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
	8.6.2.1	Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	149
8.6.3 Open the »Global Drive Control« project & go online . . . . . . . . . . . . . . . . . . . . . .			149
8.6.4 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .			152
	8.6.4.1	Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	152
	8.6.4.2	Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	153
8.6.5 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . .			155
	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
8.6.6 Interface assignment in the »Global Drive Control«. . . . . . . . . . . . . . . . . . . . . . . .			165

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

8.9ECS/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

11.6.1Structure of S84_DriveControl_8400HL_TablePositioning - actuation to the drive 244

11.6.2Structure 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	•	Control technology - System structure & configuration
"PC-based Automation"	•	Visualisation - System structure & components
Communication manuals	•	CANopen control technology
"PC-based Automation"	•	PROFIBUS control technology
(Software) manual	•	Industrial PC - Parameter setting & configuration
"PC-based Automation"
Operating instructions	•	EL x8xx - built-in panel PC with TFT display
"Embedded Line Panel PC"
Operating instructions	•	CS x8xx - stand-alone operator terminal
"Command Station"
Operating instructions	•	CPC x8xx - control cabinet PC
"Control Cabinet PC"
Operating instructions	•	EL 1xx - HMI with Windows® CE
"HMI EL 100"
More software manuals	•	»Global Drive Control« (»GDC«)
		– IPC as gateway - Parameter setting & configuration
	•	»Engineer«
	• »PLC Designer« / »PLC Designer - SoftMotion« / »PLC Designer - CANopen
		for Runtime Systems«
	•	»VisiWinNET® Smart«

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
		Abbreviations used:
	MA EPM-Txxx (I/O system IP20)
	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
		Í This documentation contains further
	SW Inverter Drives 8400
	BaseLine / StateLine / HighLine / TopLine	information when using the sample projects
	SW Servo Drive 9400 HighLine / PLC	Í This documentation contains further
		information when using the sample projects
	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
		information when using the sample projects
	BAs for the ECS servo system	Í This documentation contains further
		information when using the sample projects
	KHBs for the communication modules
Programming
	SW 9400 function library
Establishing a network
	KHBs for the communication modules

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

PLC Designer V2.x| Lenze Application Samples

About this documentation

Document history

1.1Document history

Version				Description
1.1		11/2010	TD11	First edition
1.2		03/2011	TD11	Further sample projects supplemented:
				•	8200 vector
				•	9300 Speed
				•	9300 EP
				• Multiproject ECS/ 8400 StateLine/9400 HighLine
1.3		06/2012	TD11	Amended by general notes on the use of FBs.

1.2Trademark

Microsoft, Windows, and Windows NT are either registered trademarks or trademarks of the Microsoft Corporation in the USA and/or other countries.

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

1.3Conventions 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.
			Example: 1234.56
Text
	Version information	Text colour blue	All pieces of information that only apply to or from a
			certain controller software version are identified
			accordingly in this documentation.
			Example: This function extension is available as from
			software version V3.0!
	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
			Properties... tab / The Name ... input field
	Sequence of menu		If the execution of a function requires several
	commands		commands in a row, the individual commands are
			separated by an arrow: Select File Open to...
	Shortcut	<Bold>	Use <F1> to open the online help.
			If a key combination is required for a command, a "+"
			is placed between the key identifiers: With
			<Shift>+<ESC>...
	Program code	Courier	IF var1 < var2 THEN
	Keyword	Courier bold	a = a + 1
			END IF
	Hyperlink	Underlined	Optically highlighted reference to another topic. It is
			activated with a mouse-click in this documentation.
Symbols
	Page reference	( 18)	Optically highlighted reference to another page. It is
			activated with a mouse-click in this documentation.
	Step-by-step instructions		Step-by-step instructions are marked by a
			pictograph.

18

L

1.3 EN - 07/2012

PLC Designer V2.x| Lenze Application Samples

About this documentation

Notes used

1.4Notes 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
	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

The "PC-based automation" system

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.

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

PLC Designer V2.x| Lenze Application Samples

Requirements

System requirements

4 Requirements

4.1System requirements

	Engineering PC	IPC (controller)
Hardware	PC/notebook	Industrial PC with PLC (Logic) from
		firmware V2.0
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
		• CAN nodes (depending on the
		respective example application)

4.2What 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.

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?

4.3Where 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 productand 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
	System bus (CAN) / CANopen
	CANopen (Logic)
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 "L- force 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):

http://www.can-cia.org

5.1CANopen (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 ( 26).

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

PLC Designer V2.x| Lenze Application Samples

System bus (CAN) / CANopen

Communication card MC-CAN2

5.2Communication 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

Commissioning the CANopen Logic bus

Overview of the commissioning steps

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.

6.1Overview of the commissioning steps

Step	Action	Lenze software to be used
1.	Open sample project	»Engineer« or
	Commissioning field devices ( 28)	»Global Drive Control«
	Going online ( 29)	(depending on the used
	Preparing the restart ( 30)	device)
2.	Open sample project	»PLC Designer«

In the following the individual commissioning steps are described. Follow the given step- by-step instructions to commission your system.

More detailed information about how to work with the Lenze engineering tools can be found in the corresponding manuals and online helps.

1.3 EN - 07/2012

L

27

PLC Designer V2.x| Lenze Application Samples

Commissioning the CANopen Logic bus

Commissioning field devices

6.2Commissioning 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

PLC Designer V2.x| Lenze Application Samples

Commissioning the CANopen Logic bus

Commissioning field devices

6.2.1	Going online
	Field device	Going online with	Connection via
	Industrial PC	»Engineer« or	Ethernet
		»WebConfig«
	Inverter Drive 8400 StateLine /	»Engineer«	•	IPC as gateway
	HighLine		•	CAN device interface
	9400 Servo Drive HighLine	»Engineer«	•	IPC as gateway
			•	Diagnostic adapter
			•	Ethernet module E94AYCEN
			•	CANopen module E94AYCCA
			•	CAN device interface
	ECS servo system (ECSxE/S/P/M/A)	»Global Drive Control«	•	IPC as gateway
			•	CANopen module EMF2178IB
			• CAN device interface 1)
	8200 vector	»Global Drive Control«	•	IPC as gateway
			• CAN module CAN PT/
				E82ZAFCC010
			• CAN device interface 1)
	9300	»Global Drive Control«	•	IPC as gateway
			• CAN device interface 1)

1) CANopen only with system bus adapter EMF2177IB (if required, observe standard device specifications!)

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

6.3Preparing 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 compare these values with the existing 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.

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