Lenze R3-x User Manual

Engineering tools

Engineer/ PLC Designer

Application Samples Inverter 8400/9400 _ _ _

Software Manual EN

Ä.OQjä

13464873

Contents

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1.1 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1.2 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.3 Notes used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

2 Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3 Preconditions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.1 System requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.2 What is the PLC Designer? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.3 Where can I receive a full version of the PLC Designer? . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3.3.1 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

4 The Controller-based Automation system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

5 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

5.1 General system structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

5.2 Wiring the hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

5.2.1 Setting up communication to the Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

5.2.2 Compiling the project data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

5.2.3 Starting the sample project - Logging on to the control with the »PLC Designer«20

6 Which Lenze application samples (AppSamples) exist? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

5.2.4 Downloading and starting the PLC program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

6.1 Controller-based Automation: Application samples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

6.2 Where do I find the sample projects? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

6.3 How are the application samples called? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

6.4 Structure of the sample projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

2 Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014

Contents

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

7 Working with the sample projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

7.1 Sample project with the "Actuator speed" application - Actuator Speed . . . . . . . . . . . . . 25

7.1.1 Components to be used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

7.1.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

7.1.3 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

7.1.4 Open the »Engineer« project & go online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

7.1.5 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

7.1.5.1 Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

7.1.5.2 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

7.1.6 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 33

7.1.6.1 Information/start page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

7.1.6.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

7.1.6.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

7.1.6.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

7.1.6.5 Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

7.2 Sample project with "Table positioning" application - TablePositioning. . . . . . . . . . . . . . 38

7.2.1 Components to be used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

7.2.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

7.2.3 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

7.2.4 Open the »Engineer« project & go online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

7.2.5 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

7.2.5.1 Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

7.2.5.2 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

7.2.6 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 45

7.2.6.1 Information/start page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

7.2.6.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

7.2.6.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

7.2.6.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

7.2.6.5 Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

7.2.6.6 Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

8 Extending sample projects - adding devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

8.1 Creating a control configuration - EtherCAT bus system . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

8.2 Create control configuration - bus system CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

8.3 Setting of CAN parameters and PDO mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

9 Overview of device descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

9.1 Inverter Drives 8400 BaseLine C - Actuator Speed ("speed actuating drive") . . . . . . . . . 62

9.1.1 Overview of indices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

9.2 Inverter Drives 8400 StateLine C - speed actuating drive. . . . . . . . . . . . . . . . . . . . . . . . . . . 64

9.2.1 Overview of indices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014 3

Contents

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

9.3 Inverter Drives 8400 HighLine C - table positioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

9.3.1 Overview of indices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

9.4 Inverter Drives 8400 TopLine C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

9.4.1 Overview of indices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

9.5 Servo Drives 9400 HighLine C speed actuating drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

9.5.1 Overview of indices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

9.6 Servo Drives 9400 HighLine C - table positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

9.7 Servo Drives 9400 HighLine C - torque actuating drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

9.8 Servo Drives 9400 HighLine C - electronic gearbox . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

9.9 Servo Drives 9400 HighLine C - synchronism with mark synchronisation . . . . . . . . . . . 75

9.10 Servo Drives 9400 HighLine C - positioning sequence control . . . . . . . . . . . . . . . . . . . . . . 76

9.11 9400 regenerative power supply module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

9.12 Servo Drives 9400 HighLine C - "empty application" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

9.13 9400 HighLine C - Overview of indices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

9.14 Lenze generic drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

9.14.1 Overview of indices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

10 Overview: The libraries for controlling the inverters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

10.1 Overview - function libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

10.2 The L_LCB_LogicControlBasic library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

10.3 The L_DCO_DriveCommunication library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

10.4 The L_DAC_DataConversion library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

11 The L_DAC_DataConversion library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

11.1 Overview of the functions and function blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

11.2 L_DAC_GetBitOfByte - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

11.3 L_DAC_GetBitOfDWord - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

11.4 L_DAC_GetBitOfWord - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

11.5 L_DAC_ResetBitOfByte - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

11.6 L_DAC_ResetBitOfDWord - conversion block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

11.7 L_DAC_ResetBitOfWord - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

11.8 L_DAC_SetBitOfByte - bit operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

11.9 L_DAC_SetBitOfDWord - bit operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

11.10 L_DAC_SetBitOfWord - bit operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

11.11 L_DAC_BitsToByte - bit multiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

11.12 L_DAC_BitsToDWord - bit multiplexer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

11.13 L_DAC_BitsToWord - bit multiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

4 Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014

Contents

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

11.14 L_DAC_ByteToBits - bit demultiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

11.15 L_DAC_DWordToBits - bit demultiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

11.16 L_DAC_WordToBits - bit demultiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

11.17 L_DAC_2BytesToWord - type converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

11.18 L_DAC_2WordsToDWord - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

11.19 L_DAC_4BytesToDWord - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

11.20 L_DAC_DWordTo2Words - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

11.21 L_DAC_DWordTo4Bytes - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

11.22 L_DAC_WordTo2Bytes - type converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

12 The L_DCO_DriveCommunication library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

12.1 Overview of the functions and function blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

12.2 Enums. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

12.2.1 L_DCO_CommState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

12.2.2 L_DCO_Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

12.3 Function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

12.3.1 L_DCO_AXIS_REF_BASE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

12.3.2 L_DCO_ReadDriveParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

12.3.3 L_DCO_ReadDriveParameterString . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

12.3.4 L_DCO_TransferDriveParameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

12.3.5 L_DCO_TransferData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

12.3.6 L_DCO_WriteDriveParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

12.4 Structures (Structs). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

12.4.1 L_DCO_SDOData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

12.4.2 L_DCO_TransferData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

12.5 Unions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

12.5.1 L_DCO_ConvertData. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

13 The L_LCB_LogicControlBasic library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

13.1 Overview of the functions and function blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

13.2 L_LCB_Error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

13.3 L_LCB_AXIS_REF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

13.4 L_LCB_AXIS_REF_CAN (internal use) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

13.5 L_LCB_AXIS_REF_ETC (internal use) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

13.6 L_LCB_8400Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

13.7 L_LCB_9400Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

13.8 L_LCB_ActuatorSpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

13.8.1 Assignment - input ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

13.8.2 Assignment - output ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014 5

Contents

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

13.9 L_LCB_TablePositioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

13.9.1 Assignment - input ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

13.9.2 Assignment - output ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

13.10 L_LCB_GenericDrive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

13.11 L_LCB_Norm_aToNorm_n - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

13.12 L_LCB_Norm_nToNorm_a - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

13.13 L_LCB_Norm_nToSpeed_s - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

13.13.1 LCB_Axis_logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

13.14 L_LCB_Speed_nToNorm_r - signal converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

13.15 L_LCB_Speed_rToNorm_n - signal converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

13.16 L_LCB_Speed_sToNorm_n - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

13.17 L_LCB_Speed_sToSpeed_v - signal converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

13.18 L_LCB_Speed_vToSpeed_s - signal converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

13.19 L_LCB_TaskCycle - read in task time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

13.20 L_LCB_GetAxisData - read out machine parameters from axis data . . . . . . . . . . . . . . . . 138

13.21 L_LCB_GetPosition - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

13.22 L_LCB_GetSpeed - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

13.23 L_LCB_SetAxisData - machine parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

13.24 L_LCB_SetPosition - position value conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

13.25 L_LCB_SetSpeed - speed value conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

13.26 L_LCB_AccToUnit - acceleration value conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

13.27 L_LCB_PosToUnit - position value conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

13.28 L_LCB_SpeedToUnit - speed value conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

13.29 L_LCB_UnitToAcc - acceleration value conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

13.30 L_LCB_UnitToPos - position value conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

13.31 L_LCB_UnitToSpeed - speed value conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

13.32 L_LCB_AXISMODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

13.33 L_LCB_LOGICDEVICE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

14 Automatically generated functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151

14.1 GetBooleanProperty (automatically generated by »PLC Designer«). . . . . . . . . . . . . . . . . 151

14.2 GetCompany (automatically generated by »PLC Designer«). . . . . . . . . . . . . . . . . . . . . . . . 152

14.3 GetNumberProperty (automatically generated by »PLC Designer«). . . . . . . . . . . . . . . . . 152

14.4 GetTextProperty (automatically generated by »PLC Designer«) . . . . . . . . . . . . . . . . . . . . 153

14.5 GetTitle (automatically generated by »PLC Designer«). . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

14.6 GetVersion (automatically generated by »PLC Designer«). . . . . . . . . . . . . . . . . . . . . . . . . . 154

6 Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014

Contents

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

14.7 GetVersionProperty (automatically generated by »PLC Designer«) . . . . . . . . . . . . . . . . . 155

15 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

Your opinion is important to us. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014 7

About this documentation

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

1 About this documentation

This documentation describes the first commissioning steps of a Lenze automation system on the basis of predefined sample projects. The automation system used consists of a PLC for the control technology and drive components connected (via a bus system).

 Read the mounting instructions accompanying the controller first before you start

working!

The mounting instructions include safety instructions which must be observed!

 Note!

This documentation supplements the software manuals of the »PLC Designer« and »Engineer«.

 Tip!

Current information and tools regarding the Lenze products can be found in the download area at: http://www.Lenze.com

This manual is part of the "Controller-based Automation" manual collection. The manual collection consists of the documents:

Type of documentation Subject

System manuals System overview/example topologies

• Controller-based Automation

• Visualisation

Communication manuals Bus systems

• Controller-based Automation EtherCAT®

• Controller-based Automation CANopen®

• Controller-based Automation PROFIBUS®

• Controller-based Automation PROFINET®

Online helps/ software manuals

Lenze Engineering tools

• »PLC Designer«: Programming

• »Engineer«: Configuration of drives

• »VisiWinNET® Smart«: Visualisation

• »Backup & Restore«: Backing up/restoring data

8 Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014

About this documentation

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Further technical documentation on Lenze products

Further information on Lenze products which can be used in connection with Controller-based Automation can be found in the following documentation:

Mounting & wiring Icons

 Mounting instructions

• Controller

• Communication cards (MC-xxx)

• I/O system 1000 (EPM-Sxxx)

•Inverter

•Communication modules

Using sample application/application template

 Online help/software manuals

• i700 Application Sample

• Application samples Inverter Drives 8400/Servo Drives 9400

• ApplicationTemplate

• ApplicationTemplate PackML

Parameterisation, configuration, commissioning

 Online help/software manuals

• Controller

• i700 servo inverter

• Servo Drives 9400 HighLine/PLC/ regenerative power supply module

• Inverter Drives 8400 StateLine/HighLine/TopLine

• 1000 I/O system (EPM-Sxxx)

 Online help/communication manuals

• Bus systems

•Communication modules

Printed documentation

Online help in the Lenze Engineering tool/ software manuals and communication manuals are provided as PDF files in the download area of the Lenze website.

Target group

This documentation addresses to all persons who plan, commission, and program a Lenze automation system on the basis of the Lenze "ApplicationTemplate PackML" as part of the "Controller-based Automation".

Screenshots/application examples

All screenshots in this documentation are application samples. Depending on the firmware version of the Lenze devices and the software version of the engineering tools installed (here: »PLC Designer«), the screenshots may differ from the real screen display.

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014 9

About this documentation

Document history

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Information regarding the validity

The information in this documentation is valid for the following Lenze software:

Software From software version

»PLC Designer« 3.1.x

»Engineer« 2.13

1.1 Document history

Version Description

1.0 04/2011 TD11 First edition

1.1 05/2011 TD11 Updated version

• Device descriptions supplemented.

• L_LCB_LogicControlBasic library extended.

1.2 06/2012 TD11 Updated version

• Amended library L_LCB_LogicControlBasic: Amended by notes on the use of the L_LCB_ActuatorSpeed, L_LCB_TablePositioning FBs.

1.3 06/2014 TD11 Updated version

• Completed version of the available Application Samples.

• Updated representation of the FBs.

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014

About this documentation

Conventions used

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

1.2 Conventions used

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

Type of information Writing Examples/notes

Spelling of numbers

Decimal separator Point The decimal point is always used.

For example: 1234.56

Text

Version information Blue text colour All information that applies to from a certain software

Program name » « »PLC Designer«...

Window italics The Message window... / the Options dialog box...

Variable names By setting bEnable to TRUE...

Control element bold The OK... button / The Copy... command / The Properties...

Sequence of menu commands

Shortcut <bold> Use <F1> to open the online help.

Hyperlink Underlined

Icons

Page reference ( 11) Reference to further information: Page number in PDF file.

Step-by-step instructions

version of the drive onwards are marked accordingly in this documentation.

Example: This function extension is available from software

version V3.0!

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>...

Reference to further information: Hyperlink to further information.

Step-by-step instructions are indicated by a pictograph.

Open to...



Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014 11

About this documentation

Notes used

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

1.3 Notes used

The following signal words and symbols are used in this documentation to indicate dangers and important information:

Safety instructions

Layout of the safety instructions:

 Pictograph and signal word!

(characterise the type and severity of danger)

Note

(describes the danger and gives information about how to prevent dangerous situations)

Pictograph Signal word Meaning

Danger! Danger of personal injury through dangerous electrical voltage



Danger! Danger of personal injury through a general source of danger



Stop! Danger of property damage



Application notes

Pictograph Signal word Meaning

Note! Important note to ensure trouble-free operation

Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken.

Reference to a possible danger that may result in property damage if the corresponding measures are not taken.



Tip! Useful tip for easy handling



Reference to another document



Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014

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 commissioning the devices with the »Engineer«!

The device documentation contains safety instructions which must be observed!

 Danger!

According to today's scientific knowledge it is not possible to ensure absolute freedom from defects of a software product.

If necessary, systems with built-in controllers must be provided with additional monitoring and protective equipment complying with the relevant safety regulations (e.g. law on technical equipment, regulations for the prevention of accidents) in each case, 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 is a risk of injury by the moving machine parts.

 Stop!

If you change parameters in the »Engineer« while the controller is connected online, the changes will be directly accepted by the controller!

A wrong parameter setting can cause unpredictable motor movements. By an unintended direction of rotation, a too high speed, or jerky operation, the driven machine parts may be damaged!

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014 13

Preconditions

System requirements

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

3 Preconditions

3.1 System requirements

[3-1] Illustration example: System structure with a Controller 3200 C

Hardware PC/notebook PLC (Logic) from firmware V3.1

Operating system Windows XP Windows CE

Required Lenze software »PLC Designer« V3.1 Logic

Further requirements Depending on the respective sample

3.2 What is the PLC Designer?

The »PLC Designer« is a Lenze engineering tool for programming the PLC of Lenze Controllers. The Controller is the central control component of the Lenze Controller-based Automation system.

Product features

• Five different editors for the programming languages standardised in the IEC 61131-3 and a very efficient CFC Editor are available. They can be used to create your own programs or to address the functions of the 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 Controller

application:

• CAN or EtherCAT bus system

• CAN or EtherCAT node

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014

Preconditions

Where can I receive a full version of the PLC Designer?

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

3.3 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) .

• 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 Controller.

3.3.1 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_V3.x.zip on your PC.

• The ZIP file contains an installation file.

Start the PLCDesigner_V3.x.exe installation file from the DC supplied with the Controller.

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.

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014 15

The Controller-based Automation system

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4 The Controller-based Automation system

Central control technology becomes 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.

The Controllers are available with the following software programs:

• Controllers as control system

• Controllers as visualisation system (depending on the model, an additional panel may be required)

• Controllers as component, optionally with operating system, without any further software

The Controller-based Automation system enables the central control of Logic and Motion systems.

 Further information on parameter setting and configuration of the individual bus

systems can be found in the following bus system-specific communication manuals:

16 Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014

The Controller-based Automation system

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Lenze supply specially matched system components:

• Controller as control and visualisation system

• The Controller is the central component in Controller-based Automation which uses the runtime software to control the Logic and Motion functionalities.

• The controller communicates with the field devices via the fieldbus.

• Engineering tools for the Engineering PC

• The Engineering PC uses the Ethernet to communicate with the Controller.

• Use the various Engineering tools to configure and parameterise the system.

•Fieldbuses

•Field devices

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014 17

Commissioning

General system structure

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

5 Commissioning

This chapter describes the commissioning of a sample project by means of examples. The following requirements have to be met, so that the respective sample project can be used.

5.1 General system structure

The Lenze project examples are based on the following system structure.

• The Controller is the central control component of the system configuration.

• The sample projects are available for the following bus systems: CAN/EtherCAT.

[5-1] System structure with a Controller (Logic)

5.2 Wiring the hardware

Before you can work with the project, the hardware has to be connected to each other. The sample projects are configured so that the motors rotate if a controller is used as fieldbus node.

• Connect the desired Controller with the fieldbus nodes.

• Connect the devices (controllers, motors) with the corresponding voltage supply

 Further information on the electrical connections can be found in the documentation

supplied. Please read the mounting instructions supplied with the controller first before you start working!

The mounting instructions include safety instructions which must be observed!

• Connect the components with a suitable fieldbus cable.

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014

Commissioning

Wiring the hardware

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

5.2.1 Setting up communication to the Controller

• Connect the Engineering PC with the controller via a network cable, as the »PLC Designer« accesses the controller via Ethernet.

• Make the IP settings with the »PLC Designer«.

 How to check the communication settings:

1. Go to the Device view and double-click the desired L-force Controller.

2. Make the desired settings on the Communication settings tab.

•Click the Add gateway button to insert a gateway.

• Enter the desired IP address of the L-force Controller.

[5-2] Example: Entering the IP address of the L-force Controller

3. Click OK to add the controller as gateway.

4. By double-clicking the desired channel (or clicking the Set active path button) set the

channel selected in the device tree below the gateway as active path for control.

• Thus, all communication actions directly refer to this channel.

• The currently active path is represented in bold in the list and "(active)" is attached:

5. A device represented in italics is set as momentarily active path but has not been found by the last network scan.

 Note!

• During initial commissioning, observe the following predefined IP addresses:

• Engineering PC: 192.168.5.100

• Controller: 192.168.5.99

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014 19

Commissioning

Wiring the hardware

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

 Further information can be found in the following documentation:

• Controller - Parameter setting & configuration

5.2.2 Compiling the project data

To compile the project data, select the BuildCompile menu command or press the <F11> function key.

• If errors have occurred during the compilation process, you can locate and eliminate them by means of the »PLC Designer«error messages.

Then compile the project data again.

• If no errors have occurred during the compilation process, save the »PLC Designer«project in the project folder.

5.2.3 Starting the sample project - Logging on to the control with the »PLC Designer«

First transmit the sample project to the PLC device and start it then. To log the »PLC Designer« on to the control system, select the OnlineLogin menu command.

• For this, the PLC program must be error-free.

• With login, the PLC program is loaded in the control system.

5.2.4 Downloading and starting the PLC program

• If the PLC program has not been loaded yet onto the Controller, select the OnlineLoad menu command.

• Select the OnlineRun menu command to start the PLC program.

 Tip!

Install the PLC program as "boot project" in order to load it automatically after a device is restarted.

 How to install the project as boot project:

1. Open the Online menu in the menu bar

2. Select the Create boot project for L-force Controller command.

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014

Which Lenze application samples (AppSamples) exist?

Controller-based Automation: Application samples

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

6 Which Lenze application samples (AppSamples) exist?

The ready-configured sample projects are to facilitate the work with the Lenze products for you. They include established system configurations representing typical application cases. The objective is to obtain an executable Lenze automation system by using low effort.

Depending on the application case, the sample projects can be optionally extended, and thus they have to be adapted to the requirements in each case.

6.1 Controller-based Automation: Application samples

Product/device application

Inverter Drives 8400

Baseline

Actuating drive

speed

Stateline

Actuating drive

speed

HighLine

Table

positioning

Servo Drives 9400

HighLine

Actuating drive

speed

Table

positioning

Project name Available for

bus system

LAS_40_INTF_Can_84BL_Speed_0100 CAN 

LAS_40_INTF_Can_84SL_Speed_0200 CAN 

LAS_40_INTF_ETC_84SL_Speed_0100 EtherCAT 

LAS_40_INTF_Can_84HL_TabPos_0200 CAN 

LAS_40_INTF_ETC_84HL_TabPos_0100 EtherCAT 

LAS_40_INTF_Can_94HL_Speed_0200 CAN 

LAS_40_INTF_ETC_94HL_Speed_0100 EtherCAT 

LAS_40_INTF_Can_94HL_TabPos_0200 CAN 

LAS_40_INTF_ETC_94HL_TabPos_0100 EtherCAT 

Lenze Engineering tool

»PLC Designer«

V3.x

»Engineer«

V2.x

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014 21

Which Lenze application samples (AppSamples) exist?

Where do I find the sample projects?

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

6.2 Where do I find the sample projects?

After a successful »PLC Designer« installation, the sample projects can be found under:

(All) ProgramsLenzeAppSamples

6.3 How are the application samples called?

LAS_<Sortierschlüssel>_<Kategorie>_<Bussystem>_<Antriebsregler>_<Version>

Example: LAS_40_INTF_Can_84SL_Speed_xxx

Sort key/category

Sort key Category Description

40 INTF Application samples with interface function (interface connection) for

connecting Lenze controllers.

Differentiation of the bus systems

The sample projects are preconfigured for different bus systems.

Bus system Description

CAN CAN projects contain the "_Can" code in the file name.

EtherCAT EtherCAT projects contain the "_ETC" code in the file name.

6.4 Structure of the sample projects

 Tip!

The »Engineer« sample projects are archived in ZIP format to allow you to send them for instance by e-mail.

The »Engineer« supports project saving (FileSave archive) and project opening (FileOpen archive) in ZIP format.

 Each sample project consists of:

– Ready-made projects in the »Engineer« – program code and visualisation in the »PLC Designer«. The following modes are

possible: automatic, manual (manual jog), service, homing (optional).

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014

Working with the sample projects

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

7 Working with the sample projects

The ready-configured sample projects are to facilitate the work with the Lenze components for you. They include established system configurations representing typical application cases. The objective is to obtain an executable Lenze automation system by using low effort.

Depending on the application case, the sample projects can be optionally extended, and thus they have to be adapted to the requirements in each case.

Where do I find the sample projects?

After a successful installation of the Lenze sample projects they can be found under:

ProgramsLenzeAppSamples

The sample projects are preconfigured for different bus systems.

• CAN projects contain the "_Can" code in the file name

• EtherCAT projects contain the "_ETC" code in the file name

From »PLC Designer« V3.3 the Application Samples are available as predefined »PLC Designer«

projects (*.project, ) when a new project is created.

 How to proceed:

1. Creating a new project:

• File New project

•Select category Lenze Application Samples.

• Open the desired Application Sample.

 Tip!

The »Engineer« sample projects are archived in ZIP format to allow you to send them for instance by e-mail.

The »Engineer« supports project saving (FileSave archive) and project opening (FileOpen archive) in ZIP format.

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014 23

Working with the sample projects

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Structure of the sample projects

• Each sample project consists of:

• ready-made project data in the »Engineer«

• program code and visualisation in the »PLC Designer«. The following modes are possible: automatic, manual (manual jog), service, homing (optional).

24 Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014

Working with the sample projects

Sample project with the "Actuator speed" application - Actuator Speed

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

7.1 Sample project with the "Actuator speed" application - Actuator Speed

Further information on the device-independent function libraries can be found in the following section:

The L_LCB_LogicControlBasic library

The L_DCO_DriveCommunication library ( 100)

General procedure

( 113)

 How to commission the controller:

1. Commission the controller. Commissioning

2. Load the desired project (depending on the desired bus system) to the controller using the

»Engineer«. Open the »Engineer« project & go online

3. Open the desired sample project in the »PLC Designer«. Program structure in the »PLC

Designer« ( 29)

4. Load the project to the Controller and go online.

( 26)

( 27)

7.1.1 Components to be used

[7-1] System configuration with L-force Controller CAN master (ID=0, connection to CAN1) and Lenze 8400 (CAN node ID=5)

Control supported field devices (bus system)

Hardware L-force Controller 8400 BaseLine (CAN)

8400 StateLine (CAN, EtherCAT) 9400 HighLine (CAN, EtherCAT)

Operating system From version Logic 3.1.x Firmware version is device-

Required Lenze software »PLC Designer« from version 3.1

»Engineer« from version 2.12

Further requirements • CAN master ID = 127

• Connection to interface CAN 1

• Logic CAN 500kB

dependent

• CAN node ID = 5

• EtherCAT station ID = 1001

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014 25

Working with the sample projects

Sample project with the "Actuator speed" application - Actuator Speed

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

7.1.2 Short overview of the functions

Mode Description

Automatic In the automatic mode a sequence runs over an infinite loop.

Selection:

•Travel for three seconds at speed1,

•then for five seconds at speed2,

• Start with speed1 again.

Manual In manual mode, the controller can be actuated manually by setting the

Service The service mode serves to adjust the controller.

7.1.3 Commissioning

individual control bits (Jog1, Jog2, QSP, ErrorReset...). Like this, the controller can be controlled manually, e.g. for cleaning or changing the tools.

Selection:

• Travel positive for one second,

•Stop for one second,

• Travel negative for one second.

 Read the mounting instructions accompanying the controller first before you start

working!

The mounting instructions contain safety instructions that must be observed!

1. Wire the power connections

• Use the mounting instructions supplied with the controller to correctly use the power connections according to the requirements of your device.

2. Wire the control terminals

3. Connect USB diagnostic adapter.

4. Switch on the voltage supply of the controller.

• Connect mains voltage.

When the green LED "DRV-RDY" is blinking and the red LED "DRV-ERR" is off, the controller is ready to start and you can continue with the commissioning.

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014

Working with the sample projects

Sample project with the "Actuator speed" application - Actuator Speed

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

7.1.4 Open the »Engineer« project & go online

 Detailed information on the general handling of the »Engineer« can be found in the

online help for the »Engineer«, which you can call with [F1].

 How to open the sample project in the »Engineer«:

1. Start »Engineer«.

2. Open the desired sample project using the FileOpen archive command.

3. Insert the desired motor in the configuration:

• Highlight controller, select the desired motor with the command Insert a component on the Motors tab

• By clicking Complete, insert the selection in the »Engineer« project.

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014 27

Working with the sample projects

Sample project with the "Actuator speed" application - Actuator Speed

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

4. Update the project by clicking :

• Select the option Rebuild all

•Click the Build button to update the project.

5. Going online

• After a connection to the controller has been established successfully, the following status is displayed in the Status line:

6. Download parameter set

• This command has the effect that the application and the parameter settings of the »Engineer« project overwrite the parameter settings in the controller.

7. Optional: Adapt desired communication settings (for instance network address, baud rate).

8. Store parameter set

9. Mains switching to accept the communication settings to the device.

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014

Working with the sample projects

Sample project with the "Actuator speed" application - Actuator Speed

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

7.1.5 Program structure in the »PLC Designer«

 How to proceed:

1. Open the desired sample project (CAN or EtherCAT) in the »PLC Designer«.

2. Load the project to the Controller and Go online.

7.1.5.1 Control configuration

CAN

• The CAN master (ID = 127) is the control section of the system configuration

• The controller (CAN node ID = 5) is attached below the CAN master.

• Below the controller, the axis data are available in the form of an additional node.

• One PDO for CAN-Input and one PDO for CAN-Output is used, respectively.

• The transmission mode is sync-controlled (10 ms)

You can find further details on the extension of the control configuration with CAN and EtherCAT in the following section: Extending sample projects - adding devices

( 51)

EtherCAT

• The EtherCAT master is the control section of the system configuration

• The controller (station ID = 1001) is attached below the EtherCAT master.

• Below the controller, the axis data are available in the form of an additional node.

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014 29

Working with the sample projects

Sample project with the "Actuator speed" application - Actuator Speed

_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

7.1.5.2 Program organisation units

"Main" program

• The "Main (PRG)" program is the basic program for processing the program sequences: initialisation of the controller and selection of the different modes.

[7-2] Main (PRG)

Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014

+ 129 hidden pages