Lenze PLC Designer User Manual
SHPPLCDREUSESW
13412153
Ä.J6Vä
L-force Controls
Software manual
PC-based Automation
PLC Designer V2.x
Commissioning of Lenze devices (Application Samples)
L
PLC Designer V2.x| Lenze Application Samples
Contents
Contents
1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.1 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.2 Trademark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.3 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.4 Notes used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2 Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3 The "PC-based automation" system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.1 System requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.2 What is the PLC Designer? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.3 Where can I receive a full version of the PLC Designer? . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.3.1 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5 System bus (CAN) / CANopen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.1 CANopen (Logic) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.2 Communication card MC-CAN2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6 Commissioning the CANopen Logic bus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.1 Overview of the commissioning steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.2 Commissioning field devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.2.1 Going online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.3 Preparing the restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.3.1 Special features of the 9400 Servo Drives HighLine . . . . . . . . . . . . . . . . . . . . . . . . 31
6.3.2 Special features of the 8400 Inverter Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.3.3 Commission 8200 vector frequency inverters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.3.4 Special features of the ECS servo system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
7 Commissioning a sample project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.1 General system structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.2 Wiring the hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
7.2.1 Configuring the CAN interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
7.2.2 Configuring an EL1xx Ethernet interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.3 Opening a project in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.3.1 Establishing communication with the Industrial PC or EL1xx . . . . . . . . . . . . . . . 38
7.3.2 Starting the sample project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
1.3 EN - 07/2012 L 3
PLC Designer V2.x| Lenze Application Samples
Contents
8 Working with the sample projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
8.1 8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project . . . . . . . . . . . . . . . . . 41
8.1.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
8.1.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
8.1.2.1 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
8.1.2.2 Open the »Engineer« project & go online. . . . . . . . . . . . . . . . . . . . . . . . 43
8.1.3 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
8.1.3.1 Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
8.1.3.2 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
8.1.4 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 48
8.1.4.1 Information/home page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
8.1.4.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
8.1.4.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
8.1.4.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
8.1.4.5 Parameter transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
8.1.4.6 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
8.1.5 Interface assignment in the »Engineer« . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
8.2 8400 HighLine - "LAS_40_INTF_Can_84HL_TabPos" sample project . . . . . . . . . . . . . . . . 61
8.2.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
8.2.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
8.2.3 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
8.2.3.1 Open the »Engineer« project & go online. . . . . . . . . . . . . . . . . . . . . . . . 63
8.2.4 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
8.2.4.1 Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
8.2.4.2 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
8.2.5 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 69
8.2.5.1 Information/home page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
8.2.5.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
8.2.5.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
8.2.5.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
8.2.5.5 Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
8.2.5.6 Parameter transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
8.2.5.7 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
8.2.6 Interface assignment in the »Engineer« . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
4 L 1.3 EN - 07/2012
PLC Designer V2.x| Lenze Application Samples
Contents
8.3 9400 HighLine - "LAS_40_INTF_Can_94HL_Speed" sample project . . . . . . . . . . . . . . . . . 83
8.3.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
8.3.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
8.3.2.1 Open the »Engineer« project & go online. . . . . . . . . . . . . . . . . . . . . . . . 85
8.3.3 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
8.3.3.1 Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
8.3.3.2 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
8.3.4 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 90
8.3.4.1 Information/home page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
8.3.4.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
8.3.4.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
8.3.4.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
8.3.4.5 Parameter transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
8.3.4.6 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
8.3.5 Interface assignment in the »Engineer« . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
8.4 9400 HighLine - "LAS_40_INTF_Can_94HL_TabPos" sample project . . . . . . . . . . . . . . . . 102
8.4.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
8.4.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
8.4.2.1 Open the »Engineer« project & go online. . . . . . . . . . . . . . . . . . . . . . . . 104
8.4.3 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
8.4.3.1 Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
8.4.3.2 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
8.4.4 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 110
8.4.4.1 Information/home page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
8.4.4.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
8.4.4.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
8.4.4.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
8.4.4.5 Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
8.4.4.6 Parameter transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
8.4.4.7 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
8.4.5 Interface assignment in the »Engineer« . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
1.3 EN - 07/2012 L 5
PLC Designer V2.x| Lenze Application Samples
Contents
8.5 ECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project . . . . . . . . . . . . . . 125
8.5.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
8.5.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
8.5.3 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
8.5.4 Open the »Global Drive Control« project & go online . . . . . . . . . . . . . . . . . . . . . . 127
8.5.5 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
8.5.5.1 Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
8.5.5.2 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
8.5.6 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 135
8.5.6.1 Information/home page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
8.5.6.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
8.5.6.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
8.5.6.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
8.5.6.5 Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
8.5.6.6 Parameter transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
8.5.6.7 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
8.5.7 Interface assignment in the device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
8.6 8200 vector - "LAS_40_INTF_Can_82_Speed" sample project . . . . . . . . . . . . . . . . . . . . . . 148
8.6.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
8.6.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
8.6.3 Open the »Global Drive Control« project & go online . . . . . . . . . . . . . . . . . . . . . . 149
8.6.4 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
8.6.5 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 155
8.6.6 Interface assignment in the »Global Drive Control«. . . . . . . . . . . . . . . . . . . . . . . . 165
8.6.2.1 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
8.6.4.1 Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
8.6.4.2 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
8.6.5.1 Information/home page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
8.6.5.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
8.6.5.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
8.6.5.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
8.6.5.5 Parameter transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
8.6.5.6 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
6 L 1.3 EN - 07/2012
PLC Designer V2.x| Lenze Application Samples
Contents
8.7 9300 servo - "LAS_40_INTF_Can_93_Speed" sample project . . . . . . . . . . . . . . . . . . . . . . . 167
8.7.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
8.7.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
8.7.2.1 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
8.7.3 Open the »Global Drive Control« project & go online . . . . . . . . . . . . . . . . . . . . . . 169
8.7.4 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
8.7.4.1 Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
8.7.4.2 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
8.7.5 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 175
8.7.5.1 Information/home page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
8.7.5.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
8.7.5.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
8.7.5.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
8.7.5.5 Parameter transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
8.7.5.6 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
8.7.6 Interface assignment in the »Global Drive Control«. . . . . . . . . . . . . . . . . . . . . . . . 185
8.8 9300 - "LAS_40_INTF_Can_93_EP" sample project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
8.8.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
8.8.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
8.8.2.1 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
8.8.3 Open the »Global Drive Control« project & go online . . . . . . . . . . . . . . . . . . . . . . 190
8.8.4 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
8.8.4.1 Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
8.8.4.2 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
8.8.5 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 197
8.8.5.1 Information/home page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
8.8.5.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
8.8.5.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
8.8.5.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
8.8.5.5 Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
8.8.5.6 Parameter transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
8.8.5.7 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
8.8.6 Interface assignment in the »Global Drive Control«. . . . . . . . . . . . . . . . . . . . . . . . 209
1.3 EN - 07/2012 L 7
PLC Designer V2.x| Lenze Application Samples
Contents
8.9 ECS/9400/8400 - "LAS_40_INTF_84SL_Speed_94HL_Speed_ECSPosShaft" sample project
212
8.9.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
8.9.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
8.9.2.1 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
8.9.2.2 Program structure in the »PLC Designer« . . . . . . . . . . . . . . . . . . . . . . . . 214
8.9.2.3 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
8.9.3 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 218
8.9.3.1 Information/home page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
8.9.3.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
8.9.3.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
8.9.3.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
8.9.3.5 "Homing ECS" mode (homing) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
8.9.3.6 Parameter transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
8.9.3.7 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
8.9.4 Interface assignment in the device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
9 Adding other components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
9.1 Copying and inserting nodes of the same series. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
9.1.1 Establishing the connection between the visualisation and the FB. . . . . . . . . . 229
9.2 Inserting further subelements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
9.3 Copying and inserting different nodes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
10 Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
10.1 What to do if the PLC is not running? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
10.1.1 The PLC was exited on the target system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
10.1.2 No download of the PLC program to the target system possible . . . . . . . . . . . . 232
10.2 What to do if the CAN bus is not running/CAN nodes do not respond? . . . . . . . . . . . . . 233
10.3 What to do if the motor does not rotate? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
11 The L_S84_Drive8400.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
11.1 L_S84_ActuatorSpeedBL - actuation of the 8400 BaseLine controller . . . . . . . . . . . . . . . 235
11.1.1 Structure of S84_DriveControl_8400BL - actuation to the controller . . . . . . . . 236
11.1.2 Structure of S84_DriveStatus_8400BL - status of the controller . . . . . . . . . . . . 237
11.2 L_S84_ActuatorSpeedSL - actuation of the 8400 StateLine controller. . . . . . . . . . . . . . . 238
11.2.1 Structure of S84_DriveControl_8400 - actuation to the controller . . . . . . . . . . 239
11.2.2 Structure of S84_DriveStatus_8400 - status of the controller. . . . . . . . . . . . . . . 240
11.3 L_S84_GetVersion - transfer of the version. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
11.4 L_S84_ReadErrorCode - read out error status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
11.5 L_S84_SDOList84SL - parameter list for 8400 StateLine controller. . . . . . . . . . . . . . . . . . 242
8 L 1.3 EN - 07/2012
PLC Designer V2.x| Lenze Application Samples
Contents
11.6 L_S84_TablePositioningHL - profile data record management . . . . . . . . . . . . . . . . . . . . . 243
11.6.1 Structure of S84_DriveControl_8400HL_TablePositioning - actuation to the drive
244
11.6.2 Structure of S84_DriveStatus_8400HL_TablePositioning - status of the controller
245
12 The L_S94_Drive9400.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
12.1 L_S94_ActuatorSpeed - actuation of the 9400 HighLine controller . . . . . . . . . . . . . . . . . 246
12.1.1 Structure of S94_DriveControl_ActSpeed - actuation to the 9400 controller. 247
12.1.2 Structure of S94_DriveStatus_ActSpeed - status of the controller . . . . . . . . . . 248
12.2 L_S94_GetVersion - transfer of the version. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
12.3 L_S94_ReadErrorCode - read out error status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
12.4 L_S94_TablePositioning - table positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
12.4.1 Structure of S94_DriveControl_TablePositioning - actuation to the controller 252
12.4.2 Structure of S94_DriveStatus_TablePositioning - status of the controller . . . 253
13 The L_SCS_DriveECS.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
13.1 L_SCS_ActuatorSpeed - actuation of the ECS servo system. . . . . . . . . . . . . . . . . . . . . . . . . 255
13.1.1 Structure of SCS_DriveControl_Speed - control for the drive . . . . . . . . . . . . . . . 256
13.1.2 Structure of SCS_DriveStatus_Speed - status of the controller. . . . . . . . . . . . . . 257
13.2 L_SCS_GetVersion - transfer of the version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
13.3 L_SCS_PosiShaft - actuation of the ECS servo system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
13.3.1 Structure of SCS_DriveControl_PosiShaft - control for the drive . . . . . . . . . . . . 259
13.3.2 Structure of SCS_DriveStatus_PosiShaft - status of the controller . . . . . . . . . . 260
13.3.2.1 Process data from the axis module (status words and actual values) 261
13.3.2.2 Monitor data words from the controller (tx_par1 and tx_par2) . . . 262
13.4 L_SCS_SupplyModule - actuation of the ECS servo system power supply module . . . 263
13.4.1 Structure of SCS_Control_Supply - actuation to the ECS controller power supply
module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
13.4.2 Structure of SCS_Status_Supply - status of the controller . . . . . . . . . . . . . . . . . . 265
13.4.3 L_SCS_ReadErrorCode - read out error status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
14 The L_S8V_Drive82Vector.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
14.1 L_S8V_ActuatorSpeed - actuation of the 8200 vector controller. . . . . . . . . . . . . . . . . . . . 267
14.1.1 Actuation to the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
14.1.2 Status of the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
14.2 L_S8V_ReadErrorCode - read out error status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
14.3 L_S8V_SDOList. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
1.3 EN - 07/2012 L 9
PLC Designer V2.x| Lenze Application Samples
Contents
15 The L_S8S_Drive82SMD.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
15.1 L_S8S_ActuatorSpeed - actuation of the 8400 SMD controller . . . . . . . . . . . . . . . . . . . . . 272
15.1.1 Structure S8S_DriveControl - actuation to the controller . . . . . . . . . . . . . . . . . . . 273
15.1.2 Structure S8S_DriveStatus - status of the controller . . . . . . . . . . . . . . . . . . . . . . . 274
15.2 L_S8S_SDOList . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
16 The L_S93_Drive9300.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
16.1 L_S93_ActuatorSpeed - control the 9300 Speed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
16.1.1 Structure of 93_DriveControl_Speed - actuation to the controller . . . . . . . . . . 277
16.1.2 Structure of 93_DriveStatus_Speed - status of the controller. . . . . . . . . . . . . . . 278
16.2 L_S93_Positioning - control the 9300 Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
16.2.1 Structure of S93_DriveControl_93xxEP - actuation to the 9300 EP controller 280
16.2.2 Structure of S93_DriveStatus_93xxEP - status of the 9300 EP controller . . . . 281
16.3 L_S93_ReadErrorCode - read out error status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
17 The L_SCB_CANBasic.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
17.1 L_SCB_Actuator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
17.2 L_SCB_CanStatus - node inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284
17.3 L_SCB_GetNodeDataRxPDO1 - read out data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
17.4 L_SCB_GetNodeDataRxPDO2 - read out data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
17.5 L_SCB_GetNodeState - node inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
17.6 L_SCB_GetStateOptional - check with regard to "OptionalDevice" . . . . . . . . . . . . . . . . . 287
17.7 L_SCB_GetVersion - transfer of the version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
17.8 L_SCB_ParRead - read parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
17.9 L_SCB_ParRead_String - "String"-read parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290
17.10 L_SCB_ParWrite - write parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
17.11 L_SCB_PutNodeDataTxPDO1 - data transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
17.12 L_SCB_PutNodeDataTxPDO2 - data transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
17.13 L_SCB_SDO_Converter - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
17.13.1 SCB_ParameterData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
17.14 L_SCB_SDO_ListSize10 - parameter list (length: 10) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
17.15 L_SCB_SDO_ListSize25 - parameter list (length: 25) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
17.16 L_SCB_SDO_ListSize50 - parameter list (length: 50) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
17.17 L_SCB_StartNode - restart CAN nodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
17.18 L_SCB_StatusSingleNode - read out bus status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
17.18.1 SCB_StateCanMaster . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
17.18.2 Structure of SCB_CanNodeDiagnose -. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
17.19 L_SCB_SDO_TransferTable - transfer parameter list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
10 L 1.3 EN - 07/2012
PLC Designer V2.x| Lenze Application Samples
Contents
18 The L_SDC_DataConversion.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
18.1 L_SDC_2BytesToWord - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
18.2 L_SDC_2WordsToDWord - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
18.3 L_SDC_4BytesToDWord - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
18.4 L_SDC_BitsToByte - bit multiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
18.5 L_SDC_BitsToDWord - bit multiplexer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
18.6 L_SDC_BitsToWord - bit multiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
18.7 L_SDC_ByteToBits - bit demultiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
18.8 L_SDC_GetBitOfByte - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
18.9 L_SDC_DWordToBits - bit demultiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
18.10 L_SDC_DWordTo2Words - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
18.11 L_SDC_DWordTo4Bytes - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
18.12 L_SDC_GetBitOfDWord - conversion block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
18.13 L_SDC_GetBitOfWord - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
18.14 L_SDC_GetVersion - transfer of the version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
18.15 L_SDC_ResetBitOfByte - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
18.16 L_SDC_ResetBitOfDWord - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
18.17 L_SDC_ResetBitOfWord - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
18.18 L_SDC_SetBitOfByte - bit operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
18.19 L_SDC_SetBitOfDWord - bit operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
18.20 L_SDC_SetBitOfWord - bit operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
18.21 L_SDC_WordTo2Bytes - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
18.22 L_SDC_WordToBits - bit demultiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
19 The L_SEC_ErrorCode.lib library. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
19.1 L_SEC_GetVersion - transfer of the version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
19.2 L_SEC_InfoErrorCode - read out error status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
20 The L_SSC_Scaling.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
20.1 L_SSC_AccToUnit - conversion block (for 9400 device series). . . . . . . . . . . . . . . . . . . . . . . 316
20.2 L_SSC_GetAxisData - read out machine parameters from axis data . . . . . . . . . . . . . . . . 317
20.3 L_SSC_GetPosition - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
20.4 L_SSC_GetSpeed - conversion block (for 9400 device series) . . . . . . . . . . . . . . . . . . . . . . . 319
20.5 L_SSC_GetVersion - transfer of the version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
20.6 L_SSC_Norm_aToNorm_n - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
20.7 L_SSC_Norm_nToNorm_a - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
1.3 EN - 07/2012 L 11
PLC Designer V2.x| Lenze Application Samples
Contents
20.8 L_SSC_Norm_nToSpeed_s - signal converter (for 9400 device series). . . . . . . . . . . . . . . 321
20.8.1 SSC_Axis_logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
20.9 L_SSC_PosToUnit - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
20.10 L_SSC_Speed_nToNorm_r - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
20.11 L_SSC_Speed_rToNorm_n - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
20.12 L_SSC_Speed_sToNorm_n - signal converter (for 9400 device series). . . . . . . . . . . . . . . 324
20.13 L_SSC_Speed_sToSpeed_v - signal converter (for 9400 device series). . . . . . . . . . . . . . . 324
20.14 L_SSC_Speed_vToSpeed_s - signal converter (for 9400 device series). . . . . . . . . . . . . . . 325
20.15 L_SSC_SetAxisData - machine parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
20.16 L_SSC_SetPosition - position conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
20.17 L_SSC_SetSpeed - speed conversion (for 9400 device series) . . . . . . . . . . . . . . . . . . . . . . . 328
20.18 L_SSC_SpeedToUnit - conversion block (for 9400 device series) . . . . . . . . . . . . . . . . . . . . 329
20.19 L_SSC_TaskCycle - read in task time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
20.20 L_SSC_UnitToAcc - conversion block (for 9400 device series). . . . . . . . . . . . . . . . . . . . . . . 330
20.21 L_SSC_UnitToPos - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331
20.22 L_SSC_UnitToSpeed - conversion block (for 9400 device series) . . . . . . . . . . . . . . . . . . . . 332
21 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
Your opinion is important to us. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
12 L 1.3 EN - 07/2012
PLC Designer V2.x| Lenze Application Samples
About this documentation
1 About this documentation
This documentation describes the first commissioning steps of a Lenze automation system
on the basis of a simple example application. The automation system used consists of a PLC
for the control technology and drive components connected (via a bus system).
The explanation of the procedure includes the installation of the integrated development
environment, the »PLC Designer«, and the diagnostics of the application.
Read the mounting instructions supplied with the controller first before you start
working!
The mounting instructions contain safety instructions which must be observed!
Note!
This documentation supplements the software manuals of the »PLC Designer«
and »Engineer«.
Tip!
Information and tools regarding the Lenze products can be found in the download
area under: http://www.Lenze.com
This manual is part of the "PC-based Automation" manual collection. The manual
collection consists of the following parts:
Documentation Subject
System manuals
"PC-based Automation"
Communication manuals
"PC-based Automation"
(Software) manual
"PC-based Automation"
Operating instructions
"Embedded Line Panel PC"
Operating instructions
"Command Station"
Operating instructions
"Control Cabinet PC"
Operating instructions
"HMI EL 100"
More software manuals • »Global Drive Control« (»GDC«)
• Control technology - System structure & configuration
• Visualisation - System structure & components
• CANopen control technology
• PROFIBUS control technology
• Industrial PC - Parameter setting & configuration
• EL x8xx - built-in panel PC with TFT display
• CS x8xx - stand-alone operator terminal
• CPC x8xx - control cabinet PC
• EL 1xx - HMI with Windows
–IPC as gateway - Parameter setting & configuration
• »Engineer«
• »PLC Designer« / »PLC Designer - SoftMotion« / »PLC Designer - CANopen
for Runtime Systems«
• »VisiWinNET® Smart«
® CE
13 L 1.3 EN - 07/2012
PLC Designer V2.x| Lenze Application Samples
About this documentation
Information on the use of the IPCs beyond the control technology can be found in
the system manuals tailored to the application case.
1.3 EN - 07/2012 L 14
PLC Designer V2.x| Lenze Application Samples
About this documentation
Further technical documentation on Lenze components
More information on Lenze components that can be used together with "PC-based
automation" can be found in the following documentation:
Mounting & wiring Legend:
MAs for Inverter Drives 8400 Printed documentation
MAs for Servo Drives 9400 Online help/PDF
MA EPM-Txxx (I/O system IP20) Abbreviations used:
MA EPM-Sxxx (I/O system 1000) SHB System manual
MA 8200 vector BA Operating instructions
8200 vector wiring according to EMC MA Mounting instructions
MAs for the ECS servo system SW Software manual
MA MC-CAN2 communication card KHB Communication manual
MA MC-ETC communication card
MA MC-ETH communication card
MA MC-PBM communication card
MA MC-PBS communication card
MA MC-MPI communication card
MAs for communication modules
Parameterisation, configuration, commissioning
SW Inverter Drives 8400
BaseLine / StateLine / HighLine / TopLine
SW Servo Drive 9400 HighLine / PLC Í This documentation contains further
9400 HighLine commissioning guidelines
SHB I/O system IP20 (EPM-Txxx)
SHB I/O system 1000 (EPM-Sxxx)
SHB 8200 vector Í This documentation contains further
BAs for the ECS servo system Í This documentation contains further
KHBs for the communication modules
Programming
SW 9400 function library
Establishing a network
KHBs for the communication modules
Í This documentation contains further
information when using the sample projects
information when using the sample projects
information when using the sample projects
information when using the sample projects
Target group
The documentation addresses to persons who plan, install, commission, and maintain the
networking of devices in the field of control technology.
15 L 1.3 EN - 07/2012
PLC Designer V2.x| Lenze Application Samples
About this documentation
Information regarding the validity
The information provided in this documentation applies to the AppSamples_100 with the
following Lenze software:
Software From software version
»PLC Designer« 2.3.x
»Engineer« 2.12
»Global Drive Control« 4.11
1.3 EN - 07/2012 L 16
1.1 Document history
Version Description
1.1 11/2010 TD11 First edition
1.2 03/2011 TD11 Further sample projects supplemented:
1.3 06/2012 TD11 Amended by general notes on the use of FBs.
1.2 Trademark
Microsoft, Windows, and Windows NT are either registered trademarks or trademarks of
the Microsoft Corporation in the USA and/or other countries.
PLC Designer V2.x| Lenze Application Samples
About this documentation
Document history
• 8200 vector
• 9300 Speed
• 9300 EP
• Multiproject ECS/ 8400 StateLine/9400 HighLine
Adobe and Reader are either registered trademarks or trademarks of Adobe Systems
Incorporated in the USA and/or other countries.
All other brand names mentioned in this documentation are trademarks of their respective
owners.
1.3 EN - 07/2012 L 17
PLC Designer V2.x| Lenze Application Samples
About this documentation
Conventions used
1.3 Conventions used
This documentation uses the following conventions to distinguish between different types
of information:
Type of information Display Examples/notes
Numbers
Decimal separator Point The decimal point is generally used.
Text
Version information Text colour blue All pieces of information that only apply to or from a
Program name » « The Lenze PC software »PLC Designer«
Window Italics The Message window... / The Options ... dialog box
Variable name By setting bEnable to TRUE...
Control element Bold The OK... button / The Copy... command / The
Sequence of menu
commands
Shortcut <Bold> Use <F1> to open the online help.
Program code Courier
Keyword Courier bold
Example: 1234.56
certain controller software version are identified
accordingly in this documentation.
Example: This function extension is available as from
software version V3.0!
Properties... tab / The Name ... input field
If the execution of a function requires several
commands in a row, the individual commands are
separated by an arrow: Select File
If a key combination is required for a command, a "+"
is placed between the key identifiers: With
<Shift>+<ESC>...
IF var1 < var2 THEN
a = a + 1
END IF
Open to...
Hyperlink Underlined
Symbols
Page reference ( 18) Optically highlighted reference to another page. It is
Step-by-step instructions
Optically highlighted reference to another topic. It is
activated with a mouse-click in this documentation.
activated with a mouse-click in this documentation.
Step-by-step instructions are marked by a
pictograph.
18 L 1.3 EN - 07/2012
1.4 Notes used
The following signal words and icons are used in this documentation to indicate dangers
and important information:
Safety instructions
Structure of safety instructions:
Pictograph and signal word!
(characterises the type and severity of danger)
Note
(explains the danger and how to avoid it)
Pictograph Signal word Meaning
PLC Designer V2.x| Lenze Application Samples
About this documentation
Notes used
Danger! Danger of personal injuries through dangerous electrical voltage
Reference to an imminent danger that may result in death or serious
personal
injury unless the corresponding measures are taken.
Danger! Danger of personal injury through a general source of danger
Reference to an imminent danger that may result in death or serious
personal
injury unless the corresponding measures are taken.
Stop! Danger of damage to material assets
Indicates a potential danger that may lead to material damage unless the
corresponding measures are taken.
Application notes
Pictograph Signal word Meaning
Note! Important note for trouble-free operation
Tip! Useful tip for easy handling
Reference to other documents
1.3 EN - 07/2012 L 19
PLC Designer V2.x| Lenze Application Samples
Safety instructions
2 Safety instructions
Please observe the following safety instructions when you want to commission a controller
or system using the »Engineer«.
Read the documentation supplied with the controller or the individual
components of the system carefully before you start to commission the devices
with the »Engineer«!
The device documentation contains safety instructions which must be
observed!
Danger!
According to our present level of knowledge it is not possible to ensure the
absolute freedom from errors of a software.
If necessary, systems with built-in controllers must be provided with additional
monitoring and protective equipment according to relevant safety regulations
(e.g. law on technical equipment, regulations for the prevention of accidents), so
that an impermissible operating status does not endanger persons or facilities.
During commissioning persons must keep a safe distance from the motor or the
machine parts driven by the motor. Otherwise there would be a risk of injury by
the moving machine parts.
Stop!
If you change parameters in the »Engineer« during an online connection to the
device is established, the changes are directly accepted in the device!
A wrong parameter setting can cause unpredictable motor movements. By
unintentional direction of rotation, too high speed or jerky operation, the driven
machine parts may be damaged!
20 L 1.3 EN - 07/2012
PLC Designer V2.x| Lenze Application Samples
3 The "PC-based automation" system
Industrial PCs (IPCs) become more and more important in the field of automation
technology. Due to their scaling options and various combinations of visualisation and
control on one device, Industrial PCs provide clear advantages for many applications.
Lenze Industrial PCs are available in the following software equipments:
Industrial PC as component (optional with operating system) without any further
software
Industrial PC as visualisation system
Industrial PC as control and visualisation system
The "PC-based automation" system enables the centralised control of Logic and Motion
systems.
The "PC-based automation" system
For this purpose, Lenze provide coordinated system components:
Industrial PCs as control and visualisation system
– The IPC is the central component of the PC-based automation which controls the
Logic and Motion functionalities by means of the runtime software.
– The IPC communicates with the field devices via the fieldbus.
– The IPCs are available in different designs.
Note!
The "PC-based automation" system furthermore contains the EL 1xx PLC HMI
series. These devices clearly differ from the Industrial PCs with regard to the
performance and various other details. Nevertheless the devices of the
EL 1xx PLC HMI series are able to perform smaller control functions.
1.3 EN - 07/2012 L 21
PLC Designer V2.x| Lenze Application Samples
The "PC-based automation" system
Engineering tools for the Engineering PC
– The Engineering PC communicates with the IPC via Ethernet.
– Use the various Engineering tools to configure and parameterise the system.
Fieldbuses
Field devices
22 L 1.3 EN - 07/2012
4 Requirements
4.1 System requirements
PLC Designer V2.x| Lenze Application Samples
Requirements
System requirements
Hardware PC/notebook Industrial PC with PLC (Logic) from
Operating system Windows XP Windows CE
Lenze software required »PLC Designer« V2.2.4.x L-force Logic
Further requirements • 100 MB of free hard disk memory • CAN bus system
4.2 What is the PLC Designer?
The »PLC Designer« is a Lenze engineering software for programming the PLC of the Lenze
Industrial PC.
Properties
Five different editors for the programming languages standardised in the IEC 61131-3,
and a very powerful CFC editor are provided. They serve to create individual programs,
and to trigger the functions of our L-force Logic & Motion runtime software.
By means of the integrated visualisation the processes are shown, in order to obtain all
important pieces of information at a glance during commissioning.
Engineering PC IPC (controller)
firmware V2.0
• CAN nodes (depending on the
respective example application)
1.3 EN - 07/2012 L 23
PLC Designer V2.x| Lenze Application Samples
Requirements
Where can I receive a full version of the PLC Designer?
4.3 Where can I receive a full version of the PLC Designer?
The »PLC Designer« is provided for download in the Lenze Application Knowledge Base
(AKB) :
http://akb.lenze.de/akb/infopool.nsf/html/Frame-Softwaredownload
The AKB is a product- and application-oriented collection of information provided by Lenze.
Alternatively you can install the »PLC Designer« from the CD supplied with the
Industrial PC.
4.3.1 Installation
How to install the »PLC Designer«:
1. Select »PLC Designer« to save the full version as a packed ZIP file on your PC
(Engineering PC).
• Unpack the ZIP file PlcDesigner_V2.3.x.zip on your PC (file size approximately
45MB).
• The ZIP file contains an installation file.
or
Start the PLCDesigner_V2.3..x.exe installation file from the CD supplied with the
Industrial PC.
2. Start the EXE file and follow the installation instructions
3. After the installation the »PLC Designer« can be started.
Further information and basics regarding the »PLC Designer« can be found in the
following documentation:
PLC Designer software manual
The manual is available on the CD supplied or on the Internet.
If the »PLC Designer« is already installed, carry out an update of the version available or
install the full version parallel to the version available.
Installing the target systems
Furthermore the »PLC Designer« target setup has to be installed, containing the
information required for controlling the target systems.
For the installation, proceed like for the installation of the »PLC Designer«.
24 L 1.3 EN - 07/2012
PLC Designer V2.x| Lenze Application Samples
5 System bus (CAN) / CANopen
Lenze device series 8400, 9400, 9300, and ECS have an on-board system bus (CAN)
connection. The protocol used there is a subset of CANopen. Thus the devices are not
CANopen-compliant but can be driven by a CANopen-compatible control system under "Lforce Controls" - also in connection with other CANopen-compatible nodes.
Tip!
Detailed information on the system bus (CAN) can be found on the website of the
CAN User Organization CiA (CAN in Automation):
System bus (CAN) / CANopen
CANopen (Logic)
http://www.can-cia.org
5.1 CANopen (Logic)
A variety of different field devices can be connected to the CAN Logic line.
To create a CANopen bus line, use the Communication card MC-CAN2
CANopen (Logic)
The Logic bus line is used to operate controllers which...
carry out simple movements,
do not have a Motion functionality,
are controlled via PLC functionalities only.
The Lenze sample projects are available for the most common system configurations in
each case with selected field devices.
1.3 EN - 07/2012 L 25
( 26).
PLC Designer V2.x| Lenze Application Samples
System bus (CAN) / CANopen
Communication card MC-CAN2
5.2 Communication card MC-CAN2
The MC-CAN2 communication card serves to connect an L-force Controller to the CAN bus
system CAN. The card provides two independent bus lines.
A Front panel
B Board
C Coding
D Connection
E CAN connection (CAN 2 /CAN 1)
MC-CAN2-001
26 L 1.3 EN - 07/2012
PLC Designer V2.x| Lenze Application Samples
6 Commissioning the CANopen Logic bus
This chapter provides information on commissioning the CANopen Logic field devices in
the Lenze control system.
Depending on the field devices used, the following Lenze engineering tools are required:
»PLC Designer«
»Engineer«
»Global Drive Control« (GDC)
Tip!
For the application of further fieldbus systems, further Engineering software may
be required. Further information can be found in the corresponding
communication manuals.
Commissioning the CANopen Logic bus
Overview of the commissioning steps
6.1 Overview of the commissioning steps
Step Action Lenze software to be used
1. Open sample project
Commissioning field devices
Going online
Preparing the restart
2. Open sample project »PLC Designer«
In the following the individual commissioning steps are described. Follow the given stepby-step instructions to commission your system.
( 29)
( 28)
( 30)
More detailed information about how to work with the Lenze engineering tools
can be found in the corresponding manuals and online helps.
»Engineer« or
»Global Drive Control«
(depending on the used
device)
1.3 EN - 07/2012 L 27
PLC Designer V2.x| Lenze Application Samples
Commissioning the CANopen Logic bus
Commissioning field devices
6.2 Commissioning field devices
Parameterise the field devices connected to the CANopen Logic bus either with the
»Engineer« or with the »GDC«, depending on the device.
The configuration of the CAN parameters takes place in the »PLC Designer«.
For this, observe the information in the ...
• documentation for the field devices;
• documentation for the »Engineer« / »GDC«, and »PLC Designer«.
Tip!
We recommend to commission each field device individually and then open the
suitable PLC program.
28 L 1.3 EN - 07/2012
6.2.1 Going online
Field device Going online with Connection via
Industrial PC »Engineer« or
Inverter Drive 8400 StateLine /
HighLine
9400 Servo Drive HighLine »Engineer« • IPC as gateway
ECS servo system (ECSxE/S/P/M/A) »Global Drive Control« • IPC as gateway
8200 vector »Global Drive Control« • IPC as gateway
9300 »Global Drive Control« • IPC as gateway
1) CANopen only with system bus adapter EMF2177IB (if required, observe standard device specifications!)
PLC Designer V2.x| Lenze Application Samples
Commissioning the CANopen Logic bus
Commissioning field devices
Ethernet
»WebConfig«
»Engineer« • IPC as gateway
• CAN device interface
• Diagnostic adapter
• Ethernet module E94AYCEN
• CANopen module E94AYCCA
• CAN device interface
• CANopen module EMF2178IB
• CAN device interface 1)
• CAN module CAN PT/
E82ZAFCC010
• CAN device interface 1)
• CAN device interface 1)
Note!
Lenze recommend to use the connection type "IPC as gateway".
Depending on the device and connection type used, detailed information about
establishing a connection and "going online" can be found in the following
documents:
• (Software) manual/online help "PC-based automation"
Industrial PC - Parameter setting & Configuration
• Software manual/online help "PC based automation"
IPC as gateway - Parameter setting & Configuration
• Software manual/online help »Global Drive Control«
IPC as gateway - Parameter setting & Configuration
• Software manual/online help L-force »Engineer«
1.3 EN - 07/2012 L 29
PLC Designer V2.x| Lenze Application Samples
Commissioning the CANopen Logic bus
Preparing the restart
6.3 Preparing the restart
In the control technology system you can use the control to transmit the entire parameter
setting via SDO initialisation to the field devices when the machine is switched on.
In accordance with DS301, the control always initialises the CAN parameters of the field
devices. Moreover, it can initialise further parameters. The values for this must be stored in
the control configuration under the Service Data Objects tab.
Usually, the control only transmits those SDO projects for which you have stored another
value than the standard value. The control does not
values in the field device. Thus, not all parameters changed there may be set correctly.
If you want to have a factory adjustment carried out in the field device before SDO
initialisation, go to the Parameter tab and set a checkmark at "Reset Node".
Note!
When a node is reset, the parameter setting in the field device which you have
made with the »Engineer« or the »Global Drive Control« gets lost. In this case,
you have to transmit all parameter values manually to the Service Data Objects
tab. This only makes sense when commissioning is completed and all
parameters are optimised. If you change something afterwards via the
»Engineer« or the »Global Drive Control« you have to maintain it again in the PLC
program.
compare these values with the existing
The Service Data Objects tab contains the codes which are written in the EDS file. The EDS
file contains all writable codes.
30 L 1.3 EN - 07/2012
Loading...