Lenze DDS Global Drive PLC Developer Studio User Manual

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Manual

Global Drive

PLC Developer Studio

Global Drive

Function library

LenzeCanDSxDrv.lib

The function library LenzeCanDSxDrv.lib can be used for the following Lenze PLCs:

	Type	from hardware version	from software version
9300 Servo PLC	EVS93XX−xI	6A	6.0
9300 Servo PLC	EVS93XX−xT	6A	6.0
Drive PLC	EPL10200	1A	6.0
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 1.2 04/2006

			Function library LenzeCanDSxDrv.lib
			Contents
1 Preface and general information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .					1−1
	1.1	About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			1−1
		1.1.1	Conventions in this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		1−1
		1.1.2	Description layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		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	General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			2−1
	2.2	CanDSx driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			2−1
		2.2.1	Operating principle − example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		2−2
	2.3	Monitoring mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			2−3
		2.3.1	"Heartbeat" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		2−3
		2.3.2	"Node Guarding" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		2−4
3	Functions/function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .				3−1
	3.1	Overview	. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		3−1
	3.2	L_CanDSxInitIndexCode − Configuration of index mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			3−2
	3.3	L_CanDSxOpen − Initialisation of the CanDSx driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			3−4
	3.4	L_CanDSxClose − Deactivation of index mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			3−5
	3.5	L_CanDSxOpenHeartBeat − Initialisation of "Heartbeat" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			3−6
	3.6	L_CanDSxHeartBeat − Execution of "Heartbeat" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			3−7
	3.7	L_CanDSxCloseHeartBeat − Deactivation of "Heartbeat" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			3−9
	3.8	L_CanDSxOpenNodeGuarding − Initialisation of "Node Guarding" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			3−10
	3.9	L_CanDSxNodeGuarding − Execution of "Node Guarding" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			3−11
	3.10	L_CanDSxCloseNodeGuarding − Deactivation of "Node Guarding" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			3−14

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Function library LenzeCanDSxDrv.lib

Contents

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	Function library LenzeCanDSxDrv.lib
	Preface and general information
1.1	About this Manual
1	Preface and general information
1.1	About this Manual
	This Manual contains information about function library LenzeCanDSxDrv.lib for the Drive PLC
	Developer Studio.

·With the functions of function library LenzeCanDSxDrv.lib it is possible to "map" CAN indices received via the system bus interface within the PLC on codes other than the automatically assigned codes.

·The function library also provides functions/FBs for the implementation of the "Heartbeat" and "Node Guarding" monitoring mechanisms to ensure the functionality of the system bus devices.

1.1.1Conventions in this Manual

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

Variable identifiers

are written in italics in the explanation:

· "Use bEnable..."

Tip!

Information about the conventions used for the 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 make reading the PLC program easier.

Lenze functions/function blocks

can be recognized by their names. They always begin with an "L_":

· "Use the FB L_XYZ..."

Program listings

are written in "Courier", keywords are printed in bold:

· "IF (nValue1 < 0) THEN..."

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1.1

Function library LenzeCanDSxDrv.lib

Preface and general information

About this Manual

1.1.2Description layout

All function/function block and system block descriptions contained in this Manual have the same structure:

			Function		Function block (FB)/
					system block (SB)
		•	Heading stating function and function identifier
		‚	Declaration of the function:		−
	•		· Data type of the return value
			·	Function identifier
	‚		·	List of transfer parameters
	ƒ
		ƒ	Short description of the most important properties
		„	Function chart including all		FB/SB chart including all
	„		associated variables		associated variables
			·	Transfer parameters	·	Input variables
			·	Return value	·	Output variables
	…	…	Table giving information about the		Table giving information about the
			transfer parameters:		input and output variables:
			·	Identifiers	·	Identifiers
			·	Data type	·	Data type
	†		·	Possible settings	·	Variable type
			·	Info	·	Possible settings
					·	Info
	‡	†	Table giving information about the		−
			return value:
			· Data type of the return value
			· Possible return values and their
				meaning
		‡	Additional information
			(Notes, tips, application examples, etc.)

1.1.3Pictographs used in this Manual

Pictographs used	Signal words
Warning of material	Stop!	Warns of potential damage to material.
damage		Possible consequences if disregarded:
		Damage to the controller/drive system or its environment.
Other notes	Tip!	Indicates a tip or note.
	Note!

1.1.4Terminology used

Term	In the following text used for
DDS	Drive PLC Developer Studio
FB	Function block
GDC	Global Drive Control (parameterization program from Lenze)
Parameter codes	Codes for setting the functionality of a function block
PLC	·	9300 Servo PLC
	·	Drive PLC
	· Axis module ECSxA "Application"
SB	System block

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	Function library LenzeCanDSxDrv.lib
	Preface and general information
1.2	Version identifiers of the function library

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

Example

value

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

Version: 01 05

00 00

The value of this constant is a hexadecimal code.

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

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Preface and general information

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