Positioning sequence control100602103Motion Control TopLevel or higher
The technology application can be used with the following controllers:
Product seriesType designationFrom hardware
version
9400 Servo DrivesE94AxHExxxxPD1.35
From software
version
Target group
This documentation is directed at qualified personnel according to IEC 364.
Document history
VersionDescription
1.004/2007TD05 First edition
1.110/2008TD05 New subchapter "Parameterisable function blocks
1.203/2010TD05 Error corrections & supplements
"
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9400 Technology applications | Positioning sequence control
1.1Conventions used
This documentation uses the following conventions to distinguish between different types
of information:
Type of informationWritingExamples/notes
Numbers
Decimal separatorPointThe decimal point is always used.
Text
Program name» «The Lenze PC software »Engineer«...
Window paneItalicsThe Message window... / the Options dialog box...
Control elementBoldThe OK button... / The Copy command... / The
Sequence of menu
commands
Keyboard command<Bold>Use <F1> to open the Online Help.
Program listingsCourier
KeywordCourier 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...
HyperlinkUnderlined
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
1.2Definition 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)
PictographSignal wordMeaning
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
PictographSignal wordMeaning
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
2Brief 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).
– 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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9400 Technology applications | Positioning sequence control
Introduction
3Introduction
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
CD
SymbolProfile 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
3.1Example: Positioning sequence control with networking via PROFIBUS
Master control
Sequence control for machine (PLC)
PROFIBUS
Drive 1Drive 2
Positioning sequence control for single drivesPositioning sequence control for single drives
Introduction
Table positioningTable positioning
FirmwareFirmware
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
4.1Application 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
ComponentTechnical data
Controller9400 SingleDrive HighLine with brake module
MotorMDFKA-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
Brake24 V DC
GearboxGKS06
Gearbox factor: 12.612
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4.2Connection 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
DesignationComponent
E94ASxExxxx9400 Single Drive servo axis module
E94AZPxxxxxMounting backplane
k1Mains contactor
F1 ... F4Fuses
Z1Mains filter/RFI filter (option)
HF-shield termination through large-surface connection to functional earth
EYF...System cable for resolver feedback
RResolver
R
B
YMotor holding brake (at optional motor brake control)
Brake resistor
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4.3Sequence
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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9400 Technology applications | Positioning sequence control
Short setup
Step 1: Creating a project
4.4Step 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
4.5Step 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
4. Select "Unlimited" as traversing range (C02528).
5. Click Machine parameter to change to the dialog level OverviewMachine parameter
for further parameter setting.
= 12.612 = 12612/
1
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9400 Technology applications | Positioning sequence control
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 OverviewProgram flow and select the positioning program.
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9400 Technology applications | Positioning sequence control
4.6Step 3: Parameterising the program flow
The program flow of the positioning sequence control is parameterised in the dialog level
OverviewProgram 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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9400 Technology applications | Positioning sequence control
Short setup
Step 3: Parameterising the program flow
4.6.1Program step 1: Homing
ActionComment
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.
4.6.2Program step 2: Setting counter 1 to "0"
ActionCommentParameter 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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9400 Technology applications | Positioning sequence control
4.6.3Program step 3: Positioning action 1
ActionCommentParameter 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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9400 Technology applications | Positioning sequence control
Short setup
Step 3: Parameterising the program flow
4.6.4Program step 4: Counting the sheets
ActionCommentParameter Setting
Count the sheets and go back to program step 3,
3
1
2
4
unless 10 sheets are reached.
4.6.5Program step 5: Setting the status output
ActionCommentParameter 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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9400 Technology applications | Positioning sequence control
4.6.6Program step 6: Positioning action 2
ActionCommentParameter 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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9400 Technology applications | Positioning sequence control
Short setup
Step 3: Parameterising the program flow
4.6.7Program step 7: Resetting the status output
ActionCommentParameter Setting
Reset sequence control output 1 to "0", when start
position is reached.
4.6.8Program step 8: Going back to program step 2
ActionCommentParameter 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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9400 Technology applications | Positioning sequence control
Step 4: Parameterising the multiplexer for the digital outputs
4.7Step 4: Parameterising the multiplexer for the digital outputs
1. Go to the All parameters tab.
2. Set the following multiplexer parameters:
ParameterSetting
C03100/2X digital output 2 ofHoming completed
C03100/3X digital output 3 ofSequence control output 1
Short setup
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9400 Technology applications | Positioning sequence control
Short setup
Step 5: Transferring the application to the controller
4.8Step 5: Transferring the application to the controller
Note!
The transferred application is always stored in the first application memory
location in the memory module of the controller.
The preinstalled technology applications on the following memory locations are
still available.
1. Update devices.
– Set the checkmark in the control field Recreate all.
–Click Create to start the compiling process.
2. Go online and transfer the application to the controller.
– With an online connection, the »Engineer« displays the current controller parameter
settings with a yellow background colour.
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9400 Technology applications | Positioning sequence control
Step 6: Controlling the application via terminals
4.9Step 6: Controlling the application via terminals
Terminal assignment
TerminalSignal (Lenze setting)
X3AI1-
X5DI1Quick stop
Selection for speed override
AI1+
Speed/acceleration override
AI2-
Selection for acceleration override
AI2+
Speed/acceleration override
• If DI1 is set to LOW level, the positioning program is interrupted and drive is decelerated to
standstill within the deceleration time set for the quick stop function independent of the
setpoint selection.
• After the quick stop function is deactivated, a new LOW/HIGH edge is required at DI6 in order
that the positioning program is continued with the next step.
Quick stop
DI2Connection of reference switch/touch probe sensor
Action type "Homing"
DI3
Connection of travel range limit switch for basic function "Limiter
DI4
• DI3 = positive travel range limit switch, DI4 = negative travel range limit switch.
• The inputs respond to the FALSE state (fail-safe).
DI5Reset error and positioning program
• By means of a LOW-HIGH edge an existing error status can be reset if the cause of the fault is
removed. At the same time the positioning program is reset.
DI6Start positioning program/back to start position
Control of the sequence table
DI7Stop positioning program (break)
Control of the sequence table
DI8Lower table
( 56)
( 53)
( 53)
( 36)
( 43)
( 43)
Short setup
". ( 57)
Procedure
1. Enable controller: Set digital input RFR to HIGH level.
2. Deactivate quick stop: Set digital input DI1 to HIGH level.
3. Start sequence control: Set digital input DI6 to HIGH level.
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9400 Technology applications | Positioning sequence control
Parameter setting & configuration
Basic signal flow
5Parameter setting & configuration
5.1Basic signal flow
The functional core of the positioning sequence control is formed by the sequence table
and the profile data management, which transmit the required control signals and profile
data to the basic drive function "Positioning".
Positioning sequence control
DI2
Reset
Sequencer
input 8
Acceleration override
Sequencer
DI5
DI6
DI7
DI8
024
Speed override
PositionerTable
Profiles
Override
Enable
AIN1
AIN2
LS_Homing
3
LS_Positioner
n
LS_ManualJog
ç
n
5
[5-1]Signal flow of the TA " Positioning sequence control" (schematic diagram)
Basic drive functions
LS_Stop
internal
n
status machine
0-100 100 200
6
Status
machine
(basic drive
functions)
t
DI1
LS_Quickstop
è
n
STOP
t
78
LS_Brake
t
91
M
LS_Limiter
n
t
DI4
DI3
t
Positioning sequence control
Sequence table
Profile data management
Speed/acceleration override
Basic drive functions
Homing
Positioning
Manual jog
Stop
Quick stop
Limiter
Brake control (optional)
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9400 Technology applications | Positioning sequence control
5.2Basic settings
5.2.1Machine parameters
The machine parameters describe e.g. the motor end of the mechanics
M
used.
The setting of the machine parameters in the »Engineer» is carried out on
the Application parameters tab in the dialog level Overview Machine parameters.
Tip!
In the »Engineer« the most important machine parameters can be directly adapted
to the machine on the Application parameters tab in the topmost Overview dialog
level.
Parameter setting & configuration
Basic settings
Short overview of machine parameters
ParameterLenze setting
Value Unit
C00173Mains voltage400/415 V
C00174Undervoltage (LU) threshold285 V
C00600Resp. to DC bus overvoltageTrouble
C02520Gearbox factor numerator: Motor1
C02521Gearbox factor denom: Motor1
C02527Motor mounting directionMotor rotating CW
C02570Position control structurePhase control
C02522Gearbox factor num.: Pos. enc.1
C02523Gearbox factor denom.: Pos. enc.1
C02529Mounting direction of position encoderEncoder rotating CW
Description of the mechanics (load, tool)
C02528Traversing rangeLimited
C02524Feed constant360.0000 unit
C02525Unit°
C02526User-defined unit°
C02533Time units
C00273/1Motor moment of inertiaMotor-dependent kg cm
C00273/2Load moment of inertia0.00 kg cm
2
2
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9400 Technology applications | Positioning sequence control
Parameter setting & configuration
Basic settings
5.2.2Traversing range
By setting the traversing range the machine type/measuring system is set:
Traversing range
UnlimitedThe drive can traverse optionally in both directions without
M
LimitedAfter reaching the position limits, the drive must travel in the
M
ModuloThe measuring system is repeated.
M
reaching limitations.
• Positioning here generally is effected in the positioning
modes "Relative with/without TP" or "Speed with/
without TP".
• The positioning measuring system is reset to zero with
every new positioning process.
• By homing, the positioning measuring system receives a
fixed reference point (zero point), so that also the
positioning modes "Absolute with/without TP"can be
used. Then also the software limit positions for limiting
the traversing range are provided.
opposite direction again.
• For positioning, the home position has to be known. By
homing, the positioning measuring system receives a
fixed reference point (zero point).
• Basically, monitoring to the internally maximum usable
value range (±2
position monitoring of the internal value range). An
overflow of the value range results in the loss of the home
position.
• Additionally parameterisable software limit positions can
be activated on the user side for limiting the travel range.
• If the cycles n set are exceeded a defined overflow occurs.
The cycle typically corresponds to a rotation or tool
distance in a rotative system.
• For positioning, the home position has to be known.
• Software limit positions are not effective.
• Absolute targets can be approached by exceeding the
measuring system limit, e.g. from 10° via 0° to 350°.
9400 Technology applications | Positioning sequence control
Parameter setting & configuration
Program flow
5.3Program flow
The program flow of the positioning sequence control is selected according to a sequence
table which can contain up to 100 references to "actions".
Basic drive functions
n
0-100 100 200
t
LS_Quickstop
è
n
t
LS_Stop
internal
status machine
Status
machine
(basic drive
functions)
STOP
LS_Brake
t
M
LS_Limiter
n
t
t
Reset
Sequencer
input 8
Positioning sequence control
Sequencer
DI5
DI6
DI7
DI8
PositionerTable
Profiles
Override
Enable
LS_Homing
LS_Positioner
n
LS_ManualJog
ç
n
[5-2]Sequence table (schematic diagram)
What is an action?
An action comprises a clear functionality which is described with a few parameters.
Different action types are available which serve to implement, for instance, program
branching, switching operations, waiting times and counters.
0
1
1
2
n
0
001
Set
3
2
4
StandbyEnd
Before every action type a defined number of actions is available which can be
individually parameterised. The parameters of the actions of the same type only differ
in the subcode.
An action can be used in several steps if always exactly the same task is to be carried
out.
After an action has been processed, the action in the next step of the sequence table is
automatically processed unless it is jumped to another step in the sequence table due
to a branch.
One action can be maximally processed per computing cycle.
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9400 Technology applications | Positioning sequence control
5.3.1Overview of action types
Action typeFunction/parameter
Homing
In order to execute a homing process, the action type "Homing" is available which activates the basic
function "Homing".
Note: The "Homing" action does not have its own parameters. The settings for homing are made via
the parameters of the basic function "Homing".
Positioning
To execute a profile, 50 actions of the "Positioning" type are available.
• The execution of the adjusted profile is only started with activated waiting function if the
sequencer input selected for the waiting function accepts the selected signal state.Sequencer
inputs ( 40)
ParameterInformation
C04513/1...50Profile numberSpecification of the profile to be executed.
C04511/1...50Input for waiting
C04512/1...50Signal state for
C04514/1...50Sequence stepStep inside the sequence table which will be processed after
C04515/1...50Watchdog timeMonitoring time within which positioning must be
C04516/1...50Watchdog
Branching
25 actions of type "Branching" are available for conditional and unconditional branches (jumps).
0
• A branch to the indicated step is executed when the selected sequencer input has the selected
1
signal state at the time of processing. If not, the sequence step is processed in the sequence
table.Sequencer inputs
ParameterInformation
C04530/1...25Input for
C04531/1...25Comparison
C04532/1...25Sequence step in
function
waiting function
sequence step
( 40)
comparison
value
case of equality
Parameter setting & configuration
Program flow
• Press the "Set up profile" button to open a dialog box to
enter the corresponding profile parameters.
• In this dialog a sequence profile can also be set.
Sequencer input 1 ... 32 to be evaluated.
• With the default setting "0" the waiting function is
skipped and the profile execution is started immediately.
Profile processing is only started when the sequencer input
to be evaluated is in this state.
the profile has been executed.
completed. Otherwise, a branch to the watchdog sequence
step defined in C04516 is executed.
Executed when the watchdog time has expired.
Sequencer input 1 ... 32 to be evaluated.
• With the default setting "0" a branch to the adjusted
sequence step is executed.
State in which the sequencer input to be evaluated is
compared.
If the sequencer input to be evaluated equals the
comparison value, a branch to the step set here is executed.
In case of inequality or "0" setting, the next step in the
sequence table is processed.
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Parameter setting & configuration
Program flow
Action typeFunction/parameter
Variable branching
For variable branches (jumps) 5 actions of type "Variable branching" are available.
1
• The branch to one of 20 possible steps is executed depending on the value in C03001 ... C03005
2
n
Switching
Set counter
0
00
Set
at the time or processing.
• The parameters C03001 ... C03005 are firmly assigned to the five available actions:
–C03001 determines the branch for action 1.
–C03002 determines the branch for action 2, etc.
Example:
If C03002 is assigned to the value "15" at the time of processing the action no. 2, it is branched to
the step which is entered in the parameter "Sequence step at branch value 15" for action no. 2
(C04554/2).
ParameterInformation
C04540/1...5Sequence step at
branch value 1
C04541/1...5Sequence step at
branch value 2
.........
C04559/1...5Sequence step at
branch value 20
In order to switch digital output signals 25 actions of type "Switching" are available.
• Each action can set two selectable sequencer outputs independently of each other to FALSE or
TRUE. Sequencer outputs
ParameterInformation
C04520/1...25Output for A
switching
C04521/1...25Signal state for A
switching
C04522/1...25Output for B
switching
C04523/1...25Signal state for B
switching
10 actions of type "Set counter" are available for setting one of the 10 available counters to a certain
starting value.
• The 10 actions of type "Set counter" are not firmly assigned to the 10 actions of the "Counting"
type.
• You can use, for instance, an action of type "Set counter" to set a counter to a value and later you
can set the same counter with another action of type "Set counter" to another value.
ParameterInformation
C04580/1...10Counter selection With the setting "0" the setting of the counter is deactivated.
C04581/1...10New counter
content
C04582/1...10Current counter
content
Step which is executed next when C03001 ... C03005 = "1".
• With the default setting "0" the branching is deactivated
(sequence step is processed).
Step which is executed next when C03001 ... C03005 = "2".
• In the default setting "0", branching is deactivated and
the next step in the sequence table is processed.
Step which is executed next when C03001 ... C03005 = "20".
• In the default setting "0", branching is deactivated and
the next step in the sequence table is processed.
( 41)
Sequencer output 1 ... 32 to be switched.
• With the setting "0" switching is deactivated.
State to which the sequencer output is to be set.
Sequencer output 1 ... 32 to be switched.
• With the setting "0" switching is deactivated.
State to which the sequencer output is to be set.
-2147483648 ... 2147483648
Read only
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9400 Technology applications | Positioning sequence control
Action typeFunction/parameter
Count
25 actions of type "Count" are available for counting processes.
3
1
2
4
Wait
Stand-by
Standby
Program end
End
• With each action processing the counter content of the counter selected is increased or reduced
by the specified step value depending on the setting (count upwards or downwards).
• When the comparison condition for comparing the counter content with an adjustable
comparison value is fulfilled, a branch to any step is possible.
• 10 actions of type "Set counter" are available for setting a counter to a starting value.
ParameterInformation
C04590/1...25Counter selection With the setting "0" the setting of the counter is deactivated.
C04591/1...25Step valueValue by which the counter is increased or reduced.
C04592/1...25Comparison
C04593/1...25Sequence stepWhen the set comparison condition is met, a branch to the
C04594/1...25Comparison
25 actions of type "Wait" are available for the insertion of wait times into the program flow.
• The sequence step is only processed after the waiting time has elapsed or when the selected
sequencer input has the selected signal state at the time of processing.Sequencer inputs
( 40)
ParameterInformation
C04571/1...25Waiting timeWith setting "0", the waiting time is deactivated.
C04572/1...25Input for waiting
C04573/1...25Signal state for
5 actions of type "Stand-by" are available for the temporary activation of a setpoint follower.
• For a sensible use of the "Standby" action, appropriate signal combinations are required in the
(enabled) function block editor.
• The setpoint follower is enabled until the condition for exiting the stand-by is met.
ParameterInformation
C04601/1...5Input for "Stand-
C04602/1...5Signal state for
To define the program end in the sequence table or delete a program step, the action of type
"Program end" is available.
value
condition
function
waiting function
by" end
"Stand-by" end
Parameter setting & configuration
Program flow
• Range: -2147483648 ... 2147483648
Value with which the counter is compared.
• Range: -2147483648 ... 2147483648
step set here is executed.
If the condition is not met, the next step in the sequence
table is processed instead.
Selection of the condition for the comparison of the counter
content with the comparison value.
Sequencer input 1 ... 32 to be evaluated.
• The sequence step will be processed when this input has
the set state, but no later than after the set waiting time
has elapsed.
Required state for completing the waiting function.
Sequencer input 1 ... 32 to be evaluated.
Only if the sequencer input to be evaluated has this state,
the standby step is exited, and the next step in the sequence
table is processed.
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Parameter setting & configuration
Program flow
5.3.2Action type "Homing"
In order to execute a homing process, the action type "Homing" is available for the
sequence table which activates the basic function "Homing".
Positioning sequence control
DI5
DI6
DI7
DI8
Sequencer
Enable/activate
homing
State "homing done"
Reset
Sequencer
input 8
[5-3]"Homing" (schematic diagram for limited traversing range)
Basic drive functions
DI2
LS_Homing
(basic drive
0-100 100 200
functions)
Status
machine
M
Note!
The "Homing" action for the sequence table does not have its own parameters.
The settings for homing are made via the parameters of the basic function
"Homing".
FALSE Set home positionC03160/4
FALSE Reset home positionC03160/5
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Parameter setting & configuration
Program flow
5.3.3Action type "Positioning"
In order to execute a positioning process, 50 actions of "Positioning" type are available for
the sequence table which activates the basic function "Positioning":
Positioning sequence control
DI5
DI6
DI7
DI8
Sequencer
Profile
number
State "positioning done"/"drive in target"
Enable/activate
positioning
PositionerTable
Profiles
Reset
Sequencer
input 8
[5-4]"Positioning" (schematic diagram for limited traversing range)
Basic drive functions
LS_Positioner
n
Profile
data
Status
machine
(basic drive
functions)
t
M
Use the parameter Profile number of the action to select the number or the table
position of the profile to be executed. The final profile data are then given to the basic
function by the Profile data management
. ( 44)
The execution of the adjusted profile is only started with activated waiting function if
the sequencer input selected for the waiting function accepts the selected signal
state.Sequencer inputs
( 40)
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5.3.4Action type "Variable branching"
For variable branches (jumps) 5 actions of type "Variable branching" are available for the
sequence table.
1
2
n
Branch 1 value
C03001
Parameter setting & configuration
Program flow
The branch to one of 20 possible steps
is executed in the Lenze setting
depending on the value in
C03001 ... C03005 at the time or
processing.
<1
>20
Following
step
[5.1]Principle of the variable branch (here for action no. 1)
12 20
Next stepNext stepNext step
C04540/1C04541/1C04559/1
Tip!
Instead of the parameters C03001 ... C03005 you can also assign other signal
sources of the application to the "branch" inputs via multiplexer parameters.
9400 Technology applications | Positioning sequence control
Parameter setting & configuration
Program flow
Example
The following example illustrates the function of the variable branch based on a program
flow which contains, among other things, two actions of the "Variable branching" type.
Step 12
Step 13
[5.2]Example "Variable branch"
5.3.5Sequencer inputs
In order to control conditional branches and the optional waiting function of some action
types during the program flow, 32 sequencer inputs of "BOOL" type.
The sequencer inputs 1 ... 16 can be linked with the signal sources of the application or
device interfaces in the dialog level Overview L_Sequencer Program inputs via
multiplexer parameters.
Step 14
Step 15
Step 16
Step 17
Action number:
1
2
n
Action number:
1
2
n
C030022=4
C04543/2 =16
C030033=20
C04559/3 =12
W jump to step number [C04543/2]
W jump to step number [C04559/3]
For the action types "positioning", "branching", "waiting" and "stand-by", you can
individually define for each action which of the sequencer inputs is to be called for the
corresponding function when the program is executed.
Note!
The sequencer input 8 in the Lenze setting is linked with the digital input DI8.
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5.3.6Sequencer outputs
Via a DWORD-to-BIT-converter, 32 sequencer outputs of type "BOOL" are available for
"switching" which can be set to FALSE or TRUE with the action type "switching".
These sequencer outputs can be connected with the inputs of the application or device
interfaces via multiplexer parameters.
The following table lists the corresponding module outputs of the FB interconnection
and the corresponding selection numbers for the multiplexer parameters:
Module outputSignal typeSelection no. Selection text
SequencerOutput.bBit0551 Sequencer output 1
SequencerOutput.bBit1552 Sequencer output 2
SequencerOutput.bBit2553 Sequencer output 3
...... ...
SequencerOutput.bBit31582 Sequencer output 32
Parameter setting & configuration
Program flow
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Parameter setting & configuration
Program flow
5.3.7Parameter setting of the program flow in the Engineer
Go to the »Engineer« to the Application parameter tab and click Program flow in the
topmost dialog level to change to the dialog for the sequence table:
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.
3. If the selected action type provides more than one action, select the action to be
parameterised from the list field Selection of action number.
– The next free action is suggested automatically.
4. Enter a comment about the action (optional).
5. Set parameters of the action.
– If required, call the corresponding subsequent dialogs.
6. Repeat step 1 ... 5 until all actions required for the program flow are parameterised.
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5.3.8Control of the sequence table
A LOW/HIGH edge at the digital input DI6 starts the parameterised program flow if the
controller is enabled and no error is pending.
The first step set in C03000 of the sequence table is executed.
By setting the digital input DI7 to HIGH level, the program flow can be stopped, if
required (break).
Note!
In the following cases the program flow is interrupted:
• The controller inhibit is activated.
• Quick stop is activated.
• The drive interface changes to an error status.
If the controller is not inhibited, a shutdown of the drive via the basic function
"Quick stop" is effected.
Parameter setting & configuration
Program flow
After the interruption is deactivated again (e.g. because an activated quick stop
has been deactivated again), a renewed LOW/HIGH edge is required at the
digital input DI6 in order that the positioning program can be continued with
the sequence step.
9400 Technology applications | Positioning sequence control
Parameter setting & configuration
Profile data management
5.4Profile data management
Positioning sequence control
Sequencer
PositionerTable
Profiles
Override
Enable
LS_Homing
LS_Positioner
n
LS_ManualJog
ç
n
Basic drive functions
n
0-100 100 200
t
LS_Quickstop
è
n
t
LS_Stop
internal
status machine
Status
machine
(basic drive
functions)
STOP
LS_Brake
t
M
LS_Limiter
n
t
t
[5-5]Profile data management (schematic diagram)
The profile data management serves to file and manage up to 75 (travel) profiles.
A profile describes a motion request which can be converted by the basic drive function
"Positioning" into a rotary motion.
To execute a profile, 50 actions of type "Positioning" are available for the sequence
table.
The profile data management also enables the "teaching" of speed, acceleration/
deceleration and S-ramp times. "Teach" function
( 52)
5.4.1Profile parameters
A profile is described by the following profile parameters:
v [m/s]
B
C
F
E
[5-6]Profile parameters
v [m/s]
t [s]
B
C
E
F
E
E
A
D
E
E
TP window
GH
TP
E
A
D
E
t [s]
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SymbolProfile parameters
(Standard) profile
Profile data set (profile no. 1 ... 75) in which the profile data are stored.
Mode
Selection of the positioning mode. Positioning modes
Position
A
Target position or path distance to be traversed.
The position is either indicated as absolute or relative position.
• An absolute position always specifies the distance to the zero position defined:
absolute position = target position
10
0
• A relative position indicates the distance to the starting position (current position):
Relative position = target position - starting position
10
Parameter setting & configuration
Profile data management
( 48)
30
P1
102030405060708090100
2050
80
P2
P3
P3P2P1
102030405060708090100
0
Speed
B
Maximum speed with which the target is to be approached.
• Depending on the profile parameter position, acceleration and deceleration, it is possible that the
drive may not reach the maximum speed. In this case, the graph would display a triangle instead of
a trapezium.
v [m/s]
v
pos
n Acceleration
o Travelling speed (is not reached here)
p Deceleration
q Target position (or feed distance)
t [s]
Acceleration
C
Selection of the change in speed by which acceleration is to be carried out maximally.
• The following two acceleration types are distinguished:
–Constant acceleration: the speed increases linearly.
–Linearly increasing acceleration: The speed increases in S-shapes.
v [m/s]
v
pos
n Constant acceleration
o Linearly increasing acceleration
v [m/s]
t [s]
v
pos
t [s]
Deceleration
D
Selection of the change in speed by means of which deceleration to standstill is to be maximally effected
again.
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Parameter setting & configuration
Profile data management
SymbolProfile parameters
S-ramp time
E
When the S-ramp time is selected for a profile, it is executed with S-shaped ramps, e.g. acceleration and
deceleration processes are started smoothly to reduce the jerk and thus prevent the drive components
from damage.
• The acceleration/deceleration specified in the profile are only reached after the defined S-ramp time
has elapsed.
• This type of acceleration/deceleration is required for e.g. sensitive machine parts with clearance.
• The slower acceleration increase with the S profile prolongs the positioning time compared to the
time optimal L profile.
v [m/s]
n without jerk limitation (L profile)
o with jerk limitation (S profile)
a
Final speed
F
Selection of the speed by which the drive is to start the next profile after reaching the target position.
t [s]
t [s]
"Velocity changeover" or "Overchange" can be implemented with a final speed that is non-zero, i.e.
when the target position is reached, a second positioning process is started immediately without the
drive being decelerated to standstill at the first target position:
v [m/s]
v
pos
n Target position
o Final speed (here unequal "0")
v
G H
end
Start of TP window / End of TP window
These profile parameters serve to restrict the range for a touch probe positioning (residual path
t [s]
positioning) in which touch probes are to be detected.
Sequence profile with TP
Profile data set (profile no. 1 ... 75) in which the profile data of the profile are stored which is to be
executed after a touch probe has been detected.
• For the setting "0" no further profile connection by touch probe is effected.
Sequence profile without TP
Profile data set (profile no. 1 ... 75) in which the profile data of the profile is stored which is to be
executed after the standard profile has been executed (profile chaining).
• With the setting "0" no profile chaining is carried out.
• The sequence profile defined in this profile parameter is executed even if no touch probe has been
detected within the defined TP window.
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5.4.2Variable tables
To simplify parameter handling, the four most important physical sizes for profile
parameters are stored in separate "variable tables".
A value is assigned to a profile parameter by referring to a table position of the
assigned variable table.
• Hence, not the value itself is entered into the profile parameter but the index
of the table position which contains the value to be used.
• See the example in the illustration [5-7]
Profile 1
Mode
Position
Speed
Acceleration
Deceleration
Jerk time
End speed
TP window start position
TP window end position
Next TP profile
Next profile
3
3
1
1
2
1
50
6
7
12
2
VTPOS
VTACC
VTACC
VTJERK
VTPOS
VTPOS
. ( 47)
1
2
...
100
1
2
...
50
VTPOS
VTSPEED
200 [unit]/s
400 [unit]/s
50 [unit]/s
Mode
Position
Speed
Acceleration
Deceleration
Jerk time
End speed
TP window start position
TP window end position
Next TP profile
Next profile
Profile 2
4
4
2
1
3
1
50
6
8
13
5
VTPOS
VTACC
VTACC
VTJERK
VTPOS
VTPOS
VTACC
1
2
...
50
VTJERK
1
2
...
50
[5-7]Principle: References to variable tables (here: References to VTSPEED)
In case of several references to the same table position, a change of the value in this
table position affects several profiles at the same time. Thus, recurring profile
parameters only need to be changed on one position.
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Parameter setting & configuration
Profile data management
If e.g. in case of a profile linkage, several profiles are to be executed with the same
speed, the corresponding profile parameters "speed" can all refer to the same table
position.
For an easier assignment and identification of the entered values, each table position
can be optionally provided with a comment in the »Engineer«.
5.4.3Positioning modes
Depending on the traversing range/application, you can select between different
positioning modes which are described in the below table.
Note!
For absolute positioning, the home position must be known!
• If an absolute positioning process (positioning modes 1 ... 2 and 11 ... 16) is
started although the home position is not known, an error message is
indicated.
– In this case a programming error has occurred and the program flow must
be reset.
– If the error only occurs in a sequence profile, the last valid deceleration is
used to decelerate the drive to standstill.
The modulo positioning modes may involve reversing processes!
• If a modulo positioning process (positioning modes 11 ... 16) is started at an
initial speed other than zero, the target position may be overtravelled and a
reversing process may follow, depending on the selected deceleration / Sramp time parameters. This would also cause e.g. counter-clockwise rotation
in the "Absolute CW (modulo)" positioning mode.
Positioning mode
1 Absolute
The axis travels to an absolute position.
• Reference for the absolute position is zero position.
• The home position must be known.
• The traversing range is limited:
–to 214748.3647 [unit]
–by the internal display area (±2
• Not possible with "modulo" traversing range.
2 Absolute TP
Like mode 1, but with profile change when a touch probe is detected.
Touch probe positioning
5 Relative
The axis is traversed by a distance.
• Reference for the distance is the target position of the profile executed before.
• The feed per positioning is limited:
–to 214748.3647 [unit]
–by the internal display area (±2
6 Relative TP
Like mode 5, but with profile change on touch probe detection.
Touch probe positioning
. ( 51)
. ( 51)
31
increments)
31
increments)
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Parameter setting & configuration
Profile data management
Positioning mode
7 Speed
Continuous constant travel.
• Only possible with "unlimited" and "limited" traversing range
• This mode does not approach a defined position, but follows the profile.
• Acceleration and deceleration are based on profile values.
• The traversing direction is defined by the sign of the traversing speed.
• Stopped through break signal.
8 Speed TP
Like mode 7, but with profile change on touch probe detection.
Touch probe positioning
11 Absolute CW
The axis travels in CW direction to an absolute position.
• Only possible with "Modulo" traversing range.
• Reference for the absolute position is zero position.
• In this direction the zero position of the axis can be overtravelled.
12 Absolute CW TP
Like mode 11, but with profile change on touch probe detection.
Touch probe positioning
13 Absolute CCW
The axis travels in CCW direction to an absolute position.
• Only possible with "Modulo" traversing range.
• Reference for the absolute position is zero position.
• In this direction the zero position of the axis can be overtravelled.
14 Absolute CCW TP
Like mode 13, but with profile change when a touch probe is detected.
Touch probe positioning
15 Absolute ShortestWay
The axis travels to an absolute position in best time.
• Only possible with "Modulo" traversing range.
• Reference for the absolute position is zero position.
• The rotary table positioning is basically an absolute positioning with target positions between 0 and 360
angular degree [°]. In this mode the zero point can also be overtravelled if this is the shortest way to the
target position:
. ( 51)
. ( 51)
. ( 51)
360°/0°
300°
240°
180°
16 Absolute ShortestWay TP
Like mode 15, but with profile change on touch probe detection.
Touch probe positioning
. ( 51)
60°
120°
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Parameter setting & configuration
Profile data management
5.4.4Positioning with final speed
If a positioning process with a final speed other than zero is carried out, a velocity
changeover / overchange can be realised, i.e. a second positioning process is started
immediately once the target position is reached, and the drive does not come to a standstill
at the first target position.
v [m/s]
v
pos
v
end
[5-8]The principle of velocity changeover / overchange
t [s]
n Target position
o Final speed (here unequal "0")
Normally, the drive has reached the final speed when the target position is reached.
The profile is run through which is defined via "Profile data sequence profile without
TP".
The final speed must not exceed the maximum profile speed.
– The speed is internally limited to the profile speed.
– This is the maximum value for the final speed if the profile speed is reduced via
override. (This behaviour may add to the cases described in the note below.)
– The speed limitation is not affected by subsequent increases in the override value.
Note!
Positioning processes with final speeds other than zero do not permit reversing.
In this case, the positioning process is aborted and an error is issued.
In the case of positioning processes with final speeds and if S-shaped ramps are
used, a plausibility check as to whether the final speed can be reached is carried
out when the profile is started. If the final speed cannot be reached, the
positioning process is aborted and an error is issued. This is often the case if the
positioning process has been paused and is then to be continued.
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5.4.5Touch probe positioning
In the touch probe positioning mode, the profile is first executed according to the Profile
parameters set. If a touch probe is detected during the process, it is automatically changed
to the profile specified in the profile parameter "Sequence profile with TP".
Here the current actual position is stored at the time of the touch probe activation (by
a touch probe sensor).
In the following relative positioning process, the "residual path" to this stored position
is travelled according to the increments.
Parameter setting & configuration
Profile data management
v [m/s]
Profile 4Profile 7
Touch probe
v [m/s]
Profile 4Profile 7
n "Starting profile"
o "Residual path profile" that is defined in the profile parameter "Sequence profile with TP" of the starting profile.
[5-9]Examples for a "residual path positioning" after a touch probe is detected
Touch probe
t [s]
t [s]
The profile parameters "TP window start" and "TP window end" the range in which
touch probes are to be detected can be restricted.
– If both profile parameters are "0", touch probe detection will be active over the whole
profile/the whole traversing range.
If no touch probe is detected and after the profile is executed, the positioning is
continued with the profile defined in the profile parameter "Sequence profile without
TP" (profile chaining).
Mode
Position
Speed
Next TP profile
Next profile
Profile 4
...
7
Mode
Position
Speed
Next TP profile
Next profile
Profile 7
...
Note!
If a profile is travelled with high speed and a touch probe positioning is started
the residual path of which is shorter than the result from current speed and set
deceleration ramp, the target position is "overtravelled".
• Normally a reversing movement occurs, i.e. the drive returns.
• If, for instance, a CCW rotation of the drive is forbidden by the safety module,
the target cannot be approached since in this case the reversing movement is
not permissible.
Further constellations are possible in connection with profile chaining in which
an approach of the target position is impossible.
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Parameter setting & configuration
Profile data management
5.4.6"Teach" function
The "Teach" function of the profile data management enables the teaching of positions,
speeds, accelerations and S-ramp times.
The basic function "Manual jog" serves, for instance to approach the desired position
manually and transmits it via "Teaching" to the variable table for positions.
C03016 Selection of table position for positionC03029/1
Zero position Teach positionC03125/1
FALSE Teach speedC03020/2
C03017 Selection of table position for speedC03029/2
Speed setpoint Teach speedC03024/1
FALSE Teach accelerationC03020/3
C03018 Selection of table position for accelerationC03029/3
0 Teach accelerationC03027
FALSE Teach S-ramp timeC03020/4
C03019 Selection of table position for S-ramp timeC03029/4
0 Teach S-ramp timeC03028
Note!
After the function block editor is enabled the "Teach" function must be
configured directly in the FB interconnection instead of via the parameters
mentioned before!
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"Override" is the change of profile parameters and their acceptance during the positioning
process.
In this case, the travel profile is adapted accordingly to ensure that the defined target
position is still exactly approached if, for example, the speed is changed during the
positioning process ("speed override"):
For the setting-up operation and
"Teaching" of positions the basic function
"Manual jog" is available.
Manual jog is controlled via parameters
(e. g. via HMI).
Manual jog can always be carried out if the
sequence control is not active and no other
basic function and no error status are
active. The request of manual jog then is
effected automatically with the travel
commands.
t
Value Unit
2
2
Control inputs of the functionSignal configuration
9400 Technology applications | Positioning sequence control
Parameter setting & configuration
Limiter
Status
machine
(basic drive
functions)
[5-15] Basic function "Limiter" (schematic diagram)
M
LS_Limiter
n
DI4
DI3
t
The software limit positions which can be set via parameters serve to limit the travel
range by means of software and prevent that travel commands are executed which
would cause an exit of the permissible travel range.
Moreover, the travel range limits are monitored via limit switches via the digital inputs
DI3 and DI4.
Note!
The digital inputs DI3 and DI4 are configured fail-safe in C00114/3 and C00114/
4 , i.e. a HIGH level is expected at both inputs in idle state.
• If the travel range limits should not be monitored (e.g. in case of a rotary axis),
set the limit switch inputs of the basic function "Limiter" permanently to
FALSE.
The basic function "Limiter" monitors the
travel range limits via limit switches and
parameterisable software limit positions
and after an according request from the
safety module can lead the drive into
defined limit ranges. Furthermore higherlevel limit values for travel profiles can be
entered and activated.
The parameterised limit values for travel profiles are not effective for the basic
functions "speed follower", "torque follower", and "position follower"!
• For the exceeding of the limit values an error response can be set.
9400 Technology applications | Positioning sequence control
Parameter setting & configuration
Brake control
LS_Brake
The basic function "Brake control" serves
to the wear free control and monitoring of
a holding brake.
In the simplest case, an optionally
available brake module is used.
Status
machine
(basic drive
functions)
M
Alternatively the holding brake can also be
controlled and monitored via the digital
inputs/outputs.
[5-16] Basic function "Brake control" (schematic diagram)
Note!
In the Lenze setting the brake control is switched off to reach a safe state after
mains connection.
If the automatic operation (operating mode 2 or 12) is selected in C02580, the brake is
controlled automatically, i.e. if the multi-purpose positioning or another basic function is
activated which causes the drive to traverse, the brake is opened automatically and the
operation is enabled.
FALSE Open brake (release)C03165/1
FALSE Activate starting torque 2C03165/2
FALSE Keep open brake at standstillC03165/3
FALSE Brake status signalC03165/4
FALSE Activate brake testC03165/5
FALSE Grind brakeC03165/6
0 % Additional torqueC03166
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9400 Technology applications | Positioning sequence control
5.11Signal configuration
5.11.1Drive and motor interface
If required, the preset signal configuration of the control and setpoint inputs of the drive
and motor interface can be easily reconfigured by parameterising the assigned multiplexer
parameters.
Drive interface
Signal (Lenze setting)Control inputSignal configuration
DIGIN 5 Reset error 1C03130/2
Parameter setting & configuration
Signal configuration
FALSE Set controller inhibitC03130/1
FALSE Reset error 2C03130/3
FALSE Reset error 3C03130/4
FALSE Set errorC03130/5
FALSE Switch on driveC03130/6
Motor interface
Signal (Lenze setting)Setpoint inputSignal configuration
-100 % Lower torque limit valueC03141/5
100 % Flux setpointC03141/6
100 % Adaptation of mass inertiaC03141/7
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9400 Technology applications | Positioning sequence control
Parameter setting & configuration
Signal configuration
5.11.2Output ports
If required, the preset signal configuration of the output ports can be easily reconfigured
by parameterising the assigned multiplexer parameters.
Output port "LPortAxisOut1"
The output port LPortAxisOut1 is intended for the connection with a following axis.
Signal (Lenze setting)Output portSignal configuration
Axis status word
• The bit assignment is identical to that of status word 1/2.
• Application-specific signals can be supplemented.
Drive ready Axis status word bit 00C03120/1
FALSE Axis status word bit 01C03120/2
Operation enabled Axis status word bit 02C03120/3
Error active Axis status word bit 03C03120/4
FALSE Axis status word bit 04C03120/5
Quick stop active Axis status word bit 05C03120/6
Drive is ready to start Axis status word bit 06C03120/7
Warning active Axis status word bit 07C03120/8
FALSE Axis status word bit 08C03120/9
FALSE Axis status word bit 09C03120/10
FALSE Axis status word bit 10C03120/11
Motor control in limitation Axis status word bit 11C03120/12
Sequence control ready to start Axis status word bit 12C03120/13
Sequence control started Axis status word bit 13C03120/14
Sequence control reset Axis status word bit 14C03120/15
Sequence control processed Axis status word bit 15C03120/16
Setpoints for horizontal communication
Filtered torque setpoint Axis-Port Out 1C03124/1
Scaling:
16384 ≡ 2
Motor speed Axis port out 2C03124/2
Scaling:
1073741824 ≡ 2
14
≡ 100 % motor reference torque (C00057/2)
30
≡ 100 % motor reference speed (C00011)
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9400 Technology applications | Positioning sequence control
Parameter setting & configuration
Signal configuration
Output port "LPortStatus1"
The output port LPortStatus1 is intended for the connection with a higher-level control.
Signal (Lenze setting)Output portSignal configuration
Status word 1
Drive ready Status word 1 bit 00C03121/1
FALSE Status word 1 bit 01C03121/2
Operation enabled Status word 1 bit 02C03121/3
Error active Status word 1 bit 03C03121/4
FALSE Status word 1 bit 04C03121/5
Quick stop active Status word 1 bit 05C03121/6
Drive is ready to start Status word 1 bit 06C03121/7
Warning active Status word 1 bit 07C03121/8
FALSE Status word 1 bit 08C03121/9
FALSE Status word 1 bit 09C03121/10
FALSE Status word 1 bit 10C03121/11
Motor control in limitation Status word 1 bit 11C03121/12
Sequence control ready to start Status word 1 bit 12C03121/13
Sequence control started Status word bit 13C03121/14
Sequence control reset Status word 1 bit 14C03121/15
Sequence control processed Status word 1 bit 15C03121/16
Output port "LPortStatus2"
Signal (Lenze setting)Output portSignal configuration
Status word 2
FALSE Status word 2 bit 00C03122/1
FALSE Status word 2 bit 01C03122/2
FALSE Status word 2 bit 02C03122/3
FALSE Status word 2 bit 03C03122/4
FALSE Status word 2 bit 04C03122/5
FALSE Status word 2 bit 05C03122/6
FALSE Status word 2 bit 06C03122/7
FALSE Status word 2 bit 07C03122/8
FALSE Status word 2 bit 08C03122/9
FALSE Status word 2 bit 09C03122/10
FALSE Status word 2 bit 10C03122/11
FALSE Status word 2 bit 11C03122/12
FALSE Status word 2 bit 12C03122/13
FALSE Status word 2 bit 13C03122/14
FALSE Status word 2 bit 14C03122/15
FALSE Status word 2 bit 15C03122/16
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9400 Technology applications | Positioning sequence control
Parameter setting & configuration
Actual value and status signals
5.12Actual value and status signals
The following tables contain the Lenze assignment of the analog and digital outputs for
the "Positioning sequence control" technology application.
The default signal configuration if required can be easily changed by parameterising
SBStatus "Error active acknowledgement is required"
• A monitoring function with the error response "Error" or "Quick
stop by trouble" has been activated and the controller is in the
status "Error active" or "Quick stop by trouble active".
• The state bus is put in the "error" status.
C03100/5
Display elements
User LEDSignal (Lenze setting)Signal configuration
"Positioning sequence control active" statusC03100/6
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9400 Technology applications | Positioning sequence control
5.13Application error messages
For the output of application-specific error messages, the FB instances ApplicationError1
and ApplicationError2 of the function block L_DevApplErr are available in the network.
Via the boolean inputs up to 16 different application error messages with
parameterisable module ID, error ID and error response can be released by the
application.
Error messageError IDError response
FB instance "ApplicationError1"
1Following error limit 18001Warning
2Following error limit 28002Warning locked
3Positioner: Home position is not known8003Warning
4Positioner: Cycle is not known8004Warning
5Positioner: Wrong positioning mode8005Warning
6Positioner: Invalid change of the positioning mode8006Warning
7Positioner: Profile data is not plausible or faulty8007Warning
8Positioner: Error in profile generation8008Warning
FB instance "ApplicationError2"
1Free error message 18011Information
2Free fault message 28012Information
3PositionerTable: Invalid axis data structure8013Warning
7Sequencer: Error due to variable branch8017Warning
8Sequencer: Pause8018Information
Parameter setting & configuration
Application error messages
Parameter setting: Tab All parameters
ParameterLenze setting
FB instance "ApplicationError1"
C05900Function block ID999
C05901/1...8Error ID 1 ... 8See table above
C05902/1...8Error response 1 ... 8See table above
FB instance "ApplicationError2"
C05903Function block ID998
C05904/1...8Error ID 1 ... 8See table above
C05905/1...8Error response 1 ... 8See table above
Reset of error message
In the Lenze setting the digital input DI5 for resetting (acknowledging) an error message is
connected to the input DI_bResetError1 of the drive interface.
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9400 Technology applications | Positioning sequence control
Parameter setting & configuration
Parameterisable function blocks
5.14Parameterisable function blocks
This subchapter lists all relevant parameterisable function blocks of the technology
application and the corresponding parameters in alphabetical order.
5.14.1ActualSpeedScaling
Is an instance ofFunction
L_TbNormalizeScaling of actual speed to a parameterisable reference variable
ParameterPossible settingsInformation
C04036-21474836472147483647 Reference variable
• Setting "0" is not possible.
• Initialisation: 44739243
5.14.2ApplicationError1
Is an instance ofFunction
L_DevApplErrError handling
ParameterPossible settingsInformation
C05900980999 Module ID
C05901/1...8065535 Error ID
C05902/1...8Error response
Application error messages
0None
1Fault
2Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6Information
( 65)
• Initialisation: 999
• Initialisation: 8001 ... 8008
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9400 Technology applications | Positioning sequence control
5.14.3ApplicationError2
Is an instance ofFunction
L_DevApplErrError handling
ParameterPossible settingsInformation
C05903980999 Module ID
C05904/1...8065535 Error ID
C05905/1...8Error response
Application error messages
0None
1Fault
2Trouble
3 Quick stop by trouble
4 Warning locked
5 Warning
6Information
Parameter setting & configuration
Parameterisable function blocks
( 65)
• Initialisation: 998
• Initialisation: 8011 ... 8018
5.14.4FollowingErrorScaling
Is an instance ofFunction
L_TbNormalizeScaling of the following error to a parameterisable reference variable
ParameterPossible settingsInformation
C04035-21474836472147483647 Reference variable
5.14.5HysteresisFollowingError1
Is an instance ofFunction
L_SdSetPositionConversion of the following error hysteresis 1 selected in the real units of the
machine via C03917 into a position in [increments].
Following error monitoring
ParameterPossible settingsInformation
C03917-214000.0000unit214000.0000 Position value
C03918String of digitsPosition unit
C03919-21474836472147483647 State
• Setting "0" is not possible.
• Initialisation: 65536
( 54)
• Initialisation: 0.0000 unit
•Read only
•Read only
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9400 Technology applications | Positioning sequence control
Parameter setting & configuration
Parameterisable function blocks
5.14.6HysteresisFollowingError2
Is an instance ofFunction
L_SdSetPositionConversion of the following error hysteresis 2 selected in the real units of the
ParameterPossible settingsInformation
C03920-214000.0000unit214000.0000 Position value
C03921String of digitsPosition unit
C03922-21474836472147483647 State
5.14.7L_PosPositionerTable1
machine via C03920 into a position in [increments].