Lenze DDS Function library IOSystem User Manual

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Manual

Global Drive PLC Developer Studio

Global Drive

Function library

LenzeIOSystem.lib

The LenzeIOSystem.lib and LenzeIOSystemVxxxx.lib function libraries can be used for the following Lenze PLC devices:

Type As of hardware version As of software version

Drive PLC EPL10200_xI VC 2.x

Drive PLC EPL10200_xT VC 2.x

9300 Servo PLC EVS93xx_xI 2K 2.x

9300 Servo PLC EVS93xx_xT 2K 2.x

ECSxA ECSxAxxx 1C 7.0

Important note:

The software is supplied to the user as described in this document. Any risks resulting from its quality or use remain the responsibility of the user. The user must provide all safety measures protecting against possible maloperation.

We do not take any liability for direct or indirect damage, e.g. profit loss, order loss or any loss regarding business.

ã 2006 Lenze Drive Systems GmbH

No part of this documentation may be copied or made available to third parties without the explicit written approval of Lenze Drive Systems GmbH.

All information given in this documentation has been carefully selected and tested for compliance with the hardware and software described. Nevertheless, discrepancies cannot be ruled out. We do not accept any responsibility or liability for any damage that may occur. Required corrections will be included in updates of this documentation.

All product names mentioned in this documentation are trademarks of the corresponding owners.

Version 1.7 11/2006

Function library LenzeIOSystem.lib

1 Preface and general information 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 About this Manual 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.1 Conventions used in this Manual 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.2 Structure of the descriptions 1−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.3 Pictographs used in this Manual 1−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.4 Terminology used 1−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Version identifiers of the function library 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Introduction 2−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Introduction 2−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 Design concept 2−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Minimum configuration 2−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Application examples 3−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Modular decentralised I/O system 3−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Compact decentralised I/O system 3−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Function blocks for parameterisation 4−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 L_IOParComGuarding − Monitoring function 4−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 L_IOParAlnModule − Parameterisation function 4−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 L_IOParAOutModule − Parameterisation function 4−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 L_IOParAlAOModule − Parameterisation function 4−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 L_IOParSSIModule − Parameterisation function 4−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6 L_IOParCounterModule − Counter function 4−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7 L_IOParCounterDIModule − Counter function 4−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.8 L_IOParPDO15 − Parameterisation function 4−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.9 L_IOParPDO610 − Parameterisation function 4−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.10 L_IOParCompactModule − Parameterisation function 4−26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Function blocks for process data processing 5−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 L_IOData15 − Coordinate data 5−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 L_IOData610 − Coordinate data 5−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 L_IOCompactModule − Coordinate data 5−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 L_IOCounterDataToIO − Counter function 5−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 L_IOCounterDataFromIO − Counter function 5−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6 L_IOCounterDIModuleDataToIO − Counter function 5−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7 L_IOCounterDIModuleDataFromIO − Counter function 5−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8 L_IOSSIDataToIO − Counter function 5−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.9 L_IOSSIDataFromIO − Counter function 5−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.10 L_IOConvByteToByteArray − Conversion function 5−18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.11 L_IOConvByteArrayToByte − Conversion function 5−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.12 L_IODInModule − Bit conversion 5−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.13 L_IODOutModule − Bit conversion 5−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.14 L_IOAInModule − Signal conversion 5−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.15 L_IOAOutModule − Signal conversion 5−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Contents

6 Appendix 6−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 Signal functions for analog inputs EPM−T310 6−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.2 Signal functions for analog outputs EPM−T320 6−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 Signal functions for analog inputs and outputs EPM−T330 6−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4 Measured value scaling 6−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5 Selecting the counter modes EPM−T410 6−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 Index 7−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Preface and general information

1.1 About this Manual

1 Preface and general information

1.1 About this Manual

This Manual contains information on the LenzeIOSystem.lib and LenzeIOSystemVxxxx function libraries for the Drive PLC Developer Studio.

1.1.1 Conventions used in this Manual

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

Variable identifiers

are printed in italics in the explanatory text:

· "By means of bReset..."

Tip!

Information about the conventions used for variables of Lenze system blocks, function blocks and functions can be obtained from the appendix of the DDS online documentation "Introduction into IEC 61131−3 programming". The conventions ensure universal and uniform labelling and support the readability of PLC programs.

Lenze functions/function blocks

can be identified by the name. They always begin with an "L_":

· "By means of the L_IOPar..."FB

Program listings

are itemised in the "Courier" font, the keywords being printed bold:

· "IF (ReturnValue < 0) THEN..."

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Function library LenzeIOSystem.lib

Preface and general information

1.1 About this Manual

1.1.2 Structure of the descriptions

The descriptions of the individual functions/function blocks as well as system blocks in this Manual are structured in a standardised manner according to the following pattern:

 











Function Function block (FB)/

 Headline with function and identifier

 Declaration of the function:

· Data type of the return value

· Function identifier

· List of the transfer parameters

 Short description with the most important features

 Graph showing the function

including all corresponding variables

· Transfer parameters

· Return value

 Table giving information on the

transfer parameters:

· Identifiers

· Data type

· Possible settings

· Information

 Table giving information on the

return value:

· Data type of the return value

· Possible return values and their

meaning

 Further information

(comments, tips, application examples, etc.)

system block (SB)

−

System block/function block chart including all corresponding variables

· Input variables

· Output variables

Table giving information about input and output variables:

· Identifiers

· Data type

· Variable type

· Possible settings

· Information

−

1.1.3 Pictographs used in this Manual

Pictohraphs used Signal words

Warning of material damage

More notes Tip!

Stop! Warns of potential damage to material.

Note!

1.1.4 Terminology used

Term In this Manual used for

DDS Drive PLC Developer Studio

FB Function block

GDC Global Drive Control (parameter setting program from Lenze)

Parameter codes Codes for setting the function of a function block PLC · 9300 servo PLC

SB System block

· Drive PLC

· ECSxA "Application" axis module

Possible consequences if disregarded: Damage of the controller/drive system or its environment.

Indicates a tip or note.

1−2

LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Preface and general information

1.2 Version identifiers of the function library

The version of the function library can be found under the global constant C_w[Function library name]Version .

Version identifiers as of PLC software version 7.x:

Constant Meaning

C_w[FunctionLibraryName]VersionER External Release 01

C_w[FunctionLibraryName]VersionEL External Level 05

C_w[FunctionLibraryName]VersionIR Internal Release 00

C_w[FunctionLibraryName]VersionBN Build No. 00

The value of this constant is a hexadecimal code.

· In the example, "01050000" stands for version "1.05".

Example value

Version: 01 05 00 00

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1−3

Function library LenzeIOSystem.lib

Preface and general information

1−4

LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Introduction

2.1 Introduction

2 Introduction

2.1 Introduction

The user is offered suitable function blocks in function libraries to enable decentralised I/O system support by Lenze PLC products.

These function blocks are integrated in an IEC 61131 program and assist in the parameterisation of the I/O system as well as in process data processing. Furthermore, they provide digital and analog I/O system input and output information.

LenzeI/OSystem.lib

This library provides all setting options. User configuration via user codes is not required.

2.2 Design concept

The function libraries contain two types of function blocks.

· Parameter data blocks

· Process data blocks

Parameter data blocks

These function blocks allow the modification of index information in the decentralised I/O system and the transmission of specified data. These data are transmitted only once to the I/O system during the initialisation phase.

· Parameterising communication

– These blocks parameterise communication relationships

(Identifier assignment for PDO communication, transmission method, transmission period, etc.) between PLC and I/O system.

– These settings are mandatory for data exchange.

· Parameterising modules and monitoring functions

– The function blocks are required for

individual parameterisation of analog modules, individual parameterisation of counter modules, communication monitoring

Process data blocks

These function blocks provide assistance for evaluating and further processing the current process data information from the I/O system inputs in the PLC program.

Information and data can be transferred into the process via the output modules.

· Process data blocks to transmit and receive I/O data between PLC and I/O system.

· Process data blocks for I/O signal conversion.

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Function library LenzeIOSystem.lib

Introduction

2.3 Minimum configuration

A minimum configuration must be established to integrate the I/O system, consisting of one parameter data block L_IOParPDO15 to parameterise communication relationships and one process data block L_IOData15 to evaluate the input/output information.

The information of the parameter block is transmitted to the I/O system and the function block for PLC I/O system process data exchange.

Data exchange between the output of the parameter block and the input of the process data block is possible with the help of a global variable.

Note!

The function libraries for the decentralised I/O system are based on unassigned CAN objects, so that the CAN driver must be initialised via block L_CANInit.

The block L_CANInit is located in the Lenze library LenzeCanDrv.lib.

wDrvNr

dwRelocCobld

L_CanInit

CTRL

10 = System bus

0 = ID range 832..895 (Servo PLC only)

Note!

The identifier range is limited in the case of the 9300 Servo PLC.

Use of function blocks L_IOParPDO15 and L_IOParPDO610 requires adjustment of the Cob IDs from PDO4 onwards.

2−2

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Function library LenzeIOSystem.lib

Application examples

3.1 Modular decentralised I/O system

3 Application examples

The examples were generated with DDS version 2.0. Examples concerning the I/O system are given in the directory C:\Programme\Lenze\DDS_P_2_20\Projects\IOSystem\Samples

3.1 Modular decentralised I/O system

The modular decentralised I/O system with eight digital inputs and outputs is integrated into a PLC program with the help of LenzeIOSystem.lib.

During this process, the following steps must be carried out in the given order:

1. Initialise the CAN driver

2. Parameterise the communication conditions

3. Program the process data exchange between PLC and I/O system

4. Initialise the codes

Initialising the CAN driver

Communication between the PLC and the I/O system is based on "unassigned CAN objects" (control, alarm, diagnostics...). These objects are available in DDS from version 2.x onwards.

To initialise the unassigned CAN objects, the function L_CANInit must be requested once only in the system POU PLC_ColdStart.

Parameterising the communication conditions

Function block L_IOParPDO15 for parameterising the communication conditions of PDO1−PDO5 is integrated into the SFC editor and necessarily is to be used in every project. This function block specifies the communication parameters in the I/O system.

The values are transferred to the process data block L_IOData15 as a structure (STRUCT) in order to match the communication parameters of the devices (controller and I/O system).

On program execution, this step is executed only once at the beginning.

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Function library LenzeIOSystem.lib

Application examples

3.1 Modular decentralised I/O system

Then the Parameter program that must be generated in the SFC editor follows. With the invocation of the function block instance, the step Parameter_data has the action generated in the FBD editor.

Note!

· Enter a minimum time of ten seconds for step Init via the menu command ExtrasÞStep

attibutes.... Correct entry: T#10s

Make sure that step Parameter_data is not executed before the initialisation phase of the I/O system is complete. This is achieved with a minimum time of ten seconds.

As this POU must be processed cyclically, the program is invoked in the PLC_PRG (main program). The sequential function chart ensures a cyclic task.

The parameterisation process is started via the initial action in step Parameter_data.

Once the parameterisation is complete, the final action in step Parameter_data sets input bExecute to FALSE and variable bStart to TRUE.

Variable bStart ensures that step Parameter_data is executed

· on switching on

· on reset and subsequent starting.

When the parameterisation is complete, the PLC_PRG (main program) stops in step Init. It does not impose an extra burden on the target system during subsequent program operation.

3−2

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Function library LenzeIOSystem.lib

Application examples

3.1 Modular decentralised I/O system

Programming the process data exchange between PLC and I/O system

The CFC editor is used to generate a program named Process.

· Declare an instance of function block L_IOData15 in Process.

· Generate two inputs in the CFC editor, assign names g_bParDone15 and g_ParData15 and

attach these to the corresponding inputs of function block L_IOData15 as shown in the figure.

Several conversion blocks are available to evaluate input data and to transfer output data.

Function block L_IOData15 transmits output data to the I/O system and receives input data from there.

At input DataFrom_IOParPDO15, CAN communication relationships between PLC and I/O system are transmitted from parameterisation block L_IOParPDO15 to process data block L_IOData15.

Process data transmission is started after parameterisation via a High signal at input bEnablePDOTransfer.

Data conversion for evaluating individual channels

The program Process can be extended as follows:

· Use the menu command ExtrasÞOrder to indicate the sequence.

· Drag the individual function blocks to their positions in order to make the program sequence

comprehensible.

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Function library LenzeIOSystem.lib

Application examples

3.1 Modular decentralised I/O system

3−4

Function block L_IOData15 supplies the transmit and receive data as 8 byte information via the CAN telegram.

The two converters convert the information into individual bytes.

A digital input and output module maps the individual bits.

Initialising the codes

Initialise the following codes in the PLC

· Code C0352

Subcode 0 = 1 Defines PLC as a CAN master so that the configuration enters the Operational state.

· Code C0356

Subcode 1 = 10000 Increases the boot−up time to10s

· Code C2104

Subcode 0 = 1 Starts the PLC program automatically after switching on the mains

LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Application examples

3.2 Compact decentralised I/O system

The compact module EPM − T832 with 24 digital inputs and 8 digital outputs is integrated into a PLC program with the help of LenzeIOSystem.lib.

During this process, the following steps must be carried out in the given order:

1. Initialise the CAN driver

2. Parameterise the communication conditions

3. Program the process data exchange between PLC and I/O system

4. Initialise the codes

Initialising the CAN driver

Communication between the PLC and the I/O system is based on "unassigned CAN objects" (control, alarm, diagnostics...). These objects are available in DDS from version 2.x onwards.

To initialise the unassigned CAN objects, the function L_CANInit must be requested once only in the system POU PLC_ColdStart.

Parameterising the communication conditions

Function block L_IOParCompactModule for parameterising the communication conditions is integrated into the SFC editor and necessarily is to be used in every project. This function block specifies the communication parameters in the I/O system.

The values are transferred to the process data block L_IOCompactModule as a structure (STRUCT) in order to match the communication parameters of the devices (controller and I/O system).

On program execution, this step is executed once only at the beginning.

Then the Parameter program that must be generated in the SFC editor follows. With the invocation of the function block instance, the step ParCompact has the action generated in the FBD editor.

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Function library LenzeIOSystem.lib

Application examples

3.2 Compact decentralised I/O system

Note!

· Enter a minimum time of ten seconds for step Init via the menu command ExtrasÞStep

attributes.... Correct entry: T#10s

Make sure that step Parameter_data is not executed before the initialisation phase of the I/O system is complete. This is achieved with a minimum time of ten seconds.

As this POU must be processed cyclically, the program is invoked in the PLC_PRG (main program). The sequential function chart ensures a cyclic task.

The parameterisation process is started via the initial action in step ParCompact.

Once the parameterisation is complete, the final action in step ParCompact sets input bExecute to FALSE and variable bStart to TRUE.

Variable bStart ensures that step ParCompact is executed

· on switching on

· on reset and subsequent starting.

When the parameterisation is complete, the PLC_PRG (main program) stops in step Init. It does not impose an extra burden on the target system during subsequent program operation.

Programming the process data exchange between PLC and I/O system

The CFC editor is used to generate a program named Process.

· Declare an instance of function block L_IOCompactModule in Process.

· Generate two inputs in the CFC editor, assign names g_bParDone15 and g_ParData15 and

attach these to the corresponding inputs of function block L_IOCompactModule as shown in the figure.

3−6

Several conversion blocks are available to evaluate input data and to transfer output data.

Function block L_IOCompactModule transmits output data to the I/O system and receives input data from there.

LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Application examples

3.2 Compact decentralised I/O system

At input DataFrom_IOParPDO15, CAN communication relationships between PLC and I/O system are transmitted from parameterisation block L_IOParCompactModule to process data block L_IOCompactModule.

Process data transmission is started after parameterisation via a High signal at input bEnablePDOTransfer.

Data conversion for evaluating individual channels

The program Process can be extended as follows:

· Use the menu command ExtrasÞOrder to indicate the sequence.

· Drag the individual function blocks to their positions in order to make the program sequence

comprehensible.

Function block L_IOCompactModule supplies the transmit and receive data as 8*8 byte information via the CAN telegram.

The two converters convert the information into individual bits.

A digital input and output module maps the individual bits.

If the example for eight inputs / outputs is to be extended to 24 inputs, two further function blocks L_IODInModule must be generated and linked via converter L_IOConvByteArrayToByte.

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Function library LenzeIOSystem.lib

Application examples

3.2 Compact decentralised I/O system

Initialising the codes

Initialise the following codes in the PLC

· Code C0352

Subcode 0 = 1 Defines PLC as a CAN master so that the configuration enters the Operational state.

· Code C0356

Subcode 1 = 10000 Increases the boot−up time to10s

· Code C2104

Subcode 0 = 1 Starts the PLC program automatically after switching on the mains

3−8

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Function library LenzeIOSystem.lib

4 Function blocks for parameterisation

This chapter contains information on function blocks for parameterisation.

The following functions and modules are parameterised:

· Monitoring function

· Analog input modules

· Analog output modules

· Counter modules

· Link between PLC control and I/O system

· Link between PLC control and compact module

Function blocks

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Function library LenzeIOSystem.lib

Function blocks

4.1 L_IOParComGuarding − Monitoring function

This function block parameterises, via the input setting, the monitoring functions provided by the I/O system.

Included are

· NodeGuarding, Heartbeat and a Lenze−specific monitoring function,

· setting the output channels’ switching behaviour in the case of an error via input

byErrorBehavior.

The function block output indicates the transmission status.

L_IOParComGuarding

bExecute

byNodeAdr

tGuardTime

byLifeTimeFactor

tHeartbeatConsumerTime

byHearbeatConsumerAdr

tHeartbeatProducerTime

byErrorBehavior

tTimeOutPDO1_DataToIO

CTRL

EPM-T110 EPM-T111

Ixxxh

nState

tTimeOutPDO10_DataToIO

tTimeOutPDO1_DataFromIO

tTimeOutPDO10_DataFromIO

DataTo_IOData15

DataTo_IOData610

Note!

Use the FBs of LenzeCanDSxDrv.lib for evaluating the functions NodeGuarding and Heartbeat.

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

bExecute Bool Execute write request

FALSE ä TRUE Write request is executed

byNodeAdr Byte Device address: 1 − 63

tGuardTime Time Nodeguarding: Time interval.

byLifeTimeFactor Byte Lifeguarding:

tHeartbeatConsumerTime Time Heartbeat: Monitoring interval.

byHeartbeatConsumerAdr Byte Node ID of the device to be monitored. (HeartbeatProducer Node ID)

An NMT master must poll the I/O system within the guard time period.

Default t = 0 ms

t = 0 − 65535 ms

Life Time Factor x Guard Time = Life Time. Once this period has expired, the I/O system is switched into a predefined status.

The I/O system is switched into a predefined status if no telegram is received from the Heartbeat Producer within this interval. t = 0 − 65535 ms

4−2

LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Function blocks

4.1 L_IOParComGuarding − Monitoring function

(Variable type: VAR_INPUT)ð Inputs

Variable name Information/possible settingsData type

tHeartbeatProducerTime Time Set the transmission time for one heartbeat telegram t = 0 − 65535ms

byErrorBehavior Byte Set the bus status / behaviour on critical device error

0 Pre−Operational (default)

1 No status change

2 Stop

3 Reset after 2 seconds

tTimeOutPDO1_DataToIO

...

tTimeOutPDO10_DataToIO

tTimeOutPDO1_DataFromIO

...

tTimeOutPDO10_DataFromIO

Time Monitoring period for process input data (Lenze−specific).

If no data are received at the selected PDO within the monitoring period, the I/O system assumes the status set under byErrorBehavior.

Default t = 0 ms

t = 0 − 65535 ms

Time Monitoring period for process output data.

If no data are transmitted from the I/O system to the PLC at the selected PDO within the monitoring period, function block L_IODataXXX signals a time monitoring error.

Default t = 0 ms

t = 0 − 65535 ms

Outputs ð (Variable type: VAR_OUTPUT)

Identifier Data type Value/meaning

nState Integer States

DataTO_IOData15 Struct Structure for process data block L_IOData15.

DataTO_IOData610 Struct Structure for process data block L_IOData610

If a transmission error occurs during the parameterisation process, or the input data are incorrect, the parameterisation process is aborted and an error number is indicated at output nState. Any errors are reset via an edge reversal at input bExecute or on program restart.

0 Transmit command is executed.

1 Transmit command sent − processing in process

2001 Error occurred during bus transfer

2002 Transmit command timed out

2004 Access denied − wrong target system: Subindex does not exist

2005 Access denied − wrong target system: Index does not exist

2013 Access denied − wrong target system: Invalid value range

2111 Access denied − wrong target system: More than 4 digits

specified after comma, or no fixed−comma−format index

2117 Communication channel does not exist − also refer Set byCom

channel

2120 Too many modules connected − parameter transfer aborted

−10xx Incorrect value at function block input. XX := Number of faulty input (counting direction down), parameterisation impossible. Remedy: Change input value, restart data transmission

Transfer process output data monitoring periods to process data block L_IOData15. Global struct−type variable

Transfer process output data monitoring periods to process data block L_IOData610. Global struct−type variable

LenzeIOSystem.lib EN 1.7

4−3

Function library LenzeIOSystem.lib

Function blocks

4.2 L_IOParAlnModule − Parameterisation function

By means of the L_IOParAInModule function block, the analog input modules (EPM−T310 / 311 / T312) are parameterised. Parameterisation is started by a high edge on the input bExecute.

Each module has four channels, whereby each channel can be set individually.

The following is provided:

· Voltage measurement

· Current measurement

· Resistance measurement

· Temperature measurement

On the output of the function block, the transmission status and the information on the connected modules are displayed.

L_IOParAInModule

bExecute

CTRL

nState

byNodeAdr

byAnalogModuleNo

BEnableDiagnosticAlarm *

bEnableAnalogInterrupt

byFunctionInput_CH1

BySampleRate_CH1 *

BySelectionFcn_CH1 *

ByHysteresis_CH1 *

ByTriggerSelection_CH1 *

ByTriggerValue_CH1 *

byFunctionInput_CH4

BySampleRate_CH4 *

BySelectionFcn_CH4 *

ByHysteresis_CH4 *

ByTriggerSelection_CH4 *

ByTriggerValue_CH4 *

Input/function is exclusively supported by type EPM−T310.

EPM-T110 EPM-T111

Ixxxh

4−4

LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Function blocks

4.2 L_IOParAlnModule − Parameterisation function

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

bExecute BOOL Execute write request

FALSE ä TRUE Write request is executed

byNodeAdr Byte Device address: 1 − 63

byAnalogModuleNo Byte Slot number

bEnableDiagnosticAlarm BOOL

bEnableAnalogInterrupt BOOL

byFunctionInput_CH1

...

byFunctionInput_CH4

bySampleRate_CH1

...

bySampleRate_CH4

bySelectionFcn_CH1

...

bySelectionFcn_CH4

byHysterese_CH1

...

byHysterese_CH4

byTriggerSelection_CH1

...

byTriggerSelection_CH4

byTriggerValue_CH1

...

byTriggerValue_CH4

Byte

DWORD

· The analog module that is mounted first has the slot number 1.

· Maximally 16 analog modules can be attached.

Enable diagnostics alarm

TRUE Diagnostics alarm is enabled

Enable analog data transmission

TRUE Data transmission is enabled

Parameterise function

Default ±10V function code = 3B

^ 6−1

Select number of conversions per second

0 15 conversions

1 30 conversions

2 60 conversions

3 123 conversions

4 168 conversions

5 202 conversions

6 3.7 conversions

7 7.5 conversions

Selection

0 Selection deactivated

1 Use 2 of 3 values

2 Use 4 of 6 values

Hysteresis

0 Hysteresis deactivated

1 Hysteresis ±8

2 Hysteresis ±16

Transmission result

0 Use default settings

1 Upper limit value exceeded

2 Lower limit value not reached

3 Input value has changed by a defined value.

Value selection for a transmission event

2 Default

LenzeIOSystem.lib EN 1.7

4−5

Function library LenzeIOSystem.lib

Function blocks

4.2 L_IOParAlnModule − Parameterisation function

Outputs ð (Variable type: VAR_OUTPUT)

Identifiers Data type Value/meaning

nState Integer

States If a transmission error occurs during the parameterisation process or the input data are incorrect, the parameterisation process is aborted and an error number is indicated at output nState. Errors are reset via an edge reversal at input bExecute or on program restart.

0 Transmit request is executed.

The module is parameterised.

1 Transmit request dropped

Processing is running

2001 Error occurred during bus transfer

2002 Transmit request timed out

2004 Access denied

Incorrect target system: index does not exist

2005 Access denied

Incorrect target system: subindex does not exist

2013 Access denied

Incorrect target system: invalid value range

2111 Access denied

Incorrect target system: more than 4 decimal positions specified or no fixed point format index

2117 Communication channel does not exist

byCom−Channelsetting

−10xx Incorrect value at function block input. XX := number of the faulty input (counting direction downwards), parameterisation impossible. Remedy: change input value, restart data transmission

4−6

LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Function blocks

4.3 L_IOParAOutModule − Parameterisation function

By means of the L_IOParAOutModule function block, the analog output modules (EPM−T320 / T321 / T322) are parameterised. Parameterisation is started by a high edge on the input bExecute.

Each module has four channels, whereby each channel can be set individually.

The following is provided:

· Voltage measurement

· Current measurement

The function block output indicates the transmission status.

L_IOParAOutModule

bExecute

byNodeAdr

byAnalogModuleNo

BEnableDiagnosticAlarm *

CTRL

nState

EPM-T110 EPM-T111

byFunctionOutput_CH1

byFunctionOutput_CH2

byFunctionOutput_CH3

byFunctionOutput_CH4

Input/function is exclusively supported by type EPM−T320.

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

bExecute BOOL

byNodeAdr Byte Device address: 1 − 63

byAnalogModuleNo Byte Slot number

Execute write request

FALSE ä TRUE Write request is executed

· The analog module that is mounted first has the slot number 1.

· Maximally 16 analog modules can be attached.

bEnableDiagnosticAlarm BOOL

byFunctionOutput_CH1 ... byFunctionOutput_CH4

Byte

Enable diagnostics alarm

TRUE Diagnostics alarm is enabled

Parameterise function

Default ±10V function code = 01

^ 6−4

Ixxxh

LenzeIOSystem.lib EN 1.7

4−7

Function library LenzeIOSystem.lib

Function blocks

4.3 L_IOParAOutModule − Parameterisation function

Outputs ð (Variable type: VAR_OUTPUT)

Identifiers Data type Value/meaning

nState Integer

0 Transmit request is executed.

The module is parameterised.

1 Transmit request dropped

Processing is running

2001 Error occurred during bus transfer

2002 Transmit request timed out

2004 Access denied

Incorrect target system: subindex does not exist

2005 Access denied

Incorrect target system: index does not exist

2013 Access denied

Incorrect target system: invalid value range

2111 Access denied

Incorrect target system: more than 4 decimal positions specified or no fixed point format index

2117 Communication channel does not exist

byCom−Channelsetting

−10xx Incorrect value at function block input. XX := number of faulty input (counting direction down), parameterisation impossible. Remedy: change input variable, restart data transmission

4−8

LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Function blocks

4.4 L_IOParAlAOModule − Parameterisation function

Function block L_IOParAIAOModule parameterises the analog input and output modules EPM−T330, a High edge at input bExecute starting the parameterisation process.

Every module has four channels that can each be set individually. Two analog inputs and two analog outputs are available.

The following functions can be set:

· Voltage measuring

· Current measuring

· Voltage output

· Current output

The function block output indicates the transmission status and information on linked modules.

L_IOParAIAOModule

bExecute

CTRL

nState

byNodeAdr

byAnalogModuleNo

bEnableDiagnosticAlarm

bEnableAnalogInterrupt

byFunctionInput_CH1

bySampleRate_CH1

byFunctionInput_CH2

bySampleRate_CH2

byFunctionOutput_CH3

byFunctionOutput_CH4

EPM-T110 EPM-T111

Ixxxh

LenzeIOSystem.lib EN 1.7

4−9

Function library LenzeIOSystem.lib

Function blocks

4.4 L_IOParAlAOModule − Parameterisation function

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

bExecute Bool

byNodeAdr Byte Device address: 1 − 63

byAnalogModuleNo Byte Slot number

bEnableDiagnosticAlarm Bool

bEnableAnalogInterrupt Bool

byFunctionInput_CH1

...

byFunctionInput_CH2

bySampleRate_CH1

...

bySampleRate_CH2

byFunctionOutput_CH3

...

byFunctionOutput_CH4

Byte

Execute write request

FALSE ä TRUE Write request is executed

· The first analog module installed is assigned slot number 1.

· A maximum of 16 analog modules may be plugged.

Enable diagnostic alarm

Enable analog data transmission

Parameterise function

Select number of conversions per second

Parameterise function

TRUE Diagnostic alarm is enabled

TRUE Data transmission is enabled

Default ±10V function parameter = 01

^ 6−6

0 15 conversions

1 30 conversions

2 60 conversions

3 123 conversions

4 168 conversions

5 202 conversions

6 3.7 conversions

7 7.5 conversions

Default ±10V function code = 01

^ 6−6

4−10

LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Function blocks

4.4 L_IOParAlAOModule − Parameterisation function

Outputs ð (Variable type: VAR_OUTPUT)

Identifier Data type Value/meaning

nState Integer

States If a transmission error occurs during the parameterisation process, or the input data are incorrect, the parameterisation process is aborted and an error number is indicated at output nState. Any errors are reset via an edge reversal at input bExecute or on program restart.

0 Transmit command is executed.

The module is parameterised.

1 Transmit command sent

Processing in process

2001 Error occurred during bus transfer

2002 Transmit command timed out

2004 Access denied

Wrong target system: Index does not exist

2005 Access denied

Wrong target system: Subindex does not exist

2013 Access denied

Wrong target system: Invalid value range

2111 Access denied

Wrong target system: More than 4 digits specified after comma, or no fixed−comma−format index

2117 Communication channel does not exist

Set byCom channel

−10xx Incorrect value at function block input. XX := Number of the faulty input (counting direction down), parameterisation impossible. Remedy: Change input value, restart data transmission

LenzeIOSystem.lib EN 1.7

4−11

Function library LenzeIOSystem.lib

Function blocks

4.5 L_IOParSSIModule − Parameterisation function

The SSI interface (SSI = Synchronous Serial Interface) is a synchronously clocked interface.

Function block L_IOParSSIModule converts the serial information of the measured values into parallel information that is subsequently supplied to the control system.

L_IOParSSIModule

bExecute

byNodeAdr

byAnalogModuleNo

byFunction_Baudrate

bFunction_Code

bFunction_Hold

bFunction_SetDigitalOut

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

bExecute Bool Execute write request

byNodeAdr Byte Device address: 1 − 63

byAnalogModuleNo Byte Slot number

CTRL

FALSE ä TRUE Write request is executed

· The first analog module installed is assigned slot number 1.

· A maximum of 9 modules may be plugged.

byFunction_Baudrate

bFunction_Code Bool Coding

bFunction_Hold Bool Hold function

bFunction_SetDigitalOut Bool Digital outputs

Byte Baud rate setting

0 300 kbps

1 100 kbps

2 300 kbps

3 600 kbps

4 300 kbps

Default 0 Binary code

1 Gray code

0 Not active

1 Active

0 Not active

1 Active

nState

EPM-T110

Ixxxh

4−12

LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Function blocks

4.5 L_IOParSSIModule − Parameterisation function

Outputs ð (Variable type: VAR_OUTPUT)

Identifier Data type Value/meaning

nState Integer States

0 Transmit command is executed.

The module is parameterised.

1 Transmit command sent

Processing in process

2001 Error occurred during bus transfer

2002 Transmit command timed out

2004 Access denied

Wrong target system: Subindex does not exist

2005 Access denied

Wrong target system: Index does not exist

2013 Access denied

Wrong target system: Invalid value range

2111 Access denied

Wrong target system: More than 4 digits specified after comma, or no fixed−comma−format index

2117 Communication channel does not exist

Set byCom channel

−10xx Incorrect value at function block input. XX := Number of faulty input (counting direction down), parameterisation impossible. Remedy: Change input value, restart data transmission

LenzeIOSystem.lib EN 1.7

4−13

Function library LenzeIOSystem.lib

Function blocks

4.6 L_IOParCounterModule − Counter function

The counter modules are parameterised via function block L_IOParCounterModule.

· The counter function is specified via inputs byFunction_CH1 and byFunction_CH2.

L_IOParCounterModule

bExecute

CTRL

nState

byNodeAdr

byAnalogModuleNr

byFunction_CH1

byFunction_CH2

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

bExecute Bool Execute write request

FALSE ä TRUE Write request is executed

byNodeAdr Byte Device address: 1 − 63

byAnalogModuleNo Byte Slot number

· The first analog module installed is assigned slot number 1.

· A maximum of 16 analog modules may be plugged.

byFunction_CH1 Byte Parameterise function

Default (2 * 32 bit counters) function code 00

^ 6−10

byFunction_CH2 Byte Parameterise function

Default (2 * 32 bit counters) function code 00

^ 6−10

EPM-T110

Ixxxh

4−14

LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Function blocks

4.6 L_IOParCounterModule − Counter function

Outputs ð (Variable type: VAR_OUTPUT)

Identifier Data type Value/meaning

nState Integer States

0 Transmit command is executed.

The module is parameterised.

1 Transmit command sent

Processing in process

2001 Error occurred during bus transfer

2002 Transmit command timed out

2004 Access denied

Wrong target system: Subindex does not exist

2005 Access denied

Wrong target system: Index does not exist

2013 Access denied

Wrong target system: Invalid value range

2111 Access denied

Wrong target system: More than 4 digits specified after comma, or no fixed−comma−format index

2117 Communication channel does not exist

Set byCom channel

−10xx Incorrect value at function block input. XX := Number of faulty input (counting direction down), parameterisation impossible. Remedy: Change input value, restart data transmission

LenzeIOSystem.lib EN 1.7

4−15

Function library LenzeIOSystem.lib

Function blocks

4.7 L_IOParCounterDIModule − Counter function

The counter function of module EPM−T430 is parameterised via function block L_IOParCounterDIModule.

· The counter function is specified via inputs byFunction_CH1.

L_IOParCounterDIModule

bExecute

CTRL

nState

byNodeAdr

byAnalogModuleNr

byFunction_CH1

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

bExecute Bool Execute write request

FALSE ä TRUE Write request is executed

byNodeAdr Byte Device address: 1 − 63

byAnalogModuleNo Byte Slot number

· The first analog module installed is assigned slot number 1

· A maximum of 16 analog modules may be plugged.

byFunction_CH1 Byte Counter function

0 Fourfold pulse evaluation

1 Pulse and direction evaluation

2 Counter upwards / downwards

3 Frequency measuring

4 Period measuring

EPM-T110

Ixxxh

4−16

LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Function blocks

4.7 L_IOParCounterDIModule − Counter function

Outputs ð (Variable type: VAR_OUTPUT)

Identifier Data type Value/meaning

nState Integer States

0 Transmit command is executed.

The module is parameterised.

1 Transmit command sent

Processing in process

2001 Error occurred during bus transfer

2002 Transmit command timed out

2004 Access denied

Wrong target system: Subindex does not exist

2005 Access denied

Wrong target system: Index does not exist

2013 Access denied

Wrong target system: Invalid value range

2111 Access denied

Wrong target system: More than 4 digits specified after comma, or no fixed−comma−format index

2117 Communication channel does not exist

Set byCom channel

−10xx Incorrect value at function block input. XX := Number of faulty input (counting direction down), parameterisation impossible. Remedy: Change input value, restart data transmission

LenzeIOSystem.lib EN 1.7

4−17

Function library LenzeIOSystem.lib

Function blocks

4.8 L_IOParPDO15 − Parameterisation function

This function block serves to set communication−relevant parameters between the PLC control and the I/O system for PDO 1 − 5.

· Via 3 or 4 input values, a transmission/reception object is parameterised.

· The output nState displays the parameterisation status.

· Via the output DataTo_IOData15 , information is transferred to the L_IOData15 process data

block in a fixed structure.

L_IOParPDO15

bExecute_b

CTRL

byNodeAdr

bInitIOSystem

wCoID_RxPDO1

byTransmissionType_RxPDO1

tCycleTime_RxPDO1

nState

bParDone

wCoID_RxPDO5

byTransmissionType_RxPDO5

tCycleTime_RxPDO5

wCoID_TxPDO1

byTransmissionType_TxPDO1

tinhibitTime_TxPDO1

tCycleTime_RxPDO1

wCoID_TxPDO5

byTransmissionType_TxPDO5

tinhibitTime_TxPDO5

tCycleTime_RxPDO5

DataTo_IOData15

Internal function

bExecute_b = TRUE Parameter data are transferred to the I/O system

bInitIOSystem = TRUE bInitIOSystem = FALSE

· Index 2358

initialisation of the I/O system.

· Waiting time 10s until initialisation has been completed.

If the boot−up time is >10s, the waiting time corresponds to the boot−up time .

is written for purposes of value acceptance or

hex

· Index 2358

initialisation of the I/O system.

hex

· Waiting time 10s until initialisation has been completed.

If the boot−up time is >10s, the waiting time corresponds to the boot−up time .

EPM-T110 EPM-T111

Ixxxh

is written for purposes of value acceptance or

4−18

State change of the I/O system by NMT telegram from the controller: Pre−operational ä Operational

LenzeIOSystem.lib EN 1.7

Parameterisation completed

Function library LenzeIOSystem.lib

Function blocks

4.8 L_IOParPDO15 − Parameterisation function

Note!

Features and use of the L_IOParPDO15 FB.

· Use the L_IOParPDO15 FB last in a sequencer consisting of several FBs for parameterisation.

By means of the L_IOParPDO15 FB, parameterisation of the I/O system is carried out.

· For sending the NMT telegram, the controller has to be in the Operational CAN status,

therefore parameterise the controller as master. After the boot−up time has expired, the state change from Pre−operational to Operational is automatically effected.

· If several IO systems (stations) are parameterised with standard values via the

L_IOParPDO15 FB on the system bus, an identifier collision between the individual PDOs of these stations can occur. Therefore check the identifiers used.

After changing to the Operational CAN status, the current process image of the I/O system is sent.

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

bExecute BOOL

byNodeAdr Byte Device address: 1 − 63

bInitIOSystem BOOL

wCobID_RxPDO1

...

wCobID_RxPDO5

byTransmissionType_RxPDO1

...

byTransmissionType_RxPDO5

tCycleTime_RxPDO1

...

tCycleTime_RxPDO5

WORD

Byte

Time Cycle time: t = 0 − 65535 ms

Execute write request

FALSE ä TRUE Write request is executed

Initialise I/O system after parameterisation

TRUE · Value acceptance by reset node

· I/O system is re−initialised, state change to Operational

FALSE · No value acceptance

· I/O system is not initialised

Setting identifiers Default values: input wiring = 0 RxPDO = receive identifiers from the I/O system Identifiers can be optionally set by value selection. If the input wiring is "0", the identifiers are composed as follows. Note! The basic identifiers are not settled in the pre−assigned area of the standard system bus. ID range: 384−831 By this, crossovers of the ID with the free CAN objects which the IO−lib is based on are avoided.

RxPDOX Identifier = Basic ID + Node address

RxPDO1 837 835 2

RxPDO2 840

RxPDO3 845

RxPDO4 850

RxPDO5 855

Transmission mode

0 Event−controlled

1 Time−controlled

2 Event−controlled with superimposed cycle time

LenzeIOSystem.lib EN 1.7

4−19

Function library LenzeIOSystem.lib

Function blocks

4.8 L_IOParPDO15 − Parameterisation function

(Variable type: VAR_INPUT)ð Inputs

Variable name Information/possible settingsData type

wCobID_TxPDO1

...

wCobID_TxPDO5

byTransmissionType_TxPDO1

...

byTransmissionType_TxPDO5

tinhibitTime_TxPDO1

...

tinhibitTime_TxPDO5

tCycleTime_TxPDO1

...

tCycleTime_TxPDO5

WORD

Byte

Time Inhibit time: t = 0 − 65535 ms

Time Cycle time: t = 0 − 65535 ms

Setting identifiers Default values: input wiring = 0 TxPDO = receive identifiers from the I/O system Identifiers can be optionally set by value selection. If the input wiring is "0", the identifiers are composed as follows. Note! The basic identifiers are not settled in the pre−assigned area of the standard system bus. ID range: 384−831 By this, crossovers of the ID with the free CAN objects which the IO−lib is based on are avoided.

TxPDOX Identifier = Basic ID + Node address

TxPDO1 838 836 2

TxPDO2 841

TxPDO3 846

TxPDO4 851

TxPDO5 856

Transmission mode

0 Event−controlled

1 Time−controlled

2 Event−controlled with superimposed cycle time

4−20

LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Function blocks

4.8 L_IOParPDO15 − Parameterisation function

Outputs ð (Variable type: VAR_OUTPUT)

Identifiers Data type Value/meaning

nState Integer

bParDone BOOL

DataTO_IOData15 Struct Structure for the L_IOData15

0 Transmit request is executed.

The module is parameterised.

1 Transmit request dropped

Processing is running

2001 Error occurred during bus transfer

2002 Transmit request timed out

2004 Access denied

Incorrect target system: index does not exist

2005 Access denied

Incorrect target system: subindex does not exist

2013 Access denied

Incorrect target system: invalid value range

2111 Access denied

Incorrect target system: More than 4 decimal positions specified or no fixed point format index

2117 Communication channel does not exist

byCom−Channelsetting

−10xx Incorrect value at function block input. XX := number of faulty input (counting direction down), parameterisation impossible. Remedy: change input variable, restart data transmission

States If a transmission errors occur during the parameterisation process or the input data are incorrect, the parameterisation process is aborted and an error number is indicated at output nState. Errors are reset via an edge reversal at input bExecute or on program restart.

−150 Can bus is not in the "Operational" status.

−121 Incorrect driver number

−120 CAN driver for free CAN objects at present is not initialised.

−119 The transmit request memory is full. The transmit request could not be entered anymore.

−118 No free CAN channel available.

−12 Message identifier is beyond the permissible range.

−11 pIOAddress pointer does not point to PLC−RAM.

0 Transmit or reception request has been carried out.

1 Request has not yet been completed and still is available in

the request memory.

10 Telegram length is greater than 8 bytes.

Telegram length is limited to 8 bytes.

200 Data in the reception memory have been overwritten.

Parameterisation

TRUE Parameterisation completed

process data block Global variable of the "Struct" type

LenzeIOSystem.lib EN 1.7

4−21

Function library LenzeIOSystem.lib

Function blocks

4.9 L_IOParPDO610 − Parameterisation function

This function block serves to set communication−relevant parameters between the PLC control and the I/O system for PDO 6 − 10.

· Via 3 or 4 input values, a transmission/reception object is parameterised.

· The output nState display the parameterisation status.

· Via the output DataTo_IOData610, information is transferred to the L_IOData610 process data

block in a fixed structure.

L_IOParPDO610

bExecute_b

CTRL

byNodeAdr

bInitIOSystem

wCobID_RxPDO6

byTransmissionType_RxPDO6

tCycleTime_RxPDO6

nState

bParDone

wCobID_RxPDO10

byTransmissionType_RxPDO10

tCycleTime_RxPDO10

wCobID_TxPDO6

byTransmissionType_TxPDO6

tinhibitTime_TxPDO6

tCycleTime_RxPDO6

wCobID_TxPDO10

byTransmissionType_TxPDO10

tinhibitTime_TxPDO10

tCycleTime_RxPDO10

DataTo_IOData610

Internal function

bExecute_b = TRUE Parameter data is transferred to the I/O system

bInitIOSystem = TRUE bInitIOSystem = FALSE

· Index 2358

is written for purposes of value acceptance or initialisation of the I/O system.

· Waiting time 10s until initialisation has been completed.

If the boot−up time is >10s, the waiting time corresponds to the boot−up time .

hex

· Index 2358

initialisation of the I/O system.

hex

· Waiting time 10s until initialisation has been completed.

If the boot−up time is >10s, the waiting time corresponds to the boot−up time .

EPM-T110 EPM-T111

Ixxxh

is written for purposes of value acceptance or

4−22

State change of the I/O system by NMT telegram from the controller: Pre−operational ä Operational

LenzeIOSystem.lib EN 1.7

Parameterisation completed

Function library LenzeIOSystem.lib

Function blocks

4.9 L_IOParPDO610 − Parameterisation function

Note!

Features and use of the L_IOParPDLO610 FB.

· Use the L_IOParPDO610 FB last in a sequencer consisting of several FBs for

parameterisation. By means of the L_IOParPDO610 FB, parameterisation of the I/O system is carried out.

· Parameterise the controller as master.

After the boot−up time has expired, for the master the change from the Pre−operational to the Operational status is effected automatically.

· For sending the NMT telegram, the controller has to be in the Operational CAN status.

· If several IO systems (stations) are parameterised with standard values via the

L_IOParPDO610 FB on the system bus, an identifier collision between the individual PDOs of these stations can occur. Therefore check the identifiers used.

After changing to the Operational CAN status, the current process image of the I/O system is sent.

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

bExecute BOOL Execute write request

FALSE ä TRUE Write request is executed

byNodeAdr Byte Device address: 1 − 63

bInitIOSystem BOOL

wCobID_RxPDO6

...

wCobID_RxPDO10

byTransmissionType_RxPDO6

...

byTransmissionType_RxPDO10

tCyceTime_RxPDO6

...

tCyceTime_RxPDO10

WORD

Byte

Time Cycle time: t = 0 − 65535 ms

Initialise I/O system after parameterisation

TRUE · Value acceptance by reset node

FALSE · No value acceptance

· I/O system is not initialised

Setting identifiers Default values: input wiring = 0 RxPDO = receive identifiers from the I/O system Identifiers can be optionally set by value selection. If the input wiring is "0", the identifiers are composed as follows. Note: The basic identifiers are not settled in the pre−assigned area of the standard system bus. ID range: 384−831 By this, crossovers of the ID with the free CAN objects which the IO−lib is based on are avoided.

RxPDOX Identifier = Basic ID + Node address

RxPDO6 862 860 2

RxPDO7 865

RxPDO8 870

RxPDO9 875

RxPDO10 880

Transmission mode

0 Event−controlled

1 Time−controlled

2 Event−controlled with superimposed cycle time

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Function library LenzeIOSystem.lib

Function blocks

4.9 L_IOParPDO610 − Parameterisation function

(Variable type: VAR_INPUT)ð Inputs

Variable name Information/possible settingsData type

wCobID_TxPDO6

...

wCobID_TxPDO10

byTransmissionType_TxPDO6

...

byTransmissionType_TxPDO10

tinhibitTime_TxPDO6

...

tinhibitTime_TxPDO10

tCyceTime_TxPDO6

...

tCyceTime_TxPDO10

WORD

Byte

Time Inhibit time: t = 0 − 65535 ms

Time Cycle time: t = 0 − 65535 ms

Setting identifiers Default values: input wiring = 0 TxPDO = receive identifiers from the I/O system Identifiers can be optionally set by value selection. If the input wiring is "0", the identifiers are composed as follows. Note: The basic identifiers are not settled in the pre−assigned area of the standard system bus. ID range: 384−831 By this, crossovers of the ID with the free CAN objects which the IO−lib is based on are avoided.

Transmission mode

TxPDOX Identifier = Basic ID + Node address

TxPDO6 863 861 2

TxPDO7 866

TxPDO8 871

TxPDO9 876

TxPDO10 881

0 Event−controlled

1 Time−controlled

2 Event−controlled with superimposed cycle time

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LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Function blocks

4.9 L_IOParPDO610 − Parameterisation function

Outputs ð (Variable type: VAR_OUTPUT)

Identifiers Data type Value/meaning

nState integer

bParDone BOOL

DataTO_IOData610 Struct Structure for the L_IOData610

0 Transmit request is executed.

The module is parameterised.

1 Transmit request dropped

Processing is running

2001 Error occurred during bus transfer

2002 Transmit request timed out

2004 Access denied

Incorrect target system: index does not exist

2005 Access denied

Incorrect target system: subindex does not exist

2013 Access denied

Incorrect target system: invalid value range

2111 Access denied

Incorrect target system: More than 4 decimal positions specified or no fixed point format index

2117 Communication channel does not exist

byCom−Channelsetting

−10xx Incorrect value at function block input. XX := number of faulty input (counting direction down), parameterisation impossible. Remedy: change input variable, restart data transmission

−150 Can bus is not in the "Operational" status.

−121 Incorrect driver number

−120 CAN driver for free CAN objects at present is not initialised.

−119 The transmit request memory is full. The transmit request could not be entered anymore.

−118 No free CAN channel available.

−12 Message identifier is beyond the permissible range.

−11 pIOAddress pointer does not point to PLC−RAM.

0 Transmit or reception request has been carried out.

1 Request has not yet been completed and still is available in

the request memory.

10 Telegram length is greater than 8 bytes.

Telegram length is limited to 8 bytes.

200 Data in the reception memory have been overwritten.

Parameterisation

TRUE Parameterisation completed

process data block Global variable of the "Struct" type

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Function library LenzeIOSystem.lib

Function blocks

4.10 L_IOParCompactModule − Parameterisation function

This function block assists in the setting of parameters relevant to PLC control compact module communication.

· Parameterising a function for process data exchange time monitoring.

· Output nState indicates the parameterisation process status.

· Use output DataTo_IODataBlockModule to transfer fixed−structure information to process data

block L_IOCompactModule.

L_IOParCompactModule

bExecute_b

CTRL

nState

bParDone

byNodeAdr

bInitIOSystem

byErrorBehavior

tTimeOutPDO1_DataToIO

tTimeOutPDO1_DataFromIO

wCobID_RxPDO1

byTransmissionType_RxPDO1

tCycleTime_RxPDO1

wCobID_TxPDO1

byTransmissionType_TxPDO1

tinhibitTime_TxPDO1

tCycleTime_RxPDO1

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

bExecute Bool Execute write request

FALSE ä TRUE Write request is executed

byNodeAdr Byte Device address: 1 − 63

bInitIOSystem Bool Initialise I/O system after parameterisation

DataTo_IODataBlockModule

EPM-T8xx

Ixxxh

TRUE · Value accepted via Reset Node

· I/O system is reinitialised, status changes to OPERATIONAL

FALSE · No value accepted

· I/O system is not initialised

byErrorBehavior Byte Set the bus states

tTimeOutPDO1_DataToIO Time Monitoring period for process input data (Lenze−specific).

tTimeOutPDO1_DataFromIO Time Monitoring period for process output data.

Behaviour during a critical device error

0 Pre−Operational

1 No status change

2 Stop

3 Reset after 2 seconds

If no data are received at the selected PDO within the monitoring period, the I/O system assumes the state set under byErrorBehavior.

Default t = 0 ms (monitoring off)

t = 0 − 65535 ms

If no data are transmitted from the I/O system to the PLC at the selected PDO within the monitoring period, function block l_IODataXXX signals a time monitoring error.

Default t = 0 ms (monitoring off)

t = 0 − 65535 ms

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Function library LenzeIOSystem.lib

Function blocks

4.10 L_IOParCompactModule − Parameterisation function

(Variable type: VAR_INPUT)ð Inputs

Variable name Information/possible settingsData type

wCobID_RxPDO1 Word Set identifiers

byTransmissionType_RxPDO1

tCyceTime_TxPDO6

...

tCyceTime_TxPDO10

wCobID_TxPDO1 Word Set identifiers

byTransmissionType_TxPDO1

tInhibitTime_TxPDO6 ... tInhibitTime_TxPDO10

tCyceTime_TxPDO6

...

tCyceTime_TxPDO10

Byte Transmission method

Time Cycle time t = 0 − 65535 ms

Byte Transmission method

Time Inhibit time t = 0 − 65535 ms

Time Cycle time t = 0 − 65535 ms

Default values: Input setting = 0 RxPDO = I/O system receive identifiers Identifiers can be given any setting with a specified value. The identifiers are composed as follows if the input setting = 0. Note! The basic identifiers are outside the preassigned standard system bus range. ID range: 384−831 This prevents IDs from coinciding with unassigned CAN objects on which the IO−lib is based.

RxPDOX Identifier = Basic ID + Node address

RxPDO1 837 835 2

0 Event−controlled

1 Time−controlled

2 Event−controlled with superimposed cycle time

Default values: Input setting = 0 TxPDO = I/O system receive identifiers Identifiers can be given any setting with a specified value. The identifiers are composed as follows if the input setting = 0. The basic identifiers are outside the preassigned standard system bus range. ID range: 384−831 This prevents IDs from coinciding with unassigned CAN objects on which the IO−lib is based.

TxPDOX Identifier = Basic ID + Node address

TxPDO1 838 836 2

0 Event−controlled

1 Time−controlled

2 Event−controlled with superimposed cycle time

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Function library LenzeIOSystem.lib

Function blocks

4.10 L_IOParCompactModule − Parameterisation function

Outputs ð (Variable type: VAR_OUTPUT)

Identifier Data type Value/meaning

nState Integer States

nState

bParDone Byte Parameterisation status

DataTO_IODataCompactmodule Struct Structure for process data block L_IOCompactModule

Integer States

Global struct−type variable

0 Transmit command is executed.

The module is parameterised.

1 Transmit command sent

Processing in process

2001 Error occurred during bus transfer

2002 Transmit command timed out

2004 Access denied

Wrong target system: Index does not exist

2005 Access denied

Wrong target system: Subindex does not exist

2013 Access denied

Wrong target system: Invalid value range

2111 Access denied

Wrong target system: More than 4 digits specified after comma, or no fixed−comma−format index

2117 Communication channel does not exist

Set byCom channel

−10xx Incorrect value at function block input. XX := Number of faulty input (counting direction down), parameterisation impossible. Remedy: Change input value, restart data transmission

−150 CAN bus not in Operational status.

−121 Wrong driver number

−120 CAN driver for unassigned CAN objects currently not initialised.

−119 Transmit command memory is full. Transmit command could not be entered.

−118 No free CAN channel available.

−12 Message identifier outside permissible range.

−11 pIOAddress pointer does not point at PLC RAM.

0 Transmit and/or receive command is executed.

1 Command has not yet been completed and is still in the

command memory.

10 Telegram longer than 8 bytes.

Telegram length limited to 8 bytes.

200 Data in receive memory have been overwritten.

TRUE Parameterisation executed

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Function library LenzeIOSystem.lib

Function blocks

5 Function blocks for process data processing

This chapter contains information on function blocks for coordination, support and conversion.

The following functions and modules are coordinated:

· Digital and analog input and output data

The following functions and modules are supported:

· Analog input modules

· Analog output modules

· Counter modules

· Link between PLC control and I/O system

· Link between PLC control and compact module

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Function library LenzeIOSystem.lib

Function blocks

5.1 L_IOData15 − Coordinate data

Function block L_IOData15 coordinates digital and analog input and/or output data.

The block represents the interface between PLC and I/O system.

· Via inputs abyPDO_DataToIO, data are transmitted from the control to the I/O system

(digital/analog output channels).

· The states of the digital and analog input channels are transmitted to the control via outputs

abyPDO_DataFromIO.

· This function block is made up of unassigned CAN objects so that the status display at

outputs nState... is the same as for the CAN library’s transmit and receive blocks.

L_IOData15

bEnablePDOTransfer

bResetFail

DataFrom_IOParPDO15

DataFrom_IOParComGuarding

EPM-T110

abyPDO1_DataToIO

abyPDO5_DataToIO

EPM-T111 EPM-T111

RxPDO1

RxPDO2

RxPDO3

RxPDO4

RxPDO5

CTRL

EPM-T110

TxPDO1

TxPDO2

TxPDO3

TxPDO4

TxPDO5

nStatePDO1_DataToIO

nStatePDO5_DataToIO

nStatePDO1_DataFromIO

nStatePDO5_DataFromIO

bFail_DataToIO

bFail_DataFromIO

bFailModule

abyPDO1_DataFromIO

abyPDO5_DataFromIO

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Function library LenzeIOSystem.lib

Function blocks

5.1 L_IOData15 − Coordinate data

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

bEnablePDOTransfer Bool Data transfer

TRUE PDO data transfer active

abyPDO1_DataToIO

...

abyPDO5_DataToIO

bResetFail Bool Reset output data bFail_DataToIO. bFail_DataFromIO and bFail_Module

DataFrom_IOParPDO15 Struct Structural data of parameter block L_IOParPDO15 are transferred to process data

DataFrom_IOParComGuarding Struct Transfer monitoring times tTimeOut_DataFromIO for PDO 1−5.

Outputs ð (Variable type: VAR_OUTPUT)

Identifier Data type Value/meaning

nStatePDO1_DataFromIO

...

nStatePDO5_DataFromIO

Byte array I/O system receive objects

· Transfer process data from PLC to I/O system

(digital/analog outputs)

TRUE Output data reset

block L_IOData15 via this input. Global struct−type variable

Structural data of parameter block L_IOParComGuading. Global struct−type variable

Integer States

If a transmission error occurs during the parameterisation process, or the input data are incorrect, the parameterisation process is aborted and an error number is indicated at output nState.

−150 CAN bus not in Operational status.

−121 Wrong driver number

−120 CAN driver for unassigned CAN objects currently not initialised.

−119 Transmit command memory is full. Transmit command could not be entered.

−118 No free CAN channel available.

−12 Message identifier outside permissible range.

−11 pIOAddress pointer does not point at PLC RAM.

0 Transmit and/or receive command is executed.

1 Command has not yet been completed and is still in the

command memory.

2 Data transmission disabled

· bEnablePDOTransfer = False

· I/O system parameterisation not yet complete

10 Telegram longer than 8 bytes.

Telegram length limited to 8 bytes.

200 Data in receive memory have been overwritten.

−30xx TimeOut monitoring (xx @ PDOxx)

Data transfer from I/O system to PLC failed. Data arrived late or not at all.

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Function library LenzeIOSystem.lib

Function blocks

5.1 L_IOData15 − Coordinate data

(Variable type: VAR_OUTPUT)Outputs ð

Identifier Value/meaningData type

nStatePDO1_DataToIO

...

nStatePDO5_DataToIO

bFail_DataToIO Bool Transmit command to I/O system

bFail_DataFromIO Bool Receive command from I/O system

bFail_Module Bool Module error

abyPDO1_DataFromIO

...

abyPDO5_DataFromIO

Integer States

If a transmission error occurs during the parameterisation process, or the input data are incorrect, the parameterisation process is aborted and an error number is indicated at output nState.

−150 CAN bus not in Operational status.

−121 Wrong driver number

−120 CAN driver for unassigned CAN objects currently not initialised.

−119 Transmit command memory is full. Transmit command could not be entered.

−118 No free CAN channel available.

−12 Message identifier outside permissible range.

−11 pIOAddress pointer does not point at PLC RAM.

0 Transmit and/or receive command is executed.

1 Command has not yet been completed and is still in the

command memory.

2 Data transmission disabled

· bEnablePDOTransfer = False

· I/O system parameterisation not yet complete

10 Telegram longer than 8 bytes.

Telegram length limited to 8 bytes.

200 Data in receive memory have been overwritten.

TRUE Transmit command to I/O system is not correct

TRUE Receive command from I/O system is not correct

TRUE · Module diagnostics active

· Emergency object indicates error

Byte array I/O system transmit objects

Transfer process data from I/O system to PLC (digital/analog inputs)

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LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Function blocks

5.2 L_IOData610 − Coordinate data

Function block L_IOData610 coordinates digital and analog input and/or output data for process data objects 6 − 10.

The block represents the interface between PLC and I/O system.

· Via inputs abyPDO_DataToIO, data are transmitted from the control to the I/O system

(digital/analog output channels).

· The states of the digital and analog input channels are transmitted to the control via outputs

abyPDO_DataFromIO.

· This function block is made up of unassigned CAN objects so that the status display at

outputs nState... is the same as for the CAN library’s transmit and receive blocks.

L_IOParPDO610

bExecute_b

CTRL

byNodeAdr

bInitIOSystem

nState

bParDone

wCobID_RxPDO6

byTransmissionType_RxPDO6

tCycleTime_RxPDO6

wCobID_RxPDO10

byTransmissionType_RxPDO10

tCycleTime_RxPDO10

wCobID_TxPDO6

byTransmissionType_TxPDO6

tinhibitTime_TxPDO6

tCycleTime_RxPDO6

wCobID_TxPDO10

byTransmissionType_TxPDO10

tinhibitTime_TxPDO10

tCycleTime_RxPDO10

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

bEnablePDOTransfer Bool Data transfer

TRUE PDO data transfer active

abyPDO6_DataToIO

...

abyPDO10_DataToIO

bResetFail Bool Reset output data bFail_DataToIO and bFail_DataFromIO

DataFrom_IOParPDO610 Struct Structural data of parameter block L_IOParPDO610 are transferred to process data

DataFrom_IOParComGuarding Struct Transfer monitoring times tTimeOut_DataFromIO for PDO 6−10.

Byte array I/O system receive objects

· Transfer process data from PLC to I/O system

(digital/analog outputs)

TRUE Output data reset

block L_IOData610 via this input. Global struct−type variable

Structural data of parameter block L_IOParComGuarding. Global struct−type variable

EPM-T110 EPM-T111

Ixxxh

DataTo_IOData610

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5−5

Function library LenzeIOSystem.lib

Function blocks

5.2 L_IOData610 − Coordinate data

Outputs ð (Variable type: VAR_OUTPUT)

Identifier Data type Value/meaning

nStatePDO6_DataToIO

...

nStatePDO10_DataToIO

Integer States

If a transmission error occurs during the parameterisation process, or the input data are incorrect, the parameterisation process is aborted and an error number is indicated at output nState.

−150 CAN bus not in Operational status.

−121 Wrong driver number

−120 CAN driver for unassigned CAN objects currently not initialised.

−119 Transmit command memory is full. Transmit command could not be entered.

−118 No free CAN channel available.

−12 Message identifier outside permissible range.

−11 pIOAddress pointer does not point at PLC RAM.

0 Transmit and/or receive command is executed.

1 Command has not yet been completed and is still in the

command memory.

2 Data transmission disabled

· bEnablePDOTransfer = False

· I/O system parameterisation not yet complete

10 Telegram longer than 8 bytes.

Telegram length limited to 8 bytes.

200 Data in receive memory have been overwritten.

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LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Function blocks

5.2 L_IOData610 − Coordinate data

(Variable type: VAR_OUTPUT)Outputs ð

Identifier Value/meaningData type

nStatePDO6_DataFromIO

...

nStatePDO10_DataFromIO

bFail_DataToIO Bool Transmit command to I/O system

bFail_DataFromIO Bool Receive command from I/O system

abyPDO6_DataFromIO

...

abyPDO10_DataFromIO

Integer States

If a transmission error occurs during the parameterisation process, or the input data are incorrect, the parameterisation process is aborted and an error number is indicated at output nState.

−150 CAN bus not in Operational status.

−121 Wrong driver number

−120 CAN driver for unassigned CAN objects currently not initialised.

−119 Transmit command memory is full. Transmit command could not be entered.

−118 No free CAN channel available.

−12 Message identifier outside permissible range.

−11 pIOAddress pointer does not point at PLC RAM.

0 Transmit and/or receive command is executed.

1 Command has not yet been completed and is still in the

command memory.

2 Data transmission disabled

· bEnablePDOTransfer = False

· I/O system parameterisation not yet complete

10 Telegram longer than 8 bytes.

Telegram length limited to 8 bytes.

200 Data in receive memory have been overwritten.

−30xx TimeOut monitoring (xx @ PDOxx)

Data transfer from I/O system to PLC failed. Data arrived late or not at all.

TRUE Transmit command to I/O system is not correct

TRUE Receive command from I/O system is not correct

Byte array I/O system transmit objects

Transfer process data from I/O system to PLC (digital/analog inputs)

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Function library LenzeIOSystem.lib

Function blocks

5.3 L_IOCompactModule − Coordinate data

Function block L_IOCompactModule supplies the digital input and/or output data of the I/O system and is used for compact module EPM−T83X.

The block represents the interface between PLC and I/O system.

· Via inputs abyPDO_DataToIO, data are transmitted from the control to the I/O system

(digital/analog output channels).

· The states of the digital and analog input channels are transmitted to the control via outputs

abyPDO_DataFromIO.

· This function block is made up of unassigned CAN objects so that the status display at

outputs nState... is the same as for the CAN library’s transmit and receive blocks.

L_IODataCompactModule

bEnablePDOTransfer nStatePDO1_DataToIO

bResetFail

DataFrom_IOParPDOBlockModule

EPM-T110

abyPDO1_DataToIO

RxPDO1

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

bEnablePDOTransfer Bool Data transfer

abyPDO1_DataToIO Byte array I/O system receive object

CTRL

nStatePDO1_DataFromIO

bFail_DataToIO

bFail_DataFromIO

bFail_Module

EPM-T110

abyPDO1_DataFromIO

TxPDO1

TRUE PDO data transfer active

· Transfer process data from PLC to I/O system

(digital outputs)

bResetFail Bool Reset output data bFail_DataToIO, bFail_DataFromIO and bFail_Module

TRUE Output data reset

DataFrom_IOParPDOCompactModule Struct Structural data of parameter block L_IOParPDOCompaktModule.

Global struct−type variable.

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Function library LenzeIOSystem.lib

Function blocks

5.3 L_IOCompactModule − Coordinate data

Outputs ð (Variable type: VAR_OUTPUT)

Identifier Data type Value/meaning

nStatePDO1_DataToIO Integer States

nStatePDO1_DataFromIO Integer States

Indicates actual status of the transmit objects.

−150 CAN bus not in Operational status.

−121 Wrong driver number

−120 CAN driver for unassigned CAN objects currently not initialised.

−119 Transmit command memory is full. Transmit command could not be entered.

−118 No free CAN channel available.

−12 Message identifier outside permissible range.

−11 pIOAddress pointer does not point at PLC RAM.

0 Transmit and/or receive command is executed.

1 Command has not yet been completed and is still in the

command memory.

2 Data transmission disabled

· bEnablePDOTransfer = False

· I/O system parameterisation not yet complete

10 Telegram longer than 8 bytes.

Telegram length limited to 8 bytes.

200 Data in receive memory have been overwritten.

Indicates actual status of the receive objects.

−150 CAN bus not in Operational status.

−121 Wrong driver number

−120 CAN driver for unassigned CAN objects currently not initialised.

−119 Transmit command memory is full. Transmit command could not be entered.

−118 No free CAN channel available.

−12 Message identifier outside permissible range.

−11 pIOAddress pointer does not point at PLC RAM.

0 Transmit and/or receive command is executed.

1 Command has not yet been completed and is still in the

command memory.

2 Data transmission disabled

· bEnablePDOTransfer = False

· I/O system parameterisation not yet complete

10 Telegram longer than 8 bytes.

Telegram length limited to 8 bytes.

200 Data in receive memory have been overwritten.

−30xx TimeOut monitoring Data transfer from I/O system to PLC failed. Data arrived late or not at all.

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Function library LenzeIOSystem.lib

Function blocks

5.3 L_IOCompactModule − Coordinate data

(Variable type: VAR_OUTPUT)Outputs ð

Identifier Value/meaningData type

bFail_DataToIO Bool Transmit command to I/O system

bFail_DataFromIO Bool Receive command from I/O system

bFail_Module Bool Module error

abyPDO1_DataFromIO Byte array I/O system transmit object

TRUE Transmit command to I/O system is not correct

TRUE Receive command from I/O system is not correct

TRUE · Module diagnostics active

· Emergency object indicates error

Transfer process data from I/O system to PLC (digital inputs)

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Function library LenzeIOSystem.lib

Function blocks

5.4 L_IOCounterDataToIO − Counter function

The counter module function is set via parameterisation data block L_IOParCounterDataToIO. Depending on this parameterisation, the counter may be preassigned values for counting or comparison. Function block L_IOCounterDataToIO is used for this preassignment.

L_IOCounterDataToIO

byByte0_Counter02

byByte1_Counter02

byByte2_Counter01

byByte3_Counter01

byByte4_Counter12

byByte5_Counter12

byByte6_Counter11

byByte7_Counter11

Byte

abyPDO_DataToIO

byByte8_Control

byByte9_Status

Byte

abyPDO_DataToIO

Assignment of bytes 0...7 is dependent on the selected mode. The counter mode default value is zero, resulting in the following assignment.

· Counter 0 preassignment with counting values is assisted by inputs

– byByte0_Counter02 LowByte Bit16...23 – byByte1_Counter02 HighByte Bit24...32 – byByte2_Counter01 LowByte Bit0...7 – byByte3_Counter01 HighByte Bit8...15

· Setting of respective values for counter 1 is via inputs

– byByte4_Counter12 LowByte Bit16...23 – byByte5_Counter12 HighByte Bit24...32 – byByte6_Counter11 LowByte Bit0...7 – byByte7_Counter11 HighByte Bit8...15

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Function library LenzeIOSystem.lib

Function blocks

5.4 L_IOCounterDataToIO − Counter function

· After an edge reversal at input byByte8_Control from Low to High, the specified values are

transmitted to the counter module. Selection in control byte

00000000

00110011

byByte9_Status This input may be used to store the last count value in the module, or to start counting at 0 on restart.

· 1 = Count value is stored

· 2 = Count value is cleared on restart (default)

· The written data are supplied at the following outputs:

– abyPDO_Data1ToIO – abyPDO_Data2ToIO

Note!

The counter module takes up two Rx and two Tx PDOs.

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

byByte0_Counter02

...

byByte7_Counter11

byByte8_Control Byte Accept specified values at the following inputs after Low to High edge reversal.

byByte9_Status Byte Count value after restart

Outputs ð (Variable type: VAR_OUTPUT)

Identifier Data type Value/meaning

abyPDOData1ToIO Byte array Interface with the inputs of function blocks L_IOPDO15 or L_IOPDO610 for the

abyPDOData2ToIO Byte array Interface with the inputs of function blocks L_IOPDO15 or L_IOPDO610 for the

Byte Specify start or comparison values to the counter module.

Example: The module was parameterised as 2 x 32 bit counter. If the counter is to start at a count value 77, this value must be available at input byByte2_Counter01.

byByte0_Counter02

....

byByte7_Counter11 (^ 6−10)

1 Last count value is stored

2 Restart at count value 0 (default)

transfer of information to the counter module.

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Function library LenzeIOSystem.lib

Function blocks

5.5 L_IOCounterDataFromIO − Counter function

Function block L_IOCounterDataFromIO supplies the counter module’s counting information.

· Counting information from 4 counters with a 16−bit data width is supplied at the following

outputs: – wCounter01_16Bit – wCounter02_16Bit – wCounter11_16Bit – wCounter12_16Bit

· Counting information from 2 counters with a 32−bit data width is supplied at the following

outputs: – dwCounter0_32Bit – dwCounter1_32Bit

L_IOCounterDataFromIO

Byte

abyPDO_DataFromIO

Byte

16 Bit

LowWord

16 Bit

LowWord

16 Bit

LowWord

16 Bit

LowWord

wCounter01_16Bit

dwCounter0_32Bit

wCounter02_16Bit

wCounter11_16Bit

dwCounter1_32Bit

wCounter12_16Bit

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

abyPDO_DataFromIO Byte array Interface with the outputs of function blocks L_IOPDO15 or L_IOPDO610 for the

transfer of information from the counter module.

Outputs ð (Variable type: VAR_OUTPUT)

Identifier Data type Value/meaning

wCounter01_16Bit

Word 16−bit width counter data wCounter02_16Bit wCounter11_16Bit wCounter12_16Bit

dwCounter0_32Bit

Double word 32−bit width counter data

dwCounter1_32Bit

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Function library LenzeIOSystem.lib

Function blocks

5.6 L_IOCounterDIModuleDataToIO − Counter function

The counter function of module EPM−T430 is set via process data block L_IOCounterDIModuleDataToIO. Depending on the function settings for the inputs, the counter may be preassigned values for counting.

In addition, function block L_IOCounterDIModuleDataToIO is used for start, stop, set, reset, etc.

L_IOCounterDIModuleDataToIO

Byte

dwSetCounter

bControl_StartCounter

bControl_StopCounter

bControl_LoaddwSetCounter

bControl_ResetCounter

Converter dw to byte

Byte

abyPDO_DataToIO

Byte

byByte_Reference

Byte

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

dwSetCounter Double word Specified value for counter module

bControl_StartCounter Bool Start counter

bControl_StopCounter Bool Stop counter

bControl_LoaddwSetCounter Bool Specified value is set to counting value

bControl_ResetCounter Bool Counter is reset

byByte_Reference Byte Reference frequency

0 16 MHz

1 8 MHz

2 4 MHz

3 1 MHz

4 100 kHz

5 10 kHz

6 1000Hz

7 100Hz

Outputs ð (Variable type: VAR_OUTPUT)

Identifier Data type Value/meaning

abyPDOData1ToIO Byte array Interface with the inputs of function blocks L_IOPDO15 or L_IOPDO610 for the

transfer of information to the counter module.

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LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Function blocks

5.7 L_IOCounterDIModuleDataFromIO − Counter function

Function block L_IOCounterDIModuleDataFromIO supplies the counter module’s counting information.

The 32−bit value of the counter is supplied at output dwCounter.

L_IOCounterDIModuleDataFromIO

Byte

abyPDO_DataFromIO

Byte

Converter byte to dw

dwCounter

bBit0

bBit15

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

abyPDO_DataFromIO Byte array Interface with outputs of function blocks L_IOPDO15 or L_IOPDO610 for the

transfer of count values from the counter module.

Outputs ð (Variable type: VAR_OUTPUT)

Identifier Data type Value/meaning

dwCounter Double word Output count value

bBit0 − bBit15 Bool Output status of digital inputs 0...15

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5−15

Function library LenzeIOSystem.lib

Function blocks

5.8 L_IOSSIDataToIO − Counter function

Depending on a comparison value, the two outputs of the module can be set via function block L_IOSSIDataToIO.

To the outputs, different comparison functions or comparison values can be assigned, which must be transferred to the SSI module in succession.

bControl_SetOut_0

bControl_SetOut_1

bControl_Condition

dwSet_Compare

Converter dw to byte

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

bControl_Set_0 Bool Output 0

Monitor comparison value

bControl_Set_1 Bool Output 1

Monitor comparison value

bControl_Condition Bool Set condition of outputs

dwSet_Compare Double word Enter comparison value

Byte

0 Off

1 On

0 Off

1 On

0 Actual value > comparison value

1 Actual value < comparison value

L_IOSSIDataToIO

abyPDO_DataToIO

Outputs ð (Variable type: VAR_OUTPUT)

Identifier Data type Value/meaning

abyPDO_DataToIO Byte array Interface with the inputs of function blocks L_IOPDO15 or L_IOPDO610 for the

transfer of information from the counter module.

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LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Function blocks

5.9 L_IOSSIDataFromIO − Counter function

Function block L_IOSSIDataFromIO supplies the count value of the SSI module at output

dwSSI_Value.

· Output bStatusIO_0 Þ Status of I/O channel 0

· Output bStatusIO_1 Þ Status of I/O channel 1

The outputs are configured via function block L_IOSSIDataToIO.

L_IOSSIDataFromIO

Byte

abyPDO_DataFromIO

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

abyPDO_DataToIO Byte array Interface with outputs of function blocks L_IOPDO15 or L_IOPDO610 for the transfer

Outputs ð (Variable type: VAR_OUTPUT)

Identifier Data type Value/meaning

bState_I/O_0 Bool Status of I/O channel 0

bState_I/O_1 Bool Status of I/O channel 1

dwSSI_Value Double word Count value of SSI module

Converter

Byte

byte to dw

Byte

of count values from the SSI module.

bState_I/O_0

bState_I/O_1

dwSSI_Value

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Function library LenzeIOSystem.lib

Function blocks

5.10 L_IOConvByteToByteArray − Conversion function

Function block L_IOConvByteToByteArray converts 8 bytes of output data into an 8−field byte array.

Due to this, the output data width is identical to exactly one transmit object PDO_DataToIO to the I/O system.

L_IOConvByteToByteArray

byByte0_DataToIO abyPDO_DataToIO

byByte7_DataToIO

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

byByte0_DataToIO

...

byByte7_DataToIO

Outputs ð (Variable type: VAR_OUTPUT)

Identifier Data type Value/meaning

abyPDO_DataToIO Byte array 8−byte array:

Byte 8 bytes digital output data to the I/O system

Maps one transmit object PDO_DataToIO

5−18

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Function library LenzeIOSystem.lib

Function blocks

5.11 L_IOConvByteArrayToByte − Conversion function

Function block L_IOConvByteArrayToByte converts 8 bytes of a receive object into 8 bytes of input data.

Due to that, the input data width is matched to one receive object PDO_DataFromIO from the I/O system.

L_IOConvByteArrayToByte

byByte0_DataFromIOabyPDO_DataFromIO

byByte7_DataFromIO

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

abyPDO_DataFromIO Byte array 8−byte array:

Outputs ð (Variable type: VAR_OUTPUT)

Identifier Data type Value/meaning

byByte0_DataFromIO ... byByte7_DataFromIO

Byte Receive object:

Maps one receive object PDO_DataFromIO

8 x 1 bytes of digital/analog input data from the I/O system

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Function library LenzeIOSystem.lib

Function blocks

5.12 L_IODInModule − Bit conversion

Function block L_IODInModule corresponds to a digital input module (EPM−T210) and converts one data byte into the individual bits 0 − 7.

L_IODInModule

bBit0

byPDO_DataFromIO

Byte (8 bits)

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

byPDO_DataFromIO Byte Digital inputs:

Outputs ð (Variable type: VAR_OUTPUT)

Identifier Data type Value/meaning

bBit0 ... bBit7

Bool Digital input information, bit 0.

1 byte data = 1 DI module

Digital input information, bit 7.

bBit1 bBit2 bBit3 bBit4 bBit6 bBit7 bBit8

...

5−20

LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Function blocks

5.13 L_IODOutModule − Bit conversion

Function block L_IODOutModule corresponds to a digital output module (EPM−T22X) and converts the individual bits 0 − 7 into one data byte.

bBit0

L_IODOutModule

bBit1 bBit2 bBit3 bBit4 bBit5 bBit6 bBit7

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

bBit0 ... bBit7

Outputs ð (Variable type: VAR_OUTPUT)

Identifier Data type Value/meaning

byPDO_DataFromIO Byte Digital outputs:

Bool Digital output information, bit 0

Digital output information, bit 7

1 byte data = 1 DO module

byPDO_DataToIO

Byte (8 bits)

...

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Function library LenzeIOSystem.lib

Function blocks

5.14 L_IOAInModule − Signal conversion

The L_IOAInModule function block corresponds to an analog input module (EPM−T310 / T311 / T312) and divides the data sent by the I/O system into the channel information 1 − 4.

The input data are represented in the integer format.

L_IOAInModule

nCH1 nCH2

^ 6−1

nCH3 nCH4

abyPDO_DataFromIO

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

abyPDO_DataFromIO Byte array Analog input information of channels 1 − 4

Outputs ð (Variable type: VAR_OUTPUT)

Identifiers Data type Value/meaning

nCH1 ... nCH4

Integer Analog inputs:

4 x 2 bytes data = 1 AI module

Default ±10V function code 2B

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Function library LenzeIOSystem.lib

Function blocks

5.15 L_IOAOutModule − Signal conversion

The L_IOAOutModule function block corresponds to an analog output module (EPM−T320 / T321 / T322) and bundles the information of channels 1 − 4 into a transmission object, which is sent to the I/O system.

The output data are represented in the integer format.

nCH1

L_IOAOutModule

nCH2 nCH3 nCH4

ð Inputs (Variable type: VAR_INPUT)

Variable name Data type Information/possible settings

nCH1 ... nCH4

Outputs ð (Variable type: VAR_OUTPUT)

Identifiers Data type Value/meaning

abyPDO_DataFromIO Byte array Analog output information of channels 1 − 4

Byte Analog outputs:

4 x 2 bytes data = 1 AO module

abyPDO_DataToIO

Default ±10 = function code 01

^ 6−4

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Function library LenzeIOSystem.lib

Function blocks

5−24

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Function library LenzeIOSystem.lib

Appendix

6.1 Signal functions for analog inputs EPM−T310

6 Appendix

6.1 Signal functions for analog inputs EPM−T310

Parameter bytes 2/3/4/5

Signal function Signal range Format Tolerance

Parameter data in module not overwritten Temperature measuring

with two−wire connection (complement on two)

Resistance measuring with two−wire connection

Temperature measuring with four−wire connection (complement on two)

with PT100 −200.0 {0.1 °C} +850.0

with PT1000 −200.0 {0.1 °C} +500.0 ±1 °C with NI100 −50.0 {0.1 °C} +250.0 ±1 °C with NI1000 −50.0 {0.1 °C} +250.0 ±1 °C at 60 W 0

at 600 W 0

at 3000 W 0

at 6000 W 0

{0.01 W}

{1 dec}

{0.01 W}

{1 dec}

{0.01 W}

{1 dec}

{0.01 W}

{1 dec}

+60.00

32767

+600.00

32767

+3000.00

32767

+6000.00

32767

with PT100 −200.0 {0.1 °C} +850.0

with PT1000 −200.0 {0.1 °C} +500.0 ±0.5 °C with NI100 −50.0 {0.1 °C} +250.0 ±0.5 °C

±1 °C

±0.2 % of limit value

±0.5 °C

with NI1000 −50.0 {0.1 °C} +250.0 ±0.5 °C

Resistance measuring with two−wire connection

at 60 W 0 {0.01 W} +60.00 at 600 W 0 {0.01 W} +600.00 ±0.05 % of limit value

±0.1 % of limit value

at 3000 W 0 {0.01 W} +3000.00 ±0.05 % of limit value

Temperature measuring with thermocouple and external compensation (complement on two)

with type J −210.0 {0.1 °C} +850.0 with type K −270.0 {0.1 °C} +1200.0 ±1.5 °C

with type N −200.0 {0.1 °C} +1300.0 ±1.5 °C with type R −50.0 {0.1 °C} +1760.0 ±4 °C

±1 °C

with type T −270.0 {0.1 °C} +400.0 ±1.5 °C with type S −50.0 {0.1 °C} +1760.0 ±5 °C

Temperature measuring with thermocouple and internal compensation (complement on two)

with type J −210.0 {0.1 °C} +850.0 with type K −270.0 {0.1 °C} +1200.0 ±2 °C

with type N −200.0 {0.1 °C} +1300.0 ±2 °C with type R −50.0 {0.1 °C} +1760.0 ±5 °C

±1.5 °C

with type T −270.0 {0.1 °C} +400.0 ±2 °C with type S −50.0 {0.1 °C} +1760.0 ±5 °C

Voltage measuring (complement on two)

0 ... 50 mV

0 0

{0.01 mV}

{1 dec}

+50.00

27648

A ±0.1 % of limit value

Lower range limit: – Upper range limit: +59.25 mV

32767 dec

Voltage measuring (complement on two)

±4 V

−4.00

−27648

{0.01 V}

{1 dec}

+4.00 V

27648 dec

A ±0.05 % of limit value

Lower range limit: −4.74 V

−32767 dec

Upper range limit: +4.74 V

32767 dec

Voltage measuring (complement on two)

±400 mV

−400

−27648

{1 mV}

{1 dec}

+400

27648

A ±0.1 % of limit value

Lower range limit: −474 mV

−32767 dec

Upper range limit: +474 mV

32767 dec

Voltage measuring (complement on two)

±10 V −10.00

−16384

{0.01 V}

{1 dec}

+10.00

16384

B ±0.2 % of limit value

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Function library LenzeIOSystem.lib

Appendix

6.1 Signal functions for analog inputs EPM−T310

Parameter bytes 2/3/4/5

Current measuring (complement on two)

Current measuring 4 ... 20 mA

Resistance measuring with four−wire connection

±20 mA

4 ... 20 mA

at 6000 W 0

at 60 W 0

at 600 W 0

at 3000 W 0

at 6000 W 0

Lower range limit: −11.85 V

Upper range limit: +11.85 V

−20.00

−27648 Lower range limit: −23.70 mA

Upper range limit: +23.70 mA

4.00 0

Lower range limit: 1.185 mA

Upper range limit: +22.96 mA

4.00 0

Lower range limit: 1.185 mA

Upper range limit: +22.96 mA

{0.01 mA}

{1 dec}

{0.01 mA}

{1 dec}

{0.01 mA}

{1 dec}

{0.01 W}

{1 dec}

{0.01 W}

{1 dec}

{0.01 W} +6000.00

{0.01 W}

{1 dec}

{0.01 W}

{1 dec}

{0.01 W}

{1 dec}

−20480 dec

20480 dec

+20.00

27648

−32767 dec

+32767 dec

20.00

27648

−4864 dec

+32767 dec

20.00

16384

−2882 dec

+20480 dec

+6000.00

32767 dec

+6000.00

6000 dec

+600.00

6000 dec

+3000.00

30000 dec

+6000.00

6000 dec

FormatSignal rangeSignal function

Tolerance

A ±0.05 % of limit value

B ±0.2 % of limit value

±0.05 % of limit value

±0.2 % of limit value

±0.1 % of limit value

6−2

LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Appendix

6.1 Signal functions for analog inputs EPM−T310

Parameter bytes 2/3/4/5

3D5

The tolerance values were established at 25 °C ambient temperature and 15 conversions/s. No sensor inaccuracies were taken into consideration.

Contact and line resistances were not taken into consideration.

Reference junction compensation to be effected externally.

Reference junction compensation is effected internally, taking into consideration the terminal temperature. Connect the thermocouple conductors directly to the terminal using a thermocouple extension cable if necessary.

Current measuring (complement on two)

Voltage measuring (complement on two)

Resistance measuring with four−wire connection

Voltage measuring 0 ... 50 mV

Voltage measuring (complement on two)

Current measuring (complement on two)

Analog input deactivated

±20 mA −20.00

±10 V −10.00

at 60 W 0

at 600 W 0

at 3000 W 0

±10 V

±4 V

±400 mV

±20 mA

4 ... 20 mA

−16384

Lower range limit: −23.70 mA

Upper range limit: +23.70 mA

−16384

Lower range limit: −12.5 V

Upper range limit: +12.5 V

0 0

0 Upper range limit: +59.25 V

−10.00

−10000 Lower range limit: −11.85 V

Upper range limit: +11.85 V

−4.00

−40000 Lower range limit: −4.74 V

Upper range limit: +4.74 V

−400

−40000 Lower range limit: −474 mV

Upper range limit: +474 mV

−20.00

−20000 Lower range limit: −23.70 mA

Upper range limit: +23.70 mA

4.00 0

Lower range limit: 1.185 mA

Upper range limit: +22.96 mA

{0.01 mA}

{1 dec}

{0.01 V}

{1 dec}

{0.01 W}

{1 dec}

{0.01 W}

{1 dec}

{0.01 W}

{1 dec}

{0.01 mV}

{1 dec}

{0.01 V}

{1 dec}

{0.01 V}

{1 dec}

{1 mV}

{1 dec}

{0.01 mA}

{1 dec}

{0.01 mA}

{1 dec}

−19456 dec

+19456 dec

−20480 dec

20480 dec

6000 dec

+600.00

6000 dec

+3000.00

30000 dec

5925 dec

−11850 dec

11850 dec

−47400 dec

47400 dec

−47400 dec

47400 dec

−23700 dec

+23700 dec

−2815 dec

+22960 dec

FormatSignal rangeSignal function

+20.00

16384

+10.00

16384

+60.00

+50.00

5000

+10.00

10000

+4.00 V

40000

+400

40000

+20.00

20000

20.00

16000

Tolerance

A ±0.05 % of limit value

B ±0.2 % of limit value

±0.1 % of limit value

±0.05 % of limit value

A ±0.1 % of limit value

A ±0.05 % of limit value

A ±0.1 % of limit value

A ±0.05 % of limit value

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Function library LenzeIOSystem.lib

Appendix

6.2 Signal functions for analog outputs EPM−T320

Parameter bytes 2/3/4/5

Signal function Signal range Signal

No signal emitted at output Voltage signal output ±10 V

Voltage signal output +1 ... +5 V

Voltage signal output 0 ... +10 V

Voltage signal output (complement on two)

Current signal output ±20 mA

Current signal output 4 ... 20 mA

Current signal output 0 ... 20 mA

±10 V

+1 ... +5 V

0 ... +10 V

−10.00

−16384 Lower range limit: −11.85 V

Upper range limit: +11.85 V

1.0 0

Lower range limit: 0 V

Upper range limit: +6.0 V

0 0

Lower range limit: – Upper range limit: +12.5 V

−10.00

−27648 Lower range limit: −11.85 V

Upper range limit: +11.84 V

1.00 0

Lower range limit: 0 V

Upper range limit: +5.75 V

0 0

Lower range limit: – Upper range limit: +11.5 V

−20.00

−16384 Lower range limit: −23.70 mA

Upper range limit: +23.70 mA

4.00 0

Lower range limit: 0 mA

Upper range limit: +23.70 mA

0 0

Lower range limit: — Upper range limit: +23.70 mA

{0.01 V}

{1 dec}

{0.1 V}

{1 dec}

{0.1 V}

{1 dec}

{0.01 V}

{1 dec}

{0.01 V}

{1 dec}

{0.1 V}

{1 dec}

{0.01 mA}

{1 dec}

{0.01 mA}

{1 dec}

{0.01 mA}

{1 dec}

−20480 dec

20480 dec

+10.00 V

27648 dec

−32767 dec

32767 dec

−6912 dec

32767 dec

−20480 dec

+20480 dec

−4096 dec

+20480 dec

resolution

+10.00

16384

+5.0

16384

+10.0

16384

+5.00

27648

+10.0

27648

+20.00

16384

20.00

16384

+20.00

16384

Tolerance

B ±0.2 %

B ±0.05 %

B ±0.2 %

A ±0.05 %

A ±0.2 %

B ±0.2 %

6−4

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Function library LenzeIOSystem.lib

Appendix

6.2 Signal functions for analog outputs EPM−T320

Parameter bytes 2/3/4/5

The tolerance values were established at 25 °C ambient temperature and 15 conversions/s and are related to the limit value.

Current signal output (complement on two)

±20 mA

4 ... 20 mA

0 ... 20 mA

Signal rangeSignal function

−20.00

−27648 Lower range limit: −23.70 mA

Upper range limit: +23.70 mA

4.00 0

Lower range limit: 0 mA

Upper range limit: +22.96 mA

0 0

Lower range limit: – Upper range limit: +22.96 mA

{0.01 mA}

{1 dec}

−32767 dec

+32767 dec

{0.01 mA}

{1 dec}

−5530 dec

+32767 dec

{0.01 mA}

{1 dec}

+32767 dec

+20.00

27648

20.00

27648

20.00

27648

Signal resolution

A ±0.05 %

A ±0.2 %

Tolerance

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6−5

Function library LenzeIOSystem.lib

Appendix

6.3 Signal functions for analog inputs and outputs EPM−T330

Input range (channels 0, 1)

Parameter bytes 2/3/4/5

Signal function Signal range Format Tolerance

Parameter data in module not overwritten Voltage measuring

(complement on two)

±10 V

−10.00

−16384

{0.01 V}

{1 dec}

+10.00

+16384

Lower range limit: −12.50 V

−20480

dec

±0.2 % of limit value

Upper range limit: +12.50 V

+20480

Voltage measuring 0...10 V

0.00 0

{0.01 V}

{1 dec}

Lower range limit: −

dec

+10.00

+16384

±0.4 % of limit value

Upper range limit: +12.50 V

+20480

Voltage measuring (complement on two)

±10 V

−10.00

−27648

{0.01 V}

{1 dec}

Lower range limit: −11.76 V

+10.00

+27648

−32512

dec

±0.2 % of limit value

Upper range limit: +11.76 V

+32511

Voltage measuring 1 ... 5V

+1.00 0

{0.01 V}

{1 dec}

Lower range limit: 0.00 V

+5.00

+27648

−6912

dec

±0.6 % of limit value

Upper range limit: +5.704 V

+32511

Voltage measuring 0...10 V

0.00 0

{0.01 V}

{1 dec}

Lower range limit: −

dec

+10.00

+27648

±0.4 % of limit value

Upper range limit: +11.76 V

+32511

Current measuring (complement on two)

±20 mA

−20.00

−16384

{0.01 mA}

{1 dec}

Lower range limit: −25.00 mA

+20.00

+16384

−20480

dec

±0.3 % of limit value

Upper range limit: +25.00 mA

+20480

Current measuring 0 ... 20 mA

0.00 0

{0.01 mA}

{1 dec}

Lower range limit: −

dec

+20.00

+16384

±0.6 % of limit value

Upper range limit: +25.00 mA

+20480

Current measuring (complement on two)

±20 mA

−20.00

−27648

{0.01 mA}

{1 dec}

Lower range limit: −23.51 mA

+20.00

+27648

−32512

dec

±0.3 % of limit value

Upper range limit: +23.51 mA

+32511

Current measuring (complement on two)

4 ... 20 mA

+4.00 0

{0.01 mA}

{1 dec}

Lower range limit: +1.18 mA

+20.00

+27648

−4864

dec

±0.8 % of limit value

Upper range limit: +22.81 mA

+32511

dec

6−6

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Function library LenzeIOSystem.lib

Appendix

6.3 Signal functions for analog inputs and outputs EPM−T330

Parameter bytes 2/3/4/5

Current measuring 0 ... 20 mA

Analog input deactivated

The tolerance values were established at 25 °C ambient temperature and 15 conversions/s. No sensor inaccuracies were taken into consideration.

Output range (channels 2, 3)

Parameter bytes 2/3/4/5

Signal function Signal range Format Tolerance

Parameter data in module not overwritten Voltage signal output ±10 V

Voltage signal output 1 ... 5V

Voltage signal output 0...10 V

Voltage signal output (complement on two)

Voltage signal output 0...10 V

Current signal output ±20 mA

±10 V

1 ... 5V

0.00 0

{0.01 mA}

{1 dec}

+20.00

+27648 Lower range limit: − Upper range limit: +23.52 mA

+32511

dec

−10.00

−16384

{0.01 V}

{1 dec}

+10.00

+16384 Lower range limit: −12.50 V

−20480

dec

Upper range limit: +12.50 V

+20480

dec

+1.00 0

{0.01 V}

{1 dec}

+5.00

+16384 Lower range limit: 0.00 V

−4096

dec

Upper range limit: +6.00 V

+20480

0.00 0

{0.01 V}

{1 dec}

dec

+10.00

+16384 Lower range limit: − Upper range limit: +12.50 V

+20480

dec

−10.00

−27648

{0.01 V}

{1 dec}

+10.00

+27648 Lower range limit: −11.76 V

−32512

dec

Upper range limit: +11.76 V

+32511

dec

+1.00 0

{0.01 V}

{1 dec}

+5.00

+27648 Lower range limit: 0.00 V

−6912

dec

Upper range limit: +5.704 V

+32511

dec

0.00 0

{0.01 V}

{1 dec}

+10.00

+27648 Lower range limit: − Upper range limit: +11.76 V

+32511

dec

−20.00

−16384

{0.01 mA}

{1 dec}

+20.00

+16384 Lower range limit: −25.00 mA

−20480

dec

Upper range limit: +25.00 mA

+20480

dec

FormatSignal rangeSignal function

Tolerance

±0.6 % of limit value

±0.2 % of limit value

±0.6 % of limit value

±0.4 % of limit value

±0.2 % of limit value

±0.6 % of limit value

±0.4 % of limit value

±0.3 % of limit value

LenzeIOSystem.lib EN 1.7

6−7

Function library LenzeIOSystem.lib

Appendix

6.3 Signal functions for analog inputs and outputs EPM−T330

Parameter bytes 2/3/4/5

Current signal output 4 ... 20 mA

Current signal output 0 ... 20 mA

Current signal output (complement on two)

Current signal output 0 ... 20 mA

Analog output deactivated

±20 mA

4 ... 20 mA

+4.00 0

Lower range limit: +0.00 mA

Upper range limit: +24.00 mA

0.00 0

Lower range limit: − Upper range limit: +25.00 mA

−20.00

−27648 Lower range limit: −23.52 mA

Upper range limit: +23.52 mA

+4.00 0

Lower range limit: +0.00 mA

Upper range limit: +22.81 mA

0.00 0

Lower range limit: − Upper range limit: +23.52 mA

{0.01 mA}

{1 dec}

{0.01 mA}

{1 dec}

{0.01 mA}

{1 dec}

{0.01 mA}

{1 dec}

{0.01 mA}

{1 dec}

+20.00

+16384

−4096

+20480

+20.00

+16384

+20480

+20.00

+27648

−32512

+32511

+20.00

+27648

−6912

+32511

+20.00

+27648

+32511

dec

FormatSignal rangeSignal function

Tolerance

±0.8 % of limit value

±0.6 % of limit value

±0.3 % of limit value

±0.8 % of limit value

±0.6 % of limit value

The tolerance values were established at 25 °C ambient temperature and 15 conversions/s. No sensor inaccuracies were taken into consideration.

6−8

LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Appendix

6.4 Measured value scaling

Signal range

±10 V

0 ... 10 V

1 ... 5V

±4 V

±400 mV

4 ... 20 mA

±20 mA

Signal

[U] / [I]

−10 V −27648 9400

+10 V +27648 6C00 +16384 4000

+10 V +16384 4000 +16384 4000

−400 mV −27648 9400

+400 mV +27648 6C00

+4 mA 0 0000

+12 mA +13824 3600 +8192 2000

+20 mA +27648 6C00 +16384 4000

−20 mA −27648 9400

−10 mA −13824 CA00 −8192 E000 0 mA 0 0000 0 0000

+10 mA +13824 3600 +8192 2000 +20 mA +27648 6C00 +16384 4000

Decimal value

[dec]

−5 V −13824 CA00 −8192 E000 0 V 0 0000 0 0000

+5 V +13824 3600 +8192 2000

0 V 0 0000

+5 V +8192 2000 +8192 2000

+1 V

+3 V +8192 2000

+5 V +16384 4000

−4 V −27648 9400

0 V 0 0000

+4 V +27648 6C00

0 V 0 0000

 

15−bit signal resolution 12−bit signal resolution

Hexadecimal value

[hex]

Formulae for calculation Decimal value

27648

16384

27648

400

27648

U 4

400

I * 4

dec + 27648 @

U +dec@

dec + 16384 @

U +dec@

dec + 27648 @

U +dec@

dec + 27648 @

U +dec@

dec + 27648 @

U +dec@

dec + 27648 @

U +dec@

[dec]

−16384 C000

0 0000

 

0 0000

−16384 C000

Hexadecimal value

[hex]

Formulae for calculation

16348

16384

U * 1

I * 4

dec + 16348 @

U +dec@

dec + 16384 @

U +dec@

dec + 27648 @

U +dec@

dec + 16384 @

U +dec@

dec + 16384 @

U +dec@

LenzeIOSystem.lib EN 1.7

6−9

Function library LenzeIOSystem.lib

Appendix

6.5 Selecting the counter modes EPM−T410

Mode

[hex] [dec]

Function IN1 IN2 IN3 IN4 IN5 IN6 OUT0 OUT1 Auto

Reload

Compare

Load

2 counters 0 1

0 32 bit counter RES CLK DIR RES CLK DIR · · – – 1 Encoder 1 edge RES A B RES A B · · – – 3 Encoder 2 edges RES A B RES A B · · – – 5 Encoder 4 edges RES A B RES A B · · – –

4 counters 0.1 0.2 1.1 1.2

8 2 × 16 bit counters

– CLK CLK – CLK CLK – – – –

(counting direction upwards/upwards)

9 2 × 16 bit counters

– CLK CLK – CLK CLK – – – –

(counting direction downwards/upwards)

10 2 × 16 bit counters

– CLK CLK – CLK CLK – – – –

(counting direction downwards/upwards)

11 2 × 16 bit counters

– CLK CLK – CLK CLK – – – –

(counting direction downwards/upwards)

2 counters 0 1

12 2 × 32 bit counters (counting direction

RES CLK GATE RES CLK GATE · · – ü

upwards)

13 2 × 32 bit counters (counting direction

RES CLK GATE RES CLK GATE · · – ü

downwards)

14 2 × 32 bit counters (counting direction

RES CLK GATE RES CLK GATE · · ü ü

upwards)

15 2 × 32 bit counters (counting direction

RES CLK GATE RES CLK GATE · · ü ü

downwards)

1 counter 0/1

16 Frequency measuring RES CLK START STOP – – · · – ü 17 Measuring the period RES CLK START STOP – – · · – ü

18 Frequency measuring

RES CLK START STOP – – · · – ü

(output counter runs/stops)

19 Measuring the period

RES CLK START STOP – – · · – ü

(output counter runs/stops)

2 counters 0 1

6 Measuring the pulse width

50 kHz, counting direction selectable)

ref

20 Measuring the pulse width

programmable, counting direction

ref

selectable)

21 Measuring the pulse width

programmable, counting direction

ref

upwards)

22 Measuring the pulse width

programmable, counting direction

ref

downwards)

RES PULSE DIR RES PULSE DIR – – – –

RES PULSE DIR RES PULSE GATE – – – –

2 counters 0 1

23 2 × 32 bit counters

RES CLK GATE RES CLK GATE – – – ü

(counting direction upwards, set function)

24 2 × 32 bit counters

RES CLK GATE RES CLK GATE – – – ü

(counting direction upwards, set function)

25 2 × 32 bit counters

RES CLK GATE RES CLK GATE – – – ü

(counting direction upwards, reset function)

26 2 × 32 bit counters

RES CLK GATE RES CLK GATE – – – ü

(counting direction upwards, reset function)

2 counters 0 1

27 32 bit counter G/RESû CLK DIR G/RESû CLK DIR · · – – 28 Encoder 1 edge G/RESû A B G/RESû A B · · – –

6−10

LenzeIOSystem.lib EN 1.7

Function library LenzeIOSystem.lib

Appendix

6.5 Selecting the counter modes EPM−T410

Mode Compare

[hex]

[dec]

29 Encoder 2 edges G/RESû A B G/RESû A B · · – –

30 Encoder 4 edges G/RESû A B G/RESû A B · · – –

2 counters 0 1

31 2 × 32 bit counters (counting direction

downwards)

32 2 × 32 bit counters (counting direction

downwards)

33 2 × 32 bit counters (counting direction

downwards)

34 2 × 32 bit counters (counting direction

downwards)

RESû CLK GATE RESû CLK GATE · · – ü

RESû CLK GATE RESû CLK GATE · · ü ü

· Digital output may signal an event.

ü Function available.

– No function / function not available. A Encoder signal A Auto Reload Auto Reload causes the counter to accept a preset value as soon

as the counter reading matches the Compare register content. B Encoder signal B Compare Load You may use Compare Load to specify a counter limit value to

trigger an output or to restart the counters via Auto Reload when it

is reached. CLK Clock signal of a linked encoder

HIGH: Starts or stops the counting DIR Indicates counting direction depending on signal level.

LOW: Upcounter

HIGH: Downcounter GATE Gate signal level−triggered

HIGH: Pulses are measured G/RESû Gate signal level−triggered and reset signal edge−triggered

HIGH: Pulses are measured

LOW−HIGH edge: Resets one or both counter(s) PULSE The pulse width of the supplied signal is measured with an internal

time base RES Reset signal level−triggered

HIGH: Resets one or both counter(s) RESû Reset signal edge−triggered

LOW−HIGH edge: Resets one or both counter(s) START Start signal edge−triggered STOP Stop signal edge−triggered

OUT1OUT0IN6IN5IN4IN3IN2IN1Function

Auto

Reload

Compare

Load

LenzeIOSystem.lib EN 1.7

6−11

Function library LenzeIOSystem.lib

Appendix

6−12

LenzeIOSystem.lib EN 1.7

7 Index

Function library LenzeIOSystem.lib

Index

Analog inputs and outputs EPM−T330, 6−6

Analog inputs EPM−T310, 6−1

Analog outputs EPM−T320, 6−4

Bit conversion, 5−20 , 5−21

C_wLenzeIOSystemVersion, 1−1

Conversion function, 5−18 , 5−19

Coordinate data, 5−2 , 5−5 , 5−8

Counter function, 4−14 , 4−16 , 5−11 , 5−13 , 5−14 , 5−15 , 5−16 , 5−17

Counter modes, 6−10

Initialising, 3−5

Initialising the CAN driver, CAN driver, Initialising, 3−1

L_IOAInModule, 5−22

L_IOAOutModule, 5−23

L_IOConvByteArrayToByte, 5−19

L_IOConvByteToByteArray, 5−18

L_IOCounterDataFromIO, 5−13

L_IOCounterDataToIO, 5−11

L_IOCounterDIModuleDataFromIO, 5−15

L_IOCounterDIModuleDataToIO, 5−14

L_IOData15, 5−2

L_IOData610, 5−5

L_IODataCompactModule, 5−8

L_IODInModule, 5−20

L_IODOutModule, 5−21

L_IOParAlAOModule, 4−9

L_IOParAlnModule, 4−4

L_IOParAOutModule, 4−7

L_IOParComGuarding, 4−2

L_IOParCompactModule, 4−26

L_IOParCounterDIModule, 4−16

L_IOParCounterModule, 4−14

L_IOParPDO15, 4−18

L_IOParPDO610, 4−22

L_IOParSSIModule, 4−12

L_IOSSIDataFromIO, 5−17

L_IOSSIDataToO, 5−16

Minimum configuration, 2−2

Monitoring function, 4−2

Parameter data blocks, 2−1

Parameterisation function, 4−4 , 4−7 , 4−9 , 4−12 , 4−18 , 4−22 , 4−26

Process data blocks, 2−1

Safety information, layout

more notes, 1−2 warning of material damage, 1−2

Scaling, 6−9

Signal conversion, 5−22 , 5−23

Signal functions, 6−1 , 6−4 , 6−6

Term definitions, 1−2

Version identifiers of the function library, 1−3

LenzeIOSystem.lib EN 1.7

7−1

Lenze DDS Function library IOSystem User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Contents

1.1 About this Manual

1 Preface and general information

1.1.1 Conventions used in this Manual

1.1.2 Structure of the descriptions

1.1.3 Pictographs used in this Manual

1.1.4 Terminology used

1.2 Version identifiers of the function library

2.1 Introduction

2 Introduction

2.2 Design concept

2.3 Minimum configuration

3.1 Modular decentralised I/O system

3 Application examples

3.2 Compact decentralised I/O system

4 Function blocks for parameterisation

5 Function blocks for process data processing

6 Appendix

6.4 Measured value scaling

7 Index