good PEconnection.
2. Control cabinets, which include bus devices should be interconnected by a separate
equipotential bonding cable.
3. Motor cables should be screened; connect the screen to both ends:
–atthemotor
– at the controller.
Attach the screen using the supplied clamps to the screen sheet or to the conducting
mounting plate of the control cabinet. This means that the cable is stripped in the contact
area of the clamp thus providing a large-surface contact to the clamp and to PE.
9300PLC 123
4. Select system bus cab les acc ording to the specific at io n in the Tab. 3-1.
– Connect the screen at both ends.
– Attach using the supplied screen plate:
K35.0021
Strip cable in the contact area of the clamp and make a large-surface contact to the clamp
and to PE.
5. Connect terminating resistor R
= 120Ω at the physical bus ends.
A
6. Separate control and fieldbus cables from the motor cable!
7. The CAN-GND cable must also be separated from the motor cable.
8. Connect terminal 7 with the screen plate of the controller.
9. Avoid stubs
3-4
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3.1.3 Technical data
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3.1.3.1 General data of the system bus network
Communication media DINISO11898
Baud rate [kBit/s] • 50
• 125
• 250
• 500
• 1000
3.1.3.2 Feasible bus length
Depending on the data-transmission speed, the following bus lengths are possible:
Baud rate [kBit/s] 50 125 250 500 1000
Cable length [m] 1000 550 250 120 25
9300 Servo PLC
Connection
3.1.3.3 Com munication times
Thecom munication times for the system bus depend on
• thepriority of the data
• theloading of the bus
• the data-transmission sp eed
• theprocessingtimeinthe drivec ontroller
T elegram throughput times
The telegram throughput time for 8 bytes of user data depends on the data-transmission speed:
Baud rate [kBit/s] 50 125 250 500 1000
Telegram throughput t ime
[msec]
Processing times in a LENZE controller
• Parameter: typically 30...50 msec
• Process data: 1...2 msec
2.7 1.05 0.52 0.26 0.13
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3.1.4 Commissioning
1. Switch on the controller or PLC (main supply or external 24 V supply).
2. If necessary, change the transmission speed (C0351)using the operating module 9371 BB or
the PC (default setting 500 kBaud).
– This setting must be identical for all participating bus devices.
3. Set the CAN address (C0350)using the operating module 9371BB or the PC
– This CAN address must be unique for every bus device.A multiple assignment of the same
address results in a BUS-OFF(error code CE4, error number 65; see chapter Monitoring
(^4-3) and chapter Error messages (^4-11)).
The default setting of the controllers is C0350 = 1.
4. The communication of all devices co nnected to the system bus is possible now. You can read
all codes and change all codes which can be written.
3.1.5 Programming
(^3-34)
3.1.5.1 General
Theintegrated syst em bus provides a considerableextension of the busdevice functionality.These
are, among others:
• Parameterentries
• Data exchange between drive controllers
The connection of other modules is easily possible. These are, among others:
• decentralized terminals
• controls and input devices
• external controls and control systems
Theusercan,for example,implementanexchangeofdatabetweenonedrivecontroller and another,
with dig ital control, speed and torque signals, without having knowledge of the bus system.
Atotal of 5 input signals and 5 output channels are availablefor datacommunication, that can allbe
used independently.
They include 2 parameter channels (SDO= Service Data Object).
3-6
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3.1.5.2 Parameter channels
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Parameters are values that are stored in the Lenze drive controllers in a code position. Parameters
areset, for example, for one-off system settings or a c hange of mat erials in a machine.
Parameteraretransmitted with a low priority.
9300 Servo PLC
Connection
Parameter channel1
write
read
Parameters
(Code)
HMI
Abb. 3-2 Connection of devices through two parameter channels
With 2 parameter channels it is possible to connect of 2 different devices for parameter setting, e.g.
the simultaneous connection of a PC and an operating unit (see Abb. 3-2).
Tip for 9300 Servo PLC!
The blocks
devices is possible.
L_ParRead / L_ParWrite
(from: LenzeDrive.lib) read and write access to other Lenze
read
Parameter channel2
write
Parameters
(Code)
PC
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3.1.5.3 Process data channels
Process data are data with a high priority, and are optimised for high speed in transmission and
proc essing.
A cyclic process data channel CAN1_IO (PDO = Process Data Objekt)
Theproc ess dat a via CAN1_IO areintended for a higher-level control system.
Cyc l i cproc ess data
Process data channel 1
( Setpoi nt andactualvalues)
CAN1_I N
CAN1_OU T
Abb. 3-3 Process data CAN1_IOfor a higher-level control system
Control system
3-8
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Two event-controlled process data channels withselectable and adjustable cycles(PDOs)
CAN2_IO,CAN3_IO
These process data channels are intended for exchanging data between one drive controller and
another. Another application of these process data is for decentralised input and output terminal.
Higher-levelcontrol systems can also use these channels.
Event-controlled process data
Process data channel 2
CAN2_I N
CAN2_OU T
CAN2_OU T
CAN2_I N
CAN3_OU T CAN3_IN
Event-controlled process data
Process data channel 3
Abb. 3-4 Event-co ntrolled process data channelswith adjustable cycles
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3.2 System blocks for the system bus
3.2.1 System bus (CAN1_IO)
3.2.1.1 Inputs_CAN1 (CAN1_IN)
System bus inputs (Module number: 31)
ThisSB isusedfor cyclicdata communic at io n with higher-levelcontrol systems.Aspecialtelegram
(the sync-telegram) must be generated for transmission.
You cannot use this SB for exchanging data between one drive controller and another.
(^3-49)
YSTEMBUS
X4
CAN1_IN
Bit 0
Bit 15
Controlword
Byte 3,4
Byte 5,6
16 Bit
16
binary
signals
C0136/2
16 Bit
16 Bit
16 Bit
C0863/1
16
binary
signals
C0863/2
16
binary
signals
CAN1_bCtrlQuickstop_b
CAN1_bCtrlTripReset_b
C0866/1
C0866/2
C0866/3
CAN1_wDctrlCtrl
CAN1_bCtrlDisable_b
CAN1_bCtrlCInhibit_b
CAN1_bCtrlTripSet_b
CAN1_bCtrlB0_b
CAN1_bCtrlB1_b
CAN1_bCtrlB2_b
CAN1_bCtrlB4_b
CAN1_bCtrlB5_b
CAN1_bCtrlB6_b
CAN1_bCtrlB7_b
CAN1_bCtrlB12_b
CAN1_bCtrlB13_b
CAN1_bCtrlB14_b
CAN1_bCtrlB15_b
CAN1_nInW1_a
CAN1_nInW2_a
CAN1_nInW3_a
CAN1_bInB0_b
CAN1_bInB2_:b
......
CAN1_bInB14_b
CAN1_bInB15_b
CAN1_bInB16_b
CAN1_bInB17_b
CAN1_bInB30_b
CAN1_bInB31_b
Abb. 3-5 Inputs_CAN1 (CAN1_IN)
3-10
Byte 7,8
16 Bit
LowWord
16 Bit
HighWord
9300ServoPLCEN1.4
CAN1_dnInD1_p
C0867/1
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VariableName DataType SignalType Address DIS DIS format Note
CAN1_wDctrlCtrl Word - %IW31.0 C0136/2 hex
CAN1_nInW1_a Integer analog %IW31.1 C0866/1 dec [%] +16384 = +100 %
CAN1_nInW2_a Integer analog %IW31.2 C0866/2 dec [%] +16384 = +100 %
CAN1_nInW3_a Integer analog %IW31.3 C0866/3 dec [%] +16384 = +100 %
CAN1_bCtrlQuickstop_b Bool binary %IX31.0.3 - CAN1_bCtrlDisable_b Bool binary %IX31.0.8 - CAN1_bCtrlCInhibit_b Bool binary %I X31.0.9 - CAN1_bCtrlTripSet_b Bool binary %IX31.0.10 - CAN1_bCtrlTripReset_b Bool binary %IX31.0.11 - CAN1_bCtrlB0_b Bool binary %IX31.0. 0 C0136/2 bin
.. .. .. .. .. ..
CAN1_bCtrlB15_b Bool binary %IX31.0.15 C0136/2 bin
CAN1_bInB0_b Bool binary %IX31.2. 0 C0863/1 hex
.. .. .. .. .. ..
CAN1_bInB15_b Bool binary %IX31.2. 15 C0863/1 hex
CAN1_bInB16_b Bool binary %I X31.3. 0 C0863/2 hex
.. .. .. .. .. ..
CAN1_bInB31_b Bool binary %IX31.3. 15 C0863/2 hex
CAN1_dnInD1_p Double-integer position %I D 31.1 C0867/1 dec [inc] 65536 = 1 revolution
Function
8 bytesare availablefor datacommunication withthedrivecontroller.
Byte Notes Address
1, 2 Thedevice-internal controlwordis fixedtobytes1-2. You canapplyany boolean variable toa selectionof
the free binary/logicsignals ofthe cont rolword.
The signals for the functions Quickstop (QSP ) , DISA BLE, CINH , TRI P -SET and TRIP-RESET can be written to
the SB DCTRLvia the control word. Todo this, connect the variables
DCTRL_wCAN1Ctrl
These functions are also available through the variable
CAN1_bCtrlCInhibit_b,CAN1_bCtrlTripSet_b
and apply further processing to them.
The other 11 bits can be used to control further function blocks.
3, 4 Bytes 3-4 can be selected as a 16-bit data word with the individual signals for quasi-analog signals. %IB31.2and %I B 31.3
5, 6
Bytes 5-6 and bytes 7-8 can be used simultaneously as two quasi-analog values and as phase-angle
information,withupto32bitsofbina
7, 8
through variables of the appropriate data type.
.
and
mation
CAN1_bCtrlQuickstop_b,CAN1_bCtrlDisable_b
CAN1_bCtrlTripReset_b
alue1or0).Thefunctionalassignmentismade
CAN1_wDctrlCtrl
. Yo ucan read out these signals
and
%I B 31.0and %I B 31.1
,
%I B 31.4and %I B 31.5
%I B 31.6and %I B 31.7
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3.2.1.2 Outputs_CAN1 (CAN1_OUT)
System bus outputs (Module number: 31)
ThisSB is used for data communication with higher-level control systems. A special telegram, the
sync-telegram, must be generated for transmission.
This SB cannot be used for exchanging data between one drive controller and another.
(^3-49)
Abb. 3-6 Outputs_CAN1(CAN1-OUT)
VariableName
DataType SignalType Address DIS DIS format Note
CAN1_wDctrlStat Word - %QW31.0 - - CAN1_nOutW1_a Integer analog %QW31.1 C0868/1 dec [%]
CAN1_nOutW2_a Integer analog %QW31.2 C0868/2 dec [%]
CAN1_nOutW3_a Integer analog %QW31.3 C0868/3 dec [%]
CAN1_bFDO0_b Bool binary %QX 31.2.0 C0151/1 hex
.. .. .. .. .. ..
CAN1_bFDO15_b Bool binary %QX 31.2.15 C0151/1 hex
CAN1_bFDO16_b Bool binary %QX31.3. 0 C0151/1 hex
.. .. .. .. .. ..
CAN1_bFDO3131_b Bool binary %QX 31.3.15 C0151/1 hex
CAN1_dnOutD1_p Double-integer position %QD 31.1 C0869/1 dec [inc] 1 revolution = 65536
CAN1_OUT
C A N 1 _ w D c tr lS ta t
C AN 1_nOutW 1_a
C AN 1_nOutW 2_a
C AN 1_nOutW 3_a
C AN 1_bFDO 0_b
...
C AN 1_bFDO 15_b
C AN 1_bFDO 16_b
...
C AN 1_bFDO 31_b
C AN 1_dnO utD 1_p
C 0868/1
C 0868/2
C 0868/3
C 0869/1
16 Bit
16 Bit
Low W ord
16 Bit
H ighW ord
16 Bit
Low W ord
16 Bit
H ighW ord
C 0151/1
Bit 0
Bit 15
Statusword
B y te 3 ,4
B y te 5 ,6
B y te 7 ,8
SYSTEMBU S
X4
+100 % = +16384
Displaycode in hexas
double-word
3-12
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Connection
Function
8 bytesare availablefor datacommunication withthedrivecontroller.
Byte Notes Address
1, 2 Bytes 1 and 2 form the control wordforthe controller .
3, 4 Yo ucan freely link bytes 3 and 4 with variables of the corresponding data type, as a 16-bit data word
5, 6
7, 8
Byte The variables .. . write data simultaneously to .. .
5-8
Example: If you write to bytes 7-8, using the variables
The signals for functions such as IMP, CINHetc. can be written from SB DCTRL to the SB CAN1_OUT by
using the status word from SB DCTRL. Todo this, connect the variables
CAN1_wDctrlStat
Several bits in SB DCTRL are freely assignable. They are configured through the variables
DCTRL _bStatB0_b,DCTRL _bStatB1_b,DCTRL _bStatB2_b,DCTRL _bStatB3_b,DCTRL _bStatB4_b
DCTRL _bStatB5_b,DCTRL _bStatB14_b
(quasi-analog signal).
It is possible, using different variables, to write simultaneously to bytes 5-6 or bytes 7-8. Avoid this
situation, since the data in bytes 5-6 or bytes 7-8 are then not unambiguous.
CAN1_nOutW2_a
CAN1_bFDO0_b ... CAN1_bFDO15_b
CAN1_dnOutD1_p
CAN1_nOutW3_a
CAN1_bFDO16_b ... CAN1_bFDO31_b
CAN1_dnOutD1_p
variable is processed. The data in bytes 7-8 are thus not unambiguous.
.
and
DCTRL _bStatB15_b
Byte 5 and 6
Bytes 7-8
CAN1_nOutW3_a
DCTRL_wStat
and
CAN1_dnOutD1_p
and
then bytes 7-8 will be rewritten every time a
%Q B31.0and%Q B 31.1
,
%Q B31.2and%Q B 31.3
%Q B31.4and%Q B 31.5
%Q B31.6and%Q B 31.7
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3.2.2 System bus (CAN2_IO)
3.2.2.1 Inputs_CAN2 (CAN2_IN)
System bus inputs (Module number: 32)
ThisSB is used fordatacommunicationbetweenone drive controllerand another,and theexchange
of data with decentralised inputs and output terminals. It is also possible to exchange data with
higher-levelco ntrol systems.
Abb. 3-7 Inputs_CAN2 (CAN2_IN)
SYSTEMBU S
X4
CAN2_IN
Bit 0
Bit 15
C 0866/4
C 0866/5
C 0867/2
C 0866/6
C 0866/7
C AN 2_nInW 1_a
C AN 2_nInW 2_a
C AN 2_bInB 0_b
C AN 2_bInB 1_b
......
C AN 2_bInB 14_b
C AN 2_bInB 15_b
C AN 2_bInB 16_b
C AN 2_bInB 17_b
C AN 2_bInB 30_b
C AN 2_bInB 31_b
C AN 2_dnInD 1_p
C AN 2_nInW 3_a
C AN 2_nInW 4_a
16 Bit
16 Bit
C 0863/3
Byte 1,2
B y te 3 ,4
B y te 5 ,6
B y te 7 ,8
16
binary
sign als
C 0863/4
16
binary
sign als
16 Bit
Low W ord
16 Bit
H ighW ord
16 Bit
16 Bit
VariableName
CAN2_nInW1_a Integer analog %IW32.0 C0866/4 dec [%] +16384 = +100 %
CAN2_nInW2_a Integer analog %IW32.1 C0866/5 dec [%] +16384 = +100 %
CAN2_nInW3_a Integer analog %IW32.2 C0866/6 dec [%] +16384 = +100 %
CAN2_nInW4_a Integer analog %IW32.3 C0866/7 dec [%] +16384 = +100 %
CAN2_bInB0_b Bool binary %IX32.0. 0 C0863/3 hex
CAN2_bInB15_b Bool binary %IX32.0. 15 C0863/3 hex
CAN2_bInB16_b Bool binary %I X32.1. 0 C0863/4 hex
CAN2_bInB31_b Bool binary %IX32.1. 15 C0863/4 hex
CAN2_dnInD1_p Double-integer position %I D 32.0 C0867/2 dec [inc] 65536 = 1 revolution
3-14
DataType SignalType Address DIS DIS format Note
.. .. .. .. .. ..
.. .. .. .. .. ..
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Function
For data communication with the drive controller , 8 bytes are available.
Byte Notes Address
Youcan use byte 1,2andbyte 3, 4 simultaneouslyas
1, 2
• binary information (up to 32 bits),
• 2 valuesofdatatype Integer,
3, 4
• 1 value of data type Double Integer.
5, 6
Bytes 5-6 and bytes7-8canbeselectedtobea16-bitdataword(data type Intege
7, 8
.
%I B 32.0and %I B 32.1
%I B 32.2and %I B 32.3
%I B 32.4and %I B 32.5
%I B 32.6and %I B 32.7
9300ServoPLCEN1.4
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3.2.2.2 Outputs_CAN2 (CAN2_OUT)
System bus outputs (Module number: 32)
ThisSB is used fordatacommunicationbetweenone drive controllerand another,and theexchange
of data with decentralised inputs and output terminals. It is also possible to exchange data with
higher-levelco ntrol systems.
Abb. 3-8 Outputs_CAN2(CAN2_OUT)
VariableName
DataType SignalType Address DIS DIS format Note
CAN2_nOutW1_a Integer analog %QW32.0 C0868/4 dec [%]
CAN2_nOutW2_a Integer analog %QW32.1 C0868/5 dec [%]
CAN2_nOutW3_a Integer analog %QW32.2 C0868/6 dec [%]
CAN2_nOutW4_a Integer analog %QW32.3 C0868/7 dec [%]
CAN2_bFDO0_b Bool binary %QX 32.0.0 C0151/2 hex
.. .. .. .. .. ..
CAN2_bFDO15_b Bool binary %QX32..15 C0151/2 hex
CAN2_bFDO16_b Bool binary %QX32.1. 0 C0151/2 hex
.. .. .. .. .. ..
CAN2_bFDO31_b Bool binary %QX 32.1.15 C0151/2 hex
CAN2_dnOutD1_p Double-integer position %QD 32.1 C0869/2 dec [inc] 1 revolution = 65536
CAN2_OUT
CAN2_nOutW1_a
CAN2_nOutW2_a
CAN2_bFDO0_b
...
CAN2_bFDO15_b
CAN2_bFDO16_b
...
CAN2_bFDO31_b
CAN2_dnOutD1_p
CAN2_nOutW3_a
CAN2_nOutW4_a
C0868/4
C0868/5
C0869/2
C0868/6
C0868/7
16 Bit
LowWord
16 Bit
HighWord
16 Bit
LowWord
16 Bit
HighWord
C0151/2
Bit 0
Bit 15
Byte 1,2
Byte 3,4
Byte 5,6
Byte 7,8
SYSTEMBU
X4
+100 % = +16384
Displaycode in hexas
double-word
3-16
9300ServoPLCEN1.4
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(
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9300 Servo PLC
Connection
Fordatacommunication withthedrive controller,2
Byte Notes Address
1, 2
3, 4
5, 6
7, 8
Byte The variables .. . write data simultaneously to .. .
1-4
Example: If you write to bytes 3-4, using the variables
You can freely link bytes 1-2 and 3-4 with variables of the corresponding data type, as a 16-bit data word
It is possible, using different variables, to write simultaneously to bytes 1-2 or bytes 3-4. Avoid this
situation, since the data in bytes 1-2 or bytes 3-4 are then not unambiguous.
It is possible, using different variables, to write simultaneously to bytes 5-6 or bytes 7-8. Avoid this
situation, since the data in bytes 5-6 or bytes 7-8 are then not unambiguous.
CAN2_nOutW1_a
CAN2_bFDO0_b ... CAN2_bFDO15_b
CAN2_dnOutD1_p
CAN2_nOutW2_a
CAN2_bFDO16_b ... CAN2_bFDO31_b
CAN2_dnOutD1_p
variable is processed. The data in bytes 3-4 are thus not unambiguous.
ege
.
Byte 1 and 2
Bytes 3 and 4
CAN2_nOutW2_a
⋅ 8 bytes are available.
and
CAN2_dnOutD1_p
then bytes 3-4 will be rewritten every time a
%Q B32.0und%QB32.1
%Q B32.2und%QB32.3
%Q B32.4und%QB32.5
%Q B32.6und%QB32.7
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3.2.3 System bus (CAN3_IO)
3.2.3.1 Inputs_CAN3 (CAN3_IN)
System bus inputs (Module number: 33)
ThisSB is used fordatacommunicationbetweenone drive controllerand another,and theexchange
of data with decentralised inputs and output terminals. It is also possible to exchange data with
higher-levelco ntrol systems.
Abb. 3-9 Inputs_CAN3 (CAN3_IN)
SYSTEMBU S
X4
CAN3_IN
Bit 0
Bit 15
C 0866/8
C 0866/9
C 0867/3
C 0866/10
C 0866/11
C AN 3_nInW 1_a
C AN 3_nInW 2_a
C AN 3_bInB 0_b
C AN 3_bInB 1_b
......
C AN 3_bInB 14_b
C AN 3_bInB 15_b
C AN 3_bInB 16_b
C AN 3_bInB 17_b
C AN 3_bInB 30_b
C AN 3_bInB 31_b
C AN 3_dnInD 1_p
C AN 3_nInW 3_a
C AN 3_nInW 4_a
16 Bit
16 Bit
C 0863/5
Byte 1,2
B y te 3 ,4
B y te 5 ,6
B y te 7 ,8
16
binary
sign als
C 0863/6
16
binary
sign als
16 Bit
Low W ord
16 Bit
H ighW ord
16 Bit
16 Bit
VariableName
CAN3_nInW1_a Integer analog %IW33.0 C0866/8 dec [%]
CAN3_nInW2_a Integer analog %IW33.1 C0866/9 dec [%]
CAN3_nInW3_a Integer analog %IW33.2 C0866/10 dec [%]
CAN3_nInW4_a Integer analog %IW33.3 C0866/11 dec [%]
CAN3_bInB0_b Bool binary %IX33.0. 0 C0863/5 hex
CAN3_bInB15_b Bool binary %IX33.0. 15 C0863/5 hex
CAN3_bInB16_b Bool binary %I X33.1. 0 C0863/6 hex
CAN3_bInB31_b Bool binary %IX33.1. 15 C0863/6 hex
CAN3_dnInD1_p Double-integer position %I D 33.0 C0867/3 dec [inc] 65536 = 1 revolution
3-18
DataType SignalType Address DIS DIS format Note
.. .. .. .. .. ..
.. .. .. .. .. ..
9300ServoPLCEN1.4
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Function
For data communication with the drive controller , 8 bytes are available.
Byte Notes Address
Youcan use byte 1,2andbyte 3, 4 simultaneouslyas
1, 2
• binary information (up to 32 bits),
• 2 valuesofdatatype Integer,
3, 4
• 1 value of data type Double Integer.
5, 6
Bytes 5-6 and bytes7-8canbeselectedtobea16-bitdataword(data type Intege
7, 8
.
%I B 33.0and %I B 33.1
%I B 33.2and %I B 33.3
%I B 33.4and %I B 33.5
%I B 33.6and %I B 33.7
9300ServoPLCEN1.4
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3.2.3.2 Outputs_CAN3 (CAN3_OUT)
System bus outputs (Module number: 33)
ThisSB is used fordatacommunicationbetweenone drive controllerand another,and theexchange
of data with decentralised input and output terminals. It is also possible to exchange data with
higher-levelco ntrol systems.
CAN3_OUT
CAN3_nOutW1_a
CAN3_nOutW2_a
CAN3_bFDO0_b
CAN3_bFDO15_b
CAN3_bFDO16_b
CAN3_bFDO31_b
CAN3_dnOutD1_p
CAN3_nOutW3_a
CAN3_nOutW4_a
Abb. 3-10 Outputs_CAN3 (CAN3_OUT3)
VariableName
DataType SignalType Address DIS DIS format Note
CAN3_nOutW1_a Integer analog %QW33.0 C0868/8 dec [%]
CAN3_nOutW2_a Integer analog %QW33.1 C0868/9 dec [%]
CAN3_nOutW3_a Integer analog %QW33.2 C0868/10 dec [%]
CAN3_nOutW4_a Integer analog %QW33.3 C0868/11 dec [%]
CAN3_bFDO0_b Bool binary %QX 33.2.0 C0151/3 hex
.. .. .. .. .. ..
CAN3_bFDO15_b Bool binary %QX 33.2.15 C0151/3 hex
CAN3_bFDO16_b Bool binary %QX33.3. 0 C0151/3 hex
.. .. .. .. .. ..
CAN3_bFDO31_b Bool binary %QX 33.3.15 C0151/3 hex
CAN3_dnOutD1_p Double-integer position %QD 33.1 C0869/3 dec [inc] 1 revolution = 65536
Bit 0
C0868/8
Bit 15
Byte 1,2
Byte 3,4
Byte 5,6
Byte 7,8
SYSTEMBU
X4
C0868/9
...
...
C0869/3
C0868/10
C0868/11
16 Bit
LowWord
16 Bit
HighWord
16 Bit
LowWord
16 Bit
HighWord
C0151/3
+100 % = +16384
Displaycode in hexas
double-word
3-20
9300ServoPLCEN1.4
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