shpplcdreusesw l-force controls · 12.4.1 structure of s94_drivecontrol_tablepositioning -...

L

SHPPLCDREUSESW13412153

Ä.J6Vä

Software manual

PLC Designer V2.x

Commissioning of Lenze devices (Application Samples)

PC-based Automation

L-force Controls

1.3 EN - 07/2012 L 3

PLC Designer V2.x| Lenze Application SamplesContents

Contents

1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.1 Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

1.2 Trademark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

1.3 Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

1.4 Notes used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

2 Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3 The "PC-based automation" system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

4 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4.1 System requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4.2 What is the PLC Designer? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4.3 Where can I receive a full version of the PLC Designer? . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

4.3.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

5 System bus (CAN) / CANopen. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

5.1 CANopen (Logic) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

5.2 Communication card MC-CAN2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

6 Commissioning the CANopen Logic bus. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

6.1 Overview of the commissioning steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

6.2 Commissioning field devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

6.2.1 Going online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

6.3 Preparing the restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

6.3.1 Special features of the 9400 Servo Drives HighLine . . . . . . . . . . . . . . . . . . . . . . . . 31

6.3.2 Special features of the 8400 Inverter Drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

6.3.3 Commission 8200 vector frequency inverters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

6.3.4 Special features of the ECS servo system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

7 Commissioning a sample project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

7.1 General system structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

7.2 Wiring the hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

7.2.1 Configuring the CAN interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

7.2.2 Configuring an EL1xx Ethernet interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

7.3 Opening a project in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

7.3.1 Establishing communication with the Industrial PC or EL1xx . . . . . . . . . . . . . . . 38

7.3.2 Starting the sample project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38


4 L 1.3 EN - 07/2012

8 Working with the sample projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

8.1 8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project . . . . . . . . . . . . . . . . . 41

8.1.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

8.1.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

8.1.2.1 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

8.1.2.2 Open the »Engineer« project & go online. . . . . . . . . . . . . . . . . . . . . . . . 43

8.1.3 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

8.1.3.1 Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

8.1.3.2 Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

8.1.4 Operation via the visualisations in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . 48

8.1.4.1 Information/home page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

8.1.4.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

8.1.4.3 Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

8.1.4.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

8.1.4.5 Parameter transfer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

8.1.4.6 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

8.1.5 Interface assignment in the »Engineer« . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

8.2 8400 HighLine - "LAS_40_INTF_Can_84HL_TabPos" sample project . . . . . . . . . . . . . . . . 61

8.2.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61


8.2.3 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62







8.2.5.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70


8.2.5.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

8.2.5.5 Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75


8.2.5.7 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79


1.3 EN - 07/2012 L 5


8.3 9400 HighLine - "LAS_40_INTF_Can_94HL_Speed" sample project . . . . . . . . . . . . . . . . . 83

8.3.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84








8.3.4.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91


8.3.4.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95


8.3.4.6 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99


8.4 9400 HighLine - "LAS_40_INTF_Can_94HL_TabPos" sample project . . . . . . . . . . . . . . . . 102

8.4.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102








8.4.4.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111


8.4.4.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

8.4.4.5 Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117


8.4.4.7 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121



6 L 1.3 EN - 07/2012

8.5 ECS servo system - "LAS_40_INTF_Can_ECSPosShaft" sample project . . . . . . . . . . . . . . 125

8.5.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125


8.5.3 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

8.5.4 Open the »Global Drive Control« project & go online . . . . . . . . . . . . . . . . . . . . . . 127






8.5.6.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136


8.5.6.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

8.5.6.5 Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142


8.5.6.7 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

8.5.7 Interface assignment in the device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

8.6 8200 vector - "LAS_40_INTF_Can_82_Speed" sample project . . . . . . . . . . . . . . . . . . . . . . 148

8.6.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148


8.6.2.1 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149







8.6.5.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156


8.6.5.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160


8.6.5.6 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

8.6.6 Interface assignment in the »Global Drive Control«. . . . . . . . . . . . . . . . . . . . . . . . 165

1.3 EN - 07/2012 L 7


8.7 9300 servo - "LAS_40_INTF_Can_93_Speed" sample project . . . . . . . . . . . . . . . . . . . . . . . 167

8.7.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167


8.7.2.1 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168







8.7.5.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176


8.7.5.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180


8.7.5.6 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184


8.8 9300 - "LAS_40_INTF_Can_93_EP" sample project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

8.8.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188


8.8.2.1 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189







8.8.5.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198


8.8.5.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

8.8.5.5 Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204


8.8.5.7 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208



8 L 1.3 EN - 07/2012

8.9 ECS/9400/8400 - "LAS_40_INTF_84SL_Speed_94HL_Speed_ECSPosShaft" sample project212

8.9.1 Components used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212


8.9.2.1 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213

8.9.2.2 Program structure in the »PLC Designer« . . . . . . . . . . . . . . . . . . . . . . . . 214




8.9.3.2 Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219


8.9.3.4 Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222

8.9.3.5 "Homing ECS" mode (homing) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223


8.9.3.7 CAN diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225

8.9.4 Interface assignment in the device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225

9 Adding other components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

9.1 Copying and inserting nodes of the same series. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

9.1.1 Establishing the connection between the visualisation and the FB. . . . . . . . . . 229

9.2 Inserting further subelements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

9.3 Copying and inserting different nodes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

10 Diagnostics. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

10.1 What to do if the PLC is not running? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

10.1.1 The PLC was exited on the target system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

10.1.2 No download of the PLC program to the target system possible . . . . . . . . . . . . 232

10.2 What to do if the CAN bus is not running/CAN nodes do not respond? . . . . . . . . . . . . . 233

10.3 What to do if the motor does not rotate? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233

11 The L_S84_Drive8400.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

11.1 L_S84_ActuatorSpeedBL - actuation of the 8400 BaseLine controller . . . . . . . . . . . . . . . 235

11.1.1 Structure of S84_DriveControl_8400BL - actuation to the controller . . . . . . . . 236

11.1.2 Structure of S84_DriveStatus_8400BL - status of the controller . . . . . . . . . . . . 237

11.2 L_S84_ActuatorSpeedSL - actuation of the 8400 StateLine controller. . . . . . . . . . . . . . . 238

11.2.1 Structure of S84_DriveControl_8400 - actuation to the controller . . . . . . . . . . 239

11.2.2 Structure of S84_DriveStatus_8400 - status of the controller. . . . . . . . . . . . . . . 240

11.3 L_S84_GetVersion - transfer of the version. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

11.4 L_S84_ReadErrorCode - read out error status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

11.5 L_S84_SDOList84SL - parameter list for 8400 StateLine controller. . . . . . . . . . . . . . . . . . 242

1.3 EN - 07/2012 L 9


11.6 L_S84_TablePositioningHL - profile data record management . . . . . . . . . . . . . . . . . . . . . 243

11.6.1 Structure of S84_DriveControl_8400HL_TablePositioning - actuation to the drive244

11.6.2 Structure of S84_DriveStatus_8400HL_TablePositioning - status of the controller245


12.1 L_S94_ActuatorSpeed - actuation of the 9400 HighLine controller . . . . . . . . . . . . . . . . . 246

12.1.1 Structure of S94_DriveControl_ActSpeed - actuation to the 9400 controller. 247

12.1.2 Structure of S94_DriveStatus_ActSpeed - status of the controller . . . . . . . . . . 248

12.2 L_S94_GetVersion - transfer of the version. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249


12.4 L_S94_TablePositioning - table positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251

12.4.1 Structure of S94_DriveControl_TablePositioning - actuation to the controller 252

12.4.2 Structure of S94_DriveStatus_TablePositioning - status of the controller . . . 253

13 The L_SCS_DriveECS.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255

13.1 L_SCS_ActuatorSpeed - actuation of the ECS servo system. . . . . . . . . . . . . . . . . . . . . . . . . 255

13.1.1 Structure of SCS_DriveControl_Speed - control for the drive . . . . . . . . . . . . . . . 256

13.1.2 Structure of SCS_DriveStatus_Speed - status of the controller. . . . . . . . . . . . . . 257

13.2 L_SCS_GetVersion - transfer of the version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258

13.3 L_SCS_PosiShaft - actuation of the ECS servo system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258

13.3.1 Structure of SCS_DriveControl_PosiShaft - control for the drive . . . . . . . . . . . . 259

13.3.2 Structure of SCS_DriveStatus_PosiShaft - status of the controller . . . . . . . . . . 260

13.3.2.1 Process data from the axis module (status words and actual values) 261

13.3.2.2 Monitor data words from the controller (tx_par1 and tx_par2) . . . 262

13.4 L_SCS_SupplyModule - actuation of the ECS servo system power supply module . . . 263

13.4.1 Structure of SCS_Control_Supply - actuation to the ECS controller power supply module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264

13.4.2 Structure of SCS_Status_Supply - status of the controller . . . . . . . . . . . . . . . . . . 265

13.4.3 L_SCS_ReadErrorCode - read out error status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266

14 The L_S8V_Drive82Vector.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267

14.1 L_S8V_ActuatorSpeed - actuation of the 8200 vector controller. . . . . . . . . . . . . . . . . . . . 267

14.1.1 Actuation to the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268

14.1.2 Status of the controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269

14.2 L_S8V_ReadErrorCode - read out error status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270

14.3 L_S8V_SDOList. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271


10 L 1.3 EN - 07/2012

15 The L_S8S_Drive82SMD.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272

15.1 L_S8S_ActuatorSpeed - actuation of the 8400 SMD controller . . . . . . . . . . . . . . . . . . . . . 272

15.1.1 Structure S8S_DriveControl - actuation to the controller . . . . . . . . . . . . . . . . . . . 273

15.1.2 Structure S8S_DriveStatus - status of the controller . . . . . . . . . . . . . . . . . . . . . . . 274

15.2 L_S8S_SDOList . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275


16.1 L_S93_ActuatorSpeed - control the 9300 Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276

16.1.1 Structure of 93_DriveControl_Speed - actuation to the controller . . . . . . . . . . 277

16.1.2 Structure of 93_DriveStatus_Speed - status of the controller . . . . . . . . . . . . . . . 278

16.2 L_S93_Positioning - control the 9300 Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279

16.2.1 Structure of S93_DriveControl_93xxEP - actuation to the 9300 EP controller 280

16.2.2 Structure of S93_DriveStatus_93xxEP - status of the 9300 EP controller . . . . 281


17 The L_SCB_CANBasic.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283

17.1 L_SCB_Actuator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283

17.2 L_SCB_CanStatus - node inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284

17.3 L_SCB_GetNodeDataRxPDO1 - read out data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285

17.4 L_SCB_GetNodeDataRxPDO2 - read out data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286

17.5 L_SCB_GetNodeState - node inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287

17.6 L_SCB_GetStateOptional - check with regard to "OptionalDevice" . . . . . . . . . . . . . . . . . 287

17.7 L_SCB_GetVersion - transfer of the version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288

17.8 L_SCB_ParRead - read parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288

17.9 L_SCB_ParRead_String - "String"-read parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 290

17.10 L_SCB_ParWrite - write parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291

17.11 L_SCB_PutNodeDataTxPDO1 - data transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292

17.12 L_SCB_PutNodeDataTxPDO2 - data transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293

17.13 L_SCB_SDO_Converter - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294

17.13.1 SCB_ParameterData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295

17.14 L_SCB_SDO_ListSize10 - parameter list (length: 10) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295

17.15 L_SCB_SDO_ListSize25 - parameter list (length: 25) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296

17.16 L_SCB_SDO_ListSize50 - parameter list (length: 50) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296

17.17 L_SCB_StartNode - restart CAN nodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297

17.18 L_SCB_StatusSingleNode - read out bus status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298

17.18.1 SCB_StateCanMaster . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299

17.18.2 Structure of SCB_CanNodeDiagnose -. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299

17.19 L_SCB_SDO_TransferTable - transfer parameter list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299

1.3 EN - 07/2012 L 11


18 The L_SDC_DataConversion.lib library. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301

18.1 L_SDC_2BytesToWord - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301

18.2 L_SDC_2WordsToDWord - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301

18.3 L_SDC_4BytesToDWord - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302

18.4 L_SDC_BitsToByte - bit multiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303

18.5 L_SDC_BitsToDWord - bit multiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303

18.6 L_SDC_BitsToWord - bit multiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305

18.7 L_SDC_ByteToBits - bit demultiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306

18.8 L_SDC_GetBitOfByte - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306

18.9 L_SDC_DWordToBits - bit demultiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307

18.10 L_SDC_DWordTo2Words - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307

18.11 L_SDC_DWordTo4Bytes - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308

18.12 L_SDC_GetBitOfDWord - conversion block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308

18.13 L_SDC_GetBitOfWord - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309

18.14 L_SDC_GetVersion - transfer of the version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309

18.15 L_SDC_ResetBitOfByte - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310

18.16 L_SDC_ResetBitOfDWord - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311

18.17 L_SDC_ResetBitOfWord - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311

18.18 L_SDC_SetBitOfByte - bit operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312

18.19 L_SDC_SetBitOfDWord - bit operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312

18.20 L_SDC_SetBitOfWord - bit operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313

18.21 L_SDC_WordTo2Bytes - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313

18.22 L_SDC_WordToBits - bit demultiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313

19 The L_SEC_ErrorCode.lib library. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315

19.1 L_SEC_GetVersion - transfer of the version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315

19.2 L_SEC_InfoErrorCode - read out error status. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315

20 The L_SSC_Scaling.lib library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316

20.1 L_SSC_AccToUnit - conversion block (for 9400 device series) . . . . . . . . . . . . . . . . . . . . . . . 316

20.2 L_SSC_GetAxisData - read out machine parameters from axis data . . . . . . . . . . . . . . . . 317

20.3 L_SSC_GetPosition - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318

20.4 L_SSC_GetSpeed - conversion block (for 9400 device series) . . . . . . . . . . . . . . . . . . . . . . . 319

20.5 L_SSC_GetVersion - transfer of the version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319

20.6 L_SSC_Norm_aToNorm_n - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320

20.7 L_SSC_Norm_nToNorm_a - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320


12 L 1.3 EN - 07/2012

20.8 L_SSC_Norm_nToSpeed_s - signal converter (for 9400 device series) . . . . . . . . . . . . . . . 321

20.8.1 SSC_Axis_logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322

20.9 L_SSC_PosToUnit - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323

20.10 L_SSC_Speed_nToNorm_r - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323

20.11 L_SSC_Speed_rToNorm_n - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324

20.12 L_SSC_Speed_sToNorm_n - signal converter (for 9400 device series) . . . . . . . . . . . . . . . 324

20.13 L_SSC_Speed_sToSpeed_v - signal converter (for 9400 device series). . . . . . . . . . . . . . . 324

20.14 L_SSC_Speed_vToSpeed_s - signal converter (for 9400 device series). . . . . . . . . . . . . . . 325

20.15 L_SSC_SetAxisData - machine parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326

20.16 L_SSC_SetPosition - position conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327

20.17 L_SSC_SetSpeed - speed conversion (for 9400 device series) . . . . . . . . . . . . . . . . . . . . . . . 328

20.18 L_SSC_SpeedToUnit - conversion block (for 9400 device series) . . . . . . . . . . . . . . . . . . . . 329

20.19 L_SSC_TaskCycle - read in task time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329

20.20 L_SSC_UnitToAcc - conversion block (for 9400 device series) . . . . . . . . . . . . . . . . . . . . . . . 330

20.21 L_SSC_UnitToPos - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331

20.22 L_SSC_UnitToSpeed - conversion block (for 9400 device series) . . . . . . . . . . . . . . . . . . . . 332

21 Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333

Your opinion is important to us. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335

PLC Designer V2.x| Lenze Application SamplesAbout this documentation

13 L 1.3 EN - 07/2012

1 About this documentation

This documentation describes the first commissioning steps of a Lenze automation systemon the basis of a simple example application. The automation system used consists of a PLCfor the control technology and drive components connected (via a bus system).

The explanation of the procedure includes the installation of the integrated developmentenvironment, the »PLC Designer«, and the diagnostics of the application.

Tip!Information and tools regarding the Lenze products can be found in the downloadarea under: http://www.Lenze.com

This manual is part of the "PC-based Automation" manual collection. The manualcollection consists of the following parts:

Read the mounting instructions supplied with the controller first before you start working!The mounting instructions contain safety instructions which must be observed!

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

Documentation Subject

System manuals"PC-based Automation"

• Control technology - System structure & configuration • Visualisation - System structure & components

Communication manuals"PC-based Automation"

• CANopen control technology • PROFIBUS control technology

(Software) manual"PC-based Automation"

• Industrial PC - Parameter setting & configuration

Operating instructions"Embedded Line Panel PC"

• EL x8xx - built-in panel PC with TFT display

Operating instructions"Command Station"

• CS x8xx - stand-alone operator terminal

Operating instructions"Control Cabinet PC"

• CPC x8xx - control cabinet PC

Operating instructions"HMI EL 100"

• EL 1xx - HMI with Windows® CE

More software manuals • »Global Drive Control« (»GDC«)– IPC as gateway - Parameter setting & configuration

• »Engineer« • »PLC Designer« / »PLC Designer - SoftMotion« / »PLC Designer - CANopen

for Runtime Systems« • »VisiWinNET® Smart«

1.3 EN - 07/2012 L 14


Information on the use of the IPCs beyond the control technology can be found in the system manuals tailored to the application case.


15 L 1.3 EN - 07/2012

Further technical documentation on Lenze components

More information on Lenze components that can be used together with "PC-basedautomation" can be found in the following documentation:

Target group

The documentation addresses to persons who plan, install, commission, and maintain thenetworking of devices in the field of control technology.

Mounting & wiring Legend:

MAs for Inverter Drives 8400 Printed documentation

MAs for Servo Drives 9400 Online help/PDF

MA EPM-Txxx (I/O system IP20) Abbreviations used:

MA EPM-Sxxx (I/O system 1000) SHB System manual

MA 8200 vector BA Operating instructions

8200 vector wiring according to EMC MA Mounting instructions

MAs for the ECS servo system SW Software manual

MA MC-CAN2 communication card KHB Communication manual

MA MC-ETC communication card

MA MC-ETH communication card

MA MC-PBM communication card

MA MC-PBS communication card

MA MC-MPI communication card

MAs for communication modules

Parameterisation, configuration, commissioning

SW Inverter Drives 8400BaseLine / StateLine / HighLine / TopLine

This documentation contains further information when using the sample projects

SW Servo Drive 9400 HighLine / PLC This documentation contains further information when using the sample projects

9400 HighLine commissioning guidelines

SHB I/O system IP20 (EPM-Txxx)

SHB I/O system 1000 (EPM-Sxxx)

SHB 8200 vector This documentation contains further information when using the sample projects

BAs for the ECS servo system This documentation contains further information when using the sample projects

KHBs for the communication modules

Programming

SW 9400 function library

Establishing a network

KHBs for the communication modules

1.3 EN - 07/2012 L 16


Information regarding the validity

The information provided in this documentation applies to the AppSamples_100 with thefollowing Lenze software:

Software From software version

»PLC Designer« 2.3.x

»Engineer« 2.12

»Global Drive Control« 4.11

1.3 EN - 07/2012 L 17


Document history

1.1 Document history

1.2 Trademark

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

Adobe and Reader are either registered trademarks or trademarks of Adobe SystemsIncorporated in the USA and/or other countries.

All other brand names mentioned in this documentation are trademarks of their respectiveowners.

Version Description

1.1 11/2010 TD11 First edition

1.2 03/2011 TD11 Further sample projects supplemented: • 8200 vector • 9300 Speed • 9300 EP • Multiproject ECS/ 8400 StateLine/9400 HighLine

1.3 06/2012 TD11 Amended by general notes on the use of FBs.

PLC Designer V2.x| Lenze Application SamplesAbout this documentationConventions used

18 L 1.3 EN - 07/2012

1.3 Conventions used

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

Type of information Display Examples/notes

Numbers

Decimal separator Point The decimal point is generally used.Example: 1234.56

Text

Version information Text colour blue All pieces of information that only apply to or from a certain controller software version are identified accordingly in this documentation.Example: This function extension is available as from software version V3.0!

Program name » « The Lenze PC software »PLC Designer«

Window Italics The Message window... / The Options ... dialog box

Variable name By setting bEnable to TRUE...

Control element Bold The OK... button / The Copy... command / The Properties... tab / The Name ... input field

Sequence of menu commands

If the execution of a function requires several commands in a row, the individual commands are separated by an arrow: Select FileOpen to...

Shortcut Use to open the online help.

If a key combination is required for a command, a "+" is placed between the key identifiers: With +...

Program code Courier IF var1 < var2 THEN a = a + 1 END IF

Keyword Courier bold

Hyperlink Underlined Optically highlighted reference to another topic. It is activated with a mouse-click in this documentation.

Symbols

Page reference ( 18) Optically highlighted reference to another page. It is activated with a mouse-click in this documentation.

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

1.3 EN - 07/2012 L 19


Notes used

1.4 Notes used

The following signal words and icons are used in this documentation to indicate dangersand important information:

Safety instructions

Structure of safety instructions:

Application notes

Pictograph and signal word!(characterises the type and severity of danger)

Note

(explains the danger and how to avoid it)

Pictograph Signal word Meaning

Danger! Danger of personal injuries through dangerous electrical voltageReference to an imminent danger that may result in death or serious personalinjury unless the corresponding measures are taken.

Danger! Danger of personal injury through a general source of dangerReference to an imminent danger that may result in death or serious personalinjury unless the corresponding measures are taken.

Stop! Danger of damage to material assetsIndicates a potential danger that may lead to material damage unless the corresponding measures are taken.

Pictograph Signal word Meaning

Note! Important note for trouble-free operation

Tip! Useful tip for easy handling

Reference to other documents

PLC Designer V2.x| Lenze Application SamplesSafety instructions

20 L 1.3 EN - 07/2012

2 Safety instructions

Please observe the following safety instructions when you want to commission a controlleror system using the »Engineer«.

Read the documentation supplied with the controller or the individual components of the system carefully before you start to commission the devices with the »Engineer«!

The device documentation contains safety instructions which must be observed!

Danger!According to our present level of knowledge it is not possible to ensure the absolute freedom from errors of a software.

If necessary, systems with built-in controllers must be provided with additional monitoring and protective equipment according to relevant safety regulations (e.g. law on technical equipment, regulations for the prevention of accidents), so that an impermissible operating status does not endanger persons or facilities.

During commissioning persons must keep a safe distance from the motor or the machine parts driven by the motor. Otherwise there would be a risk of injury by the moving machine parts.

Stop!If you change parameters in the »Engineer« during an online connection to the device is established, the changes are directly accepted in the device!

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

1.3 EN - 07/2012 L 21

PLC Designer V2.x| Lenze Application SamplesThe "PC-based automation" system

3 The "PC-based automation" system

Industrial PCs (IPCs) become more and more important in the field of automationtechnology. Due to their scaling options and various combinations of visualisation andcontrol on one device, Industrial PCs provide clear advantages for many applications.

Lenze Industrial PCs are available in the following software equipments:

Industrial PC as component (optional with operating system) without any further software

Industrial PC as visualisation system Industrial PC as control and visualisation system

The "PC-based automation" system enables the centralised control of Logic and Motionsystems.

For this purpose, Lenze provide coordinated system components:

Industrial PCs as control and visualisation system– The IPC is the central component of the PC-based automation which controls the

Logic and Motion functionalities by means of the runtime software.

– The IPC communicates with the field devices via the fieldbus.

– The IPCs are available in different designs.

Note!The "PC-based automation" system furthermore contains the EL 1xx PLC HMI series. These devices clearly differ from the Industrial PCs with regard to the performance and various other details. Nevertheless the devices of the EL 1xx PLC HMI series are able to perform smaller control functions.

PLC Designer V2.x| Lenze Application SamplesThe "PC-based automation" system

22 L 1.3 EN - 07/2012

Engineering tools for the Engineering PC– The Engineering PC communicates with the IPC via Ethernet.

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

Fieldbuses Field devices

1.3 EN - 07/2012 L 23

PLC Designer V2.x| Lenze Application SamplesRequirements

System requirements

4 Requirements

4.1 System requirements

4.2 What is the PLC Designer?

The »PLC Designer« is a Lenze engineering software for programming the PLC of the LenzeIndustrial PC.

Properties

Five different editors for the programming languages standardised in the IEC 61131-3, and a very powerful CFC editor are provided. They serve to create individual programs, and to trigger the functions of our L-force Logic & Motion runtime software.

By means of the integrated visualisation the processes are shown, in order to obtain all important pieces of information at a glance during commissioning.

Engineering PC IPC (controller)

Hardware PC/notebook Industrial PC with PLC (Logic) from firmware V2.0

Operating system Windows XP Windows CE

Lenze software required »PLC Designer« V2.2.4.x L-force Logic

Further requirements • 100 MB of free hard disk memory • CAN bus system • CAN nodes (depending on the

respective example application)

PLC Designer V2.x| Lenze Application SamplesRequirementsWhere can I receive a full version of the PLC Designer?

24 L 1.3 EN - 07/2012

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

The »PLC Designer« is provided for download in the Lenze Application Knowledge Base(AKB) :

http://akb.lenze.de/akb/infopool.nsf/html/Frame-Softwaredownload

The AKB is a product- and application-oriented collection of information provided by Lenze.

Alternatively you can install the »PLC Designer« from the CD supplied with the Industrial PC.

4.3.1 Installation

How to install the »PLC Designer«:1. Select »PLC Designer« to save the full version as a packed ZIP file on your PC

(Engineering PC).

• Unpack the ZIP file PlcDesigner_V2.3.x.zip on your PC (file size approximately 45MB).

• The ZIP file contains an installation file.

or

Start the PLCDesigner_V2.3..x.exe installation file from the CD supplied with the Industrial PC.

2. Start the EXE file and follow the installation instructions

3. After the installation the »PLC Designer« can be started.

If the »PLC Designer« is already installed, carry out an update of the version available orinstall the full version parallel to the version available.

Installing the target systems

Furthermore the »PLC Designer« target setup has to be installed, containing theinformation required for controlling the target systems.

For the installation, proceed like for the installation of the »PLC Designer«.

Further information and basics regarding the »PLC Designer« can be found in the following documentation:

PLC Designer software manual

The manual is available on the CD supplied or on the Internet.

http://akb.lenze.de/akb/infopool.nsf/html/Frame-Softwaredownload

1.3 EN - 07/2012 L 25

PLC Designer V2.x| Lenze Application SamplesSystem bus (CAN) / CANopen

CANopen (Logic)

5 System bus (CAN) / CANopen

Lenze device series 8400, 9400, 9300, and ECS have an on-board system bus (CAN)connection. The protocol used there is a subset of CANopen. Thus the devices are notCANopen-compliant but can be driven by a CANopen-compatible control system under "L-force Controls" - also in connection with other CANopen-compatible nodes.

Tip!Detailed information on the system bus (CAN) can be found on the website of theCAN User Organization CiA (CAN in Automation):

http://www.can-cia.org

5.1 CANopen (Logic)

A variety of different field devices can be connected to the CAN Logic line.

To create a CANopen bus line, use the Communication card MC-CAN2 ( 26).

CANopen (Logic)

The Logic bus line is used to operate controllers which...

carry out simple movements, do not have a Motion functionality, are controlled via PLC functionalities only.

The Lenze sample projects are available for the most common system configurations ineach case with selected field devices.

http://www.can-cia.org/

PLC Designer V2.x| Lenze Application SamplesSystem bus (CAN) / CANopenCommunication card MC-CAN2

26 L 1.3 EN - 07/2012

5.2 Communication card MC-CAN2

The MC-CAN2 communication card serves to connect an L-force Controller to the CAN bussystem CAN. The card provides two independent bus lines.

MC-CAN2-001

A Front panel

B Board

C Coding

D Connection

E CAN connection (CAN 2 /CAN 1)

1.3 EN - 07/2012 L 27

PLC Designer V2.x| Lenze Application SamplesCommissioning the CANopen Logic bus

Overview of the commissioning steps

6 Commissioning the CANopen Logic bus

This chapter provides information on commissioning the CANopen Logic field devices inthe Lenze control system.

Depending on the field devices used, the following Lenze engineering tools are required:

»PLC Designer« »Engineer« »Global Drive Control« (GDC)

Tip!For the application of further fieldbus systems, further Engineering software maybe required. Further information can be found in the correspondingcommunication manuals.

6.1 Overview of the commissioning steps

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

Step Action Lenze software to be used

1. Open sample projectCommissioning field devices ( 28)Going online ( 29)Preparing the restart ( 30)

»Engineer« or»Global Drive Control«(depending on the used device)

2. Open sample project »PLC Designer«

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

PLC Designer V2.x| Lenze Application SamplesCommissioning the CANopen Logic busCommissioning field devices

28 L 1.3 EN - 07/2012

6.2 Commissioning field devices

Parameterise the field devices connected to the CANopen Logic bus either with the»Engineer« or with the »GDC«, depending on the device.

The configuration of the CAN parameters takes place in the »PLC Designer«.

Tip!We recommend to commission each field device individually and then open the suitable PLC program.

For this, observe the information in the ... • documentation for the field devices;

• documentation for the »Engineer« / »GDC«, and »PLC Designer«.

1.3 EN - 07/2012 L 29


Commissioning field devices

6.2.1 Going online

Field device Going online with Connection via

Industrial PC »Engineer« or»WebConfig«

Ethernet

Inverter Drive 8400 StateLine / HighLine

»Engineer« • IPC as gateway • CAN device interface

9400 Servo Drive HighLine »Engineer« • IPC as gateway • Diagnostic adapter • Ethernet module E94AYCEN • CANopen module E94AYCCA • CAN device interface

ECS servo system (ECSxE/S/P/M/A) »Global Drive Control« • IPC as gateway • CANopen module EMF2178IB • CAN device interface 1)

8200 vector »Global Drive Control« • IPC as gateway • CAN module CAN PT/

E82ZAFCC010 • CAN device interface 1)

9300 »Global Drive Control« • IPC as gateway • CAN device interface 1)

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

Note!Lenze recommend to use the connection type "IPC as gateway".

Depending on the device and connection type used, detailed information about establishing a connection and "going online" can be found in the following documents:

• (Software) manual/online help "PC-based automation"Industrial PC - Parameter setting & Configuration

• Software manual/online help "PC based automation"IPC as gateway - Parameter setting & Configuration

• Software manual/online help »Global Drive Control«IPC as gateway - Parameter setting & Configuration

• Software manual/online help L-force »Engineer«

PLC Designer V2.x| Lenze Application SamplesCommissioning the CANopen Logic busPreparing the restart

30 L 1.3 EN - 07/2012

6.3 Preparing the restart

In the control technology system you can use the control to transmit the entire parametersetting via SDO initialisation to the field devices when the machine is switched on.

In accordance with DS301, the control always initialises the CAN parameters of the fielddevices. Moreover, it can initialise further parameters. The values for this must be stored inthe control configuration under the Service Data Objects tab.

Usually, the control only transmits those SDO projects for which you have stored anothervalue than the standard value. The control does not compare these values with the existingvalues in the field device. Thus, not all parameters changed there may be set correctly.

If you want to have a factory adjustment carried out in the field device before SDOinitialisation, go to the Parameter tab and set a checkmark at "Reset Node".

The Service Data Objects tab contains the codes which are written in the EDS file. The EDSfile contains all writable codes.

Note!When a node is reset, the parameter setting in the field device which you have made with the »Engineer« or the »Global Drive Control« gets lost. In this case, you have to transmit all parameter values manually to the Service Data Objects tab. This only makes sense when commissioning is completed and all parameters are optimised. If you change something afterwards via the »Engineer« or the »Global Drive Control« you have to maintain it again in the PLC program.

1.3 EN - 07/2012 L 31


Preparing the restart

6.3.1 Special features of the 9400 Servo Drives HighLine

Servo Drives 9400 are not purely parameterisable devices. They require an applicationdownload, where several files are transmitted to the memory module.

To put a Servo Drive 9400 into operation, you can:

plug on the memory module. transmit the application using the »Engineer«. For this, you must keep the original

»Engineer« project.

transmit the application using the L-force »Loader«. For this, you must export and keep the required files from the »Engineer« project:

PLC Designer V2.x| Lenze Application SamplesCommissioning the CANopen Logic busPreparing the restart

32 L 1.3 EN - 07/2012

6.3.2 Special features of the 8400 Inverter Drives

Inverter Drives 8400 are purely parameterisable devices.

To put an Inverter Drive 8400 into operation, you can transmit the application using the»Engineer«. For this, you must keep the original »Engineer« project.

6.3.3 Commission 8200 vector frequency inverters

Connect the CANopen (E82ZAFUCxxx) fieldbus function module for CAN communication.

CAN settings must be made in the »PLC Designer« because the transmission of the settings to the 8200 vector frequency inverter is carried out from the control system.

6.3.4 Special features of the ECS servo system

In the ECS servo system, each device has a parameter memory which is only created once when the parameter setting is created via the »Global Drive Control«. This is the difference to CANopen devices where the parameterisation is written into the field device at each system start.

The EMF2221IB card module serves to read parameters saved on an SD card or SmartMedia card into every ECS device.

When using ECS devices, you cannot set all codes/parameters via the Service Data Objects tab as the EDS files do not contain all codes/parameters.

1.3 EN - 07/2012 L 33

PLC Designer V2.x| Lenze Application SamplesCommissioning a sample project

General system structure

7 Commissioning a sample project

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

7.1 General system structure

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

An Industrial PC (Logic) or an EL1xx (Logic) is the central control section of the system configuration.

[7-1] System structure with an Industrial PC (Logic)

[7-2] System structure with an EL1xx (Logic)

PLC Designer V2.x| Lenze Application SamplesCommissioning a sample projectWiring the hardware

34 L 1.3 EN - 07/2012

7.2 Wiring the hardware

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

Connect the desired IPC (Industrial PC to PLC, or an EL1xx to a PLC) with the CAN nodes. Connect the devices (Industrial PC, controllers, motors) with the corresponding voltage

supply

Connect the components with a CAN bus cable.– For this, use the CAN1 interface in the case of the Industrial PC. The CAN2 interface

is not required for the sample project.

– In the case of the EL100 there only is one CAN interface to be connected with the components.

Further information on the electrical connections can be found in the documentation supplied. Please read the mounting instructions supplied with the controller first before you start working!

The mounting instructions contain safety instructions which must be observed!

1.3 EN - 07/2012 L 35


Wiring the hardware

7.2.1 Configuring the CAN interface

For the configuration of the CAN interface the different hardware(Industrial PC and EL1xx) is to be observed.

Industrial PC

In the case of the Industrial PC you configure the CAN bus using the »PLC Designer«.

EL1xx

In the case of the EL1xx, the device, and additionally the CAN bus must be configured in the »PLC Designer«.

How to proceed in the case of the EL1xx:1. On the EL 1xx, click StartSettingsControl PanelFieldbus2. Configure the CAN interface in the following dialog window:

3. Click the Save button to save the settings.

Since the »PLC Designer« accesses the Industrial PC or the EL1xx via Ethernet, connect theIndustrial PC or the EL1xx device to your Engineering PC via a network cable.

EL 1xx CAN device node: node address of the EL 1xx within a CAN network.

Baud rate: transmission speed of the fieldbus. The baud rate must be identical for each fieldbus node within a network.

According to the baud rate, the fieldbus parameters are set.

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

– Engineering PC: 192.168.5.100

– Industrial PC: 192.168.5.99

• The network setting for the EL1xx is set to DHCP and has to be set to a fixed IP address first, so that communication is possible.

PLC Designer V2.x| Lenze Application SamplesCommissioning a sample projectWiring the hardware

36 L 1.3 EN - 07/2012

7.2.2 Configuring an EL1xx Ethernet interface

How to configure the EL1xxx:1. Click StartSettingsNetwork and Dial-up Connections for the EL 1xx.2. Click the Dm9CE1 connection and configure the network interface:

3. Click the button to save the settings.

Note!Changes carried out are not written into the registry automatically; in the case of a restart, they are lost.

In order to save changes permanently...

• Click Start Settings Control PanelRegistry on the EL1xxx. • Click the Save button to save the settings.

Further information can be found in the following documentation: • EL 1xx - HMI with Windows® CE

• Industrial PC - Parameter setting & configuration

1.3 EN - 07/2012 L 37


Opening a project in the »PLC Designer«

7.3 Opening a project in the »PLC Designer«

The project contains all objects of a control program. A project is saved in a file. The file name complies with the project name.

In the case of a standard installation you start the »PLC Designer« at the Engineering PCvia:

StartLenzePLC Designer V2.3.xPLC DesignerAfter starting the »PLC Designer«, a project can be loaded under FileOpen.

• Project files can be identified by the ending *.pro.

• Select the *.pro file type from the selection list to display the project files available.

PLC Designer V2.x| Lenze Application SamplesCommissioning a sample projectOpening a project in the »PLC Designer«

38 L 1.3 EN - 07/2012

7.3.1 Establishing communication with the Industrial PC or EL1xx

In the sample project communication between the devices of the system configuration hasalready been established. It is reasonable to check communication before the project istransferred to a PLC device.

How to check communication:1. Open the Online menu in the menu bar and select the Communication parameters

menu item there.

2. In the "Communication parameters" dialog window the corresponding parameters can be edited:

• In the Channels field, the name of the respective channel can be viewed. Highlight the desired channel to display the associated data in the dialog area on the right.

7.3.2 Starting the sample project

Transfer the sample project to the PLC device first to then start it.

How to start the sample project:1. Open the Online menu in the menu bar and select the Log in menu item there.

• Confirm the following query on whether the program is to be saved with Yes.

• The project is transferred to the device.

2. Start the program on the HMI.

• Open the Online menu in the menu bar and select the Start menu item there. The project will start on the HMI.

1.3 EN - 07/2012 L 39


Opening a project in the »PLC Designer«

Tip!If the project is to be loaded automatically after a restart of the device, you can install it as "Boot project".

How to install the project as boot project:1. Open the Online menu in the menu bar

2. Select the Create boot project command.

• A dialog window is opened, displaying the files created.

3. Click OK to close the dialog window.

PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects

40 L 1.3 EN - 07/2012

8 Working with the sample projects

The ready-configured sample projects are to facilitate the work with the Lenzecomponents for you. They include established system configurations representing typicalapplication cases. The objective is to obtain an executable Lenze automation system byusing low effort.

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

Where do I find the sample projects?

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

ProgramsLenzeAppSamplesAppSamples_0100

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

The »Engineer« supports project saving (FileSave archive) and project opening(FileOpen archive) in ZIP format.

Structure of the sample projects

Each sample project consists of:– Ready-configured project data in the »Engineer« or »Global Drive Control«(»GDC«)

(depending on the device used)

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

Mode Description

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

Manual In manual mode, the controller can be actuated by setting the individual control bits manually (Jog1, Jog2, QSP, ErrorReset...). Like this, the controller can be actuated in manual mode, for instance for cleaning or changing the tools.

Service The service mode serves to adjust the controller.

Homing (available depending on the device)

In the homing mode the drive is referenced.

1.3 EN - 07/2012 L 41


8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project

8.1 8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project

Further information on the function libraries used in this project can be found in the following section:

The L_S84_Drive8400.lib library ( 235)

Standard procedure

How to commission the controller:1. Commission 8400 Stateline. Commissioning ( 42)

2. Load the project "LAS_40_INTF_Can_84SL_Speed.zip" to the controller using the L-force »Engineer«. Open the »Engineer« project & go online ( 43)

3. Open the "LAS_40_INTF_Can_84SL_Speed.pro" sample project in the »PLC Designer«. Program structure in the »PLC Designer« ( 45)

4. Load the project to the IPC/EL 1xx and go online.

8.1.1 Components used

[8-1] System configuration with EL x800 CAN master (ID=0, connection at CAN1) and 8400 StateLine (CAN node ID=5)

Industrial PC Field device

Hardware EL x800 8400 StateLine

Operating system IPC software from version Logic 7.02.x (release 2.2.x)

From firmware V5.1

Lenze software required »PLC Designer« from version 20.3L-force »Engineer« from version 2.12

Further requirements • CAN master ID = 0 • Connection to interface CAN 1 • Logic CAN 500kB

• CAN node ID = 5 • Motor: SDSGAI056-22

PLC Designer V2.x| Lenze Application SamplesWorking with the sample projects8400 StateLine - "LAS_40_INTF_Can_84SL_Speed" sample project

42 L 1.3 EN - 07/2012

8.1.2 Short overview of the functions

8.1.2.1 Commissioning

1. Wire the power connections

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

2. Wire the control terminals

3. Connect USB diagnostic adapter.

4. Switch on the voltage supply of the controller.

– Connect mains voltage.

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

Mode Description

Automatic In the automatic mode a sequence runs over an infinite loop.Selection: • Travel for three seconds at speed1, • then for five seconds at speed2, • Start with speed1 again.

Manual In manual mode, the controller can be actuated by setting the individual control bits manually (Jog1, Jog2, QSP, ErrorReset...). Like this, the controller can be actuated in manual mode, for instance for cleaning or changing the tools.

Service The service mode serves to adjust the controller.Selection: • Travel in positive direction for one second, • Stop for one second, • Travel in negative direction for one second.

Read the mounting instructions supplied with the controller first before you start working!The mounting instructions contain safety instructions which must be observed!

1.3 EN - 07/2012 L 43



8.1.2.2 Open the »Engineer« project & go online

How to open the sample project in the »Engineer«:1. Start »Engineer«.

2. With the command FileOpen archive, open the project "LAS_40_INTF_Can_84SL_Speed".

3. Insert the desired motor in the configuration:

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

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

Detailed infomation on the general handling of the »Engineer« can be found in the online help for the »Engineer«, which you can call with [F1].


44 L 1.3 EN - 07/2012

4. Update the project by clicking :

• Select the option Rebuild all

• Click the Build button to update the project.

5. Going online

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

6. Download parameter set

– This command causes parameter settings in the controller to be overwritten by parameter settings of the »Engineer« project.

1.3 EN - 07/2012 L 45



8.1.3 Program structure in the »PLC Designer«

How to proceed:1. In the »PLC Designer«, open the "LAS_40_INTF_Can_84SL_Speed.pro" sample

project.

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

8.1.3.1 Control configuration

The CAN master (ID = 0) is the control section of the system configuration Below the CAN master the 8400 StateLine(CAN node ID = 5) is attached.

– The 8400 StateLine is embedded in the form of a device-independent EDS file (LenzeDrive_Can1_4Word).

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


46 L 1.3 EN - 07/2012

8.1.3.2 Program organisation units

"Main" program

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

1.3 EN - 07/2012 L 47



"Drive" program

The "DRIVE (PRG)" program actuates the controller by means of the L_S84_ActuatorSpeedSL1 function block.

The data are copied to the control configuration via the selection of the Can NodeID (byNodeNumber) and the CAN master node number (byMasterNumber).

The DriveControl and DriveStatus structures serve to transmit the control and status signals.

"PLC_PRG" program

The "PLC_PRG (PRG)" program contains all program calls.


48 L 1.3 EN - 07/2012

8.1.4 Operation via the visualisations in the »PLC Designer«

8.1.4.1 Information/home page

Via the buttons in area , the mode (automatic, manual, service) can be selected. In area services (parameter transfer and CAN diagnostics) can be selected. The button in area refers to the home page which displays the version identifier of

the project in area . Dialog box shows the status of the machine. Control field shows the error message status.

– The Error Reset button resets the error message.

Select mode Manufacturer information Version identifier Error messageParameter selection

Information/home page Status

1.3 EN - 07/2012 L 49



8.1.4.2 Automatic mode

Button selects the automatic mode. Button starts the motion profile. Button inhibits the motion profile. Display field shows the mode status. Display field shows the current speed (Speed Value variable). Dialog box shows the status of the machine. Control field activates the error group signal.

– The Error Reset button resets the error message.

Select mode Stop button Actual speed Error messageStart button Status Status


50 L 1.3 EN - 07/2012

8.1.4.3 Manual mode ("Manual jog")

The 8400 StateLine can be controlled by means of the visualisation of blockL_S84ActuatorSpeedSL in manual operation. Via the visualisation of blockL_S84ReadErrorCode the current error can be read out.

Button selects the manual (manual jog) mode. In the control and status panel the FB for controlling the 8400 Stateline is visualised.

Note: Enable the controller via FB input xEnable to activate the manual mode. Afterwards the controller can be operated via the visualisation in manual operation.

The xQsp button must be activated to activate quick stop.

Further information on the FB can be found in the following section: L_S84_ActuatorSpeedSL - actuation of the 8400 StateLine controller ( 238)

Area visualises the FB for reading out the errors from the controller. Further information on the FB can be found in the following section:

L_S84_ReadErrorCode - read out error status ( 241)

Select mode Reading out an error

Control/status panel

1.3 EN - 07/2012 L 51



Control/status panel

Further information on the FB can be found in the following section: L_S84_ActuatorSpeedSL - actuation of the 8400 StateLine controller ( 238)

Actuation of the controller Status of the controller CAN address Number of the CAN master Switch on drive after mains switching Enable drive Activate quick stop Activate fixed speed (Jog 1) Activate fixed speed (Jog 2) Set external error Reset error Set clockwise (CW) rotation/counter-clockwise

(CCW) rotation Select speed setpoint in [%]

CAN communication OK Error active Controller ready Minimum speed limit value not reached Drive enabled Actual speed value CAN status


52 L 1.3 EN - 07/2012

Read out error

Further information on the FB can be found in the following section: L_S84_ReadErrorCode - read out error status ( 241)

Actuation of the controller Status of the controller Read out error CAN address Number of the CAN master Use second SDO Error text display

Error read out Function block active Reading out error has failed

1.3 EN - 07/2012 L 53



8.1.4.4 Service mode

Button selects the service mode. Button starts the motion profile. Button inhibits the motion profile. Button selects clockwise rotation (clockwise rotating direction of the motor). Display field indicates the status of the mode. Display field indicates the current speed (variable Speed Value). Display field shows the current speed setpoint.

– Possible setpoint data for the motion profile: 0 ... 100%.

In area , status information is displayed and errors can be reset.

Select mode Stop button Status of the service modeStart button Activate clockwise

rotation (Cw) Actual speed Setpoint speed


54 L 1.3 EN - 07/2012

8.1.4.5 Parameter transfer

The Parameter button selects the visualisation of the parameter FBs.

The mode selected last remains active. You can use the FBs to...

– read individual parameters

– write individual parameters

– write a fixed parameter list

Area shows the FB for reading parameters. Area shows the FB for writing a parameter table. Area shows the FB for writing parameters.

– The parameters read can be viewed in the »PLC Designer« on the Blocks tab in the Parameter transfer directory of FB L_S84_SDOList84SL.

Read parameters Write parametersWrite parameter table

1.3 EN - 07/2012 L 55



Reading a parameter - L_SCB_ParRead function block

Further information on the FB can be found in the following section: L_SCB_ParRead - read parameter ( 288)

Actuation of the controller Status of the controller Read out parameter CAN address Number of the CAN master Parameter index

Basic value code no. 24575 - C11 = 24564

Parameter subindex Use second SDO

Parameter read out Function block active Reading out parameter has failed Time-out Parameter display Number of bytes read


56 L 1.3 EN - 07/2012

Writing a parameter - L_SCB_ParWrite function block

Further information on the FB can be found in the following section: L_SCB_ParWrite - write parameter ( 291)

Writing a parameter table - function block

Further information on the FB can be found in the following section: L_SCB_SDO_TransferTable - transfer parameter list ( 299)

Actuation of the controller Status of the controller Write parameter CAN address Number of the CAN master

Basic value code no. 24575 - C11 = 24564

Parameter index Parameter subindex Data Number of bytes to be transmitted Use second SDO

Parameter written Function block active Writing parameter has failed Time-out

Actuation of the controller Status of the controller Read/write parameter CAN address Number of the CAN master Use CAN address and master number entered

Use input code number as index

Parameter list read/written Function block active Reading/writing parameter

has failed

Error number Error in table line

1.3 EN - 07/2012 L 57



8.1.4.6 CAN diagnostics

The CanDiagnostic button selects the diagnostics of the CAN bus.

The mode selected last remains active. This area shows the status of the master and s

shpplcdreusesw l-force controls · 12.4.1 structure of s94_drivecontrol_tablepositioning -...

Documents