NORD BU0550 User Manual

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NORDAC SK 200E Manual Safety information

BU 0550

PLC logic

for NORD SK 54xE frequency inverters

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PLC logic for NORD SK 54xE frequency inverters Safety information

N O R D Frequency inverters

Safety and operating instructions for

drive power converters

(as per: Low Voltage Directive 2006/95/EEC )

1. General Depending on their protection class, drive power converters may

have live, bare, moving or rotating parts or hot surfaces during operation.

Unauthorised removal of covers, improper use, incorrect installation or operation causes a risk of serious personal injury or material damage.

Further information can be found in this documentation. All transportation, installation, initialisation and maintenance work

must be carried out by qualified personnel (compliant with IEC 364, CENELEC HD 384, DIN VDE 0100, IEC 664 or DIN VDE 0110, and national accident prevention regulations).

For the purposes of these basic safety instructions, qualified personnel are persons who are familiar with the assembly, installation, commissioning and operation of this product and who have the relevant qualifications for their work.

2. Proper use in Europe

Drive power converters are components intended for installation in electrical systems or machines.

When installed in machines, the drive power converter cannot be commissioned (i.e. commencement of the proper use) until it has been ensured that the machine meets the provisions of the EC Directive 2006/42/EEC (Machine Directive); EN 60204 must also be complied with.

Commissioning (i.e. implementation of the proper use) is only permitted if the EMC Directive (2004/108/EEC) is complied with.

Drive power converters with the CE mark meet the requirements of the Low Voltage Directive 2006/95/EEC. The harmonized standards stated in the Declaration of Conformity are used for the drive power converters.

Technical data and information for connection conditions can be found on the rating plate and in the documentation, and must be complied with.

The drive power converters may only be used for the safety functions which are described and for which they have been explicitly approved.

3. Transport, storage

Information regarding transport, storage and correct handling must be complied with.

4. Installation

The installation and cooling of the equipment must be implemented according to the regulations in the corresponding documentation.

The drive power converters must be protected against impermissible loads. Especially during transport and handling, components must not be deformed and/or insulation distances must not be changed. Touching of electronic components and contacts must be avoided.

Drive power converters have electrostatically sensitive components, which can be easily damaged by incorrect handling. Electrical components must not be mechanically damaged or destroyed (this may cause a health hazard!).

5. Electrical connections

When working on live drive power converters, the applicable national accident prevention regulations must be complied with (e.g. VBG A3, formerly VBG 4).

The electrical installation must be implemented according to the applicable regulations (e.g. cable cross-section, fuses, ground lead connections). Further information is contained in the documentation.

Information about EMC-compliant installation – such as shielding, earthing, location of filters and installation of cables can be found in the drive power converter documentation. These instructions must be complied with even with CE marked drive power converters. Compliance with the limiting values specified in the EMC regulations is the responsibility of the manufacturer of the system or machine.

6. Operation

Where necessary, systems where drive power converters are installed must be equipped with additional monitoring and protective equipment according to the applicable safety requirements, e.g. legislation concerning technical equipment, accident prevention regulations, etc.

The parameterisation and configuration of the drive power converter must be selected so that no hazards can occur.

All covers must be kept closed during operation.

7. Maintenance and repairs

After the drive power converter is disconnected from the power supply, live equipment components and power connections should not be touched immediately, because of possible charged capacitors. Observe the relevant information signs located on the drive power converter.

Further information can be found in this documentation.

These safety instructions must be kept in a safe place!

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NORDAC SK 200E Manual Safety information

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PLC logic for NORD SK 54xE frequency inverters Concerning this document

Designation of previous issues

Software Version

Comments

BU 0550 GB, September 2011 Part No. 607 5501 / 3911

V 2.0 R0

First issue

BU 0550 GB, October 2011 Part No. 607 5501 / 4211

V 2.0 R1

Correction of errors / Change of function of the operators ANDN / ORN / XORN

BU 0550 GB, February 2013 Part No. 607 5501 / 0813

V 2.1 R0

The following PLC modules have been added: MC_Control, FB_Capture, FB_Read, FB_Write, FB_Weigh

For some MCs the BUSY output was updated. The process values 35 to 36, 62 to 66 and 141 to 147 have

been added. Functional extension in the section "jump marks" Command "SQR" renamed as "SQRT" The input RAMONLY is new in MC_WriteParameter16/32 The input MODE is new in MC_Home Names for process values corrected Number of PLC errors increased to 16 Addressing possibilities for PDO improved Example program supplemented

NOTE

This supplementary operating manual is only valid in conjunction with the operating manual supplied for the respective frequency inverter (Manual BU0500).

Documentation

Designation: BU 0550 GB Part No.: 607 55 01 Device series: SK 540E, SK 545E

Version list

Publisher

Getriebebau NORD GmbH & Co. KG

Rudolf-Diesel-Str. 1  D-22941 Bargteheide  http://www.nord.com/ Tel.: +49 (0) 45 32 / 289-0  Fax +49 (0) 45 32 / 289-2555

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Intended use of the frequency inverter

Compliance with the operating instructions is essential for fault-free operation and the

acceptance of any warranty claims. These operating instructions must be read before working with the device!

These operating instructions contain important information about servicing. They must therefore be kept close to the device.

NORD frequency inverters are devices for industrial an commercial systems used for the operation of three-phase asynchronous motors with squirrel-cage rotors and Permanent Magnet Synchronous Motors – PMSM (SK 54xE and above) These motors must be suitable for operation with frequency inverters, other loads must not be connected to the devices.

SK 5xxE frequency inverters are devices for stationary installation in control cabinets. All details regarding technical data and permissible conditions at the installation site must be complied with.

Commissioning (commencement of the intended use) is not permitteduntil it has been ensured that the machine complies with the EMC Directive 2004/108/EEC and that the conformity of the end product meets the Machinery Directive 2006/42/EEC (observe EN 60204).

 Getriebebau NORD GmbH & Co. KG, 2013

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Table of Contents

1 GENERAL INFORMATION ...................................................................................................... 9

1.1 Specification of the PLC ....................................................................................... 9

1.2 PLC structure ........................................................................................................ 9

1.2.1 Memory ..................................................................................................................... 9

1.2.2 Process image ........................................................................................................ 10

1.2.3 Program Task ......................................................................................................... 10

1.2.4 Setpoint processing................................................................................................. 11

1.2.5 Data processing via accumulator ............................................................................ 11

1.3 Scope of functions .............................................................................................. 12

1.3.1 Motion Control Lib ................................................................................................... 12

1.3.2 Electronic gear with Flying Saw .............................................................................. 12

1.3.3 Visualisation ............................................................................................................ 12

1.3.4 Process controller ................................................................................................... 13

1.3.5 CANopen communication ....................................................................................... 13

2 CREATION OF PLC PROGRAMS ......................................................................................... 14

2.1 Loading, saving and printing .............................................................................. 14

2.2 Editor .................................................................................................................. 14

2.2.1 Variables and FB declaration .................................................................................. 15

2.2.2 Input window ........................................................................................................... 15

2.2.3 Watch and Breakpoint display window .................................................................... 16

2.2.4 PLC message window............................................................................................. 16

2.3 Load PLC program into the FI ............................................................................ 16

2.4 Debugging .......................................................................................................... 17

2.4.1 Observation points (Watchpoints) ........................................................................... 17

2.4.2 Holding points (Breakpoints) ................................................................................... 17

2.4.3 Single Step ................................................................ ................................ .............. 17

2.5 PLC configuration ............................................................................................... 18

2.6 PLC program start .............................................................................................. 18

2.7 Program example ............................................................................................... 19

3 AWL (INSTRUCTION LIST, IL) .............................................................................................. 20

3.1 General ............................................................................................................... 20

3.1.1 Data types ............................................................................................................... 20

3.1.2 Literal ...................................................................................................................... 20

3.1.3 Comments ................................................................ ................................ ............... 21

3.1.4 Jump marks ............................................................................................................ 21

3.1.5 Function call-ups ..................................................................................................... 22

3.1.6 Bit-wise access to variables .................................................................................... 22

3.2 Operators ............................................................................................................ 22

3.2.1 Loading and storage operators ............................................................................... 22

3.2.2 Arithmetical operators ............................................................................................. 24

3.2.3 Extended mathematical operators .......................................................................... 29

3.2.4 Bit Operations ......................................................................................................... 31

3.2.5 Comparison operators............................................................................................. 37

3.3 Jumps ................................................................................................................. 40

3.3.1 JMP ......................................................................................................................... 40

3.3.2 JMPC ...................................................................................................................... 40

3.3.3 JMPCN .................................................................................................................... 40

3.4 Type conversion ................................................................................................. 41

3.4.1 BYTE_TO_BOOL .................................................................................................... 41

3.4.2 BOOL_TO_BYTE .................................................................................................... 41

3.4.3 INT_TO_BYTE ........................................................................................................ 41

3.4.4 BYTE_TO_INT ........................................................................................................ 42

3.4.5 DINT_TO_INT ......................................................................................................... 42

3.4.6 INT_TO_DINT ......................................................................................................... 42

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3.5 Function blocks .................................................................................................. 43

3.5.1 Standard ................................................................................................................. 43

3.5.2 Motion Control ........................................................................................................ 50

3.5.3 Electronic gear unit with "Flying Saw" ..................................................................... 60

3.5.4 FB_FunctionCurve .................................................................................................. 63

3.5.5 FB_PIDT1 ............................................................................................................... 64

3.5.6 Visualisation with ParameterBox ............................................................................ 66

3.5.7 CANopen ................................................................................................................ 69

3.5.8 Recording of rapid events (FB_Capture) ................................................................ 74

3.5.9 Access to memory areas of the frequency inverter ................................................. 75

3.5.10 Weighing function (FB_Weigh) ............................................................................. 77

4 FREQUENCY INVERTER DETAILS ..................................................................................... 78

4.1 Parameters ........................................................................................................ 78

4.1.1 Operating displays .................................................................................................. 78

4.1.2 Control / PLC parameters ....................................................................................... 78

4.1.3 Control terminals ................................................................................................ ..... 80

4.1.4 Extra functions ........................................................................................................ 83

4.1.5 Information parameters ........................................................................................... 85

4.2 Process values .................................................................................................. 87

4.2.1 Inputs and outputs .................................................................................................. 87

4.2.2 PLC setpoints and actual values............................................................................. 88

4.2.3 Bus setpoints and actual values ............................................................................. 89

4.2.4 ControlBox and ParameterBox ............................................................................... 90

4.2.5 Info parameters ....................................................................................................... 90

4.2.6 PLC error ................................................................................................................ 91

4.2.7 PLC parameter ....................................................................................................... 92

4.3 PLC Error messages ......................................................................................... 93

5 LISTS / INDEX ....................................................................................................................... 94

5.1 Abbreviations: .................................................................................................... 94

5.2 Figures ............................................................................................................... 95

5.3 Tables ................................................................................................................ 95

5.4 Keyword index ................................................................................................... 97

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1 General information

NOTE

Programming and download into the frequency inverter is exclusively via the NORD software NORDCON.

Function

Specification

Standard

Orientated to IEC61131-3

Language

Instruction List ( IL )

Task

A cyclic task, program call-up every 5 ms

Computer performance

Approximately 200 AWL commands per 1 ms

Program memory

4032 Byte for flags, functions and the PLC program

Max. possible number of commands

approximately 1280 commands Attention! This is an average value. Heavy use of flags, process data and

functions considerably reduces the possible number of lines, see the "Resources" section

Freely accessible CAN mailboxes

Total memory

4032 Byte

Program memory Flag memory

Variables

Instances of

function commands

The NORD SK 54xE frequency inverter contains logic processing which is similar to the current IEC61131-3 standard for memory programmable control units (SPS / PLC). The reaction speed or computing power of this PLC is suitable to undertake smaller tasks in the area of the inverter. Inverter inputs or information from a connected field bus can be monitored, evaluated and further processed into appropriate setpoint values for the frequency inverter. In combination with other NORD devices, visualisation of system statuses or the input of special customer parameters is also possible. Therefore, within a limited range, there is a potential for savings via the elimination of a previous external PC solution.

AWL is supported as the programming language. AWL is a machine-orientated, text-based programming language whose scope and application is specified in IEC61131-3.

1.1 Specification of the PLC

1 General

Table 1PLC specification

1.2 PLC structure

1.2.1 Memory

The PLC memory is divided into the program memory and the flag memory. In addition to the variables, instances of function blocks are saved in the area of the flag memory. In instance is a memory area in which all internal input and output variables of function command are saved. Each function command declaration requires a separate instance. The boundary between the program memory and the flag memory is determined dynamically, depending on the size of the flag area.

Fig. 1 Memory structure

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NOTE

If the blocks MC_Power, MC_Reset, MC_MoveVelocity, MC_Move…, MC_Home or MC_Stop are used, the process values "PLC_Control_Word" and "PLC_Set_Val1" to "PLC_Set_Val5" must not be used. Otherwise the values in the list of variables would always overwrite the changes to the function block.

Read in process

PLC program execution

Save process values

Start of cycle

End of cycle

In the flag memory, two different classes of variables are stored in the variable section: [VAR]

Memory variables for storage of auxiliary information and statuses. Variables of this type are initialised every time the PLC starts. The memory content is retained during the cyclic sequence of the PLC.

[VAR_ACCESS] These are used to read and describe process data (inputs, outputs, setpoints, etc.) of the frequency inverter.

These values are regenerated with every PLC cycle.

1.2.2 Process image

Several physical dimensions such as torque, speed, position, inputs, outputs etc. are available to the inverter. These dimensions are divided into actual and setpoint values. They can be loaded into the process image of the PLC and influenced by it. The required process values must be defined in the list of variables under the class VAR_ACCESS.

With each PLC cycle, all of the process data for the inverter which is defined in the list of variables is newly read in. At the end of each PLC cycle the writable process data is transferred back to the inverter. See the following diagram.

Fig. 2 Process image

Because of this sequence it is important to program a cyclic program sequence. Programming loops in order to wait for certain events (e.g. changes of input level) does not produce the required result.

This behaviour is different in the case of function blocks which access process values. Here, the process value is read on call-up of the function block and the process values are written immediately when the block is terminated.

1.2.3 Program Task

Execution of the program in the PLC is carried out as a single task. The task is called up cyclically every 5 ms and its maximum duration is 3 ms. If a longer program cannot be executed in this time, the program is interrupted and continued in the next 5 ms task.

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1.2.4 Setpoint processing

CAN /CANopen

USS

TU3_xxx

Local

PLC

Cycle 5ms

P509 & P510[1]

Cycle 1 ms

P350

P350=0

P350=1

P351

Setpoint

The inverter has a variety of setpoint sources, which are ultimately linked via several parameters to form a frequency inverter setpoint.

1 General

Fig. 3 Generation of control word and main setpoints from a range of possible sources

If the PLC is activated (P350=1) preselection of setpoints from external sources (main setpoints) is carried out via P509 and P510[-01] Via P351, a final decision is made as to which setpoints from the PLC or values input via P509/P510[-01] are used. A mixture of both is also possible.

No changes to the auxiliary setpoints (P510[-02]) are associated with the PLC function. All auxiliary setpoint sources and the PLC transfer their auxiliary setpoint to the frequency inverter with equal priority.

1.2.5 Data processing via accumulator

The accumulator forms the central computing unit of the PLC. Almost all AWL commands only function in association with the accumulator. The NORD PLC has three accumulators. These are the 23 Bit Accumulator 1 and Accumulator 2 and the AE in BOOL format.

The AE is used for all boolean loading, storage and comparison operations. If a boolean value is loaded, it is displayed in the AE. Comparison operations transfer their results to the AE and conditional jumps are triggered by the AE.

Accumulator 1 and Accumulator 2 are used for all operands in the data format BYTE, INT and DINT. Accumulator 1 is the main accumulator and Accumulator 2 is only used for auxiliary functions. All loading and storage operands are handled by Accumulator 1. All arithmetic operands save their results in Accumulator 1. With each Load command, the contents of Accumulator 1 are moved to Accumulator 2. A subsequent operator can link the two accumulators together or evaluate them and save the result in Accumulator 1, which in the following will generally be referred to as the "accumulator".

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1.3 Scope of functions

The PLC supports a wide range or operators, functions and standard function modules, which are defined in IEC1131-3. A detailed description can be found in the following sections (Sections 2.7 and 4)

Function blocks which are additionally supported are also explained (see Section 3.5 ).

1.3.1 Motion Control Lib

The Motion Control Lib is orientated to the PLCopen specification "Function blocks for motion control". This mainly contains function blocks which are used to move the drive. In addition, function blocks for reading and writing FI parameters are also provided.

1.3.2 Electronic gear with Flying Saw

The inverter is equipped with the functions electronic gear (synchronous operation in positioning mode) and Flying Saw. Via these functions the inverter can follow another drive unit with angular synchronism. Also, via the additional Flying Saw function it is possible to synchronize to the precise position of a moving drive. The electronic gear mode can be started and terminated at any time. This enables a combination of conventional

position control with its move commands and gear unit functions. For the gear function a NORD frequency inverter with internal CAN bus is required on the master axis.

1.3.3 Visualisation

Visualisation of the operating status and the parameterisation of the frequency inverter is possible with the aid of a ControlBox or a ParameterBox.

Alternatively, the CANopen Master functionality of the PLC CAN bus panel can be used to display information.

1.3.3.1 ControlBox

The simplest version for visualisation is the ControlBox. The 4-digit display and the keyboard status can be accessed via two process values. This enables simple HMI applications to be implemented very quickly.

In order for the PLC to access the display, P001 must be set to "PLC-Ctrlbox Value". A further special feature is that the parameter menu is no longer accessed via the arrow keys. Instead, the "On" and "Enter" keys must be pressed simultaneously.

1.3.3.2 ParameterBox

In visualisation mode, each of the 80 characters in the P-Box display (4 rows of 20 characters) can be set via the PLC. It is possible to transfer both numbers and texts. In addition. keyboard entries on the P-Box can be processed by the PLC. This enable the implementation of more complex HMI functions (display of actual values, change of window, transfer or setpoints etc.). Access to the P-Box display is via function blocks in the PLC.

Visualisation is via the operating value display of the ParameterBox. The content of the operating value display is set via the P-Box parameter P1003. This parameter can be found under the main menu item "Display". P1003 must be set to the value "PLC display". After this, the operating value display can be selected again by means of the right and left arrow keys. The display controlled by the PLC is then shown. This setting remains in effect even after a further switch-on.

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1.3.4 Process controller

The process controller is a PID-T1 controller with a limited output size. With the aid of this function module in the PLC it is possible to simply set up complex control functions, by means of which various processes, e.g. pressure regulation can be implemented in a considerably more elegant manner than with the commonly used two-point controllers.

1.3.5 CANopen communication

In addition to the standard communication channels, the PLC provides further possibilities for communication. Via the internal CAN bus of the inverter (connection via the RJ45 sockets), it can set up additional communications with other devices. The protocol which is used for this is CANopen. Communications are restricted to PDO data transfer and NMT commands. The standard CANopen inverter communication via SDO, PDO1, PDO2 and Broadcast remains unaffected by this PLC function.

PDO (Process Data Objects)

Other frequency inverters can be controlled and monitored via PDO. However, it is also possible to connect devices from other manufacturers to the PLC. These may be IO modules, CANopen encoders, or panels etc. With this, the number of inputs and outputs of the frequency inverter can be extended at will. Analog outputs would then also be possible.

NMT (Network Management Objects)

All CANopen devices must be set to the CANopen bus state "Operational" by the bus master. PDO communication is only possible in this bus state. If there is no bus master in the CANopen bus, this must be performed by the PLC. The function module FB_NMT is available for this purpose.

1 General

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Input window Variables and FB

declaration

Watch and Breakpoint display window

PLC message window

2 Creation of PLC programs

Creation of PLC programs is carried out exclusively via the PC program NORDCON. The PLC editor is opened either via the menu item "File/New/PLC program" or via the symbol . This button is only active if

a frequency inverter with PLC functionality forms the focus of the device overview.

2.1 Loading, saving and printing

The functions Load, Save and Print are carried out via the appropriate entries in the main menu or in the symbol bars.

When opening, it is advisable to set the data type to "PLC Program" (*.awl / *.awlx) in the Windows dialog. With this, only files which can be read by the PLC editor are displayed.

If the PLC program which is created is to be saved, the Windows window of the PLC editor must be active. The PLC program is saved by actuating "Save" or "Save as". With the operation "Save as", this can also be recognised by the data type (540E PLC (*.awlx)).

The appropriate PLC window must be active in order to print the PLC program. Printout is then started via "File/Print" or the appropriate symbol.

2.2 Editor

The PLC Editor is divided into four different windows.

Fig. 4 PLC Editor

The individual windows are described in more detail in the following sections.

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2 Creation of PLC programs

2.2.1 Variables and FB declaration

All the variables, process values and function blocks which are required by the program are declared in this window.

Fig. 5 Declaration window

Variables Variables are set up by setting the class "VAR". The Name of the variable can be freely selected. In the Type field, a selection can be made between BOOL, BYTE, INT and DINT. A start initialisation for the variables can be entered under Init-. Value.

Process values These can be set up by selecting the entry "VAR_ACCESS" under Class. The Name cannot be freely selected and the field Init. Value is barred for this type.

Function modules The entry "VAR" is selected under Class. The Name for the relevant instance of the function module (FB) can be freely selected. The required is selected under Type. An Init. Value cannot be set for the FB.

All menu items which concern the variable window can be called up via the context menu (right mouse button). Via this, entries can be added and deleted. Variables and process variables for monitoring (Watchdog function) or debugging (Breakpoint) can be activated.

2.2.2 Input window

The input window is used to enter the program and to display the AWL program. It is provided with the following functions:

 Syntax highlighting  Bookmarks  Declaration of variables  Debugging

Syntax highlighting If the command and the assigned variable are recognised by the Editor, the command is displayed in blue and the variable in black. As long as this is not the case, the display in in thin black italics.

Bookmarks As programs in the Editor can have a considerable length, it is possible to mark and jump to important points in the program via the Bookmarks function. The cursor must be located in the relevant line in order to mark it. Via the menu item "Switch bookmark" (right mouse button menu) the line is marked with the required bookmark. The bookmark is accessed via the menu item "Go to bookmark".

Declaration of variables New variables can be declared via the Editor by means of the editor menu "Add variable" (right mouse button).

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Debugging The positions of the Break and Watchpoints for the Debugging function are specified in the Editor. This can be done via the menu items "Switch breakpoint" (Breakpoints) and "Switch monitoring point" (Watchpoints). The position of Breakpoints can also be specified by clicking on the left border of the Editor window.

Variables and process values which are to be read out from the frequency inverter during debugging must be marked. This can be done in the Editor via the menu items "Debug variable" and "Watch variable". For this, the relevant variable must be marked before the required menu item is selected.

2.2.3 Watch and Breakpoint display window

This window has two tabs, which are explained below. Holding points

This window displays all the breakpoints and watchpoints which have been set. These can be switched on and off via the checkboxes and deleted with the "Delete key". A corresponding menu can be called up with the right mouse button.

Observation list This displays all the variables which have been selected for observation. Their actual value is displayed in the Value column. The display format can be selected via the Display column.

2.2.4 PLC message window

All PLC status and error messages are entered in this window. In case of a correctly translated program the message "Translated without error" is displayed. The use of resources is shown on the line below this. In case of errors in the PLC program, the message "Error X" is displayed. The number of errors is shown in X. The following lines show the specific error message in the format:

[ Line number]: Error description

2.3 Load PLC program into the FI

In order for a program to be loaded into the FI the PLC window must be online and the program translated without errors.

The PLC window is online if the PLC window is shown in the tree diagram of the FI (54xE). See following picture.

Fig. 6 NORDCON overview window

This is achieved if the PLC window is opened via the PLC symbol . If a PLC program is opened in the offline window, a device can be assigned to the PLC program via the

menu item "PLC -> Link". The PLC program can be reset to offline mode with the menu item "PLC -> Detach".

The PLC program is loaded into the FI via the symbol and is saved immediately. After this, the program can be started in the frequency inverter via the symbol.

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2 Creation of PLC programs

2.4 Debugging

As programs only rarely function the very first time, the NORD PLC provides several possibilities for finding faults. These possibilities can be roughly divided into two categories, which are described in detail below.

2.4.1 Observation points (Watchpoints)

The simplest debugging variant is the Watchpoint function. This provides a rapid overview of the behaviour of several variables. For this, an observation point is set at an arbitrary point in the program. When the PLC executes this program line, up to 5 values are saved and displayed in the observation list ("Holding point" window). The 5 values to be observed can be selected via the context menu (right mouse button) in the input window or the variable window.

2.4.2 Holding points (Breakpoints)

Via holding points it is possible to deliberately stop the PLC program at a specific line of the program. If the PLC runs into a holding point, the AE, Accumulator 1 and Accumulator 2 are read out, together with all the variables which have been selected under the menu item "Debug variables" (right mouse menu).

Up to 5 Breakpoints can be set in a PLC program. This function is started via the symbol. The program now runs until a holding point is triggered. Further

actuation of the symbol bar allows the program to continue running until it reaches the next holding point.

If the program is to continue running, the symbol is actuated.

2.4.3 Single Step

With this debugging method it is possible to execute the PLC program line for line. With each individual step, all the selected variables are read out of the FI PLC and displayed in the "Observation list" window. The values to be observed can be selected in the input window or the variable window by means of the right mouse button menu.

The prerequisite for debugging in single steps is that at least one holding point (see Section 2.4.2) has been set before debugging is started. The debugging mode is switched on by actuating the symbol. It is only possible to debug the program in single steps via the symbol after the program has run into the first

holding point. Some command lines contain several individual commands. Because of this it is possible that two or more

individual steps must be executed before the step indicator moves forward in the input window. The actual position is shown by a small arrow in the left PLC Editor window.

When the symbol is actuated, the program continues running until the next holding point.

If the program is to continue running, the symbol is actuated.

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2.5 PLC configuration

The PLC configuration dialogue is opened via the symbol. Here, basic settings for the PLC can be made, which are described in further detail below.

Cycle time monitoring

This function monitors the maximum processing time for a PLC cycle. With this, unintended continuous program loops in the PLC program can be caught. The time can be set in 5ms steps up to a maximum of 1 second. Error 22.4 is triggered in the frequency inverter if this time is exceeded.

Allow ParameterBox function module

This option must be activated (see Section 3.5.6) if visualisation via the ParameterBox is to be carried out in the PLC program. Otherwise, the relevant function blocks generate a Compiler error when the frequency inverter is started.

Invalid control data

The PLC can evaluate control words which are received from the possible bus systems. However, the control words can only get through if the bit "PZD valid" (Bit 10) is set. This option must be activated if control words which are not compliant with the USS protocol are to be evaluated by the PLC. Bit 10 in the first word is then no longer queried.

Warm start after error

When the PLC starts, all variables are always loaded with "0" or their initialisation value. It does not matter whether the start is performed after a stop, a program download or a PLC error.

With the option "Warm start after error the content of the variables is not changed for a warm start. A warm start is performed after a PLC Stop command or a PLC error.

Do not pause the system time at holding point

The system time is paused during debugging if the PLC is in the holding point or in single step mode. The system time forms the basis for all timers in the PLC.

This function must be activated if the system time is to continue running during debugging.

2.6 PLC program start

Execution of a PLC program in the frequency inverter can be started in several ways:

 NORDCON: Activation of the symbol in the menu bar.  Parameter P350 setting 1 "On" - The program starts immediately after the control board of the

frequency inverter becomes ready for operation - e.g after the power supply is switched on.

 In case of interruptions of the program by P420/P480 [-xx] setting 80 "PLC Stop": by resetting the

input.

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3 AWL (Instruction List, IL)

Parameter P350 = 1

Control of the FI via PLC

Parameter P351 = 0

Control work and main setpoint from the PLC

Parameter P553[-01] = 1

The PLC setpoint 1 is defined as the setpoint frequency

_5_State_digital_input

Status of the digital inputs

_7_Analog_input1

Value of analog input 1

_21_PLC_set_val1

PLC – setpoint 1

Run

Instance of the Motion Control module "MC_Power" (name freely selectable)

Command

Meaning

Example

LD _5_State_digital_input.0

Reads the status of the digital inputs and loads the

value of digital input 1 into the accumulator

Digital input 1: high  Accumulator = 1

ST Run.Enable

Saves the value from the accumulator in the Mo-

tion Control block called up by the variable Run as the value for Enable.

Enable = 1

LD _7_Analog_input1

Reads the value of analog input 1 (Standardisation:

10 V = 1000) and loads it into the accumulator

AIn1 = 2.5 V  accumulator = 250

SUB int#500

Subtracts the integer value 500 from the accumu-

lator (shifts the 0-point from 0 to 5 V)

250 - 500 = Accumulator = - 250

MUL int#32

Multiplies the integer value 32 with the accumula-

tor value ( Standardisation of the setpoint to the value range of the FI (100 % = 4000

hex

≈

16000

dec

-250 * 32 = Accumulator = - 8000

dec

ST _21_PLC_set_val1

Saves the accumulator in the process variable

PLC-setpoint1.

-8000

dec

 setpoint - 50 %

(Setpoint 50 % of the maximum frequency in the direction of rotation to the left)

Cal Run

The Motion Control function module for setting the

output stage of the inverter is executed

Output stage is enabled.

2.7 Program example

1. Comment to program function and the outline conditions for the program e.g parameterise inverter for PLC control (the parameterisation must be carried out in the inverter.):

2. Definition of the variables and process values used in the PLC

3. Program sequence

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PLC logic for NORD SK 54xE frequency inverters

Name

Required memory space

Value range

BOOL

1 bit

0 to 1

BYTE

1 Byte

0 to 255

INT

2 Byte

-32768 to 32767

DINT

4 Byte

-2,147,483,648 to 2,147,483,647

LABEL_ADDRESS

2 Byte

Jump marks

Literal

Example

Number displayed in decimal

BOOL

FALSE

TRUE

BOOL#0

BOOL#1

Dual (Base 2)

2#01011111

2#0011_0011

BYTE#2#00001111

BYTE#2#0001_1111

Octal (Base 8)

8#0571

377

8#05_71

377

BYTE#8#10

BYTE#8#111

BYTE#8#1_11

Hexadecimal (Base 16)

16#FFFF

-1

16#0001_FFFF

131071

INT#16#1000

4096

DINT#16#0010_2030

1056816

Integer (Base 10)

-10

10_000

10000

INT#12

DINT#-100000

-100000

Time

TIME#10s50ms

10.050 seconds

T#5s500ms

5.5 seconds

TIME#5.2s

5.2 seconds

TIME#5D10H15M

5 days + 10 hours + 15 minutes

T#1D2H30M20S

1 day + 2 hours + 30 minutes + 20 seconds

3 AWL (Instruction List, IL)

3.1 General

3.1.1 Data types

The PLC supports the data types listed below.

Table 2 Data types

3.1.2 Literal

For greater clarity it is possible to enter constants for all data types in various display formats. The following table gives an overview of all possible variants.

Table 3 Numeric literals

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3.1.3 Comments

It is advisable to provide the sections of the program with comments in order to make the PLC program understandable at a later date. In the application program these comments are marked by starting with the character sequence "(*" and finishing with "*)" as shown in the following examples. These comments are not communicated to the frequency inverter.

(* Comment about a program block *)

LD 100 (* Comment about a command *) ADD 20

3.1.4 Jump marks

Entire sections of the program can be skipped with the aid of the operators JMP, JMPC or JMPCN (see Section 3.3). A jump mark is given as the target address. With the exception of umlaut characters and "ß" they may contain all letters, the numbers 0 to 9 and underscores. Other characters are not permitted. The jump mark is terminated with a colon. This may stand on its own. There may also be further commands after in the same line after the jump mark.

Possible variants may appear as follows

Jump mark: LD 20

This_is_a_jump_mark: ADD 10

MainLoop: LD 1000

A further variant is the transfer of a jump mark as a variable. This variable must be defined as type LABLE_ADDRESS in the variable table, then this can be loaded into the variable 'jump marks'. With this, a status machine can be created very simply, see below

JMP Address_Var

Address_1:

LD Address_2 ST Address_Var JMP End

Address_2:

LD Address_3 ST Address_Var JMP End

Address_3:

LD Address_1 ST Address_Var

End:

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PLC logic for NORD SK 54xE frequency inverters

Command

Meaning

LD Var1.0

Loads Bit 0 of Var1 into the AE

ST Var1.7

Stores the AE on Bit 7 of Var1

EQ Var1.4

Compares the AE with Bit 4 of Var1

Operator

Explanation

Load

LDN

Load negated (BOOL)

Memory

STN

Memory negated (BOOL)

3.1.5 Function call-ups

At present, the Editor only supports the following list form for function call-ups. The function CTD is called up via the instance I_CTD. The results are saved in variables. The meaning of the functions used below is described in further detail later in the manual.

 LD 10000  ST I_CTD.PV  LD LoadNewVar  ST I_CTD.LD  LD TRUE  ST I_CTD.CD  CAL I_CTD  LD I_CTD.Q  ST ResultVar  LD I_CTD.CV  ST CurrentCountVar

3.1.6 Bit-wise access to variables

A simplified form is possible for access to a bit from a variable or a process variable.

Table 4 Bit-wise access to variables

3.2 Operators

3.2.1 Loading and storage operators

Table 5 Overview of loading and storage operations

22 BU 0550 GB-0813

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BOOL

BYTE

INT

DINT

Possible data types

X X X

Commands

Explanation

LD 10

Loads 10 as BYTE

LD -1000

Loads -1000 as BYTE

LD Value1

Loads variable Value 1

BOOL

BYTE

INT

DINT

Possible data types

Commands

Explanation

LDN Value1

Value1 = TRUE  AE = FALSE

ST Value2

Save to Value2 = FALSE

BOOL

BYTE

INT

DINT

Possible data types

X X X

Commands

Explanation

LD 100

Loads the value 100

ST Value2

Accumulator content 100 is saved in Value1

BOOL

BYTE

INT

DINT

Possible data types

Commands

Explanation

LD Value1

Value1 = TRUE  AE = TRUE

STN Value2

Save to Value2 = FALSE

3.2.1.1 LD

Loads a constant or a variable into the AE or into the accumulator

Table 6 LD

3.2.1.2 LDN

Loads the negative value of a boolean variable into the AE

3 AWL (Instruction List, IL)

Table 7 LDN

3.2.1.3 ST

Saves the content of the AE or accumulator to a variable. The variable to be saved must match the previously loaded and processed data type.

Table 8 ST

3.2.1.4 STN

Saves the content of the AE to a variable and negates it. The variable to be saved must match the previously loaded and processed data type.

Table 9 STN

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PLC logic for NORD SK 54xE frequency inverters

Operator

Explanation

ABS

Absolute value

ADD

Addition

DIV

Division

LIMIT

Limiter

MAX

Determines the larger of two numbers

MIN

Determines the lesser of two numbers

MUX

Multiplexer

MOD

Modulus operation

MUL

Multiplication

SUB

Subtraction

NOTE

Some of the following operators may also contain further commands. These must be placed in brackets behind the operator

It must be noted that a space must be included behind the opened bracket. The closing bracket must be placed on a separate line of the program.

LD Var1 ADD( Var2

SUB Var3 )

BOOL

BYTE

INT

DINT

Possible data types

Commands

Explanation

LD -10

Loads the value -10

ABS

Accu = 10

ST Value2

Saves the value 10 in Value1

3.2.2 Arithmetical operators

Table 10 Overview of arithmetical operators

3.2.2.1 ABS

Forms the absolute value from the Accumulator.

Table 11 ABS

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BOOL

BYTE

INT

DINT

Possible data types

X X

Commands

Explanation

LD 10

ADD 204

Addition of two constants

LD 170

Addition of a constant and 2 variables.

ADD Var1, Var2

170

dec

+ Var1 + Var2

LD Var1

ADD( Var2

SUB Var3

Var1 + ( Var2 - Var3 )

)

BOOL

BYTE

INT

DINT

Possible data types

X X

Commands

Explanation

LD 10

DIV 2

Division of two constants

LD 170

Division of a constant and 2 variables.

DIV Var1, Var2

(170

dec

: Var1) : Var2

LD Var1

Divide Var1 by the contents of the brackets

DIV( Var2

Var1 : ( Var2 - Var3 )

SUB Var3

)

3.2.2.2 ADD and ADD(

Adds the variables and constants together with the correct prefixes. The first value for addition is in the AE/accumulator, the second is loaded with the ADD command or is inside the bracket. Several variables or constants can be added to the ADD command.

For bracket addition, the accumulator is added to the result of the expression in brackets. Up to 6 bracket levels are possible.

The values to be added must belong to the same type of variable.

Table 12 ADD and ADD(

3.2.2.3 DIV and DIV(

Divides the accumulator by the operands. For divisions by zero, the maximum possible result is entered into the accumulator, e.g. for a division with INT values, this is the value 0x7FFF or the value 0x8000 if the divisor is negative.

For bracket division, the accumulator is divided by the result of the expression in brackets. Up to 6 bracket levels are possible.

The values to be divided must belong to the same type of variable. the part of the result following the decimal point are cut off. If places after the decimal point are required, the

remainder from the division can be determined with the Modulus operation (MOD) and further calculation can be performed with this.

Table 13 DIV and DIV(

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PLC logic for NORD SK 54xE frequency inverters

BOOL

BYTE

INT

DINT

Possible data types

X X

Commands

Explanation

LD 10

Loads the value 10 into the accumulator

LIMIT 20,30

The value is compared with the limits 20 and 30. The value in the accumulator is smaller, the accumulator is overwritten with 20

ST Value1

Saves the value 20 in Value1

BOOL

BYTE

INT

DINT

Possible data types

X X

Commands

Explanation

LD 100

Load 100 into the accumulator

MAX 200

Compare with the value 200

ST Value2

Save the value 200 in Value2 (because it is the larger value)

BOOL

BYTE

INT

DINT

Possible data types

X X

Commands

Explanation

LD 100

Load 100 into the accumulator

MIN 200

Compare with the value 200

ST Value2

Save the value 100 in Value2 (because it is the smaller value)

3.2.2.4 LIMIT

This command limits the value in the accumulator to transferred minimum and maximum values. If this is exceeded the maximum value in the accumulator is transferred and the minimum value is transferred if this is undershot. There is no effect if the value is within the limits.

Table 14 LIMIT

3.2.2.5 MAX

This command determines the maximum value of two variables or constants. For this, the current value of the accumulator is compared with the value transferred in the MAX command. After the command, the larger of the two values is in the accumulator.

Both values must belong to the same type of variable.

Table 15 MAX

3.2.2.6 MIN

This command determines the minimum value of two variables or constants. For this, the current value of the accumulator is compared with the value transferred in the MIN command. After the command, the smaller of the two values is in the accumulator.

Both values must belong to the same type of variable.

Table 16 MIN

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3 AWL (Instruction List, IL)

BOOL

BYTE

INT

DINT

Possible data types

X X

Commands

Explanation

LD 1

Select the required element

MUX 10,20,30,40,Value1

MUX command with 4 constants and one variable

ST Value2

Save the value 20 in Value2

BOOL

BYTE

INT

DINT

Possible data types

X X

Commands

Explanation

LD 25

Load the dividends

MOD 20

Division 25/20  Modulus = 5

ST Var1

Save the result 5 in Var1

LD 25

Load the dividends

MOD( Var1

Result = 25/(Var1 + 10)  Modulus in the accumulator

ADD 10

)

ST Var3

Save the result 10 in Var3

3.2.2.7 MUX

Various constants or variables can be selected by means of an index which is located in front of the command in the accumulator. The first value is accessed via Index 0. The selected value is loaded into the accumulator. The number of values is only limited by the program memory.

Table 17 MUX

3.2.2.8 MOD and MOD(

The accumulator is divided by one or more variables or constants. The remainder from the division stands in the accumulator as the result.

For bracket Modulus, the accumulator is divided by the result of the expression in the brackets and the modulus is formed from this. Up to 6 bracket levels are possible.

Table 18 MOD and MOD(

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PLC logic for NORD SK 54xE frequency inverters

BOOL

BYTE

INT

DINT

Possible data types

X X

Commands

Explanation

LD 25

Load the multiplier

MUL Var1, Var2

25 * Var1 * Var2

ST Var2

Save the result

LD 25

Load the multiplier

MUL( Var1

Result = 25*(Var1 + Var2)

ADD Var2

)

ST Var3

Save the result as Var3

BOOL

BYTE

INT

DINT

Possible data types

X X

Commands

Explanation

LD 10

SUB Value1

Result = 10 - Value1

ST Value1 LD 20

SUB Value1,Value2,30

Result = 20 - Value1 - Value2 - 30

ST Value1

LD 20

SUB( 6

Subtract 20 from the contents of the bracket

AND 2

)

Result = 20 - (6 AND 2)

ST Value1

Save the result 18 in Var1

3.2.2.9 MUL and MUL(

Multiplication of the accumulator with one or more variables or constants. For bracket multiplication, the accumulator is multiplied by the result of the expression in brackets. Up to 6

bracket levels are possible. Both values must belong to the same type of variable.

Table 19 MUL and MUL(

3.2.2.10 SUB and SUB(

Subtracts the accumulator from one or more variables or constants. For bracket subtraction, the accumulator is subtracted from the result of the expression in brackets. Up to 6

bracket levels are possible. The values to be subtracted must belong to the same type of variable.

Table 20 SUB and SUB(

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Operator

Explanation

EXP

Exponential function

LOG

Logarithm, base 10

Logarithm, base e

SQRT

Root

COS, ACOS

Trigonometrical operators SIN, ASIN

TAN, ATAN

NOTE

The operators listed here require a large amount of computation. This may result in a considerably longer running time for the PLC program.

1000





 





 



Akku

eAkku

BOOL

BYTE

INT

DINT

Possible data types

Commands

Explanation

LD 1000

EXP

Result = 2718

ST Var1

1000

log 



 





 



Akku

BOOL

BYTE

INT

DINT

Possible data types

Commands

Explanation

LD 1234

LOG

Result = 91

ST Var1

3.2.3 Extended mathematical operators

Table 21 Overview of extended mathematical operators

3 AWL (Instruction List, IL)

3.2.3.1 EXP

Forms the exponential of the accumulator to the base of Euler's number (2.718). Up to 3 places behind the decimal point may be stated, i.e. 1.002 must be entered as 1002.

Table 22 EXP

3.2.3.2 LOG

Forms the logarithm to base 10 from the accumulator. Up to 3 places after the decimal point may be stated, i.e. 1.000 must be entered as1000.

Table 23 LOG

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PLC logic for NORD SK 54xE frequency inverters

1000

ln 



 





 



Akku

BOOL

BYTE

INT

DINT

Possible data types

Commands

Explanation

LD 1234

Result = 210

ST Var1

Save the value 210 in Value1

1000





 





 



Akku

BOOL

BYTE

INT

DINT

Possible data types

Commands

Explanation

LD 1234

SQRT

Result = 1110

ST Var1

Save the value 1110 in Var1

1000

sin 



 





 



Akku

1000

cos 



 





 



Akku

1000

tan 



 





 



Akku

1000

sin 



 





 



Akku

aAkku

1000

cos 



 





 



Akku

aAkku

1000

tan 



 





 



Akku

aAkku

BOOL

BYTE

INT

DINT

Possible data types

Commands

Explanation

LD 1234

SIN ST Var1

Save the value 943 in Var1

3.2.3.3 LN

Logarithm to base e (2.718). Up to 3 places behind the decimal point may be stated, i.e. 1.000 must be entered as 1000.

Table 24 LN

3.2.3.4 SQRT

Forms the square root of the accumulator. Up to 3 places behind the decimal point may be stated, i.e. 1.000 must be entered as 1000.

Table 25 SQR

3.2.3.5 COS, ACOS, SIN, ASIN, TAN, ATAN

Calculates the relevant mathematical function. The value to be calculated must be available in the accumulator in radians. The scaling corresponds to 1 = 1000.

Conversion: Angle in radians = (Angle in degrees * PI / 180)*1000 e.g. an angle of 90° is converted as follows  90° * 3.14 / 180) *1000 = 1571

Table 26 Trigonometrical functions

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3.2.4 Bit Operations

Operator

Explanation

AND

ANDN

AND with negated operand

NOT

Negation

ORN

OR with negated operand

ROL

Rotate left

ROR

Rotate right

SHL

Shift left

SHR

Shift right

S and R

Set and Reset

XOR

Exclusive OR

XORN

Exclusive OR with negated operand

BOOL

BYTE

INT

DINT

Possible data types

X X X

Commands

Explanation

LD 170

AND 204

AND link between 2 constants Accu = 136 (See example under the table)

LD 170

Link between a constant and 2 variables.

AND Var1, Var2

Accu = 170

dec

AND Var1 AND Var2

LD Var1

AND ( Var2

AE/Accu = Var1 AND ( Var2 OR Var3 )

OR Var3

)

AE/Accu

Operand

Result

0 0 0 0 1

1 0 0 1 1

Table 27 Overview of Bit operations

3.2.4.1 AND and AND(

3 AWL (Instruction List, IL)

Bit-wise AND linking of the AE/accumulator with one or two variables or constants. Bit-wise AND(...) linking with the AE/accumulator and the AE/accumulator which was previously formed in

the bracket. Up to 6 bracket levels are possible. All values must belong to the same type of variable.

Table 28 AND and AND(

Example: 170

BU 0550 GB-0813 31

(1010 1010

dec

) AND 204

bin

(1100 1100

dec

) = (1000 1000

bin

) 136

dec

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PLC logic for NORD SK 54xE frequency inverters

BOOL

BYTE

INT

DINT

Possible data types

X X X

Commands

Explanation

LD 2#0000_1111

ANDN 2#0011_1010

ANDN link between 2 constants Accu = 2#0000_0101

LD 170

Link between a constant and 2 variables.

ANDN Var1, Var2

Accu = 170d ANDN Var1 ANDN Var2

LD Var1

ANDN ( Var2

AE/Accu = Var1 ANDN ( Var2 OR Var3 )

OR Var3

)

BOOL

BYTE

INT

DINT

Possible data types

X X X

Commands

Explanation

LD BYTE#10

Load the value 10

dec

into the accumulator in the

format Byte

NOT

The value is resolved at Bit level (0000 1010), negated bit-wise (1111 0101) and converted back to a decimal value. Result = 245

dec

ST Var3

Save the result as Var3

AE/Accu

Operand

Result

0 0 0

0 1 0 1 0

1 1 0

3.2.4.2 ANDN and ANDN(

Bit-wise AND linking of the AE/accumulator with a negated operand. Bit-wise AND (...) linking of the AE/accumulator and the negated result of the bracket. Up to 6 bracket levels

are possible. The values to be linked must belong to the same type of variable.

Table 29 ANDN and ANDN(

3.2.4.3 NOT

Bit-wise negation of the accumulator.

Table 30 NOT

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3 AWL (Instruction List, IL)

BOOL

BYTE

INT

DINT

Possible data types

X X X

Commands

Explanation

LD 170

OR 204

OR link between 2 constants

LD 170

Link between a constant and 2 variables.

OR Var1, Var2

Accumulator = 170d OR Var1OR Var2

LD Var1

OR ( Var2

AE/Accumulator = Var1 OR ( Var2 AND Var3 )

AND Var3

)

BOOL

BYTE

INT

DINT

Possible data types

X X X

Commands

Explanation

LD 2#0000_1111

ORN 2#0011_1010

ORN link between 2 constants Accu = 2#1100_1111

LD 170

Link between a constant and 2 variables.

ORN Var1, Var2

Accu = 170d ORN Var1 ORN Var2

LD Var1

ORN ( Var2

AE/Accu = Var1 ORN ( Var2 OR Var3 )

OR Var3

)

AE/Accu

Operand

Result

0 0 0 0 1

1 0 1 1 1

AE/Accu

Operand

Result

0 0 1 0 1

1 0 1 1 1

3.2.4.4 OR and OR(

Bit-wise OR linking of the AE/accumulator with one or two variables or constants. Bit-wise OR(...) linking with the AE/accumulator and the AE/accumulator which was previously formed in the

bracket. Up to 6 bracket levels are possible. All values must belong to the same type of variable.

Table 31 OR and OR(

3.2.4.5 ORN and ORN(

Bit-wise OR linking of the AE/accumulator with a negated operand. Bit-wise OR (...) linking of the AE/accumulator and the negated result of the bracket. Up to 6 bracket levels

are possible. The values to be linked must belong to the same type of variable.

Table 32 ANDN and ANDN(

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PLC logic for NORD SK 54xE frequency inverters

BOOL

BYTE

INT

DINT

Possible data types

X X

Commands

Explanation

LD 175

Loads the value 1010_1111

ROL 2

The contents of the accumulator are rotated 2x to the left

ST Value1

Saves the value 1011_1110 in Value1

BOOL

BYTE

INT

DINT

Possible data types

X X

Commands

Explanation

LD 175

Loads the value 1010_1111

ROR 2

The contents of the accumulator are rotated 2x to the right

ST Value1

Saves the value 1110_1011 in Value1

BOOL

BYTE

INT

DINT

Possible data types

X X

Commands

Explanation

LD 175

Loads the value 1010_1111

SHL 2

The contents of the accumulator are shifted 2x to the left

ST Value1

Saves the value 1011_1100 in Value1

3.2.4.6 ROL

Bit-wise left rotation of the accumulator. Here, the content of the accumulator is shifted n times to the left, whereby the left Bit is reinserted on the right.

Table 33 ROL

3.2.4.7 ROR

Bit-wise right rotation of the accumulator. Here, the content of the accumulator is shifted n times to the right, whereby the left Bit is reinserted on the left.

Table 34 ROR

3.2.4.8 SHL

Bit-wise left shift of the accumulator. Here, the contents of the accumulator are shifted n times to the left. The bits which are pushed out are lost.

Table 35 SHL

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3 AWL (Instruction List, IL)

BOOL

BYTE

INT

DINT

Possible data types

X X

Commands

Explanation

LD 175

Loads the value 1010_1111

SHR 2

The contents of the accumulator are shifted 2x to the right

ST Value1

Saves the value 0010_1011 in Value1

BOOL

BYTE

INT

DINT

Possible data types

Commands

Explanation

LD TRUE

Loads the AE with TRUE

S Var1

VAR1 is set as TRUE

R Var1

VAR1 is set as FALSE

BOOL

BYTE

INT

DINT

Possible data types

X X X

Commands

Explanation

LD 2#0000_1111

XOR 2#0011_1010

XOR link between 2 constants Accu = 2#0011_0101

LD 170

Link between a constant and 2 variables.

XOR Var1, Var2

Accu = 170d XOR Var1 XOR Var2

LD Var1

XOR ( Var2

AE/Accu = Var1 XOR ( Var2 OR Var3 )

OR Var3

)

AE/Accu

Operand

Result

0 0 0

0 1 1

1 0 1 1 1

3.2.4.9 SHR

Bit-wise right shift of the accumulator. Here, the contents of the accumulator are shifted n times to the right. The bits which are pushed out are lost.

Table 36 SHR

3.2.4.10 S and R

Setting and resetting of a boolean variable if the result of the previous link (the AE) was TRUE.

Table 37 S and R

3.2.4.11 XOR and XOR(

Bit-wise "Exclusive OR" link between the AE/Accumulator and one or two variables or constants. The first value is in the AE/Accumulator, the second is loaded with the command or is inside the bracket. Up to 6 bracket levels are possible.

The values to be linked must belong to the same type of variable.

Table 38 XOR or XOR(

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BOOL

BYTE

INT

DINT

Possible data types

X X X

Commands

Explanation

LD 2#0000_1111

XORN 2#0011_1010

XORN link between 2 constants Accu = 2#1100_1010

LD 170

Link between a constant and 2 variables.

XORN Var1, Var2

Accu = 170d XORN Var1 XORN Var2

LD Var1

XORN ( Var2

AE/Accu = Var1 XORN ( Var2 OR Var3 )

OR Var3

)

AE/Accu

Operand

Result

0 0 1 0 1

1 0 0 1 1

3.2.4.12 XORN and XORN(

Bit-wise Exclusive OR linking of the AE/accumulator with a negated operand. Bit-wise Exclusive OR (...) linking of the AE/accumulator and the negated result of the bracket. Up to 6

bracket levels are possible.

The values to be linked must belong to the same type of variable.

Table 39 XORN and XORN(

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Operator

Explanation

Equal to

Greater or equal to

Greater

Less than or equal to

Smaller

Not equal to

BOOL

BYTE

INT

DINT

Possible data types

X X

Commands

Explanation

LD Value1

Value1 = 5

EQ 10

AE = Is 5 equal to 10 ?

JMPC NextStep

AE = FALSE  Program does not jump

ADD 1

NextStep:

ST Value1

BOOL

BYTE

INT

DINT

Possible data types

X X

Commands

Explanation

LD Value1

Value1 = 5

GE 10

Is 5 greater than or equal to 10?

JMPC NextStep

AE = FALSE  Program does not jump

ADD 1

NextStep:

ST Value1

3.2.5 Comparison operators

Table 40 Overview of comparison operators

3.2.5.1 EQ

Compares the content of the accumulator with a variable or constant. If the values are equal, the AE is set to TRUE.

Table 41 EQ

3.2.5.2 GE

Compares the content of the accumulator with a variable or constant. If the value in the accumulator is greater than or equal to the variable or constant, then the AE is set to TRUE.

Table 42 GE

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BOOL

BYTE

INT

DINT

Possible data types

X X

Commands

Explanation

LD Value1

Value1 = 12

GT 8

Is 12 greater than 8?

JMPC NextStep

AE = TRUE  Program jumps

ADD 1

NextStep:

ST Value1

BOOL

BYTE

INT

DINT

Possible data types

X X

Commands

Explanation

LD Value1

Value1 = 5

LE 10

Is 5 less than or equal to 10?

JMPC NextStep

AE = TRUE  Program jumps

ADD 1

NextStep:

ST Value1

BOOL

BYTE

INT

DINT

Possible data types

X X

Commands

Explanation

LD Value1

Value1 = 12

LT 8

Is 12 less than 8?

JMPC NextStep

AE = FALSE  Program does not jump

ADD 1

NextStep:

ST Value1

3.2.5.3 GT

Compares the content of the accumulator with a variable or constant. If the value in the accumulator is greater than the variable or constant, then the AE is set to TRUE.

Table 43 GT

3.2.5.4 LE

Compares the content of the accumulator with a variable or constant. If the value in the accumulator is less than or equal to the variable or constant, then the AE is set to TRUE.

Table 44 LE

3.2.5.5 LT

Compares the content of the accumulator with a variable or constant. If the value in the accumulator is less than the variable or constant, then the AE is set to TRUE.

Table 45 LT

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BOOL

BYTE

INT

DINT

Possible data types

X X

Commands

Explanation

LD Value1

Value1 = 5

NE 10

Is 5 not equal to 10?

JMPC NextStep

AE = TRUE  Program jumps

ADD 1

NextStep:

ST Value1

3.2.5.6 NE

Compares the content of the accumulator with a variable or constant. If the value in the accumulator is not equal to the variable or constant, then the AE is set to TRUE.

Table 46 NE

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Operator

Explanation

JMP

Jump

JMPC

Jump if AE=TRUE

JMPCN

Jump if AE=FALSE

BOOL

BYTE

INT

DINT

Possible data types

- - -

Commands

Explanation

JMP NextStep

Unconditional jump to NextStep

ADD 1

NextStep:

ST Value1

BOOL

BYTE

INT

DINT

Possible data types

X X X

Commands

Explanation

LD 10

JMPC NextStep

AE = TRUE  Program jumps

ADD 1

NextStep:

ST Value1

BOOL

BYTE

INT

DINT

Possible data types

X X X

Commands

Explanation

LD 10

JMPCN NextStep

AE = TRUE  Program does not jump

ADD 1

NextStep:

ST Value1

3.3 Jumps

Table 47 Overview of jumps

3.3.1 JMP

Unconditional jump to a jump point.

Table 48 JMP

3.3.2 JMPC

Conditional jump to a jump point. If AE = TRUE, the command JMPC jumps to the stated jump point.

Table 49 JMPC

3.3.3 JMPCN

Conditional jump to a jump point. JMPCN jumps if the AE register = FALSE. Otherwise the program continues with the next instruction.

Table 50 JMPCN

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Operator

Explanation

BYTE_TO_BOOL

Conversion from BYTE to BOOL

BOOL_TO_BYTE

Conversion from BOOL to BYTE

INT_TO_BYTE

Conversion from INT to BYTE

BYTE_TO_INT

Conversion from BYTE to INT

DINT_TO_INT

Conversion from DINT to INT

INT_TO_DINT

Conversion from INT to DINT

BOOL

BYTE

INT

DINT

Possible data types

Commands

Explanation

LD 10

BYTE_TO_BOOL

AE = TRUE

BOOL

BYTE

INT

DINT

Possible data types

Commands

Explanation

LD TRUE

BOOL_TO_BYTE

Accu = 1

BOOL

BYTE

INT

DINT

Possible data types

Commands

Explanation

LD 16#5008

INT_TO_BYTE

Accu = 8

3.4 Type conversion

Table 51 Overview of type conversions

3.4.1 BYTE_TO_BOOL

Converts the data type from BYTE to BOOL. As long as BYTE is not equal to zero, this always gives the conversion result TRUE.

Table 52 BYTE_TO_BOOL

3.4.2 BOOL_TO_BYTE

Converts the AE data type from BOOL to BYTE. If the AE is FALSE, the accumulator is converted to 0. If the AE is TRUE, the accumulator is converted to 1.

Table 53 BOOL_TO_BYTE

3.4.3 INT_TO_BYTE

Converts the data type from INT to BYTE. Here, the High component of the INT value is not transferred. Prefixes are lost as the BYTE type does not have prefixes.

Table 54 INT_TO_BYTE

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BOOL

BYTE

INT

DINT

Possible data types

Commands

Explanation

LD 10

BYTE_TO_INT

Accu = 10

BOOL

BYTE

INT

DINT

Possible data types

Commands

Explanation

LD DINT# 5000

DINT_TO_INT

Akku = 5000

LD DINT# -5000

DINT_TO_INT

Accu = -5000

LD DINT# 200.000

DINT_TO_INT

Akku = 3392

BOOL

BYTE

INT

DINT

Possible data types

Commands

Explanation

LD 10

INT_TO_DINT

Accu = 10

3.4.4 BYTE_TO_INT

Converts the data type from BYTE to INT. The BYTE is copied into the Low component of the INT and the High component of the INT is set to 0.

Table 55 BYTE_TO_INT

3.4.5 DINT_TO_INT

Converts the data type from DINT to INT. For DINT values which fit into the INT range, conversion is performed with the correct sign. For all other values the High part of the DINT value is not transferred.

Table 56 DINT_TO_INT

3.4.6 INT_TO_DINT

Converts the data type from INT to DINT. The INT is copied into the Low component of the DINT and the High component of the DINT is set to 0.

Table 57 INT_TO_DINT

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NOTE

Function blocks MUST be called up cyclically! This is important, as most functions in the function block are not processed within a single cycle.

Function block

Explanation

CTD

Downward counter

CTU

Upward counter

CTUD

Upward and downward counter

Bi-stable function, set dominant

Bi-stable function, reset dominant

R_TRIG

Flank detection, rising flank

F_TRIG

Flank detection, falling flank

TON

Switch-on delay

TOF

Switch-off delay

Time pulse

3.5 Function blocks

Function blocks are small pograms, which can save their status values in internal variables. Because of this, a separate instance must be created in the NORDCON variable list for each function block. E.g. if a timer is to monitor 3 times in parallel, it must also be set up three times in the list of variables.

Call-up of a function block: „Cal Function block“ (E.g. Cal Timer)

3.5.1 Standard

Table 58 Overview of standard library

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CD LD

CU R

CV Q

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

Counter input

BOOL Q TRUE, if CV <= 0

BOOL

Lad starting value

BOOL

Actual counter reading

INT

Starting value

INT

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

Counter input

BOOL Q TRUE, if CV >= PV

BOOL

Reset: counter reading

BOOL

Actual counter reading

INT

Max. counter value

INT

3.5.1.1 CTD downward counter

With a rising flank on CD the counter of the function block CV is reduced by 1, as long as CV is greater than

-32768. If CV is less than or equal to 0, the output Q remains set to TRUE. Via LD the counter CV can be set to the value saved in PV.

Table 59 CTD downward counter

3.5.1.2 CTU upward counter

With a rising flank on CU, the counter of the function block CV is increased by 1. CV can count up to the value 32767. As long as CV is greater than or equal to PV output Q remains set to TRUE. Via R the counter CV can be reset to 0.

Table 60 CTU upward counter

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CD LD

QU QD

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

Counting upwards

BOOL

TRUE, if CV >= PV

BOOL

Counting downwards

BOOL

TRUE, if CV <= 0

BOOL

Reset: counter reading

BOOL

Actual counter reading

INT

Load starting value

BOOL

Starting value

INT

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

Set

BOOL

Output

BOOL

Reset

BOOL

3.5.1.3 CTUD upward and downward counter

With a rising flank on CU the counter of the counter CV is increased by 1, as long as CV is less than 32767. With a rising flank on CD the counter CV is reduced by 1, as long as CV is greater than -32768. Via R the counter CV can be reset to 0. Via LD the value saved in PV is copied to CV.

LD and R have priority over CU and CV. PV can be changed at any time; QU always refers to the value which is currently set.

Table 61 CTUD upward and downward counter

3.5.1.4 SR Flip Flop

Bi-stable function: the output Q1 is set via S1 and deleted via R. S1 is dominant if TRUE is set on R and S1 simultaneously.

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Table 62 SR Flip Flop

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CLK

R_TRIG

Funktionsaufrufe

F_TRIG

NOTE

The output of the function only changes if the function is called up. Because of this it is advisable to continually call up flank detection with the SPS cycle.

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

Set

BOOL

Output

BOOL

Reset

BOOL

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

CLK

Set

BOOL Q Output

BOOL

Function call-ups

3.5.1.5 RS Flip Flop

Bi-stable function: the output Q1 is set via S and deleted via R1. R1 is dominant if TRUE is set on R1 and S simultaneously.

Table 63 RS Flip Flop

3.5.1.6 R_TRIG and F_TRIG

Both functions are used for flank detection. If a flank is detected on CLK, Q is set to TRUE until the next time the function is called up, after which it is reset to FALSE. Q only returns to TRUE for a cycle if a new flank is detected.

 R_TRIG = rising flank  F_TRIG = falling flank

Table 64 R_TRIG and F_TRIG

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IN Q PT

NOTE

The time ET runs independently from the PLC cycle. Starting of the timer with IN and setting of the output Q is only executed with the function call-up "CAL". The function call-up takes place within a PLC cycle. However, with PLC programs which are longer than 5 ms this may result in the occurrence of jitter.

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

Timer active

BOOL

TRUE  ( IN=TRUE & ET=PT )

BOOL

Duration

DINT

Current timer reading

DINT

3.5.1.7 TON switch-on delay

If IN = TRUE is set, the timer counts upwards. If ET = PT, Q is set to TRUE and the timer stops. Q remains TRUE as long as IN is also TRUE. With a new rising flank on IN, the timer restarts at zero. PT can be changed while the timer is running.

The time in PT is stated in milliseconds. This enables a time delay between 5ms and 24.8 days. As the time base of the PLC is 5ms, the minimum time delay is also 5ms.

Here, literals can be used for simplified input, e.g.

 LD TIME#50s20ms = 50.020 seconds  LD TIME#1d30m = 1 day and 30 minutes

Table 65 TON switch-on delay

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IN Q PT

NOTE

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

Timer active

BOOL

TRUE  ( ET<PT )

BOOL

Duration

DINT

Current timer reading

DINT

3.5.1.8 TOF switch-off delay

If IN = TRUE is set, Q is set to TRUE. The timer starts if IN changes to FALSE. As long as the timer is running (ET < PT) Q remains set to TRUE. The timer stops if (ET = PT) and Q then becomes FALSE. With a new rising flank on IN, the timer ET is reset to zero.

Here, literals can be used for simplified input, e.g.

 LD TIME#50s20ms = 50.020 seconds  LD TIME#1d30m = 1 day and 30 minutes

Table 66 TOF switch-off delay

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IN Q PT

NOTE

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

Timer active

BOOL

TRUE  ( ET < PT )

BOOL

Duration

DINT

Current timer reading

DINT

3.5.1.9 TP time pulse

With a positive flank on IN the timer is started with the value 0. The timer counts up to the value entered in PT and then stops. This process cannot be interrupted! PT can be changed during counting. Output Q is

TRUE, as long as the timer ET is less than PT. If ET = PT and a rising flank is detected on IN the timer is restarted at 0.

Here, literals can be used for simplified input, e.g.

 LD TIME#50s20ms = 50.020 seconds  LD TIME#1d30m = 1 day and 30 minutes

Table 67 TP time pulse

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Function block

Required settings

MC_MoveVelocity

 P350 = PLC active  P351 = Main setpoint comes from the PLC  P553 [-xx] = Setpoint frequency  P600 = Position control (positioning mode) is switched off

MC_MoveAbsolute

 P350 = PLC active  P351 = Main setpoint comes from the PLC  P600 = Position control (positioning mode) is switched on  The setpoint position High word must be parameterised in P553 [-xx] ( PLC_Setpoints )  The setpoint position Low word must be parameterised in P553 [-xx] ( PLC_Setpoints )  The setpoint frequency must be parameterised in P553 [-xx] ( PLC_Setpoints )

MC_MoveRelative

MC_MoveAdditive

MC_Home

MC_Power

 P350 = PLC active  P351 = Control word comes from the PLC

MC_Control

MC_Reset

MC_Stop

HINWEIS

The PLC_Setpoints 1 to 5 and the PLC control word can also be described via process variables. However, if the Motion Control FB is to be used, no corresponding process variables may be declared in the table of variables, as otherwise the outputs of the Motion Control FBs will be overwritten.

NOTE

Function blocks MUST be called up cyclically! This is important, as most functions in the function block are not processed within a single cycle.

NOTE

MC functions which are started via an EXECUTE input can not be stopped by resetting the EXECUTE input!

3.5.2 Motion Control

The Motion Control Lib is orientated to the PLCopen specification "Function blocks for motion control". It contains function blocks (FB) for controlling and driving a frequency inverter and provides access to its

parameters. Several settings must be made to the parameters of the frequency inverter in order for the Motion Blocks to

function.

Table 68 Settings for the Motion Control FB

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Function block

Explanation

MC_ReadParameter

Reading access to FI parameters

MC_WriteParameter

Writing access to FI parameters

MC_MoveVelocity

Move command in speed mode

MC_MoveAbsolute

Move command with specification of absolute position

MC_MoveRelative

Move command with specification of relative position

MC_MoveAdditive

Move command with additive specification of position

MC_Home

Starts a reference point run

MC_Power

Switches the motor voltage on or off

MC_Control

Switches the motor voltage on/off + setting of the parameter sets

MC_ReadStatus

FI status

MC_ReadActualPos

Reads out the actual position

MC_Reset

Error reset in the FI

MC_Stop

Stops all active MC Motion modules and switches the FI off

Parameter number

Array of the parameter

Parameter set

Parameter index (of the function block)

P509

No Array parameter

Parameter does not depend

on the parameter set

P510

[-01]

Parameter does not depend

on the parameter set

[-02]

P104

No Array parameter

P2 1 P3

P613 (SK53xE)

[-01]

Parameter does not depend

on the parameter set

[-02]

[-03]

[-04]

[-05]

[-06]

P613 (SK54xE)

[-01]

[-02]

Table 69 Overview of Motion Control

3 AWL (Instruction List, IL)

Access to the inverter parameters with the aid of the blocks MC_ReadParameter (Section: 3.5.2.1) and MC_WriteParameter (Section: 3.5.2.2) is via the parameter number and the parameter index, whereby depending on the structure of the individual parameter, the parameter index is determined as follows:

Table 70 Example for the determination of the parameter index of the function block

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VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

ENABLE

Enable

BOOL

DONE

Value is valid

BOOL

PARAMETER NUMBER

Parameter number

INT

BUSY

The process is not complete

BOOL

PARAMETER INDEX

Parameter index

INT

ERROR

Reading has failed

BOOL

ERRORID

Error code

INT

VALUE

Parameter read out

DINT

ERRORID

Explanation

Invalid parameter number

Incorrect parameter index

No array

201

Invalid order element in the last order received

202

Internal response label cannot be depicted

3.5.2.1 MC_ReadParameter

Reads a parameter cyclically from the frequency inverter as long as ENABLE is set to 1. The parameter which is read is saved in Value and is valid if DONE is set to 1. For the duration of the reading process the BUSY output is set to 1. If ENABLE remains set to 1, the parameter is read out cyclically. The parameter and the index can be changed at any time if ENABLE is active. However, it is difficult to recognize when the new value is read out, as the DONE signal is always set to 1. In this case it is advisable to set the ENABLE signal for a cycle of 0, as then the DONE signal will be reset. The parameter index results from the index in the documentation minus 1 (see Table 70). For example P700 Index 3 ("Reason for switch-on block") is queried via the parameter index 2. In case of error, ERROR is set to 1. In this case, DONE is 0 and the ERRORID contains the error code. If the ENABLE signal is set to 0, all signals and the ERRORID are deleted.

Table 71 MC_ReadParameter

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VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

EXECUTE

Enable

BOOL

DONE

Value is valid

BOOL

PARAMETER NUMBER

Parameter number

INT

BUSY

The writing process is active

BOOL

PARAMETER INDEX

Parameter index

INT

ERROR

Reading has failed

BOOL

VALUE

Value to be written

INT, DINT

ERRORID

Error code

INT

RAMONLY

Only save in RAM

ERRORID

Explanation

Invalid parameter number

Parameter value cannot be changed

Lower or upper value limit exceeded

Incorrect parameter index

No array

Invalid data type

Only resettable (only 0 may be written)

Description element cannot be changed

201

Invalid order element in the last order received

202

Internal response label cannot be depicted

3.5.2.2 MC_WriteParameter_16 / MC_WriteParameter_32

Writes a 16/32 Bit parameter into the frequency inverter, if EXECUTE changes from 0 to 1 (flank). The parameter has been written if DONE is set to 1. For the duration of the reading process the BUSY output is set to 1. In case of error, ERROR is set to 1 and the ERRORID contains the error code. The signals DONE, ERROR, ERRORID remain set until EXECUTE changes back to 0. The writing process is not interrupted if the EXECUTE signal changes to 0. It is only the DONE signal which only remains set for 1 PLC cycle.

If the RAMONLY input is set to 1, the settings will only be saved to the RAM. The changed settings will therefore be lost if the FI is switched off.

Table 72 MC_WriteParameter16 / MC_WriteParameter32

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VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

EXECUTE

Enable

BOOL

INVELOCITY

Specified setpoint frequency reached

BOOL

VELOCITY

Setpoint frequency

INT

BUSY

Setpoint frequency not yet reached

BOOL

COMMAND-

ABORTED

Command aborted

BOOL

ERROR

Error in FB

BOOL

ERRORID

Error code

INT

ERRORID

Explanation

No error

1000h

FI is not enabled

1100h

FI not in speed mode

1101h

No setpoint frequency parameterised (P553)

3.5.2.3 MC_MoveVelocity

Sets the setpoint frequency for the frequency inverter if EXECUTE changes from 0 to 1 (flank). If the frequency inverter has reached the setpoint frequency, INVELOCITY is set to 1. While the FI is accelerating to the setpoint frequency the BUSY output is active. If EXECUTE has already been set to 0, INVELOCITY is only set to 1 for one cycle.

If the process is interrupted (e.g. by another MC function module), COMMANDABORTED is set. With a negative flank on EXECUTE all outputs are reset to 0.

VELOCITY is entered with scaling according to the following formula:

VELOCITY = ( Setpoint frequency (Hz) × 0x4000 ) / P105

Table 73 MC_MoveVelocity

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VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

EXECUTE

Enable

BOOL

DONE

Specified setpoint position reached

BOOL

POSITION

Setpoint position

DINT

BUSY

Setpoint position not reached

BOOL

VELOCITY

Setpoint frequency

INT

COMMANDABORTED

Command aborted

BOOL

MODE

Mode source is the setpoint position

BOOL

ERROR

Error in FB

BOOL

ERRORID

Error code

INT

ERRORID

Explanation

No error

0x1000

FI is not enabled

0x1200

Position control not activated

0x1201

The High position has not been entered in the PLC setpoints (P553)

0x1202

The Low position has not been entered in the PLC setpoints (P553)

3.5.2.4 MC_MoveAbsolute

Writes a position and speed setpoint to the frequency inverter if EXECUTE changes from 0 to 1 (flank). The setpoint frequency VELOCITY is transferred with the scaling described in MC_MoveVelocity.

The High word and the Low word of the setpoint position must be defined in parameter P553.

POSITION:

MODE = False:

The setpoint position results from the value transferred to POSITION.

MODE = True:

The value transferred to POSITION corresponds to the index from parameter P613 increased by 1 The position saved in this parameter index corresponds to the setpoint position.

Example:

Mode = True; Position = 12 → The FB moves to the position which is in the current parameter set of P613[-13].

If the frequency inverter has reached the setpoint position, DONE is set to 1. DONE is deleted when EXECUTE is reset. If EXECUTE is deleted before the target position has been reached, DONE is set to 1 for one cycle. BUSY is active while moving to the setpoint position.

If the process is interrupted (e.g. by another MC function module), COMMANDABORTED is set. In case of error, ERROR is set to 1 and the corresponding error code is set in ERRORID. In this case,

DONE is 0. With a negative flank on EXECUTE all outputs are reset to 0.

Table 74 MC_MoveAbsolute

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VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

EXECUTE

Enable

BOOL

DONE

Specified setpoint position reached

BOOL

DISTANCE

Setpoint position

DINT

BUSY

Setpoint position not reached

BOOL

VELOCITY

Setpoint frequency

INT

COMMANDABORTED

Command aborted

BOOL

MODE

Mode source is the setpoint position

BOOL

ERROR

Error in FB

BOOL

ERRORID

Error code

INT

ERRORID

Explanation

No error

1000h

FI is not enabled

1200h

Position control not activated

1201h

The High position has not been entered in the PLC setpoints (P553)

1202h

The Low position has not been entered in the PLC setpoints (P553)

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

EXECUTE

Enable

BOOL

DONE

Specified setpoint position reached

BOOL

DISTANCE

Setpoint position

DINT

BUSY

Setpoint position not reached

BOOL

VELOCITY

Setpoint frequency

INT

COMMANDABORTED

Command aborted

BOOL

MODE

Mode source is the setpoint position

BOOL

ERROR

Error in FB

BOOL

ERRORID

Error code

INT

ERRORID

Explanation

No error

1000h

FI is not enabled

1200h

Position control not activated

1201h

The High position has not been entered in the PLC setpoints (P553)

1202h

The Low position has not been entered in the PLC setpoints (P553)

3.5.2.5 MC_MoveRelative

Except for the input DISTANCE this is identical to MC_MoveAbsolute. The setpoint position results from the addition of the present actual position and the transferred DISTANCE.

Table 75 MC_MoveRelative

3.5.2.6 MC_MoveAdditive

Except for the input DISTANCE this is identical to MC_MoveAbsolute. The setpoint position results from the addition of the present setpoint position and the transferred DISTANCE.

Table 76 MC_MoveAdditive

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VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

EXECUTE

Enable

BOOL

DONE

Specified setpoint position reached

BOOL

POSITION

Setpoint position

DINT

BUSY

Home run active

BOOL

VELOCITY

Setpoint frequency

INT

COMMANDABORTED

Command aborted

BOOL

MODE

Home mode

BOOL

ERROR

Error in FB

BOOL

ERRORID

Error code

INT

ERRORID

Explanation

No error

1000h

FI is not enabled

1200h

Position control not activated

1201h

The High position has not been entered in the PLC setpoints (P553)

1202h

The Low position has not been entered in the PLC setpoints (P553)

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

ENABLE

Enable

BOOL

STATUS

Motor is supplied with current

BOOL

ERROR

Error in FB

BOOL

ERRORID

Error code

INT

ERRORID

Explanation

No error

1001h

Stop function is active

1300h

The FI is not in status "Standby" or "Switch-on block"

3.5.2.7 MC_Home

Causes the frequency inverter to start a reference point run if EXECUTE changes from 0 to 1 (flank). The frequency inverter moves with the setpoint frequency entered in VELOCITY. The direction of rotation is reversed if the input with the position reference signal (P420[-xx] = Reference point) becomes active. With the negative flank of the position reference signal the value in POSITION is adopted. Then the frequency inverter brakes to 0Hz. The DONE signal changes to 1. During the entire HOME run the BUSY output is active.

If the MODE input is set to 1, the FI remains at the middle of the initiator after a home run. If the process is interrupted (e.g. by another MC function module), COMMANDABORTED is set. In case of error, ERROR is set to 1. In this case, DONE is 0. The corresponding error code in the ERRORID

applies.

Table 77 MC_Home

3.5.2.8 MC_Power

The output stage of the frequency inverter can be switched on or off via this function. The output stage is enabled if the ENABLE input is set to 1. The prerequisite for this is that the FI is in the status "Switch-on block" or "Standby". If the FI is in the status "Error" or "Error reaction active", the fault must first be remedied and acknowledged. Only then can enabling be carried out via this block. Switch-on is also not possible if the frequency inverter is in the status "Not on standby". In all cases the FB goes into error status and ENABLE must be set to 0 in order to acknowledge the error.

The frequency inverter is switched off if the ENABLE input is set to 0. If this happens while the motor is running, it is first run down to 0Hz via the ramp set in P103.

The STATUS is 1, if the output stage of the frequency inverter is switched on. Otherwise it is 0. ERROR and ERRORID are reset, if ENABLE is switched to 0.

Table 78 MC_Power

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Inputs module

Frequency inverter behaviour

ENABLE

QUICKSTOP

DISABLEVOLTAGE

High

Low

The frequency inverter is switched on.

Low

The frequency inverter brakes to 0Hz (P103) and then disconnects the motor from the voltage supply.



High

The frequency inverter is disconnected from the voltage supply immediately and the motor runs to a standstill without braking.



High

Low

The frequency inverter runs to a quick stop (P426) and then disconnects the motor from the voltage supply.

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

ENABLE

Enable

BOOL

STATUS

Motor is supplied with current

BOOL

DISABLEVOLTAGE

Voltage is disconnected

BOOL

ERROR

Error in FB

BOOL

QUICKSTOP

Quick stop

BOOL

ERRORID

Error code

INT

PARASET

Active parameter set Value range: 0 - 3

BYTE

ERRORID

Explanation

No error

1001h

Stop function is active

1300h

The FI is in an unexpected state

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

ENABLE

Enable

BOOL

VALID

Output is valid

BOOL

ERROR

Error in FB

BOOL

ERRORSTOP

FI has an error

BOOL

DISABLED

FI output stage is switched off

BOOL

STOPPING

A Stop command is active

BOOL

DISCRETEMOTION

One of the three positioning FBs is active

BOOL

CONTINUOUSMOTION

The MC_Velocity is active

BOOL

HOMING

The MC_Home is active

BOOL

STANDSTILL

The FI has no active Move command. It is at a standstill with speed 0 rpm and the output stage switched on.

BOOL

3.5.2.9 MC_Control

This function block is used to control the FI and provides possibilities for forming the FI control word in a more detailed manner than with MC_Power. The FI is controlled via the inputs ENABLE, DISABLEVOLTAGE and QUICKSTOP, please refer to the following table.

Table 79 Assignment of control inputs (  = The level at the input is not important)

The active parameter set can be set via the input PARASET. If the output STATUS = 1, the FI is switched on and current is supplied to the motor.

Table 80 MC_Control

3.5.2.10 MC_ReadStatus

Reads out the status of the frequency inverter. The status machine is orientated to the PLCopen specification "Function blocks for motion control". The status is read out for as long as ENABLE is set to 1.

Table 81 MC_ReadStatus

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VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

ENABLE

Enable

BOOL

VALID

Output is valid

BOOL

ERROR

Error in FB

BOOL

POSITION

Actual position of the FI

DINT

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

EXECUTE

Start

BOOL

DONE

FI error reset

BOOL

BUSY

Reset process is still active

BOOL

ERROR

Error in FB

BOOL

ERRORID

Error code

INT

ERRORID

Explanation

No error

1001h

Stop function is active

1700h

An error reset could not be performed, because the cause of the error is still present.

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

EXECUTE

Start

BOOL

DONE

Command has been executed

BOOL

BUSY

Command is active

BOOL

3.5.2.11 MC_ReadActualPos

Continually supplies the actual position of the frequency inverter if ENABLE is set to 1. As soon as a valid actual position is present at the output, VALID is set to valid. In case of error, ERROR is set to 1 and in this case VALID is 0.

Position scaling: 1 motor revolution = 1000

Table 82 MC:ReadActualPos

3.5.2.12 MC_Reset

Resets an error in the frequency inverter (error acknowledgement) with a rising flank from EXECUTE. In case of error, ERROR is set to 1 and the cause of the error is entered in ERRORID. All errors are reset with a negative flank on EXECUTE.

Table 83 MC_Reset

3.5.2.13 MC_Stop

With a rising flank (0 to 1) the frequency inverter is set to the status STANDINGSTILL. All currently active Motion functions are aborted. The frequency inverter brakes to 0Hz and switches off the output stage. As long as the Stop command is active (EXECUTE = 1), all other Motion Fbs are blocked. The BUSY output becomes active with the rising flank on EXECUTE and remains active until there is a falling flank on EXECUTE.

Table 84 MC_Stop

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Master FI

Slave FI

Parameter

Setting

Meaning

Parameter

Setting

Meaning

P502[-01]

Setpoint frequency according to freq. ramp

P509

10 *

CANopen Broadcast *

P502[-02]

Actual position in inc. High word

P510 [-01]

CANopen Broadcast

P502[-03]

Actual position in inc. Low word

P510 [-02]

CANopen Broadcast P503

CANopen

P505

0.0Hz

P505

0.0Hz

P515 [-02]

P515[-03]

Master

Broadcast - Slave address

P514

250kBaud (min. 100kBaud)

P546 [-01]

Frequency addition

P515 [-03]

P515[-02]

Slave

Broadcast – Master address

P546 [-02]

Setpoint position in inc. High word

P546 [-03]

Setpoint position in inc. Low word

P600

1,2

Position control ON

Only for FB_Gearing

P553[-01]

Position setpoint pos. Low word

P553[-02]

Position setpoint pos. High word

* (P509) must not necessarily be set to {10} "CANopen Broadcast". However in this case(P502 [-01]) on the master must be set to {21} "Actual frequency without slip".

NOTE

The actual position of the master MUST be communicated in "Increments" (Inc) format.

Function module

Explanation

FB_Gearing

FB for simple gear unit function

FB_FlyingSaw

FB for gear unit function with Flying Saw

3.5.3 Electronic gear unit with "Flying Saw"

There are two function blocks which allow control of the functions electronic gear unit ("angular synchronisation") and the sub-function Flying Saw. In addition, various parameters must be set for the correct execution of the two function blocks in the master and slave frequency inverters. An example of this is shown in the following table.

Table 85 Parameterisation for gear function

3.5.3.1 Overview

Table 86 Overview of electronic gear unit

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NOTE

If the slave is switched into gear mode when it is in a different position to the master, it then moves to the master position at maximum frequency.

If a gear ratio is specified, this also results in a new position when switched on again.

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

ENABLE

Synchronous running active

BOOL

VALID

Gear unit function is active

BOOL

ABORT

Command aborted

BOOL

ERROR

Error in FB

BOOL

ERRORID

Error code

INT

ERRORID

Explanation

No error

1000h

FI is not enabled

1200h

Position control not activated

1201h

The PLC setpoint position High is not parameterised

1202h

The PLC setpoint position Low is not parameterised

3.5.3.2 FB_Gearing

The position and speed of the frequency inverter can be synchronised to that of a master inverter via the function module FB_Gearing. The slave which used this function always follows the movements of the master inverter.

The synchronisation is always absolute, i.e. the position of the slave and the master are always the same.

The position value to which synchronisation is carried out, as well as the speed, must be communicated via the Broadcast channel.

The function is activated via the ENABLE input; for this, the position control must be activated and the output stage enabled. The output stage can be enabled e.g. with the function MC_Power. If ENABLE is set to 0, the frequency inverter brakes to 0Hz and stops. The inverter is now once again in position control mode.

If MC_Stop is activated, the frequency inverter exists from gear mode and the ABORT output is set to 1. In case of errors in the FB, ERROR is set to 1 and the cause of the error is shown in ERRORID. ERROR, ERRORID and ABORT can be reset by setting ENABLE to 0.

Table 87 FB_Gearing

Gear ratios or a change of direction of rotation can be set via the parameters P607[-05] or P608[-05] Further details can be found in Manual BU0510 (Supplementary manual for POSICON position control).

3.5.3.3 FB_FlyingSaw

The Flying Saw function is an extension of the gear function. With the aid of this function it is possible to synchronize a running drive unit to a precise position. In contrast to FB_Gearing, synchronisation is relative, i.e. the slave axis moves synchronously to the position of the master which applied at the start of the "Flying Saw" The synchronisation process is illustrated in the figure below.

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VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

ENABLE

Enable

BOOL

VALID

Specified setpoint frequency reached

BOOL

EXECUTE

Start of synchronisation

BOOL

DONEHOME

Home run completed

STOP

Synchronisation stopped

BOOL

DONESTOP

Stop command executed

HOME

Moves to position 0

BOOL

ABORT

Command aborted

BOOL

ACCELERATION

Acceleration path (1rev. = 1.000)

DINT

ERROR

Error in FB

BOOL

ERRORID

Error code

INT

ERRORID

Explanation

No error

1000h

FI is not enabled

1200h

Position control not activated

Starting point of the Slave

Position of the initiator

Speed Position

ACCELERATION

Removal of the initiator to the starting position of the Slave FI

Both drive units running synchronously

Fig. 7 Schematic diagram of the Flying Saw synchronisation process

If the function is started, the slave frequency inverter accelerates to the speed of the master axis. The acceleration ramp is specified via the "acceleration path" ACCELERATION. At low speeds the ramp is flatter and at high master speeds the ramp for the slave frequency inverter is steeper. The acceleration path is stated in revolutions (1000 = 1,000 rev.) if P553 is specified as the setpoint position. If the setpoint position INC is used for P553, the acceleration path is specified in increments.

If the initiator is set in from of the position of the slave drive which is saved in ACCELERATION, the slave is precisely synchronised to the triggering position of the master drive.

The FB must be switched on via the ENABLE input. The function can be started either via the digital input (P420[-xx]=64, Start Flying Saw) or via EXECUTE. The frequency inverter then accelerates to the speed of the master axis. Once synchronisation with the master axis has been achieved, the DONE output is switched to 1.

Via the STOP input or the digital input function P420[-xx] = 77, Stop Flying Saw, the gear function is switched off and the frequency inverter brakes to 0Hz and stops. Via the HOME input, the frequency inverter is moved to the absolute position 0. The relevant assigned output is active after completion of the HOME or STOP command. The gear function can be restarted via a new activation of EXECUTE or the digital input. With the digital input function (P420[-xx] = 63, Switch off synchronisation) the gear function can be switched off, with subsequent movement to the 0 position.

If the function is interrupted with the MC_Stop function, ABORT is set to 1. In case of error, ERROR is set to 1 and the error code is set in ERRORID. These three outputs are reset if ENABLE is set to 0.

Table 88 FB_FlyingSaw

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VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

ENABLE

Execute

BOOL

VALID

Output value is valid

BOOL

INVALUE

Input value ( x )

INT

ERROR

Error in FB

BOOL

ERRORID

Error code

INT

MAXLIMIT

Maximum limit reached

BOOL

MINLIMIT

Minimum limit reached

BOOL

OUTVALUE

Output value ( y )

DINT

ERRORID

Explanation

No error

1400h

Abscissa values (X values) of the map not always increasing

1401h

No map initialised

3.5.4 FB_FunctionCurve

This function module produces a mapping control. Defined points can be communicated to the function block, with which it emulates a function. The output then behaves according to the saved map. Linear interpolation is carried out between the individual base points.

The base point are defined with X and Y values. The X values are always of the INT type. The Y values can all be either INT or DINT type, according to the size of the largest base point More memory is occupied if DINT is used.

The base points are entered in the column "Init Value" in the variables window. If TRUE is detected at the ENABLE input, the appropriate output value OUTVALUE is calculated on the

basis of the input value INVALUE. VALID indicates that the output value OUTVALUE is valid by means of TRUE.

As long as VALID is FALSE, the output OUTVALUE has the value 0. If the input value INVALUE exceeds the upper or lower end of the map, the first or last output value of the

map remains set at the output until INVALUE is once again within the range of the map.. The appropriate output MINLIMIT or MAXLIMIT is set to TRUE if the map is exceeded or undershot.

ERROR is TRUE, if the abscissa values (X values) of the map do not increase continuously, or if no table is initialised. The corresponding error is also output via ERRORID and the output value becomes 0. The error is reset if ENABLE = FALSE.

Table 89 FB_FunctionCurve

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Permissible value range for

control parameters

Parameter

Value range

Scaling

Resulting value

range

P (Kp)

0 – 32767

1/100

0,00 – 32,767

I (Ki)

0 – 10240

1/100

0,00 – 10,240

D (Kd)

0 – 32767

1/1000

0,000 – 3,2767

T1 (ms)

0 – 32767

1/1000

0,000 – 3,2767

Max.

-32768 – 32767

Min.

-32768 – 32767

NOTE

If the entire program cannot be executed within a PLC cycle, the controller calculates the output value a second time with the old scanning values. This ensures a constant scanning rate. Because of this it is essential that the CAL command for the PIDT1 controller is executed in each PLC cycle and only at the end of the PLC program.

3.5.5 FB_PIDT1

The P-I-DT1 is a discrete controller which can be freely parameterised. If individual components or the P, I or DT1 component are not required, their parameters are written as 0. The T1 component only functions together with the D component. Therefore a PT1 controller cannot be parameterised. Due to internal memory limitations, the control parameters are restricted to the following areas:

Table 90 Value range for FB_PIDT1 control parameters

If the ENABLE input is set to TRUE, the controller starts to calculate. The control parameters are only adopted with a rising flank on ENABLE. Changes to the control parameters remain ineffective as long as ENABLE is TRUE. The output remains at the last value if ENABLE is set to FALSE.

The output bit VALID is set as long as the output value Q remains within the minimum and maximum limits and the ENABLE input is TRUE.

ERROR is set as soon as an error occurs. The VALID bit is then FALSE and the cause of the error can be determined via ERRORID (see table below).

If the RESET bit is set to TRUE, the content of the integrator and the differentiator are set to 0. If the ENABLE input is FALSE, the output OUTPUT is also set to 0. If the ENABLE input is set to TRUE, only the P component acts on the output OUTPUT.

If the output value of OUTPUT exceeds the maximum or minimum output values, the appropriate bit MAXLIMIT or MINLIMIT is set and the VALID bit is set to FALSE.

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Fig. 8 Setpoint processing for FB PIDT1

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

ENABLE

Execute

BOOL

VALID

Output value is valid

BOOL

RESET

Reset outputs

BOOL

ERROR

Error in FB

BOOL P P component (Kp)

INT

ERRORID

Error code

INT

I component (Ki)

INT

MAXLIMIT

Maximum limit reached

BOOL

D component (Kd)

INT

MINLIMIT

Minimum limit reached

BOOL

T1 component in ms

INT

OUTPUT

Output value

INT

MAX

Maximum output value

INT

MIN

Minimum output value

INT

SETPOINT

Setpoint

INT

VALUE

Actual value

INT

ERRORID

Explanation

No error

1600h

P component not within value range

1601h

I component not within value range

1602h

D component not within value range

1603h

T1 component not within value range

Δx

Setpoint

Value

Kd, T1

Max limit Min limit

Max limit - Yp

Min limit - Yp

Max limit – Ypi

Min limit - Ypi

Ypi

Output

3 AWL (Instruction List, IL)

Table 91 FB_PIDT1

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Function module

Explanation

FB_STRINGToPBox

Copies a string into the P-Box

FB_DINTToPBox

Copies a DINT value to the P-Box

Off

U L D

0,0

0,1

1,0

2,0

3,0

0,2

0,3

0,19

1,19

2,19

3,19

First character Row=0 & Column=0

Last character Row=3 & Column=19

DIR

3.5.6 Visualisation with ParameterBox

In the ParameterBox, the entire display can be used for the display of information. For this, the ParameterBox must be switched to visualisation mode. This is possible with ParameterBox (Parameter P1308) firmware version V4.3 and above and is performed as follows:

 Set parameter P1003 to "PLC Display" in the menu item "Display".  Switch to to display of operating values using the right or left arrow keys  The PLC display in the P-Box is now active and remains so.

In the visualisation mode of the P-Box the display content can be written by means of the two function blocks described below. However, before the item "Allow Parameterbox function modules" must be

activated in the PLC configuration dialogue (Button ). The keyboard status of the Box can also be queried via the process value "Parameterbox_key_state". This

enables inputs to the PLC program to be implemented. The display structure and the keys to be read out for the ParameterBox can be seen in the figure below.

Fig. 9 Display on the ParameterBox in visualisation mode

3.5.6.1 Visualisation overview

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VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

ENABLE

Transfer of string

BOOL

DONE

String transferred

BOOL

CLEAR

Clear display

BOOL

ERROR

Error in FB

BOOL

ROW

Row of the display

Value range = 0 to 3

BYTE

ERRORID

Error code

INT

COLUMN

Column of the display

Value range = 0 to 19

BYTE

TEXT

Text to be displayed

STRING

ERRORID

Explanation

No error

1500h

String overwrites the memory area of the P-Box array

1501h

Value range exceeded at ROW input

1502h

Value range exceeded at COLUMN input

1503h

The selected string number does not exist

1506h

The option "Allow ParameterBox function modules" is not activated in the PLC configuration.

3.5.6.2 FB_STRINGToPBox

This function module copies a string (chain of characters) into the P-Box memory array. Via ROW and COLUMN the starting position of the string is set in the P-Box display. The parameter TEXT communicates

the required string to the function module. The string name can be obtained from the table of variables. As long as ENABLE is set to 1, all changes at the inputs are adopted immediately. If the CLEAR input is set, the entire display content is overwritten with spaces before the selected string is

written. If DONE switches to 1, the string has been transferred correctly. In case of error, ERROR is set to 1. In this case, DONE is 0. The corresponding error code in the ERRORID

applies. DONE, ERROR and ERRORID are reset with a negative flank on ENABLE.

Table 92 FB_STRINGToPBox

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Setting

Number to be displayed

P-Box display

Length = 5

12345

Point = 0

Length = 5

-12345

#####

Point = 0

Length = 10

123456789

123456,789

Point = 3

Length = 8

123456789

123456,7

Point = 3

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

ENABLE

Transfer of string

BOOL

DONE

String transferred

BOOL

MODE

Display format 0 = Decimal 1 = Binary 2 = Hexadecimal Value range = 0 to 2

BYTE

ERROR

Error in FB

BOOL

ROW

Row of the display Value range = 0 to 3

BYTE

ERRORID

Error code

INT

COLUMN

Column of the display Value range = 0 to 19

BYTE

POINT

Position of the decimal point Value range = 0 to 10 0 = Function is disabled

BYTE

LENGTH

Output length Value range = 1 to 11

BYTE

VALUE

Number to be output

DINT

ERRORID

Explanation

No error

1500h

String overwrites the memory area of the P-Box array

1501h

Value range exceeded at LINE input

1502h

Value range exceeded at ROW input

1504h

Value range exceeded at POINT input

1505h

Value range exceeded at LENGTH input

1506h

Value range exceeded at MODE input

3.5.6.3 FB_DINTToPBox

This function module converts a DINT value into an ASCII string and copies it into the ParameterBox. The output can be in decimal, binary or hexadecimal format. Selection is carried out via MODE. Via ROW and COLUMN the starting position of the string is set in the P-Box display. The parameter LENGTH communicates the length of the string in characters. In decimal MODE the parameter POINT inserts a decimal point into the number to be displayed. POINT specifies how many characters are to the right of the decimal point. The function POINT is switched off with the setting 0.

If the number contains more characters than the length allows and no decimal point is set, the overflow is indicated by the character "#". If there is a decimal point in the number, all numbers behind the decimal point by be omitted if required. In hexadecimal and binary MODE the lowest value bits are displayed if the set length is too short.

As long as ENABLE is set to 1, all changes at the inputs are adopted immediately. If DONE switches to 1, the string has been transferred correctly. In case of error, ERROR is set to 1. In this case, DONE is 0. The corresponding error code in the ERRORID

applies.

DONE, ERROR and ERRORID are reset with a negative flank on ENABLE. Examples:

Table 93 FB_DINTToPBox

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Transmit PDO

Monitored PDO

PDO

COB-ID

PDO

COB-ID

PDO1

200h + Device address

PDO1

180h + Device address

PDO2

300h + Device address

PDO2

280h + Device address

PDO3

400h + Device address

PDO3

380h + Device address

PDO4

500h + Device address

PDO4

480h + Device address

PDO5

180h + Device address

PDO5

200h + Device address

PDO6

280h + Device address

PDO6

300h + Device address

PDO7

380h + Device address

PDO7

400h + Device address

PDO8

480h + Device address

PDO8

500h + Device address

Function module

Explanation

FB_PDOConfig

PDO configuration

FB_PDOSend

Transmit PDO

FB_PDOReceive

Receive PDO

FB_NMT

Enable and bar PDO

3.5.7 CANopen

Via function blocks the PLC can configure and monitor PDO channels and transmit on them. The PDO can transmit or receive up to 8 bytes of process data via a PDO. Each of these PDOs is accessed via an individual address (COB-ID). Up to 20 PDOs can be configured in the PLC. For simpler operation, the COBID is not entered directly. Instead, the device address and the PDO number are communicated to the FB. The resulting COB-ID is determined on the basis of the Pre-Defined Connection Set (CiA DS301). This results in the following possible COB-IDs for the PLC.

Table 94 Resulting COB-IDs

NORD inverters use PDO1 to communicate process data. PDO2 is only used for setpoint/actual value 4 and 5.

3.5.7.1 Overview

Table 95 CANopen overview

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VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

EXECUTE

Execute

BOOL

DONE

NMT command is transmitted

BOOL

PRE

Sets all participants to Pre-Operational status

BOOL

ERROR

Error in FB

BOOL

OPE

Sets all participants to Operational status

BOOL

STOP

Sets all participants to Stopped status

BOOL

3.5.7.2 FB_NMT

After a Power UP all CAN participants are in pre-operational bus status. In this state, they can neither transmit nor receive a PDO. In order for the PLC to be able to communicate with other participants on the CON bus, these must be set to an operational state. Usually, this is performed by the bus master. If there is no bus master, this task can be performed by the FB_NMT.

The status of all participants which are connected to the bus can be controlled via the inputs PRE, OPE or STOP. The inputs are adopted with a positive flank on EXECUTE. The function must be repeatedly called up until the output DONE or ERROR has been set to 1.

If the output ERROR has been set to 1, there is either no 24V supply to the RJ45 CAN socket of the inverter or the CAN driver of the inverter is in the status Bus off.

With a negative flank on EXECUTE all outputs are reset to 0.

Table 96 FB_NMT

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NOTE

CAN-IDs which are already being used by the frequency inverter may not be parameterised!

This applies to the following reception addresses:

 CAN ID = 0x180 + P515[-01] PDO1  CAN ID = 0x180 + P515[-01] + 1 CAN ID for absolute encoders  CAN ID = 0x280 + P515[-01] PDO2

This applies to the following transmission addresses:

 CAN ID = 0x200 + P515[-01] PDO1  CAN ID = 0x300 + P515[-01] PDO2

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

EXECUTE

Execute

BOOL

DONE

PDO configured

BOOL

NUMBER

Message box number Value range = 0 to 19

BYTE

ERROR

Error in FB

BOOL

TARGETID

Device address Value range = 1 to 127

BYTE

ERRORID

Error code

INT

PDO

PDO Value range = 1 to 8

BYTE

LENGTH

PDO length Value range = 1 to 8

BYTE DIR

Transmit or receive Transmit = 1 / Receive = 0

BOOL

ERRORID

Explanation

No error

1800h

Number value range exceeded

1801h

TARGETID value range exceeded

1802h

PDO value range exceeded

1803h

LENGTH value range exceeded

3.5.7.3 FB_PDOConfig

The PDOs are configured via this FB. All required PDOs can be configured with a single instance of this function. The FB must only be called up once for each PDO.

Up to 20 PDOs can be set up. Each PDO has its own parameterisation. The allocation of the PDO in the other CANopen FBs is carried out via the message box Number. The TARGETID shows the device address. With NORD frequency inverters, this is set in P55 or via DIP switches. The required message box number is entered under PDO (see Introduction). LENGTH defines the transmission length of the PDO. The transmission and reception direction is specified via DIR. The data is adopted with the positive flank on the EXECUTE input.

The DONE output can be queried immediately after call-up of the FB. The PDO channel has been configured if DONE is set to 1. If ERROR = 1 there was a problem, whose precise cause is saved in ERRORID.

With a negative flank on EXECUTE all outputs are reset to 0.

Table 97 FB_PDOConfig

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VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

EXECUTE

Execute

BOOL

DONE

PDO transmitted = 1

BOOL

NUMBER

Message box number Value range = 0 to 19

BYTE

ERROR

Error in FB

BOOL

CYCLE

Transmission cycle Value range = 0 to 255 0 = disabledd 1 to 255 = Transmission cycle in ms

BYTE

ERRORID

Error code

INT

WORD1

Transmission data Word 1

INT

WORD2

Transmission data Word 2

INT

WORD3

Transmission data Word 3

INT

WORD4

Transmission data Word 4

INT

ERRORID

Explanation

No error

1800h

Number value range exceeded

1804h

Selected box is not configured correctly

1805h

No 24V for bus driver or bus driver is in "Bus off" status

3.5.7.4 FB_PDOSend

With this FB, PDOs can be transmitted on a previously configured channel. This is possible either as a oneoff or cyclical transmission. The data to be transmitted is entered in WORD1 to WORD4. Transmission of the PDO is possible regardless of the CANopen status of the frequency inverter.

The previously configured PDO channel is selected via NUMBER. The data to be transmitted is entered in WORD1 to WORD4. Selection between one-off transmission (setting = 0) or cyclical transmission can be made via CYCLE. The PDO is transmitted via a positive flank on EXECUTE.

If DONE = 1 all entries were correct and the PDO is transmitted. If ERROR = 1 there was a problem. The precise cause is saved in ERRORID. All outputs are reset with a negative flank on EXECUTE.

The time base of the PLC is 5ms. This also applies for the CYCLE input. Only transmission cycles with a multiple of 5ms can be implemented.

Table 98 FB_PDOSend

If DONE changes to 1, the message to be transmitted was accepted by the CAN module, but has not yet been transmitted. The actual transmission runs in parallel in the background. If several messages are to be sent consecutively via an FB it is possible that the previous message has not been sent when the new callup is made. This can be detected by the fact that neither the DONE nor the ERROR signal have been set to 1 after the CAL call-up. The CAl call-up can be repeated until one of the two signals changes to 1.

If several different CAN IDs are to be written via a single FB, this is possible via a reconfiguration of the FB. However, this must not be carried out in the same PLC cycle as the transmision, as otherwise there is a danger that the message which is to be sent will be deleted on configuration via FB_PDOConfig.

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NOTE

The PLC cycle is 5ms, i.e. with a single call-up of the function in the PLC program a CAN message can only be read every 5ms. Messages may be overwritten if several messages are sent in quick succession.

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

ENABLE

Execute

BOOL

NEW

New PDO received

BOOL

NUMBER

Message box number Value range = 0 to 19

BYTE

ERROR

Error in FB

BOOL

TIME

Watchdog function Value range = 0 to 32767 0 = Disabled 1 to 32767 = Monitoring time

INT

ERRORID

Error code

INT

WORD1

Received data Word 1

INT

WORD2

Received data Word 2

INT

WORD3

Received data Word 3

INT

WORD4

Received data Word 4

INT

ERRORID

Explanation

No error

1800h

Number value range exceeded

1804h

Selected box is not configured correctly

1805h

No 24V for bus driver or bus driver is in "Bus off" status

1807h

Reception timeout (Watchdog function)

3.5.7.5 FB_PDOReceive

This FB monitors a previously configured PDO channel for incoming messages. Monitoring starts when the ENABLE input is 1. After the function has been called up, the NEW input must be checked. If it changes to 1, a new message has arived. The NEW output is deleted the next time that the function is called up.

The received data are contained in WORD1 to WORD4. The PDO channel can be monitored for cyclic reception via TIME. If a value between 1 and 32767ms is

entered in TIME a message must be received within this period. Otherwise the FB goes into error status (ERROR = 1). This function can be disabled with the value 0. The monitoring timer runs in 5ms steps.

In case of error, ERROR is set to 1. In this case, DONE is 0. The corresponding error code in the ERRORID applies.

DONE, ERROR and ERRORID are reset with a negative flank on ENABLE.

Table 99 FB_PDOReceipt

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NOTE

Several instances of this FB may exist in the PLC program. However, only two instances may be active at the same time!

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

EXECUTE

Execute

BOOL

DONE1

Value in OUTPUT1 valid

BOOL

CONTINUOUS

Single execution or continuous operation

BOOL

DONE2

Value in OUT valid

BOOL

INPUT

Input to be monitored 0 = Input 1

- - - 7 = Input 8

BYTE

BUSY

FB still waitng for a Capture event

BOOL

EDGE

Triggering flank

BYTE

ERROR

the FB has an error

BOOL

SOURCE

Value to be saved 0 = Position in rotations 1 = Actual frequency 2 = Torque

BYTE

ERRORID

Error code

INT

OUTPUT1

Value for first Capture event

DINT

OUTPUT2

Value for second Capture event

DINT

ERRORID

Explanation

No error

1900h

INPUT value range exceeded

1901h

EDGE value range exceeded

1902h

SOURCE value range exceeded

1903h

More than two instances are active

3.5.8 Recording of rapid events (FB_Capture)

The cycle time of the PLC is 5 ms, under certain circumstances this cycle is too long to capture very fast external events. Via FB Capture it is possible to capture certain physical values on flanks at the FI inputs. The inputs are monitored in a 1 ms cycle. The values which are saved can later be read by the PLC.

With a positive flank on EXECUTE all inputs are read in and the Capture function is enabled. The FI input which is to be monitored is selected via the INPUT input. The typ of flank and the behaviour of the module are selected via EDGE.

EDGE = 0 With the first positive flank, the selected value is saved under OUTPUT1 and DONE1 is set to 1.

The next positive flank saves under OUTPUT2 and DONE2 is set to 1. The FB is then deactivated.

EDGE = 1 Behaviour as under EDGE = 0, with the difference that the negative flank is the trigger.

EDGE = 2 With the first positive flank, the selected value is saved under OUTPUT1 and DONE1 is set to 1.

The next negative flank saves under OUTPUT2 and DONE2 is set to 1. The FB is then deactivated.

EDGE = 3 Behaviour as under EDGE = 2, with the difference that first the negative flank and then the posi-

tive flank is the trigger.

If the input CONTINUOUS is set to 1, then only the settings = and 1 are relevant to EDGE. The FB continues to run and always saves the last triggering event under OUTPUT1. DONE1 remains active from the first event. DONE2 and OUTPUT2 are not used.

The BUSY output remains active until both Capture events(DONE1 and DONE2) have occurred. The function of the module can be ended at any time by a negative flank on EXECUTE. All outputs retain

their values. With a positive flank in EXECUTE first of all, all outputs are deleted.

Table 100 FB_Capture

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Function module

Explanation

FB_WriteTrace

Saves individual data or larger quantities of data

FB_ReadTrace

Reads individual data or larger quantities of data

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

ENABLE

Execute

BOOL

VALID

Writing process successful

BOOL

SIZE

Memory format

BOOL

FULL

Entire memory is full

BOOL

OVERWRITE

Memory can be overwritten

BOOL

ERROR

the FB has an error

BOOL

MEMORY

Selection of memory area

BYTE

ERRORID

Error code

INT

STARTINDEX

Indicates the memory cell to be written to

INT

ACTINDEX

Actual memory index, to which saving will be carried out in the next cycle

DINT

VALUE

Value to be saved

DINT

ERRORID

Explanation

No error

1A00h

STARTINDEX value range exceeded

1A01h

MEMORY value range exceeded

3.5.9 Access to memory areas of the frequency inverter

If it is necessary to temporarily save large amounts of data, to hand this data over to other devices or to receive it from other devices, it is then advisable to use the modules FB_WriteTrace and FB_ReadTrace.

3.5.9.1 Overview of storage modules

3.5.9.2 FB_WriteTrace

Individual values or large numbers of values can be temporarily saved in the FI with this FB. The values are not permanently saved, i.e. the values are lost if the FI is restarted.

If the FB detects a positive flank on ENABLE, all parameters with are present on the input are adopted. The value which is saved in VALUE is written to the memory address which is labelled by STARTINDEX and MEMORY. If the writing process is successful, the output VALID is set to 1.

If the FB is now called up several times and the ENABLE input remains at 1, then with each call up of the FB the input VALUE is read and saved and the memory address is increased by 1. The current memory index for the next access can be read out under the output ACTINDEX. If the end of the memory is reached, the output READY changes to 1 and the saving process is stopped. However, if the OVERWRITE input is set to 1, the memory index is reset to the STARTINDEX and the previously saved values are overwritten.

Values can be saved in INT or DINT format. For INT values only the Low part of the VALUE input is evaluated. The assignment is made via the SIZEinput; a 0 stands for INT and a 1 for DINT values.

The assignment of the memory areas is made via the MEMORY input:

MEMORY = 1  P613[0-251] corresponds to 504 INT or 252 DINT values MEMORY = 0  P900[0-247] to P906[0-111] corresponds to 5200 INT or 2600 DINT values

The FB cannot be interrupted by other blocks With a negative flank on ENABLE all outputs are set to 0 and teh function of the FB is ended.

Table 101 FB_WriteTrace

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NOTE

Attention ! The memory range in the setting MEMORY = 0 is also used by the Scope function. Use of the Scope function overwrites the saved values!

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

ENABLE

Execute

BOOL

VALID

Reading process successful

BOOL

SIZE

Memory format

BOOL

READY

The entire memory has been read out

BOOL

MEMORY

Selection of memory area

BYTE

ERROR

the FB has an error

BOOL

STARTINDEX

Indicates the memory cell to be written to

INT

ERRORID

Error code

INT

ACTINDEX

Actual memory index, to which will be read in the next cycle

INT

VALUE

Value read out

DINT

ERRORID

Explanation

No error

1A00h

STARTINDEX value range exceeded

1A01h

MEMORY value range exceeded

3.5.9.3 FB_ReadTrace

The memory areas of the FI can be read out directly with the aid of this FB. If the FB detects a positive flank on ENABLE, all parameters with are present on the input are adopted. The

memory address which is to be read out is labelled via STARTINDEX and MEMORY. If the reading process is successful the output VALID changes to 1 and the value which is read out is in VALUE.

If the FB is now called up several times and the ENABLE input remains at 1, with each call up the memory address which is to be read out is increased by 1 and the content of the new memory address is immediately copied to the output VALUE.

The current memory index for the next access can be read out under the output ACTINDEX. If the end of the memory is reached, the output READY changes to 1 and the reading process is stopped.

Values can be read in INT or DINT format. For INT values only the Low part of the VALUE output is to be evaluated. The assignment is made via the SIZEinput; a 0 stands for INT and a 1 for DINT values.

The assignment of the memory areas is made via the MEMORY input:

MEMORY = 1  P613[0-251] corresponds to 504 INT or 252 DINT values MEMORY = 0  P900[0-247] to P906[0-111] corresponds to 3200 INT or 1600 DINT values

The FB cannot be interrupted by other blocks With a negative flank on ENABLE all outputs are set to 0 and teh function of the FB is ended.

Table 102 FB_ReadTrace

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NOTE

Only one instance of this FB is permissible in the PLC program!

VAR_INPUT

VAR_OUTPUT

Input

Explanation

Type

Output

Explanation

Type

EXECUTE

Execute

BOOL

DONE

Measurement ended

BOOL

REVERSE

Change of rotation direction

BOOL

BUSY

Measurement running

BOOL

STARTTIME

Time until start of measurement in ms

(<2000ms)

INT

ABORT

Measurement aborted

BOOL

MEASURETIME

Measurement time in ms (60 to 2000ms)

INT

ERROR

the FB has an error

BOOL

SPEED

Measurement speed in % (16#4000 corresponds to 100%)

INT

ERRORID

Error code

INT

VALUE

Measurement result

INT

ERRORID

Explanation

No error

0x1000

FI not switched on

0x1101

Setpoint frequency not parameterised as a setpoint (P553)

0x1C00

STARTTIME value range exceeded

0x1C01

MEASURETIME value range exceeded

0x1602

The tolerance of the measurement values with respect to each other is greater than 1/8

3.5.10 Weighing function (FB_Weigh)

This module is used to determine the average torque during travel with a constant speed. From this value, physical values e.g. the moved weight can be determined.

The FB is started via a positive flank on theEXECUTE input. With the flank, all inputs are adopted by the FB. The FI moves with the speed which is set under SPEED. After the elapse of the time which is set under

STARTTIME the measurement is started. The duration of the measurement is defined under MEASURETIME. The FI stops after the elapse of the measurement time. If the input REVERSE = 1, the

measurement restarts, however with a negated speed. Otherwise the measurement is complete; the output DONE changes to 1 and the measurement result is in VALUE.

As long as the measurement process is running, BUSY is active. The scaling of the measurement result VALUE is 1 = 0.01% of the rated torque of the motor. Call-up of another Motion FB stops the measurement function and the output ABORT changes to 1. All outputs of the FB are reset with a new positive flank on EXECUTE (Reset).

Table 103 FB_Weigh

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Parameter {Factory setting}

Setting value / Description / Note

Device

Supervisor

Parameter set

P001

Select of disp.value

(Selection of display value)

0 ...65 { 0 }

Setting: …

40 = PLC-Ctrlbox value, Visualisation mode for PLC communication

…

Parameter {Factory setting}

Setting value / Description / Note

Device

Supervisor

Parameter set

P350

PLC functionality

(PLC functionality)

0 … 1 { 0 }

Setting:

0 = Off: the PLC is not active, control of the frequency inverter is according to the

parameters (P509) and (P510)

1 = On: the PLC is active, control of teh frequency inverter is via the PLC, depending on

(P351). The definition of the main setpoints must be carried out accordingly in parameter (P553). Auxiliary setpoints (P510[-02]) can still be defined via (P546).

P351

PLC Setpoint selection

(PLC Setpoint selection)

0 … 3 { 0 }

Selection of the source for the control word and main setpoint with active PLC functionality (P350 = 1). With the settings "0" and "1" definition of the main setpoints is via (P553), however the definition of the auxiliary setpoints remains unchanged via (P546). This parameter is only adopted if the frequency inverter is in the state "ready to start".

Setting:

0 = Control word and main setpoint =PLC: The PLC supplies the control word and the

main setpoint, parameters (P509) and (P510[-01]) have no function.

1 = Control word =P509: The PLC supplies the main setpoint, the control word

corresponds to the setting in parameter (P509)

2 = Main setpoint=P510[-01]: The PLC supplies the control word, the source for the main

setpoint corresponds to the setting in parameter (P510[-01])

3 = Control word and main setpoint=P509/P510: The source for the control word and the

main setpoint corresponds to the setting in parameter (P509)/(P510[-01])

4 Frequency inverter details

4.1 Parameters

This section only lists parameters which are directly associated with the PLC function. Please refer to the frequency inverter manual BU0500 / BU0505 for the full list of parameters.

4.1.1 Operating displays

4.1.2 Control / PLC parameters

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Parameter {Factory setting}

Setting value / Description / Note

Device

Supervisor

Parameter set

P353

Bus status via PLC

(Bus status via PLC)

0 … 3 { 0 }

This parameter decides whether the control word for the master function and the status word of the frequency inverter are further processed by the PLC.

Setting:

0 = Off: Control word for the master function (P503≠0) and the status word continue to be

processed by the PLC.

1 = Control word for master function via PLC: The control word for the master function

(P503≠ 0) is set by the PLC. For this, the control word must be redefined in the PLC by means of process value "34_PLC_Busmaster_Control_word" (Section 4.2.2 ).

2 = Status word for Bus via PLC: The status word for the frequency inverter is set by the

PLC. For this, the control word must be redefined in the PLC by means of process value "28_PLC_status_word" (Section 4.2.2 ).

3 = Control word and status word via PLC: See settings 1 and 2

P355 … [-01]

... ... [-10]

PLC Integer Setpoint

(PLC Integer Setpoint)

0x0000 … 0xFFFF all { 0 }

Data can be exchanged with the PLC via this integer array. This data can be used by the appropriate process variables in the PLC.

P356 … [-01]

… … [-05]

PLC - DINT – setpoint

(PLC - DINT – setpoint)

0x0 … 0xFFFFFFFF all { 0 }

Data can be exchanged with the PLC via this DINT array. This data can be used by the appropriate process variables in the PLC.

P360 … [-01]

… … [-05]

PLC display value

(PLC display value)

-2.000,000 …

2.000,000 all { 0 }

Only used to display PLC data with a resolution of 0.001. Via the corresponding process variables, this parameter can be written by the PLC. The values are not saved!

P370

PLC Status

(PLC Status)

0 … 63

dec

ParameterBox:

0 … 3F

hex

Simple-/ ControlBox:

0 …. 11 1111

bin

PLC status

Bit 0 = P350 = 1 Bit 1 = PLC active Bit 2 = Stop active Bit 3 = Debug active

Bit 4 = PLC error, the PLC User errors 23.xx

are not displayed here

Bit 5 = PLC stopped, Single step or Breakpoint

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Parameter {Factory setting}

Setting value / Description / Note

Device

Supervisor

Parameter set

P418 … [-01]

… … [-03]

Analog output func.

(Analog output function)

S P

0 ... 60 all { 0 }

Analog functions (max. load: 5mA analog): An analog voltage (0 ... +10 Volt) can be taken from the control terminals (max. 5mA). The

following scaling applies for the PLC setting:

- PLC value : 0 = 0V

- PLC value : 100 = 10.0V

[-01] = Analog output (int. AOUT), no function as factory setting,

AOUT of frequency inverter, control terminal 17

[-02] = First IOE (ext. AOUT1), no function as factory setting,

AOUT of the 1st IO extension module (SK xU4-IOE)

[-03] = Second IOE (ext. AOUT2), no function as factory setting,

AOUT of the 2nd IO extension module (SK xU4-IOE)

Setting: …

60 = Value from PLC: the value comes from the PLC

4.1.3 Control terminals

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Parameter {Factory setting}

Setting value / Description / Note

Device

Supervisor

Parameter set

P420 … [-01]

… … [-10]

Digital inputs

(Digital input functions)

0 … 80 [-01] = { 1 }

[-02] = { 2 } [-03] = { 8 } [-04] = { 4 } all others = { 0 }

Up to 10 freely programmable digital inputs are available in the SK 54xE. Execution of the PLC program can be stopped with the settings listed below.

[-01] = Digital input 1 (DIN1), Enable right as factory setting,

control terminal 21

[-02] = Digital input 2 (DIN2), Enable left as factory setting,

control terminal 22

[-03] = Digital input 3 (DIN3), Parameter set changeover Bit 0 as factory setting,

control terminal 23

[-04] = Digital input 4 (DIN4), Fixed frequency 1 as factory setting,

control terminal 24

[-05] = Digital input 5 (DIN5), no function as factory setting,

control terminal 25 (only available in devices size 5 and above)

[-06] = Digital input 6 (DIN6), no function as factory setting,

control terminal 26

[-07] = Digital input 7 (DIN7), no function as factory setting,

control terminal 27, (DIN7 can also be used as DOUT3)

[-08] = Digital function Analog1 (AIN1), no function as factory setting,

control terminal 14, (Digital function Analog input AIN1)

[-09] = Digital function Analog2 (AIN2), no function as factory setting,

control terminal 16, (Digital function Analog input AIN2)

[-10] = Digital input 8 (DIN8), no function as factory setting,

control terminal 7, (DIN8 can also be used as DOUT2)

Setting: …

80 = PLC Stop: Execution of the PLC program is stopped as long as the signal is present.

P434 … [-01]

… … [-05]

Digital output function

(Digital output functions)

0 … 40 [-01] = { 1 }

[-02] = { 7 } all others = { 0 }

The digital outputs can be set by the PLC via the PLC setting.

[-01] = Binary output 1 / (MFR1), external brake as factory setting,

control terminals 1/2

[-02] = Binary output 2 / (MFR2), Error as factory setting,

control terminals 3/4

[-03] = Binary output 3 / (DOUT1), no function as factory setting,

control terminal 5

[-04] = Binary output. 4 / (DOUT2), no function as factory setting,

control terminal 7

[-05] = Binary output 5 / (DOUT3), no function as factory setting,

control terminal 27, (DOUT3 can also be used as DIN7)

Setting: …

40 = Output via PLC: The output is set by the PLC

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Parameter {Factory setting}

Setting value / Description / Note

Device

Supervisor

Parameter set

P480 … [-01]

… … [-12]

Funct. BusIO In Bits

(Bus I/O In Bits function)

0 … 80 all { 0 }

The Bus I/O In Bits are perceived as digital inputs. They can be set to the same functions (P420).

These I/O bits can also be used in combination with the I/O extensions (SK xU4-IOE) (Bit 4 … 7 and Bit 0 … 3)

[-01] = BusIn Bit0/IOE2 DIN1, Bus IO In Bit 0 or. DI 1 of the second SK xU4-IOE [-02] = BusIn Bit1/IOE2 DIN2, Bus IO In Bit 1 or DI 2 of the second SK xU4-IOE [-03] = BusIn Bit2/IOE2 DIN3, Bus IO In Bit 2 or DI 3 of the second SK xU4-IOE [-04] = BusIn Bit3/IOE2 DIN4, Bus IO In Bit 3 or DI 4 of the second SK xU4-IOE [-05] = BusIn Bit4/IOE1 DIN1, Bus IO In Bit 4 or DI 1 of the first SK xU4-IOE [-06] = BusIn Bit5/IOE1 DIN2, Bus IO In Bit 5 or DI 2 of the first SK xU4-IOE [-07] = BusIn Bit6/IOE1 DIN3, Bus IO In Bit 6 or DI 3 of the first SK xU4-IOE [-08] = BusIn Bit7/IOE1 DIN4, Bus IO In Bit 7 or DI 4 of the first SK xU4-IOE [-09] = Flag 1 [-10] = Flag 2 [-11] = Bit 8 BUS control word [-12] = Bit 9 BUS control word

Setting: …

80 = PLC Stop: Execution of the PLC program is stopped as long as the signal is present.

P481 … [-01]

… … [-10]

Function BusIO Out Bits

(Function of Bus I/O Out Bits)

0 … 40 all { 0 }

The Bus I/O In Bits are perceived as digital outputs. They can be set to the same functions (P434).

These I/O bits can also be used in combination with the I/O extensions (SK xU4-IOE) (Bit 4 … 5 and Flag 1 … 2)

[-01] = BusOut Bit0, Bus IO Out Bit 0 [-02] = BusOut Bit1, Bus IO Out Bit 1 [-03] = BusOut Bit2, Bus IO Out Bit 2 [-04] = BusOut Bit3, Bus IO Out Bit 3 [-05] = BusOut Bit4/IOE1 DO1, Bus IO Out Bit 4 + DO1 of the first SK xU4-IOE [-06] = BusOut Bit5/IOE1 DO2, Bus IO Out Bit 5 + DO2 of the first SK xU4-IOE [-07] = BusOut Bit6/IOE2 DO1, Bus IO Out Bit 6 + DO1 of the second SK xU4-IOE [-08] = BusOut Bit7/IOE2 DO2, Bus IO Out Bit 7 + DO2 of the second SK xU4-IOE [-09] = Bit10 BUS status word [-10] = Bit13 BUS status word

Setting: …

40 = Output via PLC: The bit is set by the PLC

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Parameter {Factory setting}

Setting value / Description / Note

Device

Supervisor

Parameter set

P502 … [-01]

… … [-05]

Value master function

(Master function value)

S P

0 … 58

all { 0 }

Selection of up to 5 master values:

[-01] = Master value 1 … [-05] = Master value 5

Setting:

…

53 = PLC_status_word 54 = PLC_act_val1 55 = PLC_act_val2

56 = PLC_act_val3 57 = PLC_act_val4 58 = PLC_act_val5

P503

Leading func. output

(Master function output)

0 ... 5 { 0 }

To use the Master function output, the inverter controller source must be selected in P509. The master value to be transmitted is determined via the BUS interface in parameter P502.

0 = Off

1 = USS

2 = CAN (up to 250kBaud)

3 = CANopen

4 = System bus active

5 = CANopen+Sys.bus act.

P509

Source Control word

(Control word source)

0 ... 10 { 0 }

Selection of the interface via which the FI is controlled (for details see BU0500). Also note parameter (P350).

0 = Control terminals or keyboard 1 = Control terminals 2 = USS (or Modbus RTU SK 540E and

above) 3 = CAN 4 = Profibus 5 = InterBus

6 = CANopen 7 = DeviceNet 8 = Ethernet TU 9 = CAN Broadcast

10 = CANopen Broadcast

P510 [-01]

[-02]

Source setpoints

(Setpoints source)

0 ... 10 { all 0 }

Selection of the setpoints to be parameterised (For details see BU0500). Also note parameters (P350) and (P351).

[-01] = Main setpoint source

[-02] = Auxiliary setpoint source

0 = Auto 1 = Control terminals 2 = USS (or Modbus RTU SK 540E and above) 3 = CAN 4 = Profibus 5 = InterBus

6 = CANopen 7 = DeviceNet 8 = Ethernet TU 9 = CAN Broadcast

10 = CANopen Broadcast

4.1.4 Extra functions

4 Frequency inverter details

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PLC logic for NORD SK 54xE frequency inverters

Parameter {Factory setting}

Setting value / Description / Note

Device

Supervisor

Parameter set

P543 … [-01]

… … [-05]

Bus actual value 1

(Bus – Actual value 1)

0 … 57 [-01] = { 1 }

[-02] = { 4 } [-03] = { 9 } all others = { 0 }

The return value can be selected for bus actuation in this parameter.

[-01] = Bus - Actual value 1 … [-05] = Bus - Actual value 5

Setting:

…

53 = Actual value 1 PLC 54 = Actual value 2 PLC 55 = Actual value 3 PLC

56 = Actual value 4 PLC 57 = Actual value 5 PLC

P553 … [-01]

… … [-05]

PLC setpoints

(PLC setpoints)

0 … 57 all = { 0 }

The PLC setpoints are assigned with a function in this parameter. The settings only apply for main setpoints and with active PLC control ((P350) = "On") and ((P351) = "0" or "1").

[-01] = PLC Setpoint 1 … [-05] = PLC Setpoint 5

Setting:

0 = Off 1 = Setpoint frequency 2 = Torque current limit 3 = Actual frequency PID 4 = Frequency addition 5 = Frequency subtraction 6 = Current limit 7 = Maximum frequency 8 = Actual PID frequency limited 9 = Actual PID frequency monitored

10 = Servo mode torque 11 = Lead torque 12 = Reserved 13 = Multiplication 14 = Actual value process controller 15 = Setpoint process controller 16 = Process controller lead 17 = BusIO In Bits 0-7

18 = Curve travel calculator 19 = Set relay 20 = Set analog output 21 = Setpoint position Low word 22 = Setpoint position High word 23 = Setpoint position increment Low

word

24 = Setpoint position increment High

word

25 … 45 = Reserved

46 = Torque process controller setpoint 47 = Gearing ratio 48 = Motor temperature 49 = Ramp time

50 … 52 = Reserved

53 = d-correction, F process 54 = d-correction, torque 55 = d-correction, F+torque 56 = Acceleration time 57 = Braking time

For details of the individual settings: see manual BU0500 (e.g. in parameter P400)

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Parameter {Factory setting}

Setting value / Description / Note

Device

Supervisor

Parameter set

P740 … [-01]

… … [-23]

PZD bus in

(Process data Bus In)

0 ... FFFF (hex)

This parameter informs about the actual control word and the setpoints that are transferred via the bus systems or the PLC.

[-01] = Control word (P509)

Control word, source from (P509).

[-02] = Setpoint 1 (P510 [-01]) / (P546 [-01]) [-03] = Setpoint 2 (P510 [-01]) / (P546 [-02]) [-04] = Setpoint 3 (P510 [-01]) / (P546 [-03]) [-05] = Setpoint 4 (P510 [-01]) / (P546 [-04]) [-06] = Setpoint 5 (P510 [-01]) / (P546 [-05])

Setpoint data from main setpoint (P510 [-01]).

[-07] = Resulting status In Bit P480

"Resulting status In Bit P480":The displayed value depicts all Bus In bit sources linked with OR.

[-08] = Parameter data In 1 [-09] = Parameter data In 2 [-10] = Parameter data In 3 [-11] = Parameter data In 4 [-12] = Parameter data In 5

Data during parameter transfer: Order label (AK), Parameter number (PNU), Index (IND), Parameter value (PWE 1/2).

[-13] = Setpoint 1 (P510 [-02]) [-14] = Setpoint 2 (P510 [-02]) [-15] = Setpoint 3 (P510 [-02]) [-16] = Setpoint 4 (P510 [-02]) [-17] = Setpoint 5 (P510 [-02])

Setpoint data from master function value (Broadcast), if P509/510 = 9 or 10 (P502/P503).

[-18] = Control word PLC

Control word, source PLC

[-19] = PLC setpoint 1 [-20] = PLC setpoint 2 [-21] = PLC setpoint 3 [-22] = PLC setpoint 4 [-23] = PLC setpoint 5

Setpoint data from the PLC.

4.1.5 Information parameters

4 Frequency inverter details

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PLC logic for NORD SK 54xE frequency inverters

Parameter {Factory setting}

Setting value / Description / Note

Device

Supervisor

Parameter set

P741 … [-01]

… … [-23]

PZD bus out

(Process data Bus Out)

0 ... FFFF (hex)

This parameter provides information about the actual status word and the actual values that are transferred via the bus system.

[-01] = Bus status word (P509)

Status word

[-02] = Actual bus value 1 (P543 [-01]) [-03] = Actual bus value 2 (P543 [-02]) [-04] = Actual bus value 3 (P543 [-03]) [-05] = Actual bus value 4 (P543 [-04]) [-06] = Actual bus value 5 (P543 [-05])

Actual values

[-07] = Resulting status OutBit P481

"Resulting status OutBit P481":The displayed value depicts all Bus Out bit sources linked with OR.

[-08] = Parameter data Out 1 [-09] = Parameter data Out 2 [-10] = Parameter data Out 3 [-11] = Parameter data Out 4 [-12] = Parameter data Out 5

Data during parameter transfer: Order label (AK), Parameter number (PNU), Index (IND), Parameter value (PWE 1/2).

[-13] = Actual value 1 of master function

(P502[-01])

[-14] = Actual value 2 of master function

(P502[-02])

[-15] = Actual value 3 of master function

(P502[-03])

[-16] = Actual value 4 of master function

(P502[-04])

[-17] = Actual value 5 of master function

(P502[-05])

Actual value data from master function value (P502/P503).

[-18] = Status word PLC

Status word via the PLC.

[-19] = Actual value 1 PLC [-20] = Actual value 2 PLC [-21] = Actual value 3 PLC [-22] = Actual value 4 PLC [-23] = Actual value 5 PLC

Actual value data via the PLC.

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4 Frequency inverter details

Index

Name

Function

Standardisation

Type

Access

_0_Set_digital_output

Set digital outputs

Bit 0: MFR1 Bit 1: MFR2 Bit 2: Dout1 Bit 3: Dout2 Bit 4: dig. funct. Aout Bit 5: Dout3 (Din7) Bit 6: Bus status word Bit 8 Bit 7: Status word Bit 9 Bit 8: BusIO Bit1 Bit 9: BusIO Bit2 Bit 10: BusIO Bit3 Bit 11: BusIO Bit4 Bit 12: BusIO Bit5 Bit 13: BusIO Bit6 Bit 14: BusIO Bit7 Bit 15: BusIO Bit8

INT

R/W

_1_Set_analog_output

Set analog output FI

10.0V = 100

BYTE

R/W

_2_Set_external_analog_out1

Set analog output 1 IOE

10.0V = 100

BYTE

R/W

_3_Set_external_analog_out2

Set analog output 2 IOE

10.0V = 100

BYTE

R/W

_4_State_digital_output

State of digital outputs

INT

_5_Digital_input

State of digital inputs

Bit 0: DIN1 Bit 1: DIN2 Bit 2: DIN3 Bit 3: DIN4 Bit 4: DIN5 Bit 5: DIN6 Bit 6: DIN7 Bit 7: Digital function AIN1 Bit 8: Digital function AIN2

INT

4.2 Process values

All analog and digital inputs and outputs or bus setpoints and actual values can be read and processed by the PLC or can be set by the PLC (if they are output values. Access to the individual values is by means of the process values listed below.

For all output values, the output (e.g. digital outputs or PLC setpoint) must be programmed so that the PLC is the source of the event.

All process data is read in from the PLC by the FI at the start of each cycle and is only written to the frequency inverter at the end of the program.

The following table lists all of the values which can be directly accessed by the PLC. All other process values must be accessed via the function blocks MC_Readparameter or MC_WriteParameter.

4.2.1 Inputs and outputs

Here, all process values which describe the I/O interface of the frequency inverter are listed.

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Index

Name

Function

Standardisation

Type

Access

_6_Delay_digital_inputs

State of digital inputs according to P474

Bit 0: DIN1 Bit 1: DIN2 Bit 2: DIN3 Bit 3: DIN4 Bit 4: DIN5 Bit 5: DIN6 Bit 6: DIN7 Bit 7: Digital function AIN1 Bit 8: Digital function AIN2

INT

_7_Analog_input1

Value of analog input 1 (AIN1)

10.00V = 1000

INT R 8

_8_Analog_input2

Value of analog input 2 (AIN2)

10.00V = 1000

INT

_9_Analog_input3

Value of analog function DIN2

10.00V = 1000

INT

_10_Analog_input4

Value of analog function DIN3

10.00V = 1000

INT R 11

_11_External_analog_input1

Value of analog input 1 (1.IOE)

10.00V = 1000

INT R 12

_12_External_analog_input2

Value of analog input 2 (1.IOE)

10.00V = 1000

INT

_13_External_analog_input3

Value of analog input 1 (2.IOE)

10.00V = 1000

INT

_14_External_analog_input4

Value of analog input 2 (2.IOE)

10.00V = 1000

INT R 15

_15_State_analog_output

Status of analog output

10.0V = 100

BYTE

_16_State_ext_analog_out1

Status of analog output (1 IOE)

10.00V = 1000

INT R 17

_17_State_ext_analog_out2

Status of analog output 2 (2 IOE)

10.00V = 1000

INT

NOTE

The process value _20_PLC_control_word overwrites the function block MC_Power. The PLC

setpoints overwrite the function blocks MC_Move…. and MC_Home.

Index

Name

Function

Standardisation

Type

Access

_20_PLC_control_word

PLC control word

Corresponds to USS profile

INT

R/W 21

_21_PLC_set_val1

PLC setpoint 1

100% = 4000h

INT

R/W

_22_PLC_set_val2

PLC setpoint 2

100% = 4000h

INT

R/W

_23_PLC_set_val3

PLC setpoint 3

100% = 4000h

INT

R/W

_24_PLC_set_val4

PLC setpoint 4

100% = 4000h

INT

R/W

_25_PLC_set_val5

PLC setpoint 5

100% = 4000h

INT

R/W

_26_PLC_additional_control_word1

PLC additional control word 1

Corresponds to USS profile

INT

R/W

_27_PLC_additional_control_word2

PLC additional control word 2

Corresponds to USS profile

INT

R/W 28

_28_PLC_status_word

PLC status word

Corresponds to USS profile

INT

R/W

_29_PLC_act_val1

PLC actual value 1

100% = 4000h

INT

R/W

_30_PLC_act_val2

PLC actual value 2

100% = 4000h

INT

R/W

_31_PLC_act_val3

PLC actual value 3

100% = 4000h

INT

R/W

_32_PLC_act_val4

PLC actual value 4

100% = 4000h

INT

R/W

_33_PLC_act_val5

PLC actual value 5

100% = 4000h

INT

R/W

Table 104 Input and output process values

4.2.2 PLC setpoints and actual values

The process values listed here form the interface between the PLC and the frequency inverter. The function of the PLC setpoints is specified in (P553).

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Index

Name

Function

Standardisation

Type

Access

_34_PLC_Busmaster_Control_word

Master function control word (bus master function) via PLC

Corresponds to USS profile

INT

R/W

_35_PLC_32Bit_set_val1

32Bit PLC setpoint

- P553[1] = Low word of the 32Bit value

- P553[2] = High word of the 32Bit value

DINT

R/W

_36_PLC_32Bit_act_val1

32Bit PLC actual value

- PLC actual value 1 = Low word of the 32Bit

value

- PLC actual value 2 = High word of the 32Bit

value

DINT

R/W

Index

Name

Function

Standardisation

Type

Access

_40_Inverter_status

FI Status word

Corresponds to USS profile

INT

R 41

_41_Inverter_act_val1

FI Actual value 1

100% = 4000h

INT

_42_Inverter_act_val2

FI Actual value 2

100% = 4000h

INT R 43

_43_Inverter_act_val3

FI Actual value 3

100% = 4000h

INT

_44_Inverter_act_val4

FI Actual value 4

100% = 4000h

INT R 45

_45_Inverter_act_val5

FI Actual value 5

100% = 4000h

INT

_46_Inverter_lead_val1

Broadcast Master Function: Master value 1

100% = 4000h

INT R 47

_47_Inverter_lead_val2

Broadcast Master Function: Master value 2

100% = 4000h

INT R 48

_48_Inverter_lead_val3

Broadcast Master Function: Master value 3

100% = 4000h

INT R 49

_49_Inverter_lead_val4

Broadcast Master Function: Master value 4

100% = 4000h

INT

_50_Inverter_lead_val5

Broadcast Master Function: Master value 5

100% = 4000h

INT R 51

_51_Inverter_control_word

Resulting bus control word

Corresponds to USS profile

INT

R 52

_52_Inverter_set_val1

Resulting main bus setpoint 1

100% = 4000h

INT R 53

_53_Inverter_set_val2

Resulting main bus setpoint 2

100% = 4000h

INT

_54_Inverter_set_val3

Resulting main bus setpoint 3

100% = 4000h

INT R 55

_55_Inverter_set_val4

Resulting main bus setpoint 4

100% = 4000h

INT

_56_Inverter_set_val5

Resulting main bus setpoint 5

100% = 4000h

INT

_57_Broadcast_set_val1

Broadcast Slave: Auxiliary setpoint 1

100% = 4000h

INT R 58

_58_Broadcast_set_val2

Broadcast Slave: Auxiliary setpoint 2

100% = 4000h

INT

_59_Broadcast_set_val3

Broadcast Slave: Auxiliary setpoint 3

100% = 4000h

INT

_60_Broadcast_set_val4

Broadcast Slave: Auxiliary setpoint 4

100% = 4000h

INT

_61_Broadcast_set_val5

Broadcast Slave: Auxiliary setpoint 5

100% = 4000h

INT

Table 105 Process values for PLC setpoints and actual values

4.2.3 Bus setpoints and actual values

These process values reflect all setpoints and actual values which are transferred to the frequency inverter via the various bus systems.

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Index

Name

Function

Standardisation

Type

Access

_62_Inverter_32Bit_set_val1

Resulting 32Bit main setpoint 1 Bus

- Low word in P546[1]

- High word in P546[2]

DINT

_63_Inverter_32Bit_act_val1

FI 32Bit Actual value 1

- Low word in P543[1]

- High word in P543[2]

DINT

_64_Inverter_32Bit_lead_val1

32Bit master value 1

- Low word in P502[1]

- High word in P502[2]

DINT

_65_Broadcast_32Bit_set_val1

32Bit Broadcast Slave auxiliary setpoint 1

- Low word in P543[1]

- High word in P543[2]

DINT

_66_BusIO_input_bits

Incoming BusI/O data

- Bit1 – 8 = Bus I/O In Bit 0 – 7

- Bit 9 = Flag 1

- Bit 10 = Flag 2

- Bit 11 = Bit8 of the Bus control word

- Bit 12 = Bit9 of the Bus control word

INT

Index

Name

Function

Standardisation

Type

Access

_70_Set_controlbox_show_val

Display value for the ControlBox

Display value = Bit 29 – Bit 0 Decimal point position = Bit 31 - Bit

DINT

R/W

_71_Controlbox_key_state

ControlBox keyboard status

Bit 0: ON Bit 1: OFF Bit 2: DIR Bit 3: UP Bit 4: DOWN Bit 5: Enter

BYTE

_72_Parameterbox_key_state

ParameterBox keyboard status

Bit 0: ON Bit 1: OFF Bit 2: DIR Bit 3: UP Bit 4: DOWN Bit 5: Enter Bit 6: Right Bit 7: Left

BYTE

Index

Name

Function

Standardisation

Type

Access

_80_Current_fault

Number of actual fault

Error 10.0 = 100

BYTE

_81_Current_warning

Actual warning

Warning 10.0 = 100

BYTE

_82_Current_reason_FI_blocked

Actual reason for switch-on block state

Problem 10.0 = 100

BYTE

_83_Input_voltage

Actual mains voltage

100 V = 100

INT

_84_Current_frequency

Actual frequency

10Hz = 100

INT

_85_Current_set_point_frequency1

Actual setpoint frequency from the setpoint source

10Hz = 100

INT

Table 106 Process values for bus setpoints and actual values

4.2.4 ControlBox and ParameterBox

The control boxes can be accessed via the process values listed here. This enables the implementation of simple HMI applications.

Table 107 ControlBox and ParameterBox process values

4.2.5 Info parameters

The most important actual values for the frequency inverter are listed here.

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Index

Name

Function

Standardisation

Type

Access

_86_Current_set_point_frequency2

Actual inverter setpoint frequency

10Hz = 100

INT

_87_Current_set_point_frequency3

Actual setpoint frequency after ramp

10Hz = 100

INT

_88_Current_Speed

Calculated actual speed

100rpm = 100

INT

_89_Actual_current

Actual output current

10.0A = 100

INT

_90_Actual_torque_current

Actual torque current

10.0A = 100

INT

_91_Current_voltage

Actual voltage

100V = 100

INT

_92_Dc_link_voltage

Actual link circuit voltage

100V = 100

INT

_93_Actual_field_current

Actual field current

10.0A = 100

INT

_94_Voltage_d

Actual voltage component d-axis

100V = 100

INT

_95_Voltage_q

Actual voltage component q-axis

100V = 100

INT

_96_Current_cos_phi

Actual Cos(phi)

0.80 = 80

BYTE

_97_Torque

Actual torque

100% = 100

INT

_98_Field

Actual field

100% = 100

BYTE

_99_Apparent_power

Actual apparent power

1.00KW = 100

INT

100

_100_Mechanical_power

Actual mechanical power

1.00KW = 100

INT

101

_101_Speed_encoder

Actual measured speed

100rpm = 100

INT

102

_102_Usage_rate_motor

Actual motor usage rate (instantaneous value)

100% = 100

INT

103

_103_Usage_rate_motor_I2t

Actual motor usage rate I2t

100% = 100

INT

104

_104_Usage_rate_brake_resistor

Actual brake resistor usage rate

100% = 100

INT

105

_105_Head_sink_temp

Actual heat sink temperature

100°C = 100

INT

106

_106_Inside_temp

Actual inside temperature

100°C = 100

INT

107

_107_Motor_temp

Actual motor temperature

100°C = 100

INT

141

_141_Pos_Sensor_Inc

Position of incremental encoder

0.001 rotation

DINT

142

_142_Pos_Sensor_Abs

Position of absolute encoder

0.001 rotation

DINT

143

_143_Pos_Sensor_Uni

Position of universal encoder

0.001 rotation

DINT

144

_144_Pos_Sensor_HTL

Position of HTL encoder

0.001 rotation

DINT

145

_145_Actual_pos

Actual position

0.001 rotation

DINT

146

_146_Actual_ref_pos

Actual setpoint position

0.001 rotation

DINT

147

_147_Actual_pos_diff

Difference in position between setpoint and actual value

0.001 rotation

DINT

Index

Name

Function

Standardisation

Type

Access

110

_110_ErrorFlags

Generates user error in FI

Bit 0: E 23.0 Bit 1: E 23.1 Bit 2: E 23.2 Bit 3: E 23.3 Bit 4: E 23.4 Bit 5: E 23.5 Bit 6: E 23.6 Bit 7: E 23.7

BYTE

R/W

111

_111_ErrorFlags_ext

Generates user error in FI

Bit 0: E 24.0 Bit 1: E 24.1 Bit 2: E 24.2 Bit 3: E 24.3 Bit 4: E 24.4 Bit 5: E 24.5 Bit 6: E 24.6 Bit 7: E 24.7

BYTE

R/W

Table 108 Process values for actual FI values

4.2.6 PLC error

Via the process value ErrorFlags the FI errors E23.0 to E24.7 can be set from the PLC program.

Table 109 Process value for User Error Flags

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Index

Name

Function

Standard-

isation

Type

Access

115

_115_PLC_P355_1

PLC INT parameter P355 [-01]

INT R 116

_116_PLC_P355_2

PLC INT parameter P355 [-02]

INT

117

_117_PLC_P355_3

PLC INT parameter P355 [-03]

INT R 118

_118_PLC_P355_4

PLC INT parameter P355 [-04]

INT

119

_119_PLC_P355_5

PLC INT parameter P355 [-05]

INT R 120

_120_PLC_P355_6

PLC INT parameter P355 [-06]

INT

121

_121_PLC_P355_7

PLC INT parameter P355 [-07]

INT

122

_122_PLC_P355_8

PLC INT parameter P355 [-08]

INT R 123

_123_PLC_P355_9

PLC INT parameter P355 [-09]

INT R 124

_124_PLC_P355_10

PLC INT parameter P355 [-10]

INT

125

_125_PLC_P356_1

PLC DINT parameter P356 [-01]

DINT

126

_126_PLC_P356_2

PLC DINT parameter P356 [-02]

DINT

127

_127_PLC_P356_3

PLC DINT parameter P356 [-03]

DINT

128

_128_PLC_P356_4

PLC DINT parameter P356 [-04]

DINT

129

_129_PLC_P356_5

PLC DINT parameter P356 [-05]

DINT

130

_130_PLC_P360_1

PLC display parameter P356 [-01]

DINT

R/W

131

_131_PLC_P360_2

PLC display parameter P360[-02]]

DINT

R/W

132

_132_PLC_P360_3

PLC display parameter P360[-03]]

DINT

R/W

133

_133_PLC_P360_4

PLC display parameter P356 [-04]

DINT

R/W

134

_134_PLC_P360_5

PLC display parameter P360[-05]

DINT

R/W

135

_135_PLC Scope display value 1

PLC_Scope_Int_1

INT

R/W

136

_136_PLC Scope display value 2

PLC_Scope_Int_2

INT

R/W

137

_137_PLC Scope display value 3

PLC_Scope_Int_3

INT

R/W

138

_138_PLC Scope display value 4

PLC_Scope_Int_4

INT

R/W

139

_139_PLC Scope display value 5

PLC_Scope_Bool_1

INT

R/W

140

_140_PLC Scope display value 6

PLC_Scope_Bool_2

INT

R/W

4.2.7 PLC parameter

The PLC parameters P355, P356 and P360 can be directly accessed via this group of process data.

Table 110 Inverter parameters with direct access

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Display in the SimpleBox

Fault Text in the ParameterBox

Cause Remedy

Group

Details in P700[-01] / P701

E022

22.0

No PLC program

The PLC has been started but there is no PLC program in the FI

- Load PLC program into the FI

22.1

PLC program is faulty

The checksum check via the PLC program produced an error.

- Restart the FI (Power ON) and attempt to reload the PLC program

22.2

Incorrect jump address

Program error, behaviour as for Error 22.1

22.3

Stack overflow

More than 6 bracket levels were opened during the run time of the program

- Check the program for run time errors

22.4

Max. PLC cycles exceeded

The stated maximum cycle time for the PLC program was exceeded

- Change the cycle time or check the program

22.5

Unknown command code

A command code in the program cannot be executed because it is not known.

- Program error, behaviour as for Error 22.1

- The PLC version and the NORDCON version do not match

22.6

PLC write access

The program content has been changed while the PLC program was running

22.9

PLC General error

The cause of the fault cannot be precisely determined

- Behaviour as in Error 22.1

E023

23.0 … 23.7

PLC User Fault 1 … 8

This error can be triggered by the PLC program in order to externally indicate problems in the execution of the PLC program. Triggered by writing the process variable "ErrorFlags". E024

24.0 … 24.7

PLC User Fault 9 … 16

4.3 PLC Error messages

Error messages cause the frequency inverter to switch off, in order to prevent a device fault. With PLC error messages execution by the PLC is stopped and the PLC goes into the status "PLC Error". With other error messages the PLC continues operation. The PLC restarts automatically after the error has been acknowledged.

The PLC continues to operate with PLC User Fault 23.X!

Table 111 PLC error messages

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5 Lists / Index

5.1 Abbreviations:

AE……. . Actual event

AIN ....... Analog input

AOUT ... Analog output

AWL ..... Application list (see also IL)

COB-ID . Communication Object Identifier DI (DIN) Digital input DO (DOUT) Digital output

I/O ......... Input / Output

EEPROM Non-volatile memory

EMC ...... Electromagnetic compatibility

FB…….. Function block FI …….. . Frequency inverters

HSW ..... Main setpoint

I/O ......... In-/ Out (Input / Output)

IL ........... Instruction List (see also AWL)

ISD ........ Field current (Current vector control)

LED ....... Light-emitting diode

MC ........ Motion Control

NSW ..... Auxiliary setpoint

P-Box ... ParameterBox

PDO ..... Process Data Object

PLC ...... SPS (Programmable control)

S .......... Supervisor Parameter, P003

SW ....... Software version, P707

STW ...... Control word

ZSW ...... Status word

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5.2 Figures

Fig. 1 Memory structure ............................................................................................................................................................. 9

Fig. 2 Process image................................................................................................................................................................ 10

Fig. 3 Generation of control word and main setpoints from a range of possible sources ......................................................... 11

Fig. 4 PLC Editor ...................................................................................................................................................................... 14

Fig. 5 Declaration window ........................................................................................................................................................ 15

Fig. 6 NORDCON overview window ......................................................................................................................................... 16

Fig. 7 Schematic diagram of the Flying Saw synchronisation process ..................................................................................... 62

Fig. 8 Setpoint processing for FB PIDT1 .................................................................................................................................. 65

Fig. 9 Display on the ParameterBox in visualisation mode....................................................................................................... 66

5.3 Tables

Table 1PLC specification............................................................................................................................................................ 9

Table 2 Data types ................................................................................................................................................................... 20

Table 3 Numeric literals............................................................................................................................................................ 20

Table 4 Bit-wise access to variables ........................................................................................................................................ 22

Table 5 Overview of loading and storage operations ............................................................................................................... 22

Table 6 LD ................................................................................................................................................................................ 23

Table 7 LDN ............................................................................................................................................................................. 23

Table 8 ST ................................................................................................................................................................................ 23

Table 9 STN ............................................................................................................................................................................. 23

Table 10 Overview of arithmetical operators ............................................................................................................................ 24

Table 11 ABS ........................................................................................................................................................................... 24

Table 12 ADD and ADD( .......................................................................................................................................................... 25

Table 13 DIV and DIV( ............................................................................................................................................................. 25

Table 14 LIMIT ......................................................................................................................................................................... 26

Table 15 MAX .......................................................................................................................................................................... 26

Table 16 MIN ................................................................ ............................................................................................................ 26

Table 17 MUX .......................................................................................................................................................................... 27

Table 18 MOD and MOD( ........................................................................................................................................................ 27

Table 19 MUL and MUL( .......................................................................................................................................................... 28

Table 20 SUB and SUB( .......................................................................................................................................................... 28

Table 21 Overview of extended mathematical operators ......................................................................................................... 29

Table 22 EXP ........................................................................................................................................................................... 29

Table 23 LOG ........................................................................................................................................................................... 29

Table 24 LN ................................................................................................................................................................ .............. 30

Table 25 SQR .......................................................................................................................................................................... 30

Table 26 Trigonometrical functions .......................................................................................................................................... 30

Table 27 Overview of Bit operations ........................................................................................................................................ 31

Table 28 AND and AND( .......................................................................................................................................................... 31

Table 29 ANDN and ANDN( ..................................................................................................................................................... 32

Table 30 NOT ................................ ................................ ........................................................................................................... 32

Table 31 OR and OR( .............................................................................................................................................................. 33

Table 32 ANDN and ANDN( ..................................................................................................................................................... 33

Table 33 ROL ........................................................................................................................................................................... 34

Table 34 ROR .......................................................................................................................................................................... 34

Table 35 SHL ........................................................................................................................................................................... 34

Table 36 SHR ................................ ................................ ........................................................................................................... 35

Table 37 S and R ..................................................................................................................................................................... 35

Table 38 XOR or XOR( ............................................................................................................................................................ 35

Table 39 XORN and XORN( .................................................................................................................................................... 36

Table 40 Overview of comparison operators ............................................................................................................................ 37

Table 41 EQ ............................................................................................................................................................................. 37

Table 42 GE ............................................................................................................................................................................. 37

Table 43 GT ................................................................ ................................................................ ................................ ............. 38

Table 44 LE .............................................................................................................................................................................. 38

Table 45 LT .............................................................................................................................................................................. 38

Table 46 NE ................................................................ ................................................................ ................................ ............. 39

Table 47 Overview of jumps ..................................................................................................................................................... 40

Table 48 JMP ........................................................................................................................................................................... 40

Table 49 JMPC ........................................................................................................................................................................ 40

Table 50 JMPCN ...................................................................................................................................................................... 40

Table 51 Overview of type conversions.................................................................................................................................... 41

Table 52 BYTE_TO_BOOL ...................................................................................................................................................... 41

Table 53 BOOL_TO_BYTE ...................................................................................................................................................... 41

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Table 54 INT_TO_BYTE .......................................................................................................................................................... 41

Table 55 BYTE_TO_INT .......................................................................................................................................................... 42

Table 56 DINT_TO_INT ........................................................................................................................................................... 42

Table 57 INT_TO_DINT ........................................................................................................................................................... 42

Table 58 Overview of standard library ..................................................................................................................................... 43

Table 59 CTD downward counter ............................................................................................................................................ 44

Table 60 CTU upward counter ................................................................................................................................................. 44

Table 61 CTUD upward and downward counter ...................................................................................................................... 45

Table 62 SR Flip Flop .............................................................................................................................................................. 45

Table 63 RS Flip Flop .............................................................................................................................................................. 46

Table 64 R_TRIG and F_TRIG ................................................................................................................................................ 46

Table 65 TON switch-on delay ................................................................................................................................................. 47

Table 66 TOF switch-off delay ................................................................................................................................................. 48

Table 67 TP time pulse ............................................................................................................................................................ 49

Table 68 Settings for the Motion Control FB ............................................................................................................................ 50

Table 69 Overview of Motion Control ....................................................................................................................................... 51

Table 70 Example for the determination of the parameter index of the function block ............................................................. 51

Table 71 MC_ReadParameter ................................................................................................................................................. 52

Table 72 MC_WriteParameter16 / MC_WriteParameter32 ...................................................................................................... 53

Table 73 MC_MoveVelocity ................................................................................................ ..................................................... 54

Table 74 MC_MoveAbsolute .................................................................................................................................................... 55

Table 75 MC_MoveRelative ..................................................................................................................................................... 56

Table 76 MC_MoveAdditive ..................................................................................................................................................... 56

Table 77 MC_Home ................................................................................................................................................................. 57

Table 78 MC_Power ................................................................................................................................................................ 57

Table 79 Assignment of control inputs (  = The level at the input is not important) ................................................................ 58

Table 80 MC_Control ............................................................................................................................................................... 58

Table 81 MC_ReadStatus ........................................................................................................................................................ 58

Table 82 MC:ReadActualPos ................................................................................................................................................... 59

Table 83 MC_Reset ................................................................................................................................................................. 59

Table 84 MC_Stop ................................................................................................................................................................... 59

Table 85 Parameterisation for gear function ............................................................................................................................ 60

Table 86 Overview of electronic gear unit ................................................................................................................................ 60

Table 87 FB_Gearing ............................................................................................................................................................... 61

Table 88 FB_FlyingSaw ........................................................................................................................................................... 62

Table 89 FB_FunctionCurve .................................................................................................................................................... 63

Table 90 Value range for FB_PIDT1 control parameters ......................................................................................................... 64

Table 91 FB_PIDT1 ................................ ................................................................................................................................. 65

Table 92 FB_STRINGToPBox ................................................................................................................................................. 67

Table 93 FB_DINTToPBox ...................................................................................................................................................... 68

Table 94 Resulting COB-IDs .................................................................................................................................................... 69

Table 95 CANopen overview ................................................................................................................................................... 69

Table 96 FB_NMT ................................................................................................................................ ................................ .... 70

Table 97 FB_PDOConfig ......................................................................................................................................................... 71

Table 98 FB_PDOSend ........................................................................................................................................................... 72

Table 99 FB_PDOReceipt ....................................................................................................................................................... 73

Table 100 FB_Capture ............................................................................................................................................................. 74

Table 101 FB_WriteTrace ........................................................................................................................................................ 75

Table 102 FB_ReadTrace ........................................................................................................................................................ 76

Table 103 FB_Weigh ............................................................................................................................................................... 77

Table 104 Input and output process values ............................................................................................................................. 88

Table 105 Process values for PLC setpoints and actual values............................................................................................... 89

Table 106 Process values for bus setpoints and actual values ................................................................................................ 90

Table 107 ControlBox and ParameterBox process values ....................................................................................................... 90

Table 108 Process values for actual FI values......................................................................................................................... 91

Table 109 Process value for User Error Flags ......................................................................................................................... 91

Table 110 Inverter parameters with direct access.................................................................................................................... 92

Table 111 PLC error messages ............................................................................................................................................... 93

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Accumulator ............................... 11

Actual bus value P543) .............. 84

Bus status via PLC (P353) ......... 79

Control terminals ........................ 80

Control word source (P509) ....... 83

Digital output

Function (P434) ................ 81

Error messages .......................... 93

Extra functions ........................... 83

Faults ......................................... 93

FB CTD downward counter ........ 44

FB CTU downward counter ........ 44

FB CTUD upward/downward

counter ................................... 45

FB R_TRIG and F_TRIG ............ 46

FB RS Flip Flop .......................... 46

FB SR Flip Flop .......................... 45

FB TOF switch-off delay ............. 48

FB TON switch-on delay ............ 47

FB TP time pulse ........................ 49

FB_Capture ................................ 74

FB_DINTToPBox ....................... 68

FB_FlyingSaw ............................ 61

FB_Gearing ................................ 61

FB_PDOConfig .......................... 71

FB_PDOReceipt ......................... 73

FB_PDOSend ............................. 72

FB_PIDT1 ................................... 64

FB_ReadTrace ........................... 76

FB_STRINGToPBox ................... 67

FB_Weigh ................................... 77

FB_WriteTrace ........................... 75

Function Analog output (P418) ... 80 Function Bus IO In Bits (P480) ... 82 Function BusIO Out Bits (P481) . 82

Information parameters .............. 85

Low Voltage Directive ................... 2

Master function output (P503) .... 83

Master function value (P502) ...... 83

MC_Control ................................ 58

MC_Home .................................. 57

MC_MoveAbsolute ..................... 55

MC_MoveAdditive ...................... 56

MC_MoveRelative ...................... 56

MC_MoveVelocity ....................... 54

MC_Power .................................. 57

MC_ReadActualPos ................... 59

MC_ReadParameter ................... 52

MC_ReadStatus ......................... 58

MC_Reset .................................. 59

MC_Stop .................................... 59

MC_WriteParameter ................... 53

Operating displays ...................... 78

Operator ABS ............................. 24

Operator ADD and ADD( ............ 25

Operator AND and AND( ............ 31

Operator ANDN and ANDN( ....... 32

Operator angle functions ............. 30

Operator BOOL_TO_BYTE ........ 41

Operator BYTE_TO_BOOL ........ 41

Operator BYTE_TO_INT ............. 42

Operator DINT_TO_INT .............. 42

Operator DIV and DIV(................ 25

Operator EQ ............................... 37

Operator EXP ............................. 29

Operator GE ............................... 37

Operator GT ................................ 38

Operator INT_TO_BYTE ............. 41

Operator INT_TO_DINT .............. 42

Operator JMP ............................. 40

Operator JMPC ........................... 40

Operator JMPCN ........................ 40

Operator LD ................................ 23

Operator LDN ............................. 23

Operator LE ................................ 38

Operator LIMIT ........................... 26

Operator LN ................................ 30

Operator LOG ............................. 29

Operator LT ................................ 38

Operator MAX ............................. 26

Operator MIN .............................. 26

Operator MOD and MOD( ........... 27

Operator MUL and MUL( ............ 28

Operator MUX ............................. 27

Operator NE ................................ 39

Operator NOT ............................. 32

Operator OR and OR( ................. 33

Operator ORN and ORN( ...... 33, 36

Operator ROL ............................. 34

Operator ROR ............................. 34

Operator S and R ........................ 35

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Operator SHL .............................. 34

PLC Status (P370) ...................... 79

Operator SHR ............................. 35

Operator SQR ............................. 30

Operator ST ................................ 23

Operator STN.............................. 23

Operator SUB and SUB( ............. 28

Operator XOR and XOR( ............ 35

Operator XORN and XORN ........ 36

PLC display value (P360) ..... 79, 81

PLC functionality (P350) ............. 78

PLC Integer setpoint (P355) ....... 79

PLC Long setpoint (P356) .......... 79

PLC parameter ........................... 78

PLC setpoint selection (P351) .... 78

PLC setpoints (P553) ................. 84

Process data Bus In (P740) ........ 85

Process data Bus Out (P741) ..... 86

Safety information ......................... 2

Selection display (P001) ............. 78

Setpoints source (P510) ............. 83

Speed control ............................. 78

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PLC logic for NORD SK 54xE frequency inverters

Part No. 607 5502 / 3911

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