Engineering Tools Engineer 13350243 Ä.
Overview of technical documentation for 9400 Servo Drives ________________________________________________________________ Project planning, selection & order Legend: 9400 Hardware Manual Printed documentation Catalogue / electronic catalogue (DSC - Drive Solution Catalogue) Online documentation (PDF/Engineer online help) Mounting & wiring MA 9400 HighLine MA - communication module Abbreviations used: BA Operating Instructions KHB Communication Manual MA - extension module MA Mountin
Contents ________________________________________________________________ 1 1.1 1.2 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Conventions used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Definition of the notes used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12 14 15 2 2.1 2.2 2.3 2.
Contents ________________________________________________________________ 3.4.8 3.4.9 3.4.10 3.4.11 3.7 3.8 Configuring the exception handling _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Compiling the completed interconnection _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Testing the interconnection in the device _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Copying interconnection elements (across all devices) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 3.4.11.
Contents ________________________________________________________________ 5.8 5.9 5.10 5.11 5.12 5.13 5.14 5.15 5.16 5.17 5.18 5.19 5.20 5.21 5.22 5.23 5.24 5.25 5.26 5.27 5.28 5.29 5.30 5.31 5.32 5.33 5.34 5.35 5.36 5.37 5.38 5.39 5.40 5.41 5.42 5.43 5.44 5.45 5.46 5.47 5.48 5.49 L_CamSetContDataSDO - contactor data selection via codes/SDOs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.8.1 Exception handling _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.8.
Contents ________________________________________________________________ 5.50 5.51 5.52 5.53 5.54 5.55 5.56 5.57 5.58 5.59 5.60 5.61 5.62 5.63 5.64 5.65 5.66 5.67 5.68 5.69 5.70 5.71 5.72 5.73 5.74 5.75 5.76 5.77 5.78 5.79 5.80 5.81 5.82 5.83 5.84 5.85 5.86 5.87 5.88 5.89 5.90 5.
Contents ________________________________________________________________ 5.92 L_LdMonitFollowError - following error monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.93 L_LdMPot - master value adjustment _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.93.1 Monitoring for counter overflow _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.94 L_LdPosCtrlLin - Master value adjustment via position _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.94.
Contents ________________________________________________________________ 5.114 L_PosSequencer - sequence control _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.114.1 Priorities of the control signals _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.114.2 States of the sequencer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.114.3 Action types available for creating the positioning program _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.114.3.
Contents ________________________________________________________________ 5.133 5.134 5.135 5.136 5.137 5.138 5.139 5.140 5.141 5.142 5.143 5.144 5.145 5.146 5.147 5.148 5.149 5.150 5.151 5.152 5.153 5.154 5.155 5.156 5.157 5.158 5.159 5.160 5.132.5 Ramp function generator _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.132.
Contents ________________________________________________________________ 5.161 L_TbCompare_n - scaled comparison _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.161.1 Function 1: dnIn1_n = dnIn2_n _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.161.2 Function 2: dnIn1_n > dnIn2_n _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.161.3 Function 3: dnIn1_n < dnIn2_n _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.161.
Contents ________________________________________________________________ 5.192 L_TbOscillator - rectangular signal generator _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.192.1 Function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.192.2 Optimising the accuracy of the output signal _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.193 L_TbPIController - PI controller with limitation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 5.
1 About this documentation ________________________________________________________________ 1 About this documentation This documentation contains information on the Lenze function blocks which can be used in the L-force »Engineer« for the Servo Drives 9400. The function block editor is available in the »Engineer« HighLevel for Servo Drives 9400 with the runtime software licence Motion Control HighLevel or higher.
1 About this documentation ________________________________________________________________ Version Description 4.1 04/2008 TD05 Extended by new function block: • LenzeCam.lib: L_CamSyncIn 4.0 03/2008 TD05 New main chapter "Working with the FB editor" Extended by new function block: • LenzeServoDrive.lib: L_SdProcessController 3.0 09/2007 TD05 Extended by new function blocks: • LenzeCam.
1 About this documentation 1.1 Conventions used ________________________________________________________________ 1.1 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 separators Point The decimal point is generally used. For example: 1234.
1 About this documentation 1.2 Definition of the notes used ________________________________________________________________ 1.
2 Introduction 2.1 How to create applications: ________________________________________________________________ 2 Introduction 2.1 How to create applications: An application is the configured function of a device. To create an application for the controller, there are two solutions: 1. You use a ready-made technology application supplied by Lenze. • For this purpose, simply select the required technology application from the catalogue in the »Engineer« for the controller.
2 Introduction 2.2 What is a function block? ________________________________________________________________ 2.2 What is a function block? A function block (FB) can be compared with an integrated circuit that contains a specific control logic and delivers one or several values when being executed. • Function blocks are classified in function libraries according to their functions. • An instance (reproduction, copy) of the function block is always inserted into the interconnection.
2 Introduction 2.3 Parameterisable function blocks ________________________________________________________________ 2.3 Parameterisable function blocks Some function blocks have parameters which serve to change particular settings during operation, if required, or which display actual values & status information. Parameters, codes & subcodes All parameters are stored in "codes". • The codes are numbered and indicated in the documentation with a preceding "C", e.g. "C00002".
2 Introduction 2.3 Parameterisable function blocks ________________________________________________________________ Parameter list • By clicking the icon the parameter list of a function block can be opened. Wildcard "unit" for the real unit of the machine The parameters for a travel profile (e.g. position, speed, acceleration and deceleration) are selected in real units with regard to the slide, e.g. 1000 mm as relative position.
2 Introduction 2.4 Further objects of an interconnection ________________________________________________________________ 2.4 Further objects of an interconnection In addition to function blocks, an interconnection also contains system blocks which are required for accessing the basic functions of the controller and the physical interfaces (e.g. digital inputs). Furthermore, an interconnection can contain port blocks as well as variables and user codes.
2 Introduction 2.4 Further objects of an interconnection ________________________________________________________________ 2.4.1 System block System blocks can be considered as a specific variant of a function block. • In contrast to function blocks, system blocks are firmly integrated in the runtime system of the controller and therefore are not instanceable. • System blocks partly activate real hardware, e. g. the digital and analog inputs/outputs and the motor control.
2 Introduction 2.4 Further objects of an interconnection ________________________________________________________________ 2.4.3 Variable Variables can be used for a cross-task value exchange and for the use of constant values. The use of significantly named variables can make the interconnection more clear and easier to maintain. • If you assign the "safe against mains failure" property to a variable, the value of the variable remains stored even after mains switching.
2 Introduction 2.4 Further objects of an interconnection ________________________________________________________________ 2.4.4 User code For the interconnection, user codes can be configured and linked with inputs/outputs of port blocks, function blocks, and system blocks. Thus, the linked inputs/outputs can be accessed using the keypad.
2 Introduction 2.5 Functional ranges of an interconnection ________________________________________________________________ 2.
2 Introduction 2.5 Functional ranges of an interconnection ________________________________________________________________ The illustration [2-8] shows the different functional ranges within a typical application in a simplified way. Application Setpoints and control signals are read into the application and application-specific functions as setpoint conditioning, process control, and process monitoring are implemented by a corresponding function block interconnection.
2 Introduction 2.5 Functional ranges of an interconnection ________________________________________________________________ The implementation of the basic drive functions into the firmware offers many advantages for the user: • The basic functions are always directly available. • The interfaces to the basic functions are standardised and thus identical for all technology functions. • Uniform dialogs provide a uniform "look & feel".
2 Introduction 2.6 Conventions used for input/output identifiers ________________________________________________________________ 2.6 Conventions used for input/output identifiers This chapter describes the conventions used for the identifiers of the inputs/outputs of the function blocks. The conventions ensure a uniform and consistent terminology and make reading and comprehending the interconnection and application easier. Tip! The conventions used by Lenze are based on the "Hungarian Notation".
2 Introduction 2.6 Conventions used for input/output identifiers ________________________________________________________________ Signal type entry In general, it is possible to assign a certain signal type to the inputs and outputs of the Lenze function blocks. There are e.g. digital, scaled, position, acceleration and speed signals. • A corresponding ending (preceded by an underscore) is added to the identifier of the corresponding input/output to indicate the signal type.
2 Introduction 2.7 Signal types & scaling ________________________________________________________________ 2.7 Signal types & scaling With regard to the parameter setting & configuration of the controller it is very helpful to know the signal types and their scaling listed in the following table, which are used to process physical values (e.g. a speed or position) in the function block interconnection.
2 Introduction 2.7 Signal types & scaling ________________________________________________________________ 2.7.1 Data type check/implicit type conversion For the »Engineer« up to and including V2.7 the following applies: • Only inputs/outputs of the same signal type (with the same port symbol) can be connected in the »Engineer« function block editor. • Non-standardised inputs/outputs can be connected if the input and output have the same resolution.
2 Introduction 2.
2 Introduction 2.8 Multitasking in the Servo Drive 9400 ________________________________________________________________ 2.8 Multitasking in the Servo Drive 9400 The Servo Drive 9400 has three different user tasks: 1. ApplicationTask 2. UserTask 3. IdleTask ApplicationTask The ApplicationTask is a time-controlled user task. • Two different interval times (1 ms and 2 ms) can be set for the ApplicationTask.
2 Introduction 2.8 Multitasking in the Servo Drive 9400 ________________________________________________________________ 2.8.1 Runtime measurement When the application has been started, the controller continuously carries out a runtime measurement for the interval-controlled ApplicationTask, the interval-controlled UserTask and the idling IdleTask.
2 Introduction 2.8 Multitasking in the Servo Drive 9400 ________________________________________________________________ Example of runtime measurement In the following example, the ApplicationTask is called in a 1 ms interval. The ApplicationTask interrupts the UserTask which is called in a 4 ms interval. Both tasks, in turn, interrupt the IdleTask. The interruptions cause a runtime extension both in the UserTask and in the IdleTask.
2 Introduction 2.8 Multitasking in the Servo Drive 9400 ________________________________________________________________ 2.8.2 Optimising the runtime behaviour The following points should be considered for an optimum runtime behaviour of the controller: • Before you start programming, check which response times are required for which functions. This defines in which task the corresponding functions are to be programmed and which interval time must be set for the corresponding task.
2 Introduction 2.8 Multitasking in the Servo Drive 9400 ________________________________________________________________ 2.8.3 Exchanging data between tasks There are two options to exchange data between tasks: 1. via global variables 2. via user codes In order to e.g. transfer a value from the ApplicationTask to the UserTask, first a global variable or a user code is defined. The value is assigned to this variable/code in the ApplicationTask and read from the same variable/code in the UserTask and e.
3 Working with the FB editor 3.1 Short overview of new functions in the FB Editor ________________________________________________________________ 3 Working with the FB editor The function block editor (in the following called "FB editor) is available in the »Engineer« HighLevel 9400 Servo Drives with the runtime software licence Motion Control HighLevel or higher. The FB editor serves to extend the supplied technology applications by individual functions.
3 Working with the FB editor 3.2 User interface ________________________________________________________________ 3.2 User interface How to access the FB editor: 1. Go to Project View and select the 9400 controller. 2. Go to Workspace and select the FB Editor tab. Note! The first representation on the FB Editor tab depends on whether you have selected a technology application for the controller from the catalogue or not.
3 Working with the FB editor 3.2 User interface ________________________________________________________________ Controller with empty application If no technology function has been selected from the catalogue when the controller has been entered into the Project View, the controller is automatically assigned to an "empty application".
3 Working with the FB editor 3.2 User interface ________________________________________________________________ 3.2.
3 Working with the FB editor 3.2 User interface ________________________________________________________________ 3.2.2 Toolbar The FB Editor is provided with an individual toolbar in the upper position which in the following text is called FB Editor toolbar. • Click an icon to execute the corresponding function. Icons/functions in the "Viewer" mode Icon Function Start online monitoring (as of »Engineer« V2.10) Interrupt online monitoring (as of »Engineer« V2.
3 Working with the FB editor 3.2 User interface ________________________________________________________________ 3.2.3 Search function Use the search function to get quickly to a certain module of the interconnection.
3 Working with the FB editor 3.2 User interface ________________________________________________________________ Tip! You can also enter any search text in the input field. • If you click the icon, the cutout is moved to the object which contains this search text. • Another click on the icon leads to a new search. Thus, you can navigate successively to all objects which contain the entered search text. • The search text does not consider case sensitivity. 3.2.
3 Working with the FB editor 3.2 User interface ________________________________________________________________ 3.2.5 Editor view/overview Use the rightmost list field to change from the Editor to the overview and vice versa: The overview displays all function blocks, system blocks, and port blocks of the interconnection in the order of their processing: • As of the controller firmware V5.0 the average runtime is displayed for each function block.
3 Working with the FB editor 3.2 User interface ________________________________________________________________ 3.2.6 Context menu You can open a context menu via the right mouse button for each object (function block, variable, line, etc.) and for the drawing area: • The contents of the context menu depend on the type of object you click on. • As of the »Engineer« V2.10 small icons are shown in front of the entries in the Context menu. Lenze · 9400 function library · Reference manual · DMS 6.
3 Working with the FB editor 3.2 User interface ________________________________________________________________ 3.2.7 Overview window The overview window shows the entire interconnection in a reduced view. The overview window serves to e.g. move quickly through a more complex interconnection. How to show the monitor window: Go to the Context Menu of the drawing area and select the Overview Window. • If you execute this command again, the overview window is hidden again.
3 Working with the FB editor 3.2 User interface ________________________________________________________________ How to redefine the cutout to be presented: In the overview window draw a frame around the area of the interconnection which is to be presented in the drawing window by keeping the left mouse button pressed: • The aspect ratio of the frame is automatically adapted to the aspect ratio of the drawing area.
3 Working with the FB editor 3.3 Using the FB-Editor as "Viewer" ________________________________________________________________ 3.3 Using the FB-Editor as "Viewer" If you have selected a technology application from the catalogue for the controller, the FB Editor is first in the "Viewer" mode. The interconnection of the technology application is displayed but cannot be modified.
3 Working with the FB editor 3.3 Using the FB-Editor as "Viewer" ________________________________________________________________ Using the interconnection as an alternative parameterisation access The following buttons serve to get to the parameterisation dialog or parameter list of an object: 3.3.1 Command Function Parameter... Open parameter list or parameterisation dialog of the function block. • Only if function block is parameterisable. Parameter...
3 Working with the FB editor 3.3 Using the FB-Editor as "Viewer" ________________________________________________________________ How to navigate from one input to another connected output: If the input is connected to a flag: • Double-click the flag: If the input is connected to a line: • Open the context menu (right mouse button) of the port symbol at the input and select the output in the context menu.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4 Creating/reconfiguring the interconnection How to proceed: 1. Enable FB Editor. • Only required if a Lenze technology application is to be reconfigured. • If no application or the "empty application" from the catalogue has been selected, the FB Editor is already enabled. 2. Insert required objects into the interconnection. 3.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.2 Insert/delete objects Objects can be inserted in the interconnection via the FB Editor toolbar and the context menu of the drawing area. The following subchapters provide detailed information on how to insert/delete the different objects.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.2.1 Inserting a function block How to insert a function block into the interconnection: 1. Click the icon in the FB editor toolbar. • The Insert block dialog box appears. 2. Unless it is already displayed, select the Function Blocks tab. • All function blocks available are displayed in the Search results list field. 3.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 6. Press Insert button. • The Define Function Block Properties dialog box appears. 7. If required, change the name preselected for the function block into a more significant name. • The instance name must not already be allocated within the interconnection. 8.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ Context menu for the function block If you right-click on the header of a function block, a context menu opens via which you can execute the following functions in addition to the general processing functions (Copy, Insert, Delete): L Command Function Connector visibilities... Define visible inputs and outputs for function blocks.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.2.2 Inserting a system block A system block is inserted similarly to the way a function block is inserted. Note! In the FB editor, system blocks are only available in the ApplicationTask! How to insert a system block into the interconnection: 1. Click the icon in the FB editor toolbar. • The Insert block dialog box appears. 2.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 6. Press Insert button. • The system block selected is inserted in the interconnection. Context menu for the system block If you right-click on the header of a system block, a context menu opens via which you can execute the following functions in addition to the general processing functions (Copy, Insert, Delete): " Command Function Connector visibilities...
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.2.3 Inserting a port block All input/output ports defined for the application on the Ports tab can be inserted into the interconnection in the form of port blocks in order to receive access to the associated element variables.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.2.4 Creating/inserting a variable Click the icon in the FB Editor toolbar to open the Insert variables dialog box. • The list field contains all variables created for the application: • The buttons serve to execute the following functions: Button Function New Create new variable. Edit Edit selected variable. Delete Delete selected variable.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ How to create a new variable: 1. Go to the Insert variables dialog box and press the New button. • The Create new variable dialog box for the declaration of a new variable is displayed: 2. If required, change the variable name preselected in the Variable name input field into a more significant name.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ Insert a variable into the interconnection A variable contained in the list field can be inserted exactly once with an input (for value assignment) into the interconnection and as often as required with an output (for read access). How to insert a variable into the interconnection: 1.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.2.5 Configuring/inserting a user code Click the icon in the FB Editor toolbar to open the Assign User Code dialog box. • The list field contains all configured user codes created for the application: • The buttons serve to execute the following functions: 62 Button Function New Configure new user codes. Edit Edit selected user code.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ How to configure a new user code: 1. Go to the Assign User Code dialog box and press the New button. • The Create user code dialog box for configuring a new user code is displayed. 2. Configure the properties of the user code. • See the following section "Properties of a user code". 3. Press OK.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ Input field Information Initialisation value Value the user code is initialised with. • If subcodes have been defined, the initialisation values are configured in the Initialisation values dialog box instead, which you open via the Subcodes... button.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ User code with "selection list" scaling Input field Information Data type Data type • The available data types are prenamed according to their designation.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ Insert a user code into the interconnection A user code contained in the list field can be inserted exactly once with input (for value assignment) into the interconnection and as often as required with one output (for read access). How to insert a user code into the interconnection: 1.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.2.6 Inserting a comment Comments can be entered into any position in the drawing area. As of the »Engineer« V2.10 the interior colour and text alignment of a comment can be changed via a properties dialog. Now the sizes of comments can also be changed using the mouse pointer.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ How to insert a new comment into the interconnection: 1. Move the mouse pointer to the (free) position in the drawing area where the comment is to be inserted. 2. Select the New comment command in the context menu (right mouse button). • The Properties dialog is displayed: 3. Enter the required comment into the text field. 4.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ Tip! The Properties dialog box for a comment already available can be opened by double-clicking the comment. Related topics: Deleting objects that are no longer required ( 70) Arranging objects in the drawing area ( 73) Creating/deleting connections ( 74) Lenze · 9400 function library · Reference manual · DMS 6.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.2.7 Deleting objects that are no longer required Objects that are no longer required can be easily deleted again. "Delete" only means that the object is removed from the drawing area. If you have deleted an object from the drawing area, you can reinsert it any time into the interconnection. Note! Deleting an object cannot be undone.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.2.8 Deleting variables and user codes from the application Variables and user codes that are no longer required can be also deleted completely from the application. How to delete a variable completely from the application: 1. Delete all occurrences of the variable in the interconnection. 2. Click the icon to open the Insert variables dialog box. 3.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.3 Changing connector visibilities Inputs and outputs that are not connected can be hidden for each function and system block. This serves to reduce the dimension of the block. The interconnection becomes clearer. How to define the visible inputs and outputs: 1. Go to the context menu of the block and select the Connector visibilities command.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.4 Arranging objects in the drawing area All objects can be freely arranged in the drawing area by dragging with the mouse. We recommend to make an arrangement in which the required connections between the inputs and outputs can be created easily. A division into functional areas may also be sensible to get a better understanding of the application.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.5 Creating/deleting connections After adding objects and arranging them in a reasonable manner within the drawing area, you can create the connections between the available objects which are required for the desired function. A connection always has a direction and therefore always has a source and a target.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ Connection types Connections can either be created by means of connection lines or port identifiers ("flags") [3-3] Example 1: Connection via connection line [3-4] Example 2: Connection via flags Tip! The commands Show as flag or Show as line in the context menu of a connection serve to change the representation of the connection at any time.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ If both connection types are used for an output, the available connection lines are converted into small yellow flags with an automatically assigned number: [3-5] Example 3: Connection of an output once with port identifier, once with connection line • Three points ("...") are shown at the output instead of the concrete input identifier.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.5.1 Creating a connection using the connection line How to create a connection using the connection line: 1. Click the port symbol from which the new connection is to be started. • It is only possible to start a new connection from an input if there is no connection already ending in this input.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.5.2 Creating a connection using port identifiers How to create a connection with port identifiers: 1. Click the port identifier. • The selected port is highlighted in light green: 2.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.5.3 Creating a connection via connection dialog You can also create connections by means of a selection dialog instead of dragging by mouse. This especially makes sense if there is a great distance between the ports to be connected in the drawing area. How to create a connection using the selection dialog: 1.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.5.4 Deleting connections that are no longer required How to delete connection lines: 1. Select connection lines to be deleted. • Select a single connection line by directly clicking on the connection line with the right mouse button.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.6 Changing the processing order If you insert a function block into the interconnection, an order index is automatically assigned to this function block. By means of this order index it is defined in which order the individual function blocks are calculated with regard to the runtime.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ How to change the processing order: 1. Use the list field at the top right to change from the Editor to the overview. • The overview displays all function blocks, system blocks, and port blocks of the interconnection in the order of their processing • In the "Order" column the order index of each function block is listed. 2.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.7 Configuring the task properties By clicking the ... button right beside the Task list field, you open a dialog box where you can see and, if required, change the properties (interval, type, watchdog, sensitivity) of the selected task. Monitoring of the task runtime The runtime of the UserTask and ApplicationTask is monitored by the controller.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.8 Configuring the exception handling This function will be available as of »Engineer« V2.10! For the 9400 HighLine controller, the behaviour after a task overflow can be configured for the analog and digital outputs, the brake control, and the output ports and thus be adapted to the corresponding application. How to configure the exception handling: 1.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ Danger! In case a task overflow occurs, the brake can be configured to "open".
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.9 Compiling the completed interconnection How to compile the completed interconnection: 1. Click the icon in the FB editor toolbar. • The Update project dialog box appears. 2. Press the Create button to update the project. • After the update is completed successfully, a corresponding note appears. 3.4.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ Sequence 1. If the current status of the FB Editor does not correspond to the device update executed last, first the available function for updating a single device is called. • This generates all files to be transferred to the device. • A note may appear that first the networks should be updated. 2.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.11 Copying interconnection elements (across all devices) This function will be available as of »Engineer« V2.9! As of the »Engineer« V2.9, interconnection elements cannot only be copied within the same interconnection but also across all devices within the same project, as long as the devices stem from the same product family (e.g. Servo Drives 9400).
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 6. Click Insert to insert the selected elements into the target interconnection as defined. • Only possible if at least one element in the list has been selected for insertion. • Insertion is also possible via the button if at least one element is selected in the list for insertion.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ 3.4.11.
3 Working with the FB editor 3.4 Creating/reconfiguring the interconnection ________________________________________________________________ • Connections are only inserted when the dialog box is closed, which applies to all modules inserted so far. They are displayed as lines or flags, like in the original, but re-routed. • When the option Only accept connections between the added elements is selected, only those connections are added which are between the inserted elements.
3 Working with the FB editor 3.5 Printing the interconnection ________________________________________________________________ 3.5 Printing the interconnection The interconnection can be printed for documentation purposes, optionally on one page, on four pages, or not scaled. Tip! By clicking the icon in the FB Editor toolbar, you can get a print view before printing. How to print the interconnection: 1. Click the icon in the FB editor toolbar. • The Circuit print size dialog box is displayed.
3 Working with the FB editor 3.6 Comparing interconnections ________________________________________________________________ 3.6 Comparing interconnections This function will be available as of »Engineer« V2.9! The comparison operation serves to compare function block interconnections for the device series 9400 within the project.
3 Working with the FB editor 3.6 Comparing interconnections ________________________________________________________________ 3. Click Compare. • If the comparison was executed successfully, the comparison result is displayed as simple text. Contents and representation of the comparison ( 96) • If a comparison of the selected application is not possible, a corresponding message is displayed. • The dialog box remains open for a new selection. 4.
3 Working with the FB editor 3.
3 Working with the FB editor 3.6 Comparing interconnections ________________________________________________________________ 3.6.2 Contents and representation of the comparison The following elements of an FB interconnection are considered in a comparison.
3 Working with the FB editor 3.7 Copying complete interconnection ________________________________________________________________ 3.7 Copying complete interconnection This function will be available as of »Engineer« V2.9! In contrast to copying/inserting selected interconnection elements via the clipboard, the function described in this chapter serves to replace the current FB interconnection of a device completely by the FB interconnection of another project device.
3 Working with the FB editor 3.8 Inserting complete interconnection from reference project ________________________________________________________________ 3.8 Inserting complete interconnection from reference project This function will be available as of »Engineer« V2.9! The function described in this chapter serves to replace the current FB interconnection of the device completely by the FB interconnection of a reference project.
3 Working with the FB editor 3.8 Inserting complete interconnection from reference project ________________________________________________________________ 4. Press Insert button. • The button can only be activated if the device in the reference project has the same device type and version as the project device. • After the button has been pressed, the module assembly is compared. If there are relevant deviations, the insertion is refused and a corresponding message is displayed.
4 Short overview 4.1 Analog signal processing ________________________________________________________________ 4 Short overview 4.1 Analog signal processing 100 Function block Function From library L_SdDelayComp Extrapolation • The FB extrapolates a signal by the time set. LenzeServoDrive V01.00.xx.xx L_SdProcessController Comprehensive PID controller with setpoint and actual value processing as well as parameterisable characteristic function and limitation LenzeServoDrive V02.05.xx.
4 Short overview 4.1 Analog signal processing ________________________________________________________________ Function block Function From library L_TbLimitInt Signal limitation (for data type "INT") • The FB limits a signal of "INT" data type to an adjustable value range. LenzeToolbox V02.05.xx.xx L_TbMaskOut Zone masking • The FB masks up to four parameterisable blocking zones within a continuous signal characteristic. LenzeToolbox V01.00.xx.
4 Short overview 4.2 Digital signal processing ________________________________________________________________ 4.2 Digital signal processing Function block Function From library L_TbCount Upcounter and downcounter with adjustable limitation LenzeToolbox V01.00.xx.xx L_TbDelay Binary delay element LenzeToolbox V01.00.xx.xx L_TbFlipFlopD D flipflop • Can be used for evaluation and storage of digital signal edges. LenzeToolbox V01.00.xx.
4 Short overview 4.2 Digital signal processing ________________________________________________________________ Bit operations for "BYTE" data type Function block Function From library L_DcBitShiftByte Bit shift operation LenzeDataConversion V02.02.xx.xx L_DcByteBitand Bit-by-bit AND operation of two BYTE values. LenzeDataConversion V02.02.xx.xx L_DcByteBitor Bit-by-bit OR operation of two BYTE values. LenzeDataConversion V02.02.xx.
4 Short overview 4.3 Data type conversion ________________________________________________________________ 4.3 104 Function block Function From library L_DcDWordBitor Bit-by-bit OR operation of two DWORD values. LenzeDataConversion V01.00.xx.xx L_DcDWordBitxor Bit-by-bit EXCLUSIVE-OR operation of two DWORD values. LenzeDataConversion V01.00.xx.xx Function block Function From library L_DcBitsToByte Bit multiplexer • BOOL (8 x) BYTE LenzeDataConversion V01.00.xx.
4 Short overview 4.4 Mathematical functions ________________________________________________________________ 4.4 4.5 Function block Function From library L_DcDWordToDInt Type converter • DWORD DINT LenzeDataConversion V01.00.xx.xx L_DcDWordToWord Type converter • DWORD WORD LenzeDataConversion V01.00.xx.xx L_DcDWordTo2Words Type converter • DWORD WORD (2 x) LenzeDataConversion V01.00.xx.
4 Short overview 4.6 Speed conditioning ________________________________________________________________ 4.6 106 Function block Function From library L_SdSetPosition Position conversion • Position [unit] (selected as parameter value) position [increments] LenzeServoDrive V01.00.xx.xx L_SdGetPosition Position conversion • Position [increments] position [unit] (displayed as parameter value) LenzeServoDrive V01.00.xx.
4 Short overview 4.7 Special functions ________________________________________________________________ 4.7 Special functions Function block Function From library L_DevApplErr Error tripping • The FB can trip up to 8 different application messages out of the application. • Error ID and error response as well as the module ID can be set via parameters. LenzeDevice9400 V01.00.xx.xx L_DevApplErrFix Error tripping • The FB can trip up to 8 different application messages out of the application.
4 Short overview 4.8 Output of status signals ________________________________________________________________ 4.8 Output of status signals The following FBs decode the status output signal dnState, which is made available by some system and function blocks, into single boolean status signals for further use in the FB interconnection: Function block Function From library L_DevDriveInterfaceStateDecoder Status signals of the drive interface (SB LS_DriveInterface) LenzeDevice9400 V01.00.xx.
4 Short overview 4.9 FBs for system via electrical shaft ________________________________________________________________ Function block Function From library L_CamGetAxisData Reading out machine parameters from cam data LenzeCam V01.00.xx.xx L_CamPosMarker Reading out position marks from cam data LenzeCam V01.00.xx.xx L_CamProfiler Curve interpolation for motion profiles LenzeCam V01.00.xx.
4 Short overview 4.9 FBs for system via electrical shaft ________________________________________________________________ Function block Function From library L_SdRuntimeComp Compensation of the runtime by a leading master value LenzeServoDrive V01.00.xx.xx L_SdSetAxisData Represented machine parameters of a master drive LenzeServoDrive V01.00.xx.xx Function block Function From library L_LdAddOffsetCyclic Offset addition to a clocked position LenzeLineDrive V01.00.xx.
4 Short overview 4.10 FBs for positioning tasks ________________________________________________________________ 4.10 FBs for positioning tasks Function block Function From library L_PosPositionerInterface Interface to basic function "Positioning" • Use this interface to control the SB LS_Positioner via level-controlled signals, e.g. from a higher-level control. LenzePositioning V02.00.xx.
4 Short overview 4.11 FBs for winding technology ________________________________________________________________ Function block Function From library L_PosGetTableSpeed Speed table • Together with an FB instance • ...of type L_PosPositionerTable this FB provides five speed values from the VTSPEED variable table. • ...of type L_PosProfileTable this FB provides speeds which are directly defined in the profiles. LenzePositioning V01.00.xx.
4 Short overview 4.12 All function blocks [A-Z] ________________________________________________________________ 4.12 All function blocks [A-Z] Function block Function From library L_CamClutchPos Clutch (path-controlled) • Clutch in or declutch a master position via a fifth order polynomial in a path-controlled manner. LenzeCam V01.00.xx.xx L_CamContactor Cam group with switch-on and switch-off dynamisation LenzeCam V01.00.xx.
4 Short overview 4.12 All function blocks [A-Z] ________________________________________________________________ 114 Function block Function From library L_DcByteToBits Bit demultiplexer • BYTE BOOL (8 x) LenzeDataConversion V01.00.xx.xx L_DcByteToBits Bit demultiplexer • BYTE BOOL (8 x) LenzeDataConversion V01.00.xx.xx L_DcByteToInt Type converter • BYTE INT LenzeDataConversion V02.02.xx.xx L_DcByteToWord Type converter • BYTE WORD LenzeDataConversion V01.00.xx.
4 Short overview 4.12 All function blocks [A-Z] ________________________________________________________________ Function block Function From library L_DcSetBitOfByte Bit operation • Set a single bit to "1". LenzeDataConversion V01.00.xx.xx L_DcSetBitOfDWord Bit operation • Set a single bit to "1". LenzeDataConversion V01.00.xx.xx L_DcSetBitOfWord Bit operation • Set a single bit to "1". LenzeDataConversion V01.00.xx.
4 Short overview 4.12 All function blocks [A-Z] ________________________________________________________________ 116 Function block Function From library L_DevParReadFix One-time or cyclic reading of parameters • Only internal parameters (codes) of the controller can be read. • In contrast to the L_DevReadParDInt FB, the parameter of this FB to be read is addressed via FB inputs and not via parameters. LenzeDevice9400 V02.00.xx.
4 Short overview 4.12 All function blocks [A-Z] ________________________________________________________________ Function block Function From library L_LdMarkSync Mark synchronisation in synchronism and cam profiler applications LenzeLineDrive V01.00.xx.xx L_LdMonitFollowError Following error monitoring with adjustable switching threshold and hysteresis LenzeLineDrive V01.00.xx.
4 Short overview 4.12 All function blocks [A-Z] ________________________________________________________________ 118 Function block Function From library L_PosGetTablePos Position table • Together with an FB instance • ...of type L_PosPositionerTable this FB provides five position values from the VTPOS variable table. • ...of type L_PosProfileTable this FB provides positions which are directly defined in the profiles. LenzePositioning V01.00.xx.
4 Short overview 4.12 All function blocks [A-Z] ________________________________________________________________ Function block Function From library L_SdIntegrateAxis Integration (speed position) with TP correction LenzeServoDrive V02.03.xx.xx L_SdIntegrateLimit Integration (speed position) with adjustable upper/lower limit for return purposes LenzeServoDrive V02.09.xx.xx L_SdInterExtrapolateAny Interpolation/extrapolation of setpoints LenzeServoDrive V02.09.xx.
4 Short overview 4.12 All function blocks [A-Z] ________________________________________________________________ 120 Function block Function From library L_SdUnitToPos Position conversion • Position [unit] position [increments] LenzeServoDrive V01.00.xx.xx L_SdUnitToSpeed Speed conversion • Velocity [unit/s] speed LenzeServoDrive V01.00.xx.xx L_Tb5And AND (5 inputs) LenzeToolbox V01.00.xx.xx L_Tb5Nand NOT-AND (5 inputs) LenzeToolbox V01.00.xx.
4 Short overview 4.12 All function blocks [A-Z] ________________________________________________________________ Function block Function From library L_TbDiv_n Division divisor selected as scaled signal [%] LenzeToolbox V01.00.xx.xx L_TbFlipFlopD D flipflop • Can be used for evaluation and storage of digital signal edges. LenzeToolbox V01.00.xx.xx L_TbFlipFlopRS RS flipflop • Can be used for evaluation and storage of digital signals. LenzeToolbox V01.00.xx.
4 Short overview 4.12 All function blocks [A-Z] ________________________________________________________________ 122 Function block Function From library L_TbPIController Simple PI controller with different control functions and parameterisable limitation LenzeToolbox V01.00.xx.xx L_TbPT1Filter PT1 filter • The FB filters and delays analog signals. LenzeToolbox V01.00.xx.xx L_TbRateAction Rate action function to compensate disturbing low passes LenzeToolbox V01.00.xx.
4 Short overview 4.13 FB reference list - 9300 Servo PLC ________________________________________________________________ 4.13 FB reference list - 9300 Servo PLC The following reference list shall assist you in finding the correct function block to simulate a function known from 9300 servo PLC.
4 Short overview 4.13 FB reference list - 9300 Servo PLC ________________________________________________________________ Function block for 9300 servo PLC Function block for 9400 Servo Drives Name Description Function library Name Description L_ARITPH Arithmetic LenzeDrive.
4 Short overview 4.
4 Short overview 4.13 FB reference list - 9300 Servo PLC ________________________________________________________________ Function block for 9300 servo PLC Function block for 9400 Servo Drives Name Description Function library Name Description L_CanGetState* Driver status LenzeCanDrv - - L_CanInit* Initialisation LenzeCanDrv - - L_CanPdoReceive Receive CAN object LenzeCanDrv - - L_CanPdoTransmit Transmit CAN object LenzeCanDrv - - L_CMP Comparison LenzeDrive.
4 Short overview 4.
4 Short overview 4.
4 Short overview 4.13 FB reference list - 9300 Servo PLC ________________________________________________________________ Function block for 9300 servo PLC Function block for 9400 Servo Drives Name Description Function library Name Description L_PHINTK Integration LenzeDrive.lib L_SdIntegrate Integration (speed position) L_SdIntegrateLimit Integration (speed position) with adjustable upper/ lower limit for return purposes L_PT1_ Delay LenzeDrive.
4 Short overview 4.13 FB reference list - 9300 Servo PLC ________________________________________________________________ Function block for 9300 servo PLC Function block for 9400 Servo Drives Name Description Function library Name Description L_TBResetBitOfWord* Resets a bit of a WORD value to "0". LenzePLCToolBox L_DcResetBitOfWord Resets a bit of a WORD value to "0". L_TBSetBitOfByte* Sets a bit of a BYTE value to "1".
4 Short overview 4.14 FB reference list - 9300 servo inverter ________________________________________________________________ 4.14 FB reference list - 9300 servo inverter The following reference list shall assist you in finding the correct function block to simulate a function known from the 9300 servo inverter.
4 Short overview 4.
4 Short overview 4.
5 Function blocks ________________________________________________________________ 5 Function blocks This chapter describes all function blocks (FBs) that are provided by the »Engineer« function block editor for the "9400 Servo Drives". Note! The grayed out area at the beginning of each FB description informs you on the function library which contains the corresponding FB and provides information concerning the "9400 Servo Drives" that can be used with the FB. Tip! For an external access (e.g.
5 Function blocks 5.1 L_CamClutchPos - clutch (path-controlled) ________________________________________________________________ 5.1 L_CamClutchPos - clutch (path-controlled) Function library: LenzeCam Runtime software licence: Motion Control HighLevel FB permissible for firmware as of V3.
5 Function blocks 5.1 L_CamClutchPos - clutch (path-controlled) ________________________________________________________________ Identifier/data type bOpenInstant Information/possible settings BOOL Positive opening operation of the clutch (for emergency situations) • This input has a higher priority than the input bOpen. FALSETRUE The dnPosOut_p output position is separated immediately from the dnPosIn_p master position and brought to standstill within the deceleration time set in C05482.
5 Function blocks 5.1 L_CamClutchPos - clutch (path-controlled) ________________________________________________________________ Parameter Parameter Possible settings Information C05480/1 String of digits Position unit • Read only C05480/2 String of digits Speed unit • Read only C05481/1 -214748.3647 Unit 214748.3647 Relative declutch path • Relating to the dnOpenPosition_p standstill position. • Initialisation: 90.0000 unit C05481/2 -214748.3647 Unit 214748.
5 Function blocks 5.2 L_CamContactor - cam group with switch-on and switch-off dynamisation ________________________________________________________________ 5.2 L_CamContactor - cam group with switch-on and switch-off dynamisation Function library: LenzeCam Runtime software licence: Motion Control HighLevel FB permissible for firmware as of V3.
5 Function blocks 5.2 L_CamContactor - cam group with switch-on and switch-off dynamisation ________________________________________________________________ Identifier/data type dnHysteresePos_p Information/possible settings DINT Switching hysteresis in [increments] • Is added to the switching hysteresis set in C05523. From library V01.02.xx.xx ContactorData Cam data • Interface for optional acceptance of the contactor data from the FB L_CamSetContDataPDO or FB L_CamSetContDataSDO.
5 Function blocks 5.2 L_CamContactor - cam group with switch-on and switch-off dynamisation ________________________________________________________________ Parameter Possible settings Information C05525 Cam type • Read only 0 Unknown cam type 1 Positive travel cams 2 Negative travel cams 3 Bidirectional travel cams 11 Positive time cams 12 Negative time cams C05526 -214748.3647 C05527 0 C05528 0.0000 Unit 2147483647 Cam track • Display of the track number dnTrackNumber.
5 Function blocks 5.2 L_CamContactor - cam group with switch-on and switch-off dynamisation ________________________________________________________________ 5.2.1 Typical application Via the function of the cam group binary output signals with a reference to curves can be generated very simply.
5 Function blocks 5.2 L_CamContactor - cam group with switch-on and switch-off dynamisation ________________________________________________________________ 5.2.2 Data flow The cams are entered in the »Cam Designer«. The transmission of the cam data to the controller(s) – together with the corresponding parameter set – is effected via the »Engineer« by executing the command Transfer parameter set to the device.
5 Function blocks 5.2 L_CamContactor - cam group with switch-on and switch-off dynamisation ________________________________________________________________ 5.2.3 Switching performance for position cams Position cams in positive effective direction If the input position dnPosIn_p reaches the cam switch-on position in positive effective direction, the output bOut is set to TRUE and is reset to FALSE if the switch-off position is exceeded.
5 Function blocks 5.2 L_CamContactor - cam group with switch-on and switch-off dynamisation ________________________________________________________________ dnPosIn_p on/off on/off t V 0 t bOut t [5-5] 5.2.
5 Function blocks 5.2 L_CamContactor - cam group with switch-on and switch-off dynamisation ________________________________________________________________ Position-time cams in positive effective direction If the input position dnPosIn_p reaches the cam switch-on position in positive effective direction, the output bOut is set to TRUE and is only reset to FALSE after the time defined has elapsed. • Once the output is set to TRUE, a following change in direction has no impact on the cam signal.
5 Function blocks 5.2 L_CamContactor - cam group with switch-on and switch-off dynamisation ________________________________________________________________ 5.2.5 Dynamic displacement of the cams In C05521 and C05522 a time displacement of the switch-on and switch-off positions can be set for the cams, e. g. to implement a compensation of delay times of switching elements connected.
5 Function blocks 5.2 L_CamContactor - cam group with switch-on and switch-off dynamisation ________________________________________________________________ 5.2.7 Interconnection examples [5-9] Interconnection example 1: Selection of the contactor data via PDOs Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.2 L_CamContactor - cam group with switch-on and switch-off dynamisation ________________________________________________________________ [5-10] Interconnection example 2: Selection of the contactor data via SDOs 148 Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.3 L_CamCurve - curve interpolation for characteristics ________________________________________________________________ 5.3 L_CamCurve - curve interpolation for characteristics Function library: LenzeCam Runtime software licence: Motion Control HighLevel FB permissible for firmware as of V3.
5 Function blocks 5.3 L_CamCurve - curve interpolation for characteristics ________________________________________________________________ Outputs Identifier/data type dnYOutput bError Value/meaning Output value (y axis) DINT • C05547 indicates the output value in the real unit of the machine. BOOL "Error" status TRUE An error has occurred (group signal). • For details see display parameters C05549.
5 Function blocks 5.3 L_CamCurve - curve interpolation for characteristics ________________________________________________________________ 5.3.1 Data flow The characteristics (curves) are entered or imported in the »Cam Designer« by means of graphical objects (point, line, polynomial). The transmission of the cam data to the controller(s) – together with the corresponding parameter set – is effected via the »Engineer« by executing the command Transfer parameter set to the device.
5 Function blocks 5.3 L_CamCurve - curve interpolation for characteristics ________________________________________________________________ 5.3.2 Function The following characteristic with 4 grid points and a percentage scaling of the x and y axis are given: Grid point 1 2 3 4 x value 0% 50 % 75 % 100 % y value 25 % 50 % 50 % 100 % dnYOutput 100 % 75 % 50 % 37.
5 Function blocks 5.3 L_CamCurve - curve interpolation for characteristics ________________________________________________________________ 5.3.3 Track switch-over A switch-over to another characteristic via the input dnTrackNumber is effected immediately.
5 Function blocks 5.3 L_CamCurve - curve interpolation for characteristics ________________________________________________________________ 5.3.
5 Function blocks 5.4 L_CamGetAxisData - reading out machine parameters from cam data ________________________________________________________________ 5.4 L_CamGetAxisData - reading out machine parameters from cam data Function library: LenzeCam Runtime software licence: Motion Control HighLevel FB only permissible for firmware from V3.
5 Function blocks 5.4 L_CamGetAxisData - reading out machine parameters from cam data ________________________________________________________________ Outputs Identifier/data type Value/meaning AxisData Machine parameters of the axis selected • In order to transfer the machine parameters to another FB, this output just has to be connected to the input AxisData of the corresponding FBs. bError BOOL dnCycleLength_p DINT "Error" status TRUE An error has occurred (group signal).
5 Function blocks 5.4 L_CamGetAxisData - reading out machine parameters from cam data ________________________________________________________________ Parameter Possible settings Info C05413 0.0000 Unit C05414 0.0000 Unit/t 214748.3647 Reference speed • Read only C05415 0.0000 Unit/t 214748.3647 Max. machine speed • Read only C05419 Error messages: 214748.
5 Function blocks 5.5 L_CamPosMarker - reading out position marks from cam data ________________________________________________________________ 5.5 L_CamPosMarker - reading out position marks from cam data Function library: LenzeCam Runtime software licence: Motion Control HighLevel FB permissible for firmware as of V3.
5 Function blocks 5.5 L_CamPosMarker - reading out position marks from cam data ________________________________________________________________ Identifier/data type dnXPosMarker2_p dnYPosMarker2_p dnXPosMarker3_p dnYPosMarker3_p dnXPosMarker4_p Value/meaning DINT Position marker 2: x position in [increments] • C05536/3 indicates the position in the real unit of the machine. DINT Position marker 2: y position in [increments] • C05537/3 indicates the position in the real unit of the machine.
5 Function blocks 5.5 L_CamPosMarker - reading out position marks from cam data ________________________________________________________________ Parameter Possible settings Information C05534 0 C05536/1...4 -214748.3647 Unit 214748.3647 Position marker 0 ... 3: x position • Display of the x positions in the real unit of the machine. C05536/5...8 -214748.3647 Unit 214748.3647 Position marker 4 ... 7: x position • Display of the x positions in the real unit of the machine. C05537/1...
5 Function blocks 5.5 L_CamPosMarker - reading out position marks from cam data ________________________________________________________________ 5.5.1 Data flow The position markers are entered in the »Cam Designer«. The transmission of the cam data to the controller(s) – together with the corresponding parameter set – is effected via the »Engineer« by executing the command Transfer parameter set to the device.
5 Function blocks 5.6 L_CamProfiler - curve interpolation for motion profiles ________________________________________________________________ 5.6 L_CamProfiler - curve interpolation for motion profiles Function library: LenzeCam Runtime software licence: Motion Control HighLevel FB only permissible for firmware from V3.
5 Function blocks 5.6 L_CamProfiler - curve interpolation for motion profiles ________________________________________________________________ Inputs Identifier/data type dnXPosIn_p dnXOffsetPrectrl_p dnTrackNumber bReset Information/possible settings Input position in [increments] DINT • Position of the x axis of an encoder via bus system. • C05510 indicates the input position in the real unit of the machine. DINT DINT BOOL From library V01.04.xx.
5 Function blocks 5.6 L_CamProfiler - curve interpolation for motion profiles ________________________________________________________________ Identifier/data type bXZero Value/meaning BOOL Status signal "Zero position/zero crossing" • The input signal dnXPosIn_p is the reference. FALSE Master value is at any position in the master value cycle (register) TRUE Permanently: Master value is at zero position. For one cycle: Zero crossing of the master value.
5 Function blocks 5.6 L_CamProfiler - curve interpolation for motion profiles ________________________________________________________________ Parameter Possible settings Info C05511 -214748.3647 Unit 214748.3647 Feedforward control offset • Refers to the acceleration track shown at output dnYAccOut_x. • Display of the dnXOffsetPrectrl_p input signal in the real unit of the machine. C05514 -214748.3647 Unit 214748.
5 Function blocks 5.6 L_CamProfiler - curve interpolation for motion profiles ________________________________________________________________ 5.6.1 Data flow The motion profiles (curves) are entered or imported in the »Cam Designer« by means of graphical objects (point, line, polynomial). The transmission of the cam data to the controller(s) – together with the corresponding parameter set – is effected via the »Engineer« by executing the command Transfer parameter set to the device.
5 Function blocks 5.6 L_CamProfiler - curve interpolation for motion profiles ________________________________________________________________ 5.6.2 Track switch-over A switch-over to another motion profile can be effected during operation. • In the Lenze setting the acceptance of the new cam data is carried out in the next zero crossing of the x axis. • Alternatively, the immediate acceptance of the new cam data can be selected in C05505. 5.6.
5 Function blocks 5.7 L_CamSetContDataPDO - contactor data selection via inputs/PDOs ________________________________________________________________ 5.7 L_CamSetContDataPDO - contactor data selection via inputs/PDOs Function library: LenzeCam FB is available as of library V01.02.xx.xx! FB may only be used for firmware as of V3.
5 Function blocks 5.7 L_CamSetContDataPDO - contactor data selection via inputs/PDOs ________________________________________________________________ Identifier/data type dnContType Information/possible settings DINT Cam type 1 Positive travel cams 2 Negative travel cams 3 Bidirectional travel cams 11 Positive time cams 12 Negative time cams dwCamNumber dnCamOn1 ... dnCamOn8 dnCamOff1 ... dnCamOff8 DWORD Number of cams in the track Cam switch-on position in [increments] • C05564/1...
5 Function blocks 5.7 L_CamSetContDataPDO - contactor data selection via inputs/PDOs ________________________________________________________________ Parameter Possible settings C05565/1...8 -214748.3647 C05566/1...8 0.000 Information Unit s 214748.3647 Cam switch-off position 1 ... 8 • Only with travel cams • Display of the input signal dnCamOff1...8 in the real unit of the machine. 134217.728 Cam break time 1 ... 8 • Only with time cams • Display of the input signal dnCamOff1...8. C05567/1..
5 Function blocks 5.7 L_CamSetContDataPDO - contactor data selection via inputs/PDOs ________________________________________________________________ 5.7.1 Exception handling The following table contains the behaviour of the FB in various special cases: Special case 5.7.2 Behaviour Invalid axis data The bError output is set to TRUE. Wrong parameterisation of the contactor data A cam track is output without the wrong cams.
5 Function blocks 5.8 L_CamSetContDataSDO - contactor data selection via codes/SDOs ________________________________________________________________ 5.8 L_CamSetContDataSDO - contactor data selection via codes/SDOs Function library: LenzeCam FB is available as of library V01.02.xx.xx! FB may only be used for firmware as of V3.
5 Function blocks 5.8 L_CamSetContDataSDO - contactor data selection via codes/SDOs ________________________________________________________________ Inputs Identifier/data type bTeach Information/possible settings BOOL "Teach" cam FALSE "Teach" function is deactivated. TRUE The cam parameters pending at the inputs dnTeachCamOn and dnTeachCamOff are accepted for the cam with the index dwTeachCamIndex.
5 Function blocks 5.8 L_CamSetContDataSDO - contactor data selection via codes/SDOs ________________________________________________________________ Parameter Possible settings Information C05577/1...8 Cam status 1 ...
5 Function blocks 5.9 L_CamStretchAbs - stretching/compressing the position (absolute) ________________________________________________________________ 5.9 L_CamStretchAbs - stretching/compressing the position (absolute) Function library: LenzeCam Runtime software licence: Motion Control HighLevel FB permissible for firmware as of V3.0 only! Motion Control TopLevel This FB is used for simple absolute stretching and compression of a position in the limited traversing range.
5 Function blocks 5.9 L_CamStretchAbs - stretching/compressing the position (absolute) ________________________________________________________________ Outputs Identifier/data type dnPosOut_p dnSpeedOut_s dnAccOut_x bError Value/meaning Output position in [increments] DINT • Limitation can be effected (display via bLimit) • C05466 indicates the output position in the real unit of the machine.
5 Function blocks 5.9 L_CamStretchAbs - stretching/compressing the position (absolute) ________________________________________________________________ 5.9.1 Typical application By means of this FB a traversing path within the limited traversing range can be simply changed via factors. By this, the motion profile can be maintained. M Limited traversing range [5-17] Example: spindle drive • Thereby the factors always relate to the zero point of the motion profile on the y axis.
5 Function blocks 5.9 L_CamStretchAbs - stretching/compressing the position (absolute) ________________________________________________________________ 5.9.
5 Function blocks 5.9 L_CamStretchAbs - stretching/compressing the position (absolute) ________________________________________________________________ 5.9.
5 Function blocks 5.10 L_CamStretchFeed - stretching/compressing the position (relative) ________________________________________________________________ 5.10 L_CamStretchFeed - stretching/compressing the position (relative) Function library: LenzeCam Runtime software licence: Motion Control HighLevel FB permissible for firmware as of V3.0 only! Motion Control TopLevel This FB is used for relative stretching and compression of a position in the "modulo" or "unlimited" traversing range.
5 Function blocks 5.10 L_CamStretchFeed - stretching/compressing the position (relative) ________________________________________________________________ Identifier/data type bZero Information/possible settings BOOL Accept changed stretch factor • Apply an acceptance signal to this input, which for instance signalises the zero crossing of the x axis (synchronised stretching/compression). TRUE The changed stretch factor is immediately accepted internally.
5 Function blocks 5.10 L_CamStretchFeed - stretching/compressing the position (relative) ________________________________________________________________ Parameter Parameter Possible settings Information C05440/1 String of digits Position unit • Read only C05440/2 String of digits Speed unit • Read only C05447 -214748.3647 Unit 214748.3647 Input position • Display of the dnPosIn_p input signal in the real unit of the machine. C05448 -214748.3647 Unit/t2 214748.
5 Function blocks 5.10 L_CamStretchFeed - stretching/compressing the position (relative) ________________________________________________________________ 5.10.1 Typical application By means of this FB a feed motion with regard to the feed length at the L_CamProfiler FB can be simply altered via factors. Like this, the motion profile can be maintained. M Feed motion Cutter [5-21] Example: Material feed with subsequent cut Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.10 L_CamStretchFeed - stretching/compressing the position (relative) ________________________________________________________________ 5.10.2 Signal characteristics dnPosIn_p bLoadStartPos t dnStartPos_p t dnPosOut_p dnSpeedOut_s t t "Unlimited" traversing range "Modulo" traversing range [5-22] Signal characteristics 184 Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.10 L_CamStretchFeed - stretching/compressing the position (relative) ________________________________________________________________ 5.10.
5 Function blocks 5.11 L_CamSyncIn - synchronous/oversynchronous clutch-in ________________________________________________________________ 5.11 L_CamSyncIn - synchronous/oversynchronous clutch-in Function library: LenzeCam FB is available as of library V01.01.xx.xx! FB may only be used for firmware as of V3.0! Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB serves to synchronise a tool (drive) to a running material (relative master speed).
5 Function blocks 5.11 L_CamSyncIn - synchronous/oversynchronous clutch-in ________________________________________________________________ Identifier/data type dnSyncPos_p bReset bManualSync Information/possible settings DINT BOOL BOOL Synchronous position in [increments] • Starting position of the synchronous range. • C05606/3 indicates the synchronous position in the real unit of the machine.
5 Function blocks 5.11 L_CamSyncIn - synchronous/oversynchronous clutch-in ________________________________________________________________ Parameter Possible settings Information C05606/1 -214748.3647 Unit 214748.3647 Sensor position • Display of the dnTpPos_p input signal in the real unit of the machine. C05606/2 -214748.3647 Unit 214748.3647 Clutch-in position • Display of the dnOpenPos_p input signal in the real unit of the machine. C05606/3 -214748.3647 Unit 214748.
5 Function blocks 5.11 L_CamSyncIn - synchronous/oversynchronous clutch-in ________________________________________________________________ 5.11.1 Application example: "Flying saw" When a flying saw is used, the tool moves in synchronism with the moving material during the machining process. For this purpose, the tool must first be moved on a slide in parallel to the material.
5 Function blocks 5.11 L_CamSyncIn - synchronous/oversynchronous clutch-in ________________________________________________________________ Motion sequence The motion sequence of the flying saw drive consists of the following phases: A. Synchronising: First the tool must be accelerated from the basic position to the material speed. When the material speed has been reached, the tool must be in the cutting position.
5 Function blocks 5.11 L_CamSyncIn - synchronous/oversynchronous clutch-in ________________________________________________________________ Operating mode The traversing range has a starting position which can be defined via the dnOpenPos_p input. This starting position is also the target position for the LS_Positioner system block for repositioning. As soon as the start of the synchronous range is reached, the cutting process can be started.
5 Function blocks 5.11 L_CamSyncIn - synchronous/oversynchronous clutch-in ________________________________________________________________ Preconditions The following conditions must be fulfilled for synchronous clutch-in: 1.
5 Function blocks 5.11 L_CamSyncIn - synchronous/oversynchronous clutch-in ________________________________________________________________ Sequence Usually, the clutch-in process is started mark-controlled by setting the bTpReceived input to TRUE. For this purpose, the inputs dnTpTimeLag and bTpReceived must be connected to the touch probe system block for the digital input which is connected to the touch probe sensor. A manual clutch-in can be activated anytime via the bManualSync input (e.g.
5 Function blocks 5.11 L_CamSyncIn - synchronous/oversynchronous clutch-in ________________________________________________________________ 5.11.3 Oversynchronous clutch-in Oversynchronous clutch-in is always done in time-controlled mode. In contrast to the synchronous clutch-in, a distance must always be caught up. The distance may be caught up due to the defined ramp and/or the position of the touch probe sensor.
5 Function blocks 5.11 L_CamSyncIn - synchronous/oversynchronous clutch-in ________________________________________________________________ Signal characteristics 103 Inc. State 5.11.
5 Function blocks 5.11 L_CamSyncIn - synchronous/oversynchronous clutch-in ________________________________________________________________ 5.11.5 Interconnection example [5-33] Interconnection example "flying saw" 196 Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.12 L_Dc2BytesToWord - type converter ________________________________________________________________ 5.12 L_Dc2BytesToWord - type converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts two input values of type "BYTE" into an output value of type "WORD".
5 Function blocks 5.13 L_Dc2WordsToDWord- type converter ________________________________________________________________ 5.13 L_Dc2WordsToDWord- type converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts two input values of type "WORD" into an output value of type "DWORD".
5 Function blocks 5.14 L_Dc4BytesToDWord - type converter ________________________________________________________________ 5.14 L_Dc4BytesToDWord - type converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts four input values of type "BYTE" into an output value of type "DWORD".
5 Function blocks 5.15 L_DcBitShift - shift operation ________________________________________________________________ 5.15 L_DcBitShift - shift operation Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a bit shift operation with a "DINT" value. • The shift factor, i.e. the number of bits by which the input value is shifted to the left or right, is defined by a parameter.
5 Function blocks 5.16 L_DcBitShiftByte - shift operation ________________________________________________________________ 5.16 L_DcBitShiftByte - shift operation Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel FB is available as of library V02.02! Motion Control TopLevel This FB carries out a bit shift operation with a "BYTE" value. • The shift factor, i.e.
5 Function blocks 5.17 L_DcBitShiftDWord - shift operation ________________________________________________________________ 5.17 L_DcBitShiftDWord - shift operation Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel FB is available as of library V02.02! Motion Control TopLevel This FB carries out a bit shift operation with a "DWORD" value. • The shift factor, i.e.
5 Function blocks 5.18 L_DcBitShiftInt - shift operation ________________________________________________________________ 5.18 L_DcBitShiftInt - shift operation Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel FB is available as of library V02.02! Motion Control TopLevel This FB carries out a bit shift operation with a "INT" value. • The shift factor, i.e.
5 Function blocks 5.19 L_DcBitShiftWord - shift operation ________________________________________________________________ 5.19 L_DcBitShiftWord - shift operation Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel FB is available as of library V02.02! Motion Control TopLevel This FB carries out a bit shift operation with a "WORD" value. • The shift factor, i.e.
5 Function blocks 5.20 L_DcBitsToByte - bit multiplexer ________________________________________________________________ 5.20 L_DcBitsToByte - bit multiplexer Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts 8 single bit values into a value of type "BYTE".
5 Function blocks 5.21 L_DcBitsToDWord - bit multiplexer ________________________________________________________________ 5.21 L_DcBitsToDWord - bit multiplexer Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts 32 single bit values into a value of "DWORD" type.
5 Function blocks 5.21 L_DcBitsToDWord - bit multiplexer ________________________________________________________________ Outputs Identifier/data type dwOutput Value/meaning DWORD Value of type "double word" according to the transmitted bit values Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.22 L_DcBitsToWord - bit multiplexer ________________________________________________________________ 5.22 L_DcBitsToWord - bit multiplexer Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts 16 single bit values into a value of "WORD" type.
5 Function blocks 5.23 L_DcByteBitand - bit combination ________________________________________________________________ 5.23 L_DcByteBitand - bit combination Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel FB is available as of library V02.02! Motion Control TopLevel This FB carries out a bit-by-bit AND operation of two input values of "BYTE" type and also outputs the results as "BYTE".
5 Function blocks 5.24 L_DcByteBitor - bit combination ________________________________________________________________ 5.24 L_DcByteBitor - bit combination Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel FB is available as of library V02.02! Motion Control TopLevel This FB carries out a bit-by-bit OR operation of two input values of "BYTE" type and also outputs the results as "BYTE".
5 Function blocks 5.25 L_DcByteBitxor - bit combination ________________________________________________________________ 5.25 L_DcByteBitxor - bit combination Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel FB is available as of library V02.02! Motion Control TopLevel This FB carries out a bit-by-bit EXCLUSIVE/OR operation of two input values of "BYTE" type and also outputs the results as "BYTE".
5 Function blocks 5.26 L_DcByteToBits - bit demultiplexer ________________________________________________________________ 5.26 L_DcByteToBits - bit demultiplexer Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB outputs the 8 corresponding bit values for an input value of type "BYTE".
5 Function blocks 5.27 L_DcByteToInt - type converter ________________________________________________________________ 5.27 L_DcByteToInt - type converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel FB is available as of library V02.02! Motion Control TopLevel This FB converts a data type "BYTE" into the data type "INT".
5 Function blocks 5.28 L_DcByteToWord - type converter ________________________________________________________________ 5.28 L_DcByteToWord - type converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts a data type "BYTE" into the data type "WORD".
5 Function blocks 5.29 L_DcDIntToDWord - type converter ________________________________________________________________ 5.29 L_DcDIntToDWord - type converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts a data type "DINT" into the data type "DWORD".
5 Function blocks 5.30 L_DcDIntToInt - type converter ________________________________________________________________ 5.30 L_DcDIntToInt - type converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts a data type "DINT" into the data type "INT". /B'F',QW7R,QW GQ,Q ',17 ,17 Q2XW Inputs Identifier/data type dnIn Information/possible settings DINT Input signal • Internal limitation to -32768 ...
5 Function blocks 5.31 L_DcDWordBitand - bit combination ________________________________________________________________ 5.31 L_DcDWordBitand - bit combination Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a bit-by-bit AND operation of two input values of "DWORD" type and also outputs the results as "DWORD".
5 Function blocks 5.32 L_DcDWordBitor - bit combination ________________________________________________________________ 5.32 L_DcDWordBitor - bit combination Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a bit-by-bit OR operation of two input values of "DWORD" type and also outputs the results as "DWORD".
5 Function blocks 5.33 L_DcDWordBitxor - bit combination ________________________________________________________________ 5.33 L_DcDWordBitxor - bit combination Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a bit-by-bit EXCLUSIVE OR operation of two input values of "DWORD" type and also outputs the results as "DWORD".
5 Function blocks 5.34 L_DcDWordTo2Words - type converter ________________________________________________________________ 5.34 L_DcDWordTo2Words - type converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts an input value of type "DWORD" into two output values of type "WORD".
5 Function blocks 5.35 L_DcDWordTo4Bytes - type converter ________________________________________________________________ 5.35 L_DcDWordTo4Bytes - type converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts an input value of type "DWORD" into four output values of type "BYTE".
5 Function blocks 5.36 L_DcDWordToBits - bit demultiplexer ________________________________________________________________ 5.36 L_DcDWordToBits - bit demultiplexer Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB outputs the 32 corresponding bit values for an input value of "DWORD" type.
5 Function blocks 5.36 L_DcDWordToBits - bit demultiplexer ________________________________________________________________ Outputs Identifier/data type Value/meaning bBit0 Bit 0 output of dwInput (valency: 20) bBit1 bBit2 BOOL BOOL BOOL ... bBit31 Bit 1 output of dwInput (valency: 21) Bit 2 output of dwInput (valency: 22) ... BOOL Bit 31 output of dwInput (valency: 231) Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.37 L_DcDWordToDInt - type converter ________________________________________________________________ 5.37 L_DcDWordToDInt - type converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts a data type "DWORD" into the data type "DINT".
5 Function blocks 5.38 L_DcDWordToWord - type converter ________________________________________________________________ 5.38 L_DcDWordToWord - type converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts a data type "DWORD" into the data type "WORD".
5 Function blocks 5.39 L_DcGetBitOfByte - bit operation ________________________________________________________________ 5.39 L_DcGetBitOfByte - bit operation Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB returns the state of a single bit within a "BYTE" value. /B'F*HW%LW2I%\WH E\,QSXW E%LW E\%LW1U Inputs Identifier/data type byInput byBitNr Information/possible settings BYTE BYTE Input signal No. (0 ...
5 Function blocks 5.40 L_DcGetBitOfDWord - bit operation ________________________________________________________________ 5.40 L_DcGetBitOfDWord - bit operation Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB returns the state of a single bit within a "DWORD" value. /B'F*HW%LW2I':RUG GZ,QSXW E%LW E\%LW1U Inputs Identifier/data type dwInput byBitNr Information/possible settings DWORD BYTE Input signal No. (0 ...
5 Function blocks 5.41 L_DcGetBitOfWord - bit operation ________________________________________________________________ 5.41 L_DcGetBitOfWord - bit operation Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB returns the state of a single bit within a "WORD" value. /B'F*HW%LW2I:RUG Z,QSXW E%LW E\%LW1U Inputs Identifier/data type wInput byBitNr Information/possible settings WORD BYTE Input signal No. (0 ...
5 Function blocks 5.42 L_DcIntToDInt - type converter ________________________________________________________________ 5.42 L_DcIntToDInt - type converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts a data type "INT" into the data type "DINT".
5 Function blocks 5.43 L_DcIntToWord - type converter ________________________________________________________________ 5.43 L_DcIntToWord - type converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts a data type "INT" into the data type "WORD" .
5 Function blocks 5.44 L_DcNorm_aToNorm_n - signal converter ________________________________________________________________ 5.44 L_DcNorm_aToNorm_n - signal converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts a scaled 16-bit signal into a scaled 32-bit signal.
5 Function blocks 5.45 L_DcNorm_nToNorm_a - signal converter ________________________________________________________________ 5.45 L_DcNorm_nToNorm_a - signal converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts a scaled 32-bit signal into a scaled 16-bit signal.
5 Function blocks 5.46 L_DcNorm_nToSpeed_s - signal converter ________________________________________________________________ 5.46 L_DcNorm_nToSpeed_s - signal converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB uses the transmitted machine parameters and converts a scaled 32-bit signal into a 32-bit speed signal.
5 Function blocks 5.47 L_DcResetBitOfByte - bit operation ________________________________________________________________ 5.47 L_DcResetBitOfByte - bit operation Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB resets a single bit in a "BYTE" type value to "0". /B'F5HVHW%LW2I%\WH E\,QSXW E\2XWSXW E\%LW1U Inputs Identifier/data type byInput byBitNr Information/possible settings BYTE BYTE Input signal No. (0 ...
5 Function blocks 5.48 L_DcResetBitOfDWord - bit operation ________________________________________________________________ 5.48 L_DcResetBitOfDWord - bit operation Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB resets a single bit in a "DWORD" type value to "0". /B'F5HVHW%LW2I':RUG GZ,QSXW GZ2XWSXW E\%LW1U Inputs Identifier/data type dwInput byBitNr Information/possible settings DWORD BYTE Input signal No. (0 ...
5 Function blocks 5.49 L_DcResetBitOfWord - bit operation ________________________________________________________________ 5.49 L_DcResetBitOfWord - bit operation Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB resets a single bit in a "WORD" type value to "0". /B'F5HVHW%LW2I:RUG Z,QSXW Z2XWSXW E\%LW1U Inputs Identifier/data type wInput byBitNr Information/possible settings WORD BYTE Input signal No. (0 ...
5 Function blocks 5.50 L_DcSetBitOfByte - bit operation ________________________________________________________________ 5.50 L_DcSetBitOfByte - bit operation Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB sets a single bit in a "BYTE" type value to "1". /B'F6HW%LW2I%\WH E\,QSXW E\2XWSXW E\%LW1U Inputs Identifier/data type byInput byBitNr Information/possible settings BYTE BYTE Input signal No. (0 ...
5 Function blocks 5.51 L_DcSetBitOfDWord - bit operation ________________________________________________________________ 5.51 L_DcSetBitOfDWord - bit operation Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB sets a single bit in a "DWORD" type value to "1". /B'F6HW%LW2I':RUG GZ,QSXW GZ2XWSXW E\%LW1U Inputs Identifier/data type dwInput byBitNr Information/possible settings DWORD BYTE Input signal No. (0 ...
5 Function blocks 5.52 L_DcSetBitOfWord - bit operation ________________________________________________________________ 5.52 L_DcSetBitOfWord - bit operation Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB sets a single bit in a "WORD" type value to "1". /B'F6HW%LW2I:RUG Z,QSXW Z2XWSXW E\%LW1U Inputs Identifier/data type wInput byBitNr Information/possible settings WORD BYTE Input signal No. (0 ...
5 Function blocks 5.53 L_DcSpeed_sToNorm_n - signal converter ________________________________________________________________ 5.53 L_DcSpeed_sToNorm_n - signal converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB uses the transmitted machine parameters and converts a 32-bit speed signal into a scaled 32-bit signal.
5 Function blocks 5.54 L_DcSpeed_sToSpeed_v - signal converter ________________________________________________________________ 5.54 L_DcSpeed_sToSpeed_v - signal converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts a 32-bit speed signal into a 16-bit speed signal.
5 Function blocks 5.55 L_DcSpeed_vToSpeed_s - signal converter ________________________________________________________________ 5.55 L_DcSpeed_vToSpeed_s - signal converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts a 16-bit speed signal into a 32-bit speed signal.
5 Function blocks 5.56 L_DcWordBitand - bit combination ________________________________________________________________ 5.56 L_DcWordBitand - bit combination Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel FB is available as of library V02.02! Motion Control TopLevel This FB carries out a bit-by-bit AND operation of two input values of "WORD" type and also outputs the results as "WORD".
5 Function blocks 5.57 L_DcWordBitor - bit combination ________________________________________________________________ 5.57 L_DcWordBitor - bit combination Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel FB is available as of library V02.02! Motion Control TopLevel This FB carries out a bit-by-bit OR operation of two input values of "WORD" type and also outputs the results as "WORD".
5 Function blocks 5.58 L_DcWordBitxor - bit combination ________________________________________________________________ 5.58 L_DcWordBitxor - bit combination Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel FB is available as of library V02.02! Motion Control TopLevel This FB carries out a bit-by-bit EXCLUSIVE OR operation of two input values of "WORD" type and also outputs the results as "WORD".
5 Function blocks 5.59 L_DcWordTo2Bytes - type converter ________________________________________________________________ 5.59 L_DcWordTo2Bytes - type converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts an input value of type "WORD" into two output values of type "BYTE".
5 Function blocks 5.60 L_DcWordToBits - bit demultiplexer ________________________________________________________________ 5.60 L_DcWordToBits - bit demultiplexer Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB outputs the 16 corresponding bit values for an input value of type "WORD".
5 Function blocks 5.61 L_DcWordToByte - type converter ________________________________________________________________ 5.61 L_DcWordToByte - type converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts a data type "WORD" into the data type "BYTE" .
5 Function blocks 5.62 L_DcWordToDWord - type converter ________________________________________________________________ 5.62 L_DcWordToDWord - type converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts a data type "WORD" into the data type "DWORD" .
5 Function blocks 5.63 L_DcWordToInt - type converter ________________________________________________________________ 5.63 L_DcWordToInt - type converter Function library: LenzeDataConversion Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB converts a data type "WORD" into the data type "INT".
5 Function blocks 5.64 L_DevApplErr - error tripping ________________________________________________________________ 5.64 L_DevApplErr - error tripping Function library: LenzeDevice9400 Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB is used for error handling in the application. • Via the 8 boolean inputs up to 8 different application error messages with parameterisable module ID, error ID and error response can be released by the application.
5 Function blocks 5.64 L_DevApplErr - error tripping ________________________________________________________________ Outputs Identifier/data type Value/meaning dnState Display of the error message last transmitted to the operating system. DINT 1 Error message 1 is active. 2 Error message 2 is active. 4 Error message 3 is active. 8 Error message 4 is active. 16 Error message 5 is active. 32 Error message 6 is active. 64 Error message 7 is active. 128 Error message 8 is active.
5 Function blocks 5.65 L_DevApplErrFix - error tripping ________________________________________________________________ 5.65 L_DevApplErrFix - error tripping Function library: LenzeDevice9400 Runtime software licence: Motion Control HighLevel FB is available as of library V02.00! Motion Control TopLevel This FB is used for error handling in the application. • Via the 8 boolean inputs up to 8 different application error messages can be released by the application.
5 Function blocks 5.65 L_DevApplErrFix - error tripping ________________________________________________________________ Inputs Identifier/data type bSetError1 Information/possible settings BOOL Input for error message 1 (highest priority) FALSETRUE Error condition 1 is met and the parameterised application error message is output by the operating system. FALSE Error condition 1 is no longer met. ... ...
5 Function blocks 5.66 L_DevBrakeStateDecoder - status signals of the basic function "Brake control" ________________________________________________________________ 5.
5 Function blocks 5.66 L_DevBrakeStateDecoder - status signals of the basic function "Brake control" ________________________________________________________________ Outputs The boolean outputs have the following meaning when the value is TRUE: Bit* Identifier Meaning in case of TRUE 1 bActive Brake control is active. 4 bModulUsed Brake module is used. 8 bBrakeReleased 15 bErrorActive Brake status (internal status signal). Brake error is active (collective message).
5 Function blocks 5.67 L_DevDriveInterfaceStateDecoder - status signals of the drive interface ________________________________________________________________ 5.
5 Function blocks 5.67 L_DevDriveInterfaceStateDecoder - status signals of the drive interface ________________________________________________________________ Outputs The boolean outputs have the following meaning when the value is TRUE: Bit* Identifier Meaning in case of TRUE 1 bActive Basic function is active. 2 bDone Basic function is completed. 3 bAccDec Acceleration/deceleration phase is active. 5 bCcw Counter-clockwise rotation is active. 7 bHomePosOK Home position is known.
5 Function blocks 5.68 L_DevHomingStateDecoder - status signals of the basic function "Homing" ________________________________________________________________ 5.68 L_DevHomingStateDecoder - status signals of the basic function "Homing" Function library: LenzeDevice9400 Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB decodes the status output signal dnState of the SB LS_Homing into individual boolean status signals for further use in the FB interconnection.
5 Function blocks 5.68 L_DevHomingStateDecoder - status signals of the basic function "Homing" ________________________________________________________________ Outputs The boolean outputs have the following meaning when the value is TRUE: Bit* Identifier Meaning in case of TRUE 1 bActive Homing is active. 2 bDone Homing is completed. 3 bAccDec Acceleration/deceleration phase is active. 5 bCcw Counter-clockwise rotation is active. 7 bHomePosOK Home position is known.
5 Function blocks 5.69 L_DevLimiterStateDecoder - status signals of the basic function "Limiter" ________________________________________________________________ 5.
5 Function blocks 5.69 L_DevLimiterStateDecoder - status signals of the basic function "Limiter" ________________________________________________________________ Outputs The boolean outputs have the following meaning when the value is TRUE: Bit* Identifier Meaning in case of TRUE 0 bCinhForced Controller inhibit is initiated. (Safe torque off is requested.) 1 bQSPForced Quick stop is initiated. (Safe stop 1 is requested.) 2 bQSP2Forced Quick stop is initiated. (Safe stop 2 is requested.
5 Function blocks 5.70 L_DevManualJogStateDecoder - status signals of the basic function "ManualJog" ________________________________________________________________ 5.
5 Function blocks 5.70 L_DevManualJogStateDecoder - status signals of the basic function "ManualJog" ________________________________________________________________ Outputs The boolean outputs have the following meaning when the value is TRUE: Bit* Identifier Meaning in case of TRUE 1 bActive Manual jog is active. 2 bDone Manual jog is completed. 3 bAccDec Acceleration/deceleration phase is active. 5 bCcw Counter-clockwise rotation is active.
5 Function blocks 5.71 L_DevParReadFix - read parameter ________________________________________________________________ 5.71 L_DevParReadFix - read parameter Function library: LenzeDevice9400 FB is available as of library V02.00.xx.xx! FB may only be used for firmware as of V1.50! Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB reads a parameter and provides the read value to the application via the outputs dnData ... bData.
5 Function blocks 5.71 L_DevParReadFix - read parameter ________________________________________________________________ Identifier/data type dwCode dwSubcode dwComChannel Information/possible settings DWORD DWORD DWORD • If dwComChannel = "1" or bUseIndex = FALSE: Code (0 ... 16000) • If dwComChannel = "2" or "3" and bUseIndex = TRUE: CANopen index (0x0 ... 0xFFFF) Subcode (0 ... 255) Interface • Up to and including controller software version V07, only the selection "1" (own device) is supported.
5 Function blocks 5.71 L_DevParReadFix - read parameter ________________________________________________________________ Outputs Identifier/data type dnState Value/meaning Status (bit-coded) DINT • Bits that are not listed have not been assigned with a status (always "0"). bits0 Read request has been sent to the operating system and the FB is waiting for a response from the device addressed (signal bBusy). bits1 Read request has been executed correctly (signal bDone).
5 Function blocks 5.
5 Function blocks 5.71 L_DevParReadFix - read parameter ________________________________________________________________ Step 1: Activate SDO server channel 2 To gain read access via the L_DevParReadFix FB, the remote node ("9400 server") must have a parameterised SDO server channel suitable for this purpose. SDO server channels 2 ... 10 can be set via codes C00372 and C00373 at the 9400 server. • Subcodes 2 ... 10 stand for SDO server channels 2 ... 10.
5 Function blocks 5.71 L_DevParReadFix - read parameter ________________________________________________________________ Step 2: Read access to the 9400 server To gain read access to the parameters of the 9400 server, the L_DevParReadFix FB must be implemented into the application of the 9400 client. • The receive identifier of the server (in our example: 0x610) must be assigned to the dwTxCobId input.
5 Function blocks 5.72 L_DevParWriteFix - write parameter ________________________________________________________________ 5.72 L_DevParWriteFix - write parameter Function library: LenzeDevice9400 Runtime software licence: Motion Control HighLevel FB is available as of library V02.00.xx.xx! FB may only be used for firmware as of V1.50! Motion Control TopLevel This FB writes a parameter with the value of the data input dnData ... bData which has been selected via the dwDataTyp input.
5 Function blocks 5.72 L_DevParWriteFix - write parameter ________________________________________________________________ Inputs Identifier/data type bExecute Information/possible settings BOOL Activates a write request. FALSETRUE If the cycle time (dwCycleTime) = "0 ms" or the dwCycleTime input is not assigned: Write the parameter addressed via the inputs dwCode, dwSubcode, dwComChannel and dwTargetAddress once with the value of the data input which has been selected via dwDataTyp.
5 Function blocks 5.72 L_DevParWriteFix - write parameter ________________________________________________________________ Identifier/data type dwCycleTime dwTxCobId Information/possible settings DWORD DWORD From library V02.05.xx.xx dwRxCobId DWORD From library V02.05.xx.xx bUseIndex BOOL From library V02.05.xx.xx Cycle time (0 ... 100000 [ms]) • Interval for the cyclic writing of a parameter. • If an input is not assigned or if "0 ms" is selected, cyclic writing is deactivated.
5 Function blocks 5.72 L_DevParWriteFix - write parameter ________________________________________________________________ Identifier/data type bDone Value/meaning BOOL Status output "Write request executed correctly" • The output remains set until bExecute is reset to FALSE (however, at least for one task cycle). TRUE The write request has been executed correctly. bError BOOL Status output "Error" TRUE An error has occurred during processing.
5 Function blocks 5.73 L_DevPositionerStateDecoder - positioning status signals ________________________________________________________________ 5.73 L_DevPositionerStateDecoder - positioning status signals Function library: LenzeDevice9400 Runtime software licence: Motion Control HighLevel FB available from library V02.00.xx.
5 Function blocks 5.73 L_DevPositionerStateDecoder - positioning status signals ________________________________________________________________ Outputs The boolean outputs have the following meaning when the value is TRUE: Bit* Identifier Meaning in case of TRUE 1 bActive Positioning is active. 2 bDone Positioning is completed (all profiles have been processed). 3 bAccDec Acceleration/deceleration phase is active.
5 Function blocks 5.74 L_DevReadParDInt - reading parameters of the DINT type ________________________________________________________________ 5.74 L_DevReadParDInt - reading parameters of the DINT type Function library: LenzeDevice9400 FB is available from library V02.00.xx.xx onwards! FB may only be used for firmware from V1.
5 Function blocks 5.74 L_DevReadParDInt - reading parameters of the DINT type ________________________________________________________________ Outputs Identifier/data type dnState Value/meaning Status (bit coded) DINT • Bits that are not listed have not been assigned with a status (always "0"). Bit 0 Read request has been sent to the operating system and the FB is waiting for a response from the device addressed (signal bBusy). Bit 1 Read request has been executed correctly (signal bDone).
5 Function blocks 5.74 L_DevReadParDInt - reading parameters of the DINT type ________________________________________________________________ Parameter Possible settings C05914 0.000 s 10.000 Time-out time • Time in which the read request must have been processed. • Initialisation: 0.000 s C05915 0.000 s 100.000 Cycle time • Interval for the cyclic reading of a parameter. • Initialisation: 0.
5 Function blocks 5.75 L_DevSMControlDecoder - control signals from the safety module ________________________________________________________________ 5.75 L_DevSMControlDecoder - control signals from the safety module Function library: LenzeDevice9400 FB is available as of library V02.00.xx.xx! FB may only be used for firmware as of V1.
5 Function blocks 5.
5 Function blocks 5.76 L_DevSMControlEncoder - control word for limiter ________________________________________________________________ 5.76 L_DevSMControlEncoder - control word for limiter Function library: LenzeDevice9400 FB is available as of library V02.00.xx.xx! FB may only be used for firmware as of V1.
5 Function blocks 5.
5 Function blocks 5.77 L_DevSMStateDecoder - status signals from the safety module ________________________________________________________________ 5.77 L_DevSMStateDecoder - status signals from the safety module Function library: LenzeDevice9400 FB is available as of library V02.00.xx.xx! FB may only be used for firmware as of V1.
5 Function blocks 5.77 L_DevSMStateDecoder - status signals from the safety module ________________________________________________________________ Outputs Bit* Identifier Meaning in case of TRUE 0 bSafeTorqueOff Safe torque off (STO) is active as normal stop. 3 bErrorClassSTO Safe torque off (STO) is active as error stop. 4 bErrorClassSS1 Safe stop 1 (SS1) is active as error stop. 5 bErrorClassSS2 Safe stop 2 (SS2) is active as error stop.
5 Function blocks 5.78 L_DevSMStateDecoderIO - status signals from the safety module ________________________________________________________________ 5.78 L_DevSMStateDecoderIO - status signals from the safety module Function library: LenzeDevice9400 FB is available as of library V02.00.xx.xx! FB may only be used for firmware as of V1.
5 Function blocks 5.79 L_DevWriteParDInt - writing to parameters of the DINT type ________________________________________________________________ 5.79 L_DevWriteParDInt - writing to parameters of the DINT type Function library: LenzeDevice9400 FB is available from library V02.00.xx.xx onwards! FB may only be used for firmware from V1.
5 Function blocks 5.79 L_DevWriteParDInt - writing to parameters of the DINT type ________________________________________________________________ Outputs Identifier/data type dnState Value/meaning Status (bit coded) DINT • Bits that are not listed have not been assigned with a status (always "0"). Bit 0 Write request has been sent to the operating system and the FB is waiting for a response from the device addressed (signal bBusy). Bit 1 Write request has been executed correctly (signal bDone).
5 Function blocks 5.79 L_DevWriteParDInt - writing to parameters of the DINT type ________________________________________________________________ Parameter Possible settings C05923 0 C05924 0.000 s 10.000 Time-out time • Time in which the write request must have been processed. • Initialisation: 0.000 s C05925 0.000 s 100.000 Cycle time • Interval for the cyclic writing of a parameter. • Initialisation: 0.
5 Function blocks 5.80 L_EsClutchPos - clutch (time-controlled) ________________________________________________________________ 5.80 L_EsClutchPos - clutch (time-controlled) Function library: LenzeElectricalShaft Runtime software licence: Motion Control HighLevel FB is available as of library V01.
5 Function blocks 5.80 L_EsClutchPos - clutch (time-controlled) ________________________________________________________________ Inputs Identifier/data type dnPosIn_p dnOpenPos_p dnBaseSpeed_s bOpen Information/possible settings Input position in [increments] DINT • Selection of an external master position. • C05335/3 indicates the input position in the real unit of the machine.
5 Function blocks 5.80 L_EsClutchPos - clutch (time-controlled) ________________________________________________________________ Identifier/data type bLoadPosOut Information/possible settings BOOL Reset clutch-in process. • The function enables a "hard declutching". • This input has the second highest priority after bForcedClose. TRUE The dnPosOut_p output position is immediately set to the position defined via the dnLoadPosOut_p input. • The clutch is now declutched.
5 Function blocks 5.80 L_EsClutchPos - clutch (time-controlled) ________________________________________________________________ Parameter Possible settings Information C05332 Clutch mode 0 Declutching until standstill (dnOpenPos_p). 1 Declutching to basic speed (dnBaseSpeed_s). Lenze setting C05333/1 0.001 s 10.000 Relative declutch time • With regard to the dnOpenPos_p standstill position or the dnBaseSpeed_s basic speed. • Initialisation: 1.000 s C05333/2 0.001 s 10.
5 Function blocks 5.80 L_EsClutchPos - clutch (time-controlled) ________________________________________________________________ Parameter Possible settings Information C05339 Status messages: Status (bit coded) • Bits that are not itemised are reserved for future extensions. • The bError error output will only be set to TRUE if an error message (bit 16 ... 31) is issued. • Bit 31 is the default setting if one or more other error bits (bit 16 ... 30) are set.
5 Function blocks 5.80 L_EsClutchPos - clutch (time-controlled) ________________________________________________________________ Signal characteristics 103 Inc. State 5.80.1 1 0 1 0 1 0 1 0 1 0 1 0 100 bOpen bOpenInstant bLoadPosOut bClosed bInTarget bOpenDone dnPosIn_p dnOpenPos_p dnPosOut_p 50 Speed [rpm] 0 100 dnSpeedOut_s 50 0 0 500 1000 1500 Time [ms] 2000 2500 3000 L_EsClutchPos_SpId01_Utc01 103 Inc.
5 Function blocks 5.80 L_EsClutchPos - clutch (time-controlled) 103 Inc.
5 Function blocks 5.80 L_EsClutchPos - clutch (time-controlled) ________________________________________________________________ 5.80.2 Interconnection example [5-40] Interconnection example Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.81 L_EsEncoderConv - encoder signal conditioning ________________________________________________________________ 5.
5 Function blocks 5.81 L_EsEncoderConv - encoder signal conditioning ________________________________________________________________ Identifier/data type bLoadEncoderPos Information/possible settings BOOL From library V01.03.xx.
5 Function blocks 5.81 L_EsEncoderConv - encoder signal conditioning ________________________________________________________________ Parameter Possible settings Information C05272 Encoder mounting position 0 On the right Lenze setting 1 On the left C05273 1 2147483647 Singleturn resolution • Setting of the number of increments. • Initialisation: 2048 C05274 1 2147483647 Multiturn resolution • Number of revolutions.
5 Function blocks 5.81 L_EsEncoderConv - encoder signal conditioning ________________________________________________________________ 5.81.1 Typical application Via the FB a singleturn or multiturn absolute value bus encoder (CAN, Profibus) can be adapted to the application. • Example: Master value encoder via system bus (CAN) for detecting the speed of the material path. • The encoder information conditioned can be optionally used as absolute position or as master speed.
5 Function blocks 5.81 L_EsEncoderConv - encoder signal conditioning ________________________________________________________________ 5.81.3 64 bit encoder signal evaluation This function extension will be available from library V01.03.xx.xx! If "1: 64 bit encoder signal" has been selected in C05271, the dnEncoderIn2 input is evaluated in addition to the dnEncoderIn input for the second encoder signal: • The position (number of increments) is transmitted within a revolution via the dnEncoderIn input.
5 Function blocks 5.81 L_EsEncoderConv - encoder signal conditioning ________________________________________________________________ 5.81.4 Signal characteristics dnEncoderIn t bLoadStartPos t dnStartPos_p t dnPosOut_p dnStartPos_p dnSpeedOut_s t t "Unlimited" traversing range "Modulo" traversing range [5-41] Signal characteristics Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.82 L_EsStretchIntegrate - synchronously stretching/compressing the master value ________________________________________________________________ 5.82 L_EsStretchIntegrate - synchronously stretching/compressing the master value Function library: LenzeElectricalShaft Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB serves to stretch and compress a master value in the "Modulo" or "Unlimited" traversing range.
5 Function blocks 5.82 L_EsStretchIntegrate - synchronously stretching/compressing the master value ________________________________________________________________ Identifier/data type dnStartPos_p Information/possible settings Starting position in [inc] with which the integrator is loaded by setting DINT bLoadStartPos to TRUE. • C05295 indicates the starting position in the real unit of the machine.
5 Function blocks 5.82 L_EsStretchIntegrate - synchronously stretching/compressing the master value ________________________________________________________________ Parameter Possible settings Information C05294 -2147483647 C05295 -214748.3647 C05296 -214748.3647 Unit 214748.3647 Starting position • Display of the dnStartPos_p input signal in the real unit of the machine. C05297 -214748.3647 Unit 214748.
5 Function blocks 5.82 L_EsStretchIntegrate - synchronously stretching/compressing the master value ________________________________________________________________ 5.82.
5 Function blocks 5.83 L_LdAddOffsetCyclic - offset addition ________________________________________________________________ 5.83 L_LdAddOffsetCyclic - offset addition Function library: LenzeLineDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB serves to add any offset position to a position signal with Modulo cycle. • The clock pulse is created without remainder processing.
5 Function blocks 5.84 L_LdClutchAxisP - virtual clutch for synchronism ________________________________________________________________ 5.84 L_LdClutchAxisP - virtual clutch for synchronism Function library: LenzeLineDrive Do not use FB for new developments! Replacement by L_EsClutchPos. Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB provides the "Time-controlled virtual clutch" function with position reference for the "Synchronism" application.
5 Function blocks 5.84 L_LdClutchAxisP - virtual clutch for synchronism ________________________________________________________________ Identifier/data type bOpenInstant Information/possible settings BOOL Positive opening operation of the clutch. • This input has the second highest priority (after bEnable). FALSETRUE The master position dnPosOut_p is separated from the master shaft and stopped via the set ramp.
5 Function blocks 5.84 L_LdClutchAxisP - virtual clutch for synchronism ________________________________________________________________ Parameters Parameter Possible settings C05070/1 0.010 s 130.000 Ramp: Clutch in • Acceleration ramp for synchronising to the master shaft. • This specification and the reference speed that exists in the axis data serve to calculate an internal acceleration. This acceleration serves to calculate the clutch-in path.
5 Function blocks 5.85 L_LdClutchV - virtual clutch for electronic gearboxes ________________________________________________________________ 5.85 L_LdClutchV - virtual clutch for electronic gearboxes Function library: LenzeLineDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB provides the "Virtual clutch" function with speed reference for the "Electronic gearbox" application.
5 Function blocks 5.85 L_LdClutchV - virtual clutch for electronic gearboxes ________________________________________________________________ Outputs Identifier/data type Value/meaning dnState Status (bit coded) DINT bits1 State active bits3 Acceleration/deceleration phase bits8 Brake/clutch closed Bit15 Error bits23 No valid axis data structure bOpen BOOL Status signal "Clutch/declutch process is active" FALSE Clutch is closed, dnSpeedOut_s follows dnSpeedIn_s.
5 Function blocks 5.85 L_LdClutchV - virtual clutch for electronic gearboxes ________________________________________________________________ 314 Parameter Possible settings Information C05088 -214748.3647 Unit 214748.3647 Speed at the input • Read only • Calculated from the speed signal dnSpeedIn_s. C05089 -214748.3647 Unit 214748.3647 Speed at the output • Read only • Calculated from the speed signal dnSpeedOut_s. Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.86 L_LdConvAxisV - speed ratio ________________________________________________________________ 5.86 L_LdConvAxisV - speed ratio Function library: LenzeLineDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB transforms a speed between two axes.
5 Function blocks 5.86 L_LdConvAxisV - speed ratio ________________________________________________________________ Parameter Parameter Possible settings Information C05160 Coupling measuring systems X and Y 0 Coupling via feed constants Lenze setting 1 Coupling via cycles 2 Free coupling 316 C05161/1 0 Unit 214748.3647 Cycle X • Read only C05161/2 0 Unit 214748.3647 Cycle Y • Read only C05162/1 0.0000 214748.3647 Coupling factor X • Initialisation: 0.0000 C05162/2 0.0000 214748.
5 Function blocks 5.86 L_LdConvAxisV - speed ratio ________________________________________________________________ Function This FB transforms a speed between two axes, calculating the function of an electronic gearbox. The transformation works with remainder processing. Operating mode 0 (unit coupling): • In this operating mode, the FB couples both axes via the set feed constants. • Via C05162/1 and C05162/2 the ratio of the corresponding units is set, i.e.
5 Function blocks 5.87 L_LdDifferentiateCyclic - cyclic differentiation ________________________________________________________________ 5.87 L_LdDifferentiateCyclic - cyclic differentiation Function library: LenzeLineDrive Do not use FB for new developments! Replacement by L_SdDifferentiate. Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB differentiates a position with regard to a speed in consideration of the cycle.
5 Function blocks 5.88 L_LdExtrapolate - extrapolation ________________________________________________________________ 5.88 L_LdExtrapolate - extrapolation Function library: LenzeLineDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB serves to extrapolate position information in order to e.g. compensate higher bus transmission cycles or smooth absolute value encoders with low resolution. A forced extrapolation is also possible.
5 Function blocks 5.88 L_LdExtrapolate - extrapolation ________________________________________________________________ Outputs Identifier/data type bBusy bLimit bError dnSpeedOut_s dnPosOut_p Value/meaning BOOL BOOL BOOL Status signal "Extrapolation is executed" TRUE Extrapolation is executed. Status signal "Extrapolation limit reached" TRUE Extrapolation limit (C05000) reached. "Error" status signal TRUE Master position dnPosIn_p has exceeded the cycle defined in the machine parameters (AxisData).
5 Function blocks 5.88 L_LdExtrapolate - extrapolation ________________________________________________________________ 5.88.1 Function Compensation of bus transmission cycles > Sampling rate If position information (e.g. the vertical shaft position) is exchanged between master and slave drives via a bus system with a transmission cycle higher than the sampling rate or between tasks with different cycle times, the setpoints cannot be processed in the control cycle of the drives.
5 Function blocks 5.89 L_LdIntegrateCyclic - cyclic integration ________________________________________________________________ 5.89 L_LdIntegrateCyclic - cyclic integration Function library: LenzeLineDrive Do not use FB for new developments! Replacement by L_SdIntegrateAxis. Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB integrates a speed in a position (by analogy with the FB L_SdIntegrate) in consideration of the cycle.
5 Function blocks 5.89 L_LdIntegrateCyclic - cyclic integration ________________________________________________________________ Outputs Identifier/data type Value/meaning dnState Status (bit coded) DINT bits10 Zero crossing active bits14 Internal limitation for calculation Bit15 Error bits18 No cycle available bits21 Input error (e.g.
5 Function blocks 5.90 L_LdLinearCoupling - master value connection ________________________________________________________________ 5.90 L_LdLinearCoupling - master value connection Function library: LenzeLineDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB serves as master value connection for the "Synchronism" application.
5 Function blocks 5.
5 Function blocks 5.90 L_LdLinearCoupling - master value connection ________________________________________________________________ 5.90.1 Parameter Possible settings Information C05183 -214748.3647 Unit/t 214748.3647 Speed X at the output • Read only • Calculated from the speed signal dnXSpeedOut_s. C05184 -214748.3647 Unit/t 214748.3647 Speed Y at the output • Read only • Calculated from the speed signal dnYSpeedOut _s. C05186 -214748.3647 Unit 214748.
5 Function blocks 5.91 L_LdMarkSync - mark synchronisation ________________________________________________________________ 5.91 L_LdMarkSync - mark synchronisation Function library: LenzeLineDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel When mark synchronisation is performed, this FB calculates the position at which a mark signal (touch probe signal) occurred. Furthermore, the remaining distance to the setpoint position of the mark is observed and output.
5 Function blocks 5.91 L_LdMarkSync - mark synchronisation ________________________________________________________________ Identifier/data type dnMakeUpLeeway_s bResetPos Information/possible settings DINT BOOL Selection (addition) of the compensating speed as a speed signal • Scaling: 226 ≡ 15000 [rpm] • The dnActDifference_p output is set using this speed. The following applies from library V02.04.xx.
5 Function blocks 5.91 L_LdMarkSync - mark synchronisation ________________________________________________________________ Identifier/data type dnTpSetPos_p Information/possible settings DINT AxisData Touch probe setpoint position in [inc] • At this input, specify the position at which the touch probe ideally occurs. • If the touch probe is detected at its (ideal) TP setpoint position, a correcting motion is not required (TP difference dnTpDifference_p = 0).
5 Function blocks 5.91 L_LdMarkSync - mark synchronisation ________________________________________________________________ Identifier/data type dnTpTpDistance_p dnTpPos_p 5.91.1 Value/meaning DINT Distance between the two touch probes last detected in [increments] • May e.g. serve to determine the print register (distance between two print marks).
5 Function blocks 5.91 L_LdMarkSync - mark synchronisation ________________________________________________________________ Synchronisation to print marks The "Arrows" print image is to be printed properly on to the "Lenze" print image on the web. For this purpose and in addition to the material speed signal (master value encoder), the printing roller drive receives a pulse from the print-mark sensor which is connected to one of the digital inputs of the controller.
5 Function blocks 5.91 L_LdMarkSync - mark synchronisation ________________________________________________________________ 5.91.2 Signal characteristics The following signal characteristics result during the current print-mark correction: [5-49] Signal characteristics 332 Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.91 L_LdMarkSync - mark synchronisation ________________________________________________________________ 5.91.3 Interconnection example Interconnection example of a controlled compensation of print-mark deviation ΔxTP via a time-controlled positioning profile: Connection with LS_PositionFollower.PF_dnSpeedAdd1_s [5-50] Model connection Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.91 L_LdMarkSync - mark synchronisation ________________________________________________________________ Function block Function L_LdPosCtrlLin4 Time-controlled profile generation • Using the detected deviation (print-mark correction path), the L_LdPosCtrlLin FB generates a time-controlled speed setpoint. • The speed setpoint is provided at the L_LdPosCtrlLin4.dnSpeedOut_s output.
5 Function blocks 5.92 L_LdMonitFollowError - following error monitoring ________________________________________________________________ 5.92 L_LdMonitFollowError - following error monitoring Function library: LenzeLineDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB serves to implement a following error monitoring.
5 Function blocks 5.92 L_LdMonitFollowError - following error monitoring ________________________________________________________________ Parameter Possible settings Information C05178 FALSE Following error of a lower switching threshold Following error outside the tolerance • Read only TRUE Following error of a higher switching threshold C05179 FALSE Deactivated Following error monitoring • Read only TRUE Activated 336 Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.93 L_LdMPot - master value adjustment ________________________________________________________________ 5.93 L_LdMPot - master value adjustment Function library: LenzeLineDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB serves to execute a master value adjustment.
5 Function blocks 5.93 L_LdMPot - master value adjustment ________________________________________________________________ Outputs Identifier/data type bBusy Value/meaning BOOL Status signal "Master value adjustment is active" FALSE Master value adjustment is deactivated. • Output dnSpeedOut_s = "0". TRUE Master value adjustment is activated. • Output dnSpeedOut_s ≠ "0". dnSpeedOut_s DINT Master speed output in [rpm] • C05127 indicates the master speed in the real unit of the machine.
5 Function blocks 5.93 L_LdMPot - master value adjustment ________________________________________________________________ 5.93.1 Monitoring for counter overflow This function extension will be available from library V2.02! If the machine parameters transferred to the FB via the AxisData input are changed afterwards (e.g. the gearbox factors), this may cause a counter overflow when the speed values defined via C05122 and C05123 are converted from the real unit to the internal unit.
5 Function blocks 5.94 L_LdPosCtrlLin - Master value adjustment via position ________________________________________________________________ 5.94 L_LdPosCtrlLin - Master value adjustment via position Function library: LenzeLineDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB permits the time-controlled profile generation with linear acceleration/deceleration ramps.
5 Function blocks 5.94 L_LdPosCtrlLin - Master value adjustment via position ________________________________________________________________ Inputs Identifier/data type bEnable Information/possible settings BOOL Activate FB FALSE FB deactivated: • The dnPosOut_p output position and the dnSpeedOut_s output speed behave according to the deactivation mode set in C05051. • The bInTarget status signal is reset.
5 Function blocks 5.94 L_LdPosCtrlLin - Master value adjustment via position ________________________________________________________________ Outputs Identifier/data type bInTarget Value/meaning BOOL Status signal "target position reached" • Display parameter: C05069 • The status signal is reset when the bEnable input is reset to FALSE.
5 Function blocks 5.94 L_LdPosCtrlLin - Master value adjustment via position ________________________________________________________________ Parameters Parameter Possible settings C05050 Info Positioning mode 0 Absolute positioning without limit Lenze setting stop • When positioning is started (bExecute = TRUE), the outputs dnPosOut_p and dnSpeedOut_s are led to the target position with the set profile parameters.
5 Function blocks 5.94 L_LdPosCtrlLin - Master value adjustment via position ________________________________________________________________ Parameter Possible settings Info C05051 Mode after deactivation 0 Positioning function deactivated: Lenze setting • The position output dnPosOut_p is set to zero. • The bInTarget status signal is reset to FALSE. 1 Positioning function changes in standby status: • The dnPosOut_p positioning output is kept on the current position dnActPos_p.
5 Function blocks 5.94 L_LdPosCtrlLin - Master value adjustment via position ________________________________________________________________ Parameter Possible settings Info C05056/3 0.010 C05065 -2147483647 Unit/t 2147483647 Speed at the output • Display of the dnSpeedOut_s output signal in the real unit of the machine. C05067 -214748.3647 Unit 214748.3647 Position at the output • Display of the dnPosOut_p output signal in the real unit of the machine. s 130.
5 Function blocks 5.94 L_LdPosCtrlLin - Master value adjustment via position ________________________________________________________________ 5.94.2 Interconnection examples 5.94.2.1 Printing roller trimming via x offset In many cases, an angular trimming of the slave drive to the master position is required. Usually, this angular trimming is executed via an x offset. This x offset virtually trims the master value and thus aligns the following axis correctly to the process.
5 Function blocks 5.94 L_LdPosCtrlLin - Master value adjustment via position ________________________________________________________________ The FB LdPosCtrlLin serves to constantly adjust the x offset position. For this purpose the FB must be interconnected as follows in connection with the L_LdLinearCoupling synchronous function: [5-53] Model connection Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.94 L_LdPosCtrlLin - Master value adjustment via position ________________________________________________________________ Function block Function L_SdSetPosition1 Selection of an x offset value • The FB L_SdSetPosition converts the position value defined in the application unit [unit] into an incremental value. • The reference measuring system is the master measuring system which is defined via the FB L_SdSetAxisData (not displayed).
5 Function blocks 5.94 L_LdPosCtrlLin - Master value adjustment via position ________________________________________________________________ The following signal characteristics exemplifies the x offset adjustment from zero to an offset value xmax: GQ;3RV,QBS [PD[ W GQ;2IIVHWBS [PD[ [PD[ W GQ;$FW3RVBS [PD[ [PD[ W Area of the x offset adjustment [5-54] Signal characteristics - x offset adjustment Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.94 L_LdPosCtrlLin - Master value adjustment via position ________________________________________________________________ 5.94.2.2 Time-based compensation of mark correction In many production processes, a print register is already defined on the web, e.g. via print marks.
5 Function blocks 5.94 L_LdPosCtrlLin - Master value adjustment via position ________________________________________________________________ Options for compensating the print mark deviation: A. Immediate compensation of ΔxTP • During the compensation speed Vx,comp delta pulses occur, since the x value is set to its set position xTP when the print mark pulse occurs. [5-56] Immediate compensation of the print mark deviation ΔxTP B.
5 Function blocks 5.94 L_LdPosCtrlLin - Master value adjustment via position ________________________________________________________________ Interconnection example of a controlled compensation of print-mark deviation ΔxTP via a time-controlled positioning profile: Connection with LS_PositionFollower.PF_dnSpeedAdd1_s [5-58] Model connection 352 Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.94 L_LdPosCtrlLin - Master value adjustment via position ________________________________________________________________ Function block Function L_LdPosCtrlLin4 Time-controlled profile generation • Using the detected deviation (print-mark correction path), the L_LdPosCtrlLin FB generates a time-controlled speed setpoint. • The speed setpoint is provided at the L_LdPosCtrlLin4.dnSpeedOut_s output.
5 Function blocks 5.95 L_LdSetAxisVelocity - master value processing ________________________________________________________________ 5.95 L_LdSetAxisVelocity - master value processing Function library: LenzeLineDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB serves to extend/compress the X axis and execute a synchronisation via touch probe. The master speed is integrated to the position within the cycle.
5 Function blocks 5.95 L_LdSetAxisVelocity - master value processing ________________________________________________________________ Identifier/data type bNegOutput Information/possible settings BOOL Invert master speed • Direct sign reversal of the master speed. • The inversion of the master value gets active before the master value scaling and the stretch factor. FALSE CW rotation, the master value is not reversed. TRUE CCW rotation, the master value is reversed.
5 Function blocks 5.
5 Function blocks 5.95 L_LdSetAxisVelocity - master value processing ________________________________________________________________ Parameter Parameter Possible settings C05034 -214748.3647 Information C05035/1 String of digits Position unit • Read only String of digits Speed unit • Read only 214748.3647 Status • Display of the bit-coded output signal dnState. As of library V02.02.xx.xx C05035/2 As of library V02.02.xx.xx C05036 -214748.3647 Unit/t 214748.
5 Function blocks 5.96 L_LdStateDecoder - LineDrive status signals ________________________________________________________________ 5.96 L_LdStateDecoder - LineDrive status signals Function library: LenzeLineDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB decodes the status output signal dnState of an FB from the function library "LenzeLineDrive.lib" into individual boolean status signals for further use in the FB interconnection.
5 Function blocks 5.96 L_LdStateDecoder - LineDrive status signals ________________________________________________________________ Outputs The boolean outputs have the following meaning when the value is TRUE: Bit* Identifier Meaning in case of TRUE Status messages: 0 bInit Function is being initialised. 1 bActive Function is active. 2 bDone Function is completed. 3 bAccDec Acceleration/deceleration phase is active. 4 bWarnPosDiff Position change per cycle too big.
5 Function blocks 5.97 L_LdToolControl - setpoint conditioning ________________________________________________________________ 5.97 L_LdToolControl - setpoint conditioning Function library: LenzeLineDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB serves to execute a setpoint conditioning.
5 Function blocks 5.97 L_LdToolControl - setpoint conditioning ________________________________________________________________ Identifier/data type bResetSetToAct bTpEnable bTpReceived Information/possible settings BOOL BOOL Delete following error TRUE Transmits the value of the ACT integrator to the SET integrator. • The output value dnActPosCycle_p is set to the output value dnSetPosCycle_p. Activate touch probe evaluation TRUE Touch probe evaluation activated.
5 Function blocks 5.97 L_LdToolControl - setpoint conditioning ________________________________________________________________ Identifier/data type Value/meaning dnTpDifference_p Difference between dnTpPos_p and the position measured after detecting a touch DINT probe in [inc]. dnDifference_p Current difference between dnTpPos_p and the position measured after detecting a DINT touch probe in [inc]. • C05153 indicates the deviation in the real unit of the machine.
5 Function blocks 5.98 L_LdSyncOperation - master value connection ________________________________________________________________ 5.98 L_LdSyncOperation - master value connection Function library: LenzeLineDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB implements synchronism between a master drive and a slave drive: • Drift-free synchronism between master drive and slave drive (modulo measuring systems) with different types of couplings.
5 Function blocks 5.98 L_LdSyncOperation - master value connection ________________________________________________________________ Identifier/data type dnXPosIn_p dnXOffset_p 364 Information/possible settings DINT DINT Selection of the master position in [inc] • The master position must not exceed the permissible modulo value range of the master measuring system (the XAxisData input).
5 Function blocks 5.98 L_LdSyncOperation - master value connection ________________________________________________________________ Outputs Identifier/data type Value/meaning dnState Status (bit coded) DINT bits10 Zero crossing active (corresponds to the bXZeroPos output signal) bits14 Internal limitation for calculation: The dnYSpeedOut_s and/or dnYSpeedOut_s speed outputs are not able to follow the change in the resulting dnActXPos_p master position. The reference to the master cycle gets lost.
5 Function blocks 5.98 L_LdSyncOperation - master value connection ________________________________________________________________ Identifier/data type bXZeroPos Value/meaning Status signal: "Cycle zero crossing in the modulo cycle of the master measuring sysBOOL tem" FALSE Cycle zero crossing did not occur: The resulting dnXActPos_p master position is non-zero, the resulting master value is in the x modulo cycle.
5 Function blocks 5.98 L_LdSyncOperation - master value connection ________________________________________________________________ Parameter Possible settings C05094 -214748.3647 Unit 214748.3647 Position x at the input (master position) • Display of the dnXPosIn_p input signal in the real unit of the machine. C05095 -214748.3647 Unit 214748.3647 Trimming X • Display of the dnXOffset_p input signal in the real unit of the machine. C05096 -214748.3647 Unit/t 214748.
5 Function blocks 5.98 L_LdSyncOperation - master value connection ________________________________________________________________ 5.98.1 Operating mode 0: Coupling via feed constants In this operating mode, the FB couples the axes of the master drive and the slave drive via the set feed constants. The cycles of the master measuring system and the slave measuring system do not have any effect. • Via C05092/1 and C05092/2 the ratio of the corresponding units is set, i.e.
5 Function blocks 5.98 L_LdSyncOperation - master value connection ________________________________________________________________ 5.98.2 Operating mode 1: Coupling via cycles In this operating mode, the FB couples the axes of the master drive and the slave drive via the set feed constants and the cycles. One of the cycles of the master drive is mapped on one of the cycles of the slave drive.
5 Function blocks 5.98 L_LdSyncOperation - master value connection ________________________________________________________________ 5.98.3 Operating mode 2: Free coupling In this operating mode, the FB couples the axes of the master drive and the slave drive only via the gearbox factors of the master drive/slave drive and the coupling factors parameterised in C05092/ 1 and C05092/2.
5 Function blocks 5.98 L_LdSyncOperation - master value connection ________________________________________________________________ 5.98.4 Angular trimming via x offset In many production processes, several processing steps in a row are required for a product to be manufactured. Every machining process must be brought into line with the previous one to ensure the desired product quality. This is called angular trimming and normally achieved via a so-called x offset.
5 Function blocks 5.98 L_LdSyncOperation - master value connection ________________________________________________________________ The dnXOffset_p x offset is additively superimposed on the dnXPosIn_p master position and then projected again on the modulo cycle of the master measuring system. The resulting master position is output at the dnXActPos_p output.
5 Function blocks 5.99 L_LdVirtualMasterP - virtual master for synchronism ________________________________________________________________ 5.99 L_LdVirtualMasterP - virtual master for synchronism Function library: LenzeLineDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB provides the "Virtual master" function for the "Synchronism" application.
5 Function blocks 5.99 L_LdVirtualMasterP - virtual master for synchronism ________________________________________________________________ Identifier/data type bCycle Information/possible settings BOOL Control - single cycle • Only possible when: • C05010 = "1: Inching" or • C05010 = "3: Enable speed and mode by process data" and dwOperatingMode = "1" (inching). In this case, the speed is selected via the dnSpeedSet_s input. FALSETRUE Cyclic operation of the master shaft dnPosOut_p is started.
5 Function blocks 5.99 L_LdVirtualMasterP - virtual master for synchronism ________________________________________________________________ Identifier/data type dwOperatingMode Information/possible settings DWORD From library V02.07.xx.xx Selection of the operating mode via process date • This input is only active if the operating mode "3: Speed and mode via input" has been selected in C05010.
5 Function blocks 5.99 L_LdVirtualMasterP - virtual master for synchronism ________________________________________________________________ Parameter Possible settings Info C05011 0.0000 Unit 214000.0000 Target position • The target position must be inside the cycle. • Initialisation: 0.0000 unit C05012 0.0000 Unit 214000.0000 Starting position • The starting position must be inside the cycle. • Initialisation: 0.0000 unit C05013/1 -214000.0000 Unit/t 214000.
5 Function blocks 5.99 L_LdVirtualMasterP - virtual master for synchronism ________________________________________________________________ 5.99.1 Functions Handwheel function • Ensures an easy control of a machine run. The clutched drives are interconnected in a system. • Incremental encoders via DFIN or multiple encoder input. An input must be selected. • No ramp functions are active.
5 Function blocks 5.99 L_LdVirtualMasterP - virtual master for synchronism ________________________________________________________________ Profile generator/stopping at stop position: • The process can be executed via several machine cycles (example: printing machines). The setting of the operating time is decisive. Load starting position: • The starting position set in C05012 is accepted by setting bLoadStartPos to TRUE. • For this, the enable input bEnable must be set to TRUE.
5 Function blocks 5.100 L_LdVirtualMasterV - virtual master for electronic gearboxes ________________________________________________________________ 5.100 L_LdVirtualMasterV - virtual master for electronic gearboxes Function library: LenzeLineDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB provides the "Virtual master" function for the "Electronic gearbox" application.
5 Function blocks 5.100 L_LdVirtualMasterV - virtual master for electronic gearboxes ________________________________________________________________ Identifier/data type Information/possible settings dnHandwheel_s DINT bStopInstant BOOL Master speed for the handwheel function of the master shaft. • At this input, the FB expects a speed in [rpm]. The machine parameters at the input AxisData are used as speed reference.
5 Function blocks 5.100 L_LdVirtualMasterV - virtual master for electronic gearboxes ________________________________________________________________ Parameter Parameter Possible settings Information C05100 VMaster: Operating mode 0 Continuous operation Lenze setting 1 Inching 2 Handwheel function 3 Selection of speed and mode via input C05101 String of digits Speed unit • Read only As of library V02.02.xx.
5 Function blocks 5.100 L_LdVirtualMasterV - virtual master for electronic gearboxes ________________________________________________________________ 5.100.1 Functions Handwheel function • Ensures an easy control of a machine run. The clutched drives are interconnected in a system. • Incremental encoders via DFIN or multiple encoder input. An input must be selected. • No ramp functions are active.
5 Function blocks 5.100 L_LdVirtualMasterV - virtual master for electronic gearboxes ________________________________________________________________ Change over to second master speed • By setting bEnable2ndSpeedSet to TRUE, the master speed 1 (C05103/1) is changed to master speed 2 (C05103/2). • Ramp functions are active. • The function can be used e.g. for applications with reduced machine speed.
5 Function blocks 5.101 L_LdZeroDetect - zero crossing detection ________________________________________________________________ 5.101 L_LdZeroDetect - zero crossing detection Function library: LenzeLineDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB observes a clocked position and detects zero crossings. • The cycle and shift factor for the position resolution are read out of the machine parameters (AxisData).
5 Function blocks 5.102 L_PosDecoderStatePositioner - positioning status signals ________________________________________________________________ 5.102 L_PosDecoderStatePositioner - positioning status signals Function library: LenzePositioning Do not use FB for new developments! Replacement by L_DevPositionerStateDecoder.
5 Function blocks 5.102 L_PosDecoderStatePositioner - positioning status signals ________________________________________________________________ Outputs The boolean outputs have the following meaning when the value is TRUE: Bit* Identifier Meaning in case of TRUE Status messages: 1 bActive Positioning is active. 2 bDone Positioning is completed (all profiles have been processed). 3 bAccDec Acceleration/deceleration phase is active. 5 bCcw Counter-clockwise rotation is active.
5 Function blocks 5.103 L_PosDecoderStateSequencer - status signals of the sequence control ________________________________________________________________ 5.103 L_PosDecoderStateSequencer - status signals of the sequence control Function library: LenzePositioning Do not use FB for new developments! Replacement by L_PosSequencerStateDecoder.
5 Function blocks 5.104 L_PosGetProfile - profile data tables ________________________________________________________________ 5.104 L_PosGetProfile - profile data tables Function library: LenzePositioning Runtime software licence: Motion Control HighLevel Motion Control TopLevel Together with an FB instance of type L_PosPositionerTable or L_PosProfileTable this FB provides five profile data sets that can be selected.
5 Function blocks 5.105 L_PosGetProfileData - profile data output ________________________________________________________________ 5.105 L_PosGetProfileData - profile data output Function library: LenzePositioning Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB outputs the profile data of a profile data set.
5 Function blocks 5.105 L_PosGetProfileData - profile data output ________________________________________________________________ Outputs Identifier/data type Value/meaning dnState Status (bit coded) DINT Bit15 Error is active (collective message). bits29 Error: Invalid profile data.
5 Function blocks 5.
5 Function blocks 5.106 L_PosGetTableAcc - acceleration table ________________________________________________________________ 5.106 L_PosGetTableAcc - acceleration table Function library: LenzePositioning Runtime software licence: Motion Control HighLevel Motion Control TopLevel Together with an FB instance of type L_PosPositionerTable this FB provides five acceleration values from the VTACC variable table.
5 Function blocks 5.106 L_PosGetTableAcc - acceleration table ________________________________________________________________ Outputs Identifier/data type Value/meaning dnState Status (bit coded) DINT Bit15 Error is active (collective message). bit16 dwAccTableNumber1 is not within the valid range. bits17 dwAccTableNumber2 is not within the valid range. bits18 dwAccTableNumber3 is not within the valid range. Bit 19 dwAccTableNumber4 is not within the valid range.
5 Function blocks 5.107 L_PosGetTableJerk - S-ramp time table ________________________________________________________________ 5.107 L_PosGetTableJerk - S-ramp time table Function library: LenzePositioning Runtime software licence: Motion Control HighLevel Motion Control TopLevel Together with an FB instance of type L_PosPositionerTable this FB provides five S-ramp times from the VTJERK variable table.
5 Function blocks 5.108 L_PosGetTablePos - position table ________________________________________________________________ 5.108 L_PosGetTablePos - position table Function library: LenzePositioning Runtime software licence: Motion Control HighLevel Motion Control TopLevel Together with an FB instance of type L_PosPositionerTable this FB provides five position values from the VTPOS variable table.
5 Function blocks 5.109 L_PosGetTableSpeed - speed table ________________________________________________________________ 5.109 L_PosGetTableSpeed - speed table Function library: LenzePositioning Runtime software licence: Motion Control HighLevel Motion Control TopLevel Together with an FB instance of type L_PosPositionerTable this FB provides five speed values from the VTSPEED variable table.
5 Function blocks 5.110 L_PosPositionerInterface - positioning interface ________________________________________________________________ 5.110 L_PosPositionerInterface - positioning interface Function library: LenzePositioning FB is available as of library V02.00.xx.xx! FB may only be used for firmware as of V1.
5 Function blocks 5.110 L_PosPositionerInterface - positioning interface ________________________________________________________________ 5.110.
5 Function blocks 5.110 L_PosPositionerInterface - positioning interface ________________________________________________________________ 5.110.2 Applications Application FB control Notes Start positioning bStart = TRUE Cancel/interrupt positioning bStart = FALSE Continue positioning bStart = FALSETRUE Profile data will be read again; the distance already traversed will be considered.
5 Function blocks 5.111 L_PosPositionerTable - profile data record management ________________________________________________________________ 5.111 L_PosPositionerTable - profile data record management Function library: LenzePositioning Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB is used to store and manage (traversing) profiles and to teach positions, speeds, accelerations/decelerations and S-ramp times.
5 Function blocks 5.111 L_PosPositionerTable - profile data record management ________________________________________________________________ Inputs Identifier/data type dwProfileNumber Information/possible settings DWORD Profile selection • Number of the profile the profile parameters of which are to be transferred to the SB LS_Positioner via the output ProfileData. • If a sequence profile is defined in the selected profile, this profile is only the first profile of an arbitrary linkage of profiles.
5 Function blocks 5.111 L_PosPositionerTable - profile data record management ________________________________________________________________ Identifier/data type dwJerk Information/possible settings DWORD AxisData S-ramp time to be "taught" in [ms] Machine parameters • For accepting the machine parameters of the drive/motor, connect this input with the output DI_AxisData of the SB LS_DriveInterface. • The machine parameters of a master drive can be displayed with the FB L_SdSetAxisData.
5 Function blocks 5.111 L_PosPositionerTable - profile data record management ________________________________________________________________ Parameter Possible settings Information C04700/3 01 The acceleration/deceleration assigned to the input dnAcc_s is stored at the VTACC table position selected via the input dwAccTableNumber. C04700/4 Teach acceleration • For execution via parameter channel. "Teach" S-ramp time • For execution via parameter chan01 The S-ramp time assigned to the innel.
5 Function blocks 5.111 L_PosPositionerTable - profile data record management ________________________________________________________________ Parameter Possible settings Information C04707/1 -214748.3647 Unit 214748.3647 DIS:dnTeachPos • Display of the dnPos_p input signal in the real unit of the machine. C04707/2 -214748.3647 Unit/s 214748.3647 DIS:dnTeachSpeed • Display of the dnSpeed_s input signal in the real unit of the machine. C04707/1 -214748.3647 unit/s2 214748.
5 Function blocks 5.111 L_PosPositionerTable - profile data record management ________________________________________________________________ Parameter Possible settings C04714/1...75 (subcode 1 ... 75 ≡ profile no. 1 ... 75) 1 VTACC position 1 (C04703/1) 2 VTACC position 2 (C04703/2) Information Deceleration from VTACC • Reference to VTACC table position to define the profile parameter "Deceleration". ... ... 50 VTACC position 50 (C04703/50) C04715/1...75 (subcode 1 ... 75 ≡ profile no. 1 ...
5 Function blocks 5.111 L_PosPositionerTable - profile data record management ________________________________________________________________ Parameter Possible settings Information C04721/1...75 Value is bit-coded: Touch probe configuration • The touch probe channels to be used are selected by setting the corresponding bits to "1". (subcode 1 ... 75 ≡ profile no. 1 ...
5 Function blocks 5.111 L_PosPositionerTable - profile data record management ________________________________________________________________ 5.111.1 Variable tables To simplify parameter handling, the four most important physical sizes for profile parameters are stored in separate "variable tables".
5 Function blocks 5.111 L_PosPositionerTable - profile data record management ________________________________________________________________ Conversion of the values into internal values The values of the variable tables VTPOS, VTSPEED, VTACC and VTJERK are always entered in the application unit [unit]. • Since the SB LS_Positioner needs the profile parameters in the internal measuring system, the FB L_PosPositionerTable also stores the values of the variable tables in this measuring system.
5 Function blocks 5.111 L_PosPositionerTable - profile data record management ________________________________________________________________ 5.111.3 Positioning modes Depending on the traversing range/application, you can select between different positioning modes which are described in the below table. Note! For absolute positioning, the home position must be known! • If an absolute positioning process (positioning modes 1 ... 2 and 11 ...
5 Function blocks 5.111 L_PosPositionerTable - profile data record management ________________________________________________________________ Positioning mode Supported traversing range Unlimited Limited Modulo 11 Absolute CW (modulo) The axis travels in CW direction to an absolute position. • Reference for the absolute position is zero position. • In this direction the zero position of the axis can be overtravelled.
5 Function blocks 5.111 L_PosPositionerTable - profile data record management ________________________________________________________________ 5.111.4 Positioning with final speed If a positioning process with a final speed other than zero is carried out, a velocity changeover / overchange can be realised, i.e. a second positioning process is started immediately once the target position is reached, and the drive does not come to a standstill at the first target position.
5 Function blocks 5.111 L_PosPositionerTable - profile data record management ________________________________________________________________ 5.111.5 Touch probe positioning With touch probe positioning, the profile is first processed according to the set profile parameters. If a touch probe is detected during profile processing, the profile automatically changes to the profile specified under the profile parameter "TP sequence profile".
5 Function blocks 5.111 L_PosPositionerTable - profile data record management ________________________________________________________________ Touch probe configuration The touch probe channel for positioning with touch probe detection can be selected in the »Engineer« via the parameter dialog of the FB L_PositionerTable.
5 Function blocks 5.112 L_PosProfileInterface - profile data interface ________________________________________________________________ 5.112 L_PosProfileInterface - profile data interface Function library: LenzePositioning Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB provides a profile data record for the SB LS_Positioner.
5 Function blocks 5.
5 Function blocks 5.112 L_PosProfileInterface - profile data interface ________________________________________________________________ Identifier/data type dwJerkMode Information/possible settings DWORD From library V02.05.xx.xx S-ramp mode • Will be supported as of controller software version V5.0. With software versions < V5.0, this input has no function. 0 Second S-ramp time is not active. • The dnJerk S-ramp time is used for the acceleration and deceleration phase.
5 Function blocks 5.112 L_PosProfileInterface - profile data interface ________________________________________________________________ Positioning mode Supported traversing range Unlimited Limited 1 Absolute The axis travels to an absolute position. • Reference for the absolute position is zero position. • The home position must be known. • The traversing range is limited: • to 214748.
5 Function blocks 5.112 L_PosProfileInterface - profile data interface ________________________________________________________________ Positioning mode Supported traversing range Unlimited Limited Modulo 15 Absolute ShortestWay (modulo) The axis travels to an absolute position in best time. • Reference for the absolute position is zero position. • The rotary table positioning is basically an absolute positioning with target positions between 0 and 360 angular degree [°].
5 Function blocks 5.112 L_PosProfileInterface - profile data interface ________________________________________________________________ 5.112.3 Touch probe positioning With touch probe positioning, the profile is first processed according to the set profile parameters. If a touch probe is detected during profile processing, the profile automatically changes to the "sequence profile with TP", which has been defined via the NextTPProfileData input.
5 Function blocks 5.113 L_PosProfileTable - profile data record management (simple) ________________________________________________________________ 5.113 L_PosProfileTable - profile data record management (simple) Function library: LenzePositioning Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB is used to store and manage up to four traversing profiles and to "teach" target positions.
5 Function blocks 5.113 L_PosProfileTable - profile data record management (simple) ________________________________________________________________ Identifier/data type dnTeachPos_p Information/possible settings DINT AxisData Position to be "taught" in [inc] Machine parameters • For accepting the machine parameters of the drive/motor, connect this input with the output DI_AxisData of the SB LS_DriveInterface. • The machine parameters of a master drive can be displayed with the FB L_SdSetAxisData.
5 Function blocks 5.113 L_PosProfileTable - profile data record management (simple) ________________________________________________________________ Parameter Possible settings Information C04752/1...4 -214748.3647 Unit/t 214748.3647 Speed 0.0000 Unit/t2 214748.3647 Acceleration 0.0000 Unit/t2 214748.3647 Delay 0.000 s (Subcode 1 ... 4 ≡ profile no. 1 ... 4) C04753/1...4 (Subcode 1 ... 4 ≡ profile no. 1 ... 4) C04754/1...4 (Subcode 1 ... 4 ≡ profile no. 1 ... 4) C04755/1...4 2147483.
5 Function blocks 5.113 L_PosProfileTable - profile data record management (simple) ________________________________________________________________ Parameter Possible settings Information C04760/1 -214748.3647 Unit 214748.3647 External target position • Display of the dnExtPos_p input signal in the real unit of the machine. C04760/2 -214748.3647 Unit 214748.3647 Teach position • Display of the dnTeachPos_p input signal in the real unit of the machine.
5 Function blocks 5.113 L_PosProfileTable - profile data record management (simple) ________________________________________________________________ 5.113.1 Profile data table Profile parameter data is directly entered under the assigned codes. • Exception: The position assigned to the input dnExtPos_p will be used as target position if profile number 1 is selected. Profile parameters Unit Profile no. 1 Profile no. 2 Profile no. 3 Profile no.
5 Function blocks 5.113 L_PosProfileTable - profile data record management (simple) ________________________________________________________________ 5.113.2 "Teach" function In addition to the direct value entry via parameters, the target position for a profile can also be stored by means of the "teach" function. The "teaching" of a value can be activated via an FB input or by describing a parameter (e.g.
5 Function blocks 5.113 L_PosProfileTable - profile data record management (simple) ________________________________________________________________ 5.113.3 Positioning modes Depending on the traversing range/application, you can select between different positioning modes which are described in the below table. Note! For absolute positioning, the home position must be known! • If an absolute positioning process (positioning modes 1 ... 2 and 11 ...
5 Function blocks 5.113 L_PosProfileTable - profile data record management (simple) ________________________________________________________________ Positioning mode Supported traversing range Unlimited Limited Modulo 11 Absolute CW (modulo) The axis travels in CW direction to an absolute position. • Reference for the absolute position is zero position. • In this direction the zero position of the axis can be overtravelled.
5 Function blocks 5.113 L_PosProfileTable - profile data record management (simple) ________________________________________________________________ 5.113.4 Touch probe positioning With touch probe positioning, the profile is first processed according to the set profile parameters. If a touch probe is detected during profile processing, the profile automatically changes to the profile specified under the profile parameter "TP sequence profile".
5 Function blocks 5.113 L_PosProfileTable - profile data record management (simple) ________________________________________________________________ 5.113.5 Monitoring for counter overflow This function extension will be available from library V2.02! If the machine parameters transferred to the FB via the AxisData input are changed afterwards (e.g.
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ 5.114 L_PosSequencer - sequence control Function library: LenzePositioning Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB processes a positioning program based on a sequence table. • The sequence table is an important part of this FB and is indicated by a code with 100 subcodes.
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ Inputs Identifier/data type bStart Information/possible settings BOOL Start/continue positioning program • Display parameter: C04690/2 FALSETRUE The positioning program is started/continued. • Counters and outputs are not automatically reset by this. • A positioning program interrupted by bBreak is continued with the sequence step.
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ Identifier/data type bReset Information/possible settings BOOL Reset positioning program. • Also possible when the positioning program is interrupted. • Display parameter: C04690/5 FALSETRUE The positioning program is reset. • If positioning is active, the drive is braked to standstill with the deceleration time for stop without considering an acceleration override.
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ Identifier/data type dwBranch3 Information/possible settings DWORD Input signal for action 3 of type "Variable branch" • Display parameter: C04692/3 • If the positioning program contains the action 3 of type "Variable branch", a branch is carried out depending on the value applied to this input. 0 Branch to the next step. 1 Branch to the step defined in C04540/3.
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ Outputs Identifier/data type dnState Value/meaning Status (bit coded) DINT • Display parameter: C04691 bits15 Error is active. bits16 Positioning program ready to start/program end reached. bits17 Positioning program is running. bits18 Positioning program is started, pause is active. bits19 Positioning program is stopped. bits20 Positioning program is reset.
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ Identifier/data type bEnableFollower Value/meaning BOOL Enable signal for setpoint follower • This output is intended for the enable of a setpoint follower during a stand-by program step. • Connect this output, if required, with the input bEnable of the corresponding setpoint follower (SB LS_SpeedFollower, SB LS_TorqueFollower or SB LS_PositionFollower).
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ General parameters Note! The parameters of the different actions for the sequence tables are described in the corresponding action subchapters. Parameter Possible settings Information C04500/1...100 Sequence table • The calls for the actions required for the positioning program are stored under the subcodes.
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ 5.114.2 States of the sequencer The internal state machine of the sequencer distinguishes the following five states: Status Display C04502 Information Ready 0 Positioning program ready to start/program end reached. • If the "Break" function is not activated, the positioning program can be started by e.g. a FALSE/TRUE edge at bStart. RUN 1 Positioning program is running.
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ 5.114.3 Action types available for creating the positioning program The program flow of the multi-purpose positioning is selected according to a sequence table which can contain up to 100 references to "actions". 0 1 1 n 2 000 Set 12 3 4 Standby End • An action comprises a clear functionality which is described with a few parameters.
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ 5.114.3.1 Action type "Program end" End To define the program end in the sequence table, the action of type "Program end" is available. Action call (entry in the sequence table) 0 (Leading zeros can be left out). • If the input bStart is reset to FALSE while the positioning program is running, processing is only continued until the program end has been reached.
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ 5.114.3.2 Action type "Positioning" To execute a profile, 50 actions of "Positioning" type are available. Action call (entry in the sequence table) 1 x x x with action number xxx = 001 ... 050 Waiting function The execution of the set profile with activated waiting function is only started if the bit 1 ...
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ Parameter The available actions 1 ... 50 are indicated via the subcodes 1 ... 50. Parameter Possible settings Information C04510/1...50 Text Comment on positioning step • Option for description of the function for keypad/HMI. C04511/1...50 0 Waiting function is deactivated.
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ 5.114.3.3 Action type "Switching" In order to switch digital output signals 25 actions of type "Switching" are available. • Each action can set two selectable bits of the output signal dwDigitalOutputs to "0" or "1" independently of each other. Action call (entry in the sequence table) 2 x x x with action number xxx = 001 ... 025 Parameter The available actions 1 ...
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ 5.114.3.4 Action type "Branching" 0 1 25 actions of type "Branching" are available for conditional and unconditional branches (jumps). • A branch to the indicated step is executed when the comparison is deactivated or the selected bit 1 ... 32 of the input signal dwDigitalInputs has the selected signal state at the time of processing ("0" or "1").
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ 5.114.3.5 Action type "Variable branching" 1 2 n For variable branches (jumps) 5 actions of type "Variable branching" are available. • The branch to one of 20 possible steps is executed depending on the input signal dwBranch1...5 at the time of processing. • The input signals dwBranch1...
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ 5.114.3.6 Action type "Homing" In order to execute a homing function, the action of type "Homing" is available. Action call (entry in the sequence table) 5 0 0 0 Note! The "Homing" action has no own parameters. The settings for homing are carried out via the parameters of the basic function "Homing".
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ 5.114.3.7 Action type "Waiting" 25 actions of type "Waiting" are available for the insertion into the program flow. • The sequence step is only processed after the waiting time has expired or when the selected bit 1 ... 32 of the input signal dwDigitalInputs has the selected signal state ("1" or "2") at the time of processing.
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ 5.114.3.8 Action type "Counter setting" 000 Set 10 actions of type "Counter setting" are available for setting one of the 10 available counters to a certain starting value. • The 10 actions of type "Counter setting" are not permanently assigned to the 10 counters.
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ 5.114.3.9 Action type "Counting" 12 3 4 25 actions of type "Counting" are available for counting processes. • With each action processing the counter content of the respective counter is increased or reduced by the set step value (count upwards or downwards).
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ 5.114.3.10 Action type "Stand-by" Standby 5 actions of type "Stand-by" are available for the temporary activation of a setpoint follower. • For this purpose the output bEnableFollower must be connected to the enable input bEnable of the corresponding setpoint follower (SB LS_SpeedFollower, SB LS_TorqueFollower or SB LS_PositionFollower).
5 Function blocks 5.114 L_PosSequencer - sequence control ________________________________________________________________ 5.114.4 Example: Sequence table Parameter Entry C04500/1 5000 C04500/2 3001 ≡ Action type/action no.
5 Function blocks 5.115 L_PosSequencerStateDecoder - status signals of the sequence control ________________________________________________________________ 5.115 L_PosSequencerStateDecoder - status signals of the sequence control Function library: LenzePositioning Runtime software licence: Motion Control HighLevel FB is available as of library V02.
5 Function blocks 5.116 L_SdAccToUnit - acceleration conversion ________________________________________________________________ 5.116 L_SdAccToUnit - acceleration conversion Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB uses the transmitted machine parameters and converts an acceleration value defined in the internal unit [rpm/s] into an acceleration value in the real unit of the machine.
5 Function blocks 5.117 L_SdDelayComp - dead time compensation ________________________________________________________________ 5.117 L_SdDelayComp - dead time compensation Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB extrapolates a signal by a set time. In this way, the FB can compensate for the dead times of incoming signals resulting from the bus transfer.
5 Function blocks 5.118 L_SdDifferentiate - differentiation ________________________________________________________________ 5.118 L_SdDifferentiate - differentiation Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB creates a speed signal from a position value. Note! As of library V02.00.xx.
5 Function blocks 5.119 L_SdFactor - stretch factor ________________________________________________________________ 5.119 L_SdFactor - stretch factor Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB provides the "stretch factor" function for the application "Electronic gearbox". • The calculation is made with remainder handling.
5 Function blocks 5.120 L_SdGetAxisData - Reading out machine parameters from axis data ________________________________________________________________ 5.120 L_SdGetAxisData - Reading out machine parameters from axis data Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel FB is available as of library V02.07.xx.
5 Function blocks 5.120 L_SdGetAxisData - Reading out machine parameters from axis data ________________________________________________________________ Identifier/data type dwBitsPerRevolution Value/meaning DWORD Resolution of an encoder revolution • Display parameter: C04418 10 Bit / encoder revolution ... ...
5 Function blocks 5.121 L_SdGetPosition - position conversion ________________________________________________________________ 5.121 L_SdGetPosition - position conversion Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB uses the transmitted machine parameters and converts a position in [inc] into a position in the real unit of the machine. The converted position is displayed in C04273.
5 Function blocks 5.122 L_SdGetSpeed - speed conversion ________________________________________________________________ 5.122 L_SdGetSpeed - speed conversion Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB uses the transmitted machine parameters and converts a speed into a velocity. The converted value is displayed in C04283.
5 Function blocks 5.123 L_SdIntegrate - integration of speed to position ________________________________________________________________ 5.123 L_SdIntegrate - integration of speed to position Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB integrates a speed to a position. • The calculation is made with remainder handling.
5 Function blocks 5.124 L_SdIntegrateAxis - speed to position integration (with TP correction) ________________________________________________________________ 5.124 L_SdIntegrateAxis - speed to position integration (with TP correction) Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel FB is available as of library V02.03.xx.xx! Motion Control TopLevel This FB integrates a speed to a position.
5 Function blocks 5.124 L_SdIntegrateAxis - speed to position integration (with TP correction) ________________________________________________________________ Identifier/data type bTpReceived Information/possible settings BOOL Input for taking over the status "Touch probe detected" • Connect this input with the output dnTouchProbeReceived of the corresponding touch probe system block. • As long as the input bLoadStartPos is set to TRUE, this input has no effect. FALSETRUE Touch probe detected.
5 Function blocks 5.124 L_SdIntegrateAxis - speed to position integration (with TP correction) ________________________________________________________________ Parameter Possible settings Information C04359 Bit coded: Status • Bits that are not itemised are reserved for future extensions. bits10 Zero crossing active bit16 Position is beyond the cycle bits17 Initial speed too high bits23 Invalid axis data structure bits31 General error 5.124.
5 Function blocks 5.124 L_SdIntegrateAxis - speed to position integration (with TP correction) ________________________________________________________________ 5.124.
5 Function blocks 5.124 L_SdIntegrateAxis - speed to position integration (with TP correction) ________________________________________________________________ 5.124.3 Signal characteristics dnSpeedIn_s t bLoadStartPos t dnStartPos_p t bTpReceived dnPosOut_p t 0 dnTpPos_p dnSpeedOut_s t t "Unlimited" traversing range "Modulo" traversing range Touch probe signal has no effect, as bLoadStartPos is set to TRUE.
5 Function blocks 5.124 L_SdIntegrateAxis - speed to position integration (with TP correction) ________________________________________________________________ Touch probe correction In contrast to the FB L_SdIntegrate, in the case of this FB it is possible to correct the position output additionally via touch probe.
5 Function blocks 5.125 L_SdIntegrateLimit - integration of speed to position ________________________________________________________________ 5.125 L_SdIntegrateLimit - integration of speed to position Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel FB available from library V02.09.xx.xx! Motion Control TopLevel This FB integrates a speed to a position. • The cycle (return) can be defined via inputs dnUpperLimit_p and dnLowerLimit_p.
5 Function blocks 5.125 L_SdIntegrateLimit - integration of speed to position ________________________________________________________________ Outputs Identifier/data type dnPosOut_p dnSpeedOut_s bUpperLimit bLowerLimit bError Value/meaning Position in [inc] DINT • Overflow at dnUpperLimit_p and dnLowerLimit_p. DINT BOOL BOOL BOOL Speed output in [rpm] • C04326/2 indicates the speed in the real unit of the machine. • If bLoadStartPos = TRUE, "0" is provided.
5 Function blocks 5.125 L_SdIntegrateLimit - integration of speed to position ________________________________________________________________ 5.125.1 Basics Many machine structures and processes produce measuring systems which display a periodic feed motion (so-called modulo measuring systems). These measuring systems thus represent a position range of 0 ... smax.
5 Function blocks 5.125 L_SdIntegrateLimit - integration of speed to position ________________________________________________________________ 5.125.2 Signal characteristics dnSpeedIn_s t dnPosOut_p dnUpperLimit_p dnLowerLimit_p t bUpperLimit t bLowerLimit t [5-80] Signal characteristics 470 Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.126 L_SdInterExtrapolateAny - signal interpolation ________________________________________________________________ 5.126 L_SdInterExtrapolateAny - signal interpolation Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel FB available from library V02.09.xx.xx! Motion Control TopLevel This FB serves to interpolate or extrapolate setpoints which have a greater resolution than the task cycle.
5 Function blocks 5.126 L_SdInterExtrapolateAny - signal interpolation ________________________________________________________________ 5.126.1 Extrapolation function The FB fills in missing process data by extrapolation. These process data may be missing because of stochastic errors (e.g. EMC interferences) or the bus cycle being greater than the task cycle of the application. • Select a linear or a quadratic extrapolation in C04441.
5 Function blocks 5.126 L_SdInterExtrapolateAny - signal interpolation ________________________________________________________________ [5-82] Quadratic extrapolation with telegram failure Interpolation [5-83] Quadratic interpolation [5-84] Quadratic interpolation with telegram failure Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.127 L_SdInterExtrapolatePosition - signal interpolation ________________________________________________________________ 5.127 L_SdInterExtrapolatePosition - signal interpolation Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel FB available from library V02.09.xx.xx! Motion Control TopLevel This FB serves to interpolate or extrapolate position information with a greater resolution than the task cycle.
5 Function blocks 5.127 L_SdInterExtrapolatePosition - signal interpolation ________________________________________________________________ Outputs Identifier/data type Value/meaning dnPosOut_p Output position (in the cycle) in [increments] dnSpeedOut_s bTelegramMissed bLimit bError DINT DINT BOOL BOOL BOOL Output speed (in the cycle) provided as speed in [min-1] • 15000 rpm ≡ 226 ≡ 67108864 Status signal "Telegram failure detected" TRUE Telegram failure has been detected.
5 Function blocks 5.127 L_SdInterExtrapolatePosition - signal interpolation ________________________________________________________________ 5.127.1 Parameter Possible settings Information C04437 -214748.3647 Unit 214748.3647 Position at the output • Display of the dnPosOut_p output signal in the real unit of the machine. C04438 -214748.3647 Unit/t 214748.3647 Speed at the output • Display of the dnSpeedOut_s output signal in the real unit of the machine.
5 Function blocks 5.127 L_SdInterExtrapolatePosition - signal interpolation ________________________________________________________________ 5.127.3 Telegram failure detection An optional telegram failure detection can be activated in C04435, either via toggle input or SyncInput interface (SB LS_SyncInput). • Telegram failure detection serves to fill in missing process data values. • The maximum number of accepted telegram failures before interpolation/extrapolation is stopped can be set in C04434.
5 Function blocks 5.127 L_SdInterExtrapolatePosition - signal interpolation ________________________________________________________________ Extrapolation with telegram failure detection via toggle input Selection: Telegram failure detection (C04435) = "1: Toggle input" [5-87] Input values OK [5-88] Input values not OK, number of accepted telegram failures = 1 478 Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.127 L_SdInterExtrapolatePosition - signal interpolation ________________________________________________________________ Extrapolation with telegram failure detection via SyncInput interface Selection: Telegram failure detection (C04435) = "2: SyncInput interface" [5-89] Input values OK [5-90] Input values not OK, number of accepted telegram failures = 1 Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.127 L_SdInterExtrapolatePosition - signal interpolation ________________________________________________________________ Interpolation without telegram failure detection Selection: Telegram failure detection (C04435) = "0: Deactivated" [5-91] Input values OK [5-92] Input values not OK, number of accepted telegram failures = 0 480 Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.127 L_SdInterExtrapolatePosition - signal interpolation ________________________________________________________________ Interpolation with telegram failure detection via toggle input Selection: Telegram failure detection (C04435) = "1: Toggle input" [5-93] Input values OK [5-94] Input values not OK, number of accepted telegram failures = 1 Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.127 L_SdInterExtrapolatePosition - signal interpolation ________________________________________________________________ Interpolation with telegram failure detection via SyncInput interface Selection: Telegram failure detection (C04435) = "2: SyncInput interface" [5-95] Input values OK [5-96] Input values not OK, number of accepted telegram failures = 1 482 Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.128 L_SdInterpolate - signal interpolation ________________________________________________________________ 5.128 L_SdInterpolate - signal interpolation Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel FB available from library V02.00.xx.xx! Motion Control TopLevel This FB is used to interpolate position information, e.g. to compensate for long bus transfer cycles or smooth low-resolution absolute-value encoders.
5 Function blocks 5.128 L_SdInterpolate - signal interpolation ________________________________________________________________ Parameter Possible settings Information C04402 -214748.3647 Unit 214748.3647 Position at the input • Display of the dnPosIn_p input signal in the real unit of the machine. -214748.3647 Unit 214748.3647 Position at the output • Display of the dnPosOut_p output signal in the real unit of the machine. -214748.3647 Unit/t 214748.
5 Function blocks 5.128 L_SdInterpolate - signal interpolation ________________________________________________________________ dnPosIn_p dnPosOut_p • If a new value is received before completion of the five interpolation cycles (), the new interpolation values are calculated by means of the difference between actual and setpoint position ().
5 Function blocks 5.129 L_SdLimitSpeed - speed limitation ________________________________________________________________ 5.129 L_SdLimitSpeed - speed limitation Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB is used to lead a speed setpoint to defined limit ranges. • The overflow buffer has a sample rate of 8 revolutions/ms.
5 Function blocks 5.129 L_SdLimitSpeed - speed limitation ________________________________________________________________ Outputs Identifier/data type Value/meaning dnState Status (bit coded) DINT bits0 Ok - no error Bit15 Fault (group signal) bit16 Speed output signal is limited to the upper speed limit. bits17 Speed output signal is limited to the lower speed limit. bits18 No speed limits defined, the speed limitation is not active. Bit 19 Speed limits are invalid.
5 Function blocks 5.130 L_SdMotorPot - motor potentiometer ________________________________________________________________ 5.130 L_SdMotorPot - motor potentiometer Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel FB is available as of library V02.04.xx.xx! Required retain memory: 212 bytes Motion Control TopLevel This FB replaces a hardware motor potentiometer and can be used as an alternative setpoint source controlled via two inputs.
5 Function blocks 5.130 L_SdMotorPot - motor potentiometer ________________________________________________________________ Outputs Identifier/data type dnOut_n bLimitActive Value/meaning Output value in [%] DINT • Display parameter: C04368 BOOL Status signal "Output value is limited" TRUE The output value dnOut_n lies on a limit value or lies beyond the limit values and is directed to the nearest limit value. Parameter Parameter Possible settings Information C04360/1 -200.00 % 200.
5 Function blocks 5.130 L_SdMotorPot - motor potentiometer ________________________________________________________________ Parameter Possible settings Information C04369 Bit coded: Status • Bits that are not itemised are reserved for future extensions. bits5 Starting value loaded is limited bits6 Upper limit value reached bits7 Lower limit value reached bits19 Lower limit value > upper limit value bits31 General error 5.130.
5 Function blocks 5.130 L_SdMotorPot - motor potentiometer ________________________________________________________________ 5.130.3 bUp bDown bDisable bLoadStartValue Function - - TRUE FALSE Deactivate motor potentiometer function dnOut_n behaves according to the deactivation function set in C04362. - - - TRUE Load starting value dnOut_n is set to the value pending at input dnStartValue_n.
5 Function blocks 5.130 L_SdMotorPot - motor potentiometer ________________________________________________________________ 5.130.4 Deactivation function If the control input bDisable is set to TRUE, the control inputs bUp and bDown are deactivated and the output value dnOut_n is changed according to the deactivation function set in C04362: C04362 0 Deactivation function dnOut_n maintains its last value.
5 Function blocks 5.
5 Function blocks 5.130 L_SdMotorPot - motor potentiometer ________________________________________________________________ 5.130.5 Behaviour for incorrect parameterisation of the limit values If the upper limit value is parameterised smaller than the lower limit value, a bit coded error message is output via the display code C04369.
5 Function blocks 5.131 L_SdPosToUnit - position conversion ________________________________________________________________ 5.131 L_SdPosToUnit - position conversion Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB uses the transmitted machine parameters and converts a position defined in the internal unit [inc] into a position in the real unit of the machine.
5 Function blocks 5.132 L_SdProcessController - PID controller with limitation ________________________________________________________________ 5.132 L_SdProcessController - PID controller with limitation Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel FB is available as of library V02.05.xx.xx! Motion Control TopLevel This function block provides a comprehensive PID controller with setpoint and actual value processing as well as characteristic function.
5 Function blocks 5.132 L_SdProcessController - PID controller with limitation ________________________________________________________________ Identifier/data type bLoadIntValue Information/possible settings BOOL Loading of the integrator • Display parameter: C04389/2 TRUE Set the integral action component of the PID controller to the value applied to the input dnIntValue_n.
5 Function blocks 5.132 L_SdProcessController - PID controller with limitation ________________________________________________________________ Parameter 498 Parameter Possible settings C04375 0.000 s 1000.000 Acceleration/deceleration ramp function generator • Initialisation: 0.000 s • Alternatively, it is possible from library V02.09.xx.xx to set a separate deceleration time in C04386. In the Lenze setting, the setting in C04386 is used as the deceleration time as usual.
5 Function blocks 5.132 L_SdProcessController - PID controller with limitation ________________________________________________________________ Parameter Possible settings Information C04386 0.000 s 1000.001 Ramp function generator deceleration time • Only effective if ≠ 1000.001 s • Given a Lenze setting of 1000.001 s, the setting in C04375 is used as the deceleration time as usual. • Initialisation: 1000.001 s C04388/1 -200.00 % 200.
5 Function blocks 5.132 L_SdProcessController - PID controller with limitation ________________________________________________________________ 5.132.1 Controller characteristic The PID controller dynamics is parameterised according to the Vp gain, the Tn reset time, and the Td rate time. • In the Lenze setting, the function block operates as a PI controller and the D component is deactivated. Gain (P component) The controller gain is set in C04378. • Setting "0.0000" resets the controller.
5 Function blocks 5.132 L_SdProcessController - PID controller with limitation ________________________________________________________________ 5.132.2 Adaptation of the controller gain via characteristic function The controller gain can be adapted via the dnGainAdapt_n input and a parameterisable characteristic function. • In the characteristic default setting (y = 100 %), dnAdaptGain_n is ineffective. The controller gain is directly effective (C04378).
5 Function blocks 5.132 L_SdProcessController - PID controller with limitation ________________________________________________________________ Characteristic examples 1 2 3 4 5 x 0% 100 % 0% 0% 0% Y 100 % 100 % 0% 0% 0% y 200 % x1, y1 II. x2, y2 x 200 % 0% -200 % [5-1] I. Example 1 (Lenze setting) 1 2 3 4 5 x 40 % 90 % 100 % 0% 0% Y 40 % 140 % 115 % 0% 0% y 200 % x2, y2 x3, y3 II. I. x1, y1 -200 % [5-2] 5.132.
5 Function blocks 5.132 L_SdProcessController - PID controller with limitation ________________________________________________________________ 5.132.5 Ramp function generator The dnSetValue_n input setpoint can be lead via a ramp function generator with linear ramps to prevent setpoint step-changes at the input. The following applies up to and including library V02.08.xx.xx: • The acceleration/deceleration times are set via C04375. The following applies from library V02.09.xx.
5 Function blocks 5.133 L_SdRampGenerator - ramp function generator - S-ramp ________________________________________________________________ 5.133 L_SdRampGenerator - ramp function generator - S-ramp Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB is a ramp function generator with S-shaped ramps for limiting the increase of analog signals over time. The S-shape of the ramps results from a trapezoidal acceleration.
5 Function blocks 5.133 L_SdRampGenerator - ramp function generator - S-ramp ________________________________________________________________ Parameter Parameter Possible settings C04340 0.001 s Information C04341 0.001 s C04342 -200.000 % 200.000 Setpoint at the input • Display of the dnIn_n input signal. -200.000 % 200.000 Setpoint at the output • Display of the dnOut_n output signal. As of library V02.02.xx.xx C04343 As of library V02.02.xx.xx 5.133.1 1000.
5 Function blocks 5.133 L_SdRampGenerator - ramp function generator - S-ramp ________________________________________________________________ 5.133.2 Acceleration and jerk The maximum acceleration and the jerk can be adjusted separately. dnIn_n t dnOut_n t dnDeltaOut_n C04340 0 t C04340 C04341 1 t acceleration S-ramp time [5-105] Line diagram Acceleration / deceleration time The acceleration and deceleration time are set in C04340.
5 Function blocks 5.134 L_SdRampGeneratorAny - ramp function generator - S-ramp ________________________________________________________________ 5.134 L_SdRampGeneratorAny - ramp function generator - S-ramp Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel FB available from library V02.09.xx.xx! Motion Control TopLevel This FB is a ramp function generator with S-shaped ramps for limiting the increase of analog signals over time.
5 Function blocks 5.134 L_SdRampGeneratorAny - ramp function generator - S-ramp ________________________________________________________________ Outputs Identifier/data type dnOutput dnDeltaOut Value/meaning Output signal DINT • Scaling: 100 % ≡ 230 ≡ 1073741824 (without AxisData) 15000 min-1 ≡ 226 ≡ 67108864 (with AxisData) DINT Ramp function generator acceleration • Time reference: 62.
5 Function blocks 5.135 L_SdRuntimeComp - runtime compensation ________________________________________________________________ 5.135 L_SdRuntimeComp - runtime compensation Function library: LenzeServoDrive Do not use FB for new developments! Replacement by L_SdDelayComp. Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB is used for the runtime compensation of position signals that are, for instance, transmitted by means of a bus system.
5 Function blocks 5.136 L_SdSetAxisData - machine parameters ________________________________________________________________ 5.136 L_SdSetAxisData - machine parameters Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB serves to indicate the machine parameters of a master drive. The FB processes the machine parameters which you define with the physical units of the machine via parameters for the internal representation.
5 Function blocks 5.136 L_SdSetAxisData - machine parameters ________________________________________________________________ Parameter Note! Observe that the index of the codes listed in the following only applies to the first instance! Parameter Possible settings C04240 1 2147483647 Gearbox factor numerator • Initialisation: 1 Information C04241 1 2147483647 Gearbox factor denominator • Initialisation: 1 C04242 0.0001 unit/inc 214748.
5 Function blocks 5.136 L_SdSetAxisData - machine parameters ________________________________________________________________ 5.136.
5 Function blocks 5.136 L_SdSetAxisData - machine parameters ________________________________________________________________ 5.136.2 Selection and input of machine parameters The following table lists absolutely necessary machine parameters: Machine parameters Setting Unit Gearbox ratio - numerator C04240 - Gearbox ratio - denominator C04241 - Feed constant (Fc) C04242 Unit Reference speed (vmax) C04251 Unit/t Information Input according to the gearbox nameplate.
5 Function blocks 5.136 L_SdSetAxisData - machine parameters ________________________________________________________________ 5.136.3 Resolution of an encoder revolution C04249 serves to set the resolution - tailored to the application. • The preset resolution of 16 bits/revolution is sufficient for standard applications.
5 Function blocks 5.136 L_SdSetAxisData - machine parameters ________________________________________________________________ Note! The position values (e.g. setpoints, actual values, parameters, …) in the signal flow always use the set resolution, irrespective of the resolution the encoder supplies directly. Resolution of the drive/motor The machine parameters for the drive/motor are set via the drive interface (SB LS_DriveInterface).
5 Function blocks 5.136 L_SdSetAxisData - machine parameters ________________________________________________________________ 5.136.3.1 Detecting the optimum resolution How to detect the optimum resolution: In the parameterisation dialog of the FB L_SdSetAxisData: 1. Set gearbox factors. 2. Set real unit of the machine. 3. Set feed constant. 4. Click Optimum positional resolution. • The Optimum positional resolution dialog box is displayed: 5.
5 Function blocks 5.136 L_SdSetAxisData - machine parameters ________________________________________________________________ 5.136.4 Example The machine parameters of a master value encoder are to be displayed in the application for the purpose of master value processing. i1 = 3.
5 Function blocks 5.137 L_SdSetPosition - position conversion ________________________________________________________________ 5.
5 Function blocks 5.137 L_SdSetPosition - position conversion ________________________________________________________________ 5.137.1 Monitoring for counter overflow This function extension will be available from library V2.02! If the machine parameters transferred to the FB via the AxisData input are changed afterwards (e.g. the gearbox factors), this may cause a counter overflow when the position value defined via C04276 is converted from the real unit to the internal unit.
5 Function blocks 5.138 L_SdSetSpeed - speed conversion ________________________________________________________________ 5.138 L_SdSetSpeed - speed conversion Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB uses the transmitted machine parameters and converts a velocity which has been selected via C04286 in the real machine units into a speed and outputs it at dn'SpeedOut_s for further processing in the FB interconnection.
5 Function blocks 5.138 L_SdSetSpeed - speed conversion ________________________________________________________________ 5.138.1 Monitoring for counter overflow This function extension will be available from library V2.02! If the machine parameters transferred to the FB via the AxisData input are changed afterwards (e.g. the gearbox factors), this may cause a counter overflow when the speed value defined via C04286 is converted from the real unit to the internal unit.
5 Function blocks 5.139 L_SdSpeedFilter - speed signal delay ________________________________________________________________ 5.139 L_SdSpeedFilter - speed signal delay Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB is used to filter or delay a speed signal according to the PT1 principle. The resulting position loss is compensated by an internal overflow buffer.
5 Function blocks 5.139 L_SdSpeedFilter - speed signal delay ________________________________________________________________ Parameter Parameter Possible settings C04290 0.0000 Unit/s Information C04291 0.000 s C04292 String of digits 214000.0000 Compensating speed • For compensating the phase differences. • Initialisation: 0.0010 unit/s 60.000 Filter time constant • Initialisation: 0.003 s Speed unit • Read only As of library V02.02.xx.xx C04293 -214748.3647 Unit/t 214748.
5 Function blocks 5.140 L_SdSpeedSet - setpoint ramp generator ________________________________________________________________ 5.140 L_SdSpeedSet - setpoint ramp generator Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB contains a ramp generator with comprehensive parameterisation and control options for conditioning a setpoint signal.
5 Function blocks 5.140 L_SdSpeedSet - setpoint ramp generator ________________________________________________________________ Identifier/data type Information/possible settings bLoadExtSpeedSetpoint Loading of the ramp generator with the motor-based speed setpoint BOOL dnExtSpeedSetpoint_n. TRUE The input signal dnExtSpeedSetpoint_n is loaded into the ramp generator.
5 Function blocks 5.140 L_SdSpeedSet - setpoint ramp generator ________________________________________________________________ Parameter Possible settings Information C04202 0.000 s 1000.000 Basic acceleration time • Initialisation: 1.000 s C04203 0.000 s 1000.000 Basic deceleration time • Initialisation: 1.000 s C04204 0.000 s 10.000 Basic S-ramp time • Initialisation: 0.100 s C04207 Polarity bStop input 0 HIGH active 1 LOW active C04208 0.00 % 100.
5 Function blocks 5.140 L_SdSpeedSet - setpoint ramp generator ________________________________________________________________ Parameter Possible settings Information C04228 -214000.0000 C04229 String from AxisData C04237 -200.00 % 200.00 External setpoint • Display of the dnExtSpeedSetpoint_n input signal. C04238 -200.00 % 200.00 Current motor speed • Display of the dnActualMotorSpeed_n input signal. Unit/t 214000.
5 Function blocks 5.140 L_SdSpeedSet - setpoint ramp generator ________________________________________________________________ 5.140.1 Setpoint path • The signals in the setpoint path are limited to ±200.00 % of the motor Motor reference speed (C00011). • The signal at dnSpeedSetpointIn_n is first led via the function "Selection of fixed setpoints". • A selected fixed setpoint switches the input dnSpeedSetpointIn_n inactive and the subsequent signal conditioning uses the selected fixed setpoint.
5 Function blocks 5.140 L_SdSpeedSet - setpoint ramp generator ________________________________________________________________ 5.140.3 Ramp generator Afterwards, the setpoint is led via a ramp generator with S-ramp characteristic. The ramp generator transfers setpoint step-changes at the input to a ramp.
5 Function blocks 5.140 L_SdSpeedSet - setpoint ramp generator ________________________________________________________________ 5.140.4 Setting and selection of the Ti times 16 different Tir, Tif and S-ramp times can be selected via parameters for the ramp generator. • The selection is carried out binary coded via the selection inputs bTI1 ... bTI8: Selected inputs 5.140.
5 Function blocks 5.141 L_SdSpeedToUnit - speed conversion ________________________________________________________________ 5.141 L_SdSpeedToUnit - speed conversion Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB uses the transmitted machine parameters and converts a speed value defined in the internal unit [rpm] into a speed value in the real unit of the machine.
5 Function blocks 5.142 L_SdSwitchPoint - position switch points ________________________________________________________________ 5.142 L_SdSwitchPoint - position switch points Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB serves to implement up to 8 simple position switch points (cams). When the current drive position is inside a range defined via parameters, the output assigned to this "switching area" is set to TRUE.
5 Function blocks 5.142 L_SdSwitchPoint - position switch points ________________________________________________________________ Outputs Identifier/data type bSwitch1 bSwitch2 bSwitch3 bSwitch4 bSwitch5 bSwitch6 bSwitch7 bSwitch8 Value/meaning BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL Position switch point 1 TRUE The current position (dnPosIn_p) is inside the switching range defined via C04397/1 and C04398/1.
5 Function blocks 5.142 L_SdSwitchPoint - position switch points ________________________________________________________________ 5.142.1 Monitoring for counter overflow This function extension will be available from library V2.02! If the machine parameters transferred to the FB via the AxisData input are changed afterwards (e.g. the gearbox factors), this may cause a counter overflow when the position values defined via C04397/1...8 and C04398/1...8 converted from the real unit to the internal unit.
5 Function blocks 5.143 L_SdTouchProbe - touch probe evaluation ________________________________________________________________ 5.143 L_SdTouchProbe - touch probe evaluation Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB takes over the interpolation of the input signal based on the time stamp handed over by a touch probe system block and outputs the interpolated value and the difference compared with the last input signal.
5 Function blocks 5.143 L_SdTouchProbe - touch probe evaluation ________________________________________________________________ 5.143.1 Actual value interpolation (principle) If a touch probe is detected, the (residual) time to the following task cycle is determined and a time stamp is created from it. Based on this time stamp the FB L_SdTouchProbe can execute a linear interpolation between both actual position points.
5 Function blocks 5.144 L_SdUnitToAcc - acceleration conversion ________________________________________________________________ 5.144 L_SdUnitToAcc - acceleration conversion Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB uses the transmitted machine parameters and converts an acceleration value defined in the real unit of the machine into an internal acceleration value.
5 Function blocks 5.145 L_SdUnitToPos - position conversion ________________________________________________________________ 5.145 L_SdUnitToPos - position conversion Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB uses the transmitted machine parameters and converts a position defined in the real unit of the machine into an internal position.
5 Function blocks 5.146 L_SdUnitToSpeed - speed conversion ________________________________________________________________ 5.146 L_SdUnitToSpeed - speed conversion Function library: LenzeServoDrive Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB uses the transmitted machine parameters and converts a speed defined in the real unit of the machine into an internal speed.
5 Function blocks 5.147 L_Tb5And - AND with 5 inputs ________________________________________________________________ 5.147 L_Tb5And - AND with 5 inputs Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a logic AND operation of binary signals.
5 Function blocks 5.148 L_Tb5Nand - NAND with 5 inputs ________________________________________________________________ 5.148 L_Tb5Nand - NAND with 5 inputs Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a logic NAND operation of binary signals.
5 Function blocks 5.149 L_Tb5Nor - NOR with 5 inputs ________________________________________________________________ 5.149 L_Tb5Nor - NOR with 5 inputs Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a logic NOR operation of binary signals.
5 Function blocks 5.150 L_Tb5Or - OR with 5 inputs ________________________________________________________________ 5.150 L_Tb5Or - OR with 5 inputs Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a logic OR operation of binary signals.
5 Function blocks 5.151 L_Tb5Xor - XOR with 5 inputs ________________________________________________________________ 5.151 L_Tb5Xor - XOR with 5 inputs Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a logic EXCLUSIVE OR operation of binary signals.
5 Function blocks 5.152 L_Tb8Select - 1-out-of-8 selector (for data type "DINT") ________________________________________________________________ 5.152 L_Tb8Select - 1-out-of-8 selector (for data type "DINT") Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB connects one of eight input signals of "DINT" type through to the output. • The input is selected via the input dwSelect.
5 Function blocks 5.153 L_Tb8SelectByte - 1-out-of-8 selector (for data type "BYTE") ________________________________________________________________ 5.153 L_Tb8SelectByte - 1-out-of-8 selector (for data type "BYTE") Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel FB is available as of library V02.05.xx.xx! Motion Control TopLevel This FB connects one of eight input signals of "BYTE" type through to the output. • The input is selected via the input dwSelect.
5 Function blocks 5.154 L_Tb8SelectWord - 1-out-of-8 selector (for data type "WORD") ________________________________________________________________ 5.154 L_Tb8SelectWord - 1-out-of-8 selector (for data type "WORD") Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel FB is available as of library V02.05.xx.xx! Motion Control TopLevel This FB connects one of eight input signals of "WORD" type through to the output. • The input is selected via the input dwSelect.
5 Function blocks 5.155 L_TbAbs - absolute value ________________________________________________________________ 5.155 L_TbAbs - absolute value Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This function block converts a bipolar signal into a unipolar signal, i.e. the absolute value of the input signal is generated.
5 Function blocks 5.156 L_TbAdd - addition ________________________________________________________________ 5.156 L_TbAdd - addition Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out an addition without limitation.
5 Function blocks 5.157 L_TbAddLim - addition with limitation ________________________________________________________________ 5.157 L_TbAddLim - addition with limitation Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out an addition with limitation. • The value output to output dnOut is internally limited to ±231-1. • The bLimitActive output displays if a limitation is active.
5 Function blocks 5.158 L_TbAddSubLim - addition and subtraction with limitation ________________________________________________________________ 5.158 L_TbAddSubLim - addition and subtraction with limitation Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel FB is available as of library V02.04.xx.xx! Motion Control TopLevel This FB carries out an addition with subsequent subtraction and limitation.
5 Function blocks 5.159 L_TbAnd - AND with 2 inputs ________________________________________________________________ 5.159 L_TbAnd - AND with 2 inputs Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a logic AND operation of binary signals.
5 Function blocks 5.160 L_TbCompare - comparison ________________________________________________________________ 5.160 L_TbCompare - comparison Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This function block compares two signals of the "DINT" data type and can be used e.g. for implementing a trigger. • The comparison function is selected via C04085.
5 Function blocks 5.160 L_TbCompare - comparison ________________________________________________________________ 5.160.1 Function 1: dnIn1 = dnIn2 Selection: C04085 = "0" • This function compares two signals with regard to equality. They can, for instance, provide the comparison "actual speed equals setpoint speed " (nact = nset).
5 Function blocks 5.160 L_TbCompare - comparison ________________________________________________________________ 5.160.2 Function 2: dnIn1 > dnIn2 Selection: C04085 = "1" • This function serves, for instance, to implement the comparison "actual speed is higher than a limit value" (nact > nx) for one direction of rotation. bOut dnHysteresis TRUE FALSE dnIn2 dnIn1 [5-115] Function 2: Switching performance Functional sequence 1.
5 Function blocks 5.160 L_TbCompare - comparison ________________________________________________________________ 5.160.3 Function 3: dnIn1 < dnIn2 Selection: C04085 = "2" • This function serves, for instance, to implement the comparison "actual speed is lower than a limit value" (nact nx) for one direction of rotation. bOut dnHysteresis TRUE FALSE dnIn2 dnIn1 [5-117] Function 3: Switching performance Functional sequence 1.
5 Function blocks 5.160 L_TbCompare - comparison ________________________________________________________________ 5.160.4 Function 4: |dnIn1| = |dnIn2| Selection: C04085 = "3" • This function serves, for instance, to implement the comparison "nact = 0". • This function behaves like function 1. However, the amount is generated by the input signals before signal processing (without sign). Function 1: dnIn1 = dnIn2 ( 554) 5.160.
5 Function blocks 5.161 L_TbCompare_n - scaled comparison ________________________________________________________________ 5.161 L_TbCompare_n - scaled comparison Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This function block compares two scaled signals and can be used e.g. for implementing a trigger. • The comparison function is selected via C04080.
5 Function blocks 5.161 L_TbCompare_n - scaled comparison ________________________________________________________________ 5.161.1 Function 1: dnIn1_n = dnIn2_n Selection: C04080 = "0" • This function compares two signals with regard to equality. They can, for instance, provide the comparison "actual speed equals setpoint speed " (nact = nset). • Use C04081 to select the window within which the equality is to apply.
5 Function blocks 5.161 L_TbCompare_n - scaled comparison ________________________________________________________________ 5.161.2 Function 2: dnIn1_n > dnIn2_n Selection: C04080 = "1" • This function serves, for instance, to implement the comparison "actual speed is higher than a limit value" (nact > nx) for one direction of rotation. bOut C04082 TRUE FALSE dnIn2_n dnIn1_n [5-121] Function 2: Switching performance Functional sequence 1.
5 Function blocks 5.161 L_TbCompare_n - scaled comparison ________________________________________________________________ 5.161.3 Function 3: dnIn1_n < dnIn2_n Selection: C04080 = "2" • This function serves, for instance, to implement the comparison "actual speed is lower than a limit value" (nact nx) for one direction of rotation. C04082 bOut TRUE FALSE dnIn2_n dnIn1_n [5-123] Function 3: Switching performance Functional sequence 1.
5 Function blocks 5.161 L_TbCompare_n - scaled comparison ________________________________________________________________ 5.161.4 Function 4: |dnIn1_n| = |dnIn2_n| Selection: C04080 = "3" • This function serves, for instance, to implement the comparison "nact = 0". • This function behaves like function 1. However, the amount is generated by the input signals before signal processing (without sign). Function 1: dnIn1_n = dnIn2_n ( 559) 5.161.
5 Function blocks 5.162 L_TbCount - up/downcounter ________________________________________________________________ 5.162 L_TbCount - up/downcounter Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB is a digital up/downcounter with adjustable limitation. • Under C04005 you can select if the counter is to be stopped or reset automatically when reaching the limitation.
5 Function blocks 5.162 L_TbCount - up/downcounter ________________________________________________________________ Parameter Parameter Possible settings Information C04005 Reset function 0 After reaching the reference value Lenze setting the counter is automatically reset to the starting value. 1 The reached reference value is maintained until a reset via bLoadStartValue is executed. 5.162.1 Function 1: Automatic counter reset Selection: C04005 = "0" Functional sequence 1.
5 Function blocks 5.163 L_TbCurve - characteristic function ________________________________________________________________ 5.163 L_TbCurve - characteristic function Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB represents a characteristic/curve function y = f(x). Here, the input signal corresponds to the x axis and the output signal corresponds to the y axis.
5 Function blocks 5.163 L_TbCurve - characteristic function ________________________________________________________________ 5.163.1 Parameter Possible settings Information C04101/1...9 -200.00 % 200.00 X values of the characteristic function • Subcodes 1 ... 9 correspond to the point values X1 ... X9. • Initialisation: 0.00 % C04102/1...9 -200.00 % 200.00 Y values of the characteristic function • Subcodes 1 ... 9 correspond to the point values Y1 ... Y9. • Initialisation: 0.
5 Function blocks 5.163 L_TbCurve - characteristic function ________________________________________________________________ Special cases • Jumps/discontinuities can be displayed by parameterising two successive x values the same way. A jump is only valid if a valid pair of variates exists after that, otherwise the extrapolation is executed starting from the last valid pair of variates.
5 Function blocks 5.163 L_TbCurve - characteristic function ________________________________________________________________ • If only one point X1 is defined in the positive range, a line is extrapolated: 1 2 3 4 5 6 7 8 9 x 120 % 0% 0% 0% 0% 0% 0% 0% 0% y(x) 40 % 0% 0% 0% 0% 0% 0% 0% 0% dnOut_n 200 % / 200 % x1, y1 dnIn_n -200 % / -200 % [5-127] Example: Characteristic in characteristic mode 0 (entire range) with only one defined point and X1 < 0 5.163.
5 Function blocks 5.163 L_TbCurve - characteristic function ________________________________________________________________ 5.163.3 Characteristic mode 1: Symmetrically to y axis If "Symmetrically to y axis" is selected in C04100, the resulting characteristic is mirrored along the y axis in the I. and IV. quadrant. Example 1 2 3 4 5 6 7 8 9 x -140 % -90 % 70 % 130 % 0% 0% 0% 0% 0% y(x) -140 % -40 % 120 % 160 % 0% 0% 0% 0% 0% dnOut_n 200 % / 200 % x4, y4 x3, y3 II. I.
5 Function blocks 5.164 L_TbCurveAny - Characteristic function ________________________________________________________________ 5.164 L_TbCurveAny - Characteristic function Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel FB is available as of library V02.06.xx.xx! Motion Control TopLevel This FB represents a characteristic/curve function y = f(x). Here, the input signal corresponds to the x axis and the output signal corresponds to the y axis.
5 Function blocks 5.164 L_TbCurveAny - Characteristic function ________________________________________________________________ Parameter Possible settings Info C04046/1...127 -2147483648 2147483647 X values of the characteristic function • Subcodes 1 ... 127 correspond to the point values X1 ... X127. • Initialisation: 0 C04047/1...127 -2147483648 2147483647 Y values of the characteristic function • Subcodes 1 ... 127 correspond to the point values Y1 ... Y127.
5 Function blocks 5.164 L_TbCurveAny - Characteristic function ________________________________________________________________ Special cases • Jumps/discontinuities can be displayed by parameterising two successive x values the same way. A jump is only valid if a valid pair of variates exists after that, otherwise the extrapolation is executed starting from the last valid pair of variates. 1 2 3 4 5 6 ...
5 Function blocks 5.164 L_TbCurveAny - Characteristic function ________________________________________________________________ • If only one point X1 is defined in the positive range, a line is extrapolated: 1 2 3 4 5 6 ... 126 127 x 120 % 0 0 0 0 0 0 0 0 y(x) 40 % 0 0 0 0 0 0 0 0 231-1 / 231-1 dnOut_n x1, y1 dnIn_n -231 / -231 [5-133] Example: Characteristic in characteristic mode 0 (entire range) with only one defined point and X1 < 0 5.164.
5 Function blocks 5.164 L_TbCurveAny - Characteristic function ________________________________________________________________ 5.164.3 Characteristic mode 1: Symmetrically to y axis If "Symmetrically to y axis" is selected in C04045, the resulting characteristic is mirrored along the y axis in the I. and IV. quadrant. Example 1 2 3 4 5 6 ... 126 127 x -140 % -90 % 70 % 130 % 0 0 0 0 0 y(x) -140 % -40 % 120 % 160 % 0 0 0 0 0 31 dnOut_n 31 2 -1 / 2 -1 x4, y4 x3, y3 II.
5 Function blocks 5.165 L_TbDeadband - dead band with gain ________________________________________________________________ 5.165 L_TbDeadband - dead band with gain Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB produces a symmetrical dead band around zero. • The attenuation of the input signal caused by the dead band can be compensated by a parameterisable gain.
5 Function blocks 5.165 L_TbDeadband - dead band with gain ________________________________________________________________ Function dnOut dnOut dnDeadBand (C04065 = 1) dnIn C04065 (dnDeadBand = 0) dnIn [5-137] Dead band and gain 576 Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.166 L_TbDeadband_n - scaled dead band with gain ________________________________________________________________ 5.166 L_TbDeadband_n - scaled dead band with gain Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB produces a symmetrical dead band around zero. • The attenuation of the input signal caused by the dead band can be compensated by a parameterisable gain.
5 Function blocks 5.166 L_TbDeadband_n - scaled dead band with gain ________________________________________________________________ Function dnOut_n dnOut_n C04060 (C04061 = 1) dnIn_n C04061 (C04060 = 0 %) dnIn [5-138] Dead band and gain 578 Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.167 L_TbDelay - delay ________________________________________________________________ 5.167 L_TbDelay - delay Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB delays binary signals. • The edge to be delayed is selected via the parameter C04010. • The delay time is set via the parameter C04011. • The function corresponds to the "DIGDEL" function of the 9300 servo inverter.
5 Function blocks 5.167 L_TbDelay - delay ________________________________________________________________ 5.167.1 Function 1: ON-delay Selection: C04010 = "0" (Lenze setting) • In this mode, the FB operates like a retriggerable monoflop. = internal timing element bIn TRUE FALSE t bOut TRUE FALSE t C04011 C04011 C04011 0 t Functional sequence 1. A FALSE-TRUE edge at bIn starts the internal timing element (). 2. After the delay time set via C04011 has elapsed, bOut is set to TRUE. 3.
5 Function blocks 5.167 L_TbDelay - delay ________________________________________________________________ 5.167.3 Function 3: General delay Selection: C04010 = "2" = internal timing element bIn TRUE FALSE t bOut TRUE FALSE t C04011 C04011 C04011 0 t Functional sequence 1. Any edge at bIn resets and starts the internal timing element (). 2. After the delay time set via C04011 has elapsed, the input signal bIn is output to bOut. Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.168 L_TbDifferentiate - differentiator with low-pass filter ________________________________________________________________ 5.168 L_TbDifferentiate - differentiator with low-pass filter Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB represents a differentiator with low pass. • The input signal is differentiated and filtered with the filter time constant set via the parameter C04050.
5 Function blocks 5.168 L_TbDifferentiate - differentiator with low-pass filter ________________________________________________________________ 5.168.1 Function Considering the signalling technique, the FB consists of the series connection of a time-discrete differentiator and a PT1 filter. • The filtering of the output signal can be switched off with the setting of the filter time constant TFilter to "0.001 s".
5 Function blocks 5.168 L_TbDifferentiate - differentiator with low-pass filter ________________________________________________________________ 5.168.2 Adapting the time reference The dnOut output signal has the unit [1/s] as time reference.
5 Function blocks 5.169 L_TbDiv - division ________________________________________________________________ 5.169 L_TbDiv - division Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a division with remainder.
5 Function blocks 5.170 L_TbDiv_n - scaled division ________________________________________________________________ 5.170 L_TbDiv_n - scaled division Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a division. The divisor (denominator) must be specified as a scaled signal [%]. • With a divisor of 100 % the dividend is output unchanged. • The value output to output dnOut is internally limited to ±231-1.
5 Function blocks 5.171 L_TbFlipFlopD - D flipflop ________________________________________________________________ 5.171 L_TbFlipFlopD - D flipflop Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB is created as a D flipflop and can be used to evaluate and save digital signal edges. • With each rising edge at the clock input bClk the current status of the input bD is saved internally and output to the output bOut.
5 Function blocks 5.171 L_TbFlipFlopD - D flipflop ________________________________________________________________ Function bD TRUE FALSE t bClk TRUE FALSE t bR TRUE FALSE t bQ TRUE FALSE t [5-143] Switching performance of the D flipflop 588 Lenze · 9400 function library · Reference manual · DMS 6.
5 Function blocks 5.172 L_TbFlipFlopRS - status-controlled RS flipflop ________________________________________________________________ 5.172 L_TbFlipFlopRS - status-controlled RS flipflop Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB is created as an RS flipflop and can be used to evaluate and save digital signals.
5 Function blocks 5.173 L_TbGainLim - gain with limitation ________________________________________________________________ 5.173 L_TbGainLim - gain with limitation Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB amplifies the input signal. • The gain is set via the parameter C04030. • The value output to output dnOut is internally limited to ±231-1. • The bLimitActive output displays if a limitation is active.
5 Function blocks 5.174 L_TbIntegrate - integration with limitation ________________________________________________________________ 5.174 L_TbIntegrate - integration with limitation Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out an integration with limitation. • The dnIn input signal has the unit [1/s] as time reference.Adapting the time reference ( 592) • The dnOut output signal is internally limited to ±231-1.
5 Function blocks 5.174 L_TbIntegrate - integration with limitation ________________________________________________________________ 5.174.1 Adapting the time reference The dnIn input signal has the unit [1/s] as time reference.
5 Function blocks 5.175 L_TbLimit - limitation (for "DINT" data type) ________________________________________________________________ 5.175 L_TbLimit - limitation (for "DINT" data type) Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB limits a signal of "DINT" data type to an adjustable value range. • The upper and lower limits of the value range are set via the inputs dnMaxLimit and dnMinLimit.
5 Function blocks 5.176 L_TbLimit_n - scaled limitation ________________________________________________________________ 5.176 L_TbLimit_n - scaled limitation Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB limits a scaled signal [%] to an adjustable value range. • The upper and lower limits of the value range are set via the parameters C04070 and C04071. • The bLimitActive output displays if a limitation is active.
5 Function blocks 5.177 L_TbLimitInt - limitation (for "INT" data type) ________________________________________________________________ 5.177 L_TbLimitInt - limitation (for "INT" data type) Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel FB is available as of library V02.05.xx.xx! Motion Control TopLevel This FB limits a signal of "INT" data type to an adjustable value range.
5 Function blocks 5.178 L_TbMaskOut - zone masking ________________________________________________________________ 5.178 L_TbMaskOut - zone masking Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB masks up to four parameterisable blocking zones within a continuous signal characteristic.
5 Function blocks 5.
5 Function blocks 5.179 L_TbMul - multiplication ________________________________________________________________ 5.179 L_TbMul - multiplication Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a multiplication without limitation.
5 Function blocks 5.180 L_TbMul_n - scaled multiplication with limitation ________________________________________________________________ 5.180 L_TbMul_n - scaled multiplication with limitation Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a multiplication. The multiplicand (2. factor) must be specified as a scaled signal [%]. • The value output to output dnOut is internally limited to ±231-1.
5 Function blocks 5.181 L_TbMulDivLim - multiplication and division with limitation ________________________________________________________________ 5.181 L_TbMulDivLim - multiplication and division with limitation Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel FB is available as of library V02.02! Motion Control TopLevel This FB carries out a multiplication with subsequent division and limitation.
5 Function blocks 5.182 L_TbMulLim - multiplication with limitation ________________________________________________________________ 5.182 L_TbMulLim - multiplication with limitation Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a multiplication with limitation. • The value output to output dnOut is internally limited to ±231-1. • The bLimitActive output displays if a limitation is active.
5 Function blocks 5.183 L_TbNand - NAND with 2 inputs ________________________________________________________________ 5.183 L_TbNand - NAND with 2 inputs Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a logic NAND operation of binary signals.
5 Function blocks 5.184 L_TbNeg - negation (for "DINT" data type) ________________________________________________________________ 5.184 L_TbNeg - negation (for "DINT" data type) Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This function block inverts the sign of the input signal, i.e. the input signal is multiplied by -1 and is then output. • The value output to output dnOut is internally limited to ±231-1.
5 Function blocks 5.185 L_TbNegInt - negation (for "INT" data type) ________________________________________________________________ 5.185 L_TbNegInt - negation (for "INT" data type) Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel FB is available as of library V02.05.xx.xx! Motion Control TopLevel This function block inverts the sign of the input signal, i.e. the input signal is multiplied by -1 and is then output.
5 Function blocks 5.186 L_TbNegSel - optional negation (for "DINT" data type) ________________________________________________________________ 5.186 L_TbNegSel - optional negation (for "DINT" data type) Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel FB is available as of library V02.02! Motion Control TopLevel This function block inverts (optionally) the sign of the input signal, i.e. the input signal is multiplied by -1 and is then output.
5 Function blocks 5.187 L_TbNegSelInt - optional negation (for "INT" data type) ________________________________________________________________ 5.187 L_TbNegSelInt - optional negation (for "INT" data type) Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel FB is available as of library V02.05.xx.xx! Motion Control TopLevel This function block inverts (optionally) the sign of the input signal, i.e. the input signal is multiplied by -1 and is then output.
5 Function blocks 5.188 L_TbNor - NOR with 2 inputs ________________________________________________________________ 5.188 L_TbNor - NOR with 2 inputs Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a logic NOR operation of binary signals.
5 Function blocks 5.189 L_TbNormalize - signal scaling with limitation ________________________________________________________________ 5.189 L_TbNormalize - signal scaling with limitation Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB scales any signal to a parameterisable reference variable.
5 Function blocks 5.190 L_TbNot - negation ________________________________________________________________ 5.190 L_TbNot - negation Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB negates a signal from the BOOL data type.
5 Function blocks 5.191 L_TbOr - OR with 2 inputs ________________________________________________________________ 5.191 L_TbOr - OR with 2 inputs Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a logic OR operation of binary signals.
5 Function blocks 5.192 L_TbOscillator - rectangular signal generator ________________________________________________________________ 5.192 L_TbOscillator - rectangular signal generator Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB can be used to generate a Boolean square wave signal with a variable high/low time.
5 Function blocks 5.192 L_TbOscillator - rectangular signal generator ________________________________________________________________ 5.192.2 Optimising the accuracy of the output signal Enter only integer multiples of the task cycle time via C04020 and C04021 for a maximum accuracy of the rectangular signal to be output.
5 Function blocks 5.193 L_TbPIController - PI controller with limitation ________________________________________________________________ 5.193 L_TbPIController - PI controller with limitation Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB provides a simple PI controller with different control functions.
5 Function blocks 5.193 L_TbPIController - PI controller with limitation ________________________________________________________________ Parameter Parameter Possible settings C04090 0.0000 Information C04091 0.001 s C04095 0.00 % C04096 -200.00 % 214748.3647 Controller gain • Setting 0.0000 resets the PI controller. • Initialisation: 1.0000 1000.000 Controller reset time • Setting 1000.000 resets the PI controller. • Initialisation: 1.000 s 200.
5 Function blocks 5.194 L_TbPT1Filter - delay ________________________________________________________________ 5.194 L_TbPT1Filter - delay Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB filters and delays analog signals. • The filter time constant T is set via the parameter C04040. • The gain is fixed at V = 1. • The function corresponds to the "PT1" function of the 9300 servo inverter.
5 Function blocks 5.195 L_TbRateAction - rate action with limitation ________________________________________________________________ 5.195 L_TbRateAction - rate action with limitation Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB contains a rate action function to compensate disturbing low passes. • Therefore the rate time constant must be adjusted to the filter time constant of the low pass via the parameter C04055.
5 Function blocks 5.195 L_TbRateAction - rate action with limitation ________________________________________________________________ Function The input signal is differentiated by means of the parameterised rate time constant TV and added to the input signal. • The differentiation of the input signal can be switched off by setting the rate time constant TV lower than the task cycle time. In this case the differential component is zero and the input signal is output unchanged to the output.
5 Function blocks 5.196 L_TbSampleHold - sample & hold (for "DINT" data type) ________________________________________________________________ 5.196 L_TbSampleHold - sample & hold (for "DINT" data type) Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Required retain memory: 32 bytes Motion Control TopLevel This FB can save a signal from the "DINT" data type. • The stored value is also available after mains disconnection.
5 Function blocks 5.197 L_TbSampleHoldWord - sample & hold (for "WORD"data type) ________________________________________________________________ 5.197 L_TbSampleHoldWord - sample & hold (for "WORD"data type) Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel FB is available as of library V02.05.xx.xx! Required retain memory: 28 bytes Motion Control TopLevel This FB can save a signal from the "WORD" data type.
5 Function blocks 5.198 L_TbSelect - selector (for "DINT" data type) ________________________________________________________________ 5.198 L_TbSelect - selector (for "DINT" data type) Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This function block switches between two signals of "DINT" type. The switch-over is controlled via a boolean input signal.
5 Function blocks 5.199 L_TbSelectByte - selector (for "BYTE" data type) ________________________________________________________________ 5.199 L_TbSelectByte - selector (for "BYTE" data type) Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel FB is available as of library V02.05.xx.xx! Motion Control TopLevel This function block switches between two signals of "BYTE" type. The switch-over is controlled via a boolean input signal.
5 Function blocks 5.200 L_TbSelectWord - selector (for "WORD" data type) ________________________________________________________________ 5.200 L_TbSelectWord - selector (for "WORD" data type) Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel FB is available as of library V02.05.xx.xx! Motion Control TopLevel This function block switches between two signals of "WORD" type. The switch-over is controlled via a boolean input signal.
5 Function blocks 5.201 L_TbSub - subtraction ________________________________________________________________ 5.201 L_TbSub - subtraction Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a subtraction without limitation.
5 Function blocks 5.202 L_TbSubLim - subtraction with limitation ________________________________________________________________ 5.202 L_TbSubLim - subtraction with limitation Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a subtraction with limitation. • The value output to output dnOut is internally limited to ±231-1. • The bLimitActive output displays if a limitation is active.
5 Function blocks 5.203 L_TbTransition - edge evaluation ________________________________________________________________ 5.203 L_TbTransition - edge evaluation Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB serves to evaluate digital signal edges and converts them into time-defined and retriggerable pulses. • This function corresponds to the "TRANS" function of the 9300 servo inverter.
5 Function blocks 5.203 L_TbTransition - edge evaluation ________________________________________________________________ 5.203.1 Function 1: Evaluating rising edges C04000 = "0" bIn TRUE FALSE t bOut TRUE FALSE t C04001 C04001 C04001 [5-150] Switching performance when evaluating rising edges Functional sequence 1. A FALSE-TRUE edge at the input bIn sets the output bOut to TRUE. 2.
5 Function blocks 5.203 L_TbTransition - edge evaluation ________________________________________________________________ 5.203.3 Function 3: Evaluating rising and falling edges C04000 = "2" bIn TRUE FALSE t bOut TRUE FALSE t C04001 C04001 C04001 [5-152] Switching performance when evaluating rising and falling edges Functional sequence 1. A signal change (FALSE-TRUE or TRUE-FALSE edge) at the input bIn sets the output bOut to TRUE. 2.
5 Function blocks 5.204 L_TbXor - XOR with 2 inputs ________________________________________________________________ 5.204 L_TbXor - XOR with 2 inputs Function library: LenzeToolbox Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB carries out a logic EXCLUSIVE OR operation of binary signals.
5 Function blocks 5.205 L_WndCalcDiameter - diameter calculation ________________________________________________________________ 5.205 L_WndCalcDiameter - diameter calculation Function library: LenzeWinder Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB serves to calculate the reel diameter from the line speed and the reel speed. • The output signal dwDiameter has a resolution of 1 μm and can display a maximum of 10 m.
5 Function blocks 5.205 L_WndCalcDiameter - diameter calculation ________________________________________________________________ Identifier/data type Information/possible settings bForceCalculation BOOL bHoldDiameter BOOL bUnidirect BOOL bUnwindActive BOOL Forcing of the diameter calculation FALSETRUE Forcing of the diameter calculation • The next diameter calculation is carried out after the reel shaft distance specified via dwCalculationDistance has been elapsed.
5 Function blocks 5.205 L_WndCalcDiameter - diameter calculation ________________________________________________________________ Identifier/data type bDiameterMaxLimit bDiameterMinLimit bWebBreak dnDiameterMin_n Value/meaning BOOL BOOL BOOL DINT Limit value monitoring TRUE Upper limit value dwMaxDiameter reached. Limit value monitoring TRUE Lower limit value dwMinDiameter reached. Web break monitoring TRUE Web break after passing through the monitor window set in C04832.
5 Function blocks 5.205 L_WndCalcDiameter - diameter calculation ________________________________________________________________ 5.205.1 Setting an initial value At the input dnSetDiameter_n you can specify an initial value or an external diameter signal. • This value is accepted if bLoadSetDiameter is set to TRUE. • During the acceptance, the diameter calculation is reset and the filter for the diameter calculation is loaded with the initial value specified. 5.205.
5 Function blocks 5.205 L_WndCalcDiameter - diameter calculation ________________________________________________________________ 5.205.4 Selecting the direction of change/web break monitoring By setting bUnidirect to TRUE, only one direction of change is enabled for the diameter calculation, and at the same time the web break monitoring is activated. • The permissible direction of change is defined via bUnwindActive.
5 Function blocks 5.206 L_WndCalcLength - length calculation ________________________________________________________________ 5.206 L_WndCalcLength - length calculation Function library: LenzeWinder Runtime software licence: Motion Control HighLevel Motion Control TopLevel On the basis of the speed and the diameter of a roll moving along with the material, this FB serves to carry out a continuous length calculation.
5 Function blocks 5.206 L_WndCalcLength - length calculation ________________________________________________________________ Identifier/data type Information/possible settings dwReferenceLineSpeed Maximum material speed in [cm/min] DWORD • 2500 cm/min ≡ 25.
5 Function blocks 5.206 L_WndCalcLength - length calculation ________________________________________________________________ 5.206.1 Display of the length/residual length/residual runtime reached Via the output dnLength the length reached is displayed as a physical value [mm]. Negative values can also be shown. Via the output dwLengthToRef the residual length until reaching the reference value (dwRefLength) is provided.
5 Function blocks 5.207 L_WndFrictionCompensation - friction compensation ________________________________________________________________ 5.207 L_WndFrictionCompensation - friction compensation Function library: LenzeWinder Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB contains the two functions "friction identification" and "friction compensation". • With the "friction identification" function the friction characteristic can be identified automatically.
5 Function blocks 5.207 L_WndFrictionCompensation - friction compensation ________________________________________________________________ Identifier/data type dwSelectCurve Information/possible settings Friction identification (bStartIdent = True): DWORD Selection of the memory area within which the friction values identified are saved. 4 characteristics can be saved in the FB at the maximum. 1 ... 4 Memory area 1 ...
5 Function blocks 5.207 L_WndFrictionCompensation - friction compensation ________________________________________________________________ Parameters for the identification of the friction characteristic Parameter Possible settings C04845 5.00 % 100.00 Max. motor speed - ident • 100 % ≡ motor reference speed (C00011) • Initialisation: 100.
5 Function blocks 5.207 L_WndFrictionCompensation - friction compensation ________________________________________________________________ 5.207.1 Basics: Friction response Starting with the breakaway torque, the friction generally increases with the speed. However, apart from the speed, also the temperature and torque (e.g. if a gearbox is used) can influence the friction response.
5 Function blocks 5.207 L_WndFrictionCompensation - friction compensation ________________________________________________________________ 5.207.3 Identifying the friction characteristic automatically Danger! For the identification of the friction characteristic, the drive is accelerated to the maximum speed set in C04845 and braked to standstill again with the acceleration/deceleration time set in C04846. Select the memory location for the characteristic Define the memory location (1 ...
5 Function blocks 5.
5 Function blocks 5.207 L_WndFrictionCompensation - friction compensation ________________________________________________________________ Smoothing the actual value signals If incremental encoders are used, it may be required to filter the actual speed value signal. • The time constant for the filter can be set in C04848; in the majority of cases the setting "10 ms" is sufficient.
5 Function blocks 5.208 L_WndIdentMInertia - identification of the moment of inertia ________________________________________________________________ 5.208 L_WndIdentMInertia - identification of the moment of inertia Function library: LenzeWinder Runtime software licence: Motion Control HighLevel Motion Control TopLevel By means of this FB, the current moment of inertia can be identified automatically. The FB takes over the drive control on request and carries out the identification.
5 Function blocks 5.208 L_WndIdentMInertia - identification of the moment of inertia ________________________________________________________________ Outputs Identifier/data type dnState Value/meaning Status (bit coded) DINT • Bits that are not listed have not been assigned with a status (always "0"). Status messages: Bit 0 Identification started. Waiting for activation of the basic function "Torque follower". Bit 1 Waiting for motor standstill. Bit 2 Drive is accelerated to the specified speed.
5 Function blocks 5.208 L_WndIdentMInertia - identification of the moment of inertia ________________________________________________________________ 5.208.
5 Function blocks 5.208 L_WndIdentMInertia - identification of the moment of inertia ________________________________________________________________ Identification procedure 1. The basic function "Torque follower" is activated. • Output bBusy changes to TRUE. 2. If the drive is still coasting it is waited until the motor stops coasting first. 3. The drive is accelerated to the specified maximum speed (C04870) with the specified torque setpoint (C04871). 4.
5 Function blocks 5.208 L_WndIdentMInertia - identification of the moment of inertia ________________________________________________________________ Cancelling the identification If the input bStartIdent is reset to FALSE, the active identification is cancelled immediately. Resetting the input bFollowerEnabled to FALSE also results in the immediate abort. • The output bBusy is reset to FALSE and the drive is brought to a standstill via quick stop.
5 Function blocks 5.209 L_WndStopCtrl - stop controller ________________________________________________________________ 5.209 L_WndStopCtrl - stop controller Function library: LenzeWinder Runtime software licence: Motion Control HighLevel Motion Control TopLevel This FB serves to monitor the residual length to the reference diameter, on the basis of the current diameter and the material thickness. Output signals for an accurately timed braking and a limit stop are provided.
5 Function blocks 5.
5 Function blocks 5.209 L_WndStopCtrl - stop controller ________________________________________________________________ 5.209.1 Display of the residual length/residual runtime Via the output dwLengthToRef the residual length until reaching the reference diameter (dwRefDiameter) is provided. • Via bRewind you define whether the reference diameter is to be smaller (unwinder) or greater (rewinder) than the current diameter. • If the reference diameter is reached or exceeded, the residual length is zero.
5 Function blocks 5.210 L_WndTensionCurve - tensile force characteristic ________________________________________________________________ 5.210 L_WndTensionCurve - tensile force characteristic Function library: LenzeWinder Runtime software licence: Motion Control HighLevel Motion Control TopLevel In the case of centre winders, the drive torque is transmitted from the centre across the individual layers to the winding surface.
5 Function blocks 5.210 L_WndTensionCurve - tensile force characteristic ________________________________________________________________ Outputs Identifier/data type Value/meaning dnTensionOut_n Current tensile force setpoint in [%] DINT dnCurveValue_n DINT Current characteristic value in [%] Parameters 5.210.1 Parameter Possible settings C04885/1...
5 Function blocks 5.210 L_WndTensionCurve - tensile force characteristic ________________________________________________________________ 5.210.1.
5 Function blocks 5.210 L_WndTensionCurve - tensile force characteristic ________________________________________________________________ 5.210.1.3 Course of the tensile force according to a specified characteristic The characteristic () can be parameterised in C04885/x and contains 65 values, equally distributed across the diameter area of D0 ...
6 Table of attributes ________________________________________________________________ 6 Table of attributes The table of attributes contains information required for a communication to the controller via parameters. How to read the table of attributes: Column Meaning Code Parameter name Cxxxxx Name Parameter short text (display text) Text Index under which the parameter will be addressed. The subindex for array variables corresponds to the Lenze subcode number.
6 Table of attributes ________________________________________________________________ Code Name Index Data dec hex DS DA 19050 4A6A S 1 C05525 Cam type C05526 Input position 19049 4A69 S C05527 Track number 19048 4A68 S C05528 Cycle 19047 4A67 S C05529 Status 19046 4A66 S DT Access Factor R INTEGER_32 1 1 INTEGER_32 10000 1 INTEGER_32 1 1 INTEGER_32 10000 1 INTEGER_32 1 W CINH L_CamCurve C05540 X position unit 19035 4A5B A 2 VISIB
6 Table of attributes ________________________________________________________________ Code Name Index Data dec hex DS DA DT Access Factor R C05566 Break time 19009 4A41 A 8 INTEGER_32 1000 C05569 Status 19006 4A3E S 1 INTEGER_32 1 W CINH L_CamSetContDataSDO C05570 Position unit 19005 4A3D S 1 VISIBLE_STRING 1 C05571 Cam type 19004 4A3C S 1 INTEGER_32 1 C05572 Number of cams 19003 4A3B S 1 UNSIGNED_32 1 C05574 Switch-on position
6 Table of attributes ________________________________________________________________ Code Name Index Data dec hex DS DA DT 20383 4F9F S 1 INTEGER_32 Access Factor R W 1 CINH L_DcBitShiftWord C04192 Shift factor L_DevApplErr C05900 Function block: ID 18675 48F3 S 1 UNSIGNED_16 1 C05901 Error number 18674 48F2 A 8 UNSIGNED_16 1 C05902 Response in case of error 18673 48F1 A 8 UNSIGNED_8 1 L_DevReadParDInt C05910 Code 18665 48E9 S 1
6 Table of attributes ________________________________________________________________ Code Name Index Data dec hex DS DA 19278 4B4E S 1 C05297 Position output C05298 Speed output 19277 4B4D S C05299 Status 19276 4B4C S DT Access Factor R INTEGER_32 10000 1 INTEGER_32 10000 1 INTEGER_32 1 1000 1 W CINH L_LdClutchAxisP C05070 Ramps for coupling 19505 4C31 A 3 INTEGER_32 C05071 Unit 19504 4C30 A 2 VISIBLE_STRING C05072 Reference speed 19
6 Table of attributes ________________________________________________________________ Code Name Index Data dec hex DS DA DT Access Factor R W CINH L_LdMPot C05122 Positive speed 19453 4BFD S 1 INTEGER_32 10000 C05123 Negative speed 19452 4BFC S 1 INTEGER_32 10000 C05124 Ramp: Acceleration 19451 4BFB S 1 UNSIGNED_32 1000 C05125 Ramp: Deceleration 19450 4BFA S 1 UNSIGNED_32 1000 C05126 Ramp: Motor potentiometer off 19449 4BF9 S 1 U
6 Table of attributes ________________________________________________________________ Code Name Index Data dec hex DS DA DT Access Factor R C05154 Measured cycle 19421 4BDD S 1 INTEGER_32 10000 C05155 TP set position at the input 19420 4BDC S 1 INTEGER_32 10000 W CINH L_LdVirtualMasterP C05010 VMaster: Operating mode 19565 4C6D S 1 UNSIGNED_32 1 C05011 Target position 19564 4C6C S 1 INTEGER_32 10000 C05012 Starting position 19563 4C6B S
6 Table of attributes ________________________________________________________________ Code C04724 Name Second S-ramp time = table pos.
6 Table of attributes ________________________________________________________________ Code Name Index Data dec hex DS DA DT Access Factor R W C04551 Var. branch n: Jump destin. 12 20024 4E38 A 5 UNSIGNED_32 1 C04552 Var. branch n: Jump destin. 13 20023 4E37 A 5 UNSIGNED_32 1 C04553 Var. branch n: Jump destin. 14 20022 4E36 A 5 UNSIGNED_32 1 C04554 Var. branch n: Jump destin. 15 20021 4E35 A 5 UNSIGNED_32 1 C04555 Var.
6 Table of attributes ________________________________________________________________ Code Name Index Data dec hex DS DA DT Access Factor R W CINH L_SdGetPosition C04271 Status 20304 4F50 S 1 INTEGER_32 1 C04272 Position unit 20303 4F4F S 1 VISIBLE_STRING 1 C04273 Position value 20302 4F4E S 1 INTEGER_32 10000 L_SdGetSpeed C04281 Status 20294 4F46 S 1 INTEGER_32 1 C04282 Speed unit 20293 4F45 S 1 VISIBLE_STRING 1 C04283 Speed value 20
6 Table of attributes ________________________________________________________________ Code Name Index Data dec hex DS DA DT C04306 Speed unit 20269 4F2D S 1 VISIBLE_STRING C04307 Reference speed 20268 4F2C S 1 INTEGER_32 Access Factor R 1 10000 W CINH L_SdMotorPot C04360 Upper limit value 20215 4EF7 A 2 INTEGER_32 100 C04361 Acceleration time 20214 4EF6 A 2 INTEGER_32 1000 C04362 Deactivation function 20213 4EF5 S 1 INTEGER_32 1
6 Table of attributes ________________________________________________________________ Code Name Index Data dec hex DS DA DT Access Factor R W CINH C04252 Traversing range 20323 4F63 S 1 INTEGER_32 1 C04258 Resulting gearbox factor 20317 4F5D S 1 INTEGER_32 1000 C04259 Resolution of a unit 20316 4F5C S 1 INTEGER_32 10000 L_SdSetPosition C04276 Position value 20299 4F4B S 1 INTEGER_32 10000 C04277 Position unit 20298 4F4A S 1 VISIBLE_STR
6 Table of attributes ________________________________________________________________ Code Name Index Data dec hex DS DA 20176 4ED0 A 8 UNSIGNED_8 20257 4F21 S 1 20265 4F29 S 20261 4F25 20490 Comparison operation 20495 C04081 Tolerance C04082 Hysteresis Access R W 1 VISIBLE_STRING 1 1 VISIBLE_STRING 1 S 1 VISIBLE_STRING 1 500A S 1 UNSIGNED_32 1 500F S 1 UNSIGNED_32 1 20494 500E S 1 INTEGER_32 100 20493 500D S 1
6 Table of attributes ________________________________________________________________ Code Name Index Data dec hex DS DA DT Access Factor R W CINH L_TbPIController C04090 Gain 20485 5005 S 1 INTEGER_32 10000 C04091 Reset time 20484 5004 S 1 INTEGER_32 1000 C04095 Upper limitation 20480 5000 S 1 INTEGER_32 100 C04096 Lower limitation 20479 4FFF S 1 INTEGER_32 100 20535 5037 S 1 INTEGER_32 1000 20520 5028 S 1 INTEGER_32
Index ________________________________________________________________ Symbols "Flying saw" application 186 "Unit" wildcard 19 Numbers 64 bit encoder signal evaluation 302 A ABS See L_TbAbs 548 Absolute value 548 Absolute value encoder 298 Acceleration conversion 452, 537 Acceleration table 392 ADD See L_TbAdd 549 See L_TbAddLim 550 See L_TbAddSubLim 551 Addition 549, 550, 551 AND See L_Tb5And 540 See L_TbAnd 552 AND with five inputs 540 AND with two inputs 552 ANEG See L_TbNeg 603 Application notes 15 A
Index ________________________________________________________________ C4227 C4228 C4229 C4237 C4238 C4239 C4240 C4241 C4242 C4243 C4244 C4245 C4246 C4248 C4249 C4251 C4252 C4258 C4259 C4271 C4272 C4273 C4276 C4277 C4278 C4281 C4282 C4283 C4286 C4287 C4288 C4290 C4291 C4292 C4293 C4294 C4295 C4299 C4300 C4301 C4302 C4303 C4304 C4305 C4306 C4307 C4310 C4312 C4314 C4316 C4318 C4319 C4320 526 527 527 527 527 527 511 511 511 511 511 511 511 511 511 511 511 511 511 458 458 458 518 518 518 459 459 459 520 520 52
Index ________________________________________________________________ C4411 C4412 C4413 C4414 C4416 C4418 C4420 C4422 C4424 C4425 C4430 C4431 C4432 C4433 C4434 C4435 C4436 C4437 C4438 C4441 C4442 C4443 C4500 C4501 C4502 C4503 C4504 C4505 C4510 C4511 C4512 C4513 C4514 C4515 C4516 C4520 C4521 C4522 C4523 C4530 C4531 C4532 C4540 C4541 C4542 C4543 C4544 C4545 C4546 C4547 C4548 C4549 C4550 672 457 457 457 457 457 457 457 457 457 457 475 475 475 475 475 475 475 476 476 471 471 471 436 436 436 436 436 436 441 4
Index ________________________________________________________________ C4757 C4758 C4759 C4760 C4761 C4763 C4764 C4765 C4767 C4768 C4830 C4831 C4832 C4838 C4839 C4840 C4845 C4846 C4847 C4848 C4849 C4850 C4851 C4852 C4853 C4854 C4855 C4856 C4859 C4870 C4871 C4872 C4873 C4879 C4880 C4885 C5000 C5001 C5007 C5008 C5009 C5010 C5011 C5012 C5013 C5014 C5015 C5016 C5017 C5025 C5026 C5027 C5028 422 422 422 423 423 423 423 423 423 423 631 631 631 631 631 635 639 639 639 639 639 639 639 639 639 639 639 639 639 645 64
Index ________________________________________________________________ C5122 C5123 C5124 C5125 C5126 C5127 C5128 C5129 C5142 C5143 C5144 C5147 C5148 C5149 C5150 C5151 C5152 C5153 C5154 C5155 C5160 C5161 C5162 C5163 C5165 C5169 C5175 C5176 C5178 C5179 C5180 C5181 C5183 C5184 C5186 C5187 C5188 C5189 C5270 C5271 C5272 C5273 C5274 C5275 C5277 C5280 C5281 C5282 C5283 C5284 C5289 C5290 C5291 674 338 338 338 338 338 338 338 338 362 362 362 362 362 362 362 362 362 362 362 362 316 316 316 316 316 316 335 335 336 3
Index ________________________________________________________________ C5488 C5489 C5500 C5501 C5502 C5505 C5506 C5507 C5510 C5511 C5514 C5515 C5516 C5517 C5518 C5519 C5520 C5521 C5522 C5523 C5524 C5525 C5526 C5527 C5528 C5529 C5530 C5534 C5536 C5537 C5539 C5540 C5541 C5547 C5548 C5549 C5560 C5561 C5564 C5565 C5566 C5567 C5569 C5570 C5571 C5572 C5574 C5575 C5576 C5577 C5579 C5600 C5601 137 137 164 164 164 164 164 164 164 165 165 165 165 165 165 165 139 139 139 139 139 140 140 140 140 140 159 160 160 160 16
Index ________________________________________________________________ Copying objects 88 Counter 563 CURVE See L_TbCurve 565 See L_TbCurveAny 570 Curve interpolation 162 D Data type check 30 Data type entry 27 DB See L_TbDeadband 575 See L_TbDeadband_n 577 Dead band with gain 575 Dead band with gain (scaled) 577 Dead time compensation 453 Delay 579, 615 Diameter calculation 629 Differentiation 454 Differentiation (cyclic) 318 Differentiator with low-pass filter 582 DIGDEL See L_TbDelay 579 Division 585, 5
Index ________________________________________________________________ L_DcGetBitOfByte 226 L_DcGetBitOfDWord 227 L_DcGetBitOfWord 228 L_DcIntToDInt 229 L_DcIntToWord 230 L_DcNorm_aToNorm_n 231 L_DcNorm_nToNorm_a 232 L_DcNorm_nToSpeed_s 233 L_DcResetBitOfByte 234 L_DcResetBitOfDWord 235 L_DcResetBitOfWord 236 L_DcSetBitOfByte 237 L_DcSetBitOfDWord 238 L_DcSetBitOfWord 239 L_DcSpeed_sToNorm_n 240 L_DcSpeed_sToSpeed_v 241 L_DcSpeed_vToSpeed_s 242 L_DcWordBitand 243 L_DcWordBitor 244 L_DcWordBitxor 245 L_DcWor
Index ________________________________________________________________ L_SdUnitToPos 538 L_SdUnitToSpeed 539 L_Tb5And 540 L_Tb5Nand 541 L_Tb5Nor 542 L_Tb5Or 543 L_Tb5Xor 544 L_Tb8Select 545 L_Tb8SelectByte 546 L_Tb8SelectWord 547 L_TbAbs 548 L_TbAdd 549 L_TbAddLim 550 L_TbAddSubLim 551 L_TbAnd 552 L_TbCompare 553 L_TbCompare_n 558 L_TbCount 563 L_TbCurve 565 L_TbCurveAny 570 L_TbDeadband 575 L_TbDeadband_n 577 L_TbDelay 579 L_TbDifferentiate 582 L_TbDiv 585 L_TbDiv_n 586 L_TbFlipFlopD 587 L_TbFlipFlopRS 589
Index ________________________________________________________________ Oversynchronous clutch-in 186 P Parameterisable function blocks 18 PCTRL See L_TbPIController 613 PHADD See L_TbAdd 549 See L_TbAddLim 550 See L_TbAddSubLim 551 PHCMP See L_TbCompare 553 See L_TbCompare_n 558 PHDIFF See L_TbDifferentiate 582 PHDIV See L_TbDiv 585 See L_TbDiv_n 586 PHINT See L_SdIntegrate 460 See L_SdIntegrateLimit 467 PI controller 613 PID controller with limitation 496 Position conversion 458, 495, 518, 538 Position ta
Index ________________________________________________________________ T Table of attributes 656 Task selection 43 Task types 32 TaskOverrun 84 Tensile force characteristic 652 Test in the device 86 Testing the interconnection in the device 86 Touch probe 461 Touch probe evaluation 535 TRANS See L_TbTransition 625 Type conversion (implicit) 30 Type converter 197, 198, 199, 213, 214, 215, 216, 220, 221, 224, 225, 229, 230, 246, 248, 249, 250 U Unit (wildcard) 19 Up/downcounter 563 V Velocity changeover 41
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9400 function library · Reference manual · EDS94FBLIB · 13350243 · DMS 6.7 EN · 08/2014 · TD05 Lenze Automation GmbH Hans-Lenze-Str. 1 D-31855 Aerzen Germany +49 (0)51 54 / 82-0 +49 (0)51 54 / 82-28 00 Lenze@Lenze.de www.Lenze.com Service Lenze Service GmbH Breslauer Straße 3 D-32699 Extertal Germany 00 80 00 / 24 4 68 77 (24 h helpline) +49 (0)51 54 / 82-11 12 Service@Lenze.
