Lenze E94AxHE User Manual
EDS94TA10060xxxx
13277862
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L-force Runtime Software
Software Manual
9400
Technology application "positioning sequence control"
L
9400 Technology applications | Positioning sequence control
Overview of the technical documentation for Servo Drives 9400
Overview of the technical documentation for Servo Drives 9400
Project planning, selecting & ordering Legend:
9400 Hardware Manual Printed documentation
Catalogue / electronic catalogue (DSC - Drive Solution Catalogue) Online documentation
(PDF/Engineer online help)
Mounting & wiring Abbreviations used:
MA 9400 StateLine/HighLine BA Operating Instructions
MA for communication module KHB Communication Manual
MA for extension module MA Mounting Instructions
MA for safety module SW Software Manual
MA for accessories
MA for remote maintenance components
Parameter setting
BA keypad
SW for Lenze »Engineer« software
SW for controller (9400 StateLine/HighLine)
SW for regenerative power supply module
KHB for communication module
SW for extension module
SW for safety module
SW for Lenze technology application Í This documentation
SW 9400 function library
Configuring
SW for Lenze »Engineer« software
SW for controller (9400 HighLine)
KHB for communication module
SW for extension module
SW for safety module
SW for Lenze technology application Í This documentation
SW 9400 function library
Commissioning of the drive
Commissioning guide
SW for controller (9400 StateLine/HighLine)
Remote Maintenance Manual
Networking
KHB for communication medium used
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9400 Technology applications | Positioning sequence control
Contents
Contents
1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.1 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.2 Definition of notes used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2 Brief description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.1 Example: Positioning sequence control with networking via PROFIBUS. . . . . . . . . . . . . 11
4 Short setup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4.1 Application example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4.2 Connection diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.3 Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.4 Step 1: Creating a project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.5 Step 2: Parameterising the application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.6 Step 3: Parameterising the program flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.6.1 Program step 1: Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.6.2 Program step 2: Setting counter 1 to "0" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.6.3 Program step 3: Positioning action 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.6.4 Program step 4: Counting the sheets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.6.5 Program step 5: Setting the status output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.6.6 Program step 6: Positioning action 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.6.7 Program step 7: Resetting the status output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.6.8 Program step 8: Going back to program step 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.7 Step 4: Parameterising the multiplexer for the digital outputs . . . . . . . . . . . . . . . . . . . . . 25
4.8 Step 5: Transferring the application to the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.9 Step 6: Controlling the application via terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
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Contents
5 Parameter setting & configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5.1 Basic signal flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5.2 Basic settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
5.2.1 Machine parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
5.2.2 Traversing range. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.2.3 Position control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
5.3 Program flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
5.3.1 Overview of action types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
5.3.2 Action type "Homing". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
5.3.3 Action type "Positioning". . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
5.3.4 Action type "Variable branching" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
5.3.5 Sequencer inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
5.3.6 Sequencer outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
5.3.7 Parameter setting of the program flow in the Engineer . . . . . . . . . . . . . . . . . . . . 42
5.3.8 Control of the sequence table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
5.4 Profile data management. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
5.4.1 Profile parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
5.4.2 Variable tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
5.4.3 Positioning modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
5.4.4 Positioning with final speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
5.4.5 Touch probe positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
5.4.6 "Teach" function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
5.5 Speed/acceleration override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
5.6 Following error monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
5.7 Manual jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
5.8 Quick stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
5.9 Limiter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
5.10 Brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
5.11 Signal configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5.11.1 Drive and motor interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5.11.2 Output ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
5.12 Actual value and status signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
5.13 Application error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
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9400 Technology applications | Positioning sequence control
Contents
5.14 Parameterisable function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
5.14.1 ActualSpeedScaling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
5.14.2 ApplicationError1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
5.14.3 ApplicationError2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
5.14.4 FollowingErrorScaling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
5.14.5 HysteresisFollowingError1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
5.14.6 HysteresisFollowingError2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
5.14.7 L_PosPositionerTable1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
5.14.8 L_PosSequencer1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
5.14.9 L_SdSwitchPoint1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
5.14.10 LimitFollowingError1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
5.14.11 LimitFollowingError2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
5.14.12 MonitFollowError1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
5.14.13 MonitFollowError2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
5.14.14 PosStarted . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
5.14.15 RestartPosTransition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Your opinion is important to us. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
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9400 Technology applications | Positioning sequence control
About this documentation
1 About this documentation
This documentation contains information about the technology application "Positioning
sequence control" for the Servo Drives 9400 series.
Note!
This documentation supplements the mounting instructions supplied with the
controller, the hardware manual and the software manual for the controller.
The Mounting Instructions contain safety information which must be observed!
The information in this documentation applies to:
Technology application Appl. ID Required runtime software licence
Positioning sequence control 100602103 Motion Control TopLevel or higher
The technology application can be used with the following controllers:
Product series Type designation From hardware
version
9400 Servo Drives E94AxHExxxx PD 1.35
From software
version
Target group
This documentation is directed at qualified personnel according to IEC 364.
Document history
Version Description
1.0 04/2007 TD05 First edition
1.1 10/2008 TD05 New subchapter "Parameterisable function blocks
1.2 03/2010 TD05 Error corrections & supplements
"
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9400 Technology applications | Positioning sequence control
1.1 Conventions used
This documentation uses the following conventions to distinguish between different types
of information:
Type of information Writing Examples/notes
Numbers
Decimal separator Point The decimal point is always used.
Text
Program name » « The Lenze PC software »Engineer«...
Window pane Italics The Message window... / the Options dialog box...
Control element Bold The OK button... / The Copy command... / The
Sequence of menu
commands
Keyboard command <Bold> Use <F1> to open the Online Help.
Program listings Courier
Keyword Courier bold
About this documentation
Conventions used
Example: 1234.56
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...
IF var1 < var2 THEN
a = a + 1
END IF
Open to...
Hyperlink Underlined
Symbols
Page reference ( 7) Optically highlighted reference to another page. It is
Step-by-step instructions
Optically highlighted reference to another topic. It is
activated with a mouse click in this online
documentation.
activated with a mouse click in this online
documentation.
Step-by-step instructions are indicated by a
pictograph.
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9400 Technology applications | Positioning sequence control
About this documentation
Definition of notes used
1.2 Definition of notes used
The following signal words and symbols are used in this documentation to indicate
dangers and important information:
Safety instructions
Layout of safety instructions:
Danger!
(characterises the type and severity of danger)
Note
(describes the danger and suggests how to avoid the danger)
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 material damage
Indicates an impending danger that may lead to death or severe personal injury
if the corresponding measures are not taken.
Indicates an impending danger that may lead to death or severe personal injury
if the corresponding measures are not taken.
Indicates a potential danger that may lead to material damage if the
corresponding measures are not taken.
Application notes
Pictograph Signal word Meaning
Note! Important note for trouble-free operation
Tip! Useful tip for easy handling
Reference to another document
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9400 Technology applications | Positioning sequence control
2 Brief description
The technology application "Positioning sequence control" enables the drive to execute
parameterisable travel profiles. The program sequence is defined by a sequence table.
Functions
Sequence control for several successive positioning steps with a break and stop
functions and different auxiliary functions (e. g. deriving, counting, waiting).
Positioning in different positioning modes
– Point-to-point positioning
– Touch probe positioning (residual path positioning)
– Profile chaining with velocity changeover (overchange)
Homing in different homing modes
Profile data management
– Support of S profiles (jerk limitation)
– Separate setting for acceleration and deceleration
– "Teach" function
Brief description
Speed/acceleration override
Path-dependent switching of outputs
Following error monitoring
Support of absolute value encoders
Support of the basic drive functions "Manual jog" and "Quick stop"
Monitoring of travel range limits with the basic drive function "Limiter"
Optional control of a holding brake with the basic drive function "Brake control"
Application range
Transport units
Rotary tables
Storage and retrieval units
Feed drives
Dosing machines
Hoists
Required license/delivery
License stage Motion Control TopLevel or higher required.
The technology application can be selected in the »Engineer« application catalog.
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Introduction
3 Introduction
Positioning means to move a workpiece/tool or a piece of material from a starting
position n to a defined targeto.
For this purpose a travel profile is to be provided in the controller, for which at least the
following profile parameters are required:
v [m/s]
B
C D
Symbol Profile parameters
Position
A
Target position or path distance to be traversed.
Speed
B
Maximum speed with which the target is to be approached.
Acceleration
C
Selection of the change in speed by which acceleration is to be carried out maximally.
Deceleration
D
Selection of the change in speed by means of which deceleration to standstill is to be maximally effected
again.
A
t [s]
A positioning can consist of several profiles which are executed in a specified mode.
For a detailed explanation of the profile parameters, please see the section "Profile
parameters". ( 44)
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9400 Technology applications | Positioning sequence control
Example: Positioning sequence control with networking via PROFIBUS
3.1 Example: Positioning sequence control with networking via PROFIBUS
Master control
Sequence control for machine (PLC)
PROFIBUS
Drive 1 Drive 2
Positioning sequence control for single drives Positioning sequence control for single drives
Introduction
Table positioning Table positioning
Firmware Firmware
Motion Control - basic drive functions:
• Positioning
•Homing
•Manual jog
•etc.
• Drive interface
• Motor interface
• Encoder evaluation
•I/O terminals
• Safety engineering
• Logbook
[3-1] Example: Positioning sequence control with networking via PROFIBUS
The positioning sequence control utilises the traversing blocks of the table positioning
and like this activates the basic function "Positioning" containing the profile
generation.
Here, the positioning sequence control only control the "own motor".
The sequence of the motor/tool/material control are defined in the positioning
sequence control.
Motion Control - basic drive functions:
• Positioning
•Homing
•Manual jog
•etc.
• Drive interface
•Motor interface
• Encoder evaluation
•I/O terminals
• Safety engineering
• Logbook
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9400 Technology applications | Positioning sequence control
Short setup
Application example
4Short setup
4.1 Application example
A sheet stacker is used as an application example for short setup:
3 x AC 400 V
i
1
d
1
N
= 1680 rpm
motor
i
= 12.612
1
d
= 80 mm
1
Feed constant = 250 mm/rev.
[4-1] Schematic diagram
Component Technical data
Controller 9400 SingleDrive HighLine with brake module
Motor MDFKA-090-22, 60
Type: Asynchronous servo motor
Connection: Y
Power factor: 0.8
Rated current: 8.5 A
Rated frequency: 60 Hz
Rated power: 3.8 kW
Rated speed: 1680 rpm
Rated voltage: 390 V
Brake 24 V DC
Gearbox GKS06
Gearbox factor: 12.612
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9400 Technology applications | Positioning sequence control
4.2 Connection diagram
Short setup
Connection diagram
L1
L2
L3
N
PE
F4
O
I
K1
J
R
B
K1
Acceleration override
Homing completed (start position)*
Max. number of sheets reached*
Positive travel range limit switch
Negative travel range limit switch
Reference switch
Reset positioning program
Start/back to start position
Stop positioning program
Speed override
Drive ready
Error active
Enable controller
Quick stop
Lower table
SB
GA
AO1
AO2
A1+
A1-
A1A1R
A2+
A2-
GO
24O
DO1
DO2
DO3
DO4
GI
RFR
DI1
DI2
DI3
DI4
DI5
DI6
DI7
DI8
X106
T1
K1
24E GE
X2
X3
X4
X5
T2
F1...F3
Z1
L1 L2
L3
X100
E94ASxExxxx
X105
Rb1
Rb2
U V
W
+
+UG
-UG
BD1
+
X107
BD2
E94AZPxxxxx
MXI1
MXI2
X7
R
B
EYF...
Y
M
3~
J
27
R
* Signal must be parameterised
[4-2] Connection diagram
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9400 Technology applications | Positioning sequence control
Short setup
Connection diagram
Designation Component
E94ASxExxxx 9400 Single Drive servo axis module
E94AZPxxxxx Mounting backplane
k1 Mains contactor
F1 ... F4 Fuses
Z1 Mains filter/RFI filter (option)
HF-shield termination through large-surface connection to functional earth
EYF... System cable for resolver feedback
R Resolver
R
B
Y Motor holding brake (at optional motor brake control)
Brake resistor
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4.3 Sequence
1. After power-on, the drive indicates the status "Drive ready" by setting digital output
DO1 to HIGH level.
2. After controller enable, the positioning program is started by setting digital input DI6
to HIGH level.
3. The table traverses upwards until reaching the home switch.
– The home switch is 10 mm above the start position and connected to digital input
DI2.
4. After the homing mark has been detected, the table traverses downwards until
reaching the start position (first pick-up position).
5. The drive indicates the status "Homing completed/table in start position" by setting
digital output DO2 to HIGH level.
6. The internal sheet counter is reset to zero and stacking can start.
7. When a sheet has been added, digital input DI8 changes to HIGH level.
– After this, the table is lowered by one sheet thickness each.
9400 Technology applications | Positioning sequence control
Short setup
Sequence
8. 10 sheets can be piled up before the drive indicates the status "Maximum number of
sheets reached" by setting digital output DO3 to HIGH level.
– Then, the stack must be removed.
9. After the stack has been removed and digital input DI6 has been set to HIGH level, the
table traverses back to the start position (first pick-up position).
– A new stacking process can be started.
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Short setup
Step 1: Creating a project
4.4 Step 1: Creating a project
1. Start »Engineer«.
2. Go to Start-up wizard and select the option "New project (empty)" and enter a name for
the project in a next step.
3. Insert the axis for the sheet stacker.
– Add the corresponding components (controller, motor, extension module) to the
axis.
– Select the application "Positioning sequence control" for the controller.
–Example project view in the »Engineer«:
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9400 Technology applications | Positioning sequence control
4.5 Step 2: Parameterising the application
For parameterising the application in the »Engineer«, use the Application parameters tab
which will be displayed by default when selecting the controller in the project view:
Short setup
Step 2: Parameterising the application
1. Select the mains voltage (C00173).
2. Activate automatic brake control via brake module (C02580 = "Autom. with brake
module").
3. Enter gearbox ratio as a quotient (numerator and denominator): i
1000
– Numerator (C02520) = 12612
– Denominator (C02521) = 1000
4. Select "Unlimited" as traversing range (C02528).
5. Click Machine parameter to change to the dialog level Overview Machine parameter
for further parameter setting.
= 12.612 = 12612/
1
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Short setup
Step 2: Parameterising the application
Setting the machine parameters
Go to dialog:
Overview
Machine parameter
1. Set the selection "mm" as unit (C02525).
– This parameter is used to define the real unit of the machine for the selection of
physical values (e. g. speeds, accelerations and decelerations).
2. Set feed constant (C02524).
– The feed constant corresponds to the motion of the machine at one revolution of the
gearbox output shaft.
– For the sheet stacker: Feed constant = 250 mm/rev.
3. Click Back to go back to the Overview dialog level.
4. In the Overview dialog level, click Program flow to change to the dialog level Overview
Program flow and select the positioning program.
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4.6 Step 3: Parameterising the program flow
The program flow of the positioning sequence control is parameterised in the dialog level
Overview Program flow:
Short setup
Step 3: Parameterising the program flow
Basic procedure
In the default setting the sequence table contains a small "Positioning program", which
first rotates the axis 360° clockwise and afterwards 360° counter-clockwise.
Proceed as follows to define the desired program flow:
1. Select the program step (1 .... 100) to be edited on the left in the sequence table.
2. Select the action type for the selected program step by clicking it.
– If the selected action type provides more than one action, the next free action will be
automatically suggested in the Selection Action Number list field.
– Enter a comment on the action (option).
3. Set parameters of the action.
– If required, call the corresponding subsequent dialogs.
4. Repeat steps 1 ... 3 until all actions required for the program flow have been
parameterised (see the following sections).
5. Click Back to go back to the Overview dialog level.
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Short setup
Step 3: Parameterising the program flow
4.6.1 Program step 1: Homing
Action Comment
Homing with homing mark (home switch at digital input DI2), after homing, approach start position
(0 mm).
The "Homing" action does not have its own parameters. The settings for homing are made
via the parameters of the basic function "Homing":
1. Select "cw_Rn_TP" as homing mode (C02640).
2. Select the position of the home switch (10 mm) as home position (C02642).
3. Select the position of the first sheet (0 mm) as home target position (C02643).
4. If necessary, adapt the profile parameters for homing to your application.
4.6.2 Program step 2: Setting counter 1 to "0"
Action Comment Parameter Setting
Step 2: Set counter 1 to "0". Selection Action Number: 1
0
00
Set
Counter no.: 1
Start value: 0
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4.6.3 Program step 3: Positioning action 1
Action Comment Parameter Setting
When input 8 of sequence control is set to "1", lower
table relatively by 20 mm.
In the Lenze setting, sequence control input 8 is
connected to digital input DI8.
Click Profile settings to open the following dialog box:
Short setup
Step 3: Parameterising the program flow
Selection Action Number: 1
Start with: Input 8
Profile no.: 1
Jump destination: 0
1. Select Profile no. 1.
2. Select "Relative" as positioning mode.
3. Select the profile parameters as described above.
4. Click Back to close the dialog box again.
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Short setup
Step 3: Parameterising the program flow
4.6.4 Program step 4: Counting the sheets
Action Comment Parameter Setting
Count the sheets and go back to program step 3,
3
1
2
4
unless 10 sheets are reached.
4.6.5 Program step 5: Setting the status output
Action Comment Parameter Setting
Set sequence control output 1 to "1", when
maximum number of sheets (10) is reached.
Selection Action Number: 1
Comparison function: Count <
Comparison value: 10
Selection Action Number: 1
Output for A switching: Output 1
Signal state for A switching:
Counter no.: 1
comparison
value
Step value: 1
Sequence step: 3
Output for B switching: Deactivated
Signal state for B switching:
Tip!
In a later step, sequence control output 1 will be connected with digital output
DO3.
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4.6.6 Program step 6: Positioning action 2
Action Comment Parameter Setting
When sequence control input 6 is set to "1", go back
to start position.
Tip!
In a later step, sequence control input 6 will be connected with digital input DO6.
Click Profile settings to open the following dialog box:
Short setup
Step 3: Parameterising the program flow
Selection Action Number: 2
Start with: Input 6
Profile no.: 2
Jump destination: 0
1. Select Profile no. 2.
2. Select "Absolute" as positioning mode.
3. Select the profile parameters as described above.
4. Click Back to close the dialog box again.
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Short setup
Step 3: Parameterising the program flow
4.6.7 Program step 7: Resetting the status output
Action Comment Parameter Setting
Reset sequence control output 1 to "0", when start
position is reached.
4.6.8 Program step 8: Going back to program step 2
Action Comment Parameter Setting
Go back to program step 2. Selection Action Number: 1
0
1
Selection Action Number: 2
Output for A switching: Output 1
Signal state for A switching:
Output for B switching: Deactivated
Signal state for B switching:
Jump destination: 2
Jump input: Continue
with next
step
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