Lenze Global Drive PLC Developer Studio User Manual

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Manual

Global Drive PLC Developer Studio

Global Drive

Drive PLC

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This Manual applies to the following Lenze PLCs:

Type From hardware version From software version

Drive PLC EPL10200 Px 8.0

What’s new?

Version Changes

1.1 07/2000 Revised edition for Drive PLCs as of software version V1.0

2.1 07/2001 Revised edition for Drive PLCs as of software version V2.0

3.0 01/2003 Revised edition for Drive PLCs as of software version V6.0

4.0 03/2005 Revised edition for Drive PLCs as of software version V7.0

5.0 12/2007 Revised edition for Drive PLCs as of software version V8.0

6.0 09/2013 General corrections

Important note:

The software is supplied to the user as described in this document. Any risks resulting from its quality or use remain the responsibility of the user. The user must provide all safety measures protecting against possible maloperation.

We do not take any liability for direct or indirect damage, e.g. profit loss, order loss or any loss regarding business.

 2013 Lenze Automation GmbH

No part of this documentation may be copied or made available to third parties without the explicit written approval of Lenze Automation GmbH.

All information given in this documentation has been carefully selected and tested for compliance with the hardware and software described. Nevertheless, discrepancies cannot be ruled out. We do not accept any responsibility or liability for any damage that may occur. Required correction will be included in updates of this documentation.

All product names mentioned in this documentation are trademarks of the corresponding owners.

Version 6.0 09/2013

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Drive PLC

1 Preface and general information 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 About this Manual 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.1 Conventions used in this Manual 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.2 System block descriptions 1−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.3 Pictographs in this Manual 1−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.4 Terminology used 1−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 System block introduction 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.1 System block principle 1−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.2 Node numbers 1−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.3 Access via system variables 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.4 Access via absolute addresses 1−5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.5 Definition of inputs/outputs 1−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.6 Linking of system blocks with DDS 1−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.7 Signal types and scalings 1−8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 System blocks 2−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 AD_CHANNELS 2−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1.1 Inputs_AD_CHANNELS 2−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 AIF1_IO_AutomationInterface (node number 41) 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1 Inputs_AIF1 2−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.2 Outputs_AIF1 2−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 AIF2_IO_AutomationInterface (node number 42) 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.1 Inputs_AIF2 2−9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.2 Outputs_AIF2 2−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 AIF3_IO_AutomationInterface (node number 43) 2−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.1 Inputs_AIF3 2−13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4.2 Outputs_AIF3 2−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5 AIF_IO_Management (node number 161) 2−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.1 Inputs_AIF_Management 2−17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.5.2 Outputs_AIF_Management 2−19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6 ANALOG1_IO (node number 11) 2−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.1 Inputs_ANALOG1 (analog input) 2−20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.6.2 Outputs_ANALOG1 (analog output) 2−21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7 ANALOG2_IO (node number 12) 2−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.7.1 Inputs_ANALOG2 (analog input) 2−22 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8 ANALOG3_IO (node number 13) 2−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.8.1 Inputs_ANALOG3 (analog input) 2−23 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

x CAN1_IO (node number 31) &. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

x CAN2_IO (node number 32) &. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

x CAN3_IO (node number 33) &. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

x CAN_Management (node number 101) &. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

x CAN_Synchronization (node number 102) &. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

& See "System bus (CAN) for Lenze PLCs" Manual.

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2.9 DIGITAL_IO (node number 1) 2−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9.1 Inputs_DIGITAL (digital inputs) 2−24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.9.2 Outputs_DIGITAL (digital outputs) 2−25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.10 FCODE_FreeCode (node number 141) 2−26 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.10.1 Inputs_FCODE 2−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.10.2 Outputs_FCODE 2−27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.11 SYSTEM_FLAGS (system flags, node number 151) 2−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.11.1 Inputs SYSTEM_FLAGS 2−28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.11.2 Outputs SYSTEM_FLAGS 2−29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.12 DCTRL_DriveControl (node number 121) 2−30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.12.1 Inputs_DCTRL 2−32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.12.2 Outputs_DCTRL 2−34 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.12.3 TRIP−SET 2−35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.12.4 TRIP−RESET 2−35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.12.5 TRIP status (DCTRL_bExternalFault_b) 2−35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.13 PWRUP_PowerUpControl (node number 171) 2−36 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.13.1 Outputs_PWRUP 2−37 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Standard I/O FIF module 3−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 ANALOG_IO_FIF (node number 201) 3−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.1 Inputs_ANALOG_FIF (analog input, "Standard I/O" FIF module) 3−2 . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.2 Outputs_ANALOG_FIF (analog output, "Standard I/O" FIF module) 3−3 . . . . . . . . . . . . . . . . . . . . . . .

3.2 DIGITAL_IO_FIF (node number 200) 3−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.1 Inputs_DIGITAL_FIF (digital inputs, "Standard I/O" FIF module) 3−4 . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2 Outputs_DIGITAL_FIF (digital outputs, "Standard I/O" FIF module) 3−5 . . . . . . . . . . . . . . . . . . . . . . .

4 CAN−I/O FIF module 4−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 FIF_CAN_DIGITAL_IN (node number 202) 4−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.1 FIF_CAN_Inputs_DIGITAL (digital input, "CAN−I/O" FIF module) 4−2 . . . . . . . . . . . . . . . . . . . . . . . . .

x FIF_CAN1_IO (node number 34) &. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

x FIF_CAN2_IO (node number 35) &. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

x FIF_CAN3_IO (node number 36) &. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

x FIF_CAN_Management (node number 111) &. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

& See "System bus (CAN) for Lenze PLCs" Manual.

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5 Extension board 1 5−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 DIGITAL_IO_EB1 (node number 2) 5−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.1 Inputs_DIGITAL_EB1 (digital inputs, extension board 1) 5−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1.2 Outputs_DIGITAL_EB1 (digital outputs, extension board 1) 5−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 Extension board 2 6−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1 DIGITAL_IO_EB2 (node number 3) 6−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.1 Inputs_DIGITAL_EB2 (digital inputs, extension board 2) 6−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.1.2 Outputs_DIGITAL_EB2 (digital outputs, extension board 2) 6−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 Extension board 3 7−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1 ANALOG4_IO_EB3 (node number 14) 7−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.1.1 Inputs_ANALOG4 (analog input 4 of extension board 3) 7−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2 ANALOG5_IO_EB3 (node number 15) 7−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.2.1 Inputs_ANALOG5 (analog input 5 of extension board 3) 7−3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3 DFIN_IO_DigitalFrequency (node number 21) 7−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3.1 Inputs_DFIN (encoder input of extension board 3) 7−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4 DIGITAL_IO_EB3 (node number 4) 7−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4.1 Inputs_DIGITAL_EB3 (digital inputs, extension board 3) 7−10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4.2 Outputs_DIGITAL_EB3 (digital outputs, extension board 3) 7−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8 Appendix 8−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1 PLC functionality 8−1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2 Extendability/networking 8−2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3 Memories 8−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3.1 Retain memory 8−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3.2 Downloading data 8−4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4 System POUs 8−6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.5 System error messages 8−7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.5.1 Overview of system error messages, error sources and reactions 8−8 . . . . . . . . . . . . . . . . . . . . . . .

8.5.2 Response and its effects on the drive 8−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.5.3 System error message reset 8−11 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.5.4 Cause & remedy 8−12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.5.5 Fault analysis via the fault memory 8−14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.5.6 Error analysis via the PLC LED 8−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.5.7 Fault analysis via the 9371BB keypad 8−15 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.6 Code table 8−16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.6.1 Temporary codes 8−38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.6.2 RAM access via codes 8−38 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.7 Attribute table 8−41 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9 Index 9−47 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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DrivePLC DE 6.0

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Preface and general information

1 Preface and general information

1.1 About this Manual

This Manual describes the system block functions which can be selected and parameterised in the control configuration of the Drive PLC Developer Studio (DDS) for the Drive PLC.

1.1.1 Conventions used in this Manual

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

Information type Distinction (in text) Example

System block name bold The SB DIGITAL_IO... System (block) variable identifier italics The input DIGIN_bIn1_b...

Drive PLC

Tip!

Information about the conventions used for variable names of Lenze system blocks, function blocks and functions can be obtained from the appendix of the DDS online documentation "Introduction into IEC 61131−3 programming". The conventions ensure universal and uniform naming and support the readability of PLC programs.

1.1.2 System block descriptions

All system block descriptions given in this Manual have the same structure:



 







 Headline with SB identifier

 SB function and node number

 Short description of the SB and its most important features

 System block chart including all corresponding variables

 Input variables  Output variables

 Table giving information about input and output variables:

 Identifier  Data type  Signal type  Address  Display code  Display format  Info

 Detailed SB description

DrivePLC DE 6.0

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Page 8

Drive PLC

Preface and general information

1.1.3 Pictographs in this Manual

Pictographs used

Warning of material damage

More notes Tip!

1.1.4 Terminology used

Term In this Manual used for

AIF Automation interface DDS Drive PLC Developer Studio FIF Function interface GDC Global Drive Control (parameter setting program from Lenze) SB System block System bus System bus (CAN): Lenze standard bus system similar to CANopen

Signal words

Stop! Warns of potential damage to material.

Note!

Possible consequences if disregarded: Damage of the PLC or its environment

Indicates a tip or note.

1−2

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1.2 System block introduction

For a long time, Lenze has followed the principle of describing controller functions with the aid of function blocks (FBs). This principle can also be found in the IEC 61131−3 standard.

 Functions which can be used as software functions in projects are stored in function libraries

as function blocks or functions.

 In addition, quasi−hardware functions are available as system blocks (SBs).

1.2.1 System block principle

The system−block principle can be explained by means of a PLC system in a rack:

 The rack contains the CPU, digital I/Os, analog I/Os, counter card, positioning card, etc. as

additional cards:

Drive PLC

Preface and general information

CPU

 The CPU can directly access the additional cards and process the resulting information.

 Additional cards have fixed addresses for access.

With Lenze PLC controllers, system blocks can be compared with these additional cards!

System blocks are special (hardware) function blocks permanently integrated into the run−time system of the PLC.

 SBs can address real hardware.

 SBs are assigned/identified through so−called node numbers. (^ 1−4)

 SB inputs and outputs are accessed via system variables or absolute memory addresses.

(^ 1−5)

 Inputs/outputs are always classified from the program’s point of view. (^ 1−6)

 Required SBs must be explicitly linked to the project via the control configuration of DDS.

(^ 1−7)

xxxxxx

x = Additional cards

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Drive PLC

Preface and general information

1.2.2 Node numbers

The system blocks of the Drive PLC carry the following node numbers:

Node number System block Notes

1 DIGITAL_IO Digital inputs/outputs 2 DIGITAL_IO_EB1 Digital inputs/outputs, internal extension module Extension board 1 3 DIGITAL_IO_EB2 Digital inputs/outputs, internal extension module Extension board 2

4 DIGITAL_IO_EB3 Digital inputs/outputs, internal extension module Extension board 3 11 ANALOG1_IO Analog inputs/outputs 1 12 ANALOG2_IO Analog input 2 13 ANALOG3_IO Analog input 3 14 ANALOG4_IO_EB3 Analog input 4, internal extension module Extension board 3 15 ANALOG5_IO_EB3 Analog input 5, internal extension module Extension board 3 21 DFIN_IO_DigitalFrequency Encoder input, internal extension module Extension board 3 31 CAN1_IO 32 CAN2_IO 33 CAN3_IO 34 FIF_CAN1_IO 35 FIF_CAN2_IO 36 FIF_CAN3_IO 41 AIF1_IO_AutomationInterface 42 AIF2_IO_AutomationInterface 43 AIF3_IO_AutomationInterface

101 CAN_Management System bus (CAN) management 102 CAN_Synchronization System bus (CAN) synchronisation 111 FIF_CAN_Management System bus (CAN) management, CAN−I/O1 FIF module 141 FCODE_FreeCodes Free codes 150 AD_Channels AD channels (24 V supply voltage) 151 SYSTEM_FLAGS System flags 161 AIF_IO_Management Automation interface management 200 DIGITAL_IO_FIF Digital inputs/outputs, Standard I/O

201 ANALOG_IO_FIF Analog inputs/outputs, Standard I/O

202 FIF_CAN_DIGITAL_IN Digital input, CAN−I/O

SBs for system bus (CAN) are described in the System bus (CAN) for Lenze PLCs Manual.

The node number is part of an absolute SB address (see chapter 1.2.4). (^ 1−5)

System bus (CAN)

System bus (CAN), CAN−I/O1FIF module

Automation interface

FIF module

1−4

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1.2.3 Access via system variables

You can use the system variables of a system block in your project after the system block has been integrated into the control configuration of the DDS.

 Open the input assistance in the DDS editors via <F2> to get a listing of all available system

variables:

Drive PLC

Preface and general information

 This Manual lists the system variables in the table for the corresponding system block:

Variable Data type Signal type Address Display

DIGIN_bIn1_b

... ... ...

DIGIN_bIn8_b %IX1.0.7 C0443/8

Example: Table with SB DIGITAL_IO inputs of the Drive PLC

Bool Binary

%IX1.0.0 C0443/1

1.2.4 Access via absolute addresses

System block inputs and outputs can also be accessed via absolute addresses according to the IEC61131−3 standard:

For inputs use: For outputs use:

%IXa.b.c %QXa.b.c

 This Manual lists the absolute addresses in the table for the corresponding system block:

Variable Data type Signal type Address Display

DIGIN_bIn1_b

... ... ...

DIGIN_bIn8_b %IX1.0.7 C0443/8

Example: Table with SB DIGITAL_IO inputs of the Drive PLC

Bool Binary

%IX1.0.0 C0443/1

code

Display

format

bin

Display

format

bin

Note

a = node number b = word address c = bit address

Note

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Drive PLC

Preface and general information

1.2.5 Definition of inputs/outputs

The application program is connected with the hardware by linking system blocks with program organisation units (POUs):

SB-Output SB-Input

POU-Input POU-Output

POU

Fig. 1−1 Principle: Linking of system blocks with a program organisation unit (POU)

Tip!

Inputs and outputs are always classified from the program’s point of view.

 Logic SB inputs are hardware outputs of the PLC.

 Logic SB outputs are hardware inputs of the PLC.

Example: System block DIGITAL_IO of the 9300 Servo PLC

If you want to use the digital input 1 and the digital output 1 of the 9300 Servo PLC, proceed as follows:

1. Link the SB DIGITAL_IO explicitly with the DDS control configuration.

2. Access to digital input 1: Assign the system variable DIGIN_bIn1_b to a POU input.

3. Access to digital output 1: Assign the system variable DIGOUT_bOut1_b to a POU output.

POU

POU-OUT

SB-IN

SB-OUT

POU-IN

DCTRL -X5/28

DIGIN_bCInh_b

DIGIN_bIn1_b

DIGIN_bIn2_b

DIGIN_bIn3_b

DIGIN_bIn4_b

DIGIN_bIn5_b

C0443

DIGIN

C0114/1...5

DIGOUT_bOut1_b

DIGOUT_bOut2_b

DIGOUT_bOut3_b

DIGOUT_bOut4_b

(^ 1−7)

C0444/1 C0444/2 C0444/3 C0444/4

DIGOUT

C0118/1...4

Fig. 1−2 Principle: Linking of the 9300 Servo PLC system block DIGITAL_IO with a POU

Tip!

According to the IEC61131−3 standard, only one copy of the digital input 1 and the digital output 1 may be transferred.

1−6

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1.2.6 Linking of system blocks with DDS

The system blocks required must be explicitly linked to the project via the control configuration of the DDS.

 The control configuration is placed as an object in the Resources tab in the Object organiser.

 The control configuration lists all inputs and outputs including the identifiers of the

corresponding I/O variable, the absolute address and the data type of the I/O variable for every linked SB.

Drive PLC

Preface and general information

 Identifier of the I/O variable  Absolute address  Data type of the I/O variable



Fig. 1−3 Example: Control configuration for 9300 Servo PLC with linked SB DIGITAL_IO

Tip!

The control configuration provides a context menu for adding and deleting SBs which can be activated via the right mouse key.

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Preface and general information

1.2.7 Signal types and scalings

Most inputs and outputs of Lenze function blocks/system blocks can be assigned to a certain signal type. We distinguish between digital, analog, position and speed signals.

The identifier of the corresponding input/output variable has an ending (starting with an underscore). It indicates the signal type.

Signal type Ending Memory

Analog _a (analog) 16 bits 100 %  16384 H Digital _b (binary) 8 bits 0  FALSE; 1  TRUE G Phase difference or speed

Phase−angle or position _p (position) 32 bits 1 motor revolution  65536 E

_v (velocity) 16 bits 15000 rpm  16384 F

 Phase difference/speed ref. to 1 ms  Scaling example:

Speed (on motor side) + 15000 [rpm] +

1 motor revolution + 65536 [inc]

Variable value (..._v) +

space



 Direction (0  clockwise rotation; 1  counter−clockwise rotation) No. of motor revolutions (0 ... 32767)  Phase angle or position (0 ... 65535)

Scaling (external value º internal value)

15000

60 [s]

15000

@ 65536 [inc] +

60 [s]

High Word Low Word 031

15000

60000 [ms]

@ 65536 [inc] + 16384



Previous identification

inc

Note!

Due to their scaling, analog signals have an asymmetrical resolution range (−200 % ... +199.99 %):

External value: −200 % −100 % 0 +100 % +199.99 % Internal value: −32768 −16384 0 +16384 +32767

1−8

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2 System blocks

The following sections inform about the system blocks of the basic unit.

Drive PLC

System blocks

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System blocks

2.1 AD_CHANNELS

2.1.1 Inputs_AD_CHANNELS

A/D conversion of 24 V voltage supply (node number 150)

This SB indicates the voltage of terminals X1/+24,

 If 24 V

(100 mV

Fig. 2−1 AD_Channels

VariableName

V24PowerSupply Integer − %IW150.0 − − 1  100 mV

Electrical data of the input terminal

Terminal Use Data

+24 Supply voltage Level: + 18 VDC ... +30 V

24 Supply voltage reference potential

24 as integer value with a resolution of 100 mV.

is applied to the terminals, the V24PowerSupply has the value "240"

 240 = 24 V).

+24

^24

DataType SignalType Address DIS DIS format Note

AD_CHANNELS

V24PowerSupply

2−2

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System blocks

2.2 AIF1_IO_AutomationInterface (node number 41)

2.2.1 Inputs_AIF1

This SB is used as interface for input signals (e.g. setpoints/actual values) from attached fieldbus modules (e.g. INTERBUS, PROFIBUS−DP).

 The process image is

– created every 10 ms. – created in an interval task within the time set for this task. – read at the beginning of the task and written at its end.

Tip!

Please observe the Operating Instructions for the attached fieldbus module.

Automation

Interface

Inputs_AIF1

Byte

Controlword

Byte

16 Bit

16 binary

signals

16 Bit

C0855/1

16 binary

signals

16 Bit

C0855/2

16 binary

signals

C0856/1

C0856/2

C0856/3

AIF1_wDctrlCtrl

AIF1_bCtrlB0_b

AIF1_bCtrlB1_b

AIF1_bCtrlB2_b

AIF1_bCtrlQuickstop_b

AIF1_bCtrlB4_b

AIF1_bCtrlB5_b

AIF1_bCtrlB6_b

AIF1_bCtrlB7_b

AIF1_bCtrlDisable_b

AIF1_bCtrlCInhibit_b

AIF1_bCtrlTripSet_b

AIF1_bCtrlTripReset_b

AIF1_bCtrlB12_b

AIF1_bCtrlB13_b

AIF1_bCtrlB14_b

AIF1_bCtrlB15_b

AIF1_nInW1_a

AIF1_nInW2_a

AIF1_bInB0_b

…

AIF1_bInB15_b

AIF1_nInW3_a

AIF1_bIn16_b

…

AIF1_bIn31_b

Fig. 2−2 Inputs_AIF1

16 Bit

LowWord

16 Bit

HighWord

DrivePLC DE 6.0

AIF1_dnInD1_p

C0857

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Drive PLC

System blocks

2.2 AIF1_IO_AutomationInterface (node number 41)

System variables

Variable Data type Signal type Address Display

AIF1_wDctrlCtrl WORD − %IX41.0 C0136/3 hex AIF1_bCtrlB0_b AIF1_bCtrlB1_b AIF1_bCtrlB2_b AIF1_bCtrlQuickstop_b AIF1_bCtrlB4_b AIF1_bCtrlB5_b AIF1_bCtrlB6_b AIF1_bCtrlB7_b AIF1_bCtrlDisable_b AIF1_bCtrlCInhibit_b AIF1_bCtrlTripSet_b AIF1_bCtrlTripReset_b AIF1_bCtrlB12_b AIF1_bCtrlB13_b AIF1_bCtrlB14_b AIF1_bCtrlB15_b AIF1_nInW1_a AIF1_nInW2_a AIF1_nInW3_a AIF1_bInB0_b

... AIF1_bInB15_b AIF1_bInB16_b

... AIF1_bInB31_b AIF1_dnInD1_p Double integer position %ID41.1 C0857 dec [inc]

Bool binary

Integer analog

Bool binary

%IX41.0.0 %IX41.0.1 %IX41.0.2 %IX41.0.3 %IX41.0.4 %IX41.0.5 %IX41.0.6 %IX41.0.7 %IX41.0.8

%IX41.0.9 %IX41.0.10 %IX41.0.11 %IX41.0.12 %IX41.0.13 %IX41.0.14 %IX41.0.15

%IW41.1 C0856/1 %IW41.2 C0856/2 %IW41.3 C0856/3

%IX41.2.0

...

%IX41.2.15

%IX41.3.0

...

%IX41.3.15

code

C0136/3 bin

C0855/1

C0855/2

Display

format

dec [%]

hex

Notes

2−4

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Drive PLC

System blocks

2.2 AIF1_IO_AutomationInterface (node number 41)

User data

The received 8 bytes of user data are assigned to several variables of different data types. Data can therefore be evaluated as —

 binary information (1 bit)

 control word/quasi−analog value (16 bits)

 angle information (32 bits)

in the PLC program.

Byte Variable (1 bit) Variable (16 bits) Variable (32 bits)

1, 2 AIF1_bInB0_b

3, 4

AIF1_bInB1_b AIF1_bInB2_b

AIF1_bCtrlQuickstop_b

AIF1_bInB4_b

...

AIF1_bInB7_b AIF1_bCtrlDisable_b AIF1_bCtrlCInhibit_b

AIF1_bCtrlTripSet_b

AIF1_bCtrlTripReset_b

AIF1_bInB12_b

...

AIF1_bInB15_b

AIF1_wDctrlCtrl

AIF1_nInW1_a

5, 6 AIF1_bInB0_b

...

AIF1_bInB15_b

7, 8 AIF1_bInB16_b

...

AIF1_bInB31_b

AIF1_nInW2_a

AIF1_dnInD1_p

AIF1_nInW3_a

Tip!

Drive PLC:

 All variables assigned to byte 1/2 can be freely used in the PLC program.

9300 Servo PLC:

 In addition to signals such as IMP and CINH, the SB status word DCTRL contains some freely

assignable signals which can be overwritten via the variables DCTRL_bStateB..._b of the SB DCTRL. More detailed information about the SB DCTRL can be found in the "9300 Servo PLC" Online Manual.

 The control signals for the quick stop (QSP), DISABLE, CINH, TRIP−SET and TRIP−RESET

function can also be read and processed via the following variables: – AIF1_bCtrlQuickstop_b – AIF1_bCtrlDisable_b – AIF1_bCtrlInhibit_b – AIF1_bCtrlTripSet_b – AIF1_bCtrlTripReset_b

 The remaining 11 bits (AIF1_bCtrlB..._b) can be used to control additional functions/function

blocks.

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Drive PLC

System blocks

2.2 AIF1_IO_AutomationInterface (node number 41)

2.2.2 Outputs_AIF1

This SB is used as interface for output signals (e.g. setpoints/actual values) to attached fieldbus modules (e.g. INTERBUS, PROFIBUS−DP).

 The process image is

– created every 10 ms. – created in an interval task within the time set for this task. – read at the beginning of the task and written at its end.

Tip!

Please observe the Operating Instructions for the attached fieldbus module.

Outputs_AIF1

Fig. 2−3 Outputs_AIF1

AIF1_wDctrlStat

AIF1_nOutW1_a

AIF1_nOutW2__a

AIF1_bFDO0_b

…

AIF1_bFDO15_b

AIF1_nOutW3_a

AIF1_bFDO16_b

…

AIF1_bFDO31_b

AIF1_dnOutD1_p

C0858/1

C0858/2

C0858/3

C0859

16 Bit

C0151/4

16 binary

signals

16 Bit

C0151/4

16 binary

signals

16 Bit

LowWord

16 Bit

HighWord

Byte

Automation

Interface

2−6

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Drive PLC

System blocks

2.2 AIF1_IO_AutomationInterface (node number 41)

System variables

Variable Data type Signal type Address Display

AIF1_wDctrlStat WORD − %QW41.0 − − AIF1_nOutW1_a AIF1_nOutW2_a %QW41.2 C0858/2 AIF1_nOutW3_a %QW41.3 C0858/3 AIF1_bFDO0_b

.. ...

AIF1_bFDO15_b %QX41.2.15 AIF1_bFDO16_b %QX41.3.0

.. ...

AIF1_bFDO31_b %QX41.3.15 AIF1_dnOutD1_p Double integer position %QD41.1 C0859 dec [inc]

Integer analog

Bool binary

%QW41.1 C0858/1

%QX41.2.0

code

C0151/4 hex

Display

format

dec [%]

Notes

Display code in hex as double word

User data

The 8 bytes of user data to be sent can be written via several variables of different data types at the same time. Data can therefore be transferred as

 binary information (1 bit)

 status word/quasi−analog value (16 bits)

 angle information (32 bits)

by the PLC program.

Byte Variable (1 bit) Variable (16 bits) Variable (32 bits)

1, 2

3, 4

5, 6 AIF1_bFDO0_b

...

AIF1_bFDO15_b

7, 8 AIF1_bFDO16_b

...

AIF1_bFDO31_b

AIF1_wDctrlStat

AIF1_nOutW1_a

AIF1_nOutW2_a

AIF1_dnOutD1_p

AIF1_nOutW3_a

Tip!

Drive PLC:

 All variables assigned to byte 1/2 can be freely used in the PLC program.

9300 Servo PLC:

 Connect the variable DCTRL_wStat of the SB DCTRL with the variable AIF1_wDctrlStat to

transfer the status word of the SB DCTRL via user data bytes 1 and 2.

 In addition to signals such as IMP and CINH, the SB status word DCTRL contains some freely

assignable signals which can be overwritten via the variables DCTRL_bStateB..._b of the SB DCTRL. More detailed information about the SB DCTRL can be found in the "9300 Servo PLC" Online Manual.

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Drive PLC

System blocks

2.2 AIF1_IO_AutomationInterface (node number 41)

Tip!

Avoid simultaneous overwriting via different variable types to ensure data consistency.

 Thus bytes 5 and 6 should only be overwritten

– by the variable AIF1_dnOutD1_p, – by the variable AIF1_nOutW2_a or – by the variables AIF1_bFDO0_b ... AIF1_bFDO15_b.

2−8

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System blocks

2.3 AIF2_IO_AutomationInterface (node number 42)

2.3.1 Inputs_AIF2

Automation interface (node number 42)

This SB is used as an interface for input signals (e.g. setpoints/actual values) from attached fieldbus modules (e.g. INTERBUS, PROFIBUS−DP).

 The process image is

– created in the cyclic task in a fixed time interval of 10 ms. – created in an interval task within the time set for this task. – read at the beginning of the task and written at its end.

Tip!

Please observe the Operating Instructions for the attached fieldbus module.

Fig. 2−4 Inputs_AIF2

Automation

Interface

Inputs_AIF2

Byte

16 Bit

16 binary

signals

16 Bit

16 binary

signals

16 Bit

LowWord

16 Bit

HighWord

16 Bit

AIF2_nInW1_a

AIF2_bInB0_b

...

AIF2_bInB15_b

AIF2_nInW2_a

AIF2_bInB16_b

...

AIF2_bInB31_b

AIF2_dnInD1_p

AIF2_nInW3_a

AIF2_nInW4_a

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Drive PLC

System blocks

2.3 AIF2_IO_AutomationInterface (node number 42)

System variables

Variable Data type Signal type Address Display code Display

AIF2_nInW1_a AIF2_nInW2_a %IW42.1 AIF2_nInW3_a %IW42.2 AIF2_nInW4_a %IW42.3 AIF2_bInB0_b

... ...

AIF2_bInB15_b %IX42.0.15 AIF2_bInB16_b %IX42.1.0

... ...

AIF2_bInB31_b %IX42.1.15 AIF2_dnInD1_p Double integer Position %ID42.0

Integer Analog

Bool Binary

%IW42.0

%IX42.0.0

format

Note

User data

The 4 first bytes of the received 8 bytes of user data are assigned to several variables of different data types simultaneously. Thus the data can be evaluated in the PLC program as

 binary information (1 bit)

 quasi−analog value (16 bits)

 angle information (32 bits)

according to the requirements.

Byte Variable (1 bit) Variable (16 bits) Variable (32 bits)

1, 2 AIF2_bInB0_b

...

AIF2_bInB15_b

3, 4 AIF2_bInB16_b

...

AIF2_bInB31_b

5, 6

AIF2_nInW1_a

AIF2_dnInD1_p

AIF2_nInW2_a

AIF2_nInW3_a

7, 8

AIF2_nInW4_a

2−10

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Drive PLC

System blocks

2.3 AIF2_IO_AutomationInterface (node number 42)

2.3.2 Outputs_AIF2

This SB is used as an interface for output signals (e.g. setpoints/actual values) to attached fieldbus modules (e.g. INTERBUS, PROFIBUS−DP).

 The process image is

– created in the cyclic task in a fixed time interval of 10 ms. – created in an interval task within the time set for this task. – read at the beginning of the task and written at its end.

Tip!

Please observe the Operating Instructions for the attached fieldbus module.

Outputs_AIF2

AIF2_nOutW1_a

AIF2_bFDO0_b

...

AIF2_bFDO15_b

AIF2_nOutW2_a

AIF2_bFDO16_b

...

AIF2_bFDO31_b

AIF2_dnOutD1_p

AIF2_nOutW3_a

AIF2_nOutW4_a

16 Bit

16 binary

signals

16 Bit

16 binary

signals

16 Bit

LowWord

16 Bit

HighWord

16 Bit

Byte

Automation

Interface

Fig. 2−5 Outputs_AIF2

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Drive PLC

System blocks

2.3 AIF2_IO_AutomationInterface (node number 42)

System variables

Variable Data type Signal type Address Display code Display

AIF2_nOutW1_a AIF2_nOutW2_a %QW42.1 AIF2_nOutW3_a %QW42.2 AIF2_nOutW4_a %QW42.3 AIF2_bFDO0_b

... ...

AIF2_bFDO15_b %QX42.0.15 AIF2_bFDO16_b %QX42.1.0

... ...

AIF2_bFDO31_b %QX42.1.15 AIF2_dnOutD1_p Double integer Position %QD42.0

Integer Analog

Bool Binary

%QW42.0

%QX42.0.0

format

Note

User data

The first 4 bytes of the 8 bytes of user data to be sent can be written to via several variables of different data types at the same time. Data can therefore be transferred by the PLC program as

 binary information (1 bit)

 quasi−analog value (16 bits)

 angle information (32 bits)

according to the requirements.

Byte Variable (1 bit) Variable (16 bits) Variable (32 bits)

1, 2 AIF2_bFDO0_b

...

AIF2_bFDO15_b

3, 4 AIF2_bFDO16_b

...

AIF2_bFDO31_b

5, 6

AIF2_nOutW1_a

AIF2_dnOutD1_p

AIF2_nOutW2_a

AIF2_nOutW3_a

7, 8

AIF2_nOutW4_a

Tip!

Avoid simultaneous overwriting via different variable types to ensure data consistency.

 Thus bytes 1 and 2 should only be written to

– by the variable AIF2_dnOutD1_p, – by the variable AIF2_nOutW1_a or – by the variables AIF2_bFDO0_b ... AIF2_bFDO15_b.

2−12

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System blocks

2.4 AIF3_IO_AutomationInterface (node number 43)

2.4.1 Inputs_AIF3

This SB is used as an interface for input signals (e.g. setpoints/actual values) from attached fieldbus modules (e.g. INTERBUS, PROFIBUS−DP).

 The process image is

– created in the cyclic task in a fixed time interval of 10 ms. – created in an interval task within the time set for this task. – read at the beginning of the task and written at its end.

Tip!

Please observe the Operating Instructions for the attached fieldbus module.

Fig. 2−6 Inputs_AIF3

Automation

Interface

Inputs_AIF3

Byte

16 Bit

16 binary

signals

16 Bit

16 binary

signals

16 Bit

LowWord

16 Bit

HighWord

16 Bit

AIF3_nInW1_a

AIF3_bInB0_b

...

AIF3_bInB15_b

AIF3_nInW2_a

AIF3_bInB16_b

...

AIF3_bInB31_b

AIF3_dnInD1_p

AIF3_nInW3_a

AIF3_nInW4_a

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2−13

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System blocks

2.4 AIF3_IO_AutomationInterface (node number 43)

System variables

Variable Data type Signal type Address Display code Display

AIF3_nInW1_a AIF3_nInW2_a %IW43.1 AIF3_nInW3_a %IW43.2 AIF3_nInW4_a %IW43.3 AIF3_bInB0_b

... ...

AIF3_bInB15_b %IX43.0.15 AIF3_bInB16_b %IX43.1.0

... ...

AIF3_bInB31_b %IX43.1.15 AIF3_dnInD1_p Double integer Position %ID43.0

Integer Analog

Bool Binary

%IW43.0

%IX43.0.0

format

Note

User data

The 4 first bytes of the received 8 bytes of user data are assigned to several variables of different data types simultaneously. Thus the data can be evaluated in the PLC program as

 binary information (1 bit)

 quasi−analog value (16 bits)

 angle information (32 bits)

according to the requirements.

Byte Variable (1 bit) Variable (16 bits) Variable (32 bits)

1, 2 AIF3_bInB0_b

...

AIF3_bInB15_b

3, 4 AIF3_bInB16_b

...

AIF3_bInB31_b

5, 6

AIF3_nInW1_a

AIF3_dnInD1_p

AIF3_nInW2_a

AIF3_nInW3_a

7, 8

AIF3_nInW4_a

2−14

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System blocks

2.4 AIF3_IO_AutomationInterface (node number 43)

2.4.2 Outputs_AIF3

This SB is used as an interface for output signals (e.g. setpoints/actual values) to attached fieldbus modules (e.g. INTERBUS, PROFIBUS−DP).

 The process image is

– created in the cyclic task in a fixed time interval of 10 ms. – created in an interval task within the time set for this task. – read at the beginning of the task and written at its end.

Tip!

Please observe the Operating Instructions for the attached fieldbus module.

Outputs_AIF3

AIF3_nOutW1_a

AIF3_bFDO0_b

...

AIF3_bFDO15_b

AIF3_nOutW2_a

AIF3_bFDO16_b

...

AIF3_bFDO31_b

AIF3_dnOutD1_p

AIF3_nOutW3_a

AIF3_nOutW4_a

16 Bit

16 binary

signals

16 Bit

16 binary

signals

16 Bit

LowWord

16 Bit

HighWord

16 Bit

Byte

Automation

Interface

Fig. 2−7 Outputs_AIF3

DrivePLC DE 6.0

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System blocks

2.4 AIF3_IO_AutomationInterface (node number 43)

System variables

Variable Data type Signal type Address Display code Display

AIF3_nOutW1_a AIF3_nOutW2_a %QW43.1 AIF3_nOutW3_a %QW43.2 AIF3_nOutW4_a %QW43.3 AIF3_bFDO0_b

... ...

AIF3_bFDO15_b %QX43.0.15 AIF3_bFDO16_b %QX43.1.0

... ...

AIF3_bFDO31_b %QX43.1.15 AIF3_dnOutD1_p Double integer Position %QD43.0

Integer Analog

Bool Binary

%QW43.0

%QX43.0.0

format

Note

User data

The first 4 bytes of the 8 bytes of user data to be sent can be written to via several variables of different data types at the same time. Data can therefore be transferred by the PLC program as

 binary information (1 bit)

 quasi−analog value (16 bits)

 angle information (32 bits)

according to the requirements.

Byte Variable (1 bit) Variable (16 bits) Variable (32 bits)

1, 2 AIF3_bFDO0_b

...

AIF3_bFDO15_b

3, 4 AIF3_bFDO16_b

...

AIF3_bFDO31_b

5, 6

AIF3_nOutW1_a

AIF3_dnOutD1_p

AIF3_nOutW2_a

AIF3_nOutW3_a

7, 8

AIF3_nOutW4_a

Tip!

Avoid simultaneous overwriting via different variable types to ensure data consistency.

 Thus bytes 1 and 2 should only be written to

– by the variable AIF3_dnOutD1_p, – by the variable AIF3_nOutW1_a or – by the variables AIF3_bFDO0_b ... AIF3_bFDO15_b.

2−16

DrivePLC DE 6.0

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System blocks

2.5 AIF_IO_Management (node number 161)

2.5.1 Inputs_AIF_Management

This SB monitors the communication of a communication module connected to the automation interface (AIF).

 In the event of an error, AIF_bCe0CommErr_b is set to TRUE and the communication error

"CE0" (LECOM no. 61) is set. The response to this can be configured under C0126 (Lenze setting: off).

 New AIF communication modules (e.g. 2133 and 2175) also use

AIF_bFieldBusStateBit0_b ... AIF_bFieldBusStateBit15_b to transfer an error number from the communication module.

 C2121 displays the status.

Tip!

Please observe the documentation for the attached communication module.

Automation

interface

Fig. 2−8 System block "Inputs_AIF_Management"

AIF

Communication

Error

AIF

Fieldbus State

Inputs_AIF_Management

AIF_bCe0CommErr_b

AIF_bFieldBusStateBit0_b

AIF_bFieldBusStateBit1_b

AIF_bFieldBusStateBit2_b

AIF_bFieldBusStateBit3_b

AIF_bFieldBusStateBit4_b

AIF_bFieldBusStateBit5_b

AIF_bFieldBusStateBit6_b

AIF_bFieldBusStateBit7_b

AIF_bFieldBusStateBit8_b

AIF_bFieldBusStateBit9_b

AIF_bFieldBusStateBit10_b

AIF_bFieldBusStateBit11_b

AIF_bFieldBusStateBit12_b

AIF_bFieldBusStateBit13_b

AIF_bFieldBusStateBit14_b

AIF_bFieldBusStateBit15_b

DrivePLC DE 6.0

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System blocks

2.5 AIF_IO_Management (node number 161)

System variables

Variable Data type Signal type Address Display code Display

AIF_bCe0CommErr_b AIF_bFieldBusStateBit0_b %IX161.1.0 Error number − bit 0 AIF_bFieldBusStateBit1_b %IX161.1.1 Error number − bit 1 AIF_bFieldBusStateBit2_b %IX161.1.2 Error number − bit 2 AIF_bFieldBusStateBit3_b %IX161.1.3 Error number − bit 3 AIF_bFieldBusStateBit4_b %IX161.1.4 Error number − bit 4 AIF_bFieldBusStateBit5_b %IX161.1.5 Error number − bit 5 AIF_bFieldBusStateBit6_b %IX161.1.6 Error number − bit 6 AIF_bFieldBusStateBit7_b %IX161.1.7 Error number − bit 7 AIF_bFieldBusStateBit8_b %IX161.1.8 Error number − bit 8 AIF_bFieldBusStateBit9_b %IX161.1.9 Error number − bit 9 AIF_bFieldBusStateBit10_b %IX161.1.10 Error number − bit 10 AIF_bFieldBusStateBit11_b %IX161.1.11 Error number − bit 11 AIF_bFieldBusStateBit12_b %IX161.1.12 Error number − bit 12 AIF_bFieldBusStateBit13_b %IX161.1.13 Error number − bit 13 AIF_bFieldBusStateBit14_b %IX161.1.14 Error number − bit 14 AIF_bFieldBusStateBit15_b %IX161.1.15 Error number − bit 15

Bool binary

%IX161.0.0 Communication error "CE0"

format

Notes

Codes

Code LCD

C0126 MONIT CE0 3

C2121 AIF: state

Possible settings

Lenze Selection

0 TRIP 2 Warning 3 Off

0 {dec} 255 Decimal value is bit−coded: Bit 0 XCAN1_IN monitoring time Bit 1 XCAN2_IN monitoring time Bit 2 XCAN3_IN monitoring time Bit 3 XCAN bus−off Bit 4 XCAN operational Bit 5 XCAN pre−operational Bit 6 XCAN warning Bit 7 Internally assigned

Info

Configuration for communication error "CE0" with automation interface

AIF−CAN: Status

 Detailed information can be

found in the documentation for the corresponding communication module.

2−18

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System blocks

2.5 AIF_IO_Management (node number 161)

2.5.2 Outputs_AIF_Management

This SB transfers commands and messages to a fieldbus module connected to an automation interface (AIF).

For this purpose C2120 provides a control word. The commands are specified as numbers. Some command numbers are universally applicable for all fieldbus modules, others apply only for special modules. The total number of commands available can amount to up to 16.

Tip!

Read the documentation for the attached fieldbus module.

Outputs_AIF_Management

AIF control word

Bit 8 … 15

AIF_wControl

Fig. 2−9 System block "Outputs_AIF_Management"

System variables

Variable Data type Signal type Address Display code Display

AIF_wControl Word %QX161.0 C2120

Codes

Code LCD

C2120 AIF: Control

Possible settings

Lenze Selection

0 No command 1 Read CAN codes + reinitialisation 2 Read XCAN codes 10 Read XCAN C2356/1 ... 4 11 Read XCAN C2357 12 Read XCAN C2375 13 Read XCAN C2376 ... C2378 14 Read XCAN C2382 255 Not assigned

Bit 7 Toggle-Bit (MSB)

Bit0…6

C2120

Note

format

Info

AIF command

DrivePLC DE 6.0

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System blocks

2.6 ANALOG1_IO (node number 11)

2.6.1 Inputs_ANALOG1 (analog input)

This SB forms the interface for analog signals via terminal AI1, A as setpoint input or actual value input.

Fig. 2−10 Inputs_ANALOG1

System variables

Variable Data type Signal type Address Display

AIN1_nIn_a Integer analog %IW11.0 C0400/1 dec [%] Analog input 1

Terminal assignment

Terminal Use Data

AI1 Analog input 1 Level:

A Internal ground, GND −

Inputs_ANALOG1

AI1

AIN1_nIn_a

C0400/1

code

Resolution: Internal resistance: Normalisation:

Display

format

−10 V ... +10 V 10 bits + sign 100 k 10 V  16384  100 %

Notes

2−20

DrivePLC DE 6.0

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System blocks

2.6 ANALOG1_IO (node number 11)

2.6.2 Outputs_ANALOG1 (analog output)

You can use this SB as a monitor output. You can output internal analog signals via

 terminal AOV as voltage signals and

 terminal AOI as current signals

and use them, e.g. as display or setpoint values for following drives.

Fig. 2−11 Outputs_ANALOG1

System variables

Variable Data type Signal type Address Display

AOUT1_nOut_a Integer analog %QW11.0 C0434 dec [%] Analog output 1

Function

 A voltage of 10 V is output at terminal AOV, if the signal on AOUT1_nOut_a = 16384 = 100 %

 A current of 20 mA is output at terminal AOI, if the signal on AOUT1_nOut_a = 16384 = 100 %

Terminal assignment

Terminal Use Data

AOV Analog output 1 (voltage signal) Level:

AOI Analog output 1 (current signal) Level:

A Internal ground, GND −

Outputs_ANALOG1

AOUT1_nOut_a

C0434

AOV

AOI

code

Resolution: Normalisation:

Display

format

−10 V ... +10 V (max. 2 mA) 10 bits + sign 10 V  16384  100 %

−20 mA ... +20 mA 10 bits + sign 20 mA  16384  100 %

Notes

DrivePLC DE 6.0

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System blocks

2.7 ANALOG2_IO (node number 12)

2.7.1 Inputs_ANALOG2 (analog input)

This SB forms the interface for analog signals via terminal AI2, A.

Fig. 2−12 Inputs_ANALOG2

System variables

Variable Data type Signal type Address Display

AIN2_nIn_a Integer analog %IW12.0 C0400/2 dec [%] Analog input 2

Terminal assignment

Terminal Use Data

AI2 Analog input 2 Level:

A Internal ground, GND −

Inputs_ANALOG2

AI2

AIN2_nIn_a

C0400/2

code

Resolution: Internal resistance: Normalisation:

Display

format

−10 V ... +10 V 10 bits + sign 100 k 10 V  16384  100 %

Notes

2−22

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System blocks

2.8 ANALOG3_IO (node number 13)

2.8.1 Inputs_ANALOG3 (analog input)

This SB forms the interface for analog signals via terminal AI3, A.

Fig. 2−13 Inputs_ANALOG3

System variables

Variable Data type Signal type Address Display

AIN3_nIn_a Integer analog %IW13.0 C0400/3 dec [%] Analog input 3

Terminal assignment

Terminal Use Data

AI3 Analog input 3 Level:

A Internal ground, GND −

Inputs_ANALOG3

AI3

AIN3_nIn_a

C0400/3

code

Resolution: Internal resistance: Normalisation:

Display

format

−10 V ... +10 V 10 bits + sign 100 k 10 V  16384  100 %

Notes

DrivePLC DE 6.0

2−23

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System blocks

2.9 DIGITAL_IO (node number 1)

2.9.1 Inputs_DIGITAL (digital inputs)

This SB reads the signals at terminals I1 ... I8 and conditions them.

Fig. 2−14 Inputs_DIGITAL

Inputs_DIGITAL

DIGIN_bIn1_b

DIGIN_bIn2_b

DIGIN_bIn3_b

DIGIN_bIn4_b

DIGIN_bIn5_b

DIGIN_bIn6_b

DIGIN_bIn7_b

DIGIN_bIn8_b

C0443

System variables

Variable Data type Signal type Address Display

DIGIN_bIn1_b DIGIN_bIn2_b %IX1.0.1 C0443 − bit2 DIGIN_bIn3_b %IX1.0.2 C0443 − bit3 DIGIN_bIn4_b %IX1.0.3 C0443 − bit4 DIGIN_bIn5_b %IX1.0.4 C0443 − bit5 DIGIN_bIn6_b %IX1.0.5 C0443 − bit6 DIGIN_bIn7_b %IX1.0.6 C0443 − bit7 DIGIN_bIn8_b %IX1.0.7 C0443 − bit8

Bool binary

%IX1.0.0 C0443 − bit1

code

Display

format

bin Digital inputs I1 ... I8

Notes

Electrical data of the input terminals

Terminal Use Data

I1 I2 I3 I4 I5 I6 I7 I8

freely assignable

LOW level: HIGH level: Input current:

0 ... +4 V +13 ... +30 V 8 mA per input (at 24 V)

Tip!

You can use I2 ... I4 as real interrupt inputs. The references to the hardware interrupt inputs are in the task configuration. Response time of the interrupt task: < 250 s.

More detailed information about Drive PLC terminal strips/control connections can be found in the corresponding Mounting Instructions!

2−24

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System blocks

2.9 DIGITAL_IO (node number 1)

2.9.2 Outputs_DIGITAL (digital outputs)

This SB conditions digital signals and outputs them at terminals O1 ... O4.

Fig. 2−15 Outputs_DIGITAL

System variables

Variable Data type Signal type Address Display

DIGOUT_bOut1_b DIGOUT_bOut2_b %QX1.0.1 C0444 − Bit2 DIGOUT_bOut3_b %QX1.0.2 C0444 − Bit3 DIGOUT_bOut4_b %QX1.0.3 C0444 − Bit4

Electrical data of the output terminals

Terminal Use Data

O1 O2 O3 O4

Bool binary

freely assignable

DIGOUT_bOut1_b

DIGOUT_bOut2_b

DIGOUT_bOut3_b

DIGOUT_bOut4_b

%QX1.0.0 C0444 − Bit1

Outputs_DIGITAL

C0444

code

LOW level: HIGH level: Output current:

Display

format

bin Digital outputs O1 ... O4

0 ... +4 V +13 ... +30 V max. 1 A per output

Notes

Tip!

If the user program has not been started, all outputs are defined as "LOW" after switch−on.

More detailed information about Drive PLC terminal strips/control connections can be found in the corresponding Mounting Instructions!

DrivePLC DE 6.0

2−25

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System blocks

2.10 FCODE_FreeCode (node number 141)

Free codes

At Lenze, controller parameters are called codes. The PLC can be adapted to your application without additional programming by changing codes.

This SB provides several variables which directly read "free" PLC codes and processes them further in the PLC program or the codes can be written by the PLC program.

FCODE_FreeCodes

C0471

C0472/1

...

C0472/20

C0473/1

...

C0473/10

C0474/1

...

C0474/5

C0475/1

C0475/2

C0135

FCODE_wC135

FCODE_bC135Bit0_b

FCODE_bC135Bit15_b

FCODE_wC150

FCODE_bC150Bit0_b

FCODE_bC150Bit15_b

...

DWORD

BIT/BOOL

% TO INT

INT

DINT

INT

Input & Output

WORD

16 Bit

WORD

16 Bit

FCODE_bC471Bit0_b

...

FCODE_bC471Bit31_b

FCODE_nC472_1_a

...

FCODE_nC472_20_a

FCODE_nC473_1_a

...

FCODE_nC473_10_a

FCODE_dnC474_1_p

...

FCODE_dnC474_5_p

FCODE_nC475_1_v

FCODE_nC475_2_v

C0135

FCODE_bC135Bit0_b

...

FCODE_bC135Bit15_b

C0150

Fig. 2−16 FCODE_FreeCodes

Code ð PLC program

The PLC codes listed in Fig. 2−16 in boxes on the left−hand side are directly assigned to the variables listed on the right−hand side.

 These variables can only be read by the PLC program.  See chapter 2.10.1, "Inputs_FCODE"

 Codes are converted into variables (and vice versa) according to a fixed routine.  In the code table, you can find the options that can be set and the Lenze settings. ^ 8−16

Tip!

Code C0135 can be read and written via the variables FCODE_bC135Bit0_b ... FCODE_bC135Bit15_b (input & output).

2−26

Cxxxx

FCODE_...

DrivePLC DE 6.0

PLC program ð Code

FCODE_...

Cxxxx

The variables listed in Fig. 2−16 on the left−hand side are assigned to the codes listed in boxes on the right−hand side.

 These codes can only be read from "outside".  See chapter 2.10.2, "Outputs_FCODE"

Page 41

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System blocks

2.10 FCODE_FreeCode (node number 141)

2.10.1 Inputs_FCODE

System variables

Variable Data type Signal type Address Display

FCODE_bC135Bit0_b

FCODE_bC135Bit15_b FCODE_bC471Bit0_b

FCODE_bC471Bit15_b FCODE_bC471Bit16_b

FCODE_bC471Bit31_b FCODE_nC472_1_a

FCODE_nC472_20_a FCODE_nC473_1_a

FCODE_nC473_10_a FCODE_dnC474_1_p

FCODE_dnC474_5_p FCODE_nC475_1_v FCODE_nC475_2_v %IW141.43

...

Bool binary − −

Integer analog

Double integer position

Integer Velocity

%IX141.0.0

...

%IX141.0.15

%IX141.1.0

...

%IX141.1.15

%IW141.2

...

%IW141.21 %IW141.22

...

%IW141.31 %ID141.16

...

%ID141.20 %IW141.42

code

− −

− − default = 0

Display

format

Notes

default = 0 Also output variables (see table below)

default = 0

default = 0.00 %

default = 0 C0473/1,2 = 1

Example

It is possible to enter a percentage [%] under PLC code C0472/1 by using, for instance, the keypad. This value is directly assigned to the variable FCODE_nC472_1_a (data type "Integer") and can be processed further in the PLC program.

2.10.2 Outputs_FCODE

System variables

Variable Data type Signal type Address Display

FCODE_wC135 WORD − %QW141.0 − − FCODE_bC135Bit0_b

...

FCODE_bC135Bit15_b FCODE_wC150 WORD − %QW141.1 − − FCODE_bC150Bit0_b

...

FCODE_bC150Bit15_b

Bool binary

%QX141.0.0

...

%QX141.0.15

%QX141.1.0

...

%QX141.1.15

code

− −

Display

format

Notes

Also input variable (see table above)

DrivePLC DE 6.0

2−27

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System blocks

2.11 SYSTEM_FLAGS (system flags, node number 151)

System flags are global variables which are permanently integrated into the run−time system. They include functions that facilitate programming.

2.11.1 Inputs SYSTEM_FLAGS

The following system flags are included in the DrivePLC:

Variable Data type Address Notes

SYSTEM_bClock01Hz SYSTEM_bClock1Hz %IX151.0.8 1.0 Hz system clock SYSTEM_bClock10Hz %IX151.1.0 10 Hz system clock SYSTEM_bClock0100Hz %IX151.1.8 100 Hz system clock SYSTEM_bTogCycleTask %IX151.2.0 Toggle flag cyclic task SYSTEM_b1LoopCyclicTask %IX151.2.8 First loop cyclic task SYSTEM_b1LoopTask2 %IX151.3.0 First loop task ID2 SYSTEM_b1LoopTask3 %IX151.3.8 First loop task ID3 SYSTEM_b1LoopTask4 %IX151.4.0 First loop task ID4 SYSTEM_b1LoopTask5 %IX151.4.8 First loop task ID5 SYSTEM_b1LoopTask6 %IX151.5.0 First loop task ID6 SYSTEM_b1LoopTask7 %IX151.5.8 First loop task ID7 SYSTEM_b1LoopTask8 %IX151.6.0 First loop task ID8 SYSTEM_b1LoopTask9 %IX151.6.8 First loop task ID9 SYSTEM_nTaskInterval SYSTEM_nTaskID %IW151.8 ID−number of current task

Bool

Integer

%IX151.0.0 0.1 Hz system clock

%IW151.7 Interval of current task

Tip!

The system variables are not generated in simulation mode.

SYSTEM_bClockxHz

These system flags output a fixed clock pulse with an equal pulse/pause ratio.

 The flag is toggled in real time.

 When you use this system flag, take care with the frequency used for polling the flag (aliasing

effect). You should use at least twice the toggle frequency.

Note!

The system flags SYSTEM_bClockxHz must not be used to trigger event−controlled tasks. Use time−controlled tasks for this.

Example:

You would like to use the system flag SYSTEM_bClock100Hz as a clock for a counter.

 The pulse/pause ratio is 5 ms/5 ms.

2−28

 To avoid an aliasing effect, the counter must always be polled with an INTERVAL TASK < 5 ms.

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System blocks

2.11 SYSTEM_FLAGS (system flags, node number 151)

SYSTEM_bTogCycleTask

This system flag toggles with the cyclic task:

1. cycle: FALSE

2. cycle: TRUE

3. cycle: FALSE

4. cycle: TRUE etc.

SYSTEM_nTaskInterval

This system flag indicates the interval of the running task with a resolution of 0.25 ms.

 If, for instance, a 10−ms task is processed, the system flag indicates "40"

(40 x 0.25 ms = 10 ms).

 If a task different from an interval task is processed, the system flag indicates "0".

SYSTEM_nTaskID

This system flag indicates the task ID of the running task.

SYSTEM_b1LoopCyclicTask/SYSTEM_b1Loop Task X

These system flags are TRUE only once during the first cycle of a task.

 After the first cycle, the flags will be set to FALSE.

 The only way to reset the status to TRUE is to reset the program in the PLC.

2.11.2 Outputs SYSTEM_FLAGS

Variable Data type Address Notes

SYSTEM_bPLCResetAndRun Bool %QX151.0.0 This system flag carries out a reset with an immediate restart of the Drive PLC:

 After the reset, the flag is deleted and the restart carried out.

DrivePLC DE 6.0

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System blocks

2.12 DCTRL_DriveControl (node number 121)

This system block is only implemented as of software version V 8.x.

The system block DCTRL_DriveControl is used as interface between application and operating system for device control:

 TRIP−SET (^ 2−35))

 TRIP−RESET (^ 2−35)).

In addition, the SB indicates the DrivePLC status for diagnostics purposes.

The process image is created in a fixed system task (interval: 2 ms).

Tip!

The inputs of the SB DCTRL_DriveControl only influence the internal device control.

If, for instance, a TRIP is activated by the operating system or the function block L_FWM() the application program is not be stopped.

However, if a TRIP is activated as a result of a task overflow the application program of the PLC is stopped as well!

2−30

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System blocks

2.12 DCTRL_DriveControl (node number 121)

DCTRL_DriveControl

DCTRL_bTripSet_b

DCTRL_bTripReset_b

C0043

FCODE_wC135

FCODE_bC135Bit0_b

FCODE_bC135Bit10_b

FCODE_bC135Bit11_b

FCODE_bC135Bit15_b

C0135

...

.10

TRIP SET

.11

TRIP RESET

...

0 ...

11 ...

DCTRL_bFail_b

DCTRL_bTrip_b

DCTRL_bWarn_b

DCTRL_bMeld _b

DCTRL_bExternalFault_b

DCTRL_wFaultNumber

C0135

FCODE_bC150Bit0_b

...

FCODE_bC150Bit6_b

FCODE_bC150Bit14_b

FCODE_bC150Bit15_b

DCTRL_bFail _b

DCTRL_bTrip _b

Gerätestatus

Device status

DCTRL_bWarn _b

DCTRL_bMeld _b

DCTRL_bExternalFault _b

...

PLC Stop

Gerätestatus

Device status

DCTRL_bWarn _b

DCTRL_bMeld _b

0 ...

DCTRL_wStat

C0150

Fig. 2−17 System block "DCTRL_DriveControl" (The SB outputs are the inputs of the system control)

Tip!

The information PLC stop, device status, message and warning is written in a 2−ms system task interval to bits 7 ... 13 of the variable FCODE_wC150 or of code C0150.

Therefore, only use C0150 as diagnostics code (reading) and do not write the system variable

FCODE_wC150, but only its bit−coded inputs FCODE_bC150Bit0_b, FCODE_bC150Bit6_b, FCODE_bC150Bit14_b and FCODE_bC150Bit15_b.

Additional information can be found in the description of the system block FCOCD_FreeCode

(^ 2−26).

DrivePLC DE 6.0

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Drive PLC

System blocks

2.12 DCTRL_DriveControl (node number 121)

2.12.1 Inputs_DCTRL

System variables

Variable Data type Signal type Address

DCTRL_bFail_b Bool binary %IX121.0.0 − −

DCTRL_bTrip_b Bool binary %IX121.0.2 − −

DCTRL_bWarn_b Bool binary %IX121.0.12 − −

DCTRL_bMeld_b Bool binary %IX121.0.13 − −

DCTRL_bExternalFault _b

DCTRL_wStat WORD − %IW121.0 − −

DCTRL_wFaultNumbe r

Bool binary %IX121.0.15 − −

WORD − %IW121.2 − − Error number from C0168

Display

code

Display

format

Notes

Status word bit−coded TRUE = Error active

Status word bit−coded TRUE = Error active (TRIP or FQSP active)

Status word bit−coded TRUE = Warning active

Status word bit−coded TRUE = Message active

Status word bit−coded TRUE = External error

Status word with device status (bit 8 ... 11, see below)

Tip!

Unlike ECS and SPLC, the binary signals of the SB DCTRL are on DCTRL_wStat!

Device status: Bits 8 ...11 of DCTRL_wStat show the DrivePLC status binary coded:

DCTRL_wStat.11 DCTRL_wStat.10 DCTRL_wStat.9 DCTRL_wStat.8 Notes

0 0 0 0

0 1 1 0 Normal operation

0 1 1 1

1 0 0 0

Initialisation after connection of the supply voltage

The activation of a monitoring function led to a warning or message (FQSP)

The activation of a monitoring function led to a TRIP

2−32

DrivePLC DE 6.0

Page 47

Drive PLC

System blocks

2.12 DCTRL_DriveControl (node number 121)

Codes

Code LCD

C0150 Status word 0

C0155 Status word 2 0

Possible settings

Lenze Selection

0 Not assigned 1 Not assigned 2 Not assigned 3 Not assigned 4 Not assigned 5 Not assigned 6 Not assigned 7 PLC stopped 8 Controller status 1 9 Controller status 2 10 Controller status 3 11 Controller status 4 12 Warning active 13 Message active 14 Not assigned 15 Not assigned

0 Fail 1 Not assigned 2 Not assigned 3 Not assigned 4 Not assigned 5 PLC stopped 6 TRIP / QSP 7 Not assigned 8 Not assigned 9 Not assigned 10 Not assigned 11 Not assigned 12 Not assigned 13 Not assigned 14 Not assigned 15 Not assigned

Info

Status word, access via code and FCODE C0150

Free bits (0 ... 6, 14, 15) can be written via FCODE_C0150.

Extended status word, read only

Tip!

The assignment of the status word bits marked as "not assigned" depends on the AIF module used and the set transfer profile (e.g.: DRIVECOM).

DrivePLC DE 6.0

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Drive PLC

System blocks

2.12 DCTRL_DriveControl (node number 121)

2.12.2 Outputs_DCTRL

System variables

Variable Data type Signal type Address

DCTRL_bTripSet_b Bool binary %QX121.0.3 − − TRIP set DCTRL_bTripReset_b Bool binary %QX121.0.4 − − Trip reset

Codes

Display

code

Display

format

Notes

Code LCD

C0043 Trip reset

C0135 Status word 2 0

1) Control bit of operating unit, no effect on Drive PLC

2) If C581 < 3 (message also possible)

3) Afterwards set to FALSE by operating system

Possible settings

Lenze Selection

0 Trip reset 1 Trip active

0 Not assigned 1 Not assigned 2 Not assigned 3 Run/stop 4 Not assigned 5 Not assigned 6 Not assigned 7 Not assigned 8 Not assigned 9 Not assigned 10 TRIP set 11 TRIP reset 12 Not assigned 13 Not assigned 14 Not assigned 15 Not assigned

Info

Active error TRIP reset

Status word, access via code and FCODE_C0135

Tip!

The assignment of the status word bits marked as "not assigned" depends on the AIF module used and the set transfer profile (e.g.: DRIVECOM).

2−34

DrivePLC DE 6.0

Page 49

Drive PLC

System blocks

2.12 DCTRL_DriveControl (node number 121)

2.12.3 TRIP−SET

This function sets the control system to the Error status and indicates "External error" ("EEr")

 Control word C0135 / FCODE_wC135 / FCODE_b135Bit10_b

 Variable DCTRL_bTripSet_b

The response to a TRIP can be set under C0581:

Codes

Code LCD

C0581 MONIT EEr 0 or

Tip!

The inputs for external error activation are polled in a system task every 2 ms.

The "External error" ("EEr") function is available as of operating system version V8.0. When the function is activated (C0581 < 3), please note that the "EEr" error is active when writing bit 10 = TRUE of code C0135 or of FCODE_wC135.

2.12.4 TRIP−RESET

This function resets a current TRIP when the cause of the error has been removed.

 Variable DCTRL_bTripReset_b

 Control word C0135 / FCODE_wC135 / FCODE_b135Bit11_b

 Code C0043

Possible settings

Lenze Selection

3 as of V8.0

0 TRIP 1 Message 2 Warning 3 Off

Info

Monitoring configuration: "ExternalFault"(FWM EEr)

Tip!

The function is only executed through a FALSE−TRUE transition of the indicated signals. The transition is polled in a system task every 2 ms.

2.12.5 TRIP status (DCTRL_bExternalFault_b)

If a TRIP is activated via the variable DCTRL_bTripSet_b or C0135/bit10, the variable DCTRL_bExternalFault_b is set to TRUE. DCTRL_bExternalFault_b is reset to FALSE as soon as the

error source is reset.

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Drive PLC

System blocks

2.13 PWRUP_PowerUpControl (node number 171)

This system block is only implemented as of software version V 8.1.

If the system block PWRUP_PowerUpControl is integrated into the control configuration, it can avoid a U15 TRIP in the event of a short mains voltage dip.

const.

PWRUP_PowerUpControl

PWRUP_bWaitFor24V_b

PWRUP_wMaxDelayTimeFor24V_b

Fig. 2−18 PWRUP_PowerUpControl

24 V

PLC init

Fig. 2−19 Drive PLC behaviour in the event of a short dip of the 24−V−supply voltage

Tip!

This behaviour can only be activated if the control bit and the control word are contained in the system POU "PLC_ColdStart".

If the system block is activated, a U15 error is indicated as warning in the history buffer

2−36

DrivePLC DE 6.0

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Drive PLC

System blocks

2.13 PWRUP_PowerUpControl (node number 171)

2.13.1 Outputs_PWRUP

System variables

Variable Data type Signal type Address

PWRUP_bWaitFor24V _b

PWRUP_wMaxDelayTi meFor24V

Bool binary %QX171.1.0 − −

WORD − %QW171.0 − −

Display

code

Display

format

Notes

TRUE: After initialisation, wait and see if a sufficient supply voltage is applied again (>17.5 V)

Maximum waiting time in ms; U15 TRIP is activated unless a supply voltage of at least 17.5 V is applied after this time.

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Drive PLC

System blocks

2.13 PWRUP_PowerUpControl (node number 171)

2−38

DrivePLC DE 6.0

Page 53

3 Standard I/O FIF module

The Standard I/O FIF module extends the Drive PLC by the following inputs and outputs:

Signal type Number SB Node number Info

Inputs

Outputs

Tip!

Observe the installation kit for the Standard I/O FIF module!

analog 1 ANALOG_IO_FIF W Inputs_ANALOG_FIF (AIN1_FIFSTDIO) 201 ^ 3−2 digital 5 DIGITAL_IO_FIF W Inputs_DIGITAL_FIF (DIGIN_FIFSTDIO) 200 ^ 3−4 analog 1 ANALOG_IO_FIF W Outputs_ANALOG_FIF (AOUT1_FIFSTDIO) 201 ^ 3−3 digital 1 DIGITAL_IO_FIF W Outputs_DIGITAL_FIF (DIGOUT_FIFSTDIO) 200 ^ 3−5

Drive PLC

System blocks − FIF Standard−I/O

DrivePLC DE 6.0

3−1

Page 54

Drive PLC

System blocks − FIF Standard−I/O

3.1 ANALOG_IO_FIF (node number 201)

3.1.1 Inputs_ANALOG_FIF (analog input, "Standard I/O" FIF module)

This SB forms the interface for analog signals via terminal 8 of the Standard I/O FIF module as setpoint input or actual value input.

Inputs_ANALOG_FIF

Fig. 3−1 Inputs_ANALOG_FIF

System variables

AIN1_nIn_FIFSTDIO_a

C0481

Variable Data type Signal type Address Display

code

AIN1_nIn_FIFSTDIO_a Integer analog %IW201.0 C0481 dec [%] Analog input 1

Display

format

Notes

Standard I/O

Input signal setting

By suitable switch settings at the Standard I/O FIF module the following input signals can be processed:

Input range1) for terminal 8

1 2 3 4 5

0 ... +5 V OFF OFF ON OFF OFF

0 ... +10 V (Lenze setting) OFF OFF ON OFF ON

−10 ... +10 V ON ON OFF OFF OFF 0 ... +20 mA OFF OFF ON ON OFF

The selected input range is adjusted to the integer range (0 ... 16384) of the variable AIN1_nIn_FIFSTDIO_a.

Example: selected input range = 0 ... +10 V

Input signal (terminal 8) 0 V + 5 V + 10 V

AIN1_nIn_FIFSTDIO_a 0 8192 16384

Switch setting

Electrical data of the input terminals:

Terminal Use level Data

8 Analog input 1 0 ... +5 V

7 GND1, reference potential

for analog signals

0 ... +10 V

−10 ... +10 V 0 ... +20 mA

− −

Resolution: Linearity error: Temperature error: Input resistance:

10 bit

0.5 % 0.3 % (0 ... 60 °C)

> 50 k (voltage signal) 250  (current signal)

3−2

Tip!

Detailed information about the terminal assignment for the Standard I/O FIF module can be found in the corresponding Mounting Instructions!

DrivePLC DE 6.0

Page 55

Drive PLC

System blocks − FIF Standard−I/O

3.1 ANALOG_IO_FIF (node number 201)

3.1.2 Outputs_ANALOG_FIF (analog output, "Standard I/O" FIF module)

This SB can be used as a monitor output. Internal signals can be given out as voltage signals via terminal 62 of the Standard I/O FIF module and used, e.g. as display or setpoint values for following drives.

Outputs_ANALOG_FIF

AOUT1_nOut_FIFSTDIO_a

C0484

Fig. 3−2 Outputs_ANALOG_FIF

System variables

Variable Data type Signal type Address Display

code

AOUT1_nOut_FIFSTDIO_a Integer analog %QW201.0 C0484 dec [%] Analog output 1

Display

format

Notes

Standard I/O

Function

A voltage of 10 V is given out at terminal 62 of the Standard I/O FIF module if the signal at

AOUT1_nOut_FIFSTDIO_a = 16384 = 100 %.

Electrical data of the output terminals:

Terminal Use level Data

62 Analog output 1 0 ... +10 V Resolution:

7 GND1, reference potential

for analog signals

− −

Linearity error: Temperature error: Load capacity:

10 bit

0.5 % 0.3 % (0 ... 60 °C)

max. 2 mA

Tip!

Detailed information about the terminal assignment for the Standard I/O FIF module can be found in the corresponding Mounting Instructions!

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Drive PLC

System blocks − FIF Standard−I/O

3.2 DIGITAL_IO_FIF (node number 200)

3.2.1 Inputs_DIGITAL_FIF (digital inputs, "Standard I/O" FIF module)

This SB reads the signals at terminals E1 ... E4, 28 of the Standard I/O FIF module and conditions them.

Inputs_DIGITAL_FIF

C0477

Fig. 3−3 Inputs_DIGITAL_FIF

DIGIN_bIn1_FIFSTDIO_b

DIGIN_bIn2_FIFSTDIO_b

DIGIN_bIn3_FIFSTDIO_b

DIGIN_bIn4_FIFSTDIO_b

DIGIN_bIn28_FIFSTDIO_b

System variables

Variable Data type Signal type Address Display

DIGIN_bIn28_FIFSTDIO_b DIGIN_bIn1_FIFSTDIO_b %IX200.0.1 C0477 − bit3 DIGIN_bIn2_FIFSTDIO_b %IX200.0.2 C0477 − bit4 DIGIN_bIn3_FIFSTDIO_b %IX200.0.3 C0477 − bit5 DIGIN_bIn4_FIFSTDIO_b %IX200.0.4 C0477 − bit1

Bool binary

%IX200.0.0 C0477 − bit2

code

Display

format

bin

Notes

Electrical data of the input terminals:

Terminal Use Data

E1 E2 E3 E4 28

freely assignable

LOW level: HIGH level:

Input resistance:

0 ... +3 V +12 ... +30 V (PLC level, HTL)

3.3 k

Tip!

Detailed information about the terminal assignment for the Standard I/O FIF module can be found in the corresponding Mounting Instructions!

3−4

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Drive PLC

System blocks − FIF Standard−I/O

3.2 DIGITAL_IO_FIF (node number 200)

3.2.2 Outputs_DIGITAL_FIF (digital outputs, "Standard I/O" FIF module)

This SB conditions a digital signal and transmits it to terminal A1 of the Standard I/O FIF module.

Fig. 3−4 Outputs_DIGITAL_FIF

System variables

Variable Data type Signal type Address Display

DIGOUT_bOut1_FIFSTDIO_b Bool binary %QX200.0.0 C0479 − bit1 bin

Electrical data of the output terminal

Terminal Use Data

Tip!

Detailed information about the terminal assignment for the Standard I/O FIF module can be found in the corresponding Mounting Instructions!

DIGOUT_bOut1_FIFSTDIO_b

C0479

freely assignable

Outputs_DIGITAL_FIF

Output voltage:

Output current:

code

Display

format

0/+20 V with DC internal 0/+24 V with DC external 10 mA with DC internal 50 mA with DC external

Notes

DrivePLC DE 6.0

3−5

Page 58

Drive PLC

System blocks − FIF Standard−I/O

3.2 DIGITAL_IO_FIF (node number 200)

3−6

DrivePLC DE 6.0

Page 59

4 CAN−I/O FIF module

The CAN−I/O FIF module extends the Drive PLC by the following inputs and outputs:

Signal type Number SB Node number Info

Inputs

Outputs System bus

* See "System bus (CAN) for Lenze PLCs" Manual

Tip!

Observe the installation kit for the CAN−I/O FIF module!

Digital 1 FIF_CAN_DIGITAL_IN W FIF_CAN_Inputs_DIGITAL System bus

(CAN)

FIF_CAN1_IO W FIF_Inputs_CAN1 (FIF−CAN1_IN) FIF_CAN2_IO W FIF_Inputs_CAN2 (FIF−CAN2_IN) FIF_CAN3_IO W FIF_Inputs_CAN3 (FIF−CAN3_IN) FIF_CAN1_IO W FIF_Outputs_CAN1 (FIF−CAN1_OUT) FIF_CAN2_IO W FIF_Outputs_CAN2 (FIF−CAN2_OUT) FIF_CAN3_IO W FIF_Outputs_CAN3 (FIF−CAN3_OUT)

Drive PLC

System blocks − FIF CAN−I/O

202

34 35 36 34 35 36

^ 4−2

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Drive PLC

System blocks − FIF CAN−I/O

4.1 FIF_CAN_DIGITAL_IN (node number 202)

4.1.1 FIF_CAN_Inputs_DIGITAL (digital input, "CAN−I/O" FIF module)

This SB reads the signal at terminal 28 of the CAN−I/O FIF module and conditions it.

FIF_CAN_DIGITAL_IN

Fig. 4−1 FIF_CAN_DIGITAL_IN

20 28 20 E1 20 E2 59

DIGIN_bIn28_FIFCANIO_b

System variables

Variable Data type Signal type Address Display

DIGIN_bIn28_FIFCANIO_b DIGIN_bIn1_FIFCANIO_b %IX202.0.1 E1 DIGIN_bIn2_FIFCANIO_b %IX202.0.2 E2

Bool binary

%IX202.0.0

code

− −

Display

format

Notes

Electrical data of the input terminal

Terminal Use Data

28 freely assignable LOW level:

HIGH level:

Input resistance:

0 ... +3 V +12 ... +30 V (PLC level, HTL)

3.3 k

Tip!

Detailed information about the terminal assignment for the CAN−I/O FIF module can be found in the corresponding Mounting Instructions!

4−2

DrivePLC DE 6.0

Page 61

5 Extension board 1

The internal extension board 1 extends the Drive PLC by the following inputs and outputs:

Signal type Number SB Node number Info

Inputs Digital 6 DIGITAL_IO_EB1 W Inputs_DIGITAL_EB1 (DIGIN_EB1) Outputs Digital 6 DIGITAL_IO_EB1 W Outputs_DIGITAL_EB1 (DIGOUT_EB1) ^ 5−3

Drive PLC

System blocks − Extension Board 1

^ 5−2

Terminal Assignment

X1 GND, reference potential X2 DC supply voltage (switched via X1/+O24 at the Drive PLC) X3 Digital outputs O5 ... O10 X4 Digital inputs I9 ... I14

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5−1

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Drive PLC

System blocks − Extension Board 1

5.1 DIGITAL_IO_EB1 (node number 2)

5.1.1 Inputs_DIGITAL_EB1 (digital inputs, extension board 1)

This SB reads the signals at terminals I9 ... I14 of the extension board 1 and conditions them.

Fig. 5−1 Inputs_DIGITAL_EB1

System variables

Variable Data type Signal type Address Display

DIGIN_bIn9_b

... ... ...

DIGIN_bIn14_b %IX2.0.5 C0446/1−bit6

Electrical data of the input terminals

Terminal Use Data

I9 ...

I14

I10

I11

I12

I13

I14

Bool binary

freely assignable

Inputs_DIGITAL_EB1

DIGIN_bIn9_b

DIGIN_bIn10_b

DIGIN_bIn11_b

DIGIN_bIn12_b

DIGIN_bIn13_b

DIGIN_bIn14_b

C0446/1

code

%IX2.0.0 C0446/1−bit1

LOW level: HIGH level: Input current:

Display

format

bin

0 ... +4 V +13 ... +30 V 8 mA per input (at 24 V)

Notes

Tip!

Detailed information about the terminal assignment for the extension board 1 can be found in the corresponding Mounting Instructions!

5−2

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Drive PLC

System blocks − Extension Board 1

5.1 DIGITAL_IO_EB1 (node number 2)

5.1.2 Outputs_DIGITAL_EB1 (digital outputs, extension board 1)

This SB conditions the digital signals and outputs them at terminals O5 ... O10 of the extension board 1.

Fig. 5−2 Outputs_DIGITAL_EB1

System variables

Variable Data type Signal type Address Display

DIGOUT_bOut5_b

... ... ...

DIGOUT_bOut10_b %QX2.0.5 C0448 − bit6

Electrical data of the output terminals

Terminal Use Data

...

O10

DIGOUT_bOut5_b

DIGOUT_bOut6_b

DIGOUT_bOut7_b

DIGOUT_bOut8_b

DIGOUT_bOut9_b

DIGOUT_bOut10_b

Bool binary

freely assignable

Outputs_DIGITAL_EB1

C0448

code

%QX2.0.0 C0448 − bit1

LOW level: HIGH level: Output current:

O10

Display

format

bin

0 ... +4 V +13 ... +30 V max. 1 A per output

Notes

Tip!

Detailed information about the terminal assignment for the extension board 1 can be found in the corresponding Mounting Instructions!

DrivePLC DE 6.0

5−3

Page 64

Drive PLC

System blocks − Extension Board 1

5.1 DIGITAL_IO_EB1 (node number 2)

5−4

DrivePLC DE 6.0

Page 65

6 Extension board 2

The internal extension board 2 extends the Drive PLC by the following inputs and outputs:

Signal type Number SB Node number Info

Inputs Digital 14 DIGITAL_IO_EB2 W Inputs_DIGITAL_EB2 (DIGIN_EB2) Outputs Digital 8 DIGITAL_IO_EB2 W Outputs_DIGITAL_EB2 (DIGOUT_EB2) ^ 6−3

Drive PLC

System blocks − Extension Board 2

^ 6−2

Terminal Assignment

X1 Digital outputs O5 ... 010 X2

X3 Digital inputs I15 ... I20 X4 Digital inputs I9 ... I14

Digital inputs I21, I22 Digital outputs O11, O12 GND, reference potential DC supply voltage (switched via X1/+O24 at the Drive PLC)

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Drive PLC

System blocks − Extension Board 2

6.1 DIGITAL_IO_EB2 (node number 3)

6.1.1 Inputs_DIGITAL_EB2 (digital inputs, extension board 2)

This SB reads the signals at terminals I9 ... I22 of the extension board 2 and conditions them.

Fig. 6−1 Inputs_DIGITAL_EB2

System variables

Variable Data type Signal type Address Display

DIGIN_bIn9_b

... ... ...

DIGIN_bIn16_b %IX3.0.7 C0446/1−bit8 DIGIN_bIn17_b %IX3.0.8 C0446/2−bit1

... ... ...

DIGIN_bIn22_b %IX3.0.13 C0446/2−bit6

I10

I11

I12

I13

I14

I15

I16

I17

I18

I19

I20

I21

I22

Bool binary

Inputs_DIGITAL_EB2

C0446/1

Bit 1 … Bit 8

C0446/2

Bit 1 … Bit 6

%IX3.0.0 C0446/1−bit1

DIGIN_bIn9_b

DIGIN_bIn10_b

DIGIN_bIn11_b

DIGIN_bIn12_b

DIGIN_bIn13_b

DIGIN_bIn14_b

DIGIN_bIn15_b

DIGIN_bIn16_b

DIGIN_bIn17_b

DIGIN_bIn18_b

DIGIN_bIn19_b

DIGIN_bIn20_b

DIGIN_bIn21_b

DIGIN_bIn22_b

code

Display

format

bin

Notes

6−2

Electrical data of the input terminals

Terminal Use Data

I22

...

freely assignable

LOW level: HIGH level: Input current:

0 ... +4 V +13 ... +30 V 8 mA per input (at 24 V)

Tip!

Detailed information about the terminal assignment for the extension board 2 can be found in the corresponding Mounting Instructions!

DrivePLC DE 6.0

Page 67

Drive PLC

System blocks − Extension Board 2

6.1 DIGITAL_IO_EB2 (node number 3)

6.1.2 Outputs_DIGITAL_EB2 (digital outputs, extension board 2)

This SB conditions the digital signals and outputs them at terminals O5 ... O12 of the extension board 2.

Fig. 6−2 Outputs_DIGITAL_EB2

System variables

Variable Data type Signal type Address Display

DIGOUT_bOut5_b

... ... ...

DIGOUT_bOut12_b %QX3.0.7 C0448 − bit8

Electrical data of the output terminals

Terminal Use Data

...

O12

DIGOUT_bOut5_b

DIGOUT_bOut6_b

DIGOUT_bOut7_b

DIGOUT_bOut8_b

DIGOUT_bOut9_b

DIGOUT_bOut10_b

DIGOUT_bOut11_b

DIGOUT_bOut12_b

Bool binary

freely assignable

Outputs_DIGITAL_EB2

C0448

code

%QX3.0.0 C0448 − bit1

LOW level: HIGH level: Output current:

O10

O11

O12

Display

format

bin

0 ... +4 V +13 ... +30 V max. 1 A per output

Notes

Tip!

Detailed information about the terminal assignment for the extension board 2 can be found in the corresponding Mounting Instructions!

DrivePLC DE 6.0

6−3

Page 68

Drive PLC

System blocks − Extension Board 2

6.1 DIGITAL_IO_EB2 (node number 3)

6−4

DrivePLC DE 6.0

Page 69

7 Extension board 3

The internal extension board 3 extends the Drive PLC by the following inputs and outputs:

Signal type Number SB Node number Info

Inputs Analog 2

Digital 8 DIGITAL_IO_EB3 W Inputs_DIGITAL_EB3 (DIGIN_EB3) 4 ^ 7−10 Encoder 1 DFIN_IO_

Outputs Digital 4 DIGITAL_IO_EB3 W Outputs_DIGITAL_EB3 (DIGOUT_EB3) 4 ^ 7−11

ANALOG4_IO_EB3 W Inputs_ANALOG4 (AIN4) 14 ^ 7−2 ANALOG5_IO_EB3 W Inputs_ANALOG5 (AIN5) 15 ^ 7−3

DigitalFrequency

Drive PLC

System blocks − Extension Board 3

W Inputs_DFIN (DF_IN) 21 ^ 7−4

Terminal Assignment

X3 Incremental encoder/counter input (Sub−D connector, 9−pole) X4 Digital inputs I9 ... I14

Digital inputs I15, I16 Digital outputs O5 ... O8 Analog inputs AI4, AI5 GND, reference potential DC supply voltage (switched via X1/+O24 at the Drive PLC)

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Drive PLC

System blocks − Extension Board 3

7.1 ANALOG4_IO_EB3 (node number 14)

7.1.1 Inputs_ANALOG4 (analog input 4 of extension board 3)

This SB is the interface for analog signals via terminal AI4, A of the extension board 3.

Fig. 7−1 Inputs_ANALOG4

System variables

Variable Data type Signal type Address Display

AIN4_nIn_a Integer analog %IW14.0 − dec [%] Analog input 4

Terminal assignment

Terminal X2 Use Data

AI4 Analog input 4 Level:

A Internal ground, GND −

Inputs_ANALOG4

AI4

AIN4_nIn_a

code

Resolution: Internal resistance: Normalisation:

Display

format

−10 V ... +10 V 10 bits + sign 100 k 10 V  16384  100 %

Notes

7−2

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Drive PLC

System blocks − Extension Board 3

7.2 ANALOG5_IO_EB3 (node number 15)

7.2.1 Inputs_ANALOG5 (analog input 5 of extension board 3)

This SB is the interface for analog signals via terminal AI5, A of the extension board 3.

Fig. 7−2 Inputs_ANALOG5

System variables

Variable Data type Signal type Address Display

AIN5_nIn_a Integer analog %IW15.0 − − Analog input 5

Terminal assignment

Terminal X2 Use Data

AI5 Analog input 5 Level:

A Internal ground, GND −

Inputs_ANALOG5

AI5

AIN5_nIn_a

code

Resolution: Internal resistance: Normalisation:

Display

format

−10 V ... +10 V 10 bits + sign 100 k 10 V  16384  100 %

Notes

DrivePLC DE 6.0

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Drive PLC

System blocks − Extension Board 3

7.3 DFIN_IO_DigitalFrequency (node number 21)

7.3.1 Inputs_DFIN (encoder input of extension board 3)

This SB can convert and normalise a pulse current at the encoder input X3 of the extension board 3 into a speed value.

 The transmission is very precise without offset and gain errors.

 In addition, this SB provides the angle correction value DFIN_dnIncLastScan_p which is

required within the calling task for the angle processing in touch probe processes.

(^ 7−8)

Fig. 7−3 DFIN_IO_DigitalFrequency

System variables

Variable Data type Signal type Address Display

DFIN_nIn_v Integer velocity %IW21.0 C0426 dec [rpm] DFIN_bTPReceived_b Bool binary %IX21.4.0 − − DFIN_dnIncLastScan_p Double integer position %ID21.1 − −

Tip!

The process image is newly created for every task the SB is used in.

 If DFIN_nIn_v, DFIN_dnIncLastScan_p and DFIN_bTPReceived_b are used in several tasks,

every task gets its own SB process image.

 This process is different from the previous process image principle!

C0425

C0431

C0428 C0429

DFIN_IO_DigitalFrequency

C0426

TP/MP

-Ctrl

DFIN_bTPReceived_b

DFIN_dnIncLastScan_p

Code

DFIN_nIn_v

Display Format

Notes

7−4

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System blocks − Extension Board 3

7.3 DFIN_IO_DigitalFrequency (node number 21)

7.3.1.1 Encoder input X3

 Encoder input X3 of the extension board 3 is designed for signals with TTL level.

 The input of a zero track is optional.

 The drive can be adapted to the connected encoder or preconnected controller with master

frequency cascade or master frequency bus under C0425.

Code LCD

C0425 DFIN const 3 Extension board 3: DFIN_IO

Possible settings

Lenze Selection

Evaluation of master frequency signals

Fig. 7−4 Signal sequence with phase−shift (CW rotation)

 CW rotation: Track A leads track B by 90 ° (positive value at DFIN_nIn_v).

 CCW rotation: Track A lags track B by 90 ° (negative value at DFIN_nIn_v).

IMPORTANT

Increments of the encoder input

0 256 inc/rev 1 512 inc/rev 2 1024 inc/rev 3 2048 inc/rev 4 4096 inc/rev 5 8192 inc/rev 6 16384 inc/rev

Transmission function

DFIN_nIn_v + f[Hz] @

IncrementsfromC0425

Example:

 Input frequency = 200 kHz

 C0425 = 3, this corresponds to 2048 increments/rev.

DFIN_nIn_v[rpm] + 200000Hz @

2048

15000

+ 5859rpm

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System blocks − Extension Board 3

7.3 DFIN_IO_DigitalFrequency (node number 21)

Signal adaptation

Finer resolutions can be achieved by adding a following FB (e.g. L_CONVV from LenzeDrive.lib):

L_CONVV3

C0425

C0431

C0428 C0429

Fig. 7−5 Encoder input (DFIN_IO_DigitalFrequency) with following FB L_CONVV for normalisation

DFIN_IO_DigitalFrequency

C0426

TP/MP

-Ctrl

DFIN_bTPReceived_b

DFIN_dnIncLastScan_p

DFIN_nIn_v

nIn_v

nNumerator nDenominator

L_CONVV

nOut_v

nOut_a + f[Hz] @

IncrementsfromC0425

nNumerator

nDenominator

15000

7−6

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System blocks − Extension Board 3

7.3 DFIN_IO_DigitalFrequency (node number 21)

7.3.1.2 Connection of incremental encoders to terminal X3

Stop!

Observe connection voltage of the incremental encoder used!

Incremental encoder with TTL level

l = max. 50 m



cc5_E

GND

0.14

2 3 4 5

1.0

6 7

0.14

8 9

AWG



Fig. 7−6 Connection of incremental encoder with TTL level to terminal X3

 Incremental encoder  Cable cross−sections to be used

Assignment of the Sub−D connector (X3)

PIN 1 2 3 4 5 6 7 8 9

Signal B A A V

cc5_E

Incremental encoder with HTL level

l = max. 50 m





Fig. 7−7 Connection of incremental encoder with HTL level to terminal X3

GND Z Z − B

AWG



0.14

3 4 5

1.0

6 7

0.14

GND

cc5_E

 Incremental encoder  Cable cross−sections to be used  Supply voltage for the incremental encoder

Assignment of the Sub−D connector (X3)

PIN 1 2 3 4 5 6 7 8 9

Signal B A A +5 V GND Z Z − B

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System blocks − Extension Board 3

7.3 DFIN_IO_DigitalFrequency (node number 21)

Tip!

You can connect incremental encoders with HTL level that supply signals A and B only, to PIN 2 and PIN 9. The inputs at PIN 3 and PIN 1 must then be connected to the supply voltage of the incremental encoder.

The connection is as shown in the figures:

 Use twisted pair cables and screened pair cables.

 Connect the screen at both ends.

 Do not change the cable cross−sections indicated.

7.3.1.3 Touch probe (TP)

Process: The current angle value (encoder input value) is saved by a quick interrupt in the operating system when a signal changes at the TP activating input (e.g. X3/I1).

Fig. 7−8 Function chart of a TP

 Time−equidistant start of an interval task

 Phase−angle signal

Touch probe configuration

Code LCD

C0428 DFIN TP sel. 0 Touch probe selection

C0429 TP delay 0 Touch probe delay

C0431 DFIN TP EDGE 0 Touch probe activation

Possible settings

Lenze Selection

0 Touch probe via zero pulse 1 Touch probe via digital input X3/I1

−32767 {1 inc} 32767

0 Activation with positive signal 1 Activation with negative signal

DFIN_dnIncLastScan_p



IMPORTANT

 Compensation of delay times

of TP signal source at X3/I1

 For touch probe via digital

input X3/I1 (C0428 = 1)

7−8

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System blocks − Extension Board 3

7.3 DFIN_IO_DigitalFrequency (node number 21)

Functional sequence

1. The TP is signal−controlled via the digital input X3/I1 of the basic unit or a zero pulse (only if an encoder is connected).

2. If a TP has occurred, DFIN_bTPReceived_b is set = TRUE.

3. After the start of the task, DFIN_dnIncLastScan_p indicates the number of increments [inc] counted since the TP.

4. Following, DFIN_bTPReceived_b = FALSE is set.

Note!

It is necessary that all three outputs (DFIN_nIn_v, DFIN_bTPReceived_b and DFIN_dnIncLastScan_p) are processed in the task even if just one signal is required.

DFIN_nIn_v

 The value DFIN_nIn_v is scaled in increments per millisecond.

(INT) 16384 corresponds to 15000 rpm. See chapter 1.2.7, "Signal types and normalisations".

(^ 1−8)

 For every task in which DFIN_nIn_v is used, the operating system creates an individual counter

that is reset after every start of the task (task−internal process image).

 For reliable TP generation, DFIN_nIn_v must not be used in the PLC_PRG.

Example (DFIN_nIn_v in a 10 ms task):

 When the 10 ms task starts, the value of the integrator is stored in a local area of the task and

the integrator is reset. The value in the local area gives an average value in increments per 1 ms.

 If a position value is to be derived from this value, then it must be multiplied by

SYSTEM_nTaskInterval / 4 to get the result in increments per 10 ms, as in the example. Example: In a 1 ms task SYSTEM_nTaskInterval is 4 (4 x 250 s = 1 ms)

 For Lenze FBs, this process has already been implemented in the FBs.

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System blocks − Extension Board 3

7.4 DIGITAL_IO_EB3 (node number 4)

7.4.1 Inputs_DIGITAL_EB3 (digital inputs, extension board 3)

This SB reads the signals at terminals I9 ... I16 of the extension board 3 and conditions them.

Fig. 7−9 Inputs_DIGITAL_EB3

System variables

Variable Data type Signal type Address Display

DIGIN_bIn9_b

... ... ...

DIGIN_bIn16_b %IX4.0.7 C0446/1−bit8

Electrical data of the input terminals

Terminal Use Data

I9 ...

I16

I10

I11

I12

I13

I14

I15

I16

Bool binary

freely assignable

Inputs_DIGITAL_EB3

C0446/1

code

%IX4.0.0 C0446/1−bit1

LOW level: HIGH level: Input current:

DIGIN_bIn9_b

DIGIN_bIn10_b

DIGIN_bIn11_b

DIGIN_bIn12_b

DIGIN_bIn13_b

DIGIN_bIn14_b

DIGIN_bIn15_b

DIGIN_bIn16_b

Display

format

bin

0 ... +4 V +13 ... +30 V 8 mA per input (at 24 V)

Notes

Tip!

Detailed information about the terminal assignment for the extension board 3 can be found in the corresponding Mounting Instructions!

7−10

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System blocks − Extension Board 3

7.4 DIGITAL_IO_EB3 (node number 4)

7.4.2 Outputs_DIGITAL_EB3 (digital outputs, extension board 3)

This SB conditions the digital signals and outputs them at terminals O5 ... O8 of the extension board

Fig. 7−10 Outputs_DIGITAL_EB3

System variables

Variable Data type Signal type Address Display

DIGOUT_bOut5_b

... ... ...

DIGOUT_bOut8_b %QX4.0.3 C0448 − bit4

Electrical data of the output terminals

Terminal Use Data

...

Tip!

Detailed information about the terminal assignment for the extension board 3 can be found in the corresponding Mounting Instructions!

DIGOUT_bOut5_b

DIGOUT_bOut6_b

DIGOUT_bOut7_b

DIGOUT_bOut8_b

Bool binary

freely assignable

Outputs_DIGITAL_EB3

C0448

code

%QX4.0.0 C0448 − bit1

LOW level: HIGH level: Output current:

Display

format

bin

0 ... +4 V +13 ... +30 V max. 1 A per output

Notes

DrivePLC DE 6.0

7−11

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System blocks − Extension Board 3

7.4 DIGITAL_IO_EB3 (node number 4)

7−12

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Appendix

8.1 PLC functionality

8 Appendix

8.1 PLC functionality

Field Number Description

Inputs

Outputs

Operation set According to IEC61131−3

Counter/times According to IEC61131−3, depending on the data memory available.

Flags 1000 Flag words

Memory See chapter 8.3 (^ 8−4)

Processing time (1−bit operation) 1 s

Task types

Programming software Drive PLC Developer Studio

digital 8 Free inputs (3 of them interruptible) 24 V DC / 8 mA each input

analog 3 Free inputs (10 bit + sign) 10 V

digital 4 Free outputs 24 V DC / max. 1 A each output

analog 1 Free output (10 bit + sign) 10 V / max. 2 mA

8 Time or event−controlled tasks (1 ms ... 16 s)

1 Cyclic task

 Programming languages according to IEC61131−3 standard (IL, LD, FBD, ST,

SFC) as well as CFC editor

 Monitoring, visualisation, simulation and debugging

DrivePLC DE 6.0

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Appendix

8.2 Extendability/networking



Extension boards 

Extension Board 1

Extension Board 2

extension board 3





GLOBAL DRIVE

dcbB

SHPRG

PaR2 PaRa

125 rpm0

MCTRL-N-ACT

59 39

0051

LECOMA/B

 Automation interface (AIF)

for keypad and the following AIF modules:

 2102 LECOM−A/B/LI

 2103 FP interface (RS−232C)  2111 INTERBUS  2112 INTERBUS−Loop  2133 PROFIBUS−DP  2174 CAN addressing module  2175 DeviceNet / CANopen

Others in preparation

 Plug−in station for extension boards

 Function interface (FIF)

for FIF modules

 Integrated system bus interface



(Terminal X5 at the bottom of the Drive PLC)

Inputs/outputs Number Description

Inputs digital 6 Free inputs 24 V DC / 8 mA each input

Outputs digital 6 Free outputs 24 V DC / max. 1 A each output

Inputs digital 14 Free inputs 24 V DC / 8 mA each input

Outputs digital 8 Free outputs 24 V DC / max. 1 A each output

Inputs

digital 6 Free inputs 24 V DC / 8 mA each input

analog 2 Free inputs (10 bit + sign) 10 V

1 Encoder input Frequency range:

HTL 0 ... 200kHz, TTL 0 ... 500kHz (TTL/HTL level)

Outputs digital 6 Free outputs 24 V DC / max. 1 A each output

Modules for function interfaces (FIF) 

Inputs/outputs Number Description

Standard I/O FIF module

Inputs

Outputs

CAN−I/O FIF module

Inputs

Outputs System bus (CAN)

digital 5 Free inputs 24 V DC / 8 mA each input

analog 1 Free input (10 bit + sign) 10 V

digital 1 Free output 24 V DC / max. 1 A

analog 1 Free output (10 bit + sign) 10 V / max. 2 mA

digital 1 Free input 24 V DC / 8 mA

3 System bus (CAN), free inputs

8−2

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Appendix

8.2 Extendability/networking

System bus (CAN)

Interface Available CAN objects Integrated system bus interface 

Automation interface (AIF) 

with corresponding fieldbus module (e.g. 2175)

Function interface (FIF) 

with corresponding function module (e.g. CAN−I/O system bus)

PDOs CAN1_IN/CAN1_OUT

CAN2_IN/CAN2_OUT CAN3_IN/CAN3_OUT

SDOs

SDO1 (parameter data channel 1) SDO2 (parameter data channel 2)

L_ParRead/L_ParWrite functionality Sync telegram Synchronisation of the internal time basis by receiving sync telegrams Free CAN objects CanDSx driver for mapping indices to codes and for bus monitoring functions "Heartbeat"

and "Node Guarding" (see Manual "Function library LenzeCanDSxDrv.lib"). PDOs XCAN1_IN/XCAN1_OUT

XCAN2_IN/XCAN2_OUT

XCAN3_IN/XCAN3_OUT SDOs XSDO1 (parameter data channel 1)

XSDO2 (parameter data channel 2) XSync telegram AifParMap driver for mapping code accesses via AIF to other codes (see Manual "Function

library LenzeAifParMapDrv.lib"). PDOs FIF−CAN1_IN/FIF−CAN1_OUT

FIF−CAN2_IN/FIF−CAN2_OUT

FIF−CAN3_IN/FIF−CAN3_OUT SDOs

FIF−SDO1 (parameter data channel 1)

FIF−SDO2 (parameter data channel 2)

L_ParRead/L_ParWrite functionality Sync telegram

Tip!

Detailed information about the system bus (CAN) can be found in the Manual "System bus (CAN) for Lenze PLCs"

DrivePLC DE 6.0

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Appendix

8.3 Memories

The below table gives you an overview of the memories available:

Memory Size Info ROM

Program memory 256 kbytes Re−written whenever the program is downloaded.

RAM

PLC data memory

Application data memory 2 blocks

E2PROM−buffered memory

Retain memory 200 bytes See subsection 8.3.1

Tip!

Function library LenzeMemDrv.lib includes functions for read/write access to the additional backup memory (application data memory) of the PLC.

 Additional information can be found in the Manual for function library LenzeMemDrv.lib.

10 kbyte

24 kbytes

(as of version 7.x)

à 64 kbytes

Can be symbolically used for FB instances and PLC variables.

Data get lost after mains disconnection.

8.3.1 Retain memory

In the retain memory the values of the retain variables are stored safe from power failure and are thus available to the program even after mains switching. (Saving with C0003 = 1 is not required.)

 Retain variables are declared by means of the variable class VAR RETAIN.

 Retain variables are created as a symbolically addressable memory.

 With each program download the retain variables are reset to their initialisation value. If an

initialisation value has not been defined, the corresponding retain variable will be initialised with the value "0".

 In the DDS online mode you can use the commands Online W Reset (cold) and Online W

Reset (original) to reset the retain variables in the PLC to their initialisation values.

8.3.2 Downloading data

In DDS (as of version 2.0) it is possible to attach a file to your project whose data is automatically downloaded to the PLC when the program is downloaded.

 This mechanism is, for instance, used in the Software Package − Cam to download motion

profiles.

Note!

 With the 9300 Servo PLC the additional data is loaded into the application FLASH.

 With the Drive PLC the additional data is directly attached to the PLC program because the

Drive PLC does not have an application FLASH.

8−4

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Appendix

8.3 Memories

For the download being executed by the DDS, the following two conditions must be met:

1. The PLC program must have been stopped.

2. The header of the file attached to the project must have the following structure:

Name Data type Data length in bytes Contents

wSizeHeader WORD 2 Header length in bytes wDataType WORD 2 Data specification identifier

dwVersion DWORD 4 Data version

dwRealSize DWORD 4 User data length in bytes (without header) dwTimeStamp DWORD 4 Time stamp of the last data change

wLicenseInfo WORD 2 Reserved for future extensions wSizeSymbolicName WORD 2 Length of the symbolic file name achSymbolicName ACH wSizeSymbolicName Character array including the symbolic file name

wCopyToRam WORD 2 Selection whether data will be automatically copied into the application RAM of

dwReserved DWORD 4 awSizeAddInfo DWORD 190

Interpretation of the header information: least significant byte first:

 This information can be found under C2131 after data has been downloaded.

0 ... 10000 Lenze−spezific data

> 10000 User data

 This information can be found under C2132 after data has been downloaded.

 This information can be found under C2133 after data has been downloaded.

 This information can be found under C2130 after data has been downloaded.

the PLC after downloading.

 Maximum data length = 128 kbytes (RAM block 1 and 2)

0 Data is not copied into the application FLASH. 1 Data is copied into the application FLASH.

2 ... 65535 Reserved

Reserved for future extensions

wSizeHeader = 00 E4 = 228 Byte

wDataType = 00 0A = 10 (Cam data)

hex

dwVersion =00000001

hex

E4 00 0A 00 01 00 00 00 1C FF 00 00

dwRealSize = 00 00 FF 1C = 65308 Byte

hex

DrivePLC DE 6.0

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Appendix

8.4 System POUs

System POUs are POUs of the "program" type which accept the features of a certain name, i.e. they are started by an event registered by the PLC.

 The program includes max. 1000 instructions for system POUs.

 Unlike tasks or PLC_PRG, system POUs are not run−time monitored by a "watchdog".

 The special POU names and the corresponding event for starting the POU are listed in the

following table:

POU name Event for starting POU The POU starts if

PLC_TaskOverrun Task overflow PLC_RealError Floating−point error ...a floating−point error occurs. PLC_FailTripping TRIP ...a trip is set. PLC_WarningTripping Warning ...a warning is activated. PLC_MessageTripping Message ...a message is activated. PLC_FailQspTripping FAIL−QSP ...a FAIL−QSP is activated.

PLC_CANError CAN bus error ...a CAN bus error occurs (e.g. BUS−OFF). PLC_AIFError AIF bus error ...an AIF bus error occurs. PLC_Restart Start ...the START command is activated after a STOP. PLC_ColdStart Cold start ...a RESET, RESET (cold), RESET (original) or a program download has been

PLC_Stop PLC stop ...the STOP command is activated.

...the task monitoring time is exceeded.

Note: Only called when pulse inhibit is inactive!

activated. Note: System variables must not be used in PLC_ColdStart. Otherwise, unexpected controller errors may occur (e.g. motor start).

Note: This POU is not activated through a RESET (cold, original)!

Not available for Drive PLC.

The CAN/AIF bus is ready after this POU has been executed.

Tip!

If you need a system POU for an event−controlled start, simply create a "program" POU and use the POU name listed in the table for the corresponding event as POU name.

8−6

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Appendix

8.5 System error messages

The history buffer (C0168/x) stores error messages with an offset which indicates the type of response:

Error message number Type of response

0xxx TRIP 1xxx Message 2xxx Warning 3xxx FAIL−QSP

Example: C0168/1 = 2061

 x061:

The current error (subcode 1 of C0168) is a communication error (error message "CE0"/no. "x061") between AIF module and PLC.

 2xxx:

The response is a warning.

The current error number is also indicated in the variable DCTRL_wFaultNumber of the PLC program.

Tip!

Errors generally do not influence the operability of the PLC!

DrivePLC DE 6.0

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Appendix

8.5 System error messages

8.5.1 Overview of system error messages, error sources and reactions

System error message Possible settings/response

No. Display Source Meaning

x011 OC1 MCTRL Motor cable short circuit  ü ü x012 OC2 MCTRL Motor cable earth fault  ü ü x015 OC5 MCTRL I x t overload  ü ü x016 OC6 MCTRL I2 x t overload (C0120)  ü x017 OC7 MCTRL I x t warning (C0123) C0604 ü  ü ü x018 OC8 MCTRL I2 x t warning (C0127) C0605 ü  ü ü x020 OU MCTRL Overvoltage in the DC bus  ü ü x030 LU MCTRL Undervoltage in the DC bus  ü ü x032 LP1 MCTRL Motor phase failure C0597 ü ü  ü ü x050 OH MCTRL Heat sink temperature higher than fixed limit

temperature

x051 OH1 MCTRL Temperature inside the controller > 90° C  ü x053 OH3 MCTRL Motor temperature higher than fixed limit tem-

perature

x054 OH4 MCTRL Heat sink temperature higher than variable li-

mit temperature (C0122)

x055 OH5 MCTRL Temperature inside the controller > C0124 C0605 ü  ü ü x057 OH7 MCTRL Motor temperature higher than variable limit

temperature (C0121)

x058 OH8 MCTRL Motor temperature via inputs T1/T2 too high C0585 ü ü  ü ü x061 CE0 AIF Communication error between AIF mo-

duleóPLC

 Lenze setting ü setting possible

Code TRIP Message Warning FAIL−

 ü ü

C0583  ü ü ü

C0582  ü ü ü

C0584  ü ü ü

C0126 ü ü  ü ü ü

QSP

Available in

Off Drive

PLC

Servo

PLC

ECSxA

CAN communication error:

x062 CE1 CAN1 CAN1_IN (monitoring time can be set under

x063 CE2 CAN2 CAN2_IN (monitoring time can be set under

x064 CE3 CAN3 CAN3_IN (monitoring time can be set under

x065 CE4 CAN CAN BUS−OFF status

x066 CE5 CAN CAN time−out (gateway function C0370) C0603 ü ü  ü ü ü

x070 U15 internal Undervoltage of internal 15 V voltage supply  ü ü ü x071 CCr internal Internal error x072 PR1 internal Check sum error in parameter set 1  ü ü ü x074 PEr internal Program error x075 PR0 internal General error in the parameter sets x076 PR5 internal Error saving parameters  ü ü x079 PI internal Error during parameter initialisation x080 PR6 internal Too many user codes  ü ü ü x082 Sd2 MCTRL Resolver error C0586  ü ü ü ü x083 Sd3 MCTRL Encoder error at X9 PIN 8 C0587 ü ü  ü x085 Sd5 MCTRL Encoder error at analog input (X6) (C0034 = 1) C0598 ü ü  ü ü x086 Sd6 MCTRL Sensor error: motor temperature (X7 or X8) C0594  ü ü ü ü x087 Sd7 MCTRL Absolute−value encoder error at X8 x088 Sd8 MCTRL Absolute−value encoder error at X8

C0357/1)

C0357/2)

C0357/3)

(too many faulty telegrams received)

C0591

C0592

C0593

C0595 ü ü  ü ü ü

C0025  ü ü C0580 ü  ü ü

ü ü  ü ü ü

 ü ü ü

 ü ü ü  ü ü ü

 ü ü ü

x: 0 = TRIP, 1 = Message, 2 = Warning, 3 = FAIL−QSP

After error correction: completely deenergise the device!

8−8

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Appendix

8.5 System error messages

System error message Possible settings/response

No. Display Source Meaning

x089 PL MCTRL Error during rotor position adjustment  ü ü x091 EEr FWM External monitoring activated via DCTRL C0581  ü ü ü ü ü ü x105 H05 internal Internal error (memory)  ü ü ü x107 H07 internal Internal error (power stage)  ü ü x108 H08 internal Extension board not connected correctly or not

x110 H10 FWM Temperature sensor error: heatsink tempera-

x111 H11 FWM Temperature sensor error: temperature inside

x122 CE11

x123 CE12

x124 CE13

x125 CE14

x126 CE15 FIF−CAN Communication error of the gateway function

FIF−CAN1 FIF−CAN1_IN (monitoring time can be set under

CANaux1 CANaux1_IN (monitoring time can be set under

FIF−CAN2 FIF−CAN2_IN (monitoring time can be set under

CANaux2 CANaux2_IN (monitoring time can be set under

FIF−CAN3 FIF−CAN3_IN (monitoring time can be set under

CANaux3 CANaux3_IN (monitoring time can be set under

FIF−CAN FIF−CAN BUS−OFF status

supported by program

ture

the controller

FIF−CAN / CAN−AUX communication error:

C2457/1)

C2457/2)

C2457/3)

(too many faulty telegrams received)

(C0370, C0371) via FIF−CAN

 Lenze setting ü setting possible

Code TRIP Message Warning FAIL−

 ü ü

C0588  ü ü ü

 ü ü ü

C0591 ü ü  ü

C2481 ü ü  ü

C0592 ü ü  ü

C2482 ü ü  ü

C0593 ü ü  ü

C2483 ü ü  ü

C0595 ü ü  ü

C2484 ü ü  ü

C2485 ü ü  ü

QSP

Available in

Off Drive

PLC

Servo

PLC

ECSxA

x190 nErr MCTRL Speed out of tolerance margin (C0576) C0579 ü ü ü ü  ü ü x200 NMAX MCTRL Maximum speed exceeded (C0596)  ü ü

Time−out (see task configuration): x201 overrun Task1 x202 overrun Task2 Task with ID 3 x203 overrun Task3 Task with ID 4 x204 overrun Task4 Task with ID 5 x205 overrun Task5 Task with ID 6 x206 overrun Task6 Task with ID 7 x207 overrun Task7 Task with ID 8 x208 overrun Task8 Task with ID 9 x219 overrun Cycl.−T internal Time−out in cyclic task (PLC_PRG, ID 1)

x: 0 = TRIP, 1 = Message, 2 = Warning, 3 = FAIL−QSP

In DDS adjustable under Project W Exception response

internal

Task with ID 2

 ü ü ü ü ü

DrivePLC DE 6.0

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Appendix

8.5 System error messages

System error message Possible settings/response

No. Display Source Meaning

Floating−point error (REAL) in: x209 FLOAT SYS−T x210 FLOAT CYCL.−T Cyclic task (PLC_PRG, ID 1) x211 float T Id2 Task with ID 2 x212 float T Id3 Task with ID 3 x213 float T Id4 Task with ID 4 x214 float T Id5 Task with ID 5 x215 float T Id6 Task with ID 6 x216 float T Id7 Task with ID 7 x217 float T Id8 Task with ID 8 x218 float T Id9 Task with ID 9 x220 NoT−FktCredit internal Not enough technology units available in the

x230 No Program internal No PLC program loaded in PLC  ü ü ü x231 Unallowed Lib internal A library function has been called in the PLC

x232 NoCamData internal Motion profiles (cam data) are not available  ü ü ü

x240 ovrTransQueue x241 ovr Receive Too many receive telegrams C0609  ü ü ü

internal

Free CAN obj.

System task

PLC

program which is not supported

Free CAN objects:

Overflow of send order memory C0608  ü ü ü

 Lenze setting ü setting possible

Code TRIP Message Warning FAIL−

 ü ü ü ü ü

 ü ü ü

QSP

Available in

Off Drive

ü ü ü ü

PLC

Servo

PLC

ECSxA

Application memory (FLASH): x250 2.Flash Err internal Access not possible

x251 AddData CsErr internal Check sum error occurred when loading data

x252 AddData DlErr internal Error occurred when downloading data into the

x260 Err NodeGuard Node

x: 0 = TRIP, 1 = Message, 2 = Warning, 3 = FAIL−QSP

After error correction: completely deenergise the device!

In DDS adjustable under Project W Exception response

Only with 9300 Servo PLC!

guarding

(FLASH memory defective or not available)

into the FLASH memory

FLASH memory (e.g. time−out)

"Life guarding event": The PLC as a CAN slave

has not received any "node guarding" telegram

within the node lifetime of the CAN master.

 ü

C0384  ü ü ü

ü ü ü ü

8−10

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Appendix

8.5 System error messages

8.5.2 Response and its effects on the drive

Response ð Effect

TRIP o n n

TRIP active: ð The power outputs U, V, W are switched to high resistance.

ð The drive is coasting (no control!).

TRIP reset: ð The drive accelerates to its setpoint along the set ramps.

Message o n n

The drive restarts automatically when the message is no longer active!

Message active: ð The power outputs U, V, W are switched to high resistance.

 0.5 s ð The drive is coasting (no control!).  0.5 s ð The drive is coasting (due to internal controller inhibit!). If necessary, restart program.

Message reset: ð The drive accelerates at the maximum torque to its setpoint.

Warning n o n

Deactivated monitoring functions can lead to the destruction of the drive!

ð The failure is only displayed, the drive continues running in a controlled mode.

FAIL−QSP − − −

ð The drive is decelerated to standstill along the QSP ramp (C0105).

Off − − −

Deactivated monitoring functions can lead to the destruction of the drive!

ð No failure response!

Operating unit display

RDY IMP FAIL

o = off n = on

8.5.3 System error message reset

Response Measures to reset system error messages TRIP/FAIL−QSP

Message

Warning The message automatically disappears after the error has been eliminated.

A reset of TRIP/FAIL−QSP requires an acknowledgement.

 If the TRIP source is still active, the current TRIP cannot be reset.

A TRIP/FAIL−QSP can be acknowledged by:

 Keypad ðPressing the STOP key before the RUN key (which enables the PLC again).  Code C0043 ðSet C0043 = 0

The message automatically disappears after the error has been eliminated, the drive automatically restarts!

DrivePLC DE 6.0

8−11

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Drive PLC

Appendix

8.5 System error messages

8.5.4 Cause & remedy

No. Display Meaning Cause Remedy

−−− −−− No error − −

061 CE0 Communication error

AIF moduleóBasic unit

062 CE1 CAN1_IN communication error

063 CE2 CAN2_IN communication error

064 CE3 CAN3_IN communication error

065 CE4 CAN BUS−OFF status

(too many faulty telegrams received)

066 CE5 CAN time−out

(gateway function)

070 U15 Undervoltage of internal 15 V

voltage supply

071 CCR Internal error The program sequence of the processor was

072 PR1 Check sum error

in parameter set 1

CAUTION:

Lenze setting is loaded automatically!

074 PEr Program error Error detected in program  Check use of pointers

075 PR0 General error in parameter sets

CAUTION:

Lenze setting is loaded automatically!

076 PR5 Error while saving parameters Error while saving parameters in the fail−safe

079 PI Error during

parameter initialisation

080 PR6 Too many user codes Reduce the number of user codes x09 EEr External monitoring activated

via DCTRL

105 H05 Internal error (memory) Contact Lenze 108 H08 Extension board error

122 CE11 Communication error

FIF−CAN1_IN

123 CE12 Communication error

FIF−CAN2_IN

124 CE13 Communication error

FIF−CAN3_IN

Interference during transfer of control commands via automation interface (AIF)

CANx_IN receives faulty data or communication interrupted

Plug in automation module firmly, bolt down, if necessary

 Check wiring/cable  Check transmitter  If possible, increase monitoring time under

C0357/x

PLC has received too many faulty telegrams sent via system bus and has disconnected itself from the bus

 Check wiring/cable  Check bus termination (if any)  Check screen contact of the cables  Check PE connection  Check bus load  Reduce baud rate (observe cable length)

For remote parameterisation via system bus (C0370):

 Check system bus wiring/cable

 Check system bus configuration  Slave does not respond  Communication monitoring time exceeded

Check voltage supply for Drive PLC

 Shield control and motor cables as necessary

interfered

 Error while loading a parameter set  Interruption of parameter set transfer via

keypad (e.g. by disconnection of the keypad)

 Check PE wiring and PE connections

 Set the desired parameters and save them

under C0003

 For PR0 the supply voltage must be switched

off additionally

 Check use of pointers

The saved parameters do not match the loaded software version

Before an error can be acknowledged, the

parameter set must be manually saved under

C0003

 Send controller with parameter set and PLC

program (on diskette) to Lenze

See Cause & Remedy, no. 072 (PR1)

memory area

 Error detected during parameter set transfer

between two controllers

Contact Lenze

 Correct the parameter set

 Check code initialisation values  Parameter set does not match the PLC or

controller (e.g. data transfer from a high−performance controller to a lower−performance controller)

A digital signal assigned to the TRIP−SET function has been activated (system block DCTRL is integrated as of software version V8.0)

Extension board not connected correctly  Connect extension board properly

 Check external encoder

 Deactivate monitoring (C0581 = 3)

 Check connection plug EBóPLC

Extension board is not supported by PLC program  Adapt PLC program to extension board

 Use extension board which is supported by PLC

program.

FIF−CANx_IN receives faulty data or communication interrupted

 Check wiring/cable

 Check transmitter

 If possible, increase monitoring time under

C2457/x

8−12

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Appendix

8.5 System error messages

No. RemedyCauseMeaningDisplay

125 CE14 FIF−CAN BUS−OFF status

201

oveR−RUN TASK1

...

208

oveR−RUN TASK8

209 FLOAT SYS−T System task 210 FLOAT CYCL.−T Cyclic task (PLC_PRG) 211

FLOATTASK1

...

218

FLOATTASK8

219 overrun Cycl.−T Time−out in

220 NoT−FKT−CREDIT Insufficient units on the target

230 No Program PLC program error No PLC program loaded Load PLC program to PLC 231 Unallowed Lib Library function is not

232 NoCamData Motion profiles (cam data) are

240 ovrTransQueue Error Free CAN objects" Overflow of send order memory  Reduce number of send orders

241 ovr Receive Error Free CAN objects" Too many receive telegrams Reduce number of telegrams on bus 250 2.Flash Err Error during FLASH memory

251 AddData CsErr Error during FLASH memory

252 AddData DlErr Error during FLASH memory

260 Err NodeGuard "Life guarding event" PLC has been configured as a CAN slave with

(too many faulty telegrams received)

Task with Id.2 ... Task with Id.9

cyclic task (PLC_PRG)

system

supported

not available

access

PLC has received too many faulty telegrams sent via system bus and has disconnected itself from the bus

Time−out (see task configuration): Task processing takes longer than the monitoring time set

Floating−point error (REAL): Error in real calculation (e.g. divided by 0)

Task processing takes longer than the monitoring time set

It was tried to load a program with technology functions to a PLC not providing corresponding units

You have called a library function in the PLC program. This function is not supported, e.g. because the required hardware is not available

When functions of the LenzeCamControl.lib function library were called, the controller recognised that there are no motion profiles (cam data) loaded in the PLC memory

The PLC program tries to access a faulty FLASH memory or FLASH memory does not exist

Check sum error occurred when loading data into the FLASH memory

Error occurred when downloading data into the FLASH memory (e.g. time−out, transmission error, mains failure during data transfer)

"node guarding" and has not received any "node guarding" telegram within the node lifetime of the CAN master.

 Check wiring/cable  Check bus termination (if any)  Check screen contact of the cables  Check PE connection  Check bus load  Reduce baud rate (observe cable length)

 Set task run−time  If necessary, change monitoring time  Determine time−out reason by checking the

task run−times at the task monitor

 Swap out time−critical program parts to a

slower task

 Check real calculation (program code)  The error is eliminated as in a task overflow

 Set task run−time  If necessary, change monitoring time  Determine time−out reason by checking the

task run−times at the task monitor

 Swap out time−critical program parts to a

slower task

Use the T−variant of the PLC

Remove library function or ensure that the required hardware devices are provided

 Ensure that valid cam data were attached to

the project via the DDS cam support

 Re−load the PLC program (maybe the

OnlineWReset (original) command has been executed in DDS)

 Prolong cycle time

Ensure that the PLC has a FLASH memory. If FLASH memory already exists, contact Lenze.

Check the check sum of the file to be loaded and repeat data transfer

Check/repeat data transfer

 Check system bus (CAN) and CAN configuration  Ensure that "node guarding" has been

activated in the CAN master

 Adapt node lifetime to CAN master setting

DrivePLC DE 6.0

8−13

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Drive PLC

Appendix

8.5 System error messages

8.5.5 Fault analysis via the fault memory

The fault memory of the PLC consists of 8 memory locations which store the following information about the active fault and the 7 previous faults in their chronological order of occurrence:

 No. of system error message (^ 8−7)

 Response to the fault (warning, message, TRIP, etc.) (^ 8−7)

 Time of occurrence (referred to power−on time of the PLC, e.g. "1234567 s")

 Frequency of successive occurrence

The fault memory information is stored under codes C0168/x ... C0170/x:

C0168 C0169 C0170 Subcode Contains information about

No. of the

system error message

and response

Time

of occurrence

Frequency

of successive

occurrence

Active fault

Last fault

Last but one fault

Last but two fault

Last but three fault

Last but four fault

Last but five fault

Last but six fault

Tip!

The fault memory works according to the principle of a shift register:

If the current fault is no longer active or has been acknowledged by a TRIP−RESET, all information is automatically shifted up one subcode in the fault memory.

 The information concerning the previously active fault is now stored under subcode 2.

 The information concerning the previous last but six fault is deleted from the fault memory and

cannot be retrieved any longer.

Note!

 If several faults causing different responses occur simultaneously:

– Only the fault causing the highest−priority response is entered into the fault memory

(priority = TRIP → message → FAIL−QSP → warning).

 If several faults causing the same response occur simultaneously (e.g. 2 messages):

– Only the fault occurring first is entered into the fault memory.

 If a fault occurs several times in succession:

– Only the time of the last occurrence is entered into the fault memory.

8−14

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Appendix

8.5 System error messages

Fault reset

The current fault can be reset by a TRIP−RESET e.g. via C0043:

Code LCD

C0043 Trip reset 0 TRIP reset

Possible settings

Lenze Selection

0 TRIP−RESET (current TRIP reset) 1 Error occurred (TRIP is active)

Deleting entries in the fault memory

The entries in the fault memory can be deleted via C0167.

 This function can only be used if there is no active fault.

Code LCD

C0167 Reset failmem 0 Reset fault memory

Possible settings

Lenze Selection

0 No function 1 Delete all entries in history buffer

8.5.6 Error analysis via the PLC LED

Two LEDs at the front of the PLC indicate the controller status:

LED green LED red Controller status Check test

−− « Warning C0183, C0168/1

−− «« Message C0183, C0168/1

−− n Error: TRIP C0183, C0168/1

«« o PLC program not loaded C0183, C0168/1

o o PLC program loaded

n o PLC program running

« o PLC program loaded but stopped

n on o off «blinking (every second) ««blinking (every 0.5 s) −− Status without meaning

Info

8.5.7 Fault analysis via the 9371BB keypad

Displayed status messages indicate the controller status:

Display Controller status Check test

RDY PLC ready for operation C0183, C0168/1

Fail Error indicated by TRIP, message or warning

DrivePLC DE 6.0

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Appendix

8.6 Code table

How to read the code table:

Column Abbreviation Meaning

Code C0168

LCD Keypad LCD Lenze

Selection 1 {1 %} 99 Minimum value {smallest step/unit} maximum value Info Additional information on code

Code C0168

Subcode 1 of code C0168

Subcode 2 of code C0168

…

Subcode 8 of code C0168

[C0156] Parameter value of code can only be changed when controller is inhibited.

Lenze setting of the code

g Display code (can only be displayed)

* The "Info" column contains more information.

Code LCD

[C0002] Par load 0 Load parameter set

Possible settings

Lenze Selection

Info

 Only possible when PLC has been stopped.  Parameter set 1 is automatically loaded after

power−on.

0 Load Lenze setting into RAM 1 Load parameter set 1 into RAM

C0003 Par save 0 Save parameter set

 Also possible when PLC is in operation.

0 Saving completed 1 Non−volatile saving of parameter set 1

C0004 Op display 372 Keypad operating display

 Keypad will indicate selected code in the operating

level if no other status indications of C0183 are active.

All available codes

C0009 LECOM address 1 LECOM controller address

(bus device number for operation via interface)

 10, 20, ..., 90 reserved for broadcast to device groups

for RS232, RS485, fibre optics.

1 {1} 99

C0011 Nmax 3000 Reference code for speed scaling

500 {1 rpm} 16000

C0043 Trip reset Current TRIP reset

0 Trip reset 1 Trip active

C0067 Act trip

C0093 PLC ident

C0094 Password 0 Keypad password protection

Current TRIP ("0" is displayed for FAIL−QSP, warning and message.)

Controller identification

 Parameter password protection for the keypad.  When the password is activated, only user−menu codes

can be accessed.

 For extended password protection, please see C0096.

0 {1} 9999 0 = No password protection

8−16

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Appendix

8.6 Code table

Code InfoPossible settingsLCDCode Info

LCD

SelectionLenze

C0096 AIF/CAN prot. AIF/CAN password protection

 Extended password protection for bus systems when

password is activated (C0094).

 All codes in the user menu can be accessed.

0 No password protection 1 Read protection 2 Write protection 3 Read/write protection

1 0 AIF password protection

2 0 CAN password protection C0099 S/W version

C0125 Baud rate 0 LECOM baud rate

C0126 MONIT CE0 3 Configuration for communication error at automation

C0135 Status word 2 0

C0150 Status word 0

0 9600 bit/s 1 4800 bit/s 2 2400 bit/s 3 1200 bit/s 4 19200 bit/s

0 TRIP 2 Warning 3 Off

Software version of operating system

for accessory module 2102

interface (CE0)

Status word, access via code and FCODE_C0135

1) Control bit of operating unit, no effect on Drive PLC

2) If C581 < 3 (message also possible)

3) Afterwards set to FALSE by operating system

Status word, access via code and FCODE C0150

Free bits (0 ... 6, 14, 15) can be written via FCODE_C0150.

DrivePLC DE 6.0

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Appendix

8.6 Code table

Code InfoPossible settingsLCDCode Info

LCD

C0155 Status word 2 0

C0161 Act trip

SelectionLenze

Extended status word, read only

Current TRIP

 See C0168/1  "0" is displayed for FAIL−QSP, warning and message.

C0167 Reset failmem 0 History buffer reset

0 No function 1 Delete all entries in history buffer

C0168 Fail number

History buffer: Error messages

 List with error messages in order of occurrence.

All error messages 1 Current error message 2 Last error message 3 Last but one error message 4 Last but two error message 5 Last but three error message 6 Last but four error message 7 Last but five error message 8 Last but six error message

C0169 Failtime

History buffer: Power−up time

 List with the power−up times until an error message

occurs in C0168/x.

 Refers to the elapsed time meter (C0179)

0 {1 s} 65535 1 Current error message 2 Last error message 3 Last but one error message 4 Last but two error message 5 Last but three error message 6 Last but four error message 7 Last but five error message 8 Last but six error message

8−18

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Appendix

8.6 Code table

Code InfoPossible settingsLCDCode Info

LCD

C0170 Counter

SelectionLenze

History buffer: Frequency of error messages

 List which indicates how many times an error occurred

in C0168/x.

0 {1} 65535 1 Current error message 2 Last error message 3 Last but one error message 4 Last but two error message 5 Last but three error message 6 Last but four error message 7 Last but five error message 8 Last but six error message

C0179 Mains timer

Elapsed time meter

 Power−up time

0 {1 s} 4294967295

C0183 Diagnostics

Drive diagnostics

 Indicates error and status information.  If several error and status information occur at the

same time, the information with the lowest number will be displayed

0OK

101 Initialisation

102 TRIP/error

103 Emergency stop

104 IMP message

105 Power off

111 OINH C135

112 OINH AIF

113 OINH CAN

121 CINH terminal 28

122 CINH internal 1

123 CINH internal 2

124 CINH C135/STOP

125 CINH AIF

126 CINH CAN

141 Power−up inhibit

142 IMP inhibit

151 QSP external terminal

152 QSP C135/STOP

153 QSP AIF

154 QSP CAN

250 Warning

C0199 BuildNumber

C0200 S/W Id

C0201 S/W date

C0202 Internal ID

1 EKZ1 2 EKZ2 3 EKZ3 4 EKZ4

C0203 Comm.−No.

C0204 Serial−No.

C0205 Target−Id

C0206 Product date

C0207 DL info 1

C0208 DL info 2

g g g g

g g g g g g

No error Initialisation phase TRIP active Emergency stop was released Message active

Operation inhibit C135 Operation inhibit AIF Operation inhibit CAN Controller inhibited via: X5/28 DCTRL−CINH1 DCTRL−CINH2 STOP key of 9371BB Controller inhibited via AIF Controller inhibited via CAN Restart protection active Power outputs with high resistance QSP via MCTRL−QSP QSP via STOP key QSP via AIF QSP via CAN Warning active (C0168)

BS software creation number

BS software product code

BS software creation date

Internal identification

Commission number

Serial number

Identification number of the PLC

Production date

Download info 1

Download info 2

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Appendix

8.6 Code table

Code InfoPossible settingsLCDCode Info

LCD

SelectionLenze

C0209 DL info 3

C0210 EB−IDENT

C0300 Internal error diagnostics C0301 Internal error diagnostics C0350 CAN address 1 System bus: Node address

C0351 CAN baud rate 0 System bus: Baud rate

C0352 CAN mst 0 System bus: Master/slave configuration of the PLC

g g

1 {1} 63

0 500 kbit/s 1 250 kbit/s 2 125 kbit/s 3 50 kbit/s 4 1000 kbit/s 5 20 kbit/s

Download info 3

Extension board identification

 With selection 1 or 2, the PLC sends a system bus

boot−up and is thus quasi" master.

 Additional information about the "heartbeat" and "node

guarding" function can be found in the Manual for the function library LenzeCanDSxDrv.lib.

0 Slave (boot−up not active) 1 Master (boot−up active) 2 Master with Node Guarding

(SyncReceived no longer possible) 3 Slave and "heartbeat" producer 4 Slave with Node Guarding

C0353 CAN addr sel System bus: Source for PDO identifiers

0 Identifier assignment under C0350 + basic identifier 1 Identifier assignment under C0354/x

1 0 CAN1_IN/OUT 2 0 CAN2_IN/OUT 3 0 CAN3_IN/OUT

C0354 CAN addr System bus: Definition of individual PDO identifiers

 Value to be entered = Identifier − 384

1 {1} 512

1 129 CAN1_IN 2 1 CAN1_OUT 3 257 CAN2_IN 4 258 CAN2_OUT 5 385 CAN3_IN 6 386 CAN3_OUT

C0355 CAN Id

1 CAN1_IN 2 CAN1_OUT 3 CAN2_IN 4 CAN2_OUT 5 CAN3_IN 6 CAN3_OUT

385 {1} 896

System bus: PDO identifiers

8−20

DrivePLC DE 6.0