Lenze Global Drive Cam Loader User Manual
Manual (Software)
Global Drive Cam Loader
L
This Manual is valid for the Global Drive Cam Loader as of version 1.1
Copyright
© 2005 Lenze Drive Systems GmbH. All rights reserved.
Imprint
Lenze Drive Systems GmbH
POB 10 13 52, 31763 Hameln, Germany
Phone: ++49 (0)5154 / 82-0
Fax: ++49 (0)5154 / 82-2111
E-mail: Lenze@Lenze.de
Copyright information
All texts, photos and graphics contained in this documentation are subject to
copyright protection. No part of this documentation may be copied or made
available to third parties without the explicit written approval of Lenze Drive
Systems GmbH.
Liability
All information given in this documentation has been selected carefully and
tested for compliance with the described hardware and software.
Nevertheless, discrepancies cannot be ruled out. We do not accept any
responsibility or liability for any damage that may occur. Required corrections
will be included in updates of this documentation.
Trademarks
Microsoft, Windows and Windows NT are either registered trademarks or
trademarks of Microsoft Corporation in the U.S.A. and/or other countries.
Adobe and Reader are either registered trademarks or trademarks of Adobe
Systems Incorporated in the U.S.A.and/or other countries.
All other product names contained in this documentation are trademarks of
the corresponding owners.
2 1.1 EN - 05/2005 - TD16 L
Contents
Global Drive Cam Loader
Contents
1 About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 Layout of the safety information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2 System requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1 Connection with the target system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3 Software installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
4 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
4.1 Cam Loader applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
4.1.1 Control with user interface (GUI mode). . . . . . . . . . . . . . . . . . . . . . . . 10
4.1.2 Control without user interface (batch mode) . . . . . . . . . . . . . . . . . . 11
4.1.3 Commissioning of production machinery. . . . . . . . . . . . . . . . . . . . . . 12
4.2 Creating/preparing import data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.2.1 Data format of motion profile data . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.2.2 Data format of cam track data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.2.3 Data format of position markers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5 User interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.1 Using the direct help. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
5.2 Language selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.3 Title bar. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.4 Menu bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
5.5 Toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.6 Workspace . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
5.7 Document window (worksheet) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.8 Status bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
6.1 Creating a new project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6.1.1 Step 1: Defining the file name and directory for a project. . . . . . . 25
6.1.2 Step 2: Defining the properties of the master . . . . . . . . . . . . . . . . . . 26
6.1.3 Step 3: Defining the properties of the slave. . . . . . . . . . . . . . . . . . . . 27
6.1.4 Step 4: Defining the product properties . . . . . . . . . . . . . . . . . . . . . . . 28
6.2 Opening an existing project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
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Global Drive Cam Loader
Contents
6.3 Editing settings on the worksheet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.3.1 Adding a slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.3.2 Selecting the properties of a slave. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.3.3 Adding a product. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
6.3.4 Selecting the product properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
6.3.5 Defining the import data for a slave/product . . . . . . . . . . . . . . . . . . 35
6.3.6 Creating LCx files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
6.3.7 Deleting a product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
6.3.8 Deleting a slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
6.4 Connection with the OPC server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
6.5 Downloading the drive data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
6.6 Saving a project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
6.7 Saving a project under another name. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
6.8 Creating a template for a script file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
6.9 Closing a project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
6.10 Exiting the Cam Loader . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
7 Control via script files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
7.1 Creating a script file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
7.2 Script files. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
7.2.1 Master settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.2.2 Product settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.2.3 Slave settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
7.3 Syntax of the command line start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
7.4 Log files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
8 Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
8.1 Error numbers, causes & remedies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
8.2 Glossary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
9 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
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1About this Manual
This Manual contains information about the Lenze Global Drive Cam Loader V1.1.
The Cam Loader is a software which is used to transfer recipes consisting of motion
profiles, cam tracks and position markers from a PC to Lenze target systems.
Special features of the Cam Loader are:
[ Import of CAD data via standardised interfaces (VDI 2143).
[ Program operation via an easy-to-use PC user interface for the first commissioning and
preparation of additional functions to be provided to the user by the mechanical
engineer.
[ Program control by means of script files from an IPC for automated processes without
additional user entries and recipe extensions through the user.
[ Smoothing of imported CAD data (motion profiles) for a smoother running of the
drives.
Global Drive Cam Loader
About this Manual
Conventions used
[ Recording of all important events.
1.1 Conventions used
This Manual uses the following conventions to distinguish between different types of
information:
Type of information Marking Examples/notes
Variable name italics Set bEnable to TRUE to...
Window pane The message window... / The Options dialog box...
Control element bold The OK button... / The Copy command... / The Properties tab... / The
Sequence of menu
commands
Keyboard command <bold> Use <F1> to call the Online Help.
Program listings Courier
Keyword Courier
Link underlined
Safety information
bold
)}
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
Links are highlighted references which are activated by means of a
mouse click.
4Layout of the safety information (^ 6)
WOpen to...
Step-by-step
instructions
Tip
X
Like safety information, step-by-step instructions and tips can be
recognised by an icon.
I
L 1.1 EN - 05/2005 5
Global Drive Cam Loader
About this Manual
Layout of the safety information
1.2 Layout of the safety information
All safety information have a uniform structure:
[ The icon characterises the type of danger.
[ The signal word characterises the severity of danger.
[ The note describes the danger and suggests how to avoid the danger.
} Signal word
Note
Icon Signal word Meaning Consequences if disregarded
{
hazardous
electrical
voltage
Danger! Impending danger to persons Death or severe injuries
}
general dan-
ger
(
)
Stop! Potential damage to material Damage to the controller or its environment
Note! Note
6 1.1 EN - 05/2005 L
2 System requirements
The following minimum requirements on hardware and software must be met in order to
use the Cam Loader:
[ Microsoft® Windows NT® 4.0 (as of Service Pack 5), Windows® 2000
(as of Service Pack 2) or Windows XP
[ IBM®-compatible PC with Intel® Pentium® 90 processor
[ 128 MB RAM
[ 120 MB free hard disk capacity
[ Pointer device (mouse, track ball, etc.)
[ Free slots/interfaces according to the requirements of the fieldbus connection module
used.
Global Drive Cam Loader
System requirements
Connection with the target system
2.1 Connection with the target system
The communication with the target system (controller, Drive PLC, etc.) requires a fieldbusspecific interface module for the PC and the corresponding fieldbus modules for the target
systems to be connected.
For system bus (CAN) communication, Lenze offers the following components as interface
module for the PC:
Bus system Max. number of target systems
PC port Required hardware components
System bus (CANopen) 63
Parallel
port
(LPT port)
USB
(Universal Serial Bus)
PC system bus adapter 2173
incl. connection cable and voltage-supply adapter
• for DIN keyboard connection
• for PS/2 keyboard connection
• for PS/2 keyboard connection with electrical isolation
PC system bus adapter 2177
incl. connection cable
(EMF2177IB)
(EMF2173IB)
(EMF2173IBV002)
(EMF2173IBV003)
L 1.1 EN - 05/2005 7
Global Drive Cam Loader
Software installation
3 Software installation
X How to install the Cam Loader:
1. Start Windows.
2. Insert the Global Drive Cam Loader CD-ROM into your CD-ROM drive.
If the auto-start function of your CD-ROM drive is active the installation program
is started automatically and you can proceed with step 5.
3. Select Run ... from the start menu.
4. Enter the letter for your CD-ROM drive followed by ":\setup.exe" (e.g.
"e:\setup.exe") in the command line and confirm with OK.
5. Follow the instructions of the installation program.
) Note!
Installation under Windows NT/2000/XP requires administrator rights!
8 1.1 EN - 05/2005 L
4Introduction
[ The subsection Cam Loader applications describes the basic proceeding for different
Cam Loader applications.
[ The subsection Creating/preparing import data explains the data formats of the mo-
tion profiles, cam tracks and position markers required for data import.
4.1 Cam Loader applications
Depending on the application, the Cam Loader can be used with or without user interface.
More information about this can be found in the following subsections:
4Control with user interface (GUI mode) (^ 10)
4Control without user interface (batch mode) (^ 11)
4Commissioning of production machinery (^ 12)
Global Drive Cam Loader
Introduction
Cam Loader applications
(^ 13)
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Global Drive Cam Loader
Introduction
Cam Loader applications
4.1.1 Control with user interface (GUI mode)
Control with user interface is required if a new project shall be created or prepared by the
mechanical/automation engineer for the user.
Basic proceeding:
1. Use the user interface of the Cam Loader
axes subdirectories for existing and future product data (motion profiles, cam tracks
and position markers) are created automatically.
2. The Cam Loader assigns the product data
CAD system and is available as tables of points according to VDI directive VDI 2143, to
the corresponding axes/products.
3. Use the Cam Loader to create the LCx files for the target systems.
– The LCx files can be directly transferred from the Cam Loader to the corresponding
target systems
– It is also possible to store the LCx files in other control devices (e.g. a PLC or an IPC)
for subsequent downloads
4. As an option, the Cam Loader can automatically create a script file for the Cam Loader
project which can be used to start the Cam Loader without user interface, e.g. on an
4.
IPC
2.
3.
0 and create a new Cam Loader project. The
1, which has e.g. been created by means of a
) Note!
Use of LCx files:
• LC9 for Servo PLC and ECSEA...
• LC7 for servo cam 9300EK
10 1.1 EN - 05/2005 L
4.1.2 Control without user interface (batch mode)
It is also possible to start the Cam Loader without user interface (batch mode).
[ In this case, a script file is used for control. The script file can be created by the user him-
self using a traditional text editor or automatically generated for a project by the Cam
Loader.
[ Through this functionality, it is possible to use the Cam Loader on an IPC without user
interface which is, in turn, operated via an HMI. For this purpose, the IPC must, of
course, meet the system requirements of the Cam Loader.
Global Drive Cam Loader
Introduction
Cam Loader applications
Basic proceeding:
1. The mechanical/automation engineer prepares the IPC for the user:
– He installs the Cam Loader on the IPC
– He creates a Cam Loader project and thus the axes subdirectories for existing and fu-
ture product data
– He uses the Cam Loader to create the script file
user interface.
2. The mechanical/automation engineer delivers the prepared system to the user.
3. The user uses the directories prepared by the mechanical/automation engineer as a basis to produce new or modified products on the machine:
– He enters new/changed product data
directories, e.g. via remote maintenance.
– If necessary, he extends the script file
gineer.
4. The user changes the product or transfers changed product data, e.g. via an HMI connected to the IPC:
– The HMI is used to start the Cam Loader in batch mode which creates the LCx file in
accordance with the script file data and transfers it to the target system
– The data is transmitted online. In this way, the target system need not always be re-
started.
1.
0.
2 for Cam Loader control without
1 manually into the corresponding axes sub-
2 prepared by the mechanical/automation en-
3.
5. The user can repeat steps 3 and 4 as often as required, e.g. to optimise the production
process.
L 1.1 EN - 05/2005 11
Global Drive Cam Loader
Introduction
Cam Loader applications
4.1.3 Commissioning of production machinery
For the commissioning of production machinery, you have to transfer the motion profiles,
cam tracks and position markers as well as the user program and the parameter sets to the
target system.
[ In this case, the Cam Loader is only used to create the LCx files.
[ The Global Drive Loader is used to transfer the drive data to the target system:
Basic proceeding:
1. Use the user interface of the Cam Loader
axes subdirectories for existing and future product data (motion profiles, cam tracks
and position markers) are created automatically.
2. The Cam Loader assigns the product data
CAD system and is available as tables of points according to VDI directive VDI 2143, to
the corresponding axes/products.
3. Before the data is downloaded by means of the Global Drive Loader, the Cam Loader is
started without user interface by means of the script file to create the LCx file or update
it if the product data has changed.
– The required script file can be automatically created by the Cam Loader.
12 1.1 EN - 05/2005 L
0 and create a new Cam Loader project. The
1, which has e.g. been created by means of a
Global Drive Cam Loader
Introduction
Creating/preparing import data
4. The LCx file
including the parameter sets for the corresponding target system are transferred to the
Global Drive Loader.
5. After this, the drive data
– The Global Drive Loader can also be started by means of a script file. The entire proc-
ess can thus be automated. (See the documentation for the Global Drive Loader.)
2, the DDS file 3 including the compiled user program and the GDC file 4
5 is downloaded by the Global Drive Loader.
) Note!
The latest Global Drive Loader version only supports 9300 Servo PLCs and ECSs.
Support for the 9300 servo cam profiler follows later.
4.2 Creating/preparing import data
For each axis and product number you need an ASCII file including the data of the motion
profile, cam tracks (option) and position markers (option).
I Tip!
The motion profiles and position data are described as tables of points according
to VDI guideline VDI 2143 "Motion rules for cam mechanisms".
• The required files can be created by means of a CAD system, the Lenze Cam Designer or similar software products.
• Detailed information about the data formats can be found in the following subsections.
) Note!
The 9300 EK controller (9300 servo cam profiler) does not support
cam tracks and position markers!
L 1.1 EN - 05/2005 13
Global Drive Cam Loader
Introduction
Creating/preparing import data
4.2.1 Data format of motion profile data
For data import with the Cam Loader, the motion profile data must be available as an ASCII
file with the ending *.txt.
[ Each line contains the x and y position of a point.
[ Comma and point are allowed as decimal symbols.
[ Between the two position data there may only be one or several separators (spaces or
tab characters).
[ After the two position data you can add a comment after at least one separator and
two slashes ("//") (option).
[ Space lines between the position data are allowed.
[ The points must be entered in ascending order of the x positions.
[ Each file must contain at least two interpolation points.
) Note!
If a syntax error occurs during the data import the number of the line in which
the syntax error has occurred will be indicated in the optional error message!
Example:
10.0 20.0 // point 1
20.0 30.0 // point 2
33.3 44.4 // point 3
55.5 66.6 // point 4
77.7 88.8 // point 5
) Note!
Servo PLC and ECSxA... allow for specifying an acceleration profile.
• If a profile is specified, then this acceleration profile will be used.
• If no profile is specified, the second derivative is formed from the curve for the
acceleration profile.
Example:
The 3rd column contains the acceleration values in Nm referenced to the motor.
10.0 20.0 1.0 // point 1
20.0 30.0 2.5 // point 2
33.3 44.4 1.0 // point 3
55.5 66.6 1.0 // point 4
77.7 88.8 0.0 // point 5
14 1.1 EN - 05/2005 L
4.2.2 Data format of cam track data
For data import with the Cam Loader, the cam track data must be available as an ASCII file
with the ending *.txt.
[ For each product number, you can define max. three cam tracks with 4 cams each.
[ The cam track data are to be entered as follows:
–Cam type
–Cam reference
– Start/stop value of cam 1
– Start/stop value of cam 2
– Start/stop value of cam 3
– Start/stop value of cam 4
General notes
[ After the cam track data you can add a comment after at least one separator (space or
tab character) and two slashes ("//") (option).
Global Drive Cam Loader
Introduction
Creating/preparing import data
[ Space lines between the entries are allowed.
) Note!
If a syntax error occurs during the data import the number of the line in which
the syntax error has occurred will be indicated in the optional error message!
The 9300 EK controller (9300 servo cam profiler) does not support cam tracks!
L 1.1 EN - 05/2005 15
Global Drive Cam Loader
Introduction
Creating/preparing import data
Cam type
The cam type is defined through the following numbers:
Entry Cam type
1 Position cam in positive effective direction
• Switch on and switch off point are defined by positions.
• The cam switches if the direction of the axis is positive (positive speed).
2 Position cam in negative effective direction
• Switch on and switch off point are defined by positions.
• The cam switches if the direction of the axis is negative (negative speed).
3 Position cam with bipolar effective direction
• Switch on and switch off point are defined by positions.
• The cam switches in positive and negative direction of the axis.
11 Time-based cam in positive effective direction
• The cam switches on at the switch on point if the direction of the axis is positive (positive speed).
• After the selected time, the cam switches off.
12 Time-based cam in negative effective direction
• The cam switches on at the switch on point if the direction of the axis is negative (negative
speed).
• After the selected time, the cam switches off.
16 1.1 EN - 05/2005 L
Global Drive Cam Loader
Introduction
Creating/preparing import data
Cam reference
The cam controller can either refer to the X axis or to the Y axis.
Entry Cam reference
0X axis
1Y axis
Start and stop values of the cams
Each line contains the start and stop value of a cam.
[ For time-based cams, enter the ON-time in [ms] of the cam instead of the stop value.
[ The cams must be entered in ascending order of the start values.
[ The start and stop value of free cams is "0.0". They have to be listed at the end of the
structure.
Example:
12 // Cam track 1: Time-based cam in positive effective direction
0 // Reference: X axis
10.0 20.0 // cam 1
20.0 30.0 // cam 2
100.0 40.0 // cam 3
0.0 0.0 // cam not assigned
2 // Cam track 2: Position cam in negative effective direction
1 // Reference: Y axis
11.1 22.2 // cam 1
33.3 44.4 // cam 2
55.5 66.6 // cam 3
77.7 88.8 // cam 4
1 // Cam track 3: Position cam in positive effective direction
0 // Reference: X axis
10.0 20.0 // cam 1
20.0 30.0 // cam 2
0.0 0.0 // cam not assigned
0.0 0.0 // cam not assigned
L 1.1 EN - 05/2005 17
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