Lenze 8400 HighLine C, E84AVHC Software Manual

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EDS84AVHCxx

efesotomasyon.com - Lenze

13316436

Ä.@aEä

L-force Drives

Software Manual

8400

E84AVHCxxxxx

8400 Inverter Drives HighLine C

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8400 HighLine | Parameter setting & configuration

efesotomasyon.com - Lenze

Overview of technical documentation for Inverter Drives 8400

Project planning, selection & ordering Legend:

 8400 hardware manual  Printed documentation

 Catalogue  Online documentation

(PDF/Engineer online help)

Mounting & wiring Abbreviations used:

 MA 8400 BaseLine/StateLine/HighLine BA Operating Instructions

 MA for the communication module KHB Communication manual

 MA for the extension module MA Mounting instructions

 MA for the safety module SW Software Manual

 MA for the accessories

Parameterisation

 BA keypad

 SW 8400 BaseLine

 SW 8400 StateLine

 SW 8400 HighLine Í This documentation

 KHB for the communication module

Drive commissioning

 SW 8400BaseLine/StateLine/HighLine

 chapter "Commissioning"  chapter "Diagnostics & error management"

 Remote maintenance manual

Establishing networks

 KHB for the communication medium used

2 L Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010

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Contents

1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

1.1 Document history

1.2 Conventions used

1.3 Terminology used

1.4 Definition of the notes used

2 Introduction: Parameterising the controller

2.1 General notes on parameters

2.2 Handling the memory module

2.3 Handling the keypad

3 Commissioning

3.1 Guide

3.1.1 Before commissioning

3.1.2 Trouble during commissioning

3.2 Safety instructions with regard to commissioning

3.2.1 General safety instructions

3.2.2 Safety instructions with regard to motor operation

3.3 Quick commissioning

3.3.1 Keypad control

3.3.2 Terminal control

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3.4 Commissioning the "Actuating drive speed" TA using the keypad

3.5 Commissioning the "Actuating drive speed" TA using the »Engineer«

3.6 Commissioning the "Table positioning" TA using the »Engineer«

3.7 Commissioning the "Switch-off positioning" TA using »Engineer«

4 Device control (DCTRL)

4.1 Controller commands

4.1.1 Load Lenze setting

4.1.2 Load all parameter sets

4.1.3 Save all parameter sets

4.1.4 Enable/Inhibit controller

4.1.5 Activate/Deactivate quick stop

4.1.6 Reset error

4.1.7 Delete logbook

4.1.8 Identify motor parameter

4.1.9 CAN reset node

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Contents

4.2 Device states. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

4.2.1 FirmwareUpdate

4.2.2 Init

4.2.3 MotorIdent

4.2.4 SafeTorqueOff

4.2.5 ReadyToSwitchON

4.2.6 SwitchedON

4.2.7 OperationEnabled

4.2.8 Warning

4.2.9 TroubleQSP

4.2.10 Trouble

4.2.11 Fault

4.2.12 SystemFault

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4.3 Automatic restart after mains connection/fault...

4.4 Synchronisation of the internal time base of the controller

4.5 Internal interfaces | "LS_DriveInterface" system block

4.5.1 wCANControl/wMCIControl control words

4.5.2 wDeviceStatusWord status word

5 Motor control (MCTRL)

5.1 Motor selection/Motor data

5.1.1 Selecting a motor from the motor catalogue in the »Engineer«

5.1.2 Automatic motor data identification

5.2 Selecting the operating mode

5.2.1 Selection help

5.3 Defining current and speed limits

5.4 V/f characteristic control (VFCplus)

5.4.1 Basic settings

5.4.1.1 Defining the V/f characteristic shape

5.4.1.2 Defining current limits (Imax controller)

5.4.2 Optimise control behaviour

5.4.2.1 Adapting the V/f base frequency

5.4.2.2 Adapting the Vmin boost

5.4.2.3 Optimising the Imax controller

5.4.2.4 Torque limitation

5.4.2.5 Defining a user-defined V/f characteristic

5.4.3 Remedies for undesired drive behaviour

5.4.4 Signal flow

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5.5 V/f control (VFCplus + encoder) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

5.5.1 Basic settings

5.5.1.1 Parameterising the slip regulator

5.5.2 Signal flow

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5.6 Sensorless vector control (SLVC)

5.6.1 Types of control

5.6.1.1 Speed control with torque limitation

5.6.1.2 Torque control with speed limitation

5.6.2 Basic settings

5.6.3 Optimise control behaviour

5.6.3.1 Optimising the starting performance after a controller enable

5.6.3.2 Optimising the setting of the speed controller

5.6.3.3 Optimising dynamic performance and field weakening behaviour

5.6.3.4 Optimise response to setpoint changes and determine mass inertia

5.6.4 Remedies for undesired drive behaviour

5.6.5 Signal flow

5.7 Servo control (SC)

5.7.1 Types of control

5.7.1.1 Speed control with torque limitation

5.7.1.2 Torque control with speed limitation

5.7.2 Basic settings

5.7.2.1 Parameterising the encoder/feedback system

5.7.3 Optimise control behaviour

5.7.3.1 Optimise current controller

5.7.3.2 Optimise speed controller

5.7.3.3 Optimise response to setpoint changes and determine mass inertia

5.7.3.4 Setting the current setpoint filter (band-stop filter)

5.7.3.5 Adapting the max. acceleration change (jerk limitation)

5.7.3.6 Optimising the behaviour in the field weakening range

5.7.4 Signal flow

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141 142

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5.8 Parameterisable additional functions

5.8.1 Selection of switching frequency

5.8.2 Flying restart function

5.8.3 DC-injection braking

5.8.4 Slip compensation

5.8.5 Oscillation damping

5.8.6 Phase sequence reversal for correcting misconnected UVW motor phases

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5.8.3.1 Manual DC-injection braking (DCB)

5.8.3.2 Automatic DC-injection braking (Auto-DCB)

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5.9 Encoder/feedback system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

5.9.1 Parameterising digital inputs as encoder inputs

5.9.2 Encoder evaluation procedure

5.9.3 Encoder with HTL level at DI1/DI2

5.9.4 Encoder with HTL level at DI6/DI7

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5.10 Braking operation/braking energy management

5.10.1 Setting the voltage source for braking operation

5.10.2 Selecting the response to an increase of the DC-bus voltage

5.10.3 Avoiding thermal overload of the brake resistor

5.11 Monitoring

5.11.1 Device overload monitoring (Ixt)

5.11.2 Motor load monitoring (I2xt)

5.11.3 Motor temperature monitoring (PTC)

5.11.4 Brake resistor monitoring (I2xt)

5.11.5 Motor phase failure monitoring

5.11.6 Mains phase failure monitoring

5.11.7 Maximum current monitoring

5.11.8 Maximum torque monitoring

5.11.9 Encoder open-circuit monitoring

5.12 Internal interfaces | system block "LS_MotorInterface"

5.13 Internal status signals | system block "LS_DeviceMonitor"

6 I/O terminals

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5.10.2.1 Inverter motor brake

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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 208

. . . . . . . . . . . . . . . . . . . . . . . . . 214

6.1 Digital input terminals

6.1.1 Change function assignment

6.1.1.1 Using DI1(6) and DI2(7) as digital inputs

6.1.1.2 Using DI1(6) and DI2(7) as frequency inputs

6.1.1.3 Using DI1(6) as counting input

6.1.2 Internal interfaces | System block "LS_DigitalInput"

6.2 Digital output terminals

6.2.1 Internal interface | System block "LS_DigitalOutput"

6.3 Analog terminals

6.3.1 Parameterising analog input

6.3.1.1 Signal adaptation by means of characteristic

6.3.2 Parameterising analog output

6.3.3 Internal interfaces | System block "LS_AnalogInput"

6.3.4 Internal interfaces | System block "LS_AnalogOutput"

6.4 Configuring exception handling of the output terminals

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

. . . . . . . . . . . . . . . . . . . . . . . . 220

. . . . . . . . . . . . . . . . . . . . . 221

. . . . . . . . . . . . . . . . . . . . . . . 229

. . . . . . . . . . . . . . . . . . . . . . . 233

. . . . . . . . . . . . . . . . . . . . 239

. . . . . . . . . . . . . . . . . . . . . . . 242

. . . . . . . . . . . . . . . . . . . . . 243

. . . . . . . . . . . . . . . . . . . . . . . . . . 244

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6.5 User-defined terminal assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

6.5.1 Source-destination principle

6.5.2 Changing the terminal assignment with the keypad

6.5.3 Changing the terminal assignment with the »Engineer«

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246

. . . . . . . . . . . . . . . . . . . . . . . 247

. . . . . . . . . . . . . . . . . . . 249

6.6 Electrical data

7 Technology applications

7.1 General information

7.1.1 Purpose of the technology applications

7.1.2 Application cases for a technology application

7.1.3 Basic software structure

7.2 Overview of available technology applications

7.3 Selection of the technology application and the control mode

7.4 TA "Actuating drive speed"

7.4.1 Basic signal flow

7.4.2 Internal interfaces | application block "LA_NCtrl"

7.4.2.1 Control words wCANDriveControl/wMCIDriveControl

7.4.3 Terminal assignment of the control modes

7.4.3.1 Terminals 0

7.4.3.2 Terminals 2

7.4.3.3 Terminals 11

7.4.3.4 Terminal 16

7.4.3.5 Keypad

7.4.3.6 PC

7.4.3.7 CAN

7.4.3.8 MCI

7.4.4 Setting parameters (short overview)

7.4.5 Configuration parameters (short overview)

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 257

. . . . . . . . . . . . . . . . . . . . . 261

. . . . . . . . . . . . . . . . . . . . . . . . . . 265

. . . . . . . . . . . 273

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289

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7.5 TA "Table positioning" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291

7.5.1 Basic signal flow

7.5.1.1 Possibilites for the position selection

7.5.2 Internal interfaces | Application block "LA_TabPos"

7.5.2.1 Control words wCANDriveControl/wMCIDriveControl

7.5.3 Terminal assignment of the control modes

7.5.3.1 Terminals 0

7.5.3.2 Terminals 2

7.5.3.3 Terminals 11

7.5.3.4 Terminal 16

7.5.3.5 Keypad

7.5.3.6 PC

7.5.3.7 CAN

7.5.3.8 MCI

7.5.4 Setting parameters (short overview)

7.5.5 Configuration parameters (short overview)

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 293

. . . . . . . . . . . . . . . . . . . . . . . . 295

. . . . . . . . . . . 304

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322

7.6 TA "Switch-off positioning"

7.6.1 Basic signal flow

7.6.2 Internal interfaces | application block "LA_SwitchPos"

7.6.2.1 Truth table for activating the pre-switch off

7.6.3 Terminal assignment of the control modes

7.6.4 Setting parameters (short overview)

7.6.5 Configuration parameters (short overview)

7.7 "GeneralPurpose" functions

7.7.1 Analog switch

7.7.2 Arithmetic

7.7.3 Multiplication/Division

7.7.4 Binary delay element

7.7.5 Binary logic

7.7.6 Analog comparison

7.6.2.2 Control words wCANDriveControl/wMCIDriveControl

7.6.3.1 Terminals 0

7.6.3.2 Terminals 2

7.6.3.3 Terminals 11

7.6.3.4 Terminal 16

7.6.3.5 Keypad

7.6.3.6 PC

7.6.3.7 CAN

7.6.3.8 MCI

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327

. . . . . . . . . . . . . . . . . . . . . 328

. . . . . . . . . . . . . . . . . . . . . 335

. . . . . . . . . . . 336

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358

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7.7.7 Binary signal monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358

7.7.8 Analog signal monitor

7.7.9 D-FlipFlop

7.7.10 Counter

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359

8 Basic drive functions (MCK)

8.1 Basic signal flow

8.2 Internal interfaces | System block "LS_MotionControlKernel"

8.2.1 MCK control word

8.2.2 MCK status word

8.2.3 Interface to safety system

8.3 MCKInterface

8.3.1 Control inputs | "L_MckCtrlInterface" function block

8.3.2 Status outputs | FB "L_MckStateInterface"

8.4 Basic settings

8.4.1 Machine parameters

8.4.2 Min/Max speed

8.4.3 Limit position monitoring

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374

8.3.1.1 Alternative functions for control bit "PosExecute"

8.3.1.2 Operating mode change with profile number

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385

8.4.1.1 Gearbox ratio

8.4.1.2 Feed constant

8.4.3.1 Software limit positions

8.4.3.2 Hardware limit switch

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391

. . . . . . . . . . . . . . . . . . . . . . 364

. . . . . . . . . . . . . . . . . . . . . . . 376

. . . . . . . . . . . . . . . 381

. . . . . . . . . . . . . . . . . . . 382

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383

8.5 Speed follower

8.5.1 Parameter setting

8.5.1.1 Functional settings

8.5.2 Requesting the operating mode

8.5.3 Setpoint selection

8.6 Homing

8.6.1 Parameter setting

8.6.2 Requesting the operating mode

8.6.3 Carrying out homing

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395

8.6.1.1 Referencing mode

8.6.1.2 Home position & home value offset

8.6.1.3 Traversing a sequence profile after completion of homing

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 404

. . . . . . . 404

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405

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8.7 Manual jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 406

8.7.1 Parameter setting

8.7.1.1 Functional settings

8.7.1.2 Smooth start and quick stop of the drive

8.7.1.3 Second speed

8.7.2 Requesting the operating mode

8.7.3 Executing manual jogging

8.7.3.1 Manual jog to limit position

8.7.3.2 Retracting of an operated limit switch

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 408

. . . . . . . . . . . . . . . . . . . . . . . . 409

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411

. . . . . . . . . . . . . . . . . . . . . . . . . . 413

8.8 Positioning

8.8.1 Possible motion profiles

8.8.2 Parameter setting

8.8.3 Requesting the operating mode

8.8.4 Carrying out positioning

8.9 Stop

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 430

8.9.1 Parameter setting

8.9.2 Requesting the operating mode

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416

8.8.2.1 Functional settings

8.8.2.2 Profile entry

8.8.2.3 Positioning modes

8.8.2.4 S-ramp time for jerk limitation

8.8.2.5 Following error monitoring

8.8.4.1 Stipulation of the profile to be executed

8.8.4.2 Starting/cancelling a traversing task

8.8.4.3 Override of the parameterised positioning mode

8.8.4.4 Position teaching

8.8.4.5 "Position target reached" status

8.8.4.6 "Transient phenomenon active" status

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 430

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424

. . . . . . . . . . . . . . . . . . . . . . . . 424

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 425

. . . . . . . . . . . . . . . . 426

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 427

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428

. . . . . . . . . . . . . . . . . . . . . . . . . . 429

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 430

8.10 Position follower

8.10.1 Parameter setting

8.10.2 Requesting the operating mode

8.10.3 Setpoint selection

8.11 Override

8.11.1 Speed override

8.11.2 Acceleration override

8.11.3 S-ramp smoothing override

10 L Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431

8.10.1.1 Functional settings

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 432

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 432

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436

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8.12 Holding brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 437

8.12.1 Internal interfaces

8.12.2 Parameter setting

8.12.2.1 Operating mode

8.12.2.2 Functional settings

8.12.2.3 Time response of the brake (time diagram)

8.12.2.4 Switching thresholds

8.12.2.5 Applying and releasing time

8.12.2.6 Ramp times for approaching the setpoint speed

8.12.2.7 Motor magnetising time (only with asynchronous motor)

8.12.2.8 Actual value monitoring

8.12.3 Process when brake is released

8.12.4 Process when brake is closed

8.12.5 Response to pulse inhibit

8.12.6 Torque precontrol during starting

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 440

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442

. . . . . . . . . . . . . . . . . . . . . . 443

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445

. . . . . . . . . . . . . . . . . 447

. . . . . . . . 448

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451

9 Diagnostics & error management

9.1 Basics on error handling in the controller

9.2 LED status displays

9.2.1 LED status displays of the device state

9.3 Drive diagnostics with the »Engineer«

9.4 Drive diagnostics via keypad/bus system

9.5 Logbook

9.5.1 Functional description

9.5.2 Filtering logbook entries

9.5.3 Reading out logbook entries

9.5.4 Exporting logbook entries to a file

9.6 Monitoring

9.6.1 Monitoring configuration

9.6.2 Setting the error response

9.6.3 AutoFailReset function

9.7 Maloperation of the drive

9.8 Operation without mains supply

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 467

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470

9.9 Error messages of the operating system

9.9.1 Structure of the error number (bit coding)

9.9.2 Reset of error message

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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 471

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 471

9.9.1.1 Error type

9.9.1.2 Error subject area

9.9.1.3 Error ID

9.9.1.4 Example for bit coding of the error number

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 471

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 472

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 472

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 474

. . . . . . . . . . . . . . . . . . . . . 473

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9.9.3 Short overview (A-Z) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475

9.9.4 Cause & possible remedies

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 478

9.10 System block "LS_SetError_1"

9.11 System block "LS_SetError_2"

10 System bus "CAN on board"

10.1 General information

10.1.1 General data and application conditions

10.1.2 Supported protocols

10.1.3 Communication time

10.2 Possible settings via DIP switch

10.2.1 Activating the bus terminating resistor

10.2.2 Setting the baud rate

10.2.3 Setting the node address

10.3 LED status displays for the system bus

10.4 Going online via system bus (CAN on board)

10.5 Structure of the CAN data telegram

10.5.1 Identifier

10.5.2 User data

10.6 Communication phases/network management

10.6.1 Status transitions

10.6.2 Network management telegram (NMT)

10.6.3 Parameterising the controller as CAN master

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 502

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 509

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 509

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515

10.7 Process data transfer

10.7.1 Available process data objects

10.7.1.1 RPDO1 | Port block "LP_CanIn1"

10.7.1.2 RPDO2 | Port block "LP_CanIn2"

10.7.1.3 RPDO3 | Port block "LP_CanIn3"

10.7.1.4 TPDO1 | Port block "LP_CanOut1"

10.7.1.5 TPDO2 | Port block "LP_CanOut2"

10.7.1.6 TPDO3 | Port block "LP_CanOut3"

10.7.2 Identifiers of the process data objects

10.7.3 Transmission type

10.7.4 PDO synchronisation via sync telegram

10.7.5 Monitoring of the RPDOs for data reception

10.7.6 Configuring exception handling of the CAN PDOs

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 522

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 523

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 527

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528

. . . . . . . . . . . . . . . . . . . . . . . . . 528

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10.8 Parameter data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530

10.8.1 Identifiers of the parameter data objects

10.8.2 User data

10.8.2.1 Command

10.8.2.2 Addressing by means of index and subindex

10.8.2.3 Data 1 ... Data 4

10.8.2.4 Error messages

10.8.3 Parameter data telegram examples

10.8.3.1 Read parameters

10.8.3.2 Write parameters

10.8.3.3 Read block parameters

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 532

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 537

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 538

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 539

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531

. . . . . . . . . . . . . . . . . . . . 533

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 537

10.9 Monitoring

10.9.1 Integrated error detection

10.9.2 Heartbeat protocol

10.9.3 Emergency telegram

10.10 Implemented CANopen objects

10.11 Internal interfaces | System block "LS_CANManagement"

11 Fieldbus interface

11.1 Process data transfer

11.2 Control mode "MCI"

11.2.1 Port block "LP_MciIn"

11.2.2 Port block "LP_MciOut"

12 Parameter reference

12.1 Structure of the parameter descriptions

12.1.1 Data type

12.1.2 Parameters with read-only access

12.1.3 Parameters with write access

12.1.4 Parameter attributes

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543

10.9.2.1 Telegram structure

10.9.2.2 Parameter setting

10.9.2.3 Commissioning example

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 572

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 580

12.1.3.1 Parameters with setting range

12.1.3.2 Parameters with selection list

12.1.3.3 Parameters with bit-coded setting

12.1.3.4 Parameters with subcodes

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 583

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 548

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 579

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 580

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 546

. . . . . . . . . . . . . . . . . . . . . . . . . 571

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 582

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 583

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12.2 Parameter list. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585

12.2.1 Selection lists for connection parameters

12.2.1.1 Selection list - analog signals

12.2.1.2 Selection list - digital signals

12.2.1.3 Selection list - angle signals

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 797

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 797

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 802

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 808

12.3 Table of attributes

13 Working with the FB Editor

13.1 Basics

13.1.1 Basic components of a drive solution

13.1.2 Conventions used for input/output identifiers

13.1.3 Scaling of physical units

13.2 User interface

13.2.1 Toolbar

13.2.2 Search function

13.2.3 Level selection

13.2.4 Editor view/overview

13.2.5 Context menu

13.2.6 Status bar

13.2.7 Overview window

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 820

13.1.1.1 What is a function block?

13.1.1.2 Parameterisable function blocks

13.1.1.3 What is a system block?

13.1.1.4 What is a port block?

13.1.1.5 What is an application block?

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 827

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 809

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 820

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 821

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 822

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 823

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 823

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 824

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 824

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 825

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 826

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 828

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 829

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 830

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 832

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 833

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 833

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 834

13.3 Using the FB Editor as "Viewer"

13.3.1 Following connections of inputs and outputs

13.3.2 Keyboard commands for navigation

13.3.3 Change online display format

13.4 Reconfiguring the predefined interconnection

13.4.1 Inserting/Deleting objects

13.4.1.1 Inserting a function block

13.4.1.2 Inserting a system block

13.4.1.3 Inserting a port block

13.4.1.4 Inserting a comment

13.4.1.5 Deleting objects that are no longer required

13.4.2 Changing connector visibilities

13.4.3 Arranging objects in the drawing area

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 836

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 838

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 839

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 841

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 842

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 844

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 846

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 848

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 851

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 837

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 841

. . . . . . . . . . . . . . . . . . . . . 850

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 852

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13.4.4 Creating/deleting connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 853

13.4.4.1 Creating a connection using the connection line

13.4.4.2 Creating a connection using port identifiers

13.4.4.3 Creating a connection via connection dialog

13.4.4.4 Deleting connections that are no longer required

13.4.5 Changing the processing order

13.4.6 Copying interconnection elements (across all devices)

13.4.6.1 Insert options for copied elements

13.4.7 Resetting changed interconnection

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 859

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 863

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 864

. . . . . . . . . . . . . . . . . 855

. . . . . . . . . . . . . . . . . . . . . 856

. . . . . . . . . . . . . . . . . . . . . 857

. . . . . . . . . . . . . . . . 858

. . . . . . . . . . . . . . . . . . . . . 861

13.5 Adjusting online and offline interconnection

13.6 Printing the interconnection

13.7 Comparing interconnections

13.8 Copying an interconnection

13.9 Exporting/Importing an interconnection

14 Function library

14.1 Function blocks

14.1.1 L_Absolute_1

14.1.2 L_Absolute_2

14.1.3 L_AddSub_1

14.1.4 L_AnalogSwitch_1

14.1.5 L_AnalogSwitch_2

14.1.6 L_AnalogSwitch_3

14.1.7 L_AnalogSwitch_4

14.1.8 L_AnalogSwitch_5

14.1.9 L_And_1

14.1.10 L_And_2

14.1.11 L_And_3

14.1.12 L_And5_1

14.1.13 L_And5_2

14.1.14 L_Arithmetik_1

14.1.15 L_Arithmetik_2

14.1.16 L_Arithmetik_3

14.1.17 L_Arithmetik_4

14.1.18 L_Arithmetik_5

14.1.19 L_ArithmetikPhi_1

14.1.20 L_ArithmetikPhi_2

14.1.21 L_ArithmetikPhi_3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 872

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 872

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 876

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 877

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 883

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 884

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 885

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 886

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 887

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 866

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 867

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 870

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 878

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 879

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 880

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 881

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 882

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 888

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 889

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 890

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 891

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 892

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 893

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 894

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 895

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 865

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 871

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14.1.22 L_Compare_1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 896

14.1.22.1 Function 1: nIn1 = nIn2

14.1.22.2 Function 2: nIn1 > nIn2

14.1.22.3 Function 3: nIn1 < nIn2

14.1.22.4 Function 4: |nIn1| = |nIn2|

14.1.22.5 Function 5: |nIn1| > |nIn2|

14.1.22.6 Function 6: |nIn1| < |nIn2|

14.1.23 L_Compare_2

14.1.24 L_Compare_3

14.1.25 L_Compare_4

14.1.26 L_Compare_5

14.1.27 L_ComparePhi_1

14.1.27.1 Function 1: dnIn1 = dnIn2

14.1.27.2 Function 2: dnIn1 > dnIn2

14.1.27.3 Function 3: dnIn1 < dnIn2

14.1.27.4 Function 4: |dnIn1| = |dnIn2|

14.1.27.5 Function 5: |dnIn1| > |dnIn2|

14.1.27.6 Function 6: |dnIn1| < |dnIn2|

14.1.28 L_ComparePhi_2

14.1.29 L_ComparePhi_3

14.1.30 L_ComparePhi_4

14.1.31 L_ComparePhi_5

14.1.32 L_ConvBitsToWord_1

14.1.33 L_ConvBitsToWord_2

14.1.34 L_ConvBitsToWord_3

14.1.35 L_ConvDIntToWords_1

14.1.36 L_ConvDIntToWords_2

14.1.37 L_ConvDIntToWords_3

14.1.38 L_ConvUnitsToIncr_1

14.1.39 L_ConvUnitsToIncr_2

14.1.40 L_ConvUnitsToIncr_3

14.1.41 L_ConvW_1

14.1.42 L_ConvW_2

14.1.43 L_ConvW_3

14.1.44 L_ConvW_4

14.1.45 L_ConvWordsToDInt_1

14.1.46 L_ConvWordsToDInt_2

14.1.47 L_ConvWordsToDInt_3

14.1.48 L_ConvWordToBits_1

14.1.49 L_ConvWordToBits_2

14.1.50 L_ConvWordToBits_3

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 901

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 902

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 903

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 904

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 905

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 910

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 911

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 912

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 913

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 914

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 915

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 916

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 917

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 918

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 919

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 920

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 921

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 922

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 923

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 925

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 926

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 927

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 928

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 929

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 930

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 931

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 932

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 933

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 897

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 898

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 899

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 900

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 906

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 907

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 908

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 909

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14.1.51 L_Counter_1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 934

14.1.52 L_Counter_2

14.1.53 L_Counter_3

14.1.54 L_Curve_1

14.1.54.1 Function 2: nOut_a = f(x)

14.1.54.2 Function 3: nOut_a = f(table)

14.1.55 L_DFlipFlop_1

14.1.56 L_DFlipFlop_2

14.1.57 L_DigitalDelay_1

14.1.58 L_DigitalDelay_2

14.1.59 L_DigitalDelay_3

14.1.60 L_DigitalLogic_1

14.1.61 L_DigitalLogic_2

14.1.62 L_DigitalLogic5_1

14.1.63 L_DigitalLogic5_2

14.1.64 L_DT1_1

14.1.65 L_FixSet_a_1

14.1.66 L_FixSet_w_1

14.1.67 L_FixSet_w_2

14.1.68 L_GainOffset_1

14.1.69 L_GainOffset_2

14.1.70 L_GainOffset_3

14.1.71 L_GainOffsetP_1

14.1.72 L_GainOffsetP_2

14.1.73 L_GainOffsetP_3

14.1.74 L_GainOffsetPhiP_1

14.1.75 L_GainOffsetPhiP_2

14.1.76 L_Interpolator_1

14.1.76.1 Signal interpolation

14.1.76.2 Signal monitoring

14.1.77 L_JogCtrlExtension_1

14.1.78 L_Limit_1

14.1.79 L_Limit_2

14.1.80 L_LimitPhi_1

14.1.81 L_LimitPhi_2

14.1.82 L_LimitPhi_3

14.1.83 L_MPot_1

14.1.83.1 Activate & control motor potentiometer

14.1.83.2 Deactivate motor potentiometer

14.1.84 L_MulDiv_1

14.1.85 L_MulDiv_2

14.1.86 L_Mux_1

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 936

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 938

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 940

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 941

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 942

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 945

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 946

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 947

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 949

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 950

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 951

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 953

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 955

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 957

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 959

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 960

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 961

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 962

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 963

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 964

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 965

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 966

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 967

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 968

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 969

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 970

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 971

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 972

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 973

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 974

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 976

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 977

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 978

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 979

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 980

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 981

. . . . . . . . . . . . . . . . . . . . . . . . 983

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 984

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 985

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 986

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 987

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14.1.87 L_Negation_1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 988

14.1.88 L_Negation_2

14.1.89 L_NLim_1

14.1.90 L_NLim_2

14.1.91 L_Not_1

14.1.92 L_Not_2

14.1.93 L_Not_3

14.1.94 L_Not_4

14.1.95 L_Not_5

14.1.96 L_Not_6

14.1.97 L_Not_7

14.1.98 L_NSet_1

14.1.98.1 Main setpoint path

14.1.98.2 JOG setpoints

14.1.98.3 Setpoint inversion

14.1.98.4 Value range of the input signal

14.1.98.5 Skip frequency function

14.1.98.6 Ramp function generator for the main setpoint

14.1.98.7 S-shaped ramp

14.1.98.8 Additional setpoint

14.1.99 L_Odometer_1

14.1.100L_OffsetGain_1

14.1.101L_OffsetGain_2

14.1.102L_OffsetGain_3

14.1.103L_OffsetGainP_1

14.1.104L_OffsetGainP_2

14.1.105L_OffsetGainP_3

14.1.106L_OffsetGainPhiP_1

14.1.107L_OffsetGainPhiP_2

14.1.108L_Or_1

14.1.109L_Or_2

14.1.110L_Or_3

14.1.111L_Or5_1

14.1.112L_Or5_2

14.1.113L_PhaseDiff_1

14.1.114L_PhaseDiff_2

14.1.115L_PhaseIntK_1

14.1.116L_PhaseIntK_2

14.1.98.9 Application example for the additional load function

14.1.115.1Function at constant input value

14.1.115.2Function at input value with sign reversal

14.1.115.3Calculation of the output signal

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 989

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 990

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 993

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 995

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 996

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 997

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 998

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 999

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1002

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1003

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1003

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1004

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1009

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1009

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1010

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1012

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1013

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1014

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1015

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1016

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1017

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1018

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1019

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1020

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1021

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1022

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1023

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1024

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1025

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1026

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1027

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1031

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1003

. . . . . . . . . . . . . . . . . 1007

. . . . . . . . . . . . 1009

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1028

. . . . . . . . . . . . . . . . . . . . . . . 1029

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1030

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14.1.117L_PosiShaftCtrlInterface_1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1033

14.1.118L_PCTRL_1

14.1.118.1Control characteristic

14.1.118.2Ramp function generator

14.1.118.3Operating range of the PID process controller

14.1.118.4Evaluation of the output signal

14.1.118.5Deactivation of the process controller

14.1.119L_PT1_1

14.1.120L_PT1_2

14.1.121L_PT1_3

14.1.122L_RLQ_1

14.1.123L_RSFlipFlop_1

14.1.124L_RSFlipFlop_2

14.1.125L_SampleHold_1

14.1.126L_SampleHold_2

14.1.127L_SignalMonitor_a

14.1.128L_SignalMonitor_b

14.1.129L_SignalSwitch_1

14.1.130L_SignalSwitch_2

14.1.131L_SignalSwitch_3

14.1.132L_SignalSwitch_4

14.1.133L_SQrt_1

14.1.134L_SRFG_1

14.1.135L_SRFG_2

14.1.136L_Transient_1

14.1.136.1Function 0: Evaluate rising signal edges

14.1.136.2Function 1: Evaluate falling signal edges

14.1.136.3Function 2: Evaluate rising and falling signal edges

14.1.137L_Transient_2

14.1.138L_Transient_3

14.1.139L_Transient_4

14.1.140L_Transient_5

14.1.141L_Transient_6

14.1.142L_Transient_7

14.1.143L_Transient_8

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1034

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1038

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1039

. . . . . . . . . . . . . . . . . . . 1039

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1039

. . . . . . . . . . . . . . . . . . . . . . . . . . 1040

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1041

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1042

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1043

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1044

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1045

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1046

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1047

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1048

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1049

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1050

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1051

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1052

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1053

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1054

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1055

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1056

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1058

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1060

. . . . . . . . . . . . . . . . . . . . . . . . . 1061

. . . . . . . . . . . . . . . . . . . . . . . . 1061

. . . . . . . . . . . . . . 1062

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1063

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1064

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1065

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1066

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1067

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1068

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1069

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Contents

14.2 System blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1070

14.2.1 LS_AnalogInput

14.2.2 LS_AnalogOutput

14.2.3 LS_CANManagement

14.2.4 LS_DataAccess

14.2.5 LS_DeviceMonitor

14.2.6 LS_DigitalInput

14.2.7 LS_DigitalOutput

14.2.8 LS_DisFree

14.2.9 LS_DisFree_a

14.2.10 LS_DisFree_b

14.2.11 LS_DisFree_p

14.2.12 LS_DriveInterface

14.2.13 LS_Keypad

14.2.14 LS_MotionControlKernel

14.2.15 LS_MotorInterface

14.2.16 LS_ParFix

14.2.17 LS_ParFree

14.2.18 LS_ParFree_a

14.2.19 LS_ParFree_b

14.2.20 LS_ParFree_p

14.2.21 LS_ParFree_v

14.2.22 LS_ParReadWrite_1-6

14.2.23 LS_PulseGenerator

14.2.24 LS_SetError_1

14.2.25 LS_SetError_2

14.2.26 LS_WriteParamList

14.2.26.1 Configuring the list using the »Engineer« parameterisation dialog

14.2.26.2 Configuring the list by means of parameterisation

14.2.26.3 Activating the writing of the parameters

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1080

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1072

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1072

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1072

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1072

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1072

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1072

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1073

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1074

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1075

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1076

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1077

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1077

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1078

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1079

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1079

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1081

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1082

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1083

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1084

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1085

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1086

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1088

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1089

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1090

1092

. . . . . . . . . . . . . . . 1095

. . . . . . . . . . . . . . . . . . . . . . . . 1096

15 Index

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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1097

Your opinion is important to us

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1116

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1 About this documentation

 Danger!

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

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

Please read the safety instructions provided in the 8400 Mounting Instructions and in the 8400 Hardware Manual 8400. Both documents are supplied with the controller.

This Software Manual contains information on the parameterisation of the 8400 HighLine C controller by means of the L-force »Engineer« and the X400 keypad.

About this documentation

Document history

The information in this Software Manual is valid for the 8400 HighLine C controller with the following nameplate data:

Product series Type designation From software version

8400 HighLine C E84AVHCxxxxx 01.00

 Tip!

Current documentation and software updates for Lenze products can be found on the Internet in the "Services & Downloads" area under

http://www.Lenze.com

1.1 Document history

Version Description

1.0 07/2008 TD06 First edition

2.0 11/2008 TD06 Extended by new functions for 8400 HighLine C V02.00.00

3.0 04/2009 TD06 Error corrections & supplements

3.1 08/2009 TD05/06 Extended by new functions for 8400 HighLine C V04.00.00

4.0 10/2009 TD05/06 Restructuring of some chapters, error corrections & supplements

4.1 12/2009 TD05 Error correction & amendments, parameter reference V05.00.00

4.2 02/2010 TD05 Error corrections & supplements

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About this documentation Conventions used

1.2 Conventions used

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

Type of information Writing Examples/notes

Spelling of numbers

Decimal separators Point The decimal point is generally used.

Text

Version info Blue text colour All information that only applies to a certain

Program name » « The Lenze »Engineer« PC software ...

Window Italics The Message window... / The Options dialog box...

Variable identifier By setting bEnable to TRUE...

Control element Bold The OK button... / The Copy command... / The

Sequence of menu commands

Shortcut <Bold> Press <F1> to open the online help.

Hyperlink underlined

Icons

Page reference ( 22) Optically highlighted reference to another page. In

Step-by-step instructions



For example: 1234.56

controller software version or higher is identified accordingly in this documentation.

Example: This function extension is available from

software version 04.00.00!

Properties tab... / The Name input field...

If the execution of a function requires several commands, the individual commands are separated by an arrow: Select File

If a command requires a combination of keys, a "+" is placed between the key symbols: Use <Shift>+<ESC> to...

Optically highlighted reference to another topic. In this documentation activated by mouse-click.

this documentation activated by mouse-click.

Step-by-step instructions are indicated by a pictograph.

Open to...

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

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1.3 Terminology used

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Term Meaning

»Engineer« Lenze PC software which supports you in "engineering" (parameterisation,

Application block Block for a technology application (e.g. actuating drive speed)

ASM Asynchronous motor

Service brake The service brake serves to shutdown rotary or translatory masses in motion in

Code Parameter used for controller parameterisation or monitoring.

Display code Parameter that displays the current state or value of an input/output of a

FB Editor Function block editor

Function block General designation of a function block for free interconnection (only HighLine).

Holding brake The holding brake serves to statically hold e.g. a position during the downtimes

Keypad The keypad is an alternative to the PC for the local operation, parameterisation,

LA Abbreviation: Lenze Application block, e.g. LA_NCtrl, block for the "Actuating

Lenze setting This setting is the default factory setting of the device.

LP Abbreviation: Lenze Port block, e.g. LP_CanIn1, port block CAN1

LS Abbreviation: Lenze System block, e.g. LS_DigitalInput, system block for digital

Emergency brake The emergency brake serves to shutdown rotary or translatory masses in motion

Port block Block for implementing the process data transfer via a fieldbus

QSP Quick stop

SC Operating mode: Servo Control

SLVC Operating mode: Sensorless vector control ("SensorLess Vector Control")

Subcode If a code contains several parameters, the individual parameters are stored

8400 HighLine | Parameter setting & configuration

About this documentation

Terminology used

diagnostics and configuration) throughout the whole life cycle, i.e. from planning to maintenance of the commissioned machine.

A technology application is a drive solution based on the experience and knowhow of Lenze in which function blocks interconnected to a signal flow form the basis for implementing typical drive tasks.

a controlled manner. The energy to be dissipated in this process is produced in the form of friction energy. Unlike emergency braking, this process is a regular and recurring operating mode.

The term is usually called "index".

system block.

Graphical interconnection tool which is provided for FB interconnections in the »Engineer« on the FB Editor tab and by means of which the applications integrated in the 8400 HighLine controller can also be reconfigured and extended by individual functions.

A function block can be compared with an integrated circuit that contains a certain control logic and delivers one or several values when being executed.

• Each function block has a unique identifier (the instance name) and a processing number which defines the position at which the function block is calculated during the task cycle.

Representation e.g. "L_Arithmetik1": Function block for arithmetic operations

of a robot/travelling/synchronous/hoist drive.

and diagnostics in a simple manner.

• Detailed type designation: X400 keypad

• Order designation: EZAEBK1001

drive speed" application

input signals

in emergency situations. Emergency situations are exceptional situations that only occur sporadically.

under "subcodes". This Manual uses a slash "/" as a separator between code and subcode

(e.g. "C00118/3"). The term is usually called "subindex".

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About this documentation Terminology used

Term Meaning

System block System blocks provide interfaces to basic functions and to the hardware of the

USB diagnostic adapter The USB diagnostic adapter is used for the operation, parameterisation, and

VFCplus Operating mode: V/f characteristic control ("Voltage Frequency Control")

controller in the EB Editor of the »Engineer« (e.g. to the digital inputs).

diagnostics of the controller. Data are exchanged between the PC (USB connection) and the controller (diagnostic interface on the front) via the diagnostic adapter.

• Order designation: E94AZCUS

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1.4 Definition of the notes used

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

Safety instructions

Layout of the safety instructions:

 Pictograph and signal word!

(characterise the type and severity of danger)

Note

(describes the danger and informs how to prevent dangerous situations)

Pictograph Signal word Meaning

Danger! Danger of personal injury through dangerous electrical voltage



Danger! Danger of personal injury through a general source of danger



Stop! Danger of property damage



Refere nce to a n imm inent d anger t hat may resu lt in deat h or s erious pe rsonal injury if the corresponding measures are not taken.

Reference to a possible danger that may result in property damage if the corresponding measures are not taken.

About this documentation

Definition of the notes used

Application notes

Pictograph Signal word Meaning

Note! Important note to ensure trouble-free operation



Tip! Useful tip for easy handling



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8400 HighLine | Parameter setting & configuration

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Introduction: Parameterising the controller

2 Introduction: Parameterising the controller

[2-1] Exemplary constellation for parameterising the controller

Being a component of a machine which includes a speed-variable drive system, the controller needs to be adjusted to its drive task. The controller is adjusted by changing parameters which are saved in the memory module.

These parameters can optionally be accessed from the keypad, or the L-force »Engineer«, or a master control via fieldbus communication:

 Simply plug in the X400 keypad onto the controller if you would like to use it.

 The USB diagnostic adapter, for instance, can be used for the communication between

the PC (including the L-force »Engineer« software) and the controller, see illustration. The USB diagnostic adapter is the connection between the PC (free USB port) and the controller (X6 diagnostic interface).

 The "CAN on board" CAN interface and the MCI interface are provided for fieldbus

communication and can be used for a communication module (e.g. PROFIBUS).

 Tip!

How to obtain/update the L-force »Engineer« software:

• Download from the Internet:

The full version of the »Engineer StateLevel« is provided free of charge. Current software can be found on the Internet in the "Services & Downloads" area under

http://www.Lenze.com

• Requesting the CD

You can also request the L-force »Engineer« separately on CD free of charge at your Lenze representative. See the "About Lenze" area on our homepage for e.g. the corresponding German address.

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8400 HighLine | Parameter setting & configuration

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2.1 General notes on parameters

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

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

 In addition, every code has a name and specific attributes:

– Access type (read, write) –Data type – Limit values – Lenze setting (factory-set scaling)

 For the sake of clarity, some codes contain "subcodes" for saving parameters. This

Manual uses a slash "/" as a separator between code and subcode, e.g. C00118/3".

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

Parameter group Examples

Setting parameters

Parameters for specifying setpoints and for setting device / monitoring functions.

Configuration parameters

Parameters for configuring signal connections (function block interconnections) within the device, e.g. assignment of the digital input terminals to the control inputs of the technology application.

Diagnostic/Display parameters

Parameters for displaying device-internal process factors, current actual values, and status messages, e.g. for diagnostic purposes. These are read-only parameters.

Introduction: Parameterising the controller

General notes on parameters

C00005

: Application selection

C00012

: Acceleration time - main setpoint

C00169

: Logbook setting

C00604

: Resp. to device overload (Ixt)

: LA_NCtrl: Analog connection list

C00700 C00701

: LA_NCtrl: Digital connection list

C00710

: LA_TabPos: Analog connection list

C00711

: LA_TabPos: Digital connection list

C00052

: Motor voltage

C00137

: Device state

C00150

: Status word

C00165

: Error information

 Tip!

The terms "code" and "subcode" generally correspond to the terms "index" and "subindex" and "parameter" and "subparameter".

2.2 Handling the memory module

All parameters of the drive system are saved in the integrated memory module of the controller. These include

 the parameters of the controller

 the parameters of the communication module plugged into the MCI interface  the parameters of the possibly existing safety module (device variant)

When handling the memory module, a distinction is drawn between the following scenarios:

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Introduction: Parameterising the controller Handling the memory module

Delivery

 All devices are delivered with a plugged-on memory module.

 In the delivery state, the Lenze setting of the parameters is stored in the memory

module.

 The memory module can be preconfigured with customer-specific data.

 The memory module is available as a spare part - without any data.

During operation

 Note!

Automatic saving is explicitly not supported because this significantly reduces the service life of the memory module.

 Plugging and unplugging the memory module results in a message.

 Full functionality of the memory module is even provided if the power supply has been

switched off and only the electronic components of the controller are externally supplied by a 24 V DC voltage, e.g. via the X5/24E terminal.

 Parameter sets can be saved manually.

 Parameter sets can be loaded manually.

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8400 HighLine | Parameter setting & configuration

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Introduction: Parameterising the controller

Handling the memory module

Unplugging the memory module

 The memory module can be plugged and unplugged during operation. The behaviour

of the device remains basically unchanged because all parameters are available in the RAM after the device has been started.

 Unplugging the memory module during operation results in an error message and

should therefore be avoided.

 The device can also be parameterised when the memory module is unplugged. Of

course, the parameter sets cannot be saved to the memory module then (cp. Saving the

parameters to the memory module safe against mains failure ( 29)).

Replacing the controller

 In the event of a device replacement, the entire parameter data of an axis can be copied

to the replacement device by "taking along" the memory module, so that additional PC or keypad operations are not required.

 When replacing the controller, the versions of the old device and the new device are of

importance. Before data are actually transferred, the versions are internally checked. Basically, the following applies:

– Parameter sets of old devices with V 1.0 can be processed on new devices ≥ V1.0

(downward compatibility).

– Parameters of devices with higher versions are not supported on devices with lower

versions. An error message will be issued if the parameter set versions of the two devices are not compatible.

– Parameter sets of devices with versions that have less functions (e.g. 8400 StateLine)

can be loaded into and executed on devices with versions that have more functions (e.g. 8400 HighLine). The reverse is not possible!

Saving the parameters to the memory module safe against mains failure

Controller parameter changes via the »Engineer«, the keypad, or a master control via fieldbus communication will be lost after mains switching of the controller unless the settings have been explicitly saved.

 Execute the "Save all parameter sets

parameter settings to the memory module.

 Using the keypad, you can also press function key

" controller command to save the current

( 71)

 to save the parameter settings.

 Note!

When the device or the external 24 V DC voltage supply is switched on, all parameters are automatically loaded from the memory module into the main memory of the controller.

Please observe the following points during the storage process to avoid data inconsistencies which would result in an error when loading the parameters from the memory module:

• Do not switch off the supply voltage!

• Do not remove the memory module from the device!

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Introduction: Parameterising the controller Handling the memory module

Parameter set transfer using the »Engineer«

When an online connection to the controller has been established, the following transfer functions can directly be executed via the Toolbar or the Online menu using the L-force »Engineer«:

Symbol Menu command Shortcut

Download parameter set <F5>

Upload parameter set <F7>

Save parameter set

 Tip!

Detailed information on parameter set transfers using the »Engineer« can be found in the »Engineer« online help.

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2.3 Handling the keypad

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Use the keypad for quick and simple parameter setting and for displaying current actual values and device states via the respective display parameters. For this purpose, plug in the keypad onto the X6 diagnostic interface on the front of the standard device.

 Danger!

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

• This may lead to undesirable behaviour on the motor shaft if the controller has been enabled!

• Setpoint sources, for instance, may switch over all of a sudden (e.g. when configuring the signal source for the main setpoint).

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

8400 HighLine | Parameter setting & configuration

Introduction: Parameterising the controller

Handling the keypad

 Note!

Plugging and unplugging the keypad is possible during operation.

 Detailed information on the keypad can be found in the operating instructions

accompanying the keypad!

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Introduction: Parameterising the controller Handling the keypad

Menu structure

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

 The USER menu includes a selection of frequently used parameters (freely configurable

in C00517

 The Code list contains all parameters.

 The Go to param function enables you to reach the corresponding parameter directly.  The Logbook logs all errors and their chronological history.

 All other menus and submenus in the keypad correspond precisely to the categories

and subcategories which are displayed in the form of buttons on the left hand side of the All parameters tab in the »Engineer«:

 Category  Subcategories

[2-2] All parameters tab in the »Engineer«

General operation

1. Use the – Use the – Use the

2. Use the

3. Use the

4. Use the navigation keys to set the desired value. – Use the – Use the

5. Use the – Use the

 Tip!

/ navigation keys to select the desired menu.

/ navigation keys to reach a higher/lower menu level.  function key to return to the main menu.

/ navigation keys to select the parameter to be set within a submenu.

 function key to switch over to the editing mode.

/ navigation keys to move the cursor to the left/right. / navigation keys to change the selected digit.

 function key to accept the change and to leave the editing mode.

 function key to leave the editing mode without accepting the change.

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General information on setting parameters using the »Engineer« can be found in the »Engineer« online help.

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3 Commissioning

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 Danger!

Take all the necessary safety precautions before you carry out the following commissioning steps and switch the device on!

8400 HighLine | Parameter setting & configuration

Commissioning

Guide

3.1 Guide

Commissioning for test/demonstration purposes

This type of commissioning serves to make the motor rotate in best time for test/ demonstration purposes with as little wiring effort and optimisation as possible. Commissioning is performed using the X400 keypad which includes a separate "Quick commissioning" menu with all the parameters required for basic readiness for operation.

Quick commissioning

Commissioning of technology applications

Commissioning the "Actuating drive speed" TA using the keypad

Commissioning the "Actuating drive speed" TA using the »Engineer«

Commissioning the "Table positioning" TA using the »Engineer«

Commissioning the "Switch-off positioning" TA using »Engineer«

Safety instructions with regard to commissioning

( 38)

( 36)

( 43)

( 46)

( 50)

( 60)

3.1.1 Before commissioning

The »Engineer« and the X400 keypad are available as commissioning tools when a Lenze drive controller has to be commissioned. The question as to which of these two commissioning tools should be used for a particular instance of commissioning depends on several factors and cannot be responded to with a globally applicable answer.

For a practiced user, for example, using the keypad during commissioning of a simple drive task is often the easier method if the convenience and diagnostics options of the »Engineer« are not needed. Frequently, the complexity of the machinery to be commissioned determines which is the most suitable commissioning tool.

Some criteria may help you to select the right commissioning tool:

 Commissioning using the X400 keypad is suitable

– for simple drive tasks such as quick commissioning for test/demonstration purposes – and - to a limited degree - for commissioning the "Actuating drive speed" technology

application.

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Commissioning Guide

 Commissioning using the »Engineer« engineering software is suitable

– for basically every drive task.

The »Engineer« is a tool which will support you throughout the entire life cycle of a machine - from planning to maintenance. The support includes the online help integrated into the »Engineer« and the software documentation provided in the scope of supply of the device.

– Suited in particular for drive tasks with more demanding requirements/more

comprehensive parameter setting.

 Tip!

• During operation, the keypad can be plugged anytime and removed again from the controller.

• The drive controller can remain separated from the three-phase power supply system if only parameter setting and diagnosis are to take place during commissioning. In this case, it is sufficient to supply the drive controller from an external direct-voltage source (U = 24 V).

• Use the drive diagnostic function of the "X400" keypad (if available) and the LEDs located on the front of the drive controller: DRIVE READY/ERROR: LED status displays of the device state CAN-RUN/CAN-ERR: LED status displays for the system bus

( 454)

( 507)

Preconditions for commissioning with the »Engineer«

For commissioning, you need

 a PC that satisfies the following requirements:

– processor with 1.4 GHz or higher – at least 512 MB RAM and 650 MB free hard disc space – Microsoft® Windows® 2000 operating system (from service pack 2 onwards) or

Windows® XP

 the Lenze »Engineer« PC software

 a connection to the drive controller

– for example via the X6/USB diagnostic adapter which serves as a diagnostic

interface. The USB diagnostic adapter is not included in the scope of supply for the drive controller. It must be appropriately connected to the X6 diagnostic interface ("DIAG" terminal) of the drive controller and to a free USB port of the PC. The associated description is contained on the CD accompanying the drive controller.

 Tip!

You can find detailed information on the general use of the »Engineer« in the online help which you can call with [F1].

34 L Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010

If necessary, carry out a software update to bring the engineering software up-todate. You can find more information on this topic in the chapter entitled "Introduction: Parameterising the controller

". ( 26)

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3.1.2 Trouble during commissioning

If the »Engineer« is used, trouble during commissioning can be detected and eliminated conveniently. Proceed as follows:

 Check whether error messages appear in the »Engineer«.

– You can find a description of each possible message in the chapter entitled

"Diagnostics & error management

 Check the input terminals for their corresponding setpoints.

 Check the signal flow of the application.

– To do this, open the Application Parameters tab and click on the Signal flow button.

The signal flow which is then shown enables a view of the setpoints being applied and their processing.

Commissioning

Guide

". ( 452)

Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010 L 35

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Commissioning Safety instructions with regard to commissioning

3.2 Safety instructions with regard to commissioning

3.2.1 General safety instructions

In order to prevent injury to persons or damage to material assets

 before connecting the mains voltage, check

– The wiring for completeness, short circuit, and earth fault – The "emergency stop" function of the entire system – The motor circuit configuration (star/delta) must be adapted to the output voltage

of the controller – The in-phase connection of the motor – The direction of rotation or the encoder (if available)

 The setting of the most important drive parameters before enabling the controller:

– Is the V/f rated frequency adapted to the motor circuit configuration? – Are the drive parameters relevant for your application set correctly? – Is the configuration of the analog and digital inputs and outputs adapted to the

wiring?

3.2.2 Safety instructions with regard to motor operation

 Danger!

• For thermal reasons, continuous operation of self-ventilated motors at a low field frequency and rated motor current is not permissible. If required, a motor temperature monitoring should be activated with C00585

Motor temperature monitoring (PTC) ( 201) Brake resistor monitoring (I2xt)

• C00015 must be used to select 87 Hz operation if a delta-connected asynchronous motor (nameplate data: 400 V

conjunction with a drive controller for a mains voltage of 400 V.

( 202)

/230 V) is to be operated in



36 L Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010

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Commissioning

Safety instructions with regard to commissioning

 Tip!

In the Lenze setting, the "U/f characteristic linear" operating mode has been set for motor control. The parameter settings have been set in advance in such a way that, if the drive controller and 50 Hz asynchronous machine match each other in terms of performance, the drive controller is immediately ready for operation without any further parameter setting work and the motor works satisfactorily.

Recommendations for the following application cases:

• If the drive controller and motor differ greatly from each other in terms of performance  set code C00022 (I

Max

• If a higher starting torque is required  set code C00016 (U

3Hz (C00058), the rated motor current I

• For noise optimisation  set code C00018 to "3" (switching frequency 16 kHz

• If a high torque without feedback is to be provided at small speeds, we recommend the "Vector control" operating mode.

2.0 I

×=

N(motor)

limit in motor mode) to

max

increase) in such a way that, at a field frequency of f =

min

N(Motor)

flows.

sin var

Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010 L 37

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8400 HighLine | Parameter setting & configuration

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Commissioning Quick commissioning

3.3 Quick commissioning

For controlling the controller, please select

 keypad control if you want to use the X400 keypad as the control source. You can find

the associated description in the chapter entitled "Keypad control

 terminal control if you want to use a setpoint potentiometer as the control source. You

can find the associated description in the chapter entitled "Terminal control

 Tip!

Please read up on keypad handling first:

". ( 38)

". ( 41)

Handling the keypad

3.3.1 Keypad control

Commissioning steps

1. Wire the power connections – Refer to the mounting instructions supplied with the drive controller to find help on

how to correctly design the power connections to match the requirements of your device.

2. Wire the control connections

Digital inputs at terminal X5 Assignment Info

DI6

DI7

GI 24I

3. Load the Lenze setting into the controller

DI5

DI4

DI3

DI2 DI1

RFR

( 31)

RFR • Controller enabling:

24E

RFR = High

•Error resetting: RFR = HIGHÌLOW (edge-controlled)

MCTRL: Act. speed val.

C00051

0 rpm

38 L Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010

After the keypad has been plugged in or the drive controller has been switched on with the keypad plugged in, a connection is first established between the keypad and the drive controller.

• The process is completed if code C00051 appears in the display.

• Then press the left function key.

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Commissioning

Quick commissioning

Par1 8400 HighLineC

User - Menu

Go to param Logbook

Quick commissioning

SAVE

4. Set keypad control

Par1 Quick commissioning

Terminals

Keypad

SAVE

MCTRL: Act. speed val.

C00051

0 rpm

Load Lenze setting

C00002/1

EDIT

• Scroll to the bottom from the "User menu" with the button to the "Quick commissioning" menu

• Click on right-hand button

• Select the "Keypad" menu

• Click on right-hand button

• Code C00002/1: –Parameterise "Edit" using the

left function key

–Select value "1" ---> On/Start

and confirm with "OK" function key on right

During loading the Lenze setting, the display goes off for a short time.

• With the Lenze setting, the "Actuating drive speed" technology application is implemented.

• When the display reappears, the main menu is shown.

–The main menu can be set in a

user-defined manner via the codes C00465 ... C00469.

• Use the left function key to go to the USER menu

Par1 8400 HighLineC

User - Menu

Go to param Logbook

Quick commissioning

SAVE

Par1 Quick commissioning

Terminals

Keypad

SAVE

Load Lenze setting

C00002/1

EDIT

Select CtrlMode

C00007

EDIT

5. Enable controller: Set terminal X5/RFR to HIGH potential (reference: X5/24I).

6. Use the keypad to change the motor velocity or the motor speed by selecting different fixed setpoints:

Keypad Code Subcode Motor speed

Par1 Quick commissioning

Terminals

Keypad

SAVE

< ... >

C00728

C00051

EDIT

C00728 3 Counter-clockwise rotation:

C00051 - Display of actual speed value

• Continue as described in commissioning point 3: –"Quick commissioning" menu –Keypad –Load Lenze setting

• With the "Bottom" navigation key, code C00007 for selecting the control mode is reached:

–Select code C00007 and

parameterise with "Edit"

–Select value "20" ---> "Keypad"

and confirm with "OK".

-199.99 % ..... 0 (from C00011)

Clockwise rotation: 0 ... +199.99 % (from C00011)

Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010 L 39

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Commissioning Quick commissioning

Please observe – the actual speed value: C00051 – the LEDs on the front LED’s.LED status displays of the device state

( 454)

7. Save parameter settings with in the memory module.

SAVE

Available codes in the "Quick commissioning" menu

If you select suitable and reasonable values for the parameters in this menu, you can ensure an error-free operation of the controller.

Analog and digital control information (e.g. speed setpoint, CW rotation / CCW rotation) are selected depending on the setting of C00007

Parameter Display in the keypad Info

C00002/1

C00007

C00728/3

C00011

C00012

C00013

C00015

C00016

C00022

C00087

C00089

C00039/1

C00727/3

C00727/4

C00051 MCTRL: Act. speed val. Current speed value

C00054 Motor curr. Motor current

Highlighted in grey = display parameter

Load Lenze setting Load Lenze setting

Select CtrlMode Selecting the operating mode

nMainSetValue_a Main setpoint (for the "Actuating drive speed" application)

Appl.: Reference speed Reference speed

Accel. time - main setpoint Acceleration time

Decel. time - main setpoint Deceleration time

VFC: V/f base frequency Base frequency

VFC: Vmin boost V

Imax (motor mode) Current limit (in motor mode)

Rated motor speed Rated motor speed

Rated motor freq. Rated motor frequency

Fixed setpt 1 Fixed setpoint JOG1

bSetSpeedCcw Change of direction of rotation

bJogSpeed1 Jog value 1 for motor speed

(e.g. selection through the digital inputs).

boost

min

40 L Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010

Page 41

3.3.2 Terminal control

efesotomasyon.com - Lenze

Commissioning steps

1. Wire the power connections – Refer to the mounting instructions supplied with the drive controller to find help on

how to correctly design the power connections to match the requirements of your device.

2. Wire the control connections

Analog inputs at X3 Assignment Terminal control

O1U

8400 HighLine | Parameter setting & configuration

Commissioning

Quick commissioning

A1IA2I

A1UA2U

0...10 V

...

10kWW

A1U Setpoint selection

10 V (= 100 %): 1500 rpm (for 4-pole motor)

Wiring of the digital inputs at X5 Assignment Terminal control

DI6

DI7

GI 24I

DI3

DI5

DI4

DI2 DI1

24E

RFR

DI1 ... DI7: All active = High

Bold type: Minimum wiring needed for operation

RFR • Controller enabling: RFR = High

•Error resetting: RFR = HIGHÌLOW (edge-controlled)

DC 24 V

DI1 Fixed frequency 1 ... fixed frequency 3, see table

DI2

below

DI3 DCB

DI4 Direction of rotation counter-clockwise/clockwise

(CCW/CW)

DI5 ... DI7 No function

3. If you are sure that the drive controller is in its as-delivered condition (Lenze setting), you can skip the following commissioning step. Otherwise, restore the Lenze settings. We recommend that you use the keypad for this.

MCTRL: Act. speed val.

C00051

0 rpm

After the keypad has been plugged in or the drive controller has been switched on with the keypad plugged in, a connection is first established between the keypad and the drive controller.

• The process is completed if code C00051 appears in the display.

• Then press the left function key.

Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010 L 41

Par1 8400 HighLineC

User - Menu

Go to param Logbook

Quick commissioning

SAVE

Par1 Quick commissioning

Terminals

Keypad

SAVE

Load Lenze setting

C00002/1

EDIT

• Scroll to the bottom from the "User menu" with the button to the "Quick commissioning" menu

• Click on right-hand button

• Select "Terminals" menu

• Click on right-hand button

• Code 00002/1: –Parameterise "Edit" using the

left function key

–Select value "1" ---> On/Start

and confirm with "OK" function key on right

Page 42

8400 HighLine | Parameter setting & configuration

efesotomasyon.com - Lenze

Commissioning Quick commissioning

MCTRL: Act. speed val.

C00051

0 rpm

During loading the Lenze setting, the display goes off for a short time.

With the Lenze setting, the "Actuating drive speed" technology application is implemented.

• When the display reappears, the main menu is shown.

–The main menu can be set in a

user-defined manner via the codes C00465 ... C00469.

• Use the left function key to go to the USER menu

4. Enable drive controller: Connect X5/RFR to HIGH potential (reference: X5/GI).

5. Use the potentiometer to vary the motor velocity or motor speed by stipulating different fixed setpoints:

DI2 DI1 Motor speed

0 0 Setpoint from potentiometer

0 1 40 % of C00011 (reference speed)

1 0 60 % of C00011 (reference speed)

1 1 80 % of C00011 (reference speed)

Please observe – the actual speed value: C00051 – the LEDs on the front LED’s.LED status displays of the device state

( 454)

6. Save parameter settings with in the memory module.

SAVE

42 L Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010

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8400 HighLine | Parameter setting & configuration

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Commissioning the "Actuating drive speed" TA using the keypad

3.4 Commissioning the "Actuating drive speed" TA using the keypad

System constellation

Commissioning

8400 HighLine

Connections:

• X3/GA: Ground potential (GND) for analogue signals

• X3/AR: Reference voltage (10 V) for analogue signals

• X3/A1U: Input 1 for analogue signals (slider of the setpoint potentiometer R)

• X5/RFR: Controller enable (CINH)

• X6: Slot for keypad/diagnostic interface

A1U

ARGA

RFR

RFR24I

DIAG

[3-1] Block diagram for wiring the commissioning example for the "Actuating drive speed" application

1. Prepare the keypad and the controller for commissioning

 Inhibit drive controller: Set X5/RFR terminal to LOW level or open contact (see block

diagram [3-1]

for wiring).

 Ensure that the mains voltage and the motor cables are wired correctly.

– Check for correct wiring of the supply feeder and the motor cable, even if motor

operation during commissioning is not intended at first.

 Plug the keypad onto the controller (diagnostic interface X6).

2. Switch on device

 Stop!

Before stipulating a speed setpoint, check whether the brake in the form of a holding brake on the motor shaft has been released!

Without motor operation supply.

: Connect the external 24 V supply to X5/24E. Switch on external

Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010 L 43

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Commissioning Commissioning the "Actuating drive speed" TA using the keypad

With motor operation: Switch on mains.

 After switch-on, a connection between the keypad and the drive controller is first

established. The process is concluded when code C00051 appears on the display:

 Press the left function key to display the main menu of the control software.

3. Load the Lenze setting

In order to achieve a defined device configuration, it is advisable to make sure that the device is in its original delivery state.

MCTRL: Act. speed val.

C00051

0 rpm

 Go to the keypad menu level Quick commissioning  Terminal and set the C00002/1

code to the value "1: On / Start".

4. Check the firmware

It is advisable to check the software version (firmware version), especially if an older drive controller is being used (e.g. one kept in storage by the customer).

 All information that only applies to a certain controller software version or higher is

identified accordingly in this documentation.

 The software version of the device can be found

– in the line "SW" on the nameplate – by reading out code C00099

5. Set the reference speed

 Set the reference speed of the motor in code C00011

the nameplate of the motor.

 Tip!

Also check the other information on the nameplate against the motor data set in the drive controller. You can find further information in the section entitled "Motor

selection/Motor data". ( 97)

(firmware version)

. The reference speed is shown on

6. Parameterise the technology application

 Go to the menu level Applications  Actuating drive speed (par.) and enter the

parameter settings of the technology application.

44 L Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010

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Commissioning

Commissioning the "Actuating drive speed" TA using the keypad

 Short overview of the most important setting parameters:

Parameter Info Lenze setting

Value Unit

C00012 Accel. time - main setpoint 2.000 s

C00013

C00105

C00039/1

C00039/2

C00039/3

7. Optional: Change I/O connection (e.g. terminal assignment)

Decel. time - main setpoint 2.000 s

Deceleration time - quick stop 2.000 s

Fixed setpoint 1 40.00 %

Fixed setpoint 2 60.00 %

Fixed setpoint 3 80.00 %

 Possibility 1

: Change control mode in C00007.

– For a detailed description, see chapter entitled "Terminal assignment of the control

modes". ( 274)

 Possibility 2

: Change the I/O connection preconfigured in the selected control mode,

using the configuration parameters of the technology application on the menu level Applications  Actuating drive speed (conf.) to do so.

– For a short overview, see chapter entitled "Configuration parameters (short

overview)". ( 289)

8. Save parameters and test the application

 Set C00002/11

= "1: On / Start" in order to save all the parameters.

 Enable drive controller: Set X5/RFR terminal to HIGH level or close contact (see block

diagram [3-1]

 The speed can be changed with the setpoint potentiometer ("R", see block diagram [3-

1]).

More detailed information on the technology application:

TA "Actuating drive speed"

Basic signal flow

( 263)

( 262)

Internal interfaces | application block "LA_NCtrl"

Control words wCANDriveControl/wMCIDriveControl

Terminal assignment of the control modes

Setting parameters (short overview)

Configuration parameters (short overview)

Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010 L 45

( 265)

( 273)

( 274)

( 287)

( 289)

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Commissioning Commissioning the "Actuating drive speed" TA using the »Engineer«

3.5 Commissioning the "Actuating drive speed" TA using the »Engineer«

System constellation

8400 HighLine

A1U

ARGA

RFR

RFR24I

DIAG

X61

Connections:

• X3/GA: Ground potential (GND) for analogue signals

• X3/AR: Reference voltage (10 V) for analogue signals

• X3/A1U: Input 1 for analogue signals (slider of the setpoint potentiometer R)

• X5/RFR: Controller enable (CINH)

• X6: Diagnostic interface for communication between PC and drive controller

[3-2] Block diagram for wiring the commissioning example for the "Actuating drive speed" application

1. Prepare drive controller for commissioning

 Inhibit drive controller: Set X5/RFR terminal to LOW level or open contact (see block

diagram [3-2]

for wiring)

 Ensure that the mains voltage and the motor cables are wired correctly.

– Check for correct wiring of the supply feeder and the motor cable, even if motor

operation during commissioning is not intended at first.

 Connect USB diagnostic adapter.

46 L Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010

Page 47

Commissioning the "Actuating drive speed" TA using the »Engineer«

efesotomasyon.com - Lenze

2. Switch on the device

 Stop!

Before stipulating a speed setpoint, check whether the brake in the form of a holding brake on the motor shaft has been released!

8400 HighLine | Parameter setting & configuration

Commissioning

Without motor operation supply.

With motor operation

3. Start the »Engineer« & establish online connection to drive controller

 Follow the menu navigation in the Start-up wizard. Various options regarding the next

steps to be taken are offered in the wizard. – For example, the option "Do you want to open an existing Engineer project?", which

appears at the beginning. You specify the next steps to be taken by answering Yes or No.

 Add the corresponding components from the catalogue to the project:

– Drive controller 8400 HighLine C – Communication module – Application –Motor

 Select the drive controller in the Project view.  Go online.

4. Load the Lenze setting

: Connect the external 24 V supply to X5/24E. Switch on external

: Switch on mains.

In order to achieve a defined device configuration, it is advisable to make sure that the device is in its original delivery state.

 In the workspace, change to the All parameters tab.  Set a value of "1: On / start" for code C00002/1

– After the Lenze setting has been loaded, the "Actuating drive speed" TA has been

preset with the "Terminals 0

5. Check the firmware

It is advisable to check the software version (firmware version), especially if an older drive controller is being used (e.g. one kept in storage by the customer).

 All information that only applies to a certain controller software version or higher is

identified accordingly in this documentation.

 The software version of the device can be found

– in the line "SW" on the nameplate – by reading out code C00099

" control mode.

(firmware version)

in the parameter list.

Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010 L 47

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Commissioning Commissioning the "Actuating drive speed" TA using the »Engineer«

6. Set the reference speed

 Change back to Application parameters tab.

 In the Reference speed input field (C00011

), enter the reference speed of the motor.

The reference speed is indicated on the motor nameplate.

 Tip!

Also check the other information on the nameplate against the motor data set in the drive controller. You can find further information in the section entitled "Motor

selection/Motor data". ( 97)

7. Parameterise technology application

 Open the Application Parameters tab and adapt the setting parameters of the

technology application according to the purpose it is to be used for.

 Short overview of the most important setting parameters:

Parameter Info Lenze setting

Value Unit

C00012 Accel. time - main setpoint 2.000 s

C00013

C00105

C00039/1

C00039/2

C00039/3

Decel. time - main setpoint 2.000 s

Deceleration time - quick stop 2.000 s

Fixed setpoint 1 40.00 %

Fixed setpoint 2 60.00 %

Fixed setpoint 3 80.00 %

8. Optional: Change I/O connection (e.g. terminal assignment)

 Possibility 1

: Change control mode in the Control mode list field (C00007).

– The corresponding wiring diagram is displayed in a pop-up window if you click the

button right to the list field.

– For a detailed description, see chapter entitled "Terminal assignment of the control

modes". ( 274)

 Option 2

: Use the configuration parameters of the technology application to change

the I/O connection preconfigured in the selected control mode. – For a short overview, see chapter entitled "Configuration parameters (short

overview)". ( 289)

 Option 3

: Change the I/O connection in the FB editor on the I/O interconnection level.

9. Save parameters and test application

 Save parameter set.

 Enable drive controller: Set X5/RFR terminal to HIGH level or close contact (see block

diagram [3-2]

 The speed can be changed with the setpoint potentiometer ("R", see block diagram [3-

2]).

48 L Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010

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Commissioning the "Actuating drive speed" TA using the »Engineer«

More detailed information on the technology application:

Commissioning

TA "Actuating drive speed"

Basic signal flow

( 263)

Internal interfaces | application block "LA_NCtrl"

( 262)

( 265)

Control words wCANDriveControl/wMCIDriveControl

Terminal assignment of the control modes

Setting parameters (short overview)

( 287)

Configuration parameters (short overview)

( 274)

( 289)

( 273)

Firmware ≤ 05.00 - DMS 4.2 EN - 02/2010 L 49

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8400 HighLine | Parameter setting & configuration

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Commissioning Commissioning the "Table positioning" TA using the »Engineer«

3.6 Commissioning the "Table positioning" TA using the »Engineer«

System constellation

8400 HighLine

DIAG

24I24E

RFR

DI2DI1

DI3

DI5

DI4

PosProfile

PosExecute

DI6

GIDI7

X61

A B

p d

Connections:

• X5/RFR: Controller enable

•X5/DI1: Encoder, track A

•X5/DI2: Encoder, track B

• X5/DI3: Left hardware limit switch

• X5/DI4: Right hardware limit switch

• X5/DI5: "PosExecute" function

• X5/DI6, X5/DI7: Operating mode setting (following mode, referencing, manual jog, positioning)

• X6: Diagnostic interface for communication between PC and drive controller

0-Position

20 3010-10-20-30

[3-3] Block diagram for wiring the commissioning example for the "Table positioning" application

1. Prepare drive controller for commissioning

 Inhibit drive controller: Set X5/RFR terminal to LOW level or open contact (see block

diagram [3-3]

for wiring)

 Ensure that the mains voltage and the motor cables are wired correctly.

– Check for correct wiring of the supply feeder and the motor cable, even if motor

operation during commissioning is not intended at first.

 Connect USB diagnostic adapter.

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Page 51

2. Switch on the device

efesotomasyon.com - Lenze

 Stop!

Before stipulating a speed setpoint, check whether the brake in the form of a holding brake on the motor shaft has been released!

8400 HighLine | Parameter setting & configuration

Commissioning

Commissioning the "Table positioning" TA using the »Engineer«

Without motor operation supply.

With motor operation

3. Start the »Engineer« & establish online connection to drive controller

 Follow the menu navigation in the Start-up wizard. Various options regarding the next

steps to be taken are offered in the wizard. – For example, the option "Do you want to open an existing Engineer project?", which

appears at the beginning. You specify the next steps to be taken by answering Yes or No.

 Add the corresponding components from the catalogue to the project:

– Drive controller 8400 HighLine C – Communication module – Application –Motor

 Select drive controller in the Project View.  Go online.

4. Load the Lenze setting

: Connect the external 24 V supply to X5/24E. Switch on external

: Switch on mains.

In order to achieve a defined device configuration, it is advisable to make sure that the device is in its original delivery state.

 In the workspace, change to the All parameters tab.  Set a value of "1: On / start" for code C00002/1

– After the Lenze setting has been loaded, the "Actuating drive speed" TA has been

preset with the "Terminals 0

5. Check the firmware

It is advisable to check the software version (firmware version), especially if an older drive controller is being used (e.g. one kept in storage by the customer).

 All information that only applies to a certain controller software version or higher is

identified accordingly in this documentation.

 The software version of the device can be found

– in the line "SW" on the nameplate – by reading out code C00099

" control mode.

(firmware version)

in the parameter list.

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Commissioning Commissioning the "Table positioning" TA using the »Engineer«

6. Set the reference speed

 Change back to Application parameters tab.

 In the Reference speed input field (C00011

The reference speed is indicated on the motor nameplate.

7. Parameterise technology application

 Select "Table positioning" in the Application list field.

After selection of the "table positioning" application, the contents of the tab change, e.g. only the Machine parameters and Profile entry buttons are shown.

8. Set machine parameters

 Click on the Machine parameters button in order to change to the dialog level Overview

 Machine parameters:

), enter the reference speed of the motor.

 Enter parameters in all fields on a yellow background, e.g. gearbox factor, feed constant

and reference speed.

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Commissioning

Commissioning the "Table positioning" TA using the »Engineer«

9. Change functions assigned to digital input terminals

In the constellation under consideration, a two-track encoder is connected to the DI1 terminal (track A) and DI2 terminal (track B). The functions assigned to the digital terminals DI1 and DI2 therefore have to be reconfigured accordingly:

 Go to the Terminal assignment tab.

 In the list field Function assignment DI1 and DI2, set "DI1(6)&DI2(7)=FreqIn (2-track)".

– After alteration of the function assignment, the button indicated by the lower arrow

is displayed:

 Click on the button indicated by the lower arrow in order to open the parameterising

dialog for the 2-track frequency input:

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Commissioning Commissioning the "Table positioning" TA using the »Engineer«

 Enter the data (e.g. number of increments) of the encoder which is used.

10. Enter position encoder in code

 Go to All Parameters tab.

 In C00490

 In C00254, set the proportional gain of the position controller to a suitable value (in the

example: Kp = "5.00 1/s"):

, set "Encoder signal FreqIn12":

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Commissioning

Commissioning the "Table positioning" TA using the »Engineer«

11. Set homing

You can find detailed information on the "Referencing" (homing) operating mode in the chapter entitled "Basic drive functions", subchapter "Homing

 Go to the Application parameters tab.

 Click on Signal flow button.

". ( 395)

 Click on button for referencing in the "MotionControlKernel" block.

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Commissioning Commissioning the "Table positioning" TA using the »Engineer«

 Click on Referencing mode button.

 Select type of homing.

– For the example, a simple homing movement has been selected without touch

probe. The right limit switch is approached and then the zero position is approach, depending on the set reference value.

 Parameterise fields highlighted in yellow:

– Set suitable starting speed (C01224/1 – Set the reference value (C01227/1

from the right-hand limit position.

), i.e. the value in the positive or negative direction

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Commissioning

Commissioning the "Table positioning" TA using the »Engineer«

 Select "Referencing" mode via terminals.

– At inputs DI5 and DI6 the profile is set via terminals. With DI5=FALSE and DI6=TRUE

the operating mode is set to "Homing".

–With C01241

checked in the "MotionControlKernel" function block ("Signal flow" button) on the basis of the position of the switch shown (see arrow:

, the status of the operating mode can be read out and/or it can be

 Start referencing:

– Enable drive controller: Set X5/RFR terminal to HIGH level or close contact (see block

diagram [3-3]

– Set DI7 input to HIGH level ("Alternative function PosExecute").

 Conclude homing when homing position has been reached:

– Reset DI7 input to LOW level. – Inhibit drive controller again: Reset X5/RFR terminal to LOW level or open contact

(see block diagram [3-3]

12. Enter one or more profiles

You can find detailed information on entering profiles in the chapter entitled "Basic drive functions", subchapter "Profile entry". ( 418)

 In order to open the profile input window, go to the Application Parameters tab and

select the dialog level Overview  Signalflow. Here, click on the Profile input button.

 Note!

In the Lenze setting, profiles 0, 1 and 2 are assigned to the speed follower, referencing and manual jog operating modes. The other profiles, namely 3 ... 15, are available for positioning tasks. Operating mode change with profile

number ( 382)

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Commissioning Commissioning the "Table positioning" TA using the »Engineer«

 Go to Profile numbers list field, a select a number ≥ 3.

– Parameterise the fields required – If required, enter the sequence profile – Then press "Back" button (at the top of the tab)

13. Start positioning

You can find detailed information on the "positioning" operating mode in the chapter entitled "Basic drive functions", subchapter "Positioning

 DI5 = HIGH level, DI6 = HIGH level: positioning operating mode

– The status switch displayed in the MotionControlKernel (see "Signal flow") now

adopts the following position:

 Enable drive controller: Set X5/RFR terminal to HIGH level or close contact (see block

diagram [3-3]

". ( 414)

 Set DI7 input to HIGH level ("Alternative function PosExecute").

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Commissioning the "Table positioning" TA using the »Engineer«

More detailed information on the technology application:

Commissioning

TA "Table positioning"

Basic signal flow

Internal interfaces | Application block "LA_TabPos"

( 291)

( 292)

( 295)

Control words wCANDriveControl/wMCIDriveControl

Terminal assignment of the control modes

Setting parameters (short overview)

( 321)

Configuration parameters (short overview)

( 305)

( 322)

( 304)

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Commissioning Commissioning the "Switch-off positioning" TA using »Engineer«

3.7 Commissioning the "Switch-off positioning" TA using »Engineer«

System constellation

8400 HighLine

DI5

DI6

DI5

DI6

DI3

DI4

DI1DI2

DI4



DI5

DI2

DI1

QSP

Cw Ccw

DI2



RFR

DI1

RFR

24I

DIAG

X61

DI2DI1

DI6 DI5

v [m/s]

C39/3

C12

C13



C39/2

C12



C13

C39/2

C39/3

Example: Way in which sequential positioning with pre-switch off functions

• The drive controller is enabled with X5/RFR = TRUE and started with X5/DI3 = TRUE in clockwise rotation (Cw).

• The drive accelerates along the acceleration ramp (C00012

• At the DI2 contact, the drive brakes along the deceleration ramp (C00013 with C00039/2

• After reaching the DI1 contact, the drive comes to a stop with quick stop (QSP) in the target position.

• When X5/DI4 = TRUE (X5/DI3 = FALSE), counter-clockwise rotation (Ccw) is started.

• The drive is accelerated along the acceleration ramp (C00012

C00039/3

• At the DI6 contact, the drive brakes along the deceleration ramp (C00013 with C00039/2

• After reaching the DI5 contact, the drive comes to a stop in the initial position with quick stop (QSP).

[3-4] Block diagram for wiring of the commissioning example for the "Switch-off positioning" application

) to the traversing speed set with C00039/3.

) until it reaches the creeping speed set

) until it reaches the traversing speed set with

) until it reaches the creeping speed set

t [s]

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Commissioning

Commissioning the "Switch-off positioning" TA using »Engineer«

 Tip!

• If you wish to implement switch-off positioning without with the control mode "Terminals 2

• In order to avoid positioning inaccuracy due to signal propagation delays, the initiators can be directly evaluated by the drive controller. Limit switch evaluation can be configured in the drive controller. With code C0488/x can change the method of detecting position signals from level evaluation to edge evaluation.

• In order to prevent unintended movements of the load in the target position, the use of a holding brake is recommended as an alternative to DC-injection braking (limited torque).

• The device terminals and their functional assignment do not appear in the FB editor. The assignment of (hardware) terminals to (software) functions is explained in the chapter entitled "Terminal assignment of the control modes

( 337)

" is the best method. ( 339)

pre-switch off, wiring

, you

1. Prepare the controller and the »Engineer« for commissioning

 Inhibit drive controller: Set X5/RFR terminal to LOW level or open contact (see block

diagram [3-4]

 Ensure that the mains voltage and the motor cables are wired correctly.

– Check for correct wiring of the supply feeder and the motor cable, even if motor

operation during commissioning is not intended at first.

 Connect USB diagnostic adapter.

2. Switch on the device

for wiring)

 Stop!

Before stipulating a speed setpoint, check whether the brake in the form of a holding brake on the motor shaft has been released!

Without motor operation supply.

With motor operation

: Connect the external 24 V supply to X5/24E. Switch on external

: Switch on mains.

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