L Engineer/ PLC Designer Ä.OQjä

Transcription

Engineering tools
Engineer/
PLC Designer
13464873
Ä.OQjä
Application Samples Inverter 8400/9400 _ _ _
Software Manual
EN
L
Contents
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1
About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
1.1
Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10
1.2
Conventions used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11
1.3
Notes used. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12
2
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
3
Preconditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14
3.1
System requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14
3.2
What is the PLC Designer? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14
3.3
Where can I receive a full version of the PLC Designer? . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
15
4
The Controller-based Automation system. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16
5
Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
5.1
General system structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
5.2
Wiring the hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
5.2.1 Setting up communication to the Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19
5.2.2 Compiling the project data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20
5.2.3 Starting the sample project - Logging on to the control with the »PLC Designer«20
5.2.4 Downloading and starting the PLC program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20
6
2
Which Lenze application samples (AppSamples) exist? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
21
6.1
Controller-based Automation: Application samples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
21
6.2
Where do I find the sample projects? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22
6.3
How are the application samples called? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22
6.4
Structure of the sample projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22
Lenze · Commissioning of Lenze drives · 1.3 EN - 06/2014
Contents
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7
8
9
Working with the sample projects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
23
7.1
Sample project with the "Actuator speed" application - Actuator Speed . . . . . . . . . . . . .
7.1.1 Components to be used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.3 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.4 Open the »Engineer« project & go online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.5 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.5.1
Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.5.2
Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.6 Operation via the visualisations in the »PLC Designer« . . . . . . . . . . . . . . . . . . . . .
7.1.6.1
Information/start page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.6.2
Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.6.3
Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.6.4
Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1.6.5
Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
25
25
26
26
27
29
29
30
33
33
34
34
36
37
7.2
Sample project with "Table positioning" application - TablePositioning. . . . . . . . . . . . . .
7.2.1 Components to be used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.2 Short overview of the functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.3 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.4 Open the »Engineer« project & go online . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.5 Program structure in the »PLC Designer«. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.5.1
Control configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.5.2
Program organisation units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.6 Operation via the visualisations in the »PLC Designer« . . . . . . . . . . . . . . . . . . . . .
7.2.6.1
Information/start page . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.6.2
Automatic mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.6.3
Manual mode ("Manual jog") . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.6.4
Service mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.6.5
Homing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2.6.6
Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
38
38
39
39
40
42
42
42
45
45
46
47
48
49
50
Extending sample projects - adding devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
51
8.1
Creating a control configuration - EtherCAT bus system . . . . . . . . . . . . . . . . . . . . . . . . . . .
51
8.2
Create control configuration - bus system CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
53
8.3
Setting of CAN parameters and PDO mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
59
Overview of device descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
62
9.1
Inverter Drives 8400 BaseLine C - Actuator Speed ("speed actuating drive") . . . . . . . . .
9.1.1 Overview of indices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
62
63
9.2
Inverter Drives 8400 StateLine C - speed actuating drive . . . . . . . . . . . . . . . . . . . . . . . . . . .
64
65
3
Contents
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10
11
4
9.3
Inverter Drives 8400 HighLine C - table positioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
66
66
9.4
Inverter Drives 8400 TopLine C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
68
69
9.5
Servo Drives 9400 HighLine C speed actuating drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
70
70
9.6
Servo Drives 9400 HighLine C - table positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
72
9.7
Servo Drives 9400 HighLine C - torque actuating drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
73
9.8
Servo Drives 9400 HighLine C - electronic gearbox . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
74
9.9
Servo Drives 9400 HighLine C - synchronism with mark synchronisation . . . . . . . . . . .
75
9.10 Servo Drives 9400 HighLine C - positioning sequence control . . . . . . . . . . . . . . . . . . . . . .
76
9.11 9400 regenerative power supply module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
77
9.12 Servo Drives 9400 HighLine C - "empty application" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
78
9.13 9400 HighLine C - Overview of indices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
79
9.14 Lenze generic drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
80
80
Overview: The libraries for controlling the inverters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
82
10.1 Overview - function libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
82
10.2 The L_LCB_LogicControlBasic library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
82
10.3 The L_DCO_DriveCommunication library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
83
10.4 The L_DAC_DataConversion library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
83
The L_DAC_DataConversion library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
84
11.1 Overview of the functions and function blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
84
11.2 L_DAC_GetBitOfByte - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
86
11.3 L_DAC_GetBitOfDWord - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
87
11.4 L_DAC_GetBitOfWord - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
88
11.5 L_DAC_ResetBitOfByte - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
89
11.6 L_DAC_ResetBitOfDWord - conversion block. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
90
11.7 L_DAC_ResetBitOfWord - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
91
11.8 L_DAC_SetBitOfByte - bit operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
91
11.9 L_DAC_SetBitOfDWord - bit operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
92
11.10 L_DAC_SetBitOfWord - bit operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
92
11.11 L_DAC_BitsToByte - bit multiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
93
11.12 L_DAC_BitsToDWord - bit multiplexer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
93
11.13 L_DAC_BitsToWord - bit multiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
94
Contents
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12
13
11.14 L_DAC_ByteToBits - bit demultiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
94
11.15 L_DAC_DWordToBits - bit demultiplexer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
95
11.16 L_DAC_WordToBits - bit demultiplexer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
95
11.17 L_DAC_2BytesToWord - type converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
96
11.18 L_DAC_2WordsToDWord - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
96
11.19 L_DAC_4BytesToDWord - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
97
11.20 L_DAC_DWordTo2Words - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
97
11.21 L_DAC_DWordTo4Bytes - type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
98
11.22 L_DAC_WordTo2Bytes - type converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
99
The L_DCO_DriveCommunication library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
100
12.2 Enums . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.1 L_DCO_CommState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.2 L_DCO_Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
101
101
101
12.3 Function blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.1 L_DCO_AXIS_REF_BASE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.2 L_DCO_ReadDriveParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.3 L_DCO_ReadDriveParameterString . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.4 L_DCO_TransferDriveParameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.5 L_DCO_TransferData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.6 L_DCO_WriteDriveParameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
104
104
105
106
107
109
110
12.4 Structures (Structs). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.1 L_DCO_SDOData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.2 L_DCO_TransferData . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
111
111
112
12.5 Unions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.5.1 L_DCO_ConvertData. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
112
112
The L_LCB_LogicControlBasic library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
113
13.2 L_LCB_Error. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
115
13.3 L_LCB_AXIS_REF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
115
13.4 L_LCB_AXIS_REF_CAN (internal use) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
116
13.5 L_LCB_AXIS_REF_ETC (internal use) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
116
13.6 L_LCB_8400Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
117
13.7 L_LCB_9400Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
118
13.8 L_LCB_ActuatorSpeed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.8.1 Assignment - input ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.8.2 Assignment - output ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
120
122
123
5
Contents
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14
6
13.9 L_LCB_TablePositioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.9.1 Assignment - input ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.9.2 Assignment - output ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
124
128
129
13.10 L_LCB_GenericDrive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
130
13.11 L_LCB_Norm_aToNorm_n - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
131
13.12 L_LCB_Norm_nToNorm_a - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
131
13.13 L_LCB_Norm_nToSpeed_s - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.13.1 LCB_Axis_logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
132
133
13.14 L_LCB_Speed_nToNorm_r - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
134
13.15 L_LCB_Speed_rToNorm_n - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
134
13.16 L_LCB_Speed_sToNorm_n - signal converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
135
13.17 L_LCB_Speed_sToSpeed_v - signal converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
136
13.18 L_LCB_Speed_vToSpeed_s - signal converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
136
13.19 L_LCB_TaskCycle - read in task time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
137
13.20 L_LCB_GetAxisData - read out machine parameters from axis data . . . . . . . . . . . . . . . .
138
13.21 L_LCB_GetPosition - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
139
13.22 L_LCB_GetSpeed - conversion block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
140
13.23 L_LCB_SetAxisData - machine parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
141
13.24 L_LCB_SetPosition - position value conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
142
13.25 L_LCB_SetSpeed - speed value conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
143
13.26 L_LCB_AccToUnit - acceleration value conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
144
13.27 L_LCB_PosToUnit - position value conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
145
13.28 L_LCB_SpeedToUnit - speed value conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
146
13.29 L_LCB_UnitToAcc - acceleration value conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
147
13.30 L_LCB_UnitToPos - position value conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
148
13.31 L_LCB_UnitToSpeed - speed value conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
149
13.32 L_LCB_AXISMODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
149
13.33 L_LCB_LOGICDEVICE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
150
Automatically generated functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
14.1 GetBooleanProperty (automatically generated by »PLC Designer«) . . . . . . . . . . . . . . . . .
151
14.2 GetCompany (automatically generated by »PLC Designer«). . . . . . . . . . . . . . . . . . . . . . . .
152
14.3 GetNumberProperty (automatically generated by »PLC Designer«). . . . . . . . . . . . . . . . .
152
14.4 GetTextProperty (automatically generated by »PLC Designer«) . . . . . . . . . . . . . . . . . . . .
153
14.5 GetTitle (automatically generated by »PLC Designer«). . . . . . . . . . . . . . . . . . . . . . . . . . . . .
154
14.6 GetVersion (automatically generated by »PLC Designer«). . . . . . . . . . . . . . . . . . . . . . . . . .
154
Contents
________________________________________________________________
14.7 GetVersionProperty (automatically generated by »PLC Designer«) . . . . . . . . . . . . . . . . .
15
155
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Your opinion is important to us. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
158
7
About this documentation
________________________________________________________________
1
This documentation describes the first commissioning steps of a Lenze automation system on the
basis of predefined sample projects. The automation system used consists of a PLC for the control
technology and drive components connected (via a bus system).

Read the mounting instructions accompanying the controller first before you start
working!

Note!
The mounting instructions include safety instructions which must be observed!
This documentation supplements the software manuals of the »PLC Designer« and
»Engineer«.
 Tip!
Current information and tools regarding the Lenze products can be found in the download
area at: http://www.Lenze.com
This manual is part of the "Controller-based Automation" manual collection. The manual collection
consists of the documents:
8
Type of documentation
Subject
System manuals
System overview/example topologies
• Controller-based Automation
• Visualisation
Communication manuals
Bus systems
• Controller-based Automation EtherCAT®
• Controller-based Automation CANopen®
• Controller-based Automation PROFIBUS®
• Controller-based Automation PROFINET®
Online helps/
software manuals
Lenze Engineering tools
• »PLC Designer«: Programming
• »Engineer«: Configuration of drives
• »VisiWinNET® Smart«: Visualisation
• »Backup & Restore«: Backing up/restoring data
________________________________________________________________
Further technical documentation on Lenze products
Further information on Lenze products which can be used in connection with Controller-based
Automation can be found in the following documentation:
Further information on Lenze products which can be used in connection with Controller-based
Automation can be found in the following documentation:
Mounting & wiring
 Mounting instructions
• Controller
• Communication cards (MC-xxx)
• I/O system 1000 (EPM-Sxxx)
• Inverter
• Communication modules
Icons
 Printed documentation
 Online help in the Lenze Engineering
tool/
software manuals and communication
manuals are provided as PDF files in
the download area of the Lenze
website.
Using sample application/application template
 Online help/software manuals
• i700 Application Sample
• Application samples
Inverter Drives 8400/Servo Drives 9400
• ApplicationTemplate
• ApplicationTemplate PackML
Parameterisation, configuration, commissioning
 Online help/software manuals
• Controller
• i700 servo inverter
• Servo Drives 9400 HighLine/PLC/
regenerative power supply module
• Inverter Drives 8400 StateLine/HighLine/TopLine
• 1000 I/O system (EPM-Sxxx)
 Online help/communication manuals
• Bus systems
• Communication modules
Target group
This documentation addresses to all persons who plan, commission, and program a Lenze
automation system on the basis of the Lenze "ApplicationTemplate PackML" as part of the
"Controller-based Automation".
Screenshots/application examples
All screenshots in this documentation are application samples. Depending on the firmware version
of the Lenze devices and the software version of the engineering tools installed (here: »PLC
Designer«), the screenshots may differ from the real screen display.
9
Document history
________________________________________________________________
Information regarding the validity
The information in this documentation is valid for the following Lenze software:
1.1
Software
From software version
»PLC Designer«
3.1.x
»Engineer«
2.13
Document history
Version
10
Description
1.0
04/2011
TD11 First edition
1.1
05/2011
TD11 Updated version
• Device descriptions supplemented.
• L_LCB_LogicControlBasic library extended.
1.2
06/2012
• Amended library L_LCB_LogicControlBasic: Amended by notes on the use of the
L_LCB_ActuatorSpeed, L_LCB_TablePositioning FBs.
1.3
06/2014
• Completed version of the available Application Samples.
• Updated representation of the FBs.
Conventions used
________________________________________________________________
1.2
Conventions used
This documentation uses the following conventions to distinguish between different types of
information:
Type of information
Writing
Examples/notes
Spelling of numbers
Decimal separator
Point
The decimal point is always used.
For example: 1234.56
Text
Version information
Program name
Window
Blue text colour
»«
italics
Variable names
Control element
»PLC Designer«...
The Message window... / the Options dialog box...
By setting bEnable to TRUE...
bold
Sequence of menu
commands
Shortcut
All information that applies to from a certain software
version of the drive onwards are marked accordingly in this
documentation.
Example: This function extension is available from software
version V3.0!
<bold>
The OK... button / The Copy... command / The Properties...
tab / The Name ... input field
If the execution of a function requires several commands in
a row, the individual commands are separated by an arrow:
Select FileOpen to...
Use <F1> to open the online help.
If a key combination is required for a command, a "+" is
placed between the key identifiers: With <Shift>+<ESC>...
Hyperlink
Underlined
Reference to further information: Hyperlink to further
information.
Icons
Page reference
Step-by-step instructions
( 11)

Reference to further information: Page number in PDF file.
Step-by-step instructions are indicated by a pictograph.
11
Notes used
________________________________________________________________
1.3
Notes used
The following signal words and symbols are used in this documentation to indicate dangers and
important information:
Safety instructions
Layout of the safety instructions:

Pictograph and signal word!
(characterise the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Pictograph
Signal word
Meaning

Danger!
Danger of personal injury through dangerous electrical voltage
Reference to an imminent danger that may result in death or serious
personal injury if the corresponding measures are not taken.

Danger!
Danger of personal injury through a general source of danger
Reference to an imminent danger that may result in death or serious
personal injury if the corresponding measures are not taken.

Stop!
Danger of property damage
Reference to a possible danger that may result in property damage if the
corresponding measures are not taken.
Application notes
Pictograph



12
Signal word
Meaning
Note!
Important note to ensure trouble-free operation
Tip!
Useful tip for easy handling
Reference to another document
Safety instructions
________________________________________________________________
2
Safety instructions
Please observe the following safety instructions when you want to commission a controller or
system using the »Engineer«.

Read the documentation supplied with the controller or the individual components of
the system carefully before you start commissioning the devices with the »Engineer«!

Danger!
The device documentation contains safety instructions which must be observed!
According to today's scientific knowledge it is not possible to ensure absolute freedom
from defects of a software product.
If necessary, systems with built-in controllers must be provided with additional
monitoring and protective equipment complying with the relevant safety regulations
(e.g. law on technical equipment, regulations for the prevention of accidents) in each
case, so that an impermissible operating status does not endanger persons or facilities.
During commissioning persons must keep a safe distance from the motor or the
machine parts driven by the motor. Otherwise there is a risk of injury by the moving
machine parts.

Stop!
If you change parameters in the »Engineer« while the controller is connected online, the
changes will be directly accepted by the controller!
A wrong parameter setting can cause unpredictable motor movements. By an
unintended direction of rotation, a too high speed, or jerky operation, the driven
machine parts may be damaged!
13
Preconditions
System requirements
________________________________________________________________
3
Preconditions
3.1
System requirements
[3-1]
Illustration example: System structure with a Controller 3200 C
Engineering PC
Controller
Hardware
PC/notebook
PLC (Logic) from firmware V3.1
Operating system
Windows XP
Windows CE
Required Lenze software
»PLC Designer« V3.1
Logic
Further requirements
3.2
Depending on the respective sample
application:
• CAN or EtherCAT bus system
• CAN or EtherCAT node
What is the PLC Designer?
The »PLC Designer« is a Lenze engineering tool for programming the PLC of Lenze Controllers. The
Controller is the central control component of the Lenze Controller-based Automation system.
Product features
• Five different editors for the programming languages standardised in the IEC 61131-3 and a
very efficient CFC Editor are available. They can be used to create your own programs or to
address the functions of the Logic & Motion runtime software.
• By means of the integrated visualisation the processes are shown, in order to obtain all
important pieces of information at a glance during commissioning.
14
Preconditions
Where can I receive a full version of the PLC Designer?
________________________________________________________________
3.3
Where can I receive a full version of the PLC Designer?
The »PLC Designer« is provided for download in the Lenze Application Knowledge Base (AKB) .
• The AKB is a product- and application-oriented collection of information provided by Lenze.
• Alternatively you can install the »PLC Designer« from the CD supplied with the Controller.
3.3.1
Installation
 How to install the »PLC Designer«:
1. Select »PLC Designer« to save the full version as a packed ZIP file on your PC (Engineering
PC).
• Unpack the ZIP file PlcDesigner_V3.x.zip on your PC.
• The ZIP file contains an installation file.
or
Start the PLCDesigner_V3.x.exe installation file from the DC supplied with the Controller.
2. Start the EXE file and follow the installation instructions.
3. After the installation the »PLC Designer« can be started.

Further information and basics regarding the »PLC Designer« can be found in the
following documentation:
PLC Designer software manual
The manual is available on the CD supplied or on the Internet.
If the »PLC Designer« is already installed, carry out an update of the version available or install the
full version parallel to the version available.
15
The Controller-based Automation system
________________________________________________________________
4
Central control technology becomes more and more important in the field of automation
technology. Due to their scaling options and various combinations of visualisation and control on
one device, Industrial PCs provide clear advantages for many applications.
The Controllers are available with the following software programs:
• Controllers as control system
• Controllers as visualisation system (depending on the model, an additional panel may be
required)
• Controllers as component, optionally with operating system, without any further software
The Controller-based Automation system enables the central control of Logic and Motion systems.

16
Further information on parameter setting and configuration of the individual bus
systems can be found in the following bus system-specific communication manuals:
________________________________________________________________
Lenze supply specially matched system components:
• Controller as control and visualisation system
• The Controller is the central component in Controller-based Automation which uses the
runtime software to control the Logic and Motion functionalities.
• The controller communicates with the field devices via the fieldbus.
• Engineering tools for the Engineering PC
• The Engineering PC uses the Ethernet to communicate with the Controller.
• Use the various Engineering tools to configure and parameterise the system.
• Fieldbuses
• Field devices
17
Commissioning
General system structure
________________________________________________________________
5
Commissioning
This chapter describes the commissioning of a sample project by means of examples. The following
requirements have to be met, so that the respective sample project can be used.
5.1
General system structure
The Lenze project examples are based on the following system structure.
• The Controller is the central control component of the system configuration.
• The sample projects are available for the following bus systems: CAN/EtherCAT.
[5-1]
5.2
System structure with a Controller (Logic)
Wiring the hardware
Before you can work with the project, the hardware has to be connected to each other. The sample
projects are configured so that the motors rotate if a controller is used as fieldbus node.
• Connect the desired Controller with the fieldbus nodes.
• Connect the devices (controllers, motors) with the corresponding voltage supply

Further information on the electrical connections can be found in the documentation
supplied. Please read the mounting instructions supplied with the controller first before
you start working!
The mounting instructions include safety instructions which must be observed!
• Connect the components with a suitable fieldbus cable.
18
Commissioning
Wiring the hardware
________________________________________________________________
5.2.1
Setting up communication to the Controller
• Connect the Engineering PC with the controller via a network cable, as the »PLC Designer«
accesses the controller via Ethernet.
• Make the IP settings with the »PLC Designer«.
 How to check the communication settings:
1. Go to the Device view and double-click the desired L-force Controller.
2. Make the desired settings on the Communication settings tab.
• Click the Add gateway button to insert a gateway.
• Enter the desired IP address of the L-force Controller.
[5-2]
Example: Entering the IP address of the L-force Controller
3. Click OK to add the controller as gateway.
4. By double-clicking the desired channel (or clicking the Set active path button) set the
channel selected in the device tree below the gateway as active path for control.
• Thus, all communication actions directly refer to this channel.
• The currently active path is represented in bold in the list and "(active)" is attached:
5. A device represented in italics is set as momentarily active path but has not been found by
the last network scan.

Note!
• During initial commissioning, observe the following predefined IP addresses:
• Engineering PC: 192.168.5.100
• Controller: 192.168.5.99
19
Commissioning
Wiring the hardware
________________________________________________________________

5.2.2
Further information can be found in the following documentation:
• Controller - Parameter setting & configuration
Compiling the project data
To compile the project data, select the BuildCompile menu command or press the <F11> function
key.
• If errors have occurred during the compilation process, you can locate and eliminate them by
means of the »PLC Designer«error messages.
Then compile the project data again.
• If no errors have occurred during the compilation process, save the »PLC Designer«project in the
project folder.
5.2.3
Starting the sample project - Logging on to the control with the »PLC Designer«
First transmit the sample project to the PLC device and start it then. To log the »PLC Designer« on to
the control system, select the OnlineLogin menu command.
• For this, the PLC program must be error-free.
• With login, the PLC program is loaded in the control system.
5.2.4
Downloading and starting the PLC program
• If the PLC program has not been loaded yet onto the Controller, select the OnlineLoad menu
command.
• Select the OnlineRun menu command to start the PLC program.
 Tip!
Install the PLC program as "boot project" in order to load it automatically after a device
is restarted.
 How to install the project as boot project:
1. Open the Online menu in the menu bar
2. Select the Create boot project for L-force Controller command.
20
Which Lenze application samples (AppSamples) exist?
Controller-based Automation: Application samples
________________________________________________________________
6
The ready-configured sample projects are to facilitate the work with the Lenze products for
you. They include established system configurations representing typical application
cases. The objective is to obtain an executable Lenze automation system by using low
effort.
Depending on the application case, the sample projects can be optionally extended, and
thus they have to be adapted to the requirements in each case.
6.1
Controller-based Automation: Application samples
Product/device
application
Project name
Available for
bus system
Lenze Engineering tool
»PLC Designer«
»Engineer«
V3.x
V2.x
CAN


CAN


EtherCAT


CAN


EtherCAT


Inverter Drives 8400
Baseline
Actuating drive LAS_40_INTF_Can_84BL_Speed_0100
speed
Stateline
Actuating drive LAS_40_INTF_Can_84SL_Speed_0200
speed
LAS_40_INTF_ETC_84SL_Speed_0100
HighLine
Table LAS_40_INTF_Can_84HL_TabPos_0200
positioning
LAS_40_INTF_ETC_84HL_TabPos_0100
Servo Drives 9400
HighLine
Actuating drive LAS_40_INTF_Can_94HL_Speed_0200
speed
LAS_40_INTF_ETC_94HL_Speed_0100
Table LAS_40_INTF_Can_94HL_TabPos_0200
positioning
LAS_40_INTF_ETC_94HL_TabPos_0100
CAN


EtherCAT


CAN


EtherCAT


21
Where do I find the sample projects?
________________________________________________________________
6.2
After a successful »PLC Designer« installation, the sample projects can be found under:
(All) ProgramsLenzeAppSamples
6.3
How are the application samples called?
LAS_<Sortierschlüssel>_<Kategorie>_<Bussystem>_<Antriebsregler>_<Version>
Example: LAS_40_INTF_Can_84SL_Speed_xxx
Sort key/category
Sort key
Category
Description
40
INTF
Application samples with interface function (interface connection) for
connecting Lenze controllers.
Differentiation of the bus systems
The sample projects are preconfigured for different bus systems.
Bus system
Description
CAN
CAN projects contain the "_Can" code in the file name.
EtherCAT
EtherCAT projects contain the "_ETC" code in the file name.
 Tip!
The »Engineer« sample projects are archived in ZIP format to allow you to send
them for instance by e-mail.
The »Engineer« supports project saving (FileSave archive) and project opening
(FileOpen archive) in ZIP format.
6.4
Structure of the sample projects
 Each sample project consists of:
– Ready-made projects in the »Engineer«
– program code and visualisation in the »PLC Designer«. The following modes are
possible: automatic, manual (manual jog), service, homing (optional).
22
Working with the sample projects
________________________________________________________________
7
The ready-configured sample projects are to facilitate the work with the Lenze components for you.
They include established system configurations representing typical application cases. The
objective is to obtain an executable Lenze automation system by using low effort.
Depending on the application case, the sample projects can be optionally extended, and thus they
have to be adapted to the requirements in each case.
After a successful installation of the Lenze sample projects they can be found under:
ProgramsLenzeAppSamples
The sample projects are preconfigured for different bus systems.
• CAN projects contain the "_Can" code in the file name
• EtherCAT projects contain the "_ETC" code in the file name
From »PLC Designer« V3.3 the Application Samples are available as predefined »PLC Designer«
projects (*.project,
) when a new project is created.
 How to proceed:
1. Creating a new project:
• File
New project
• Select category Lenze Application Samples.
• Open the desired Application Sample.
 Tip!
The »Engineer« sample projects are archived in ZIP format to allow you to send them for
instance by e-mail.
The »Engineer« supports project saving (FileSave archive) and project opening
(FileOpen archive) in ZIP format.
23
________________________________________________________________
Structure of the sample projects
• Each sample project consists of:
• ready-made project data in the »Engineer«
• program code and visualisation in the »PLC Designer«. The following modes are possible:
automatic, manual (manual jog), service, homing (optional).
24
Sample project with the "Actuator speed" application - Actuator Speed
________________________________________________________________
7.1
Further information on the device-independent function libraries can be found in the
following section:
The L_LCB_LogicControlBasic library ( 113)
The L_DCO_DriveCommunication library ( 100)
General procedure
 How to commission the controller:
1. Commission the controller. Commissioning ( 26)
2. Load the desired project (depending on the desired bus system) to the controller using the
»Engineer«. Open the »Engineer« project & go online ( 27)
3. Open the desired sample project in the »PLC Designer«. Program structure in the »PLC
Designer« ( 29)
4. Load the project to the Controller and go online.
7.1.1
Components to be used
[7-1]
System configuration with L-force Controller CAN master (ID=0, connection to CAN1) and Lenze 8400 (CAN node ID=5)
Control
supported field devices (bus system)
Hardware
L-force Controller
8400 BaseLine (CAN)
8400 StateLine (CAN, EtherCAT)
9400 HighLine (CAN, EtherCAT)
Operating system
From version Logic 3.1.x
Firmware version is devicedependent
»PLC Designer« from version 3.1
»Engineer« from version 2.12
-
• CAN master ID = 127
• Connection to interface CAN 1
• Logic CAN 500kB
• CAN node ID = 5
• EtherCAT station ID = 1001
25
________________________________________________________________
7.1.2
7.1.3
Short overview of the functions
Mode
Description
Automatic
In the automatic mode a sequence runs over an infinite loop.
Selection:
• Travel for three seconds at speed1,
• then for five seconds at speed2,
• Start with speed1 again.
Manual
In manual mode, the controller can be actuated manually by setting the
individual control bits (Jog1, Jog2, QSP, ErrorReset...). Like this, the controller
can be controlled manually, e.g. for cleaning or changing the tools.
Service
The service mode serves to adjust the controller.
Selection:
• Travel positive for one second,
• Stop for one second,
• Travel negative for one second.
Commissioning

working!
The mounting instructions contain safety instructions that must be observed!
1. Wire the power connections
• Use the mounting instructions supplied with the controller to correctly use the power
connections according to the requirements of your device.
2. Wire the control terminals
3. Connect USB diagnostic adapter.
4. Switch on the voltage supply of the controller.
• Connect mains voltage.
When the green LED "DRV-RDY" is blinking and the red LED "DRV-ERR" is off, the controller is ready
to start and you can continue with the commissioning.
26
________________________________________________________________
7.1.4
Open the »Engineer« project & go online

Detailed information on the general handling of the »Engineer« can be found in the
online help for the »Engineer«, which you can call with [F1].
 How to open the sample project in the »Engineer«:
1. Start »Engineer«.
2. Open the desired sample project using the FileOpen archive command.
3. Insert the desired motor in the configuration:
• Highlight controller, select the desired motor with the command Insert a component on the
Motors tab
• By clicking Complete, insert the selection in the »Engineer« project.
27
________________________________________________________________
4. Update the project by clicking
:
• Select the option Rebuild all
• Click the Build button to update the project.
5.
Going online
• After a connection to the controller has been established successfully, the following status is
displayed in the Status line:
6.
Download parameter set
• This command has the effect that the application and the parameter settings of the
»Engineer« project overwrite the parameter settings in the controller.
7. Optional: Adapt desired communication settings (for instance network address, baud rate).
8.
Store parameter set
9. Mains switching to accept the communication settings to the device.
28
________________________________________________________________
7.1.5
Program structure in the »PLC Designer«
 How to proceed:
1. Open the desired sample project (CAN or EtherCAT) in the »PLC Designer«.
2. Load the project to the Controller and Go online.
7.1.5.1
Control configuration
CAN
• The CAN master (ID = 127) is the control section of the system configuration
• The controller (CAN node ID = 5) is attached below the CAN master.
• Below the controller, the axis data are available in the form of an additional node.
• One PDO for CAN-Input and one PDO for CAN-Output is used, respectively.
• The transmission mode is sync-controlled (10 ms)
You can find further details on the extension of the control configuration with CAN and EtherCAT in
the following section: Extending sample projects - adding devices ( 51)
EtherCAT
• The EtherCAT master is the control section of the system configuration
• The controller (station ID = 1001) is attached below the EtherCAT master.
29
________________________________________________________________
7.1.5.2
Program organisation units
"Main" program
• The "Main (PRG)" program is the basic program for processing the program sequences:
initialisation of the controller and selection of the different modes.
[7-2]
30
Main (PRG)
________________________________________________________________
"Drive" program
• The "Drive (PRG)" program actuates the controller using the function block
L_LCB_ActuatorSpeed.
• The connection of the AXIS_REF-instance(LC_Drive) provides a connection to the control
configuration.
31
________________________________________________________________
"PLC_PRG" program
• The "PLC_PRG (PRG)" program contains all program calls.
32
________________________________________________________________
7.1.6
Operation via the visualisations in the »PLC Designer«
7.1.6.1
Information/start page
[7-3]
Visualisation start page of the sample project Lenze 8400 HighLine - Actuator Speed
 Select mode
Parameter
selection
 Information/start page
 Version identifier
Status
 Status
• Via the buttons in area , the mode (automatic, manual, service) can be selected.
• In area , SDO services (read/write parameters) for the controller can be selected.
• The button in area  refers to the start page which displays the version identifier of the project
and the libraries in area .
• Dialog box shows the status of the machine.
• Control field  shows the bus communication status.

Note!
If a bus communication error occurs, the control and drive controller are to be restarted,
since the sample application does not support an automatic reset of bus
communication.
• Control field Error indicates the error message status.
• Error in the application
• Error in the controller
• The Error Reset button resets the error messages.
33
________________________________________________________________
7.1.6.2
Automatic mode
 Select mode
Start button
 Stop button
 Status
 Actual speed
 Status
Status
• Button  selects the automatic mode.
• Button  starts the motion profile.
• Button  inhibits the motion profile.
• Display field  indicates the status of the mode.
• Display field  shows the current speed (Speed Value variable).
• Dialog box indicates the machine status.
• Control field  shows the bus communication status.

Note!
communication.
7.1.6.3
Manual mode ("Manual jog")
The controller can be actuated manually via the visualisation of the L_LCB_ActuatorSpeed block.
34
________________________________________________________________
 Select mode
Control panel
Activate control via visualisation
• Button  selects the manual (manual jog) mode.
• In the control and status panel  the FB for actuating the controller is visualised.
Note: Activate button  to be able to operate the controller via the visualisation.
• Enable the controller via the xDriveEnable FB input to be able to define setpoints manually.
Note: Click the xDriveSetQsp button to activate quick stop.
For more information on the FB, please see the following section:L_LCB_ActuatorSpeed
( 120)
35
________________________________________________________________
7.1.6.4
Service mode
 Select mode
Start button
 Stop button
 Activate clockwise
rotation (CW)
Status of the service mode
 Actual speed
Setpoint speed
• Button  selects the service mode.
• Button sets clockwise rotation (clockwise rotating direction of the motor).
• Display field  indicates the status of the mode.
• Display field  indicates the current speed (variable Actual Value).
• Display field  shows the currently set speed setpoint.
• Possible setpoint data for the motion profile: 0 ... 100%.
• Dialog box shows the status of the machine.
• Control field  shows the bus communication status.

Note!
communication.
36
________________________________________________________________
7.1.6.5
Parameter
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
 Read parameters
 Write parameters
• Area  shows the FB for reading parameters.
For more information on the FB, please see the following section:
L_DCO_ReadDriveParameter ( 105)
• Area  shows the FB for writing a parameter table.
Further information on the FB can be found in the following section:
L_DCO_WriteDriveParameter ( 110)
37
Sample project with "Table positioning" application - TablePositioning
________________________________________________________________
7.2
Further information on the function libraries used in this project can be found in the
following section:
The L_LCB_LogicControlBasic library
L_LCB_TablePositioning ( 124)
General procedure
 How to commission the controller:
1. Commission the controller. Commissioning ( 39)
2. Load the desired project (depending on the desired bus system) to the controller using the
»Engineer. Open the »Engineer« project & go online ( 40)
3. Open the desired sample project in the »PLC Designer« Program structure in the »PLC
Designer« ( 42)
4. Load the project to the Controller and go online.
7.2.1
Components to be used
[7-4]
System configuration with Controller (ID=0, connection to CAN1) and 8400 HighLine (CAN node ID=5)
Control
supported field devices (bus system)
Hardware
L-force Controller
8400 HighLine CAN (CAN, EtherCAT)
9400 HighLine CAN (CAN, EtherCAT)
Operating system
From version Logic 3.1.x
Firmware version is devicedependent
»PLC Designer« from version 3
»Engineer« from version 2.12
-
38
• CAN master ID = 127
• Connection to interface CAN 1
• Logic CAN 500kB
• CAN node ID = 5
• EtherCAT station ID = 1001
________________________________________________________________
7.2.2
7.2.3
Short overview of the functions
Mode
Description
Automatic
In the automatic mode a sequence runs over an infinite loop.
Selection:
When the drive has been referenced...
1. travel to position 1,
2. travel to position 2,
3. restart at (1.).
Manual
In manual mode, the controller can be manually actuated by setting the
single control bits (xManualPos, xManualNeg, xDriveSetQsp, xResetError).
Like this, the controller can be controlled manually, e.g. for cleaning or
changing the tools.
Service
The service mode serves to adjust the controller.
Selection:
• Travel positive for one second,
• Stop for one second,
• Travel negative for one second.
Homing
In homing mode, the drive is referenced.
• Either the home position is set directly, or a homing is started.
Commissioning

working!
The mounting instructions contain safety instructions that must be observed!
1. Wire the power connections
• Use the mounting instructions supplied with the controller to correctly use the power
connections according to the requirements of your device.
2. Wire the control terminals
3. Connect USB diagnostic adapter.
4. Switch on the voltage supply of the controller.
• Connect mains voltage.
When the green LED "DRV-RDY" is blinking and the red LED "DRV-ERR" is off, the controller is ready
to start and you can continue with the commissioning.
39
________________________________________________________________
7.2.4
Open the »Engineer« project & go online

Detailed information on the general handling of the »Engineer« can be found in the
online help for the »Engineer«, which you can call with [F1].
 How to open the sample project in the »Engineer«:
1. Start »Engineer«.
2. Open the desired project (CAN or EtherCAT) using the FileOpen archive command.
3. Insert the desired motor in the configuration:
• Highlight controller, select the desired motor with the command Insert a component on the
Motors tab
• By clicking Complete, insert the selection in the »Engineer« project.
40
________________________________________________________________
4. Update the project by clicking
:
• Select the option Rebuild all
• Click the Build button to update the project.
5.
Going online
• After a connection to the controller has been established successfully, the following status is
displayed in the Status line:
6.
Download parameter set
• This command has the effect that the application and the parameter settings of the
»Engineer« project overwrite the parameter settings in the controller.
7. Optional: Adapt desired communication settings (for instance network address, baud rate).
8.
Store parameter set
9. Mains switching to accept the communication settings to the device.
41
________________________________________________________________
7.2.5
Program structure in the »PLC Designer«
 How to proceed:
1. Open the desired sample project (CAN or EtherCAT) in the »PLC Designer«.
2. Load the project to the Controller and Go online.
7.2.5.1
Control configuration
CAN
• The CAN master (ID = 127) is the control section of the system configuration
• The controller (CAN node ID = 5) is attached below the CAN master.
• Two PDOs for CAN-Input and CAN-Output are used, respectively.
• The transmission mode is sync-controlled (10 ms).
You can find further details on the extension of the control configuration with CAN and EtherCAT in
the following section: Extending sample projects - adding devices ( 51)
EtherCAT
• The EtherCAT master is the control section of the system configuration
• The controller (station ID = 1001) is attached below the EtherCAT master.
7.2.5.2
Program organisation units
"Main" program
• The "Main (PRG)" program is the basic program for processing the program sequences:
initialisation of the controller and selection of the different modes.
[7-5]
42
Example: Main (PRG)
________________________________________________________________
"Drive" program
• The "DRIVE (PRG)" program actuates the controller using the function block
L_LCB_TablePositioning an.
• The machine constants are provided in a conditioned manner by means of the
L_LCB_SetAxisData block.
• The connection of the AXIS_REF-instance(LC_Drive) provides a connection to the control
configuration.
43
________________________________________________________________
"PLC_PRG" program
• The "PLC_PRG (PRG)" program contains all program calls.
44
________________________________________________________________
7.2.6
Operation via the visualisations in the »PLC Designer«
7.2.6.1
Information/start page
[7-6]
Example: Visualisation start page of the sample project Lenze 8400 HighLine - TablePositioning
 Select mode
Parameter
selection
 Manufacturer information
 Information/home page
Status
 Status
• Via the buttons in area , the mode (automatic, manual, service, homing) can be selected.
• In area , SDO services (read/write parameters) for the controller can be selected.
• The button in area  refers to the start page which displays the version identifier of the project
and the libraries in area .
• Dialog box shows the status of the machine.
• Control field  shows the bus communication status.

Note!
communication.
45
________________________________________________________________
7.2.6.2
Automatic mode
 Select mode
 Stop button
Current profile
number
Start button
 Mode status
 Set position
• Button  selects the automatic mode.
• Display field  indicates the status of the mode.
• Display field  indicates the current profile number.
• Display field  indicates the set position.
46
________________________________________________________________
7.2.6.3
Manual mode ("Manual jog")
The controller can be actuated manually via the visualisation of the L_LCB_TablePositioning block.
 Select mode
Control/status panel
Activate control via visualisation
• Button  selects the manual (manual jog) mode.
• The control and status panel  contains the FB for actuating the controller.
• The controller can be actuated manually via the visualisation of the L_LCB_TablePositioning
block.
Note: Activate button  to be able to operate the controller via the visualisation.
• Enable the controller via the xDriveEnable FB input to be able to define setpoints manually.
Note: Click the xDriveSetQsp button to activate quick stop.
• Area  visualises the FB for reading out the errors from the controller.
47
________________________________________________________________
7.2.6.4
Service mode
 Select mode
Start button
 Stop button
rotation
 Actual speed
• Button  selects the service mode.
• 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).
• Dialog box shows the status of the machine.
• Control field  shows the bus communication status.

Note!
communication.
48
________________________________________________________________
7.2.6.5
Homing mode
 Select mode
Start button
 Stop button
rotation
 Actual speed
• Button  selects the homing mode.
• The active standard setting in the controller is homing mode 12 (travel to negative limit
switch / digital input 3)
• Button  starts the homing.
• Button  stops homing.
• Button sets the home position.
• Button  resets the home position.
• Set reference / Pos Act = 0 unit
• Dialog box  shows the homing status.
49
________________________________________________________________
7.2.6.6
Parameter
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 (L_DCO_ReadDriveParameter)
• write individual parameters (L_DCO_WriteDriveParameter)
 Read parameters
 Write parameters
• Area  shows the FB for reading parameters. L_DCO_ReadDriveParameter ( 105)
• Area  shows the FB for writing a parameter table. L_DCO_WriteDriveParameter ( 110)
50
Extending sample projects - adding devices
Creating a control configuration - EtherCAT bus system
________________________________________________________________
8
This chapter informs you on how to extend the control configuration manually.
• Lenze provide ready-made sample projects in which the control configuration has already been
created. More information can be found in the following section: Working with the sample
projects ( 23)
• Proceed as described below to extend an existing sample project individually. Please note that
the communication settings have to be adapted for each individual node.
8.1

Note!
Before creating an EtherCAT configuration in »PLC Designer«, ensure that the following
conditions have been met:
• The sequence of EtherCAT slaves in the device tree must correspond to the physical
arrangement of the EtherCAT topology.
• In order that the system works properly, end terminals must not be used when setting
up the system configuration in the device tree.
• Select the cycle times according to the technical data, from 1 ... 10 ms.
 How to create the control configuration in the »PLC Designer«:
1. Open the context menu of the target system and execute the command
in order to extend the control configuration with
Append device
"EtherCAT Master".
51
________________________________________________________________
2. Add an EtherCAT slave below the EtherCAT master.
• Manually using the
master
Add Device command in the context menu of the CANopen
Select a field device from the
selection list. You can only select devices the CANopen
device description files of which have been imported in the »PLC Designer«.
The »PLC Designer« provides a "fieldbus scan" during which the devices connected to the
fieldbus are automatically detected.
• More information can be found in the section "Lenze specificationsEtherCAT control
technology" of the online help for the »PLC Designer« and in the EtherCAT
communication manual (KHB)- Commissioning & configuration.
Repeat the
Add Device command until all slaves connected to the fieldbus are included
in the control configuration.
52
Create control configuration - bus system CAN
________________________________________________________________
3. Give the inserted slaves suitable names (e.g. "Drive_vertical").
The names must …
• only contain the characters "A ... Z", "a ... z", "0 ... 9" or "_";
• must not begin with a digit.
You can enter a name by clicking the element.
Example:
• Below the selected slave, the axis data are available in the form of an additional node.
L_LCB_AXIS_REF ( 115)
Connect a function block to the LC_Drive instance to establish a connection to the slave.
Transmitted process data are written automatically to the axis data. Hence, no manual
assignment of the process data to the application is required. Overview: The libraries for
controlling the inverters ( 82)
• In order to be able to link the process data
manually (instead of the automatic link to
the L_LCB_Axis_REF instance), the Manual
I/O mapping option has to be activated.

8.2
Note!
During runtime the parameters can only be changed by means of the corresponding
function blocks. Afterwards, a manual adjustment with the controller is required!

Note!
An L-force Controller in the CANopen network must be configured in the »PLC Designer«
since the complete configuration is written to the connected slaves when the Controller
is started. During this process, previous settings in slaves are overwritten.
 How to create the control configuration in the »PLC Designer«:
1. Go to the context menu of the target system and use the
extend the control configuration
Add Device command to
with "CANbus".
53
________________________________________________________________
54
________________________________________________________________
2. Use the CANbus tab to set the baud rate.

Note!
The baud rate set in the »PLC Designer« overwrites the baud rate set for the field devices
via »WebConfig«/»Engineer«.
In a CANopen network, set the same baud rate for all nodes.
3. Use the
Add Device command to extend the control configuration by
Manager".
"CANopen
55
________________________________________________________________
4. Use the CANopen_Manager tab to set the parameters for Sync generation.
The sync producing is required if ...
• at least one PDO with sync-controlled processing is used on the bus;
• the applications are to run in synchronism in several field devices;
• motion devices are to be connected to the bus.
If you want to use CAN synchronisation, tick the input field
Set the
56
Enable Sync Producing.
Cycle period in the input field.
________________________________________________________________
5. Use the command
(master).
Add Device to add a Logic device (slave) to the CANopen_Manager
Select the desired CAN node from the
selection list.
Tip!
For the implementation of other controllers, a general device description is provided: Lenze
Generic Drive.
Further information on the function block of the general device control can be found in the
following section: L_LCB_GenericDrive ( 130)
Repeat the
Add Device command until all slaves connected to the bus are
implemented in the control configuration. Optionally, you can Copy and Paste a node
already inserted into the context menu of the device. The communication settings (node ID
and baud rate as well as further parameters) must be adapted manually.
57
________________________________________________________________
6. Give the inserted slaves suitable names (e.g. "Drive_vertical").
The names must …
• only contain the characters "A ... Z", "a ... z", "0 ... 9" or "_";
• must not begin with a digit.
You can enter a name by clicking the element.
Example:
• Below the selected slave, the axis data are available in the form of an additional node.
Connect a function block to the LC_Drive instance to establish a connection to the slave.
Transmitted process data are written automatically to the axis data. Hence, no manual
assignment of the process data to the application is required. Overview: The libraries for
controlling the inverters ( 82)
58
Setting of CAN parameters and PDO mapping
________________________________________________________________
8.3
Set the CAN parameters and the PDO mapping for each Logic device connected to the bus.
 How to set CAN parameters and CAN mapping:
1. Go to the CANopen Remote Device tab of the respective slave.
Use the input field
field devices:
Node ID to set the node address corresponding to the settings in the
The following possible settings are only displayed if the
is ticked:
• "Node Guarding"
• "Emergency"
• "Heartbeat"
• "Checks at Startup"
Enable Expert Settings option
Make the settings required for your application here.
59
________________________________________________________________
2. Go to the PDO Mapping tab.
By default, the PDO mapping is optimised for the corresponding application. It is possible
to change this mapping (set checkmark). Due to the limited bandwidth of the CAN bus, this
is only sensible in special cases. The PDO properties are pre-assigned sensibly as well and
should not be changed.
By double-clicking a single PDO, you can see its transmission properties.
• The
Transmission Type "cyclic - synchronous (type 1-240)" and
which sync the PDOs are to be sent, must not be changed.
• The settings for the
Inhibit Time and the
• Confirm the settings with OK.
the setting, at
Event Time are not evaluated.
On the CANopen I/O Mapping tab, PLC variables can be assigned to the process image.

60
Note!
Bus operation without CAN synchronisation
• The control system always transmits asynchronous PDOs from an unsolicited task in
an event-controlled way. To achieve a time-controlled transmission of asynchronous
PDOs by the control system, you must assign the CAN master to a cyclic task.
• The control does not support any monitoring times for asynchronous receive-PDOs.
This is only possible with field devices.
________________________________________________________________
3. The selection of a special bus cycle task on the CANopen I/O image of the CANopen
manager is not mandatory.
The standard setting automatically uses the task with the shortest cycle time that accesses
the devices of the CAN master as bus cycle task:
61
Overview of device descriptions
Inverter Drives 8400 BaseLine C - Actuator Speed ("speed actuating drive")
________________________________________________________________
9
This chapter gives an overview of the device descriptions provided for the »PLC Designer« V3 and
the corresponding application examples.
Further information on the function blocks can be found under:
The L_LCB_LogicControlBasic library ( 113)
9.1
• This device is available for CANopen.
• For controlling the Inverter Drives 8400 BaseLine with the "speed actuating drive" application,
an application sample is available.
Where do I find the suitable application example?
ProgramsLenzeAppSamples<Version>
LAS_40_INTF_Can_84BL_Speed
Description
By inserting this device into the »PLC Designer«, a subordinated node is inserted automatically with
an L_LCB_AXIS_REF instance.
• Connect a function block with the L_LCB_AXIS_REF instance to establish a connection to the
slave. Transmitted process data are automatically written to the L_LCB_AXIS_REF instance.
Hence, no manual assignment of the process data to the application is required. Overview:
The libraries for controlling the inverters ( 82)
• When the sample device application is used, the L_LCB_ActuatorSpeed function block from
the L_LCB_LenzeLogicDrives library can be sued for activating the 8400 BaseLine.
• The function blocks for parameter accesses are contained in the
L_DCO_DriveCommunication library.
62
________________________________________________________________
9.1.1
Overview of indices
The process data received are copied to the awReceiveData element of the L_LCB_AXIS_REF
instance.
• The process data to be transmitted are copied from the awTransmitData element of the
L_LCB_AXIS_REF instance.
• The table provides an overview which index can be found where.
Application variable
Name CAN
Index CAN
Name EtherCAT
Index EtherCAT
awTransmitData[1]
Control word
0x5E66/01
-
-
awTransmitData[2]
LP_CanIn1_wIn2
0x5E66/02
-
-
awTransmitData[3]
LP_CanIn1_wIn3
0x5E66/03
-
-
awTransmitData[4]
LP_CanIn1_wIn4
0x5E66/04
-
-
awTransmitData[5]
LP_CanIn2_wIn1
0x5E66/05
-
-
awTransmitData[6]
LP_CanIn2_wIn2
0x5E66/06
-
-
awTransmitData[7]
LP_CanIn2_wIn3
0x5E66/07
-
-
awTransmitData[8]
LP_CanIn2_wIn4
0x5E66/08
-
-
awTransmitData[9]
-
-
-
-
awTransmitData[10]
-
-
-
-
awTransmitData[11]
-
-
-
-
awTransmitData[12]
-
-
-
-
awTransmitData[13]
-
-
-
-
awTransmitData[14]
-
-
-
-
awTransmitData[15]
-
-
-
-
awTransmitData[16]
-
-
-
-
awReceiveData[1]
Status word
0x5C9B/01
-
-
awReceiveData[2]
LP_CanOut1
_wOut2
0x5C9B/02
-
-
awReceiveData[3]
LP_CanOut1
_wOut3
0x5C9B/03
-
-
awReceiveData[4]
LP_CanOut1
_wOut4
0x5C9B/04
-
-
awReceiveData[5]
LP_CanOut2
_wOut1
0x5C9B/05
-
-
awReceiveData[6]
LP_CanOut2
_wOut2
0x5C9B/06
-
-
awReceiveData[7]
LP_CanOut2
_wOut3
0x5C9B/07
-
-
awReceiveData[8]
LP_CanOut2
_wOut4
0x5C9B/08
-
-
awReceiveData[9]
-
-
-
awReceiveData[10]
-
-
awReceiveData[11]
-
-
awReceiveData[12]
-
-
awReceiveData[13]
-
-
awReceiveData[14]
-
-
awReceiveData[15]
-
-
awReceiveData[16]
-
-
63
Inverter Drives 8400 StateLine C - speed actuating drive
________________________________________________________________
9.2
• This device is available for CANopen and EtherCAT.
• For controlling the Inverter Drives 8400 StateLine with the "speed actuating drive" application,
an application sample is available.
LAS_40_INTF_<Bus system>_84SL_Speed
Description
• When the sample device application is used, the L_LCB_ActuatorSpeed function block from
the L_LCB_LenzeLogicDrives library can be used for activating the 8400 StateLine.
64
________________________________________________________________
9.2.1
Overview of indices
The received process data are copied to the awReceiveData element of the L_LCB_AXIS_REF
instance. The process data to be sent are copied from the awTransmitData element of the
The table provides an overview which index can be found where.
Name CAN
Index CAN
Name EtherCAT
Index EtherCAT
awTransmitData[1]
Control word
0x5E66/01
Control word
0x5C93/01
awTransmitData[2]
LP_CanIn1_wIn2
0x5E66/02
MciIn_wIn2
0x5C93/02
awTransmitData[3]
LP_CanIn1_wIn3
0x5E66/03
MciIn_wIn3
0x5C93/03
awTransmitData[4]
LP_CanIn1_wIn4
0x5E66/04
MciIn_wIn4
0x5C93/04
awTransmitData[5]
LP_CanIn2_wIn1
0x5E66/05
MciIn_wIn5
0x5C93/05
awTransmitData[6]
LP_CanIn2_wIn2
0x5E66/06
MciIn_wIn6
0x5C93/06
awTransmitData[7]
LP_CanIn2_wIn3
0x5E66/07
MciIn_wIn7
0x5C93/07
awTransmitData[8]
LP_CanIn2_wIn4
0x5E66/08
MciIn_wIn8
0x5C93/08
awTransmitData[9]
LP_CanIn3_wIn1
0x5E66/09
MciIn_wIn9
0x5C93/09
awTransmitData[10]
LP_CanIn3_wIn2
0x5E66/0A
MciIn_wIn10
0x5C93/0A
awTransmitData[11]
LP_CanIn3_wIn3
0x5E66/0B
MciIn_wIn11
0x5C93/0B
awTransmitData[12]
LP_CanIn3_wIn4
0x5E66/0C
MciIn_wIn12
0x5C93/0C
awTransmitData[13]
-
-
MciIn_wIn13
0x5C93/0D
awTransmitData[14]
-
-
MciIn_wIn14
0x5C93/0E
awTransmitData[15]
-
-
MciIn_wIn15
0x5C93/0F
awTransmitData[16]
-
-
MciIn_wIn16
0x5C93/10
awReceiveData[1]
Status word
0x5C9B/01
Status word
0x5C92/01
awReceiveData[2]
LP_CanOut1
_wOut2
0x5C9B/02
MciOut_wOut2
0x5C92/02
awReceiveData[3]
LP_CanOut1
_wOut3
0x5C9B/03
MciOut_wOut3
0x5C92/03
awReceiveData[4]
LP_CanOut1
_wOut4
0x5C9B/04
MciOut_wOut4
0x5C92/04
awReceiveData[5]
LP_CanOut2
_wOut1
0x5C9B/05
MciOut_wOut5
0x5C92/05
awReceiveData[6]
LP_CanOut2
_wOut2
0x5C9B/06
MciOut_wOut6
0x5C92/06
awReceiveData[7]
LP_CanOut2
_wOut3
0x5C9B/07
MciOut_wOut7
0x5C92/07
awReceiveData[8]
LP_CanOut2
_wOut4
0x5C9B/08
MciOut_wOut8
0x5C92/08
awReceiveData[9]
LP_CanOut3
_wOut1
0x5C9B/09
MciOut_wOut9
0x5C92/09
awReceiveData[10]
LP_CanOut3
_wOut2
0x5C9B/0A
MciOut_wOut10
0x5C92/0A
awReceiveData[11]
LP_CanOut3
_wOut3
0x5C9B/0B
MciOut_wOut11
0x5C92/0B
awReceiveData[12]
LP_CanOut3
_wOut4
0x5C9B/0C
MciOut_wOut12
0x5C92/0C
awReceiveData[13]
-
-
MciOut_wOut13
0x5C92/0D
awReceiveData[14]
-
-
MciOut_wOut14
0x5C92/0E
awReceiveData[15]
-
-
MciOut_wOut15
0x5C92/0F
awReceiveData[16]
-
-
MciOut_wOut16
0x5C92/10
65
Inverter Drives 8400 HighLine C - table positioning
________________________________________________________________
9.3
• For controlling the Inverter Drives 8400 StateLine with the "table positioning" application, an
application sample is available.
LAS_40_INTF_<Bus system>_84HL_TabPos
Description
•
• When the sample device application is used, the L_LCB_TablePositioning function block from
the L_LCB_LenzeLogicDrives library can be used for activating the 8400 HighLine.
9.3.1
Overview of indices
66
Name CAN
Index CAN
Name EtherCAT
Index EtherCAT
awTransmitData[1]
Control word
0x5E66/01
Control word
0x5C93/01
awTransmitData[2]
LP_CanIn1_wIn2
0x5E66/02
MciIn_wIn2
0x5C93/02
awTransmitData[3]
LP_CanIn1_wIn3
0x5E66/03
MciIn_wIn3
0x5C93/03
________________________________________________________________
Name CAN
awTransmitData[4]
LP_CanIn1_wIn4
0x5E66/04
MciIn_wIn4
0x5C93/04
awTransmitData[5]
LP_CanIn2_wIn1
0x5E66/05
MciIn_wIn5
0x5C93/05
awTransmitData[6]
LP_CanIn2_wIn2
0x5E66/06
MciIn_wIn6
0x5C93/06
awTransmitData[7]
LP_CanIn2_wIn3
0x5E66/07
MciIn_wIn7
0x5C93/07
awTransmitData[8]
LP_CanIn2_wIn4
0x5E66/08
MciIn_wIn8
0x5C93/08
awTransmitData[9]
LP_CanIn3_wIn1
0x5E66/09
MciIn_wIn9
0x5C93/09
awTransmitData[10]
LP_CanIn3_wIn2
0x5E66/0A
MciIn_wIn10
0x5C93/0A
awTransmitData[11]
LP_CanIn3_wIn3
0x5E66/0B
MciIn_wIn11
0x5C93/0B
awTransmitData[12]
LP_CanIn3_wIn4
0x5E66/0C
MciIn_wIn12
0x5C93/0C
awTransmitData[13]
-
-
MciIn_wIn13
0x5C93/0D
awTransmitData[14]
-
-
MciIn_wIn14
0x5C93/0E
awTransmitData[15]
-
-
MciIn_wIn15
0x5C93/0F
awTransmitData[16]
-
-
MciIn_wIn16
0x5C93/10
awReceiveData[1]
Status word
0x5C9B/01
Status word
0x5C92/01
awReceiveData[2]
LP_CanOut1
_wOut2
0x5C9B/02
Actual speed
0x5C92/02
awReceiveData[3]
LP_CanOut1
_wOut3
0x5C9B/03
MciOut_wOut3
0x5C92/03
awReceiveData[4]
LP_CanOut1
_wOut4
0x5C9B/04
MciOut_wOut4
0x5C92/04
awReceiveData[5]
LP_CanOut2
_wOut1
0x5C9B/05
MciOut_wOut5
0x5C92/05
awReceiveData[6]
LP_CanOut2
_wOut2
0x5C9B/06
MciOut_wOut6
0x5C92/06
awReceiveData[7]
LP_CanOut2
_wOut3
0x5C9B/07
MciOut_wOut7
0x5C92/07
awReceiveData[8]
LP_CanOut2
_wOut4
0x5C9B/08
MciOut_wOut8
0x5C92/08
awReceiveData[9]
LP_CanOut3
_wOut1
0x5C9B/09
MciOut_wOut9
0x5C92/09
awReceiveData[10]
P_CanOut3
_wOut2
0x5C9B/0A
MciOut_wOut10
0x5C92/0A
awReceiveData[11]
P_CanOut3
_wOut3
0x5C9B/0B
MciOut_wOut11
0x5C92/0B
awReceiveData[12]
P_CanOut3
_wOut4
0x5C9B/0C
MciOut_wOut12
0x5C92/0C
awReceiveData[13]
-
-
MciOut_wOut13
0x5C92/0D
awReceiveData[14]
-
-
MciOut_wOut14
0x5C92/0E
awReceiveData[15]
-
-
MciOut_wOut15
0x5C92/0F
awReceiveData[16]
-
-
MciOut_wOut16
0x5C92/10
Index CAN
Name EtherCAT
Index EtherCAT
67
Inverter Drives 8400 TopLine C
________________________________________________________________
9.4
Description
•
68
________________________________________________________________
9.4.1
Overview of indices
• The process data received are copied to the awReceiveData element of the L_LCB_AXIS_REF
instance.
Name CAN
awTransmitData[1]
LP_CanIn1_wIn1
Index CAN
0x5E66/01
Name EtherCAT
MciIn_wIn1
Index EtherCAT
0x5C93/01
awTransmitData[2]
LP_CanIn1_wIn2
0x5E66/02
MciIn_wIn2
0x5C93/02
awTransmitData[3]
LP_CanIn1_wIn3
0x5E66/03
MciIn_wIn3
0x5C93/03
awTransmitData[4]
LP_CanIn1_wIn4
0x5E66/04
MciIn_wIn4
0x5C93/04
awTransmitData[5]
LP_CanIn2_wIn1
0x5E66/05
MciIn_wIn5
0x5C93/05
awTransmitData[6]
LP_CanIn2_wIn2
0x5E66/06
MciIn_wIn6
0x5C93/06
awTransmitData[7]
LP_CanIn2_wIn3
0x5E66/07
MciIn_wIn7
0x5C93/07
awTransmitData[8]
LP_CanIn2_wIn4
0x5E66/08
MciIn_wIn8
0x5C93/08
awTransmitData[9]
LP_CanIn3_wIn1
0x5E66/09
MciIn_wIn9
0x5C93/09
awTransmitData[10]
LP_CanIn3_wIn2
0x5E66/0A
MciIn_wIn10
0x5C93/0A
awTransmitData[11]
LP_CanIn3_wIn3
0x5E66/0B
MciIn_wIn11
0x5C93/0B
awTransmitData[12]
LP_CanIn3_wIn4
0x5E66/0C
MciIn_wIn12
0x5C93/0C
awTransmitData[13]
-
-
MciIn_wIn13
0x5C93/0D
awTransmitData[14]
-
-
MciIn_wIn14
0x5C93/0E
awTransmitData[15]
-
-
MciIn_wIn15
0x5C93/0F
awTransmitData[16]
-
-
MciIn_wIn16
0x5C93/10
awReceiveData[1]
LP_CanOut1
_wOut1
0x5C9B/01
MciOut_wOut1
0x5C92/01
awReceiveData[2]
LP_CanOut1
_wOut2
0x5C9B/02
MciOut_wOut2
0x5C92/02
awReceiveData[3]
LP_CanOut1
_wOut3
0x5C9B/03
MciOut_wOut3
0x5C92/03
awReceiveData[4]
LP_CanOut1
_wOut4
0x5C9B/04
MciOut_wOut4
0x5C92/04
awReceiveData[5]
LP_CanOut2
_wOut1
0x5C9B/05
MciOut_wOut5
0x5C92/05
awReceiveData[6]
LP_CanOut2
_wOut2
0x5C9B/06
MciOut_wOut6
0x5C92/06
awReceiveData[7]
LP_CanOut2
_wOut3
0x5C9B/07
MciOut_wOut7
0x5C92/07
awReceiveData[8]
LP_CanOut2
_wOut4
0x5C9B/08
MciOut_wOut8
0x5C92/08
awReceiveData[9]
LP_CanOut3
_wOut1
0x5C9B/09
MciOut_wOut9
0x5C92/09
awReceiveData[10]
P_CanOut3
_wOut2
0x5C9B/0A
MciOut_wOut10
0x5C92/0A
awReceiveData[11]
P_CanOut3
_wOut3
0x5C9B/0B
MciOut_wOut11
0x5C92/0B
awReceiveData[12]
P_CanOut3
_wOut4
0x5C9B/0C
MciOut_wOut12
0x5C92/0C
awReceiveData[13]
-
-
MciOut_wOut13
0x5C92/0D
awReceiveData[14]
-
-
MciOut_wOut14
0x5C92/0E
69
Servo Drives 9400 HighLine C speed actuating drive
________________________________________________________________
9.5
Name CAN
Index CAN
Name EtherCAT
Index EtherCAT
awReceiveData[15]
-
-
MciOut_wOut15
0x5C92/0F
awReceiveData[16]
-
-
MciOut_wOut16
0x5C92/10
• For controlling the Servo Drives 9400 HighLine with the "speed actuating drive" application
from the application version 4.0.0. An application sample is available.
LAS_40_INTF_<Bus system>_94HL_Speed
Description
• When the sample device application is used, the
L_LCB_ActuatorSpeed function block from the L_LCB_LenzeLogicDrives library can be used
for activating the 9400 HighLine.
9.5.1
Overview of indices
70
________________________________________________________________
awTransmitData[1]
Name CAN
Control word
Index CAN
0xA580/01
Name EtherCAT
Control word
Index EtherCAT
0xA580/01
awTransmitData[2]
nIn1
0xA540/01
nIn1
0xA540/01
awTransmitData[3]
SpeedSetpoint
0xA640/01
SpeedSetpoint
0xA640/01
awTransmitData[5]
LPortControl1
0xA580/02
LPortControl1
0xA580/02
awTransmitData[6]
LPortControl2
0xA580/03
LPortControl2
0xA580/03
awTransmitData[7]
LPort32In1
0xA640/02
LPort32In1
0xA640/02
LPort32In2
0xA640/03
LPort32In2
0xA640/03
LPort32In3
0xA640/04
LPort32In3
0xA640/04
awTransmitData[13]
LPort16In1
0xA540/02
LPort16In1
0xA540/02
awTransmitData[14]
LPort16In2
0xA540/03
LPort16In2
0xA540/03
awTransmitData[15]
LPort16In3
0xA540/04
LPort16In3
0xA540/04
awTransmitData[16]
-
-
-
-
Status word
0xA100/01
Status word
0xA100/01
awTransmitData[4]
awTransmitData[8]
awTransmitData[9]
awTransmitData[10]
awTransmitData[11]
awTransmitData[12]
awReceiveData[1]
awReceiveData[2]
nOut1
0xA0C0/01
nOut1
0xA0C0/01
awReceiveData[3]
Actual speed
0xA1C0/01
Actual speed
0xA1C0/01
awReceiveData[5]
LPortStatus1
0xA100/02
LPortStatus1
0xA100/02
awReceiveData[6]
LPortStatus2
0xA100/03
LPortStatus2
0xA100/03
awReceiveData[7]
LPort32Out1
0xA1C0/02
LPort32Out1
0xA1C0/02
LPort32Out2
0xA1C0/03
LPort32Out2
0xA1C0/03
LPort32Out3
0xA1C0/04
LPort32Out3
0xA1C0/04
awReceiveData[13]
LPort16Out1
0xA0C0/02
LPort16Out1
0xA0C0/02
awReceiveData[14]
LPort16Out2
0xA0C0/03
LPort16Out2
0xA0C0/03
awReceiveData[15]
LPort16Out3
0xA0C0/04
LPort16Out3
0xA0C0/04
awReceiveData[16]
-
-
-
-
awReceiveData[4]
awReceiveData[8]
awReceiveData[9]
awReceiveData[10]
awReceiveData[11]
awReceiveData[12]
71
Servo Drives 9400 HighLine C - table positioning
________________________________________________________________
9.6
Servo Drives 9400 HighLine C - table positioning
• For controlling the Servo Drives 9400 HighLine with the "table positioning" application from the
application version 5.0.0. An application sample is available.
LAS_40_INTF_<Bus system>_94HL_TabPos
Description
• When the sample device application is used, the
L_LCB_TablePositioning function block from the L_LCB_LenzeLogicDrives library can be used
for activating the 9400 HighLine.
• Table with an overview of indices: 9400 HighLine C - Overview of indices ( 79)
72
Servo Drives 9400 HighLine C - torque actuating drive
________________________________________________________________
9.7
Servo Drives 9400 HighLine C - torque actuating drive
• For controlling Servo Drives 9400 HighLine with the "torque actuating drive" application from
application version 4.0.0.
Description
73
Servo Drives 9400 HighLine C - electronic gearbox
________________________________________________________________
9.8
Servo Drives 9400 HighLine C - electronic gearbox
• For controlling Servo Drives 9400 HighLine with the "electronic gearbox" application from
Description
74
Servo Drives 9400 HighLine C - synchronism with mark synchronisation
________________________________________________________________
9.9
Servo Drives 9400 HighLine C - synchronism with mark synchronisation
• For controlling Servo Drives 9400 HighLine with the "synchronism with mark synchronisation"
application from application version 5.0.0.
Description
75
Servo Drives 9400 HighLine C - positioning sequence control
________________________________________________________________
9.10
Servo Drives 9400 HighLine C - positioning sequence control
• For activation of the 9400 HighLine controller with the "Synchronism with mark
synchronisation" application from application version 5.0.0.
Description
76
9400 regenerative power supply module
________________________________________________________________
9.11
9400 regenerative power supply module
• For activation of the 9400 regenerative power supply module.
Description
• Table with an overview of indices: 9400 HighLine C - Overview of indices
77
Servo Drives 9400 HighLine C - "empty application"
________________________________________________________________
9.12
Servo Drives 9400 HighLine C - "empty application"
• For activation of the 9400 HighLine controller with the "empty application" application from
Description

78
Note!
After creation of the »Engineer« application, the indices are to be configured manually
in the »PLC Designer«, since no predefined port variables (indices) are defined in the
"Empty application" TA.
9400 HighLine C - Overview of indices
________________________________________________________________
9.13
9400 HighLine C - Overview of indices
• The process data received are copied to the awReceiveData element of the L_LCB_AXIS_REF
instance.
Name CAN
Index CAN
Name EtherCAT
Index EtherCAT
awTransmitData[1]
LPortAxisIn1
_wControl
0xA580/01
LPortAxisIn1
_wControl
0xA580/01
awTransmitData[2]
LPortAxisIn1
_nIn1
0xA540/01
LPortAxisIn1
_nIn1
0xA540/01
awTransmitData[3]
LPortAxisIn1
_dnIn2
0xA640/01
LPortAxisIn1
_dnIn2
0xA640/01
awTransmitData[5]
LPortControl1
0xA580/02
LPortControl1
0xA580/02
awTransmitData[6]
LPortControl2
0xA580/03
LPortControl2
0xA580/03
awTransmitData[7]
LPort32In1
0xA640/02
LPort32In1
0xA640/02
LPort32In2
0xA640/03
LPort32In2
0xA640/03
LPort32In3
0xA640/04
LPort32In3
0xA640/04
awTransmitData[13]
LPort16In1
0xA540/02
LPort16In1
0xA540/02
awTransmitData[14]
LPort16In2
0xA540/03
LPort16In2
0xA540/03
awTransmitData[15]
LPort16In3
0xA540/04
LPort16In3
0xA540/04
awTransmitData[4]
awTransmitData[8]
awTransmitData[9]
awTransmitData[10]
awTransmitData[11]
awTransmitData[12]
awTransmitData[16]
-
-
-
-
awReceiveData[1]
LPortAxisOut1
_wStatus
0xA100/01
LPortAxisOut1
_wStatus
0xA100/01
awReceiveData[2]
LPortAxisOut1
_nOut1
0xA0C0/01
LPortAxisOut1
_nOut1
0xA0C0/01
awReceiveData[3]
LPortAxisOut1
_dnOut2
0xA1C0/01
LPortAxisOut1
_dnOut2
0xA1C0/01
awReceiveData[5]
LPortStatus1
0xA100/02
LPortStatus1
0xA100/02
awReceiveData[6]
LPortStatus2
0xA100/03
LPortStatus2
0xA100/03
awReceiveData[7]
LPort32Out1
0xA1C0/02
LPort32Out1
0xA1C0/02
LPort32Out2
0xA1C0/03
LPort32Out2
0xA1C0/03
LPort32Out3
0xA1C0/04
LPort32Out3
0xA1C0/04
awReceiveData[13]
LPort16Out1
0xA0C0/02
LPort16Out1
0xA0C0/02
awReceiveData[14]
LPort16Out2
0xA0C0/03
LPort16Out2
0xA0C0/03
awReceiveData[15]
LPort16Out3
0xA0C0/04
LPort16Out3
0xA0C0/04
awReceiveData[16]
-
-
-
-
awReceiveData[4]
awReceiveData[8]
awReceiveData[9]
awReceiveData[10]
awReceiveData[11]
awReceiveData[12]
79
Lenze generic drive
________________________________________________________________
9.14
Lenze generic drive
• This device is available for CANopen.
• Activation of any Lenze controller at the bus system with any drive interface.
• The process data must be mapped in the controller. The device description of the Lenze Generic
Drive serves to define wildcards (e.g. CAN IN1 W1) in which the transmitted process data will be
copied.
Description
• The L_LCB_GenericDrive function block in the L_LCB_LenzeLogicDrives library serves to
activate the respective controller.
9.14.1
Overview of indices
80
Name CAN
Index CAN
Name EtherCAT
Index EtherCAT
awTransmitData[1]
CAN IN1 W1
0x5CA7/01
-
-
awTransmitData[2]
CAN IN1 W2
0x5CA7/02
-
-
awTransmitData[3]
CAN IN1 W3
0x5CA7/03
-
-
awTransmitData[4]
CAN IN1 W4
0x5CA7/04
-
-
awTransmitData[5]
CAN IN2 W1
0x5CA8/01
-
-
awTransmitData[6]
CAN IN2 W2
0x5CA8/02
-
-
awTransmitData[7]
CAN IN2 W3
0x5CA8/03
-
-
awTransmitData[8]
CAN IN2 W4
0x5CA8/04
-
-
Lenze generic drive
________________________________________________________________
Name CAN
Index CAN
Name EtherCAT
Index EtherCAT
awTransmitData[9]
CAN IN3 W1
0x5CB0/01
-
-
awTransmitData[10]
CAN IN3 W2
0x5CB0/02
-
-
awTransmitData[11]
CAN IN3 W3
0x5CB0/03
-
-
awTransmitData[12]
CAN IN3 W4
0x5CB0/04
-
-
awTransmitData[13]
-
-
-
-
awTransmitData[14]
-
-
-
-
awTransmitData[15]
-
-
-
-
awTransmitData[16]
-
-
-
-
awReceiveData[1]
CAN OUT1 W1
0x5CAD/01
-
-
awReceiveData[2]
CAN OUT1 W2
0x5CAD/02
-
-
awReceiveData[3]
CAN OUT1 W3
0x5CAD/03
-
-
awReceiveData[4]
CAN OUT1 W4
0x5CAD/04
-
-
awReceiveData[5]
CAN OUT2 W1
0x5CAE/01
-
-
awReceiveData[6]
CAN OUT2 W2
0x5CAE/02
-
-
awReceiveData[7]
CAN OUT2 W3
0x5CAE/03
-
-
awReceiveData[8]
CAN OUT2 W4
0x5CAE/04
-
-
awReceiveData[9]
CAN OUT3 W1
0x5CAF/01
-
-
awReceiveData[10]
CAN OUT3 W2
0x5CAF/02
-
-
awReceiveData[11]
CAN OUT3 W3
0x5CAF/30
-
-
awReceiveData[12]
CAN OUT3 W4
0x5CAF/04
-
-
awReceiveData[13]
-
-
-
-
awReceiveData[14]
-
-
-
-
awReceiveData[15]
-
-
-
-
awReceiveData[16]
-
-
-
-
81
Overview: The libraries for controlling the inverters
Overview - function libraries
________________________________________________________________
10
10.1
Overview - function libraries
The table shows the function libraries with the respective function used for a bus-independent
implementation of controllers.
10.2
Library/function block
Description
The L_LCB_LogicControlBasic
library
Functions for device-independent activation of controllers at the logic bus:
• Axis data structure
• Interface blocks
• Scaling FB for converting machine units
The L_DCO_DriveCommunication
library
General functions for communicating with a controller:
• SDO functions
The L_DAC_DataConversion
library
Functions for data conversion
The L_LCB_LogicControlBasic library
In order to be able to activate the implemented controllers at the fieldbus in the PLC application, the
L_LCB_LogicControlBasic library provides interface blocks.
Function block
Description
L_LCB_ActuatorSpeed
Activation of a device with the "Actuator speed" application example
Sample project with the "Actuator speed" application - Actuator Speed
( 25)
L_LCB_TablePositioning
Activation of a device with the "Table positioning" application example
Sample project with "Table positioning" application - TablePositioning
( 38)
L_LCB_GenericDrive
Activation of a device with any application
L_LCB_8400Drive
Activation of a 8400 controller
L_LCB_9400Drive
Activation of a 9400 controller
• The interface blocks are device-independent and optimised for the corresponding application.
• The interface blocks are independent of the bus system used.
In order to connect a function block to a controller, the axis data instance from the control
configuration has to be connected to the FB.
82
The L_DCO_DriveCommunication library
________________________________________________________________
[10-1] Example: Interconnection of the axis data structure of a 9400 HighLine with an interface FB for table positioning
10.3
The L_DCO_DriveCommunication library provides FBs for bus-independent parameter
communication. For interconnection, connect the corresponding axis data structure to the FB.
[10-2] Example: Interconnection of the axis data structure of a 9400 HighLine with an FB for reading the drive parameters
10.4
The L_DAC_DataConversion library
L_DAC_DataConversion library ( 84)
provides
functions
for
data
conversion.
The
83
Overview of the functions and function blocks
________________________________________________________________
11
This library contains the function blocks required for converting data and executing data accesses.
11.1
The functions and function blocks of the L_DAC_DataConversion library are divided into different
groups.
84
________________________________________________________________
GetBooleanProperty (automatically generated by »PLC
Designer«) ( 151)
GetCompany (automatically generated by »PLC Designer«)
( 152)
GetNumberProperty (automatically generated by »PLC
GetTextProperty (automatically generated by »PLC Designer«)
( 153)
GetTitle (automatically generated by »PLC Designer«) ( 154)
GetVersion (automatically generated by »PLC Designer«)
( 154)
GetVersionProperty (automatically generated by »PLC
Bit operations
L_DAC_GetBitOfByte - conversion block ( 86)
L_DAC_GetBitOfDWord - conversion block ( 87)
L_DAC_GetBitOfWord - conversion block ( 88)
L_DAC_ResetBitOfByte - conversion block ( 89)
L_DAC_ResetBitOfDWord - conversion block ( 90)
L_DAC_ResetBitOfWord - conversion block ( 91)
L_DAC_SetBitOfByte - bit operation ( 91)
L_DAC_SetBitOfDWord - bit operation ( 92)
L_DAC_SetBitOfWord - bit operation ( 92)
Bit splitter
L_DAC_BitsToByte - bit multiplexer ( 93)
L_DAC_BitsToDWord - bit multiplexer ( 93)
L_DAC_BitsToWord - bit multiplexer ( 94)
L_DAC_ByteToBits - bit demultiplexer ( 94)
L_DAC_DWordToBits - bit demultiplexer ( 95)
L_DAC_WordToBits - bit demultiplexer ( 95)
Type converter
L_DAC_2BytesToWord - type converter ( 96)
L_DAC_2WordsToDWord - type converter ( 96)
L_DAC_4BytesToDWord - type converter ( 97)
L_DAC_DWordTo2Words - type converter ( 97)
L_DAC_DWordTo4Bytes - type converter ( 98)
L_DAC_WordTo2Bytes - type converter ( 99)
85
L_DAC_GetBitOfByte - conversion block
________________________________________________________________
11.2
L_DAC_GetBitOfByte - conversion block
Function library:
L_DAC_DataConversion
Runtime software licence:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This function returns the state of an individual bit value as a "BYTE" value.
L_DAC_GetBitOfByte
BYTE ⎯ byInput
L_DAC_GetBitOfByte ⎯ BYTE
BYTE ⎯ byBitNr
Inputs
Identifier/data type
byInput
byBitNr
Information/possible settings
BYTE
BYTE
Input signal
Number (0 ... 7) of the bit of byInput, the status of which is to be determined.
Output signal
L_DAC_GetBitOfByte: New value of the "BYTE" type, which results from the respective input signal.
86
L_DAC_GetBitOfDWord - conversion block
________________________________________________________________
11.3
L_DAC_GetBitOfDWord - conversion block
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This function returns the status of an individual bit value within a "DWORD" value.
L_DAC_GetBitofDWord
DWORD ⎯ dwInput
L_DAC_GetBitOfDWord ⎯ BOOL
BYTE ⎯ byBitNr
Inputs
dwInput
byBitNr
DWORD
BYTE
Input signal
Number (0 ... 31) of the bit of dwInput, the status of which is to be determined.
Output
L_DAC_GetBitOfDWord
Output signal
BOOL • TRUE if the respective bit of dwInput is TRUE.
87
L_DAC_GetBitOfWord - conversion block
________________________________________________________________
11.4
L_DAC_GetBitOfWord - conversion block
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This function returns the status of an individual bit within a "WORD" value.
L_DAC_GetBitOfWord
WORD ⎯ wInput
L_DAC_GetBitOfWord ⎯ BOOL
BYTE ⎯ byBitNr
Inputs
wInput
byBitNr
WORD
BYTE
Input signal
Number (0 ... 15) of the bit of dwInput, the status of which is to be determined.
Output
L_DAC_GetBitOfWord
88
BOOL
Output signal
• TRUE if the respective bit of wInput is TRUE.
L_DAC_ResetBitOfByte - conversion block
________________________________________________________________
11.5
L_DAC_ResetBitOfByte - conversion block
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This function sets an individual bit to "0" within a value of the "BYTE" type.
L_DAC_ResetBitOfByte
BYTE ⎯ byInput
L_DAC_ResetBitOfByte ⎯ BYTE
BYTE ⎯ byBitNr
Inputs
byInput
byBitNr
BYTE
BYTE
Input signal
Number (0 ... 7) of the bit that is to be set.
Output
L_DAC_ResetBitOfByte
BYTE
Output signal
• Value results from the deleted bit.
89
L_DAC_ResetBitOfDWord - conversion block
________________________________________________________________
11.6
L_DAC_ResetBitOfDWord - conversion block
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This function sets an individual bit to "0" within a value of the "DWORD" type.
L_DAC_ResetBitOfDWord
DWORD ⎯ dwInput
L_DAC_ResetBitOfDWord ⎯ DWORD
BYTE ⎯ byBitNr
Inputs
dwInput
byBitNr
DWORD
BYTE
Input signal
Output
L_DAC_ResetBitOfDWord
Output signal
DWORD • Value results from the deleted bit.
90
L_DAC_ResetBitOfWord - conversion block
________________________________________________________________
11.7
L_DAC_ResetBitOfWord - conversion block
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This function sets an individual bit to "0" within a value of the "WORD" type.
L_DAC_ResetBitOfWord
WORD ⎯ wInput
L_DAC_ResetBitOfWord ⎯ WORD
BYTE ⎯ byBitNr
Inputs
wInput
byBitNr
WORD
BYTE
Input signal
Output
L_DAC_ResetBitOfWord
Output signal
WORD • The value results from the deleted bit.
11.8
L_DAC_SetBitOfByte - bit operation
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This function sets an individual bit to "1" within a value of the "BYTE" type.
L_DAC_SetBitOfByte
BYTE ⎯ byInput
L_DAC_SetBitOfByte ⎯ BYTE
BYTE ⎯ byBitNr
Inputs
byInput
byBitNr
BYTE
BYTE
Input signal
No. (0 ... 7) of the bit that is to be set.
Output signal
L_DAC_SetBitOfByte - value of the "BYTE" type , which results by the bit set.
91
L_DAC_SetBitOfDWord - bit operation
________________________________________________________________
11.9
L_DAC_SetBitOfDWord - bit operation
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This function sets an individual bit to "1" within a value of the "DWORD" type.
L_DAC_SetBitOfDWord
DWORD ⎯ dwInput
L_DAC_SetBitOfDWord ⎯ BOOL
BYTE ⎯ byBitNr
Inputs
dwInput
DWORD
byBitNr
BYTE
Input signal
Output signal
L_DAC_SetBitOfDWord - value of the "DOUBLE WORD" type, which results by the bit set.
11.10
L_DAC_SetBitOfWord - bit operation
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This function sets an individual bit to "1" within a value of the "WORD" type.
L_DAC_SetBitOfWord
WORD ⎯ wInput
L_DAC_SetBitOfWord ⎯ WORD
BYTE ⎯ byBitNr
Inputs
wInput
byBitNr
WORD
BYTE
Input signal
Output signal
L_DAC_SetBitOfWord - value of the "WORD" type, which results by the bit set.
92
L_DAC_BitsToByte - bit multiplexer
________________________________________________________________
11.11
L_DAC_BitsToByte - bit multiplexer
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB converts eight input bits into a value of the "BYTE" type.
L_DAC_BitsToByte
BOOL ⎯ xBit0...xBit7
byOutput ⎯ BYTE
Inputs
xBit0...xBit7
BOOL
Input signal 1...8
Outputs
byOutput
11.12
BYTE
Value of the "BYTE" type, which results by the bit set.
L_DAC_BitsToDWord - bit multiplexer
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB converts 32 input bits into a value of the "DWORD" type.
L_DAC_BitsToDWord
BOOL ⎯ xBit0...xBit31
dwOutput ⎯ DWORD
Inputs
xBit0...xBit31
BOOL
Input signal 1...input signal 32
Outputs
dwOutput
DWORD
Value of the "DOUBLE WORD" type, which results by the bit set.
93
L_DAC_BitsToWord - bit multiplexer
________________________________________________________________
11.13
L_DAC_BitsToWord - bit multiplexer
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB converts 16 input bits into a value of the "WORD" type.
L_DAC_BitsToWord
BOOL ⎯ xBit...xBit15
wOutput ⎯ WORD
Inputs
xBit0...xBit15
BOOL
Input signal 1..input signal 16
Outputs
wOutput
11.14
WORD
Value of the "WORD" type, which results by the bit set.
L_DAC_ByteToBits - bit demultiplexer
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB outputs the 8 corresponding bit values for an input value of the "BYTE" type.
L_DAC_ByteToBits
BYTE ⎯ byInput
xBit0...xBit7 ⎯ BOOL
Inputs
byInput
BYTE
Input signal
Outputs
94
xBit0..xBit7
Output of bit 0..Bit 7 of byInput (valency: 20..27)
BOOL
L_DAC_DWordToBits - bit demultiplexer
________________________________________________________________
11.15
L_DAC_DWordToBits - bit demultiplexer
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB outputs the 32 corresponding bit values for an input value of the "DWORD" type.
L_DAC_DWordToBits
DWORD ⎯ dwInput
Inputs
dwInput
DWORD
Input signal
Outputs
11.16
xBit0..xBit31
Output of bit 0..bit 31 of dwInput (valency: 20..231)
BOOL
L_DAC_WordToBits - bit demultiplexer
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB outputs the 16 corresponding bit values for an input value of the "WORD" type.
L_DAC_WordToBits
WORD ⎯ wInput
Inputs
wInput
WORD
Input signal
Outputs
xBit0 .. xBit15
Output of bit 0 .. bit 15 of wInput (valency: 20..215)
BOOL
95
L_DAC_2BytesToWord - type converter
________________________________________________________________
11.17
L_DAC_2BytesToWord - type converter
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This function converts two input values of the "BYTE" type to an output value of the "WORD" type.
L_DAC_2BytesToWord
BYTE ⎯ byInput1
L_DAC_2BytesToWord ⎯ WORD
BYTE ⎯ byInput2
Inputs
byInput1
BYTE
byInput2
BYTE
Input value 1 ≡ bit 0 ... bit 7 of L_DAC_2BytesToWord
Input value 2 ≡ bit 8 ... bit 15 of L_DAC_2BytesToWord
Output signal
L_DAC_2BytesToWord - value of the "WORD" type according to the input values transferred
11.18
L_DAC_2WordsToDWord - type converter
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This function converts two input values of the "WORD" type to an output value of the "DWORD"
type.
L_DAC_2WordsToDWord
WORD ⎯ wInput1
L_DAC_2WordsTo ⎯ DWORD
DWORD
WORD ⎯ wInput2
Inputs
wInput1
Input value 1 ≡ bit 0 ... bit 15 of L_DAC_2WordsToDWord
wInput2
WORD
WORD
Input value 2 ≡ bit 16 ... bit 31 of L_DAC_2WordsToDWord
Output signal
L_DAC_2WordsToDWord - value of the "DOUBLE WORD" type according to the input values
transferred
96
L_DAC_4BytesToDWord - type converter
________________________________________________________________
11.19
L_DAC_4BytesToDWord - type converter
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This function converts four input values of the "BYTE" type to an output value of the "DWORD" type.
L_DAC_4BytesToDWord
BYTE ⎯ byInput[1...4]
L_DAC_4BytesToDWord ⎯ DWORD
Inputs
byInput1..4
BYTE
Input value 1..4
1 Bit 0 ... bit 7 of L_DAC_4BytesToDWord
2 Bit 8 ... bit 15 of dwOut L_DAC_4BytesToDWord
Output signal
L_DAC_4BytesToDWord - value of the "DOUBLE WORD" type according to the input values
transferred
11.20
L_DAC_DWordTo2Words - type converter
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB converts an input value of the "DWORD" type to two output values of the "WORD" type.
L_DAC_DWordTo2Words
DWORD ⎯ dwInput
wOutput[1...2] ⎯ WORD
Inputs
dwInput
DWORD
Input value
Outputs
wOutput1
wOutput2
WORD
WORD
Output value 1 ≡ bit 0 ... bit 15 of dwInput
97
L_DAC_DWordTo4Bytes - type converter
________________________________________________________________
11.21
L_DAC_DWordTo4Bytes - type converter
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB converts an input value of the "DWORD" type into four output values of the "BYTE" type.
L_DAC_DWordTo4Bytes
DWORD ⎯ dwInput
byOutput[0...3] ⎯ BYTE
Inputs
dwInput
DWORD
Input value
Outputs
byOutput0
byOutput1
byOutput2
byOutput3
98
BYTE
BYTE
BYTE
BYTE
L_DAC_WordTo2Bytes - type converter
________________________________________________________________
11.22
L_DAC_WordTo2Bytes - type converter
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB converts an input value of the "WORD" type into two output values of the "BYTE" type.
L_DAC_WordTo2Bytes
WORD ⎯ wInput
byOutput[1..2] ⎯ BYTE
Inputs
wInput
Input value
WORD
Outputs
byOutput1
byOutput2
BYTE
BYTE
Output value 1: Bit 0 ... bit 7 of wInput
Output value 2: Bit 8 ... bit 15 of wInput
99
________________________________________________________________
12
This library contains function blocks for parameter processing.
12.1
The functions and function blocks of the L_DCO_DriveCommunication library are divided into
different groups.

Note!
The functions/function blocks contained in this library can be used with the following
devices: Overview of device descriptions ( 62)
GetBooleanProperty (automatically generated by »PLC Designer«) ( 151)
( 152)
( 152)
GetTextProperty (automatically generated by »PLC Designer«) ( 153)
GetVersion (automatically generated by »PLC Designer«) ( 154)
GetVersionProperty (automatically generated by »PLC Designer«) ( 155)
GetNumberProperty (automatically generated by »PLC Designer«)
Enums
L_DCO_CommState ( 101)
L_DCO_Error ( 101)
Function Blocks
DriveInterface
L_DCO_AXIS_REF_BASE ( 104)
SDO Communication
L_DCO_ReadDriveParameterString ( 106)
L_DCO_TransferDriveParameter ( 107)
L_DCO_WriteDriveParameter ( 110)
Structs
L_DCO_SDOData ( 111)
L_DCO_TransferData ( 112)
Unions
L_DCO_ConvertData ( 112)
100
Enums
________________________________________________________________
12.2
Enums
12.2.1
L_DCO_CommState
The L_DCO_CommState type describes possible states that can be adopted by the bus system
masters and slaves.
• The communication status is available via an instance of the L_DCO_AXIS_REF_BASE function
block and its extensions.
• The respective function block instance is provided in the device editor.
Identifier
12.2.2
Initialisation
Description
L_DCO_STATE_BOOT
0
"Boot process" state
L_DCO_STATE_INIT
10
"Initialisation" state
L_DCO_STATE_RESET_COMM
20
"Communication reset" state
L_DCO_STATE_RESET_APP
30
"Reset" state
L_DCO_STATE_PREOPERATIONAL
40
"Preoperational" state
L_DCO_STATE_STOPPED
50
"Stopped" state
L_DCO_STATE_OPERATIONAL
70
"Operational" state
L_DCO_STATE_UNKNOWN
80
"Unknown" state
L_DCO_STATE_NOT_AVAIL
90
"Not available" state
L_DCO_Error
The L_DCO_Error type describes possible error messages that can be generated at the eError output
of the function block of the L_DCO_DriveCommunication library.
• All error messages are of the L_DCO_ERROR data type
Identifier
L_DCO_No_Error
Error number
(dec)
0
Description
No error reported
L_DCO_OTHERERROR
20001
General fault
L_DCO_INVALIDINDEX
20002
Invalid SDO index
L_DCO_INVALIDOFFSET
20003
Invalid offset value during access to process
data image
L_DCO_INVALIDSIZE
20004
Invalid length value...
• ... during access to process data image
• ... during saving of data in a data area
L_DCO_INVALIDDATA
20005
Invalid data
L_DCO_NOTREADY
20006
Internal software error
• Cause not reported
L_DCO_BUSY
20007
The master is busy at the moment and cannot process
the API function.
• Repeat the function at a later time.
L_DCO_NOMEMORY
20008
Not enough application memory available.
L_DCO_INVALIDPARM
20009
Incorrect call of a API function by invalid parameters.
L_DCO_INVALIDSTATE
20010
Invalid state
L_DCO_TIMEOUT
20011
Time-out
101
Enums
________________________________________________________________
Identifier
102
Error number
(dec)
Description
L_DCO_INVALID_SLAVE_STATE
20012
Impermissible mailbox commands with current slave
state.
L_DCO_LINK_DISCONNECTED
20013
EtherCAT cable is not connected to control.
L_DCO_ALL_CANNELS_BUSY
20015
All channels for processing parameter request
are busy.
L_DCO_DATA_REQUEST_ERROR
20016
General error reported at request
L_DCO_BUS_OFF
20017
Bus not initialised
L_DCO_SLAVE_ERROR
20018
Slave not addressable
L_DCO_SDO_ABORTCODE_TOGGLE
20020
Unchanged state of the toggle bit
• Abort code 0x05030000
L_DCO_SDO_ABORTCODE
_TIMEOUT
20021
Time-out of the SDO protocol
L_DCO_SDO_ABORTCODE
_CCS_SCS
20022
Invalid or unknown specification symbol for the client/
server command
• Abort Code 0x05040001
L_DCO_SDO_ABORTCODE_BLK_SIZE
20023
Invalid block size (only on "Block mode")
L_DCO_SDO_ABORTCODE_SEQNO
20024
Invalid sequence number (only in "Block mode")
L_DCO_SDO_ABORTCODE_CRC
20025
CRC error (only in "Block mode")
L_DCO_SDO_ABORTCODE
_MEMORY
20026
To little memory location free in the main memory
L_DCO_SDO_ABORTCODE_ACCESS
20027
Access to an object denied
L_DCO_SDO_ABORTCODE
_WRITEONLY
20028
Read access to a write-protected object
L_DCO_SDO_ABORTCODE
_READONLY
20029
Write access to a write-protected object
L_DCO_SDO_ABORTCODE_INDEX
20030
Object not found in the object directory.
L_DCO_SDO_ABORTCODE
_PDO_MAP
20031
An object cannot be mapped into the PDO
L_DCO_SDO_ABORTCODE
_PDO_LEN
20032
Number/length of the mapped objects exceeds the PDO
length.
L_DCO_SDO_ABORTCODE
_P_INCOMP
20033
General message for parameter incompatibility
L_DCO_SDO_ABORTCODE
_I_INCOMP
20034
General message for parameter incompatibility
L_DCO_SDO_ABORTCODE
_HARDWARE
20035
Failed access by hardware error
L_DCO_SDO_ABORTCODE
_DATA_SIZE
20036
Data type or parameter length differ
L_DCO_SDO_ABORTCODE
_DATA_SIZE1
20037
Incorrect data type (The parameter length is too large)
L_DCO_SDO_ABORTCODE
_DATA_SIZE2
20038
Incorrect data type (The parameter length is too small)
L_DCO_SDO_ABORTCODE
_OFFSET
20039
Missing subindex
Enums
________________________________________________________________
Identifier
Error number
(dec)
Description
L_DCO_SDO_ABORTCODE
_DATA_RANGE
20040
The value range for parameters is too great (only for
write access)
L_DCO_SDO_ABORTCODE
_DATA_RANGE1
20041
The parameter value is too high
L_DCO_SDO_ABORTCODE
_DATA_RANGE2
20042
The parameter value is too low
L_DCO_SDO_ABORTCODE_MINMAX
20043
The maximum value is lower than the minimum value
L_DCO_SDO_ABORTCODE
_GENERAL
20044
General fault
L_DCO_SDO_ABORTCODE
_TRANSFER
20045
Error when saving/transmitting the data in the
application
L_DCO_SDO_ABORTCODE
_TRANSFER1
20046
application (caused by local control)
L_DCO_SDO_ABORTCODE
_TRANSFER2
20047
application (caused by current device state)
L_DCO_SDO_ABORTCODE
_DICTIONARY
20048
Dynamic object directory generation has failed or no
object directory available
L_DCO_SDO_ABORTCODE
_UNKNOWN
20049
Internal slave error (cause unknown)
L_DCO_TRANSFERTABLE_INVALID
20060
Invalid structure L_DCO_TransferData transferred to FB
L_DCO_TransferDriveParameter
103
Function blocks
________________________________________________________________
12.3
Function blocks
12.3.1
L_DCO_AXIS_REF_BASE
Function library:
L_DCO_DriveCommunication
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB provides the basic communication information of the Logic axis.
• Every Logic axis implemented in the control configuration is an extended instance of
L_DCO_AXIS_REF_BASE. A manual instancing of this function block is not required.
• The function block L_DCO_AXIS_REF_BASE has routines that serve as drivers.
L_DCO_AXIS_REF_BASE
UDINT ⎯ udiTimeOut
uiDeviceID ⎯ UINT
USINT ⎯ usiChannel
uiNetID ⎯ UINT
ARRAY[1.. 5] OF ⎯ aSDOReadData
L_DCO_SdoData
xCommunicationOK ⎯ BOOL
ARRAY[1.. 5] OF ⎯ aSDOWriteData
L_DCO_SdoData
eCommunicationState ⎯ L_DCO_CommState
AxisName ⎯ STRING
Input variables
Identifier
Data type
Initialisation Information/possible settings
udiTimeOut
UDINT
10000
usiChannel
USINT
1
SDO channel to be used
aSdoReadData
ARRAY[1.. 5] OF
L_DCO_SdoData
0
Exchange for SDO communication
(internal use)
aSdoWriteData
ARRAY[1..5] OF
L_DCO_SdoData
0
Timeout period for SDO communication
Outputs
Identifier
Data type
Initial value
uiDeviceId
UINT
0
Station/node address at the used bus system
uiNetId
UINT
0
Network/master instance number of the used bus
system.
xCommunicationOK
BOOL
FALSE
Status of bus communication
FALSE No bus communication active
TRUE Bus communication available
eCommunicationState
AxisName
104
L_DCO_Com
mState
0
Bus state
STRING
-
Instance name
Function blocks
________________________________________________________________
12.3.2
L_DCO_ReadDriveParameter
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB reads the parameters out of a Lenze controller (logic axis) and provides them to the
application.
• Parameter values of max. 32 bits can be read.
• The parameter to be read can be defined as index or code number.
• The FB is independent of the used bus system.
L_DCO_ReadDriveParameter
L_DCO_AXIS_REF_BASE ⎯ Axis
xDone ⎯ BOOL
BOOL ⎯ xExecute
xBusy ⎯ BOOL
WORD ⎯ wIndex
xError ⎯ BOOL
BYTE ⎯ bySubIndex
BOOL ⎯ xUseIndexAsParam
eError ⎯ L_DCO_Error
dwData ⎯ DWORD
byNrOfByte ⎯ BYTE
Inputs
Axis
Connection of the axis data of the controller (Logic nodes)
L_DCO_AXIS_REF_BASE
xExecute
BOOL
Activation of the "Read parameters" function
FALSETRUE Transmitting a parameter read request
FALSE Outputs are reset
• If the execution of the FB has not been completed yet:
• Outputs are reset after request has been completed
• Status signals are at least set for one cycle.
wIndex
bySubIndex
xUseIndexAsParam
WORD
BYTE
BOOL
Index of the parameter to be read
• If xUseIndexAsParam = TRUE: Indication of the parameter/code number
Subindex of the parameter to be read
FALSE Selection indices according to CANopen
TRUE Selection indices according to Lenze parameters.
• The value given at wIndex is interpreted as parameter/code
number.
Outputs
xDone
xBusy
BOOL
BOOL
TRUE: Read request completed
Status output "Read request sent"
TRUE The read request has been transmitted to the system. The FB waits
for the response of the request.
FALSE No read request active
105
Function blocks
________________________________________________________________
xError
BOOL
Error status output
TRUE During the processing an error has occurred
FALSE No error
eError
L_DCO_Error
dwData
DWORD
byNrOfByte
12.3.3
BYTE
Error number
Read parameter value
Length of the read value
L_DCO_ReadDriveParameterString
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB reads a parameter of "String" data type of a Lenze inverter ("logic" axis") which is connected
to the Controller via a bus system and provides this to the application.
L_DCO_ReadDriveParameterString
xDone ⎯ BOOL
BOOL ⎯ xExecute
xBusy ⎯ BOOL
WORD ⎯ wIndex
xError ⎯ BOOL
BYTE ⎯ bySubIndex
sValue ⎯ STRING
byNrOfByte ⎯ BYTE
Inputs
Axis
L_DCO_AXIS_REF_BASE
xExecute
BOOL
Activation of the "Read parameters" function
wIndex
bySubIndex
xUseIndexAsParam
106
WORD
BYTE
BOOL
Index of the parameter to be read
• If xUseIndexAsParam = TRUE: Indication of the parameter/code number
Subindex of the parameter to be read
number.
Function blocks
________________________________________________________________
Outputs
xDone
BOOL
xBusy
BOOL
xError
BOOL
Error status output
FALSE No error
eError
L_DCO_Error
sValue
STRING
byNrOfByte
12.3.4
BYTE
Error number
Length of the read value
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB reads and write the parameters of a Lenze inverter (logic axis) that is connected to the
Controller via a bus system. The parameters are defined via an array structure.
xDone ⎯ BOOL
BOOL ⎯ xExecute
POINTER TO ⎯ pscParameterData
L_DCO_TransferData
DWORD ⎯ dwSizeParameterData
xBusy ⎯ BOOL
xError ⎯ BOOL
dwData ⎯ WORD
wIndexCounter ⎯ WORD
Inputs
Axis
Connection of the axis data of the controller ("Logic" nodes)
L_DCO_AXIS_REF_BASE
xExecute
BOOL
Activation of the "Read/write parameters" function
pscParameterData
Here, the address of the array structure of the L_DCO_TranferData type must be
POINTER TO transmitted
L_DCO_TransferData
107
Function blocks
________________________________________________________________
dwSizeParameter-Data
Size of the array structure to be read containing the codes
DWORD
xUseIndexAsParam
BOOL
number.
Outputs
xDone
BOOL
xBusy
BOOL
xError
BOOL
Error status output
FALSE No error
eError
L_DCO_Error
dwData
wIndexCounter
DWORD
Error number
After the read and write requests have been processed, the number of requests is
WORD indicated here.
• In the event of an error, the number of the request that has caused the write or
read error is indicated here.
PROGRAM Demo
VAR
L_DCO_TransferDriveParameter1 : L_DCO_TransferDriveParameter;
scTransferData : ARRAY[1..5] OF L_DCO_TranferData
:= [
(wIndex := 11,
xWriteAccess:=
(wIndex := 11,
xWriteAccess:=
(wIndex := 11,
xWriteAccess:=
(wIndex := 11,
xWriteAccess:=
(wIndex := 11,
xWriteAccess:=
bySubIndex
FALSE ),
bySubIndex
FALSE ),
bySubIndex
FALSE ),
bySubIndex
FALSE ),
bySubIndex
FALSE ) ];
:= 0, dwData := 0, byNrOfByte := 4, xEnable := TRUE,
END_VAR
...
// Instance call
L_DCO_TransferDriveParameter1.pscParameterData := ADR(scTransferData);
L_DCO_TransferDriveParameter1.dwSizeParameterData := SIZEOF(scTransferData);
L_DCO_TransferDriveParameter1(Axis:=LC_Drive_94HL);
[12-1] Program sample for using the L_DCO_TransferDriveParameter FB
108
Function blocks
________________________________________________________________
12.3.5
L_DCO_TransferData
Variables of the L_DCO_TransferData structure
wIndex
bySubIndex
dwData
byNrOfByte
xEnable
WORD
BYTE
DWORD
BYTE
BOOL
Index number of the parameter to be processed
Subindex of the parameter to be processed
Transmitted/read data
Number of the transmitted/read bytes
Activation of the parameter request
FALSE Parameter request is processed
TRUE Parameter request is ignored
xWriteAccess
BOOL
Write/or read access
FALSE Read access
TRUE Write access
109
Function blocks
________________________________________________________________
12.3.6
L_DCO_WriteDriveParameter
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB writes a parameter of a Lenze inverter (logic axis) that is connected to the Controller via a
bus system.
• Parameter values of max. 32 bits can be read.
• The parameter to be read can be defined as index or code number.
• The FB is independent of the used bus system.
L_DCO_WriteDriveParameter
xDone ⎯ BOOL
BOOL ⎯ xExecute
xBusy ⎯ BOOL
WORD ⎯ wIndex
xError ⎯ BOOL
BYTE ⎯ bySubIndex
DWORD ⎯ dwData
BYTE ⎯ byNrOfByte
Inputs
Axis
L_DCO_AXIS_REF_BASE
xExecute
BOOL
Activation of the "Write parameters" function
FALSETRUE Transmitting a parameter write request
wIndex
bySubIndex
xUseIndexAsParam
dwData
byNrOfByte
110
WORD
BYTE
BOOL
DWORD
BYTE
Index of the parameter to be written
Subindex of the parameter to be written
number.
Parameter value to be written
Number of the bytes to be written
Structures (Structs)
________________________________________________________________
Outputs
xDone
BOOL
xBusy
BOOL
TRUE: Write request completed
Status output "Write request sent"
xError
BOOL
Error status output
FALSE No error
eError
L_DCO_Error
12.4
Structures (Structs)
12.4.1
L_DCO_SDOData

Error number
Note!
This structure is for internal use only!
Structure for exchanging parameter write requests and parameter read requests.
Initialisation
Description
wParam
WORD
0
bySubIndex
BYTE
0
wState
WORD
0
Status of the parameter request
dwOwner
DWORD
0
Identification of the orderer
dwData
DWORD
0
psData
POINTER OF BYTE
0
Pointer to a byte into which the read data is to be
written.
uDataLength
UNIT
0
Data length of the parameter
wError
WORD
0
Error number
111
Unions
________________________________________________________________
12.4.2
L_DCO_TransferData
The L_DCO_TransferData structure describes a request for reading/writing a parameter.
• An array [1..x] OF L_DCO_TransferData can be used to read or write several parameters of a
drive by means of the L_DCO_TransferDriveParameter function block .
Component
Data type
wIndex
WORD
bySubIndex
xWriteAccess
Initialisation
Description
0
BYTE
0
BOOL
FALSE
Write/or read access
FALSE Read access
TRUE Write access
xEnable
BOOL
0
Activation of the parameter request
FALSE Parameter request is processed
TRUE Parameter request is ignored
byNrOfByte
BYTE
0
Number of the transmitted/read bytes
dwData
DWORD
0
12.5
Unions
12.5.1
L_DCO_ConvertData
Union for different access possibilities to a 32-bit memory area.
112
Component
Data type
Initialisation
Description
abData
ARRAY OF BYTE
awData
ARRAY OF WORD
dwData
DWORD
________________________________________________________________
13
This library contains the function blocks for activation of inverters at the logic bus.
13.1
The functions and function blocks of the L_LBC_LogicControlBasic library are divided into different
groups.
GetBooleanProperty (automatically generated by »PLC Designer«) ( 151)
( 152)
GetNumberProperty (automatically generated by »PLC Designer«) ( 152)
GetTextProperty (automatically generated by »PLC Designer«) ( 153)
GetVersion (automatically generated by »PLC Designer«) ( 154)
GetVersionProperty (automatically generated by »PLC Designer«) ( 155)
113
________________________________________________________________
Enums
L_LCB_AXISMODE ( 149)
L_LCB_Error ( 115)
L_LCB_LOGICDEVICE ( 150)
Function Blocks
DriveInterface
L_LCB_AXIS_REF_CAN (internal use) ( 116)
L_LCB_AXIS_REF_ETC (internal use) ( 116)
LogicDrives
L_LCB_8400Drive ( 117)
L_LCB_9400Drive ( 118)
L_LCB_ActuatorSpeed ( 120)
L_LCB_GenericDrive ( 130)
Scaling
Data converter
L_LCB_Norm_aToNorm_n - signal converter ( 131)
L_LCB_Norm_nToNorm_a - signal converter ( 131)
L_LCB_Norm_nToSpeed_s - signal converter ( 132)
L_LCB_Speed_nToNorm_r - signal converter ( 134)
L_LCB_Speed_rToNorm_n - signal converter ( 134)
L_LCB_Speed_sToNorm_n - signal converter ( 135)
L_LCB_Speed_sToSpeed_v - signal converter ( 136)
L_LCB_Speed_vToSpeed_s - signal converter ( 136)
Data sinks and sources
L_LCB_GetAxisData - read out machine parameters from
axis data ( 138)
L_LCB_GetPosition - conversion block ( 139)
L_LCB_GetSpeed - conversion block ( 140)
L_LCB_SetAxisData - machine parameters ( 141)
L_LCB_SetPosition - position value conversion ( 142)
L_LCB_SetSpeed - speed value conversion ( 143)
Signal conversion
L_LCB_AccToUnit - acceleration value conversion ( 144)
L_LCB_PosToUnit - position value conversion ( 145)
L_LCB_SpeedToUnit - speed value conversion ( 146)
L_LCB_UnitToAcc - acceleration value conversion ( 147)
L_LCB_UnitToPos - position value conversion ( 148)
L_LCB_UnitToSpeed - speed value conversion ( 149)
TaskInfo
L_LCB_TaskCycle - read in task time ( 137)
114
L_LCB_Error
________________________________________________________________
13.2
L_LCB_Error
The L_DCO_Error type describes possible error messages that can be generated at the eError output
of the function block of the L_DCO_DriveControl Basic library.
• All error messages are of the L_LCB_ERROR data type
Identifier
Error number
(dec)
L_LCB_NO_ERROR
13.3
0
Description
No error
L_LCB_AXIS_IS_NO_AXIS_REF
20101
Connected Axis_REF instance is invalid
L_LCB_CON_DRIVE_INVALID
20102
Invalid drive identification of L_LCB_LOGICDEVICE type
L_LCB_AXISDATA_INVALID
20110
The connected machine parameters are invalid.
L_LCB_AXIS_REF
This function block instance is a logic drive in the application.
• Every Logic axis implemented in the control configuration is an extended instance of
L_LCB_AXIS_REF. A manual instancing of this function block is not required.
• Via this FB, the application is provided with the process data of the connected logic axis.
• L_LCB_AXIS_REF is an extension of the FB L_DCO_AXIS_REF_BASE.
L_LCB_AXIS_REF
UDINT ⎯ udiTimeOut
uiDeviceID ⎯ UINT
USINT ⎯ usiChannel
uiNetID ⎯ UINT
ARRAY[1.. 5] OF ⎯ aSDOReadData
L_DCO_SdoData
ARRAY[1..5] OF ⎯ aSDOWriteData
L_DCO_SdoData
eCommunicationState ⎯ L_DCO_CommState
ARRAY[1.. 16] OF WORD ⎯ awReceiveData
AxisName ⎯ STRING
ARRAY[1.. 16] OF WORD ⎯ awTransmitData
L_LCB_LOGICDEVICE ⎯ eLogicDevice
L_LCB_AxisData ⎯ AxisDataDrive
Inputs
Identifier
Data type
udiTimeOut
UDINT
10000
usiChannel
USINT
1
SDO channel to be used
aSdoReadData
ARRAY[1.. 5] OF
L_DCO_SdoData
0
Exchange for SDO communication (internal use)
aSdoWriteData
ARRAY[1..5] OF
L_DCO_SdoData
0
Exchange for SDO communication (internal use)
awReceiveData
ARRAY[1.. 16] OF
WORD
0
Interface for the process data received by the controller.
awTransmitData
ARRAY[1.. 16] OF
WORD
0
Interface for the process data transmitted to the
controller.
Timeout period for SDO communication
115
L_LCB_AXIS_REF_CAN (internal use)
________________________________________________________________
Identifier
Data type
eLogicDrive
L_LCB_LOGICDEVICE
0
Type of the connected controller
AxisDataDrive
L_LCB_AxisData
-
Machine parameters of the connected controller for
converting machine units to internal units.
Outputs
Identifier
Data type
Initialisation
uiDeviceId
UINT
0
Station/node address at the used bus system
uiNetId
UINT
0
Network/master instance number of the used bus
system.
xCommunication
OK
BOOL
FALSE
eCommunication
State
AxisName
13.4
L_DCO_CommSt
ate
0
Busstatus
STRING
-
Axis name
L_LCB_AXIS_REF_CAN (internal use)
• Bus system-specific extension of the FB L_LCB_AXIS_REF for the CAN bus system.
13.5
L_LCB_AXIS_REF_ETC (internal use)
• Bus system-specific extension of the FB L_LCB_AXIS_REF for the EtherCAT bus system.
116
L_LCB_8400Drive
________________________________________________________________
13.6
L_LCB_8400Drive
Function library:
L_LCB_LogicControlBasic
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB serves to activate a controller of the 8400 device series.
Communication with the devices is possible via the CAN or EtherCAT bus systems.
L_LCB_8400Drive
L_LCB_AXIS_REF ⎯ LogicAxis
xError ⎯ BOOL
BOOL ⎯ xEnableInternalControl
WORD ⎯ wOffsetIn
eError ⎯ L_LCB_Error
xInternalControlActive ⎯ BOOL
WORD ⎯ wOffsetOut
WORD ⎯ wCtrl
wState ⎯ WORD
INT ⎯ iIn[2...4]
iOut[2...4] ⎯ INT
Inputs
LogicAxis
Structural data for drive control
L_LCB_AXIS_REF
xEnableInternalControl
xOffsetIn
xOffsetOut
wCtrl
TRUE: The internal control of the controller can be activated via the "Internal
BOOL Control" button.
WORD
Offset of the access to process data for inputs by wOffsetIn * 8 bytes
• For instance "0" for CanIn PDO 1 or "1" for CanIn PDO 2
WORD
Offset of the access to process data for outputs by wOffsetOut * 8 bytes
• For instance "0" for CanOut PDO 1 or "1" for CanOut PDO 2
WORD
iIn[2...4]
INT
Interface of the controller (8400 device series)
Interfaces of the inverter (8400 device series)
Outputs
xError
BOOL
"Error" status signal
FALSE Conversion carried out without errors
TRUE Error during the conversion
eError
L_LCB_Error
xInternalControlActive
xCommunicationOK
Error number, error code
TRUE: The output signals that the xEnableInternalControl input and the Internal
BOOL Control button of the visualisation have been activated.
• The control via visualisation is activated.
BOOL
wState
iOut[2...4]
WORD
INT
Interface of the controller (8400 device series)
Interfaces of the inverter (8400 device series)
117
L_LCB_9400Drive
________________________________________________________________
13.7
L_LCB_9400Drive
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB serves to control Lenze Servo Drives 9400 with any application.

Note!
For a trouble-free function of the FB, the port configuration of the application on the
controller must be maintained! No ports must be deleted or shifted.
L_LCB_9400Drive
xError ⎯ BOOL
UINT ⎯ uiLPortAxisIn1_wControl
INT ⎯ iLPortAxisIn1_nIn1
DINT ⎯ diLPortAxisIn1_dnIn2
UINT ⎯ uiLPortControl[1...2]
DINT ⎯ diLPort32In[1...3]
uiLPortAxisOut1_wStatus ⎯ UINT
iLPortAxisOut1_nOut1 ⎯ INT
diLPortAxisOut1_dnOut2 ⎯ DINT
INT ⎯ ilPort16In[1...3]
diLPort32Out[1...3] ⎯ DINT
iLPort16Out[1...3] ⎯ INT
Inputs
LogicAxis
L_LCB_AXIS_REF
uiLPortAxisIn1_wControl
LPortAxisIn1.wControl interface of the 9400 controller
UINT
iLPortAxisIn1_nIn1
diLPortAxisIn1_dnIn2
uiLPortControl1
uiLPortControl2
diLPort32In1
diLPort32In2
diLPort32In3
iLPort16In1
118
INT
DINT
UINT
UINT
DINT
DINT
DINT
INT
LPortAxisIn1.nIn1 interface of the 9400 controller
LPortAxisIn1.dnIn2 interface of the 9400 controller
LPortControl1 interface of the 9400 controller
LPortControl2 interface of the 9400 controller
LPort32In1 interface of the 9400 controller
L_LCB_9400Drive
________________________________________________________________
iLPort16In2
INT
iLPort16In3
INT
Outputs
xError
BOOL
eError
L_LCB_Error
xCommunicationOk
BOOL
uiLPortAxisOut1_wStatus
LPortAxisOut1.wStatus interface of the 9400 controller
UINT
diLPortAxisOut1_dnOut1
INT
LPortAxisOut1.nOut1 interface of the 9400 controller
diLPortAxisOut1_dnOut2
LPortAxisOut1.dnOut2 interface of the 9400 controller
DINT
uiLPortStatus1
uiLPortStatus2
diLPort32Out1
diLPort32Out2
diLPort32Out3
iLPort16Out1
iLPort16Out2
iLPort16Out3
UINT
UINT
DINT
DINT
DINT
INT
INT
INT
LPortStatus1 interface of the 9400 controller
LPortStatus2 interface of the 9400 controller
LPort32Out1 interface of the 9400 controller
119
L_LCB_ActuatorSpeed
________________________________________________________________
13.8
L_LCB_ActuatorSpeed
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB serves to control Lenze Servo Drives 9400 Highline, Inverter Drives 8400 Stateline/8400
Baseline in the speed control mode.

Note!
The FB only works in combination with the following example project: Sample project
with the "Actuator speed" application - Actuator Speed ( 25)
• To create your own function block interconnections, you must use the following
blocks:
• L_LCB_8400Drive ( 117)
• L_LCB_9400Drive ( 118)
• L_LCB_GenericDrive ( 130)
For a correct function of the FB, the appropriate device application must be active on the controller.
Appropriate applications are marked with the "_Speed" code.
Further information on the device applications can be found in the following section: Working
with the sample projects ( 23)
L_LCB_ActuatorSpeed
xError ⎯ BOOL
BOOL ⎯ xDriveEnable
BOOL ⎯ xDriveSetQsp
BOOL ⎯ xResetError
BOOL ⎯ xEnableSpeedSetPoint
xDriveError ⎯ WORD
xDriveWarning ⎯ AXIS_REF
xDriveReady ⎯ BOOL
BOOL ⎯ xJog1Set
xDriveEnabled ⎯ BOOL
BOOL ⎯ xJog2Set
xDriveQspActive ⎯ BOOL
BOOL ⎯ xInverterDirectionSet
REAL ⎯ rSpeedSetpoint
xSpeedEqZero ⎯ BOOL
xDirectionCCW ⎯ BOOL
xHW_Input[1...4] ⎯ BOOL
rSpeedActual ⎯ REAL
Inputs
LogicAxis
L_LCB_AXIS_REF
xDriveEnable
120
BOOL
TRUE: Deactivate controller inhibit (inverted)
L_LCB_ActuatorSpeed
________________________________________________________________
xDriveSetQSP
BOOL
xResetError
BOOL
xEnableSpeedSetpoint
xJog1Set
xJog2Set
xInvertDirectionSet
rSpeedSetpoint
BOOL
TRUE: Activate quick stop
TRUE: Reset error message (acknowledged)
TRUE: Speed control activated
• The inputs xJogSet1, xJogSet2 and rSpeedSetPoint are evaluated.
BOOL
TRUE: Jog 1 activated
• Speed setpoint 1 requested
• Active if xEnableSpeedSetpoint = TRUE
BOOL
TRUE: Jog 2 activated
• Speed setpoint 2 requested
• Active if xEnableSpeedSetpoint = TRUE
TRUE: Inversion of the direction of rotation of the motor (clockwise rotation/
BOOL counter-clockwise rotation)
REAL
Setpoint selection for the speed in [%]
• Active if...
• xEnableSpeedSetpoint = TRUE and xJog1Set = FALSE and xJog2Set = FALSE
Outputs
xError
BOOL
eError
L_LCB_Error
xCommunicationOk
BOOL
xDriveError
xDriveWarning
xDriveReady
xDriveEnabled
xDriveQSPActive
xSpeedEqZero
xDirectionCCW
xHW_Input1
xHW_Input2
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
Status signal "Error in controller"
TRUE: Controller is in "Warning" device state
Status signal "Controller is ready for operation"
TRUE: Controller has been enabled
TRUE: Quick stop active
TRUE: Speed is zero
Display of the direction of rotation of the motor
BOOL TRUE:CCW rotation is active
BOOL
BOOL
Digital input 1 is active
121
L_LCB_ActuatorSpeed
________________________________________________________________
xHW_Input3
xHW_Input4
rSpeedActual
13.8.1
BOOL
BOOL
REAL
Current speed of the motor shaft in [%] -199.99 ... 199.99 %
Assignment - input ports
xDriveEnable
xDriveSetQSP
xResetError
xEnableSpeedSetpoint
xJog1Set
xJog2Set
xInvertDirectionSet
122
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
9400 HighLine
8400 HighLine
WORD
NOTbit 00
Bit 0 and 03
Bit 01
Bit 02
Bit 10
Bit 07
Bit 02
-
Bit 3
Bit 12 and
xEnableSpeedSetpoi
nt
Bit 4
Bit 13 and xEnableSpeedSetpoin
Bit 5
Bit 15
xCtrl06
xCtrl01
xCtrl07
xCtrl04
xCtrl08
xCtrl05
xCtrl09
xCtrl06
-
xCtrl08
xCtrl11/xSetErrorSet
xCtrl09
xCtrl12
xCtrl10
xCtrl13/
xEnableManual
xCtrl11
xCtrl14/
xManualPositive
xCtrl14/
xSetError
xCtrl15/
xManualNegative
free
free
rSpeedSetpoint
WORD 1
rSpeedSetpoint
free
WORD 2
free
WORD 3
WORD 0
L_LCB_ActuatorSpeed
________________________________________________________________
13.8.2
Assignment - output ports
xDriveError
xDriveWarning
xDriveReady
xDriveEnabled
xDriveQSPActive
xSpeedEqZero
xDirectionCCW
xHW_Input1
xHW_Input2
xHW_Input3
xHW_Input4
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
9400 HighLine
8400 HighLine
WORD
Bit 00
Bit 00
Bit 12
Bit 12
Bit 02
Bit 02
NOT bit 07
Bit 07
Bit 03
Bit 03
Bit 06
Bit 06
-
-
Bit 04
Bit 04 /Digital_In1
Bit 05
Bit 05 /Digital_In2
Bit 14
Bit 14 /Digital_In3
Bit 15
Bit 15 /Digital_In4
xStat8/SF_active
xStat8/
StatusCodeBit1
xStat9
xStat9/
StatusCodeBit1
xStat10
xStat10/
StatusCodeBit1
xStat11
xStat11/
StatusCodeBit1
xStat13
xStat13/Message
free
rSpeedActual
WORD 1
rSpeedActual
free
WORD 2
WORD 0
123
L_LCB_TablePositioning
________________________________________________________________
13.9
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB serves to activate the inverters 9400 Highline and 8400 HighLine in the table positioning
mode.

Note!
The FB only works in combination with the following example project: Sample project
with "Table positioning" application - TablePositioning ( 38)
• To create your own function block interconnections, you must use the following
blocks:
• L_LCB_8400Drive ( 117)
• L_LCB_9400Drive ( 118)
• L_LCB_GenericDrive ( 130)
For a correct function of the FB, the appropriate device application must be active on the controller.
Appropriate applications are marked with the "_TabPos" code.
Further information on the device applications can be found in the following section: Working
with the sample projects ( 23)
Activating "position override"
In order to execute the positioning successfully, the controller has to be enabled with the
xDriveEnable input and homing has to be executed (e.g. with xHomingSet).
 How to activate a "position override":
1. Set xEnablePositionOverride input to "TRUE".
2. Set the desired setpoint position at the rPositionSet input.
3. Set the number for the possible profile set at the wProfileNumberSet input.
4. Start positioning process by setting the positive edge of xProfileStart.
• The position is written to the code/parameter of the selected profile set.
• Positioning is then carried out with the speed and acceleration of the selected profile set.
xError ⎯ BOOL
L_LCB_AxisData ⎯ scAxisData
BOOL ⎯ xDriveSetQsp
xDriveWarning ⎯ BOOL
BOOL ⎯ xResetError
BOOL ⎯ xManualPos
124
BOOL ⎯ xDriveEnable
xDriveError ⎯ BOOL
xDriveWarning ⎯ BOOL
________________________________________________________________
BOOL ⎯ xManualNeg
xDriveReady ⎯ BOOL
BOOL ⎯ xHomingSet
xDriveEnabled ⎯ BOOL
BOOL ⎯ xHomingStart
xDriveQSPActive ⎯ BOOL
BOOL ⎯ xHomingReset
xSpeedEqZero ⎯ BOOL
BOOL ⎯ xProfileStart
xHomingActive ⎯ BOOL
BOOL ⎯ xProfileRestart
xHomingDone ⎯ BOOL
BOOL ⎯ xProfileReset
xHomePosAvailable ⎯ BOOL
WORD ⎯ wProfileNumberSet
xManualActive ⎯ BOOL
BOOL ⎯ xEnableSpeedOverrideSet
xProfileActive ⎯ BOOL
REAL ⎯ rSpeedOverrideSet
xProfileDone ⎯ BOOL
BOOL ⎯ xEnablePositionOverride
REAL ⎯ rPositionSet
xProfileInTarget ⎯ BOOL
xHW_LimitSwitchPos ⎯ BOOL
xHW_LimitSwitchNeg ⎯ BOOL
rSpeedActual ⎯ REAL
rPosActual ⎯ REAL
Inputs
LogicAxis
L_LCB_AXIS_REF
Machine parameters of the controller to be activated.
scAxisData
L_LCB_SetAxisData - • Connect this input to the output of the same name of an FB instance of the
machine parameters
L_LCB_SetAxisData type.
xDriveEnable
xDriveSetQSP
xResetError
xManualPos
xManualNeg
xHomingSet
xHomingStart
xHomingReset
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
TRUE: Deactivate controller inhibit (inverted)
TRUE: Activate quick stop
TRUE: Reset error message (acknowledged)
Manual jog in positive direction (CW rotation)
Manual jog in negative direction (CCW rotation)
Set home position
Start homing
Reset home position
125
________________________________________________________________
xProfileStart
Start/stop positioning
BOOL TRUE
Start/restart positioning process
• The profile has to be selected at the wProfileNumberSet input.
• Note: During an active positioning process, another profile can
already be defined via wProfileNumberSet which will be executed
after the restart (renewed state change "0" to "1").
• A positioning process previously aborted will be continued.
FALSE
xProfileRestart
BOOL
xProfileReset
BOOL
wProfileNumberSet
WORD
xEnableSpeedOverride
rSpeedOverrideSet
BOOL
REAL
• Abort the active positioning process.
FALSETRUE
Update of the profile data of a currently active profile considering
the distance already covered.
FALSETRUE
A profile previously aborted cannot be continued anymore
• When xProfileStart = TRUE: Restart of a profile.
Profile number of the profile to be executed of the profile data management
• 9400 (1 .... 75)
• 8400 (3 ... 15),
TRUE: Switch on speed override
Value for speed override in [%]
• 0 ... 199.99 %
xEnablePositionOverride
NOTE: The second receive PDO (RPDO) has to be activated in the »PLC Designer« for
BOOL the CAN bus system for a position override to work (tab PDO Mapping). This setting
is not required for the EtherCAT bus system.
TRUE
rPositionSet
REAL
Switch on position override
Position selection in [Units]
Outputs
xError
BOOL
eError
L_LCB_Error
xCommunicationOk
BOOL
xDriveError
xDriveWarning
xDriveReady
xDriveEnabled
xDriveQSPActive
xSpeedEqZero
126
BOOL Control button of the visualisation have been activated. Hence, all selections are
made via visualisation.
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
Status signal "Error active in the controller - acknowledgement required"
TRUE: Controller is in "Warning" device state
Status signal "Controller is ready for operation"
TRUE: Controller has been enabled
Status signal "Quick stop through application active"
Status signal "Standstill reached" (observe speed value in code 19!)
________________________________________________________________
xHomingActive
xHomingDone
xHomePosAvailable
xManualActive
xProfileActive
xProfileDone
xProfileInTarget
xHW_LimitSwitchPos
xHW_LimitSwitchNeg
rSpeedActual
rPositionActual
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
REAL
REAL
Status signal "Homing activated
Status signal "Homing completed"
Status signal "Home position is known"
Status signal "Manual jog active"
Status signal " Positioning active"
Status signal " Positioning completed"
Status signal "Target position reached"
Positive hardware limit switch
Negative hardware limit switch
Current speed in [%]
Current position in [Units]
127
________________________________________________________________
13.9.1
Assignment - input ports
xDriveEnable
xDriveSetQSP
xResetError
xManualPos
xManualNeg
xHomingSet
xHomingStart
xHomingReset
xProfileStart
xProfileRestart
xProfileReset
xEnableSpeedOverride
xEnablePositionOverride
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
REAL
9400 HighLine
8400 HighLine
NOTbit 00
Bit 03
Bit 01
Bit 15
Bit 10
Bit 11
Bit 14
Bit 12
Bit 15
Bit 13
Bit 12
Bit 10
Bit 03
Bit 08
Bit 04
Bit 14
Bit 05
Bit 00
Bot 06
Bit 01
-
Bit 08
Bit 07
Bit 00
-
Bit 01
-
Bit 08
Bit 08
Bit 00
-
Bit 01
-
Bit 08
Bit 09
Bit 09
Bit 02
Bit 02
WORD
WORD 0
wProfileNumberSet.
0
Bit 04
wProfileNumberSet.
0 Bit 05
wProfileNumberSet.
0 Bit 06
wProfileNumberSet.
0 Bit 07
128
rSpeedOverrideSet
rSpeedOverrideSet
WORD 1
wProfileNumberSet
rPositionSet
WORD 2
________________________________________________________________
13.9.2
Assignment - output ports
xDriveError
xDriveWarning
xDriveReady
xDriveEnabled
xDriveQSPActive
xSpeedEqZero
xHomingActive
xHomingDone
xHomePosAvailable
xManualActive
xProfileActive
xProfileDone
xProfileInTarget
xHW_LimitSwitchPos
xHW_LimitSwitchNeg
rSpeedActual
rPositionActual
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
REAL
REAL
9400 HighLine
8400 HighLine
Bit 00
Bit 00
Bit 09
Bit 15
Bit 02
Bit 04
NOT bit 01
NOT bit 03
Bit 03
Bit 14
Bit 04
Bit 11
Bit 05
Bit 09
Bit 06
Bit 06
Bit 07
Bit 10
Bit 08
Bit 09
Bit 10
Bit 09
Bit 11
Bit 07
Bit 12
Bit 08
Bit 14
Bit 12
Bit 15
Bit 13
WORD
WORD 0
WORD 1
WORD 2
129
L_LCB_GenericDrive
________________________________________________________________
13.10
L_LCB_GenericDrive
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB serves to control any Lenze controller you like.
• Communication with the device is possible via CAN.
L_LCB_GenericDrive
xError ⎯ BOOL
ARRAY[1..4] OF WORD ⎯ awTxData
awRxData ⎯ ARRAY[1..4] OF WORD
Input
LogicAxis
L_LCB_AXIS_REF
awTxData
Process data to be transmitted to the controller
ARRAY[1..4] OF WORD
Outputs
xError
eError
BOOL
L_LCB_Error
xCommunicationOk
TRUE: Error of POU active
BOOL Control button of the visualisation have been activated. Hence, all selections are
made via visualisation.
BOOL
awRxData
Process data to be received by the controller
ARRAY[1..4] OF WORD
130
L_LCB_Norm_aToNorm_n - signal converter
________________________________________________________________
13.11
L_LCB_Norm_aToNorm_n - signal converter
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This function converts a 16 bit input signal into a 32 bit output signal.
L_LCB_Norm_aToNorm_n
INT ⎯ iIn_a
L_LCB_Norm_aToNorm_n ⎯
Input
iIn_a
100 % ≡ 230 = 1073741824

INT
Note!
• If the input information has a value of "-32768", the FB internally limits the value to "32767" and copies it into the HighWord of the dnOut_n output.
• Therefore, this FB cannot be used to combine values of the "LowWord" and
"HighWord" data type in order to form a value of "DOUBLE WORD" type.
Output signal
L_LCB_Norm_aToNorm_n 100 % ≡ 230 = 1073741824
13.12
L_LCB_Norm_nToNorm_a - signal converter
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This function converts a 32 bit input signal into a 16 bit output signal.
L_LCB_Norm_nToNorm_a
DINT ⎯ diIn_n
L_LCB_Norm_nToNorm_a ⎯
Input
diIn_n
Input signal 100 % ≡ 230 = 1073741824
DINT
Output signal
L_LCB_Norm_nToNorm_a 100 % ≡ 214 = 16384
131
L_LCB_Norm_nToSpeed_s - signal converter
________________________________________________________________
13.13
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB converts the 32 bit input signal into a 32 bit speed signal.
L_LCB_Norm_nToSpeed_s
DINT ⎯ diIn_n
diOut_s ⎯ DINT
L_LCB_SetAxisData - ⎯ scAxisData
machine parameters
xError ⎯ BOOL
Input
diIn_n
Input signal 100 % ≡ 230 = 1073741824
DINT
scAxisData
Machine parameters
L_LCB_SetAxisData machine parameters
Outputs
diOut_s
Output signal in [rpm] 15000 rpm ≡ 226 = 67108864
xError
DINT
BOOL
"Error" status signal at the function block
eError
132
L_LCB_Error
________________________________________________________________
13.13.1
LCB_Axis_logic
Function library:
 LPC 1x00
dwAxisID
rFeedConstant
REAL
rInvFeedConstant
REAL
rCycleLength
REAL
DWORD
dwGearDenominator
rMaxSpeed
sAxisName
eMode
 MPC 3x00
Axis assignment
Feed constant
Inverse feed constant
Cycle length (only Modulo operation)
Gearbox factor (numerator)
Gearbox factor (denominator)
REAL
diReferenceSpeed_s
 MPC 2xx0
DWORD
dwGearNumerator
 MPC 1x00
DINT
STRING
SSC_Mode
Maximum speed
Reference speed
Axis name
Operating mode
0 Modulo
1 Limited
2 Unlimited
dwResolution
rEncoderGear
rInvEncoderGear
diCycleLength_p
rUnitsToPos
rPosToUnits
rUnitsToSpeed
rSpeedToUnits
rTimeUnit
xValid
DWORD
REAL
REAL
DINT
REAL
REAL
REAL
REAL
REAL
BOOL
Encoder resolution
Resolution of one encoder revolution
Inverted resolution of one encoder revolution
Cycle
Internal calculation value
FALSE: Invalid axis data structure
133
L_LCB_Speed_nToNorm_r - signal converter
________________________________________________________________
13.14
L_LCB_Speed_nToNorm_r - signal converter
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This function converts a 32 bit input signal into a 32 bit percentage signal.
L_LCB_Speed_nToNorm_r
DINT ⎯ diIn_n
L_LCB_Speed_nToNorm_r ⎯
Input
diIn_n
Input signal in [%] 100 % ≡ 230 = 1073741824
DINT
Output signal
L_LCB_Speed_nToNorm_r REAL 0- 100.0 %
13.15
L_LCB_Speed_rToNorm_n - signal converter
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This function converts the input signal transferred to a 32 bit signal of the REAL data type.
L_LCB_Speed_rToNorm_n
REAL ⎯ rIn_r
L_LCB_Speed_rToNorm_n ⎯
Input
rIn_r
REAL
Input signal 0-100.0 %
Output signal
L_LCB_Speed_rToNorm_n
134
0 -230 = 1073741824
L_LCB_Speed_sToNorm_n - signal converter
________________________________________________________________
13.16
L_LCB_Speed_sToNorm_n - signal converter
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB converts a 32 bit speed signal to a scaled 32 bit signal on the basis of the machine
parameters transmitted.
L_LCB_Speed_sToNorm_n
DINT ⎯ diIn_s
diOut_n ⎯ DINT
machine parameters
xError ⎯ BOOL
Inputs
diIn_s
Input signal in [rpm]
DINT
15000 rpm ≡ 226 = 67108864
scAxisData
Machine parameters
Outputs
diOut_n
Output signal in [%] 100 % ≡ 230 = 1073741824
xError
DINT
BOOL
eError
L_LCB_Error
135
L_LCB_Speed_sToSpeed_v - signal converter
________________________________________________________________
13.17
L_LCB_Speed_sToSpeed_v - signal converter
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB converts a 3 bit speed signal into a 16 bit speed signal.
L_LCB_Speed_sToSpeed_v
DINT ⎯ diIn_s
iOut_v ⎯ INT
Input
diIn_s
Input signal in [rpm]
DINT
15000 rpm ≡ 226 = 67108864
Output
iOut_v
13.18
Value/meaning
INT
Output signal in [rpm]
L_LCB_Speed_vToSpeed_s - signal converter
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB converts a 16 bit speed signal into a 32 bit speed signal.
L_LCB_Speed_vToSpeed_s
BOOL ⎯ iIn_v
diOut_s ⎯ DINT
Input
iIn_v
INT
Input signal in [rpm] 15000 rpm ≡ 214 = 16384
Output
136
Value/meaning
diOut_s
Output signal in [rpm] 15000 rpm≡ 226 = 67108864
DINT
L_LCB_TaskCycle - read in task time
________________________________________________________________
13.19
L_LCB_TaskCycle - read in task time
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This function determines the cycle time of the task.
L_LCB_TaskCycle
L_LCB_TaskCycle ⎯ DWORD
Output signal
L_LCB_TaskCycle
Value/meaning
DWORD
Task time in [ms]
137
L_LCB_GetAxisData - read out machine parameters from axis data
________________________________________________________________
13.20
L_LCB_GetAxisData - read out machine parameters from axis data
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB reads out selected machine parameters from the axis data transmitted and provides them
to the following FBs, requiring these data for internal calculations.
L_LCB_GetAxisData
machine parameters
diCycleLength_p ⎯ DINT
rFeedConstant ⎯ REAL
diReferenceSpeed_s ⎯ DWORD
dwGearNumerator ⎯ DWORD
⎯
⎯
⎯
⎯
Input
scAxisData
Machine parameters
Outputs
diCycleLength_p
rFeedConstant
diReferenceSpeed_s
dwGearNumerator
DINT
REAL
DWORD
DWORD
Cycle in [increments]
Cycle
Reference speed as speed signal
Gearbox factor (numerator)
dwGearDenominator
Gearbox factor (denominator)
DWORD
dwBitsPerRevolution
dwIncrPerRevolution
eFeedType
138
DWORD
DWORD
DWORD
Resolution of an encoder revolution 10- 24 bit
Resolution of one revolution in [increments]
Traversing range
• 0 unlimited
• 1 limited
• 2 modulo
L_LCB_GetPosition - conversion block
________________________________________________________________
13.21
L_LCB_GetPosition - conversion block
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB converts the input signal transmitted to a position signal.
L_LCB_GetPosition
DINT ⎯ diPosIn_p
rPositionOutUnits ⎯ REAL
machine parameters
xError ⎯ BOOL
Inputs
diPosIn_p
Position in [increments]
DINT Scaling: 1 encoder revolution ≡ 216 increments (or according to scAxisData)
scAxisData
Machine parameters
Outputs
rPositionOutUnits
xError
Position value
REAL Display of the input signal dnPosIn_p in the real unit of the machine.
BOOL
eError
L_LCB_Error
139
L_LCB_GetSpeed - conversion block
________________________________________________________________
13.22
L_LCB_GetSpeed - conversion block
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB converts the input speed transmitted to a speed value.
L_LCB_GetSpeed
DINT ⎯ diSpeedIn_s
rSpeedOutUnits ⎯ REAL
machine parameters
xError ⎯ BOOL
Inputs
diSpeedIn_s
Speed in [rpm]
DINT
Scaling: 15000 rpm ≡ 226 = 67108864
scAxisData
Machine parameters
Outputs
rSpeedOutUnits
xError
REAL
BOOL
Speed value
eError
140
L_LCB_Error
L_LCB_SetAxisData - machine parameters
________________________________________________________________
13.23
L_LCB_SetAxisData - machine parameters
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
With this FB the machine parameters of a higher-level drive can be mapped. The FB conditions the
machine parameters, which you specify in the physical units of the machine via parameters, for the
internal representation.
• The FB outputs a pointer to the data structure with the prepared machine parameters at the
output scAxisData.
• In order to pass the machine parameters to an FB which requires these data for internal
calculations, the output scAxisData is to be connected to the input with the same name of the
corresponding FB.
L_LCB_SetAxisData
REAL ⎯ rFeedConstant
diCycleLength_p ⎯ DINT
REAL ⎯ rCycleLength
scAxisData ⎯ L_LCB_SetAxisData machine parameters
DWORD ⎯ dwGearNumerator
DWORD ⎯ dwGearDenominator
REAL ⎯ rReferenceSpeed
STRING ⎯ sAxisName
L_LCB_AXISMODE ⎯ eMode
DINT ⎯ dwResolution
Inputs
rFeedConstant
REAL
rCycleLength
REAL
dwGearNumerator
DWORD
Feed constant, initial value: 360.0 units.
Cycle length, initial value: 360.0 units.
Gearbox factor numerator, initial value: 1.
dwGearDenominator
Gearbox factor denominator, initial value: 1.
DWORD
rReferenceSpeed
sAxisName
eMode
REAL
STRING(16)
L_LCB_AXISMODE
dwResolution
DINT
Reference speed
Axis name
Traversing range
• 0 Unlimited (Lenze setting)
• 1 limited
• 2 modulo
Resolution of one revolution
141
L_LCB_SetPosition - position value conversion
________________________________________________________________
Outputs
diCycleLength_p
Cycle in [increments]
DINT • The cycle in the real unit of the machine can be viewed in the corresponding code.
scAxisData
Machine parameters
L_LCB_SetAxisData - • Pointer to the data structure which contains the machine parameters in the
internal measuring system.
machine parameters
• Via this "interface" you can provide the machine parameters to other FBs, which
require these data for internal calculations.
13.24
L_LCB_SetPosition - position value conversion
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB converts a position to a position in [increments] on the basis of the machine parameters
transmitted and provides them at the output dnPosOut_p for further processing within the
function block interconnection.
L_LCB_SetPosition
REAL ⎯ rPositionInUnits
diPosOut_p ⎯ DINT
machine parameters
xLimit ⎯ BOOL
xError ⎯ BOOL
Inputs
rPositionInUnits
REAL
Position value in units
scAxisData
Machine parameters
Outputs
diPosOut_p
xLimit
xError
DINT
BOOL
BOOL
"Output signal is limited" status
• TRUE: The output signal is limited to the representable value range
±214748.3647
eError
142
L_LCB_Error
L_LCB_SetSpeed - speed value conversion
________________________________________________________________
13.25
L_LCB_SetSpeed - speed value conversion
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB converts a velocity to a speed on the basis of the machine parameters transmitted and
provides them at the output dnSpeedOut_s for further processing within the function block
interconnection.
L_LCB_SetSpeed
REAL ⎯ rSpeedInUnits
diSpeedOut_s ⎯ DINT
machine parameters
xLimit ⎯ BOOL
xError ⎯ BOOL
Inputs
rSpeedInUnits
REAL
Speed value in units
scAxisData
Machine parameters
Outputs
diSpeedOut_s
xLimit
xError
Output of the velocity as speed
26
DINT in [rpm] 15000 rpm ≡ 2 = 67108864
BOOL
BOOL
±214748.3647.
eError
L_LCB_Error
143
L_LCB_AccToUnit - acceleration value conversion
________________________________________________________________
13.26
L_LCB_AccToUnit - acceleration value conversion
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB converts an acceleration value specified in the internal unit [rpm/s] to an acceleration value
in the real unit of the machine on the basis of the machine parameters transmitted.
L_LCB_AccToUnit
DINT ⎯ diAccIn_x
diAccOut_e4 ⎯ DINT
machine parameters
xLimit ⎯ BOOL
xError ⎯ BOOL
Inputs
diAccIn_x
Acceleration as speed variation/time
22
DINT in [rpm/s] 15000 rpm/s ≡ 2 = 4194304
Machine parameters
scAxisData
Outputs
diAccOut_e4
xLimit
xError
DINT
BOOL
BOOL
Acceleration in unit/s2]
• Display in "e4" view (fixed point with four decimal positions)
±214748.3647
eError
144
L_LCB_Error
L_LCB_PosToUnit - position value conversion
________________________________________________________________
13.27
L_LCB_PosToUnit - position value conversion
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB converts a position value specified in the internal unit [increments] to a position value in the
real unit of the machine on the basis of the machine parameters transmitted.
L_LCB_AccToUnit
DINT ⎯ diPosIn_p
diAccOut_e4 ⎯ DINT
machine parameters
xLimit ⎯ BOOL
xError ⎯ BOOL
Inputs
diPosIn_p
DINT
scAxisData
Machine parameters
Outputs
diPosOut_e4
xLimit
xError
Position in [unit]
DINT Display in "e4" view (fixed point with four decimal positions)
BOOL
BOOL
±214748.3647
eError
L_LCB_Error
145
L_LCB_SpeedToUnit - speed value conversion
________________________________________________________________
13.28
L_LCB_SpeedToUnit - speed value conversion
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB converts a speed value specified in the internal unit [rpm] into a speed value in the real unit
of the machine on the basis of the machine parameters transmitted.
L_LCB_SpeedToUnit
DINT ⎯ diSpeedIn_s
diSpeedOut_e4 ⎯ DINT
machine parameters
xLimit ⎯ BOOL
xError ⎯ BOOL
Inputs
diSpeedIn_s
DINT
Velocity as speed in [rpm] 15000 rpm ≡ 226 = 67108864
scAxisData
Machine parameters
Outputs
diSpeedOut_e4
xLimit
xError
Value/meaning
DINT
BOOL
BOOL
Speed in [unit/s]
• Display in "e4" view (fixed point with four decimal positions)
±214748.3647.
eError
146
L_LCB_Error
L_LCB_UnitToAcc - acceleration value conversion
________________________________________________________________
13.29
L_LCB_UnitToAcc - acceleration value conversion
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB converts an acceleration value specified in the real unit of the machine to an internal
acceleration value on the basis of the machine parameters transmitted.
L_LCB_UnitToAcc
DINT ⎯ diAccIn_e4
diAccOut_x ⎯ DINT
machine parameters
xLimit ⎯ BOOL
xError ⎯ BOOL
Inputs
diAccIn_e4
Acceleration in unit/s2]
DINT Selection in "e4" view (fixed point with four decimal positions)
scAxisData
Machine parameters
Outputs
diAccOut_x
xLimit
xError
Acceleration as speed variation/time in [rpm/s]
DINT 15000000 rpm/s ≡ 222 = 4194304
BOOL
BOOL
±214748.3647.
eError
L_LCB_Error
147
L_LCB_UnitToPos - position value conversion
________________________________________________________________
13.30
L_LCB_UnitToPos - position value conversion
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB converts a position value specified in the real unit of the machine into an internal position
value on the basis of the machine parameters transmitted.
L_LCB_UnitToPos
DINT ⎯ diPosIn_e4
diPosOut_p ⎯ DINT
machine parameters
xLimit ⎯ BOOL
xError ⎯ BOOL
Inputs
diPosIn_e4
Position in [unit]
scAxisData
Machine parameters
Outputs
diPosOut_p
xLimit
xError
DINT
BOOL
BOOL
±214748.3647.
eError
148
L_LCB_Error
L_LCB_UnitToSpeed - speed value conversion
________________________________________________________________
13.31
L_LCB_UnitToSpeed - speed value conversion
Function library:
 LPC 1x00
 MPC 1x00
 MPC 2xx0
 MPC 3x00
This FB converts the transferred speed parameters of the real machine into an internal speed value.
L_LCB_UnitToSpeed
DINT ⎯ diSpeedIn_e4
diSpeedOut_s ⎯ DINT
machine parameters
xLimit ⎯ BOOL
xError ⎯ BOOL
Inputs
diSpeedIn_e4
Speed in [unit/s]
scAxisData
Machine parameters
Outputs
diSpeedOut_s
DINT
xLimit
BOOL
xError
BOOL
Velocity as speed in [rpm] 15000 rpm ≡ 226 = 67108864
• TRUE: The output signal is limited to the representable value range.
FALSE No error
TRUE The conversion could not be carried out without errors.
eError
13.32
L_LCB_Error
L_LCB_AXISMODE
The L_LCB_AXISMODE type describes the traversing range of the inverter in the machine
parameters. All inputs are from the L_LCB_AXISMODE data type
Identifier
Initial value
Description
L_LCB_AM_UNLIMITED
0
Traversing range unlimited
L_LCB_AM_LIMITED
1
Traversing range limited
L_LCB_AM_MODULO
2
Traversing range modulo
149
L_LCB_LOGICDEVICE
________________________________________________________________
13.33
L_LCB_LOGICDEVICE
The L_LCB_LOGICDEVICE type describes the code of connected logic devices.
Identifier
L_LCB_DeviceDefault
150
Initial value
0
Description
Unknown device
L_LCB_Device84_BL
110
Identification number for a 8400 BaseLine
L_LCB_Device84_SL
111
Identification number for a 8400 StateLine
L_LCB_Device84_HL
112
Identification number for a 8400
L_LCB_Device94_HL
120
Identification number for a 9400 HighLine
Automatically generated functions
GetBooleanProperty (automatically generated by »PLC Designer«)
________________________________________________________________
14
This section contains detailed information on functions that are generated automatically by the
»PLC Designer«. The output values can be found under: ProjectProject information
14.1
GetBooleanProperty (automatically generated by »PLC Designer«)
The function provides boolean project information of the library. (Currently no boolean project
information is used).

Note!
This function must always be used with the corresponding name area of the related
library. (for instance L_DAC.GetNumberProperty(stKey))
GetBooleanProperty
WSTRING ⎯ stKey
GetBooleanProperty ⎯ BOOL
Inputs
stKey
Key of the project information
WSTRING
Outputs
GetBooleanProperty
BOOL
Value of the project information
151
GetCompany (automatically generated by »PLC Designer«)
________________________________________________________________
14.2
GetCompany (automatically generated by »PLC Designer«)
The function provides the name of the company that has created the library.

Note!
library. (for instance L_DAC.GetCompany())
GetCompany
GetCompany ⎯ WSTRING
Outputs
14.3
GetCompany
Name of the company that created the library.
WSTRING
GetNumberProperty (automatically generated by »PLC Designer«)
The function provides numerical project information of the library. (Currently, no numerical project
information is used).

Note!
GetNumberProperty
WSTRING ⎯ stKey
GetNumberProperty ⎯ DINT
Inputs
stKey
WSTRING
Outputs
152
GetNumberProperty
DINT
GetTextProperty (automatically generated by »PLC Designer«)
________________________________________________________________
14.4
GetTextProperty (automatically generated by »PLC Designer«)
The function provides textual project information of the library.

Note!
GetTextProperty
WSTRING ⎯ stKey
GetTextProperty ⎯ WSTRING
Inputs
stKey
• "Company" - name of the library provider
• "Title" - name of the library
• "DefaultNamespace" - name area of the library
• "Project" - name of the library
• "Description" - description of the library
• "Author" - author of the library
WSTRING
Outputs
GetTextProperty
WSTRING
153
GetTitle (automatically generated by »PLC Designer«)
________________________________________________________________
14.5
GetTitle (automatically generated by »PLC Designer«)
The function provides the title of the library.

Note!
library. (for instance L_DAC.GetTitle())
GetTitle
GetTitle ⎯ WSTRING
Outputs
14.6
GetTitle
Name of the library
WSTRING
GetVersion (automatically generated by »PLC Designer«)
The function provides the version of the library.

Note!
library. (for instance L_DAC.GetVersion())
GetVersion
GetVersion ⎯ VERSION
Outputs
GetVersion
154
VERSION
Version of the library
GetVersionProperty (automatically generated by »PLC Designer«)
________________________________________________________________
14.7
GetVersionProperty (automatically generated by »PLC Designer«)
The function provides the version of the library.

Note!
GetVersionProperty
WSTRING ⎯ stKey
GetVersionProperty ⎯ VERSION
Inputs
stKey
• Extended versioning information of the library
WSTRING
Outputs
GetVersionProperty
VERSION
Version of the library
155
Index
________________________________________________________________
15
Index
Symbole
K
_ 97
Kommunikation zum Controller einrichten 19
0-9
L
8400 BaseLine C 62
8400 HighLine C 66
8400 StateLine C 64
8400 TopLine C 68
9400 HighLine C - Actuator Speed 70
9400 HighLine C - Actuator Torque 73
9400 HighLine C - Electronic Gearbox 74
9400 HighLine C - No Application 78
9400 HighLine C - Positioning Sequence Control 76
9400 HighLine C - Synchronism with mark
synchronisation 75
9400 HighLine C - Table Positioning 72
9400 Regenerative Power Supply Module 77
L_DAC_2BytesToWord 96
L_DAC_2WordsToDWord 96
L_DAC_BitsToByte 93
L_DAC_BitsToDWord 93
L_DAC_BitsToWord 94
L_DAC_DataConversion.lib 84
L_DAC_DWordTo2Words 97
L_DAC_DWordTo4Bytes 98
L_DAC_DWordToBits 95
L_DAC_GetBitOfByte 86
L_DAC_GetBitOfDWord 87
L_DAC_GetBitOfWord 88
L_DAC_ResetBitOfByte 89
L_DAC_ResetBitOfDWord 90
L_DAC_ResetBitOfWord 91
L_DAC_SetBitOfDWord 92
L_DAC_SetBitOfWord 92
L_DAC_WordTo2Bytes 99
L_DAC_WordToBits 95
L_DCO_AXIS_REF_BASE 104
L_DCO_CommState 101
L_DCO_ConvertData 112
L_DCO_DriveCommunication 100
L_DCO_Error 101
L_DCO_ReadDriveParameter 105
L_DCO_ReadDriveParameterString 106
L_DCO_SDOData 111
L_DCO_TransferData 109, 112
L_DCO_TransferDriveParameter 107
L_DCO_WriteDriveParameter 110
L_LCB_8400Drive 117
L_LCB_9400Drive 118
L_LCB_AccToUnit 144
L_LCB_ActuatorSpeed 120
Belegung der Ausgangsports 123
Belegung der Eingangsports 122
L_LCB_AXIS_REF 115
L_LCB_AXIS_REF_CAN 116
L_LCB_AXIS_REF_ETC 116
L_LCB_AXISMODE 149
L_LCB_Error 115
L_LCB_GenericDrive 130
L_LCB_GetAxisData 138
L_LCB_GetPosition 139
L_LCB_GetSpeed 140
L_LCB_LogicControlBasic 113
L_LCB_LOGICDEVICE 150
A
ActuatorSpeed_Engineer-Projekt 27
Anwendungshinweise (Darstellung) 12
Applikationsbeispiel Stellantrieb-Drehzahl 25
Applikationsbeispiel Tabellenpositionierung 38
C
CANbus 55
CANopen I/O Abbild 60
CANopen Manager 56
CANopen Remote Device 59
CAN-Parameter einstellen (Logic-Geräte) 59
D
Dokumenthistorie 10
E
Einloggen in die Steuerung 20
E-Mail an Lenze 158
F
Feedback an Lenze 158
G
GetBooleanProperty 151
GetCompany 152
GetNumberProperty 152
GetTextProperty 153
GetTitle 154
GetVersion 154
GetVersionProperty 155
Gültigkeit der Dokumentation 10
156
Index
________________________________________________________________
L_LCB_Norm_aToNorm_n 131
L_LCB_Norm_nToNorm_a 131
L_LCB_Norm_nToSpeed_s 132
L_LCB_PosToUnit 145
L_LCB_SetAxisData 141
L_LCB_SetPosition 142
L_LCB_SetSpeed 143
L_LCB_Speed_nToNorm_r 134
L_LCB_Speed_rToNorm_n 134
L_LCB_Speed_sToNorm_n 135
L_LCB_Speed_sToSpeed_v 136
L_LCB_Speed_vToSpeed_s 136
L_LCB_SpeedToUnit 146
L_LCB_TablePositioning 124
Belegung der Ausgangsports 129
Belegung der Eingangsports 128
L_LCB_TaskCycle 137
L_LCB_UnitToAcc 147
L_LCB_UnitToPos 148
L_LCB_UnitToSpeed 149
LCB_Axis_logic 133
Lenze Generic Drive 80
P
PDO Mapping 60
PDO-Mapping einstellen (Logic-Geräte) 59
PLC-Programm laden und starten 20
Prinzipieller Systemaufbau 18
Projektdaten übersetzen 20
S
Screenshots 9
Sicherheit 13
Sicherheitshinweise (Darstellung) 12
Steuerungskonfiguration erstellen - EtherCAT 51
Steuerungskonfiguration erstellen (Logic-Geräte) 53
Strukturen (Structs) 111
Sync-Erzeugung einstellen 56
U
Unions 112
V
Verwendete Hinweise 12
Verwendete Konventionen 11
Z
Zielgruppe 9
157
)(('%$&.
________________________________________________________________
158
Your opinion is important to us
These instructions were created to the best of our knowledge and
belief to give you the best possible support for handling our product.
If you have suggestions for improvement, please e-mail us to:
feedback-docu@Lenze.de
Thank you for your support.
Your Lenze documentation team
© 06/2014

Lenze Automation GmbH
Hans-Lenze-Str. 1
D-31855 Aerzen
Germany
Service
Lenze Service GmbH
Breslauer Straße 3
D-32699 Extertal
Germany

+49 (0)5154 – 82 -0
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+49 (0)51 54/82-11 12
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
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
www.Lenze.com
SHPPLCDREUSESW  13464873  EN 1.3  TD11
10
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1

L Engineer/ PLC Designer Ä.OQjä

Transcription

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