Lenze E94AxHE User Manual

EDS94TA10060xxxx
13277862

Ä.<o_ä

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

2 L EDS94TA10060xxxx EN 1.2 - 03/2010

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

EDS94TA10060xxxx EN 1.2 - 03/2010 L 3

9400 Technology applications | Positioning sequence control

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

4 L EDS94TA10060xxxx EN 1.2 - 03/2010

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

EDS94TA10060xxxx EN 1.2 - 03/2010 L 5

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

"

6 L EDS94TA10060xxxx EN 1.2 - 03/2010

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.

EDS94TA10060xxxx EN 1.2 - 03/2010 L 7

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



8 L EDS94TA10060xxxx EN 1.2 - 03/2010

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.

EDS94TA10060xxxx EN 1.2 - 03/2010 L 9

9400 Technology applications | Positioning sequence control

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)

10 L EDS94TA10060xxxx EN 1.2 - 03/2010

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

EDS94TA10060xxxx EN 1.2 - 03/2010 L 11

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

12 L EDS94TA10060xxxx EN 1.2 - 03/2010

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

EDS94TA10060xxxx EN 1.2 - 03/2010 L 13

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

14 L EDS94TA10060xxxx EN 1.2 - 03/2010

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.

EDS94TA10060xxxx EN 1.2 - 03/2010 L 15

9400 Technology applications | Positioning sequence control

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«:

16 L EDS94TA10060xxxx EN 1.2 - 03/2010

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

EDS94TA10060xxxx EN 1.2 - 03/2010 L 17

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 Overview
 Program flow and select the positioning program.

18 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

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.

EDS94TA10060xxxx EN 1.2 - 03/2010 L 19

9400 Technology applications | Positioning sequence control

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

20 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

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.

EDS94TA10060xxxx EN 1.2 - 03/2010 L 21

9400 Technology applications | Positioning sequence control

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.

22 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

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.

EDS94TA10060xxxx EN 1.2 - 03/2010 L 23

9400 Technology applications | Positioning sequence control

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

24 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

Step 4: Parameterising the multiplexer for the digital outputs

4.7 Step 4: Parameterising the multiplexer for the digital outputs

1. Go to the All parameters tab.

2. Set the following multiplexer parameters:

Parameter Setting

C03100/2 X digital output 2 of Homing completed

C03100/3 X digital output 3 of Sequence control output 1

Short setup

EDS94TA10060xxxx EN 1.2 - 03/2010 L 25

9400 Technology applications | Positioning sequence control

Short setup
Step 5: Transferring the application to the controller

4.8 Step 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.

26 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

Step 6: Controlling the application via terminals

4.9 Step 6: Controlling the application via terminals

Terminal assignment

Terminal Signal (Lenze setting)

X3 AI1-

X5 DI1 Quick 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

DI2 Connection 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).

DI5 Reset 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.

DI6 Start positioning program/back to start position

Control of the sequence table

DI7 Stop positioning program (break)

Control of the sequence table

DI8 Lower 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.

EDS94TA10060xxxx EN 1.2 - 03/2010 L 27

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Basic signal flow

5 Parameter setting & configuration

5.1 Basic 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)

28 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

5.2 Basic settings

5.2.1 Machine 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

Parameter Lenze setting

Value Unit

C00173 Mains voltage 400/415 V

C00174 Undervoltage (LU) threshold 285 V

C00600 Resp. to DC bus overvoltage Trouble

C02520 Gearbox factor numerator: Motor 1

C02521 Gearbox factor denom: Motor 1

C02527 Motor mounting direction Motor rotating CW

C02570 Position control structure Phase control

C02522 Gearbox factor num.: Pos. enc. 1

C02523 Gearbox factor denom.: Pos. enc. 1

C02529 Mounting direction of position encoder Encoder rotating CW

Description of the mechanics (load, tool)

C02528 Traversing range Limited

C02524 Feed constant 360.0000 unit

C02525 Unit °

C02526 User-defined unit °

C02533 Time unit s

C00273/1 Motor moment of inertia Motor-dependent kg cm

C00273/2 Load moment of inertia 0.00 kg cm

2

2

EDS94TA10060xxxx EN 1.2 - 03/2010 L 29

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Basic settings

5.2.2 Traversing range

By setting the traversing range the machine type/measuring system is set:

Traversing range

Unlimited The drive can traverse optionally in both directions without

M

Limited After reaching the position limits, the drive must travel in the

M

Modulo The 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°.

31

increments) takes place (software limit

 Parameter setting: Tab Application parameters  dialog level Overview

Parameter Lenze setting

Value Unit

C02528 Traversing range Limited

C02536 Cycle (only relevant for traversing range "Modulo") 360.0000 unit

30 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

5.2.3 Position control

In the dialog level Overview  LS_Positioner and the subordinate dialog levels, you can
adapt the parameters for the position control, if necessary.

Parameter Lenze setting

C00254 Phase controller gain 20.00 1/s

C02553 Position controller gain 20.00 1/s

C02556 Position controller limitation 214748.3647 unit/s

Parameter setting & configuration

Basic settings

Value Unit

EDS94TA10060xxxx EN 1.2 - 03/2010 L 31

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Program flow

5.3 Program 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

00 1

Set

3

2

4

Standby End

 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.

32 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

5.3.1 Overview of action types

Action type Function/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)

Parameter Information

C04513/1...50 Profile number Specification of the profile to be executed.

C04511/1...50 Input for waiting

C04512/1...50 Signal state for

C04514/1...50 Sequence step Step inside the sequence table which will be processed after

C04515/1...50 Watchdog time Monitoring time within which positioning must be

C04516/1...50 Watchdog

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

Parameter Information

C04530/1...25 Input for

C04531/1...25 Comparison

C04532/1...25 Sequence 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.

EDS94TA10060xxxx EN 1.2 - 03/2010 L 33

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Program flow

Action type Function/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).

Parameter Information

C04540/1...5 Sequence step at

branch value 1

C04541/1...5 Sequence step at

branch value 2

... ... ...

C04559/1...5 Sequence 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

Parameter Information

C04520/1...25 Output for A

switching

C04521/1...25 Signal state for A

switching

C04522/1...25 Output for B

switching

C04523/1...25 Signal 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.

Parameter Information

C04580/1...10 Counter selection With the setting "0" the setting of the counter is deactivated.

C04581/1...10 New counter

content

C04582/1...10 Current 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

34 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

Action type Function/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.

Parameter Information

C04590/1...25 Counter selection With the setting "0" the setting of the counter is deactivated.

C04591/1...25 Step value Value by which the counter is increased or reduced.

C04592/1...25 Comparison

C04593/1...25 Sequence step When the set comparison condition is met, a branch to the

C04594/1...25 Comparison

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)

Parameter Information

C04571/1...25 Waiting time With setting "0", the waiting time is deactivated.

C04572/1...25 Input for waiting

C04573/1...25 Signal 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.

Parameter Information

C04601/1...5 Input for "Stand-

C04602/1...5 Signal 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.

EDS94TA10060xxxx EN 1.2 - 03/2010 L 35

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Program flow

5.3.2 Action 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".

 Parameter setting: Tab Application parameters  dialog level Overview  Homing

Parameter Lenze setting

C02528 Traversing range Limited

C02640 Homing mode Set home pos. directly

C02642 Home position 0.0000 unit

C02643 Homing: Target position 0.0000 unit

C02644 Homing: Speed 1 360.0000 unit/s

C02645 Homing: Acceleration 1 720.0000 unit/s

C02646 Homing: Speed 2 180.0000 unit/s

C02647 Homing: Acceleration 2 360.0000 unit/s

C02648 Homing: S-ramp time 100 ms

C02649 Homing: Torque limit 10.00 %

C02650 Homing: Blocking time 1.000 s

C02652 Ref. pos. after mains switching Delete

C02653 Max. rot. ang. aft. mns. swtch. 180 °

Value Unit

2

2

36 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

Parameter setting & configuration

Program flow

Control inputs of the function Signal configuration

Lenze setting Control input (Multiplexer parameters)

Sequencer

Enable Homing

Sequencer

Activate Homing

DIGIN 2  Home mark C03160/3

Zero position  Home position C03163

+100 %  Homing override C03186/4

 Request homing C03160/1

 Start homing C03160/2

FALSE  Set home position C03160/4
FALSE  Reset home position C03160/5

EDS94TA10060xxxx EN 1.2 - 03/2010 L 37

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Program flow

5.3.3 Action 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)

38 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

5.3.4 Action 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 step Next step Next step

C04540/1 C04541/1 C04559/1

 Tip!

Instead of the parameters C03001 ... C03005 you can also assign other signal
sources of the application to the "branch" inputs via multiplexer parameters.

 Parameter setting: Tab Application parameters  dialog level Overview  Sequence

control

Parameter Lenze setting

C03001 Branch value 1 1

C03002 Branch value 2 1

C03003 Branch value 3 1

C03004 Branch value 4 1

C03005 Branch value 5 1

 The parameters C03001 ... C03005 are

firmly assigned to the five available
actions, i.e. C03001 determines the
branch for action 1, C03002 for
action 2, etc.

Value Unit

Control inputs of the function Signal configuration

Lenze setting Control input (Multiplexer parameters)

C03001  Sequencer branch 1 C03079/1
C03002  Sequencer branch 2 C03079/2
C03003  Sequencer branch 3 C03079/3
C03004  Sequencer branch 4 C03079/4
C03005  Sequencer branch 5 C03079/5

EDS94TA10060xxxx EN 1.2 - 03/2010 L 39

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"

5.3.5 Sequencer 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.

40 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

5.3.6 Sequencer 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 output Signal type Selection no. Selection text

SequencerOutput.bBit0  551 Sequencer output 1

SequencerOutput.bBit1 552 Sequencer output 2

SequencerOutput.bBit2 553 Sequencer output 3

... ... ...

SequencerOutput.bBit31 582 Sequencer output 32

Parameter setting & configuration

Program flow

EDS94TA10060xxxx EN 1.2 - 03/2010 L 41

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Program flow

5.3.7 Parameter 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.

42 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

5.3.8 Control 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.

 Parameter setting: Tab Application parameters  dialog level Overview  L_Sequencer

Parameter Lenze setting

Value Unit

C03000 First step 1

C04504 Jump destination 0

Control inputs of the function Signal configuration

Lenze setting Control input (Multiplexer parameters)

C03000  First step C03079/6
DIGIN 6  Sequencer start C03070/1
DIGIN 7  Sequencer break C03070/2

FALSE  Sequencer jump C03070/3
FALSE  Sequencer abort C03070/4
FALSE  Sequencer interruption C03070/5

Controller inhibit

Quick stop active

Error active

DIGIN 5  Reset program/error status C03070/8

 Reset program status C03070/6

or

or

EDS94TA10060xxxx EN 1.2 - 03/2010 L 43

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Profile data management

5.4 Profile 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)

5.4.1 Profile 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

G H

TP

E

A

D

E

t [s]

44 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

Symbol Profile 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

10 20 30 40 50 60 70 80 90 100

20 50

80

P2

P3

P3P2P1

10 20 30 40 50 60 70 80 90 100

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.

EDS94TA10060xxxx EN 1.2 - 03/2010 L 45

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Profile data management

Symbol Profile 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.

46 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

5.4.2 Variable tables

To simplify parameter handling, the four most important physical sizes for profile
parameters are stored in separate "variable tables".

Parameter setting & configuration

Profile data management

VTPOS

Positions

VTSPEED

Speeds

VTACC

Acceleration/

VTJERK

S-ramp times

deceleration

Unit unit unit/s unit/s

2

s

Data format DINT with four decimal positions

Memory locations75505050

Code C04711/1...75 C04712/1...50 C04713/1...50 C04714/1...50

For profile
parameters

Target position

TP window starting position

TP window end position

Speed

Final speed

Acceleration
Deceleration

S-ramp time

 Note!

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.

EDS94TA10060xxxx EN 1.2 - 03/2010 L 47

9400 Technology applications | Positioning sequence control

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«.

5.4.3 Positioning 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)

48 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

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°

EDS94TA10060xxxx EN 1.2 - 03/2010 L 49

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Profile data management

5.4.4 Positioning 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.

50 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

5.4.5 Touch 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 4 Profile 7

Touch probe

v [m/s]

Profile 4 Profile 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.

EDS94TA10060xxxx EN 1.2 - 03/2010 L 51

9400 Technology applications | Positioning sequence control

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.

 Parameter setting: Tab Application parameters  dialog level Overview 

L_PositionerTable

Control/setpoint inputs of the function Signal configuration

Lenze setting Control/setpoint input (Multiplexer parameters)

FALSE  Teach position C03020/1

C03016  Selection of table position for position C03029/1

Zero position  Teach position C03125/1

FALSE  Teach speed C03020/2

C03017  Selection of table position for speed C03029/2

Speed setpoint  Teach speed C03024/1

FALSE  Teach acceleration C03020/3

C03018  Selection of table position for acceleration C03029/3

0  Teach acceleration C03027

FALSE  Teach S-ramp time C03020/4

C03019  Selection of table position for S-ramp time C03029/4

0  Teach S-ramp time C03028

 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!

52 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

5.5 Speed/acceleration override

Parameter setting & configuration

Speed/acceleration override

Positioning sequence control

Sequencer

Speed override

Acceleration override

AIN1

AIN2

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

[5-10] Speed/acceleration override (schematic diagram)

"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"):

v [m/s]







Dt

n The speed is reduced during the positioning

process.

o To reach the defined position, the missing

surface must be "attached" to the profile.

p When the speed is reduced the positioning

t [s]

process takes a longer time (Δt).

[5-11] Override (here: Speed override)

 Parameter setting: Tab Application parameters  dialog level Overview  LS_Positioner

Control/setpoint inputs of the function Signal configuration

Lenze setting Control/setpoint input (Multiplexer parameters)

C03013  Activate override C03185/5

AIN 1  Speed override C03186/1
AIN 2  Acceleration override C03186/2

+100 %  Deceleration override C03186/3

EDS94TA10060xxxx EN 1.2 - 03/2010 L 53

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Following error monitoring

5.6 Following error monitoring



j

In the Lenze setting a two-stage following error monitoring is
active.

If the parameterisable switching threshold 1 is exceeded, a



n Switching threshold
o Hysteresis

[5-12] Following error monitoring

warning appears. If the higher-set switching threshold 2 is
exceeded, a "warning locked" appears.

 Parameter setting: Tab Application parameters  dialog level Overview  Following

error

Parameter Lenze setting

Value Unit

C03911 Switching threshold 1 100.0000 unit

C03914 Switching threshold 2 200.0000 unit

C03917 Hysteresis 1 0.0000 unit

C03920 Hysteresis 2 0.0000 unit

C05902/1 Error response - following error 1 Warning

C05902/2 Error response - following error 2 Warning locked

Control inputs of the function Signal configuration

Lenze setting Control input (Multiplexer parameters)

TRUE  Activate following error limit 1 C03058/1
TRUE  Activate following error limit 2 C03058/2

54 L EDS94TA10060xxxx EN 1.2 - 03/2010

5.7 Manual jog

9400 Technology applications | Positioning sequence control

Parameter setting & configuration

Manual jog

Basic drive functions

LS_Homing

0-100 100 200

LS_Positioner

n

LS_ManualJog

è

ç

n

t

t

LS_Stop

internal

n

status machine

Status

machine

(basic drive

functions)

LS_Quickstop

n

STOP

LS_Brake

t

M

LS_Limiter

n

t

[5-13] Basic function "Manual jog" (schematic diagram)

 Parameter setting: Tab Application parameters  dialog level Overview  Manual jog

Parameter Lenze setting

C02620 Manual jog: Speed 1 360.0000 unit/s

C02621 Manual jog: Speed 2 720.0000 unit/s

C02622 Manual jog: Acceleration 360.0000 unit/s

C02623 Manual jog: Deceleration 1440.0000 unit/s

C02624 Manual jog: S-ramp time 0.100 s

C03007 Activate positive manual jog FALSE

C03008 Activate negative manual jog FALSE

C03009 Activate "Retract limit switch" FALSE

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 function Signal configuration

Lenze setting Control input (Multiplexer parameters)

Automatic

 Request manual jog C03155/1

activation

C03007  Activate positive manual jog C03155/2
C03008  Activate negative manual jog C03155/3

FALSE  Activate 2. speed C03155/4

C03009  Activate "Retract limit switch" C03155/5

+100 %  Manual jog override C03186/5

EDS94TA10060xxxx EN 1.2 - 03/2010 L 55

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Quick stop

5.8 Quick stop

The basic function "Quick stop" brakes the
drive to standstill within the deceleration
time set for the quick stop function after a

LS_Homing

Basic drive functions

LS_Stop

internal

n

status machine

LS_Brake

corresponding request independent of the

0-100 100 200

t

setpoint selection. The sequence control is
interrupted.

LS_Positioner

n

LS_ManualJog

è

ç

n

[5-14] Basic function "Quick stop" (schematic diagram)

t

t

Status

machine

(basic drive

functions)

DI1

LS_Quickstop

n

STOP

M

LS_Limiter

n

t

t

If the quick stop is deactivated, the drive
remains in standstill until the sequence
control is started again and takes over the
drive control.

 The quick stop function can be activated as follows in the Lenze setting:

– By setting the digital input DI1 to LOW level.
– By a master control via the port LPortControl:

By setting bit 2 of the bit-coded control word 1.

 Parameter setting: Tab Application parameters  dialog level Overview  All basic

functions  Quick stop

Parameter Lenze setting

Value Unit

C00105 Deceleration time "quick stop" 0.000 s

C00106 S-ramp time "quick stop" 0.00 %

C00107 Reference for quick stop deceleration time Motor reference speed (C00011)

Control inputs of the function Signal configuration

Lenze setting Control input (Multiplexer parameters)

DIGIN 1  Activate quick stop 1 C03135/1

Control word 1

 Activate quick stop 2 C03135/2

bit 02
FALSE  Activate quick stop 3 C03135/3

56 L EDS94TA10060xxxx EN 1.2 - 03/2010

5.9 Limiter

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.

 Parameter setting: Tab Application parameters  dialog level Overview  Limiter

Parameter Lenze setting

Value Unit

Limit values

C02707 Permissible direction of rotation Positive and negative

C02700 Software limit positions are active Deactivated

C02701/1 Positive software limit position 0.0000 unit

C02701/2 Negative software limit position 0.0000 unit

Only for homing, positioning and manual jog

C02702 Limitations are active Deactivated

C02703 Max. speed 3600.0000 unit/s

C02705 Max. acceleration 3600.0000 unit/s

C02706 Min. S-ramp time 100 ms

2

EDS94TA10060xxxx EN 1.2 - 03/2010 L 57

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Limiter

Parameter Lenze setting

For manual jog only

C02713 Max. manual jog distance 360.0000 unit

Limited speed 1 ... 4 (only for homing, positioning, and manual jog)

C02708/1 Limited speed 1 3600.0000 unit/s

C02710/1 Delay lim. speed 1 0.0100 unit/s

C02711/1 S-ramp time lim. speed 1 100 ms

C02708/2 Limited speed 2 7200.0000 unit/s

C02710/2 Delay lim. speed 2 0.0100 unit/s

C02711/2 S-ramp time lim. speed 2 100 ms

C02708/3 Limited speed 3 14400.0000 unit/s

C02710/3 Delay lim. speed 3 0.0100 unit/s

C02711/3 S-ramp time lim. speed 3 100 ms

C02708/4 Limited speed 4 28800.0000 unit/s

C02710/4 Delay lim. speed 4 0.0100 unit/s

C02711/4 S-ramp time lim. speed 4 100 ms

Value Unit

2

2

2

2

Control inputs of the function Signal configuration

Lenze setting Control input (Multiplexer parameters)

DIGIN 3  Positive limit switch C03150/1
DIGIN 4  Negative limit switch C03150/2

58 L EDS94TA10060xxxx EN 1.2 - 03/2010

5.10 Brake control

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.

 Parameter setting: Tab Application parameters  dialog level Overview  Brake control

Parameter Lenze setting

Value Unit

C02580 Operating mode of brake Brake control off

C02581 Threshold for brake activation 50 rpm

C02582 Brake resp. to pulse inhibit Activate brake immediately

C02583 Status input monitoring Not active

C02585 Brake control polarity Not inverted

C02586 Starting torque 1 0.00 Nm

C02587 Starting torque 2 0.00 Nm

C02588 Starting torque source Starting torque 1/2

C02589 Brake closing time 100 ms

C02590 Brake opening time 100 ms

C02591 Waiting time - status monitoring 100 ms

C02593 Waiting time - brake activation 0.000 s

C02594 Test torque 0.00 Nm

C02595 Permissible angle of rotation 5 °

C02596 Grinding speed 100 rpm

C02597 Accel./decel. time - grinding 1.000 s

C02598 Grinding ON time 0.5 s

C02599 Grinding OFF time 0.5 s

EDS94TA10060xxxx EN 1.2 - 03/2010 L 59

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Brake control

Control/setpoint inputs of the function Signal configuration

Lenze setting Control/setpoint input (Multiplexer parameters)

FALSE  Open brake (release) C03165/1
FALSE  Activate starting torque 2 C03165/2
FALSE  Keep open brake at standstill C03165/3
FALSE  Brake status signal C03165/4
FALSE  Activate brake test C03165/5
FALSE  Grind brake C03165/6

0 %  Additional torque C03166

60 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

5.11 Signal configuration

5.11.1 Drive 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 input Signal configuration

DIGIN 5  Reset error 1 C03130/2

Parameter setting & configuration

Signal configuration

FALSE  Set controller inhibit C03130/1

FALSE  Reset error 2 C03130/3
FALSE  Reset error 3 C03130/4
FALSE  Set error C03130/5
FALSE  Switch on drive C03130/6

Motor interface

Signal (Lenze setting) Setpoint input Signal configuration

100 %  Position controller adaptation C03141/1
100 %  Phase controller adaptation C03141/2
100 %  Speed controller adaptation C03141/3
100 %  Upper torque limit value C03141/4

-100 %  Lower torque limit value C03141/5
100 %  Flux setpoint C03141/6
100 %  Adaptation of mass inertia C03141/7

EDS94TA10060xxxx EN 1.2 - 03/2010 L 61

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Signal configuration

5.11.2 Output 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 port Signal 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 00 C03120/1

FALSE  Axis status word bit 01 C03120/2

Operation enabled  Axis status word bit 02 C03120/3

Error active  Axis status word bit 03 C03120/4

FALSE  Axis status word bit 04 C03120/5

Quick stop active  Axis status word bit 05 C03120/6

Drive is ready to start  Axis status word bit 06 C03120/7

Warning active  Axis status word bit 07 C03120/8

FALSE  Axis status word bit 08 C03120/9
FALSE  Axis status word bit 09 C03120/10
FALSE  Axis status word bit 10 C03120/11

Motor control in limitation  Axis status word bit 11 C03120/12

Sequence control ready to start  Axis status word bit 12 C03120/13

Sequence control started  Axis status word bit 13 C03120/14

Sequence control reset  Axis status word bit 14 C03120/15

Sequence control processed  Axis status word bit 15 C03120/16

Setpoints for horizontal communication

Filtered torque setpoint  Axis-Port Out 1 C03124/1

Scaling:
16384 ≡ 2

Motor speed  Axis port out 2 C03124/2

Scaling:
1073741824 ≡ 2

14

≡ 100 % motor reference torque (C00057/2)

30

≡ 100 % motor reference speed (C00011)

62 L EDS94TA10060xxxx EN 1.2 - 03/2010

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 port Signal configuration

Status word 1

Drive ready  Status word 1 bit 00 C03121/1

FALSE  Status word 1 bit 01 C03121/2

Operation enabled  Status word 1 bit 02 C03121/3

Error active  Status word 1 bit 03 C03121/4

FALSE  Status word 1 bit 04 C03121/5

Quick stop active  Status word 1 bit 05 C03121/6

Drive is ready to start  Status word 1 bit 06 C03121/7

Warning active  Status word 1 bit 07 C03121/8

FALSE  Status word 1 bit 08 C03121/9
FALSE  Status word 1 bit 09 C03121/10
FALSE  Status word 1 bit 10 C03121/11

Motor control in limitation  Status word 1 bit 11 C03121/12

Sequence control ready to start  Status word 1 bit 12 C03121/13

Sequence control started  Status word bit 13 C03121/14

Sequence control reset  Status word 1 bit 14 C03121/15

Sequence control processed  Status word 1 bit 15 C03121/16

Output port "LPortStatus2"

Signal (Lenze setting) Output port Signal configuration

Status word 2

FALSE  Status word 2 bit 00 C03122/1
FALSE  Status word 2 bit 01 C03122/2
FALSE  Status word 2 bit 02 C03122/3
FALSE  Status word 2 bit 03 C03122/4
FALSE  Status word 2 bit 04 C03122/5
FALSE  Status word 2 bit 05 C03122/6
FALSE  Status word 2 bit 06 C03122/7
FALSE  Status word 2 bit 07 C03122/8
FALSE  Status word 2 bit 08 C03122/9
FALSE  Status word 2 bit 09 C03122/10
FALSE  Status word 2 bit 10 C03122/11
FALSE  Status word 2 bit 11 C03122/12
FALSE  Status word 2 bit 12 C03122/13
FALSE  Status word 2 bit 13 C03122/14
FALSE  Status word 2 bit 14 C03122/15
FALSE  Status word 2 bit 15 C03122/16

EDS94TA10060xxxx EN 1.2 - 03/2010 L 63

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Actual value and status signals

5.12 Actual 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

the multiplexer parameters assigned.

Analog outputs

Terminal X3 Signal (Lenze setting) Signal configuration

AO1 Motor speed

GA

AO1

AO2

• Scaling: ±10 V ≡ motor reference speed (C00011)

AO2 Motor torque (setpoint)

• Scaling: 10 V ≡ Motor reference torque (C00057/2)

C03110/1

C03110/2

Digital outputs

Terminal X4 Signal (Lenze setting) Signal configuration

DO1 Status "Drive ready"

GO

24O

DO1

DO2

DO3

DO4

• DC-bus voltage is available and no error has occurred.

DO2 Status "Positioner active" C03100/2

DO3 Status "Limitation active"

• At the moment a setpoint is limited or a software or hardware
limit switch has been reached.

DO4 Status "Error active acknowledgement is required"

• A monitoring function with the error response "Error" or "Quick

C03100/1

C03100/3

C03100/4

stop by trouble" has been activated and the controller is in the
status "Error active" or "Quick stop by trouble active".

Statebus

Terminal X2 Signal (Lenze setting) Signal configuration

GE

24E

SB

SB Status "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 LED Signal (Lenze setting) Signal configuration

"Positioning sequence control active" status C03100/6

64 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

5.13 Application 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 message Error ID Error response

FB instance "ApplicationError1"

1 Following error limit 1 8001 Warning

2 Following error limit 2 8002 Warning locked

3 Positioner: Home position is not known 8003 Warning

4 Positioner: Cycle is not known 8004 Warning

5 Positioner: Wrong positioning mode 8005 Warning

6 Positioner: Invalid change of the positioning mode 8006 Warning

7 Positioner: Profile data is not plausible or faulty 8007 Warning

8 Positioner: Error in profile generation 8008 Warning

FB instance "ApplicationError2"

1 Free error message 1 8011 Information

2 Free fault message 2 8012 Information

3 PositionerTable: Invalid axis data structure 8013 Warning

4 PositionerTable: Invalid profile no. 8014 Information

5 PositionerTable: Invalid table no. 8015 Warning

6 Watch-Dog 8016 Quick stop by trouble

7 Sequencer: Error due to variable branch 8017 Warning

8 Sequencer: Pause 8018 Information

Parameter setting & configuration

Application error messages

 Parameter setting: Tab All parameters

Parameter Lenze setting

FB instance "ApplicationError1"

C05900 Function block ID 999

C05901/1...8 Error ID 1 ... 8 See table above

C05902/1...8 Error response 1 ... 8 See table above

FB instance "ApplicationError2"

C05903 Function block ID 998

C05904/1...8 Error ID 1 ... 8 See table above

C05905/1...8 Error response 1 ... 8 See 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.

EDS94TA10060xxxx EN 1.2 - 03/2010 L 65

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Parameterisable function blocks

5.14 Parameterisable function blocks

This subchapter lists all relevant parameterisable function blocks of the technology
application and the corresponding parameters in alphabetical order.

5.14.1 ActualSpeedScaling

Is an instance of Function

L_TbNormalize Scaling of actual speed to a parameterisable reference variable

Parameter Possible settings Information

C04036 -2147483647 2147483647 Reference variable

• Setting "0" is not possible.

• Initialisation: 44739243

5.14.2 ApplicationError1

Is an instance of Function

L_DevApplErr Error handling

Parameter Possible settings Information

C05900 980 999 Module ID

C05901/1...8 0 65535 Error ID

C05902/1...8 Error response

Application error messages

0None

1Fault

2Trouble

3 Quick stop by trouble

4 Warning locked

5 Warning

6Information

( 65)

• Initialisation: 999

• Initialisation: 8001 ... 8008

66 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

5.14.3 ApplicationError2

Is an instance of Function

L_DevApplErr Error handling

Parameter Possible settings Information

C05903 980 999 Module ID

C05904/1...8 0 65535 Error ID

C05905/1...8 Error 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

5.14.4 FollowingErrorScaling

Is an instance of Function

L_TbNormalize Scaling of the following error to a parameterisable reference variable

Parameter Possible settings Information

C04035 -2147483647 2147483647 Reference variable

5.14.5 HysteresisFollowingError1

Is an instance of Function

L_SdSetPosition Conversion of the following error hysteresis 1 selected in the real units of the

machine via C03917 into a position in [increments].

Following error monitoring

Parameter Possible settings Information

C03917 -214000.0000 unit 214000.0000 Position value

C03918 String of digits Position unit

C03919 -2147483647 2147483647 State

• Setting "0" is not possible.

• Initialisation: 65536

( 54)

• Initialisation: 0.0000 unit

•Read only

•Read only

EDS94TA10060xxxx EN 1.2 - 03/2010 L 67

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Parameterisable function blocks

5.14.6 HysteresisFollowingError2

Is an instance of Function

L_SdSetPosition Conversion of the following error hysteresis 2 selected in the real units of the

Parameter Possible settings Information

C03920 -214000.0000 unit 214000.0000 Position value

C03921 String of digits Position unit

C03922 -2147483647 2147483647 State

5.14.7 L_PosPositionerTable1

machine via C03920 into a position in [increments].

Following error monitoring

( 54)

• Initialisation: 0.0000 unit

•Read only

•Read only

Is an instance of Function

L_PosPositionerTable Profile data management

Parameter Possible settings Information

C04700/1 Teach position

C04700/2 Teach speed

C04700/3 Teach acceleration

C04700/4 Teach S-ramp time

C04701/1...75 -214748.3648 unit 214748.3648 VTPOS: variable positions

C04702/1...50 -214748.3648 unit/s 214748.3648 VTSPEED: variable speeds

C04703/1...50 -214748.3648 unit/s

0Ê1 The position applied at the input

dnPos_p is saved to the VTPOS table
position selected via the input
dwPosTableNumber.

0Ê1 The speed applied at the input

dnSpeed_s is saved to the VTSPEED
table position selected via the input
dwSpeedTableNumber.

0Ê1 The acceleration/deceleration

applied at the input dnAcc_s is saved
to the VTACC table position selected
via the input dwAccTableNumber.

0Ê1 The S-ramp time applied at the

input dwJerk is saved to the VTJERK
table position selected via the input
dwJerkTableNumber.

( 44)

• For execution via parameter
channel.

• For execution via parameter
channel.

• For execution via parameter
channel.

• For execution via parameter
channel.

• For selecting the target positions
and TP window start and end
positions for the profiles.

• For selecting the traversing and
final speeds for the profiles.

2

214748.3648 VTACC: variable accelerations

• For selecting the accelerations
and decelerations for the profiles.

68 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

Parameter setting & configuration

Parameterisable function blocks

Parameter Possible settings Information

C04704/1...50 -2147483.648 s 2147483.648 VTJERK: variable S-ramp times

• For selecting the S-ramp times for
the profiles.

C04705/1 DIS:bPosTeach

0FALSE

1TRUE

C04705/2 DIS:bSpeedTeach

0FALSE

1TRUE

C04705/3 DIS:bAccTeach

0FALSE

1TRUE

C04705/4 DIS:bJerkTeach

0FALSE

1TRUE

C04706/1 0 100 DIS:VTPosNum

C04706/2 0 100 DIS:VTSpeedNum

C04706/3 0 100 DIS:VTAccNum

C04706/4 0 100 DIS:VTJerkNum

C04706/5 0 100 DIS:ProfileNum

C04707/1 -214748.3648 unit 214748.3648 DIS:dnTeachPos

C04707/2 -214748.3648 unit/s 214748.3648 DIS:dnTeachSpeed

C04707/1 -214748.3648 unit/s

C04707/1 -214748.3648 s 214748.3648 DIS:dnTeachJerk

C04708 -2147483647 2147483647 State

2

214748.3648 DIS:dnTeachAcc

• Display of the input signal
bPosTeach.

• Display of the input signal
bSpeedTeach.

• Display of the input signal
bAccTeach.

• Display of the input signal
bJerkTeach.

• Display of the input signal
dwPosTableNumber.

• Display of the input signal
dwSpeedTableNumber.

• Display of the input signal
dwAccTableNumber.

• Display of the input signal
dwJerkTableNumber.

• Display of the input signal
dwProfileNumber.

• Display of the input signal
dnPos_p in the real unit of the
machine.

• Display of the input signal
dnSpeed_s in the real unit of the
machine.

• Display of the input signal
dnAcc_x in the real unit of the
machine.

• Display of the input signal dwJerk
in the real unit of the machine.

• Display of the bit-coded output
signal dnState.

EDS94TA10060xxxx EN 1.2 - 03/2010 L 69

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Parameterisable function blocks

Parameter Possible settings Information

C04710/1...75

(subcode 1 ... 75 ≡ profile no. 1 ... 75)

C04711/1...75

(subcode 1 ... 75 ≡ profile no. 1 ... 75)

C04712/1...75

(subcode 1 ... 75 ≡ profile no. 1 ... 75)

C04713/1...75

(subcode 1 ... 75 ≡ profile no. 1 ... 75)

C04714/1...75

(subcode 1 ... 75 ≡ profile no. 1 ... 75)

C04715/1...75

(subcode 1 ... 75 ≡ profile no. 1 ... 75)

C04716/1...75

(subcode 1 ... 75 ≡ profile no. 1 ... 75)

1Absolute

2Absolute TP

5Relative

6 Relative TP

7 Speed

8 Speed TP

11 Absolute CW

12 Absolute CW TP

13 Absolute CCW

14 Absolute CCW TP

15 Absolute ShortestWay

16 Absolute ShortestWay TP

1 VTPOS position 1 (C04701/1)

2 VTPOS position 2 (C04701/2)

... ...

75 VTPOS position 75 (C04701/75)

1 VTSPEED position 1 (C04702/1)

2 VTSPEED position 2 (C04702/2)

... ...

50 VTSPEED position 50 (C04702/50)

1 VTACC position 1 (C04703/1)

2 VTACC position 2 (C04703/2)

... ...

50 VTACC position 50 (C04703/50)

1 VTACC position 1 (C04703/1)

2 VTACC position 2 (C04703/2)

... ...

50 VTACC position 50 (C04703/50)

1 VTJERK position 1 (C04704/1)

2 VTJERK position 2 (C04704/2)

... ...

50 VTJERK position 50 (C04704/50)

1 VTSPEED position 1 (C04702/1)

2 VTSPEED position 2 (C04702/2)

... ...

50 VTSPEED position 50 (C04702/50)

Positioning mode

• For absolute positioning, the
home position must be known.

Position from VTPOS

• Reference to VTPOS table position
for defining the profile parameter
"position".

Speed from VTSPEED

• Reference to VTSPEED table
position for defining the profile
parameter "speed".

Acceleration from VTACC

• Reference to VTACC table position
for defining the profile parameter
"acceleration".

Deceleration from VTACC

• Reference to VTACC table position
for defining the profile parameter
"deceleration".

S-ramp time from VTJERK

• Reference to VTJERK table
position for defining the profile
parameter "S-ramp time".

Final speed from VTSPEED

• Reference to VTSPEED table
position for defining the profile
parameter "final speed".

• An existing sequence profile is
required.

70 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

Parameter setting & configuration

Parameterisable function blocks

Parameter Possible settings Information

C04717/1...75

(subcode 1 ... 75 ≡ profile no. 1 ... 75)

C04718/1...75

(subcode 1 ... 75 ≡ profile no. 1 ... 75)

C04719/1...75

(subcode 1 ... 75 ≡ profile no. 1 ... 75)

C04720/1...75

(subcode 1 ... 75 ≡ profile no. 1 ... 75)

C04721/1...75

(subcode 1 ... 75 ≡ profile no. 1 ... 75)

1 VTPOS position 1 (C04701/1)

2 VTPOS position 2 (C04701/2)

... ...

75 VTPOS position 75 (C04701/75)

1 VTPOS position 1 (C04701/1)

2 VTPOS position 2 (C04701/2)

... ...

75 VTPOS position 75 (C04701/75)

1 Profile no. 1

... ...

75 Profile no. 75

0 No sequence profile

(End of profile linkage)

1 Profile no. 1

... ...

75 Profile no. 75

Value is bit-coded: Touch probe configuration

Bit 0 TP channel 1, rising edge Digital input 1

Bit 1 TP channel 1, falling edge

Bit 2 TP channel 2, rising edge Digital input 2

Bit 3 TP channel 2, falling edge

Bit 4 TP channel 3, rising edge Digital input 3

Bit 5 TP channel 3, falling edge

Bit 6 TP channel 4, rising edge Digital input 4

Bit 7 TP channel 4, falling edge

Bit 8 TP channel 5, rising edge Digital input 5

Bit 9 TP channel 5, falling edge

Bit 10 TP channel 6, rising edge Digital input 6

Bit 11 TP channel 6, falling edge

Bit 12 TP channel 7, rising edge Digital input 7

Bit 13 TP channel 7, falling edge

Bit 14 TP channel 8, rising edge Digital input 8

Bit 15 TP channel 8, falling edge

Bit 16 TP channel 9 Motor encoder zero pulse

Bit 18 TP channel 10 Load encoder zero pulse

Bit 20 TP channel 11 DFIN zero pulse

Bit 22 TP channel 12 DFOUT zero pulse

TP window start position from VTPOS

• Reference to VTPOS table position
for defining the profile parameter
"TP window start position".

• For the position value "0", the
start position is the negative
travel range limit.

TP window end position from VTPOS

• Reference to VTPOS table position
for defining the profile parameter
"TP window end position".

• For the position value "0", the end
position is the positive travel
range limit.

Sequence profile with TP

• Sequence profile for touch probe
residual path positioning.

Sequence profile without TP

• Sequence profile for profile
linkage.

• The touch probe channels to be
used are selected by setting the
corresponding bits to "1".

EDS94TA10060xxxx EN 1.2 - 03/2010 L 71

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Parameterisable function blocks

5.14.8 L_PosSequencer1

Is an instance of Function

L_PosSequencer Sequence control

Program flow

( 32)

 Note!

The parameters of the different actions for the sequence table are described in
the chapter "Overview of action types

Parameter Possible settings Information

C04500/1...100 Sequence table

0Program end

xxyyy Action call

•xx ≡ action type

• yyy ≡ action number

C04501 1 100 Current program step

C04502 State of sequence control

0 READY: Positioning program ready

C04503 Sequence control

C04504 Program step for abort

1...100 Step 1 ... 100

C04505 Text Current comment

to start/program end reached.

1 RUN: Positioning program is

running.

2 PAUSE: Current step interrupted,

pause is active.

3 BREAK: Positioning program

interrupted.

4 RESET: Positioning program reset.

Bit 0 Start

Bit 1 Pause

Bit 2 Break

Bit 3 Cancel

Bit 4 Reset

Bit 5 NextStep

0 Sequence step

101 Program end

". ( 33)

• The calls of the actions required
for the positioning program are
stored in the subcodes.

• In this way, the basic process
sequence (except for branches) is
described.

•Read only

•Read only

• Bit-coded code for sequencer
control via a PC or a higher-level
control by means of the
parameter channel.

• Setting a bit to "1" activates the
corresponding function.

• This step is processed when the
input bCancel is set to TRUE.

•Read only

72 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

5.14.9 L_SdSwitchPoint1

Is an instance of Function

L_SdSwitchPoint Position switch points (cams)

Parameter Possible settings Information

C04395/1...8 State of switching range 1 ... 8

C04396 String of digits Position unit

C04397/1...8 -2147483648 unit 2147483648 Switch-on position switching range

C04398/1...8 -2147483648 unit 2147483648 Switch-off position switching range

C04399/1...8 Enable switching range 1 ... 8

0Switch is off

1Switch is on

0 Switching range not enabled

1 Switching range enabled

Parameter setting & configuration

Parameterisable function blocks

•Read only

•Read only

1 ... 8

1 ... 8

5.14.10 LimitFollowingError1

Is an instance of Function

L_SdSetPosition Conversion of the following error switching threshold 1 selected in the real units of

Parameter Possible settings Information

C03911 -214000.0000 unit 214000.0000 Position value

C03912 String of digits Position unit

C03913 -2147483647 2147483647 State

5.14.11 LimitFollowingError2

Is an instance of Function

L_SdSetPosition Conversion of the following error switching threshold 2 selected in the real units of

the machine via C03911 into a position in [increments].

Following error monitoring

the machine via C03914 into a position in [increments].

Following error monitoring

( 54)

• Initialisation: 100.0000 unit

•Read only

•Read only

( 54)

Parameter Possible settings Information

C03914 -214000.0000 unit 214000.0000 Position value

• Initialisation: 200.0000 unit

EDS94TA10060xxxx EN 1.2 - 03/2010 L 73

9400 Technology applications | Positioning sequence control

Parameter setting & configuration
Parameterisable function blocks

Parameter Possible settings Information

C03915 String of digits Position unit

C03916 -2147483647 2147483647 State

5.14.12 MonitFollowError1

Is an instance of Function

L_LdMonitFollowError Following error monitoring

Parameter Possible settings Information

C03960 -214748.3647 unit 214748.3647 Following error at the input

C03961 String of digits Position unit

C03963 Following error out of tolerance

FALSE Following error smaller than set

switching threshold

TRUE Following error larger than set

switching threshold

C03964 Following error monitoring activated

FALSE Deactivated

TRUE Activated

( 54)

•Read only

•Read only

• Display of the input signal
dnFollowErrorIn_p in the real unit
of the machine.

•Read only

•Read only

•Read only

5.14.13 MonitFollowError2

Is an instance of Function

L_LdMonitFollowError Following error monitoring

Parameter Possible settings Information

C03965 -214748.3647 unit 214748.3647 Following error at the input

C03966 String of digits Position unit

C03968 Following error out of tolerance

C03969 Following error monitoring activated

( 54)

FALSE Following error smaller than set

switching threshold

TRUE Following error larger than set

switching threshold

FALSE Deactivated

TRUE Activated

• Display of the input signal
dnFollowErrorIn_p in the real unit
of the machine.

•Read only

•Read only

•Read only

74 L EDS94TA10060xxxx EN 1.2 - 03/2010

9400 Technology applications | Positioning sequence control

5.14.14 PosStarted

Is an instance of Function

L_TbTransition Edge generation for resetting the "drive at the target" state

Parameter Possible settings Information

C04000 Trigger edge

C04001 0.001 s 60.000 Pulse duration

5.14.15 RestartPosTransition

Parameter setting & configuration

Parameterisable function blocks

0 Rising edge Lenze setting

1 Falling edge

2Both edges

• Initialisation: 0.001 s

Is an instance of Function

L_TbTransition Edge generation for restart of positioning

Parameter Possible settings Information

C04002 Trigger edge

0 Rising edge Lenze setting

1 Falling edge

2Both edges

C04003 0.001 s 60.000 Pulse duration

• Initialisation: 0.005 s

EDS94TA10060xxxx EN 1.2 - 03/2010 L 75

Your opinion is important to us

&

.

These instructions were created to the best of our knowledge
and belief to give you the best possible support for handling
our product.

If you have suggestions for improvement, please e-mail us to:

[e-mail]

Thank you for your support.

Your Lenze documentation team

)(('%$

76 L

L 77

)



¬

|

Þ

© 03/2010

Lenze Automation GmbH
Hans-Lenze-Str. 1
D-31855 Aerzen
Germany

+49 (0)51 54 / 82-0

+49 (0)51 54 / 82-28 00

[e-mail]

www.Lenze.com

Service Lenze Service GmbH

Breslauer Straße 3
D-32699 Extertal
Germany



¬

|

00 80 00 / 24 4 68 77 (24 h helpline)

+49 (0)51 54 / 82-11 12

[e-mail]

EDS94TA10060xxxx  13277862  EN 1.2  TD05

10 9 8 7 6 5 4 3 2 1

